公开(公告)号：US09831179B2

公开(公告)日：2017-11-28

申请号：US15191558

申请日：2016-06-24

申请人： Kyoung-hoon Kim ,  Woo-sung Yang ,  Jee-hoon Hwang

发明人： Kyoung-hoon Kim ,  Woo-sung Yang ,  Jee-hoon Hwang

IPC分类号： H01L23/48 ,  H01L23/528 ,  H01L21/033 ,  H01L21/768 ,  H01L21/311 ,  H01L21/321 ,  H01L27/11517 ,  H01L27/11563

CPC分类号： H01L23/528 ,  H01L21/0332 ,  H01L21/0337 ,  H01L21/31144 ,  H01L21/3212 ,  H01L21/32139 ,  H01L21/76838 ,  H01L21/7684 ,  H01L21/76892 ,  H01L27/11517 ,  H01L27/11563 ,  H01L27/11582 ,  H01L28/00

摘要： A semiconductor device includes a plurality of line patterns formed apart from one another on a substrate, the plurality of line patterns having a first width and extending parallel to one another in a first direction. A first line pattern of the plurality of line patterns may include a wider portion having a second width in a second direction perpendicular to the first direction that is greater than the first width. One or more second line patterns may be located adjacent to the first line pattern and include a conformal portion conformally formed about the wider portion of the first line pattern. One or more third line patterns may be located adjacent to the second line pattern and include an end portion near the conformal portion of the one or more second line pattern.

公开(公告)号：US08909377B2

公开(公告)日：2014-12-09

申请号：US13527160

申请日：2012-06-19

申请人： Seok Won Lee ,  Woo Sung Yang

发明人： Seok Won Lee ,  Woo Sung Yang

IPC分类号： A61H36/00

CPC分类号： B25J9/1633 ,  G05B2219/40305

摘要： A system for controlling driving of a wearable robot may include a drive unit for operating a drive joint of the robot, a measurement unit for measuring an actual angle and an actual angular velocity of the drive joint in the robot, a sensing unit for determining a human torque applied by a wearing user to the drive joint, and a control unit for determining a target angular velocity of the robot by applying the determined human torque to an admittance model and for determining a required torque that may be input to the drive unit of the robot by applying an optimal control gain to a difference between the target angular velocity and the actual angular velocity of the robot.

摘要翻译： 用于控制可穿戴机器人的驱动的系统可以包括用于操作机器人的驱动接头的驱动单元，用于测量机器人中的驱动接头的实际角度和实际角速度的测量单元，用于确定 佩戴用户对驱动关节施加的人力矩;以及控制单元，用于通过将确定的人力矩施加到导纳模型来确定机器人的目标角速度，并且用于确定可以输入到驱动单元的驱动单元的所需扭矩 机器人通过对目标角速度和机器人的实际角速度之间的差施加最佳控制增益。

公开(公告)号：US20130173058A1

公开(公告)日：2013-07-04

申请号：US13529227

申请日：2012-06-21

申请人： Jung Ho Seo ,  Woo Sung Yang

发明人： Jung Ho Seo ,  Woo Sung Yang

IPC分类号： G05B15/00

CPC分类号： G05B15/00 ,  B25J9/0006 ,  B25J9/06 ,  B25J9/16 ,  B25J13/085 ,  G05B2219/37357 ,  G05B2219/39523 ,  G05B2219/40305

摘要： Disclosed herein is a method and system for controlling the lifting operation of a wearable robot. A final force that must be applied by the robot to an object upon conducting a lifting operation is derived based on a difference between a weight force applied by the object to the robot and an apply force applied by a wearing user to the robot. A target position to which the robot lifts the object is set. A spring-damper virtual force model is applied to an end of the robot and to joints of the robot, the final force is converted into final torques required by the joints of the robot by being incorporated into the virtual force model, and then the joints of the robot are operated based on the final torques. The final force is fixed once the robot has lifted the object to the target position.

摘要翻译： 这里公开了一种用于控制可穿戴机器人的提升操作的方法和系统。 基于由物体对机器人施加的重量力与佩戴用户施加到机器人的施加力之间的差异，导出在执行提升操作时必须由机器人对物体施加的最终力。 设置机器人抬起物体的目标位置。 将弹簧阻尼器虚拟力模型应用于机器人的端部和机器人的接头，通过结合到虚拟力模型中将最终力转换为机器人的关节所需的最终扭矩，然后将关节 的机器人基于最终扭矩进行操作。 一旦机器人将物体提升到目标位置，最后的力就被固定。

公开(公告)号：US20130154533A1

公开(公告)日：2013-06-20

申请号：US13600638

申请日：2012-08-31

申请人： Seok Won Lee ,  Woo Sung Yang

发明人： Seok Won Lee ,  Woo Sung Yang

IPC分类号： G01R31/34

CPC分类号： G01M13/02

摘要： Disclosed is an apparatus for extracting a drive characteristic of a drive system. The apparatus includes a drive unit supplying a rotating force to a drive shaft. A force-torque sensor unit is detachably coupled to the drive shaft of the drive unit, and may not rotate when it is coupled to the drive shaft. A load unit is detachably coupled to the drive shaft of the drive unit. A control unit is configured to control drive energy supplied to the drive unit, derive a drive-unit constant by using a relation between the input drive energy and measurement torque when the drive unit is coupled to the force-torque sensor unit, calculate frictional torque using the derived drive-unit constant, the input drive energy, an inertia moment and angular acceleration of the load unit when the drive unit is coupled to the load unit, and derive a frictional coefficient from the frictional torque.

摘要翻译： 公开了一种用于提取驱动系统的驱动特性的装置。 该装置包括向驱动轴提供旋转力的驱动单元。 力 - 扭矩传感器单元可拆卸地联接到驱动单元的驱动轴，并且当其联接到驱动轴时可能不旋转。 负载单元可拆卸地联接到驱动单元的驱动轴。 控制单元被配置为控制提供给驱动单元的驱动能量，当驱动单元联接到力 - 力矩传感器单元时，通过使用输入驱动能量和测量扭矩之间的关系导出驱动单元常数，计算摩擦转矩 当驱动单元联接到负载单元时，使用导出的驱动单元常数，输入驱动能量，负载单元的惯性力矩和角加速度，并从摩擦转矩导出摩擦系数。

公开(公告)号：US20170062327A1

公开(公告)日：2017-03-02

申请号：US15191558

申请日：2016-06-24

申请人： Kyoung-hoon KIM ,  Woo-sung YANG ,  Jee-hoon HWANG

发明人： Kyoung-hoon KIM ,  Woo-sung YANG ,  Jee-hoon HWANG

IPC分类号： H01L23/528 ,  H01L21/321 ,  H01L21/311 ,  H01L21/033 ,  H01L21/768

CPC分类号： H01L23/528 ,  H01L21/0332 ,  H01L21/0337 ,  H01L21/31144 ,  H01L21/3212 ,  H01L21/32139 ,  H01L21/76838 ,  H01L21/7684 ,  H01L21/76892 ,  H01L27/11517 ,  H01L27/11563 ,  H01L27/11582 ,  H01L28/00

摘要： A semiconductor device includes a plurality of line patterns formed apart from one another on a substrate, the plurality of line patterns having a first width and extending parallel to one another in a first direction. A first line pattern of the plurality of line patterns may include a wider portion having a second width in a second direction perpendicular to the first direction that is greater than the first width. One or more second line patterns may be located adjacent to the first line pattern and include a conformal portion conformally formed about the wider portion of the first line pattern. One or more third line patterns may be located adjacent to the second line pattern and include an end portion near the conformal portion of the one or more second line pattern.

摘要翻译： 半导体器件包括在衬底上彼此分开形成的多个线图案，多个线图案具有第一宽度并且在第一方向上彼此平行延伸。 多个线图案的第一线图案可以包括在垂直于大于第一宽度的第一方向的第二方向上具有第二宽度的较宽部分。 可以将一个或多个第二线图案定位成与第一线图案相邻，并且包括围绕第一线图案的较宽部分共形地形成的共形部分。 一个或多个第三线图案可以位于与第二线图案相邻并且包括在一个或多个第二线图案的保形部分附近的端部。

公开(公告)号：US09114524B2

公开(公告)日：2015-08-25

申请号：US13529131

申请日：2012-06-21

申请人： Su Jung Yoo ,  Woo Sung Yang

发明人： Su Jung Yoo ,  Woo Sung Yang

IPC分类号： G05B15/00 ,  G05B19/00 ,  B25J9/00 ,  B25J9/16

CPC分类号： B25J9/0006 ,  B25J9/16 ,  B25J9/1633 ,  G05B2219/40305

摘要： Disclosed herein is a method of obtaining the intended manipulation torque of a user for a wearable robot. The method allows the wearable robot, the motion of each joint of which is operated by a motor and which is capable of measuring a variation in current in the motor of each joint and calculating a torque at each joint, to simply and rapidly extract the intended manipulation torque of the user using both an acceleration value (e.g., measured by an acceleration sensor installed on a gripper), and the current variation of the motor, in a state in which the wearable robot does not know the weight of a weight object to be lifted with the gripper. Accordingly, the wearable robot may be suitably controlled at a comparatively lower cost.

摘要翻译： 本文公开了一种获得用于可穿戴机器人的用户的预期操纵扭矩的方法。 该方法允许可穿戴机器人，其每个关节的运动由电动机操作，并且能够测量每个关节的电动机中的电流变化并计算每个关节处的扭矩，以简单且快速地提取预期的 使用者使用加速度值（例如，由安装在夹持器上的加速度传感器测量）的操作扭矩和电动机的当前变化，在可穿戴机器人不知道重量物体的重量的状态下 用夹具抬起。 因此，可以以相对较低的成本适当地控制耐磨机器人。

公开(公告)号：US20130173059A1

公开(公告)日：2013-07-04

申请号：US13527160

申请日：2012-06-19

申请人： Seok Won Lee ,  Woo Sung Yang

发明人： Seok Won Lee ,  Woo Sung Yang

IPC分类号： G05B15/00

CPC分类号： B25J9/1633 ,  G05B2219/40305

摘要： A system for controlling driving of a wearable robot may include a drive unit for operating a drive joint of the robot, a measurement unit for measuring an actual angle and an actual angular velocity of the drive joint in the robot, a sensing unit for determining a human torque applied by a wearing user to the drive joint, and a control unit for determining a target angular velocity of the robot by applying the determined human torque to an admittance model and for determining a required torque that may be input to the drive unit of the robot by applying an optimal control gain to a difference between the target angular velocity and the actual angular velocity of the robot.

摘要翻译： 用于控制可穿戴机器人的驱动的系统可以包括用于操作机器人的驱动接头的驱动单元，用于测量机器人中的驱动接头的实际角度和实际角速度的测量单元，用于确定 佩戴用户对驱动关节施加的人力矩;以及控制单元，用于通过将确定的人力矩施加到导纳模型来确定机器人的目标角速度，并且用于确定可以输入到驱动单元的驱动单元的所需扭矩 机器人通过对目标角速度和机器人的实际角速度之间的差施加最佳控制增益。

公开(公告)号：US20130173054A1

公开(公告)日：2013-07-04

申请号：US13540828

申请日：2012-07-03

申请人： Jung Ho Seo ,  Woo Sung Yang

发明人： Jung Ho Seo ,  Woo Sung Yang

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： Disclosed herein a method of controlling the balance of a walking robot. In the method, a location and an acceleration of a center of gravity of the walking robot are detected in a three-dimensional (3D) x, y, z coordinate system. A location of a Zero Moment Point (ZMP) on an xy plane is detected using the location of the center of gravity and the acceleration of the center of gravity in x- and y-axis directions. Walking of the walking robot is controlled so that the ZMP is located inside a stable area including a bottom of a foot of the walking robot on the xy plane.

摘要翻译： 这里公开了一种控制步行机器人的平衡的方法。 在该方法中，在三维（3D）x，y，z坐标系中检测步行机器人的重心位置和加速度。 使用重心的位置和x轴和y轴方向的重心加速度来检测xy平面上零点矩（ZMP）的位置。 控制步行机器人的行走，使得ZMP位于包括在xy平面上的步行机器人的脚的底部的稳定区域内。

公开(公告)号：US20170250194A1

公开(公告)日：2017-08-31

申请号：US15381823

申请日：2016-12-16

申请人： Hyun-Min Lee ,  Woo-Sung Yang ,  Kwan-Yong Kim

发明人： Hyun-Min Lee ,  Woo-Sung Yang ,  Kwan-Yong Kim

IPC分类号： H01L27/11582 ,  H01L27/11573 ,  H01L27/11575 ,  H01L27/1157

CPC分类号： H01L27/11582 ,  H01L27/1157 ,  H01L27/11573 ,  H01L27/11575

摘要： Semiconductor devices are provided. A semiconductor device includes first and second stacks of electrodes. Moreover, the semiconductor device includes first and second connection lines that connect the first and second stacks of electrodes. In some embodiments, the first connection lines have a first length and the second connection lines have a second length that is longer than the first length of the first connection lines. In some embodiments, the first connection lines connect inner portions of the first stack of electrodes to inner portions of the second stack of electrodes. In some embodiments, the second connection lines connect outer portions of the first stack of electrodes to outer portions of the second stack of electrodes.

公开(公告)号：US20130144437A1

公开(公告)日：2013-06-06

申请号：US13529147

申请日：2012-06-21

申请人： Seok Won Lee ,  Woo Sung Yang

发明人： Seok Won Lee ,  Woo Sung Yang

IPC分类号： G05B15/00

CPC分类号： G01L5/161 ,  B25J13/085 ,  B62D57/032

摘要： Disclosed is a module for measuring repulsive force for a walking robot. More specifically the module includes a base frame and plurality of installation units provided on the base frame and surrounded by a plurality of side surfaces configured as inclined surfaces having a predetermined angle and a top surface formed in a horizontal plane. The module also includes a 1-axis force sensor provided on each side surface and the top surface of the installation unit. A control unit calculates a sum force of the respective installation units from measurement data of the force sensor and calculates the ground reaction force (GRF) by integrating the sum force of the respective installation units.

摘要翻译： 公开了一种用于测量步行机器人的排斥力的模块。 更具体地，该模块包括基架和设置在基架上并被构造成具有预定角度的倾斜表面的多个侧表面以及在水平面中形成的顶表面包围的多个安装单元。 模块还包括设置在安装单元的每个侧表面和顶表面上的1轴力传感器。 控制单元根据力传感器的测量数据计算各个安装单元的总和力，并且通过对各个安装单元的和力进行积分来计算地面反作用力（GRF）。