公开(公告)号：USD818019S1

公开(公告)日：2018-05-15

申请号：US29584302

申请日：2016-11-14

Applicant: Hiwin Technologies Corp.

Designer： Shou-Yang Huang ,  Jung-Fu Hou ,  Ren-Jeng Wang

公开(公告)号：USD827005S1

公开(公告)日：2018-08-28

申请号：US29616421

申请日：2017-09-06

Applicant: HIWIN TECHNOLOGIES CORP.

Designer： Shou-Yang Huang ,  Ren-Jeng Wang ,  Jung-Fu Hou

公开(公告)号：US10702988B2

公开(公告)日：2020-07-07

申请号：US15972459

申请日：2018-05-07

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Jia-Huei Jian ,  Cheng-Chin Chen ,  Jung-Fu Hou

IPC: B25J9/16 ,  G01L5/22 ,  G01L25/00

Abstract: A method for load estimation and gravity compensation on a robotic arm including a joint is provided, and includes: receiving a first torque signal and a first joint angle when the arm is at a first position and subjected to a current load; generating a first torque value, correction parameters, and no-load and maximum-load torque values; changing the load applied to the arm to an unknown load; receiving a second torque signal and generating a second torque value; estimating an estimated load value of the unknown load; moving the arm to a second position; receiving a second joint angle; and generating a compensating torque value and outputting the compensating torque value to a driver module of the arm.

公开(公告)号：US10463308B2

公开(公告)日：2019-11-05

申请号：US15167511

申请日：2016-05-27

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Jung-Fu Hou ,  Yu-Chia Liang ,  Chang-Jin Yu

IPC: A61B5/11 ,  A61B5/00

Abstract: A lower limb spasticity measurement method includes the step of setting the lower limbs of the person in a lower limb orthotic device of a gait activity machine, the step of starting up a motor of the gait activity machine to drive the lower limb orthotic device for lower limb activity, the step of getting a statistical distribution data from the output torque of the motor within a predetermined time and then calculating the statistical distribution data to obtain a threshold, and the step of determining whether the output torque of the motor is greater than the threshold or not, and then stopping motor if the output torque of the motor is greater than the threshold. Thus, the method of the invention can accurately measures spasticity in the lower limbs of a person without the use of sensors, effectively saving the cost of equipment.