公开(公告)号：US20200058427A1

公开(公告)日：2020-02-20

申请号：US16238971

申请日：2019-01-03

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jaeyoung PARK ,  Sangyoon Kim

IPC: H01F7/16 ,  H01F7/08 ,  H01F7/10

Abstract: An impact actuator with 2-degree of freedom, which may generate an impact stimulation in any direction on the plane, includes a body having a magnetic substance that is movable therein, one upper solenoid attached to an upper portion of the body, and three or more lower solenoids attached to a lower portion of the body, wherein the upper solenoid and the three or more lower solenoids are independently supplied with AC power from a power supply, respectively.

公开(公告)号：US20190321972A1

公开(公告)日：2019-10-24

申请号：US16168048

申请日：2018-10-23

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jung Hoon KIM ,  Jaeyoung PARK

IPC: B25J9/16

Abstract: Provided is a controller of a robot manipulator, a performance analysis method thereof and a parameter determination method thereof. The controller computes an error value of an output value of a control target for a target value through a computational equation and provides a control input value of the control target, and includes an outer loop controller which constitutes closed loop control of the control target, and an inner loop controller which performs feedback linearization to remove nonlinearity of the control target, wherein the computational equation is a linear differential equation designed considering exogenous disturbance acting in the controller and a computational error.

公开(公告)号：US20160052132A1

公开(公告)日：2016-02-25

申请号：US14581433

申请日：2014-12-23

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Doik KIM ,  Jung Min PARK ,  Sungon LEE ,  Jaeyoung PARK ,  Seokmin HONG

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1664 ,  B25J9/0081 ,  B25J9/163 ,  B25J9/1689 ,  G05B2219/40435 ,  G05B2219/40512 ,  Y10S901/03

Abstract: A robot motion data processing system has a data extraction module for intermittently extracting restoration motion data from a successive input motion trajectory formed for controlling a motion of a robot, and a data restoration module for restoring an output motion trajectory approximate to the input motion trajectory by using restoration motion data extracted from the data extraction module. The output motion trajectory is restored to satisfy a condition that the robot operating according to the output motion trajectory does not exceed a hardware operation limit of the robot.

Abstract translation: 机器人运动数据处理系统具有数据提取模块，用于从形成为用于控制机器人的运动的连续输入运动轨迹间歇地提取恢复运动数据，以及数据恢复模块，用于通过以下方式恢复输出运动轨迹近似于输入运动轨迹： 使用从数据提取模块提取的恢复运动数据。 输出运动轨迹被恢复以满足根据输出运动轨迹操作的机器人不超过机器人的硬件操作极限的条件。

公开(公告)号：US20220072715A1

公开(公告)日：2022-03-10

申请号：US17101551

申请日：2020-11-23

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jaeyoung PARK

IPC: B25J15/00 ,  B25J15/02 ,  B25J9/10

Abstract: Embodiments relate to a wearable robot hand device removable from a hand structure, including: at least one of first and second exglove modules as one or more exglove modules attached to the hand structure, the first exglove module being attached to a surface of the hand structure and the second exglove module being attached onto a exglove of the first exglove module.