公开(公告)号：US09622932B2

公开(公告)日：2017-04-18

申请号：US14062055

申请日：2013-10-24

申请人： Seung-Jong Kim ,  Chang Hwan Kim ,  Jun Ho Choi ,  Chan Yul Jung ,  Jong Min Lee

发明人： Seung-Jong Kim ,  Chang Hwan Kim ,  Jun Ho Choi ,  Chan Yul Jung ,  Jong Min Lee

IPC分类号： A61F5/00 ,  A61H1/02

CPC分类号： A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H2201/163 ,  A61H2201/1635 ,  A61H2201/1642

摘要： The gait rehabilitation robot having a passive mechanism includes: a first auxiliary link member connected to a portion between the pelvis and the knee of a rehabilitating person; a joint coupled to a lower end of the first auxiliary link member; a second auxiliary link member coupled to the lower end of the joint and connected to a portion between the pelvis and the knee of the rehabilitating person; a first spring coupled to an upper end of the first auxiliary link member to prevent introversion and extroversion of a hip point from occurring when the rehabilitating person is walking; a foot support which comes into contact with the foot of the rehabilitating person; an ankle joint for connecting the foot support and the second auxiliary link member; and a second spring coupled to a side of the foot support to compensate an entropion angle.

公开(公告)号：US20140343465A1

公开(公告)日：2014-11-20

申请号：US14062055

申请日：2013-10-24

申请人： Seung-Jong Kim ,  Chang Hwan Kim ,  Jun Ho Choi ,  Chan Yul Jung ,  Jong Min Lee

发明人： Seung-Jong Kim ,  Chang Hwan Kim ,  Jun Ho Choi ,  Chan Yul Jung ,  Jong Min Lee

IPC分类号： A61H1/00 ,  A61B19/00

CPC分类号： A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H2201/163 ,  A61H2201/1635 ,  A61H2201/1642

摘要： The gait rehabilitation robot having a passive mechanism includes: a first auxiliary link member connected to a portion between the pelvis and the knee of a rehabilitating person; a joint coupled to a lower end of the first auxiliary link member; a second auxiliary link member coupled to the lower end of the joint and connected to a portion between the pelvis and the knee of the rehabilitating person; a first spring coupled to an upper end of the first auxiliary link member to prevent introversion and extroversion of a hip point from occurring when the rehabilitating person is walking; a foot support which comes into contact with the foot of the rehabilitating person; an ankle joint for connecting the foot support and the second auxiliary link member; and a second spring coupled to a side of the foot support to compensate an entropion angle.

摘要翻译： 具有被动机构的步态康复机器人包括：第一辅助连杆构件，连接到骨盆与修复人的膝盖之间的部分; 联接到所述第一辅助连杆构件的下端的接头; 耦合到所述关节的下端并连接到所述骨盆和所述康复者的膝盖之间的部分的第二辅助连接构件; 耦合到所述第一辅助连接构件的上端的第一弹簧，以防止在所述康复人行走时发生臀部的内向和外向; 与修复人员的脚接触的脚部支援; 用于连接脚支撑件和第二辅助连杆构件的踝关节; 以及耦合到所述脚支撑件的侧面以补偿熵角的第二弹簧。

公开(公告)号：US20100271540A1

公开(公告)日：2010-10-28

申请号：US12767252

申请日：2010-04-26

申请人： Kyung Geune Oh ,  Seung-Jong Kim ,  Myoung Soo Jang ,  Chan Yul Jung

发明人： Kyung Geune Oh ,  Seung-Jong Kim ,  Myoung Soo Jang ,  Chan Yul Jung

IPC分类号： H04N5/225

CPC分类号： F16M11/18 ,  F16M11/126

摘要： Various embodiments of an eyeball device for use in robots are provided. In one embodiment, the eyeball device has an eyeball, a main part having a camera, a frame having first and second sections, first and second actuators, a first connecting member and a second connecting member. The first section is horizontally pivotally coupled to the main part relative to the main part, while the second section vertically pivotally supports the eyeball. The first and second actuators produce rotary motions. The first connecting member is coupled to the first section and the first actuator to connecting the rotary motion of the first actuator to the first section. The second connecting member is coupled to the eyeball and the second actuator to transmit the rotary motion of the second actuator to the eyeball. The eyeball horizontally pivots through the first connecting member and vertically pivots through the second connecting member.

摘要翻译： 提供了用于机器人的眼球装置的各种实施例。 在一个实施例中，眼球装置具有眼球，具有照相机的主要部分，具有第一和第二部分的框架，第一和第二致动器，第一连接构件和第二连接构件。 第一部分相对于主要部分水平地枢转地联接到主要部分，而第二部分垂直地枢转地支撑眼球。 第一和第二致动器产生旋转运动。 第一连接构件联接到第一部分和第一致动器，以将第一致动器的旋转运动连接到第一部分。 第二连接构件联接到眼球和第二致动器以将第二致动器的旋转运动传递到眼球。 眼球通过第一连接构件水平地枢转并且通过第二连接构件垂直地枢转。

公开(公告)号：US08648963B2

公开(公告)日：2014-02-11

申请号：US12767252

申请日：2010-04-26

申请人： Kyung Geune Oh ,  Seung-Jong Kim ,  Myoung Soo Jang ,  Chan Yul Jung

发明人： Kyung Geune Oh ,  Seung-Jong Kim ,  Myoung Soo Jang ,  Chan Yul Jung

IPC分类号： H04N5/225 ,  G03B17/00 ,  H04N7/18 ,  H04N5/228

CPC分类号： F16M11/18 ,  F16M11/126

摘要： Various embodiments of an eyeball device for use in robots are provided. In one embodiment, the eyeball device has an eyeball, a main part having a camera, a frame having first and second sections, first and second actuators, a first connecting member and a second connecting member. The first section is horizontally pivotally coupled to the main part relative to the main part, while the second section vertically pivotally supports the eyeball. The first and second actuators produce rotary motions. The first connecting member is coupled to the first section and the first actuator to connecting the rotary motion of the first actuator to the first section. The second connecting member is coupled to the eyeball and the second actuator to transmit the rotary motion of the second actuator to the eyeball. The eyeball horizontally pivots through the first connecting member and vertically pivots through the second connecting member.

摘要翻译： 提供了用于机器人的眼球装置的各种实施例。 在一个实施例中，眼球装置具有眼球，具有照相机的主要部分，具有第一和第二部分的框架，第一和第二致动器，第一连接构件和第二连接构件。 第一部分相对于主要部分水平地枢转地联接到主要部分，而第二部分垂直地枢转地支撑眼球。 第一和第二致动器产生旋转运动。 第一连接构件联接到第一部分和第一致动器，以将第一致动器的旋转运动连接到第一部分。 第二连接构件联接到眼球和第二致动器以将第二致动器的旋转运动传递到眼球。 眼球通过第一连接构件水平地枢转并且通过第二连接构件垂直地枢转。

公开(公告)号：US08280553B2

公开(公告)日：2012-10-02

申请号：US12765113

申请日：2010-04-22

申请人： Kyung Goune Oh ,  Seung-Jong Kim ,  Myoung Soo Jang ,  Chan Yul Jung

发明人： Kyung Goune Oh ,  Seung-Jong Kim ,  Myoung Soo Jang ,  Chan Yul Jung

IPC分类号： G05B15/00

CPC分类号： A63H3/365

摘要： Various embodiments of a lip moving device for use in robots are provided. A lip moving device has first and second lip members. The first and second lip members are made from a flexible material. First and second driving parts apply torques to both ends of the first lip member, while third and fourth driving parts apply torques to both ends of the second lip member. The first and third driving parts are mounted in a first frame. The second and fourth driving parts are mounted in a second frame. The first and second frames are pivotally coupled to a supporting part. An adjusting part pivots the first and second frames relative to the supporting part to adjust a distance between the first and second frames.

摘要翻译： 提供了用于机器人的唇部移动装置的各种实施例。 唇部移动装置具有第一和第二唇缘部件。 第一和第二唇形构件由柔性材料制成。 第一和第二驱动部件将扭矩施加到第一唇缘构件的两端，而第三和第四驱动部分施加扭矩到第二唇形构件的两端。 第一和第三驱动部件安装在第一框架中。 第二和第四驱动部件安装在第二框架中。 第一和第二框架枢转地联接到支撑部分。 调节部件相对于支撑部件枢转第一和第二框架以调整第一和第二框架之间的距离。

公开(公告)号：US08789440B2

公开(公告)日：2014-07-29

申请号：US13314383

申请日：2011-12-08

申请人： Seung Jong Kim ,  Chang Hyun Cho ,  Jeong Soo Choi ,  Kyung Geune Oh ,  Chan Yul Jung

发明人： Seung Jong Kim ,  Chang Hyun Cho ,  Jeong Soo Choi ,  Kyung Geune Oh ,  Chan Yul Jung

IPC分类号： B25J17/00

CPC分类号： B25J11/0015 ,  B25J19/0016

摘要： This disclosure relates to a face robot which is operated similarly to the motion of a human head and a multi-joint manipulator which supports a robot's face, and more particularly, to a structure which may compensate an influence caused by the gravity and exerted on rotation parts rotating about its axes. A manipulator with a weight compensation mechanism of the disclosure is provided, the manipulator having rotation parts connected to a plurality of axes rotating about their axes, the manipulator including: a weight compensation mechanism that supports wires connected to the rotation parts receiving gravity in a rotation state by a spring and compensates an influence of gravity exerted on the rotation parts.

摘要翻译： 本公开涉及一种面向机器人，其类似于人体头部的运动和支持机器人面部的多关节机械手的操作，更具体地，涉及可以补偿由重力引起的影响并施加在旋转上的结构 零件围绕其轴旋转。 提供了具有本发明的重量补偿机构的操纵器，所述操纵器具有连接到围绕其轴线旋转的多个轴线的旋转部分，所述操纵器包括：重量补偿机构，其支撑连接到旋转部分的线， 通过弹簧状态补偿施加在旋转部件上的重力的影响。

公开(公告)号：US20100286828A1

公开(公告)日：2010-11-11

申请号：US12765113

申请日：2010-04-22

申请人： Kyung Geune Oh ,  Seung-Jong Kim ,  Myoung Soo Jang ,  Chan Yul Jung

发明人： Kyung Geune Oh ,  Seung-Jong Kim ,  Myoung Soo Jang ,  Chan Yul Jung

IPC分类号： G05B19/00

CPC分类号： A63H3/365

摘要： Various embodiments of a lip moving device for use in robots are provided. A lip moving device has first and second lip members. The first and second lip members are made from a flexible material. First and second driving parts apply torques to both ends of the first lip member, while third and fourth driving parts apply torques to both ends of the second lip member. The first and third driving parts are mounted in a first frame. The second and fourth driving parts are mounted in a second frame. The first and second frames are pivotally coupled to a supporting part. An adjusting part pivots the first and second frames relative to the supporting part to adjust a distance between the first and second frames.

摘要翻译： 提供了用于机器人的唇部移动装置的各种实施例。 唇部移动装置具有第一和第二唇缘部件。 第一和第二唇形构件由柔性材料制成。 第一和第二驱动部件将扭矩施加到第一唇缘构件的两端，而第三和第四驱动部分施加扭矩到第二唇形构件的两端。 第一和第三驱动部件安装在第一框架中。 第二和第四驱动部分安装在第二框架中。 第一和第二框架枢转地联接到支撑部分。 调节部件相对于支撑部件枢转第一和第二框架以调整第一和第二框架之间的距离。