公开(公告)号：US20100192719A1

公开(公告)日：2010-08-05

申请号：US12439938

申请日：2006-12-07

申请人： Sung Chul Kang ,  Munsang Kim ,  Seung Jong Kim ,  Seung Kook Yun ,  Jeonghoon Yoo

发明人： Sung Chul Kang ,  Munsang Kim ,  Seung Jong Kim ,  Seung Kook Yun ,  Jeonghoon Yoo

IPC分类号： B25J17/00 ,  H02P6/08 ,  H02K49/10

CPC分类号： B25J19/0004 ,  Y10T74/20329

摘要： The present invention provides a device for generating and varying stiffness, which may be applied to a joint of a robot manipulator. The stiffness generating device of the present invention, comprises: a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.

摘要翻译： 本发明提供一种用于产生和改变刚度的装置，其可以应用于机器人操纵器的接头。 本发明的刚度产生装置包括：连接到从动构件的旋转轴; 固定在旋转轴上并具有包括磁性元件的臂的转子; 定子，其被布置成围绕所述转子在所述臂外围并连接到驱动电动机; 电磁体固定在定子的内周并且围绕旋转轴彼此相对，每个具有缠绕在芯上的芯和线圈; 以及用于向线圈施加电流的装置。 电磁体的一半在其内端具有N极，另一半的电磁体在其内端具有S极。 电流调节装置调节施加到线圈的电流。

公开(公告)号：US07965006B2

公开(公告)日：2011-06-21

申请号：US12439938

申请日：2006-12-07

申请人： Sung Chul Kang ,  Munsang Kim ,  Seung Jong Kim ,  Seung Kook Yun ,  Jeonghoon Yoo

发明人： Sung Chul Kang ,  Munsang Kim ,  Seung Jong Kim ,  Seung Kook Yun ,  Jeonghoon Yoo

IPC分类号： H02K49/00

CPC分类号： B25J19/0004 ,  Y10T74/20329

摘要： A device for generating and varying stiffness, which may be applied to a joint of a robot manipulator, the stiffness generating device having a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.

摘要翻译： 一种用于产生和变化刚度的装置，其可以应用于机器人操纵器的接头，所述刚度产生装置具有连接到从动构件的旋转轴; 固定在旋转轴上并具有包括磁性元件的臂的转子; 定子，其被布置成围绕所述转子在所述臂外围并连接到驱动电动机; 电磁体固定在定子的内周并且围绕旋转轴彼此相对，每个具有缠绕在芯上的芯和线圈; 以及用于向线圈施加电流的装置。 电磁体的一半在其内端具有N极，另一半的电磁体在其内端具有S极。 电流调节装置调节施加到线圈的电流。

公开(公告)号：US08434384B2

公开(公告)日：2013-05-07

申请号：US12862327

申请日：2010-08-24

申请人： Sung Chul Kang ,  Woo Sub Lee ,  Chang Mook Chun ,  Chang Hyun Cho

发明人： Sung Chul Kang ,  Woo Sub Lee ,  Chang Mook Chun ,  Chang Hyun Cho

IPC分类号： B25J17/00 ,  B25J17/02 ,  B25J18/00

CPC分类号： B25J19/0016 ,  Y10T74/19688 ,  Y10T74/20305 ,  Y10T74/20317 ,  Y10T74/20329

摘要： Disclosed herein is a weight compensation mechanism. A weight compensation mechanism is installed in a link member rotatable in a plurality of directions. The weight compensation mechanism includes a plurality of bevel gears that rotates in harmony with the rotation of the link member. Cam plates are connected to one or more of the bevel gears to be rotated together with the bevel gears. Weight offsetting parts are connected to the cam plates, respectively, and each of the weight offsetting parts compresses an elastic member based on the rotation of the link member and the cam plate to absorb gravitation generated by the weight of the link member.

摘要翻译： 这里公开了一种重量补偿机构。 重量补偿机构安装在可沿多个方向旋转的连杆构件中。 重量补偿机构包括与连杆构件的旋转一致地旋转的多个锥齿轮。 凸轮板连接到一个或多个锥齿轮以与锥齿轮一起旋转。 重量抵消部分分别连接到凸轮板，并且每个重量偏移部分基于连杆构件和凸轮板的旋转而压缩弹性构件，以吸收由连杆构件的重量产生的重力。

公开(公告)号：US08248217B2

公开(公告)日：2012-08-21

申请号：US12509174

申请日：2009-07-24

申请人： Sung Chul Kang ,  Dongseok Ryu ,  YongKwun Lee ,  Dong-Soo Kwon ,  Seung-Chan Kim ,  Tae-Heon Yang ,  Chong Hui Kim ,  Gi-Hun Yang

发明人： Sung Chul Kang ,  Dongseok Ryu ,  YongKwun Lee ,  Dong-Soo Kwon ,  Seung-Chan Kim ,  Tae-Heon Yang ,  Chong Hui Kim ,  Gi-Hun Yang

IPC分类号： H04B3/36

CPC分类号： G09B21/003

摘要： A tactile display apparatus includes a plurality of stimulation pins in contact with a skin; an operating unit for vertically moving the stimulation pins; and a housing accommodating the stimulation pins and the operating unit, the housing having an opening in one surface thereof such that the stimulation pins protrude outward. Here, the plurality of stimulation pins are arranged such that a contact area occupied by front ends of the stimulation pins is smaller than an area occupied by rear ends of the stimulation pins.

摘要翻译： 触觉显示装置包括与皮肤接触的多个刺激销; 用于垂直移动刺激销的操作单元; 以及容纳所述刺激销和所述操作单元的壳体，所述壳体在其一个表面中具有开口，使得所述刺激销向外突出。 这里，多个刺激销布置成使得由刺激销的前端占据的接触面积小于刺激销的后端占据的面积。

公开(公告)号：US09001032B2

公开(公告)日：2015-04-07

申请号：US13638348

申请日：2010-03-30

申请人： Gi-Hun Yang ,  Sung Chul Kang ,  Yeonsub Jin

发明人： Gi-Hun Yang ,  Sung Chul Kang ,  Yeonsub Jin

IPC分类号： G09G5/00 ,  G06F3/01

CPC分类号： G06F3/014 ,  G06F3/016

摘要： The present invention relates to a tactile transmission system using a glove type actuator device and a method thereof, and more particularly to a tactile transmission system using a glove type actuator device and a method thereof with which a user can cover his hand and which can directly transmit a movement according to a voltage level to a body part of the user through a piezo disk actuator attached to a position in which a stimulus is transmitted. The tactile transmission system according to one embodiment of the present invention comprises: a touch screen for driving a predetermined program; and a glove type actuator device for vibrating a part which comes in contact with the touch screen to provide curve information about a surface of an object on the program to be displayed on the touch screen. The glove type actuator device comprises: one or more actuator modules for providing vibration stimuli; a three-axis acceleration sensor for sensing positions of the actuator modules; and a controller for mapping the position information sensed by the three-axis acceleration sensor to a corresponding position on the touch screen and generating a driving signal to vibrate the actuator modules according to the curve information about the surface of the object corresponding to the mapped position.

摘要翻译： 本发明涉及一种使用手套式致动器装置的触觉传动系统及其方法，更具体地涉及一种使用手套式致动器的触觉传动系统及其方法，用户可以用该方法覆盖他的手并且可以直接 通过附接到其中传送刺激的位置的压电盘致动器将根据电压电平的运动发送到用户的身体部分。 根据本发明的一个实施例的触觉传输系统包括：用于驱动预定程序的触摸屏; 以及手套型致动器装置，用于振动与触摸屏接触的部分，以在要显示在触摸屏上的程序上提供关于对象的表面的曲线信息。 手套式致动器装置包括：用于提供振动刺激的一个或多个致动器模块; 用于感测致动器模块的位置的三轴加速度传感器; 以及控制器，用于将由三轴加速度传感器感测的位置信息映射到触摸屏上的相应位置，并产生驱动信号，以根据关于对应于映射位置的对象的表面的曲线信息振动致动器模块 。

公开(公告)号：US08854471B2

公开(公告)日：2014-10-07

申请号：US13125963

申请日：2009-11-13

申请人： Sung Chul Kang ,  Gi Hun Yang ,  Dugan Um ,  Dongseok Ryu

发明人： Sung Chul Kang ,  Gi Hun Yang ,  Dugan Um ,  Dongseok Ryu

IPC分类号： H04N5/33 ,  G06T7/00 ,  G01S17/02

CPC分类号： G01S17/02 ,  G06T7/70 ,  G06T2207/10048 ,  G06T2207/10152

摘要： Disclosed herein are an infrared (IR) sensor and a sensing method using the same, in which disturbance by an external luminous object is removed using the IR sensor that irradiates IR light into a sensing area to sense an object, so that the position or distance of the object can be precisely and accurately sensed. An IR sensor includes an illumination unit that irradiates IR light into a sensing area; an image pickup device that obtains an IR image in the sensing area by sensing the IR light incident from the sensing area; and a control unit that controls the emission time at which the illumination unit irradiates the IR light and the pickup time of the image pickup device. In the IR sensor, the control unit includes an illumination controller that controls the emission time of the illumination unit; an image pickup device controller that controls the pickup time of the image pickup device; a memory that stores the IR image obtained by the image pickup device; and an image processor that calculates the position or distance of the object in the sensing area by performing comparison operation processing with respect to an IR image obtained when the illumination unit irradiates the IR light and an IR image obtained when the illumination unit does not irradiate the IR light in the IR images stored in the memory.

摘要翻译： 本发明公开了一种红外线（IR）传感器和使用该红外线（IR）传感器的感测方法，其中使用将IR光照射到感测区域中以感测物体的IR传感器去除外部发光体的干扰，使得位置或距离 可以精确和准确地感测物体。 IR传感器包括将IR光照射到感测区域中的照明单元; 图像拾取装置，通过感测从感测区域入射的IR光获得感测区域中的IR图像; 以及控制单元，其控制照明单元照射IR光的发射时间和图像拾取装置的拾取时间。 在IR传感器中，控制单元包括控制照明单元的发射时间的照明控制器; 图像拾取装置控制器，其控制图像拾取装置的拾取时间; 存储由图像拾取装置获得的IR图像的存储器; 以及图像处理器，其通过对照明单元照射IR光获得的IR图像和当照明单元不照射IR光获得的IR图像进行比较运算处理来计算感测区域中的物体的位置或距离 红外光在存储在存储器中的IR图像中。

公开(公告)号：US08366560B2

公开(公告)日：2013-02-05

申请号：US12995665

申请日：2008-07-22

申请人： Woo Sub Lee ,  Sung Chul Kang ,  Mun Sang Kim ,  Jun Ho Choi ,  Chang Mook Chun

发明人： Woo Sub Lee ,  Sung Chul Kang ,  Mun Sang Kim ,  Jun Ho Choi ,  Chang Mook Chun

IPC分类号： F16D3/12

CPC分类号： B25J19/06 ,  F16D7/10

摘要： A coupling device has a flexible member that is vertically connected to a rotating shaft and of which the length can be varied in an inward and outward direction with respect to the rotating shaft, an elastic member that is connected to the flexible member and causes the flexible member to receive an elastic force in the outward direction with respect to the rotating shaft, and a cam member that is rotatably connected to the rotating shaft and delivers a rotating force of the rotating shaft to a rotating member. The cam member has a through-hole having an initial-position portion in which the flexible member is positioned at the initial stage and a displaced-position portion which has a smaller diameter than the initial-position portion and of which the diameter is constant about the rotating shaft, and an another through-hole having an initial-position portion in which the flexible member is positioned and a return-position portion of which the radius decreases from the initial-position portion.

摘要翻译： 联接装置具有垂直连接到旋转轴的柔性构件，其长度可以相对于旋转轴在向内和向外的方向上变化;弹性构件，其连接到柔性构件，并且使柔性构件 构件相对于旋转轴在向外方向上接收弹力;以及凸轮构件，其可旋转地连接到旋转轴并将旋转轴的旋转力传递到旋转构件。 凸轮构件具有通孔，该通孔具有初始位置部分，柔性构件位于初始位置，并且位移部分具有比初始位置部分更小的直径并且其直径恒定在约 旋转轴和另一通孔，其具有弹性构件所在的初始位置部分和从初始位置部分起半径减小的返回位置部分。

公开(公告)号：US20120013745A1

公开(公告)日：2012-01-19

申请号：US13125963

申请日：2009-11-13

申请人： Sung Chul Kang ,  Gi Hun Yang ,  Dugan Um ,  Dongseok Ryu

发明人： Sung Chul Kang ,  Gi Hun Yang ,  Dugan Um ,  Dongseok Ryu

IPC分类号： H04N5/33

CPC分类号： G01S17/02 ,  G06T7/70 ,  G06T2207/10048 ,  G06T2207/10152

摘要： Disclosed herein are an infrared (IR) sensor and a sensing method using the same, in which disturbance by an external luminous object is removed using the IR sensor that irradiates IR light into a sensing area to sense an object, so that the position or distance of the object can be precisely and accurately sensed. An IR sensor includes an illumination unit that irradiates IR light into a sensing area; an image pickup device that obtains an IR image in the sensing area by sensing the IR light incident from the sensing area; and a control unit that controls the emission time at which the illumination unit irradiates the IR light and the pickup time of the image pickup device. In the IR sensor, the control unit includes an illumination controller that controls the emission time of the illumination unit; an image pickup device controller that controls the pickup time of the image pickup device; a memory that stores the IR image obtained by the image pickup device; and an image processor that calculates the position or distance of the object in the sensing area by performing comparison operation processing with respect to an IR image obtained when the illumination unit irradiates the IR light and an IR image obtained when the illumination unit does not irradiate the IR light in the IR images stored in the memory.

摘要翻译： 本发明公开了一种红外线（IR）传感器和使用该红外线（IR）传感器的感测方法，其中使用将IR光照射到感测区域中以感测物体的IR传感器去除外部发光体的干扰，使得位置或距离 可以精确和准确地感测物体。 IR传感器包括将IR光照射到感测区域中的照明单元; 图像拾取装置，通过感测从感测区域入射的IR光获得感测区域中的IR图像; 以及控制单元，其控制照明单元照射IR光的发射时间和图像拾取装置的拾取时间。 在IR传感器中，控制单元包括控制照明单元的发射时间的照明控制器; 图像拾取装置控制器，其控制图像拾取装置的拾取时间; 存储由图像拾取装置获得的IR图像的存储器; 以及图像处理器，其通过对照明单元照射IR光获得的IR图像和当照明单元不照射IR光获得的IR图像进行比较运算处理来计算感测区域中的物体的位置或距离 红外光在存储在存储器中的IR图像中。

公开(公告)号：US20100073151A1

公开(公告)日：2010-03-25

申请号：US12509174

申请日：2009-07-24

申请人： Sung Chul Kang ,  Dongseok Ryu ,  YongKwun Lee ,  Dong-Soo Kwon ,  Seung-Chan Kim ,  Tae-Heon Yang ,  Chong Hui Kim ,  Gi-Hun Yang

发明人： Sung Chul Kang ,  Dongseok Ryu ,  YongKwun Lee ,  Dong-Soo Kwon ,  Seung-Chan Kim ,  Tae-Heon Yang ,  Chong Hui Kim ,  Gi-Hun Yang

IPC分类号： H04B3/36 ,  G06F3/041

CPC分类号： G09B21/003

摘要： A tactile display apparatus includes a plurality of stimulation pins in contact with a skin; an operating unit for vertically moving the stimulation pins; and a housing accommodating the stimulation pins and the operating unit, the housing having an opening in one surface thereof such that the stimulation pins protrude outward. Here, the plurality of stimulation pins are arranged such that a contact area occupied by front ends of the stimulation pins is smaller than an area occupied by rear ends of the stimulation pins.

摘要翻译： 触觉显示装置包括与皮肤接触的多个刺激销; 用于垂直移动刺激销的操作单元; 以及容纳刺激销和操作单元的壳体，壳体在其一个表面中具有开口，使得刺激销向外突出。 这里，多个刺激销布置成使得由刺激销的前端占据的接触面积小于刺激销的后端占据的面积。

公开(公告)号：US20090013771A1

公开(公告)日：2009-01-15

申请号：US12216007

申请日：2008-06-27

申请人： Sung Chul Kang ,  Hyouk Ryeol Choi

发明人： Sung Chul Kang ,  Hyouk Ryeol Choi

IPC分类号： G01B5/28

CPC分类号： G01B5/28 ,  G01B7/34

摘要： A texture measuring apparatus that measures surface information of an object includes: a probe coming into contact with the object while moving on a surface of the object; a first sensor unit, provided at the probe, for detecting a force acting on the probe in a direction perpendicular to a lengthwise direction of the probe; and a second sensor unit, provided at the rear of the probe, for detecting a force acting on the probe in the lengthwise direction of the probe. The apparatus further includes a third sensor unit, provided between the first sensor unit and the second sensor unit, for detecting variations in the forces acting on the probe.

摘要翻译： 测量物体的表面信息的纹理测量装置包括：在物体的表面上移动时与物体接触的探针; 设置在所述探针上的第一传感器单元，用于检测沿垂直于所述探针的长度方向的方向作用在所述探针上的力; 以及第二传感器单元，设置在探针的后部，用于检测在探针的长度方向上作用在探针上的力。 该装置还包括设置在第一传感器单元和第二传感器单元之间的用于检测作用在探针上的力的变化的第三传感器单元。