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1. 发明授权

KR101274255B1 보스부 부착형 광학 토크 센서 및 이를 포함하는 로봇 有权
标题翻译： BOSS固定型光学转矩传感器和包含该传感器的机器人
公开(公告)号：KR101274255B1
公开(公告)日：2013-06-17
申请号：KR1020120056318
申请日：2012-05-25
申请人： 엘아이지넥스원 주식회사 , 한국과학기술원
发明人： 김수현 , 김경수 , 김지철 , 구동한 , 유재관 , 김범수 , 백주현
IPC分类号： G01L3/08 , B25J19/02 , B25J17/00
CPC分类号： G01L3/08 , B25J13/08 , B25J17/00 , B25J19/02
摘要： PURPOSE: A boss unit fixing type torque sensor and a robot with the same are provided to include a photo interrupt measuring the elastic displacement of spokes, thereby obtaining the torque sensor which is thin and strong against the noise. CONSTITUTION: A robot with a spoke type optical torque sensor(100) comprises a boss unit(110), a rim unit(120), a photo interrupt(130), spokes(140), and a blocking unit(150). The photo interrupt is formed in the inner periphery of the rim unit and includes a light emitting unit and a light receiving unit separately formed by facing in the direction of the thickness of the rim unit. The spokes are connected to the boss unit to the rim unit and elastically transforms in a rotational direction by the difference in relative displacement of the boss unit and the rim unit. The blocking unit is fixed to the boss unit and is formed to be faced to the rim unit. The blocking unit, which is arranged between the light emitting unit and the light receiving unit according to the displacement of the boss unit caused by the transformation of the spokes, blocks the lights emitted by the light emitting unit, thereby controlling the amount of received lights of the light receiving unit.
摘要翻译：目的：提供一种凸台单元固定式扭矩传感器和具有该凸轮单元固定型扭矩传感器的机器人，以包括测量辐条的弹性位移的光中断，从而获得抵抗噪声的薄而强的扭矩传感器。构成：具有轮辐型光学扭矩传感器（100）的机器人包括凸台单元（110），轮辋单元（120），照片中断（130），辐条（140）和阻挡单元（150）。照片中断形成在边缘单元的内周边，并且包括发光单元和光接收单元，其分别形成为沿着边缘单元的厚度方向。轮辐与凸台单元连接到轮辋单元，并通过凸台单元和轮辋单元的相对位移的差异沿旋转方向弹性变形。阻挡单元固定到凸台单元并且形成为面向边缘单元。根据由辐条的变形引起的凸起单元的位移，布置在发光单元和光接收单元之间的阻挡单元阻挡由发光单元发射的光，从而控制接收到的光的量的光接收单元。

2. 发明授权

KR101264122B1 저전력 구동 가능한 가변 강성 장치 및 이를 포함하는 로봇 有权
标题翻译：低功率可变刚度单元和包含该单元的机器人
公开(公告)号：KR101264122B1
公开(公告)日：2013-05-14
申请号：KR1020120067575
申请日：2012-06-22
申请人： 엘아이지넥스원 주식회사 , 한국과학기술원
发明人： 김경수 , 구동한 , 김지철 , 김수현 , 유재관 , 김범수 , 백주현
IPC分类号： B25J19/06 , B25J17/00
摘要： PURPOSE: A variable rigidity device and a robot including the same are provided to control rigidity with low power by vertically forming an input side power and an output side power through selecting one among multiple pulleys with a different diameter from one another. CONSTITUTION: A variable rigidity device comprises a cable(110), an input side pulley assembly(120), an output side pulley(130), and a rigidity control unit(140). The input side pulley assembly includes two or more pulleys where the cable is input and the diameter gradually increases or decreases in an axial direction. The output side pulley is connected to the same rotary shaft as an input side pulley and outputs the cable in a different direction from the input direction of the cable. The rigidity control unit guides the cable to one of the pulleys.
摘要翻译：目的：提供一种可变刚性装置和包括该刚性装置的机器人，通过在彼此具有不同直径的多个皮带轮中选择一个，通过垂直地形成输入侧功率和输出侧电力来控制低功率的刚度。构成：可变刚度装置包括电缆（110），输入侧滑轮组件（120），输出侧滑轮（130）和刚性控制单元（140）。输入侧滑轮组件包括两个或更多个滑轮，其中电缆被输入并且直径在轴向方向上逐渐增加或减小。输出侧滑轮连接到与输入侧滑轮相同的旋转轴，并且沿与电缆的输入方向不同的方向输出电缆。刚性控制单元将电缆引导到其中一个滑轮。

3. 发明授权

KR101274249B1 스포크형 광학 토크 센서 및 이를 포함하는 로봇 有权
标题翻译： SPOKE型光学转矩传感器和包含它的机器人
公开(公告)号：KR101274249B1
公开(公告)日：2013-06-17
申请号：KR1020120056315
申请日：2012-05-25
申请人： 엘아이지넥스원 주식회사 , 한국과학기술원
发明人： 김수현 , 김경수 , 김지철 , 구동한 , 유재관 , 김범수 , 백주현
IPC分类号： G01L3/08 , B25J19/02 , B25J17/00
CPC分类号： G01L3/08 , B25J13/08 , B25J17/00 , B25J19/02
摘要： PURPOSE: A spoke type optical torque sensor and a robot with the same are provided to obtain the torque sensor which is thin and strong against noise, thereby enabling to apply to a joint of a small military robot or a service robot. CONSTITUTION: A robot with a spoke type optical torque sensor(100) comprises a boss unit(110), a rim unit(120), a photo interrupt(130), spokes(140), and a blocking unit(150). The photo interrupt is formed in the inner periphery of the rim unit and includes a light emitting unit and a light receiving unit separately formed by facing in the direction of the thickness of the rim unit. The spokes are connected to the boss unit to the rim unit and elastically transforms in a rotational direction by a relative displacement difference of the boss unit and the rim unit. The blocking unit is fixed to the boss unit and is formed to be faced to the rim unit. The blocking unit, which is arranged between the light emitting unit and the light receiving unit according to the displacement of the boss unit caused by the transformation of the spokes, blocks lights emitted by the light emitting unit, thereby controlling the amount of received lights from the light receiving unit.
摘要翻译：目的：提供一种轮辐式光转矩传感器和具有该转矩传感器的机器人，以获得抵抗噪声的薄而强的转矩传感器，从而能够应用于小型军用机器人或服务机器人的接头。构成：具有轮辐型光学扭矩传感器（100）的机器人包括凸台单元（110），轮辋单元（120），照片中断（130），辐条（140）和阻挡单元（150）。照片中断形成在边缘单元的内周边，并且包括发光单元和光接收单元，其分别形成为沿着边缘单元的厚度方向。轮辐与凸台单元连接到轮辋单元，并且通过凸台单元和轮辋单元的相对位移差在旋转方向上弹性变形。阻挡单元固定到凸台单元并且形成为面向边缘单元。根据由辐条的变形引起的凸起单元的位移，布置在发光单元和光接收单元之间的阻挡单元阻挡由发光单元发射的光，从而控制从光发射单元光接收单元。

4. 发明授权

KR101243139B1 착용 로봇의 센서 장치 및 이를 포함하는 착용 로봇 有权
标题翻译：具有机器人的传感器装置和包含该机器人的可磨损机器人
公开(公告)号：KR101243139B1
公开(公告)日：2013-03-13
申请号：KR1020120056316
申请日：2012-05-25
申请人： 엘아이지넥스원 주식회사 , 한국과학기술원
发明人： 김경수 , 구동한 , 김지철 , 김수현 , 유재관 , 김범수 , 백주현
IPC分类号： B25J19/02 , B25J5/00
摘要： PURPOSE: A sensor device of a wearing robot and the wearing robot including the same are provided to enable calibration work corresponding to the body size of the user by including the calibration unit. CONSTITUTION: A sensor device of a wearing robot comprises an outer frame(100), an inner frame(200), an elastic member(300), and a photo interrupter(400). The outer frame forms one or more hinge units(110). The inner frame is located inside of the outer frame in order to touch the body of a wearer. The inner frame is movably connected inside of the outer frame. The elastic member is located in between the inside of the outer frame and the inner frame. The elastic member supplies the force of restitution so that the inner frame locates far from the outer frame. The photo interrupter is formed on the outer frame and includes a light emitting unit and a light receiving unit.
摘要翻译：目的：提供一种佩戴机器人的传感器装置和包括其的穿戴机器人，以通过包括校准单元来实现与用户身体尺寸相对应的校准工作。构成：磨损机器人的传感器装置包括外框架（100），内框架（200），弹性构件（300）和光断续器（400）。外框架形成一个或多个铰链单元（110）。内框架位于外框架的内部，以便接触穿戴者的身体。内框架可移动地连接在外框架的内部。弹性构件位于外框架的内侧和内框架之间。弹性构件提供恢复力，使得内框架远离外框架。光断续器形成在外框上，包括发光单元和光接收单元。

5. 发明公开

KR1020140030477A 역감 생성 장치 有权
标题翻译：反馈力生成装置
公开(公告)号：KR1020140030477A
公开(公告)日：2014-03-12
申请号：KR1020120095499
申请日：2012-08-30
申请人： 한국과학기술원
发明人： 김경수 , 박지혁 , 신영준 , 구동한 , 김지철 , 김병진 , 이창희
IPC分类号： B25J19/02 , B25J13/06
摘要： The present invention relates to a feedback force generation device, and more specifically, to a feedback force generation device which variously generates and controls feedback force applied to a human body using the jamming phenomenon of a particle. The feedback force generation device according to one embodiment of the present invention includes a flexible housing which comes in contact with a human body, a plurality of particles which are arranged within the housing, and a vacuum control unit which vacuumizes the inside of the housing.
摘要翻译：反馈力产生装置技术领域本发明涉及一种反馈力产生装置，更具体地，涉及一种反馈力产生装置，其使用粒子的卡住现象各种地生成和控制施加到人体的反馈力。根据本发明的一个实施例的反馈力产生装置包括与人体接触的柔性壳体，布置在壳体内的多个颗粒，以及对壳体内部进行抽真空的真空控制单元。

6. 发明公开

KR1020120116672A 공벌레를 생체 모방한 정찰 로봇 有权
标题翻译：由PILL BUGS启发的重新确定机器人
公开(公告)号：KR1020120116672A
公开(公告)日：2012-10-23
申请号：KR1020110034256
申请日：2011-04-13
申请人： 한국과학기술원
发明人： 김수현 , 박종원 , 김지철 , 김영국 , 권지훈
IPC分类号： B25J5/00 , B25J19/00
摘要： PURPOSE: A reconnaissance robot Inspired by a pill bug is provided to rapidly approach to a target position by moving along the ground surface with a wheel-leg. CONSTITUTION: A reconnaissance robot(100) Inspired by a pill bug comprises a unit body(110), a movable unit(120), and an exterior shell(130). The modules of the unit body are rotated around a Y-axis, and rolled up in order that the leading end of a front unit body contacts with the end part of the final unit body in a protect mode. The unit bodies are arranged side by side in a drive mode. Each hinge of the modules is opened by a driving unit for switching the mode. The unit bodies contact with a plane, and the robot is driven by the movable unit.
摘要翻译：目的：侦察机器人受到药丸的启发是为了通过用车轮腿沿地面移动快速接近目标位置。构成：侦察机器人（100）受到药丸的启发，包括单元体（110），可移动单元（120）和外壳（130）。单元体的模块围绕Y轴旋转，并且卷起，以使前单元体的前端以保护模式与最终单元体的端部接触。单元体在驱动模式下并排布置。模块的每个铰链由用于切换模式的驱动单元打开。单元体与平面接触，机器人由可移动单元驱动。

7. 发明授权

KR101474875B1 역감 생성 장치 有权
标题翻译：反馈力生成装置
公开(公告)号：KR101474875B1
公开(公告)日：2014-12-22
申请号：KR1020120095499
申请日：2012-08-30
申请人： 한국과학기술원
发明人： 김경수 , 박지혁 , 신영준 , 구동한 , 김지철 , 김병진 , 이창희
IPC分类号： B25J19/02 , B25J13/06
摘要： 본발명에의한역감생성장치는, 신체부와접촉하도록되어있는가요성하우징과, 상기하우징내부에배치되는복수개의입자와, 상기하우징내부를진공상태로할 수있는진공제어부를포함한다.

8. 发明授权

KR101314276B1 한손 구동 휠체어 有权
标题翻译：一个手动驾驶轮椅
公开(公告)号：KR101314276B1
公开(公告)日：2013-10-02
申请号：KR1020120053318
申请日：2012-05-18
申请人： 한국과학기술원
发明人： 김수현 , 김지철 , 강태수 , 김남윤 , 김민기 , 황진율 , 김문홍 , 정지현 , 손용민
IPC分类号： A61G5/02 , F16H48/00 , A61G5/10
摘要： PURPOSE: One hand driving wheelchair is provided to rotate first and second shafts in the same direction while driving forward and backward, thereby realizing auto-driving with a hand. CONSTITUTION: One hand driving wheelchair comprises: a pair of frames (10) positioned at the right and left sides of the user, supporting the seat; first and second shafts (22, 24) installed under the seat across the pair of frames, and positioned on the same shaft; a differential gear (30) comprised to rotate the first and second shafts at the same speed or at a different speed; a pair of wheels (40) positioned outside of the frame; a driving handle installed to be rotated on one of the frames; and a power transmission device (60) delivering the rotary power of the driving handle to the differential gear.
摘要翻译：目的：提供单手驾驶轮椅，使第一和第二轴沿相同方向旋转，同时向前和向后驱动，从而实现手自动驾驶。构成：单手驾驶轮椅包括：一对位于使用者左右两侧的框架（10），支撑座椅; 第一和第二轴（22,24）安装在座椅下方穿过该对框架并位于相同的轴上; 差速齿轮（30），其以相同的速度或不同的速度旋转所述第一和第二轴; 位于框架外部的一对轮（40）; 安装在其中一个框架上旋转的驱动手柄; 以及将驱动手柄的旋转动力传递到差动齿轮的动力传递装置（60）。

9. 发明授权

KR101254112B1 공벌레를 생체 모방한 정찰 로봇 有权
标题翻译：侦察机器人灵感来自药丸虫
公开(公告)号：KR101254112B1
公开(公告)日：2013-04-12
申请号：KR1020110034256
申请日：2011-04-13
申请人： 한국과학기술원
发明人： 김수현 , 박종원 , 김지철 , 김영국 , 권지훈
IPC分类号： B25J5/00 , B25J19/00
摘要： 본 발명은 공벌레를 생체 모방한 정찰 로봇에 관한 것으로, 본 발명의 목적은 생체모방을 통하여 생물체의 특징을 추출하고 이를 응용함으로써, 소형 정찰 로봇이 갖추어야 할 특성 즉 소형 및 경량화, 높은 기동성, 투척 용이성, 높은 험지 주행 성능을 모두 충족시킬 수 있는, 공벌레를 생체 모방한 정찰 로봇을 제공함에 있다. 보다 구체적으로는, 본 발명의 목적은 공벌레의 특성과 유사하게, 단위 몸체 다수 개가 서로 직렬로 연결된 다절 몸체로 이루어져, 보호 모드 시에는 다절 몸체가 말린 형태가 되며 외피가 둥근 형태를 형성하게 되고, 주행 모드 시에는 몸체가 펼쳐져 주행이 이루어지게 되는, 공벌레를 생체 모방한 정찰 로봇을 제공함에 있다.

10. 发明公开

KR1020140126056A 포토 인터럽터 센서를 이용한 위치 측정 센서 및 그 센서를 이용하는 하중 측정 센서 有权
标题翻译：使用摄影中断传感器的位置传感器和使用相同的负载传感器
公开(公告)号：KR1020140126056A
公开(公告)日：2014-10-30
申请号：KR1020130044090
申请日：2013-04-22
申请人： 한국과학기술원
发明人： 김경수 , 김수현 , 이동욱 , 구동한 , 김지철
IPC分类号： G01B11/00 , G01L1/00
摘要： 본 발명에 의한 포토 인터럽터 센서를 이용한 위치 측정 센서는 발광부와 수광부를 포함하는 포토 인터럽터 센서 몸체부(10)와; 상기 발광부와 수광부 사이에 배치되는 인터럽터 부재(20)를 포함한다. 그리고 상기 인터럽터 부재(20)는 그라디언트가 맵이 인쇄되어 있는 투명 필름 부재이다. 상기 그라디언트 맵은 상기 인터럽터 부재(20)의 길이 방향을 따라서 인쇄되어 있다.
摘要翻译：一种使用光电断续器传感器的位置测量传感器包括：光断续传感器主体单元（10），包括发光单元和光接收单元; 以及放置在发光单元和光接收单元之间的中断器构件（20）。断路器构件（20）是印刷梯度图的透明膜构件。沿着断流器构件（20）的纵向印刷梯度图。

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