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1. 发明授权

US08380379B2 Walking assistive system 有权
标题翻译：行走辅助系统
公开(公告)号：US08380379B2
公开(公告)日：2013-02-19
申请号：US12902626
申请日：2010-10-12
申请人： Kai-Tai Song , Sin-Yi Jiang , Ko-Tung Huang
发明人： Kai-Tai Song , Sin-Yi Jiang , Ko-Tung Huang
IPC分类号： B62D51/04 , A61G5/05
CPC分类号： B60L15/20 , B60L2200/24 , B60L2240/421 , Y02T10/645 , Y02T10/646 , Y02T10/72 , Y02T10/7275
摘要： The present invention discloses a walking assistive system comprising a motion module, a current detecting module and a central control module. Each motion module includes omni-directional wheels, motors, shaft encoders and servo controllers. The omni-directional wheels are connected to and driven by the motors. The motors are connected to the shaft encoders, and the rotation speed values are generated corresponds to the rotation speed of the motors by the shaft coder. The servo controllers connected to the shaft encoders and the motors receive the rotation speed values and control the motors. The current detecting modules connected to the motors detect the current of the motors and generate current values correspondingly. The central control module connected to the motion control module and the current detecting module controls the platform compliant motion control modules according to the rotation speed values and the current values.
摘要翻译：本发明公开了一种行走辅助系统，包括运动模块，电流检测模块和中央控制模块。每个运动模块都包括全向轮，马达，轴编码器和伺服控制器。全方向车轮连接到电动机并由其驱动。电动机连接到轴编码器，并且通过轴编码器产生对应于电动机的转速的转速值。连接到轴编码器和电机的伺服控制器接收转速值并控制电机。连接到电动机的电流检测模块检测电动机的电流并相应地产生电流值。连接到运动控制模块的中央控制模块和电流检测模块根据转速值和当前值来控制平台兼容运动控制模块。

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