KR20100069293A - 상지거동을 위한 착용형 로봇장치 - Google Patents
상지거동을 위한 착용형 로봇장치 Download PDFInfo
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- KR20100069293A KR20100069293A KR1020080127942A KR20080127942A KR20100069293A KR 20100069293 A KR20100069293 A KR 20100069293A KR 1020080127942 A KR1020080127942 A KR 1020080127942A KR 20080127942 A KR20080127942 A KR 20080127942A KR 20100069293 A KR20100069293 A KR 20100069293A
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- 210000001364 upper extremity Anatomy 0.000 title claims description 40
- 238000012549 training Methods 0.000 title description 2
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Abstract
Description
Claims (12)
- 인체의 상지에 탈착수단을 매개로 탈부착 가능하며 인체의 어깨 관절과 팔꿈치 관절의 신전/굴곡 동작 및 어깨 관절의 외전/내전 동작이 가능하도록 복수개의 어깨 관절 구동부와 팔꿈치 관절 구동부(350)로 구성되는 로봇부(300)와,상기 로봇부(300)를 지지하며 상기 로봇부(300)의 상,하 및 좌,우 위치를 이동시켜 조정하기 위한 스테이션부(200)와,상기 로봇부(300)에 배치되며 상기 인체의 상지 거동을 센서로 감지하고 감지된 신호를 전기적 신호로 출력하는 감지부와,상기 감지부로부터 출력된 신호를 인가받아 상기 어깨 관절 구동부와 팔꿈치 관절 구동부(350)의 구동을 제어하는 제어부(550)를 구비한 것을 특징으로 하는 상지거동을 위한 착용형 로봇장치.
- 청구항 1에 있어서,상기 스테이션부(200)는 상기 로봇부(300)의 단부가 고정되도록 배치되며 리니어 액츄에이터를 매개로 상기 로봇부(300)를 좌,우 이동시키는 이동대(220)와,상기 이동대(220)의 하부에 신축 가능하게 배치되고 리니어 액츄에이터를 매개로 상기 이동대(220)를 상,하 승강동작시키는 승강대(210)와,상기 승강대(210)의 하부에 배치되어 승강대(210)를 지지하는 베이스(100)를 구비한 것을 특징으로 하는 상지거동을 위한 착용형 로봇장치.
- 청구항 1에 있어서,상기 감지부는 상기 로봇부(300)의 일측에 배치되어 상기 인체의 상지로부터 전달되는 힘을 전기적 신호로 출력하는 복수의 로드셀을 구비한 것을 특징으로 하는 상지거동을 위한 착용형 로봇장치.
- 청구항 3에 있어서,상기 감지부는 팔꿈치 관절의 움직임을 1축 감지방식으로 감지하여 이를 동작의도신호로 출력하는 제 1로드셀(510)과,상기 제 1로드셀(510)과 이격된 위치에 배치되고 어깨 관절의 움직임을 2축 감지방식으로 감지하여 이를 동작의도신호로 출력하는 제 2로드셀(520)로 구성된 것을 특징으로 하는 상지거동을 위한 착용형 로봇장치.
- 청구항 1에 있어서,상기 탈착수단은 상기 로봇부(300)의 일측에 띠 형태로 배치되며 양측 단부가 벨크로 테이프에 의해 탈 부착 가능한 결속 밴드(400)인 것을 특징으로 하는 상지거동을 위한 착용형 로봇장치.
- 청구항 1 내지 청구항 5중 어느 한 항에 있어서,상기 로봇부(300)는 상기 어깨 관절 구동부와 팔꿈치 관절 구동부(350) 사이 에 각각 배치되고 각각 회전 가능하도록 연결되며 어깨를 감싸는 구조로 설계된 연결링크(315,325,335)를 구비한 것을 특징으로 하는 상지거동보조 및 재활을 위한 착용형 로봇장치.
- 청구항 6에 있어서,상기 어깨 관절 구동부와 팔꿈치 관절 구동부(350)는 각각 외부로부터 인가되는 전기적 신호를 입력받아 구동되는 모터축을 가지며 상기 연결링크(315,325,335)에 회전력을 부여하도록 각각 배치되는 모터와,상기 모터의 구동력을 상기 연결링크(315,325,335)측으로 전달하는 동력 전달부를 구비한 것을 특징으로 하는 상지거동을 위한 착용형 로봇장치.
- 청구항 6에 있어서,상기 어깨 관절 구동부들은 상기 연결링크(315,325,335)를 매개로 인체와 상기 로봇부(300)가 서로 간섭되지 않도록 서로 다른 배치각도를 갖는 것을 특징으로 하는 상지거동을 위한 착용형 로봇장치.
- 청구항 7에 있어서,상기 로봇부(300)는 상기 연결링크(315,325,335)를 매개로 각각 연결되는 4개의 제 1,2,3,4어깨 관절 구동부(310,320,330,340)를 구비한 것을 특징으로 하는 상지거동을 위한 착용형 로봇장치.
- 청구항 9에 있어서,상기 제 4어깨 관절 구동부와 상기 팔꿈치 관절 구동부(350) 사이에 배치된 연결링크는 인체의 상박(上膊;A1)부위와 대응되도록 배치되며 연결수단을 매개로 상,하 길이 조절이 가능하도록 분할된 상부 링크 암(362,364)과,인체의 하박(下膊;A2) 부위에 대응되도록 상기 팔꿈치 관절 구동부(350)의 단부에 배치되는 하부 링크 암(372,374)으로 구성된 것을 특징으로 하는 상지거동을 위한 착용형 로봇장치.
- 청구항 9에 있어서,상기 제 1,2,3,4어깨 관절 구동부(310,320,330,340)의 모터 축 중심방향이 인체의 어깨 관절의 중심 축에 교차하도록 배치된 것을 특징으로 하는 상지거동을 위한 착용형 로봇장치.
- 청구항 1에 있어서,상기 로봇부(300)의 동작을 사용자의 선택에 따라 자유의지 거동 모드 또는 지속적 수동운동 모드로 선택하는 선택수단을 더 구비하되,상기 선택수단은 상기 자유의지 거동모드와 지속적 수동운동 모드를 선택하는 선택스위치(530)로부터 신호를 인가받아 상기 제어부(550)에서 상기 어깨 관절 구동부 및 팔꿈치 관절 구동부(350)의 구동을 각각 제어하도록 된 것을 특징으로 하는 상지거동을 위한 착용형 로봇장치.
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US8968220B2 (en) | 2015-03-03 |
WO2010071252A1 (en) | 2010-06-24 |
US20110251533A1 (en) | 2011-10-13 |
KR101065420B1 (ko) | 2011-09-16 |
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