KR20140135053A - Exoskeleton-type glove for driving bidirectional - Google Patents

Abstract

The present invention provides an exoskeleton-type glove capable of performing a bidirectional motion comprising: guides formed between joints of a body; a wire connected along the guides; and a motor connected to the wire, and controlling the wire to move a part of the body.

Description

[0001] EXOKELETON-TYPE GLOVE FOR DRIVING BIDIRECTIONAL [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a method for efficiently assisting movement of a body by connecting wires along a guide.

Many assistive devices in the form of wearing or wearing have been developed to assist people who have no part of the body or who can not move a part of the body. In particular, glove-type robots are being developed which are worn by putting them in their hands like gloves to help those who can not move their fingers.

Conventionally, a glove-shaped wearing robot generally has a sensor that uses an exoskeleton structure and has an actuator for moving the joint for each joint of each finger and has a sensor for sensing a moving displacement or an angle of the joint .

This is because, when a driving part or a sensor is installed on the moving part of the finger, the glove-mounted robot becomes very bulky and heavy. Due to such a complicated structure, there is a problem that the manufacturing cost becomes extremely high. Further, there is a problem in that the method of taking off the globe is complicated, and the size of the globe is fixed although the size of the hand is different for each person.

However, the exoskeleton structure is a device designed to surround a specific part of the body. The most serious disadvantage of all current exoskeleton-shaped gloves is that when the driving part or motor that moves the body part is attached to the body, Globes are not applied to real life.

One embodiment of the present invention provides a bi-directional exoskeleton globe that forms a guide between the joints of the body and connects the wires along a guide to pull the wire with the motor to move a portion of the body.

According to an embodiment of the present invention, a motor is disposed for each part to which the body is to be moved, a pulley is disposed next to the motor, and the pulley rotates the wire so that the wire is wound around the pulley in accordance with the direction of operation of the motor Gt; and / or < / RTI >

One embodiment of the present invention provides a bi-directional exoskeleton-type globe in which a bolt and a nut are arranged to adjust the length of a wire according to the size of a body with bolts and nuts to manually adjust the tension.

One embodiment of the present invention provides a bi-directional exoskeleton globe capable of placing a motor directly on a glove and pulling the wire with the motor to provide a large force using a small motor.

An embodiment of the present invention provides a bi-directional exoskeletal globe that is free from the palm and easy to hold objects because the motor is attached to the back of the hand or the wrist and is connected along the guide only by wires.

A bi-directional exoskeletal globe according to an embodiment of the present invention includes a guide formed between a joint and a joint of a body, a wire connected along the guide, and a wire connected to the wire, And a motor for controlling the motor to move.

The bidirectional motion exoskeletal globe may further include a pulley disposed between the wire and the motor to rotate the wire by the motor to wind or unwind the wire.

The wire may include a first wire connected along a guide formed in an inner region of the body, and a second wire connected along a guide formed in an outer region of the body.

Wherein the first wire is connected to the first wire and the other end opposite to the first end is connected to the second wire to wind the first wire according to an operation direction of the motor and to loosen the second wire, The first wire can be unwound and the second wire wound.

The bi-directional exoskeletal globe may further include a support for fixing the motor and the pulley to the body.

The motor may be disposed for each part of the body to be moved.

The motor may be disposed on at least one of the plurality of portions according to the direction of movement of the body.

A bi-directional exoskeletal globe according to another embodiment of the present invention includes a first layer directly contacting the body, a second layer on which the support and motor are formed on the first layer, and a second layer on which the guide and wire And a third layer for controlling the movement of the body.

The second layer may be formed of any one of suede, velvet, silicone, urethane, leather, rubber, and cotton.

Wherein the second layer controls the movement of the first portion of the body by disposing a first motor in an inner region of the body and disposing a second motor in an outer region of the body, And to control the movement of the second portion of the different body.

A bi-directional exoskeletal globe according to another embodiment of the present invention includes a guide formed between a joint and a joint of a body, a wire connected along the guide, a wire fixed to the support and connected to the wire, And a size adjusting unit connected to the motor to adjust the length of the wire according to the size of the body.

According to an embodiment of the present invention, a guide is formed between the joints of the body, and a wire is connected along the guide, so that the wire is pulled by the motor to move a part of the body.

According to an embodiment of the present invention, a motor is disposed for each portion of the body to be moved, and a pulley is disposed beside the motor so that the pulley rotates the wire, To be wound or unwound.

According to an embodiment of the present invention, a bolt and a nut may be disposed, and the tension may be manually adjusted by adjusting the length of the wire according to the size of the body with bolts and nuts.

According to one embodiment of the present invention, the motor can be placed directly on the globe and the wire can be pulled by the motor to provide a large force using a small motor.

According to the embodiment of the present invention, since the motor is attached to the back of the hand or the wrist, and is connected along the guide only by the wire, the palm is free and is easy to pick up.

1 is a front view of a bi-directional exoskeletal globe according to an embodiment of the present invention.
2 is a front view of a bi-directional exoskeletal glove according to an embodiment of the present invention.
Figures 3 and 4 are views showing pulleys contained in a bi-directional exoskeleton-based globe.
5 is a side view of a bi-directional exoskeletal globe according to an embodiment of the present invention.
6 is a view showing an example of a guide attached to a front surface of a bi-directional operation exoskeletal globe.
7 is a view showing an example of a guide attached to the back surface of the bi-directional exoskeletal globe.

Hereinafter, the configuration and operation according to the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following description with reference to the accompanying drawings, the same reference numerals denote the same elements regardless of the reference numerals, and redundant description thereof will be omitted. The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

1 is a front view of a bi-directional exoskeletal globe according to an embodiment of the present invention.

Referring to FIG. 1, the bi-directional exoskeletal glove 100 includes a guide 10 formed between a joint and a joint of a body, wires 20a and 20b connected along the guide, And a first motor (30) for controlling the wire to control a part of the body to move.

Body is a concept that includes people, animals, robots, etc. that have movable parts. Generally, to move the body, the joint should be centered around the exoskeleton. Thus, the guide 10 can be formed between the joints of the body and the joints. In the present invention, the body is defined as a 'human hand', and a guide 10 is formed between the nodes of the hand and the nodes.

The wires 20a and 20b are connected along the guide 10, depending on the embodiment, two wires can be used. A wire connected along a guide formed on an inner area (palm) of the body is referred to as a first wire 20a and a wire connected along a guide formed in an outer area (hand) of the body is referred to as a second wire 20a. (20b).

The wires 20a and 20b may be formed of a stretchable material or an inextensible material. At this time, the wires 20a and 20b may be twisted or twisted.

The first motor 30 is connected to the wires 20a and 20b and controls the wires 20a and 20b to move a part of the body. In an embodiment, the motor may be disposed for each part of the body to be moved. For example, if the body is a hand, one motor may be installed per finger. That is, since a person has five fingers, five motors can be used.

In another embodiment, the motor may be disposed in at least one of the plurality of portions according to the direction of movement of the body to be moved. For example, for those who do not have mittens or five fingers, one motor may be arranged to control the thumb, and one motor may be placed on the other finger. To do this, two wires can be placed so that the two wires are wound and unwound in different directions according to the direction of motion of the motor.

Therefore, according to the present invention, it is possible to arrange the motor directly on the glove, pull the wire with the motor, and provide a large force by using a small motor.

2 is a front view of a bi-directional exoskeletal glove according to an embodiment of the present invention.

2, the bi-directional exoskeletal globe includes a guide 10 formed between the joints and joints of the body, a second wire 20b connected along a guide formed in the outer region of the body (the back of the hand) And a second motor 40 connected to the second wire 20b and controlling the second wire 20b to move a part of the body.

That is, when the first wire 20a is disposed in the inner region of the body as shown in FIG. 1 and the second wire 20b is used in the outer region of the body as shown in FIG. 2, So that it can be rolled and loosened. For this purpose, the bi-directional exoskeleton-based glove may place the pulley 60 between the wires 20a, 20b and the motors 30, 40.

The pulley 60 serves as a pulley which rotates the wires 20a and 20b by the motors 30 and 40 to wind or unwind the wires 20a and 20b.

For example, when the first wire 20a is wound around the pulley 60 and the first motor 30 pulls the first wire 20a, the pulley 60 is rotated to rotate the pulley 60 The 1-wire 20a is released and the finger (thumb) is spread outwardly of the hand. On the contrary, when the first wire 20a pulled by the first motor 30 is placed, the pulley 60 is rotated so that the first wire 20a is wound on the pulley 60, Thumb) will be blurred.

For example, when the second wire 20b is wound around the pulley 60 and the second motor 40 pulls the second wire 20b, the pulley 60 is rotated to rotate the pulley 60 The two fingers 20b are released and the fingers (the fingers except the thumbs) of the hands are blurred toward the inside of the hand. On the contrary, when the second wire 20b pulled by the second motor 40 is placed, the pulley 60 is rotated and the second wire 20b is wound on the pulley 60, (Finger except the thumb) is spread.

One alternative motor 30a is disposed on the left side of the second motor 40. In the case where the first motor 30 is not formed on the palm as shown in FIG. 1, the alternative motor 30a May be arranged on the back of the hand as shown in Fig. That is, the replacement motor 30a can control the movement of the thumb instead of the first motor 30 of the palm.

In an embodiment, the pulley 60 may have one end connected to the first wire 20a and the other end opposite the end connected to the second wire 20b. Accordingly, the pulley 60 can wind the first wire 20a and unwind the second wire 20b or unwind the first wire 20a and wind the second wire 20b according to the direction of motion of the motor have.

In this case, it is possible to operate both the first wire 20a and the second wire 20b with a single motor. For example, when the motor rotates in the normal rotation direction, one end of the pulley 60 is disengaged and the other end is wound. When the motor rotates in the reverse rotation direction, one end of the pulley 60 may be wound and the other end may be disengaged.

In addition, the bi-directional exoskeletal glove may include a support 50 for fixing the motor 30, 40 and the pulley 60 to the body. The support base 50 may be made of a rigid material such as silicone, plastic, or the like.

Figures 3 and 4 are views showing pulleys contained in a bi-directional exoskeleton-based globe.

Referring to FIG. 3, the pulley 60 may include two rotating parts 60a and 60b having different diameters. Referring to FIG. 4, the first rotating portion 60a rotates the first wire 20a, and the second rotating portion 60b rotates the second wire 20b.

In an embodiment, the first rotating portion 60a can wind or loosen the first wire 20a under the control of the first motor 30 controlling the first wire 20a. The second rotating portion 60b can wind or unwind the second wire 20b under the control of the second motor 40 controlling the second wire 20b.

3, the bidirectional operation exoskeleton-type globe may be connected to the motor to adjust the length of the wire according to the size of the body. A bolt and a nut are arranged as a size adjusting unit 70, and a bolt and a nut adjust the length of the wire according to the size of the body. The body varies in size from one object to another and is different. Accordingly, the bidirectional operation exoskeleton-type globe can adjust the tension manually by adjusting the length of the wire according to the size of the body by placing the size adjuster 70.

Therefore, according to the present invention, since the motor is attached to the back of the hand or the wrist, and is connected along the guide only by the wires, the palm is free and is easy to pick up.

5 is a side view of a bi-directional exoskeletal globe according to an embodiment of the present invention.

5, the bi-directional exoskeletal globe includes a first layer 110 directly contacting the body, a second layer 120 on which a support and a motor are formed on the first layer 110, 120, and a third layer for controlling the movement of the body.

Since the first layer 110 is directly in contact with the body, a soft material such as cotton, suede, or velvet can be used.

Since the second layer 120 mounts the support and the motor, a somewhat rigid material of rubber material can be used. Alternatively, the second layer 120 may be formed of any one of suede, velvet, silicone, urethane, leather, rubber, and cotton.

The third layer may include a guide 10 formed in an inner region and an outer region of the body, and wires formed in an inner region and an outer region of the body along the guide 10. For example, the first wire 20a may be disposed in an inner region of the body, and the second wire 20b may be used in an outer region of the body. The second motor 40 can control the second wire 20b to move a part of the body.

The pulleys are disposed on the second layer 120 so that the wires 20a and 20b can be rotated by the second motor 40 to wind or unwind the wires 20a and 20b. Thus, by acting as a dowel, the pulley can provide a large force using a small motor that can be attached directly to the body.

In an embodiment, the second layer 120 may control the movement of the first portion of the body by disposing a first motor 30 in an interior region of the body. For example, when the body is 'hand', the first motor 30 can control the movement of the 'thumb', which is the first part of the hand.

For example, when the first wire 20a is wound around the pulley 60 and the first motor 30 pulls the first wire 20a, the pulley 60 is rotated to rotate the pulley 60 1 wire 20a is released, and the thumb is spread outwardly of the hand. On the contrary, when the first wire 20a pulled by the first motor 30 is placed, the first wire 20a is wound on the pulley 60 while the pulley 60 is rotated, This is what happens.

Alternatively, the second layer 120 may control the movement of the second portion of the body, which is different in the direction of motion from the first portion, by disposing the second motor 40 in the outer region of the body. For example, when the body is a "hand", the second motor 40 can control the movement of the 'wrong finger', which is the second part of the hand, which is different from the motion direction of the thumb.

For example, when the second wire 20b is wound around the pulley 60 and the second motor 40 pulls the second wire 20b, the pulley 60 is rotated to rotate the pulley 60 The two wires 20b are loosened, and the unstable fingers of the hands are blurred toward the inside of the hand. On the other hand, when the second wire 20b pulled by the second motor 40 is placed, the pulley 60 is rotated so that the second wire 20b is wound on the pulley 60, The fingers are stretched.

For example, the motor may be disposed for each part of the body to be moved. That is, when the body is a hand, one motor can be installed per finger, and since a person has five fingers, five motors can be used.

Alternatively, the at least one motor may be disposed in a plurality of portions according to the direction of movement of the body to be moved. For example, for those who do not have mittens or five fingers, one motor may be arranged to control the thumb, and one motor may be placed on the other finger. To do this, two wires can be placed so that the two wires are wound and unwound in different directions according to the direction of motion of the motor.

The size adjuster 70 may be connected to the second motor 40 on the second layer 120 to adjust the length of the wires 20a and 20b according to the size of the body. By adjusting the length of the wire according to the size of the body by setting the size adjusting portion 70, the tension can be manually adjusted.

6 is a view showing an example of a guide attached to a front surface of a bi-directional operation exoskeletal globe.

Referring to FIG. 6, the guide 10 may be formed between the joints of the body and the joints. As in the present invention, when the body is a 'human hand', a guide 10 may be formed between the nodes of the hand and the nodes. When the guide 10 is formed, a wire can be connected along the guide 10. 6, an example of the guide 10 formed on the palm of the hand is described, so that the first wire 20a may be formed as a wire.

7 is a view showing an example of a guide attached to the back surface of the bi-directional exoskeletal globe.

Referring to FIG. 7, the guide 10 is formed between the joints of the body and joints, and may be formed in an exoskeleton connected to a finger of a hand or the like. When the guide 10 is formed, the second wire 20b is connected along the guide 10 to rotate the second wire 20b with the second motor 40 attached to the back of the hand so as to move the finger .

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. This is possible. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents of the claims, as well as the claims.

100: Bi-directional Exoskeleton Globe
10: Guide
20a, 20b: wire
30: First motor
40: second motor
50: Support
60: pulley
70:

Claims (11)

A guide formed between the joints of the body and the joints;
A wire connected along the guide; And
A motor connected to the wire and controlling the wire to move a part of the body,
Lt; RTI ID = 0.0 > exoskeleton < / RTI >
The method according to claim 1,
A pulley which is disposed between the wire and the motor and rotates the wire by the motor to wind or unwind the wire,
Further comprising an exoskeleton-type globe.
3. The method of claim 2,
The wire
A first wire connected along a guide formed in an inner region of the body; And
A second wire connected along a guide formed in an outer region of the body,
Wherein the exogenous exoskeleton globule is a bi-directional exoskeleton globe.
The method of claim 3,
The pulley,
One end is connected to the first wire and the other end opposite to the one end is connected to the second wire,
And winding the first wire and unwinding the second wire or unwinding the first wire and winding the second wire according to the direction of motion of the motor.
3. The method of claim 2,
The motor and the pulley being fixed to the body,
Further comprising: a bi-directional exoskeleton globe.
The method according to claim 1,
The motor includes:
Wherein the body is disposed for each part to be moved by the body.
The method according to claim 1,
The motor includes:
Wherein at least one or more of the plurality of regions are disposed in accordance with an operation direction of a portion of the body to be moved.
A first layer directly contacting the body;
A second layer on which a support and a motor are formed on the first layer; And
A third layer for forming a guide and a wire on the second layer and controlling the movement of the body,
Lt; RTI ID = 0.0 > exoskeleton < / RTI >
9. The method of claim 8,
Wherein the second layer comprises:
Bi-directional exoskeleton globe consisting of one or more of the following: suede, velvet, silicone, urethane, leather, rubber and cotton.
9. The method of claim 8,
Wherein the second layer comprises:
A first motor disposed in an inner region of the body to control movement of the first portion of the body,
Wherein a second motor is disposed in an outer region of the body to control movement of a second portion of the body that is different in the direction of motion from the first region.
A guide formed between the joints of the body and the joints;
A wire connected along the guide;
A motor fixed on the support and connected to the wire, and controlling the wire to control the body to move; And
A size regulating unit connected to the motor for adjusting the length of the wire according to the size of the body,
Lt; RTI ID = 0.0 > exoskeleton < / RTI >

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