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1. 发明授权

US08405340B2 Robot arm and method of controlling the same 有权
标题翻译：机器人手臂及其控制方法
公开(公告)号：US08405340B2
公开(公告)日：2013-03-26
申请号：US12588691
申请日：2009-10-23
申请人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
IPC分类号： G05B9/02
CPC分类号： B25J9/1638 , G05B2219/39194 , G05B2219/40264
摘要： Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm.
摘要翻译：公开了一种机器人臂，其具有高的后驾驶性能，与人类相互作用，其被安全地停止，以及控制机器人手臂的方法。当机器人臂具有高反向驾驶性能与人相互作用的操作由于出现紧急情况而被转换为安全模式，其中机器人手臂的操作停止时，仅具有一定程度的扭矩补偿施加到机器人手臂的重力，即，仅输出维持机器人手臂的当前状态的运动学位置而不会因重力而使机器人手臂下降的扭矩，以控制机器人手臂，就好像机器人臂是在失重状态下，能够安全地停止机器人手臂。

2. 发明申请

US20100141197A1 Robot arm and method of controlling the same 有权
标题翻译：机器人手臂及其控制方法
公开(公告)号：US20100141197A1
公开(公告)日：2010-06-10
申请号：US12588691
申请日：2009-10-23
申请人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
IPC分类号： G05B9/02
CPC分类号： B25J9/1638 , G05B2219/39194 , G05B2219/40264
摘要： Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm. Thereby, a user can easily move the robot arm and thus safely escape from the robot arm, and it is possible to prevent the falling of the robot arm due to gravity and thus to protect devices of the robot arm and peripheral environment around the robot arm.
摘要翻译：公开了一种机器人臂，其具有高的后驾驶性能，与人类相互作用，其被安全地停止，以及控制机器人手臂的方法。当机器人臂具有高反向驾驶性能与人相互作用的操作由于出现紧急情况而被转换为安全模式，其中机器人手臂的操作停止时，仅具有一定程度的扭矩补偿施加到机器人手臂的重力，即，仅输出维持机器人手臂的当前状态的运动学位置而不会因重力而使机器人手臂下降的扭矩，以控制机器人手臂，就好像机器人臂是在失重状态下，能够安全地停止机器人手臂。由此，使用者能够容易地移动机器人手臂，从而可以安全地从机器人臂逃逸，并且能够防止机器人臂因重力而坠落，从而保护机器人手臂的装置和机器人臂周围的环境。

3. 发明授权

US08606402B2 Manipulator and control method thereof 有权
标题翻译：机械手及其控制方法
公开(公告)号：US08606402B2
公开(公告)日：2013-12-10
申请号：US13004515
申请日：2011-01-11
申请人： Kwang Kyu Lee , Kyung Shik Roh , Jong Do Choi , Kyung Won Moon , Ji Young Kim
发明人： Kwang Kyu Lee , Kyung Shik Roh , Jong Do Choi , Kyung Won Moon , Ji Young Kim
IPC分类号： B25J9/02
CPC分类号： B25J9/1676 , G05B2219/40338 , G05B2219/40362
摘要： A manipulator, and a control method thereof, calculates a degree of freedom (DOF) used to prevent collision with an obstacle in consideration of an order of priority of DOFs for an operation and collision avoidance contribution. The manipulator judges whether there is danger of collision of the manipulator with an obstacle, judges whether or not there is at least one operating DOF capable of avoiding collision with the obstacle among the plurality of operating DOFs, upon judging that there is danger of collision with the obstacle, and avoids collision with the obstacle using at least one operating DOF having the lowest priority while performing the operation among the at least one operating DOF capable of avoiding collision with the obstacle, upon judging that there is the at least one operating DOF capable of avoiding collision with the obstacle.
摘要翻译：操纵器及其控制方法考虑到操作的自由度优先顺序和防碰撞贡献，计算用于防止与障碍物碰撞的自由度（DOF）。操纵器判断机械手是否存在障碍物碰撞的危险，判断是否存在与多个操作DOF中的障碍物碰撞的至少一个操作DOF，障碍物，并且在判断出存在至少一个操作DOF能力的情况下，在执行能够避免与障碍物碰撞的至少一个操作DOF之间的操作时，使用具有最低优先级的至少一个操作DOF来避免与障碍物的碰撞避免与障碍物的碰撞。

4. 发明授权

US08538583B2 Robot and control method 有权
标题翻译：机器人和控制方法
公开(公告)号：US08538583B2
公开(公告)日：2013-09-17
申请号：US12985623
申请日：2011-01-06
申请人： Ji Young Kim , Kyung Shik Roh , Jong Do Choi , Kwang Kyu Lee , Kyung Won Moon
发明人： Ji Young Kim , Kyung Shik Roh , Jong Do Choi , Kwang Kyu Lee , Kyung Won Moon
IPC分类号： B25J13/02 , B25J13/08
CPC分类号： B25J9/1612 , G05B2219/40202
摘要： A robot one of transfers an article to an external subject and receives the article from the human subject and flexibly copes with changes in human intention. If a pushing force applied to robot hands is sensed, the robot hands grip and pull the article to inform the external subject that the robot hands are prepared to receive the article from the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or a pulling force applied to the robot hands is sensed. If the pulling force applied to a robot hands is sensed, the robot pushes the article to inform the external subject that the robot hands are prepared to transfer the article to the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or the pulling force applied to the robot hands is sensed.
摘要翻译：机器人将文章转移到外部对象，并从人类受试者接收物品，并灵活应对人类意图的变化。如果感测到施加到机器人手的推力，则机器人手抓住并拉动物品以通知外部对象，机器人手准备从外部主体接收物品，并将物品转移到外部物体根据是否感测到施加到机器人手的推力或拉力，来自外部被摄体的物品。如果感测到施加到机器人手的拉力，则机器人推动物品以通知外部对象，机器人手准备将物品转移到外部物体，并将物品转移到外部物体或将物品从根据是否感测到施加到机器人手的推力或拉力，外部被检体。

5. 发明申请

US20110166709A1 ROBOT AND CONTROL METHOD 有权
标题翻译：机器人和控制方法
公开(公告)号：US20110166709A1
公开(公告)日：2011-07-07
申请号：US12985623
申请日：2011-01-06
申请人： Ji Young KIM , Kyung Shik Roh , Jong Do Choi , Kwang Kyu Lee , Kyung Won Moon
发明人： Ji Young KIM , Kyung Shik Roh , Jong Do Choi , Kwang Kyu Lee , Kyung Won Moon
IPC分类号： G05B15/00
CPC分类号： B25J9/1612 , G05B2219/40202
摘要： A robot one of transfers an article to an external subject and receives the article from the human subject and flexibly copes with changes in human intention. If a pushing force applied to robot hands is sensed, the robot hands grip and pull the article to inform the external subject that the robot hands are prepared to receive the article from the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or a pulling force applied to the robot hands is sensed. If the pulling force applied to a robot hands is sensed, the robot pushes the article to inform the external subject that the robot hands are prepared to transfer the article to the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or the pulling force applied to the robot hands is sensed.
摘要翻译：机器人将文章转移到外部对象，并从人类受试者接收物品，并灵活应对人类意图的变化。如果感测到施加到机器人手的推力，则机器人手抓住并拉动物品以通知外部对象，机器人手准备从外部主体接收物品，并将物品转移到外部物体根据是否感测到施加到机器人手的推力或拉力，来自外部被摄体的物品。如果感测到施加到机器人手的拉力，则机器人推动物品以通知外部对象，机器人手准备将物品转移到外部物体，并将物品转移到外部物体或将物品从根据是否感测到施加到机器人手的推力或拉力，外部被检体。

6. 发明申请

US20110172819A1 MANIPULATOR AND CONTROL METHOD THEREOF 有权
标题翻译：操纵器及其控制方法
公开(公告)号：US20110172819A1
公开(公告)日：2011-07-14
申请号：US13004515
申请日：2011-01-11
申请人： Kwang Kyu LEE , Kyung Shik Roh , Jong Do Choi , Kyung Won Moon , Ji Young Kim
发明人： Kwang Kyu LEE , Kyung Shik Roh , Jong Do Choi , Kyung Won Moon , Ji Young Kim
IPC分类号： B25J9/00
CPC分类号： B25J9/1676 , G05B2219/40338 , G05B2219/40362
摘要： A manipulator, and a control method thereof, calculates a degree of freedom (DOF) used to prevent collision with an obstacle in consideration of an order of priority of DOFs for an operation and collision avoidance contribution. The manipulator judges whether there is danger of collision of the manipulator with an obstacle, judges whether or not there is at least one operating DOF capable of avoiding collision with the obstacle among the plurality of operating DOFs, upon judging that there is danger of collision with the obstacle, and avoids collision with the obstacle using at least one operating DOF having the lowest priority while performing the operation among the at least one operating DOF capable of avoiding collision with the obstacle, upon judging that there is the at least one operating DOF capable of avoiding collision with the obstacle.
摘要翻译：操纵器及其控制方法考虑到操作的自由度优先顺序和防碰撞贡献，计算用于防止与障碍物碰撞的自由度（DOF）。操纵器判断机械手是否存在障碍物碰撞的危险，判断是否存在与多个操作DOF中的障碍物碰撞的至少一个操作DOF，障碍物，并且在判断出存在至少一个操作DOF能力的情况下，在执行能够避免与障碍物碰撞的至少一个操作DOF之间的操作时，使用具有最低优先级的至少一个操作DOF来避免与障碍物的碰撞避免与障碍物的碰撞。

7. 发明授权

US08271137B2 Robot and method of controlling the same 有权
标题翻译：机器人及其控制方法
公开(公告)号：US08271137B2
公开(公告)日：2012-09-18
申请号：US12585188
申请日：2009-09-08
申请人： Kyung Won Moon , Kyung Shik Roh , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Hyun Kyu Kim
IPC分类号： B25J19/06 , G05B15/00 , G06F19/00
CPC分类号： B25J9/1674 , B25J13/085
摘要： There is provided a robot, which compensates for the angle of a joint, bent due to external force, using a redundant degree of freedom of the robot, and a method of controlling the same. The method includes sensing a bending angle of a joint due to external force or a torque applied to the joint, comparing the bending angle of the joint or the torque applied to the joint with an allowable safety reference value; and adjusting the bending angle of a higher-level joint of the joint using a redundant degree of freedom of the robot, when the bending angle or the torque reaches the allowable safety reference value, thereby compensating for the excessively bending angle of the joint and thus being capable of safely controlling the robot.
摘要翻译：提供了一种机器人，其利用机器人的冗余自由度来补偿由于外力而弯曲的关节的角度及其控制方法。该方法包括：检测由于外力或接头施加的扭矩引起的接头的弯曲角度，将接头的弯曲角度或施加到接头处的扭矩进行比较和允许的安全参考值; 并且当弯曲角度或扭矩达到允许的安全参考值时，使用机器人的冗余自由度来调节接头的上级接头的弯曲角度，从而补偿接头的过度弯曲角度，从而能够安全地控制机器人。

8. 发明授权

US08553842B2 X-ray apparatus and control method thereof 有权
标题翻译： X射线装置及其控制方法
公开(公告)号：US08553842B2
公开(公告)日：2013-10-08
申请号：US13137634
申请日：2011-08-30
申请人： Kyung Won Moon , San Lim , Kwang Kyu Lee , Kyung Shik Roh
发明人： Kyung Won Moon , San Lim , Kwang Kyu Lee , Kyung Shik Roh
IPC分类号： H05G1/08 , H05G1/02
CPC分类号： A61B6/4452 , A61B6/0407 , A61B6/4464 , A61B6/467 , A61B6/547 , A61B6/587
摘要： An X-ray apparatus includes guide rails arranged along different axes, an X-ray tube movably mounted on at least one of the guide rails and adapted to be moved upon user force, motors provided at the guide rails to move the X-ray tube, a force detection unit to detect the user force, and a control unit to determine a direction of force and drive the motor provided at the guide rail on an axis corresponding to the determined direction. The X-ray apparatus may be easily moved based on force detection and velocity control of the motor, thereby achieving more precise and safe movement in a desired direction. Accordingly, the X-ray apparatus may provide rapid and efficient medical examination and treatment in hospitals.
摘要翻译： X射线设备包括沿着不同轴线布置的导轨，X射线管可移动地安装在至少一个导轨上并且适于在用户力下移动，设置在导轨上的电动机以移动X射线管检测用户力的力检测单元，以及确定力方向的控制单元，并且在与所确定的方向对应的轴上驱动设置在导轨上的马达。可以基于马达的力检测和速度控制容易地移动X射线装置，从而在期望的方向上实现更精确和安全的运动。因此，X射线设备可以在医院中提供快速有效的体检。

9. 发明授权

US09298194B2 Method to control medical equipment 有权
标题翻译：控制医疗设备的方法
公开(公告)号：US09298194B2
公开(公告)日：2016-03-29
申请号：US13317999
申请日：2011-11-02
申请人： Kwang Kyu Lee , San Lim , Kyung Won Moon , Kyung Shik Roh
发明人： Kwang Kyu Lee , San Lim , Kyung Won Moon , Kyung Shik Roh
IPC分类号： G05B19/04 , A61B6/10 , G05D15/01 , A61B6/00
CPC分类号： G05D15/01 , A61B6/102 , A61B6/107 , A61B6/4441 , A61B6/4447 , A61B6/4452
摘要： A method to control medical equipment that moves along at least one axis or performs joint movement is provided. While the medical equipment is passively moved as operated by the operator, the operation intention of the operator is determined using a force sensor, a torque sensor, or the like, and motor control is performed taking into consideration the determined operation intention to reduce load (or drive power) of the operator. To accomplish this, the method determines a direction and magnitude of force that an operator applies to the medical equipment to move the medical equipment and generates auxiliary force having a magnitude proportional to the force applied by the operator and having the same direction as the direction of the force applied by the operator such that the medical equipment may be moved.
摘要翻译：提供了一种控制沿着至少一个轴线移动或执行关节运动的医疗设备的方法。当医疗设备由操作者操作被动地移动时，使用力传感器，扭矩传感器等来确定操作者的操作意图，并且考虑所确定的操作意图来执行电动机控制以减轻负载（或驱动功率）。为了实现这一点，该方法确定了操作者施加到医疗设备以移动医疗设备的力的方向和大小，并产生具有与操作者施加的力成比例的大小的辅助力，并且具有与方向相同的方向由操作者施加的力使得医疗设备可以移动。

10. 发明申请

US20120136480A1 Method to control medical equipment 有权
标题翻译：控制医疗设备的方法
公开(公告)号：US20120136480A1
公开(公告)日：2012-05-31
申请号：US13317999
申请日：2011-11-02
申请人： Kwang Kyu Lee , San Lim , Kyung Won Moon , Kyung Shik Roh
发明人： Kwang Kyu Lee , San Lim , Kyung Won Moon , Kyung Shik Roh
IPC分类号： G05B19/04 , G05D15/01
CPC分类号： G05D15/01 , A61B6/102 , A61B6/107 , A61B6/4441 , A61B6/4447 , A61B6/4452
摘要： A method to control medical equipment that moves along at least one axis or performs joint movement is provided. While the medical equipment is passively moved as operated by the operator, the operation intention of the operator is determined using a force sensor, a torque sensor, or the like, and motor control is performed taking into consideration the determined operation intention to reduce load (or drive power) of the operator. To accomplish this, the method determines a direction and magnitude of force that an operator applies to the medical equipment to move the medical equipment and generates auxiliary force having a magnitude proportional to the force applied by the operator and having the same direction as the direction of the force applied by the operator such that the medical equipment is easily moved.
摘要翻译：提供了一种控制沿着至少一个轴线移动或执行关节运动的医疗设备的方法。当医疗设备由操作者操作被动地移动时，使用力传感器，扭矩传感器等来确定操作者的操作意图，并且考虑所确定的操作意图来执行电动机控制以减轻负载（或驱动功率）。为了实现这一点，该方法确定了操作者施加到医疗设备以移动医疗设备的力的方向和大小，并产生具有与操作者施加的力成比例的大小的辅助力，并且具有与方向相同的方向由操作者施加的力使得医疗设备容易移动。

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