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1. (WO2014178695) UPPER LIMB EXOSKELETON STRUCTURE HAVING SHOULDER JOINT WITH TILTING AND VERTICAL MOVEMENTS
Latest bibliographic data on file with the International Bureau   

Pub. No.:    WO/2014/178695    International Application No.:    PCT/KR2014/004028
Publication Date: 06.11.2014 International Filing Date: 07.05.2014
IPC:
B25J 13/00 (2006.01), B25J 9/06 (2006.01), A61H 3/00 (2006.01)
Applicants: UNIST ACADEMY-INDUSTRY RESEARCH CORPORATION [KR/KR]; 50, UNIST-gil, Eonyang-eup Ulju-gun Ulsan 689-798 (KR)
Inventors: BAE, Joon Bum; (KR).
JUNG, Yeong Tae; (KR)
Agent: CHANG&HAN PATENT&LAW FIRM; 14th FL., Seocho G-well Tower 1678-4, Seocho-dong Seocho-gu Seoul 137-070 (KR)
Priority Data:
10-2013-0050200 03.05.2013 KR
Title (EN) UPPER LIMB EXOSKELETON STRUCTURE HAVING SHOULDER JOINT WITH TILTING AND VERTICAL MOVEMENTS
(FR) STRUCTURE D'EXOSQUELETTE DE MEMBRE SUPÉRIEUR AYANT UNE ARTICULATION D'ÉPAULE AVEC MOUVEMENTS D'INCLINAISON ET VERTICAUX
(KO) 틸팅 및 수직이동하는 어깨 조인트를 갖는 상지 외골격 구조체
Abstract: front page image
(EN)The technical task according to the present invention is to provide an upper-limb exoskeleton structure allowing more natural movements therewith and a safe operation by resolving the singularity issue. To that end, a method for controlling the upper-limb exoskeleton structure according to the present invention is characterized by vertically moving the shoulder joint of the upper-limb exoskeleton structure, and additionally tilting the shoulder joint in order to position the singularity point exhibited by the exoskeleton outside the area of range of possible motions by the upper limbs. Representative drawing figure 4
(FR)La tâche technique selon la présente invention consiste à fournir une structure d'exosquelette de membre supérieur permettant des mouvements plus naturels avec celui-ci et une opération sûre en résolvant le problème de singularité. A cette fin, un procédé de commande de la structure d'exosquelette de membre supérieur selon l'invention est caractérisé par un mouvement vertical de l'articulation d'épaule de la structure d'exosquelette de membre supérieur, et en outre par inclinaison de l'articulation de l'épaule de manière à positionner le point de singularité présenté par l'exosquelette hors de la zone de plage de mouvements possibles par les membres supérieurs. Figure représentative : figure 4
(KO)본 발명은 상지 외골격을 통한 보다 자연스러운 움직임이 가능함과 동시에 특이점 문제를 해결하여 안전한 작동이 가능한 상지 외골격 구조체를 제공하는 것을 그 기술적 과제로 하고 있다. 이러한 기술적 과제를 달성하기 위하여, 본 발명에 의한 상지 외골격 구조체에 대한 제어방법은, 상기 상지 외골격 구조체의 어깨 조인트의 상하 움직임과 더불어 외골격에서 나타나는 특이점을 상지가 움직일 수 있는 범위 밖에 위치시키기 위해 어깨 조인트를 틸팅하는 것을 특징으로 한다.
Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KN, KP, KZ, LA, LC, LK, LR, LS, LT, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW.
African Regional Intellectual Property Organization (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG).
Publication Language: Korean (KO)
Filing Language: Korean (KO)