A robot and method of controlling the same are provided. The robot includes a hand and an arm, a grip sensor unit configured to enable the hand to sense an object, a grip control unit configured to determine whether the hand grips the object from gripping information obtained from the grip sensor unit, select an object-based coordinate to control the hand and the arm based on a motion of the object or an independent coordinate to independently control the hand and the arm according to a result of the determination, and control the hand and the arm based on the selected coordinate, and a coordinate transformation unit configured to calculate a position and a direction of a virtual object based on the object-based coordinate, and deliver information about the position and the direction of the virtual object calculated to the grip control unit.

Robot and control method thereof

The invention discloses a multifunctional knee joint rehabilitation instrument which comprises a bearing body comprising a work surface, a shank supporting part, a thigh supporting part, a knee support and a magnetic heating device, wherein the bearing body is provided with at least two guide rail structures which are distributed on the work surface or on the two sides of the work surface in parallel; the shank supporting part is obliquely arranged on the work surface, and the end of the shank supporting part can be movably arranged on the guide rail structures and connected with a power device A; the thigh supporting part and the shank supporting part form an inverted V-shaped structure, the thigh supporting part is provided with a non-retractable portion, a retractable portion and a power device B, one end of the non-retractable portion is hinged to the bearing body, one end of the retractable portion is hinged to the end, not connected with the power device A, of the shank supporting part, and the power device B is arranged between the non-retractable portion and the retractable portion; the knee support is used for supporting a knee joint and performing the function of stretching the knee joint, and the knee support is arranged on the connection portion of a large supporting part and a small supporting part; the magnetic heating device is arranged on the bearing body through a lifting device and located above the knee support. A magnetic heating therapeutic instrument and a knee joint moving assembly are integrated, so that the multifunctional knee joint rehabilitation instrument can achieve three therapeutic methods at the same time, and time is saved.

Multifunctional knee joint rehabilitation instrument

A knee rehabilitation device is provided which can be used in various stages of knee rehabilitation to facilitate a full range of knee motion and promote joint flexibility following a knee impairment. The device, which can be used by a patient with or without the aid of medical personnel, is simple to use, compact, and is highly adjustable to accommodate different therapy regimens, and different leg sizes. To achieve maximum stretch of affected tissues of a pathologic joint, the device can be used without the need of lower extremity muscle involvement. A first embodiment device is machined or cast from a lightweight structural metal, such as titanium, aluminum or magnesium. The device includes a handle of adjustable length that is rotatably coupled to a parallel-beam leg support. The leg support provides attachment points for multiple adjustable bands that bridge the gap between the parallel beams.

Knee rehabilitation device

A robotic tool changer removably attaches a robotic tool to a robotic arm. The changer includes a tool module connected to the robotic tool, and a master module connected to the robotic arm. To attach and detach the robotic tool, the changer couples and uncouples the tool module and the master module. A master electrical signal module (ESM) affixes to the master module and a tool ESM affixes to the tool module. In accordance with design requirements, the changer applies the same power supply to both the master ESM and the tool ESM. The changer, however, selectively suppresses application of the power supply to the tool ESM, while maintaining application of the power supply to the master ESM, during the coupling or uncoupling of the master module and the tool module. In doing so, the changer enables such coupling and uncoupling, while also preventing the formation of transient electric arcs.

Power Control of a Robotic Tool Changer

PURPOSE: A rehabilitation training device for wrists and ankles is provided to easily train the wrists and ankles of a user. CONSTITUTION: A rehabilitation training device for wrists and ankles comprises a base frame (10), a connecting frame (20), a driving unit frame (30), a pivot frame (40), a first driving unit, a second driving unit, a body coupling member (70), and holding members (81). The connecting frame is rotationally connected to the base frame. The driving unit frame is rotationally connected to a first rotary shaft. The pivot frame is rotationally connected to a second rotary shaft. The first driving unit rotates against the first rotary shaft. The second driving unit rotates against the second rotary shaft. The body coupling member is fixed to the body of a user. The holding members are selectively combined with or released from the pivot frame.

Apparatus for rehabilitation training of wrist and ankle

A rehabilitation device for compound joint exercise is provided, which is applicable to other parts of articulation including the knee joint and makes carrying and wearing convenient. A rehabilitation device for compound joint exercise comprises: top and bottom support frames(210,220) which are extended to upper and lower restriction members(110,120) around the body part of articulation; and a driving part(300) which is arranged at the connection part of the top and bottom support frames and rotates the bottom support frame using the driving force of the motor(310) which is driven by the external power supply. The driving part comprises a motor shaft, first and second clamp rings delivering the torque of the motor, a clamp holder, and a bearing member.

Rehabilitation medicine device for compound joint motion

A walking mode determination apparatus of human legs, an assistance muscular strength robot for human legs having the same and a walking mode determination method of human legs using the same are provided to help a user to walk by sensing the electromyogram of his/her legs. A walking mode determination apparatus of legs includes a sensing device, a control portion and a driving portion(200). The sensing device senses the signal value of a first electromyogram of a first muscle and a signal value of a second electromyogram of a second muscle included in a knee. The control portion is electrically connected to the sensing device, and compares the first and second electromyogram with reference electromyogram signal value to set up the waling mode of legs. The driving portion is electrically connected to the control portion, and generates different driving forces according to the walking modes.

Walking mode determination apparatus of human body legs and assistance muscular strength robot for human body legs having the same and walking mode determination method of human body legs using the same

A wearable robot mechanism for 3-DOF(Degrees Of Freedom) shoulder joint behavior is provided to be applied to various purposes including rehabilitation, military, and construction work by embodying three degrees of freedom in shoulder joint. A wearable robot mechanism for 3-DOF shoulder joint behavior comprises a first joint(100) comprising a second link and is inclined 45° to the ground surface, a second joint(200) comprising a fourth link, a third joint(300) comprising a sixth link, a link support(400) comprising a seventh link, and a supporter(500) which supports the first link of the first joint in order to apply the combination link of the first, second, and third joints to virtual human body.

Development of wearable robot mechanism for 3 dof shoulder joint behavior

PURPOSE: A rehabilitation device for the knee joint is provided to evenly deliver the torque generated from a drive unit to the left and right of an upper support and a lower support. CONSTITUTION: A rehabilitation device for the knee joint comprises an upper support(100), lower support(200), and a link rotating unit(300). On one side of the upper support, an upper frame is installed. The lower support comprises a lower frame extended to the end of the upper frame. The link rotating unit comprises a first rotating link and a second rotating link which are rotationally combined with the upper frame and lower frame, respectively.

Rehabilitation machine device for knee joint

PURPOSE: A multi-joint rehabilitation robot system is provided to improve the efficiency of rehabilitation exercises of patients having the free moving centrode of joints on a robot. CONSTITUTION: A multi-joint rehabilitation robot system includes a multi-joint robot(100), and an interface device(200). The multi-joint robot is capable of performing high-freedom rehabilitation exercises. A patient wears the interface device for the robots to study the centrode of joints and provide the rehabilitation exercises. The interface device connects the patient to terminals of the multi-joint robot, using a handle unit with a detection module, and a grip combining unit fixing the upper limbs of the patient.

Han Chang Soo

Papers

Rehabilitation medicine device for compound joint motion

Walking mode determination apparatus of human body legs and assistance muscular strength robot for human body legs having the same and walking mode determination method of human body legs using the same

Development of wearable robot mechanism for 3 dof shoulder joint behavior

Rehabilitation machine device for knee joint

Robot system for rehabilitation