# US 11,897,125 B2 · Spring array device for verifying reliability and accuracy of mechanical impedance estimating robot and connecting structure therebetween

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- Number: US 11,897,125 B2
- Document ID: US11897125B2
- Status: Granted
- Kind: B2
- Application number: 16/788,263
- Filed: 2020-02-11
- Published: 2020-10-22
- Granted: 2024-02-13
- Earliest claimed: 2019-04-18
- Assignees: Unist (Ulsan National Institute of Science and Technology)
- Applicants: Unist(Ulsan National Institute of Science and Technology)
- Inventors: Sang Hoon Kang; Hyunah Kang
- Web page: https://patentgrep.com/patent/US11897125B2

## CPC

- B25J 19/0095: {Means or methods for testing manipulators}
- A61B 5/0048: {Detecting, measuring or recording by applying mechanical forces or stimuli (A61B5/021, A61B5/4884 and A61B9/00 take precedence)}
- A61B 5/458: {Evaluating the elbow}
- A61B 5/6825: {Hand}
- A61B 5/4528: {Joints (A61B5/4533, A61B5/4538 take precedence)}
- A61B 2505/09: Rehabilitation or training
- A61B 2560/0223: of calibration, e.g. protocols for calibrating sensors
- F16F 2230/0005: Attachment, e.g. to facilitate mounting onto confer adjustability
- G01L 1/04: by measuring elastic deformation of gauges, e.g. of springs
- G01L 5/161: using variations in ohmic resistance
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- F16F: SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G)

## Abstract

A 3D spring array device includes: a fixed body having an internal space therein; a moving body positioned in a center of an x-y-z orthogonal coordinate system in the internal space, wherein the moving body is configured to be fastenable to the end effector of the mechanical impedance estimating robot; and a first spring, a second spring, a third spring, a fourth spring, a fifth spring, a sixth spring, a seventh spring, and an eighth spring and configured to connect the fixed body to the moving body in the internal space.

## Claims

### Claim 1

A three-dimensional (3D) spring array device that is fastenable to an end effector of a mechanical impedance estimating robot so as to verify reliability and accuracy of the mechanical impedance estimating robot, the 3D spring array device comprising:
a fixed body having an internal space therein;
a moving body positioned in a center of an x-y-z orthogonal coordinate system in the internal space, wherein the moving body is configured to be fastenable to the end effector of the mechanical impedance estimating robot; and
a first spring, a second spring, a third spring, a fourth spring, a fifth spring, a sixth spring, a seventh spring, and an eighth spring and configured to connect the fixed body to the moving body in the internal space,
wherein each of the first spring and the second spring is positioned to extend along a first straight line that passes through a coordinate (0, a, a) and a coordinate (0, −a, −a) in the x-y-z orthogonal coordinate system, and the first spring and the second spring are positioned at opposite sides with the moving body therebetween, and
each of the third spring and the fourth spring is positioned to extend along a second straight line that passes through a coordinate (a, 0, a) and a coordinate (−a, 0, −a) in the x-y-z orthogonal coordinate system, and the third spring and the fourth spring are positioned at opposite sides with the moving body therebetween, and
each of the fifth spring and the sixth spring is positioned to extend along a third straight line that passes through a coordinate (a, a, a) and a coordinate (−a, −a, −a) in the x-y-z orthogonal coordinate system, and the fifth spring and the sixth spring are positioned at opposite sides with the moving body therebetween, and
each of the seventh spring and the eighth spring is positioned to extend along a fourth straight line that passes through a coordinate (a, a, 0) and a coordinate (−a, −a, 0) in the x-y-z orthogonal coordinate system, and the seventh spring and the eighth spring are positioned at opposite sides with the moving body therebetween and
wherein the 3D spring array device does not comprise additional springs configured to connect the fixed body to the moving body other than the first, second, third, fourth, fifth, sixth, seventh, and eighth springs.

### Claim 2 (depends on 1)

The 3D spring array device of claim 1, wherein the first spring is coupled to the fixed body at the coordinate (0, a, a), the second spring is coupled to the fixed body at the coordinate (0, −a, −a), the third spring is coupled to the fixed body at the coordinate (a, 0, a), the fourth spring is coupled to the fixed body at the coordinate (−a, 0, −a), the fifth spring is coupled to the fixed body at the coordinate (a, a, a), the sixth spring is coupled to the fixed body at the coordinate (−a, −a, −a), the seventh spring is coupled to the fixed body at the coordinate (a, a, 0), and the eighth spring is coupled to the fixed body at the coordinate (−a, −a, 0).

### Claim 3 (depends on 2)

The 3D spring array device of claim 2, wherein the fixed body has a frame structure comprising at least part of a regular hexahedral frame shape based on the moving body, and the fifth spring coupling coordinate and the sixth spring coupling coordinate are at two vertices that are symmetrical with each other based on the moving body in the regular hexahedron, and each of the first spring coupling coordinate, the third spring coupling coordinate, and the seventh spring coupling coordinate is in a center of three corners each being connected to one of the two vertices at which the fifth spring coupling coordinate is located, and each of the second spring coupling coordinate, the fourth spring coupling coordinate, and the eighth spring coupling coordinate is positioned in a center of the three corners each being connected to the other one of the two vertices at which the sixth spring coupling coordinate is located.

### Claim 4 (depends on 1)

The 3D spring array device of claim 1, wherein a bolt hole for bolt fastening with the end effector is formed in the moving body.

### Claim 5 (depends on 4)

The 3D spring array device of claim 4, wherein the moving body is hollow.

### Claim 6 (depends on 4)

The 3D spring array device of claim 4, wherein an opening to access the bolt hole is formed in the moving body.

### Claim 7

A three-dimensional (3D) spring array device that is fastenable to an end effector of a mechanical impedance estimating robot so as to verify reliability and accuracy of the mechanical impedance estimating robot, the 3D spring array device comprising:
a fixed body having an internal space therein;
a moving body positioned in the internal space, wherein the moving body is configured to be fastenable to the end effector of the mechanical impedance estimating robot; and
a first spring, a second spring, a third spring, a fourth spring, a fifth spring, a sixth spring, a seventh spring, and an eighth spring configured to connect the fixed body to the moving body in the internal space,
wherein the first spring is coupled to the fixed body at a first coupling coordinate, the second spring is coupled to the fixed body at a second coupling coordinate, the third spring is coupled to the fixed body at a third coupling coordinate, the fourth spring is coupled to the fixed body at a fourth coupling coordinate, the fifth spring is coupled to the fixed body at a fifth coupling coordinate, the sixth spring is coupled to the fixed body at a sixth coupling coordinate, the seventh spring is coupled to the fixed body at a seventh coupling coordinate, and the eighth spring is coupled to the fixed body at an eighth coupling coordinate, and
the fifth spring coupling coordinate and the sixth spring coupling coordinate are positioned at two vertices that are symmetrical with each other with respect to the moving body in a regular hexahedron based on the moving body, and
each of the first spring coupling coordinate, the third spring coupling coordinate, and the seventh spring coupling coordinate is positioned in a center of three corners each being connected to one of the two vertices at which the fifth spring coupling coordinate is positioned in the regular hexahedron, and
each of the second spring coupling coordinate, the fourth spring coupling coordinate, and the eighth spring coupling coordinate is positioned in a center of the three corners each being connected to the other one of the two vertices at which the sixth spring coupling coordinate is positioned in the regular hexahedron, and
wherein the 3D spring array device does not comprise additional springs configured to connect the fixed body to the moving body other than the first, second, third, fourth, fifth, sixth, seventh, and eighth springs.