Master device having force reflection function
AssigneeInstitute of Science and Technology
InventorsMun Sang Kim, Soo Yong Lee, chong won Lee
Life of this patent
Estimating the term…
Abstract
A master device for generating motion instruction of the slave robot by sensing motion of the arm with fixed to the arm of the operator, and reflecting motion limit information by external force and physical articulation limit sensed by the robot may be simplified in a serial chain configuration so to solve problems of human fatigue and operational complexity in order to minimize dead weight of units mounted to the arm by concentrating and positioning the cylindrical rotating shaft members (44 and 45) near the body.
Claims11
A master device having force reflecting function attached to a body of an operator for controlling robot remotely, comprising:
- first combining means fixed to an upper portion of a back of the operator;
- second and third combining means connected and fixed to upper and lower portions of an elbow of the operator;
- fourth combining means connected and fixed to a back of a hand of the operator;
- first rotating shaft means fixed to the first combining means, the first rotating shaft means having a plurality of cylindrical rotating shaft members;
- first connecting means of which one end is joined to the first rotating shaft means and the other end is serially connected through a plurality of rotating link members to a plurality of connecting members joined to the second combining means;
- third rotating shaft means having a plurality of cylindrical rotating shaft members joined to the second combining means through connecting members;
- second rotating shaft means having cylindrical rotating shaft members, the second rotating shaft means joined between the second combining means and the third combining means through connecting members;
- and
- second connecting means of which one end is joined to the fourth rotating shaft means and the other end is serially connected through a plurality of rotating link members to a plurality of connecting members joined to the third rotating shaft means,
- wherein the first rotating shaft means senses motion of a shoulder of the operator, the second rotating shaft means senses motion of the elbow of the operator, and the third rotating shaft means senses motion of a wrist of the operator.
Dependencies are inferred from the claim text.