MOTION CONTROL DEVICE BASED ON WINDING STRING

• US 20150190246A1
• Filed: 07/30/2013
• Published: 07/09/2015
• Est. Priority Date: 08/02/2012
• Status: Active Grant

• Current Assignee: Korea University of Technology and Education (Government of The Republic of Korea)
• Original Assignee: Korea University of Technology and Education (Government of The Republic of Korea)
• Inventors: Ryu, Jee Hwan, Popov, Dmitry, Gaponov, Igor
• Granted Patent: US 9,566,173 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61F 2/54 Artificial arms or hands or parts thereof
• CPC Class Codes: A61F 2002/543 Lower arms or forearms
• CPC Class Codes: A61F 5/013 for the arms, hands or fingers A61F5/0118 takes precedence
• CPC Class Codes: A61H 1/0285 Hand
• CPC Class Codes: A61H 1/0288 Fingers
• CPC Class Codes: A61H 2201/1215 Rotary drive
• CPC Class Codes: A61H 2201/1638 Holding means therefor
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/1676 Pivoting
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 13/025 comprising haptic means
• CPC Class Codes: B25J 15/10 with three or more finger members B25J15/0009 takes precedence
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves
• CPC Class Codes: Y10S 901/36 Actuating means
• CPC Class Codes: Y10T 74/18848 with pulley

Abstract

Provided is a motion control device. The device comprises one or more frames which supports an exoskeleton of a body; a string which connects the frames with each other; a pulley which is disposed between the frames and connected to one end of the string; and a motor which is connected to the other end of the string to control the string, wherein the pulley rotates the string according to control of the motor.

Claims

1. A motion control device comprising:

one or more frames which supports an exoskeleton of a body;

a string which connects the frames with each other;

a pulley which is disposed between the frames and connected to one end of the string; and

a motor which is connected to the other end of the string to control the string,

wherein the pulley rotates the string according to control of the motor.

2. The motion control device of claim 1, wherein one side of the frame includes a connecting portion formed in the form of having two parts engaged with each other.

3. The motion control device of claim 1, wherein the string is constituted by a single or multiple twisted strings.

4. The motion control device of claim 3, further comprising:

a separator which is disposed between the motor and the pulley to separate the two or more strings when there are at least two strings.

5. The motion control device of claim 3, wherein the motor is operated so that the string is twisted, and controls the exoskeleton of the body to move.

6. The motion control device of claim 1, wherein the pulley is disposed in a joint region of the body.

7. The motion control device of claim 6, wherein the frames include a first and a second frames which are disposed at each region that moves in a predetermined direction based on the pulley, and

a first string which is connected to the pulley at one end and is connected to the first motor at the other end different from the one end.

8. The motion control device of claim 7, wherein the first motor is disposed in the first frame to pull the first string from the pulley to move the second frame.

9. The motion control device of claim 8, further comprising:

a second string which is connected to the pulley at one end and is connected to the second motor at the other end different from the one end; and

a second motor which pulls the second string from the pulley.

10. The motion control device of claim 9, wherein the second motor is disposed in the first frame to pull the second string in an opposite direction to a direction of pulling the first string by the first motor, thereby moving the second frame.

11. The motion control device of claim 1, further comprising:

a gear operation unit which is connected to the motor to operate an operating direction of the motor;

wherein the motor pulls the string in a forward direction or a backward direction in accordance with the operating direction which is operated by the gear operation unit.

12. The motion control device of claim 1, wherein the pulley includes at least two holes,

the string includes a first string connected to a first hole of the pulley, and a second string connected to a second hole of the pulley, and

the motor performs control so as to wind the first string and unwind the second string or unwind the first string and wind the second string, using two holes included in the pulley.