Motion control device based on winding string

Patent metadata

Field	Value
Publication number	US-9566173-B2
Application number	US-201314419037-A
Country	US
Kind code	B2
Filing date	Jul 30, 2013
Priority date	Aug 2, 2012
Publication date	Feb 14, 2017
Grant date	Feb 14, 2017

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.

First claim

What is claimed is:

1. A motion control device comprising:
a frame including a first frame and a second frame which supports an exoskeleton of a body;
a pulley disposed between the first frame and the second frame, wherein the first fame is disposed at a first portion and the second frame is disposed at a second portion, the first and second portions moving in predetermined directions, respectively, with respect to the pulley;
a motor including a first motor and a second motor both disposed at an opposite side of the pulley with respect to one of the first and the second frames, the first and second motors both being disposed at the one of the first and second frames;
a string including a first string and a second string, one end of the first string being connected to the pulley and the other end thereof being connected to the first motor, one end of the second string being connected to the pulley and the other end thereof being connected to the second motor; and
a coupling including a first coupling and a second coupling, the first coupling being disposed between the pulley and the first motor and adjacent to the first motor, and the second coupling being disposed between the pulley and the second motor and adjacent to the second motor, the first coupling having a first rotating shaft in parallel with the first string, and the second coupling having a second rotating shaft in parallel with the second string, wherein the first coupling is configured to rotate to twist the first by rotation of the first motor and the second coupling is configured to rotate to untwist the second string by rotation of the second motor, or vice versa.

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 , further comprising:
a separator which is disposed between the motor and the pulley to separate the first string and the second string from each other.

4. 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 coupling is rotated in a forward direction or a backward direction to twist or untwist the string in accordance with the operating direction which is operated by the gear operation unit.

5. The motion control device of claim 1 , wherein the pulley includes a first hole connected to the first string and a second hole connected to the second string,
wherein the first string is twisted and the second string is untwisted, or vice versa, using the first hole and the second hole.

Assignees

• Univ Korea Ind Univ Coop Found

Inventors

• Ryu Jee Hwan
• Popov Dmitry
• Gaponov Igor

Classifications

• B25J9/0006 Primary

  Exoskeletons, i.e. resembling a human figure · CPC title

• A61H2201/1215

  Rotary drive · CPC title

• G06F3/011

  Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00) · CPC title

• A61F2002/543

  Lower arms or forearms · CPC title

• A61F2/54 Primary

  Artificial arms or hands or parts thereof · CPC title