WO2019013528A1 - Articulation artificielle - Google Patents

Articulation artificielle Download PDF

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Publication number
WO2019013528A1
WO2019013528A1 PCT/KR2018/007815 KR2018007815W WO2019013528A1 WO 2019013528 A1 WO2019013528 A1 WO 2019013528A1 KR 2018007815 W KR2018007815 W KR 2018007815W WO 2019013528 A1 WO2019013528 A1 WO 2019013528A1
Authority
WO
WIPO (PCT)
Prior art keywords
branch
skeleton
pitch
respect
artificial joint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2018/007815
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English (en)
Korean (ko)
Inventor
최영진
이건
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Industry University Cooperation Foundation IUCF HYU
Original Assignee
Industry University Cooperation Foundation IUCF HYU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020180012969A external-priority patent/KR101981426B1/ko
Application filed by Industry University Cooperation Foundation IUCF HYU filed Critical Industry University Cooperation Foundation IUCF HYU
Publication of WO2019013528A1 publication Critical patent/WO2019013528A1/fr
Priority to US16/738,619 priority Critical patent/US11690721B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements

Definitions

  • the present invention relates to an artificial joint, and relates to an artificial joint including a fixed joint member, a revolute joint member, and a string connecting them.
  • service robots and rehabilitation robots are considered to be in contact with people in the operation of robots.
  • Another object of the present invention is to provide an artificial joint in which frictional force between members is reduced.
  • Another object of the present invention is to provide an artificial joint having improved flexibility.
  • Another object of the present invention is to provide an artificial joint capable of generating various rotating joints.
  • the technical problem to be solved by the present invention is not limited to the above.
  • the present invention provides an artificial joint.
  • the artificial joint includes a first skeleton and a first articulating member including a first-first branch and a first-second branch branching to both sides of the first skeleton, a second skeleton, A second articulating member including 2-1 and 2-2 branches branching from the two skeletons on both sides, a first joint member connecting the one side of the 1-1 kind and the one side of the 2-1 branches, A string, a second main string for connecting the one side of the first 1-1 and the one side of the 2-2 ones, a second main string for connecting the one side of the first & 3 main string, and a fourth main string connecting one side of the first and second branches and the one side of the 2-2 branches.
  • the first main string and the fourth main string are parallel to each other, and the second main string and the third main string can be parallel to each other.
  • the artificial joint further includes a substring, wherein the substring can impart rotational characteristics between the first articulating member and the second articulating member.
  • the first articulating member can have two rotational degrees of freedom with respect to the second articulating member.
  • the first articulation member can be pitch-rotatable with respect to the second articulation member with respect to the longitudinal direction of the second articulation member.
  • the first joint member may be yaw-rotatable relative to the second joint member on the basis of the time when the second joint member is viewed in the longitudinal direction.
  • the artificial joint has a roll direction and at least one of a longitudinal direction of the first skeleton and a longitudinal direction of the second skeleton, Direction. ≪ / RTI >
  • a first imaginary line connecting one end of the (2-1) and one end of the (2-2) branches, one end of the (1-1) branch, May intersect with each other.
  • the first articulation member rotates in the pitch direction with respect to the second articulation member, with reference to the longitudinal direction of the second articulation member, 2-1 and the imaginary plane defined by the space between the 2 < th > and 2 < 2 >
  • the artificial joint comprises, in the artificial joint according to the above-described first embodiment, a first substring for connecting one side of the first skeleton and the one side of the second-1 < And a second substring for connecting one side of the first skeleton and one side of the second 2-2.
  • the first articulating member may have one rotational degree of freedom with respect to the second articulating member.
  • the first articulation member can be pitch-rotated with respect to the second articulation member with respect to the longitudinal direction of the second articulation member.
  • the artificial joint has at least one of a yaw direction, a roll direction and a direction of at least one of the first and second skeletons in the longitudinal direction of the second articular member Flexibility can be obtained.
  • the artificial joint comprises, in the artificial joint according to the above-described first embodiment, a third substring for connecting one side of the first skeleton and the one side of the second-1 < And a fourth substring for connecting one side of the first skeleton and the one side of the second 2-2 side, wherein the tension of the third and fourth substrings is at least one of the first to fourth main strings It can be smaller than one tension.
  • the artificial joint includes, in the artificial joint according to the first embodiment described above, a fifth substring connecting the one side of the first-first branch and the second-first intermediate portion, And a sixth substring for connecting the one side of the first type and the second middle portion of the second type, wherein the tension of the fifth and sixth substrings is greater than the tension of the first to fourth main strings Lt; / RTI >
  • the first articulation member when the pitch direction angle is smaller than a predetermined reference, can have two degrees of freedom of pitch rotation and yaw rotation with respect to the second articulation member.
  • the first articulating member may have flexibility in the yaw direction, the roll direction and the major axis direction of the first and second skeletons relative to the second articulation member.
  • the first articulation member when the pitch direction angle is larger than a predetermined reference, may have one degree of freedom of pitch rotation with respect to the second articulation member.
  • the first articulation member is arranged with respect to the second articulation member in the yaw direction, the roll direction, and the second direction relative to the longitudinal direction of the second articulation member, It can have flexibility in the longitudinal direction of the skeleton.
  • the first joint member when the second joint member is viewed in the longitudinal direction, the first joint member is rotated in the first-second direction in a pitch rotation larger than a predetermined reference to the second joint member In one case, the degree of freedom of rotation can be reduced.
  • the artificial joint comprises, in the artificial joint according to the first embodiment described above, a seventh substring connecting the middle part of the first-first branch and the middle part of the second- And an eighth substring for connecting the middle portion of the first and second branches and the middle portion of the second to the first branches, and may have a diagonal pitch degree of freedom.
  • An artificial joint includes a first articulating member including a first articulating member including a first articulating member and a first and second articulating members branched to both sides of the first supporting member, A second articulating member including a 2-1 branch and a 2-2 branch branching from the skeleton to both sides, a first joint member connecting the one side of the 1-1 branch and the one side of the 2-1 branch, A string, a second main string connecting one side of the 1-1 kind and one side of the second 2-2 type, a first main string connecting one side of the first and second types and one side of the second And a fourth main string connecting one side of the first and second branches and one side of the second 2-2.
  • the artificial joint according to the embodiment of the present invention may further include first and third substrings for connecting one side of the first skeleton and one side of the second-first side, Second and fourth substrings connecting the first and second sides, a fifth substring connecting the one side of the first-type and the second-first intermediate portion, A sixth substring connecting the one side of the branch and the second 2-2 intermediate part, a seventh substring connecting the intermediate part of the first 1-1 branch and the intermediate part of the second 2-2, Further comprising an eighth substring for connecting one of the first to fourth intermediate strings and the second to the first intermediate strings, wherein the tension of the third to sixth substrings is at least one of the first to fourth main strings Lt; / RTI > Accordingly, an artificial joint capable of generating various rotating joints according to each embodiment can be provided.
  • FIG. 1 is a view showing an artificial joint according to a first embodiment of the present invention.
  • FIG. 2 and FIG. 3 are views showing the movement of the artificial joint according to the first embodiment of the present invention.
  • FIG. 4 is a view showing the flexibility of the artificial joint according to the first embodiment of the present invention.
  • FIG. 5 is a view showing an artificial joint according to a second embodiment of the present invention.
  • FIG. 6 is a view illustrating movement of an artificial joint according to a second embodiment of the present invention.
  • FIG. 7 is a view showing the flexibility of the artificial joint according to the second embodiment of the present invention.
  • FIG. 8 is a view showing an artificial joint according to a third embodiment of the present invention.
  • FIG. 9 is a view showing movement when the pitch direction of the artificial joint according to the third embodiment of the present invention is smaller than the reference.
  • 10 is a view showing flexibility when the angle of pitch of the artificial joint according to the third embodiment of the present invention is smaller than the reference.
  • 11 is a view showing movement when the pitch direction of the artificial joint according to the third embodiment of the present invention is larger than the reference.
  • FIG. 13 is a view showing an artificial joint according to a fourth embodiment of the present invention.
  • FIG. 14 is a view showing movement when the pitch direction of the artificial joint according to the fourth embodiment of the present invention is smaller than the reference.
  • 15 is a view showing flexibility when the pitch direction of the artificial joint according to the fourth embodiment of the present invention is smaller than the reference.
  • 16 is a view showing movement when the pitch direction of the artificial joint according to the fourth embodiment of the present invention is larger than the reference and the pitch direction is counterclockwise.
  • 17 is a view showing flexibility when the pitch direction of the artificial joint according to the fourth embodiment of the present invention is larger than the reference and the pitch direction is counterclockwise.
  • 19 is a view showing flexibility when the pitch direction of the artificial joint according to the fourth embodiment of the present invention is larger than the reference and the pitch direction is clockwise.
  • 20 is a view showing an artificial joint according to a fifth embodiment of the present invention.
  • 21 is a perspective view illustrating the movement of the artificial joint according to the fifth embodiment of the present invention.
  • 22 is a front view showing the movement of the artificial joint according to the fifth embodiment of the present invention.
  • FIG. 23 is a view showing flexibility of an artificial joint according to a fifth embodiment of the present invention.
  • first, second, third, etc. in the various embodiments of the present disclosure are used to describe various components, these components should not be limited by these terms. These terms have only been used to distinguish one component from another. Thus, what is referred to as a first component in any one embodiment may be referred to as a second component in another embodiment.
  • Each embodiment described and exemplified herein also includes its complementary embodiment. Also, in this specification, 'and / or' are used to include at least one of the front and rear components.
  • FIG. 1 is a view showing an artificial joint according to a first embodiment of the present invention
  • FIGS. 2 and 3 are views showing movement of an artificial joint according to a first embodiment of the present invention
  • 1 is a view showing the flexibility of an artificial joint according to an embodiment.
  • the artificial joint according to the first embodiment includes a first joint member 100, a second joint member 200, and first to fourth main strings 310, 320, 330, and 340, As shown in FIG. Each configuration will be described below.
  • the first articulating member 100 may include at least one of a first skeleton 110, a first-first branch 120, and a first-second branch 130.
  • the first 1-1 branch 120 and the first 1-2 branch 130 may be branched from the first skeleton 110 on both sides. That is, the first joint member 100 may have a shape in which the first-first branch 120 and the first-second branch 130 are branched on both sides of the first skeleton 110 .
  • the first 1-1 branch 120 and the first 1-2 branch 130 may branch at one longitudinal end of the first skeleton 110. Accordingly, the first joint member 100 may have a Y shape in total.
  • the second articulating member 200 may include at least one of a second skeleton 210, a second-first-one 220, and a second-twenty-second 230.
  • the second-first branch 220 and the second-branch 230 may be branched from the second skeleton 210 on both sides. That is, the second articulation member 220 may have a shape in which the second-first branch 220 and the second-branch branches 230 are branched on both sides with respect to the second skeleton 210 .
  • the second-first branch 220 and the second-branch 230 may be branched at one longitudinal end of the second skeleton 210. Accordingly, the second joint member 200 may have a Y shape in total.
  • the second imaginary line IL 2 connecting one end of the 1-2 branches 130 may intersect with each other.
  • the first joint member 100 and the second joint member 200 are disposed to face each other and the first joint member 100 and the second joint member 200 are spaced apart from each other, And the spaces between the second-first and second branches 220 and 230 may intersect with each other.
  • the second virtual line IL 2 connecting one end of the first branch 130 and one end of the first branch 130 may intersect 90 degrees when viewed in the X axis direction.
  • the first to fourth main strings 310, 320, 330, and 340 may connect the first and second joint members 100 and 200 to each other. At this time, the first main string 310 and the fourth main string 340 may be parallel to each other. Also, the second main string 320 and the third main string 330 may be parallel to each other. In this specification, parallelism can be understood not only as being theoretically parallel, but also as a concept including substantially parallel.
  • the first main string 310 may connect one side of the first 1-1 branch 120 and one side of the second 1-2 branch 220.
  • the second main string 320 may connect one side of the first 1-1 branch 120 and one side of the second 2-2 branch 230.
  • the third main string 330 may connect one side of the first-second branch 130 and one side of the second-first branch 220.
  • the fourth main string 340 may connect one side of the first 1-2 branch 130 and one side of the second 2-2 branch 230.
  • one end of the first main string 310 and one end of the second main string 320 may be connected to one side of the first 1-1 branch 120.
  • one end of the first main string 310 and one end of the second main string 320 may be connected to the same node on one side of the first 1-1 branch 120.
  • One end of the first main string 310 and one end of the third main string may be connected to one side of the second-type first 220.
  • one end of the first main string 310 and one end of the third main string may be connected to the same node on one side of the second 1-100.
  • One end of the third main string and one end of the fourth main string 340 may be connected to one side of the first 1-2 branch 130.
  • one end of the third main string and one end of the fourth main string 340 may be connected to the same node on one side of the first 1-2 branch 130.
  • the other end of the fourth main string 340 and the other end of the second main string 320 may be connected to one side of the second 2-2 branch 230.
  • the other end of the fourth main string 340 and the other end of the second main string 320 may be connected to the same node on one side of the second 2-branches 230.
  • the first to fourth main strings 310, 320, 330, and 340 may form a parallelogram when viewed in the X axis direction of the first and second articulating members 100 and 200 .
  • the term parallelogram refers not only to a theoretical parallelogram, but also to a concept including a substantially parallelogram.
  • first to fourth main strings 310, 320, 330, and 340 may have the same tension.
  • first and second articulating members 100 and 200 may be coupled to the first and second articulating members 100 and 200 in a state where no external force is applied to the first and second articulating members 100 and 200, It is possible to provide an initial state parallel to each other.
  • the first to fourth main strings 310, 320, 330, and 340 may be fixed by wire sleeves (not shown).
  • the wire sleeve (not shown) is connected to the outer side of the first-second branch 120, the first-second branch 130, the second-first branch 220, As shown in FIG.
  • the first 1-1 branch 120, the first 1-2 branch 130, the second 1-2 branch 220, and the second 2- Through holes (not shown) may be formed at portions where the main strings 310, 320, 330, and 340 are connected. Accordingly, the first to fourth main strings 310, 320, 330, and 340 may pass through the through holes (not shown) and be fixed by the wire sleeves (not shown).
  • the first to fourth main strings 310, 320, 330, and 340 may be made of an elastic material.
  • the first to fourth main strings 310, 320, 330, and 340 may be made of polyethylene (PE), nylon, or the like.
  • PE polyethylene
  • the first to fourth main strings 310, 320, 330, and 340 may have flexibility in the major axis direction.
  • the elasticity of the first to fourth main strings 310, 320, 330, and 340 may be adjusted. Accordingly, an artificial joint in which the flexibility described below is adjusted can be provided.
  • the first articulating member 100 may have two rotational degrees of freedom with respect to the second articulating member 200. That is, the first joint member 100 and the second joint member 200 are rotatable relative to each other, but two rotational degrees of freedom can be provided.
  • the first joint member 100 is a rotating joint member and the second joint member 200 is a fixed joint member.
  • the second articulating member 200 is a rotating joint member and the first articulating member 100 is a fixed joint member.
  • Each rotation degree of freedom will be described below.
  • Pitch rotation may be possible for the second articulation member 200. That is, when the observer V looks at the cross section S, the first joint member 100 can rotate with respect to the second joint member 200. In other respects, the pitch rotation may mean that the first articulating member 100 rotates clockwise or counterclockwise about the first imaginary line IL 1 .
  • the first articulation member 100 is positioned on the second articulation member 200 relative to the first articulation member 100 and / or the second articulation member 200 in the longitudinal direction (X-axis direction) and a pitch rotation about the (P R) if the claim 2-1 kinds of the first-first branch 120 to a virtual plane defined by the space between the unit 220 and the second-second branch (230), Or the first-second branch 130 may pass.
  • the first-second branch 120 may pass a virtual plane defined by a space between the first and second branches 230 and 220.
  • a large rotation angle in the pitch direction can be provided by the geometric shape of the first joint member 100 and the second joint member 200.
  • the first joint member 100 and / or the second joint member 200 are viewed in the longitudinal direction (X-axis direction), the first joint member 100 is moved in the X- Yaw rotation (Y R ) may be possible with respect to the second articulation member 200.
  • the first articulating member 100 may be rotatable relative to the second articulating member 200 when the observer V looks at the cross section S.
  • the yaw rotation may mean that the first articulating member 100 rotates clockwise or counterclockwise about the second imaginary line IL 2 .
  • the first articulation member 100 may be positioned on the second articulation member 200 or the second articulation member 200 on the basis of the longitudinal direction of the first articulation member 100 and / (Y R ), a virtual surface defined by the space between the first-type branch 120 and the first-second branch 130 is defined as the virtual surface defined by the second-first branch 220 Or the second-second branch 230 may pass.
  • the first joint member 100 and the second joint member 200 can be provided with a great rotational angle in the yaw direction by the geometric shape.
  • the artificial joint according to the first embodiment has a roll direction (Rr) and a long axis direction (X axis direction) of the first skeleton 110 and the second skeleton 210, (X F ) in at least one direction.
  • the roll direction Rr may be clockwise or counterclockwise with respect to the longitudinal direction (X-axis direction) of the first joint member 100 and / or the second joint member 200 It may be clockwise.
  • the artificial joint according to the first embodiment may have flexibility with respect to the force of pushing or pulling the first and second articulating members 100 and 200 in the longitudinal direction.
  • the artificial joint according to the first embodiment can have flexibility also in a pushing or pulling force in the translational Z-axis direction and the translational Y-axis direction.
  • the artificial joint according to the first embodiment may have flexibility when the first joint member 100 and the second joint member 200 are twisted.
  • the artificial joint according to the first embodiment of the present invention has been described above. As described above, the artificial joint according to the first embodiment of the present invention provides rotational degrees of freedom in the pitch direction and the yaw direction, and in other directions, the artificial joint can also be flexible due to the flexibility of the main string itself.
  • the substring may generate a rotational trajectory to impart rotational properties to the artificial joint.
  • the number of degrees of freedom and the unique rotation characteristics such as the rotation locus can be given depending on the number of substrings, the connection position, and the tension.
  • FIG. 5 is a view showing an artificial joint according to a second embodiment of the present invention
  • FIG. 6 is a view showing movement of an artificial joint according to a second embodiment of the present invention
  • FIG. 7 is a cross- Of the artificial joint according to the present invention.
  • the artificial joint according to the second embodiment includes at least one of the first and second substrings 410 and 420 in the artificial joint according to the first embodiment described with reference to FIG. And may further comprise one. Accordingly, detailed descriptions of the first joint member 100, the second joint member 200, and the first through fourth main strings 310, 320, 330, and 340 are omitted.
  • the first substring 410 may connect one side of the first skeleton 110 and one side of the second-one branch 220. More specifically, the first substring 410 may be connected to one end of the first skeleton 100. The other end of the first substring 410 may be connected to the same node as the first and third main strings 310 and 330.
  • the second substring 420 may connect one side of the first skeleton 110 and one side of the second 2-ary 220. More specifically, the second substring 420 may be connected to one end of the first skeleton 100. The other end of the second substring 420 may be connected to the same node as the second and fourth main strings 320 and 340.
  • the tension of the first and second substrings 410 and 420 may be equal to the tension of at least one of the first to fourth main strings 310, 320, 330 and 340.
  • the tension of the first and second substrings 410 and 420 and the tension of the first to fourth main strings 310, 320, 330, and 340 may be the same.
  • the artificial joint according to the second embodiment is different from the artificial joint according to the first embodiment described with reference to FIG. 1 in that the first joint member 100 is connected to the second joint member 200). ≪ / RTI > Specifically, when the first and second articulating members 100 and 200 are viewed in the longitudinal direction (X-axis direction), the first articulating member 100 is positioned on the second articulating member 100, (P R ) with respect to the substrate 200.
  • the artificial joint according to the second embodiment in the artificial joint according to the first embodiment, has the same tension as that of the first to fourth main strings 310, 320, 330,
  • the yaw rotation Y R of the first articulating member 100 relative to the second articulating member 200 is limited and the pitch rotation P R ) may be possible.
  • the artificial joint according to the second embodiment is a reference when the first joint member 100 and / or the second joint member 200 are viewed in the longitudinal direction (X-axis direction) direction (Y R), may have a roll direction (Rr) and the first armature (110) and the second armature 210, the major axis (X F) of the at least one flexible in the direction of the.
  • the artificial joint according to the second embodiment can have flexibility with respect to the force of pushing or pulling the first and second articulating members 100 and 200 in the longitudinal direction. Also, the artificial joint according to the second embodiment can have flexibility in the pushing or pulling force in the translational Z-axis direction and the translational Y-axis direction. In addition, the artificial joint according to the second embodiment is flexible even when the first joint member 100 and the second joint member 200 are pushed or pulled in the y-axis direction shown in Fig. 7 .
  • the artificial joint according to the second embodiment of the present invention provides rotational degrees of freedom in the pitch direction, and in other directions, flexibility of the artificial joints can be imparted by the flexibility of the main string itself.
  • FIG. 8 is a view showing an artificial joint according to a third embodiment of the present invention.
  • the artificial joint according to the third embodiment includes at least one of the third and fourth substrings 430 and 440 in the artificial joint according to the first embodiment described with reference to FIG. And may further comprise one. Accordingly, detailed descriptions of the first joint member 100, the second joint member 200, and the first through fourth main strings 310, 320, 330, and 340 are omitted.
  • the third substring 430 may connect one side of the first skeleton 110 and one side of the second-one branch 220. More specifically, the third substring 430 may be connected to one end of the first skeleton 100. The other end of the third substring 430 may be connected to the same node as the first and third main strings 310 and 330.
  • the fourth substring 440 may connect one side of the first skeleton 110 and one side of the second 2-legs 220. More specifically, the fourth substring 440 may be connected to one end of the first skeleton 100. The other end of the fourth substring 440 may be connected to the same node as the second and fourth main strings 320 and 340.
  • the third and fourth substrings 430 and 440 may be the same as the first and second substrings 410 and 420 described with reference to FIG.
  • the tension of the third and fourth substrings 430 and 440 may be smaller than the tension of at least one of the first to fourth main strings 310, 320, 330, and 340.
  • the tension of the third and fourth substrings 430 and 440 may be smaller than the tension of the first to fourth main strings 310, 320, 330 and 340.
  • the artificial joint according to the third embodiment may have a different number of rotational degrees of freedom, depending on the angle formed by the first joint member 100 and the second joint member 200.
  • FIG. 9 is a view showing movement when the pitch direction of the artificial joint according to the third embodiment of the present invention is smaller than the reference
  • FIG. 10 is a view showing the movement of the artificial joint according to the third embodiment of the present invention, Is smaller than that of the first embodiment.
  • the artificial joint according to the third embodiment is configured such that when the angle of the first articulating member 100 in the pitch direction with respect to the second articulating member 200 is smaller than a predetermined reference, P R ) and yaw rotation (Y R ).
  • the pitch direction angle may be such that, when the first articulation member 100 is rotated clockwise or counterclockwise about the first imaginary line IL 1 , May be an angle formed by the first joint member (100) and the second joint member (200).
  • the tension of the third and fourth substrings 430 and 440 is smaller than the tension of the first to fourth main strings 310, 320, 330 and 340 Unlike the artificial joint according to the second embodiment described with reference to Fig. 6, since the third and fourth substrings 430 and 440 are loose, not only the pitch rotation P R , (Y R ) degrees of freedom.
  • the artificial joint according to the third embodiment is configured such that, when the pitch of the first articulating member 100 relative to the second articulating member 200 is smaller than a predetermined reference, Rr) and flexibility (X F) in the major axis direction of the first skeleton and the second skeleton.
  • the artificial joint according to the third embodiment can have flexibility also in a pushing or pulling force in the translational Z-axis direction and the translational Y-axis direction.
  • the pitch angle of the first articulating member 100 with respect to the second articulating member 200 is smaller than a predetermined reference, 100, and the second articulating member 200 can be flexible with respect to pulling, pushing, and biting.
  • FIG. 11 is a view showing the movement when the pitch direction of the artificial joint according to the third embodiment of the present invention is larger than the reference
  • FIG. 12 is a view showing the movement of the artificial joint according to the third embodiment of the present invention, Is greater than the above-mentioned value.
  • the artificial joint according to the third embodiment is configured such that when the angle of the first articulating member 100 in the pitch direction with respect to the second articulating member 200 is larger than a predetermined reference, P R ). ≪ / RTI > For example, if the first articulating member 100 has a pitch angle of 90 degrees with respect to the second articulating member 200, it may have one rotation degree of rotation of the pitch rotation P R.
  • the tension of the third and fourth substrings 430 and 440 may increase .
  • the artificial joint according to the third embodiment is moved in the same direction as the first joint member 100 and the second joint member 200, Rotation (Y R ) is limited, and pitch rotation (P R ) may be possible.
  • the artificial joint according to the third embodiment when the pitch of the first joint member 100 in the pitch direction with respect to the second joint member 200 is larger than a predetermined reference, the artificial joint according to the third embodiment has the first joint member 100, (Y R ) and the roll direction (R r ) and the flexibility (X F ) in the major axis direction of the second skeleton 210 with reference to the longitudinal direction of the joint member 100 .
  • the artificial joint according to the third embodiment can have flexibility also in a pushing or pulling force in the translational Z-axis direction and the translational Y-axis direction.
  • the artificial joint according to the third embodiment of the present invention provides rotational degrees of freedom in the pitch direction and the yaw direction when the pitch direction angle is smaller than the reference, and the flexibility of the main string itself in the other direction
  • the artificial joint can also have flexibility.
  • the rotational freedom in the pitch direction is provided and in the other direction, the flexibility of the artificial joint Lt; / RTI >
  • FIG. 13 is a view showing an artificial joint according to a fourth embodiment of the present invention.
  • the artificial joint according to the fourth embodiment includes at least one of the fifth and sixth substrings 450 and 460 in the artificial joint according to the first embodiment described with reference to FIG. 1 And may further comprise one. Accordingly, detailed descriptions of the first joint member 100, the second joint member 200, and the first through fourth main strings 310, 320, 330, and 340 are omitted.
  • the fifth substring 450 may connect the middle portion of the first 1-1 branch 120 to the middle portion of the second 1-1 branch 120, for example.
  • the sixth substring 460 may connect a middle portion of the first-second branch 120 to a middle portion of the second-second branch 230, for example.
  • the tensions of the fifth and sixth substrings 450 and 460 may be smaller than the tension of at least one of the first to fourth main strings 310, 320, 330, and 340.
  • the tension of the fifth and sixth substrings 450 and 460 may be smaller than the tension of the first to fourth main strings 310, 320, 330, and 340.
  • the artificial joint according to the fourth embodiment can have different numbers of rotational degrees of freedom, depending on the angle formed by the first and second articulating members 100 and 200.
  • FIG. 14 is a view showing the movement when the pitch direction of the artificial joint according to the fourth embodiment of the present invention is smaller than the reference
  • FIG. 15 is a view showing the movement of the artificial joint according to the fourth embodiment of the present invention, Is smaller than that of the first embodiment.
  • the artificial joint according to the fourth embodiment is configured such that when the angle of the first articulating member 100 in the pitch direction with respect to the second articulating member 200 is smaller than a predetermined reference, P R ) and yaw rotation (Y R ).
  • the pitch direction angle is set such that, when the first articulation member 100 is rotated in the z-axis direction shown in FIG. 14 about the first imaginary line IL 1 , And may be an angle formed by the joint member 100 and the second joint member 200.
  • the tension of the fifth and sixth substrings 450 and 460 is smaller than the tension of the first to fourth main strings 310, 320, 330 and 340 , It is possible to perform not only the pitch rotation (P R ) but also the yaw rotation (Y R ), unlike the artificial joint according to the second embodiment described with reference to FIG.
  • the artificial joint according to the fourth embodiment has a roll direction Rr And the flexibility (X F ) in the major axis direction of the first skeleton 110 and the second skeleton 210. Further, the artificial joint according to the fourth embodiment can have flexibility also in the pushing or pulling force in the translational Z-axis direction and the translational Y-axis direction.
  • the artificial joints according to the fourth embodiment described with reference to Figs. 14 and 15 are similar to the artificial joints according to the third embodiment described with reference to Figs. 9 and 10 in the case where the pitch direction angle is smaller than a predetermined reference And the pitch direction of the artificial joint according to the present invention is smaller than a predetermined reference, and can have the same number of flexibility.
  • FIG. 16 is a view showing a movement when the pitch direction of the artificial joint according to the fourth embodiment of the present invention is larger than the reference and the pitch rotation direction is counterclockwise
  • FIG. 17 is a view showing the movement according to the fourth embodiment of the present invention The figure shows flexibility when the pitch direction of the artificial joint is larger than the reference and the pitch rotation direction is counterclockwise.
  • the artificial joint according to the fourth embodiment is configured such that the pitch angle of the first joint member 100 with respect to the second joint member 200 is larger than a predetermined reference, Direction (e.g., 90 degrees), and one rotation degree of rotation of the pitch rotation (P R ).
  • a predetermined reference e.g. 90 degrees
  • P R one rotation degree of rotation of the pitch rotation
  • the first joint member 100 is pitch-rotated with respect to the second joint member 200, and the tension of the fifth and sixth substrings 450 and 460 becomes larger than a predetermined reference. This limits rotation in the yaw direction.
  • the first joint member 100 when the pitch direction is counterclockwise, the first joint member 100 is inclined with respect to the second joint member 200 with respect to the first imaginary line IL 1 as shown in FIG. 16 Axis direction along the Y-axis direction.
  • the tensions of the fifth and sixth substrings 450 and 460 may increase when the angle in the pitch direction is larger than a predetermined reference and the direction is counterclockwise.
  • the artificial joint according to the fourth embodiment is configured such that the yaw rotation (Y R ) of the first joint member 100 with respect to the second articulation member 200 is limited, and the pitch rotation (P R ) .
  • the artificial joint according to the fourth embodiment is configured such that the pitch angle of the first joint member 100 with respect to the second joint member 200 is larger than a predetermined reference, when the direction, a yaw direction relative to the longitudinal direction of the first joint member (100) (Y R), the roll direction can have a flexibility (X F) with the major axis direction (Rr) and the second armature 210 have.
  • FIG. 18 is a view showing movement when the pitch direction of the artificial joint according to the fourth embodiment of the present invention is larger than the reference and the pitch direction is clockwise
  • FIG. 19 is a view showing movement of the artificial joint according to the fourth embodiment of the present invention, In the pitch direction is larger than the reference and the pitch direction is the clockwise direction.
  • the artificial joint according to the fourth embodiment is configured such that the first articulation member 100 has a larger pitch angle with respect to the second articulation member 200 than the predetermined reference, If it is clockwise, it can have two rotational degrees of freedom of pitch rotation (P R ) and yaw rotation (Y R ). According to one embodiment, if the pitch direction is clockwise, the first articulating member 100 is positioned with respect to the second articulating member 200 with respect to the first imaginary line IL 1 It may mean clockwise rotation along the Y-axis direction.
  • the first articulation member 100 is rotated about the pitch rotation P R and yaw relative to the second articulation member 200. As a result, And a rotation (Y R ).
  • the artificial joint according to the fourth embodiment of the present invention provides pitch rotation and rotational freedom in the yaw direction when the pitch direction angle is smaller than the reference, and in the other direction, by the flexibility of the main string itself Artificial joints can also have flexibility. Further, when the pitch direction of the artificial joint according to the fourth embodiment of the present invention is larger than the reference and the pitch direction is counterclockwise, that is, when the substrings are rotated in the direction not connected to each other, . In addition, when the pitch direction angle is greater than the reference and the pitch direction is clockwise, that is, when the substring rotates to the connected branch side, it provides rotational degrees of freedom in pitch rotation and yaw direction, The artificial joint can also have flexibility.
  • FIG. 20 is a perspective view showing an artificial joint according to a fifth embodiment of the present invention
  • FIG. 21 is a perspective view showing movement of an artificial joint according to a fifth embodiment of the present invention
  • FIG. 22 is a cross-
  • FIG. 23 is a view showing the flexibility of the artificial joint according to the fifth embodiment of the present invention.
  • the artificial joint according to the fifth embodiment includes, in the artificial joint according to the first embodiment described with reference to FIG. 1, at least one of the seventh and eighth substrings 470 and 480 As shown in FIG. Accordingly, detailed descriptions of the first joint member 100, the second joint member 200, and the first through fourth main strings 310, 320, 330, and 340 are omitted.
  • the seventh substring 470 may connect the middle portion of the first-first branch 120 and the middle portion of the second-second branch 230.
  • the eighth substring 480 may connect the middle part of the first 1-2 branch 130 and the middle part of the second 1-2 branch 220.
  • the artificial joint according to the fifth embodiment is characterized in that the first articulation member 100 has one rotation degree of freedom (P R ) with respect to the second articulation member 200 Lt; / RTI > At this time, the artificial joint according to the fifth embodiment includes the seventh and eighth substrings 470 and 480 so that the degree of freedom of pitch rotation (P R ) can be provided in a diagonal direction when viewed in the X axis have. Accordingly, the artificial joint according to the fifth embodiment can provide a wider motion as compared with the case where the degree of freedom of pitch rotation (P R ) is provided in a linear direction. In other respects it can provide similar motion to the elbow of the human body.
  • the artificial joint according to the fifth embodiment is configured such that the first articulation member 100 is moved in the yaw direction Y R , the roll direction Rr, (X F ) of the first skeleton and the second skeleton.
  • the artificial joint according to the embodiment of the present invention includes the first skeleton 110 and the first-first branch 120 and the first-second branch 130, which branch on both sides in the first skeleton 110, (220) and the second 2-2 branches (230) that branch to both sides in the first articulation member (100), the second skeleton (210) and the second skeleton (210) , A first main string (310) connecting one side of the first 1-1 branch (120) and one side of the second 1-1 branch (220), a second main string The second main string 320 connecting one side of the first 1-1 branch 120 and one side of the second 2 branches 230, The third main string 330 connecting one side of the 2-1 branch 220 and the third main string 330 connecting one side of the first 1-2 branch 130 and one side of the second 2- And the fourth main string 340 connecting the first main string 340 and the second main string 340.
  • the friction between the members is reduced, so that an artificial joint capable of long-term use without wear can be provided.
  • the artificial joint according to the embodiment of the present invention includes the first and third substrings 410, 410 connecting the one side of the first skeleton 110 and one side of the second- 430), the second and fourth substrings (420, 440) connecting one side of the first skeleton and one side of the second 2 branches (230), the first and second substrings The fifth substring 450 connecting one side and the middle part of the second-1 stitch 220, and the fifth substring 450 connecting one side of the first- The sixth substring 460 connecting the middle portion of the first-second branch 120 and the middle portion of the second-second branch 230, and the seventh substring 470 connecting the middle portion of the first- And the eighth substring 480 connecting the middle portion of the first 1-2 branch 130 and the middle portion of the second 1-1 branch 220.
  • the third through sixth substrings 430, 440, 450, 460, and 470 are the same as those of the first to fourth main strings (310, 320, 330, 340). Accordingly, artificial joints capable of generating various
  • the artificial joint according to the embodiments of the present invention can be utilized for a human body joint, a robot joint, and the like. That is, it can be used as a joint mechanism.
  • the artificial joint according to an embodiment of the present invention can be used in relation to a robot and a rehabilitation apparatus, etc., in which a rotating joint requiring flexibility is used.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Transplantation (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)

Abstract

L'invention concerne une articulation artificielle. L'articulation artificielle peut comprendre : un premier élément d'articulation contenant une première partie de remplacement d'os, et une (1-1)e branche et une (1-2)e branche ramifiées à partir des côtés opposés de la première partie de remplacement d'os ; un deuxième élément d'articulation contenant une deuxième partie de remplacement d'os, et une (2-1)e branche et une (2-2)e branche ramifiées à partir des côtés opposés de la deuxième partie de remplacement d'os ; une première chaîne principale reliant un premier côté de la (1-1)e branche et un premier côté de la (2-1)e branche ; une deuxième chaîne principale reliant le premier côté de la (1-1)e branche et un côté de la (2-2)e branche ; une troisième chaîne principale reliant un côté de la (1-2)e branche et le premier côté de la (2-1)e branche ; et une quatrième chaîne principale reliant le premier côté de la (1-2)e branche et le premier côté de la (2-2)e branche.
PCT/KR2018/007815 2017-07-10 2018-07-10 Articulation artificielle Ceased WO2019013528A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/738,619 US11690721B2 (en) 2017-07-10 2020-01-09 Artificial joint

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20170087196 2017-07-10
KR10-2017-0087196 2017-07-10
KR1020180012969A KR101981426B1 (ko) 2017-07-10 2018-02-01 인공 관절
KR10-2018-0012969 2018-02-01

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/738,619 Continuation US11690721B2 (en) 2017-07-10 2020-01-09 Artificial joint

Publications (1)

Publication Number Publication Date
WO2019013528A1 true WO2019013528A1 (fr) 2019-01-17

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PCT/KR2018/007815 Ceased WO2019013528A1 (fr) 2017-07-10 2018-07-10 Articulation artificielle

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WO (1) WO2019013528A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120828434A (zh) * 2025-09-16 2025-10-24 季灿人工智能实验室(深圳)有限公司 仿生机械关节结构

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63105896A (ja) * 1986-10-23 1988-05-11 工業技術院長 関節機構
WO1999032795A1 (fr) * 1997-12-08 1999-07-01 Mats Englund Articulation
KR100249419B1 (ko) * 1998-01-15 2000-04-01 박호군 인간근육 특성을 이용한 다자유도계 운동모듈
JP2006015472A (ja) * 2004-07-05 2006-01-19 Masanori Sugisaka ヒューマノイドロボット
KR101328496B1 (ko) * 2012-10-11 2013-11-13 한국과학기술원 나선형 구조의 크로스-스프링을 이용한 높은 회전각을 갖는 탄성 회전관절

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63105896A (ja) * 1986-10-23 1988-05-11 工業技術院長 関節機構
WO1999032795A1 (fr) * 1997-12-08 1999-07-01 Mats Englund Articulation
KR100249419B1 (ko) * 1998-01-15 2000-04-01 박호군 인간근육 특성을 이용한 다자유도계 운동모듈
JP2006015472A (ja) * 2004-07-05 2006-01-19 Masanori Sugisaka ヒューマノイドロボット
KR101328496B1 (ko) * 2012-10-11 2013-11-13 한국과학기술원 나선형 구조의 크로스-스프링을 이용한 높은 회전각을 갖는 탄성 회전관절

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120828434A (zh) * 2025-09-16 2025-10-24 季灿人工智能实验室(深圳)有限公司 仿生机械关节结构

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