Samsung Electronics Co., Ltd.

Kyung Won Moon

Kyung Shik Roh

Jong Do Choi

Hyun Kyu Kim

Kwang Kyu Lee

Ji Young Kim

San Lim

Seung Ju Han

Hyun Jeong Lee

Joon Ah Park

Soo Chul Lim

Tae Sin Ha

An apparatus and method for measuring bending of an object, a position of an item touching the object, and a shearing force of the item using an optical waveguide may include a frequency measurer to measure a frequency of light reflected from a grating of an optical waveguide, and a bending measurer to determine bending of an object to which the optical waveguide is attached using the frequency.

Apparatus and method for measuring bending of an object, by using an optical waveguide

A method to control medical equipment that moves along at least one axis or performs joint movement is provided. While the medical equipment is passively moved as operated by the operator, the operation intention of the operator is determined using a force sensor, a torque sensor, or the like, and motor control is performed taking into consideration the determined operation intention to reduce load (or drive power) of the operator. To accomplish this, the method determines a direction and magnitude of force that an operator applies to the medical equipment to move the medical equipment and generates auxiliary force having a magnitude proportional to the force applied by the operator and having the same direction as the direction of the force applied by the operator such that the medical equipment may be moved.

Method to control medical equipment

A surgical robot and a surgical robot control method ensure a stable change of an operation mode. The surgical robot includes a master device having an input unit, a slave device having at least one robotic surgical instrument that is remotely controlled by the master device, and a controller that performs a mode change process to gradually vary the strength of a feedback signal fed back from the slave device to the input unit for a predetermined time when a signal for a change of an operation mode is input via the input unit.

Surgical robot and surgical robot control method

Disclosed herein is a method of controlling a robot hand similar to a hand of a human being such that the robot hand naturally and safely grasps an object. The robot hand, including fingers and a palm, is capable of naturally and safely grasping an object, by the tip of each finger performing impedance control while following the optimal path on a Cartesian coordinate system, although the robot hand cannot reach a position ideal to grasp the object due to sensor errors or shape information of the object to be grasped is not correctly recognized. Also, the robot hand is capable of stably grasping the object even when moving or manipulating the object.

Robot hand and method of controlling the same

A method and apparatus to generate a humanlike motion of a humanoid robot which is capable of performing a humanlike breathing motion. For example, the method includes calculating target rotational angles of respective rotary joints to perform a basic motion according to a user command, calculating rotational angles of respective rotary joints to perform a breathing motion, and generating the breathing motion by adding up the target rotational angles of the respective rotary joints to perform the basic motion and the rotational angles to perform the breathing motion and providing the angles obtained thereby to respective rotary joints constituting joint units related to the breathing motion, thus providing intimacy and aesthetic stability to users.

Method to generate humanlike motion of humanoid robot

A manipulator, and a control method thereof, calculates a degree of freedom (DOF) used to prevent collision with an obstacle in consideration of an order of priority of DOFs for an operation and collision avoidance contribution. The manipulator judges whether there is danger of collision of the manipulator with an obstacle, judges whether or not there is at least one operating DOF capable of avoiding collision with the obstacle among the plurality of operating DOFs, upon judging that there is danger of collision with the obstacle, and avoids collision with the obstacle using at least one operating DOF having the lowest priority while performing the operation among the at least one operating DOF capable of avoiding collision with the obstacle, upon judging that there is the at least one operating DOF capable of avoiding collision with the obstacle.

Manipulator and control method thereof

An X-ray apparatus includes guide rails arranged along different axes, an X-ray tube movably mounted on at least one of the guide rails and adapted to be moved upon user force, motors provided at the guide rails to move the X-ray tube, a force detection unit to detect the user force, and a control unit to determine a direction of force and drive the motor provided at the guide rail on an axis corresponding to the determined direction. The X-ray apparatus may be easily moved based on force detection and velocity control of the motor, thereby achieving more precise and safe movement in a desired direction. Accordingly, the X-ray apparatus may provide rapid and efficient medical examination and treatment in hospitals.

X-ray apparatus and control method thereof

A robot one of transfers an article to an external subject and receives the article from the human subject and flexibly copes with changes in human intention. If a pushing force applied to robot hands is sensed, the robot hands grip and pull the article to inform the external subject that the robot hands are prepared to receive the article from the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or a pulling force applied to the robot hands is sensed. If the pulling force applied to a robot hands is sensed, the robot pushes the article to inform the external subject that the robot hands are prepared to transfer the article to the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or the pulling force applied to the robot hands is sensed.

Robot and control method

Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm.

Robot arm and method of controlling the same

A grasping method of a multi-finger hand including calculating positions of tips of plural actual fingers; calculating positions of tips of plural virtual fingers using the calculated positions of the tips of the plural actual fingers; judging that a central position among the calculated positions of the tips of the plural virtual fingers is a central position of a virtual object based on the calculated positions of the tips of the plural virtual fingers; and controlling joint torques of the respective actual fingers corresponding to the tips of the virtual fingers such that motions of the tips of the plural virtual fingers are carried out while uniformly maintaining the relative positional relationships of the tips of the plural virtual fingers based on the central position of the virtual object.

Control apparatus of multi-finger hand and grasping method using the same

There is provided a robot, which compensates for the angle of a joint, bent due to external force, using a redundant degree of freedom of the robot, and a method of controlling the same. The method includes sensing a bending angle of a joint due to external force or a torque applied to the joint, comparing the bending angle of the joint or the torque applied to the joint with an allowable safety reference value; and adjusting the bending angle of a higher-level joint of the joint using a redundant degree of freedom of the robot, when the bending angle or the torque reaches the allowable safety reference value, thereby compensating for the excessively bending angle of the joint and thus being capable of safely controlling the robot.

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Seoul, South Korea

Kyung Won Moon