Apparatus for interacting with external device by using pedal module

{
  "publication_number": "US9189008B1",
  "country": "US",
  "kind": "B1",
  "title": "Apparatus for interacting with external device by using pedal module",
  "abstract": "An apparatus interacting with an external device by using a pedal module is provided. The apparatus includes: a pedal module; a parallel position-measuring sensor for sensing a degree of a parallel motion; a rotary position-measuring sensor for sensing a degree of a rotary motion; and a control part for ordering the external device to be driven by referring to at least either of the degree of the parallel motion sensed by the parallel position-measuring sensor or that of the rotary motion sensed by the rotary position-measuring sensor or for receiving a control signal from the external device and driving a motor group including at least one motor to apply force feedback to the pedal module by referring to the control signal.",
  "claims": [
    "1. An apparatus interacting with an external device by using a pedal module, comprising: a pedal module including a left foot pedal on which the left foot of a user is placed and a right foot pedal on which the right foot of the user is placed; a parallel position-measuring sensor for sensing a degree of a parallel motion if the user manipulates the left and the right foot pedals to move the pedal module in the parallel motion; a rotary position-measuring sensor for sensing a degree of a rotary motion if the user manipulates the left and the right foot pedals to move the pedal module in the rotary motion; and a control part for ordering the external device to be driven by referring to at least either of the degree of the parallel motion sensed by the parallel position-measuring sensor or that of the rotary motion sensed by the rotary position-measuring sensor or for receiving a control signal from the external device and driving a motor group including at least one motor to apply force feedback to either of the left and the right foot pedals by referring to the control signal.",
    "2. The apparatus of claim 1, further comprising a tilting position-measuring sensor for sensing a degree of a tilting motion if the user manipulates the left and the right foot pedals to move the pedal module in the tilting motion.",
    "3. The apparatus of claim 2, wherein the control part orders the external device to be driven by additionally referring to the degree of the tilting motion sensed by the tilting position-measuring sensor.",
    "4. The apparatus of claim 1, wherein the motor group includes: a parallel motion motor for allowing a parallel stopper part interacting with a one-shaft linear actuator to perform parallel motion by driving the one-shaft linear actuator; and wherein a parallel motion part connected with the pedal module through rotary rods and the parallel stopper part are connected through at least one first spring.",
    "5. The apparatus of claim 4, wherein the motor group further includes: a rotary motion motor fixed to the parallel motion part; and wherein, if the rotary motion motor is driven, a rotary stopper part interacting with the rotary motion motor is moved in the rotary motion and the rotary stopper part and the rotary rods are connected through a second spring.",
    "6. The apparatus of claim 1, wherein the external device is manipulated by the other user.",
    "7. The apparatus of claim 6, wherein the external device includes the same structure as the apparatus interacting therewith.",
    "8. The apparatus of claim 1, wherein the external device is an unmanned robot.",
    "9. The apparatus of claim 8, wherein the control signal is generated by referring to at least either of information on an obstacle or a slope included in an environment where the unmanned robot moves.",
    "10. The apparatus of claim 9, wherein the control signal includes a signal for ordering the control part of the apparatus interacting with the external device to provide greater force feedback to at least either of the left and the right foot pedals when the unmanned robot is closer to the obstacle.",
    "11. The apparatus of claim 1, wherein the left and the right foot pedals have at least one pressure sensor and at least one vibration motor thereon; wherein the pressure sensor measures pressure magnitude if the user puts the pressure with his or her feet on the left and the right foot pedals and the control part delivers the measured pressure magnitude to the external device; and wherein the vibration motor causes the left and the right foot pedals to vibrate according to the control signal received from the external device through the control part.",
    "12. The apparatus of claim 11, wherein the left and right foot pedals have multiple pressure sensors and multiple vibration motors thereon; wherein the multiple pressure sensors acquire information on the pressure magnitude distribution when the user puts the pressure on the left and right foot pedals with his or her feet on the left and the right foot pedals, and the control part delivers the acquired information on pressure magnitude distribution to the external device; and wherein the multiple vibration motors cause the left and the right foot pedals to vibrate differentially according to the pressure distribution information included in the control signal received from the external device through the control part.",
    "13. The apparatus of claim 12, wherein information on a road surface included in an environment where the external device is moving is outputted through the multiple vibration motors.",
    "14. The apparatus of claim 13, wherein information on the road surface included in the environment where the external device is moving is outputted in order the multiple vibration motors are driven."
  ],
  "description_excerpt": "The present invention relates to an apparatus for interacting with an external device by using a pedal module; and more particularly, to the apparatus including a pedal module having a left foot pedal on which a user's left foot is placed and a right foot pedal on which the user's right foot is placed, a parallel position-measuring sensor for sensing a degree of parallel motion when the pedal module is moved in the parallel motion by manipulating the left and the right foot pedals; a rotary position-measuring sensor for sensing a degree of rotary motion when the pedal module is moved in the rotary motion by manipulating the left and the right foot pedals; and a control part for ordering the external device to be driven or for receiving a control signal from the external device and driving a motor to give force feedback to the left and/or the right foot pedals by referring to the control signal by referring to at least either of the degree of the parallel motion sensed by the parallel position-measuring sensor or the degree of the rotary motion sensed by the rotary position-measuring sensor.\n\nA conventional apparatus, interacting with an external device by using an existing pedal module, may use force-measuring sensors such as a force torque (FT) sensor to measure the magnitude of force inputted by a user, but such sensors, which are high-priced devices, may cause considerable cost burdens of manufacturers. In addition, with the existing pedal module, it is not easy to make a communication more realistically with a remote device and receiving force feedback is nothing but the delivery of the force.",
  "cpc": [
    "G06F 3/011",
    "B25J 13/04",
    "G05G 1/30",
    "G05G 1/34",
    "G05G 11/00",
    "G05G 5/00",
    "G06F 3/016"
  ],
  "ipc": [
    "G05B 15/00",
    "G05G 1/34",
    "G05G 11/00"
  ],
  "assignees": [
    "CT OF HUMAN CT ED INTERACTION FOR COEXISTENCE"
  ],
  "inventors": [
    "YOON DAE KEUN",
    "LEE KWANG KYU",
    "KIM SHIN YOUNG",
    "CHO JAI HI",
    "YOU BUM JAE"
  ],
  "filing_date": "2014-12-17",
  "publication_date": "2015-11-17",
  "grant_date": "2015-11-17",
  "priority_date": "2014-09-02",
  "application_number": "US-201414573440-A",
  "family_id": "54246894",
  "citations": [
    "US5049079A",
    "US5745055A",
    "US6213564B1",
    "US7309829B1"
  ]
}