Patent ID: 11897125
Assignee: UNIST (ULSAN NATIONAL INSTITUTE OF SCIENCE AND TECHNOLOGY)
Field: Medical technology (Instruments)
Classification: CPC B  A  F  G | IPC A  B  G

Claim 6:
7. A three-dimensional (3D) spring array device that is fastenable to an end effector of a mechanical impedance estimating robot so as to verify reliability and accuracy of the mechanical impedance estimating robot, the 3D spring array device comprising:
a fixed body having an internal space therein;
a moving body positioned in the internal space, wherein the moving body is configured to be fastenable to the end effector of the mechanical impedance estimating robot; and
a first spring, a second spring, a third spring, a fourth spring, a fifth spring, a sixth spring, a seventh spring, and an eighth spring configured to connect the fixed body to the moving body in the internal space,
wherein the first spring is coupled to the fixed body at a first coupling coordinate, the second spring is coupled to the fixed body at a second coupling coordinate, the third spring is coupled to the fixed body at a third coupling coordinate, the fourth spring is coupled to the fixed body at a fourth coupling coordinate, the fifth spring is coupled to the fixed body at a fifth coupling coordinate, the sixth spring is coupled to the fixed body at a sixth coupling coordinate, the seventh spring is coupled to the fixed body at a seventh coupling coordinate, and the eighth spring is coupled to the fixed body at an eighth coupling coordinate, and
the fifth spring coupling coordinate and the sixth spring coupling coordinate are positioned at two vertices that are symmetrical with each other with respect to the moving body in a regular hexahedron based on the moving body, and
each of the first spring coupling coordinate, the third spring coupling coordinate, and the seventh spring coupling coordinate is positioned in a center of three corners each being connected to one of the two vertices at which the fifth spring coupling coordinate is positioned in the regular hexahedron, and
each of the second spring coupling coordinate, the fourth spring coupling coordinate, and the eighth spring coupling coordinate is positioned in a center of the three corners each being connected to the other one of the two vertices at which the sixth spring coupling coordinate is positioned in the regular hexahedron, and
wherein the 3D spring array device does not comprise additional springs configured to connect the fixed body to the moving body other than the first, second, third, fourth, fifth, sixth, seventh, and eighth springs.