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公开(公告)号：JP2007237364A
公开(公告)日：2007-09-20
申请号：JP2006066003
申请日：2006-03-10
Applicant: Toyota Motor Corp , Univ Waseda , トヨタ自動車株式会社 , 学校法人早稲田大学
Inventor： TATARA TAKEHIRO , SUGANO SHIGEKI , ISHII SATOSHI , IWATA HIROYASU
Abstract: PROBLEM TO BE SOLVED: To provide a holding device, more surely holding an object to be held.
SOLUTION: This holding device 1A includes: an elastic passive joint 6 provided at a connecting part of a first node 50 and a second node 20 and passively transmitting holding force elastically in holding an object to be held. The device includes passive range regulating mechanisms 10, 20, 30, 40, 50 for regulating the passive enable range of the first node 50, wherein the passive range regulating mechanisms vary the passive enable range according to a joint angle β made by the first node 50 and the second node 20, thereby performing the holding operation corresponding to the objects different in shape, size and weight. Thus, provided is the holding device for surely holding the objects of different types.
COPYRIGHT: (C)2007,JPO&INPITAbstract translation: 要解决的问题：提供一种更可靠地保持要保持的物体的保持装置。 解决方案：该保持装置1A包括：设置在第一节点50和第二节点20的连接部分处的弹性被动接头6，并且在保持被保持物体时弹性地传递保持力。 该装置包括用于调节第一节点50的被动使能范围的无源范围调节机构10,20,30,40,50，其中无源范围调节机构根据由第一节点 50和第二节点20，从而执行与形状，大小和重量不同的对象相对应的保持操作。 因此，提供了用于可靠地保持不同类型的物体的保持装置。 版权所有（C）2007，JPO＆INPIT
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公开(公告)号：JP2004337307A
公开(公告)日：2004-12-02
申请号：JP2003136280
申请日：2003-05-14
Applicant: Toyota Motor Corp , Univ Waseda , トヨタ自動車株式会社 , 学校法人早稲田大学
Inventor： TATARA TAKEHIRO , UMIGA MASAHIRO , HAYASHI TAKASHI , KOMIYA TAKESHI , IWATA HIROYASU , SUGANO SHIGEKI
Abstract: PROBLEM TO BE SOLVED: To provide an artificial skin which is used as a member for covering the surfaces of a robot or prosthetic limbs and has characteristics similar to the skin of human beings. SOLUTION: The artificial skin is equipped with a first skin part 2 comprising an elastic body with a first coefficient of friction and a second skin part 3 which has a second coefficient of friction smaller than the first coefficient of friction and is placed on the surface of the first skin part 2 in a reticulated manner. The second skin part 3 is constituted to subside in the first skin part 2 by responding to the increase in a contact pressure between an object in contact and the second skin part 3. COPYRIGHT: (C)2005,JPO&NCIPI
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公开(公告)号：JP2004230532A
公开(公告)日：2004-08-19
申请号：JP2003024713
申请日：2003-01-31
Applicant: Toyota Motor Corp , Univ Waseda , トヨタ自動車株式会社 , 学校法人早稲田大学
Inventor： TATARA TAKEHIRO , UMIGA MASAHIRO , HAYASHI TAKASHI , SUGANO SHIGEKI
Abstract: PROBLEM TO BE SOLVED: To provide artificial skin improved in sensing sensitivity.
SOLUTION: The artificial skin 10 comprises a sensor 20 for detecting pressure distribution of a contacting article 26 on a sensing surface 20a having a plurality of sensing points 20b, and an elastic element portion 10A mounted on the sensing surface 20a and having projecting portions 17 at surface 12a positions corresponding to the positions of the sensing points 20b. In the artificial skin 10, when the contacting article 26 contacts with the surface 12a, first, the projecting portions 17 of the elastic element portion 10A abut on the contacting article 26. In the projecting portions 17, pressure dispersion in a surface direction (an arrow Z direction) of the artificial skin is suppressed. Therefore, the pressure due to contact of the contacting article 26 is concentrated at the sensing points 20b of the sensor 20. Consequently, when the contacting article 26 contacts with the surface 12a of the artificial skin 10, the pressure distribution of the contacting article 26 is sensitively detected.
COPYRIGHT: (C)2004,JPO&NCIPI-
公开(公告)号：JP2006051838A
公开(公告)日：2006-02-23
申请号：JP2004232591
申请日：2004-08-09
Applicant: Toyota Motor Corp , Univ Waseda , トヨタ自動車株式会社 , 学校法人早稲田大学
Inventor： SATO TAICHI , TATARA TAKEHIRO , IWATA HIROYASU , SUGANO SHIGEKI
Abstract: PROBLEM TO BE SOLVED: To provide an omnidirectional moving vehicle capable of reducing errors between forward moving distance and backward moving distance in case that driving conditions in forward and backward moving are the same.
SOLUTION: The omnidirectional moving vehicle is equipped with front wheels 3A, 3B provided at the front part side of a vehicle body 2, and rear wheels 4A, 4B provided at the rear part side of the vehicle body 2. These wheels 3A to 4B are circularly arranged around a rim rotatably mounted to the vehicle body 2, and have a plurality of freely rotatable driven wheels 6 around the shaft orthogonal to the rotating shaft of the rim. An annular pawl part 9 forming a recessed part 8 in where a base end 6a side part of the adjacent driven wheel 6 gets is provided at the tip end 6b side part of the driven wheel 6. The arrangement direction of respective driven wheels 6 in the front wheels 3A, 3B and the arrangement direction of respective driven wheels 6 in the rear wheels 4A, 4B are opposite to the longitudinal direction of the vehicle body 2.
COPYRIGHT: (C)2006,JPO&NCIPIAbstract translation: 要解决的问题：提供一种全方向移动车辆，其能够在向前和向后移动中的驾驶条件相同的情况下减少前进移动距离和后退移动距离之间的误差。 解决方案：全向移动车辆配备有设置在车身2的前部侧的前轮3A，3B，以及设置在车体2的后部侧的后轮4A，4B。这些车轮3A 到4B围绕可旋转地安装到车体2的轮辋圆周地布置，并且具有围绕与轮辋的旋转轴正交的轴的多个可自由旋转的从动轮6。 在从动轮6的前端6b侧部分设置形成相邻从动轮6的基端6a侧部分所在的凹部8的环形棘爪部分9.在从动轮6的各个从动轮6的排列方向 前轮3A，3B以及后轮4A，4B中的从动轮6的排列方向与车身2的纵向相反。（C）2006年，JPO＆NCIPI
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公开(公告)号：JP2004351567A
公开(公告)日：2004-12-16
申请号：JP2003152769
申请日：2003-05-29
Applicant: Toyota Motor Corp , Univ Waseda , トヨタ自動車株式会社 , 学校法人早稲田大学
Inventor： TATARA TAKEHIRO , UMIGA MASAHIRO , HAYASHI TAKASHI , SHIOZAWA HIROKI , IWATA HIROYASU , SUGANO SHIGEKI
CPC classification number: B25J15/0009
Abstract: PROBLEM TO BE SOLVED: To provide a robot hand having excellent stability when holding an object. SOLUTION: This robot hand has two or more fingers including a thumb and holds the object. The robot hand 1 is provided with a thumb ball 3 arranged on a base part of the thumb, a robot hand base part 2 having a palm part 10 and mounted with the thumb ball 3 and fingers except the thumb thereon, a rotary shaft rotatably mounted on the robot hand base part 2, a driving means arranged from being shifted from the rotary shaft to rotate and drive the rotary shaft, and a transmission means for transmitting rotary driving force of the driving means to the rotary shaft. The thumb ball 3 rotates according to the rotation of the rotary shaft and projects when rotating to the palm part 10 side. COPYRIGHT: (C)2005,JPO&NCIPI
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Patent Agency Ranking
公开(公告)号：JP2004230041A
公开(公告)日：2004-08-19
申请号：JP2003024729
申请日：2003-01-31
Applicant: Toyota Motor Corp , Univ Waseda , トヨタ自動車株式会社 , 学校法人早稲田大学
Inventor： TATARA TAKEHIRO , UMIGA MASAHIRO , HAYASHI TAKASHI , SUGANO SHIGEKI
Abstract: PROBLEM TO BE SOLVED: To provide an artificial skin having friction characteristics approximate to the friction characteristics of human skin.
SOLUTION: In this artificial skin 10, when a contact object 26 contacts a false skin membrane 12, the contact object 26 first contacts protruding parts 17 formed on the surface of the skin membrane 12, and when the protruding parts 17 sink due the the increase of contact pressure of the contact object 26, the contact object 26 contacts also a recessed part 12a. That is, when the pressure of the contact object 26 to the artificial skin 10 is small, the contact object 26 contacts only the protruding parts 17 on the surface of the false skin membrane 12, but when the pressure of the contact object 26 to the artificial skin 10 is large, the contact object 26 contacts both the protruding parts 17 and the recessed part 12a on the surface of the false skin membrane 12. Since the friction coefficient of the protruding part 17 is smaller than that of the recessed part 12a, friction is generated at a low friction coefficient in the case the pressure of the contact object 26 to the artificial skin 10 is small in comparison with the case of the pressure being large. Such friction characteristics are approximate to the friction characteristics of human skin.
COPYRIGHT: (C)2004,JPO&NCIPI-
公开(公告)号：JP2010000989A
公开(公告)日：2010-01-07
申请号：JP2008163560
申请日：2008-06-23
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： KURIHARA FUMIYOSHI , KAMATA NOBUHIDE , TATARA TAKEHIRO
Abstract: PROBLEM TO BE SOLVED: To provide a two-wheeled automobile suppressing an increase in power consumption. SOLUTION: The two-wheeled automobile 1 is provided with: a vehicle body 2; and wheels 3A and 3B coaxially arranged on both sides of the vehicle body 2, and its center of gravity is positioned below the centers of the wheels 3A and 3B. The vehicle body 2 has: a body 4; and a cabin 5 coupled to the body 4 relatively movably along the peripheral direction of the wheels 3A and 3B, and having a seat 6. The two-wheeled vehicle 1 is also provided with: motors 8A and 8B for rotating the wheels 3A and 3B individually; motors 9 for controlling a posture of the cabin 5 by turning the cabin part 5 to the body 4; two laser distance sensors provided in the lower part of the front end and in the lower part of the rear end of the cabin 5, and detecting a distance between the cabin 5 and a road surface R; and an ECU for controlling the posture controlling motors 9 so that the cabin 5 is kept in a horizontal position to the road surface R, based on the detected value of each laser distance sensor. COPYRIGHT: (C)2010,JPO&INPIT
Abstract translation: 要解决的问题：提供抑制电力消耗增加的两轮汽车。 解决方案：两轮汽车1设有：车身2; 以及同轴地配置在车身2的两侧的车轮3A，3B，其重心位于车轮3A，3B的中心的下方。 车体2具有主体4; 以及沿着车轮3A和3B的圆周方向相对移动地连接到主体4并具有座椅6的车厢5。两轮车辆1还设置有：用于使车轮3A和3B旋转的电动机8A和8B 独立; 用于通过将车厢部分5转动到车身4来控制车厢5的姿势的电动机9; 两个激光距离传感器设置在车厢5的前端的下部和后端的下部，并且检测驾驶室5与路面R之间的距离; 以及ECU，其基于各激光距离传感器的检测值，控制姿势控制电动机9，使得车厢5保持在与路面R的水平位置。 版权所有（C）2010，JPO＆INPIT
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公开(公告)号：JP2007276063A
公开(公告)日：2007-10-25
申请号：JP2006106812
申请日：2006-04-07
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： TATARA TAKEHIRO
IPC: B25J19/00
CPC classification number: B25J9/0087
Abstract: PROBLEM TO BE SOLVED: To allow to stabilize a robot and surely perform a work with physical strength.
SOLUTION: A fixing device 1 for the robot is equipped with an arm part 13 for holding and moving a heavy load 21 and a body part 12 to which the arm part is connected. When the heavy load 21 on a base 20 is held and moved or the heavy load 21 to be held is moved onto the base 20, the robot 10 is fixed. The fixing means 1 fixes the body part 12 relative to the base 20. Moreover, the fixing means 1 can be provided in the vicinity of the lumber part of the body part 12.
COPYRIGHT: (C)2008,JPO&INPITAbstract translation: 要解决的问题：为了使机器人稳定，并确保以身体力量进行工作。 解决方案：用于机器人的固定装置1配备有用于保持和移动重负载21的臂部13和与臂部连接的主体部12。 当基座20上的重载21被保持移动或者要保持的重负载21移动到基座20上时，机器人10被固定。 固定装置1相对于基座20固定主体部分12.此外，固定装置1可以设置在主体部分12的木材部分附近。版权所有（C）2008，JPO＆INPIT
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公开(公告)号：JP2009125884A
公开(公告)日：2009-06-11
申请号：JP2007304939
申请日：2007-11-26
Applicant: TOYOTA MOTOR CORP , UNIV WASEDA
Inventor： TATARA TAKEHIRO , KURIHARA FUMIYOSHI , MATSUMOTO KENTARO , SUGANO SHIGEKI , IWATA HIROYASU
IPC: B25J15/08
Abstract: PROBLEM TO BE SOLVED: To provide a manipulator for a robot optimized surface structure depending on regions. SOLUTION: The manipulator 1 for the robot comprises a sensor 3 formed of a pressure sensor provided on the surface side of a structure 2, and a covering part 4 formed of a covering material for covering at least the sensor 3. The covering part 4 is formed by arranging covering members 4a, 4b, 4c, 4e different in thickness and/or hardness according to distances from the fingertip. The sensor 3 is formed by arranging pressure sensors different in resolution according to distances from the fingertip. COPYRIGHT: (C)2009,JPO&INPIT
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公开(公告)号：JP2009125885A
公开(公告)日：2009-06-11
申请号：JP2007304965
申请日：2007-11-26
Applicant: TOYOTA MOTOR CORP , UNIV WASEDA
Inventor： TATARA TAKEHIRO , ICHIKAWA KENTARO , SUGANO SHIGEKI , IWATA HIROYASU , YAMAGUCHI YASUMASA , UEMURA YOHEI
IPC: B25J19/00
Abstract: PROBLEM TO BE SOLVED: To provide a wiring structure of cables attaining the sharp reduction of a torque loss. SOLUTION: In the wiring structure of cables wound over a first member 11 and a second member 12 relatively rotated around an axis A1, the cables have a plurality of systems, and the cables 13a, 13b are wired so that the resilience of the plurality of systems may be canceled from each other. The total resilience is thereby made neutral to bring load torque close to zero. COPYRIGHT: (C)2009,JPO&INPIT
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