公开(公告)号：JP2011110080A

公开(公告)日：2011-06-09

申请号：JP2009266104

申请日：2009-11-24

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ODAJIMA TADASHI ,  EBIHARA YASUHIRO

IPC: A61G7/10 ,  A61G5/00

Abstract: PROBLEM TO BE SOLVED: To provide a transfer support device capable of reducing the bodily load of a care taker.
SOLUTION: The transfer support device 100 includes a truck 1, the arm part 2 attached to the truck 1 and the body holder 3 attached to the arm part 2 to hold the body of the care taker M. An armpit support part 4 for supporting the armpit of the care taker M is provided to the body holder 3. The transfer support device 100 is further equipped with an armpit sensor 5 capable of measuring the load applied to the armpit support part 4.
COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：提供能够降低护理人员身体负荷的转移支持装置。 解决方案：转移支撑装置100包括卡车1，附接到卡车1的臂部分2和附接到手臂部分2的身体保持器3以保持护理人员M的身体。腋窝支撑部分4 用于支撑护理者M的腋窝被提供到身体保持器3.转移支撑装置100还配备有能够测量施加到腋窝支撑部分4的负荷的腋窝传感器5.版权所有（C ）2011，JPO＆INPIT

公开(公告)号：JP2010148567A

公开(公告)日：2010-07-08

申请号：JP2008327513

申请日：2008-12-24

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ODAJIMA TADASHI

IPC: A61G7/10

Abstract: PROBLEM TO BE SOLVED: To provide a transfer support apparatus capable of accurately and easily detecting the abnormality of a rotary power transmission part, and its safety control method.
SOLUTION: The transfer support apparatus includes: a first link; a motor provided in the first link; a power transmission part for transmitting rotary power by the motor; a shaft 64a which is freely rotatably connected to one end of the first link and rotated by the rotary power transmitted by the power transmission part; a second link 22 which has the shaft fixed at one end and is rotated with the shaft as an axis; a brake 93 for stopping the rotation of the shaft; and a brake control part 91 for controlling the brake on the basis of the measured strain value of the shaft.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 解决的问题：提供一种能够准确且容易地检测旋转动力传递部的异常的转移支援装置及其安全控制方法。 转移支持装置包括：第一链路; 设置在所述第一连杆中的电动机; 用于通过电动机传递旋转动力的动力传递部分; 轴64a，其可自由旋转地连接到第一连杆的一端并被动力传递部分传递的旋转动力旋转; 第二连杆22，其轴固定在一端并以轴为轴旋转; 用于停止轴的旋转的制动器93; 以及用于基于所测量的轴的应变值来控制制动器的制动控制部91。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2010142550A

公开(公告)日：2010-07-01

申请号：JP2008325379

申请日：2008-12-22

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ODAJIMA TADASHI ,  NAKAMURA TAKUMA

IPC: A61G7/10

CPC classification number: A61G7/1017 ,  A61G7/1048 ,  A61G7/1059 ,  A61G7/1065 ,  A61G7/1086 ,  A61G2200/52

Abstract: PROBLEM TO BE SOLVED: To provide a transfer support device capable of swiftly and accurately controlling the posture of a holder, and a control method therefor.
SOLUTION: The transfer support device related to a first embodiment includes: an arm having first and second joints; a holder part coupled with the arm part for holding a care-receiver; a control handle for controlling the position and posture of the holder part; a first motor for driving the first joint; a second motor for driving the second joint; and a control part for controlling the first and second motors based on the information input from the control handle and the angle information on the first and second joints. The control part automatically controls the first and second motors so that the posture of the holder part is retained within a prescribed range of tolerance.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供能够快速且准确地控制保持器的姿势的转移支撑装置及其控制方法。 解决方案：与第一实施例相关的转移支撑装置包括：具有第一和第二关节的臂; 与手臂部分联接以保持护理者的保持器部分; 用于控制保持器部件的位置和姿势的控制手柄; 用于驱动第一接头的第一电机; 用于驱动第二关节的第二电动机; 以及控制部件，用于基于从控制手柄输入的信息和第一和第二关节上的角度信息来控制第一和第二电动机。 控制部自动控制第一和第二电动机，使得保持器部件的姿态保持在规定的公差范围内。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2010069002A

公开(公告)日：2010-04-02

申请号：JP2008239493

申请日：2008-09-18

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： EBIHARA YASUHIRO ,  ODAJIMA TADASHI ,  NAKAMURA TAKUMA

IPC: A61G7/10

Abstract: PROBLEM TO BE SOLVED: To provide a transfer device and a transfer method for holding a person with a holer and optimally transferring the person. SOLUTION: The transfer device 10 includes: a cart part 1; a wheel driving part for driving the wheels 15 of the cart part 1; an arm part 2 connected to the cart part 1; an arm part driving part for driving the arm part 2; a control part 17 for controlling the wheel driving part and the arm part driving part; the holder 3 attached to the arm part 2 and holding the person; and a contact detecting part 19 for detecting contact of the person with the holder 3. The control part 17 controls the driving of the wheels 15 by the wheel driving part and the driving of the arm part 2 by the arm part driving part to move the holder 3 to a transfer target position. When the contact detecting part 19 detects the contact of the person with the holder 3, the control part 17 controls the driving of the wheel driving part and slows down the movement speed of the cart part 1. COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于保持拥有人的人的转移装置和转移方法，并且最佳地转移该人。 解决方案：转印装置10包括：手推车部件1; 用于驱动车部件1的车轮15的车轮驱动部件; 连接到推车部件1的臂部件2; 用于驱动臂部2的臂部驱动部; 用于控制车轮驱动部和臂部驱动部的控制部17; 附着在手臂部分2上并保持人的支架3; 以及用于检测人与保持器3的接触的接触检测部19.控制部17通过轮驱动部来控制车轮15的驱动，通过臂部驱动部来驱动臂部2， 支架3到转印目标位置。 当接触检测部19检测到人与保持器3的接触时，控制部17控制车轮驱动部的驱动，并减慢推车部1的移动速度。版权所有（C）2010 ，JPO＆INPIT

公开(公告)号：JP2009034757A

公开(公告)日：2009-02-19

申请号：JP2007200205

申请日：2007-07-31

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： UCHIHARA MASAFUMI ,  ODAJIMA TADASHI

IPC: B25J3/00

Abstract: PROBLEM TO BE SOLVED: To provide a power assist device for accurately controlling the three-dimensional attitude of an object while improving the efficiency of mounting work for a target, and to provide its control method.
SOLUTION: The power assist device comprises a hand part 10 for gripping the object, a vertical drive part 11 for driving the hand part 10 in the vertical direction, a free joint part 12 for rockingly connecting the hand part 10 to the vertical drive part 11 in any three-dimensional direction, an angle sensor 13 for detecting three-dimensional displacing angles (a pitch angle α, a rolling angle β, and a yawing angle γ) of the object to the free joint part 12, and a control part 14 for calculating a projecting angle θ
p of the object 2 in an absolute coordinate space projected on a x-z plane, from the displacing angles (the pitch angle α, the rolling angle β, and the yawing angle γ) of the object detected by the angle sensor 13, to drive the vertical drive part 11 so that the projecting angle θ
p is a reference displacing angle θ
s .
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于在提高目标的安装工作效率的同时精确地控制物体的三维姿态并提供其控制方法的动力辅助装置。 解决方案：动力辅助装置包括用于夹持物体的手部10，用于在垂直方向上驱动手部10的垂直驱动部11，用于使手部10与垂直方向摇摆连接的自由关节部12 驱动部件11，用于检测物体与自由关节部件12的三维位移角（俯仰角α，滚动角度β，偏航角γ）的角度传感器13，以及 控制部14，用于根据投影在xz平面上的绝对坐标空间，从位移角（俯仰角α，滚动角β和偏转角θ）计算对象2的投影角度θSB < 角度γ），驱动垂直驱动部11，使得突出角θ P 为基准位移角θSB。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2011217858A

公开(公告)日：2011-11-04

申请号：JP2010088325

申请日：2010-04-07

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ODAJIMA TADASHI ,  IWATA YOSHIKAZU

IPC: A61G5/00 ,  A61G7/10

Abstract: PROBLEM TO BE SOLVED: To provide a transfer assisting apparatus with a simple configuration, for providing a proper playback operation suitable to a person to be cared, and efficiently preventing such a situation that the person to be cared is tucked and pressed in the playback operation.SOLUTION: This transfer assisting apparatus 10 includes: a supporting pedestal 12, a strut 13, a body holder 30, a drive unit 20, a position detecting sensor 80, a storage unit 70, a contact detecting sensor 40 and a control unit 50. In an operation for causing the body holder 30 to approach the person P to be cared so that the person P to be cared who sits on a seat 60 can be held on the body holder 30, the control section 50 stops the movement of the body holder 30 when the contact detecting sensor 40 detects contact when the position of the body holder 30 is moved so as to follow a previously set target track and causes the storage unit 70 to store the stop position, and controls the drive unit 20 on the basis of the number of times of stopping at the stored position.

Abstract translation: 要解决的问题：为了提供一种具有简单配置的转移辅助设备，用于提供适合于要照顾的人的适当的回放操作，并且有效地防止被关注的人被卷起和按压的情况 播放操作。 解决方案：该转移辅助装置10包括：支撑台座12，支柱13，主体保持器30，驱动单元20，位置检测传感器80，存储单元70，接触检测传感器40和控制 在使身体保持器30靠近被照顾的人P的操作中，使得坐在座位60上的被照顾的人P能够被保持在身体保持器30上，则控制部50停止运动 当接触检测传感器40检测到当主体保持器30的位置移动以便跟随预先设定的目标轨迹并且使存储单元70存储停止位置时检测到接触，并且控制驱动单元20 基于在存储位置停止的次数。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：JP2011120787A

公开(公告)日：2011-06-23

申请号：JP2009282077

申请日：2009-12-11

Applicant: Nagoya Univ ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  国立大学法人名古屋大学

Inventor： ODAJIMA TADASHI ,  OHIGATA GORO ,  HASE KAZUNORI ,  TOMEOKI MASAYUKI ,  HIRATE YOSUKE

IPC: A61B5/22

Abstract: PROBLEM TO BE SOLVED: To provide a method for estimating muscle power produced by a worker, and a device to forecast a work load applied to him/her.
SOLUTION: The muscle power estimating method includes a measurement step, an estimated joint angle calculation step, an estimated joint torque calculation step, and an estimated muscle power calculation step. The measurement step measures the quantity of a person's relevant joint state at a present time t including its angle, and also external forces acting on him/her. The estimated joint angle calculation step calculates an estimated joint angle at a time t+dt from the quantity of joint state measured at the measurement step. The estimated joint torque calculation step calculates an estimated joint torque produced by the joint with an estimated angle at the time t+dt. The estimated muscle power calculation step calculates an estimated muscle power at the time t+dt by substituting the estimated joint torque in a musculo-skeletal model formula that states the relations between joint torque and muscle power to generate it.
COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于估计由工人产生的肌肉力量的方法，以及用于预测施加于他/她的工作负荷的装置。 解决方案：肌肉力量估计方法包括测量步骤，估计关节角度计算步骤，估计关节扭矩计算步骤和估计肌肉力量计算步骤。 测量步骤测量当前时间t包括其角度的人的相关联合国家的数量，以及对他/她的外部力量。 估计的关节角度计算步骤从在测量步骤测量的关节状态量计算在时间t + dt的估计关节角度。 估计的联合扭矩计算步骤以时间t + dt的估计角度计算由关节产生的估计的关节扭矩。 估计的肌肉力量计算步骤通过用肌肉 - 骨骼模型公式中的估计的关节扭矩代替关节扭矩和肌肉力量之间的关系来产生它来计算在时间t + dt的估计的肌力。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2009039815A

公开(公告)日：2009-02-26

申请号：JP2007207228

申请日：2007-08-08

Applicant: Institute Of Physical & Chemical Research ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  独立行政法人理化学研究所

Inventor： ODAJIMA TADASHI ,  YAMAGUCHI TAKESHI ,  TYTUS WOJTARA ,  SHIMODA SHINGO ,  KIMURA HIDENORI

IPC: B23P19/00 ,  B23P21/00 ,  B62D65/06 ,  B66F19/00

Abstract: PROBLEM TO BE SOLVED: To provide a method for controlling a power assist device, improving workability of workpiece assembling work while reducing workload on the power assist device. SOLUTION: This method for controlling the power assist device 1 includes: a positioning completion detection step of detecting that the reference positions 10a to 10d of a window 10 match the fitting reference positions 11a to 11d of a body 11 as a mounting object; a reference position detection step of detecting a matching position for the reference positions 10a to 10d of the window 10 and the fitting reference positions 11a to 11d of the body 11 when the positioning completion detection step is completed; and an autonomic rotation step of forming a virtual rotating shaft based on the matching position and autonomously rotating the window 10 around the virtual rotating shaft by the power assist device 1. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于控制动力辅助装置的方法，提高工件组装工作的可操作性，同时减少动力辅助装置的工作量。 解决方案：用于控制动力辅助装置1的方法包括：定位完成检测步骤，检测窗口10的参考位置10a至10d与作为安装对象的主体11的装配基准位置11a至11d相匹配 ; 参考位置检测步骤，当定位完成检测步骤完成时，检测窗口10的参考位置10a至10d的匹配位置和主体11的装配基准位置11a至11d; 以及基于匹配位置形成虚拟旋转轴并通过动力辅助装置1自主旋转窗口10围绕虚拟旋转轴的自主旋转步骤。（C）2009，JPO＆INPIT

公开(公告)号：JP2009034755A

公开(公告)日：2009-02-19

申请号：JP2007200077

申请日：2007-07-31

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ODAJIMA TADASHI

IPC: B25J3/00

Abstract: PROBLEM TO BE SOLVED: To provide a power assist device for controlling the position and attitude of a work with an intuitive feeling of operation. SOLUTION: The power assist device 50 is provided for assisting work for a worker 1 to carry a window 2 as an object. It comprises a robot arm 3 having a plurality of joints 3a, a sucking tool 5 as a holding means connected to the robot arm 3 via a free joint 4 in a three-dimensionally rocking manner for holding the window 2, an encoder 10 as an angle detecting means for detecting the angles of the joints 3a and the free joint 4, a force sensor installed on the sucking tool 5 for detecting moment on the sucking tool 5, a handle 6 provided on the sucking tool 5 for operating the sucking tool 5 while applying the moment to the force sensor, and a control means 8 for controlling a hand speed as the moving speed of a connection portion of the robot arm 3 to the sucking tool 5 in accordance with the moment detected by the force sensor. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于以直观的操作感觉来控制工件的位置和姿态的动力辅助装置。 解决方案：动力辅助装置50被设置用于辅助工作人员1携带作为对象的窗口2的工作。 其包括具有多个接头3a的机器人臂3，作为用于保持窗口2的以三维摆动方式经由自由接头4连接到机器人手臂3的保持装置的吸取工具5，编码器10作为 用于检测接头3a和自由接头4的角度的角度检测装置，安装在吸引工具5上用于检测吸吮工具5上的力矩的力传感器;设置在吮吸工具5上用于操作吮吸工具5的手柄6 同时向力传感器施加力矩，以及控制装置8，用于根据力传感器检测到的力矩控制手速度作为机器人手臂3的连接部分到吸取工具5的移动速度。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2009028879A

公开(公告)日：2009-02-12

申请号：JP2007197928

申请日：2007-07-30

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： KONOSU HITOSHI ,  ODAJIMA TADASHI

IPC: B25J5/02 ,  B23P19/00 ,  B23P21/00 ,  B62D65/06

CPC classification number: B62D65/06 ,  B25J5/02 ,  B25J9/107 ,  B25J15/0052 ,  B25J15/0616 ,  B66C1/0243 ,  B66C1/0256 ,  Y10T74/20305

Abstract: PROBLEM TO BE SOLVED: To provide a workpiece conveying device small in size and light in weight without having two kinds of large and heavy driving means such as a driving means for moving up/down and a driving means for rotational movement. SOLUTION: The workpiece conveying device 1 comprising a gripping tool 20 for gripping a window 5 being a workpiece and a support arm 10 for movably supporting the gripping tool 20 conveys the window 5 gripped by the gripping tool 20 to window frames 7a, 7b (a rear window frame 7a, a front window frame 7b) to be assembled with the window 5 by the support arm 10 and changes an attitude of the window 5 to a suitable attitude for the window frames 7a, 7b. The support arm 10 is composed to be a closed loop linkage in which a plurality of links 11, 12, 13 and 14 are connected to form a closed-loop shape. An attitude of the gripping tool 20 to either link 13 or 14 of a pair of the links 13, 14 connected to the gripping tool 20 of the support arm 10 can be fixed. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种尺寸小，重量轻的工件输送装置，而不需要两种大而重的驱动装置，例如用于上下移动的驱动装置和用于旋转运动的驱动装置。 解决方案：包括用于夹持作为工件的窗口5的夹紧工具20和用于可移动地支撑夹持工具20的支撑臂10的工件传送装置1将由夹紧工具20夹持的窗口5传送到窗框7a， 7b（后窗框架7a，前窗框架7b），通过支撑臂10与窗口5组装，并将窗口5的姿态改变为窗框7a，7b的适当姿态。 支撑臂10构成为多个连杆11,12,13,14连接形成闭环形状的闭环连杆。 可以固定夹持工具20与连接到支撑臂10的夹持工具20的一对连杆13,14的连杆13或14的姿态。 版权所有（C）2009，JPO＆INPIT