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公开(公告)号：JP2010162626A
公开(公告)日：2010-07-29
申请号：JP2009005351
申请日：2009-01-14
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： ODAJIMA TADASHI , EBIHARA YASUHIRO , NAKAMURA TAKUMA
Abstract: PROBLEM TO BE SOLVED: To provide a robot system capable of reliably preventing erroneous operation while improving operability, and a method for operating the same.
SOLUTION: The robot system 10 includes an operation part 25 for inputting operation information and a plurality of operation attachments 12a, 24a and 24b on which the operation part 25 can be attached and detached. The robot system 10 may further include a carrier 1, a wheel driving part for driving a wheel of the carrier 1, an arm 2 coupled with the carrier 1, an arm driving part for driving the arm 2, a control part 17 for controlling the wheel driving part and the arm driving part based on the operation information input via the operation attachments 12a, 24a and 24b from the operation part 25, and a holder 3 mounted on the arm 2 for holding a human.
COPYRIGHT: (C)2010,JPO&INPITAbstract translation: 要解决的问题：提供一种能够可靠地防止错误操作同时提高可操作性的机器人系统及其操作方法。 解决方案：机器人系统10包括用于输入操作信息的操作部分25和可以安装和拆卸操作部件25的多个操作附件12a，24a和24b。 机器人系统10还可以包括载体1，用于驱动载体1的轮的轮驱动部，与载体1连接的臂2，用于驱动臂2的臂驱动部，控制部17 基于从操作部件25经由操作附件12a，24a和24b输入的操作信息的手轮驱动部分和手臂驱动部分，以及安装在手臂2上用于保持人的保持器3。 版权所有（C）2010，JPO＆INPIT
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公开(公告)号：JP2009265911A
公开(公告)日：2009-11-12
申请号：JP2008114221
申请日：2008-04-24
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： ODAJIMA TADASHI
Abstract: PROBLEM TO BE SOLVED: To provide a posture angle detection device for accurately detecting the posture angle of a mounting site even when any deviation is generated at a mounting position.
SOLUTION: A posture angle detection device 10 for detecting the angle posture of a site 100 of a human body is provided with: a posture angle sensor 20; moving amount detection means 31 and 32; and an arithmetic means 60. The posture angle sensor 20 is mounted on the surface of the site 100 of the human body, and configured to detect a self-posture angle. When the posture angle detection device 10 has moved on the surface of the mounting site 100, the moving amount detection means 31 and 32 detect the moving amounts from the initial position of the posture angle sensor 20. The arithmetic means 60 corrects the detected posture angle based on the detected moving amounts.
COPYRIGHT: (C)2010,JPO&INPITAbstract translation: 要解决的问题：提供一种姿势角度检测装置，即使在安装位置产生任何偏差时，也能准确地检测安装位置的姿态角度。 解决方案：用于检测人体的位置100的角度姿势的姿势角度检测装置10设置有：姿势角度传感器20; 移动量检测单元31,32; 和运算装置60.姿势角传感器20安装在人体的位置100的表面上，并且被构造成检测自姿势角。 当姿势角度检测装置10已经在安装位置100的表面上移动时，移动量检测装置31和32从姿势角度传感器20的初始位置检测移动量。算术装置60校正检测到的姿势角度 基于检测到的移动量。 版权所有（C）2010，JPO＆INPIT
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公开(公告)号：JP2009254741A
公开(公告)日：2009-11-05
申请号：JP2008110235
申请日：2008-04-21
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： ODAJIMA TADASHI
Abstract: PROBLEM TO BE SOLVED: To provide an assist device which improves convenience of a wearer of it and to provide its controlling method. SOLUTION: The assist device is fitted to a first body region 10 which is directly connected with a human joint and to a second body region 20 which is directly connected with the joint and is positioned closer to the end forward of the first body region 10. The assist device has a first fitting part 10 which is fitted to the first body region 10 and generates assisting force in accordance with the position of the body and a second fitting part 20 which is fitted to a second body region 20, is not connected with the first fitting part 10 and generates assisting force in accordance with the position of the body independently from the assisting force generated at the first fitting part 10. COPYRIGHT: (C)2010,JPO&INPIT
Abstract translation: 要解决的问题：提供一种提高其佩戴者的便利性并提供其控制方法的辅助装置。 解决方案：辅助装置装配到与人接头直接连接的第一体区域10和与接头直接连接的第二体区域20，并且位于更靠近第一体的前端的位置 辅助装置具有第一装配部10，该第一装配部10与第一主体区域10嵌合并根据主体的位置产生辅助力，并且嵌合于第二主体区域20的第二嵌合部20为 不与第一装配部10连接，并且独立于在第一装配部10产生的辅助力而根据身体的位置产生辅助力。（C）2010，JPO＆INPIT
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公开(公告)号：JP2009178253A
公开(公告)日：2009-08-13
申请号：JP2008018119
申请日：2008-01-29
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： MATSUMOTO KUNIYASU , ODAJIMA TADASHI
IPC: A61H3/00
Abstract: PROBLEM TO BE SOLVED: To provide a leg attachment capable of assisting the walking action of an object in a flexible and stable state. SOLUTION: The leg attachment 10 is provided with a lumbar part unit 11 mounted on the lumbar part of the object and a thigh part unit 12 connected to the lumbar part unit 11 turnably at least three degrees of freedom and mounted on the thigh part of the object. The lumbar part unit 11 is provided with a first member 31 where a plurality of oblong holes 31a extending in one direction are formed, and a second member 32 where a plurality of oblong holes 32a extending in the direction crossing the oblong holes 31a formed on the first member 32 are formed. By making a fixing member (bolt 33) pass through the crossing part of the oblong holes 31a of the first member 31 and the oblong holes 32a of the second member 32, the first member 31 and the second member 32 are fixed. COPYRIGHT: (C)2009,JPO&INPIT
Abstract translation: 要解决的问题：提供能够辅助物体在柔性和稳定状态下的行走动作的腿部附件。
解决方案：腿部附件10设置有安装在物体的腰部上的腰部单元11和连接到腰部单元11的大腿部单元12可转动地至少三个自由度并且安装在大腿上 对象的一部分。 腰部单元11设置有第一构件31，在第一构件31中形成有沿一个方向延伸的多个长孔31a，以及第二构件32，其中形成在与形成在其上的长孔孔31a相交的方向上延伸的多个长孔32a 形成第一构件32。 通过使固定构件（螺栓33）穿过第一构件31的长孔31a的交叉部分和第二构件32的长孔32a，固定第一构件31和第二构件32。 版权所有（C）2009，JPO＆INPIT
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公开(公告)号：JP2014200861A
公开(公告)日：2014-10-27
申请号：JP2013076763
申请日：2013-04-02
Applicant: トヨタ自動車株式会社 , Toyota Motor Corp
Inventor： ODAJIMA TADASHI
IPC: B25J15/08
Abstract: 【課題】荷物の特定箇所に位置合わせを行うことなく、荷物を把持することのできる把持装置の提供。【解決手段】上リンク部(21)、下リンク部(22)、前リンク部(23)及び後リンク部(24)を有する平行リンク機構(2)と、前リンク部(23)の上端に連結される係止部(3)と、下リンク部(22)の前端に連結される受止部(4)とを備える把持装置(1)である。係止部(3)及び受止部(4)のいずれか一方は、被把持体(70)に接触すると、被把持体(70)から反力を受けて、平行リンク機構(2)の回動によって、係止部(3)及び受止部(4)のいずれか他方との間に被把持体(70)を挟み込む把持爪を含む。把持爪は、係止部(3)及び受止部(4)のいずれか一方から係止部(3)及び受止部(4)のいずれか他方に向かって曲がって延びる。【選択図】図1
Abstract translation: 要解决的问题：提供一种夹持装置，其可以在不将装置定位在负载的指定位置的情况下抓住负载。解决方案：夹持装置（1）包括：平行连杆机构（2），具有上连杆部分 21），下连杆部（22），前连杆部（23）和后连杆部（24）。 连接到前连杆部分（23）的上端的接合部分（3）; 以及连接到下连杆部分（22）的前端的接收部分（4）。 接合部（3）和接收部（4）中的任一个包括夹持爪，其在与被保持体（70）接触时接受来自被保持体（70）的反作用力，并将保持体（70）夹在 一个接合部分（3）或接收部分（4），另一个接合部分（3）或接收部分（4）通过平行连杆机构（2）旋转。 夹爪弯曲并从一个接合部分（3）或接收部分（4）延伸到另一个接合部分（3）或接收部分（4）。
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Patent Agency Ranking
公开(公告)号：JP2011120786A
公开(公告)日：2011-06-23
申请号：JP2009282075
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 , KIM YOUNG WOO , NAGAI RIKI , TOMEOKI MASAYUKI , HIRATE YOSUKE
Abstract: PROBLEM TO BE SOLVED: To provide an action estimating unit for appropriately estimating the pattern of action of a person. SOLUTION: The action estimating unit includes a storage module, a sensor, and an estimation module. The storage modules stores the known tracks of the angles of n pieces of human joints to be realized accompanied by the predetermined action of a person for each of a plurality of mutually different action groups. The sensor measures the angle of the human joint. The estimation module selects the known track closest to the measured tracks of m pieces of joint angles measured by the sensor for m, which is smaller than n, pieces of the joints among n pieces of human joints from a stored known track group, and outputs the selected known track. The selected known track is equal to the estimated value of the pattern of the action performed by a person. COPYRIGHT: (C)2011,JPO&INPIT
Abstract translation: 要解决的问题：提供一种用于适当地估计人的动作模式的动作估计单元。 解决方案：动作估计单元包括存储模块，传感器和估计模块。 存储模块存储与多个相互不同的动作组中的每一个相关联的人类关节的n个人关节的角度的已知轨迹，伴随着人的预定动作。 传感器测量人体关节的角度。 估计模块从存储的已知轨道组中选择最靠近传感器测量的m个测量轨迹的已知轨迹，该传感器m小于n个n个人关节中的关节之间的关节，并且输出 选定的已知轨道。 所选择的已知轨迹等于由人执行的动作的模式的估计值。 版权所有（C）2011，JPO＆INPIT
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公开(公告)号：JP2009166219A
公开(公告)日：2009-07-30
申请号：JP2008010034
申请日：2008-01-21
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： ODAJIMA TADASHI , KATO KISHIN
Abstract: PROBLEM TO BE SOLVED: To provide a joint mechanism of a robot arm capable of keeping a motor in a normal condition, and eliminating static friction torque with superior response.
SOLUTION: The joint mechanism includes a first arm 1, a first motor unit 2 where the first arm 1 is fixed on a stator side, a second arm 3, a second motor unit 4 where the second arm 3 is jointed on the stator side or the rotor side, and an intermediate link 13 jointed with the rotor of the first motor unit 2 and the stator or the rotor of the second motor unit 4, preventing the rotation force of the rotor of the first motor unit 2 from being transmitted to the second arm 3 by the rotation and driving of the second motor unit 4.
COPYRIGHT: (C)2009,JPO&INPITAbstract translation: 要解决的问题：提供一种能够将电机保持在正常状态的机器人手臂的关节机构，并且以优异的响应消除静摩擦转矩。 解决方案：接头机构包括第一臂1，第一臂1固定在定子侧上的第一电动机单元2，第二臂3，第二臂3连接在第二臂3上的第二电动机单元4 定子侧或转子侧，以及与第一马达单元2的转子和第二马达单元4的定子或转子连接的中间连杆13，防止第一马达单元2的转子的旋转力为 通过第二马达单元4的旋转和驱动将其传递到第二臂3.版权所有（C）2009，JPO＆INPIT
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公开(公告)号：JP2009034754A
公开(公告)日：2009-02-19
申请号：JP2007200076
申请日：2007-07-31
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： ODAJIMA TADASHI
CPC classification number: B62D65/06 , B23P19/10 , B23P2700/50 , B25J9/0018 , B25J15/0616 , B66C1/0243 , B66C1/0256 , B66D3/18
Abstract: PROBLEM TO BE SOLVED: To provide a control method of a power assist apparatus for improving positioning accuracy and workability while reducing the burden on a worker in positioning a workpiece by burdening the power assist apparatus with part of the positioning while making good use of determination or experiences (intuition or knack) of the worker when positioning the workpiece.
SOLUTION: In the control method of the power assist apparatus 1 including a controller 2a to autonomously cooperating with the working action of the worker so as to assist the behavior of the worker, a series of working tasks are divided into a plurality of working sections, each of which keeps control logic set in the controller 2a. The control method has the control logic set in each working direction where the power assist apparatus 1 has degrees of freedom.
COPYRIGHT: (C)2009,JPO&INPITAbstract translation: 解决的问题：提供一种用于提高定位精度和可操作性的动力辅助装置的控制方法，同时在利用一部分定位的同时通过对动力辅助装置进行定位来减轻对工件的定位负担 确定或经验（直觉或诀窍）的工人定位工件时。 解决方案：在动力辅助装置1的控制方法中，包括与工人的工作动作自主配合以便辅助工人的行为的控制器2a，一系列工作任务被分成多个 工作部分，每个部分将控制逻辑设置在控制器2a中。 控制方法具有在动力辅助装置1具有自由度的各工作方向上设定的控制逻辑。 版权所有（C）2009，JPO＆INPIT
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公开(公告)号：JP2014094428A
公开(公告)日：2014-05-22
申请号：JP2012247278
申请日：2012-11-09
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： ODAJIMA TADASHI
IPC: B25J13/08
Abstract: PROBLEM TO BE SOLVED: To make it possible to smoothly proceed cooperative work without increasing worker's burden.SOLUTION: A robot control device 20 of this invention is a robot control device of a robot 10 which operates a series of operations constituted of plural operation processes under synchronization with a worker. The robot control device 20 includes: an outside field sensor 11; person recognition logic 21 for acquiring state information of the worker; and control means 22 for comparing a prerecorded state corresponding to the present operation process of the robot 10 with the acquired worker's state, and directing the robot to take action for synchronization when the state corresponding to the present operation process of the robot 10 does not coincide with the acquired worker's state.
Abstract translation: 要解决的问题：使得可以平稳地进行合作工作而不增加工人的负担。解决方案：本发明的机器人控制装置20是机器人10的机器人控制装置，其操作由多个操作过程构成的一系列操作 与工人同步 机器人控制装置20包括：外场传感器11; 用于获取工人的状态信息的人员识别逻辑21; 以及控制装置22，用于将与机器人10的当前操作过程相对应的预先记录的状态与所获取的工人状态进行比较，并且当与机器人10的当前操作过程相对应的状态不一致时，引导机器人采取行动来进行同步 与获得的工人的国家。
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公开(公告)号：JP2011134158A
公开(公告)日：2011-07-07
申请号：JP2009293858
申请日：2009-12-25
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： ODAJIMA TADASHI , IWATA YOSHIKAZU
Abstract: PROBLEM TO BE SOLVED: To suitably select a mobile object provided with an assisting tool matched with a calling patient and to automatically and quickly move the mobile object to the patient. SOLUTION: A movement assisting system 1 includes: the mobile object 2 provided with an assisting tool 15; a mobile object positioning system 3; an operation unit 4 for receiving a call operation from a patient; a server system 5; a patient database 6; a mobile object database 7 for storing the position/using state of each mobile object 2 and information concerned with the assisting tool 15; a patient specification means 8 for specifying the calling patient based on the information input to the operation unit 4 and information stored in the patient database 6; a mobile object selection means 9 for selecting a mobile object 2 provided with an assisting tool 15 matched with the patient specified based on the information stored in the patient database 6 and the mobile object database 7; and a movement control means 10 for controlling the selected mobile object 2 so as to move the mobile object 2 up to the position of the patient. COPYRIGHT: (C)2011,JPO&INPIT
Abstract translation: 要解决的问题：为了适当地选择配备有与主叫患者相配合的辅助工具的移动物体，并且自动且快速地将移动物体移动到患者身上。 解决方案：运动辅助系统1包括：移动体2设置有辅助工具15; 移动物体定位系统3; 用于从患者接收呼叫操作的操作单元4; 服务器系统5; 病人数据库6; 用于存储每个移动对象2的位置/使用状态的移动对象数据库7以及与辅助工具15有关的信息; 用于基于输入到操作单元4的信息和存储在患者数据库6中的信息来指定呼叫患者的患者指定装置8; 移动对象选择装置9，用于根据存储在患者数据库6中的信息和移动对象数据库7，选择具有与根据所指定的病人匹配的辅助工具15的移动对象2; 以及移动控制装置10，用于控制所选择的移动对象2，以将移动对象2移动到患者的位置。 版权所有（C）2011，JPO＆INPIT
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