公开(公告)号：US10076845B2

公开(公告)日：2018-09-18

申请号：US15194017

申请日：2016-06-27

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Yuko Tsusaka ,  Yudai Fudaba ,  Yasunao Okazaki

IPC: G06F19/00 ,  B25J19/06 ,  A61G7/10 ,  B25J5/00 ,  B25J11/00 ,  B25J13/06

CPC classification number: B25J19/06 ,  A61G7/1017 ,  A61G7/1046 ,  A61G7/1053 ,  B25J5/007 ,  B25J11/009 ,  B25J13/06

Abstract: A robot system for assisting a patient in standing up and/or sitting down is provided. The robot system includes the following elements. A drive mechanism executes a drive pattern for assisting the patient in standing up and/or sitting down. An instruction input device receives an instruction to cause the drive mechanism to execute the drive pattern. A state acquirer acquires an execution state of the drive mechanism which is executing the drive pattern. A controller decides whether or not to cause the drive mechanism to execute the instruction received by the instruction input device, on the basis of the execution state acquired by the state acquirer, and controls the driving of the drive mechanism.

公开(公告)号：US09623566B2

公开(公告)日：2017-04-18

申请号：US14532181

申请日：2014-11-04

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Yuko Tsusaka ,  Yudai Fudaba ,  Jun Ozawa

IPC: G05B19/04 ,  G05B19/18 ,  B25J13/08 ,  B25J13/02 ,  B25J13/04

CPC classification number: B25J13/085 ,  B25J13/02 ,  B25J13/04

Abstract: A master apparatus for a master slave apparatus, the master apparatus controlling a slave apparatus, the master apparatus including a hand operation mechanism configured to be operated by a person for opening and closing a hand mechanism including a pair of opening and closing members, the hand mechanism being connected to a slave mechanism, the slave apparatus including the slave mechanism and the hand mechanism. The hand operation mechanism includes a fixed unit, an opening and closing operation unit, and a slide unit. The opening and closing operation unit is connected to the slide unit, is capable of reciprocating with respect to the fixed unit, and is openable and closable with respect to the fixed unit. The master hand controlling device controls opening and closing of the pair of opening and closing members on the basis of an opening and closing amount of the opening and closing operation unit.

公开(公告)号：US09255855B2

公开(公告)日：2016-02-09

申请号：US14164710

申请日：2014-01-27

Applicant: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.

Inventor： Taichi Sato ,  Yuko Tsusaka ,  Yudai Fudaba

IPC: G01L3/04 ,  A61B6/12 ,  G01L3/12 ,  A61B6/02 ,  A61B6/00 ,  A61M25/01

CPC classification number: G01L3/04 ,  A61B6/022 ,  A61B6/12 ,  A61B6/4014 ,  A61M25/0108 ,  A61M25/0113 ,  G01L3/12

Abstract: A first angle acquiring unit acquires a rotational angle of a characteristic portion in a predetermined region on an inlet side of an insertion member of a linear body extending through the insertion member. From an image of the linear body inserted into a body of a subject, a second angle acquiring unit acquires a direction of a curved portion of the linear body inserted into the body of the subject and then acquires a rotational angle of a distal end of the linear body. A torque calculation unit calculates a torque based on a difference between the rotational angle in the predetermined region acquired by the first angle acquiring unit and the rotational angle of the distal end of the linear body acquired by the second angle acquiring unit.

Abstract translation: 第一角度获取单元获取延伸穿过插入构件的线状体的插入构件的入口侧的预定区域中的特征部分的旋转角度。 第二角度获取单元从被插入到被检体的线状体的图像中取得被插入到被检体内的线状体的弯曲部的方向， 直线体。 扭矩计算单元基于由第一角度获取单元获取的预定区域中的旋转角度与由第二角度获取单元获取的线状体的远端的旋转角度之间的差来计算扭矩。

公开(公告)号：US09089967B2

公开(公告)日：2015-07-28

申请号：US13934529

申请日：2013-07-03

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Yudai Fudaba ,  Yuko Tsusaka ,  Taichi Sato

IPC: B25J9/16 ,  B25J3/04

CPC classification number: B25J9/1633 ,  B25J3/04

Abstract: A control apparatus for a master-slave robot includes a force correction section detecting unit that detects a section at which force information from at least one of force information and speed information is corrected, and a force correcting unit that corrects the force information at a section detected as a force correction section by the force correction section detecting unit. A small external force applied to a slave manipulator is magnified and transmitted to a master manipulator, or an excessive manipulation force applied to the master manipulator is reduced and transmitted to the slave manipulator.

Abstract translation: 用于主从机器人的控制装置包括：力校正部检测单元，其检测来自力信息和速度信息中的至少一个的力信息被校正的部分;以及力校正单元，其在部分 由力校正部检测单元检测为力校正部。 施加到从动操纵器的小的外力被放大并传递到主操纵器，或者减小施加到主操纵器的过度的操纵力并将其传送到从动操纵器。