公开(公告)号：US20120202009A1

公开(公告)日：2012-08-09

申请号：US13502602

申请日：2010-10-13

申请人： Akane Motofuji ,  Makoto Tamuraya ,  Takashi Takeuchi ,  Hideo Fujimoto ,  Akihito Sano ,  Hiromi Mochiyama ,  Naoyuki Takesue ,  Yoshihiro Tanaka

发明人： Akane Motofuji ,  Makoto Tamuraya ,  Takashi Takeuchi ,  Hideo Fujimoto ,  Akihito Sano ,  Hiromi Mochiyama ,  Naoyuki Takesue ,  Yoshihiro Tanaka

IPC分类号： B32B3/30

CPC分类号： B29C33/3857 ,  B29C33/424 ,  B29C41/18 ,  B29C2059/023 ,  B29K2995/0094 ,  B29L2031/3005 ,  Y10T428/24479

摘要： Disclosed is a surface structure of an article (1) including multiple protrusions (3) on the surface. A height H of the protrusions (3) is equal to or larger than 5 μm, and equal to or smaller than 32 μm, as well as at least one of a distance P between each two neighboring protrusions (3) and a distance W between each neighboring two of recesses (5) formed between the protrusions (3) is larger than the height H of the protrusions (3).

摘要翻译： 公开了一种在表面上包括多个突起（3）的制品（1）的表面结构。 突起（3）的高度H等于或大于5μm，并且等于或小于32μm，以及每个两个相邻突起（3）之间的距离P和至少一个之间的距离W 形成在突起（3）之间的每个相邻的两个凹部（5）大于突起（3）的高度H.

公开(公告)号：US08024070B2

公开(公告)日：2011-09-20

申请号：US11921789

申请日：2006-06-08

申请人： Akihito Sano ,  Hideo Fujimoto ,  Yoshito Ikemata

发明人： Akihito Sano ,  Hideo Fujimoto ,  Yoshito Ikemata

IPC分类号： G05B19/18

CPC分类号： B62D57/032

摘要： The present disclosure provides a fixed point stabilization device for a legged mobile body having a generating mechanism for generating a fixed point. The present disclosure also provides a fixed point stabilization device for a legged mobile body comprising a stabilizing device for stabilizing the fixed point in accordance with a leg grounding position of the legged mobile body. The fixed point is generated by inputting a predetermined constant torque to a joint of a leg of the legged mobile body on the basis of the energy balance in the legged mobile body, leg switching, and a leg swinging motion. The fixed point is stabilized globally by keeping the leg grounding position of the legged mobile body constant using a stopper.

摘要翻译： 本公开提供了一种用于腿式移动体的固定点稳定装置，其具有用于产生固定点的产生机构。 本公开还提供了一种用于腿式移动体的固定点稳定装置，其包括用于根据腿式移动体的腿部接地位置来稳定固定点的稳定装置。 基于腿式移动体的能量平衡，腿部切换和腿部摆动运动，将有规律的恒定转矩输入到有腿的移动体的腿部的接合处，生成固定点。 通过使用止动器保持腿式移动体的腿部接地位置恒定，固定点在全球稳定。

公开(公告)号：US20100262291A1

公开(公告)日：2010-10-14

申请号：US12677652

申请日：2009-09-09

申请人： Naoyuki Takesue ,  Hideo Fujimoto

发明人： Naoyuki Takesue ,  Hideo Fujimoto

IPC分类号： B25J13/08

CPC分类号： G05B19/423 ,  B25J13/025 ,  G05B2219/36429 ,  G05B2219/39339

摘要： It is possible to provide a power assist device which can maintain a stable contact state without causing an oscillation phenomenon even if a robot is brought into contact with an environment. A method for controlling the power assist device is also provided. The power assist device includes: an inner force sensor which detects an operation force applied by an operator; an operation handle having the inner force sensor; a robot arm which supports the operation handle; an actuator which drives the robot arm; the actuator and a control device which measure or estimate a force applied when the robot arm is brought into contact with an environment; and the actuator and the control device which detect or estimate a motion speed of the operation handle. The control device acquires a corrected external force according to the operation force detected by the inner force sensor and an external force detected by the actuator and the control device as external force derivation means and controls the actuator so that the corrected external force acts on the operation handle.

摘要翻译： 即使机器人与环境接触，也可以提供能够保持稳定的接触状态而不引起振动现象的动力辅助装置。 还提供了一种用于控制动力辅助装置的方法。 动力辅助装置包括：内力传感器，其检测由操作者施加的操作力; 具有内力传感器的操作手柄; 支撑操作手柄的机器人手臂; 驱动机器人手臂的致动器; 致动器和控制装置，其测量或估计当机器人臂与环境接触时施加的力; 以及用于检测或估计操作手柄的运动速度的致动器和控制装置。 控制装置根据由内力传感器检测到的操作力和由致动器和控制装置检测的外力作为外力推导装置获取校正外力，并控制致动器，使得校正的外力作用于操作 处理。

公开(公告)号：US07685886B2

公开(公告)日：2010-03-30

申请号：US10584627

申请日：2004-12-27

申请人： Akihito Sano ,  Hiromi Mochiyama ,  Naoyuki Takesue ,  Ryo Kikuuwe ,  Hideo Fujimoto

发明人： Akihito Sano ,  Hiromi Mochiyama ,  Naoyuki Takesue ,  Ryo Kikuuwe ,  Hideo Fujimoto

IPC分类号： G01N3/20

CPC分类号： A61B5/0053 ,  A61B5/442 ,  A61B5/6806 ,  A61B2562/02 ,  B33Y80/00

摘要： A convexo concave amplifying device for exhibiting a convexo concave by amplifying a sense of a convexo concave of an object, comprising a sensing member and an exhibiting member. The sensing member 101 comprises a flexible sheet able to contact with the surface of the object O and to deform along the surface of the object. The exhibiting member 120 that is formed on a surface of the flexible sheet and has a deformation resistance smaller than that of the flexible sheet in at least one of directions orthogonal to a direction of thickness of the flexible sheet. With such construction, the object convexo concave can be amplified and exhibited.A deformation sensing device for sensing a deformation thereof comprising a capsule deformable by stress, a viscous fluid F contained in the capsule, and a relative movement sensing member that is disposed inside of the capsule and senses a relative movement against the viscous fluid. With such construction, property of the object such as the convexo concave or the stress can be detected.

摘要翻译： 一种凸凹放大装置，用于通过放大物体的凸凹的感觉来展现凸凹，包括感测构件和展现构件。 感测构件101包括能够与物体O的表面接触并且沿着物体的表面变形的柔性片。 所述展示部件120形成在柔性片的表面上，并且在与柔性片的厚度方向正交的方向中的至少一个方向上具有小于柔性片的变形阻力的变形阻力。 通过这种结构，可以扩大和展现物体凸凹。 一种用于感测其变形的变形检测装置，包括可由应力变形的胶囊，容纳在胶囊中的粘性流体F，以及设置在胶囊内部并感测抵靠粘性流体的相对运动的相对运动感测部件。 通过这种结构，可以检测物体的性质，例如凸凹或应力。

公开(公告)号：US20090229381A1

公开(公告)日：2009-09-17

申请号：US12293323

申请日：2007-03-19

申请人： Hideo Fujimoto ,  Akihito Sano ,  Yoshitaka Nagano

发明人： Hideo Fujimoto ,  Akihito Sano ,  Yoshitaka Nagano

IPC分类号： G01L1/00 ,  G01B11/14

CPC分类号： G01L1/24 ,  A61B5/6885

摘要： A measurement device can detect a degree of bending of a linear body with a sensor when compressive force in a direction of longitudinal axis is applied to the linear body as a result of contact of a tip end of the linear body with an obstacle. Then, the detected degree of bending of the linear body is converted to compressive force in the direction of longitudinal axis applied to the linear body based on predetermined correlation between the degree of bending and the compressive force, so that presence of an obstacle in a direction of travel of the linear body can be sensed based on increase in the compressive force. In addition, as the same measurement device is applicable to linear bodies of various shapes and materials, cost effectiveness is achieved.

摘要翻译： 由于线状体的前端与障碍物的接触，测量装置可以利用传感器检测线状体的弯曲程度，因为沿着纵向方向的压缩力被施加到线状体。 然后，基于预定的弯曲度与压缩力之间的相关关系，将线状体的检测度转换为施加于线状体的纵轴方向的压缩力，使得在方向上存在障碍物 可以基于压缩力的增加来感测线状体的行进。 此外，由于相同的测量装置适用于各种形状和材料的线状体，因此实现了成本效益。

公开(公告)号：US06520718B1

公开(公告)日：2003-02-18

申请号：US09763993

申请日：2001-02-27

申请人： Shigeki Nagatomo ,  Hideo Fujimoto ,  Shigehito Kaji ,  Hideki Takeuchi ,  Yoshio Mitarashi ,  Sohki Ohtsu ,  Tsuguo Takebayashi ,  Masakazu Ochiai ,  Takefumi Yamamoto ,  Yoshitomo Kinoshita

发明人： Shigeki Nagatomo ,  Hideo Fujimoto ,  Shigehito Kaji ,  Hideki Takeuchi ,  Yoshio Mitarashi ,  Sohki Ohtsu ,  Tsuguo Takebayashi ,  Masakazu Ochiai ,  Takefumi Yamamoto ,  Yoshitomo Kinoshita

IPC分类号： E21D1100

CPC分类号： E21D11/00 ,  E21D9/00 ,  E21D9/04 ,  E21D11/10 ,  E21D11/105

摘要： This invention relates to a method for boring a large-section tunnel safely and quickly by reinforcing and improving in advance the ground over the full length of the tunnel section, which includes; boring a top drift (2) through the full length of the tunnel (1) section, drilling curved holes inclined in forward or backward directions at an angle of about 45 degrees at preset intervals from the top drift (2) along the peripheral edges of the sections of the tunnel (1) by using ordinary small bore rock drills and curved steel pipes (3), pulling off the steel pipes (3) after inserting injection pipes into the drilled holes, injecting grout into the ground surrounding the tunnel through the injection pipes to develop artificial ground arches (4), excavating the tunnel (1), advancing suspension forms (6) and placing concrete for secondary lining.

摘要翻译： 本发明涉及一种通过在隧道的整个长度上预先加固和改善地面，安全，快速地镗孔大面积隧道的方法，其中包括： 将顶部漂移（2）穿过隧道（1）部分的整个长度，从顶部漂移（2）沿着沿着周向边缘的周边边缘以预定间隔以大约45度的角度沿前后方向倾斜弯曲的孔， 通过使用普通的小孔钻石和弯曲钢管（3），隧道（1）的部分，在将注入管插入钻孔后拔下钢管（3），通过隧道将灌浆注入隧道周围的地面 注入管道开发人造地面拱门（4），挖掘隧道（1），前进悬挂形式（6）和混凝土二次衬里。

公开(公告)号：US5925321A

公开(公告)日：1999-07-20

申请号：US964754

申请日：1997-11-05

申请人： Masanori Koyamoto ,  Harushige Tsusaka ,  Kaoru Yamashita ,  Kazumasa Rokushima ,  Junichi Ikeuchi ,  Hiroyasu Kawanishi ,  Takashi Hyodo ,  Hideo Fujimoto ,  Tomoaki Fujii ,  Yoshitoshi Kanetsuna

发明人： Masanori Koyamoto ,  Harushige Tsusaka ,  Kaoru Yamashita ,  Kazumasa Rokushima ,  Junichi Ikeuchi ,  Hiroyasu Kawanishi ,  Takashi Hyodo ,  Hideo Fujimoto ,  Tomoaki Fujii ,  Yoshitoshi Kanetsuna

IPC分类号： B09B3/00 ,  B01D53/86 ,  C05F17/02 ,  A61L9/00 ,  A61L11/00

CPC分类号： C05F17/027 ,  B01D53/86 ,  C05F17/02 ,  C05F17/0205 ,  B01D2257/90 ,  Y02P20/129 ,  Y02P20/145 ,  Y02P20/57 ,  Y02W30/43 ,  Y10S241/38

摘要： A garbage disposing device of an energy-saving type comprises a housing having an air intake port and an air discharge port, and a vessel mounted within the housing to store therein food wastes. The vessel has an air inlet and an air outlet. An intake passage is formed in the housing to extend from the intake port to the air inlet for introducing a fresh air into the vessel. An exhaust passage is formed within the housing to extend from the air outlet to the discharge port for discharging therethrough an air containing unpleasant odor resulting from a decomposition of the food wastes. A deodorizer unit comprises a catalyst for decomposing the unpleasant odor in the air, a heater for activating the catalyst, and a case for incorporating therein the catalyst and the heater. In the present invention, the deodorizer unit is mounted in the exhaust passage such that an outer surface of the case is exposed in the intake passage, and the fresh air in the intake passage is warmed by a contact with the outer surface of the case inevitably heated by the heater to enhance the decomposition of the food wastes. This brings an energy conservation by application of a waste heat given off from the case of the deodorizing unit.

摘要翻译： 节能型垃圾处理装置包括具有进气口和排气口的壳体，以及安装在壳体内以容纳食物废物的容器。 容器具有进气口和空气出口。 进气通道形成在壳体中，从进气口延伸到空气入口，以将新鲜空气引入容器中。 在壳体内形成有排气通道，从空气出口延伸到排放口，以便通过食物废物分解而产生含有令人不快的气味的空气。 除臭器单元包括用于分解空气中的令人不快的气味的催化剂，用于活化催化剂的加热器，以及用于在其中引入催化剂和加热器的壳体。 在本发明中，除臭器单元安装在排气通道中，使得外壳的外表面暴露在进气通道中，并且进气通道中的新鲜空气不可避免地与壳体的外表面接触而加热 加热器加热，以加强食物废物的分解。 这通过施加从除臭单元的情况发出的废热来节省能量。

公开(公告)号：US09174827B2

公开(公告)日：2015-11-03

申请号：US13848414

申请日：2013-03-21

申请人： Naoyuki Takesue ,  Hideo Fujimoto ,  Rikiya Makino ,  Kousyun Fujiwara

发明人： Naoyuki Takesue ,  Hideo Fujimoto ,  Rikiya Makino ,  Kousyun Fujiwara

IPC分类号： B66D1/48 ,  B66D1/26 ,  B66D3/18

CPC分类号： B66D1/48 ,  B66D1/26 ,  B66D3/18

摘要： A power assist device includes: holder holding a workpiece; a pair of wires each having one end connected to the holder to suspend the holder; a pair of wind-up wheels winding up respective other ends of the wires; a pair of motors rotationally driving the respective wind-up wheels; a pair of rotation detectors detecting rotation information of the respective motors; a pair of torque detectors detecting drive torque in the respective motors; and controller controlling drive of the motors. The controller calculates operating force to the workpiece based on the rotation information detected by the rotation detectors and the drive torque of the motors detected by the torque detectors, and controls the motors to assist the operating force that is calculated, to move up and down the holder.

摘要翻译： 动力辅助装置包括：保持工件的保持架; 一对电线，每一个电线的一端连接到保持器以悬挂保持器; 一对卷绕轮缠绕线的相应的另一端; 一对电机旋转地驱动各个卷绕轮; 检测各个电机的旋转信息的一对旋转检测器; 一对转矩检测器检测各个电机中的驱动转矩; 和控制器控制电动机的驱动。 控制器基于由旋转检测器检测的旋转信息和由转矩检测器检测到的电动机的驱动转矩来计算对工件的操作力，并且控制电动机以帮助所计算的操作力上下移动 持有人

公开(公告)号：US08715271B2

公开(公告)日：2014-05-06

申请号：US12595363

申请日：2008-03-21

申请人： Hideo Fujimoto ,  Akihito Sano ,  Yoshitaka Nagano

发明人： Hideo Fujimoto ,  Akihito Sano ,  Yoshitaka Nagano

IPC分类号： A61B1/01 ,  G01L1/00

CPC分类号： G09B23/285 ,  A61B2034/301 ,  A61M25/0113 ,  A61M25/09041

摘要： A linear body drive device capable of safely and reliably operating a linear body is provided. A linear body insertion device includes a drive portion, an operation portion, a sensor portion and a processing portion serving as a measurement portion, and an output portion serving as a notification portion. The drive portion drives a linear body having flexibility. The operation portion includes an input member (an operation lever) operated by an operator for controlling performance of the drive portion. The sensor portion included in the measurement portion detects compressive force in a direction of longitudinal axis applied to the linear body, based on a degree of bending of the linear body driven by the drive portion. The output portion provides notification of data of compressive force detected by the measurement portion.

摘要翻译： 提供了能够安全可靠地操作线状体的直线体驱动装置。 直线体插入装置包括驱动部分，操作部分，传感器部分和用作测量部分的处理部分，以及用作通知部分的输出部分。 驱动部驱动具有柔性的线状体。 操作部包括由操作者操作以控制驱动部的性能的输入部件（操作杆）。 包含在测量部分中的传感器部分基于由驱动部分驱动的直线体的弯曲程度来检测施加到线状体的纵轴方向上的压缩力。 输出部分提供由测量部分检测的压缩力数据的通知。

公开(公告)号：US20120188192A1

公开(公告)日：2012-07-26

申请号：US13498813

申请日：2009-09-28

申请人： Akihito Sano ,  Yoshihiro Tanaka ,  Hideo Fujimoto ,  Eisuke Kajisa ,  Kenji Wada

发明人： Akihito Sano ,  Yoshihiro Tanaka ,  Hideo Fujimoto ,  Eisuke Kajisa ,  Kenji Wada

IPC分类号： G08B6/00 ,  G06F3/041

CPC分类号： G06F3/016 ,  G03B21/003 ,  G06F3/011 ,  G06F17/50 ,  G09B21/003

摘要： A tactile device of a tactile display slides above an object. The tactile device comprises three rods which are free to move up and down. Lower ends of the rods are in contact with a surface of the object. Upper ends of respective rods touch a palmar-side skin equivalent to positions of three joints of a first finger or a second finger. When the tactile device is slid, upper ends of respective rods move up and down in accordance with a surface relief of the object. In response to the movement of the tactile device, the three rods push three finger joint positions of the palmar-side skin with a stroke equal to a height of the relief.

摘要翻译： 触觉显示器的触觉装置在物体上方滑动。 触觉装置包括可自由上下移动的三根棒。 杆的下端与物体的表面接触。 各杆的上端接触相当于第一手指或第二手指的三个关节位置的手掌皮肤。 当触觉装置滑动时，各个杆的上端根据物体的表面浮雕而上下移动。 响应于触觉装置的移动，三个杆以等于浮雕的高度的笔画推动手掌皮肤的三个手指关节位置。