公开(公告)号：US09966816B2

公开(公告)日：2018-05-08

申请号：US15121602

申请日：2015-02-19

Applicant: SONY CORPORATION

Inventor： Wataru Kokubo ,  Takara Kasai ,  Yasuhisa Kamikawa ,  Yohei Kuroda ,  Toshimitsu Tsuboi ,  Tetsuharu Fukushima ,  Yasuhiro Matsuda ,  Atsushi Miyamoto

IPC: H02K29/00 ,  H02K7/116 ,  H02P6/16 ,  B25J9/06 ,  B25J13/08 ,  B25J9/12 ,  B25J9/16 ,  H02K11/215 ,  G01D5/04 ,  G01D5/14 ,  G01D5/245

CPC classification number: H02K7/116 ,  B25J9/06 ,  B25J9/126 ,  B25J9/1641 ,  B25J13/088 ,  G01D5/04 ,  G01D5/145 ,  G01D5/2451 ,  G05B2219/39191 ,  H02K11/215 ,  H02P6/16

Abstract: [Object] To detect a rotational angle accurately and also to drive more safely. [Solution] Provided is an actuator (300) including: a reduction gear (320) that reduces, by a certain reduction ratio, a rotational velocity of an input shaft joined to a rotary shaft of a motor (360), and transmits the reduced rotational velocity to an output shaft (350); a first absolute angle encoder (330) that detects a rotational angle of the input shaft; and a second absolute angle encoder (340) that detects a rotational angle of the output shaft.

公开(公告)号：US11897138B2

公开(公告)日：2024-02-13

申请号：US17281762

申请日：2019-09-30

Applicant: SONY CORPORATION

Inventor： Toshimitsu Tsuboi ,  Ryo Terasawa

IPC: B25J9/16 ,  B25J11/00 ,  B25J13/08

CPC classification number: B25J9/1653 ,  B25J9/1664 ,  B25J9/1679 ,  B25J9/1697 ,  B25J11/008 ,  B25J13/085

Abstract: An apparatus capable of smoothly injecting contents in an object into another object, an injection method, and an injection program. The apparatus includes a robotic arm device configured to grip a first container, and circuitry configured to recognize a flowrate of contents while injecting an amount of the contents from the first container into a second container, and control a tilt of the first container using the robotic arm device to inject the contents into the second container according to the recognized flowrate of the contents.

公开(公告)号：US11458637B2

公开(公告)日：2022-10-04

申请号：US16911404

申请日：2020-06-25

Applicant: Sony Corporation

Inventor： Yohei Kuroda ,  Tetsuharu Fukushima ,  Fumiyasu Suzuki ,  Toshimitsu Tsuboi

IPC: B25J9/06 ,  B25J13/08 ,  A61B34/30 ,  A61B1/00 ,  A61B90/50 ,  A61B90/35 ,  A61B90/00 ,  B25J9/16

Abstract: [Object] To enable further suppression of the movement amount of an arm section when switching states.
[Solution] There is provided a control apparatus configured to execute a current tracking control on a basis of a measurement value of a torque sensor of an actuator provided in at least one of multiple joint sections included in an arm section of a medical support arm apparatus, the current tracking control causing a motor of the actuator to output torque by which a position and an attitude of the arm section are maintained, and switch a first state in which the motor is driven in accordance with a predetermined control method, and a second state in which the joint section is locked using a brake of the actuator.

公开(公告)号：US10898293B2

公开(公告)日：2021-01-26

申请号：US16420326

申请日：2019-05-23

Applicant: SONY CORPORATION

Inventor： Tetsuharu Fukushima ,  Wataru Kokubo ,  Toshimitsu Tsuboi ,  Yohei Kuroda ,  Yasuhisa Kamikawa

IPC: A61B90/50 ,  A61B1/00 ,  B25J19/00 ,  G02B21/00 ,  G02B21/36 ,  H04N5/63 ,  G02B7/00 ,  A61B90/00

Abstract: There is provided a medical support arm device including a brake provided in at least one joint of a plurality of joints that define a deployment configuration of a multi-joint arm, and configured to release a rotation shaft of the at least one joint when electricity is supplied to the multi-joint arm and lock the rotation shaft when electricity is not supplied to the multi joint arm. When electricity is not supplied the brake is configured to exert a brake force that supports a weight of the multi-joint arm to maintain the deployment configuration of the multi-joint arm, but also permits rotation of the rotation shaft by an external manually applied force equal to or larger than a predetermined value.

公开(公告)号：US10556345B2

公开(公告)日：2020-02-11

申请号：US15119631

申请日：2015-02-12

Applicant: SONY CORPORATION

Inventor： Yasuhisa Kamikawa ,  Takara Kasai ,  Yohei Kuroda ,  Wataru Kokubo ,  Toshimitsu Tsuboi ,  Tetsuharu Fukushima ,  Yasuhiro Matsuda ,  Atsushi Miyamoto

IPC: G06F19/00 ,  B25J9/16 ,  A61B34/30 ,  A61B90/00 ,  A61B17/00 ,  A61B34/10

Abstract: A robot arm apparatus including: an arm unit made up of a plurality of links joined by one or a plurality of joint units, the arm unit is connectable to an imaging unit. An internal model including at least geometric information of the arm unit and focus position information of the imaging unit is updated based on internal model information acquired in a state in which the imaging unit is pointed at a reference point in a real space.

公开(公告)号：US20190274779A1

公开(公告)日：2019-09-12

申请号：US16420326

申请日：2019-05-23

Applicant: Sony Corporation

Inventor： Tetsuharu FUKUSHIMA ,  Wataru Kokubo ,  Toshimitsu Tsuboi ,  Yohel Kuroda ,  Yasuhisa Kamikawa

IPC: A61B90/50 ,  A61B1/00 ,  H04N5/63 ,  G02B21/00 ,  G02B21/36 ,  G02B23/24 ,  B25J19/00

Abstract: There is provided a medical support arm device including a brake provided in at least one joint of a plurality of joints that define a deployment configuration of a multi-joint arm, and configured to release a rotation shaft of the at least one joint when electricity is supplied to the multi-joint arm and lock the rotation shaft when electricity is not supplied to the multi joint arm. When electricity is not supplied the brake is configured to exert a brake force that supports a weight of the multi-joint arm to maintain the deployment configuration of the multi-joint arm, but also permits rotation of the rotation shaft by an external manually applied force equal to or larger than a predetermined value

公开(公告)号：US10272565B2

公开(公告)日：2019-04-30

申请号：US15549264

申请日：2016-01-08

Applicant: SONY CORPORATION

Inventor： Yasuhisa Kamikawa ,  Tetsuharu Fukushima ,  Wataru Kokubo ,  Toshimitsu Tsuboi ,  Yohei Kuroda ,  Jun Arai

IPC: H02P6/12 ,  B25J9/10 ,  B25J19/06 ,  H02P29/00 ,  A61B90/00 ,  A61B34/00 ,  H02P29/40 ,  B25J19/02 ,  A61B90/50 ,  A61B90/35 ,  A61B90/25

Abstract: Provided is an actuator, including: a motor; and a reduction gear having a breakdown torque that is less than a starting torque of the motor. A limit value in accordance with the breakdown torque of the reduction gear is set with respect to a control value for driving the motor.

公开(公告)号：US09259159B2

公开(公告)日：2016-02-16

申请号：US13847113

申请日：2013-03-19

Applicant: Sony Corporation

Inventor： Toshimitsu Tsuboi ,  Akichika Tanaka ,  Takeshi Asakawa ,  Naoya Sazuka ,  Seiji Wada

IPC: A61B5/01 ,  A61B5/00 ,  G01J5/08 ,  G01J5/04 ,  G01J5/00

CPC classification number: A61B5/01 ,  A61B5/0059 ,  A61B5/6817 ,  G01J5/0011 ,  G01J5/049 ,  G01J5/089 ,  G01J5/0896

Abstract: There is provided an information processing apparatus including an eardrum recognition unit configured to recognize a position of an eardrum based on image information regarding the eardrum, a temperature measurement unit configured to acquire a temperature within an external ear canal including the eardrum, and a temperature processing unit configured to determine a temperature of the eardrum based on a recognition result of the eardrum recognition unit and a measured temperature of the temperature measurement unit.

Abstract translation: 提供了一种信息处理设备，包括耳鼓识别单元，其被配置为基于关于鼓膜的图像信息来识别鼓膜的位置，温度测量单元，被配置为获取包括鼓膜的外耳道内的温度，以及温度处理 其被配置为基于所述鼓膜识别单元的识别结果和所述温度测量单元的测量温度来确定所述鼓膜的温度。

公开(公告)号：US09205559B2

公开(公告)日：2015-12-08

申请号：US13781877

申请日：2013-03-01

Applicant: Sony Corporation

Inventor： Yasunori Kawanami ,  Toshimitsu Tsuboi ,  Tsutomu Sawada ,  Masakuni Nagano ,  Akinori Kamoda

IPC: B25J9/16

CPC classification number: B25J9/1612 ,  B25J9/1669 ,  B25J9/1697 ,  G05B2219/37567 ,  G05B2219/39536 ,  G05B2219/40298 ,  G05B2219/45108 ,  G06K9/00664 ,  Y10S901/02 ,  Y10S901/09

Abstract: A robot apparatus includes: a grasping section configured to grasp an object; a recognition section configured to recognize a graspable part and a handing-over area part of the object; a grasp planning section configured to plan a path of the grasping section for handing over the object to a recipient by the handing-over area part; and a grasp control section configured to control grasp operation of the object by the grasping section in accordance with the planned path.

Abstract translation: 机器人装置包括：抓握部，其构造成抓握物体; 识别部，被配置为识别所述物体的可抓握部分和移交区域部分; 把持计划部，其构成为：由所述移交区域部分规划所述把持部的路径，将所述物体交给接收者; 以及抓握控制部，被配置为根据所述计划路径来控制所述抓握部的所述物体的抓握操作。

公开(公告)号：US20130296685A1

公开(公告)日：2013-11-07

申请号：US13847113

申请日：2013-03-19

Applicant: Sony Corporation

Inventor： Toshimitsu Tsuboi ,  Akichika Tanaka ,  Takeshi Asakawa ,  Naoya Sazuka ,  Seiji Wada

IPC: A61B5/01

CPC classification number: A61B5/01 ,  A61B5/0059 ,  A61B5/6817 ,  G01J5/0011 ,  G01J5/049 ,  G01J5/089 ,  G01J5/0896

Abstract: There is provided an information processing apparatus including an eardrum recognition unit configured to recognize a position of an eardrum based on image information regarding the eardrum, a temperature measurement unit configured to acquire a temperature within an external ear canal including the eardrum, and a temperature processing unit configured to determine a temperature of the eardrum based on a recognition result of the eardrum recognition unit and a measured temperature of the temperature measurement unit.

Abstract translation: 提供了一种信息处理设备，包括耳鼓识别单元，其被配置为基于关于鼓膜的图像信息来识别鼓膜的位置，温度测量单元，被配置为获取包括鼓膜的外耳道内的温度，以及温度处理 其被配置为基于所述鼓膜识别单元的识别结果和所述温度测量单元的测量温度来确定所述鼓膜的温度。