公开(公告)号：US10045898B2

公开(公告)日：2018-08-14

申请号：US15021721

申请日：2014-03-14

Applicant: MUSCLE CORPORATION

Inventor： Hirofumi Tamai ,  Satoshi Tamai

IPC: A61G7/10 ,  B25J5/00 ,  B25J11/00

Abstract: Provided is a robot which is easily operated and with which it is possible for a caregiver to transfer a person alone. A robot (R) provided with a traveling unit (M1), a hoisting unit (M2) provided to the traveling unit (M1), a tilting unit (M3) provided to the hoisting unit (M3), an operating unit (M4) provided to the tilting unit (M3), and a pair of arms, wherein: the tiling unit (M3) has a main tilting unit and an auxiliary tilting unit provided to the main tilting unit; and the auxiliary tilting unit has auxiliary tilting members which are provided to both ends of the main tilting member on the main tilting unit, holds the arms, and can rotate freely.

公开(公告)号：US20230111674A1

公开(公告)日：2023-04-13

申请号：US17907292

申请日：2021-04-06

Applicant: Muscle Corporation

Inventor： Hirofumi Tamai ,  Hiroshi Oku ,  Yuki Okabe

IPC: G01N35/10

Abstract: Provided is a pipette device that achieves both suction and discharge of a large amount of fluid and high-precision discharge of a minute amount of fluid. The pipette device includes: a first syringe 30 that is capable of suctioning fluid and is capable of discharging fluid with a predetermined discharge precision; a second syringe 40 that is capable of suctioning fluid and is capable of discharging fluid with a higher precision than the first syringe; a nozzle 70 provided in common to the first syringe 30 and the second syringe 40; a flow path 60 that causes the first syringe 30 and the second syringe 40 to be in communication with each other, and is in communication with the nozzle 70; and driving units 80, 90 configured to drive the first syringe 30 and the second syringe 40 such that the first syringe 30 and the second syringe 40 suction and discharge fluid from the nozzle 70 individually or in cooperation with each other.

公开(公告)号：US20160279788A1

公开(公告)日：2016-09-29

申请号：US15033688

申请日：2014-11-05

Applicant: MUSCLE CORPORATION

Inventor： Katsuya KANAOKA ,  Ryo KIKUUWE

IPC: B25J3/04 ,  B25J9/16 ,  B25J13/02

CPC classification number: B25J3/04 ,  B25J9/1607 ,  B25J9/1689 ,  B25J13/025 ,  G05B2219/40333

Abstract: A master-slave system (1) according to the present invention includes at least one master displacement sensor (Pm1 to Pm3) for measuring a master displacement for a master robot, at least one slave displacement sensor (Ps1 to Ps3) for measuring a slave displacement for a slave robot, a master target displacement calculating device (2) for mapping the slave displacement and thereby obtaining a master target displacement which is a target value for the master displacement corresponding to the slave displacement, and a master actuator (Am1 to Am3) for generating a master driving force to position-control the master robot on the basis of the master target displacement and the master displacement. The mapping is predefined such that a set of master target displacements excludes a singular configuration for the master robot. The master-slave system (1) renders it possible to solve a singular configuration problem for both the master robot and the slave robot.

Abstract translation: 根据本发明的主从系统（1）包括用于测量主机器人的主位移的至少一个主位移传感器（Pm1至Pm3），用于测量从站的至少一个从位移传感器（Ps1至Ps3） 用于从属机器人的位移，用于映射从动位移的主目标位移计算装置（2），从而获得作为与从动位移相对应的主位移的目标值的主目标位移以及主致动器（Am1至Am3 ），用于产生主驱动力，以基于主目标位移和主位移来对主机器人进行定位控制。 映射是预定义的，使得一组主目标位移排除主机器人的奇异配置。 主从系统（1）使得可以解决主机器人和从机器人的单一配置问题。

公开(公告)号：US10239201B2

公开(公告)日：2019-03-26

申请号：US15307841

申请日：2015-04-28

Applicant: Muscle Corporation

Inventor： Katsuya Kanaoka

IPC: G06F19/00 ,  B25J3/00 ,  B25J13/02 ,  B25J13/08 ,  B25J3/04 ,  B25J9/16

Abstract: A master-slave system (1) according to the present invention includes a slave actuator (As1 to As3) for generating a slave driving force (τs) to control a slave robot in terms of driving force, an effective driving force sensor (Fs1 to Fs3) for measuring a slave effective driving force (τsa) actually acting on a terminal output axis of the slave actuator (As1 to As3), and a slave target effective driving force calculating device (3) for calculating a slave target effective driving force (τsad) which is a target value for the slave effective driving force (τsa), on the basis of a master operating force (fm) applied to the master robot by an operator (U). The slave actuator (As1 to As3) generates the slave driving force (τs) on the basis of the slave target effective driving force (τsad) and the slave effective driving force (τsa).

公开(公告)号：US09855653B2

公开(公告)日：2018-01-02

申请号：US15033688

申请日：2014-11-05

Applicant: Muscle Corporation

Inventor： Katsuya Kanaoka ,  Ryo Kikuuwe

IPC: G05B19/04 ,  B25J3/04 ,  B25J9/16 ,  B25J13/02

CPC classification number: B25J3/04 ,  B25J9/1607 ,  B25J9/1689 ,  B25J13/025 ,  G05B2219/40333

Abstract: A master-slave system (1) according to the present invention includes at least one master displacement sensor (Pm1 to Pm3) for measuring a master displacement for a master robot, at least one slave displacement sensor (Ps1 to Ps3) for measuring a slave displacement for a slave robot, a master target displacement calculating device (2) for mapping the slave displacement and thereby obtaining a master target displacement which is a target value for the master displacement corresponding to the slave displacement, and a master actuator (Am1 to Am3) for generating a master driving force to position-control the master robot on the basis of the master target displacement and the master displacement. The mapping is predefined such that a set of master target displacements excludes a singular configuration for the master robot. The master-slave system (1) renders it possible to solve a singular configuration problem for both the master robot and the slave robot.

公开(公告)号：US20170050310A1

公开(公告)日：2017-02-23

申请号：US15307841

申请日：2015-04-28

Applicant: Muscle Corporation

Inventor： Katsuya KANAOKA

IPC: B25J3/00 ,  B25J13/02 ,  B25J13/08

CPC classification number: B25J3/00 ,  B25J3/04 ,  B25J9/1689 ,  B25J13/025 ,  B25J13/084 ,  B25J13/085 ,  B25J13/088

Abstract: A master-slave system (1) according to the present invention includes a slave actuator (As1 to As3) for generating a slave driving force (τs) to control a slave robot in terms of driving force, an effective driving force sensor (Fs1 to Fs3) for measuring a slave effective driving force (τsa) actually acting on a terminal output axis of the slave actuator (As1 to As3), and a slave target effective driving force calculating device (3) for calculating a slave target effective driving force (τsad) which is a target value for the slave effective driving force (τsa), on the basis of a master operating force (fm) applied to the master robot by an operator (U). The slave actuator (As1 to As3) generates the slave driving force (τs) on the basis of the slave target effective driving force (τsad) and the slave effective driving force (τsa).

Abstract translation: 根据本发明的主从系统（1）包括从动致动器（As1至As3），用于产生用于根据驱动力控制从机器人的从动驱动力（τs），有效驱动力传感器（Fs1至 用于测量实际作用在从动执行器（As1至As3）的终端输出轴上的从动有效驱动力（τsa）的Fs3）和用于计算从动目标有效驱动力的从动目标有效驱动力计算装置（3） 基于由操作员（U）施加到主机器人的主操作力（fm），作为从动有效驱动力（τsa）的目标值的τsad）。 从动执行器（As1〜As3）根据从属目标有效驱动力（τsad）和从动有效驱动力（τsa）产生从动驱动力（τs）。

公开(公告)号：US10272006B2

公开(公告)日：2019-04-30

申请号：US14642136

申请日：2015-03-09

Applicant: MUSCLE CORPORATION

Inventor： Hirofumi Tamai ,  Satoshi Tamai

IPC: A61G7/10

Abstract: A care method and a care robot that can simplify care and reduce the burden on a caregiver, in particular the burden on the caregiver during the transfer of a care receiver. A sheet is spread out on top of a bed, and the care receiver is laid on the sheet. The sheet is formed so that both ends thereof have parts to be held that are held by arms of a robot. The robot and the arms are positioned relative to the care receiver, and the robot is moved towards the bed so that the arms hold the parts to be held. The arms are raised by a predetermined distance, and when the arms are in the raised state, the robot is moved away from the bed.

公开(公告)号：US20160228314A1

公开(公告)日：2016-08-11

申请号：US15021721

申请日：2014-03-14

Applicant: MUSCLE CORPORATION

Inventor： Hirofumi TAMAI ,  Satoshi TAMAI

IPC: A61G7/10 ,  B25J11/00 ,  B25J5/00

CPC classification number: A61G7/1019 ,  A61G7/1017 ,  A61G7/1046 ,  B25J5/007 ,  B25J11/009

Abstract: Provided is a robot which is easily operated and with which it is possible for a caregiver to transfer a person alone. A robot (R) provided with a traveling unit (M1), a hoisting unit (M2) provided to the traveling unit (M1), a tilting unit (M3) provided to the hoisting unit (M3), an operating unit (M4) provided to the tilting unit (M3), and a pair of arms, wherein: the tiling unit (M3) has a main tilting unit and an auxiliary tilting unit provided to the main tilting unit; and the auxiliary tilting unit has auxiliary tilting members (44, 48) which are provided to both ends of the main tilting member on the main tilting unit, holds the arms, and can rotate freely.

Abstract translation: 提供了一种容易操作的机器人，并且可以使照料者单独转移人。 设置有行驶单元（M1）的机器人（R），设置在行驶单元（M1）上的提升单元（M2），设置在提升单元（M3）上的倾斜单元（M3）），操作单元（M4） 提供给倾斜单元（M3）和一对臂，其中：平铺单元（M3）具有设置在主倾斜单元上的主倾斜单元和辅助倾斜单元; 并且辅助倾斜单元具有设置在主倾斜单元上的主倾斜构件的两端的辅助倾斜构件（44,48），保持臂并且可以自由旋转。

公开(公告)号：US20150173988A1

公开(公告)日：2015-06-25

申请号：US14642136

申请日：2015-03-09

Applicant: MUSCLE CORPORATION

Inventor： Hirofumi TAMAI ,  Satoshi TAMAI

IPC: A61G7/10

CPC classification number: A61G7/1046 ,  A61G7/1019 ,  A61G7/1025 ,  A61G7/1036 ,  A61G7/1057 ,  A61G2203/22

Abstract: A care method and a care robot that can simplify care and reduce the burden on a caregiver, in particular the burden on the caregiver during the transfer of a care receiver. A sheet is spread out on top of a bed, and the care receiver is laid on the sheet. The sheet is formed so that both ends thereof have parts to be held that are held by arms of a robot. The robot and the arms are positioned relative to the care receiver, and the robot is moved towards the bed so that the arms hold the parts to be held. The arms are raised by a predetermined distance, and when the arms are in the raised state, the robot is moved away from the bed.

Abstract translation: 一种护理方法和护理机器人，其可以简化护理并减轻看护者的负担，特别是在护理接收者转移期间护理人员的负担。 将床单分散在床的顶部，护理接收器放置在床单上。 片材形成为使得其两端具有被机器人的臂保持的部件。 机器人和臂相对于护理接收器定位，并且机器人朝向床移动，使得臂保持要保持的部分。 臂被升高预定距离，并且当臂处于升高状态时，机器人被移动离开床。