公开(公告)号：US4753048A

公开(公告)日：1988-06-28

申请号：US841776

申请日：1986-03-20

申请人： Haruhiko Asada ,  Neil Goldfine

发明人： Haruhiko Asada ,  Neil Goldfine

IPC分类号： B24B27/033 ,  B25J15/00 ,  B25J17/02 ,  B24B1/00

CPC分类号： B24B27/033 ,  B25J15/0019 ,  B25J17/0208 ,  G05B2219/50353

摘要： There is disclosed a method of and apparatus for improving surface finishing and accuracy in a grinding operation employing a manipulator such as a robot which is coupled to a rotary grinding tool. The method comprises reducing the coupling effects between the tool motion whick is tangential to a workpiece surface and tool motion which is normal to the surface to obtain the optimum performance. The method involves adding compliance to the grinding tool in the tangential direction while maintaining higher stiffness in the normal direction. A robot is disclosed which is made in accordance with the method.

摘要翻译： 公开了一种使用诸如耦合到旋转研磨工具的机器人的机械手进行的研磨操作中的表面精加工和精度的改善的方法和装置。 该方法包括减少与工件表面相切的工具运动和与表面垂直以获得最佳性能的工具运动之间的耦合效应。 该方法包括在切向方向上增加磨削工具的顺应性，同时保持正常方向上的较高刚度。 公开了一种根据该方法制造的机器人。

公开(公告)号：US4427880A

公开(公告)日：1984-01-24

申请号：US278518

申请日：1981-06-29

申请人： Takeo Kanade ,  Haruhiko Asada

发明人： Takeo Kanade ,  Haruhiko Asada

IPC分类号： G01C3/06 ,  G01B11/00 ,  G01B11/02 ,  G01C3/00 ,  G01B11/24

CPC分类号： G01B11/026 ,  G01B11/00

摘要： An array of light sources transmit a series of light beams onto an object and the reflected light beams are focussed on a light responsive transducer. The output signals of the transducer are processed to determine the location and orientation of the object. The location and orientation information in turn is available to control the operation of a tool or manipulator relative to the object.

摘要翻译： 光源阵列将一系列光束传送到物体上，反射光束聚焦在光响应传感器上。 对传感器的输出信号进行处理，以确定物体的位置和方向。 位置和方向信息依次可用于控制工具或操纵器相对于物体的操作。

公开(公告)号：US20070055163A1

公开(公告)日：2007-03-08

申请号：US11508123

申请日：2006-08-22

申请人： Haruhiko Asada ,  Phillip Shaltis ,  Devin McCombie ,  Andrew Reisner

发明人： Haruhiko Asada ,  Phillip Shaltis ,  Devin McCombie ,  Andrew Reisner

IPC分类号： A61B5/02

CPC分类号： A61B5/02255 ,  A61B5/02225 ,  A61B5/02233 ,  A61B5/11 ,  A61B5/6824 ,  A61B5/6826 ,  A61B5/6838 ,  A61B2562/0219

摘要： Methods and apparatus for measuring arterial blood pressure at an extremity of a subject. Arterial blood pressure is derived from a circulatory measurement performed on an extremity of a subject and the circulatory measurement is normalized to account for the instantaneous vertical displacement of the extremity. The vertical displacement of the extremity relative to the heart of the subject is obtained using the angular orientation of the subject's extremity. An improved photoplethysmograph can discriminate light traversing the extremity from ambient light on the basis of differential response. The apparatus may have a conducting polymer actuator for applying pressure to the extremity of the subject. A pulsatile waveform from the photoplethysmographic signal may be obtained at a plurality of externally applied pressures to calibrate the photoplethysmograph.

摘要翻译： 用于测量受试者末端动脉血压的方法和装置。 动脉血压来源于在受试者的肢体上进行的循环测量，循环测量被归一化以考虑肢体的瞬时垂直位移。 使用受试者肢体的角度取向获得肢体相对于受试者心脏的垂直位移。 改进的光电容积法可以根据差异响应来区分穿过末端的光与环境光。 该装置可以具有用于向受试者的末端施加压力的导电聚合物致动器。 可以在多个外部施加的压力下获得来自光电体积描记信号的脉动波形，以校准光谱体积描记器。

公开(公告)号：US5684713A

公开(公告)日：1997-11-04

申请号：US86343

申请日：1993-06-30

申请人： Haruhiko Asada ,  Anton C. Pil

发明人： Haruhiko Asada ,  Anton C. Pil

IPC分类号： G06F17/50 ,  G06F17/00

CPC分类号： G06F17/50

摘要： In a method and an apparatus for automatically fabricating a physical prototype, an initial prototype is created, which need not satisfy the specified performance characteristics. An initial Jacobian matrix relates changes in the prototypes design variable physical features to changes in the prototype performance characteristics. The prototype is tested to determine the error between the specifications and the prototype performance characteristics. The initial Jacobian is applied to this error to generate a change order signal for the physical features. This change signal is input to a prototyping apparatus, preferably automatic and rapid, which physically changes the prototype. The prototype is again tested for satisfaction of the specifications. If necessary, the prototype is changed again and again. The Jacobian, can be automatically changed by comparing the change in performance from one prototype to the next prototype, with the change made in physical features and applying a recursive least squares method to recursively change the Jacobian. The prototype and the Jacobian automatically converge to accurate versions of each. An apparatus includes a prototype fabrication unit, an experimentation unit, and a design feature change calculation unit, which also includes a Jacobian adjustment unit. Systematic, automatic design of complex physical structures is accomplished, without the need for a precise initial prototype or understanding of the relationship between the physical features and the performance characteristics.

摘要翻译： 在用于自动制造物理原型的方法和装置中，创建了初始原型，其不需要满足指定的性能特征。 初始的雅可比矩阵将原型设计变量物理特征的变化与原型性能特征的变化相关联。 测试原型以确定规格和原型性能特征之间的误差。 最初的雅可比应用于该误差以产生用于物理特征的改变顺序信号。 该改变信号被输入到原型设备，优选是自动和快速的，其物理地改变原型。 再次测试原型以满足规格要求。 如有必要，原型将一次又一次地改变。 通过比较从一个原型到下一个原型的性能变化，可以自动改变雅可比，随着物理特征的变化和应用递归最小二乘法递归地改变雅可比。 原型和雅可比自动收敛到每个的准确版本。 一种装置包括原型制作单元，实验单元和设计特征变化计算单元，其还包括雅可比调整单元。 实现了复杂物理结构的系统，自动设计，而不需要精确的初始原型或对物理特征与性能特征之间的关系的理解。

公开(公告)号：US20080039731A1

公开(公告)日：2008-02-14

申请号：US11840654

申请日：2007-08-17

申请人： Devin McCombie ,  Andrew Reisner ,  Haruhiko Asada ,  Phillip Shaltis

发明人： Devin McCombie ,  Andrew Reisner ,  Haruhiko Asada ,  Phillip Shaltis

IPC分类号： A61B5/022

CPC分类号： A61B5/02255 ,  A61B5/02125 ,  A61B5/7239

摘要： An apparatus and methods for performing a circulatory measurement on an extremity, such as a hand, of a subject. The circulatory measurement results in the derivation of an output circulatory metric that may encompass blood pressure or various other circulatory metrics. An indicator of an input circulatory metric at a locus on the extremity is measured, such as a pulse transit time. To determine the pulse transit time, a first plethysmographic signal may be obtained at a first position on the extremity, while a second plethysmographic signal may be obtained at a second position on the extremity of the subject. A transit time characterizing a circulatory pressure wave is calculated based on the first and second plethysmographic signals, leading to derivation of a wave speed. A calibration is then applied to provide the circulatory measurement based at least on the derived wave speed and a measured indicator of a hydrostatic component of blood pressure. Calibration is provided, in certain described embodiments, by derivation of two calibration parameters, a gain and a pulse transit time at zero pressure. Methods for deriving the calibration parameters include performing measurements under distinct hydrostatic pressure conditions, and based upon a measured derivative with respect to pressure of the pulse wave velocity.

摘要翻译： 用于对受试者的肢体（例如手）进行循环测量的装置和方法。 循环测量结果导出可包含血压或各种其他循环指标的输出循环指标。 测量在肢体上的轨迹处的输入循环度量的指示符，例如脉冲传播时间。 为了确定脉冲传播时间，可以在末端的第一位置处获得第一体积描记信号，而可以在对象的末端的第二位置获得第二体积描记信号。 基于第一和第二体积描记信号计算表征循环压力波的传播时间，导致波速的推导。 然后应用校准以至少基于导出的波速提供循环测量，以及血液静压分量的测量指标。 在某些描述的实施例中，通过派生两个校准参数，在零压力下的增益和脉冲传播时间来提供校准。 用于导出校准参数的方法包括在不同的静水压力条件下进行测量，并且基于相对于脉搏波速度的压力的测量的导数。

公开(公告)号：US20070167844A1

公开(公告)日：2007-07-19

申请号：US11605935

申请日：2006-11-29

申请人： Haruhiko Asada ,  Aleksandar Marinkovic ,  Andrew Reisner ,  Phillip Shaltis

发明人： Haruhiko Asada ,  Aleksandar Marinkovic ,  Andrew Reisner ,  Phillip Shaltis

IPC分类号： A61B5/02 ,  A61B5/103

CPC分类号： A61B5/02255 ,  A61B5/022 ,  A61B5/02241 ,  A61B5/6806 ,  A61B5/6826 ,  A61B5/6838

摘要： An arterial blood pressure apparatus and methods for using the apparatus are disclosed. The apparatus has a force transfer element for applying unidirectional force to a body part of the subject and a pressure sensor for generating a signal based on the unidirectional force. Multiple degrees of force may be applied simultaneously or serially. The apparatus also has a second sensor for generating a signal associated with blood volume within a blood vessel of the body part and a processor for inferring arterial blood pressure from the force sensor signal and the second sensor. The apparatus may take the form of a glove or a wand.

摘要翻译： 公开了一种动脉血压装置及其使用方法。 该装置具有用于向对象的身体部分施加单向力的力传递元件和用于基于单向力产生信号的压力传感器。 可以同时或连续施加多个力。 该装置还具有用于产生与身体部位的血管内的血容积相关联的信号的第二传感器和用于从力传感器信号和第二传感器推断动脉血压的处理器。 该装置可以采取手套或魔杖的形式。

公开(公告)号：US5988856A

公开(公告)日：1999-11-23

申请号：US299709

申请日：1994-08-31

申请人： Daniel J. Braunstein ,  Haruhiko Asada

发明人： Daniel J. Braunstein ,  Haruhiko Asada

IPC分类号： B41F15/40 ,  H05K1/02 ,  H05K3/12 ,  G06F19/00 ,  G06G7/64 ,  G06G7/66

CPC分类号： B41F15/40 ,  H05K3/1233 ,  H05K1/0269 ,  H05K2203/0139 ,  H05K2203/163

摘要： The apparatus may be used with printing apparatus in which a media spreading member, such as a squeegee, moves relative to a surface, causing printing medium to be moved across said surface. The printing medium can be electrical solder paste and the surface can be a stencil. The apparatus is used for measuring linking parameters that are related to mechanical properties of the printing medium and the printing environment, such as viscosity and coefficient of friction. The apparatus comprises means for measuring a machine parameter that represents the force experienced by the media spreading member and means for resolving the measured force parameter into components equivalent to two orthogonal components, typically normal to the surface and tangential to it in the direction of relative motion. The apparatus also includes means for measuring a machine parameter that represents the velocity of the media spreading member relative to the surface. Means are also provided for measuring the linking parameters by determining a specific instance of a predetermined general relation among the measured machine parameters of velocity, first force component and second orthogonal force component and the linking parameters. The means for determining a specific instance of a relation may include means for comparing at least three sets of associated measured machine parameters and, based on the comparison, identifying a relationship that shows agreement with all of the sets of measured machine parameters within a predetermined level of accuracy. A typical such means for identifying such a relationship is an apparatus that applies a least squares relationship selecting technique. Suitable general relationships for Newtonian and non-Newtonian fluids may be used. A method is also disclosed.

摘要翻译： 该设备可以与打印设备一起使用，其中诸如刮板的介质扩展部件相对于表面移动，使得打印介质移动穿过所述表面。 印刷介质可以是电焊膏，表面可以是模板。 该装置用于测量与打印介质的机械性能和印刷环境相关的连接参数，例如粘度和摩擦系数。 该装置包括用于测量表示介质传播部件所经受的力的机器参数的装置和用于将所测量的力参数分解成等效于两个正交分量的部件的装置，通常垂直于表面并在其相对运动方向上与其相切 。 该装置还包括用于测量表示介质扩散构件相对于表面的速度的机器参数的装置。 还提供了用于通过确定所测量的速度，第一力分量和第二正交力分量的机器参数之间的预定一般关系的特定实例以及链接参数来测量连接参数的装置。 用于确定关系的特定实例的装置可以包括用于比较至少三组相关联的测量机器参数的装置，并且基于比较，识别与预定水平内的所有所测量的机器参数集合一致的关系 的准确性。 用于识别这种关系的典型的这种装置是应用最小二乘关系选择技术的装置。 可以使用牛顿和非牛顿流体的合适的一般关系。 还公开了一种方法。

公开(公告)号：US4425818A

公开(公告)日：1984-01-17

申请号：US307090

申请日：1981-09-30

申请人： Haruhiko Asada ,  Takeo Kanade

发明人： Haruhiko Asada ,  Takeo Kanade

IPC分类号： B25J9/06 ,  B25J17/02 ,  B25J19/00 ,  B23Q3/18

CPC分类号： B25J17/025 ,  B25J17/0241 ,  B25J19/002 ,  B25J9/06 ,  Y10T74/20

摘要： A robotic manipulator includes a plurality of segments connected by joints between a fixed base and the distal end of the arm. At least one of the joints comprises a servomotor having a stator and a rotor one of which is attached to a segment positioned closer to the fixed base, the other component of the servomotor being attached to a driven segment positioned closer to the distal end of the arm. The said mechanical arm is directly driven by the servo motor without provision of any transmission mechanism.

摘要翻译： 机器人操纵器包括通过固定基座和臂的远端之间的关节连接的多个段。 所述接头中的至少一个包括具有定子和转子的伺服电动机，其中一个连接到位于更靠近所述固定基座的段上，所述伺服电动机的另一部件附接到被定位成更接近所述固定基座的远端的从动段 臂。 所述机械臂由伺服电机直接驱动，而不需要任何传动机构。