公开(公告)号：US08588980B2

公开(公告)日：2013-11-19

申请号：US12919593

申请日：2009-02-26

申请人： Hideyuki Murayama ,  Naoyuki Takesue ,  Hideo Fujimoto

发明人： Hideyuki Murayama ,  Naoyuki Takesue ,  Hideo Fujimoto

IPC分类号： G05B15/00 ,  G05B19/00 ,  G05B9/02 ,  G05B19/19 ,  B25J9/18

CPC分类号： B25J13/085 ,  B25J5/02 ,  B25J9/1687 ,  B66C23/005 ,  G05B19/402 ,  G05B2219/39002 ,  G05B2219/39439 ,  G05B2219/40586 ,  G05B2219/45025

摘要： A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.

摘要翻译： 一种具有操作手柄的动力辅助装置的控制方法，检测施加到操作手柄的操作力和操作力方位的力传感器，机器人手臂和致动器。 当操作力的取向相对于操作手柄的预设行进方向被检测在预定角度范围内时，致动器被控制成使得操作手柄沿着前进方向移动，仅使用 沿着前进方向的操作力; 并且当检测到操作力的取向在预定角度范围之外时，控制致动器以通过施加到操作手柄的操作力和操作力的取向来移动操作手柄。

公开(公告)号：US20110040411A1

公开(公告)日：2011-02-17

申请号：US12919593

申请日：2009-02-26

申请人： Hideyuki Murayama ,  Naoyuki Takesue ,  Hideo Fujimoto

发明人： Hideyuki Murayama ,  Naoyuki Takesue ,  Hideo Fujimoto

IPC分类号： B25J9/02

CPC分类号： B25J13/085 ,  B25J5/02 ,  B25J9/1687 ,  B66C23/005 ,  G05B19/402 ,  G05B2219/39002 ,  G05B2219/39439 ,  G05B2219/40586 ,  G05B2219/45025

摘要： A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.

摘要翻译： 一种具有操作手柄的动力辅助装置的控制方法，检测施加到操作手柄的操作力和操作力方位的力传感器，机器人手臂和致动器。 当操作力的取向相对于操作手柄的预设行进方向被检测在预定角度范围内时，致动器被控制成使得操作手柄沿着前进方向移动，仅使用 沿着前进方向的操作力; 并且当检测到操作力的取向在预定角度范围之外时，控制致动器以通过施加到操作手柄的操作力和操作力的取向来移动操作手柄。

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：US09452553B2

公开(公告)日：2016-09-27

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 ,  B29C33/38 ,  B29C33/42 ,  B29C41/18 ,  B29L31/30 ,  B29C59/02

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：US10807541B2

公开(公告)日：2020-10-20

申请号：US13129217

申请日：2009-11-17

申请人： Akane Ban ,  Makoto Tamuraya ,  Takashi Takeuchi ,  Yeon-Yi Kang ,  Hideo Fujimoto ,  Akihito Sano ,  Hiromi Mochiyama ,  Naoyuki Takesue ,  Yoshihiro Tanaka

发明人： Akane Ban ,  Makoto Tamuraya ,  Takashi Takeuchi ,  Yeon-Yi Kang ,  Hideo Fujimoto ,  Akihito Sano ,  Hiromi Mochiyama ,  Naoyuki Takesue ,  Yoshihiro Tanaka

IPC分类号： B60R13/02 ,  B44C5/00 ,  B44C1/24

摘要： In the surface structure of an article 7 according to the present invention, a plurality of convex portions 11 are so disposed on a surface 9 as to have intervals relative to each other and a plurality of fine convex portions 21 having a diameter d and a height h smaller than those of the concave portion 11 are formed on the surface of at least the edge portion 15 of the concave portion 11. By this, when a hand touches the surface 9 of the article 7, the proper number of convex portions 21 abut on a linear object 25 constituting a fingerprint 23 of a hand's finger, to thereby allow the human being to obtain a delicate-and-soft touch feeling.

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：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：US08280552B2

公开(公告)日：2012-10-02

申请号：US12677652

申请日：2008-09-09

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：US20110287220A1

公开(公告)日：2011-11-24

申请号：US13129217

申请日：2009-11-17

申请人： Akane Ban ,  Makoto Tamuraya ,  Takashi Takeuchi ,  Yeon-Yi Kang ,  Hideo Fujimoto ,  Akihito Sano ,  Hiromi Mochiyama ,  Naoyuki Takesue ,  Yoshihiro Tanaka

发明人： Akane Ban ,  Makoto Tamuraya ,  Takashi Takeuchi ,  Yeon-Yi Kang ,  Hideo Fujimoto ,  Akihito Sano ,  Hiromi Mochiyama ,  Naoyuki Takesue ,  Yoshihiro Tanaka

IPC分类号： B32B3/00

CPC分类号： B60R13/0243 ,  B44C1/24 ,  B44C5/00 ,  Y10T428/24355

摘要： In the surface structure of an article 7 according to the present invention, a plurality of convex portions 11 are so disposed on a surface 9 as to have intervals relative to each other and a plurality of fine convex portions 21 having a diameter d and a height h smaller than those of the concave portion 11 are formed on the surface of at least the edge portion 15 of the concave portion 11. By this, when a hand touches the surface 9 of the article 7, the proper number of convex portions 21 abut on a linear object 25 constituting a fingerprint 23 of a hand's finger, to thereby allow the human being to obtain a delicate-and-soft touch feeling.

摘要翻译： 在根据本发明的物品7的表面结构中，多个凸部11设置在表面9上，以相对于彼此具有间隔，并且多个细凸部21具有直径d和高度 在凹部11的至少边缘部15的表面上形成小于凹部11的小于h的面。由此，当手接触物品7的表面9时，适当数量的凸部21抵接 在构成手指的指纹23的直线对象25上，从而使人类获得微妙的柔软的触感。