公开(公告)号：US10603241B2

公开(公告)日：2020-03-31

申请号：US15468120

申请日：2017-03-24

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hideo Nagata ,  Akira Yoshida ,  Yuko Ikeda ,  Yoshie Nakanishi ,  Yoshie Murayama

IPC: A61H3/00 ,  A61B5/103 ,  A61B5/11 ,  A61B5/00 ,  A61H1/02 ,  A61B5/107

Abstract: A controller for a motion assisting apparatus for a wearer includes circuitry. The circuitry is configured to set switching points in a change in a turning angle of a drive mechanism driven by a drive motor and attached to an ankle joint of the wearer to assist a turning motion of the ankle joint, a ratio of the change in the turning angle being equal to zero at the switching points. The circuitry is configured to set a motion pattern such that the turning angle monotonically increases or monotonically decreases between the switching points. The circuitry is configured to control the drive motor to change the turning angle according to the motion pattern.

公开(公告)号：US09073215B2

公开(公告)日：2015-07-07

申请号：US14183378

申请日：2014-02-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hideo Nagata ,  Tomoyuki Sekiyama ,  Yasuyuki Inoue

IPC: G05B15/00 ,  G06F7/00 ,  G06F19/00 ,  B25J9/16

CPC classification number: B25J9/1697 ,  G05B2219/39057 ,  G05B2219/40053 ,  G05B2219/40575 ,  G05B2219/40613

Abstract: A robot system includes: a robot including a camera unit shooting an object in a container, a hand gripping the object, and a contact detector detecting that the hand contacts the container; and a robot control device, which includes a control unit causing the hand to contact the container; a contact detection unit detecting by the contact detector that the hand contacts the container, and finding a contact position thereof; a first processing unit calculating a position of the container from a stereo image of the container acquired by the camera unit; a second processing unit calculating a difference between the position of the container calculated by the first processing unit and the contact position found by the contact detection unit as a correction amount; and a third processing unit correcting information on a position in a height direction of the object in the container based on the correction amount.

Abstract translation: 机器人系统包括：机器人，其包括拍摄容器内的物体的相机单元，夹持物体的手和检测到手接触容器的接触检测器; 以及机器人控制装置，其包括使所述手接触所述容器的控制单元; 接触检测单元，由接触检测器检测到手接触容器，并找到其接触位置; 第一处理单元，从由所述照相机单元获取的容器的立体图像计算所述容器的位置; 第二处理单元，计算由第一处理单元计算的容器的位置与由接触检测单元找到的接触位置之间的差作为校正量; 以及第三处理单元，基于校正量来校正在容器中的物体的高度方向上的位置的信息。