公开(公告)号：US20060066572A1

公开(公告)日：2006-03-30

申请号：US11235378

申请日：2005-09-27

申请人： Manabu Yumoto ,  Takahiko Nakano ,  Takuji Urata ,  Sohichi Miyata ,  Jun Ueda ,  Tsukasa Ogasawara

发明人： Manabu Yumoto ,  Takahiko Nakano ,  Takuji Urata ,  Sohichi Miyata ,  Jun Ueda ,  Tsukasa Ogasawara

IPC分类号： G09G5/08

CPC分类号： G06F3/044 ,  G06F3/0317 ,  G06F3/03547 ,  G06F2203/0338 ,  G06K9/00026 ,  G06K9/00087

摘要： A pointing device includes a sensor obtaining image information, and an image producing unit producing a comparison image at predetermined time intervals by lowering a spatial resolution of an image based on the image information obtained by the sensor and increasing a density resolution of the image based on the image information. The device arithmetically obtains a correlation value indicating a correlation between a predetermined region in a first comparison image among the plurality of comparison images produced by the image producing unit and a predetermined region in a second comparison image produced after the first comparison image.

摘要翻译： 指示装置包括获取图像信息的传感器和通过基于由传感器获得的图像信息降低图像的空间分辨率而以预定时间间隔产生比较图像的图像产生单元，并且基于 图像信息。 该装置算术地获得表示由图像产生单元产生的多个比较图像中的第一比较图像中的预定区域与在第一比较图像之后产生的第二比较图像中的预定区域之间的相关性的相关值。

公开(公告)号：US20060012570A1

公开(公告)日：2006-01-19

申请号：US11147348

申请日：2005-06-08

申请人： Manabu Yumoto ,  Nobuhisa Tsuji ,  Sohichi Miyata ,  Jun Ueda ,  Tsukasa Ogasawara

发明人： Manabu Yumoto ,  Nobuhisa Tsuji ,  Sohichi Miyata ,  Jun Ueda ,  Tsukasa Ogasawara

IPC分类号： G09G5/08

CPC分类号： G06F3/03547 ,  G06F2203/0338

摘要： A pointing device that does not limit an operator by personal physical characteristics is structured as follows. An apparatus incorporating a pointing device includes a fingerprint sensor obtaining image information, a cover protecting a sensor surface, and a sensor presser arranged at a face of the cover on the sensor side so as to be in contact with the sensor surface. The shape of sensor presser obtained with sensor changes by the position on cover being pressed by a finger, and an input is performed based thereon.

摘要翻译： 根据个人身体特征不限制操作者的指示装置的结构如下。 包括指示装置的装置包括获取图像信息的指纹传感器，保护传感器表面的盖子和布置在传感器侧的盖的表面处以与传感器表面接触的传感器压脚。 由传感器获得的传感器按压器的形状通过由手指按压在盖上的位置而变化，并且基于此进行输入。

公开(公告)号：US07591166B2

公开(公告)日：2009-09-22

申请号：US11662657

申请日：2005-06-16

申请人： Jun Ueda ,  Yutaka Ishida ,  Tsukasa Ogasawara

发明人： Jun Ueda ,  Yutaka Ishida ,  Tsukasa Ogasawara

IPC分类号： G01N3/56

CPC分类号： B25J13/084 ,  G01B5/012 ,  G01B11/007 ,  G01N19/02

摘要： A tactile sensor of an embodiment of the present invention includes: a sensing section having an elastic member at a portion which contacts a measurement target; an image acquiring section for acquiring as image information the state of a contact surface of the measurement target and the elastic member, before and after application of an external force tangential to the contact surface; a deformation analyzing section for analyzing deformation information of the contact surface, based on the image information acquired by the image acquiring section; an external force detecting section for detecting the external force applied tangential to the contact surface; and an estimating section for estimating a slippage margin between the measurement target and the elastic member, based on (I) the deformation information of the contact surface, which information acquired by the deformation analyzing section, (II) the external force detected by the external force detecting section, and (III) an object constant of the elastic member. With this tactile sensor, slippage margin can be simply but accurately estimated.

摘要翻译： 本发明实施例的触敏传感器包括：感测部，其在与测量对象接触的部分处具有弹性部件; 图像获取部，用于在施加与接触表面相切的外力之前和之后，获取作为测量对象和弹性部件的接触表面的状态的图像信息; 变形分析部，其基于由图像获取部获取的图像信息，分析接触面的变形信息; 外力检测部，用于检测与接触面相切施加的外力; 以及估计部分，用于根据（I）接触表面的变形信息（由变形分析部获取的信息），（II）由外部检测到的外力来估计测量对象和弹性部件之间的滑移余量 力检测部，和（III）弹性部件的物体常数。 使用这种触觉传感器，可以简单但准确地估计滑移余量。

公开(公告)号：US20080202202A1

公开(公告)日：2008-08-28

申请号：US11662657

申请日：2005-06-16

申请人： Jun Ueda ,  Yutaka Ishida ,  Tsukasa Ogasawara

发明人： Jun Ueda ,  Yutaka Ishida ,  Tsukasa Ogasawara

IPC分类号： B25J13/08 ,  G01N19/02 ,  G01B11/16

CPC分类号： B25J13/084 ,  G01B5/012 ,  G01B11/007 ,  G01N19/02

摘要： A tactile sensor of an embodiment of the present invention includes: a sensing section having an elastic member at a portion which contacts a measurement target; an image acquiring section for acquiring as image information the state of a contact surface of the measurement target and the elastic member, before and after application of an external force tangential to the contact surface; a deformation analyzing section for analyzing deformation information of the contact surface, based on the image information acquired by the image acquiring section; an external force detecting section for detecting the external force applied tangential to the contact surface; and an estimating section for estimating a slippage margin between the measurement target and the elastic member, based on (I) the deformation information of the contact surface, which information acquired by the deformation analyzing section, (II) the external force detected by the external force detecting section, and (III) an object constant of the elastic member. With this tactile sensor, slippage margin can be simply but accurately estimated.

摘要翻译： 本发明实施例的触敏传感器包括：感测部，其在与测量对象接触的部分处具有弹性部件; 图像获取部，用于在施加与接触表面相切的外力之前和之后，获取作为测量对象和弹性部件的接触表面的状态的图像信息; 变形分析部，其基于由图像获取部获取的图像信息，分析接触面的变形信息; 外力检测部，用于检测与接触面相切施加的外力; 以及估计部分，用于根据（I）接触表面的变形信息（由变形分析部获取的信息），（II）由外部检测到的外力来估计测量对象和弹性部件之间的滑移余量 力检测部，和（III）弹性部件的物体常数。 使用这种触觉传感器，可以简单但准确地估计滑移余量。

公开(公告)号：US07529632B2

公开(公告)日：2009-05-05

申请号：US12068282

申请日：2008-02-05

申请人： Jun Ueda ,  Tsukasa Ogasawara ,  Ming Ding

发明人： Jun Ueda ,  Tsukasa Ogasawara ,  Ming Ding

IPC分类号： G01L1/00 ,  G01L3/00

CPC分类号： B25J9/0006

摘要： A driving force calculating device (1) includes: a setting information acquiring section (23) which acquires (a) muscle specifying information that specifies a target muscle, which is a muscle whose function is assisted or resisted by a driving section and (b) a target value of muscle force to be produced by the target muscle at the time of rotational motion under assistance or resistance of the driving section; and a target muscle force evaluating section (24) which acquires an estimated muscle force table (58) and musculoskeletal model data (53) and evaluates the feasibility of the target value of the target muscle. With this arrangement, it is possible to reduce time required to calculate a driving force of the driving section of the power assisting device.

摘要翻译： 驱动力计算装置（1）包括：设置信息获取部（23），其获取（a）指定作为被驱动部辅助或抵抗的功能的肌肉的目标肌肉的肌肉指定信息，（b） 由驱动部的辅助或阻力下的旋转运动时由目标肌肉产生的肌力的目标值; 以及获取估计肌力表（58）和肌骨骼模型数据（53）的目标肌力评价部（24），并评价目标肌肉的目标值的可行性。 通过这种布置，可以减少计算动力辅助装置的驱动部的驱动力所需的时间。

公开(公告)号：US20080216592A1

公开(公告)日：2008-09-11

申请号：US12068282

申请日：2008-02-05

申请人： Jun Ueda ,  Tsukasa Ogasawara ,  Ming Ding

发明人： Jun Ueda ,  Tsukasa Ogasawara ,  Ming Ding

IPC分类号： A61B5/22

CPC分类号： B25J9/0006

摘要： [Technical Problem]: To reduce time required to calculate a driving force of the driving section of the power assisting device[Technical Solution]: A driving force calculating device (1) includes: a setting information acquiring section (23) which acquires (a) muscle specifying information that specifies a target muscle, which is a muscle whose function is assisted or resisted by a driving section and (b) a target value of muscle force to be produced by the target muscle at the time of rotational motion under assistance or resistance of the driving section; and a target muscle force evaluating section (24) which acquires an estimated muscle force table (58) and musculoskeletal model data (53) and evaluates the feasibility of the target value of the target muscle. With this arrangement, it is possible to reduce time required to calculate a driving force of the driving section of the power assisting device.

摘要翻译： 技术问题：减少计算助力装置的驱动部分的驱动力所需的时间[技术方案]：驱动力计算装置（1）包括：设置信息获取部（23），其获取（a ）指定目标肌肉的肌肉指定信息，所述目标肌肉是由功能被驱动部分辅助或抵抗的肌肉，以及（b）在辅助下旋转运动时由目标肌肉产生的肌肉力的目标值，或 驱动部分的阻力; 以及获取估计肌力表（58）和肌骨骼模型数据（53）的目标肌力评价部（24），并评价目标肌肉的目标值的可行性。 通过这种布置，可以减少计算动力辅助装置的驱动部的驱动力所需的时间。

公开(公告)号：US07981059B2

公开(公告)日：2011-07-19

申请号：US11885072

申请日：2005-08-04

申请人： Jun Ueda ,  Tsukasa Ogasawara

发明人： Jun Ueda ,  Tsukasa Ogasawara

IPC分类号： A61B5/103 ,  A61B5/117

CPC分类号： A63B21/0085 ,  A61B5/1071 ,  A61B5/224 ,  A61H1/02 ,  A61H2201/5007 ,  A63B21/00069 ,  A63B21/00181 ,  A63B21/4001 ,  A63B21/4025 ,  A63B21/4047 ,  A63B23/1281 ,  A63B2220/54

摘要： In one embodiment of the present invention, a driving force calculating device calculates a driving force so that a desired load is applied on a muscle while a power assisting device assists and/or resists a predetermined motion. A driving force calculating section of a driving force calculating device calculates a driving force of each driving section according to a joint torque table on joint torque necessary for a rotational motion and an assigned muscle force table on an assigned muscle force input to a muscle force input section. For the calculation is used a muscle/artificial muscle integrated model data integrally including musculoskeletal model data on a musculoskeletal model of a human and artificial muscle model data on an artificial muscle model of the power assisting device. The driving force is calculated through optimization using Crowninshield performance function under constraint conditions of the joint torque and the assigned muscle force.

摘要翻译： 在本发明的一个实施例中，驱动力计算装置计算驱动力，以便在动力辅助装置辅助和/或抵抗预定的运动时在肌肉上施加期望的载荷。 驱动力计算装置的驱动力计算部根据关于转动运动所需的关节扭矩的关节扭矩表和输入肌肉力输入部的分配肌力的分配肌肉力量计算各驱动部的驱动力 部分。 为了计算，使用肌肉/人造肌肉综合模型数据，其一体地包括肌力骨骼模型的人体肌肉模型数据和人造肌肉模型数据在功能辅助装置的人造肌肉模型上。 通过使用Crowninshield性能函数在关节扭矩和分配的肌力的约束条件下优化计算驱动力。

公开(公告)号：US20090024061A1

公开(公告)日：2009-01-22

申请号：US11885072

申请日：2005-08-04

申请人： Jun Ueda ,  Tsukasa Ogasawara

发明人： Jun Ueda ,  Tsukasa Ogasawara

IPC分类号： A61B5/103

CPC分类号： A63B21/0085 ,  A61B5/1071 ,  A61B5/224 ,  A61H1/02 ,  A61H2201/5007 ,  A63B21/00069 ,  A63B21/00181 ,  A63B21/4001 ,  A63B21/4025 ,  A63B21/4047 ,  A63B23/1281 ,  A63B2220/54

摘要： In one embodiment of the present invention, a driving force calculating device calculates a driving force so that a desired load is applied on a muscle while a power assisting device assists and/or resists a predetermined motion. A driving force calculating section of a driving force calculating device calculates a driving force of each driving section according to a joint torque table on joint torque necessary for a rotational motion and an assigned muscle force table on an assigned muscle force input to a muscle force input section. For the calculation is used a muscle/artificial muscle integrated model data integrally including musculoskeletal model data on a musculoskeletal model of a human and artificial muscle model data on an artificial muscle model of the power assisting device. The driving force is calculated through optimization using Crowninshield performance function under constraint conditions of the joint torque and the assigned muscle force.

摘要翻译： 在本发明的一个实施例中，驱动力计算装置计算驱动力，以便在动力辅助装置辅助和/或抵抗预定的运动时在肌肉上施加期望的载荷。 驱动力计算装置的驱动力计算部根据关于转动运动所需的关节扭矩的关节扭矩表和输入肌肉力输入部的分配肌力的分配肌肉力量计算各驱动部的驱动力 部分。 为了计算，使用肌肉/人造肌肉综合模型数据，其一体地包括肌力骨骼模型的人体肌肉模型数据和人造肌肉模型数据在功能辅助装置的人造肌肉模型上。 通过使用Crowninshield性能函数在关节扭矩和分配的肌力的约束条件下优化计算驱动力。

公开(公告)号：US20110241368A1

公开(公告)日：2011-10-06

申请号：US13132164

申请日：2009-12-03

申请人： Yuichi Kurita ,  Atsutoshi Ikeda ,  Yasuhiro Ono ,  Tsukasa Ogasawara

发明人： Yuichi Kurita ,  Atsutoshi Ikeda ,  Yasuhiro Ono ,  Tsukasa Ogasawara

IPC分类号： B25J15/08

CPC分类号： B25J15/0009

摘要： A robot hand which can be formed in the shape of a human hand and improves maintenance performance, and generates fingertip force is provided. A robot hand (1) of the present invention is provided with a hand section (3) and an arm section (5). The hand section (3) corresponds to the portion of a human hand which is forward from the wrist thereof. The arm section (5) is provided with a drive device (d5) including a plurality of motors and generates driving torque for driving each movable section of the hand section (3). The hand section (3) and the arm section (5) are configured in such a manner that a group (g36) of wrist-mounted pulleys which are first driving torque transmitting members coaxially arranged and a group (r5) of arm pulleys which are second driving torque transmitting members coaxially arranged transmit driving torque generated by the drive device (d5) to each movable section of the hand section (3) via gears meshing with each other.

摘要翻译： 可以形成为人的手形的机器人手，提高维护性能，并且产生指尖力。 本发明的机器人手（1）具有手部（3）和臂部（5）。 手部（3）对应于从其手腕向前的人手的部分。 臂部（5）设置有包括多个电动机的驱动装置（d5），并且产生用于驱动手部（3）的各可动部的驱动转矩。 手部（3）和臂部（5）构成为：作为第一驱动扭矩传递部件同轴布置的手腕带轮组（g36）和臂带轮组（r5） 第二驱动扭矩传递部件，其通过齿轮啮合而由驱动装置（d5）产生的发送驱动扭矩同时布置在手部（3）的各可动部。

公开(公告)号：US08641114B2

公开(公告)日：2014-02-04

申请号：US13132164

申请日：2009-12-03

申请人： Yuichi Kurita ,  Atsutoshi Ikeda ,  Yasuhiro Ono ,  Tsukasa Ogasawara

发明人： Yuichi Kurita ,  Atsutoshi Ikeda ,  Yasuhiro Ono ,  Tsukasa Ogasawara

IPC分类号： B25J15/08

CPC分类号： B25J15/0009

摘要： A robot hand which can be formed in the shape of a human hand and improves maintenance performance, and generates fingertip force is provided. A robot hand (1) of the present invention is provided with a hand section (3) and an arm section (5). The hand section (3) corresponds to the portion of a human hand which is forward from the wrist thereof. The arm section (5) is provided with a drive device (d5) including a plurality of motors and generates driving torque for driving each movable section of the hand section (3). The hand section (3) and the arm section (5) are configured in such a manner that a group (g36) of wrist-mounted pulleys which are first driving torque transmitting members coaxially arranged and a group (r5) of arm pulleys which are second driving torque transmitting members coaxially arranged transmit driving torque generated by the drive device (d5) to each movable section of the hand section (3) via gears meshing with each other.

摘要翻译： 可以形成为人的手形的机器人手，提高维护性能，并且产生指尖力。 本发明的机器人手（1）具有手部（3）和臂部（5）。 手部（3）对应于从其手腕向前的人手的部分。 臂部（5）设置有包括多个电动机的驱动装置（d5），并且产生用于驱动手部（3）的各可动部的驱动转矩。 手部（3）和臂部（5）构成为：作为第一驱动扭矩传递部件同轴布置的手腕带轮组（g36）和臂带轮组（r5） 第二驱动扭矩传递部件，其通过齿轮啮合而由驱动装置（d5）产生的发送驱动扭矩同时布置在手部（3）的各可动部。