公开(公告)号：US11444555B2

公开(公告)日：2022-09-13

申请号：US16472458

申请日：2017-12-29

Applicant: Sony Corporation

Inventor： Satoshi Nakamaru ,  Hiroichi Ishikawa ,  Kentarou Sakai ,  Akihiro Nakata ,  Kazuhito Wakana ,  Yoshio Goto

IPC: H02N1/00 ,  B25J9/10 ,  B25J9/12 ,  H02N2/00 ,  H02N2/02

Abstract: An actuator includes a stack including: an elastomer layer; and an elastic electrode disposed on each surface of the elastomer layer, in which the stack is subjected to a pre-strain of 50% or more at least in one direction. The stack may have a round tubular shape with the elastic electrodes disposed on opposite surfaces of the elastomer layer in a radial direction of the stack.

公开(公告)号：US12030186B2

公开(公告)日：2024-07-09

申请号：US17281506

申请日：2019-09-02

Applicant: SONY CORPORATION

Inventor： Yoshinao Sodeyama ,  Kazuo Hongo ,  Kazuhito Wakana ,  Yoshikazu Furiyama

IPC: B25J9/16 ,  B25J9/04 ,  B25J11/00

CPC classification number: B25J9/1664 ,  B25J9/04 ,  B25J9/1638 ,  B25J9/1653 ,  B25J9/1674 ,  B25J9/1679 ,  B25J11/0045

Abstract: A control device (120) according to the present application includes a limitation portion that is provided in a joint portion, which joins two or more links, of a robot and that physically limits motion of the links, and a control unit (122f) that limits movable ranges of the links by controlling the limitation portion corresponding to a predetermined joint portion on the basis of a task executed by the robot. With this configuration, it becomes possible to secure safety of when the robot executes a task.

公开(公告)号：US11981026B2

公开(公告)日：2024-05-14

申请号：US17252528

申请日：2019-06-11

Applicant: SONY CORPORATION

Inventor： Satoko Nagakari ,  Tetsuya Narita ,  Kazuhito Wakana ,  Kazuo Hongo ,  Wataru Kokubo ,  Yoshinao Sodeyama

IPC: B25J19/02 ,  B25J15/08 ,  G01L5/00 ,  G01L5/22

CPC classification number: B25J19/02 ,  B25J15/08 ,  G01L5/009 ,  G01L5/228

Abstract: A slip detecting device according to the present disclosure includes a plurality of contact parts having different slipping characteristics when an object (600) in contact with the plurality of regions is slipping; and a sensor that detects a pressure distribution of each of the plurality of contact parts. By employing the plurality of contact parts having different slipping characteristics when the object (600) in contact with the plurality of regions, a timing at which a whole slip occurs is different between the plurality of contact parts, and thus a state of a partial slip in which a part of the object (600) is slipping is able to be detected, so that it is possible to detect a slip of the object (600) with high accuracy.

公开(公告)号：US11992942B2

公开(公告)日：2024-05-28

申请号：US16980858

申请日：2019-03-04

Applicant: Sony Corporation

Inventor： Yuki Itotani ,  Hiromasa Masuda ,  Atsushi Miyamoto ,  Kazuhito Wakana

IPC: B25J3/00 ,  A61B1/00 ,  A61B34/30 ,  A61B34/37 ,  H04N23/50 ,  H04N23/69

CPC classification number: B25J3/00 ,  A61B1/00188 ,  A61B34/37 ,  H04N23/69 ,  A61B2034/301 ,  H04N23/555

Abstract: [Problem to be Solved] There are provided a control apparatus, a control method, and a master-slave system.
[Solution] A control apparatus includes: a detector that detects whether or not a master apparatus used for an operation of a slave apparatus is located at a movable range limit; and a controller that controls, on the basis of a detection result, a slave parameter related to control of the slave apparatus and an image parameter related to an image displayed on the basis of imaging.

公开(公告)号：US11684752B2

公开(公告)日：2023-06-27

申请号：US16322289

申请日：2017-08-03

Applicant: SONY CORPORATION

Inventor： Akihiro Nakata ,  Satoshi Nakamaru ,  Hiroichi Ishikawa ,  Kazuhito Wakana ,  Yoshio Goto

IPC: A61B1/008 ,  A61M25/01 ,  A61B1/005 ,  H02N11/00 ,  G02B23/24 ,  A61B1/00 ,  H02N1/00 ,  B25J9/10 ,  B25J9/14

CPC classification number: A61M25/0155 ,  A61B1/00 ,  A61B1/0053 ,  A61B1/0056 ,  A61B1/0057 ,  G02B23/24 ,  H02N1/006 ,  H02N11/00 ,  A61B1/008 ,  B25J9/1075 ,  B25J9/14

Abstract: An actuator is provided with a tubular actuator element and a supporting body which supports an inner peripheral surface of the actuator element. An internal pressure of the actuator element is higher than an external pressure of the actuator element.

公开(公告)号：US11433425B2

公开(公告)日：2022-09-06

申请号：US16612281

申请日：2018-05-02

Applicant: Sony Corporation

Inventor： Akihiro Nakata ,  Satoshi Nakamaru ,  Yoshio Goto ,  Hiroichi Ishikawa ,  Kentarou Sakai ,  Kazuhito Wakana

IPC: B06B1/06 ,  G08B6/00 ,  H01L41/047 ,  H01L41/053 ,  H01L41/08 ,  H01L41/083 ,  H01L41/09 ,  H01L41/193

Abstract: An actuator includes a laminate including an elastomer layer and an electrode, in which the laminate has a spiral or concentric shape, pre-distortion is applied to at least one member out of the elastomer layer and the electrode, and area distortion of the at least one member is 10% or larger.

公开(公告)号：US12109684B2

公开(公告)日：2024-10-08

申请号：US17053207

申请日：2019-06-06

Applicant: SONY CORPORATION

Inventor： Satoko Nagakari ,  Tetsuya Narita ,  Kazuhito Wakana ,  Kazuo Hongo ,  Wataru Kokubo ,  Yoshinao Sodeyama

IPC: B25J13/08 ,  B25J15/08

CPC classification number: B25J13/085 ,  B25J15/08

Abstract: A controller according to the present disclosure includes a whole-slip detecting unit (210) that detects, based on pressure information sent from a plurality of regions having different slipping characteristics when an object in contact with the plurality of regions is slipping, a state of a whole slip in which the object is slipping on each of the plurality of regions. An occurrence timing of the whole slip is different for each of the plurality of regions, and thus a state of a partial slip in which a part of the object is slipping is able to be detected, so that it is possible to detect a slip of the object with high accuracy.