公开(公告)号：US11820019B2

公开(公告)日：2023-11-21

申请号：US17056163

申请日：2019-03-29

Applicant: SONY CORPORATION

Inventor： Toshimitsu Tsuboi

IPC: G05B19/04 ,  B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1661 ,  B25J9/1653 ,  B25J9/1697 ,  B25J13/085 ,  B25J13/087 ,  B25J13/088

Abstract: There is provided a robot control apparatus including a determination unit configured to determine whether or not an end condition of a task is satisfied when a robot performs the task, and a switching unit configured to perform switching to a next task corresponding to the end condition in a case where the end condition is satisfied. With this configuration, it is possible to optimally switch tasks of the robot depending on the situation.

公开(公告)号：US11072068B2

公开(公告)日：2021-07-27

申请号：US16129382

申请日：2018-09-12

Applicant: SONY CORPORATION

Inventor： Yasunori Kawanami ,  Toshimitsu Tsuboi ,  Tsutomu Sawada ,  Masakuni Nagano ,  Akinori Kamoda

IPC: B25J9/16 ,  G06K9/00

Abstract: A robot apparatus includes a grasping section that grasps an object, a recognition section that recognizes a graspable part and a handing-over area part of the object, and a grasp planning section that plans a path of the grasping section for handing over the object to a recipient by the handing-over area part. The robot apparatus further includes a grasp control section that controls grasp operation of the object by the grasping section in accordance with the planned path.

公开(公告)号：US10923980B2

公开(公告)日：2021-02-16

申请号：US16119265

申请日：2018-08-31

Applicant: SONY CORPORATION

Inventor： Wataru Kokubo ,  Yasuhisa Kamikawa ,  Toshimitsu Tsuboi ,  Yohei Kuroda ,  Jun Arai

IPC: H02K3/34 ,  A61B90/50 ,  A61B34/00 ,  A61B34/32 ,  A61B50/13 ,  A61B90/00 ,  H02K1/27

Abstract: In order to realize a movable mechanism capable of being configured more compactly and also capable of ensuring higher safety. A motor is provided. Also, an electrically active part is provided with an insulating structure so that insulating properties between the electrically active part and one or more conductors near the electrically active part satisfy a certain safety standard regarding medical electrical equipment.

公开(公告)号：US12128560B2

公开(公告)日：2024-10-29

申请号：US17279990

申请日：2019-09-12

Applicant: SONY CORPORATION

Inventor： Yoshinao Sodeyama ,  Tetsuya Narita ,  Yasuhiro Matsuda ,  Kazuo Hongo ,  Toshimitsu Tsuboi

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1612 ,  B25J9/163 ,  B25J9/1633 ,  B25J9/1661 ,  B25J9/1697 ,  B25J13/085

Abstract: It is possible to transfer an object smoothly. An information processing device includes a control unit (12, 11) that controls a manipulator so that a moving speed of an object gripped by the manipulator maintains continuity when the object is transferred to a transfer target person.

公开(公告)号：US12083688B2

公开(公告)日：2024-09-10

申请号：US17281739

申请日：2019-09-30

Applicant: SONY CORPORATION

Inventor： Kazuo Hongo ,  Toshimitsu Tsuboi ,  Shunsuke Yajima

IPC: B25J9/16 ,  A61F4/00 ,  G06V40/10 ,  G10L15/22

CPC classification number: B25J9/1697 ,  A61F4/00 ,  G06V40/10 ,  G10L15/22

Abstract: Provided is an apparatus for arranging objects in such a manner as to permit the user to handle the objects more easily. The information includes a robotic arm device configured to arrange one or more objects, and circuitry configured to determine one or more characteristics of a user, determine an arrangement position of each object of the one or more objects to be arranged based on the one or more determined characteristics of the user, and initiate control of the robotic arm device to arrange each object according to the determined arrangement position of the object.

公开(公告)号：US10730189B2

公开(公告)日：2020-08-04

申请号：US15745173

申请日：2016-05-31

Applicant: SONY CORPORATION

Inventor： Yohei Kuroda ,  Tetsuharu Fukushima ,  Fumiyasu Suzuki ,  Toshimitsu Tsuboi

IPC: A61B1/32 ,  B25J13/08 ,  A61B34/30 ,  A61B1/00 ,  A61B90/50 ,  A61B90/35 ,  A61B90/00 ,  B25J9/16

Abstract: [Object] To enable further suppression of the movement amount of an arm section when switching states.[Solution] There is provided a control apparatus configured to execute a current tracking control on a basis of a measurement value of a torque sensor of an actuator provided in at least one of multiple joint sections included in an arm section of a medical support arm apparatus, the current tracking control causing a motor of the actuator to output torque by which a position and an attitude of the arm section are maintained, and switch a first state in which the motor is driven in accordance with a predetermined control method, and a second state in which the joint section is locked using a brake of the actuator.

公开(公告)号：US10369700B2

公开(公告)日：2019-08-06

申请号：US15126552

申请日：2015-03-20

Applicant: SONY CORPORATION ,  SONY OLYMPUS MEDICAL SOLUTIONS INC.

Inventor： Yohei Kuroda ,  Takara Kasai ,  Yasuhisa Kamikawa ,  Wataru Kokubo ,  Toshimitsu Tsuboi ,  Tetsuharu Fukushima ,  Yasuhiro Matsuda ,  Atsushi Miyamoto ,  Kenji Hirose

IPC: B25J9/16 ,  A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  H04N5/225 ,  A61B90/00 ,  A61B90/50

Abstract: A robot arm apparatus according to the present disclosure includes: one or a plurality of a joint unit that joins a plurality of links constituting a multi-link structure; an acquisition unit that acquires an on-screen enlargement factor of a subject imaged by an imaging unit attached to the multi-link structure; and a driving control unit that controls driving of the joint unit based on a state of the joint unit and the enlargement factor.

公开(公告)号：US20160082590A1

公开(公告)日：2016-03-24

申请号：US14961128

申请日：2015-12-07

Applicant: c/o SONY CORPORATION

Inventor： Yasunori Kawanami ,  Toshimitsu Tsuboi ,  Tsutomu Sawada ,  Masakuni Nagano ,  Akinori Kamoda

IPC: B25J9/16 ,  G06K9/00

CPC classification number: B25J9/1612 ,  B25J9/1669 ,  B25J9/1697 ,  G05B2219/37567 ,  G05B2219/39536 ,  G05B2219/40298 ,  G05B2219/45108 ,  G06K9/00664 ,  Y10S901/02 ,  Y10S901/09

Abstract: A robot apparatus includes: a grasping section configured to grasp an object; a recognition section configured to recognize a graspable part and a handing-over area part of the object; a grasp planning section configured to plan a path of the grasping section for handing over the object to a recipient by the handing-over area part; and a grasp control section configured to control grasp operation of the object by the grasping section in accordance with the planned path.

公开(公告)号：US11287599B2

公开(公告)日：2022-03-29

申请号：US17010852

申请日：2020-09-03

Applicant: Sony Olympus Medical Solutions Inc. ,  Sony Corporation

Inventor： Kenji Hirose ,  Tetsuharu Fukushima ,  Atsushi Miyamoto ,  Wataru Kokubo ,  Toshimitsu Tsuboi

IPC: G02B7/00 ,  A61B90/20 ,  A61B90/25 ,  G02B21/00 ,  G02B21/36 ,  G03B13/36 ,  H04N5/232 ,  B25J9/16 ,  G05B19/423

Abstract: A medical observation device includes an imaging unit configured to photograph an image of an operation site, and a holding unit configured to be connected with the imaging unit and have rotary shafts which are operable with at least six degrees of freedom. Among the rotary shafts, at least two shafts are active shafts whose driving is controlled based on states of the rotary shafts, and at least one shaft is a passive shaft which is rotated according to direct external manipulation accompanying contact.

公开(公告)号：US11109927B2

公开(公告)日：2021-09-07

申请号：US16343787

申请日：2017-10-13

Applicant: Sony Corporation

Inventor： Wataru Kokubo ,  Tetsuharu Fukushima ,  Toshimitsu Tsuboi

IPC: A61B34/00 ,  A61B90/25 ,  B25J19/00 ,  A61B1/00

Abstract: A joint driving actuator that includes an ultrasonic motor that generates driving force for driving a joint, the ultrasonic motor including a stator fixed to a side of one arm that relatively rotates in the joint and a rotor fixed to a side of another arm that relatively rotates in the joint, the stator including a piezoelectric element that generates ultrasonic vibration, a torque sensor that detects external force applied to the joint, and an encoder that detects a rotational angle of the ultrasonic motor, the encoder being mounted on the one arm, the stator being fixed on the side thereof, and the torque sensor being mounted on the another arm, the rotor being fixed on the side thereof.