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公开(公告)号：US11977161B2
公开(公告)日：2024-05-07
申请号：US16447239
申请日：2019-06-20
Inventor： Fabio Dalla Libera , Yuko Tsusaka
CPC classification number: G01S17/89 , A47L11/4061 , B25J11/0085 , G01S17/931 , G05D1/0219 , G05D1/0238 , A47L2201/04 , G05D2201/0215
Abstract: A cleaning device includes: a range finding sensor; an acquisition unit which acquires a map and a first path along which the cleaning device is to move; a first identification unit which identifies a feature point which is a point where a distance between the object and the range finding sensor varies; a second identification unit which identifies a virtual point which is, among points on a virtual line segment, a point closest to the first path when the virtual line segment does not intersect with the first path, the virtual line segment extending toward the first path from the feature point, and having a maximum length within the predetermined range-finding range; a converter which converts the first path into a second path which passes through the virtual point; and a motor controller which causes the cleaning device to move along the second path.
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公开(公告)号：US10076845B2
公开(公告)日：2018-09-18
申请号：US15194017
申请日：2016-06-27
Inventor： Yuko Tsusaka , Yudai Fudaba , Yasunao Okazaki
CPC classification number: B25J19/06 , A61G7/1017 , A61G7/1046 , A61G7/1053 , B25J5/007 , B25J11/009 , B25J13/06
Abstract: A robot system for assisting a patient in standing up and/or sitting down is provided. The robot system includes the following elements. A drive mechanism executes a drive pattern for assisting the patient in standing up and/or sitting down. An instruction input device receives an instruction to cause the drive mechanism to execute the drive pattern. A state acquirer acquires an execution state of the drive mechanism which is executing the drive pattern. A controller decides whether or not to cause the drive mechanism to execute the instruction received by the instruction input device, on the basis of the execution state acquired by the state acquirer, and controls the driving of the drive mechanism.
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公开(公告)号：US09623566B2
公开(公告)日：2017-04-18
申请号：US14532181
申请日：2014-11-04
Inventor： Yuko Tsusaka , Yudai Fudaba , Jun Ozawa
CPC classification number: B25J13/085 , B25J13/02 , B25J13/04
Abstract: A master apparatus for a master slave apparatus, the master apparatus controlling a slave apparatus, the master apparatus including a hand operation mechanism configured to be operated by a person for opening and closing a hand mechanism including a pair of opening and closing members, the hand mechanism being connected to a slave mechanism, the slave apparatus including the slave mechanism and the hand mechanism. The hand operation mechanism includes a fixed unit, an opening and closing operation unit, and a slide unit. The opening and closing operation unit is connected to the slide unit, is capable of reciprocating with respect to the fixed unit, and is openable and closable with respect to the fixed unit. The master hand controlling device controls opening and closing of the pair of opening and closing members on the basis of an opening and closing amount of the opening and closing operation unit.
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公开(公告)号：US09255855B2
公开(公告)日：2016-02-09
申请号：US14164710
申请日：2014-01-27
Inventor： Taichi Sato , Yuko Tsusaka , Yudai Fudaba
CPC classification number: G01L3/04 , A61B6/022 , A61B6/12 , A61B6/4014 , A61M25/0108 , A61M25/0113 , G01L3/12
Abstract: A first angle acquiring unit acquires a rotational angle of a characteristic portion in a predetermined region on an inlet side of an insertion member of a linear body extending through the insertion member. From an image of the linear body inserted into a body of a subject, a second angle acquiring unit acquires a direction of a curved portion of the linear body inserted into the body of the subject and then acquires a rotational angle of a distal end of the linear body. A torque calculation unit calculates a torque based on a difference between the rotational angle in the predetermined region acquired by the first angle acquiring unit and the rotational angle of the distal end of the linear body acquired by the second angle acquiring unit.
Abstract translation: 第一角度获取单元获取延伸穿过插入构件的线状体的插入构件的入口侧的预定区域中的特征部分的旋转角度。 第二角度获取单元从被插入到被检体的线状体的图像中取得被插入到被检体内的线状体的弯曲部的方向， 直线体。 扭矩计算单元基于由第一角度获取单元获取的预定区域中的旋转角度与由第二角度获取单元获取的线状体的远端的旋转角度之间的差来计算扭矩。
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15.发明授权Control apparatus and method for master-slave robot, master-slave robot, control program, and integrated electronic circuit 有权主从机器人控制装置及方法，主从机器人，控制程序及集成电子电路公开(公告)号：US09089967B2
公开(公告)日：2015-07-28
申请号：US13934529
申请日：2013-07-03
Inventor： Yudai Fudaba , Yuko Tsusaka , Taichi Sato
CPC classification number: B25J9/1633 , B25J3/04
Abstract: A control apparatus for a master-slave robot includes a force correction section detecting unit that detects a section at which force information from at least one of force information and speed information is corrected, and a force correcting unit that corrects the force information at a section detected as a force correction section by the force correction section detecting unit. A small external force applied to a slave manipulator is magnified and transmitted to a master manipulator, or an excessive manipulation force applied to the master manipulator is reduced and transmitted to the slave manipulator.
Abstract translation: 用于主从机器人的控制装置包括：力校正部检测单元，其检测来自力信息和速度信息中的至少一个的力信息被校正的部分;以及力校正单元，其在部分 由力校正部检测单元检测为力校正部。 施加到从动操纵器的小的外力被放大并传递到主操纵器，或者减小施加到主操纵器的过度的操纵力并将其传送到从动操纵器。
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Patent Agency Ranking
公开(公告)号：US10813805B2
公开(公告)日：2020-10-27
申请号：US15414577
申请日：2017-01-24
Inventor： Yuko Tsusaka , Yudai Fudaba
Abstract: In a standing-up motion assist system for assisting a care receiving person, a care belt includes a first holder that holds a neck part or a back part of the care receiving person, a second holder that holds a lumbar part of the care receiving person, a third holder that connects the first holder and the second holder and holds armpits of the care receiving person, a second connector located at a chest of the care receiving person, and a first connector that connects the first holder and the second holder. A pulling mechanism is connected to the second connector and pulls the second connector. A controller controls the pulling mechanism so as to pull the second connector in a forward and upward direction with reference to the care receiving person, and, thereafter, pull the second connector in a backward and upward direction with reference to the care receiving person.
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公开(公告)号：US10426682B2
公开(公告)日：2019-10-01
申请号：US15391833
申请日：2016-12-27
Inventor： Yuko Tsusaka , Yasunao Okazaki , Takahiro Shiwa
IPC: A61G7/10
Abstract: A robot includes an arm mechanism that operates in accordance with a first motion pattern for supporting a user with a standing-up motion which starts in a sitting posture and finishes in a standing posture, a control unit that (i) acquires first information used to identify a predetermined position of the arm mechanism corresponding to a half-crouching posture of the user during a motion in accordance with the first motion pattern and (ii) detects whether the current position of the arm mechanism operating in accordance with the first motion pattern is included in a first range including the predetermined position identified by the first information, and a presentation unit that presents a first signal if the control unit detects that the position of the arm mechanism is included in the first range.
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公开(公告)号：US10245733B2
公开(公告)日：2019-04-02
申请号：US15347882
申请日：2016-11-10
Inventor： Yuko Tsusaka , Yudai Fudaba , Yasunao Okazaki
Abstract: A robot includes a tractor, a walker, an input device, and a controller. The tractor includes a connector and pulls a user through the connector. The walker includes wheels for moving the tractor and one or more brakes for the wheels and is coupled to the tractor. The input device receives an instruction to operate at least one of the tractor and the walker. In response to reception of the instruction by the input device, the controller determines whether or not to permit the tractor and/or the walker to perform a process based on the instruction, in accordance with a current state of the robot, the current state being one of a plurality of states of the robot. Each state is represented by using values of items, one of the items being an item indicating whether or not the one or more brakes are applied to the wheels.
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19.发明授权Control apparatus and control method for master-slave robot, master-slave robot, control program for master-slave robot, and integrated electronic circuit for controlling master-slave robot 有权主从机器人的控制装置和控制方法，主从机器人，主从机器人的控制程序和控制主从机器人的集成电子电路公开(公告)号：US09492920B2
公开(公告)日：2016-11-15
申请号：US14730188
申请日：2015-06-03
Inventor： Yudai Fudaba , Yuko Tsusaka , Jun Ozawa
CPC classification number: B25J3/04 , A61B34/37 , A61B34/76 , A61B34/77 , B25J9/1679 , B25J9/1689
Abstract: A master motion information obtaining unit obtains at least one or more pieces of master motion information including a position, a posture, a speed, and an angular velocity of a master arm mechanism. A physical information obtaining unit obtains physical information of an operator including an arm weight of the operator. A master motion information correcting unit generates corrected master motion information where an amount of correction of the master motion information is corrected such that heavier the arm weight of the operator included in the physical information, larger a movement of a slave arm. A slave controller controls a slave arm mechanism, according to the corrected master motion information.
Abstract translation: 主动器信息获取单元获得包括主臂机构的位置，姿势，速度和角速度的至少一个或多个主动作信息。 物理信息获取单元获取包括操作员的手臂重量的操作者的物理信息。 主运动信息校正单元产生校正的主运动信息，其中主运动信息的校正量被校正，使得包括在物理信息中的操作者的手臂重量越重，从动臂的移动越大。 从控制器根据校正的主动作信息来控制从动臂机构。
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公开(公告)号：US11925305B2
公开(公告)日：2024-03-12
申请号：US17403514
申请日：2021-08-16
Inventor： Shinichiro Nishioka , Yuko Tsusaka
IPC: A47L9/28 , G05B19/042 , H04W68/00
CPC classification number: A47L9/2857 , A47L9/2805 , A47L9/2852 , A47L9/2894 , G05B19/042 , H04W68/005 , A47L2201/04 , G05B2219/25252
Abstract: An autonomous travel-type cleaner includes a housing, a drive unit for moving the housing, an incoming call detector that detects whether or not there is an incoming call to a communication terminal, a person detector that detects whether or not a person is present within a first range, an incoming call notification unit (for example, a light source and a speaker) for notifying of presence of an incoming call, and a controller. The controller controls a notification operation of the incoming call notification unit based on a detection result of the person detector and a detection result of the incoming call detector.
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