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1.发明授权公开(公告)号：US08644986B2
公开(公告)日：2014-02-04
申请号：US12208563
申请日：2008-09-11
IPC分类号： G06F19/00
CPC分类号： G05B13/021 , B25J9/1612 , G05B2219/39505 , G05B2219/40264 , G05B2219/40567
摘要： A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.
摘要翻译： 公开了一种控制物体的夹持的控制装置。 控制装置包括：检测装置，用于检测物体的滑动并输出滑移检测值; 改变值计算装置，用于基于滑移检测值，将用于将对物体设定夹持力的命令值改变为用于静止物体的大小的改变值; 抑制值计算装置，用于基于滑移检测值计算用于将命令值抑制为用于休息物体所需最小量级的抑制值; 以及设定装置，用于根据变化值和抑制值来设定指令值的大小。
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2.发明申请EVALUATION DEVICE AND EVALUATION METHOD, SERVICE PROVIDING SYSTEM, AND COMPUTER PROGRAM 审中-公开评估设备和评估方法，服务提供系统和计算机程序公开(公告)号：US20140032281A1
公开(公告)日：2014-01-30
申请号：US14110815
申请日：2012-02-20
IPC分类号： G06Q10/06
CPC分类号： G06Q10/06398 , G06Q10/06 , G06Q50/22
摘要： A service through remote control of a robot operated in an everyday living space is suitably provided.A server of a service provider matches up a user and an operator on the basis of subjective evaluations on services received from the user and operational skill parameters received from the robot. The server selects operators to be assigned to the user for subsequent remote control services and performs scheduling of the operators to realize team building among the operators. The service provider also pays remuneration or reward to the operators.
摘要翻译： 适当地提供通过远程控制在日常生活空间中操作的机器人的服务。 服务提供商的服务器基于从用户接收的服务和从机器人接收的操作技能参数的主观评估来匹配用户和操作者。 服务器选择要分配给用户的后续远程控制服务的运营商，并对运营商进行调度，以实现运营商之间的团队建设。 服务提供商还向运营商支付报酬或报酬。
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公开(公告)号：US08510063B2
公开(公告)日：2013-08-13
申请号：US12621205
申请日：2009-11-18
申请人： Toshimitsu Tsuboi , Takeo Kishida
发明人： Toshimitsu Tsuboi , Takeo Kishida
IPC分类号： A61B5/22
CPC分类号： G01B5/14 , B25J9/1612 , B25J13/082 , G01N19/02
摘要： A control device includes a force detector configured to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force, and an object detector configured to calculate a friction coefficient using the normal force and the shearing force detected by the force detector and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
摘要翻译： 控制装置包括力检测器，被配置为分别作为法向力和剪切力检测机器人手持设备的指尖的法线方向的力和剪切方向的力;以及被配置为计算摩擦系数的物体检测器 使用由力检测器检测到的法向力和剪切力，并且基于计算来检测在指尖之间是否掌握具有与指尖之间的最大静摩擦系数不同的最大摩擦系数的薄膜物体 结果。
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公开(公告)号：US20130035607A1
公开(公告)日：2013-02-07
申请号：US13560177
申请日：2012-07-27
IPC分类号： A61B5/01
CPC分类号： A61B5/1072 , A61B5/01 , A61B5/1076 , A61B5/6817 , A61B2562/0233 , G01J5/0011
摘要： There is provided an in-ear information acquiring apparatus including: an information acquiring unit that is inserted in the ernal auditory canal and acquires information inside the ear; and a fixing mechanism that fixes the information acquiring unit inside the ernal auditory canal, wherein the fixing mechanism includes: a rod portion having a plurality of support portions, which are erected toward a wall surface of the ernal auditory canal, provided on an outer side surface thereof around an outer circumference thereof at at least one location along the ernal auditory canal; and an adjusting portion adjusting an erect state of the support portions provided on the rod portion.
摘要翻译： 提供了一种入耳式信息获取装置，包括：信息获取单元，其插入到耳内耳内并获取耳内的信息; 以及固定机构，其将所述信息获取单元固定在所述耳内管内，其中，所述固定机构包括：杆部，其具有多个支撑部，所述多个支撑部朝向所述耳内耳道的壁面竖立， 其表面围绕其内耳道的至少一个位置处围绕其外周; 以及调节部，其调节设置在杆部上的支撑部的直立状态。
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公开(公告)号：US20110238213A1
公开(公告)日：2011-09-29
申请号：US13023797
申请日：2011-02-09
申请人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
发明人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
IPC分类号： B25J13/08
CPC分类号： B25J9/1612
摘要： There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.
摘要翻译： 提供了一种夹持判断装置，包括：平面单元，其在作为夹持目标的物体被夹持单元夹持的状态下产生用于移动夹持单元的目标轨道;观察单元，其测量夹持单元驱动的运动 基于所述目标轨道的夹持状态判断单元，基于来自所述目标轨道的所述夹持单元的目标值和由所述观测单元测量的实际测量值，判断作为夹持目标的物体是否可抓握，以及 夹持状态改变单元，其基于由夹持状态判断单元获得的判断结果，改变由夹持单元夹持的物体的夹持状态。
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公开(公告)号：US20110234758A1
公开(公告)日：2011-09-29
申请号：US13070066
申请日：2011-03-23
IPC分类号： H04N13/02
CPC分类号： H04N13/254
摘要： There is provided a robot device including an irradiation unit that irradiates pattern light to an external environment, an imaging unit that acquires an image by imaging the external environment, an external environment recognition unit that recognizes the external environment, an irradiation determining unit that controls the irradiation unit to be turned on when it is determined that irradiation of the pattern light is necessary based on an acquisition status of the image, and a light-off determining unit that controls the irradiation unit to be turned off when it is determined that irradiation of the pattern light is unnecessary or that irradiation of the pattern light is necessary to be forcibly stopped, based on the external environment.
摘要翻译： 提供了一种机器人装置，其包括：将图案光照射到外部环境的照射单元，通过对外部环境进行摄像而获取图像的摄像单元，识别外部环境的外部环境识别单元，照射判定单元， 基于图像的获取状态确定需要照射图案光的照射单元，以及当确定照射单元被照射时控制照射单元被关闭的点灯确定单元 基于外部环境，不需要图案光或者模式光的照射被强制停止。
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公开(公告)号：US20100125423A1
公开(公告)日：2010-05-20
申请号：US12621205
申请日：2009-11-18
申请人： Toshimitsu TSUBOI , Takeo KISHIDA
发明人： Toshimitsu TSUBOI , Takeo KISHIDA
IPC分类号： A61B5/22
CPC分类号： G01B5/14 , B25J9/1612 , B25J13/082 , G01N19/02
摘要： A control device includes a force detector configured to detect a force in a normal direction and a force in a shearing direction of fingertips of a robot hand device respectively as a normal force and a shearing force, and an object detector configured to calculate a friction coefficient using the normal force and the shearing force detected by the force detector and to detect whether or not a thin-film object having a maximum friction coefficient different from a maximum stationary friction coefficient between the fingertips is grasped between the fingertips on the basis of the calculation result.
摘要翻译： 控制装置包括力检测器，被配置为分别作为法向力和剪切力检测机器人手持设备的指尖的法线方向的力和剪切方向的力;以及被配置为计算摩擦系数的物体检测器 使用由力检测器检测到的法向力和剪切力，并且基于计算来检测在指尖之间是否掌握具有与指尖之间的最大静摩擦系数不同的最大摩擦系数的薄膜物体 结果。
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8.发明申请公开(公告)号：US20090076657A1
公开(公告)日：2009-03-19
申请号：US12208563
申请日：2008-09-11
IPC分类号： G05B13/00
CPC分类号： G05B13/021 , B25J9/1612 , G05B2219/39505 , G05B2219/40264 , G05B2219/40567
摘要： A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.
摘要翻译： 公开了一种控制物体的夹持的控制装置。 控制装置包括：检测装置，用于检测物体的滑动并输出滑移检测值; 改变值计算装置，用于基于滑移检测值，将用于将对物体设定夹持力的命令值改变为用于静止物体的大小的改变值; 抑制值计算装置，用于基于滑移检测值计算用于将命令值抑制为用于休息物体所需最小量级的抑制值; 以及设定装置，用于根据变化值和抑制值来设定指令值的大小。
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公开(公告)号：US20080036456A1
公开(公告)日：2008-02-14
申请号：US11835815
申请日：2007-08-08
IPC分类号： G01R33/02
摘要： A detecting device includes a viscoelastic magnet obtained by kneading and molding a magnet material and a viscoelastic material and a magnetic-flux detecting unit that detects a change in a magnetic flux density vector due to deformation of the viscoelastic magnet.
摘要翻译： 检测装置包括通过捏合和模制磁体材料和粘弹性材料获得的粘弹性磁体和磁通量检测单元，其检测由于粘弹性磁体的变形引起的磁通密度矢量的变化。
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公开(公告)号：US08725296B2
公开(公告)日：2014-05-13
申请号：US13023797
申请日：2011-02-09
申请人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
发明人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
CPC分类号： B25J9/1612
摘要： There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.
摘要翻译： 提供了一种夹持判断装置，包括：平面单元，其在作为夹持目标的物体被夹持单元夹持的状态下产生用于移动夹持单元的目标轨道;观察单元，其测量夹持单元驱动的运动 基于所述目标轨道的夹持状态判断单元，基于来自所述目标轨道的所述夹持单元的目标值和由所述观测单元测量的实际测量值，判断作为夹持目标的物体是否可抓握，以及 夹持状态改变单元，其基于由夹持状态判断单元获得的判断结果，改变由夹持单元夹持的物体的夹持状态。
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