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公开(公告)号：US20210362323A1
公开(公告)日：2021-11-25
申请号：US17396216
申请日：2021-08-06
发明人： Yusuke Tanaka , Kiyoshi Takagi
摘要： A wire-driven manipulator including a driver, a first deforming section including a first distal member, a plurality of first guide members, and a plurality of first wires, and a second deforming section provided between the first deforming section and the driver with the second deforming section including a second distal member, a plurality of second guide members, and a plurality of second wires. The plurality of first wires are fixed to the first distal member, and at least one of the plurality of first wires is further fixed to the plurality of first guide members and other wires of the plurality of the first wires are slidable with respect to the plurality of first guide members. The plurality of second wires are fixed to the second distal member, and at least one of the plurality of second wires is further fixed to the plurality of second guide members and the other wires of the plurality of the first wires are slidable with respect to the plurality of second guide members. In addition, the length of the first deforming section is shorter than the length of the second deforming section.
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公开(公告)号：US20210060800A1
公开(公告)日：2021-03-04
申请号：US17095619
申请日：2020-11-11
发明人： Kiyoshi Takagi , Yusuke Tanaka
IPC分类号： B25J18/06 , B25J9/06 , B25J9/10 , B25J9/16 , G05B19/4155
摘要： A continuum robot includes: a first wire; a second wire; a distal guide configured to hold the first wire and the second wire; a proximal guide slidable relative to the first wire and the second wire; a plurality of wire guides provided between the distal guide and the proximal guide; a driving unit configured to drive the first wire and the second wire; and a control unit configured to control the driving unit. The first wire is fixed to the plurality of wire guides, the second wire is slidable relative to the plurality of wire guides, and the control unit controls the driving unit so as to keep a distance between the proximal guide and a wire guide among the plurality of wire guides provided nearest to the proximal guide constant.
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公开(公告)号：US20180304458A1
公开(公告)日：2018-10-25
申请号：US15953034
申请日：2018-04-13
发明人： Kiyoshi Takagi
CPC分类号： B25J9/104 , B25J18/06 , Y10S901/09 , Y10S901/21 , Y10S901/27
摘要： A kinematic model arithmetic portion calculates a coordinate value (ze1 (θe)) as distance information indicating the distance between a member that serves as a reference surface for the curve shape of a curvable portion and a member in the curvable portion that is closest to the reference surface. A switch determination unit determines based on the coordinate value whether to drive a wire for driving the curvable portion by a drive displacement calculated for the wire along with the coordinate value by the kinematic model arithmetic portion.
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公开(公告)号：US09050724B2
公开(公告)日：2015-06-09
申请号：US13722382
申请日：2012-12-20
发明人： Kiyoshi Takagi
CPC分类号： B25J9/1633 , G05B2219/41387
摘要： A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value calculation step of using the target stiffness, the target trajectory, angular velocity of the target trajectory, and angular acceleration of the target trajectory to calculate a torque command value; a determination step of determining whether each of the driving force command values is a value 0 or greater; a change step of performing at least one of a change of increasing the target stiffness and a change of reducing the angular acceleration; and a driving force command value calculation step of using the target stiffness and the torque command value to calculate each of the driving force command values.
摘要翻译： 一种机器人装置的控制方法，所述机器人装置包括连杆和一对致动器，获得每个致动器的每个驱动力指令值，并控制每个致动器，所述控制方法包括：转矩指令值计算步骤 使用目标刚度，目标轨迹，目标轨迹的角速度和目标轨迹的角加速度来计算转矩指令值; 确定步骤，确定驱动力指令值是否为0以上; 执行提高目标刚度的变化和减小角加速度的变化中的至少一个的改变步骤; 以及驱动力指令值计算步骤，使用目标刚度和转矩指令值来计算每个驱动力指令值。
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公开(公告)号：US20150150591A1
公开(公告)日：2015-06-04
申请号：US14411074
申请日：2013-06-11
发明人： Kiyoshi Takagi
CPC分类号： A61B17/3403 , A61B17/00234 , A61B34/10 , A61B34/20 , A61B34/30 , A61B90/37 , A61B2034/105 , A61B2034/107
摘要： The puncture control system includes a trajectory error compensation filter for outputting a control signal for compensating for the error of a puncture needle from a target trajectory based on information on the position of the puncture needle obtained by a detector, a displacement compensation filter for which initial control parameters are determined based on a model representing characteristics of an organ, and an adder for outputting an added signal obtained by adding outputs of the trajectory error compensation filter and the displacement compensation filter. The organ model is used to predict a displacement of a puncture target position and sequentially determine a course of the puncture needle.
摘要翻译： 穿刺控制系统包括轨迹误差补偿滤波器，用于根据关于由检测器获得的穿刺针的位置的信息，输出用于从目标轨迹补偿穿刺针的误差的控制信号;位移补偿滤波器，其用于初始 基于表示器官特征的模型来确定控制参数，以及加法器，用于输出通过相加轨迹误差补偿滤波器和位移补偿滤波器的输出而获得的相加信号。 器官模型用于预测穿刺目标位置的位移并依次确定穿刺针的路线。
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6.发明申请公开(公告)号：US20140288703A1
公开(公告)日：2014-09-25
申请号：US14212842
申请日：2014-03-14
发明人： Kiyoshi Takagi
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , G05B2219/39201 , G05B2219/39329 , Y10S901/02
摘要： The robotics apparatus includes an f1-actuator for driving a first link, an f2-actuator for driving a second link, an actuator for simultaneously driving both links, and a CPU for controlling those actuators. The CPU sets a driving-force command value to an e3-actuator to a predetermined set value. Moreover, the CPU calculates a driving-force command value to the f1-actuator based on the driving-force command value and a target joint angle for a first joint. The CPU calculates a driving-force command value to the f2-actuator and a target joint angle for a second joint. It achieves a control for allowing a distal end of a second link to track a target trajectory and stiffness control at the distal end of the second link with a smaller number of driving sources than that of a conventional 3-pair 6-muscle manipulator.
摘要翻译： 机器人装置包括用于驱动第一连杆的f1致动器，用于驱动第二连杆的f2致动器，用于同时驱动两个连杆的致动器和用于控制这些致动器的CPU。 CPU将e3致动器的驱动力指令值设定为规定的设定值。 此外，CPU基于第一关节的驱动力指令值和目标关节角度，计算对f1致动器的驱动力指令值。 CPU计算第二关节的f2致动器的驱动力指令值和目标关节角度。 它实现了一种控制，其允许第二连杆的远端以比常规3对6肌肉操纵器的驱动源少的数量的驱动源跟踪第二连杆的远端处的目标轨迹和刚度控制。
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公开(公告)号：US12017363B2
公开(公告)日：2024-06-25
申请号：US17045129
申请日：2019-03-15
发明人： Yusuke Tanaka , Kiyoshi Takagi
CPC分类号： B25J9/1664 , A61B34/30 , A61B34/71 , B25J9/104 , A61B2034/301
摘要： The present invention provides a mechanism which can avoid narrowing of a range in which a continuum robot can be driven and suppress damage to the continuum robot and an object. A continuum robot control apparatus controlling an operation of a continuum robot having a bendable portion bending in response to driving of at least some of a plurality of wires includes an external force estimating unit configured to estimate an external force applied to the bendable portion based on compressive/tensile forces applied to two or more wires of the plurality of wires, and a driving control unit configured to control driving of the wires to be driven based on the external force estimated by the external force estimating unit.
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8.发明授权公开(公告)号：US11465289B2
公开(公告)日：2022-10-11
申请号：US16924805
申请日：2020-07-09
发明人： Fumitaro Masaki , Kiyoshi Takagi , Yusuke Tanaka
摘要： A control apparatus for a continuum robot including a curved portion that is curved by driving a wire with a driving mechanism includes an image DB/torsional-amount acquisition unit that obtains the torsional amount of the continuum robot and a kinematic operation unit that sets the driving displacement amount of the wire driven by the driving mechanism on the basis of the torsional amount obtained by the image DB/torsional-amount acquisition unit.
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公开(公告)号：US11331797B2
公开(公告)日：2022-05-17
申请号：US16317498
申请日：2017-07-05
发明人： Kiyoshi Takagi
摘要： A continuum robot includes a curvable first curvable portion, a curvable second curvable portion provided adjacent to the first curvable portion, a first wire connected to the first curvable portion, a second wire connected to the second curvable portion, and a control unit which controls curves of the first curvable portion and the second curvable portion by controlling driving of the first wire and the second wire. The control unit controls driving of the first wire and the second wire on the basis of a kinematic model in consideration of a curve of the second curvable portion accompanying driving the first wire and a curve of the first curvable portion accompanying driving of the second wire. Alternatively, the control unit controls driving of the first wire and the second wire so that a curve target value of the first curvable portion is achieved by the sum of curved amounts of the first curvable portion and the second curvable portion.
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公开(公告)号：US11084166B2
公开(公告)日：2021-08-10
申请号：US15953034
申请日：2018-04-13
发明人： Kiyoshi Takagi
摘要： A kinematic model arithmetic portion calculates a coordinate value (ze1 (θe)) as distance information indicating the distance between a member that serves as a reference surface for the curve shape of a curvable portion and a member in the curvable portion that is closest to the reference surface. A switch determination unit determines based on the coordinate value whether to drive a wire for driving the curvable portion by a drive displacement calculated for the wire along with the coordinate value by the kinematic model arithmetic portion.
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