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公开(公告)号：US10512577B2
公开(公告)日：2019-12-24
申请号：US15409502
申请日：2017-01-18
Inventor： Yuko Tsusaka , Yasunao Okazaki , Takahiro Shiwa
Abstract: A robot includes a motion mechanism capable of operating in accordance with each of a first motion pattern for supporting a user with a first motion representing a standing-up motion and a second motion pattern for supporting a user with a second motion representing a sitting-down motion, a battery that supplies electric energy to the motion mechanism, a control unit that determines a multiple-motion availability index indicating the availability of an operation in accordance with a multiple-motion pattern including the first and second motion patterns on the basis of the battery level and the amounts of energy charge in the battery required for the operations performed by the motion mechanism in accordance with the first and second motion patterns if the control unit detects that the battery level is a first threshold value or lower, and a presentation unit that presents the multiple-motion availability index determined by the control unit.
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公开(公告)号：US11630463B2
公开(公告)日：2023-04-18
申请号：US16984536
申请日：2020-08-04
Inventor： Yasunao Okazaki
Abstract: Provided is a mobile robot that moves autonomously over a floor covered by a carpet, the mobile robot including an acceleration sensor that measures a translational acceleration of the mobile robot, an estimation unit that estimates an inclination of a pile of the carpet on a basis of the translational acceleration measured by the acceleration sensor while the mobile robot is accelerating or decelerating, and a movement control unit that controls a movement velocity and a movement direction of the mobile robot on a basis of the inclination of the pile estimated by the estimation unit.
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公开(公告)号：US10946534B2
公开(公告)日：2021-03-16
申请号：US16039289
申请日：2018-07-18
Inventor： Takayuki Nagata , Yasunao Okazaki , Katsuhiko Asai , Kazuo Inoue
Abstract: A robot hand apparatus includes a first holder having a first sucking surface that is bendable at any position and configured to suck an object using negative pressure; a second holder arranged to oppose the first sucking surface of the first holder; and a driving mechanism configured to change a distance between the first holder and the second holder to sandwich the object between the first holder and the second holder.
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公开(公告)号：US09844481B2
公开(公告)日：2017-12-19
申请号：US15184994
申请日：2016-06-16
Inventor： Yuko Tsusaka , Yudai Fudaba , Yasunao Okazaki
CPC classification number: A61G7/10 , A61G7/1017 , A61G7/1046 , A61G7/1051 , A61G7/1065 , A61G7/1074 , A61G7/1086 , B25J5/007 , B25J9/046 , B25J9/1633 , B25J11/009 , B25J13/085 , G05B2219/45108 , G05B2219/45109
Abstract: A holding mechanism holds a care-receiver, a traction mechanism that is connected to the holding mechanism, and the traction mechanism pulls the holding mechanism so that the holding mechanism draws a predetermined path. On the basis of a position of the holding mechanism detected by a position sensor and a force detected by a force sensor, if the position of the holding mechanism is not on the predetermined path, a controller controls the traction mechanism so that the holding mechanism draws the predetermined path by changing the position of the holding mechanism to a position on the predetermined path at a time after the time at which the position is detected.
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5.发明授权Robot, device and method for controlling robot, and computer-readable non-transitory recording medium 有权用于控制机器人的机器人，装置和方法以及计算机可读的非暂时记录介质公开(公告)号：US09452532B2
公开(公告)日：2016-09-27
申请号：US14590223
申请日：2015-01-06
Inventor： Mayumi Komatsu , Yasunao Okazaki
CPC classification number: B25J9/1676 , G05B2219/39082 , G05B2219/39209 , G05B2219/40202 , Y10S901/02 , Y10S901/46 , Y10S901/49
Abstract: A robot determines whether or not an operator or an object is jammed between a robot arm and an external structure, classifies an area in which an end portion of the robot arm moves into a restricted area and an unrestricted area, and sets a restriction period. If a period after detection of the jam is in the restriction period and the end portion is in the restricted area, restriction on movement is imposed on one or more joints of the robot arm. The restriction on movement is a stoppage of movement of one or more joints. If the period after detection of the jam is after the restriction period, the restriction on movement is removed. If the period after detection of the jam is in the restriction period and the end portion is in the unrestricted area, the restriction on movement is not imposed on the joints.
Abstract translation: 机器人确定操作者或物体是否卡在机器人臂与外部结构之间，将机器人手臂的端部移动到的区域分类为限制区域和非限制区域，并设定限制期间。 如果在检测到卡纸之后的期间处于限制期间，并且端部处于限制区域，则对机器人手臂的一个或多个关节施加对运动的限制。 运动的限制是停止一个或多个关节的运动。 如果在检测到卡纸之后的时间段在限制期限之后，则移除限制。 如果卡纸检测到的时间段在限制期限内，而末端部分在无限制区域内，则不对接头施加限制。
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Patent Agency Ranking
6.发明授权Robot, robot control apparatus, robot control method, and robot control program 有权机器人，机器人控制装置，机器人控制方法和机器人控制程序公开(公告)号：US09102054B2
公开(公告)日：2015-08-11
申请号：US14134470
申请日：2013-12-19
Inventor： Yasunao Okazaki
CPC classification number: B25J9/1612 , B25J13/085 , B66C23/005 , G05B19/423 , G05B2219/36429 , G05B2219/40579 , G05B2219/40599 , Y10S901/02
Abstract: Provided are a multi-joint robot arm, a manipulation force acquiring unit that acquires a manipulation force from a person, the manipulation force acquiring unit disposed on the multi-joint robot arm, an external force acquiring unit that acquires an external force to be applied to a gripped object, the external force acquiring unit disposed on the multi-joint robot arm, an impedance controller that performs impedance control on the multi-joint robot arm based on the manipulation force acquired by the manipulation force acquiring unit and a set impedance parameter, and an assist force correcting unit that corrects a force component vertical to the resistance force of an assist force generated by the impedance controller according to the resistance force generated by friction caused by contact between the gripped object and an external environment.
Abstract translation: 本发明提供一种多关节机器人手臂，操作力获取单元，其获取来自人的操作力，设置在多关节机器人臂上的操作力获取单元，外力获取单元，其获取施加的外力 所述外力获取单元设置在所述多关节机器人臂上，阻抗控制器，其基于由所述操作力获取单元获取的操作力，对所述多关节机器人臂进行阻抗控制，以及设定阻抗参数 以及辅助力校正单元，其根据由夹持物体与外部环境之间的接触引起的摩擦产生的阻力来校正与阻抗控制器产生的辅助力的阻力垂直的力分量。
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公开(公告)号：US10814497B2
公开(公告)日：2020-10-27
申请号：US16038208
申请日：2018-07-18
Inventor： Takayuki Nagata , Yasunao Okazaki , Katsuhiko Asai , Kazuo Inoue
Abstract: A robot hand apparatus includes a holder having a bendable sucking surface that sucks an object; a magnetic elastic body arranged at the holder and formed of an elastic material containing magnetic particles; and a magnetic-field generator that is arranged at the holder and applies a magnetic field to the magnetic elastic body to change a coefficient of elasticity of the magnetic elastic body. When the magnetic-field generator applies a magnetic field to the magnetic elastic body, a flexible portion and a hardened portion having a bigger coefficient of elasticity than that of the flexible portion are formed in the magnetic elastic body. When the holder holds the object, in a state in which the sucking surface is bent at a position corresponding to the flexible portion, a region of the sucking surface between the position and a distal end of the holder sucks the object.
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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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9.发明授权Robot, robot control apparatus, robot control method, and robot control program 有权机器人，机器人控制装置，机器人控制方法和机器人控制程序公开(公告)号：US09242380B2
公开(公告)日：2016-01-26
申请号：US14551519
申请日：2014-11-24
Inventor： Mayumi Komatsu , Yasunao Okazaki
CPC classification number: B25J13/085 , G05B2219/36429 , G05B2219/40201 , Y10S901/09 , Y10S901/46
Abstract: A robot arm temporarily stops when a contact detector detects contact. A holding motion selecting unit then selects one of continuously stopped motion, directionally limited motion, and directionally unlimited motion in accordance with information including one or both of a distance between the robot arm and a contacted object and force applied to the robot arm by a person. A motion controller causes the selected motion to achieve holding motion.
Abstract translation: 当接触检测器检测到接触时，机器人臂暂时停止。 保持运动选择单元然后根据包括机器人手臂和被接触物体之间的距离和被施加到机器人手臂的力的一个或两个的信息，选择连续停止运动，方向限制运动和方向上无限运动中的一个运动 。 运动控制器使所选择的运动实现保持运动。
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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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