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公开(公告)号：US20240235449A9
公开(公告)日：2024-07-11
申请号：US18249732
申请日：2021-12-08
Inventor： HIROSHI FUJIWARA , KENTA MURAKAMI
Abstract: Motor control device controls motor that moves load to a target position. Motor control device includes prediction part, correction command generator, corrector, and controller. Prediction part acquires one or more target position deviations and a target settling time, and calculates a predicted target position deviation indicating a difference between a position of load and the target position at the target settling time based on the one or more target position deviations and the target settling time. When the predicted target position deviation indicates that load does not reach within a predetermined range from the target position, correction command generator generates a correction command for correcting a position command based on the predicted target position deviation. Corrector acquires the position command, corrects the position command based on the correction command, and generates a corrected position command Controller controls motor based on the corrected position command and a position of motor.
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公开(公告)号：US20240136965A1
公开(公告)日：2024-04-25
申请号：US18249732
申请日：2021-12-08
Inventor： HIROSHI FUJIWARA , KENTA MURAKAMI
Abstract: Motor control device controls motor that moves load to a target position. Motor control device includes prediction part, correction command generator, corrector, and controller. Prediction part acquires one or more target position deviations and a target settling time, and calculates a predicted target position deviation indicating a difference between a position of load and the target position at the target settling time based on the one or more target position deviations and the target settling time. When the predicted target position deviation indicates that load does not reach within a predetermined range from the target position, correction command generator generates a correction command for correcting a position command based on the predicted target position deviation. Corrector acquires the position command, corrects the position command based on the correction command, and generates a corrected position command Controller controls motor based on the corrected position command and a position of motor.
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公开(公告)号：US20240081034A1
公开(公告)日：2024-03-07
申请号：US18262570
申请日：2021-12-08
Inventor： YUSUKE KUBOI , HIROSHI FUJIWARA , KENTA MURAKAMI
IPC: H05K13/08
CPC classification number: H05K13/0882
Abstract: Motor control system includes controller, motor control device, and position detection device. In controller, an operation command plan for a movement plan during a period until moving part reaches a target position from an initial position is set. Controller outputs, as an operation command, a movement amount of the moving part at a current point in time based on the operation command plan. Motor control device generates a drive signal for drive device based on an operation command Position detection device detects a position of moving part, and outputs a first position. Motor control device generates a deviation amount of moving part from the target position based on a future movement distance of moving part based on a future operation command, the first position, and the target position. Motor control device outputs a notification signal in a case where the deviation amount is more than or equal to a threshold.
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公开(公告)号：US20240007042A1
公开(公告)日：2024-01-04
申请号：US18249733
申请日：2021-12-08
Inventor： HIROSHI FUJIWARA , KENTA MURAKAMI
IPC: H02P29/00
CPC classification number: H02P29/00
Abstract: Provided is a motor control device that controls a motor to achieve quick positioning of a load within a predetermined range from a target position. Provided is motor control device configured to control motor that moves load to a target position. Motor control device includes correction command generator, corrector, and controller. Correction command generator acquires a target position deviation indicating a difference between a position of load and the target position. When the target position deviation indicates that load is positioned beyond the target position, a correction command for correcting the position command is generated based on the target position deviation. Corrector corrects the position command based on the correction command to generate the corrected position command. Controller controls motor based on the corrected position command and a position of motor.
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公开(公告)号：US20190125610A1
公开(公告)日：2019-05-02
申请号：US16158350
申请日：2018-10-12
Inventor： KENTA MURAKAMI , STEPHEN WILLIAM JOHN , HIROKI TAKEUCHI , SHINOBU ADACHI
Abstract: An assistance apparatus includes a first wire and a second wire that couple an upper-body belt and a left knee belt to each other on or above a front part and back part of the body of a user, respectively, a third wire and a fourth wire that couple the upper-body belt and a right knee belt to each other on or above the front part and back part of the body of the user, respectively, a motor, a left sensor on the left hand of the user, and a right sensor on the right hand of the user. When a force is applied to the left sensor and no force is applied to the right sensor, the motor makes the tension of the second wire and the third wire greater than the tension of the first wire and the fourth wire. When a force is applied to the right sensor and no force is applied to the left sensor, the motor makes the tension of the first wire and the fourth wire greater than the tension of the second wire and the third wire.
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Patent Agency Ranking
公开(公告)号：US20190110943A1
公开(公告)日：2019-04-18
申请号：US16152456
申请日：2018-10-05
Inventor： KENTA MURAKAMI , STEPHEN WILLIAM JOHN , HIROKI TAKEUCHI , SHINOBU ADACHI
Abstract: In an assistance apparatus, when assisting a user in walking with an object, a motor generates, in a gait phase of a left leg, a tension less than a second threshold value in a first wire during a fifth period other than a first period during which a tension greater than or equal to a first threshold value is generated in the first wire, and a tension greater than or equal to the second threshold value in a second wire during a sixth period other than a second period during which a tension greater than or equal to the first threshold value is generated in the second wire, and generates, in a gait phase of a right leg, a tension less than the second threshold value in a third wire during a seventh period other than a third period during which a tension greater than or equal to the first threshold value is generated in the third wire, and a tension greater than or equal to the second threshold value in a fourth wire during an eighth period other than a fourth period during which a tension greater than or equal to the first threshold value is generated in the fourth wire.
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公开(公告)号：US20180369057A1
公开(公告)日：2018-12-27
申请号：US16121243
申请日：2018-09-04
Inventor： STEPHEN WILLIAM JOHN , JUN OZAWA , MAYUMI KOMATSU , KENTA MURAKAMI
Abstract: A walking assistance apparatus includes a knee fastener, a heel fastener, a first wire and a second wire connected to the knee fastener and the heel fastener, a first motor connected to the first wire, a second motor connected to the second wire, and a control circuit that controls the first motor and the second motor. The first wire is connected to a first position included in a right-half region of the heel fastener. The second wire is connected to a second position included in a left-half region of the heel fastener. The control circuit acquires gait information of the user, and, based on the gait information, the control circuit controls the first motor to reduce a length of the first wire and the second motor to reduce a length of the second wire at a predetermined timing.
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公开(公告)号：US20180092793A1
公开(公告)日：2018-04-05
申请号：US15695003
申请日：2017-09-05
Inventor： KENTA MURAKAMI , STEPHEN JOHN , MAYUMI KOMATSU , JUN OZAWA
IPC: A61H1/02
CPC classification number: A61H1/0262 , A61H3/00 , A61H2201/0192 , A61H2201/1223 , A61H2201/149 , A61H2201/165 , A61H2201/5007 , A61H2201/5038 , A61H2201/5079 , A61H2201/5084 , A61H2201/5097 , A61H2205/088 , A61H2205/102
Abstract: An assist system includes a fist belt worn on an upper body part of a user, a second belt worn on a knee of the user, a wire, a motor coupled with a first end of the wire and disposed on the first or second belt, a drive controller that controls drive of the motor, a gyro sensor that is disposed on the second belt and that measures an angular velocity about a direction perpendicular to the direction of the wire, and a controller. When the angular velocity is greater than or equal to a first threshold with a first tension being applied to the wire using the motor, the controller outputs first information. A second end of the wire is coupled with the second belt when the motor is disposed on the first belt but coupled with the first belt when the motor is disposed on the second belt.
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公开(公告)号：US20240272602A1
公开(公告)日：2024-08-15
申请号：US18560384
申请日：2022-04-14
Inventor： YUSUKE KUBOI , HIROSHI FUJIWARA , KENTA MURAKAMI
CPC classification number: G05B19/19 , H02P6/16 , G05B2219/41122
Abstract: A motor control method that can suppress a mover from vibrating when the mover is stopped is provided. A motor control method includes a command step of generating and outputting a second operation command for operating motor, based on the vibration cycle of mover and on the timing when the operation of motor based on the first operation command for operating motor that moves mover ends, and a drive step of generating and outputting a drive signal for operating motor based on the first operation command and the second operation command.
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公开(公告)号：US20240243686A1
公开(公告)日：2024-07-18
申请号：US18560383
申请日：2022-04-12
Inventor： KENTA MURAKAMI , HIROSHI FUJIWARA
Abstract: Provided is a motor control device capable of suppressing an increase in a time required for settling a position of a mover. Motor control device includes signal processing circuit that controls motor that moves mover. In a case where a change amount of a position deviation per unit time is equal to or less than a predetermined change amount, the position deviation being a difference between a target position of mover and a position of mover detected by position detection device for detecting the position of mover, signal processing circuit controls motor, and a first force for accelerating a speed of mover is generated and a second force for decelerating the speed of mover is generated after the first force is generated.
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