公开(公告)号：US20170157773A1

公开(公告)日：2017-06-08

申请号：US15347882

申请日：2016-11-10

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： YUKO TSUSAKA ,  YUDAI FUDABA ,  YASUNAO OKAZAKI

IPC: B25J11/00 ,  B25J9/16 ,  A61G7/10

CPC classification number: B25J11/009 ,  A61G7/1017 ,  A61G7/1046 ,  A61G7/1051 ,  A61H3/04 ,  A61H2003/043 ,  A61H2003/046 ,  A61H2201/0188 ,  A61H2201/0192 ,  A61H2201/1207 ,  A61H2201/1619 ,  A61H2201/1635 ,  A61H2201/165 ,  A61H2201/5007 ,  B25J5/007 ,  B25J9/1674

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.

公开(公告)号：US20170014290A1

公开(公告)日：2017-01-19

申请号：US15184994

申请日：2016-06-16

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： YUKO TSUSAKA ,  YUDAI FUDABA ,  YASUNAO OKAZAKI

IPC: A61G7/10 ,  B25J9/16 ,  B25J11/00 ,  B25J13/08

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.

Abstract translation: 保持机构保持保养接收器，与保持机构连接的牵引机构，牵引机构拉动保持机构，使保持机构拉出规定的路径。 基于由位置传感器检测到的保持机构的位置和由力传感器检测到的力的位置，如果保持机构的位置不在预定路径上，则控制器控制牵引机构，使得保持机构抽取 通过将保持机构的位置改变到在检测到位置的时间之后的时刻的预定路径上的位置的预定路径。

公开(公告)号：US20170128299A1

公开(公告)日：2017-05-11

申请号：US15413491

申请日：2017-01-24

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： YUKO TSUSAKA ,  YUDAI FUDABA

IPC: A61G7/10 ,  A61G5/14 ,  B25J5/00 ,  B25J9/16 ,  A61H3/04 ,  B25J11/00

Abstract: A standing motion assist system includes a care belt including a holding mechanism including a holder that holds a back and both armpits of a care-receiver, and a connector that is connected to the holding mechanism; a rotational force applying mechanism that is connected to the holding mechanism and that rotates a front lower part of the holder upward and a rear upper part of the holder downward about a rotation axis extending through both armpits; a traction mechanism that is connected to the connector and pulls the connector; and a controller that controls the rotational force applying mechanism and the traction mechanism so that, after the traction mechanism has started the pulling motion, the rotational force applying mechanism rotates the holder at the same time as the traction mechanism pulls the connector forward and upward, and subsequently the traction mechanism pulls the connector upward.

公开(公告)号：US20170128293A1

公开(公告)日：2017-05-11

申请号：US15414577

申请日：2017-01-24

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： YUKO TSUSAKA ,  YUDAI FUDABA

IPC: A61G5/14 ,  A61H3/04 ,  A61G7/10

CPC classification number: A61G5/14 ,  A61G5/00 ,  A61G7/10 ,  A61G7/1017 ,  A61G7/1046 ,  A61G7/1051 ,  A61G7/1061 ,  A61G7/1086 ,  A61H3/04 ,  A61H2003/043 ,  A61H2003/046 ,  A61H2201/0188 ,  A61H2201/0192 ,  A61H2201/1619 ,  A61H2201/1635 ,  A61H2201/165

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.

公开(公告)号：US20150134114A1

公开(公告)日：2015-05-14

申请号：US14532181

申请日：2014-11-04

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： YUKO TSUSAKA ,  YUDAI FUDABA ,  JUN OZAWA

IPC: B25J3/00 ,  B25J13/08 ,  B25J13/02

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, includes a hand operation mechanism configured to perform operating instructions 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; a master mechanism configured to operate the slave mechanism; a master hand controlling device; and an output unit. The hand operation mechanism includes a fixed unit, an opening and closing operation unit, and a slide unit. The slide unit is attached so as to be capable of reciprocating with respect to the fixed 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. The output unit outputs operation information to the slave mechanism on the basis of the opening and closing amount and a position of the opening and closing operation unit at the fixed unit, the operation information including an angle of the pair of opening and closing members.

Abstract translation: 主从装置的主装置，控制从装置的主装置包括手动操作机构，其构造成执行用于打开和关闭包括一对打开和关闭部件的手动机构的操作指令，所述手动机构连接到 从机，包括从机和从机构的从机; 主机构，被配置为操作所述从机构; 主手控装置; 和输出单元。 手动操作机构包括固定单元，打开和关闭操作单元以及滑动单元。 滑动单元被安装成能够相对于固定单元往复运动。 打开和关闭操作单元连接到滑动单元，能够相对于固定单元往复运动，并且可相对于固定单元打开和关闭。 主手控制装置根据开闭动作部的开闭量来控制一对开闭部件的打开和关闭。 输出单元基于打开和关闭量以及打开和关闭操作单元在固定单元处的位置将操作信息输出到从机构，操作信息包括一对打开和关闭构件的角度。

公开(公告)号：US20170128292A1

公开(公告)日：2017-05-11

申请号：US15412717

申请日：2017-01-23

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： YUKO TSUSAKA ,  YUDAI FUDABA

IPC: A61G5/14 ,  B25J9/06 ,  A61G7/10 ,  B25J11/00 ,  B25J9/16

Abstract: A sitting motion assist system for assisting a sitting motion of a patient changing their posture from a standing posture to a sitting posture includes a care belt, a knee-bending adviser, and a pulling mechanism. The care belt can be put on the patient and includes a hold mechanism including a first holder capable of holding the neck or shoulder of the patient and a second holder capable of holding their lower back, and a coupler capable of being positioned on their chest and coupled to the hold mechanism. The knee-bending adviser advises the patient to perform a knee-bending motion. The pulling mechanism is coupled to the hold mechanism via the coupler and pulls the care belt downward and slightly forward relative to the patient after the advice by the knee-bending adviser, and thereafter pushes the care belt downward and slightly backward to assist the sitting motion.

公开(公告)号：US20150360365A1

公开(公告)日：2015-12-17

申请号：US14730188

申请日：2015-06-03

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： YUDAI FUDABA ,  YUKO TSUSAKA ,  JUN OZAWA

IPC: B25J3/04 ,  A61B19/00 ,  B25J9/16

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。