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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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公开(公告)号：US10729604B2
公开(公告)日：2020-08-04
申请号：US15412717
申请日：2017-01-23
Inventor： Yuko Tsusaka , Yudai Fudaba
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.
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3.发明授权Control apparatus and method for master-slave robot, master-slave robot, and control program 有权主从机器人控制装置及方法，主从机器人及控制程序公开(公告)号：US09233467B2
公开(公告)日：2016-01-12
申请号：US14071994
申请日：2013-11-05
Inventor： Yuko Tsusaka , Yudai Fudaba , Jun Ozawa
CPC classification number: B25J9/1633 , A61B34/30 , A61B34/37 , A61B34/76 , A61B34/77 , A61B2090/064 , B25J3/04 , B25J9/1689 , G05B2219/40138
Abstract: A master-slave device grips an object and performs a task while being in contact with a to-be-treated object. A force detection unit measures force information given to a slave mechanism. A force correction determination unit determines a force correction part serving as information from correction start to end times of force information transmitted to a master mechanism and, as a correcting method to perform correction, a first method determining a gain such that a reduction in absolute value of force information at the force correction part is maintained for a predetermined period of time or a second method determining a gain such that a reduction and an increase in the absolute value are repeated within a range that is not more than a value by reducing the absolute value. A force correction unit corrects information of a type of a force based on the force correction part and the gain.
Abstract translation: 主从设备在与待处理对象接触的同时抓握对象并执行任务。 力检测单元测量给予从机构的力信息。 力校正确定单元确定作为从发送到主机构的力信息的校正开始到结束时间的信息的力校正部，并且作为执行校正的校正方法，确定增益的第一方法使得绝对值的减小 在力校正部分处的力信息被维持预定的时间段，或第二种方法确定增益，使得通过减少绝对值在绝对值的减小和增加在不大于值的范围内重复 值。 力校正单元基于力校正部和增益校正力的种类的信息。
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4.发明授权Control device and control method of robot arm, robot, control program, and integrated electronic circuit 有权机器人手臂，机器人，控制程序和集成电子电路的控制装置和控制方法公开(公告)号：US09114530B2
公开(公告)日：2015-08-25
申请号：US13951828
申请日：2013-07-26
Inventor： Yuko Tsusaka , Yudai Fudaba
IPC: B25J9/16 , G05B19/423
CPC classification number: B25J9/163 , B25J9/1656 , G05B19/423 , G05B2219/36442 , G05B2219/40391
Abstract: A robot arm system for controlling a motion of a robot arm includes an order determining section for determining an order of teaching information based on at least one or more pieces of perceptual information about circumference environment of the robot arm used by a person to operate the robot arm and change the motion of the robot arm that is sensed by the person, reaction time information as time information from a time when the person receives the perceptual information to a time when the person operates robot arm, and dispersion information about a dispersion level between at least one or more pieces of the teaching information or the perceptual information, and creates motion information about the robot arm based on the teaching information and the order determined by the order determining section.
Abstract translation: 一种用于控制机器人手臂的运动的机器人手臂系统，包括一个订单确定部分，用于基于由人操作机器人所使用的机器人臂的周围环境的至少一个或多个感知信息来确定教学信息的顺序 将人的感觉到的机器人手臂的动作，作为时间信息的人反应时间信息从人接收到感知信息的时刻改变为人操作机器人手臂的时刻，以及关于人的操作机器人手臂之间的分散水平的色散信息 至少一个或多个教学信息或感知信息，并且基于教学信息和由顺序确定部分确定的顺序来创建关于机器人手臂的运动信息。
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公开(公告)号：US10688001B2
公开(公告)日：2020-06-23
申请号：US15413491
申请日：2017-01-24
Inventor： Yuko Tsusaka , Yudai Fudaba
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.
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Patent Agency Ranking
公开(公告)号：US09827047B2
公开(公告)日：2017-11-28
申请号：US14293236
申请日：2014-06-02
Inventor： Yudai Fudaba , Yuko Tsusaka , Taichi Sato
IPC: A61B1/00 , A61B1/04 , A61B19/00 , A61B5/06 , G05B19/423 , A61B34/32 , A61M25/01 , A61B17/22 , A61B34/30
CPC classification number: A61B34/30 , A61B1/0016 , A61B5/066 , A61B34/32 , A61B2017/22001 , A61B2017/22014 , A61B2034/301 , A61M25/01 , A61M2025/0166 , G05B19/423 , G05B2219/37569 , G05B2219/39195 , G05B2219/40028 , G05B2219/45118
Abstract: A control apparatus of an insertion apparatus in which a state specifying unit specifies a state of an insertion member to carry out vibration control depending on the state, thereby removing getting-stuck of a tip of the insertion member with a vibration having such a proper magnitude as not to cause an overload in a case where the tip of the insertion member is gotten stuck.
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7.发明授权Apparatus for flexible elongate member, method for flexible elongate member, and storage medium 有权用于柔性细长构件的装置，用于柔性细长构件的方法和存储介质公开(公告)号：US09573274B2
公开(公告)日：2017-02-21
申请号：US14663264
申请日：2015-03-19
Inventor： Yuko Tsusaka , Yudai Fudaba
CPC classification number: B25J9/1633 , A61B34/32 , A61B34/37 , A61B34/77 , A61B2034/301 , A61M25/0116 , G05B2219/39322 , G05B2219/39343
Abstract: An insertion method for a flexible elongate member is used to insert the flexible elongate member into a tube while causing first and second holding units to perform an opening-and-closing operation for holding and releasing the flexible elongate member. The method includes acquiring information of a distance by which the second holding unit moves with respect to the first holding unit and information of an operation type used to distinguish between insertion of the flexible elongate member into the tube, stoppage of the flexible elongate member, and extraction of the flexible elongate member from the tube; generating operation information regarding an opened/closed state of the first holding portion and an opened/closed state of the second holding portion on the basis of the distance and the operation type; and controlling the insertion, stoppage, or extraction of the flexible elongate member on the basis of the operation information.
Abstract translation: 用于柔性细长构件的插入方法用于将柔性细长构件插入管中，同时使第一和第二保持单元执行用于保持和释放柔性细长构件的打开和关闭操作。 该方法包括获取第二保持单元相对于第一保持单元移动的距离的信息，以及用于区分将柔性细长构件插入管中的操作类型的信息，柔性细长构件的停止，以及 从管中提取柔性细长构件; 基于距离和操作类型产生关于第一保持部分的打开/关闭状态和第二保持部分的打开/关闭状态的操作信息; 以及基于操作信息控制柔性细长构件的插入，停止或抽出。
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公开(公告)号：US10813805B2
公开(公告)日：2020-10-27
申请号：US15414577
申请日：2017-01-24
Inventor： Yuko Tsusaka , Yudai Fudaba
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.
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公开(公告)号：US10245733B2
公开(公告)日：2019-04-02
申请号：US15347882
申请日：2016-11-10
Inventor： Yuko Tsusaka , Yudai Fudaba , Yasunao Okazaki
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.
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10.发明授权Control apparatus and control method for master-slave robot, master-slave robot, control program for master-slave robot, and integrated electronic circuit for controlling master-slave robot 有权主从机器人的控制装置和控制方法，主从机器人，主从机器人的控制程序和控制主从机器人的集成电子电路公开(公告)号：US09492920B2
公开(公告)日：2016-11-15
申请号：US14730188
申请日：2015-06-03
Inventor： Yudai Fudaba , Yuko Tsusaka , Jun Ozawa
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。
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