公开(公告)号：US20220355465A1

公开(公告)日：2022-11-10

申请号：US17763226

申请日：2020-10-19

Applicant: SONY INTERACTIVE ENTERTAINMENT INC.

Inventor： Yuta KODA ,  Koichi OBANA

IPC: B25J5/00 ,  B25J19/00 ,  B25J19/02

Abstract: A configuration that exerts floor reaction force directly to a force sensor in a foot of a legged mobile robot requires a sensor having a large withstand load. A foot (10f) includes an upper frame (44) that is connected to a movable leg and receives the load of a robot, a lower frame (48) that is deployed under the upper frame (44) and contacts with a walking surface, a high rigidity spring (50) attached the lower frame (48) and elastically supporting the upper frame (44) against the load, and a plurality of sensor mechanisms that detect floor reaction force at positions different from each other on the lower frame (48). Each of the sensor mechanisms includes a force sensor (62) attached to one of the upper frame (44) and the lower frame (48) and a sensor spring (52) that is an elastic body having rigidity lower than that of the high rigidity spring (50) and has a supporting point deployed on the other one of the upper frame (44) and the lower frame (48) so as to exert pressing force to the force sensor (62) according to a change of the distance between the upper frame (44) and the lower frame (48).

公开(公告)号：US20240134455A1

公开(公告)日：2024-04-25

申请号：US18264078

申请日：2021-07-01

Applicant: Sony Interactive Entertainment Inc.

Inventor： Yuta KODA

IPC: G06F3/01 ,  G06F3/0354

CPC classification number: G06F3/016 ,  G06F3/03545

Abstract: A force sense presentation device 1 includes a base body 2 that is gripped by a hand of a user, a movable unit 3 having a finger placement portion 5 on which the user is to place a fingertip in a state in which the base body 2 is gripped by the user, and a moving mechanism that moves the movable unit 3 with respect to the base body 2. The base body 2 is held by two or more fingers. The finger placement portion 5 has a finger engagement portion 4 provided thereon uprightly in a direction different from a moving direction of the movable unit 3.

公开(公告)号：US20230234241A1

公开(公告)日：2023-07-27

申请号：US18009478

申请日：2021-07-08

Applicant: SONY INTERACTIVE ENTERTAINMENT INC.

Inventor： Yuta KODA ,  Keiji TOGAWA ,  Hiroshi OSAWA

IPC: B25J13/08 ,  B25J17/00 ,  B25J9/12

CPC classification number: B25J13/088 ,  B25J9/126 ,  B25J17/00 ,  B62D57/032

Abstract: Provided is a robot which can improve accuracy of calibration of a rotation sensor for detecting a movement of an actuator included in the robot. The robot (1) includes a connection frame (63) that supports a rolling actuator (13). The connection frame (63) has a first attached portion (63g) attached to a rotation outputting section (12c) of an actuator (12) and a remaining portion (a first arm portion (63b), a supporting portion (63a), and a second arm portion (63c)) connected to the first attached portion (63g). A sensor rotation portion (16a) of a rotation sensor (16) is attached to the first attached portion (63g). The first attached portion (63g) and the rotation outputting section (12c) are rotatable over an angle greater than 360 degrees in a state in which the first attached portion (63g) is attached to the rotation outputting section (12c) and in which the remaining portion of the connection frame (63) is removed from the first attached portion (63g).

公开(公告)号：US20240231493A9

公开(公告)日：2024-07-11

申请号：US18264078

申请日：2021-07-02

Applicant: Sony Interactive Entertainment Inc.

Inventor： Yuta KODA

IPC: G06F3/01 ,  G06F3/0354

CPC classification number: G06F3/016 ,  G06F3/03545

Abstract: A force sense presentation device 1 includes a base body 2 that is gripped by a hand of a user, a movable unit 3 having a finger placement portion 5 on which the user is to place a fingertip in a state in which the base body 2 is gripped by the user, and a moving mechanism that moves the movable unit 3 with respect to the base body 2. The base body 2 is held by two or more fingers. The finger placement portion 5 has a finger engagement portion 4 provided thereon uprightly in a direction different from a moving direction of the movable unit 3.