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公开(公告)号：US11813742B2
公开(公告)日：2023-11-14
申请号：US17763226
申请日：2020-10-19
Applicant: SONY INTERACTIVE ENTERTAINMENT INC.
Inventor： Yuta Koda , Koichi Obana
CPC classification number: B25J5/00 , B25J19/0091 , 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).
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公开(公告)号：US12105882B2
公开(公告)日：2024-10-01
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.
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公开(公告)号：US12042722B2
公开(公告)日：2024-07-23
申请号：US17453072
申请日：2021-11-01
Applicant: Sony Interactive Entertainment Inc.
Inventor： Yuta Koda
IPC: A63F13/24 , A63F13/285 , G06F3/01
CPC classification number: A63F13/285 , G06F3/016 , A63F13/24 , A63F2300/1037
Abstract: Provided is a device including a housing, a mass body arranged in the housing, a movement mechanism that moves the mass body in the housing, a vibrator, and a control unit that controls movement of the mass body and vibration of the vibrator. The control unit is capable of changing a position at which the vibrator is to vibrate in the housing.
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公开(公告)号：US12194619B2
公开(公告)日：2025-01-14
申请号：US17640029
申请日：2020-10-19
Applicant: Sony Interactive Entertainment Inc.
Inventor： Koichi Obana , Yuta Koda
IPC: B25J13/08 , B25J15/00 , B25J17/02 , B25J19/02 , B62D57/032
Abstract: A floor reaction force to a foot of a legged mobile robot is detected with a suitable degree of accuracy, by use of a strain sensor having comparatively low sensitivity. The foot includes an upper frame connected to a movable leg, a lower frame which is disposed under the upper frame and contacts with a walking surface, a strain generating member which is connected to the upper frame and the lower frame at different positions from each other in top plan view and undergoes bending deformation according to a change in distance or inclination between the instep member and the sole member, and a plurality of strain sensors disposed at positions different from each other on the strain generating member.
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Patent Agency Ranking
公开(公告)号：US20230091582A1
公开(公告)日：2023-03-23
申请号：US17798610
申请日：2021-03-08
Applicant: Sony Interactive Entertainment Inc.
Inventor： Yuta Koda , Keiji Togawa , Hiroshi Osawa
Abstract: A work of incorporating a speed reduction mechanism including a scissors gear into a gear case is facilitated. In a state where the angular positions of gear teeth of a first gear and the angular positions of gear teeth of a scissors gear are made to coincide with each other against the elastic force of a torsion spring (19), these angular positions are fixed by a fixing member (position fixing step). The first gear, the scissors gear, and a second gear are housed in a gear case, and the gear teeth of the second gear are made to engage with the gear teeth of the first gear and the gear teeth of the scissors gear (gear incorporating step). The fixing of the angular position of the first gear and the angular position of the scissors gear by the fixing member is released through an opening formed in the gear case.
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公开(公告)号：US12259033B2
公开(公告)日：2025-03-25
申请号：US17798610
申请日：2021-03-08
Applicant: Sony Interactive Entertainment Inc.
Inventor： Yuta Koda , Keiji Togawa , Hiroshi Osawa
Abstract: A work of incorporating a speed reduction mechanism including a scissors gear into a gear case is facilitated. In a state where the angular positions of gear teeth of a first gear and the angular positions of gear teeth of a scissors gear are made to coincide with each other against the elastic force of a torsion spring (19), these angular positions are fixed by a fixing member (position fixing step). The first gear, the scissors gear, and a second gear are housed in a gear case, and the gear teeth of the second gear are made to engage with the gear teeth of the first gear and the gear teeth of the scissors gear (gear incorporating step). The fixing of the angular position of the first gear and the angular position of the scissors gear by the fixing member is released through an opening formed in the gear case.
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公开(公告)号：US20220314467A1
公开(公告)日：2022-10-06
申请号：US17640029
申请日：2020-10-19
Applicant: Sony Interactive Entertainment Inc.
Inventor： Koichi Obana , Yuta Koda
IPC: B25J17/02 , B25J19/02 , B25J15/00 , B62D57/032
Abstract: A floor reaction force to a foot of a legged mobile robot is detected with a suitable degree of accuracy, by use of a strain sensor having comparatively low sensitivity. The foot includes an upper frame connected to a movable leg, a lower frame which is disposed under the upper frame and contacts with a walking surface, a strain generating member which is connected to the upper frame and the lower frame at different positions from each other in top plan view and undergoes bending deformation according to a change in distance or inclination between the instep member and the sole member, and a plurality of strain sensors disposed at positions different from each other on the strain generating member.
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公开(公告)号：US20240216794A1
公开(公告)日：2024-07-04
申请号：US18579432
申请日：2021-07-21
Applicant: Sony Interactive Entertainment Inc.
Inventor： Yuta Koda
IPC: A63F13/24
CPC classification number: A63F13/24
Abstract: A controller includes an operating body whose tilting operation is possible, the operating body having a shaft section, a tubular body having an inner surface that is parallel with a longitudinal direction of the shaft section when the tilting operation of the operating body is not performed and that is provided with a gap between the tubular body and the shaft section, and an elastic member that is provided between the tubular body and the shaft section of the operating body and that comes in contact with at least either the inner surface of the tubular body or the shaft section of the operating body when the tilting operation of the operating body is performed.
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公开(公告)号：US20220152486A1
公开(公告)日：2022-05-19
申请号：US17453072
申请日：2021-11-01
Applicant: Sony Interactive Entertainment Inc.
Inventor： Yuta Koda
IPC: A63F13/285 , G06F3/01
Abstract: Provided is a device including a housing, a mass body arranged in the housing, a movement mechanism that moves the mass body in the housing, a vibrator, and a control unit that controls movement of the mass body and vibration of the vibrator. The control unit is capable of changing a position at which the vibrator is to vibrate in the housing.
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