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    • 1. 发明专利
    • Three-dimensional display using shape memory alloy
    • 使用形状记忆合金的三维显示
    • JP2005338382A
    • 2005-12-08
    • JP2004156355
    • 2004-05-26
    • ▲舘▼ ▲すすむ▼Hiroyuki KajimotoNaoki KawakamiMasashi NakayaHiromichi SekiguchiSusumu Tate正史 仲谷直樹 川上裕之 梶本大陸 関口
    • TATE SUSUMUKAJIMOTO HIROYUKISEKIGUCHI HIROMICHINAKAYA MASASHIKAWAKAMI NAOKI
    • G09B21/00A61G12/00G02B27/22
    • PROBLEM TO BE SOLVED: To provide a pin array type display capable of attaining not only long strokes of pins but also high density of a pin array and to quickly perform the operation of the pin array even in the pin array type display using the pin array of high density and long strokes. SOLUTION: The three-dimensional display comprises: the pin array constituted of a plurality of pins which can be freely moved in the length direction; a pin driving part for moving each pin in the length direction by the extension/contraction of coil-like shape memory alloy formed corresponding to each pin; a heating means for contracting the shape memory alloy; a cooling means for cooling the shape memory alloy; a position detection means for detecting the position of each pin; and a control part for controlling the movement of each pin by the pin driving part on the basis of the position information of each pin detected by the position detection means. Each pin is hollow, the pin driving part is built in the hollow part of the pin and current supply from the heating means to each pin is performed by a matrix driving system. COPYRIGHT: (C)2006,JPO&NCIPI
    • 要解决的问题:为了提供一种针阵列型显示器,其不仅可以获得针脚的长行程,而且可以实现针阵列的高密度,并且即使在针阵列型显示器中也能快速执行针阵列的操作,使用 高密度和长笔画的针阵列。 解决方案:三维显示器包括:引脚阵列,其由能够沿长度方向自由移动的多个引脚构成; 销驱动部,用于通过对应于每个销形成的线圈状形状记忆合金的伸缩来沿长度方向移动每个销; 用于收缩形状记忆合金的加热装置; 用于冷却形状记忆合金的冷却装置; 位置检测装置,用于检测每个销的位置; 以及控制部,其基于由所述位置检测单元检测出的各个针的位置信息来控制所述销驱动部的各销的移动。 每个销都是中空的,销的驱动部分内置在销的中空部分,并且由加热装置到每个销的电流由矩阵驱动系统执行。 版权所有(C)2006,JPO&NCIPI
    • 5. 发明申请
    • Electric Tactile Sense Presenting Device and Electric Tactile Sense Presenting Method
    • 电触觉检测仪和电触觉检测方法
    • US20090174671A1
    • 2009-07-09
    • US11908051
    • 2006-03-09
    • Susumu TachiHiroyuki KajimotoYonezo Kanno
    • Susumu TachiHiroyuki KajimotoYonezo Kanno
    • G06F3/041
    • G06F3/016G06F3/0414G09B21/003
    • An electro-tactile display comprises at least one current source, arrayed electrodes, and a switching circuit for connecting each electrode to the current source or to ground. The electro-tactile display is characterized by selecting one or a plurality of electrodes from the arrayed electrodes and connecting the selected electrodes to the current source to provide current source electrodes, alternately connecting neighboring electrodes in the vicinity of said current source electrodes to the current source and to ground, connecting a plurality of remaining electrodes other than the neighboring electrodes to ground to provide ground electrodes, and providing electrical stimulation from the current source electrodes wherein the current source electrodes are spaced apart from the ground electrodes via the neighboring electrodes. Tactile sensations are presented by switching over the current source electrodes at a predetermined time interval.
    • 电触觉显示器包括至少一个电流源,阵列电极和用于将每个电极连接到电流源或接地的开关电路。 电触觉显示器的特征在于从排列的电极中选择一个或多个电极,并将所选择的电极连接到电流源,以提供电流源电极,将所述电流源极附近的相邻电极交替连接到电流源 并且将多个相邻电极之间的剩余电极连接到地,以提供接地电极,并且从电流源电极提供电刺激,其中电流源电极经由相邻电极与接地电极间隔开。 通过以预定的时间间隔切换电流源电极来呈现触觉。
    • 6. 发明申请
    • Optical Tactile Sensor
    • 光学触觉传感器
    • US20080245955A1
    • 2008-10-09
    • US10571370
    • 2005-03-03
    • Susumu TachiNaoki KawakamiHiroyuki KajimotoKazuto KamiyamaTerukazu Mizota
    • Susumu TachiNaoki KawakamiHiroyuki KajimotoKazuto KamiyamaTerukazu Mizota
    • H01J40/14
    • G01L1/247G01L5/166G01L5/228
    • An optical tactile sensor and an image information integrating method capable of measuring large area force vector distribution are provided. The optical tactile sensor comprises a tactile section comprising a transparent elastic body (1) and a plurality of markers (3, 4) provided therein, and a plurality of imaging devices (6, 6) for obtaining a marker image by photographing the behavior of the markers when an object (5) contacts the tactile face (2) of the transparent elastic body (1). The method comprises a step of obtaining a partial image by photographing the partial regions A, B, C and D of the transparent resilient body (1) using the plurality of imaging devices (6, 6) such that each imaging device (6) has an overlapped photograph region (11), and a step of integrating the partial images obtained by each imaging device (6) such that the identical markers in the overlapped photograph region match.
    • 提供了一种能够测量大面积力矢量分布的光学触觉传感器和图像信息积分方法。 光学触觉传感器包括一个包括透明弹性体(1)和设置在其中的多个标记(3,4)的触觉部分,以及多个成像装置(6,6),用于通过拍摄 当物体(5)接触透明弹性体(1)的触觉面(2)时的标记。 该方法包括通过使用多个成像装置(6,6)拍摄透明弹性体(1)的部分区域A,B,C和D来获得部分图像的步骤,使得每个成像装置(6)具有 重叠照片区域(11),以及将由各成像装置(6)获得的部分图像进行积分的步骤,使得重叠照片区域中的相同标记符合。
    • 7. 发明授权
    • Optical tactile sensor having a transparent elastic tactile portion
    • 具有透明弹性触觉部分的光学触觉传感器
    • US06909084B2
    • 2005-06-21
    • US10344821
    • 2001-08-30
    • Susumu TachiHiroyuki Kajimoto
    • Susumu TachiHiroyuki Kajimoto
    • G01B11/03G01B11/06G01D21/00G01L1/24G01L5/22G06F3/033G06F3/042H01J40/14
    • G01L1/247G06F3/042G06F3/0425
    • The invention relates to a tactile sensor capable of obtaining information for a plurality of degrees of freedom at each point on a surface by introducing multi-channel sensing that uses color or optical spectrum to an optical tactile sensor. An optical tactile sensor is provided with a tactile section and imaging means, the tactile section comprising a transparent elastic body and a plurality of groups of markers provided inside the elastic body, each marker group being made up of a number of colored markers, with markers making up different marker groups having different colors for each group, and behavior of the colored markers when an object touches the elastic body being photographed by the imaging means. Preferably, the marker groups have mutually different spatial arrangements.
    • 本发明涉及一种触觉传感器,其能够通过将使用彩色或光谱的多通道感测引入光学触觉传感器来获得表面上每个点处的多个自由度的信息。 光学触觉传感器设置有触觉部分和成像装置,触觉部分包括透明弹性体和设置在弹性体内部的多组标记,每个标记组由多个彩色标记组成,标记 组成每组具有不同颜色的不同标记组,以及当对象接触由成像装置拍摄的弹性体时彩色标记的行为。 优选地,标记组具有相互不同的空间布置。
    • 8. 发明申请
    • ELECTRICAL STIMULATION DEVICE AND ELECTRICAL STIMULATION METHOD
    • 电刺激装置和电刺激方法
    • US20130093501A1
    • 2013-04-18
    • US13702085
    • 2010-12-07
    • Hiroyuki Kajimoto
    • Hiroyuki Kajimoto
    • H03K17/96
    • H03K17/96A61B5/0531A61B5/4836A61N1/36014
    • In an electrical stimulation device and an electrical stimulation method thereof, electrical stimulation can be adjusted more in real time, and stability and safety of the electrical stimulation can be more improved. An electrical stimulation device includes an electrode an electrical signal supply section, a skin impedance detection section, and an electrical signal controller. The electrical signal supply section supplies an electrical signal for generating the electrical stimulation to the electrode. During the supply of the electrical signal, the electrical signal controller acquires information associated with skin impedance through the skin impedance detection section in a cycle shorter than a supply period of the electrical signal, and adjusts the electrical signal to be supplied to the electrode in the next cycle based on the acquired information associated with skin impedance.
    • 在电刺激装置及其电刺激方法中,可以实时更多地调整电刺激,并且可以进一步提高电刺激的稳定性和安全性。 电刺激装置包括电极,电信号供给部,皮肤阻抗检测部和电信号控制器。 电信号供应部分向电极提供用于产生电刺激的电信号。 在提供电信号期间,电信号控制器通过皮肤阻抗检测部分以比电信号的供给周期短的周期获取与皮肤阻抗相关的信息,并调整供给电信号的电信号 基于获取的与皮肤阻抗相关的信息的下一个周期。