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1. 发明申请

US20050078816A1 Robot-phone 审中-公开
标题翻译：机器人手机
公开(公告)号：US20050078816A1
公开(公告)日：2005-04-14
申请号：US10504030
申请日：2002-09-12
申请人： Dairoku Sekiguchi , Masahiko Inami , Naoki Kawakami , Ichiro Kawabuchi , Susumu Tachi
发明人： Dairoku Sekiguchi , Masahiko Inami , Naoki Kawakami , Ichiro Kawabuchi , Susumu Tachi
IPC分类号： A63H3/28 , A63H5/00 , H04M1/72 , H04M1/00
CPC分类号： A63H5/00 , A63H3/28 , H04M1/72
摘要： A robot-phone enabling human communication by synchronizing shapes, motions, and positions of a plurality of robots located at a distance from one another. The robot-phone is used as a user interface and includes a robot of a stuffed doll having a movable potion at a part of the body, a microphone (11) for communication, a speaker (12), a driving portion (13) for driving the movable portion, a position information sensor (14) for acquiring position information of the movable portion, and a communication connecting portion (16). The communication connecting portion transmits a speech signal from the microphone to a communication partner via a communication line, reproduces the speech signal received from the communication partner in the speaker, transmits a signal indicating the position of the movable position from the position information sensor to the communication partner, receives position information corresponding to the movable portion from the communication partner, and transmits this to the driving portion. The driving portion drives the movable portion according to the received position information. Communication can also be performed by gesture of the robot in addition to speech.
摘要翻译：一种机器人手机，其通过使位于距离彼此的距离的多个机器人的形状，运动和位置同步来实现人类通信。机器人手机用作用户界面，并且包括具有在身体的一部分处的可移动药水的填充娃娃的机器人，用于通信的麦克风（11），扬声器（12），用于驱动可动部分，用于获取可移动部分的位置信息的位置信息传感器（14）和通信连接部分（16）。通信连接部分经由通信线路将来自麦克风的语音信号发送到通信伙伴，再现从扬声器中的通信伙伴接收到的语音信号，将表示可移动位置的位置的信号从位置信息传感器发送到通信对方，从通信对方接收与可动部对应的位置信息，并将其发送到驱动部。驱动部根据接收到的位置信息来驱动可动部。除了语音之外，还可以通过机器人的手势进行通信。

2. 发明申请

US20070193398A1 Rotation and extension/retraction link mechanism 有权
标题翻译：旋转和伸展/缩回连杆机构
公开(公告)号：US20070193398A1
公开(公告)日：2007-08-23
申请号：US10596628
申请日：2004-12-17
申请人： Ichiro Kawabuchi , Susumu Tachi , Naoki Kawakami
发明人： Ichiro Kawabuchi , Susumu Tachi , Naoki Kawakami
IPC分类号： G05G5/06
CPC分类号： F16H37/12 , F16H19/043 , F16H21/10 , Y10T74/18024 , Y10T74/20654
摘要： A rotation and extension/retraction link mechanism which realizes a rotary joint having a virtual rotation axis is provided. A rotation and extension/retraction link mechanism 1 is configured so that a first link 5 having a first virtual center line 3 and a second link 9 having a second virtual center line 7 are coupled through a rotation and extension/retraction joint mechanism 11. The rotation and extension/retraction joint mechanism 11 is configured to couple the first link 5 and the second link 9 so that when the second virtual center line 7 rotates relative to the first virtual center line 3 from a state where the first virtual center line 3 entirely overlaps with the second virtual center line 7, while crossing the first virtual center line 3, an intersection between the first virtual center line 3 and the second virtual center line 7 is displaced on the first virtual center line 3 by a predetermined distance corresponding to an angle of the rotation.
摘要翻译：提供实现具有虚拟旋转轴的旋转接头的旋转和延伸/缩回连杆机构。旋转和延伸/缩回连杆机构1构造成使得具有第一虚拟中心线3的第一连杆5和具有第二虚拟中心线7的第二连杆9通过旋转和延伸/缩回接合机构11联接。旋转和伸缩联接机构11被配置为将第一连杆5和第二连杆9联接，使得当第二虚拟中心线7相对于第一虚拟中心线3从第一虚拟中心线3 与第二虚拟中心线7完全重叠，同时穿过第一虚拟中心线3，第一虚拟中心线3和第二虚拟中心线7之间的交点在第一虚拟中心线3上移位相应于预定距离旋转角度。

3. 发明授权

US06341869B1 Method and device for providing information 有权
标题翻译：提供信息的方法和设备
公开(公告)号：US06341869B1
公开(公告)日：2002-01-29
申请号：US09371412
申请日：1999-08-10
申请人： Masahiko Inami , Naoki Kawakami , Yasuyuki Yanagida , Taro Maeda , Susumu Tachi
发明人： Masahiko Inami , Naoki Kawakami , Yasuyuki Yanagida , Taro Maeda , Susumu Tachi
IPC分类号： G03B2126
CPC分类号： G06F3/011 , G02B27/01 , G02B27/0101 , G02B2027/012 , G02B2027/0138 , G02B2027/014
摘要： A projector is disposed at a position that is optically conjugated to a position of eyes of an observer. The projector projects an image to a screen that has retroreflection function so as to provide information of virtual space to the observer. If a real object such as a tactile sense provision device that is to be shielded by the virtual space exists, a part or the whole of the real object is optically hidden from the projection of the projector by a shielding member having retroreflection function, for example, by placing a shielding screen on which a retroreflection material is coated, or by coating the retroreflection material.
摘要翻译：投影仪设置在与观察者的眼睛的位置光学共轭的位置。投影仪将图像投影到具有回射功能的屏幕上，以向观察者提供虚拟空间的信息。如果存在要被虚拟空间屏蔽的触觉提供装置等真实物体，则通过具有回射功能的屏蔽构件，将真实物体的一部分或全部光学隐藏于投影仪的投影上，例如通过放置其上涂覆有回射材料的屏蔽屏幕，或通过涂覆回射材料。

4. 发明授权

US06283598B1 Method of and apparatus for displaying an image 有权
标题翻译：用于显示图像的方法和装置
公开(公告)号：US06283598B1
公开(公告)日：2001-09-04
申请号：US09237374
申请日：1999-01-26
申请人： Masahiko Inami , Naoki Kawakami , Yasuyuki Yanagida , Taro Maeda , Susumu Tachi
发明人： Masahiko Inami , Naoki Kawakami , Yasuyuki Yanagida , Taro Maeda , Susumu Tachi
IPC分类号： G03B2100
CPC分类号： G03B35/20 , G02B27/2292 , H04N13/279 , H04N13/289 , H04N13/296 , H04N13/344 , H04N13/363 , H04N13/366 , H04N13/398
摘要： A pair of projectors are arranged for projecting an image. These projectors are disposed in optically conjugate relationship with the observer's eyes respectively. An image of an object to be viewed by the observer is projected from the projectors and is allowed to appear on a screen, the shape of which corresponds to that of the object.
摘要翻译：安排一对投影机投影图像。这些投影机分别与观察者的眼睛处于光学共轭关系。由投影仪投影观察者观看的物体的图像，并允许出现在屏幕上，其形状对应于物体的形状。

5. 发明申请

US20080245955A1 Optical Tactile Sensor 失效
标题翻译：光学触觉传感器
公开(公告)号：US20080245955A1
公开(公告)日：2008-10-09
申请号：US10571370
申请日：2005-03-03
申请人： Susumu Tachi , Naoki Kawakami , Hiroyuki Kajimoto , Kazuto Kamiyama , Terukazu Mizota
发明人： Susumu Tachi , Naoki Kawakami , Hiroyuki Kajimoto , Kazuto Kamiyama , Terukazu Mizota
IPC分类号： H01J40/14
CPC分类号： G01L1/247 , G01L5/166 , G01L5/228
摘要： 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.
摘要翻译：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。

6. 发明申请

US20080043014A1 3D Image Display Method 有权
标题翻译： 3D图像显示方法
公开(公告)号：US20080043014A1
公开(公告)日：2008-02-21
申请号：US11722846
申请日：2005-06-27
申请人： Susumu Tachi , Tomohiro Endo , Naoki Kawakami
发明人： Susumu Tachi , Tomohiro Endo , Naoki Kawakami
IPC分类号： G06T15/00
CPC分类号： G02B27/2214 , G02B27/2285 , G03B35/04 , G03B35/18 , G03B37/00 , G06T15/00 , H04N13/275 , H04N13/31 , H04N13/393
摘要： A stereoscopic image display method capable of stereoscopic display of a photographed image. One two-dimensional image is selected, and one pixel capable of being viewed from a corresponding viewpoint position is selected from a plurality of pixels. A virtual surface with the selected two-dimensional image pasted thereon is assumed, and the virtual surface is arranged so that an image center point of the two-dimensional image corresponding to a center of an object coincides with a center of a display surface. Next, a virtual extension that extends from the viewpoint position to the virtual surface through the selected pixel is assumed. A color on the two-dimensional image assumed to have been pasted on the virtual surface, corresponding to a point of intersection between the virtual extension and the virtual surface is determined as a display color of the pixel positioned in a direction extending from the pixel to the viewpoint position.
摘要翻译：能立体显示拍摄图像的立体图像显示方法。选择一个二维图像，并且从多个像素中选择能够从对应视点位置观看的一个像素。假设具有粘贴在其上的所选择的二维图像的虚拟表面，并且虚拟表面被布置为使得与对象的中心对应的二维图像的图像中心点与显示表面的中心重合。接下来，假设通过所选择的像素从视点位置延伸到虚拟表面的虚拟扩展。假定已经粘贴在虚拟表面上的二维图像上的颜色对应于虚拟扩展和虚拟表面之间的交点，被确定为位于从像素延伸的方向上的像素的显示颜色视点位置。

7. 发明授权

US07961182B2 Stereoscopic image display method 有权
标题翻译：立体图像显示方法
公开(公告)号：US07961182B2
公开(公告)日：2011-06-14
申请号：US11722846
申请日：2005-06-27
申请人： Susumu Tachi , Tomohiro Endo , Naoki Kawakami
发明人： Susumu Tachi , Tomohiro Endo , Naoki Kawakami
IPC分类号： G06T15/00
CPC分类号： G02B27/2214 , G02B27/2285 , G03B35/04 , G03B35/18 , G03B37/00 , G06T15/00 , H04N13/275 , H04N13/31 , H04N13/393
摘要： A stereoscopic image display method capable of stereoscopic display of a photographed image. One two-dimensional image is selected, and one pixel capable of being viewed from a corresponding viewpoint position is selected from a plurality of pixels. A virtual surface with the selected two-dimensional image pasted thereon is assumed, and the virtual surface is arranged so that an image center point of the two-dimensional image corresponding to a center of an object coincides with a center of a display surface. Next, a virtual extension that extends from the viewpoint position to the virtual surface through the selected pixel is assumed. A color on the two-dimensional image assumed to have been pasted on the virtual surface, corresponding to a point of intersection between the virtual extension and the virtual surface is determined as a display color of the pixel positioned in a direction extending from the pixel to the viewpoint position.
摘要翻译：能立体显示拍摄图像的立体图像显示方法。选择一个二维图像，并且从多个像素中选择能够从对应视点位置观看的一个像素。假设具有粘贴在其上的所选择的二维图像的虚拟表面，并且虚拟表面被布置为使得与对象的中心对应的二维图像的图像中心点与显示表面的中心重合。接下来，假设通过所选择的像素从视点位置延伸到虚拟表面的虚拟扩展。假定已经粘贴在虚拟表面上的二维图像上的颜色对应于虚拟扩展和虚拟表面之间的交点，被确定为位于从像素延伸的方向上的像素的显示颜色视点位置。

8. 发明授权

US07659502B2 Optical tactile sensor 失效
标题翻译：光学触觉传感器
公开(公告)号：US07659502B2
公开(公告)日：2010-02-09
申请号：US10571370
申请日：2005-03-03
申请人： Susumu Tachi , Naoki Kawakami , Hiroyuki Kajimoto , Kazuto Kamiyama , Terukazu Mizota
发明人： Susumu Tachi , Naoki Kawakami , Hiroyuki Kajimoto , Kazuto Kamiyama , Terukazu Mizota
IPC分类号： G06M7/00 , H01L27/00 , G06F3/041
CPC分类号： G01L1/247 , G01L5/166 , G01L5/228
摘要： 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.
摘要翻译：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。

9. 发明授权

US07420155B2 Optical tactile sensor and method of reconstructing force vector distribution using the sensor 失效
标题翻译：光学触觉传感器和使用传感器重建力矢量分布的方法
公开(公告)号：US07420155B2
公开(公告)日：2008-09-02
申请号：US10571576
申请日：2004-05-21
申请人： Terukazu Mizota , Kazuto Kamiyama , Hiroyuki Kajimoto , Naoki Kawakami , Susumu Tachi
发明人： Terukazu Mizota , Kazuto Kamiyama , Hiroyuki Kajimoto , Naoki Kawakami , Susumu Tachi
IPC分类号： G06M7/00 , G06F3/042
CPC分类号： G01L1/24 , B25J13/084 , G01L5/166 , G01L5/228
摘要： The invention relates to a tactile sensor capable of obtaining information for a plurality of degrees of freedom at each point on a surface. An optical tactile sensor is provided with a sensing part and a photographing device, the sensing part 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. The elastic body has an arbitrary curved surface. The behavior of the colored markers when an object touches the curved surface of the elastic body is obtained as image information of markers by photographing device. The sensor further comprises a force vector distribution reconstructing device for reconstructing forces applied to said surface from information as to the behavior of markers that is obtained from said image information of markers.
摘要翻译：本发明涉及一种能够在表面上的每个点处获得多个自由度的信息的触觉传感器。光学触觉传感器设置有感测部分和拍摄装置，感测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，具有组成不同标记组的标记，每组具有不同的颜色。弹性体具有任意的曲面。通过拍摄装置获得当物体接触到弹性体的曲面时的着色标记的行为作为标记的图像信息。该传感器还包括一个力向量分布重建装置，用于根据从标记的所述图像信息获得的标记的行为的信息重构施加到所述表面的力。

10. 发明授权

US07460964B2 Force vector reconstruction method using optical tactile sensor 失效
标题翻译：使用光学触觉传感器的力矢量重建方法
公开(公告)号：US07460964B2
公开(公告)日：2008-12-02
申请号：US10571371
申请日：2004-09-10
申请人： Terukazu Mizota , Kazuto Kamiyama , Hiroyuki Kajimoto , Naoki Kawakami , Susumu Tachi
发明人： Terukazu Mizota , Kazuto Kamiyama , Hiroyuki Kajimoto , Naoki Kawakami , Susumu Tachi
IPC分类号： G01L1/06 , G01L7/02 , G01L11/02
CPC分类号： G01L1/241 , G01L1/247 , G01L5/226 , G01L5/228
摘要： The invention relates to a technique for reducing computation time for force vector calculation. A force vector reconstruction method that uses an optical tactile sensor, comprises a step for obtaining a marker image by taking an image of behavior of colored markers when an object contacts a contact surface of an elastic body, a step of obtaining information relating to the marker behavior from the marker image, the information being more than the number of force vectors to be obtained, and a step of obtaining force vectors as outputs by inputting information relating to the obtained marker behavior to a transfer function. The step of obtaining force vectors comprises calculating force vectors using only information relating to behavior of markers neighboring region A1 of a position A where it is desired to obtain force vectors.
摘要翻译：本发明涉及一种用于减少力矢量计算的计算时间的技术。使用光学触觉传感器的力矢量重建方法包括：当物体接触到弹性体的接触表面时，通过拍摄彩色标记的行为的图像来获得标记图像的步骤，获得与标记相关的信息的步骤来自标记图像的行为，所述信息大于要获得的力向量的数量;以及通过将与获得的标记行为相关的信息输入到传递函数来获得力向量作为输出的步骤。获得力矢量的步骤包括使用仅与期望获得力矢量的位置A的相邻区域A1的标记的行为有关的信息来计算力向量。

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