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1. 发明授权

US06640160B2 Biped ambulatory robot 有权
公开(公告)号：US06640160B2
公开(公告)日：2003-10-28
申请号：US09987346
申请日：2001-11-14
申请人： Hideaki Takahashi , Hiroshi Matsuda , Susumu Miyazaki
发明人： Hideaki Takahashi , Hiroshi Matsuda , Susumu Miyazaki
IPC分类号： G06F1900
CPC分类号： B25J19/005 , B62D57/032
摘要： A biped ambulatory robot is provided having a structure in which the electrical storage device is arranged to reduce the load on the joints (particularly the knee joints) of the leg members of the robot and to enable easy maintenance of stability of the robot posture. The electrical storage device 19 which is a power supply for operation of the robot is installed on the electrical storage device unit 16 of the torso 1 of the robot, such that the center of gravity A of the electrical storage device exists on the forward side from the center of gravity B of the robot when in a vertically-erect posture and with the electrical storage device 19 removed. In a state in which the robot stands normally on the floor F with the knee joints 14 of the leg members 2 bent forward slightly, the center of gravity C of the entire robot including the electrical storage device 19 exists substantially directly above the knee joints 14 as seen from one side of the robot.

2. 发明授权

US06822421B2 Bipedal robot with position for energy storage device 有权
标题翻译：双头机器人具有储能装置的位置
公开(公告)号：US06822421B2
公开(公告)日：2004-11-23
申请号：US10381679
申请日：2003-05-15
申请人： Kenichi Ogawa , Takuro Koyanagi , Susumu Miyazaki , Hideaki Takahashi , Hiroshi Matsuda
发明人： Kenichi Ogawa , Takuro Koyanagi , Susumu Miyazaki , Hideaki Takahashi , Hiroshi Matsuda
IPC分类号： H01M1046
CPC分类号： B25J19/005 , B62D57/02 , B62D57/032
摘要： An electric energy storage device has a power supply for operating a robot and is mounted on an upper body of the robot at a position such that the electric energy storage device has a center-of-gravity point present upwardly and rearwardly of the center-of-gravity point of the robot from which the electric energy storage device is removed and which is in an upstanding state. Shoulders of arms extending from the upper body of the robot have a center positioned forwardly of the center-of-gravity point. An imaging device for robot vision is supported on an upper end of the upper body of the robot by an attachment, which is positioned forwardly of the center-of-gravity point. It is thus possible to achieve attitude stability with ease when the robot walks and works.
摘要翻译：电能存储装置具有用于操作机器人的电源，并且安装在机器人的上部主体的位置处，使得电能存储装置具有从中心向上和向后的中心重心点 - 从其中去除电能存储装置并且处于直立状态的机器人的重力点。从机器人上部延伸的臂的肩部具有位于重心点的前方的中心。用于机器人视觉的成像装置通过位于重心点的前方的附件支撑在机器人的上身的上端。因此，当机器人行走和工作时，可以容易地实现姿态稳定性。

3. 发明授权

US07240747B2 Legged mobile robot leg structure 有权
标题翻译：有腿的移动机器人腿结构
公开(公告)号：US07240747B2
公开(公告)日：2007-07-10
申请号：US10416900
申请日：2001-11-16
申请人： Susumu Miyazaki , Hideaki Takahashi
发明人： Susumu Miyazaki , Hideaki Takahashi
IPC分类号： B62D51/06
CPC分类号： B25J13/085 , B25J17/0275
摘要： A legged mobile robot leg structure is provided in which a lower leg part (24) is connected to the lower end of an upper leg part (23) through a knee joint (27), a foot part (25) having a six-axis force sensor (60) is connected to the lower end of the lower leg part (24) through an ankle joint (28), and the ankle joint (28) supports the foot part (25) so that the foot part (25) can pitch around a lateral axis (Ly) and roll around a fore-and-aft axis (Lx) relative to the lower leg part (24). A pitch motor (34) for making the foot part (25) pitch around the lateral axis (Ly) is supported on the lower leg part (24) at a position above the ankle joint (28), and a roll motor (35) for making the foot part (25) roll around the fore-and-aft axis (Lx) is supported on the lower leg part (24) at a position above the ankle joint (28). The driving force for driving the lower leg part (24) can thereby be reduced by decreasing the moment of inertia around the knee joint (27), and the influence of noise of the motors (34, 35) on the six-axis force sensor (60) provided on the foot part (25) can be minimized.
摘要翻译：提供了一种腿式移动式机器人脚结构，其中小腿部分（24）通过膝关节（27）连接到大腿部分（23）的下端，具有六轴的脚部（25）力传感器（60）通过踝关节（28）连接到小腿部（24）的下端，踝关节（28）支撑脚部（25），使得脚部（25）能够围绕横向轴线（Ly）倾斜并相对于小腿部部分（24）围绕前后轴线（Lx）卷绕。用于使脚部（25）围绕横轴（Ly）的间距的俯仰马达（34）在踝关节（28）上方的位置处支撑在小腿部（24）上，并且辊马达（35）用于使所述脚部（25）围绕所述前后轴线（Lx）卷绕在所述踝关节（28）上方的位置处支撑在所述小腿部（24）上。因此，可以通过减小膝关节（27）周围的惯性矩来减小用于驱动小腿部（24）的驱动力，并且可以减小电动机（34,35）的噪声对六轴力传感器设置在脚部（25）上的（60）可以最小化。

4. 发明授权

US06897631B2 Legged robot 有权
标题翻译：有腿的机器人
公开(公告)号：US06897631B2
公开(公告)日：2005-05-24
申请号：US10416851
申请日：2001-11-16
申请人： Susumu Miyazaki , Hideaki Takahashi
发明人： Susumu Miyazaki , Hideaki Takahashi
IPC分类号： B25J5/00 , B25J9/12 , B25J17/02
CPC分类号： B25J17/0241 , B25J9/126
摘要： A legged robot, wherein an electric motor 88 for driving a joint 10R connecting a body and each leg 2R is disposed on the leg side and is disposed with an offset from the rotation axis of the joint. Further, a motor attachment member 86 for housing the electric motor 88 is perforated with an opening part at a location facing the body. By this, attachment/detachment of the leg of the robot is made easy to improve its ease of maintenance. Further, the power transmission means for transmitting drive force from the drive source to the joint connecting the body and the leg can be readily accessed. In addition, the leg can be rotated to a desired angle to facilitate swing operation and the like.
摘要翻译：一种腿式机器人，其中用于驱动连接主体和每个腿部2R的接头10R的电动机88设置在腿侧，并且与接头的旋转轴线偏移地设置。此外，用于容纳电动机88的电动机附接构件86在面向身体的位置处穿孔开口部。由此，机器人的腿的安装/拆卸变得容易，从而提高了其维护的便利性。此外，可以容易地访问用于将驱动力传递到连接身体和腿部的关节的动力传递装置。此外，腿可以旋转到期望的角度以便于摆动操作等。

5. 发明授权

US10462330B2 Image reading device, pressure plate opening/closing detection method, and image forming apparatus 有权
公开(公告)号：US10462330B2
公开(公告)日：2019-10-29
申请号：US15939375
申请日：2018-03-29
申请人： Tetsuo Inui , Susumu Miyazaki
发明人： Tetsuo Inui , Susumu Miyazaki
IPC分类号： H04N1/401 , H04N1/00 , G03G15/00 , H04N1/40
摘要： An image reading device including a contact glass; a reading unit; a pressure plate; a pressure-plate opening/closing sensor; and circuitry. The circuitry determines a presence or absence of external light input to a space between the pressure plate and the surface of the contact glass based on image data obtained by the reading unit when the light source is turned off; compares read data according to light emitted from the light source and received by the image sensor when the pressure plate is closed, with read data of a reference value obtained when the pressure plate is completely closed, to obtain a difference and determine a state of the read data based on the difference; and determines whether the pressure plate is open or closed based on a determination result of the presence or absence of external light and on the difference.

6. 发明申请

US20130065243A1 METHOD FOR PRODUCING INDUCED PLURIPOTENT STEM CELLS 有权
标题翻译：生产诱导型脑干细胞的方法
公开(公告)号：US20130065243A1
公开(公告)日：2013-03-14
申请号：US13579314
申请日：2011-02-18
申请人： Masaki Mori , Hideshi Ishii , Norikatsu Miyoshi , Yuichiro Doki , Masahiro Tanemura , Kenichi Nagai , Hiromitsu Hoshino , Yoshiaki Omura , Naotsugu Haraguchi , Susumu Miyazaki
发明人： Masaki Mori , Hideshi Ishii , Norikatsu Miyoshi , Yuichiro Doki , Masahiro Tanemura , Kenichi Nagai , Hiromitsu Hoshino , Yoshiaki Omura , Naotsugu Haraguchi , Susumu Miyazaki
IPC分类号： C12N5/071 , C12Q1/68 , C07H21/02 , C07H21/04 , C12N15/85 , C12N5/10
CPC分类号： C12N5/0696 , C12N2501/65 , C12N2506/1307 , C12N2506/1384 , G01N33/5008
摘要： A major object of the present invention is to provide a method for producing induced pluripotent stem cells with low tumorigenesis potential and high induction efficiency.The invention provides a method for producing induced pluripotent stem cells comprising the step of introducing one or more nucleic acids that facilitate expression of at least one gene selected from the group consisting of NANOG, SOX2, OCT3/4, KLF4, LIN28, and c-MYC into somatic cells.
摘要翻译：本发明的主要目的是提供一种具有低致瘤潜力和诱导效率高的诱导性多能干细胞的方法。本发明提供一种产生诱导多能干细胞的方法，包括引入一种或多种促进至少一种选自NANOG，SOX2，OCT3 / 4，KLF4，LIN28和c- MYC进入体细胞。

7. 发明授权

US08387726B2 Legged mobile robot 有权
标题翻译：有腿的移动机器人
公开(公告)号：US08387726B2
公开(公告)日：2013-03-05
申请号：US13152724
申请日：2011-06-03
申请人： Susumu Miyazaki
发明人： Susumu Miyazaki
IPC分类号： B62D57/032
CPC分类号： A63H11/00 , B25J9/106 , B62D57/032
摘要： A robot 1 is equipped with a leg 2 including a knee joint 16 connecting a thigh link 32 and a crus link 34. The knee joint 16 is equipped with a connecting rod 44, one end of which is connected so as to be freely rotatable with respect to an axis 40 of the crus link 34 and the other end of which is connected so as to be freely rotatable to an axis 42 of the thigh link 32, and a distance varying mechanism 50 which changes the distance between an axis 60 of the crus link 34 and an axis 56 of the thigh link 32 by a driving force of an electric motor 40. When a bending angle of the knee joint 16 is 0 degree, a sum of the distance between the axis 40 and axis 42 and the distance between the axis 60 and the axis 56, is smaller than the distance between the axis 40 and the axis 56.
摘要翻译：机器人1配备有包括连接大腿连杆32和十字连杆34的膝关节16的腿部2.膝关节16配备有连杆44，连杆44的一端连接成可自由转动，相对于十字连杆34的轴线40并且其另一端连接成能够自由旋转到大腿连杆32的轴线42;以及距离变化机构50，其改变了轴线60之间的距离通过电动机40的驱动力，大腿连杆32的轴线56和轴56.当膝关节16的弯曲角度为0度时，轴线40与轴42之间的距离和距离在轴线60和轴线56之间的距离小于轴线40和轴线56之间的距离。

8. 发明授权

US07884520B2 Brushless motor 有权
标题翻译：无刷电机
公开(公告)号：US07884520B2
公开(公告)日：2011-02-08
申请号：US12264453
申请日：2008-11-04
申请人： Hisashi Ishida , Tohru Yumoto , Masaki Ishizeki , Susumu Miyazaki , Kazushi Hamaya
发明人： Hisashi Ishida , Tohru Yumoto , Masaki Ishizeki , Susumu Miyazaki , Kazushi Hamaya
IPC分类号： H02K1/00
CPC分类号： H02K1/148
摘要： A brushless motor according to the present invention is provided with a tubular stator case, a stator core fitted into the stator case, and a rotor rotatably supported via a bearing inside the stator core. The stator core includes a tubular yoke portion and a plurality of split cores which are detachably mounted on the tubular yoke portion. A plurality of commutating-pole teeth which extend radially inward are integrally formed on an inner peripheral surface of the tubular yoke portion at regular intervals in the peripheral direction of the tubular yoke portion; and a root portion of each of the commutating-pole teeth has inclined shoulders which are gradually enlarged radially outward.
摘要翻译：根据本发明的无刷电动机设置有管状定子壳体，嵌合到定子壳体中的定子芯体和通过定子芯体内部的轴承可旋转地支撑的转子。定子铁芯包括管状磁轭部分和可拆卸地安装在管状磁轭部分上的多个分裂磁芯。在筒状轭部的圆周方向上以规则的间隔一体地形成有多个径向向内延伸的换向齿，并且每个整流齿的根部具有逐渐向径向外侧逐渐增大的倾斜肩部。

9. 发明授权

US07826925B2 Legged mobile robot 有权
标题翻译：有腿的移动机器人
公开(公告)号：US07826925B2
公开(公告)日：2010-11-02
申请号：US11578180
申请日：2005-02-18
申请人： Makoto Shishido , Susumu Miyazaki , Hiroyuki Kaneko
发明人： Makoto Shishido , Susumu Miyazaki , Hiroyuki Kaneko
IPC分类号： G06F19/00
CPC分类号： B25J19/0091
摘要： In a legged mobile robot having a body and legs connected to the body, a seating aid is provided at its body so as to enable to sit on a seat. With this, the space occupied by the robot can be decreased to reduce space during storage and transport, and also enhance safety in the course of transport. In addition, maintenance work is simplified because immobilization in the seated condition is possible. Still further, the range of works is expanded to enable deskwork and the like. Further, the seating aid is provided at a location that is rearward of a center of gravity of the robot when the robot is seated. With this, the moment acting on the robot about the center of gravity during seating does not operate to tilt the robot rearward and, therefore, the robot can be enabled to keep a stable posture from before to after sitting down.
摘要翻译：在具有连接到身体的身体和腿部的腿式移动机器人中，在其身体处设置座椅辅助件，以便能够坐在座椅上。由此，可以减少机器人占用的空间，以减少储存和运输过程中的空间，并提高运输过程中的安全性。另外，维护工作简化了，因为固定在就座状态是可能的。此外，扩展了作品的范围以实现书桌等。此外，当机器人就座时，座椅辅助装置设置在机器人的重心后方的位置。因此，在座椅期间作用于机器人关于重心的时刻不会使机器人向后倾斜，因此机器人能够在坐下之后保持稳定的姿势。

10. 发明授权

US07736535B2 Phosphor and vacuum ultraviolet excited luminescent element 失效
标题翻译：荧光粉和真空紫外激发发光元件
公开(公告)号：US07736535B2
公开(公告)日：2010-06-15
申请号：US10525014
申请日：2003-08-28
申请人： Takashi Takeda , Kenji Ono , Susumu Miyazaki
发明人： Takashi Takeda , Kenji Ono , Susumu Miyazaki
IPC分类号： C09K11/79 , C09K11/78 , H01J11/02
CPC分类号： C09K11/7792 , C09K11/7774 , H01J2211/42
摘要： A phosphor having high luminescence when excited by vacuum ultraviolet ray and a vacuum ultraviolet radiation excited light-emitting device comprising the phosphor. The phosphor comprises a metal oxide comprises at least one metal element M1 selected from the group consisting of Ca, Sr and Ba, at least one metal element M2 selected from the group consisting of Y, La, Gd and Lu, at least one metal element M3 selected from the group consisting of Si and Ge and oxygen, and at least one metal element Ln1 selected from the group consisting of Ce, Pr, Nd, Pm, Sm, Eu, Tb, Dy, Ho, Er, Tm, Yb, and Mn, as an activator.
摘要翻译：一种当通过真空紫外线激发时具有高发光性的荧光体和包括该荧光体的真空紫外线激发发光装置。荧光体包括金属氧化物，其包含选自由Ca，Sr和Ba组成的组中的至少一种金属元素M1，至少一种选自Y，La，Gd和Lu的金属元素M2，至少一种金属元素选自由Si和Ge组成的组的氧和选自由Ce，Pr，Nd，Pm，Sm，Eu，Tb，Dy，Ho，Er，Tm，Yb组成的组中的至少一种金属元素Ln1，和Mn作为活化剂。

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