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1. 发明授权

US5963331A Shape input device 失效
标题翻译：形状输入装置
公开(公告)号：US5963331A
公开(公告)日：1999-10-05
申请号：US990964
申请日：1997-12-15
申请人： Kazuhiko Arai , Susumu Tachi
发明人： Kazuhiko Arai , Susumu Tachi
IPC分类号： G01B7/28 , A61B5/103 , A61B5/11 , G01B5/30 , G01B11/16 , G01B21/22 , G06F3/00 , G06F3/01 , G06F3/033 , G01B11/24 , G01B11/02 , G06F15/00 , G01B5/34
CPC分类号： G06F3/014 , A61B5/103 , A61B5/1107 , A61B5/4528 , G01B11/16 , G01B5/30 , G06F3/011 , A61B2562/0261 , A61B2562/0266 , A61B2562/043 , A61B5/6806 , A61B5/6828
摘要： A device for inputting a shape of an object includes a base mounted on the object, a flex detecting unit for detecting an amount of flex of the object, and a stretch detecting unit, coupled to the base and to the flex detecting unit, for detecting an amount of stretch between the base and the flex detecting unit which corresponds to an amount of stretch of the object. The stretch detecting unit includes a stretch mechanism which is expanded or contracted in accordance with the stretch of the object, and the amount of stretch of the object is detected based on a detected amount of stretch of the stretch mechanism. The flex detecting unit includes a member which is deformable in an amount corresponding to the amount of flex of the object, and the amount of flex of the object is detected based on a detected amount of deformation of the deformable member.
摘要翻译：用于输入物体的形状的装置包括安装在物体上的基座，用于检测物体的弯曲量的挠曲检测单元和连接到基座和柔性检测单元的伸展检测单元，用于检测物体在基部和挠曲检测单元之间的伸展量对应于物体的伸展量。拉伸检测单元包括拉伸机构，该拉伸机构根据被检体的伸展进行伸缩，根据检测到的拉伸机构的拉伸量来检测被检体的伸展量。柔性检测单元包括能够对应于物体的弯曲量的变形量的构件，并且基于检测到的可变形构件的变形量来检测物体的挠曲量。

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

US4314379A Apparatus for discrimination of myoelectric potential patterns 失效
标题翻译：用于鉴别肌电势模式的装置
公开(公告)号：US4314379A
公开(公告)日：1982-02-09
申请号：US123096
申请日：1980-02-20
申请人： Kazuo Tanie , Susumu Tachi
发明人： Kazuo Tanie , Susumu Tachi
IPC分类号： A61B5/0488 , A61F2/70 , A61F2/72 , A61F1/00
CPC分类号： A61F2/72 , A61F2002/704
摘要： An apparatus for the discrimination of myoelectric potential patterns, which operates with a procedure comprising the steps of discriminantly screening instruction signals from myoelectric potential signals issuing from the subject's body, performing arithmetic operations of the linear-discriminant functions on the instruction signals against the gravity coefficients fixed in advance based on the data of average myoelectric potential patterns from the modes of motions involved, and classifying the signal of the largest value selected from the results of said arithmetic operations with respect to the prescribed mode of motion.
摘要翻译：一种用于鉴别肌电位模式的装置，其操作方法包括以下步骤：从主体的身体发出的肌电势信号中区分性地筛选指令信号，对指示信号执行针对重力系数的线性判别函数的算术运算基于来自所涉及的运动模式的平均肌电势图案的数据预先固定，并且根据所述算术运算结果从规定的运动方式中选出的最大值的信号进行分类。

4. 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。

5. 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。

6. 发明授权

US06342915B1 Image telecommunication system 失效
标题翻译：图像电信系统
公开(公告)号：US06342915B1
公开(公告)日：2002-01-29
申请号：US09038629
申请日：1998-03-12
申请人： Nobuyuki Ozaki , Susumu Tachi
发明人： Nobuyuki Ozaki , Susumu Tachi
IPC分类号： H04N718
CPC分类号： H04N7/14 , H04N7/18
摘要： An image telecommunication system comprises a worker's device and a manager's device. The worker's device collects an image of an object and transmits it to the manager's device placed in a remote place, so that the image is displayed on a display screen of the manager's device. The manager's device transmits a designated position of the image, designated in a state where the image is displayed, to the worker's device. The worker's device indicates a position of the object corresponding to the designated position received from the manager's device. The worker's device detects a point of view of the worker. The manager's device suppresses fluctuation of the image displayed on the display screen, when it is determined that the worker looks at the object substantially continuously.
摘要翻译：图像电信系统包括工人的设备和管理者的设备。工作人员的设备收集对象的图像并将其发送到放置在远程位置的管理者设备，以便将图像显示在管理者设备的显示屏幕上。经理的设备将在图像显示状态下指定的图像的指定位置发送到工作人员的设备。工作人员的设备指示对应于从管理者设备接收到的指定位置的对象的位置。工作人员的设备检测到工作人员的观点。当确定工作者基本连续地看着物体时，经理的设备抑制显示在显示屏幕上的图像的波动。

7. 发明授权

US4928047A Manipulator and control method 失效
标题翻译：机械手和控制方法
公开(公告)号：US4928047A
公开(公告)日：1990-05-22
申请号：US325926
申请日：1989-03-20
申请人： Hirohiko Arai , Susumu Tachi
发明人： Hirohiko Arai , Susumu Tachi
IPC分类号： B25J17/00 , B25J9/04 , B25J9/06 , B25J9/16 , B25J19/00
CPC分类号： B25J19/0004 , B25J9/042 , B25J9/06 , B25J9/1615 , Y10S700/90
摘要： A multiple-degree-of-freedom manipulator having a plurality of joints is improved by providing some of said plurality of joints being provided with holding brakes, and providing any remaining joints with actuators which generate angular acceleration or linear acceleration in the joints provided with holding brakes while the holding brakes of the joints are released. A method of controlling the multiple-degree-of-freedom manipulators provided with one or more joints provided with holding brakes and one or more joints provided with actuators, comprises the steps of controlling the angular displacement or linear displacement of joints which have no actuators by the torque or force of joints which have actuators by means of the dynamic coupling between joints while the holding brakes are released, and controlling the angular displacement or linear displacement of joints which have actuators by means of the actuators while the brakes are engaged.
摘要翻译：具有多个接头的多自由度操纵器通过提供一些所述多个接头设置有保持制动器而提供，并且向所述剩余接头提供具有在具有保持力的接头中产生角加速度或线性加速度的致动器制动器在关节的抱闸被释放时。一种控制具有设置有保持制动器的一个或多个接头和设置有致动器的一个或多个接头的多个自由度操纵器的方法包括以下步骤：控制不具有致动器的接头的角位移或线性位移，在保持制动器被释放的同时借助于接头之间的动态联接而具有致动器的接头的扭矩或力，并且在制动器接合时控制通过致动器具有致动器的接头的角位移或线性位移。

8. 发明授权

US4570227A Portable map display apparatus 失效
标题翻译：便携式地图显示装置
公开(公告)号：US4570227A
公开(公告)日：1986-02-11
申请号：US407290
申请日：1982-08-11
申请人： Susumu Tachi , Kiyoshi Komoriya
发明人： Susumu Tachi , Kiyoshi Komoriya
IPC分类号： G01C21/00 , G01C21/20 , G05D1/02 , G06F17/50 , G09B21/00 , G09B29/10 , G06F15/50
CPC分类号： G06Q10/04 , G01C21/20 , G09B21/007 , G09B29/106
摘要： A portable map display apparatus stores, in a memory, features of a plurality of points on a given map and features of routes connecting such points and, on receiving input signals concerning a given point of start and a given destination, sequentially displays, on an output device, the information on the optimum route to be followed in reaching the destination from the point of start.
摘要翻译：便携式地图显示装置在存储器中存储给定地图上的多个点的特征和连接这些点的路线的特征，并且在接收到关于给定起点和给定目的地的输入信号时，在输出设备，从起始点到达目的地的最佳路线信息。

9. 发明授权

US07926370B2 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：US07926370B2
公开(公告)日：2011-04-19
申请号：US10596628
申请日：2004-12-17
申请人： Ichiro Kawabuchi , Susumu Tachi , Naoaki Kawakami
发明人： Ichiro Kawabuchi , Susumu Tachi , Naoaki Kawakami
IPC分类号： F16H21/00
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。旋转和延伸/缩回关节机构11被配置为将第一连杆5和第二连杆9联接成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完全旋转的状态与第二虚拟中心线7重叠，在穿过第一虚拟中心线3时，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上移位相应于旋转角度。

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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