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1. 发明授权

US07586242B2 Actuator and method for manufacturing planar electrode support for actuator 有权
标题翻译：用于致动器的平面电极支撑件的致动器和方法
公开(公告)号：US07586242B2
公开(公告)日：2009-09-08
申请号：US10588260
申请日：2005-02-03
申请人： Kazuo Yokoyama , Katsuhiko Asai , Nozomu Matsukawa , Masaki Yamamoto
发明人： Kazuo Yokoyama , Katsuhiko Asai , Nozomu Matsukawa , Masaki Yamamoto
IPC分类号： H01L41/047
CPC分类号： B25J9/1095 , H02N11/006 , Y10S310/80 , Y10T156/1043
摘要： An actuator as a drive source of robots and the like is usable for housekeeping assistance, job assistance, and nursing help. The drive source itself is small, light, flexible, and safe. A manufacturing method for a planar electrode support therefor is also described. The actuator has an electrolyte layer in contact with a conductive polymer layer disposed in between a first electrode having the conductive polymer layer attached thereto and opposite second electrode, for deforming the conductive polymer layer by application of electric fields to the electrodes. The first electrode has low rigidity in a longitudinal direction of the conductive polymer layer to facilitate expansion and contraction thereof.
摘要翻译：作为机器人等的驱动源的致动器可用于家政帮助，工作援助和护理帮助。驱动源本身体积小，重量轻，灵活，安全。还描述了一种用于其平面电极支撑件的制造方法。致动器具有与导电聚合物层接触的电解质层，导电聚合物层设置在具有附着于其上的导电聚合物层的第一电极和相对的第二电极之间，用于通过向电极施加电场来使导电聚合物层变形。第一电极在导电聚合物层的纵向上具有低刚性以便于其膨胀和收缩。

2. 发明申请

US20070159031A1 Actuator and method for manufacturing planar electrode support for actuator 有权
标题翻译：用于致动器的平面电极支撑件的致动器和方法
公开(公告)号：US20070159031A1
公开(公告)日：2007-07-12
申请号：US10588260
申请日：2005-02-03
申请人： Kazuo Yokoyama , Katsuhiko Asai , Nozomu Matsukawa , Masaki Yamamoto
发明人： Kazuo Yokoyama , Katsuhiko Asai , Nozomu Matsukawa , Masaki Yamamoto
IPC分类号： H01L41/08
CPC分类号： B25J9/1095 , H02N11/006 , Y10S310/80 , Y10T156/1043
摘要： An actuator as a drive source of robots and the like usable for housekeeping assistance, job assistance, and nursing help, in which a drive source itself is small-size, light-weighted, and flexible as well as safe, and a manufacturing method for a planar electrode support therefor are provided. The actuator has an electrolyte layer in contact with a conductive polymer layer disposed in between an electrode having the conductive polymer layer attached thereto and an opposite electrode, for deforming the conductive polymer layer to be swelled and shrunken by application of electric fields to between both electrodes, in which the electrode having the conductive polymer layer attached thereto is a planar electrode which is patterned so that rigidity in a longitudinal direction that is an expansion and contraction direction of the conductive polymer layer is low.
摘要翻译：作为可用于家庭帮助，作业辅助和护理帮助的机器人的驱动源的致动器，其中驱动源本身是小尺寸，轻重量，并且柔性以及安全的，以及制造方法提供了一种平面电极支撑。致动器具有与导电聚合物层接触的电解质层，该导电聚合物层设置在其上附着有导电聚合物层的电极和相对电极之间，用于使导电聚合物层变形以通过施加到两个电极之间的电场而膨胀和收缩其中附着有导电聚合物层的电极是平面电极，其被图案化，使得作为导电聚合物层的膨胀和收缩方向的纵向方向的刚性低。

3. 发明授权

US07654595B2 Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism 有权
标题翻译：多关节驱动机构及其制造方法，并用手抓握机器人
公开(公告)号：US07654595B2
公开(公告)日：2010-02-02
申请号：US10518756
申请日：2003-06-23
申请人： Kazuo Yokoyama , Atsushi Ono , Katsuhiko Asai , Yuji Adachi , Masaki Yamamoto
发明人： Kazuo Yokoyama , Atsushi Ono , Katsuhiko Asai , Yuji Adachi , Masaki Yamamoto
IPC分类号： B25J15/12
CPC分类号： B25J9/142 , B25J15/10
摘要： A multi-joint drive mechanism includes a bone-member layer member (101) in which a plurality of bone members are arranged in arrays and in a generally planar fashion, the plurality of bone members being movably coupled at coupling portions (3A), and elastically expanding/contracting members (3) which are arranged so as to stretch over the coupling portions on one side or both sides of the bone-member layer member and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanism drives flexural motions of joints between the plurality of adjoining bone members by expanding or contracting the elastically expanding/contracting member.
摘要翻译：多关节驱动机构包括骨构件层构件（101），其中多个骨构件以阵列方式布置并且以大致平面的方式布置，所述多个骨构件在联接部分（3A）处可移动地联接，以及弹性扩张/收缩构件（3），其布置成在骨构件层构件的一侧或两侧上的连接部分上延伸，并且还固定在多个骨构件之间，其中多关节驱动机构通过扩张或收缩弹性膨胀/收缩构件来驱动多个相邻的骨构件之间的接合部的弯曲运动。

4. 发明授权

US07679268B2 Polymer actuator having active member layer that expands or contracts upon application of electric field 有权
标题翻译：聚合物致动器具有在施加电场时膨胀或收缩的活性构件层
公开(公告)号：US07679268B2
公开(公告)日：2010-03-16
申请号：US11806001
申请日：2007-05-29
申请人： Kazuo Yokoyama , Katsuhiko Asai , Yuji Kudoh , Masaki Yamamoto
发明人： Kazuo Yokoyama , Katsuhiko Asai , Yuji Kudoh , Masaki Yamamoto
IPC分类号： H01L41/04
CPC分类号： B25J9/1095 , F03G7/005 , H02N1/002 , Y10S310/80
摘要： A plane thin-type polymer actuator is provided with a conductive active member serving as a first electrode layer, and a second electrode layer, with at least a first electrolytic layer made in contact with the active member layer. The first electrolytic layer being sealed between the two electrode layers so that, by applying an electric field between the two electrode layers, the active member layer is expanded and contracted. In this structure, the first electrolytic layer is a solid-state electrolyte having a specific elastic modulus, or a liquid-state electrolyte. A holding member is provided to maintain the thickness between the active member layer and the second electrode layer.
摘要翻译：平面薄型聚合物致动器设置有用作第一电极层的导电有源部件和具有与活性部件层接触的至少第一电解质层的第二电极层。第一电解质层被密封在两个电极层之间，使得通过在两个电极层之间施加电场，活性构件层膨胀和收缩。在该结构中，第一电解质层是具有比弹性模量的固体电解质或液态电解质。提供保持构件以保持有源构件层和第二电极层之间的厚度。

5. 发明申请

US20070257582A1 Polymer actuator 有权
标题翻译：聚合物致动器
公开(公告)号：US20070257582A1
公开(公告)日：2007-11-08
申请号：US11806001
申请日：2007-05-29
申请人： Kazuo Yokoyama , Katsuhiko Asai , Yuji Kudoh , Masaki Yamamoto
发明人： Kazuo Yokoyama , Katsuhiko Asai , Yuji Kudoh , Masaki Yamamoto
IPC分类号： H01L41/00
CPC分类号： B25J9/1095 , F03G7/005 , H02N1/002 , Y10S310/80
摘要： A plane thin-type polymer actuator is provided with a conductive active member serving as a first electrode layer, and a second electrode layer, with at least a first electrolytic layer made in contact with the active member layer being sealed between the two electrode layers, so that by applying an electric field between the two electrode layers, the active member layer is expanded and contracted, and in this structure, the first electrolytic layer is a solid-state electrolyte having a specific elastic modulus, or a liquid-state electrolyte, and a holding member that maintains the thickness between the active member layer and the second electrode layer is installed.
摘要翻译：平面薄型聚合物致动器设置有用作第一电极层的导电有源部件和第二电极层，至少与活性部件层接触的第一电解质层被密封在两个电极层之间，使得通过在两个电极层之间施加电场，活性构件层膨胀和收缩，在该结构中，第一电解质层是具有比弹性模量的固态电解质或液态电解质，并且安装保持有源构件层和第二电极层之间的厚度的保持构件。

6. 发明申请

US20050218679A1 Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism 有权
标题翻译：铰接驱动机构，制造机构的方法，以及使用机构握持手和机器人
公开(公告)号：US20050218679A1
公开(公告)日：2005-10-06
申请号：US10518756
申请日：2003-06-23
申请人： Kazuo Yokoyama , Atsushi Ono , Katsuhiko Asai , Yuji Adachi , Masaki Yamamoto
发明人： Kazuo Yokoyama , Atsushi Ono , Katsuhiko Asai , Yuji Adachi , Masaki Yamamoto
IPC分类号： B25J9/14 , B25J15/10 , B25J15/12
CPC分类号： B25J9/142 , B25J15/10
摘要： A multi-joint drive mechanism includes a bone-member layer member in which a plurality of bone members are arranged in arrays and in a generally planar fashion, the plurality of bone members being movably coupled at coupling portions, and elastically expanding/contracting members which are arranged so as to stretch over the coupling portions on one side or both sides of the bone-member layer member and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanism drives flexural motions of joints between the plurality of adjoining bone members by expanding or contracting the elastically expanding/contracting member.
摘要翻译：多关节驱动机构包括：骨构件层构件，其中多个骨构件以阵列方式布置并且以大致平面的方式布置，所述多个骨构件在联接部处可移动地联接，弹性扩张/收缩构件被布置成在骨构件层构件的一侧或两侧上的连接部分上延伸，并且还固定在多个骨构件之间，其中多关节驱动机构驱动多个骨构件之间的关节的弯曲运动通过膨胀或收缩弹性膨胀/收缩构件的邻接的骨构件。

7. 发明申请

US20060174761A1 Compressible fluid pressure actuator 有权
标题翻译：可压缩流体压力执行器
公开(公告)号：US20060174761A1
公开(公告)日：2006-08-10
申请号：US11360815
申请日：2006-02-24
申请人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
发明人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
IPC分类号： F01B19/00
CPC分类号： F15B11/04 , B25J9/1075 , B25J9/142 , F15B11/06 , F15B15/103 , F15B2211/40507 , F15B2211/7052 , F15B2211/755
摘要： An inner space connected to a power source and an inner space connected by way of a pressure loss part with respect to the flow of compressible fluid are provided, thereby obtaining effects similar to when the volume occupied by the compressible fluid with respect to the entire inner space is reduced when the pressure of the pressure source is rapidly changed, and effects similar to when the entire inner space is one space when static load is applied from the outside.
摘要翻译：提供连接到电源的内部空间和通过压缩损失部分相对于可压缩流体的流动连接的内部空间，从而获得与当可压缩流体相对于整个内部的体积占据的效果相似的效果当压力源的压力快速变化时，空间减小，并且当从外部施加静负荷时，当整个内部空间是一个空间时，效果类似。

8. 发明申请

US20060207419A1 Apparatus and method for controlling elastic actuator 有权
标题翻译：用于控制弹性致动器的装置和方法
公开(公告)号：US20060207419A1
公开(公告)日：2006-09-21
申请号：US11384568
申请日：2006-03-21
申请人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
发明人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
IPC分类号： F15B21/02
CPC分类号： F15B11/20 , B25J9/142 , F15B9/09 , F15B15/103
摘要： An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.
摘要翻译：通过压力测量装置测量液压气动驱动致动器的内部压力，测量可移动机构的位移量，输入期望值和位移的测量值，以便通过位置误差补偿来补偿位置误差通过期望的压力差计算装置计算通过期望值执行对向驱动的致动器的压力差的期望值，来自位置误差补偿装置，期望压力差计算装置和压力的输出输入测量装置，并通过压差误差补偿装置补偿压差误差。

9. 发明授权

US07415321B2 Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：US07415321B2
公开(公告)日：2008-08-19
申请号：US10538770
申请日：2003-12-11
申请人： Yasunao Okazaki , Kazuyuki Sakiyama , Katsuhiko Asai , Masaki Yamamoto
发明人： Yasunao Okazaki , Kazuyuki Sakiyama , Katsuhiko Asai , Masaki Yamamoto
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , G05B2219/39543 , G05B2219/40609
摘要： Realized is a robot controller capable of handling a large amount of data of images and so on necessary for advanced intelligence of control while securing a real-time performance with a simple structure. For this purpose, there are provided a motion control device for performing a calculation process for achieving motion control of an object to be controlled, a recognition and planning device for performing task and motion planning of the object to be controlled and recognition of outside world, an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled, and a route selecting device for controlling communications by switching connections among the motion control device the recognition and planning device, and the input/output interface. While controlling the communications by switching the connections among the motion control device, the recognition and planning device, and the input/output interface by the route selecting device, the motions of the robot of the object to be controlled are controlled on the basis of the results of the task and motion planning of the object to be controlled and the recognition of the outside world.
摘要翻译：实现了一种机器人控制器，能够处理大量数据的图像数据，因此需要先进的控制智能，同时以简单的结构确保实时性能。为此，提供了一种用于执行用于实现要控制的对象的运动控制的计算处理的运动控制装置，用于执行要控制的对象的任务和运动规划的识别和计划装置以及外部世界的识别，输入/输出接口，用于向要被控制和接收的对象输出命令，要被控制的对象的状态;以及路由选择装置，用于通过在运动控制装置之间切换连接来进行通信，该识别和规划装置，以及输入/输出接口。在通过切换运动控制装置，识别和规划装置之间的连接以及路线选择装置的输入/输出接口来控制通信的同时，基于所控制的对象的机器人的运动进行控制要控制的对象的任务和运动规划的结果以及对外界的认可。

10. 发明授权

US07260450B2 Apparatus and method for controlling elastic actuator 有权
标题翻译：用于控制弹性致动器的装置和方法
公开(公告)号：US07260450B2
公开(公告)日：2007-08-21
申请号：US11654569
申请日：2007-01-18
申请人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
发明人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
IPC分类号： G05B19/00 , G05B19/18
CPC分类号： F15B11/20 , B25J9/142 , F15B9/09 , F15B15/103
摘要： An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.
摘要翻译：通过压力测量装置测量液压气动驱动致动器的内部压力，测量可移动机构的位移量，输入期望值和位移的测量值，以便通过位置误差补偿来补偿位置误差通过期望的压力差计算装置计算通过期望值执行对向驱动的致动器的压力差的期望值，来自位置误差补偿装置，期望压力差计算装置和压力的输出输入测量装置，并通过压差误差补偿装置补偿压差误差。

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