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1. 发明授权

US06992455B2 Leg device for leg type movable robot, and method of controlling leg type movable robot 有权
标题翻译：腿式活动机器人的腿部装置以及腿型可移动机器人的控制方法
公开(公告)号：US06992455B2
公开(公告)日：2006-01-31
申请号：US10474636
申请日：2003-02-14
申请人： Keisuke Kato , Goushi Koike , Susumu Tosaka , Hiroaki Morikawa , Jinichi Yamaguchi , Kenichiro Nagasaka , Masakuni Nagano
发明人： Keisuke Kato , Goushi Koike , Susumu Tosaka , Hiroaki Morikawa , Jinichi Yamaguchi , Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： B25J5/00
CPC分类号： B25J19/0091 , B62D57/02 , B62D57/032
摘要： In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.
摘要翻译：在脚踏式移动机器人的脚下，脚的变形被第一凹部吸收，接地部的位置和形状几乎不变化。因此，可以减小抵抗绕偏转轴线的力矩的阻力的变化，并且可以防止旋转运动。此外，当脚放置在凸块或台阶上时，柔性部分变形并接收它，并且在柔性部分和凸起之间产生摩擦保持力。因此，脚可以柔性地适应于路面，并且防止由碰撞和过快运动引起的滑动。因此，脚可以适应各种路面，例如具有凸起和凹陷的表面，并且可以提高姿态稳定性。

2. 发明申请

US20050067993A1 Leg device for leg type movable robot, and method of controlling leg type movable robot 有权
标题翻译：腿式活动机器人的腿部装置以及腿型可移动机器人的控制方法
公开(公告)号：US20050067993A1
公开(公告)日：2005-03-31
申请号：US10474636
申请日：2003-02-14
申请人： Keisuke Kato , Goushi Koike , Susumu Tosaka , Hiroaki Morikawa , Jinichi Yamaguchi , Kenichiro Nagasaka , Masakuni Nagano
发明人： Keisuke Kato , Goushi Koike , Susumu Tosaka , Hiroaki Morikawa , Jinichi Yamaguchi , Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： B25J19/00 , B62D57/02 , B62D57/032 , B25J5/00
CPC分类号： B25J19/0091 , B62D57/02 , B62D57/032
摘要： In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.
摘要翻译：在脚踏式移动机器人的脚下，脚的变形被第一凹部吸收，接地部的位置和形状几乎不变化。因此，可以减小抵抗绕偏转轴线的力矩的阻力的变化，并且可以防止旋转运动。此外，当脚放置在凸块或台阶上时，柔性部分变形并接收它，并且在柔性部分和凸起之间产生摩擦保持力。因此，脚可以柔性地适应于路面，并且防止由碰撞和过快运动引起的滑动。因此，脚可以适应各种路面，例如具有凸起和凹陷的表面，并且可以提高姿态稳定性。

3. 发明授权

US08350806B2 Force/tactile display, method for controlling force/tactile display, and computer program 有权
标题翻译：力/触觉显示，力/触觉显示控制方法和计算机程序
公开(公告)号：US08350806B2
公开(公告)日：2013-01-08
申请号：US12072225
申请日：2008-02-25
申请人： Kenichiro Nagasaka , Masakuni Nagano , Keisuke Kato
发明人： Kenichiro Nagasaka , Masakuni Nagano , Keisuke Kato
IPC分类号： G09G5/00
CPC分类号： G06F3/016
摘要： A force/tactile display that presents force/tactile sensation that occurs in response to physical interaction with each of a plurality of objects present in a virtual environment includes an action point defined on the mechanical structure, the action point presenting the force/tactile sensation, an applied force control means for controlling the force exerted on the action point, and an action point control means for controlling the position of the action point.
摘要翻译：呈现响应于存在于虚拟环境中的多个物体的物理相互作用而发生的力/触感的力/触觉显示包括在机械结构上定义的动作点，呈现力/触觉的动作点，用于控制施加在作用点上的力的施加力控制装置和用于控制作用点的位置的动作点控制装置。

4. 发明授权

US08138895B2 Force/tactile feedback device 有权
标题翻译：力/触觉反馈装置
公开(公告)号：US08138895B2
公开(公告)日：2012-03-20
申请号：US12252624
申请日：2008-10-16
申请人： Keisuke Kato , Kenichiro Nagasaka , Masakuni Nagano , Yasunori Kawanami
发明人： Keisuke Kato , Kenichiro Nagasaka , Masakuni Nagano , Yasunori Kawanami
IPC分类号： H04B3/36
CPC分类号： G06F3/016 , G06F3/011
摘要： A force/tactile feedback device feeding back a force sense to a fingertip of an operator includes a fingerstall to which the fingertip of the operator is inserted, a position feedback means for feeding back a position to the fingertip held by the fingerstall, a fingertip contact point feedback means for feeding back a fingertip contact point to the fingertip held by the fingerstall and an unnecessary moment removal means for supporting the fingertip contact point feedback means so that unnecessary moment is not generated at a tip portion of the position feedback means.
摘要翻译：将力感觉反馈给操作者的指尖的力/触觉反馈装置包括：操作者的指尖插入的手指装置，用于将位置反馈到由指装置保持的指尖的位置反馈装置，指尖触点用于将指尖接触点反馈到由指装置保持的指尖的点反馈装置和用于支撑指尖接触点反馈装置的不必要的力矩去除装置，使得在位置反馈装置的尖端部分处不产生不必要的力矩。

5. 发明申请

US20090102620A1 FORCE/TACTILE FEEDBACK DEVICE 有权
标题翻译：强制/触觉反馈装置
公开(公告)号：US20090102620A1
公开(公告)日：2009-04-23
申请号：US12252624
申请日：2008-10-16
申请人： Keisuke Kato , Kenichiro Nagasaka , Masakuni Nagano , Yasunori Kawanami
发明人： Keisuke Kato , Kenichiro Nagasaka , Masakuni Nagano , Yasunori Kawanami
IPC分类号： G08B6/00
CPC分类号： G06F3/016 , G06F3/011
摘要： A force/tactile feedback device feeding back a force sense to a fingertip of an operator includes a fingerstall to which the fingertip of the operator is inserted, a position feedback means for feeding back a position to the fingertip held by the fingerstall, a fingertip contact point feedback means for feeding back a fingertip contact point to the fingertip held by the fingerstall and an unnecessary moment removal means for supporting the fingertip contact point feedback means so that unnecessary moment is not generated at a tip portion of the position feedback means.
摘要翻译：将力感觉反馈给操作者的指尖的力/触觉反馈装置包括：操作者的指尖插入的手指装置，用于将位置反馈到由指装置保持的指尖的位置反馈装置，指尖触点用于将指尖接触点反馈到由指装置保持的指尖的点反馈装置和用于支撑指尖接触点反馈装置的不必要的力矩去除装置，使得在位置反馈装置的尖端部分处不产生不必要的力矩。

6. 发明申请

US20080204425A1 Force/tactile display, method for controlling force/tactile display, and computer program 有权
标题翻译：力/触觉显示，力/触觉显示控制方法和计算机程序
公开(公告)号：US20080204425A1
公开(公告)日：2008-08-28
申请号：US12072225
申请日：2008-02-25
申请人： Kenichiro Nagasaka , Masakuni Nagano , Keisuke Kato
发明人： Kenichiro Nagasaka , Masakuni Nagano , Keisuke Kato
IPC分类号： G06F3/041
CPC分类号： G06F3/016
摘要： A force/tactile display that presents force/tactile sensation that occurs in response to physical interaction with each of a plurality of objects present in a virtual environment includes an action point defined on the mechanical structure, the action point presenting the force/tactile sensation, an applied force control means for controlling the force exerted on the action point, and an action point control means for controlling the position of the action point.
摘要翻译：呈现响应于存在于虚拟环境中的多个物体的物理相互作用而发生的力/触感的力/触觉显示包括在机械结构上定义的动作点，呈现力/触觉的动作点，用于控制施加在作用点上的力的施加力控制装置和用于控制作用点的位置的动作点控制装置。

7. 发明申请

US20100005907A1 TORQUE MEASURING APPARATUS AND ACTUATOR DRIVE CONTROL SYSTEM 失效
标题翻译：扭矩测量装置和执行器驱动控制系统
公开(公告)号：US20100005907A1
公开(公告)日：2010-01-14
申请号：US12472555
申请日：2009-05-27
申请人： Keisuke Kato , Kenichiro Nagasaka
发明人： Keisuke Kato , Kenichiro Nagasaka
IPC分类号： G01L1/22
CPC分类号： G01L3/1457
摘要： A torque measuring apparatus includes: a flexure element that is attached between an output shaft of an actuator or a speed reducer as a torque measurement object and a load object, and includes a main flexure part displaced mainly around the output shaft according to a torque applied from the load object, and an auxiliary flexure part to remove a displacement component other than the displacement of the main flexure part around the output shaft; and at least one pair of strain gauges attached to the main flexure part. The torque is measured based on electric signals outputted from the respective strain gauges.
摘要翻译：一种扭矩测量装置，包括：挠曲元件，其安装在作为扭矩测量对象的致动器的输出轴或减速器和负载物体之间，并且包括主要绕输出轴周围的扭矩施加的主弯曲部分以及辅助挠曲部件，以除去除了主弯曲部分围绕输出轴的位移之外的位移部件; 以及至少一对连接到主弯曲部分的应变计。根据从各应变仪输出的电信号测量转矩。

8. 发明授权

US08161827B2 Torque measuring apparatus and actuator drive control system 失效
标题翻译：扭矩测量装置和执行器驱动控制系统
公开(公告)号：US08161827B2
公开(公告)日：2012-04-24
申请号：US12472555
申请日：2009-05-27
申请人： Keisuke Kato , Kenichiro Nagasaka
发明人： Keisuke Kato , Kenichiro Nagasaka
IPC分类号： G01L1/22
CPC分类号： G01L3/1457
摘要： A torque measuring apparatus includes: a flexure element that is attached between an output shaft of an actuator or a speed reducer as a torque measurement object and a load object, and includes a main flexure part displaced mainly around the output shaft according to a torque applied from the load object, and an auxiliary flexure part to remove a displacement component other than the displacement of the main flexure part around the output shaft; and at least one pair of strain gauges attached to the main flexure part. The torque is measured based on electric signals outputted from the respective strain gauges.
摘要翻译：一种扭矩测量装置，包括：挠曲元件，其安装在作为扭矩测量对象的致动器的输出轴或减速器和负载物体之间，并且包括主要绕输出轴周围的扭矩施加的主弯曲部分以及辅助挠曲部件，以除去除了主弯曲部分围绕输出轴的位移之外的位移部件; 以及至少一对连接到主弯曲部分的应变计。根据从各应变仪输出的电信号测量转矩。

9. 发明授权

US10779918B2 Interdental cleaning tool 有权
公开(公告)号：US10779918B2
公开(公告)日：2020-09-22
申请号：US15580423
申请日：2016-06-08
申请人： Keisuke Kato , Makiko Yamane , Shinya Sakurai
发明人： Keisuke Kato , Makiko Yamane , Shinya Sakurai
IPC分类号： A61C15/00 , A61C15/02 , A46B3/00 , A46B9/04 , B29C45/14 , B29C45/26 , B29C45/16 , A46B5/00 , A46B15/00
摘要： Provided is an interdental cleaning tool which has a simple configuration and can effectively prevent an occurrence of breakage of a core base portion when inserting the interdental cleaning tool into an interdental space or during interdental cleaning without reducing productivity of the interdental cleaning tool. An interdental cleaning tool (1) includes: a base portion (10) made of a synthetic resin; and a soft portion (20) made of an elastomer, the base portion (10) having a handle base portion (11) and a core base portion (12), the soft portion (20) having at least a cleaning soft portion (21) that covers the core base portion (12), in which two or more cleaning portion recesses (14) which penetrate the cleaning soft portion (21) and form core base portion recesses in the core base portion (12) are formed on each of a first side portion and second side portion of a cleaning portion (2) at an interval in an axial direction of the cleaning portion (2), and at least one set of two cleaning portion recesses (14) out of plural sets of cleaning portion recesses (14) paired with each other between the first side portion and the second side portion are formed at an interval in the axial direction of the cleaning portion (2) so as not to overlap each other in a circumferential direction of the cleaning portion (2).

10. 发明授权

US09007558B2 Liquid crystal display 有权
标题翻译：液晶显示器
公开(公告)号：US09007558B2
公开(公告)日：2015-04-14
申请号：US13553018
申请日：2012-07-19
申请人： Yoshihisa Iwamoto , Kunihiko Katano , Keisuke Kato
发明人： Yoshihisa Iwamoto , Kunihiko Katano , Keisuke Kato
IPC分类号： G02F1/1339 , G02F1/139 , G02F1/1337 , G02F1/1343 , G02F1/137
CPC分类号： G02F1/1393 , G02F1/133784 , G02F1/13394 , G02F1/134336 , G02F2001/133742 , G02F2001/133746 , G02F2001/13712 , G02F2203/64
摘要： To improve the display uniformity in a vertical alignment liquid crystal display. A liquid crystal display includes: first and second substrates; first and second electrodes provided the substrates, respectively; first and second vertical alignment films provided on the substrates respectively; a plurality of columnar spacers disposed at least in a region where the first and second electrodes are superimposed, and provided between the first and second substrates; and a liquid crystal layer provided between the first and second substrates. The first vertical alignment film is subject to an alignment treatment in one direction. The liquid crystal layer has a pretilt angle during non-application of voltage. Each columnar spacer has a profile, in a planar view, which is not orthogonal to and which is not parallel with an alignment direction of liquid crystal molecules at substantially center of the liquid crystal layer in a layer thickness direction.
摘要翻译：为了提高垂直取向液晶显示器的显示均匀性。液晶显示器包括：第一和第二基板; 第一和第二电极分别设置在基板上; 分别设置在基板上的第一和第二垂直取向膜; 至少在第一和第二电极重叠的区域中设置的多个柱状间隔件，并且设置在第一和第二基板之间; 以及设置在第一和第二基板之间的液晶层。第一垂直取向膜在一个方向上进行取向处理。液晶层在不施加电压时具有预倾角。每个柱状间隔物在平面图中具有与层厚度方向上基本上位于液晶层中心处的液晶分子的正交不平行的剖面。

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