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1. 发明授权

US6037839A BTL amplifying circuit 有权
标题翻译： BTL放大电路
公开(公告)号：US6037839A
公开(公告)日：2000-03-14
申请号：US179214
申请日：1998-10-27
申请人： Kenichi Kokubo , Koji Tatani , Takayuki Taira
发明人： Kenichi Kokubo , Koji Tatani , Takayuki Taira
IPC分类号： H03F3/68 , H03F3/18 , H03F3/30
CPC分类号： H03F3/3081
摘要： When first and fourth output transistors (15) and (18) are turned on, the voltage at the connecting point between the first and second driving transistors (19) and (20) drops. When second and third output transistors (16) and (17) are turned on, the voltage at the connecting point between third and fourth driving transistors (21) and (22) drops. As a result, voltage differences between the collectors and emitters of the first and second input transistors (2), (3) and the first and second current source transistors (13) and (14) increase so that saturation of the first and second current source transistors (13) and (14) can be prevented. Since a resistor is connected between a connecting point between upper and lower output transistors and a connecting point between upper and lower driving transistors having inverted phases from the former two transistors, current is limited and oscillation can be prevented.
摘要翻译：当第一和第四输出晶体管（15）和（18）导通时，第一和第二驱动晶体管（19）和（20）之间的连接点处的电压下降。当第二和第三输出晶体管（16）和（17）导通时，第三和第四驱动晶体管（21）和（22）之间的连接点处的电压下降。结果，第一和第二输入晶体管（2），（3）和第一和第二电流源晶体管（13）和（14）的集电极和发射极之间的电压差增大，使得第一和第二电流可以防止源晶体管（13）和（14）。由于在上下输出晶体管之间的连接点与前两个晶体管具有反相的上驱动晶体管和下驱动晶体管之间的连接点之间连接有电阻，所以限制电流并且可以防止振荡。

2. 发明授权

US08145440B2 Body dynamics calculation method, body dynamics model and model data thereof, and body-model generation method 有权
标题翻译：身体动力学计算方法，身体动力学模型及其模型数据，以及身体模型生成方法
公开(公告)号：US08145440B2
公开(公告)日：2012-03-27
申请号：US12348461
申请日：2009-01-05
申请人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
发明人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
IPC分类号： G01L1/00
CPC分类号： G09B23/32 , A61B5/1107 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61B5/4533 , G06F19/00
摘要： A forward/reverse mechanics calculation of an accurate model of a human body having bone geometrical data and muscle/cord/band data is carried out at high speed. When a new skeleton geometrical model is given, a mapping between the new skeleton geometrical model and a pre-defined normal body model representing a normal body is defined to automatically produce a new body model. A processing unit reads model data to be subjected to mechanics calculation, reads a produced force f of a wire/virtual link exerted on the body model, reads the angle, position and velocity of the current rigid body link, calculates the Jacobian JL of the length of each wire concerning the joint angle, converts the read produced force f of the muscle/cord/band into a generalized force τG according to the defined Jacobian JL, stores the generalized force, determines the acceleration of the whole body of a motion produced when the generalized force τG is exerted on the body and calculates the velocity and position of each rigid body link, and stores them.
摘要翻译：具有骨骼几何数据和肌肉/绳索/带数据的人体的精确模型的正向/反向力学计算以高速进行。当给出新的骨架几何模型时，新骨架几何模型和表示正常身体的预定义正常体模型之间的映射被定义为自动产生新的身体模型。处理单元读取要进行力学计算的模型数据，读取施加在身体模型上的线/虚连接的产生力f，读取当前刚体连杆的角度，位置和速度，计算出当前刚体连杆的雅可比JL 每个线的关节角度的长度根据定义的雅可比JL将肌肉/绳索/带的读取产生的力f转换成广义力τG，存储广义力，确定产生的运动的全身的加速度当广义力τG施加在身体上并计算每个刚体连杆的速度和位置，并存储它们。

3. 发明申请

US20090132217A1 BODY DYNAMICS CALCULATION METHOD, BODY DYNAMICS MODEL AND MODEL DATA THEREOF, AND BODY-MODEL GENERATION METHOD 有权
标题翻译：身体动力学计算方法，身体动力学模型及其模型数据，以及身体模型生成方法
公开(公告)号：US20090132217A1
公开(公告)日：2009-05-21
申请号：US12348461
申请日：2009-01-05
申请人： Yoshihiko NAKAMURA , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
发明人： Yoshihiko NAKAMURA , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
IPC分类号： G06G7/60 , G06F17/10
CPC分类号： G09B23/32 , A61B5/1107 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61B5/4533 , G06F19/00
摘要： A forward/reverse mechanics calculation of an accurate model of a human body having bone geometrical data and muscle/cord/band data is carried out at high speed. When a new skeleton geometrical model is given, a mapping between the new skeleton geometrical model and a pre-defined normal body model representing a normal body is defined to automatically produce a new body model. A processing unit reads model data to be subjected to mechanics calculation, reads a produced force f of a wire/virtual link exerted on the body model, reads the angle, position and velocity of the current rigid body link, calculates the Jacobian JL of the length of each wire concerning the joint angle, converts the read produced force f of the muscle/cord/band into a generalized force τG according to the defined Jacobian JL, stores the generalized force, determines the acceleration of the whole body of a motion produced when the generalized force τG is exerted on the body and calculates the velocity and position of each rigid body link, and stores them.
摘要翻译：具有骨骼几何数据和肌肉/绳索/带数据的人体的精确模型的正向/反向力学计算以高速进行。当给出新的骨架几何模型时，新骨架几何模型和表示正常身体的预定义正常体模型之间的映射被定义为自动产生新的身体模型。处理单元读取要进行力学计算的模型数据，读取施加在身体模型上的线/虚连接的产生力f，读取当前刚体连杆的角度，位置和速度，计算出当前刚体连杆的雅可比JL 每个电线的关节角度的长度将肌肉/绳索/带的读取产生的力f转换成根据定义的雅可比JL的广义力tauG，存储广义力，确定产生的运动的全身的加速度当广义力tauG施加在身体上并计算每个刚体连杆的速度和位置，并存储它们。

4. 发明授权

US07490012B2 Body dynamics calculation method, body dynamics model and model data thereof, and body-model generation method 有权
标题翻译：身体动力学计算方法，身体动力学模型及其模型数据，以及身体模型生成方法
公开(公告)号：US07490012B2
公开(公告)日：2009-02-10
申请号：US10515019
申请日：2003-05-21
申请人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
发明人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
IPC分类号： G01L1/00
CPC分类号： G09B23/32 , A61B5/1107 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61B5/4533 , G06F19/00
摘要： A forward/reverse mechanics calculation of an accurate model of a human body having bone geometrical data and muscle/cord/band data is carried out at high speed. When a new skeleton geometrical model is given, a mapping between the new skeleton geometrical model and a pre-defined normal body model representing a normal body is defined to automatically produce a new body model. A processing unit reads model data to be subjected to mechanics calculation, reads a produced force f of a wire/virtual link exerted on the body model, reads the angle, position and velocity of the current rigid body link, calculates the Jacobian JL of the length of each wire concerning the joint angle, converts the read produced force f of the muscle/cord/band into a generalized force τG according to the defined Jacobian JL, stores the generalized force, determines the acceleration of the whole body of a motion produced when the generalized force τG is exerted on the body and calculates the velocity and position of each rigid body link, and stores them.
摘要翻译：具有骨骼几何数据和肌肉/绳索/带数据的人体的精确模型的正向/反向力学计算以高速进行。当给出新的骨架几何模型时，新骨架几何模型和表示正常身体的预定义正常体模型之间的映射被定义为自动产生新的身体模型。处理单元读取要进行力学计算的模型数据，读取施加在身体模型上的线/虚连接的产生力f，读取当前刚体连杆的角度，位置和速度，计算出当前刚体连杆的雅可比JL 每个电线的关节角度的长度将肌肉/绳索/带的读取产生的力f转换成根据定义的雅可比JL的广义力tauG，存储广义力，确定产生的运动的全身的加速度当广义力tauG施加在身体上并计算每个刚体连杆的速度和位置，并存储它们。

5. 发明申请

US20060100818A1 Body mechnics calculating method, body mechanics model, its model data, and body model producing method 有权
标题翻译：身体机械计算方法，身体力学模型，其模型数据和身体模型生成方法
公开(公告)号：US20060100818A1
公开(公告)日：2006-05-11
申请号：US10515019
申请日：2003-05-21
申请人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
发明人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
IPC分类号： G01P11/00 , G01P7/00
CPC分类号： G09B23/32 , A61B5/1107 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61B5/4533 , G06F19/00
摘要： A forward/reverse mechanics calculation of an accurate model of a human body having bone geometrical data and muscle/cord/band data is carried out at high speed. When a new skeleton geometrical model is given, a mapping between the new skeleton geometrical model and a pre-defined normal body model representing a normal body is defined to automatically produce a new body model. A processing unit reads model data to be subjected to mechanics calculation, reads a produced force f of a wire/virtual link exerted on the body model, reads the angle, position and velocity of the current rigid body link, calculates the Jacobian JL of the length of each wire concerning the joint angle, converts the read produced force f of the muscle/cord/band into a generalized force τG according to the defined Jacobian JL, stores the generalized force, determines the acceleration of the whole body of a motion produced when the generalized force τG is exerted on the body and calculates the velocity and position of each rigid body link, and stores them.
摘要翻译：具有骨骼几何数据和肌肉/绳索/带数据的人体的精确模型的正向/反向力学计算以高速进行。当给出新的骨架几何模型时，新骨架几何模型和表示正常身体的预定义正常体模型之间的映射被定义为自动产生新的身体模型。处理单元读取要进行力学计算的模型数据，读取施加在身体模型上的线/虚连接的产生力f，读取当前刚体连杆的角度，位置和速度，计算雅可比J 根据定义的雅可比J，将每根线的长度的L 关于角度的肌肉/绳索/带的读取产生的力f转换为广义力τN，存储广义力，确定当广义力τ“G”施加在身体上时产生的运动的全身的加速度，并且计算出每一个的速度和位置刚体链接，并存储它们。

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