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1. 发明授权

US07672741B2 Position/force control device 有权
标题翻译：位置/力控制装置
公开(公告)号：US07672741B2
公开(公告)日：2010-03-02
申请号：US10565534
申请日：2004-07-21
申请人： Kouhei Ohnishi , Masaki Kitajima , Yasuhide Morikawa , Souji Ozawa , Toshiharu Furukawa , Toshiyuki Murakami , Kazuo Nakazawa , Wataru Iida , Tomoko Yano
发明人： Kouhei Ohnishi , Masaki Kitajima , Yasuhide Morikawa , Souji Ozawa , Toshiharu Furukawa , Toshiyuki Murakami , Kazuo Nakazawa , Wataru Iida , Tomoko Yano
IPC分类号： G05B11/01
CPC分类号： G05B19/19 , G05B2219/41384 , G05B2219/42092
摘要： A position/force control device includes position detectors on a master 1 side and on a slave 3 side. Reaction force estimation observers 2 and 4 estimate reaction force based on outputs of the position detectors. A position control part 5 generates acceleration signals apm, aps for controlling positions on the master side and on the slave side on the basis of the position signals outputted by the position detectors. The operation force control part 6 generates acceleration signals afm, afs for controlling forces applied to the master side and to the slave side based upon the outputs from reaction force estimation observers 2 and 4. The acceleration composition part 7 composes the two sets of acceleration signals apm, aps, and afm, afs, and outputs the driving signals for the master side and the slave side.
摘要翻译：位置/力控制装置包括在主机1侧和从机3侧的位置检测器。反作用力估计观察者2和4基于位置检测器的输出来估计反作用力。位置控制部5基于由位置检测器输出的位置信号，生成用于控制主侧和从侧的位置的加速度信号apm，aps。操作力控制部6基于来自反作用力估计观测器2和4的输出，生成用于控制施加到主侧和从侧的力的加速度信号afm，afs。加速度合成部7构成两组加速度信号 apm，aps和afm，afs，并输出主机侧和从机侧的驱动信号。

2. 发明申请

US20070112466A1 Position/force control device 有权
标题翻译：位置/力控制装置
公开(公告)号：US20070112466A1
公开(公告)日：2007-05-17
申请号：US10565534
申请日：2004-07-21
申请人： Kouhei Ohnishi , Masaki Kitajima , Yasuhide Morikawa , Souji Ozawa , Toshiharu Furukawa , Toshiyuki Murakami , Kazuo Nakazawa , Wataru Iida , Tomoko Yano
发明人： Kouhei Ohnishi , Masaki Kitajima , Yasuhide Morikawa , Souji Ozawa , Toshiharu Furukawa , Toshiyuki Murakami , Kazuo Nakazawa , Wataru Iida , Tomoko Yano
IPC分类号： G05B15/00
CPC分类号： G05B19/19 , G05B2219/41384 , G05B2219/42092
摘要： This invention of the position/force control device intends to improve response performance in high frequency band and to ensure realization of a delicate work. A position detector is provided each on a master 1 side and on a slave 3 side, respectively, and reaction force estimation observers 2 and 4 estimate reaction force undergone by the operation part of the master side and reaction force undergone by the object of the slave side on the basis of outputs of the position detectors. The position control part 5 generates acceleration signals apm, aps for controlling positions on the master side and on the slave side on the basis of the position signals outputted by the position detectors of the master side and of the slave side. The operation force control part 6 generates acceleration signals afm, afs for controlling forces applied to the master side and to the slave side based upon the outputs from reaction force estimation observers 2 and 4. The acceleration composition part 7 composes the two sets of acceleration signals apm, aps, and afm, afs, and outputs the driving signals for the master side and the slave side.
摘要翻译：本发明的位置/力控制装置旨在提高高频段的响应性能，并确保实现精细的工作。分别在主机1侧和从机3侧设置位置检测器，反作用力估计观察器2和4估计主机的操作部分所产生的反作用力和由从动机的对象所经受的反作用力基于位置检测器的输出。位置控制部分5基于由该位置输出的位置信号产生用于控制主机侧和从机侧的位置的加速度信号a 主侧和从侧的检测器。操作力控制部分6基于来自反作用力估计观测器的输出产生用于控制施加到主侧和从侧的力的加速度信号a1，fm，...，加速度组成部分7组成两组加速度信号，分别是一个小时，一个<！ - SIPO - >和< > fs ，并输出主机侧和从机侧的驱动信号。

3. 发明授权

US07717904B2 Manipulator 失效
标题翻译：机械手
公开(公告)号：US07717904B2
公开(公告)日：2010-05-18
申请号：US11278786
申请日：2006-04-05
申请人： Takashi Suzuki , Kazuo Nakazawa , Yasuhide Morikawa , Masaki Kitajima
发明人： Takashi Suzuki , Kazuo Nakazawa , Yasuhide Morikawa , Masaki Kitajima
IPC分类号： A61B19/00
CPC分类号： A61B17/29 , A61B17/28 , A61B2017/2902 , A61B2017/2927 , A61B2017/2939
摘要： The manipulator has two-degree-of-freedom of rotation and gripping, and is capable of ensuring force feedback or force sensation with excellent operationability. A link mechanism 3 is provided between an operation part 1 and a working part 2. The link mechanism 3 has four driving rods 3a to 3d and first and second coupling members of the sane structure, 41, 42 provided at opposite ends of the driving rods. First and second working members 2a, 2b move correspondingly to the operation of first and second operating members 1a, 1b with the aid of the link mechanism 3. The first and second working member can open and close, change the yaw angles and the pitch angles in response to the same action of the first and second operating member through the link mechanism.
摘要翻译：机械手具有旋转和夹紧的两度自由度，并且能够确保力反馈或力感觉，并且具有优异的可操作性。连杆机构3设置在操作部件1和工作部件2之间。连杆机构3具有四个驱动杆3a至3d，以及设置在驱动杆的相对两端的正常结构41,42,42的第一和第二联接部件。第一和第二工作构件2a，2b借助于连杆机构3相应地移动到第一和第二操作构件1a，1b的操作。第一和第二工作构件可以打开和关闭，改变偏航角和俯仰角响应于第一和第二操作构件通过连杆机构的相同动作。

4. 发明申请

US20060229666A1 MANIPULATOR 失效
标题翻译：操纵器
公开(公告)号：US20060229666A1
公开(公告)日：2006-10-12
申请号：US11278786
申请日：2006-04-05
申请人： Takashi Suzuki , Kazuo Nakazawa , Yasuhide Morikawa , Masaki Kitajima
发明人： Takashi Suzuki , Kazuo Nakazawa , Yasuhide Morikawa , Masaki Kitajima
IPC分类号： A61B17/00
CPC分类号： A61B17/29 , A61B17/28 , A61B2017/2902 , A61B2017/2927 , A61B2017/2939
摘要： There is provided a manipulator simplified in maintenance and operation thereof, the manipulator having the freedom of two-degree-of-freedom of rotation and gripping, and being capable of ensuring force feedback or force sensation with excellent operationability. A link mechanism 3 is provided between an operating part 1 and a working part 2. The link mechanism 3 comprises four driving rods 3a to 3d and first and second coupling members of the same structure, 41, 42 provided at opposite ends of the driving rods. First and second working members 2a, 2b move correspondingly to operations of first and second operating members 1a, 1b with the aid of the link mechanism 3. For example, provided that the first and second operating members 1a, 1b might be opened and closed, the first and second working members 2a, 2b might be opened and closed (gripping). And also, provided that the first and second operating members 1a, 1b are changed in their yaw angles, the working members 2a, 2b are also correspondingly changed in their yaw angle. Similarly, once the first and second operating members 1a, 1b are changed in their pitch angles, the working members 2a, 2b might be also correspondingly changed in their pitch angles.
摘要翻译：提供了简化维护和操作的操纵器，操纵器具有两自由度的旋转和夹紧的自由度，并且能够确保具有优异的可操作性的力反馈或力感觉。连杆机构3设置在操作部件1和工作部件2之间。连杆机构3包括四个驱动杆3a至3d，以及设置在相对端部的相同结构的第一和第二连接部件41,42 驱动杆。借助于连杆机构3，第一和第二工作构件2a，2b对应于第一和第二操作构件1a，1b的操作而移动。例如，如果第一和第二操作构件1a，1b 可以打开和关闭，第一和第二工作构件2a，2b可以被打开和关闭（夹紧）。而且，如果第一和第二操作构件1a，1b在其偏航角度上改变，则工作构件2a，2b也在其偏航角度上相应地改变。类似地，一旦第一和第二操作构件1a，1b以它们的俯仰角度改变，则工作构件2a，2b也可以在它们的俯仰角度上相应地改变。

5. 发明申请

US20140017191A1 Water-In-Oil Emulsion Cosmetic Composition 审中-公开
标题翻译：油包水乳液化妆品组合物
公开(公告)号：US20140017191A1
公开(公告)日：2014-01-16
申请号：US14007651
申请日：2012-03-29
申请人： Ayako Ibe , Masaki Kitajima , Kei Watanabe
发明人： Ayako Ibe , Masaki Kitajima , Kei Watanabe
IPC分类号： A61K8/06
CPC分类号： A61K8/064 , A61K8/31 , A61K2800/10 , A61Q19/00
摘要： The present invention provides a water-in-oil emulsion cosmetic that is excellent in the resilient and supple (in other words, firm and tensional) feels and also excellent in the moisturizing effect and feeling in use. The water-in-oil emulsion cosmetic of the present invention is characterized by comprising the following (A) to (D): (A) 0.5 to 10 mass % of hydrogenated polyisobutene (B) an oil containing (b1) (b1) a volatile oil of low compatibility with (A) (C) an emulsifying agent and (D) 60 to 90 mass % of an aqueous component, wherein the percentage of component (b1) is 45 to 85% with respect to component (A) and component (B).
摘要翻译：本发明提供一种在弹性和柔软（换句话说，牢固和张力）感觉上优异且在保湿效果和使用感中也优异的油包水乳液化妆品。本发明的油包水乳液化妆品的特征在于，含有下述（A）〜（D）：（A）0.5〜10质量％的氢化聚异丁烯（B）含有（b1）（b1）a 与（A）（C）乳化剂和（D）60〜90质量％的水性成分的相容性低的挥发性油，其中组分（b1）的百分比相对于组分（A）为45-85％组分（B）。

6. 发明申请

US20140148516A1 WATER-IN-OIL TYPE EMULSION COSMETIC 审中-公开
标题翻译：油脂型乳液化妆品
公开(公告)号：US20140148516A1
公开(公告)日：2014-05-29
申请号：US13812634
申请日：2011-10-05
申请人： Kazutaka Sasaki , Takayuki Omura , Masaki Kitajima
发明人： Kazutaka Sasaki , Takayuki Omura , Masaki Kitajima
IPC分类号： A61K8/92 , A61Q90/00 , A61K8/31 , A61K8/25 , A61K8/06 , A61K8/37
CPC分类号： A61K8/92 , A61K8/064 , A61K8/25 , A61K8/26 , A61K8/31 , A61K8/315 , A61K8/37 , A61K8/375 , A61K8/39 , A61K8/416 , A61K8/4973 , A61K8/86 , A61K2800/34 , A61Q17/04 , A61Q19/00 , A61Q90/00
摘要： The purpose of the present invention is to provide a water-in-oil type cosmetic which ensures emulsion stability in the case where a volatile hydrocarbon oil component is added, has excellent texture such as not leaving a greasy feeling, and is highly compatible with the skin. The present invention relates to a water-in-oil type emulsified cosmetic comprising: (A) 20 to 30 mass % of an oil component; (B) a fatty acid ester having an HLB of 5 to 10; (C) a nonionic surfactant having an HLB of 1 to 4; (D) an organic modified clay mineral; and (E) water, wherein volatile hydrocarbon oil accounts for 10 mass % or more of the oil component (A) and silicone oil is not contained.
摘要翻译：本发明的目的是提供一种油包水型化妆品，其在添加挥发性烃油组分的情况下确保乳液稳定性，具有优异的质地，例如不会留下油腻感，并且与皮肤。本发明涉及一种油包水型乳化化妆品，其包含：（A）20〜30质量％的油性成分; （B）HLB为5〜10的脂肪酸酯; （C）HLB为1〜4的非离子表面活性剂; （D）有机改性粘土矿物; 和（E）水，其中挥发性烃油占油成分（A）的10质量％以上，不含有硅油。

7. 发明申请

US20140134255A1 Oil-In-Water-Type Emulsion Cosmetic 审中-公开
标题翻译：油包水型乳液化妆品
公开(公告)号：US20140134255A1
公开(公告)日：2014-05-15
申请号：US14236345
申请日：2012-07-24
申请人： Tomoko Saito , Takashi Teshigawara , Martin Reger , Heinz Hoffmann , Yuki Sugiyama , Masaki Kitajima
发明人： Tomoko Saito , Takashi Teshigawara , Martin Reger , Heinz Hoffmann , Yuki Sugiyama , Masaki Kitajima
IPC分类号： A61K8/88 , A61Q19/00 , A61K8/26 , A61K8/06 , A61K8/64
CPC分类号： A61K8/88 , A61K8/0241 , A61K8/062 , A61K8/26 , A61K8/28 , A61K8/31 , A61K8/64 , A61K8/645 , A61K8/8111 , A61K8/8182 , A61K8/891 , A61K8/922 , A61K2800/21 , A61K2800/33 , A61K2800/413 , A61Q1/00 , A61Q17/04 , A61Q19/00 , A61Q19/02
摘要： The present invention is to provide an oil-in-water emulsion cosmetic having excellent in emulsion stability, temporal emulsion stability, and feeling in use such as the free of stickiness. An oil-in-water emulsion cosmetic is characterized by comprising the following components (a) to (d): (a) one or more amphipathic substances selected from (a1) to (a3): (a1) an amphipathic protein, (a2) a copolymer of 2-acrylamido-2methylpropane sulfonic acid or a salt thereof and vinylpyrrolidone, (a3) a microgel that is obtained, in the dispersing phase, by radical polymerization of water-soluble ethylenically unsaturated monomers dissolved in the dispersing phase of the composition wherein an organic solvent or oil is the dispersion medium and water is the dispersing phase, and the microgel is obtained by radical polymerization of dimethylacrylamide and 2-acrylamido-2-methylpropane sulfonic acid under the conditions that the microgel forms a one-phase microemulsion or a fine W/O emulsion with a surfactant, (b) particles with the average particle size of less than 500 nm, (c) an oil component, and (d) an aqueous component.
摘要翻译：本发明提供一种水乳液化妆品，其具有优异的乳液稳定性，时间乳液稳定性和使用感，如无粘性。水包油型乳化化妆品的特征在于包含以下组分（a）至（d）：（a）选自（a1）至（a3）中的一种或多种两亲物质：（a1）两亲性蛋白质（a2 ）丙烯酰胺基-2-甲基丙烷磺酸或其盐与乙烯基吡咯烷酮的共聚物，（a3）在分散相中通过溶解在组合物的分散相中的水溶性烯属不饱和单体的自由基聚合获得的微凝胶其中有机溶剂或油是分散介质，水是分散相，通过二甲基丙烯酰胺和2-丙烯酰氨基-2-甲基丙磺酸的自由基聚合，在微凝胶形成单相微乳液或具有表面活性剂的细W / O乳液，（b）平均粒径小于500nm的颗粒，（c）油组分和（d）水性组分。

8. 发明申请

US20140018444A1 Water-In-Oil Emulsified Cosmetic 有权
标题翻译：油包油乳化化妆品
公开(公告)号：US20140018444A1
公开(公告)日：2014-01-16
申请号：US14007731
申请日：2012-03-29
申请人： Masaki Kitajima , Ayako Abe , Kei Watanabe , Takayuki Omura
发明人： Masaki Kitajima , Ayako Abe , Kei Watanabe , Takayuki Omura
IPC分类号： A61K8/37 , A61K8/06 , A61K8/92
CPC分类号： A61K8/37 , A61K8/064 , A61K8/375 , A61K8/92 , A61Q19/00
摘要： The present invention provides a water-in-oil emulsion cosmetic that is excellent in the resilient and supple (in other words, firm and tensional) feels and also excellent in the moisturizing effect and feeling in use. The water-in-oil emulsion cosmetic of the present invention is characterized by comprising the following (A) to (D): (A) 0.5 to 10 mass % of bis-diglyceryl polyacyladipate-2 (B) an oil containing (b1) (b1) a volatile oil of low compatibility with (A) (C) an emulsifying agent and (D) 60 to 90 mass % of an aqueous component, wherein the percentage of component (b1) is 40 to 85% with respect to component (A) and component (B).
摘要翻译：本发明提供一种在弹性和柔软（换句话说，牢固和张力）感觉上优异且在保湿效果和使用感中也优异的油包水乳液化妆品。本发明的油包水乳液化妆品的特征在于，含有下述（A）〜（D）：（A）0.5〜10质量％的双 - 二甘油基多酰基己二酸酯-2（B）含有（b1）（b1）与（A）（C）乳化剂和（D）60-90质量％的水性组分的相容性低的挥发油，其中组分（b1）的百分比相对于组分（A）和组分（B）。

9. 发明授权

US10335362B2 Water-in-oil type emulsion cosmetic 有权
公开(公告)号：US10335362B2
公开(公告)日：2019-07-02
申请号：US13812634
申请日：2011-10-05
申请人： Kazutaka Sasaki , Takayuki Omura , Masaki Kitajima
发明人： Kazutaka Sasaki , Takayuki Omura , Masaki Kitajima
IPC分类号： A61K8/92 , A61K8/26 , A61K8/31 , A61K8/37 , A61K8/39 , A61K8/86 , A61K8/06 , A61K8/41 , A61K8/49 , A61K8/25 , A61Q17/04 , A61Q19/00 , A61Q90/00
摘要： The purpose of the present invention is to provide a water-in-oil type cosmetic which ensures emulsion stability in the case where a volatile hydrocarbon oil component is added, has excellent texture such as not leaving a greasy feeling, and is highly compatible with the skin. The present invention relates to a water-in-oil type emulsified cosmetic comprising: (A) 20 to 30 mass % of an oil component; (B) a fatty acid ester having an HLB of 5 to 10; (C) a nonionic surfactant having an HLB of 1 to 4; (D) an organic modified clay mineral; and (E) water, wherein volatile hydrocarbon oil accounts for 10 mass % or more of the oil component (A) and silicone oil is not contained.

10. 发明授权

US08779010B2 Water-in-oil emulsified cosmetic 有权
标题翻译：油包水乳化化妆品
公开(公告)号：US08779010B2
公开(公告)日：2014-07-15
申请号：US14007731
申请日：2012-03-29
申请人： Masaki Kitajima , Ayako Ibe , Kei Watanabe , Takayuki Omura
发明人： Masaki Kitajima , Ayako Ibe , Kei Watanabe , Takayuki Omura
IPC分类号： A61K47/00
CPC分类号： A61K8/37 , A61K8/064 , A61K8/375 , A61K8/92 , A61Q19/00
摘要： The present invention provides a water-in-oil emulsion cosmetic that is excellent in the resilient and supple (in other words, firm and tensional) feels and also excellent in the moisturizing effect and feeling in use. The water-in-oil emulsion cosmetic of the present invention is characterized by comprising the following (A) to (D): (A) 0.5 to 10 mass % of bis-diglyceryl polyacyladipate-2 (B) an oil containing (b1) (b1) a volatile oil of low compatibility with (A) (C) an emulsifying agent and (D) 60 to 90 mass % of an aqueous component, wherein the percentage of component (b1) is 40 to 85% with respect to component (A) and component (B).
摘要翻译：本发明提供一种在弹性和柔软（换句话说，牢固和张力）感觉上优异且在保湿效果和使用感中也优异的油包水乳液化妆品。本发明的油包水乳液化妆品的特征在于，含有下述（A）〜（D）：（A）0.5〜10质量％的双 - 二甘油基多酰基己二酸酯-2（B）含有（b1）（b1）与（A）（C）乳化剂和（D）60〜90质量％的水性成分的相容性低的挥发性油，其中，成分（b1）的比例相对于成分为40〜85％（A）和组分（B）。

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