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1. 发明授权

US09415516B2 Control apparatus and control method for master slave robot, robot, control program for master slave robot, and integrated electronic circuit for control of master slave robot 有权
标题翻译：主从机器人的控制装置和控制方法，机器人，主从机器人的控制程序，以及主从机器人控制的集成电子电路
公开(公告)号：US09415516B2
公开(公告)日：2016-08-16
申请号：US14307683
申请日：2014-06-18
申请人： Panasonic Corporation
发明人： Yudai Fudaba , Yuko Tsusaka
IPC分类号： B25J9/16
CPC分类号： B25J9/1689 , G05B2219/40139 , G05B2219/40405 , Y10S901/02
摘要： A force information correcting unit generates force information in accordance with magnification percentage information acquired by a display information acquiring unit. The force information matches a picture watched by an operator to manipulation of the operator with no sense of incongruity. A force information presentation unit presents the generated force information to the operator, so that work efficiency is improved.
摘要翻译：力信息校正单元根据由显示信息获取单元获取的倍率信息生成力信息。力信息与操作者观看的图像匹配操作者没有不协调的感觉。力信息呈现单元向操作者呈现生成的力信息，从而提高了工作效率。

2. 发明授权

US10631942B2 Remote control robot system 有权
公开(公告)号：US10631942B2
公开(公告)日：2020-04-28
申请号：US15755449
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko Hashimoto , Masayuki Kamon
IPC分类号： G06F19/00 , A61B34/37 , G05B19/418 , B23P19/04 , B25J13/00 , B25J19/04 , B25J9/00 , B25J9/16 , B25J13/08 , B25J3/00 , B25J13/06 , B25J18/00 , B25J19/02 , B25J3/04 , B23Q15/12 , B25J13/02 , B25J11/00 , G06F3/01 , H04N5/232 , H04N7/18 , A61B34/32 , G06T7/62 , G06T7/70 , B23P21/00
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/161 , B25J9/1602 , B25J9/163 , B25J9/1612 , B25J9/1628 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , B23P21/00 , B23P21/002 , G05B2219/33007 , G05B2219/35464 , G05B2219/37297 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/39531 , G05B2219/39533 , G05B2219/40022 , G05B2219/40134 , G05B2219/40136 , G05B2219/40139 , G05B2219/40142 , G05B2219/40143 , G05B2219/40145 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40182 , G05B2219/40183 , G05B2219/40195 , G05B2219/40387 , G05B2219/40627 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A robot main body having a robotic arm, a remote control device which includes a robotic arm operational instruction input part installed outside of a working area and by which an operational instruction for the robotic arm is inputted, and a contactless action detecting part configured to detect a contactless action including at least one given operating condition parameter change instructing action by an operator, a control device communicably connected to the remote control device and configured to control operation of the robot main body.

3. 发明申请

US20140371871A1 CONTROL OF LIMB DEVICE 审中-公开
标题翻译： LIMB设备的控制
公开(公告)号：US20140371871A1
公开(公告)日：2014-12-18
申请号：US14303229
申请日：2014-06-12
申请人： Georg-August-Universitaet Goettingen Stiffung Oeffentlichen Rechts, Universitaetsmedizin , Otto Bock HealthCare GmbH
发明人： Dario Farina , Dejan Popovic , Bernhard Graimann , Marko Markovic , Strahinja Dosen
IPC分类号： A61F2/54
CPC分类号： A61F2/54 , A61F2/583 , A61F2/68 , A61F2/72 , A61F2002/6827 , A61F2002/704 , A61F2002/7615 , A61F2002/769 , B25J9/161 , B25J9/1612 , G05B2219/32014 , G05B2219/36435 , G05B2219/39528 , G05B2219/40139 , G05B2219/45172
摘要： The invention refers to the area of control of a limb device in the form of an artificial limb for a human or a robot limb. In particular, the invention is related to a control unit for electrically controlling an electrically controllable limb device, the limb device comprising a plurality of actuators, the control unit comprising a first interface for connecting the control unit to the limb device, the control unit comprising a second interface for connecting the control unit to a data gathering device comprising one or more sensing devices, the control unit comprising a processing unit which is arranged for controlling the limb device at least based on data gathered by the data gathering device, wherein the control unit is arranged for outputting one single control action step to the actuators of the limb device calculated by the processing unit based on a first data or data combination received from the data gathering device, and the control unit is arranged for outputting a plurality of control action steps to the actuators of the limb device calculated by the processing unit based on a second data or data combination received from the data gathering device, the second data or data combination being different from the first data or data combination, the plurality of control action steps inducing a more complex automatic movement of the limb device that the one single control action step. The invention further refers to a system comprising such a control unit, a method for controlling an electrically controllable limb device and a computer program.
摘要翻译：本发明涉及用于人或机器人肢体的假肢形式的肢体装置的控制区域。特别地，本发明涉及一种用于电控制可控肢体装置的控制单元，该肢体装置包括多个致动器，该控制单元包括用于将控制单元连接到肢体装置的第一接口，该控制单元包括用于将控制单元连接到包括一个或多个感测装置的数据采集装置的第二接口，所述控制单元包括处理单元，所述处理单元至少基于由所述数据收集装置收集的数据来控制所述肢体装置，其中所述控制单元被布置为基于从数据收集装置接收到的第一数据或数据组合，向由处理单元计算出的肢体装置的致动器输出单个控制动作步骤，并且控制单元被布置为输出多个控制动作由处理单元基于第二数据计算出的肢体装置的致动器的步骤从数据采集装置接收的数据组合，第二数据或数据组合不同于第一数据或数据组合，多个控制动作步骤引起肢体装置的更复杂的自动运动，该单个控制动作步骤。本发明还涉及一种包括这种控制单元的系统，一种用于控制电控肢体装置和计算机程序的方法。

4. 发明授权

US10842578B2 Robot system 有权
公开(公告)号：US10842578B2
公开(公告)日：2020-11-24
申请号：US15755218
申请日：2016-06-24
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko Hashimoto , Masayuki Kamon
IPC分类号： A61B34/37 , G05B19/418 , B25J9/00 , B23P19/04 , B25J13/00 , B25J19/04 , B25J9/16 , B25J13/08 , B25J3/00 , B25J13/06 , B25J18/00 , B25J19/02 , B25J3/04 , B23Q15/12 , B25J13/02 , B25J11/00 , G06F3/01 , H04N5/232 , H04N7/18 , A61B34/32 , G06T7/62 , G06T7/70 , B23P21/00
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/161 , B25J9/1602 , B25J9/163 , B25J9/1612 , B25J9/1628 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , B23P21/00 , B23P21/002 , G05B2219/33007 , G05B2219/35464 , G05B2219/37297 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/39531 , G05B2219/39533 , G05B2219/40022 , G05B2219/40134 , G05B2219/40136 , G05B2219/40139 , G05B2219/40142 , G05B2219/40143 , G05B2219/40145 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40182 , G05B2219/40183 , G05B2219/40195 , G05B2219/40387 , G05B2219/40627 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A robot system includes a robot including a tactile sensor and a hand having the tactile sensor, a tactile information generator configured to generate tactile information defined by a pressure distribution based on pressures detected by a plurality of pressure sensors and spatial positions of the plurality of pressure sensors, and output the tactile information, a manipulator configured to make an operator sense the pressure distribution according to the tactile information outputted from the tactile information generator, and when the operator manipulates the manipulator, output manipulating information according to the manipulation, and a robot controller configured to control operation of the hand of the robot according to the manipulating information outputted from the manipulator.

5. 发明申请

US20170266019A1 Control of Limb Device 审中-公开
公开(公告)号：US20170266019A1
公开(公告)日：2017-09-21
申请号：US15598975
申请日：2017-05-18
申请人： Georg-August-Universitaet Goettingen Stiftung Oeffentlichen Rechts, Universitaetsmedzin , Otto Bock HealthCare GmbH
发明人： Dario Farina , Dejan Popovic , Bernhard Graimann , Marko Markovic , Strahinja Dosen
IPC分类号： A61F2/54 , A61F2/58 , A61F2/68 , A61F2/72 , B25J9/16 , A61F2/70 , A61F2/76
CPC分类号： A61F2/54 , A61F2/583 , A61F2/68 , A61F2/72 , A61F2002/6827 , A61F2002/704 , A61F2002/7615 , A61F2002/769 , B25J9/161 , B25J9/1612 , G05B2219/32014 , G05B2219/36435 , G05B2219/39528 , G05B2219/40139 , G05B2219/45172
摘要： The invention refers to the area of control of a limb device in the form of an artificial limb for a human or a robot limb. In particular, the invention is related to a control unit for electrically controlling an electrically controllable limb device, the limb device comprising a plurality of actuators, the control unit comprising a first interface for connecting the control unit to the limb device, the control unit comprising a second interface for connecting the control unit to a data gathering device comprising one or more sensing devices, the control unit comprising a processing unit which is arranged for controlling the limb device at least based on data gathered by the data gathering device, wherein the control unit is arranged for outputting one single control action step to the actuators of the limb device calculated by the processing unit based on a first data or data combination received from the data gathering device, and the control unit is arranged for outputting a plurality of control action steps to the actuators of the limb device calculated by the processing unit based on a second data or data combination received from the data gathering device, the second data or data combination being different from the first data or data combination, the plurality of control action steps inducing a more complex automatic movement of the limb device that the one single control action step. The invention further refers to a system comprising such a control unit, a method for controlling an electrically controllable limb device and a computer program.

6. 发明授权

EP2813194B1 Control of limb device 有权转让
标题翻译：控制肢体装置
公开(公告)号：EP2813194B1
公开(公告)日：2018-01-03
申请号：EP13171671.4
申请日：2013-06-12
申请人： Georg-August Universität Göttingen , Otto Bock HealthCare GmbH
发明人： Farina, Dario , Popovic, Dejan , Graimann, Bernhard , Markovic, Marko , Dosen, Strahinja
IPC分类号： A61F2/54 , A61F2/58 , A61F2/68 , A61F2/70 , B25J15/00 , A61F2/72 , A61F2/76 , B25J9/16
CPC分类号： A61F2/54 , A61F2/583 , A61F2/68 , A61F2/72 , A61F2002/6827 , A61F2002/704 , A61F2002/7615 , A61F2002/769 , B25J9/161 , B25J9/1612 , G05B2219/32014 , G05B2219/36435 , G05B2219/39528 , G05B2219/40139 , G05B2219/45172
摘要： The invention refers to the area of control of a limb device (2) in the form of an artificial limb for a human or a robot limb, the limb device comprising a plurality of actuators, a control unit (1) comprising a first interface (8) for connecting the control unit to the limb device and a second interface (7) for connecting the control unit to a data gathering device (4, 5, 6, 18) comprising one or more sensing devices, the control unit comprising a processing unit (10) which is arranged for controlling the limb device at least based on data gathered by the data gathering device, wherein the control unit is arranged for outputting one single control action step to the actuators of the limb device based on a first data or data combination received from the data gathering device, and the control unit is arranged for outputting a plurality of control action steps to the actuators of the limb device based on a second data or data combination received from the data gathering device and being different from the first data or data combination, the plurality of control action steps inducing a more complex automatic movement of the limb device that the one single control action step.

7. 发明授权

EP2813194B8 Control of limb device 有权转让
公开(公告)号：EP2813194B8
公开(公告)日：2018-07-11
申请号：EP13171671.4
申请日：2013-06-12
申请人： Otto Bock HealthCare GmbH
发明人： Farina, Dario , Popovic, Dejan , Graimann, Bernhard , Markovic, Marko , Dosen, Strahinja
IPC分类号： A61F2/54 , A61F2/58 , A61F2/68 , A61F2/70 , B25J15/00 , A61F2/72 , A61F2/76 , B25J9/16
CPC分类号： A61F2/54 , A61F2/583 , A61F2/68 , A61F2/72 , A61F2002/6827 , A61F2002/704 , A61F2002/7615 , A61F2002/769 , B25J9/161 , B25J9/1612 , G05B2219/32014 , G05B2219/36435 , G05B2219/39528 , G05B2219/40139 , G05B2219/45172
摘要： The invention refers to the area of control of a limb device (2) in the form of an artificial limb for a human or a robot limb, the limb device comprising a plurality of actuators, a control unit (1) comprising a first interface (8) for connecting the control unit to the limb device and a second interface (7) for connecting the control unit to a data gathering device (4, 5, 6, 18) comprising one or more sensing devices, the control unit comprising a processing unit (10) which is arranged for controlling the limb device at least based on data gathered by the data gathering device, wherein the control unit is arranged for outputting one single control action step to the actuators of the limb device based on a first data or data combination received from the data gathering device, and the control unit is arranged for outputting a plurality of control action steps to the actuators of the limb device based on a second data or data combination received from the data gathering device and being different from the first data or data combination, the plurality of control action steps inducing a more complex automatic movement of the limb device that the one single control action step.

8. 发明公开

EP2813194A1 Control of limb device 有权转让
标题翻译： Steuerung einer Gliedmassenvorrichtung
公开(公告)号：EP2813194A1
公开(公告)日：2014-12-17
申请号：EP13171671.4
申请日：2013-06-12
申请人： Georg-August Universität Göttingen , Otto Bock HealthCare GmbH
发明人： Farina, Dario , Popovic, Dejan , Graimann, Bernhard , Markovic, Marko , Dosen, Strahinja
IPC分类号： A61F2/54 , A61F2/58 , A61F2/68 , B25J15/00 , A61F2/72 , A61F2/76
CPC分类号： A61F2/54 , A61F2/583 , A61F2/68 , A61F2/72 , A61F2002/6827 , A61F2002/704 , A61F2002/7615 , A61F2002/769 , B25J9/161 , B25J9/1612 , G05B2219/32014 , G05B2219/36435 , G05B2219/39528 , G05B2219/40139 , G05B2219/45172
摘要： The invention refers to the area of control of a limb device (2) in the form of an artificial limb for a human or a robot limb, the limb device comprising a plurality of actuators, a control unit (1) comprising a first interface (8) for connecting the control unit to the limb device and a second interface (7) for connecting the control unit to a data gathering device (4, 5, 6, 18) comprising one or more sensing devices, the control unit comprising a processing unit (10) which is arranged for controlling the limb device at least based on data gathered by the data gathering device, wherein the control unit is arranged for outputting one single control action step to the actuators of the limb device based on a first data or data combination received from the data gathering device, and the control unit is arranged for outputting a plurality of control action steps to the actuators of the limb device based on a second data or data combination received from the data gathering device and being different from the first data or data combination, the plurality of control action steps inducing a more complex automatic movement of the limb device that the one single control action step.
摘要翻译：本发明涉及用于人或机器人肢体的人造肢体形式的肢体装置（2）的控制区域，肢体装置包括多个致动器，控制单元（1）包括第一界面（ 8），用于将控制单元连接到肢体装置;以及第二接口（7），用于将控制单元连接到包括一个或多个感测装置的数据收集装置（4,5,6,18），所述控制单元包括处理单元（10），其至少基于由所述数据收集装置收集的数据来设置用于控制所述肢体装置，其中，所述控制单元被布置为基于第一数据或所述第一数据向所述肢体装置的致动器输出单个控制动作步骤，从数据采集装置接收的数据组合，以及控制单元，用于基于从数据采集装置接收到的第二数据或数据组合，向肢体装置的致动器输出多个控制动作步骤，并且 g，与所述第一数据或数据组合不同，所述多个控制动作步骤引起所述肢体装置的更复杂的自动移动，所述单个控制动作步骤。

9. 发明授权

US10835333B2 Remote control robot system 有权
公开(公告)号：US10835333B2
公开(公告)日：2020-11-17
申请号：US15755102
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko Hashimoto , Masayuki Kamon
IPC分类号： A61B34/30 , A61B34/37 , G05B19/418 , B25J9/00 , B23P19/04 , B25J13/00 , B25J19/04 , B25J9/16 , B25J13/08 , B25J3/00 , B25J13/06 , B25J18/00 , B25J19/02 , B25J3/04 , B23Q15/12 , B25J13/02 , B25J11/00 , G06F3/01 , H04N5/232 , H04N7/18 , A61B34/32 , G06T7/62 , G06T7/70 , B23P21/00
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/161 , B25J9/1602 , B25J9/163 , B25J9/1612 , B25J9/1628 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , B23P21/00 , B23P21/002 , G05B2219/33007 , G05B2219/35464 , G05B2219/37297 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/39531 , G05B2219/39533 , G05B2219/40022 , G05B2219/40134 , G05B2219/40136 , G05B2219/40139 , G05B2219/40142 , G05B2219/40143 , G05B2219/40145 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40182 , G05B2219/40183 , G05B2219/40195 , G05B2219/40387 , G05B2219/40627 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： Robot main body having robotic arm, remote control device including robotic arm operational instruction input part for operator to control by touching, to input operational instruction for robotic arm, and contactless action detecting part configured to detect contactless action including at least one given operation instructing action of operator, and control device communicably connected to remote control device and configured to control operation of robot main body, are provided. Control device includes memory part configured to store operational instruction content data defining an operation mode of robot main body corresponding to at least one operation instructing action, operational instruction content identifying module to identify operation mode of robot main body of the operation instructing action detected by contactless action detecting part based on operational instruction content data, and motion controlling module configured to control operation of robot main body based on operation mode identified by operational instruction content identifying module.

10. 发明授权

US10631941B2 Robot system 有权
公开(公告)号：US10631941B2
公开(公告)日：2020-04-28
申请号：US15755384
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko Hashimoto , Nobuyasu Shimomura , Tsuyoshi Maehara , Masayuki Kamon , Yasushi Kurosawa , Shigetsugu Tanaka
IPC分类号： G05B19/04 , G05B19/18 , A61B34/37 , G05B19/418 , B23P19/04 , B25J13/00 , B25J19/04 , B25J9/00 , B25J9/16 , B25J13/08 , B25J3/00 , B25J13/06 , B25J18/00 , B25J19/02 , B25J3/04 , B23Q15/12 , B25J13/02 , B25J11/00 , G06F3/01 , H04N5/232 , H04N7/18 , A61B34/32 , G06T7/62 , G06T7/70 , B23P21/00
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/161 , B25J9/1602 , B25J9/163 , B25J9/1612 , B25J9/1628 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , B23P21/00 , B23P21/002 , G05B2219/33007 , G05B2219/35464 , G05B2219/37297 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/39531 , G05B2219/39533 , G05B2219/40022 , G05B2219/40134 , G05B2219/40136 , G05B2219/40139 , G05B2219/40142 , G05B2219/40143 , G05B2219/40145 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40182 , G05B2219/40183 , G05B2219/40195 , G05B2219/40387 , G05B2219/40627 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： Robot system which includes a master device configured to receive an operating instruction from an operator, slave arm, storage device configured to store operating sequence information that defines processing carried out by slave arm, and control device configured to control operation of slave arm. Control device includes a receiver configured to receive an input signal, motion controller configured to determine whether operating mode of slave arm is to be automatic, manual or correctable automatic mode and control operation of slave arm in determined operating mode, and continuation determinator configured to determine whether continuation of automatic mode is permitted. In a process at which slave arm is scheduled to operate in automatic mode, after motion controller suspends operation of slave arm in automatic mode at a given step of process, continuation determinator determines whether continuation of automatic mode is permitted based on input signal received by receiver when operation is suspended.

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