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1. 发明公开

EP3124002A1 ASSISTANCE ROBOT 有权转让
标题翻译：协助机器人
公开(公告)号：EP3124002A1
公开(公告)日：2017-02-01
申请号：EP14887502.4
申请日：2014-12-26
申请人： Fuji Machine Mfg. Co., Ltd.
发明人： ISOZUMI, Joji , NAKANE, Nobuyuki , NOMURA, Hideaki , NAKANE, Kuniyasu
IPC分类号： A61H3/04 , A61G5/00 , A61G7/10 , B25J11/00
CPC分类号： A61H3/04 , A61G5/14 , A61G7/1019 , A61G7/1046 , A61G7/1086 , A61G7/1092 , A61H2003/043 , A61H2003/046 , A61H2201/5007 , A61H2201/5028 , A61H2201/5043 , A61H2201/5061 , A61H2201/5069
摘要： An assistant robot in which a small-size actuator can be used is provided. One of a lifting and lowering section (40, 240, 340, or 440) and a holding section (50, 250, 350, or 450) includes guide paths (53, 253, 342, 343, and 451a) which guide the holding section (50, 250, 350, or 450) to move in a forward, backward, and inclined manner with respect to the lifting and lowering section (40, 240, 340, or 440). The other one includes a guided member (43, 243, 352, 353, 443, or 444) which moves along the guide path (53, 253, 342, 343, or 451a) .
摘要翻译：提供了一种可以使用小型致动器的辅助机器人。升降部（40,240,340或440）和保持部（50,250,350或450）中的一个包括引导通道（53,253,342,343和451a）的引导通道（53,253,342,343和451a），引导通道（50,250,350或450）以相对于升降部（40,240,340或440）前后，倾斜的方式移动。另一个包括沿引导路径（53,253,342,343或451a）移动的被引导构件（43,243,352,353,443或444）。

2. 发明公开

EP3067770A1 AUTOMATIC DRIVING SYSTEM AND AUTOMATIC TRAVEL MACHINE 有权转让
标题翻译： AUTOMATISCHES ANTRIEBSSYSTEM UND AUTOMATISCHE REISEMASCHINE
公开(公告)号：EP3067770A1
公开(公告)日：2016-09-14
申请号：EP13897244.3
申请日：2013-11-07
申请人： Fuji Machine Mfg. Co., Ltd.
发明人： KODAMA, Seigo , ISOZUMI, Joji , NAKANE, Nobuyuki
IPC分类号： G05D1/02 , A61H3/04
CPC分类号： A61H3/04 , A61H3/061 , A61H2201/5015 , A61H2201/5043 , A61H2201/5064 , A61H2201/5092 , G05D1/0282 , G05D2201/0206
摘要： An automatic driving system that enables a care receiver who moves using a traveling machine to move to a target location without receiving assistance from a caregiver or the like. The automatic traveling system controls support robot R to drive automatically to a target location in a care facility with a care receiver in a held state. Monitoring devices 31 detect obstacles 43 in multiple regions 41 set in residences 21 and so on. An area monitoring computer 33 is set to correspond to each of the multiple regions 41, and acquires obstacle information such as the position of obstacles 43 detected by the multiple monitoring devices 31. Area monitoring computer 33 calculates obstacle avoidance route 74 for support robot R to avoid obstacles 43 from obstacle information 72, and sends it to traveling support robot R. Support robot R drives automatically avoiding obstacles 43 while changing travel route 71 based on obstacle avoidance route 74.
摘要翻译：一种自动驾驶系统，其使得能够使用移动机器移动的护理接收器移动到目标位置而不从照顾者等接收辅助。自动旅行系统控制支持机器人R以在保持状态下的护理接收器自动地驱动到护理设施中的目标位置。监视装置31检测住在住宅21中的多个区域41中的障碍物43等。区域监视计算机33被设置为对应于多个区域41中的每一个，并且获取由多个监视装置31检测到的诸如障碍物43的位置的障碍物信息。区域监视计算机33计算支持机器人R的障碍物回避路线74 从障碍物信息72避开障碍物43，并将其发送到行驶支援机器人R.支援机器人R驱动装置自动避开障碍物43，同时根据障碍物回避路线74改变行驶路线71。

3. 发明公开

EP3050549A1 ASSISTANCE ROBOT 有权转让
标题翻译： ASSIST机器人
公开(公告)号：EP3050549A1
公开(公告)日：2016-08-03
申请号：EP13894684.3
申请日：2013-09-24
申请人： Fuji Machine Mfg. Co., Ltd.
发明人： NOMURA, Hideaki , ISOZUMI, Joji , NAKANE, Nobuyuki
IPC分类号： A61G7/10 , A61G5/00 , G05D1/02
CPC分类号： A61G7/1048 , A61G5/04 , A61G5/14 , A61G7/018 , A61G7/10 , A61G7/1046 , A61G7/1065 , A61G2203/22
摘要： A care robot used to transfer a care receiver to/from a drive assistance apparatus such as an electric wheelchair which reduces the complexity of operation of the drive assistance apparatus and the care robot, and reduces the labor of a caregiver.
The care robot is provided with a holding section that assists a care receiver in standing up and sitting down by supporting a body part of the care receiver, and a control section that, when a care receiver transfers to/from a drive assistance apparatus that performs at least one of raising/lowering and traveling by using a drive source with the care receiver in at least a sitting state, at least receives (steps S204, 206) control information from the drive assistance apparatus, and performs control (steps S208, 212) to assist the transfer of the care receiver based on the control information.

4. 发明公开

EP3025693A1 ASSISTANCE ROBOT 有权转让
标题翻译：协助机器人
公开(公告)号：EP3025693A1
公开(公告)日：2016-06-01
申请号：EP13889822.6
申请日：2013-07-26
申请人： Fuji Machine Mfg. Co., Ltd.
发明人： ISOZUMI, Joji , NAKANE, Nobuyuki , NOMURA, Hideaki
IPC分类号： A61H3/04 , A61G7/10 , B25J11/00
CPC分类号： A61H3/04 , A61G7/1017 , A61G7/1019 , A61G7/1048 , A61G7/1086 , A61G2200/34 , A61G2200/36 , A61G2200/52 , A61G2203/22 , A61G2203/40 , A61G2203/44 , A61G2203/72 , A61H3/008 , A61H2003/043 , A61H2201/1616 , A61H2201/1635 , A61H2201/1659 , A61H2201/5043 , A61H2201/5061 , A61H2201/5064 , A61H2230/625 , B25J9/1679 , B25J11/009 , G05B2219/45108
摘要： A care robot that stands up a care receiver in a posture without discomfort even when a foot position of the sitting care receiver varies.
The care robot comprises a base; a robot arm section that is provided on the base and includes multiple arms that are relatively movable to each other by using a drive section; a holding section that is provided on a portion of the robot arm section and that assists the care receiver to stand up or sit down by supporting a body part of the care receiver; a storage section 26 that stores standing up trajectory reference data which indicates the standing up trajectory along which a movement control portion of the care receiver passes when the care receiver sitting on a seat stands up being supported by the holding section; a correction section 27e that corrects the standing up trajectory reference data based on a foot position of the care receiver when sitting on the seat; and a drive control section 27f that drives the drive section so as to drive the robot arm section based on the standing up trajectory reference data corrected by the correction section.
摘要翻译：即使坐在受护理人员的脚部位置发生变化，也能够以无姿势站立护理人员的护理机器人。护理机器人包括基座; 机器人臂部分，所述机器人臂部分设置在所述基座上并且包括通过使用驱动部分可相对彼此移动的多个臂; 保持部分，其设置在机器人臂部分的一部分上并且通过支撑被护理接收器的身体部分来协助被护理者站立或坐下; 存储部分26，其存储表示立起轨迹的立起轨迹参考数据，该立起轨迹参考数据表示当坐在座位上的护理员站立时护理接收器的移动控制部分经过的立起轨迹由保持部分支撑; 修正部27e，其基于坐在座位上时的被护理者的脚的位置来修正立起轨迹参照数据; 以及驱动控制部分27f，驱动控制部分27f基于由校正部分校正的直立轨迹参考数据来驱动驱动部分以驱动机器人臂部分。

5. 发明公开

EP2954883A1 MOVEMENT ASSISTANCE ROBOT 有权转让
标题翻译： BEWEGUNGSUNTERSTÜTZUNGSROBOTER
公开(公告)号：EP2954883A1
公开(公告)日：2015-12-16
申请号：EP13874547.6
申请日：2013-02-07
申请人： Fuji Machine Mfg. Co., Ltd.
发明人： ISOZUMI, Joji , MORI, Kazuaki , NAKANE, Nobuyuki , NOMURA, Hideaki
IPC分类号： A61G5/00 , A61G7/10
CPC分类号： A61G5/14 , A61G5/04 , A61G7/1019 , A61G2200/52 , A61G2200/54 , A61G2200/60 , A61H3/04 , A61H2003/002 , A61H2003/006 , A61H2003/043
摘要： There is provided a movement assistance robot in which a single type of movement assistance robot can take care of multiple users having different physical abilities. A movement assistance robot 20 includes a robot arm unit 22 that is disposed in a base 21 traveling using drive wheels driven by a drive source, that includes multiple arms which are mutually and relatively movable by a drive unit, and that is configured to be transformable into multiple form types respectively coping with multiple movement postures (standing-upright walking assistance mode, hand support walking assistance mode, elbow support walking assistance mode, standing-upright riding movement mode, and seat riding movement mode) of a care receiver M1, a holding unit 23 that is disposed in a distal end portion of the robot arm unit 22 so as to support a care receiver, a selective operation unit that selects one form type from the multiple form types, and a transformation control unit that drives the drive unit and transforms the robot arm unit into a form type selected by the selective operation unit.
摘要翻译：提供了一种运动辅助机器人，其中单一类型的运动辅助机器人可以照顾具有不同物理能力的多个用户。运动辅助机器人20包括机器人臂单元22，其设置在使用由驱动源驱动的驱动轮行进的基座21中，该驱动轮包括由驱动单元相互可相对移动的多个臂，并且被构造成可变形分别对应于护理接收器M1的多个运动姿势（直立行走辅助模式，手扶支援行走辅助模式，肘部支撑行走辅助模式，直立骑行运动模式和座椅坐骑运动模式）保持单元23，其设置在机器人手臂单元22的远端部分中，以支撑护理接收器;选择性操作单元，其从多种形式类型中选择一种形式;以及变换控制单元，其驱动驱动单元并将机器人手臂单元变换成由选择性操作单元选择的形式类型。

6. 发明公开

EP2813203A1 ACTION SETTING METHOD 有权转让
标题翻译： PROCESS FOR定型效果
公开(公告)号：EP2813203A1
公开(公告)日：2014-12-17
申请号：EP13746029.1
申请日：2013-01-30
申请人： Fuji Machine Mfg. Co., Ltd.
发明人： SUZUKI, Jun , NAKANE, Nobuyuki , ISOZUMI, Joji , NOMURA, Hideaki , SHIMIZU, Satoshi , YAMAMOTO, Takahiko
IPC分类号： A61H1/02 , A61G7/10 , B25J9/22
CPC分类号： B25J11/009 , A61G5/14 , A61G7/1017 , A61G7/1046 , B25J9/1664
摘要： To provide a motion setting method that can set motions to a standing and sitting motion-supporting robot so that a care receiver can make standing and sitting motions comfortably. The motion setting method is a motion setting method of a standing and sitting motion-supporting robot (1) that supports standing and sitting motions being at least one of a standing motion and a sitting motion of a care receiver (K). The motion setting method includes a custom tracking path acquisition step. In the custom tracking path acquisition step, a custom tracking path (L2) is obtained by correcting a base tracking path (L1) of the standing and sitting motions in accordance with the position of a predetermined body portion of each care receiver (K).

7. 发明公开

EP3123995A1 ASSISTANCE ROBOT 有权转让
标题翻译：协助机器人
公开(公告)号：EP3123995A1
公开(公告)日：2017-02-01
申请号：EP14887416.7
申请日：2014-03-28
申请人： Fuji Machine Mfg. Co., Ltd.
发明人： ISOZUMI, Joji , NAKANE, Nobuyuki , NOMURA, Hideaki
IPC分类号： A61G5/00 , A61H3/04
CPC分类号： A61H3/04 , A61G5/14 , A61G7/1019 , A61G7/1046 , A61G7/1086 , A61G7/1092 , A61H2003/043 , A61H2003/046 , A61H2201/5007 , A61H2201/5028 , A61H2201/5043 , A61H2201/5061 , A61H2201/5069
摘要： Provide is an assistant robot capable of performing standing actions in accordance with the seating posture of persons in need of assistance and the physical characteristics of persons in need of assistance. An assistant robot 10 includes a base table 21, a vertical movement operation section 15c which enables a person in need of assistance M1 or an assistant to operate changes of the vertical-direction location of the holding section 13, a first control section 17a which controls the actuator 45 in accordance with an operation in the vertical movement operation section 15c and moves the holding section 13 in a vertical manner, a memory section 16 which stores in advance action trajectories of the actuators 45, 32a1, and 32b1 which are intended to transfer the holding section 13 from a standard seating posture to a standard standing posture, a correction section 17b which corrects the action trajectories of the actuators 45, 32a1, and 32b1 on the basis of the vertical-direction location of the holding section 13 moved using the first control section 17a and the vertical-direction location of the standard seating posture, and a second control section 17c which controls the actuators 45, 32a1, and 32b1 on the basis of the corrected action trajectories and transfers the holding section 13 to a predetermined standing posture.
摘要翻译： Provide是一种助理机器人，能够根据需要帮助的人的坐姿和需要帮助的人的身体特征执行站立行为。辅助机器人10包括基台21，使需要帮助的人M1或助理能够操作保持部13的垂直方向位置的变化的垂直移动操作部15c，控制第一控制部17a 致动器45根据垂直移动操作部分15c中的操作并且以垂直方式移动保持部分13;存储器部分16，其预先存储旨在传送的致动器45,32a1和32b1的动作轨迹保持部13从标准座位姿势到标准站立姿势;校正部17b，其基于使用该保持部13移动的保持部13的垂直方向位置来校正致动器45,32a1和32b1的动作轨迹第一控制部17a和标准座位姿势的垂直方向位置，以及第二控制部17c，其控制致动器45,32a 1和32b1，并将保持部分13转移到预定的站立姿势。

8. 发明授权

EP2813203B1 ACTION SETTING METHOD 有权转让
标题翻译： PROCESS FOR定型效果
公开(公告)号：EP2813203B1
公开(公告)日：2016-12-28
申请号：EP13746029.1
申请日：2013-01-30
申请人： Fuji Machine Mfg. Co., Ltd.
发明人： SUZUKI, Jun , NAKANE, Nobuyuki , ISOZUMI, Joji , NOMURA, Hideaki , SHIMIZU, Satoshi , YAMAMOTO, Takahiko
IPC分类号： A61H1/02 , A61G7/10 , B25J9/22 , B25J9/16 , B25J11/00 , A61G5/14
CPC分类号： B25J11/009 , A61G5/14 , A61G7/1017 , A61G7/1046 , B25J9/1664

9. 发明公开

EP2954882A1 PATIENT-CARE ROBOT 有权转让
标题翻译：患者治疗机器人
公开(公告)号：EP2954882A1
公开(公告)日：2015-12-16
申请号：EP13874310.9
申请日：2013-02-07
申请人： Fuji Machine Mfg. Co., Ltd.
发明人： SUZUKI, Jun , ISOZUMI, Joji , MORI, Kazuaki , NAKANE, Nobuyuki , NOMURA, Hideaki
IPC分类号： A61G5/00 , A61G7/10
CPC分类号： A61G7/1019 , A61G5/14 , A61G7/1046 , A61G2200/34 , A61G2200/36 , A61G2200/52
摘要： Provided is a care robot that assists a standing-upright motion or a sitting motion of a care receiver without making the care receiver uncomfortable. In a care robot 20, a standing-upright trajectory Tas1, along which a movement control portion Ps of a care receiver M1 moves, is set such that a center G of gravity of the care receiver M1 is present in a range A of the soles of both feet between a point in time early after the start of a standing-upright motion and an end time point of the standing-upright motion of the care receiver M1, and a sitting trajectory Tbs1, which is different from the standing-upright trajectory Tas1, and along which the movement control portion Ps of the care receiver M1 moves, is set such that the center G of gravity of the care receiver M1 is present out of the range A of the soles of both feet from a point in time early after the start of a sitting motion of the care receiver M1, and moves toward a predetermined sitting position of the care receiver M1.

10. 发明授权

EP3124002B1 ASSISTANCE ROBOT 有权转让
公开(公告)号：EP3124002B1
公开(公告)日：2018-09-26
申请号：EP14887502.4
申请日：2014-12-26
申请人： Fuji Machine Mfg. Co., Ltd.
发明人： ISOZUMI, Joji , NAKANE, Nobuyuki , NOMURA, Hideaki , NAKANE, Kuniyasu
IPC分类号： A61H3/04 , A61G5/00 , A61G7/10 , B25J11/00 , A61G5/14
CPC分类号： A61H3/04 , A61G5/14 , A61G7/1019 , A61G7/1046 , A61G7/1086 , A61G7/1092 , A61H2003/043 , A61H2003/046 , A61H2201/5007 , A61H2201/5028 , A61H2201/5043 , A61H2201/5061 , A61H2201/5069
摘要： An assistant robot in which a small-size actuator can be used is provided. One of a lifting and lowering section (40, 240, 340, or 440) and a holding section (50, 250, 350, or 450) includes guide paths (53, 253, 342, 343, and 451a) which guide the holding section (50, 250, 350, or 450) to move in a forward, backward, and inclined manner with respect to the lifting and lowering section (40, 240, 340, or 440). The other one includes a guided member (43, 243, 352, 353, 443, or 444) which moves along the guide path (53, 253, 342, 343, or 451a) .

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