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    • 92. 发明授权
    • Bipedal robot
    • 双筒机器人
    • US06945341B2
    • 2005-09-20
    • US10381685
    • 2001-09-20
    • Kenichi OgawaTakuro KoyanagiSusumu Miyazaki
    • Kenichi OgawaTakuro KoyanagiSusumu Miyazaki
    • B62D57/032B62D57/02
    • B62D57/032
    • A bipedal robot has an upper body that includes a higher upper body and a lower upper body. The higher upper body and the lower upper body are coupled to each other by a rotating mechanism so as to be rotatable with respect to each other about a vertical axis of rotation. Two legs extend from the lower upper body, and two arms extend from respective shoulders on opposite sides of the higher upper body. The higher upper body of the robot has a thickness in a forward/rearward direction and the lower upper body has a width in a lateral direction, the thickness and the width being smaller than the width in a lateral direction of the robot at the shoulders. An electric energy storage device, which serves as a power supply for operating the robot is mounted in the higher upper body, and an electronic circuit unit for controlling operation of the robot are mounted in the lower upper body. With this robot arrangement, the robot is capable of increased working capability without impairing the stability of the attitude when the robot works.
    • 双足机器人具有上身,其包括较高的上身和下身。 较高的上部主体和下部的上部主体通过旋转机构彼此联​​接,以便围绕垂直的旋转轴线相对于彼此旋转。 两个腿从下部上部体延伸出来,两个臂从较高的上半身的相对侧上的相应的肩膀延伸。 机器人的上部上部具有向前/向后方向的厚度,并且下部上部体在横向上具有宽度,该厚度和宽度小于在肩部处的机器人的横向方向上的宽度。 作为用于操作机器人的电源的电能存储装置安装在较高的上部主体中,并且用于控制机器人的操作的电子电路单元安装在下部上部主体中。 利用这种机器人装置,机器人能够增加工作能力,而不会在机器人工作时损害姿态的稳定性。
    • 100. 发明授权
    • Solid dispersions or solid dispersion pharmaceutical preparations of phenylalanine derivatives
    • 固体分散体或固体分散体苯丙氨酸衍生物的药物制剂
    • US08518441B2
    • 2013-08-27
    • US11433589
    • 2006-05-15
    • Hiroyuki HiguchiHirokazu HagioKenichi OgawaAkira Yabuki
    • Hiroyuki HiguchiHirokazu HagioKenichi OgawaAkira Yabuki
    • A61K9/22A61K31/517A61K9/20
    • A61K9/14A61K31/517
    • The present invention provides solid dispersions or solid dispersion pharmaceutical preparations containing a water-soluble polymeric substance(s) and a phenylalanine compound of the formula (1) or pharmaceutically acceptable salts thereof, wherein A represents the formula (2) and the like, B represent an alkoxy group and the like, E represents a hydrogen atom and the like, D represents a substituted phenyl group and the like, T, U and V represent a carbonyl group and the like, Arm represents a benzene ring and the like, R1 represents an alkyl group and the like, R2, R3, and R4 may be the same or different from one another and each represent a hydrogen atom, a substituted amino group and the like, and J and J′ represent a hydrogen atom and the like; production methods thereof; and solubilized pharmaceutical preparations containing a solubilizer(s) and the compound (I) or pharmaceutically acceptable salts thereof. According to the solid dispersion pharmaceutical preparations or solubilized pharmaceutical preparations, though they contain the phenylalanine compound of the formula (1) that is a poorly-soluble drug as an active ingredient, the pharmaceutical preparations having high solubility and oral absorbability can be obtained.
    • 本发明提供了含有水溶性聚合物和式(1)的苯丙氨酸化合物或其药学上可接受的盐的固体分散体或固体分散体药物制剂,其中A表示式(2)等,B 表示烷氧基等,E表示氢原子等,D表示取代苯基等,T,U和V表示羰基等,Arm表示苯环等,R 1 表示烷基等,R 2,R 3和R 4可以相同或不同,表示氢原子,取代氨基等,J和J'表示氢原子等 ; 生产方法; 和含有增溶剂和化合物(I)的溶解药物制剂或其药学上可接受的盐。 根据固体分散药物制剂或溶解性药物制剂,虽然它们含有作为有效成分的难溶性药物的式(1)的苯丙氨酸化合物,但是可以获得具有高溶解度和口服吸收性的药物制剂。