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1. 发明授权

US08474893B2 Grasping apparatus 有权
标题翻译：抓握装置
公开(公告)号：US08474893B2
公开(公告)日：2013-07-02
申请号：US12899025
申请日：2010-10-06
申请人： Yasunori Kawanami , Akichika Tanaka , Kenichiro Nagasaka , Masakuni Nagano
发明人： Yasunori Kawanami , Akichika Tanaka , Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： B66C1/42
CPC分类号： B25J15/0213
摘要： A grasping apparatus includes a base unit, left and right parallel links, and a driving unit that is housed in the base unit and drives the first link of the right parallel link and the first link of the left parallel link in the open/close direction. Each of the left and right parallel links has a first link attached pivotably in an open/close direction about a base shaft of the base unit, a second link attached pivotably in the open/close direction about an auxiliary shaft located on an outer side in the open/close direction, a finger unit supported pivotably at an end of the first link and an end of the second link, and a claw projecting toward the inner side in the open/close direction and disposed along an end face of the grasping surface of the finger unit of each of the left and right parallel links.
摘要翻译：夹持装置包括基座单元，左右平行连杆和驱动单元，该驱动单元容纳在基座单元中，并且驱动左右平行连杆的第一连杆和左平行连杆的第一连杆沿开闭方向。左右平行连杆中的每一个具有围绕基座单元的基轴以开闭方式可枢转地附接的第一连杆，第二连杆以围绕位于外侧的辅助轴的打开/关闭方向可枢转地附接打开/关闭方向，可旋转地支撑在第一连杆的端部和第二连杆的端部处的手指单元，以及沿着打开/关闭方向朝向内侧突出的爪，沿着抓握表面的端面设置的左右平行链接中的每一个的手指单元。

2. 发明授权

US08036395B2 Sound effects generation device, sound effects generation method, and computer program product 失效
标题翻译：音效生成装置，声音效果生成方法和计算机程序产品
公开(公告)号：US08036395B2
公开(公告)日：2011-10-11
申请号：US11634989
申请日：2006-12-07
申请人： Kenichiro Nagasaka , Masakuni Nagano
发明人： Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： H03G3/00
CPC分类号： G09B23/06 , G09B23/28
摘要： A sound effect generation device for generating a sound effect corresponding to a physical interaction between objects in a virtual space in which a plurality of virtual objects coexists, includes interaction detection means for detecting an object on which the physical interaction occurs in the virtual space, mechanical quantity calculation means for calculating mechanical quantity acting on the object in accordance with the interaction using a mechanical model for determining, based on physics, behavior between the objects on which the physical interaction acts, and sound effect generation means for generating the sound effect caused in the object by the interaction using the calculated mechanical quantity.
摘要翻译：一种用于生成与多个虚拟对象共存的虚拟空间中的对象之间的物理交互相对应的声音效果的声音效果生成装置，包括用于检测虚拟空间中物理交互发生的对象的交互检测装置，机械数量计算装置，用于根据所述交互使用机械模型来计算作用在所述物体上的机械量，所述机械模型基于物理学来确定物理相互作用所执行的物体之间的行为，以及用于产生在对象通过交互使用计算的机械量。

3. 发明申请

US20110238213A1 GRIPPING JUDGMENT APPARATUS AND GRIPPING JUDGMENT METHOD 有权
标题翻译：拖运裁判设备和拖车裁判方法
公开(公告)号：US20110238213A1
公开(公告)日：2011-09-29
申请号：US13023797
申请日：2011-02-09
申请人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
发明人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
IPC分类号： B25J13/08
CPC分类号： B25J9/1612
摘要： There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.
摘要翻译：提供了一种夹持判断装置，包括：平面单元，其在作为夹持目标的物体被夹持单元夹持的状态下产生用于移动夹持单元的目标轨道;观察单元，其测量夹持单元驱动的运动基于所述目标轨道的夹持状态判断单元，基于来自所述目标轨道的所述夹持单元的目标值和由所述观测单元测量的实际测量值，判断作为夹持目标的物体是否可抓握，以及夹持状态改变单元，其基于由夹持状态判断单元获得的判断结果，改变由夹持单元夹持的物体的夹持状态。

4. 发明授权

US07805218B2 Robot device and control method of robot device 有权
标题翻译：机器人装置及其控制方法
公开(公告)号：US07805218B2
公开(公告)日：2010-09-28
申请号：US10497096
申请日：2003-09-30
申请人： Kenichiro Nagasaka
发明人： Kenichiro Nagasaka
IPC分类号： G06F19/00 , B25J5/00
CPC分类号： B62D57/032 , B62D57/02
摘要： A locomotion control system is constructed to input the quantity of materials in the real world, such as the quantity of motion state of a robot, external force and external moment, and environmental shapes, measured with sensors or the like. By integrating all calculations for maintaining a balance of the body into a single walking-pattern calculating operation, both a locomotion generating function and an adaptive control function are effectively served, the consistency of dynamic models is ensured, and interference between the dynamic models is eliminated. Calculations for generating a walking pattern of the robot can be performed in an actual apparatus and in real time in a manner in which parameters, such as a boundary condition concerning the quantity of motion state, external force and external moment, and the trajectory of the sole, are settable.
摘要翻译：构成运动控制系统，以输入现实世界中的材料的数量，例如机器人的运动状态量，外力和外力矩以及用传感器等测量的环境形状。通过将所有保持身体平衡的计算结合为单一的步行模式计算操作，有效地提供了运动产生功能和自适应控制功能，确保了动态模型的一致性，消除了动态模型之间的干扰。用于生成机器人的行走模式的计算可以在实际装置中以实时方式执行，其中参数例如涉及运动状态量，外力和外力矩的边界条件以及轨迹唯一的，可以设定。

5. 发明申请

US20070185618A1 Control system, control method, and computer program 有权
标题翻译：控制系统，控制方法和计算机程序
公开(公告)号：US20070185618A1
公开(公告)日：2007-08-09
申请号：US11651505
申请日：2007-01-10
申请人： Kenichiro Nagasaka
发明人： Kenichiro Nagasaka
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , G06N3/004
摘要： A control system of a multi-link structure configured by connecting a plurality of rigid bodies together is disclosed. The control system includes: a state equation setting means; a predictive control target value setting means; a stability evaluation function setting means; an optimal control input determining means; an optimal momentum calculating means; and a joint driving method determining means.
摘要翻译：公开了一种通过将多个刚体连接在一起构成的多连杆结构的控制系统。控制系统包括：状态方程设定装置; 预测控制目标值设定单元; 稳定性评价功能设定单元; 最佳控制输入确定装置; 最佳动量计算装置; 以及联合驾驶方法确定装置。

6. 发明申请

US20070083290A1 Apparatus and method for computing operational-space physical quantity 有权
标题翻译：用于计算操作空间物理量的装置和方法
公开(公告)号：US20070083290A1
公开(公告)日：2007-04-12
申请号：US11544052
申请日：2006-10-06
申请人： Kenichiro Nagasaka
发明人： Kenichiro Nagasaka
IPC分类号： G06F19/00 , G05B19/19
CPC分类号： B25J9/1671 , G05B2219/39184 , G05B2219/39299
摘要： An operational space physical quantity calculation apparatus computes a physical quantity in an operational space describing a relationship between a force and acceleration acting on a link structure including a plurality of linked rigid bodies. The operational space physical quantity calculation apparatus includes a forward dynamics calculating unit configured to perform a forward dynamics calculation on the basis of force information about a force acting on the link structure in order to obtain accelerations occurring at certain points of the link structure and an operational space physical quantity computing unit configured to compute an inverse operational space inertia matrix and an operational space bias acceleration by causing the forward dynamics calculating unit to perform the forward dynamics calculation using a kinetic model of the link structure.
摘要翻译：操作空间物理量计算装置计算描述作用在包括多个连接的刚体的连杆结构上的力和加速度之间的关系的操作空间中的物理量。操作空间物理量计算装置包括前向动力学计算单元，其被配置为基于作用在链接结构上的力的力信息执行前向动力学计算，以获得在链接结构的某些点处发生的加速度，空间物理量计算单元，其被配置为通过使所述前向动力学计算单元使用所述链接结构的动力学模型来执行前向动力学计算来计算反向操作空间惯性矩阵和操作空间偏差加速度。

7. 发明授权

US09980842B2 Motion assist device and motion assist method, computer program, and program recording medium 有权
公开(公告)号：US09980842B2
公开(公告)日：2018-05-29
申请号：US14241340
申请日：2012-07-03
申请人： Kenichiro Nagasaka
发明人： Kenichiro Nagasaka
IPC分类号： A61F5/00 , A61F5/01 , A61H3/00 , B25J9/00 , A61H1/02
CPC分类号： A61F5/01 , A61H1/024 , A61H1/0244 , A61H1/0266 , A61H3/00 , A61H2201/165 , A61H2201/5007 , B25J9/0006 , Y10S901/02
摘要： Intentions of a user are read from movements of the joints of the user without the use of a myoelectric sensor, and a force to support motions of the user is generated.Even if there is friction that is difficult to model in a gear portion of a joint actuator, the friction is compensated for, and joint units are controlled to follow an idealized mathematical model. In this manner, the force to support motions is generated, without giving any uncomfortable feeling to the joints of the user wearing the device. When motions of the user are supported, a mathematically-determined torque is applied to the joint units, so that a natural supporting force is constantly provided to the user in various circumstances.

8. 发明授权

US08725296B2 Gripping judgment apparatus and gripping judgment method 有权
标题翻译：抓握判断装置和夹紧判断方法
公开(公告)号：US08725296B2
公开(公告)日：2014-05-13
申请号：US13023797
申请日：2011-02-09
申请人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
发明人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
IPC分类号： B25J13/08 , B25J15/08
CPC分类号： B25J9/1612
摘要： There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.
摘要翻译：提供了一种夹持判断装置，包括：平面单元，其在作为夹持目标的物体被夹持单元夹持的状态下产生用于移动夹持单元的目标轨道;观察单元，其测量夹持单元驱动的运动基于所述目标轨道的夹持状态判断单元，基于来自所述目标轨道的所述夹持单元的目标值和由所述观测单元测量的实际测量值，判断作为夹持目标的物体是否可抓握，以及夹持状态改变单元，其基于由夹持状态判断单元获得的判断结果，改变由夹持单元夹持的物体的夹持状态。

9. 发明授权

US08386213B2 Device, method and computer program for simulation of collision events between physical objects 失效
标题翻译：用于模拟物理对象之间碰撞事件的设备，方法和计算机程序
公开(公告)号：US08386213B2
公开(公告)日：2013-02-26
申请号：US12247715
申请日：2008-10-08
申请人： Kenichiro Nagasaka
发明人： Kenichiro Nagasaka
IPC分类号： G06F7/60 , G06F17/10
CPC分类号： G06F17/5009 , G06F2217/16
摘要： A dynamics simulation device for dynamically simulating physical interactions acting on a plurality of objects under an environment where the objects coexist is disclosed. The device includes: nominal value providing means for providing a nominal value Λn of an operational space inertial matrix; nominal inertial force calculating means for calculating a nominal inertial force acting on the operational space by the use of the nominal value Λn of the operational space inertial matrix and a target acceleration value of the physical quantity x; a disturbance observer estimating forces other than the nominal inertial force acting on the operational space as a disturbance; and means for calculating the force f acting on the physical quantity on the basis of the nominal inertial force and the estimated disturbance fd.
摘要翻译：公开了一种动态模拟在物体共存的环境下作用于多个物体的物理相互作用的动力学模拟装置。该装置包括：用于提供操作空间惯性矩阵的标称值Λn的标称值提供装置; 标称惯性力计算装置，用于通过使用操作空间惯性矩阵的标称值Λn和物理量x的目标加速度值来计算作用在操作空间上的标称惯性力; 估计作为干扰作用于作战空间的标称惯性力之外的力的扰动观测器; 以及用于基于标称惯性力和估计的扰动fd来计算作用于物理量的力f的装置。

10. 发明授权

US08350806B2 Force/tactile display, method for controlling force/tactile display, and computer program 有权
标题翻译：力/触觉显示，力/触觉显示控制方法和计算机程序
公开(公告)号：US08350806B2
公开(公告)日：2013-01-08
申请号：US12072225
申请日：2008-02-25
申请人： Kenichiro Nagasaka , Masakuni Nagano , Keisuke Kato
发明人： Kenichiro Nagasaka , Masakuni Nagano , Keisuke Kato
IPC分类号： G09G5/00
CPC分类号： G06F3/016
摘要： A force/tactile display that presents force/tactile sensation that occurs in response to physical interaction with each of a plurality of objects present in a virtual environment includes an action point defined on the mechanical structure, the action point presenting the force/tactile sensation, an applied force control means for controlling the force exerted on the action point, and an action point control means for controlling the position of the action point.
摘要翻译：呈现响应于存在于虚拟环境中的多个物体的物理相互作用而发生的力/触感的力/触觉显示包括在机械结构上定义的动作点，呈现力/触觉的动作点，用于控制施加在作用点上的力的施加力控制装置和用于控制作用点的位置的动作点控制装置。

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