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1. 发明授权

US08165718B2 Robotic transportation devices and systems 有权
标题翻译：机器人运输设备和系统
公开(公告)号：US08165718B2
公开(公告)日：2012-04-24
申请号：US12847572
申请日：2010-07-30
申请人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
发明人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
IPC分类号： G05B24/00
CPC分类号： A61G7/08 , A61G5/047 , A61G7/1048 , A61G2203/12 , A61G2203/16 , A61G2203/20 , A61G2203/22 , A61G2203/80 , B62B5/0006 , B62B5/0079 , B62B2202/90 , B66C23/48 , B66F9/063
摘要： A robotic transportation device may include a device body, two docking arms, and a controller module. The device body may include at least one motorized wheel, and the two docking arms may include an adjustable wheel locking device. The two docking arms may extend horizontally from the device body and may be adjustable along first and second directions. The adjustable wheel locking devices comprise two adjustable wheel stops extending laterally from the docking arm. The controller module may cause the robotic transportation device to autonomously approach a target device, detect a device type, and adjust a position of the two docking arms and the two wheel stops in accordance with the device type. The controller module may move each adjustable wheel locking device under a target wheel of the target device to lock and lift the target wheels, and cause the robotic transportation device to autonomously transport the target device.
摘要翻译：机器人运输装置可以包括装置主体，两个对接臂和控制器模块。装置主体可以包括至少一个电动轮，并且两个对接臂可以包括可调轮锁定装置。两个对接臂可以从装置主体水平延伸并且可以沿第一和第二方向调节。可调轮锁定装置包括从对接臂横向延伸的两个可调节的轮挡。控制器模块可以使机器人运输设备自主地接近目标设备，检测设备类型，并且根据设备类型调整两个对接臂和两个车轮挡块的位置。控制器模块可将每个可调轮锁定装置移动到目标装置的目标轮下，以锁定和提升目标轮，并使机器人运输装置自主运送目标装置。

2. 发明申请

US20120024890A1 MOBILE SANITIZING DEVICES AND SYSTEMS FOR DISPENSING SANITIZER SOLUTION 有权
标题翻译：用于分配SANITIZER解决方案的移动卫生设备和系统
公开(公告)号：US20120024890A1
公开(公告)日：2012-02-02
申请号：US12847280
申请日：2010-07-30
申请人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
发明人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
IPC分类号： B67D1/00 , B60P3/22
CPC分类号： A61L2/0088 , A61L2202/14 , A61L2202/15 , A61L2202/16
摘要： A mobile sanitizing device may include a sanitizer solution dispenser module, a motorized wheel assembly, and a controller module. The sanitizer solution dispenser module may be operable to dispense the sanitizer solution. The motorized wheel includes at least one wheel and is coupled to the sanitizer solution dispenser module. The controller module includes a microcontroller and a memory, and is programmed to log a sanitization record into a sanitization history of at least one user, compare the sanitization history of the user with a sanitization standard, and control the motorized wheel assembly to cause the mobile sanitizing device to approach the user to dispense sanitizing solution to the user when the sanitization history does not meet the sanitization standard.
摘要翻译：移动消毒装置可以包括消毒剂溶液分配器模块，电动轮组件和控制器模块。消毒剂溶液分配器模块可操作以分配消毒剂溶液。电动轮包括至少一个轮，并且联接到消毒剂溶液分配器模块。控制器模块包括微控制器和存储器，并被编程为将消毒记录记录到至少一个用户的消毒历史中，将用户的消毒历史与卫生标准进行比较，并且控制电动车轮组件以使移动消毒设备，当消毒历史不符合消毒标准时，接近用户将消毒解决方案分配给用户。

3. 发明授权

US08564444B2 Mobile sanitizing devices and systems for dispensing sanitizer solution 有权
标题翻译：移动消毒装置和用于分配消毒剂溶液的系统
公开(公告)号：US08564444B2
公开(公告)日：2013-10-22
申请号：US12847280
申请日：2010-07-30
申请人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
发明人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
IPC分类号： G08B23/00
CPC分类号： A61L2/0088 , A61L2202/14 , A61L2202/15 , A61L2202/16
摘要： A mobile sanitizing device may include a sanitizer solution dispenser module, a motorized wheel assembly, and a controller module. The sanitizer solution dispenser module may be operable to dispense the sanitizer solution. The motorized wheel includes at least one wheel and is coupled to the sanitizer solution dispenser module. The controller module includes a microcontroller and a memory, and is programmed to log a sanitization record into a sanitization history of at least one user, compare the sanitization history of the user with a sanitization standard, and control the motorized wheel assembly to cause the mobile sanitizing device to approach the user to dispense sanitizing solution to the user when the sanitization history does not meet the sanitization standard.
摘要翻译：移动消毒装置可以包括消毒剂溶液分配器模块，电动轮组件和控制器模块。消毒剂溶液分配器模块可操作以分配消毒剂溶液。电动轮包括至少一个轮，并且联接到消毒剂溶液分配器模块。控制器模块包括微控制器和存储器，并被编程为将消毒记录记录到至少一个用户的消毒历史中，将用户的消毒历史与卫生标准进行比较，并且控制电动车轮组件以使移动消毒设备，当消毒历史不符合消毒标准时，接近用户将消毒解决方案分配给用户。

4. 发明授权

US08375484B2 Physical assistive robotic devices and systems 有权
标题翻译：物理辅助机器人设备和系统
公开(公告)号：US08375484B2
公开(公告)日：2013-02-19
申请号：US12847640
申请日：2010-07-30
申请人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
发明人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
IPC分类号： A61G7/10
CPC分类号： A61H1/001 , A61G7/1017 , A61G7/1019 , A61G7/1048 , A61G7/1086 , A61G2200/34 , A61G2200/36 , A61G2203/16 , A61G2203/20 , A61G2203/22 , A61G2203/32
摘要： A physical assistive robotic device may include a frame including an upright support member, a lateral member slidably engaged with the upright support member, a handle slidably engaged with the lateral member, an elevation actuator coupled to the upright support member and the lateral member, and a lateral actuator coupled to the lateral member and the handle. The elevation actuator translates the lateral member and the lateral actuator translates the handle to transition a user between a standing position and a non-standing position.
摘要翻译：物理辅助机器人装置可以包括框架，其包括直立支撑构件，与直立支撑构件可滑动地接合的侧向构件，与侧向构件可滑动地接合的手柄，联接到直立支撑构件和横向构件的升降致动器，以及耦合到侧向构件和手柄的横向致动器。升降致动器使横向构件平移并且侧向致动器平移手柄以使使用者在站立位置和非站立位置之间转变。

5. 发明申请

US20120023660A1 Robotic Posture Transfer Assist Devices and Methods 有权
标题翻译：机器人姿态转移辅助装置和方法
公开(公告)号：US20120023660A1
公开(公告)日：2012-02-02
申请号：US12847702
申请日：2010-07-30
申请人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano , Srinidhi Kaushik
发明人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano , Srinidhi Kaushik
IPC分类号： A61G7/14 , G05B19/04
CPC分类号： A61G7/1019 , A61G7/1046 , A61G7/1057 , A61G7/1076
摘要： Robotic posture transfer assist devices for assisting a posture transfer of a patient in a bed may include a device body, a stabilizer coupled with the device body and the bed, and at least one robotic arm having a plurality of degrees of freedom, wherein the robotic arm may be coupled with the device body. Robotic posture transfer assist devices may further include an end-effector removably coupled with the robotic arm, a controller module that provides a control signal to the robotic arm to control a movement of the robotic arm about the plurality of degrees of freedom, and a user input device that provides a command signal to the controller module to command the movement of the robotic arm, wherein the control signal provided by the controller module corresponds with the command signal.
摘要翻译：用于辅助患者在床上的姿势转移的机器人姿态转移辅助装置可以包括装置主体，与装置本体和床耦合的稳定器以及具有多个自由度的至少一个机器人臂，其中机器人臂可以与装置主体联接。机器人姿势转移辅助装置还可以包括可移除地与机器人臂联接的末端执行器，控制器模块，其向机器人手臂提供控制信号以控制机器人手臂关于多个自由度的运动，以及用户输入装置，其向控制器模块提供命令信号以指示机器人臂的移动，其中由控制器模块提供的控制信号对应于命令信号。

6. 发明授权

US08499379B2 Robotic posture transfer assist devices and methods 有权
标题翻译：机器人姿态转移辅助装置及方法
公开(公告)号：US08499379B2
公开(公告)日：2013-08-06
申请号：US12847702
申请日：2010-07-30
申请人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano , Srinidhi Kaushik
发明人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano , Srinidhi Kaushik
IPC分类号： A61G5/00 , A61G7/053 , A61G1/00 , A61G7/10
CPC分类号： A61G7/1019 , A61G7/1046 , A61G7/1057 , A61G7/1076
摘要： Robotic posture transfer assist devices for assisting a posture transfer of a patient in a bed may include a device body, a stabilizer coupled with the device body and the bed, and at least one robotic arm having a plurality of degrees of freedom, wherein the robotic arm may be coupled with the device body. Robotic posture transfer assist devices may further include an end-effector removably coupled with the robotic arm, a controller module that provides a control signal to the robotic arm to control a movement of the robotic arm about the plurality of degrees of freedom, and a user input device that provides a command signal to the controller module to command the movement of the robotic arm, wherein the control signal provided by the controller module corresponds with the command signal.
摘要翻译：用于辅助患者在床上的姿势转移的机器人姿态转移辅助装置可以包括装置主体，与装置本体和床耦合的稳定器以及具有多个自由度的至少一个机器人臂，其中机器人臂可以与装置主体联接。机器人姿势转移辅助装置还可以包括可移除地与机器人臂联接的末端执行器，控制器模块，其向机器人手臂提供控制信号以控制机器人手臂关于多个自由度的运动，以及用户输入装置，其向控制器模块提供命令信号以指示机器人臂的移动，其中由控制器模块提供的控制信号对应于命令信号。

7. 发明申请

US20120029696A1 ROBOTIC CANE DEVICES 有权
标题翻译：机器人装置
公开(公告)号：US20120029696A1
公开(公告)日：2012-02-02
申请号：US12847410
申请日：2010-07-30
申请人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
发明人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
IPC分类号： G06F19/00 , G05B15/00
CPC分类号： A61H3/04 , A61H2003/0272 , A61H2003/043 , A61H2201/5061 , A61H2201/5069 , B60L11/1805 , Y02T10/7005 , Y10S901/09
摘要： A robotic cane may include a grip handle, a cane body extending from the grip handle at a first end, a motorized omni-directional wheel coupled to a second end of the cane body, a balance control sensor, and a controller module. The balance control sensor provides a balance signal corresponding to an orientation of the robotic cane. The controller module may receive the balance signal from the balance control sensor and calculate a balancing velocity of the motorized omni-directional wheel based at least in part on the balance signal and an inverted pendulum control algorithm. The controller module may further provide a drive signal to the motorized omni-directional wheel in accordance with the calculated balancing velocity. The calculated balancing velocity is a speed and direction of the motorized omni-directional wheel to retain the robotic cane in an substantially upright position.
摘要翻译：机器手柄可以包括手柄，在第一端从手柄延伸的手杖主体，联接到手杖主体的第二端的电动全方向轮，平衡控制传感器和控制器模块。平衡控制传感器提供对应于机器人手杖的取向的平衡信号。控制器模块可以从平衡控制传感器接收平衡信号，并且至少部分地基于平衡信号和倒立摆控制算法来计算机动全方向轮的平衡速度。控制器模块还可以根据计算的平衡速度向机动化全向轮提供驱动信号。计算的平衡速度是电动全向轮的速度和方向，以将机器手柄保持在基本直立的位置。

8. 发明申请

US20120023661A1 PHYSICAL ASSISTIVE ROBOTIC DEVICES AND SYSTEMS 有权
标题翻译：物理协调机器人和系统
公开(公告)号：US20120023661A1
公开(公告)日：2012-02-02
申请号：US12847640
申请日：2010-07-30
申请人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
发明人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
IPC分类号： A61G7/10 , A61G5/14
CPC分类号： A61H1/001 , A61G7/1017 , A61G7/1019 , A61G7/1048 , A61G7/1086 , A61G2200/34 , A61G2200/36 , A61G2203/16 , A61G2203/20 , A61G2203/22 , A61G2203/32
摘要： A physical assistive robotic device may include a frame including an upright support member, a lateral member slidably engaged with the upright support member, a handle slidably engaged with the lateral member, an elevation actuator coupled to the upright support member and the lateral member, and a lateral actuator coupled to the lateral member and the handle. The elevation actuator translates the lateral member and the lateral actuator translates the handle to transition a user between a standing position and a non-standing position.
摘要翻译：物理辅助机器人装置可以包括框架，其包括直立支撑构件，与直立支撑构件可滑动地接合的侧向构件，与侧向构件可滑动地接合的手柄，联接到直立支撑构件和横向构件的升降致动器，以及耦合到侧向构件和手柄的横向致动器。升降致动器使横向构件平移并且侧向致动器平移手柄以使使用者在站立位置和非站立位置之间转变。

9. 发明授权

US08418705B2 Robotic cane devices 有权
公开(公告)号：US08418705B2
公开(公告)日：2013-04-16
申请号：US12847410
申请日：2010-07-30
申请人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
发明人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
IPC分类号： A61H3/02 , A45B1/02 , G05B11/32 , G05B11/01 , G05B15/00 , G05B19/00
CPC分类号： A61H3/04 , A61H2003/0272 , A61H2003/043 , A61H2201/5061 , A61H2201/5069 , B60L11/1805 , Y02T10/7005 , Y10S901/09
摘要： A robotic cane may include a grip handle, a cane body extending from the grip handle at a first end, a motorized omni-directional wheel coupled to a second end of the cane body, a balance control sensor, and a controller module. The balance control sensor provides a balance signal corresponding to an orientation of the robotic cane. The controller module may receive the balance signal from the balance control sensor and calculate a balancing velocity of the motorized omni-directional wheel based at least in part on the balance signal and an inverted pendulum control algorithm. The controller module may further provide a drive signal to the motorized omni-directional wheel in accordance with the calculated balancing velocity. The calculated balancing velocity is a speed and direction of the motorized omni-directional wheel to retain the robotic cane in an substantially upright position.

10. 发明申请

US20120029697A1 ROBOTIC TRANSPORTATION DEVICES AND SYSTEMS 有权
标题翻译：机动车运输装置和系统
公开(公告)号：US20120029697A1
公开(公告)日：2012-02-02
申请号：US12847572
申请日：2010-07-30
申请人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
发明人： Yasuhiro Ota , Masaru Ryumae , Keiichi Sato , Shin Sano
IPC分类号： G05B19/04 , H04N7/18 , G05D1/00 , H04Q5/22
CPC分类号： A61G7/08 , A61G5/047 , A61G7/1048 , A61G2203/12 , A61G2203/16 , A61G2203/20 , A61G2203/22 , A61G2203/80 , B62B5/0006 , B62B5/0079 , B62B2202/90 , B66C23/48 , B66F9/063
摘要： A robotic transportation device may include a device body, two docking arms, and a controller module. The device body may include at least one motorized wheel, and the two docking arms may include an adjustable wheel locking device. The two docking arms may extend horizontally from the device body and may be adjustable along first and second directions. The adjustable wheel locking devices comprise two adjustable wheel stops extending laterally from the docking arm. The controller module may cause the robotic transportation device to autonomously approach a target device, detect a device type, and adjust a position of the two docking arms and the two wheel stops in accordance with the device type. The controller module may move each adjustable wheel locking device under a target wheel of the target device to lock and lift the target wheels, and cause the robotic transportation device to autonomously transport the target device.
摘要翻译：机器人运输装置可以包括装置主体，两个对接臂和控制器模块。装置主体可以包括至少一个电动轮，并且两个对接臂可以包括可调轮锁定装置。两个对接臂可以从装置主体水平延伸并且可以沿第一和第二方向调节。可调轮锁定装置包括从对接臂横向延伸的两个可调节的轮挡。控制器模块可以使机器人运输设备自主地接近目标设备，检测设备类型，并且根据设备类型调整两个对接臂和两个车轮挡块的位置。控制器模块可将每个可调轮锁定装置移动到目标装置的目标轮下，以锁定和提升目标轮，并使机器人运输装置自主运送目标装置。

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