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1. 发明申请

US20080252247A1 Quadruped Walking Robot 失效
标题翻译：四足步行机器人
公开(公告)号：US20080252247A1
公开(公告)日：2008-10-16
申请号：US11579448
申请日：2005-03-30
申请人： Atsuo Takanishi , Yoichi Takamoto , Katsuyuki Baba , Hideki Nishizawa
发明人： Atsuo Takanishi , Yoichi Takamoto , Katsuyuki Baba , Hideki Nishizawa
IPC分类号： B62D57/032
CPC分类号： B25J9/1065 , B25J19/0091 , B62D57/032
摘要： The present invention provides a quadruped walking robot the production costs and weight of which can be reduced by reducing the number of driving portions, and which is capable of carrying out stabilized walking motions even with the degree of freedom reduced in the leg portions.A quadruped walking robot 1 according to the present invention comprises: a horizontal swivel portion 4 disposed so as to freely swivel in the horizontal direction in the main body portion 2; a horizontal swivel driving portion 5 for driving and turning the horizontal swivel portion 4 in the horizontal direction; an upper side upper leg portion 9 rotatably axially attached in the horizontal swivel portion 4 so as to freely turn in the vertical direction; a lower side upper leg portion 11 disposed roughly parallel to the lower part of the upper side upper leg portion 9; an upper leg driving and turning portion 10 for driving and turning the upper side upper leg portion 9 in the vertical direction; a lower leg portion 13 in which the distal end part of the upper side upper leg portion 9 and the distal end part of the lower side upper leg portion 11 are axially supported vertically at the upper end portion; and a grounding portion 17 disposed at the lower end portion of the lower leg portion 13; and a resilient extension and contraction portion 12, disposed at an intermediate portion of the lower side upper leg portion 11, which resiliently extends and contracts in the lengthwise direction.
摘要翻译：本发明提供一种四足步行机器人，其生产成本和重量可以通过减少驱动部分的数量来减少，并且即使在腿部的自由度减小的情况下也能够执行稳定的步行动作。根据本发明的四足步行机器人1包括：设置成在主体部分2中沿水平方向自由旋转的水平旋转部分4; 用于在水平方向上驱动和转动水平旋转部分4的水平旋转驱动部分5; 可旋转地轴向安装在水平旋转部分4中以便在垂直方向上自由转动的上侧上腿部分9; 大致平行于上侧上腿部9的下部设置的下侧大腿部11; 用于在上下方向驱动和转动上侧上腿部9的上腿驱动转动部10; 上腿部分9的前端部分和下侧上腿部分11的远端部分在上端部垂直轴向支撑的小腿部分13; 以及设置在小腿部13的下端部的接地部17; 以及设置在下侧上腿部11的中间部分处的沿长度方向弹性伸缩的弹性伸缩部12。

2. 发明授权

US07598695B2 Quadruped walking robot 失效
标题翻译：四足步行机器人
公开(公告)号：US07598695B2
公开(公告)日：2009-10-06
申请号：US11579448
申请日：2005-03-30
申请人： Atsuo Takanishi , Yoichi Takamoto , Katsuyuki Baba , Hideki Nishizawa
发明人： Atsuo Takanishi , Yoichi Takamoto , Katsuyuki Baba , Hideki Nishizawa
IPC分类号： B62D57/032 , B25J17/00
CPC分类号： B25J9/1065 , B25J19/0091 , B62D57/032
摘要： A quadruped walking robot, comprising a body part having a horizontal swing part, a horizontal swing drive part, an upper side upper leg part pivotally supported on the horizontal swing part, a lower side upper leg part disposed parallel with the lower part of the upper side upper leg part, an upper leg rotatingly driving part rotatingly driving the upper side upper leg part, a lower leg part having an upper end part to which the tip part of the upper side upper leg part and the tip part of the lower side upper leg part are pivotally connected on the upper and lower sides, and ground-contact part disposed at the lower end part of the lower leg part, and an elastic extensible part disposed at the middle part of the lower side upper leg part and elastically extending/retracting in the longitudinal direction.
摘要翻译：一种四足步行机器人，包括具有水平摆动部分的主体部分，水平摆动驱动部分，枢转地支撑在水平摆动部分上的上侧上腿部分，与上部的下部平行设置的下侧上腿部分旋转地驱动上侧上腿部的上腿旋转驱动部，具有上端部的上下端部的下腿部，上侧部分的上侧腿部的前端部和下侧上腿部的前端部上部脚部在上下两侧枢转连接，接地部设置在下腿部的下端部，弹性伸缩部设置在下侧上腿部的中部，弹性伸长/ 沿纵向缩回。

3. 发明申请

US20080150465A1 Lower Half Body Module of Bipedal Walking Robot 有权
标题翻译：双脚行走机器人的下半身模块
公开(公告)号：US20080150465A1
公开(公告)日：2008-06-26
申请号：US10567086
申请日：2003-09-12
申请人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
发明人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J17/0216
摘要： It is an object of the present invention to provide a lower half body module of a bipedal walking robot which is excellent in practicality in the point that it is possible to transport a heavy load, and which is excellent in the degree of freedom in designing in the point that it is possible to mount or incorporate an upper half body having a large weight. Therefore, this is why legs of the lower half body module are constituted by a parallel link mechanism to sustain a large load. The lower half body module (1) of the present invention includes a base (2), aright foot (3) and a left foot (4), a plurality of passive joints (6, 7, 8) which are respectively provided on the base (2), the right foot (3) and the left foot (4), and parallel link mechanism portions (1a, 1b) which are respectively provided between the passive joint (6) provided on the base (2) and the passive joints (7, 8) provided on the right foot (3) and between the passive joint (6) provided on the base (2) and the passive joints (7, 8) provided on the left foot (4).
摘要翻译：本发明的目的是提供一种双足步行机器人的下半身模块，其实用性优异，可以运输重载，并且设计自由度优异可以安装或结合具有大重量的上半身的点。因此，这就是为什么下半体模块的腿部由平行连杆机构构成以维持大的负荷的原因。本发明的下半体模块（1）包括基座（2），脚踏脚（3）和左脚（4），多个被动接头（6,7,8）分别设置在分别设置在设置在基座（2）上的被动接头（6）和基座（2）之间的平行连杆机构部分（1a，1b）和平行连杆机构部分（1a，1b）设置在右脚（3）上的被动关节（7,8）和设置在基座（2）上的被动关节（6）和设置在左脚（4）上的被动关节（7,8）之间。

4. 发明授权

US07498758B2 Lower half body module of bipedal walking robot 有权
标题翻译：双足步行机器人的下半身模块
公开(公告)号：US07498758B2
公开(公告)日：2009-03-03
申请号：US10567086
申请日：2003-09-12
申请人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
发明人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J17/0216
摘要： It is an object of the present invention to provide a lower half body module of a bipedal walking robot which is excellent in practicality in the point that it is possible to transport a heavy load, and which is excellent in the degree of freedom in designing in the point that it is possible to mount or incorporate an upper half body having a large weight. Therefore, this is why legs of the lower half body module are constituted by a parallel link mechanism to sustain a large load. The lower half body module (1) of the present invention includes a base (2), a right foot (3) and a left foot (4), a plurality of passive joints (6, 7, 8) which are respectively provided on the base (2), the right foot (3) and the left foot (4), and parallel link mechanism portions (1a, 1b) which are respectively provided between the passive joint (6) provided on the base (2) and the passive joints (7, 8) provided on the right foot (3) and between the passive joint (6) provided on the base (2) and the passive joints (7, 8) provided on the left foot (4).
摘要翻译：本发明的目的是提供一种双足步行机器人的下半身模块，其实用性优异，可以运输重载，并且设计自由度优异可以安装或结合具有大重量的上半身的点。因此，这就是为什么下半体模块的腿部由平行连杆机构构成以维持大的负荷的原因。本发明的下半体模块（1）包括基座（2），右脚（3）和左脚（4），多个被动接头（6,7,8）分别设置在分别设置在设置在基座（2）的被动接头（6）和基座（2），右脚部（3）和左脚部（4）之间的平行连杆机构部（1a，1b）设置在右脚（3）上的被动接头（7,8）和设置在基座（2）上的被动接头（6）和设置在左脚（4）上的被动接头（7,8）之间。

5. 发明申请

US20090200090A1 Multiple-point grounding type foot portion supporting mechanism, biped walking robot equipped with the same, and control structrure therefor 审中-公开
标题翻译：多点接地型脚部支撑机构，配备相同的两足步行机器人及其控制结构
公开(公告)号：US20090200090A1
公开(公告)日：2009-08-13
申请号：US11630784
申请日：2005-07-28
申请人： Atsuo Takanishi , Kenji Hashimoto , Akihiro Ohta , Takuya Hosobata , Yusuke Sugahara , Yutaka Mikuriya , Masamiki Kawase , Hiroyuki Sunazuka , Chiaki Tanaka , Yoichi Takamoto , Katsuyuki Baba , Shigeaki Ino
发明人： Atsuo Takanishi , Kenji Hashimoto , Akihiro Ohta , Takuya Hosobata , Yusuke Sugahara , Yutaka Mikuriya , Masamiki Kawase , Hiroyuki Sunazuka , Chiaki Tanaka , Yoichi Takamoto , Katsuyuki Baba , Shigeaki Ino
IPC分类号： B62D57/032 , B25J5/00 , B25J13/08
CPC分类号： B25J13/085 , B25J19/0004
摘要： The present invention provides a multiple-point grounding type foot portion supporting mechanism having excellent reliability, in which the respective supporting points passively follow unevenness of the grounding surface such as a road surface, and which is capable of quickly supporting foot bottoms at polygonal points and preventing falling over even on a grounding surface having level differences by fixing the supporting points when all supporting points are grounded. The multiple-point grounding type foot portion supporting mechanism includes: base portions each disposed on the foot bottom of the foot portion of a walking robot; three or more foot bottom supporting portions each having its one end part disposed and protruding downward from the bottom face of the base portion, each of which independently moves upward when being grounded and is slidably or rotatably supported; grounding sensors each disposed at the base portion or the foot bottom supporting portion, which detect grounding of the respective foot bottom supporting portions; and lock mechanisms disposed at the base portion, which control and brake the movements of all foot bottom supporting portions when the grounding sensors detect grounding of all foot bottom supporting portions.
摘要翻译：本发明提供一种具有优异的可靠性的多点接地型脚部支撑机构，其中各个支撑点被动地跟随诸如路面的接地面的不平坦，并且能够在多边形点处快速地支撑脚底部，当所有支撑点接地时，通过固定支撑点来防止甚至在具有电平差的接地表面上落下。多点接地型脚部支撑机构包括：各自设置在步行机器人的脚部的脚底部的基部; 三个或更多个脚底部支撑部分，每个底部支撑部分的一个端部从基部的底面设置并向下突出，每个底部支撑部分在接地时独立地向上移动并且可滑动或可旋转地支撑; 接地传感器，每个接地传感器设置在基部或底部底部支撑部分处，其检测相应的脚底支撑部分的接地; 以及设置在基部的锁定机构，当接地传感器检测到所有脚底支撑部分的接地时，其控制和制动所有脚底支撑部分的运动。

6. 发明申请

US20060235571A1 Access control system in radio lan system 审中-公开
标题翻译：无线局域网系统中的门禁系统
公开(公告)号：US20060235571A1
公开(公告)日：2006-10-19
申请号：US10567087
申请日：2003-09-12
申请人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
发明人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： E04F13/04 , A61L27/18 , A61L27/58 , A61L2430/32 , B25J9/123 , B25J17/0216 , B25J18/025 , B25J19/0004 , F16H25/2454 , C08L67/04
摘要： It is an object of the present invention to provide a linear motion link device capable of reducing a load applied to an actuator and capable of saving consumption of power and a bipedal walking robot provided therewith. Therefore, this is why the linear motion link device is held and locked by a holding brake so as not to telescope during the stop of the actuator. The linear motion link device of the present invention is constituted so as to include an actuator (28) and a holding brake (30) which holds and locks a movable portion (41) of the actuator (28) and to freely telescope in a longitudinal direction of the linear motion link device (1) by driving of the actuator (28). Further, a bipedal walking robot of the present invention has a constitution that the linear motion link device (1) having the holding brake (30) which holds and locks the movable portion (41) of the actuator (28) is provided.
摘要翻译：本发明的目的是提供一种线性运动连杆装置，其能够减轻施加在致动器上的负荷并且能够节省电力消耗，并且能够提供与此相应的双足行走机器人。因此，这就是为什么线性运动连杆装置被保持制动器保持和锁定，以便在致动器停止期间不能望远镜。本发明的直线运动连杆装置构成为包括致动器（28）和保持制动器（30），该保持制动器保持并锁定致动器（28）的可动部分（41）并且可纵向自由地望远镜通过致动器（28）的驱动，线性运动连杆装置（1）的方向。此外，本发明的双足步行机器人具有如下构造：具有保持并锁定致动器（28）的可动部（41）的保持制动器（30）的直线运动连杆装置（1）。

7. 发明申请

US20100009329A1 MEDICAL TECHNIQUE EVALUATION SYSTEM, TECHNIQUE EVALUATION DEVICE, TECHNIQUE EVALUATION DEVICE PROGRAM 审中-公开
标题翻译：医疗技术评估系统，技术评估装置，技术评估装置方案
公开(公告)号：US20100009329A1
公开(公告)日：2010-01-14
申请号：US12443029
申请日：2007-09-12
申请人： Atsuo Takanishi , Muhamad Aizdin , Nobuki Oshima , Ryu Midorikawa , Jorge Solis , Yu Ogura , Hiroyuki Ishii
发明人： Atsuo Takanishi , Muhamad Aizdin , Nobuki Oshima , Ryu Midorikawa , Jorge Solis , Yu Ogura , Hiroyuki Ishii
IPC分类号： G09B23/28
CPC分类号： A61B17/00 , A61B2017/00716 , G09B23/28
摘要： A tool for objectively evaluating the technique of a medical treatment such as an operation or a palpation performed by a doctor or a medical student. A medical technique evaluation system comprises a soft material member having an incision made in itself for simulative suture by a trainee such as a doctor or a medical student and elastic deformation by a force acting on the surroundings of the incision, reflective type photointerruptor for measuring the state values in three orthogonal axes according to the elastic deformation of the soft material member and a technique evaluation device for determining the evaluation score of the technique of the suture and ligation on the basis of the measured values from the reflective type photointerruptor. The technique evaluation device substitutes values based on the measured state values in the orthogonal three axes into a predetermined evaluation function to determine the evaluation score.
摘要翻译：用于客观评价由医生或医学生进行的操作或触诊的医疗技术的工具。一种医疗技术评估系统包括具有本身用于由诸如医生或医学生的受训者进行模拟缝合的切口的软材料构件，以及通过作用在切口周围的力的弹性变形，用于测量根据软质材料的弹性变形，三个正交轴的状态值，以及根据来自反射型光中断器的测定值确定缝合线和连结技术的评价得分的技术评价装置。技术评估装置将基于正交三轴的测量状态值的值代入预定的评估函数，以确定评价分数。

8. 发明申请

US20110010155A1 TRACHEAL INTUBATION TRAINING APPARATUS 审中-公开
标题翻译： TRACHEAL INTUBATION培训设备
公开(公告)号：US20110010155A1
公开(公告)日：2011-01-13
申请号：US12922014
申请日：2008-09-30
申请人： Atsuo Takanishi , Yohan Noh , Jorge Solis , Hiroyuki Ishii , Yu Ogura , Koji Nagahiro , Masanao Segawa , Akihiro Shimomura , Tamotsu Katayama , Kazuyuki Hatake
发明人： Atsuo Takanishi , Yohan Noh , Jorge Solis , Hiroyuki Ishii , Yu Ogura , Koji Nagahiro , Masanao Segawa , Akihiro Shimomura , Tamotsu Katayama , Kazuyuki Hatake
IPC分类号： G06G7/60
CPC分类号： G09B23/32
摘要： It is an object of the invention to evaluate a tracheal intubation technique in consideration of various points to remember related to a tracheal intubation treatment. A tracheal intubation training apparatus (10) is provided with a model (14) which has an appearance modeled on the upper body portion of a human body and an evaluation means (15) which evaluates the tracheal intubation technique carried out to the model (14). The model (14) has pressure sensors (46, 57, 62, 66) which measure pressurizing force when a tracheal intubation device (12) touches respective sections (31, 32, 34, 36, 41, 63) modeled on sections from the inside of the mouth through to that of the trachea of a living body, position detection sensors (69, 76) which detect whether the tracheal intubation device (12) exists in the predetermined areas of the tracheal part (63) and an esophageal part (64), and angle sensors (79 to 81) which detect the postures of a head/face part (28A), a neck/chest part (28B), and a lower jaw part (31). The evaluation means (15) calculates the evaluation value (Z) of the intubation technique according to the measured values of the respective sensors.
摘要翻译：本发明的目的是评估气管插管技术，考虑到与气管插管治疗相关的各种要点。一种气管插管训练装置（10）具有模型（14），该模型具有模拟人体的上半身部分的外观，以及评估装置（15），其评估对模型进行的气管插管技术（14））。该模型（14）具有压力传感器（46,57,62,66），该压力传感器测量当气管插管装置（12）接触来自所述气管插管装置（12）的各部分的相应部分（31,32,34,36,41,63）时的加压力在口腔内通过活体气管的位置检测传感器（69,76）检测气管插管装置（12）是否存在于气管部分（63）的预定区域和食管部分检测头/面部（28A），颈部/胸部（28B）和下颚部（31）的姿势的角度传感器（79〜81）。评估装置（15）根据各传感器的测量值计算插管技术的评估值（Z）。

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