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1. 发明申请

US20130184980A1 MOBILE BODY 有权
标题翻译：移动体
公开(公告)号：US20130184980A1
公开(公告)日：2013-07-18
申请号：US13825230
申请日：2011-09-06
申请人： Kentaro Ichikawa , Toshiki Kindo , Shigeki Sugano , Taisuke Sugaiwa , Hiroyasu Iwata
发明人： Kentaro Ichikawa , Toshiki Kindo , Shigeki Sugano , Taisuke Sugaiwa , Hiroyasu Iwata
IPC分类号： G05D3/12 , B25J13/08 , G05D1/02
CPC分类号： G05D3/12 , B25J9/162 , B25J9/1676 , B25J13/08 , G05B2219/39091 , G05B2219/40198 , G05B2219/40203 , G05D1/02 , G05D1/0246 , G05D1/0257 , G05D1/0274
摘要： Disclosed is a mobile body which plans an avoidance operation of the mobile body and an expected avoidance operation which is expected of a mobile obstacle, thereby improving efficiency of the avoidance operation. A mobile body (1) which moves along an operation target includes mobile obstacle detection means (6) and (7) for detecting a mobile obstacle in the vicinity of the mobile body (1), approach determination means (15) for determining whether or not the mobile obstacle and the mobile body approach each other within a predetermined interval, and operation planning means (16) for, when the approach determination means (15) determines that the mobile obstacle and the mobile body (1) approach each other within the predetermined interval, planning the avoidance operation of the mobile body (1) and an expected avoidance operation which is expected of the mobile obstacle.
摘要翻译：公开了一种移动体，其规定了移动体的避免操作和期望的移动障碍物的预期回避操作，从而提高了回避操作的效率。沿着操作对象移动的移动体（1）包括用于检测移动体（1）附近的移动障碍物的移动障碍物检测装置（6）和（7），用于确定是否不是移动障碍物和移动体在预定间隔内彼此接近;以及操作规划装置（16），用于当进场确定装置（15）确定移动障碍物和移动体（1）在预定间隔，规划移动体（1）的避免操作和期望的移动障碍物的预期回避操作。

2. 发明授权

US09075416B2 Mobile body 有权
标题翻译：移动体
公开(公告)号：US09075416B2
公开(公告)日：2015-07-07
申请号：US13825230
申请日：2011-09-06
申请人： Kentaro Ichikawa , Toshiki Kindo , Shigeki Sugano , Taisuke Sugaiwa , Hiroyasu Iwata
发明人： Kentaro Ichikawa , Toshiki Kindo , Shigeki Sugano , Taisuke Sugaiwa , Hiroyasu Iwata
IPC分类号： G05D3/12 , B25J13/08 , G05D1/02 , B25J9/16
CPC分类号： G05D3/12 , B25J9/162 , B25J9/1676 , B25J13/08 , G05B2219/39091 , G05B2219/40198 , G05B2219/40203 , G05D1/02 , G05D1/0246 , G05D1/0257 , G05D1/0274
摘要： Disclosed is a mobile body which plans an avoidance operation of the mobile body and an expected avoidance operation which is expected of a mobile obstacle, thereby improving efficiency of the avoidance operation. A mobile body (1) which moves along an operation target includes mobile obstacle detection means (6) and (7) for detecting a mobile obstacle in the vicinity of the mobile body (1), approach determination means (15) for determining whether or not the mobile obstacle and the mobile body approach each other within a predetermined interval, and operation planning means (16) for, when the approach determination means (15) determines that the mobile obstacle and the mobile body (1) approach each other within the predetermined interval, planning the avoidance operation of the mobile body (1) and an expected avoidance operation which is expected of the mobile obstacle.
摘要翻译：公开了一种移动体，其规定了移动体的避免操作和期望的移动障碍物的预期回避操作，从而提高了回避操作的效率。沿着操作对象移动的移动体（1）包括用于检测移动体（1）附近的移动障碍物的移动障碍物检测装置（6）和（7），用于确定是否不是移动障碍物和移动体在预定间隔内彼此接近;以及操作规划装置（16），用于当所述进近确定装置（15）确定所述移动障碍物和所述移动体（1）在所述移动障碍物预定间隔，规划移动体（1）的避免操作和期望的移动障碍物的预期回避操作。

3. 发明授权

US08442678B2 Robotic device 有权
标题翻译：机器人装置
公开(公告)号：US08442678B2
公开(公告)日：2013-05-14
申请号：US12631100
申请日：2009-12-04
申请人： Kentaro Ichikawa , Shigeki Sugano , Kunihiro Iwamoto , Taisuke Sugaiwa , Hiroyasu Iwata
发明人： Kentaro Ichikawa , Shigeki Sugano , Kunihiro Iwamoto , Taisuke Sugaiwa , Hiroyasu Iwata
IPC分类号： B25J13/02
CPC分类号： B25J15/0009 , B25J9/1612 , B25J13/082 , Y10T74/20305 , Y10T74/20329
摘要： A robotic device includes a first link portion, a second link portion that moves relative to the first link portion, a first contact load detecting portion that detects a contact load in a contact area of the first link portion, a second contact load detecting portion that detects a contact load in a contact area of the second link portion, and a first link portion control target setting portion that sets a control target for the first link portion. The first link portion control target setting portion sets the control target for the first link portion such that the difference between the detection value of the contact load of the first contact load detecting portion and the detection value of the contact load of the second contact load detecting portion decreases.
摘要翻译：机器人装置包括第一连接部分，相对于第一连杆部分移动的第二连杆部分，检测第一连杆部分的接触区域中的接触载荷的第一接触载荷检测部分，第二接触载荷检测部分，检测第二连杆部分的接触区域中的接触负荷，以及设定第一连杆部分的控制目标的第一连杆部分控制目标设定部分。第一连杆部控制目标设定部设定第一连杆部的控制对象，使得第一接触负载检测部的接触负载的检测值与第二接触负载检测的接触负载的检测值之差部分减少。

4. 发明申请

US20100139437A1 ROBOTIC DEVICE 有权
标题翻译：机器人设备
公开(公告)号：US20100139437A1
公开(公告)日：2010-06-10
申请号：US12631100
申请日：2009-12-04
申请人： Kentaro Ichikawa , Shigeki Sugano , Kunihiro Iwamoto , Taisuke Sugaiwa , Hiroyasu Iwata
发明人： Kentaro Ichikawa , Shigeki Sugano , Kunihiro Iwamoto , Taisuke Sugaiwa , Hiroyasu Iwata
IPC分类号： B25J13/08 , B25J18/00 , G06F19/00 , G05B15/00 , B25J19/02 , B25J9/00
CPC分类号： B25J15/0009 , B25J9/1612 , B25J13/082 , Y10T74/20305 , Y10T74/20329
摘要： A robotic device includes a first link portion, a second link portion that moves relative to the first link portion, a first contact load detecting portion that detects a contact load in a contact area of the first link portion, a second contact load detecting portion that detects a contact load in a contact area of the second link portion, and a first link portion control target setting portion that sets a control target for the first link portion. The first link portion control target setting portion sets the control target for the first link portion such that the difference between the detection value of the contact load of the first contact load detecting portion and the detection value of the contact load of the second contact load detecting portion decreases.
摘要翻译：机器人装置包括第一连接部分，相对于第一连杆部分移动的第二连杆部分，检测第一连杆部分的接触区域中的接触载荷的第一接触载荷检测部分，第二接触载荷检测部分，检测第二连杆部分的接触区域中的接触负荷，以及设定第一连杆部分的控制目标的第一连杆部分控制目标设定部分。第一连杆部控制目标设定部设定第一连杆部的控制对象，使得第一接触负载检测部的接触负载的检测值与第二接触负载检测的接触负载的检测值之差部分减少。

5. 发明授权

US08167824B2 Sensation detection presentation apparatus and walking rehabilitation supporting apparatus 有权
标题翻译：感觉检测呈现装置和步行康复辅助装置
公开(公告)号：US08167824B2
公开(公告)日：2012-05-01
申请号：US12514381
申请日：2007-05-05
申请人： Hiroyasu Iwata , Shigeki Sugano
发明人： Hiroyasu Iwata , Shigeki Sugano
IPC分类号： A61B5/103 , A61B5/117
CPC分类号： A43B7/143 , A43B3/0005 , A43B7/1425 , A43B7/1435 , A43B7/144 , A43B7/145 , A61B5/1038 , A61B5/1116 , A61B5/4827 , A61B5/486 , A61B5/6807 , A61B2505/09 , A61H3/00 , A61H2201/1635 , A61H2201/164 , A61H2201/165 , A61H2201/5002 , A61H2201/5007 , A61H2201/5061 , A61H2201/5071 , A61H2205/06 , A61H2205/12
摘要： It is intended to feed back any somatic sensation information on given body surface portion in easily understandable form without the use of special sensations, such as visual and auditory sensations. Walking rehabilitation supporting apparatus (10) comprises sensation detection unit (11) for detecting the sole pressure of patient (H); sensation presentation unit (13) for imparting given stimuli to the patient (H); and control unit (15) for controlling the behavior of the sensation presentation unit (13) so as to impart stimuli corresponding to the sole pressure detected by the sensation detection unit (11). The sensation detection unit (11) is disposed so as to be capable of detecting the sole pressure on a paralyzed side, and the sensation presentation unit (13) is fitted to a body surface portion of sensation superior to that of the sole.
摘要翻译：它旨在以容易理解的形式反馈给定体表部分上的任何躯体感觉信息，而不使用特殊感觉，例如视觉和听觉。步行康复辅助装置（10）包括用于检测患者（H）的唯一压力的感觉检测单元（11）。感觉呈现单元（13），用于向患者（H）施加给定的刺激; 以及用于控制感觉呈现单元（13）的行为的控制单元（15），以便赋予与感觉检测单元（11）检测到的唯一压力相对应的刺激。感觉检测单元（11）被设置为能够检测瘫痪侧的唯一压力，并且感觉呈现单元（13）装配到比鞋底的感觉优异的身体表面部分。

6. 发明申请

US20100041959A1 SENSATION DETECTION PRESENTATION APPARATUS AND WALKING REHABILITATION SUPPORTING APPARATUS 有权
标题翻译：感觉检测显示装置和维修康复装置
公开(公告)号：US20100041959A1
公开(公告)日：2010-02-18
申请号：US12514381
申请日：2007-05-05
申请人： Hiroyasu Iwata , Shigeki Sugano
发明人： Hiroyasu Iwata , Shigeki Sugano
IPC分类号： A61B5/00 , A61H1/00
CPC分类号： A43B7/143 , A43B3/0005 , A43B7/1425 , A43B7/1435 , A43B7/144 , A43B7/145 , A61B5/1038 , A61B5/1116 , A61B5/4827 , A61B5/486 , A61B5/6807 , A61B2505/09 , A61H3/00 , A61H2201/1635 , A61H2201/164 , A61H2201/165 , A61H2201/5002 , A61H2201/5007 , A61H2201/5061 , A61H2201/5071 , A61H2205/06 , A61H2205/12
摘要： It is intended to feed back any somatic sensation information on given body surface portion in easily understandable form without the use of special sensations, such as visual and auditory sensations. Walking rehabilitation supporting apparatus (10) comprises sensation detection unit (11) for detecting the sole pressure of patient (H); sensation presentation unit (13) for imparting given stimuli to the patient (H); and control unit (15) for controlling the behavior of the sensation presentation unit (13) so as to impart stimuli corresponding to the sole pressure detected by the sensation detection unit (11). The sensation detection unit (11) is disposed so as to be capable of detecting the sole pressure on a paralyzed side, and the sensation presentation unit (13) is fitted to a body surface portion of sensation superior to that of the sole.
摘要翻译：它旨在以容易理解的形式反馈给定体表部分上的任何躯体感觉信息，而不使用特殊感觉，例如视觉和听觉。步行康复辅助装置（10）包括用于检测患者（H）的唯一压力的感觉检测单元（11）。感觉呈现单元（13），用于向患者（H）施加给定的刺激; 以及用于控制感觉呈现单元（13）的行为的控制单元（15），以便赋予与感觉检测单元（11）检测到的唯一压力相对应的刺激。感觉检测单元（11）被设置为能够检测瘫痪侧的唯一压力，并且感觉呈现单元（13）装配到比鞋底的感觉优异的身体表面部分。

7. 发明申请

US20140367207A1 BRAKE STRUCTURE FOR MOBILE OBJECT 审中-公开
标题翻译：制动结构用于移动对象
公开(公告)号：US20140367207A1
公开(公告)日：2014-12-18
申请号：US14370093
申请日：2012-12-28
申请人： Hiroyasu IWATA
发明人： Hiroyasu Iwata
IPC分类号： A61G5/10 , B60T7/10
CPC分类号： A61G5/1037 , A61G5/1016 , A61G5/1024 , A61G5/1027 , B60T7/102
摘要： A brake structure for a wheelchair having a pair of wheels includes: a braking device for braking one of the pair of wheels; a grip to be held by an operator for a moving operation of the wheelchair, the grip including a base fixed to the wheelchair at any position around one axis along a travel direction A of the wheelchair, extending in such a manner as to protrude from the one axis in a radial direction when viewed from the travel direction of the wheelchair, and being mounted rotatably in one direction; and a braking operation section (a brake wire coupling member and a brake wire) for operating the braking device in accordance with the rotation of the grip. Consequently, the load of a braking operation can be reduced, and the ease of a moving operation during the braking operation can be improved.
摘要翻译：一种用于具有一对轮子的轮椅的制动结构包括：用于制动所述一对车轮之一的制动装置; 由操作者握持轮椅的移动操作的手柄，所述把手包括在轮椅的行进方向A上围绕一个轴线的任何位置处固定到轮椅上的基座，其以从所述轮椅的方向突出的方式延伸从轮椅的行进方向观察时沿径向的一个轴线，并且可旋转地安装在一个方向上; 以及用于根据把手的旋转来操作制动装置的制动操作部（制动线联接构件和制动线）。因此，可以降低制动操作的负担，并且可以提高制动操作期间的移动操作的容易性。

8. 发明授权

US09414976B2 Brake structure for mobile object 有权
标题翻译：移动物体的制动结构
公开(公告)号：US09414976B2
公开(公告)日：2016-08-16
申请号：US14370093
申请日：2012-12-28
申请人： Hiroyasu Iwata
发明人： Hiroyasu Iwata
IPC分类号： A61G5/10 , B60T7/10
CPC分类号： A61G5/1037 , A61G5/1016 , A61G5/1024 , A61G5/1027 , B60T7/102
摘要： A brake structure for a wheelchair having a pair of wheels includes: a braking device for braking one of the pair of wheels; a grip to be held by an operator for a moving operation of the wheelchair, the grip including a base fixed to the wheelchair at any position around one axis along a travel direction A of the wheelchair, extending in such a manner as to protrude from the one axis in a radial direction when viewed from the travel direction of the wheelchair, and being mounted rotatably in one direction; and a braking operation section (a brake wire coupling member and a brake wire) for operating the braking device in accordance with the rotation of the grip. Consequently, the load of a braking operation can be reduced, and the ease of a moving operation during the braking operation can be improved.
摘要翻译：一种用于具有一对轮子的轮椅的制动结构包括：用于制动所述一对车轮之一的制动装置; 由操作者握持轮椅的移动操作的手柄，所述把手包括在轮椅的行进方向A上围绕一个轴线的任何位置处固定到轮椅上的基座，其以从所述轮椅的方向突出的方式延伸从轮椅的行进方向观察时沿径向的一个轴线，并且可旋转地安装在一个方向上; 以及用于根据把手的旋转来操作制动装置的制动操作部（制动线联接构件和制动线）。因此，可以降低制动操作的负担，并且可以提高制动操作期间的移动操作的容易性。

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