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1. (WO2017155051) POSITION/FORCE CONTROL DEVICE
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Pub. No.: WO/2017/155051 International Application No.: PCT/JP2017/009530
Publication Date: 14.09.2017 International Filing Date: 09.03.2017
Chapter 2 Demand Filed: 09.01.2018
IPC:
A61F 2/70 (2006.01) ,A61F 2/58 (2006.01) ,B25J 3/00 (2006.01)
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
F
FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, E.G. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
2
Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
50
Prostheses not implantable in the body
68
Operating or control means
70
electrical
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
F
FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, E.G. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
2
Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
50
Prostheses not implantable in the body
54
Artificial arms or hands or parts thereof
58
Elbows; Wrists
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
3
Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
Applicants:
学校法人慶應義塾 KEIO UNIVERSITY [JP/JP]; 東京都港区三田二丁目15番45号 15-45, Mita 2-chome, Minato-ku, Tokyo 1088345, JP
Inventors:
野崎 貴裕 NOZAKI, Takahiro; JP
大西 公平 OHNISHI, Kouhei; JP
福島 聡 FUKUSHIMA, Satoshi; JP
Agent:
正林 真之 SHOBAYASHI, Masayuki; JP
林 一好 HAYASHI, Kazuyoshi; JP
Priority Data:
2016-04601509.03.2016JP
Title (EN) POSITION/FORCE CONTROL DEVICE
(FR) DISPOSITIF DE COMMANDE DE POSITION/FORCE
(JA) 位置・力制御装置
Abstract:
(EN) The present invention addresses the problem of realizing more appropriate control of position/force in an interaction with an object. A force-tactile transmission device (1) wherein a body sense supply-side device (D1) is provided with an operation device which is operated by a portion of a body and has a function for generating an operation reaction force. A body sense reception-side device (D2) is provided with an execution device having a function of the portion of the body or a function of a device operated by the portion of the body. On the basis of speed (position) and force information corresponding to information relating to an operation position of the body sense supply-side device (D1) and speed (position) and force information corresponding to information relating to an output position of the body sense reception-side device (D2), a body sense correlating unit (10) calculates a speed or position control variable and a force control variable in the output of the devices, integrates the control variables, and performs inverse conversion in order to return the output to the body sense supply-side device (D1) and the body sense reception-side device (D2).
(FR) La présente invention vise à réaliser une commande plus appropriée de position/force lors d'une interaction avec un objet. L'invention concerne un dispositif de transmission de force tactile (1), dans lequel un dispositif côté fourniture de sensation corporelle (D1) comprend un dispositif d'actionnement qui est actionné par une partie d'un corps et a une fonction pour générer une force de réaction d'actionnement. Un dispositif côté réception de sensation corporelle (D2) comprend un dispositif d'exécution ayant une fonction de la partie du corps ou une fonction d'un dispositif actionné par la partie du corps. Sur la base d'informations de vitesse (position) et de force correspondant à des informations relatives à une position d'actionnement du dispositif côté fourniture de sensation corporelle (D1), et d'informations de vitesse (position) et de force correspondant à des informations relatives à une position de sortie du dispositif côté réception de sensation corporelle (D2), une unité de corrélation de sensation corporelle (10) calcule une variable de commande de vitesse ou de position et une variable de commande de force dans la sortie des dispositifs, intègre les variables de commande, et réalise une conversion inverse de façon à renvoyer la sortie vers le dispositif côté fourniture de sensation corporelle (D1) et le dispositif côté réception de sensation corporelle (D2).
(JA) 本発明の課題は、物体との相互作用におけるより適切な位置・力の制御を実現することである。力触覚伝達装置(1)において、身体感覚供給側デバイス(D1)は、身体の部位によって操作され、操作反力を生成する機能を有する操作装置を備える。身体感覚受容側デバイス(D2)は、身体の部位の機能または身体の部位によって操作される装置の機能を有する実行装置を備える。身体感覚対応付けユニット(10)は、身体感覚供給側デバイス(D1)の操作位置に関する情報に対応する速度(位置)及び力の情報と、身体感覚受容側デバイス(D2)の出力位置に関する情報に対応する速度(位置)及び力の情報とに基づいて、これらのデバイスの出力における速度または位置の制御量と力の制御量とを算出すると共に、これらの制御量を統合し、その出力を身体感覚供給側デバイス(D1)及び身体感覚受容側デバイス(D2)に戻すべく逆変換する。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)