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1. 发明申请

US20100151426A1 ELECTRIC TACTILE DISPLAY 有权
标题翻译：电动手表显示
公开(公告)号：US20100151426A1
公开(公告)日：2010-06-17
申请号：US12096447
申请日：2006-12-07
申请人： Susumu Tachi , Hiroyuki Kajimoto , Yonezo Kanno
发明人： Susumu Tachi , Hiroyuki Kajimoto , Yonezo Kanno
IPC分类号： G09B21/00
CPC分类号： G09B21/003 , A61B3/113 , A61B5/11 , A61B8/00 , A61F4/00 , A61F9/08 , A61G2203/18 , A61H2201/1604 , A61H2201/165 , G02B27/017 , G06F3/011 , G06F3/012 , G06F3/016 , G08B6/00 , G09B21/00 , G09B21/001 , G09B21/004 , G09B21/006 , G09B21/007 , G09B21/008
摘要： An electro-tactile display includes an electrode substrate provided with a plurality of stimulation electrodes, a conductive gel layer positioned between the stimulation electrodes and the skin of a wearer, a switching circuit section electrically connected to the stimulation electrodes, a stimulation pattern generating section electrically connected to the switching circuit, and means for alleviating a sensation experienced by the wearer as a result of the stimulation electrodes. In one aspect, the means for alleviating a sensation is configured from the conductive gel layer. The conductive gel layer has a resistance value equivalent to that of the horny layer of the skin. In another aspect, the means for alleviating a sensation is configured from the stimulation determination means and the threshold value adjustment means.
摘要翻译：电触觉显示器包括设置有多个刺激电极的电极基板，位于刺激电极和佩戴者皮肤之间的导电凝胶层，电连接到刺激电极的开关电路部分，电刺激图案产生部分连接到开关电路，以及用于减轻作为刺激电极的结果的佩戴者经历的感觉的装置。在一个方面，用于减轻感觉的装置由导电凝胶层构成。导电性凝胶层具有与皮肤角质层相当的电阻值。在另一方面，用于减轻感觉的装置由刺激确定装置和阈值调节装置构成。

2. 发明申请

US20090174671A1 Electric Tactile Sense Presenting Device and Electric Tactile Sense Presenting Method 有权
标题翻译：电触觉检测仪和电触觉检测方法
公开(公告)号：US20090174671A1
公开(公告)日：2009-07-09
申请号：US11908051
申请日：2006-03-09
申请人： Susumu Tachi , Hiroyuki Kajimoto , Yonezo Kanno
发明人： Susumu Tachi , Hiroyuki Kajimoto , Yonezo Kanno
IPC分类号： G06F3/041
CPC分类号： G06F3/016 , G06F3/0414 , G09B21/003
摘要： An electro-tactile display comprises at least one current source, arrayed electrodes, and a switching circuit for connecting each electrode to the current source or to ground. The electro-tactile display is characterized by selecting one or a plurality of electrodes from the arrayed electrodes and connecting the selected electrodes to the current source to provide current source electrodes, alternately connecting neighboring electrodes in the vicinity of said current source electrodes to the current source and to ground, connecting a plurality of remaining electrodes other than the neighboring electrodes to ground to provide ground electrodes, and providing electrical stimulation from the current source electrodes wherein the current source electrodes are spaced apart from the ground electrodes via the neighboring electrodes. Tactile sensations are presented by switching over the current source electrodes at a predetermined time interval.
摘要翻译：电触觉显示器包括至少一个电流源，阵列电极和用于将每个电极连接到电流源或接地的开关电路。电触觉显示器的特征在于从排列的电极中选择一个或多个电极，并将所选择的电极连接到电流源，以提供电流源电极，将所述电流源极附近的相邻电极交替连接到电流源并且将多个相邻电极之间的剩余电极连接到地，以提供接地电极，并且从电流源电极提供电刺激，其中电流源电极经由相邻电极与接地电极间隔开。通过以预定的时间间隔切换电流源电极来呈现触觉。

3. 发明申请

US20080245955A1 Optical Tactile Sensor 失效
标题翻译：光学触觉传感器
公开(公告)号：US20080245955A1
公开(公告)日：2008-10-09
申请号：US10571370
申请日：2005-03-03
申请人： Susumu Tachi , Naoki Kawakami , Hiroyuki Kajimoto , Kazuto Kamiyama , Terukazu Mizota
发明人： Susumu Tachi , Naoki Kawakami , Hiroyuki Kajimoto , Kazuto Kamiyama , Terukazu Mizota
IPC分类号： H01J40/14
CPC分类号： G01L1/247 , G01L5/166 , G01L5/228
摘要： An optical tactile sensor and an image information integrating method capable of measuring large area force vector distribution are provided. The optical tactile sensor comprises a tactile section comprising a transparent elastic body (1) and a plurality of markers (3, 4) provided therein, and a plurality of imaging devices (6, 6) for obtaining a marker image by photographing the behavior of the markers when an object (5) contacts the tactile face (2) of the transparent elastic body (1). The method comprises a step of obtaining a partial image by photographing the partial regions A, B, C and D of the transparent resilient body (1) using the plurality of imaging devices (6, 6) such that each imaging device (6) has an overlapped photograph region (11), and a step of integrating the partial images obtained by each imaging device (6) such that the identical markers in the overlapped photograph region match.
摘要翻译：提供了一种能够测量大面积力矢量分布的光学触觉传感器和图像信息积分方法。光学触觉传感器包括一个包括透明弹性体（1）和设置在其中的多个标记（3,4）的触觉部分，以及多个成像装置（6,6），用于通过拍摄当物体（5）接触透明弹性体（1）的触觉面（2）时的标记。该方法包括通过使用多个成像装置（6,6）拍摄透明弹性体（1）的部分区域A，B，C和D来获得部分图像的步骤，使得每个成像装置（6）具有重叠照片区域（11），以及将由各成像装置（6）获得的部分图像进行积分的步骤，使得重叠照片区域中的相同标记符合。

4. 发明申请

US20080043014A1 3D Image Display Method 有权
标题翻译： 3D图像显示方法
公开(公告)号：US20080043014A1
公开(公告)日：2008-02-21
申请号：US11722846
申请日：2005-06-27
申请人： Susumu Tachi , Tomohiro Endo , Naoki Kawakami
发明人： Susumu Tachi , Tomohiro Endo , Naoki Kawakami
IPC分类号： G06T15/00
CPC分类号： G02B27/2214 , G02B27/2285 , G03B35/04 , G03B35/18 , G03B37/00 , G06T15/00 , H04N13/275 , H04N13/31 , H04N13/393
摘要： A stereoscopic image display method capable of stereoscopic display of a photographed image. One two-dimensional image is selected, and one pixel capable of being viewed from a corresponding viewpoint position is selected from a plurality of pixels. A virtual surface with the selected two-dimensional image pasted thereon is assumed, and the virtual surface is arranged so that an image center point of the two-dimensional image corresponding to a center of an object coincides with a center of a display surface. Next, a virtual extension that extends from the viewpoint position to the virtual surface through the selected pixel is assumed. A color on the two-dimensional image assumed to have been pasted on the virtual surface, corresponding to a point of intersection between the virtual extension and the virtual surface is determined as a display color of the pixel positioned in a direction extending from the pixel to the viewpoint position.
摘要翻译：能立体显示拍摄图像的立体图像显示方法。选择一个二维图像，并且从多个像素中选择能够从对应视点位置观看的一个像素。假设具有粘贴在其上的所选择的二维图像的虚拟表面，并且虚拟表面被布置为使得与对象的中心对应的二维图像的图像中心点与显示表面的中心重合。接下来，假设通过所选择的像素从视点位置延伸到虚拟表面的虚拟扩展。假定已经粘贴在虚拟表面上的二维图像上的颜色对应于虚拟扩展和虚拟表面之间的交点，被确定为位于从像素延伸的方向上的像素的显示颜色视点位置。

5. 发明授权

US06909084B2 Optical tactile sensor having a transparent elastic tactile portion 失效
标题翻译：具有透明弹性触觉部分的光学触觉传感器
公开(公告)号：US06909084B2
公开(公告)日：2005-06-21
申请号：US10344821
申请日：2001-08-30
申请人： Susumu Tachi , Hiroyuki Kajimoto
发明人： Susumu Tachi , Hiroyuki Kajimoto
IPC分类号： G01B11/03 , G01B11/06 , G01D21/00 , G01L1/24 , G01L5/22 , G06F3/033 , G06F3/042 , H01J40/14
CPC分类号： G01L1/247 , G06F3/042 , G06F3/0425
摘要： The invention relates to a tactile sensor capable of obtaining information for a plurality of degrees of freedom at each point on a surface by introducing multi-channel sensing that uses color or optical spectrum to an optical tactile sensor. An optical tactile sensor is provided with a tactile section and imaging means, the tactile section comprising a transparent elastic body and a plurality of groups of markers provided inside the elastic body, each marker group being made up of a number of colored markers, with markers making up different marker groups having different colors for each group, and behavior of the colored markers when an object touches the elastic body being photographed by the imaging means. Preferably, the marker groups have mutually different spatial arrangements.
摘要翻译：本发明涉及一种触觉传感器，其能够通过将使用彩色或光谱的多通道感测引入光学触觉传感器来获得表面上每个点处的多个自由度的信息。光学触觉传感器设置有触觉部分和成像装置，触觉部分包括透明弹性体和设置在弹性体内部的多组标记，每个标记组由多个彩色标记组成，标记组成每组具有不同颜色的不同标记组，以及当对象接触由成像装置拍摄的弹性体时彩色标记的行为。优选地，标记组具有相互不同的空间布置。

6. 发明授权

US06341869B1 Method and device for providing information 有权
标题翻译：提供信息的方法和设备
公开(公告)号：US06341869B1
公开(公告)日：2002-01-29
申请号：US09371412
申请日：1999-08-10
申请人： Masahiko Inami , Naoki Kawakami , Yasuyuki Yanagida , Taro Maeda , Susumu Tachi
发明人： Masahiko Inami , Naoki Kawakami , Yasuyuki Yanagida , Taro Maeda , Susumu Tachi
IPC分类号： G03B2126
CPC分类号： G06F3/011 , G02B27/01 , G02B27/0101 , G02B2027/012 , G02B2027/0138 , G02B2027/014
摘要： A projector is disposed at a position that is optically conjugated to a position of eyes of an observer. The projector projects an image to a screen that has retroreflection function so as to provide information of virtual space to the observer. If a real object such as a tactile sense provision device that is to be shielded by the virtual space exists, a part or the whole of the real object is optically hidden from the projection of the projector by a shielding member having retroreflection function, for example, by placing a shielding screen on which a retroreflection material is coated, or by coating the retroreflection material.
摘要翻译：投影仪设置在与观察者的眼睛的位置光学共轭的位置。投影仪将图像投影到具有回射功能的屏幕上，以向观察者提供虚拟空间的信息。如果存在要被虚拟空间屏蔽的触觉提供装置等真实物体，则通过具有回射功能的屏蔽构件，将真实物体的一部分或全部光学隐藏于投影仪的投影上，例如通过放置其上涂覆有回射材料的屏蔽屏幕，或通过涂覆回射材料。

7. 发明授权

US6045229A Method and apparatus for displaying real space and virtual space images 失效
标题翻译：用于显示实际空间和虚拟空间图像的方法和装置
公开(公告)号：US6045229A
公开(公告)日：2000-04-04
申请号：US896973
申请日：1997-07-18
申请人： Susumu Tachi , Taro Maeda , Shinsuke Suzuki
发明人： Susumu Tachi , Taro Maeda , Shinsuke Suzuki
IPC分类号： H04N5/64 , G02B27/00 , G06F3/00 , G06F3/01 , G06T15/40 , G06T19/00 , G03B21/14
CPC分类号： G06F3/013 , G02B27/0093 , G06F3/012
摘要： A camera is arranged at a conjugate position to eyes of the observer. A distance from the observer to a pixel in the real space image located at the same position as a pixel in the virtual space image is determined according to the real space image picked up by the camera. A virtual space image is generated based on virtual space information stored beforehand. Then, the distance of the real space image is compared with that of the virtual space image, and one of the pixels more near the observer is selected for the display. This processing is performed on each pixel, and the real space image and the virtual space image are integrated as an image to be displayed for the observer at the same time.
摘要翻译：相机被布置在与观察者的眼睛的共轭位置。根据由照相机拾取的真实空间图像确定距离观察者到位于与虚拟空间图像中的像素相同位置的实际空间图像中的像素的距离。基于事先存储的虚拟空间信息生成虚拟空间图像。然后，将真实空间图像的距离与虚拟空间图像的距离进行比较，并且选择更靠近观察者的像素中的一个用于显示。对每个像素执行该处理，并将实际空间图像和虚拟空间图像作为要同时显示给观察者的图像集成。

8. 发明授权

US4254776A Apparatus for transmission of information by electrocutaneous stimuli 失效
标题翻译：用于通过皮肤刺激传递信息的装置
公开(公告)号：US4254776A
公开(公告)日：1981-03-10
申请号：US007425
申请日：1979-01-29
申请人： Kazuo Tanie , Susumu Tachi
发明人： Kazuo Tanie , Susumu Tachi
IPC分类号： B25J9/16 , A61F2/68 , A61F2/72 , A61F9/08 , A61N1/36 , B25J15/00 , B25J15/08 , G05B11/00 , G09B21/00
CPC分类号： A61N1/36014 , A61F9/08 , G09B21/003 , Y10S128/908
摘要： An apparatus for use in a system for transmitting information in the form of electric stimuli to a subject through the medium of a multiplicity of electrodes attached to the subject, which apparatus comprises analogue switches provided one each for the electrodes at their respective input sides and a decoder adapted to effect the "ON-OFF" control of these analogue switches. The pulse signals generated by a stimulator to represent a given piece of information are transmitted to the analogue switches, and then the pulse signals are applied to the subject only through the electrodes which are in their "ON" state at the time of the reception of the signals, giving required electric stimuli to the subject.
摘要翻译：一种用于通过安装在被摄体上的多个电极的介质向受试者发送电刺激形式的信息的系统的装置，该装置包括模拟开关，每个模拟开关各自为各自的输入侧的电极提供，解码器适于实现这些模拟开关的“开 - 关”控制。由刺激器产生的表示给定信息的脉冲信号被发送到模拟开关，然后脉冲信号仅通过接收时处于其“接通”状态的电极施加于被摄体信号，给予受试者所需的电刺激。

9. 发明申请

US20070193398A1 Rotation and extension/retraction link mechanism 有权
标题翻译：旋转和伸展/缩回连杆机构
公开(公告)号：US20070193398A1
公开(公告)日：2007-08-23
申请号：US10596628
申请日：2004-12-17
申请人： Ichiro Kawabuchi , Susumu Tachi , Naoki Kawakami
发明人： Ichiro Kawabuchi , Susumu Tachi , Naoki Kawakami
IPC分类号： G05G5/06
CPC分类号： F16H37/12 , F16H19/043 , F16H21/10 , Y10T74/18024 , Y10T74/20654
摘要： A rotation and extension/retraction link mechanism which realizes a rotary joint having a virtual rotation axis is provided. A rotation and extension/retraction link mechanism 1 is configured so that a first link 5 having a first virtual center line 3 and a second link 9 having a second virtual center line 7 are coupled through a rotation and extension/retraction joint mechanism 11. The rotation and extension/retraction joint mechanism 11 is configured to couple the first link 5 and the second link 9 so that when the second virtual center line 7 rotates relative to the first virtual center line 3 from a state where the first virtual center line 3 entirely overlaps with the second virtual center line 7, while crossing the first virtual center line 3, an intersection between the first virtual center line 3 and the second virtual center line 7 is displaced on the first virtual center line 3 by a predetermined distance corresponding to an angle of the rotation.
摘要翻译：提供实现具有虚拟旋转轴的旋转接头的旋转和延伸/缩回连杆机构。旋转和延伸/缩回连杆机构1构造成使得具有第一虚拟中心线3的第一连杆5和具有第二虚拟中心线7的第二连杆9通过旋转和延伸/缩回接合机构11联接。旋转和伸缩联接机构11被配置为将第一连杆5和第二连杆9联接，使得当第二虚拟中心线7相对于第一虚拟中心线3从第一虚拟中心线3 与第二虚拟中心线7完全重叠，同时穿过第一虚拟中心线3，第一虚拟中心线3和第二虚拟中心线7之间的交点在第一虚拟中心线3上移位相应于预定距离旋转角度。

10. 发明授权

US5963331A Shape input device 失效
标题翻译：形状输入装置
公开(公告)号：US5963331A
公开(公告)日：1999-10-05
申请号：US990964
申请日：1997-12-15
申请人： Kazuhiko Arai , Susumu Tachi
发明人： Kazuhiko Arai , Susumu Tachi
IPC分类号： G01B7/28 , A61B5/103 , A61B5/11 , G01B5/30 , G01B11/16 , G01B21/22 , G06F3/00 , G06F3/01 , G06F3/033 , G01B11/24 , G01B11/02 , G06F15/00 , G01B5/34
CPC分类号： G06F3/014 , A61B5/103 , A61B5/1107 , A61B5/4528 , G01B11/16 , G01B5/30 , G06F3/011 , A61B2562/0261 , A61B2562/0266 , A61B2562/043 , A61B5/6806 , A61B5/6828
摘要： A device for inputting a shape of an object includes a base mounted on the object, a flex detecting unit for detecting an amount of flex of the object, and a stretch detecting unit, coupled to the base and to the flex detecting unit, for detecting an amount of stretch between the base and the flex detecting unit which corresponds to an amount of stretch of the object. The stretch detecting unit includes a stretch mechanism which is expanded or contracted in accordance with the stretch of the object, and the amount of stretch of the object is detected based on a detected amount of stretch of the stretch mechanism. The flex detecting unit includes a member which is deformable in an amount corresponding to the amount of flex of the object, and the amount of flex of the object is detected based on a detected amount of deformation of the deformable member.
摘要翻译：用于输入物体的形状的装置包括安装在物体上的基座，用于检测物体的弯曲量的挠曲检测单元和连接到基座和柔性检测单元的伸展检测单元，用于检测物体在基部和挠曲检测单元之间的伸展量对应于物体的伸展量。拉伸检测单元包括拉伸机构，该拉伸机构根据被检体的伸展进行伸缩，根据检测到的拉伸机构的拉伸量来检测被检体的伸展量。柔性检测单元包括能够对应于物体的弯曲量的变形量的构件，并且基于检测到的可变形构件的变形量来检测物体的挠曲量。

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