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1. 发明申请

US20080204425A1 Force/tactile display, method for controlling force/tactile display, and computer program 有权
标题翻译：力/触觉显示，力/触觉显示控制方法和计算机程序
公开(公告)号：US20080204425A1
公开(公告)日：2008-08-28
申请号：US12072225
申请日：2008-02-25
申请人： Kenichiro Nagasaka , Masakuni Nagano , Keisuke Kato
发明人： Kenichiro Nagasaka , Masakuni Nagano , Keisuke Kato
IPC分类号： G06F3/041
CPC分类号： G06F3/016
摘要： A force/tactile display that presents force/tactile sensation that occurs in response to physical interaction with each of a plurality of objects present in a virtual environment includes an action point defined on the mechanical structure, the action point presenting the force/tactile sensation, an applied force control means for controlling the force exerted on the action point, and an action point control means for controlling the position of the action point.
摘要翻译：呈现响应于存在于虚拟环境中的多个物体的物理相互作用而发生的力/触感的力/触觉显示包括在机械结构上定义的动作点，呈现力/触觉的动作点，用于控制施加在作用点上的力的施加力控制装置和用于控制作用点的位置的动作点控制装置。

2. 发明授权

US08350806B2 Force/tactile display, method for controlling force/tactile display, and computer program 有权
标题翻译：力/触觉显示，力/触觉显示控制方法和计算机程序
公开(公告)号：US08350806B2
公开(公告)日：2013-01-08
申请号：US12072225
申请日：2008-02-25
申请人： Kenichiro Nagasaka , Masakuni Nagano , Keisuke Kato
发明人： Kenichiro Nagasaka , Masakuni Nagano , Keisuke Kato
IPC分类号： G09G5/00
CPC分类号： G06F3/016
摘要： A force/tactile display that presents force/tactile sensation that occurs in response to physical interaction with each of a plurality of objects present in a virtual environment includes an action point defined on the mechanical structure, the action point presenting the force/tactile sensation, an applied force control means for controlling the force exerted on the action point, and an action point control means for controlling the position of the action point.
摘要翻译：呈现响应于存在于虚拟环境中的多个物体的物理相互作用而发生的力/触感的力/触觉显示包括在机械结构上定义的动作点，呈现力/触觉的动作点，用于控制施加在作用点上的力的施加力控制装置和用于控制作用点的位置的动作点控制装置。

3. 发明授权

US08138895B2 Force/tactile feedback device 有权
标题翻译：力/触觉反馈装置
公开(公告)号：US08138895B2
公开(公告)日：2012-03-20
申请号：US12252624
申请日：2008-10-16
申请人： Keisuke Kato , Kenichiro Nagasaka , Masakuni Nagano , Yasunori Kawanami
发明人： Keisuke Kato , Kenichiro Nagasaka , Masakuni Nagano , Yasunori Kawanami
IPC分类号： H04B3/36
CPC分类号： G06F3/016 , G06F3/011
摘要： A force/tactile feedback device feeding back a force sense to a fingertip of an operator includes a fingerstall to which the fingertip of the operator is inserted, a position feedback means for feeding back a position to the fingertip held by the fingerstall, a fingertip contact point feedback means for feeding back a fingertip contact point to the fingertip held by the fingerstall and an unnecessary moment removal means for supporting the fingertip contact point feedback means so that unnecessary moment is not generated at a tip portion of the position feedback means.
摘要翻译：将力感觉反馈给操作者的指尖的力/触觉反馈装置包括：操作者的指尖插入的手指装置，用于将位置反馈到由指装置保持的指尖的位置反馈装置，指尖触点用于将指尖接触点反馈到由指装置保持的指尖的点反馈装置和用于支撑指尖接触点反馈装置的不必要的力矩去除装置，使得在位置反馈装置的尖端部分处不产生不必要的力矩。

4. 发明申请

US20090102620A1 FORCE/TACTILE FEEDBACK DEVICE 有权
标题翻译：强制/触觉反馈装置
公开(公告)号：US20090102620A1
公开(公告)日：2009-04-23
申请号：US12252624
申请日：2008-10-16
申请人： Keisuke Kato , Kenichiro Nagasaka , Masakuni Nagano , Yasunori Kawanami
发明人： Keisuke Kato , Kenichiro Nagasaka , Masakuni Nagano , Yasunori Kawanami
IPC分类号： G08B6/00
CPC分类号： G06F3/016 , G06F3/011
摘要： A force/tactile feedback device feeding back a force sense to a fingertip of an operator includes a fingerstall to which the fingertip of the operator is inserted, a position feedback means for feeding back a position to the fingertip held by the fingerstall, a fingertip contact point feedback means for feeding back a fingertip contact point to the fingertip held by the fingerstall and an unnecessary moment removal means for supporting the fingertip contact point feedback means so that unnecessary moment is not generated at a tip portion of the position feedback means.
摘要翻译：将力感觉反馈给操作者的指尖的力/触觉反馈装置包括：操作者的指尖插入的手指装置，用于将位置反馈到由指装置保持的指尖的位置反馈装置，指尖触点用于将指尖接触点反馈到由指装置保持的指尖的点反馈装置和用于支撑指尖接触点反馈装置的不必要的力矩去除装置，使得在位置反馈装置的尖端部分处不产生不必要的力矩。

5. 发明授权

US06992455B2 Leg device for leg type movable robot, and method of controlling leg type movable robot 有权
标题翻译：腿式活动机器人的腿部装置以及腿型可移动机器人的控制方法
公开(公告)号：US06992455B2
公开(公告)日：2006-01-31
申请号：US10474636
申请日：2003-02-14
申请人： Keisuke Kato , Goushi Koike , Susumu Tosaka , Hiroaki Morikawa , Jinichi Yamaguchi , Kenichiro Nagasaka , Masakuni Nagano
发明人： Keisuke Kato , Goushi Koike , Susumu Tosaka , Hiroaki Morikawa , Jinichi Yamaguchi , Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： B25J5/00
CPC分类号： B25J19/0091 , B62D57/02 , B62D57/032
摘要： In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.
摘要翻译：在脚踏式移动机器人的脚下，脚的变形被第一凹部吸收，接地部的位置和形状几乎不变化。因此，可以减小抵抗绕偏转轴线的力矩的阻力的变化，并且可以防止旋转运动。此外，当脚放置在凸块或台阶上时，柔性部分变形并接收它，并且在柔性部分和凸起之间产生摩擦保持力。因此，脚可以柔性地适应于路面，并且防止由碰撞和过快运动引起的滑动。因此，脚可以适应各种路面，例如具有凸起和凹陷的表面，并且可以提高姿态稳定性。

6. 发明申请

US20050067993A1 Leg device for leg type movable robot, and method of controlling leg type movable robot 有权
标题翻译：腿式活动机器人的腿部装置以及腿型可移动机器人的控制方法
公开(公告)号：US20050067993A1
公开(公告)日：2005-03-31
申请号：US10474636
申请日：2003-02-14
申请人： Keisuke Kato , Goushi Koike , Susumu Tosaka , Hiroaki Morikawa , Jinichi Yamaguchi , Kenichiro Nagasaka , Masakuni Nagano
发明人： Keisuke Kato , Goushi Koike , Susumu Tosaka , Hiroaki Morikawa , Jinichi Yamaguchi , Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： B25J19/00 , B62D57/02 , B62D57/032 , B25J5/00
CPC分类号： B25J19/0091 , B62D57/02 , B62D57/032
摘要： In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.
摘要翻译：在脚踏式移动机器人的脚下，脚的变形被第一凹部吸收，接地部的位置和形状几乎不变化。因此，可以减小抵抗绕偏转轴线的力矩的阻力的变化，并且可以防止旋转运动。此外，当脚放置在凸块或台阶上时，柔性部分变形并接收它，并且在柔性部分和凸起之间产生摩擦保持力。因此，脚可以柔性地适应于路面，并且防止由碰撞和过快运动引起的滑动。因此，脚可以适应各种路面，例如具有凸起和凹陷的表面，并且可以提高姿态稳定性。

7. 发明授权

US08474893B2 Grasping apparatus 有权
标题翻译：抓握装置
公开(公告)号：US08474893B2
公开(公告)日：2013-07-02
申请号：US12899025
申请日：2010-10-06
申请人： Yasunori Kawanami , Akichika Tanaka , Kenichiro Nagasaka , Masakuni Nagano
发明人： Yasunori Kawanami , Akichika Tanaka , Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： B66C1/42
CPC分类号： B25J15/0213
摘要： A grasping apparatus includes a base unit, left and right parallel links, and a driving unit that is housed in the base unit and drives the first link of the right parallel link and the first link of the left parallel link in the open/close direction. Each of the left and right parallel links has a first link attached pivotably in an open/close direction about a base shaft of the base unit, a second link attached pivotably in the open/close direction about an auxiliary shaft located on an outer side in the open/close direction, a finger unit supported pivotably at an end of the first link and an end of the second link, and a claw projecting toward the inner side in the open/close direction and disposed along an end face of the grasping surface of the finger unit of each of the left and right parallel links.
摘要翻译：夹持装置包括基座单元，左右平行连杆和驱动单元，该驱动单元容纳在基座单元中，并且驱动左右平行连杆的第一连杆和左平行连杆的第一连杆沿开闭方向。左右平行连杆中的每一个具有围绕基座单元的基轴以开闭方式可枢转地附接的第一连杆，第二连杆以围绕位于外侧的辅助轴的打开/关闭方向可枢转地附接打开/关闭方向，可旋转地支撑在第一连杆的端部和第二连杆的端部处的手指单元，以及沿着打开/关闭方向朝向内侧突出的爪，沿着抓握表面的端面设置的左右平行链接中的每一个的手指单元。

8. 发明授权

US08036395B2 Sound effects generation device, sound effects generation method, and computer program product 失效
标题翻译：音效生成装置，声音效果生成方法和计算机程序产品
公开(公告)号：US08036395B2
公开(公告)日：2011-10-11
申请号：US11634989
申请日：2006-12-07
申请人： Kenichiro Nagasaka , Masakuni Nagano
发明人： Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： H03G3/00
CPC分类号： G09B23/06 , G09B23/28
摘要： A sound effect generation device for generating a sound effect corresponding to a physical interaction between objects in a virtual space in which a plurality of virtual objects coexists, includes interaction detection means for detecting an object on which the physical interaction occurs in the virtual space, mechanical quantity calculation means for calculating mechanical quantity acting on the object in accordance with the interaction using a mechanical model for determining, based on physics, behavior between the objects on which the physical interaction acts, and sound effect generation means for generating the sound effect caused in the object by the interaction using the calculated mechanical quantity.
摘要翻译：一种用于生成与多个虚拟对象共存的虚拟空间中的对象之间的物理交互相对应的声音效果的声音效果生成装置，包括用于检测虚拟空间中物理交互发生的对象的交互检测装置，机械数量计算装置，用于根据所述交互使用机械模型来计算作用在所述物体上的机械量，所述机械模型基于物理学来确定物理相互作用所执行的物体之间的行为，以及用于产生在对象通过交互使用计算的机械量。

9. 发明授权

US08160744B2 Contact shape computing apparatus and method, and computer program therefor 失效
标题翻译：接触形状计算装置和方法及其计算机程序
公开(公告)号：US08160744B2
公开(公告)日：2012-04-17
申请号：US11528476
申请日：2006-09-28
申请人： Kenichiro Nagasaka , Masakuni Nagano
发明人： Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： G06F19/00
CPC分类号： G06T19/00 , G06T17/10 , G06T2210/21 , G06T2219/008
摘要： A contact shape computing apparatus for detecting contact between a plurality of three-dimensional solid models and computing a contact shape between two solid bodies in contact with each other includes the following elements: a collision detector operable to detect a collision or contact between the two solid bodies; a contact plane setting unit operable to define a contact plane that passes through a common region of the two solid bodies; a contact problem solving unit operable to individually solve contact states of the solid bodies with the contact plane as half-contact problems; and a contact shape computing unit operable to compute the contact shape between the two solid bodies by uniting solutions of the half-contact problems for the associated solid bodies, the solutions being obtained by the contact problem solving unit.
摘要翻译：用于检测多个三维实体模型之间的接触并计算彼此接触的两个实体之间的接触形状的接触形状计算装置包括以下元件：碰撞检测器，其可操作以检测两个固体之间的碰撞或接触身体; 接触平面设置单元，其可操作以限定通过所述两个固体的公共区域的接触平面; 接触问题求解单元可操作以单独地解决具有接触平面的固体的接触状态作为半接触问题; 以及接触形状计算单元，其可操作以通过将所述相关联的固体的半接触问题的解的结合来计算所述两个固体之间的接触形状，所述解决方案由所述接触问题求解单元获得。

10. 发明申请

US20070196801A1 Sound effects generation device, sound effects generation method, and computer program product 失效
标题翻译：音效生成装置，声音效果生成方法和计算机程序产品
公开(公告)号：US20070196801A1
公开(公告)日：2007-08-23
申请号：US11634989
申请日：2006-12-07
申请人： Kenichiro Nagasaka , Masakuni Nagano
发明人： Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： G09B23/28
CPC分类号： G09B23/06 , G09B23/28
摘要： A sound effect generation device for generating a sound effect corresponding to a physical interaction between objects in a virtual space in which a plurality of virtual objects coexists, includes interaction detection means for detecting an object on which the physical interaction occurs in the virtual space, mechanical quantity calculation means for calculating mechanical quantity acting on the object in accordance with the interaction using a mechanical model for determining, based on physics, behavior between the objects on which the physical interaction acts, and sound effect generation means for generating the sound effect caused in the object by the interaction using the calculated mechanical quantity.
摘要翻译：一种用于生成与多个虚拟对象共存的虚拟空间中的对象之间的物理交互相对应的声音效果的声音效果生成装置，包括用于检测虚拟空间中物理交互发生的对象的交互检测装置，机械数量计算装置，用于根据所述交互使用机械模型来计算作用在所述物体上的机械量，所述机械模型基于物理学来确定物理相互作用所执行的物体之间的行为，以及用于产生在对象通过交互使用计算的机械量。

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