Nagoya Institute of Technology

Kabushiki Kaisha Kobe Seiko Sho

Toyota Jidosha Kabushiki Kaisha

Ntn Corporation

Nissan Motor Company Limited

Tokyo Metropolitan University

Narita Mfg., Ltd.

Grandtech Fujimoto Co., Ltd

Nippondenso Co., Ltd.

Kobe Steel, Ltd.

Nagoya University

Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)

National University Corporation Nagoya

Institute of Technology Ntn Corporation

Tokyo Metropolitan Public University Corporation

Hideo Fujimoto

Takayoshi Ozaki

Akihito Sano

Naoyuki Takesue

Masao Takemoto

Yoshitaka Nagano

Tomohiro Nishimura

Jun Takigawa

Masaharu Kaifu

Yoshihiro Tanaka

Hiromi Mochiyama

Akihiro Tsuruno

Jun Hisamoto

Kouki Ikeda

Makoto Tamuraya

Takashi Takeuchi

Nagisa Takee

Jozo Ishida

Iri Takeshita

Hiroshi Sato

Toshiki Ueda

Kazuo Tanaka

Masahiro Kawaguchi

Masakazu Hirano

Hideyuki Murayama

Mituo Hashiura

Kikuo Toyose

Eiki Usui

Souichi Hayashi

Kousyun Fujiwara

Asao Mochizuki

Kazuharu Masada

Toshiaki Murao

Eisuke Kajisa

Rikiya Makino

Masamichi Aono

Tomoyuki Sugita

Akane Ban

Akane Motofuji

Tadao Meguro

Toshihiro Chikada

Kenji Wada

Kikurou Toyose

Shigeru Miyachi

Tomotaka Ohshima

Yuichi Hayashi

Keiji Okada

Yagoro Hirose

Junu Hirai

Yoshito Ikemata

Ryo Kikuuwe

Yeon-Yi Kang

Toshiko Ogawa

Tadashi Mantani

In the surface structure of an articleaccording to the present invention, a plurality of convex portionsare so disposed on a surfaceas to have intervals relative to each other and a plurality of fine convex portionshaving a diameter d and a height h smaller than those of the concave portionare formed on the surface of at least the edge portionof the concave portion. By this, when a hand touches the surfaceof the article, the proper number of convex portionsabut on a linear objectconstituting a fingerprintof a hand's finger, to thereby allow the human being to obtain a delicate-and-soft touch feeling.

Surface structure of article

A first constituent member configured such that a plurality of panels overlaps and a second constituent member configured such that a plurality of panels overlaps are included, in which a first link member that can be expanded and contracted is connected to the first constituent member, a second link member that can be expanded and contracted is connected to the second constituent member, each of the constituent members can be expanded and contracted by expansion and contraction of each of the link members, the first constituent member and the second constituent member can relatively be rotated around rotation axes and also can removably be connected, the first link member and the second link member are connected to both ends of connecting link arm members via a free joint respectively, and the first link member and the second link member can be separated from each other.

Expansion device of panels

A first constituent member constructed such that at least portions of a plurality of panels overlap and a second constituent member constructed such that at least portions of a plurality of panels overlap are included, in which the first constituent member and the second constituent member are connected to a link member that can be expanded and contracted, the first constituent member and the second constituent member are expanded and contracted by expansion and contraction of the link member, and the first constituent member and the second constituent member can relatively be rotated around rotation axes.

Disclosed is a surface structure of an article () including multiple protrusions () on the surface. A height H of the protrusions () is equal to or larger than 5 &#x3bc;m, and equal to or smaller than 32 &#x3bc;m, as well as at least one of a distance P between each two neighboring protrusions () and a distance W between each neighboring two of recesses () formed between the protrusions () is larger than the height H of the protrusions ().

A power assist device includes: holder holding a workpiece; a pair of wires each having one end connected to the holder to suspend the holder; a pair of wind-up wheels winding up respective other ends of the wires; a pair of motors rotationally driving the respective wind-up wheels; a pair of rotation detectors detecting rotation information of the respective motors; a pair of torque detectors detecting drive torque in the respective motors; and controller controlling drive of the motors. The controller calculates operating force to the workpiece based on the rotation information detected by the rotation detectors and the drive torque of the motors detected by the torque detectors, and controls the motors to assist the operating force that is calculated, to move up and down the holder.

Power assist device, method of controlling power assist device, and program of power assist device

Provided is a technique capable of allowing a person to perceive a fine relief on an object surface clearly. A tactile device of a tactile display slides above an object. The tactile device comprises three rods which are free to move up and down. Lower ends of the rods are in contact with a surface of the object. Upper ends of respective rods touch a palmar-side skin equivalent to positions of three joints of a first finger or a second finger. When the tactile device is slid, upper ends of respective rods move up and down in accordance with a surface relief of the object. In response to the movement of the tactile device, the three rods push three finger joint positions of the palmar-side skin with a stroke equal to a height of the relief.

Tactile display and CAD system

There is provided an insertion device allowing a doctor to alone perform an operation to insert a medical linear body. The insertion device, operated to insert a delivery wire () into a human body () through a blood vessel (), includes a foot switch () generating and outputting a signal to control starting/stopping a drive device () moving the delivery wire () in its longitudinal direction. Furthermore, the insertion device includes an insertion force sensor () operative to measure longitudinally compressive force exerted to the delivery wire (), and a speaker () and a display () informing an operator of the compressive force measured by the insertion force sensor ().

Insertion device

A linear body drive device capable of safely and reliably operating a linear body is provided. A linear body insertion device includes a drive portion, an operation portion, a sensor portion and a processing portion serving as a measurement portion, and an output portion serving as a notification portion. The drive portion drives a linear body having flexibility. The operation portion includes an input member (an operation lever) operated by an operator for controlling performance of the drive portion. The sensor portion included in the measurement portion detects compressive force in a direction of longitudinal axis applied to the linear body, based on a degree of bending of the linear body driven by the drive portion. The output portion provides notification of data of compressive force detected by the measurement portion.

Linear body drive device

A measurement device capable of sensing presence of an obstacle within a vessel from outside the vessel in operating a linear body inserted in the vessel is provided. According to this measurement device, an easy-to-use measurement device capable of measuring compressive force in a direction of longitudinal axis applied to the linear body that has a sheath thicker than the linear body, such as a wire having a coil for embolizing an aneurysm attached at a tip end, without lowering measurement accuracy, can be provided. In addition, a length of a restraint portion is minimized, to achieve a smaller size of the measurement device. Moreover, the measurement device capable of measuring compressive force in the direction of longitudinal axis applied to the linear body regardless of magnitude of buckling load of the linear body can be provided, and the same measurement device is applicable to linear bodies of various materials, which leads to cost efficiency.

Device for measuring compressive force of flexible linear body

A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.

Power assist device and control method therefor

It is possible to provide a power assist device which can maintain a stable contact state without causing an oscillation phenomenon even if a robot is brought into contact with an environment. A method for controlling the power assist device is also provided. The power assist device includes: an inner force sensor which detects an operation force applied by an operator; an operation handle having the inner force sensor; a robot arm which supports the operation handle; an actuator which drives the robot arm; the actuator and a control device which measure or estimate a force applied when the robot arm is brought into contact with an environment; and the actuator and the control device which detect or estimate a motion speed of the operation handle. The control device acquires a corrected external force according to the operation force detected by the inner force sensor and an external force detected by the actuator and the control device as external force derivation means and controls the actuator so that the corrected external force acts on the operation handle.

Power assist device and its control method

The present disclosure provides a fixed point stabilization device for a legged mobile body having a generating mechanism for generating a fixed point. The present disclosure also provides a fixed point stabilization device for a legged mobile body comprising a stabilizing device for stabilizing the fixed point in accordance with a leg grounding position of the legged mobile body. The fixed point is generated by inputting a predetermined constant torque to a joint of a leg of the legged mobile body on the basis of the energy balance in the legged mobile body, leg switching, and a leg swinging motion. The fixed point is stabilized globally by keeping the leg grounding position of the legged mobile body constant using a stopper.

Passive walking legged robot

A measurement device can detect a degree of bending of a linear body with a sensor when compressive force in a direction of longitudinal axis is applied to the linear body as a result of contact of a tip end of the linear body with an obstacle. Then, the detected degree of bending of the linear body is converted to compressive force in the direction of longitudinal axis applied to the linear body based on predetermined correlation between the degree of bending and the compressive force, so that presence of an obstacle in a direction of travel of the linear body can be sensed based on increase in the compressive force. In addition, as the same measurement device is applicable to linear bodies of various shapes and materials, cost effectiveness is achieved.

Device and method for measuring compressive force of flexible linear body

A convexo concave amplifying device for exhibiting a convexo concave by amplifying a sense of a convexo concave of an object, comprising a sensing member and an exhibiting member. The sensing membercomprises a flexible sheet able to contact with the surface of the object O and to deform along the surface of the object. The exhibiting memberthat is formed on a surface of the flexible sheet and has a deformation resistance smaller than that of the flexible sheet in at least one of directions orthogonal to a direction of thickness of the flexible sheet. With such construction, the object convexo concave can be amplified and exhibited. A deformation sensing device for sensing a deformation thereof comprising a capsule deformable by stress, a viscous fluid F contained in the capsule, and a relative movement sensing member that is disposed inside of the capsule and senses a relative movement against the viscous fluid. With such construction, property of the object such as the convexo concave or the stress can be detected.

Convexo concave amplifying device and convexo concave detecting method by use thereof, deformation sensing device and convexo concave detecting method by use thereof, and convexo concave position exhibiting device and convexo concave position exhibiting method

A molten aluminum alloy processing method is intended use sludge produced by the zinc phosphate treatment of structures including those of aluminum alloys effectively as a flux for molten aluminum alloy processing. The flux contains 3 to 30% by mass fluorine-equivalent metal fluorides, 40 to 90% by mass metal phosphates (8 to 18% by mass P) and 50% by mass or below inorganic salts. The sum of contents of the inorganic salts and metal phosphates is 90% by mass or below.

Molten aluminum alloy processing method and flux for molten aluminum alloy processing

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Nagoya, Japan

Hideo Fujimoto