Keio University

Motion Lib, Inc.

Yokogawa Electric Corporation

Mitsubishi Kinzoku Kabushiki Kaisha

Shibuya Corporation

Kanagawa Institute of Industrial Science and Technology

Kouhei Ohnishi

Takahiro Nozaki

Takahiro Mizoguchi

Sho Sakaino

Toshiaki Naka

Masaki Kitajima

Masato Ohta

Tetsuya Tashiro

Kazuo Nakazawa

Tomoyuki Shimono

Yasuhide Morikawa

Toshiyuki Murakami

Toshiharu Furukawa

Yuki Saito

Akira Mochizuki

Tomoko Yano

Wataru Iida

Souji Ozawa

Takaharu Kikura

Nozaki Takahiro

A function generation apparatus includes a function setter, a data string selector, and a matrix generator. The function setter sets a target function in an apparatus to be controlled. The data string selector selects, from among data strings indicating a plurality of combinations of parameters that can be reflected in control in the apparatus to be controlled, data strings according to the function set by the function setter. The matrix generator generates a transformation matrix according to the target function using the data strings selected by the data string selector as elements.

Function generation apparatus, method for generating function, and storage medium

A position/force controller performs a first conversion for distributing control energy to at least one of velocity or position energy and force energy, in accordance with a function to be realized, based on velocity (or position) and force information, which correspond to information relating to a position based on an operation of an actuator, and information serving as reference of control. The position/force controller calculates at least one of a velocity or position control amount and a force control amount based on at least one of the energies obtained through the distribution. The position/force controller integrates the calculated control amounts, performs a second conversion, and determines input to the actuator. The position/force controller performs a process, corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, with satisfaction of a condition set for the control energy.

Position/force controller, and position/force control method and storage medium

A data generation device includes: a parameter generator; and a reaction force data generator. The parameter generator generates value data based on a signal having a correlation with a driving force. The parameter generator generates velocity data based on a signal representing a response of a member driven by the driving force. The reaction force data generator generates data of a reaction force received by the member from a predetermined object based on the value data and the velocity data.

Data generation device and data generation system

A position/force control system includes a worn unit and a control unit. The worn unit is configured to be worn on a body of a user, and provides force tactile sensation by an actuator. The control unit acquires data of a position of the worn unit in a space, based on data of space in which a touching object exists. The worn unit includes a control unit that acquires the data of the position from the control unit and controls driving of the actuator based on impedance and contour information of the touching object in the space, and the data of the position, thereby providing force tactile sensation.

Position/force control system, worn unit, control unit, position/force control method, and storage medium

A haptic transmission system includes a master device and a slave device. The master device controls position and force in an operation of the master device based on information acquired from the operation of the master device and information relating to a response of the slave device, and compensates for a communication delay in a communication path with respect to the control of force. The slave device controls speed and force in an operation of the slave device based on information acquired from the operation of the slave device and information relating to control from the master device.

Haptic transmission system, haptic transmission method, and program

Weighing and filling apparatus for controlling filling device based on a container weight. A linear actuator for driving a drive shaft coupled to container support unit is included, a weight measuring unit determines the container weight from a detected height of the drive shaft detected by a height detecting unit and a drive signal of the linear actuator at the detected height. A first acceleration signal is calculated from a specified height of the container support unit set in advance and the height detected by the height detecting unit, a second acceleration signal is calculated from the container weight and an expected weight expected to be applied to the container support unit. The container support unit is kept at the specified height by a drive signal calculated from the first and second acceleration signals.

Weighing and filling apparatus

A position/force controller includes a function-dependent force/speed distribution conversion unit that, on the basis of speed, position and force information relating to a position based on an action of an actuator and control reference information, performs a conversion to distribute control energy to at least one of speed or position energy and force energy according to a function that is being realized. A control amount calculation unit calculates at least one of a speed or position control amount and a force energy on the basis of at least one of the speed or position energy and the force energy distributed by the force/speed distribution conversion unit. An integration unit integrates speed or position control amount with force control amount and, to return an output to the actuator, performs a reverse conversion on the speed or position control amount and the force control amount and determines an input to the actuator.

A position/force controller performs: detecting information relating to a position based on the effect of an actuator; converting by distributing control energy to speed or positional energy and force energy in response to functions realized on the basis of speed (position) and force information corresponding to the information relating to the position and on the basis of information serving as a reference for control; calculating the control amount for speed or position on the basis of the speed or positional energy; calculating the force control amount on the basis of the force energy; and integrating the speed or position control amount and the force control amount and performing a reverse conversion on the speed or position control amount and the force control amount to return the output to the actuator, to determine the input to the actuator.

Position/force controller, and position/force control method and program

A position/force control device includes position detectors on a masterside and on a slaveside. Reaction force estimation observersandestimate reaction force based on outputs of the position detectors. A position control partgenerates acceleration signals a, afor controlling positions on the master side and on the slave side on the basis of the position signals outputted by the position detectors. The operation force control partgenerates acceleration signals a, afor controlling forces applied to the master side and to the slave side based upon the outputs from reaction force estimation observersand. The acceleration composition partcomposes the two sets of acceleration signals a, a, and a, a, and outputs the driving signals for the master side and the slave side.

Position/force control device

An electric motor includes a housing, a rotor and a stator. The rotor includes a rotor shaft rotatably supported on the housing. The rotor includes a plurality of disk portions disposed on the rotor shaft coaxially therewith and spaced from each other axially of the rotor shaft. Each of the disk portions has a thickness gradually decreasing radially outwardly thereof. The stator includes a plurality of annular portions disposed on the housing coaxially with the rotor shaft and spaced from each other axially of the rotor shaft. Each of the annular portions has a thickness gradually decreasing radially inwardly thereof. The annular portions and the disk portions are loosely fitted with each other with a gap formed therebetween. Opposed side surfaces of the annular portion and disk portion are conical. Each of the annular portions has a coil disposed in each conical side surface thereof. Each of the disk portions has permanent magnets disposed at least in each conical side surface thereof.

Growing community of inventors

Yokohama, Japan

Kouhei Ohnishi