Honda Motor Co., Ltd.

Hitachi Medical Corporation

Tokyo University of Science

Masaaki Muromachi

Koji Okazaki

Takashi Nakayama

Satoshi Kaneko

Hiroyuki Makino

Norio Neki

Hiroshi Kobayashi

Yutaka Sato

Yuta Kimura

Taisuke Matsushita

Yoshiki Kanemoto

Masahiko Osada

Shun Ogiwara

Kei Usui

Kazuaki Hiramatsu

Makoto Konami

Akitaka Uchimura

A torque sensor terminal block structure includes an electric motor () which outputs driving force for driving a load (), a strain body () interposed on a way of a power transmission system from the electric motor () to the load (), a plurality of power detectors () which output a detection signal according to strain of the strain body () as a signal indicating the driving force, and a terminal block () which acquires the detection signal of the power detectors () and transmits the output result to a signal processing circuit section (). The wirings to the signal processing circuit section () are twisted spirally as a single stranded wire, and an opening degree between single wirings when the stranded wire extending from the power detectors () to the terminal block () is unwound, is set to be same for each of the power detectors ().

Torque sensor terminal block structure

Provided is a robot capable of appropriately adjusting a position and the like of a main body in view of executing a specified task involving an interaction with a target object. While the position and posture of the main body () are being controlled according to a second target path, the robot () moves from a first specified area to a second specified area and stands there. In this state, a second position deviation (=the deviation of the position of the main body from a second target path) and a second posture deviation (=the deviation of the posture of the main body from a second target posture) are determined. According to the determination result, the second target path is corrected so that the subsequent position deviation and the like may be smaller.

Robot

A charging system for a walking robot which charges a battery mounted on the walking robot by connecting a power supplying connector provided in a charging station to a power receiving connector in the walking robot, wherein the walking robot is capable of moving without significant restrictions during charging. The charging system includes a lock mechanism for locking the power supplying connector to the power receiving connector. A connector holder holds the power supplying connector detachably, an advancing/retracting mechanism advances and retracts the connector holder in the anteroposterior direction, and a lock operation mechanism performs a lock operation and an unlock operation of the lock mechanism via the connector holder. After an advance of the connector holder, the lock mechanism performs the lock operation to lock the power supplying connector to the power receiving connector. Thereafter, the connector holder is retracted out of the power supplying connector.

Charging system for walking robot and charging method therefor

A charging system for a legged mobile robot that facilitates positioning of a robot to be charged and does not put a load on the robot is provided. The charging system includes a battery, a power receiving connectorand a movable shutter membercapable of being opened and closed on a rear cover, which are provided on a robot, and a holder, a power supplying connector, a slide mechanism, a base plate, a charging power supplyand the like, which are provided on a charging station. The robotperforms a predetermined positioning on the base plateand then moves the center of gravity rearward to connect the power receiving connectorto the power supplying connector. In this step, when the rear coverof the robotis guided by a first guide sectionof the holder, the slide mechanismallows the holderto move horizontally. Thus, even if the robotand the charging stationare slightly misaligned with each other, the robotcan be easily positioned correctly.

Charging system for legged mobile robot

An apparatus capable of charging a battery mounted on a robot while allowing the robot to remain stably still in the state of standing on its legs is provided. Driving a first connector backward while it is connected with a second connector would cause a body of the robot to tilt as if being pulled by the first connector. However, it is possible to prevent the posture of the robot from becoming unstable by utilizing the fact that the connected state of first signal terminals and second signal terminals is maintained in that state. The backward driving of the first connector is restricted when a charge control unit is capable of communicating with a control system via the first signal terminals and the second signal terminals. This prevents the undesirable event that the posture of the robot becomes unstable due to the first connector being driven backward unconditionally.

Charging apparatus

Provided is a wearable joint driving device in which a plurality of frame members are attached to a wearing body so as to be in contact with the outer surface of the wearing body. Between the frame members, there is mounted a fluid pressure type actuator. The fluid pressure type actuator has an expansion/contraction member and a net-like covering member covering the outer periphery of the expansion/contraction member. The fluid pressure type actuator undergoes a reduction in length through expansion of the expansion/contraction member to thereby generate a driving force. The frame members have a predetermined level of rigidity.

Wearable joint driving device

Growing community of inventors

Wako, Japan

Masaaki Muromachi