Nagoya Institute of Technology

Toyota Jidosha Kabushiki Kaisha

Nissan Motor Company Limited

Tokyo Metropolitan University

Narita Mfg., Ltd.

Grandtech Fujimoto Co., Ltd

Tokyo Metropolitan Public University Corporation

National University Corporation Nagoya Institute of Technology

Naoyuki Takesue

Hideo Fujimoto

Akihito Sano

Hiromi Mochiyama

Yoshihiro Tanaka

Makoto Tamuraya

Takashi Takeuchi

Jozo Ishida

Iri Takeshita

Hideyuki Murayama

Kousyun Fujiwara

Rikiya Makino

Akane Ban

Yeon-Yi Kang

Akane Motofuji

Ryo Kikuuwe

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

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

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

Growing community of inventors

Hino, Japan

Naoyuki Takesue