Murata Machinery, Ltd.

Teijin Pharma Limited

Murata Kikai Kabushiki Kaisha

Osamu Oshima

Jun Takeda

Akihiro Maeda

Hiroaki Ohmatsu

Fumi Fujita

Yuichiro Minato

A training device suppresses unintended operation of an operation rod when executing an operation mode in which operation of the operation rod is controlled based on a force applied to the operation rod. The training device includes the operation rod, a motor, a force detector, a rotation information output sensor, a first command calculator, and a force corrector. The operation rod moves a limb. The motor operates the operation rod in a direction of degree of freedom. The force detector detects a force component and outputs a force component signal. The rotation information output sensor detects an operation position of the operation rod in a corresponding direction of degree of freedom. The force corrector calculates a corrected force component value based on operation positions of the operation rod and force component signal. The first command calculator calculates a first motor control command based on the corrected force component value.

Training device and method for correcting force

A training apparatus includes a fixed frame, an training rod, a motor, a rotation information detection sensor, a tilt angle calculation unit, a feedback current detection unit, a position difference calculation unit, and a determination unit. The training rod tilts with at least one degree of freedom. The motor tilts the training rod. The rotation information detection sensor outputs an amount of rotation of the motor. The tilt angle calculation unit calculates a tilt angle. The feedback current detection unit detects a feedback current value. The position difference calculation unit calculates a position difference every time when a first time period elapses. The determination unit determines an error when the position difference generated during the first time period is a first threshold or higher, or when the feedback current value keeps a first current value or higher for a second time period or longer.

Training apparatus

A training apparatus includes a fixed frame, a training rod, a motor, rotation information detection sensor, tilt angle and position difference calculation units, determination, motor drive and position difference eliminating units. The training rod is supported by the fixed frame in a manner capable of being tilted by a motor about at least an X-axis or a Y-axis so as to hold the limb. The tilt angle calculation unit calculates a tilt angle of the training rod. The position difference calculation unit calculates a position difference. The determination unit obtains the position difference every time when a second time period elapses. If the position difference generated in the second time period is a first threshold or lower, the motor drive unit drives the motor so that the position difference is accumulated and maintained. The position difference eliminating unit resets the position difference at a predetermined timing.

A training apparatus includes an operating rod, a strength detector, a motion position detector, a strength speed calculator, a boundary line arrival speed calculator, and a motion speed calculator. The operating rod moves a held limb. The strength detector outputs a strength component signal based on a magnitude of a strength component. The motion position detector detects a motion position of the operating rod. The strength speed calculator calculates a strength speed. The boundary line arrival speed calculator calculates a boundary line arrival speed whose absolute value is smaller as a boundary line distance is shorter. The motion speed calculator calculates a lower one of the strength speed and the boundary line arrival speed as the motion speed at which the operating rod should move.

An image scanning device accepts an instruction to scan a double-sided document and scans a plurality of double-sided documents with respect to each page to produce image data. Image data is eliminated when a page is determined as being solid colored from the image data produced by the scanning section. Image data other than the eliminated image data is transmitted to the outside. When an instruction to scan a double-sided document is received from the outside and accepted, elimination of image data is prohibited.

Image scanning device, image scanning method, image display controlling device, image display controlling method, image processing system, and computer program

An image reader includes a path switching part, located at a branch point that switches between a double-sided path and a single-sided path. The double-sided path defines a conveyance route that passes through a reading position from the branch point to enter a conveyance path that causes a document to make a U-turn, and then again passes through the reading position to be discharged to a paper discharge tray. The single-sided path defines a conveyance route that, without passing through the reading position, merges into the conveyance path from the branch point. Along the double-sided path, document detecting sensors provide detection results so that a collision determination part determines a possibility of a collision between documents, and if such a possibility is determined, the path switching part switches the double-sided path to the single-sided path to prevent the documents from colliding head-on with each other in the vicinity of the reading position.

Image reading device

An image reader and document conveying method shorten times necessary for a discharge process that discharges a document in being conveyed and for an idle feeding process of a document that is left on a paper feed tray. If during double-sided reading, a stop key is operated to issue an instruction to cancel reading, a conveyance controller outputs a path specifying signal to select a single-sided path, and thereby a conveyance route is switched from a double-sided path to the single-sided path. For this reason, the discharge process that discharges a document being conveyed at the time of the reading cancellation to a paper discharge tray, and the idle feeding process that discharges a document left on a paper feed tray to the paper discharge tray are performed with use of the single-sided path that is shorter than the double-sided path, and therefore the times necessary for the discharge and idle feeding processes can be shortened.

Image reader and document conveying method

An image scanning device includes a scanning specifying unit, at least two document detecting units, a supply timing adjusting unit, and a document supplying unit. The scanning specifying unit specifies one of at least two scanning methods each having a different transportation interval between documents. The document detecting units are at least two in number and arranged to detect a document at different positions on a transportation route. The supply timing adjusting unit is arranged to measure a transportation distance of the document after detection by the document detecting units and to generate a supply signal. The document supplying unit is arranged to supply a document from a paper feed tray based on the supply signal. The supply timing adjusting unit is arranged to generate the supply signal based on a result of detection by the document detecting unit that corresponds to the specified scanning method.

Image scanning device and document transporting method

In an image scanning apparatus, documents on a document tray are transferred one by one, and an upper surface height of the documents is lowered to turn off a height detection sensor. Different kinds of control modes are performed according to a document scanning mode. In an image-quality-priority scanning mode, a transfer unit suspends transfer of the document, the document tray is elevated until the upper surface height reaches a target height that is higher by a predetermined distance after the height detection sensor is turned on, and the transfer unit resumes the transfer of the document. In a speed-priority scanning mode, while the transfer of the document is continued by the transfer unit, the document tray is elevated until the document tray reaches the target height.

Image scanning apparatus and image scanner

A communication terminal device includes a receiving unit, a printer unit, a selection registering unit, an extracting unit, and a determining unit. The receiving unit receives data. The printer unit prints an image onto printing paper according to the data received by the receiving unit. The selection registering unit registers a selection of whether or not to attach a storage medium, in which information can be electronically written, to the printing paper and to output the printing paper, by associating the selection with prescribed information. The extracting unit extracts the prescribed information from the data received by the receiving unit or data acquired in relation with transmission and reception of the data. The determining unit determines whether or not to attach the storage medium to the printing paper according to the selection registered in the selection registering unit by being associated with the prescribed information extracted by the extracting unit.

Communication terminal device for managing print media

In an image scanning apparatus, when documents on a document tray are sequentially transferred, different control steps are performed according to a scanning speed when an upper surface height of the documents is lowered thereby turning off a height detection sensor. In a first control mode, which is not a high speed scanning, the document tray is elevated little by little during an inter-transfer time between each time one document is transferred until the upper surface height reaches a target height that is higher by a predetermined distance since the height detection sensor is turned on. In a second control mode, in which high speed scanning is performed, the document tray is elevated little by little during the inter-transfer time each time the one document is transferred until the upper surface height reaches a height that is higher by a predetermined distance than a height at a time when the height detection sensor is turned off.

In an image scanning apparatus, when documents on a document tray are sequentially transferred, different control steps are performed according to a scanning speed when an upper surface height of the documents is lowered thereby turning off a height detection sensor. In a low scanning speed, the document tray is elevated one time until the upper surface height becomes a target height which is higher by a predetermined distance since a height detection sensor is turned on at an inter-transfer time between completion of document transfer and start of a subsequent document transfer. In an intermediate scanning speed, the document tray is elevated little by little in each transfer of one document at the inter-transfer time until the upper surface height reaches the target height. In a fast scanning speed, the transfer of the document is tentatively interrupted, the document tray is elevated one time until the upper surface height reaches the target height, and the transfer of the document is resumed.

An apparatus diagnostic device includes a communication unit that communicates with a diagnosed device through a communication line, and a control unit that controls to receive a problem generation notification from the diagnosed device via the communication unit, to determine whether or not to solve a problem in accordance with apparatus status information obtained from the diagnosed device after an elapse of a prescribed period of time, and to have a notification standard of the problem generation notification changed by the diagnosed device when necessary.

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Kyoto, Japan

Osamu Oshima