Minolta Company, Ltd.

Olympus Optical Company, Ltd.

Agency of Industrial Science and Technology Ministry of International

Susumu Tachi

Taro Maeda

Masahiko Inami

Yasuyuki Yanagida

Naoki Kawakami

Tokuji Ishida

Akira Sato

Kazuhiko Arai

Shigeaki Imai

Hirohiko Arai

Shinsuke Suzuki

A projector is disposed at a position that is optically conjugated to a position of eyes of an observer. The projector projects an image to a screen that has retroreflection function so as to provide information of virtual space to the observer. If a real object such as a tactile sense provision device that is to be shielded by the virtual space exists, a part or the whole of the real object is optically hidden from the projection of the projector by a shielding member having retroreflection function, for example, by placing a shielding screen on which a retroreflection material is coated, or by coating the retroreflection material.

Method and device for providing information

A pair of projectors are arranged for projecting an image. These projectors are disposed in optically conjugate relationship with the observer's eyes respectively. An image of an object to be viewed by the observer is projected from the projectors and is allowed to appear on a screen, the shape of which corresponds to that of the object.

Method of and apparatus for displaying an image

A video see through AR system capable of obtaining correct depth information with respect to each pixel representing a two-dimensional image is disclosed so that a portion of imagery which should appear in the background of a final picture may be properly hidden behind imagery which should appear in the foreground of the final picture. A photographing device is provided for obtaining a two-dimensional image of a real object field disposed in conjugate relationship with an observer's eyes. Also provided is a device for measuring distances with respect to each pixel to the real object to be measured. The measured distance is compared with the distance to virtual imagery with respect to each pixel and the pixel which represents the imagery disposed closer to the observer is selected for the formation of combined imagery, which is displayed on the screen of a display device.

System for displaying combined imagery

A camera is arranged at a conjugate position to eyes of the observer. A distance from the observer to a pixel in the real space image located at the same position as a pixel in the virtual space image is determined according to the real space image picked up by the camera. A virtual space image is generated based on virtual space information stored beforehand. Then, the distance of the real space image is compared with that of the virtual space image, and one of the pixels more near the observer is selected for the display. This processing is performed on each pixel, and the real space image and the virtual space image are integrated as an image to be displayed for the observer at the same time.

Method and apparatus for displaying real space and virtual space images

A device for inputting a shape of an object includes a base mounted on the object, a flex detecting unit for detecting an amount of flex of the object, and a stretch detecting unit, coupled to the base and to the flex detecting unit, for detecting an amount of stretch between the base and the flex detecting unit which corresponds to an amount of stretch of the object. The stretch detecting unit includes a stretch mechanism which is expanded or contracted in accordance with the stretch of the object, and the amount of stretch of the object is detected based on a detected amount of stretch of the stretch mechanism. The flex detecting unit includes a member which is deformable in an amount corresponding to the amount of flex of the object, and the amount of flex of the object is detected based on a detected amount of deformation of the deformable member.

Shape input device

A multiple-degree-of-freedom manipulator having a plurality of joints is improved by providing some of said plurality of joints being provided with holding brakes, and providing any remaining joints with actuators which generate angular acceleration or linear acceleration in the joints provided with holding brakes while the holding brakes of the joints are released. A method of controlling the multiple-degree-of-freedom manipulators provided with one or more joints provided with holding brakes and one or more joints provided with actuators, comprises the steps of controlling the angular displacement or linear displacement of joints which have no actuators by the torque or force of joints which have actuators by means of the dynamic coupling between joints while the holding brakes are released, and controlling the angular displacement or linear displacement of joints which have actuators by means of the actuators while the brakes are engaged.

Growing community of inventors

Tsukuba, Japan

Susumu Tachi