Keio University

Motion Lib, Inc.

Kanagawa Institute of Industrial Science and Technology

Takahiro Mizoguchi

Kouhei Ohnishi

Takahiro Nozaki

Tetsuya Tashiro

Tomoyuki Shimono

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 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.

Growing community of inventors

Kanagawa, Japan

Takahiro Mizoguchi