Agency of Industrial Science and Technology

Ministry of International Trade & Industry

Keio University

Agency of Industrial Science and Technology Ministry of International

University of Tsukuba

Tatsuo Arai

Naotaka Komatsu

Masato Yasui

Atsuya Momotake

Tamio Tanikawa

Mutsuo Nuriya

Syun Fukushima

Keiko Homma

Noriho Koyachi

Hironori Adachi

Provided are a compound that generates an SHG signal but has suppressed generation of a TPF signal. Also provided is a cell examination method using the same. A compound for generating a second harmonic of light, the compound being an azobenzene derivative of formula (1), or a salt thereof. (R1 and R2 independently represent alkyl groups having 6-12 carbon atoms, and R3 to R18 independently represent substituents selected from hydrogen, halogens, alkyl groups, alkoxy groups, aryl groups, amino groups, hydroxyl groups, nitro groups, and cyano groups, but R5 and R6, R9 and R10, R13 and R14, and R17 and R18 may combine together and form a ring structure having 5-7 carbon atoms. X represents &#x2014;N+R19R20R21, a sulfonyl group, a carboxyl group, or an &#x2014;OR group. Here, R19, R20, and R21 independently represent straight-chain or branched alkyl groups having 1-5 carbon atoms, and &#x2014;OR represents a monovalent polyalkylene oxide group terminated by an alkoxy group. a is 0 or 1, b is 0 or 1, and n is an integer of 1-10.)

Compound for generating second harmonic of light, dye composition for generating second harmonic of light, and cell examination method

A micromanipulator comprises an upper parallel linkage connecting a base member and an opposed middle plate by links, a lower parallel linkage connecting the middle plate and an opposed base plate by links, a first finger attached to the base member of the upper parallel linkage, a second finger attached to the middle plate and is arranged opposite the first finger, drive controllers provided on the links for effecting relative motions of the fingers and for positioning the fingers.

Micromanipulator

A micromotion stage comprises a stationary plate and a moving plate connected by six links each consisting of a stacked piezoelectric element serving as an actuator, a holder fixed at one end of the stacked piezoelectric element, a capacitance type displacement gage retained by the holder and a target member fixed at the other end of the stacked piezoelectric element to have a part thereof face a tip portion of the capacitance type displacement gage across a small gap. Change in the distance between the holder and the target member caused by expansion or contraction of the stacked piezoelectric element and indicative of a change in the link stroke can be detected by the capacitance type displacement gage.

Micromotion stage

An apparatus for supporting arm movement is provided that is structurally light and simple, does not cause patients to feel restrained, is capable of controlling arm movements with a large degree of freedom and can effectively help patients to make everyday arm movements under their own volition, and to perform functional exercises.

Arm motion support apparatus

A leg structure for a walking robot includes first and second input links rotatably attached to a robot body, a connecting link connected with the second input link at a point whose position can be varied, and an output link connected at one end with the distal end of the connecting link and connected at an intermediate point thereof with the first input link. When the leg structure is to be converted for use as an arm mechanism, the connecting link and the output link are passed beyond the singular point where they lie on a straight line, whereby the angle between the connecting link and the output link moves through the 180.degree. boundary between the leg and arm operating states and the driving mode of the output link is changed from low speed and high torque to high speed and low torque.

Leg structure for walking robot

A micromanipulator comprises a pair of hand modules each of which includes a circular base plate with three connection points, an end-effector consisting of a circular moving plate and a finger attached to the moving plate, the moving plate being disposed above the base plate and having three connection points offset 60 degrees from those of the base plate, six metal links disposed between the base plate and the moving plate, six actuators provided on the six metal links for extending and contracting them, six first metal wire members connected between one end of the six metal links and the three connection points of the base plate so that two wire members are connected with each connection point of the base plate to be inclined in opposite directions, and six second metal wire members connected between the other end of the metal links and the three connection points of the moving plate so that two wire members are connected with each connection point of the moving plate to be inclined in opposite directions.

A method and apparatus for controlling a manipulator by establishing polynomials obtained, as the functions of two sets of command values, the one set representing the position and the other set representing the direction respectively of the manipulator hand, by approximating the values of angles of rotation prescribed for the drive mechanisms of the manipulator and the arm of the manipulator, subjecting the aforementioned polynomials to an arithmetic operation in electronic circuitry by use of the aforementioned objective-command values in conjunction with the coefficients of the aforementioned polynomials established in advance by calculation and thereby deriving angular magnitudes for the separate drive mechanisms of the manipulator and controlling the operation of the drive mechanisms based on the angular magnitudes.

Growing community of inventors

Tsukuba, Japan

Tatsuo Arai