Thk Co., Ltd.

Mamoru Mitsuishi

Other

Mitsuishi, Mamoru

Toji Nakazawa

Shinichi Warisawa

Junichiro Iwaki

Nobuhiko Sugano

Akihiro Iimura

Kazuo Yonenobu

Tatsuya Ishizuka

Jumpei Arata

Power assist control capable of responding to feeling and sensibility when a man applies force to an object is performed. The power assist control outputs an assist force F or a speed F on the basis of an assist target force X detected by a force sensorfor detecting force applied to the object. The relationship between the assist target force X and the assist force F or the speed F to be outputted is F&#x221d;f(X) on the basis of a function f(X) having the assist target force X as a variable. The function f(X) is assumed to be a non-linear function which is an increasing function and whose derivative f'(X) is a decreasing function. The function f(X) is a (1/n)-th order function or a logarithmic function. Moreover, a function fup(X) when the assist target force X is increased is different from a function fdown(X) when the assist target force X is decreased.

Power assist control method, power assist control apparatus, and reduction apparatus

Tow forces can be measured only by providing one force sensor in a device structure, and a drive system is driven so as to assist an external force by detecting it. A value at a force sensor () at the moment when a foot switch () is set as the original point (detection reference) of a force to be assisted. Variations of the force after the original point setting is measured by the force sensor () the difference between the measured value and the assist original point is obtained, and a force to be assisted is detected. Depending on the magnitude of the force to be assisted, assist operation is performed by causing a drive force to act on a foot such that the force to be assisted is reduced. When the force is assisted reaches zero, the assist operation is completed. Then, two forces, or 'a force acting on a patient's foot' and 'a force applied to the foot' from the outside, are detected by the one force sensor ().

Power assistance controlling apparatus, power assistance controlling method, and physiotherapy apparatus

A bending forcepshas at least three degrees of freedom including relative opening/closing of a pair of gripping members, rotation of both the gripping members around a first axisand rotation of both the gripping members around a second axisexisting on an imaginary plane substantially perpendicular to the first axis. A drive power from an actuator is converted to each motion of the opening/closing of the gripping members, rotation thereof around the first axis and rotation thereof around the second axis by first to third link mechanismsand. The present invention enables the durability and control accuracy to be raised by employing a link mechanism as a drive power transmitting means. Further, the present invention facilitates sterilization, cleaning and attachment/detachment to/from a driving means.

Manipulator with multiple degrees of freedom

The repositioning apparatus of the invention includes a supporting bed for supporting at least a lower body of a patient, who needs repositioning therapy on his/her leg, a lower leg supporting bed for supporting a lower leg of the patient, a first movable table for allowing the lower leg supporting bed to move about a substantially horizontal axis, a first drive unit for driving the first movable table, a second movable table for moving the lower leg supporting bed in the substantially horizontal direction, and a second drive unit for driving the second movable table. Accordingly, the repositioning apparatus can make the lower leg of the patient perform a twisting action and a bending and stretching action, which are inevitable action for repositioning the patient's lower leg.

Repositioning apparatus

A microarraying headhas a base portionand a plurality of needles. The needlesare arranged in parallel with one another on the base portion. The needlesplace a solution on substrateswith the top ends of the needlestouching substrates. Then, the needlesretain the solution including biological samples and form spots of the solution on the substrates. A spacefor supplying cleansing fluid or the like is provided in the base portionso as to extend all over the plurality of needles. Since the plurality of needlescan be all cleansed with substantially uniform pressure applied thereto, all the plurality of needlescan cleansed surely in a short time.

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Tokyo, Japan

Toji Nakazawa