Panasonic Intellectual Property Management Co., Ltd.

Panasonic Corporation

Yudai Fudaba

Yuko Tsusaka

Taichi Sato

Jun Ozawa

Yasunao Okazaki

Masaki Yamamoto

Mikiya Nakata

Atsushi Ono

In a standing-up motion assist system for assisting a care receiving person, a care belt includes a first holder that holds a neck part or a back part of the care receiving person, a second holder that holds a lumbar part of the care receiving person, a third holder that connects the first holder and the second holder and holds armpits of the care receiving person, a second connector located at a chest of the care receiving person, and a first connector that connects the first holder and the second holder. A pulling mechanism is connected to the second connector and pulls the second connector. A controller controls the pulling mechanism so as to pull the second connector in a forward and upward direction with reference to the care receiving person, and, thereafter, pull the second connector in a backward and upward direction with reference to the care receiving person.

Standing-up motion assist system, control method for controller of standing-up motion assist system, storage medium, care belt, and robot

A sitting motion assist system for assisting a sitting motion of a patient changing their posture from a standing posture to a sitting posture includes a care belt, a knee-bending adviser, and a pulling mechanism. The care belt can be put on the patient and includes a hold mechanism including a first holder capable of holding the neck or shoulder of the patient and a second holder capable of holding their lower back, and a coupler capable of being positioned on their chest and coupled to the hold mechanism. The knee-bending adviser advises the patient to perform a knee-bending motion. The pulling mechanism is coupled to the hold mechanism via the coupler and pulls the care belt downward and slightly forward relative to the patient after the advice by the knee-bending adviser, and thereafter pushes the care belt downward and slightly backward to assist the sitting motion.

Sitting motion assist system, control method for controller of sitting motion assist system, recording medium, care belt, and robot

A standing motion assist system includes a care belt including a holding mechanism including a holder that holds a back and both armpits of a care-receiver, and a connector that is connected to the holding mechanism; a rotational force applying mechanism that is connected to the holding mechanism and that rotates a front lower part of the holder upward and a rear upper part of the holder downward about a rotation axis extending through both armpits; a traction mechanism that is connected to the connector and pulls the connector; and a controller that controls the rotational force applying mechanism and the traction mechanism so that, after the traction mechanism has started the pulling motion, the rotational force applying mechanism rotates the holder at the same time as the traction mechanism pulls the connector forward and upward, and subsequently the traction mechanism pulls the connector upward.

Standing motion assist system, method for controlling standing motion assist system, recording medium, and robot

A robot includes a tractor, a walker, an input device, and a controller. The tractor includes a connector and pulls a user through the connector. The walker includes wheels for moving the tractor and one or more brakes for the wheels and is coupled to the tractor. The input device receives an instruction to operate at least one of the tractor and the walker. In response to reception of the instruction by the input device, the controller determines whether or not to permit the tractor and/or the walker to perform a process based on the instruction, in accordance with a current state of the robot, the current state being one of a plurality of states of the robot. Each state is represented by using values of items, one of the items being an item indicating whether or not the one or more brakes are applied to the wheels.

Robot, method for controlling robot, and recording medium

A force measurement apparatus includes a force detection unit that measures a force generated when a forceps is brought into contact with an inside of a body when an operator inserts a forceps or an endoscope into the body and measures a force generated when the forceps acts on a living body from outside the body, a reference information generating unit that generates reference information serving as information of a force acquired by the force detection unit when the forceps is located at a predetermined position, and an individual force calculation unit that individually calculates a force generated when the forceps acts on the living body in the body based on the reference information.

Force measurement apparatus, force measurement method, force measurement program, force measurement integrated electronic circuit, and master-slave device

A robot system for assisting a patient in standing up and/or sitting down is provided. The robot system includes the following elements. A drive mechanism executes a drive pattern for assisting the patient in standing up and/or sitting down. An instruction input device receives an instruction to cause the drive mechanism to execute the drive pattern. A state acquirer acquires an execution state of the drive mechanism which is executing the drive pattern. A controller decides whether or not to cause the drive mechanism to execute the instruction received by the instruction input device, on the basis of the execution state acquired by the state acquirer, and controls the driving of the drive mechanism.

Robot system, instruction input device, non-transitory computer-readable recording medium, and control method for robot system

A holding mechanism holds a care-receiver, a traction mechanism that is connected to the holding mechanism, and the traction mechanism pulls the holding mechanism so that the holding mechanism draws a predetermined path. On the basis of a position of the holding mechanism detected by a position sensor and a force detected by a force sensor, if the position of the holding mechanism is not on the predetermined path, a controller controls the traction mechanism so that the holding mechanism draws the predetermined path by changing the position of the holding mechanism to a position on the predetermined path at a time after the time at which the position is detected.

Standing/sitting motion assist system, standing/sitting motion assist method, standing/sitting motion assist robot, and non-transitory computer-readable recording medium

A control apparatus of an insertion apparatus in which a state specifying unit specifies a state of an insertion member to carry out vibration control depending on the state, thereby removing getting-stuck of a tip of the insertion member with a vibration having such a proper magnitude as not to cause an overload in a case where the tip of the insertion member is gotten stuck.

Control apparatus and control method of insertion apparatus, insertion apparatus having control apparatus, control program for insertion apparatus, and controlling integrated electronic circuit of insertion apparatus

A master apparatus for a master slave apparatus, the master apparatus controlling a slave apparatus, the master apparatus including a hand operation mechanism configured to be operated by a person for opening and closing a hand mechanism including a pair of opening and closing members, the hand mechanism being connected to a slave mechanism, the slave apparatus including the slave mechanism and the hand mechanism. The hand operation mechanism includes a fixed unit, an opening and closing operation unit, and a slide unit. The opening and closing operation unit is connected to the slide unit, is capable of reciprocating with respect to the fixed unit, and is openable and closable with respect to the fixed unit. The master hand controlling device controls opening and closing of the pair of opening and closing members on the basis of an opening and closing amount of the opening and closing operation unit.

Master apparatus for master slave apparatus, method for controlling the master apparatus, and the master slave apparatus

An insertion method for a flexible elongate member is used to insert the flexible elongate member into a tube while causing first and second holding units to perform an opening-and-closing operation for holding and releasing the flexible elongate member. The method includes acquiring information of a distance by which the second holding unit moves with respect to the first holding unit and information of an operation type used to distinguish between insertion of the flexible elongate member into the tube, stoppage of the flexible elongate member, and extraction of the flexible elongate member from the tube; generating operation information regarding an opened/closed state of the first holding portion and an opened/closed state of the second holding portion on the basis of the distance and the operation type; and controlling the insertion, stoppage, or extraction of the flexible elongate member on the basis of the operation information.

Apparatus for flexible elongate member, method for flexible elongate member, and storage medium

A master motion information obtaining unit obtains at least one or more pieces of master motion information including a position, a posture, a speed, and an angular velocity of a master arm mechanism. A physical information obtaining unit obtains physical information of an operator including an arm weight of the operator. A master motion information correcting unit generates corrected master motion information where an amount of correction of the master motion information is corrected such that heavier the arm weight of the operator included in the physical information, larger a movement of a slave arm. A slave controller controls a slave arm mechanism, according to the corrected master motion information.

Control apparatus and control method for master-slave robot, master-slave robot, control program for master-slave robot, and integrated electronic circuit for controlling master-slave robot

In a control apparatus for a robot arm, the feedback rule generating section generates a feedback rule in accordance with relationship between a time point of generation of a stimulus and variation in behavior after elapse of a reaction time in taught data as detected by the information variation point detecting section and the behavior variation point detecting section. The motion generating section generates a motion of the robot arm based on motion information, an information variation point, a behavior variation point, and the feedback rule. The controller controls the motion of the robot arm.

Control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit

A master device is provided to a master slave apparatus in which a hand mechanism opens/closes to grip a target object and a slave mechanism performs a task on a target article. The master device includes a hand manipulation mechanism for manipulating the hand mechanism. A person remotely manipulates the slave mechanism by a master mechanism and the hand manipulation mechanism manipulates to cause the hand mechanism to perform the task. In the hand manipulation mechanism, a hand manipulation portion having a pair of open/close manipulation portions manipulated by the person moves forward/backward on a slider, the pair of open/close manipulation portions is opened/closed to change the angle therebetween so that the hand mechanism is opened/closed. A master hand control device transmits, to the slave mechanism, motion information used for manipulating the hand mechanism based on a position of the hand manipulation portion relative to the slider or the angle.

Master device for master slave apparatus, method of controlling the same, and master slave robot

A force information correcting unit generates force information in accordance with magnification percentage information acquired by a display information acquiring unit. The force information matches a picture watched by an operator to manipulation of the operator with no sense of incongruity. A force information presentation unit presents the generated force information to the operator, so that work efficiency is improved.

Control apparatus and control method for master slave robot, robot, control program for master slave robot, and integrated electronic circuit for control of master slave robot

Upon insertion of an insertion member into a living body vessel by an operator, a force individually applied to the living body vessel by the insertion member is measured by a force measuring unit, and based upon the force measured by the force measuring unit, information to be presented to an experiencing person is determined by a determination unit so that based upon the determined information, the corresponding force is presented to the experiencing person by a force presentation unit.

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Osaka, Japan

Yudai Fudaba