The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 19, 2026
Filed:
Oct. 10, 2022
Keio University, Tokyo, JP;
Motion Lib, Inc., Kawasaki, JP;
Terumo Kabushiki Kaisha, Tokyo, JP;
Kouhei Ohnishi, Kawasaki, JP;
Takahiro Mizoguchi, Kawasaki, JP;
Kazuhiro Yamada, Kanagawa, JP;
Yoshiyuki Habu, Kanagawa, JP;
Shin Maki, Kanagawa, JP;
Toshihiro Fujii, Kanagawa, JP;
Abstract
A control system includes a master device, a slave device, and a control device. Furthermore, the control device includes a friction compensation control unit and a tactile force transmission unit. The friction compensation control unit calculates a force for assisting an operation in the master device with respect to friction generated in the slave device on the basis of a moving average of velocity of a movable portion in the slave device. The tactile force transmission unit assists the operation in the master device with a force calculated by the friction compensation control unit and controls tactile force transmission in the master device and the slave device.