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:
Apr. 10, 2001
Filed:
Dec. 16, 1997
Akihiro Ito, Nagano, JP;
Haruhiro Tsuneta, Nagano, JP;
Yasuyuki Kitahara, Nagano, JP;
Masao Hiraguri, Nagano, JP;
Kabushiki Kaisha Sanyo Seiki Seisakusho, Nagano, JP;
Abstract
With an operation handle arranged in the neighborhood of e.g. a microscope for operation as an appliance to be supported attached to the tip of plural arms rotatably coupled with one another, the operation force applied to the operation handle is detected as a signal in directions of plural axes by a force/torque sensor, the detected force/torque information in each of the directions of the plural axes is impedance-control and track-control to compute an operation command for each joint in the plural arms, and on the basis of the operation command for each joint, the plural arms are moved in the direction of the operation force.