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:
Jan. 10, 2012
Filed:
Mar. 31, 2006
Junichiro Iwaki, Tokyo, JP;
Toji Nakazawa, Tokyo, JP;
Junichiro Iwaki, Tokyo, JP;
Toji Nakazawa, Tokyo, JP;
THK Co., Ltd., Tokyo, JP;
Abstract
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∝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.