公开(公告)号：US20080288107A1

公开(公告)日：2008-11-20

申请号：US12078294

申请日：2008-03-28

Applicant: Mamoru TOKITA ,  Koukichi SHIMADA

Inventor： Mamoru TOKITA ,  Koukichi SHIMADA

IPC: B25J13/00

CPC classification number: B25J9/046 ,  A61H1/0237 ,  A61H1/0262 ,  A61H1/0274 ,  A61H2201/1215 ,  A61H2201/14 ,  A61H2201/1676 ,  B25J9/104 ,  G09B9/00 ,  G09B19/003

Abstract: In a robot for training a rehabilitator, the driving of actuators is controlled to generate the forces acting in six directions at the distal end of a bi-articular arm device to reproduce the relationship between the muscular output of the upper or lower limb of the human body and the output direction at the distal end of the limb. The rehabilitator can experience the relationship between the outputs of his or her limb muscles and the output direction at the distal end of the limb. Thus, the six actuators are run in operation along a predetermined sequence. One or more of the actuators, selected so that the direction of the force generated at the distal end of the first link will be the selected direction, is run in operation. The rehabilitator holding the distal end of the first link may physically experience the direction of that force.

Abstract translation: 在用于训练康复者的机器人中，控制致动器的驱动以在双关节臂装置的远端处产生在六个方向上作用的力，以再现人的上肢或下肢的肌肉输出之间的关系 身体和肢体远端的输出方向。 康复者可以体验到他或她的肢体肌肉的输出与肢体远端的输出方向之间的关系。 因此，六个致动器沿着预定的顺序运行。 执行器中的一个或多个被选择为使得在第一连杆的远端处产生的力的方向将是所选择的方向。 保持第一连杆的远端的修复者可以物理地体验该力的方向。

公开(公告)号：US08311671B2

公开(公告)日：2012-11-13

申请号：US12078294

申请日：2008-03-28

Applicant: Mamoru Tokita ,  Koukichi Shimada

Inventor： Mamoru Tokita ,  Koukichi Shimada

IPC: G06F19/00 ,  G05B19/418

CPC classification number: B25J9/046 ,  A61H1/0237 ,  A61H1/0262 ,  A61H1/0274 ,  A61H2201/1215 ,  A61H2201/14 ,  A61H2201/1676 ,  B25J9/104 ,  G09B9/00 ,  G09B19/003

Abstract: In a robot for training a rehabilitator, the driving of actuators is controlled to generate the forces acting in six directions at the distal end of a bi-articular arm device to reproduce the relationship between the muscular output of the upper or lower limb of the human body and the output direction at the distal end of the limb. The rehabilitator can experience the relationship between the outputs of his or her limb muscles and the output direction at the distal end of the limb. Thus, the six actuators are run in operation along a predetermined sequence. One or more of the actuators, selected so that the direction of the force generated at the distal end of the first link will be the selected direction, is run in operation. The rehabilitator holding the distal end of the first link may physically experience the direction of that force.

Abstract translation: 在用于训练康复者的机器人中，控制致动器的驱动以在双关节臂装置的远端处产生在六个方向上作用的力，以再现人的上肢或下肢的肌肉输出之间的关系 身体和肢体远端的输出方向。 康复者可以体验到他或她的肢体肌肉的输出与肢体远端的输出方向之间的关系。 因此，六个致动器沿着预定的顺序运行。 执行器中的一个或多个被选择为使得在第一连杆的远端处产生的力的方向将是所选择的方向。 保持第一连杆的远端的修复者可以物理地体验该力的方向。

公开(公告)号：US20120285787A1

公开(公告)日：2012-11-15

申请号：US13452807

申请日：2012-04-20

Applicant: Kazuhiro HOSOKAWA ,  Yukihiro NEMOTO ,  Katsuyoshi TOMIZAWA ,  Koukichi SHIMADA

Inventor： Kazuhiro HOSOKAWA ,  Yukihiro NEMOTO ,  Katsuyoshi TOMIZAWA ,  Koukichi SHIMADA

IPC: G07F7/04 ,  G07D7/00

CPC classification number: G07D11/40

Abstract: A bill depositing-and-dispensing device has: a customer-interface unit including a customer-interface-opening for performing a transaction of a bill with a user, a conveying-path connecting the customer-interface-opening and a storage-destination of a bill, a switching mechanism switching a traveling-path of a bill in accordance with a storage-destination of a bill conveyed on the conveying-path, and a discriminating section discriminating a bill conveyed on the conveying-path; at least one storage-cassette including a storage portion storing a bill, a first conveying-path connecting to the customer-interface unit or an adjacent storage-cassette, a second conveying-path conveying a bill in both directions between the first conveying-path and the storage portion, a switching mechanism switching a traveling-path of a bill, and a thickness sensor identifying a thickness of a bill drawn-out from the storage portion; and a reject take-in unit storing a bill that is not held at the customer-interface unit and the storage-cassette.

Abstract translation: 票据存取款装置具有：客户接口单元，包括用于与用户进行纸币交易的客户界面开口，连接客户界面开口和存储目的地的输送路径 纸币，根据在输送路径上输送的纸币的存储目的地切换纸币的行进路径的切换机构，以及鉴别在输送路径上传送的纸币的识别部分; 至少一个存储盒，其包括存储纸币的存储部分，连接到所述客户接口单元的第一输送路径或相邻的存储盒，在所述第一输送路径之间沿两个方向输送纸币的第二输送路径 存储部分，切换纸币的行进路径的切换机构和识别从存储部分拉出的纸币的厚度的厚度传感器; 以及拒绝接收单元，存储未被保持在客户接口单元和存储盒的纸币。