Patents by Inventor Fumio Miyazaki
Fumio Miyazaki has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11382533Abstract: A motion analyzing device includes a myogenic potential measuring unit (20) and a myogenic potential measurement processor (101) to measure the muscle activity of a person who performs a motion and a motion measuring unit (30) and a position measurement processor (102) to measure the body motion. The motion analyzing device also includes an AA muscle co-activation ratio calculating unit (103), a muscle synergy calculating unit (104) and an equilibrium point calculating unit (105) to calculate an equilibrium point of the person and a muscle synergy that is a set of base vectors describing the equilibrium point based on a musculoskeletal model of the person and a constraint condition that the position of the endpoint of the limb matches the position of the equilibrium point in a static situation to keep a posture still under gravity compensation.Type: GrantFiled: September 6, 2017Date of Patent: July 12, 2022Assignee: Osaka UniversityInventors: Hiroaki Hirai, Fumiaki Yoshikawa, Eichi Watanabe, Yuma Nagakawa, Akira Kuroiwa, Mitsunori Uemura, Fumio Miyazaki
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Publication number: 20210290108Abstract: A motion analyzing device includes a myogenic potential measuring unit (20) and a myogenic potential measurement processor (101) to measure the muscle activity of a person who performs a motion and a motion measuring unit (30) and a position measurement processor (102) to measure the body motion. The motion analyzing device also includes an AA muscle co-activation ratio calculating unit (103), a muscle synergy calculating unit (104) and an equilibrium point calculating unit (105) to calculate an equilibrium point of the person and a muscle synergy that is a set of base vectors describing the equilibrium point based on a musculoskeletal model of the person and a constraint condition that the position of the endpoint of the limb matches the position of the equilibrium point in a static situation to keep a posture still under gravity compensation.Type: ApplicationFiled: September 6, 2017Publication date: September 23, 2021Inventors: Hiroaki HIRAI, Fumiaki YOSHIKAWA, Eichi WATANABE, Yuma NAGAKAWA, Akira KUROIWA, Mitsunori UEMURA, Fumio MIYAZAKI
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Patent number: 10631751Abstract: In order to estimate a movement command that a central nervous system is to select to implement a desired movement based on three feature amounts under the concepts of an antagonistic muscle ratio and an antagonistic muscle sum and based on a musculoskeletal model, a movement analysis apparatus includes: a myoelectric potential measurement unit to measure a myoelectric potential of a person who performs a movement; a movement measurement unit to measure a body movement; and a stiffness-ellipse calculation unit, an equilibrium-point calculation unit and a muscle synergy calculation unit to calculate, from measurement information obtained at the measurement units, feature amounts of a stiffness ellipse, an equilibrium point, and a muscle synergy that are base vectors describing the equilibrium point at an operating point based on a musculoskeletal model.Type: GrantFiled: November 20, 2014Date of Patent: April 28, 2020Assignee: Osaka UniversityInventors: Fumio Miyazaki, Hiroaki Hirai, Mitsunori Uemura, Kanna Uno, Takanori Oku
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Patent number: 10589810Abstract: A walking robot (1) includes a body (20) joined with an upper part of two legs (10) so that the body has a changeable posture relative to the legs; and a posture control unit (105, 106, 107) configured to control a posture of the body stably in accordance with states of the legs (10) and the body (20). The walking robot includes: a state calculation unit (101, 102, 103) configured to calculate periodically, from angular information on the legs (10) and the body (20), angular momentum p1 around a lower end of the leg in a stance phase and integral pI1 of the angular momentum; and a stabilization determination unit (104) configured to determine whether the calculated angular momentum p1 and integral pI1 are approaching or getting away from target values, and output a result of the determination to the posture control unit (105, 106, 107).Type: GrantFiled: April 1, 2016Date of Patent: March 17, 2020Assignee: OSAKA UNIVERSITYInventors: Mitsunori Uemura, Fumio Miyazaki, Hiroaki Hirai
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Patent number: 10434029Abstract: A walking assistance apparatus includes: a walking assistance attachment to be attached to a leg of a human body and including a variable stiffness mechanism having stiffness that is changeable in a direction where the human bends and stretches the knee by motor driving; and a controller. The controller includes a foot-end motion calculation part configured to receive an output from a sensor to detect motion of a leg and successively calculate a relative velocity of a foot end with reference to a waist of the human body; and a leg state determination part configured to determine shift timing between a swing phase and a stance phase based on the relative velocity of the foot end.Type: GrantFiled: June 23, 2015Date of Patent: October 8, 2019Assignee: Osaka UniversityInventors: Mitsunori Uemura, Fumio Miyazaki, Hiroaki Hirai
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Publication number: 20180177667Abstract: A walking assistance apparatus includes: a walking assistance attachment to be attached to a leg of a human body and including a variable stiffness mechanism having stiffness that is changeable in a direction where the human bends and stretches the knee by motor driving; and a controller. The controller includes a foot-end motion calculation part configured to receive an output from a sensor to detect motion of a leg and successively calculate a relative velocity of a foot end with reference to a waist of the human body; and a leg state determination part configured to determine shift timing between a swing phase and a stance phase based on the relative velocity of the foot end.Type: ApplicationFiled: June 23, 2015Publication date: June 28, 2018Inventors: Mitsunori UEMURA, Fumio MIYAZAKI, Hiroaki HIRAI
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Publication number: 20180093725Abstract: A walking robot (1) includes a body (20) joined with an upper part of two legs (10) so that the body has a changeable posture relative to the legs; and a posture control unit (105, 106, 107) configured to control a posture of the body stably in accordance with states of the legs (10) and the body (20). The walking robot includes: a state calculation unit (101, 102, 103) configured to calculate periodically, from angular information on the legs (10) and the body (20), angular momentum p1 around a lower end of the leg in a stance phase and integral pI1 of the angular momentum; and a stabilization determination unit (104) configured to determine whether the calculated angular momentum p1 and integral pI1 are approaching or getting away from target values, and output a result of the determination to the posture control unit (105, 106, 107).Type: ApplicationFiled: April 1, 2016Publication date: April 5, 2018Inventors: Mitsunori UEMURA, Fumio MIYAZAKI, Hiroaki HIRAI
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Publication number: 20160324436Abstract: In order to estimate a movement command that a central nervous system is to select to implement a desired movement based on three feature amounts under the concepts of an antagonistic muscle ratio and an antagonistic muscle sum and based on a musculoskeletal model, a movement analysis apparatus includes: a myoelectric potential measurement unit to measure a myoelectric potential of a person who performs a movement; a movement measurement unit to measure a body movement; and a stiffness-ellipse calculation unit, an equilibrium-point calculation unit and a muscle synergy calculation unit to calculate, from measurement information obtained at the measurement units, feature amounts of a stiffness ellipse, an equilibrium point, and a muscle synergy that are base vectors describing the equilibrium point at an operating point based on a musculoskeletal model.Type: ApplicationFiled: November 20, 2014Publication date: November 10, 2016Applicant: Osaka UniversityInventors: Fumio MIYAZAKI, Hiroaki HIRAI, Mitsunori UEMURA, Kanna UNO, Takanori OKU
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Patent number: 9078585Abstract: Disclosed is a muscle synergy analysis which comprises detecting a myoelectric signal generated at each muscle of an antagonistic muscle pair group of a subject; calculating, as time-series data, an antagonistic muscle ratio of an antagonistic muscle pair at a myoelectric signal level from a myoelectric signal detected during a predetermined motion by the subject; and conducting multi variate analysis using the antagonistic muscle ratio at each time of the time-series data as a variable to calculate a principal component including at least a first principal component having high contribution to correlation.Type: GrantFiled: September 8, 2010Date of Patent: July 14, 2015Assignee: Osaka UniversityInventors: Fumio Miyazaki, Hiroaki Hirai, Syohei Kawagoe, Kazuhiro Matsui, Takayuki Nakano
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Patent number: 8994647Abstract: A low-cost input device suitable for a wearable computer is provided. An input method suitable for operating a wearable computer is provided. A wearable computer including the input device is provided. An input device 100 for outputting a control command ? to an external output device 40 includes a sensor 10 configured to be worn in or on a natural orifice of the body and sense a change in a shape of the natural orifice, and a controller 20 configured to control the external output device 40 based on a sensor signal ? from the sensor 10. Here, the change in the shape of the natural orifice is caused by a predetermined action which is performed by a user wearing the sensor 10 with the intention of operating the external output device 40.Type: GrantFiled: February 2, 2010Date of Patent: March 31, 2015Assignee: ERCC Co., Ltd.Inventors: Kazuhiro Taniguchi, Atsushi Nishikawa, Fumio Miyazaki, Asako Kokubo
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Patent number: 8465414Abstract: A clean and inexpensive medical manipulator device can be provided in which a risk of failure caused by current leakage or disconnection is eliminated and reliability is higher than in a manipulator device using an electrically driven actuator or electric motor. The medical manipulator device includes a stage section 3 that can hold a medical instrument 2; a plurality of actuators 4 each linked at one end to the stage section 3; and a base section 5 linked to the other end of each of the plurality of actuators 4 and serving as a base for the plurality of actuators 4, wherein each of the actuators 4 causes the medical instrument 2 and the stage section 3 to displace with respect to the base section 5 by extending or contracting in the longitudinal direction of the actuator 4 in response to a pressure of a liquid 6.Type: GrantFiled: March 28, 2008Date of Patent: June 18, 2013Assignees: Osaka University, Daiken Iki Kabushiki KaishaInventors: Atsushi Nishikawa, Fumio Miyazaki, Mitsugu Sekimoto, Kazuhiro Taniguchi, Kohei Kazuhara, Takeharu Kobayashi, Takaharu Ichihara, Naoto Kurashita
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Publication number: 20120172745Abstract: Disclosed is a muscle synergy analysis which comprises detecting a myoelectric signal generated at each muscle of an antagonistic muscle pair group of a subject; calculating, as time-series data, an antagonistic muscle ratio of an antagonistic muscle pair at a myoelectric signal level from a myoelectric signal detected during a predetermined motion by the subject; and conducting multi variate analysis using the antagonistic muscle ratio at each time of the time-series data as a variable to calculate a principal component including at least a first principal component having high contribution to correlation.Type: ApplicationFiled: September 8, 2010Publication date: July 5, 2012Applicant: Osaka UniversityInventors: Fumio Miyazaki, Hiroaki Hirai, Syohei Kawagoe, Kazuhiro Matsui, Takayuki Nakano
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Publication number: 20120001846Abstract: A low-cost input device suitable for a wearable computer is provided. An input method suitable for operating a wearable computer is provided. A wearable computer including the input device is provided. An input device 100 for outputting a control command ? to an external output device 40 includes a sensor 10 configured to be worn in or on a natural orifice of the body and sense a change in a shape of the natural orifice, and a controller 20 configured to control the external output device 40 based on a sensor signal ? from the sensor 10. Here, the change in the shape of the natural orifice is caused by a predetermined action which is performed by a user wearing the sensor 10 with the intention of operating the external output device 40.Type: ApplicationFiled: February 2, 2010Publication date: January 5, 2012Applicant: OSAKA UNIVERSITYInventors: Kazuhiro Taniguchi, Atsushi Nishikawa, Fumio Miyazaki, Asako Kokubo
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Publication number: 20100137680Abstract: A clean and inexpensive medical manipulator device can be provided in which a risk of failure caused by current leakage or disconnection is eliminated and reliability is higher than in a manipulator device using an electrically driven actuator or electric motor. The medical manipulator device includes a stage section 3 that can hold a medical instrument 2; a plurality of actuators 4 each linked at one end to the stage section 3; and a base section 5 linked to the other end of each of the plurality of actuators 4 and serving as a base for the plurality of actuators 4, wherein each of the actuators 4 causes the medical instrument 2 and the stage section 3 to displace with respect to the base section 5 by extending or contracting in the longitudinal direction of the actuator 4 in response to a pressure of a liquid 6.Type: ApplicationFiled: March 28, 2008Publication date: June 3, 2010Applicants: OSAKA UNIVERSITY, DAIKEN IKI KABUSHIKI KAISHAInventors: Atsushi Nishikawa, Fumio Miyazaki, Mitsugu Sekimoto, Kazuhiro Taniguchi, Kohei Kazuhara, Takeharu Kobayashi, Takaharu Ichihara, Naoto Kurashita