Abstract: In the surface structure of an article 7 according to the present invention, a plurality of convex portions 11 are so disposed on a surface 9 as to have intervals relative to each other and a plurality of fine convex portions 21 having a diameter d and a height h smaller than those of the concave portion 11 are formed on the surface of at least the edge portion 15 of the concave portion 11. By this, when a hand touches the surface 9 of the article 7, the proper number of convex portions 21 abut on a linear object 25 constituting a fingerprint 23 of a hand's finger, to thereby allow the human being to obtain a delicate-and-soft touch feeling.

Abstract: A first constituent member configured such that a plurality of panels overlaps and a second constituent member configured such that a plurality of panels overlaps are included, in which a first link member that can be expanded and contracted is connected to the first constituent member, a second link member that can be expanded and contracted is connected to the second constituent member, each of the constituent members can be expanded and contracted by expansion and contraction of each of the link members, the first constituent member and the second constituent member can relatively be rotated around rotation axes and also can removably be connected, the first link member and the second link member are connected to both ends of connecting link arm members via a free joint respectively, and the first link member and the second link member can be separated from each other.

Abstract: A first constituent member constructed such that at least portions of a plurality of panels overlap and a second constituent member constructed such that at least portions of a plurality of panels overlap are included, in which the first constituent member and the second constituent member are connected to a link member that can be expanded and contracted, the first constituent member and the second constituent member are expanded and contracted by expansion and contraction of the link member, and the first constituent member and the second constituent member can relatively be rotated around rotation axes.

Abstract: A first constituent member configured such that a plurality of panels overlaps and a second constituent member configured such that a plurality of panels overlaps are included, in which a first link member that can be expanded and contracted is connected to the first constituent member, a second link member that can be expanded and contracted is connected to the second constituent member, each of the constituent members can be expanded and contracted by expansion and contraction of each of the link members, the first constituent member and the second constituent member can relatively be rotated around rotation axes and also can removably be connected, the first link member and the second link member are connected to both ends of connecting link arm members via a free joint respectively, and the first link member and the second link member can be separated from each other.

Abstract: A first constituent member constructed such that at least portions of a plurality of panels overlap and a second constituent member constructed such that at least portions of a plurality of panels overlap are included, in which the first constituent member and the second constituent member are connected to a link member that can be expanded and contracted, the first constituent member and the second constituent member are expanded and contracted by expansion and contraction of the link member, and the first constituent member and the second constituent member can relatively be rotated around rotation axes.

Abstract: Disclosed is a surface structure of an article (1) including multiple protrusions (3) on the surface. A height H of the protrusions (3) is equal to or larger than 5 ?m, and equal to or smaller than 32 ?m, as well as at least one of a distance P between each two neighboring protrusions (3) and a distance W between each neighboring two of recesses (5) formed between the protrusions (3) is larger than the height H of the protrusions (3).

Abstract: A power assist device includes: holder holding a workpiece; a pair of wires each having one end connected to the holder to suspend the holder; a pair of wind-up wheels winding up respective other ends of the wires; a pair of motors rotationally driving the respective wind-up wheels; a pair of rotation detectors detecting rotation information of the respective motors; a pair of torque detectors detecting drive torque in the respective motors; and controller controlling drive of the motors. The controller calculates operating force to the workpiece based on the rotation information detected by the rotation detectors and the drive torque of the motors detected by the torque detectors, and controls the motors to assist the operating force that is calculated, to move up and down the holder.

Abstract: Provided is a technique capable of allowing a person to perceive a fine relief on an object surface clearly. A tactile device of a tactile display slides above an object. The tactile device comprises three rods which are free to move up and down. Lower ends of the rods are in contact with a surface of the object. Upper ends of respective rods touch a palmar-side skin equivalent to positions of three joints of a first finger or a second finger. When the tactile device is slid, upper ends of respective rods move up and down in accordance with a surface relief of the object. In response to the movement of the tactile device, the three rods push three finger joint positions of the palmar-side skin with a stroke equal to a height of the relief.

Abstract: There is provided an insertion device allowing a doctor to alone perform an operation to insert a medical linear body. The insertion device, operated to insert a delivery wire (104) into a human body (131) through a blood vessel (132), includes a foot switch (41, 46) generating and outputting a signal to control starting/stopping a drive device (1) moving the delivery wire (104) in its longitudinal direction. Furthermore, the insertion device includes an insertion force sensor (60) operative to measure longitudinally compressive force exerted to the delivery wire (104), and a speaker (92) and a display (93) informing an operator of the compressive force measured by the insertion force sensor (60).

Abstract: A linear body drive device capable of safely and reliably operating a linear body is provided. A linear body insertion device includes a drive portion, an operation portion, a sensor portion and a processing portion serving as a measurement portion, and an output portion serving as a notification portion. The drive portion drives a linear body having flexibility. The operation portion includes an input member (an operation lever) operated by an operator for controlling performance of the drive portion. The sensor portion included in the measurement portion detects compressive force in a direction of longitudinal axis applied to the linear body, based on a degree of bending of the linear body driven by the drive portion. The output portion provides notification of data of compressive force detected by the measurement portion.

Abstract: This insertion device is an insertion device for inserting a medical linear body (104) in a vessel in a body, and it includes a drive device (1) for moving the medical linear body (104) in a direction of a longitudinal axis, a measurement device (60) for measuring compressive force and pulling force in the direction of the longitudinal axis applied to the medical linear body (104), and a notification device (92 to 94) for notifying an operator of compressive force and pulling force measured with the measurement device (60).

Abstract: A measurement device capable of sensing presence of an obstacle within a vessel from outside the vessel in operating a linear body inserted in the vessel is provided. According to this measurement device, an easy-to-use measurement device capable of measuring compressive force in a direction of longitudinal axis applied to the linear body that has a sheath thicker than the linear body, such as a wire having a coil for embolizing an aneurysm attached at a tip end, without lowering measurement accuracy, can be provided. In addition, a length of a restraint portion is minimized, to achieve a smaller size of the measurement device. Moreover, the measurement device capable of measuring compressive force in the direction of longitudinal axis applied to the linear body regardless of magnitude of buckling load of the linear body can be provided, and the same measurement device is applicable to linear bodies of various materials, which leads to cost efficiency.

Abstract: A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.

Abstract: A power assist device includes: holder holding a workpiece; a pair of wires each having one end connected to the holder to suspend the holder; a pair of wind-up wheels winding up respective other ends of the wires; a pair of motors rotationally driving the respective wind-up wheels; a pair of rotation detectors detecting rotation information of the respective motors; a pair of torque detectors detecting drive torque in the respective motors; and controller controlling drive of the motors. The controller calculates operating force to the workpiece based on the rotation information detected by the rotation detectors and the drive torque of the motors detected by the torque detectors, and controls the motors to assist the operating force that is calculated, to move up and down the holder.

Abstract: It is possible to provide a power assist device which can maintain a stable contact state without causing an oscillation phenomenon even if a robot is brought into contact with an environment. A method for controlling the power assist device is also provided. The power assist device includes: an inner force sensor which detects an operation force applied by an operator; an operation handle having the inner force sensor; a robot arm which supports the operation handle; an actuator which drives the robot arm; the actuator and a control device which measure or estimate a force applied when the robot arm is brought into contact with an environment; and the actuator and the control device which detect or estimate a motion speed of the operation handle.

Abstract: Disclosed is a surface structure of an article (1) including multiple protrusions (3) on the surface. A height H of the protrusions (3) is equal to or larger than 5 ?m, and equal to or smaller than 32 ?m, as well as at least one of a distance P between each two neighboring protrusions (3) and a distance W between each neighboring two of recesses (5) formed between the protrusions (3) is larger than the height H of the protrusions (3).

Abstract: This insertion device is an insertion device for inserting a medical linear body in a vessel in a body, and it includes a drive device for moving the medical linear body in a direction of a longitudinal axis, a measurement device for measuring compressive force and pulling force in the direction of the longitudinal axis applied to the medical linear body, and a notification device for notifying an operator of compressive force and pulling force measured with the measurement device.

Abstract: A tactile device of a tactile display slides above an object. The tactile device comprises three rods which are free to move up and down. Lower ends of the rods are in contact with a surface of the object. Upper ends of respective rods touch a palmar-side skin equivalent to positions of three joints of a first finger or a second finger. When the tactile device is slid, upper ends of respective rods move up and down in accordance with a surface relief of the object. In response to the movement of the tactile device, the three rods push three finger joint positions of the palmar-side skin with a stroke equal to a height of the relief.

Abstract: This measurement device is a measurement device for measuring compressive force and pulling force in a direction of a longitudinal axis applied to a linear body having flexibility, and it includes a main body in which a through hole for inserting the linear body is formed. The through hole is formed to allow bending of the linear body in an arc shape in the through hole and variation in degree of bending of the linear body in accordance with compressive force and pulling force. This measurement device further includes a sensor for detecting a degree of bending of the linear body and a conversion circuit for converting the degree of bending detected by the sensor into a signal indicating compressive force and pulling force applied to the linear body.

Abstract: In the surface structure of an article 7 according to the present invention, a plurality of convex portions 11 are so disposed on a surface 9 as to have intervals relative to each other and a plurality of fine convex portions 21 having a diameter d and a height h smaller than those of the concave portion 11 are formed on the surface of at least the edge portion 15 of the concave portion 11. By this, when a hand touches the surface 9 of the article 7, the proper number of convex portions 21 abut on a linear object 25 constituting a fingerprint 23 of a hand's finger, to thereby allow the human being to obtain a delicate-and-soft touch feeling.