Abstract: Drive unit that consists of two or more strings that are with one end attached to a shaft of a driving motor, and with the other end directly or indirectly coupled to an image capturing device, which is supported by means that allow rotation is disclosed. The twisting strings produce a pulling force on the ends of the strings, which generates a motion of the image capturing device. The invented drive unit does not use gears, belts, pulleys or the like, which reduces the weight, lowers the generated noise, and reduces the parts costs. The invented drive unit including the control unit achieves wide range of motion performances ranging from precise positioning to fast motion, including performance equivalent to a human eye.

Abstract: Drive unit that consists of two or more strings that are with one end attached to a shaft of a driving motor, and with the other end directly or indirectly coupled to an image capturing device, which is supported by means that allow rotation is disclosed. The twisting strings produce a pulling force on the ends of the strings, which generates a motion of the image capturing device. The invented drive unit does not use gears, belts, pulleys or the like, which reduces the weight, lowers the generated noise, and reduces the parts costs. The invented drive unit including the control unit achieves wide range of motion performances ranging from precise positioning to fast motion, including performance equivalent to a human eye.

Abstract: Rotary to linear and linear to rotary motion conversion devices that consist of rotational elements, at least two flexible linking elements, and motion elements are disclosed. Rotary elements and motion elements are connected by the flexible linking members, which twist around each other when rotational elements rotate and thus produce pulling force on the motion elements. A methodology to design the motion conversion devices and robotic joints incorporating the motion conversion devices are disclosed.

Abstract: A drive unit comprising of a driving motor and of at least two flexible linking members, which twist on each other when a rotational shaft of the driving motor rotates and thus produce a pulling force on a motion element that is attached to or is a part of link of a legged robot's leg mechanism is disclosed. A control method to control the invented drive unit so that a passive, a passive-dynamic or an active walking modes and transition between the modes of a legged robot is achieved without any additional mechanical means is disclosed.

Abstract: A drive unit comprising of a driving motor and of at least two flexible linking members, which twist on each other when a rotational shaft of the driving motor rotates and thus produce a pulling force on a motion element that is attached to or is a part of link of a legged robot's leg mechanism is disclosed. A control method to control the invented drive unit so that a passive, a passive-dynamic or an active walking modes and transition between the modes of a legged robot is achieved without any additional mechanical means is disclosed.

Abstract: Rotary to linear and linear to rotary motion conversion devices that consist of rotational elements, at least two flexible linking elements, and motion elements are disclosed. Rotary elements and motion elements are connected by the flexible linking members, which twist around each other when rotational elements rotate and thus produce pulling force on the motion elements. A methodology to design the motion conversion devices and robotic joints incorporating the motion conversion devices are disclosed.

Abstract: A wave gear device torque detection method in which the gain of the output of each of a plurality of strain gauge sets affixed to the diaphragm of a flexible external gear is amplified and the outputs are then combined to form a detection signal. Adjusting the gain of each of the strain gauge outputs makes it possible to compensate for rotational ripple included in the output. Compensation of up to n order ripple components is possible by using at least (2n+1) strain gauges.

Abstract: A wave gear device torque detection method in which the gain of the output of each of a plurality of strain gauge sets affixed to the diaphragm of a flexible external gear is amplified and the outputs are then combined to form a detection signal. Adjusting the gain of each of the strain gauge outputs makes it possible to compensate for rotational ripple included in the output. Compensation of up to n order ripple components is possible by using at least (2n+1) strain gauges.

Abstract: A method of compensating periodic error signals in sensor output is provided. The method comprises obtaining a sum signal from sensing outputs of M sensor elements (where M is a positive integer), obtaining the amplitude and phase of N frequency components included in the sum signal, and calculating a sensing output gain adjustment coefficient for each sensor output. To ensure that a sum signal level obtained by summing a pre-adjustment output of each sensor element multiplied by the gain adjustment coefficient equals a sum signal level obtained by summing the unmodified outputs of the sensors, a gain adjustment coefficient is obtained for each sensor output by using a calculated scaling coefficient to perform pre-adjustment scaling of each gain adjustment coefficient. The adjustment gains thus obtained are used to adjust the gain of each sensor output.

Abstract: A method of compensating periodic error signals in sensor output is provided. The method comprises obtaining a sum signal from sensing outputs of M sensor elements (where M is a positive integer), obtaining the amplitude and phase of N frequency components included in the sum signal, and calculating a sensing output gain adjustment coefficient for each sensor output. To ensure that a sum signal level obtained by summing a pre-adjustment output of each sensor element multiplied by the gain adjustment coefficient equals a sum signal level obtained by summing the unmodified outputs of the sensors, a gain adjustment coefficient is obtained for each sensor output by using a calculated scaling coefficient to perform pre-adjustment scaling of each gain adjustment coefficient. The adjustment gains thus obtained are used to adjust the gain of each sensor output.

Abstract: A cup-shaped flexible external gear 3 of a flexed meshing type gear drive 1 is flexed into an elliptical shape by a wave generator 4. A first torque detection device 6 is disposed on a portion of the external gear 3, for example, on a diaphragm 33 thereof which has a pair of torque detection elements arranged at an angular interval of 90° around a center axis 1a. Likewise, a second torque detection device 7 is also disposed, which has a pair of torque detection elements arranged at an angular interval of 90°. The first and second torque detection devices 6, 7 are arranged at an angular interval of (k×45°) around the center axis 1a with each other. A torque detection mechanism of this invention synthesizes outputs of the two torque detection devices 6, 7, thereby realizing a high accurate torque detection with quite few effect of rotational ripple and with high linearity.

Abstract: An angular acceleration detector (10) is provided with two slit-carrying discs (14, 15) mounted fixedly and coaxially in an opposed state on a rotary body (13), and a semiconductor position detecting unit (19) formed as a detecting means and consisting of a light emitting element (20) and a semi conductor position detecting member (21) which are disposed in an opposed state across the slits in these discs, the angular acceleration of the rotary body being detected by using this detecting unit. The slits (17) in the disc (15) cross at a predetermined angle the slits (16) in the disc (14). The disc (15) has an annular weight portion (15b) at the radially outer side of a slit-carrying portion thereof, and a resilient deformable spring portion (15c) circumferentially arranged at the inner side of the weight portion. The angular acceleration of the rotary body can be measured by detecting the movement of the crossing portions of the slits relative moving due to the inertial force of the weight portion.