Abstract: A position/force controller performs a first conversion for distributing control energy to at least one of velocity or position energy and force energy, in accordance with a function to be realized, based on velocity (or position) and force information, which correspond to information relating to a position based on an operation of an actuator, and information serving as reference of control. The position/force controller calculates at least one of a velocity or position control amount and a force control amount based on at least one of the energies obtained through the distribution. The position/force controller integrates the calculated control amounts, performs a second conversion, and determines input to the actuator. The position/force controller performs a process, corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, with satisfaction of a condition set for the control energy.

Abstract: An object of the present invention is to provide further assistance in addition to assistance by tactile force transmission. An information presentation system includes a master device to which an operation by an operator is input and a slave device that operates in accordance with the operation input to the master device. Furthermore, the information presentation system includes a tactile force transmission unit, a calculation unit, and a presentation unit. The tactile force transmission unit controls tactile force transmission in the master device and the slave device. The calculation unit calculates physical characteristics of a substance in contact with the slave device on the basis of an external force input from the environment to the slave device while the slave device maintains a predetermined motion state. The presentation unit presents the physical characteristics of the substance calculated by the calculation unit.

Abstract: An object of the present invention is to make control for friction compensation executed in a master-slave system more appropriate. A control system includes a master device, a slave device, and a control device. Furthermore, the control device includes a friction compensation control unit and a tactile force transmission unit. The friction compensation control unit calculates a force for assisting an operation in the master device with respect to friction generated in the slave device on the basis of a moving average of velocity of a movable portion in the slave device. The tactile force transmission unit assists the operation in the master device with a force calculated by the friction compensation control unit and controls tactile force transmission in the master device and the slave device.

Abstract: A control system includes a master device, a slave device, and a control device. Furthermore, the control device includes a tactile force transmission unit and a mode setting unit. The tactile force transmission unit controls tactile force transmission in the master device and the slave device. The mode setting unit changes an amplification factor of force transmitted from the slave device to the master device in a specific section in which a moving element of the slave device moves on the basis of a physical quantity in the moving element of the slave device.

Abstract: A data generation device includes: a parameter generator; and a reaction force data generator. The parameter generator generates value data based on a signal having a correlation with a driving force. The parameter generator generates velocity data based on a signal representing a response of a member driven by the driving force. The reaction force data generator generates data of a reaction force received by the member from a predetermined object based on the value data and the velocity data.

Abstract: A position/force control system includes a worn unit and a control unit. The worn unit is configured to be worn on a body of a user, and provides force tactile sensation by an actuator. The control unit acquires data of a position of the worn unit in a space, based on data of space in which a touching object exists. The worn unit includes a control unit that acquires the data of the position from the control unit and controls driving of the actuator based on impedance and contour information of the touching object in the space, and the data of the position, thereby providing force tactile sensation.

Abstract: An operational data management system includes an operational data acquisition unit, a tag assigner, and a database management unit. The operational data acquisition unit acquires, as operational data, time-series control parameters used to transmit force tactile sensation between devices. The tag assigner assigns, as identification information, information related to operation content implemented by the operational data to the operational data acquired by the operational data acquisition unit. The database management unit accumulates a plurality of pieces of operational data assigned identification information by the tag assigner, and manages the operational data so that desired operational data is searchable from the accumulated plurality of pieces of operational data based on the identification information.

Abstract: A function management system according is communicatively connected to a client system and includes a request receiving unit and a function assignment unit. The request receiving unit receives an execution request for one process of a plurality of processes based on the control parameters for transmitting force tactile sensation. The function assignment unit identifies the functions required to execute the one process, and assigns each of the identified functions to either the client system or the function management system by which the function is to be implemented.

Abstract: A haptic transmission system includes a master device and a slave device. The master device controls position and force in an operation of the master device based on information acquired from the operation of the master device and information relating to a response of the slave device, and compensates for a communication delay in a communication path with respect to the control of force. The slave device controls speed and force in an operation of the slave device based on information acquired from the operation of the slave device and information relating to control from the master device.

Abstract: - - - A position/force control system includes one or multiple masterprimary apparatuses that receive an input of a treatment operation, one or multiple secondary apparatuses that output a treatment operation, and a control device that controls the one or multiple primary apparatuses and the one or multiple secondary apparatuses. The control device transmits a control parameter for causing the one or multiple secondary apparatusesto output force tactile sensation that corresponds to the treatment operation that is inputted into the one or multiple masterprimary apparatuses to the one or multiple secondary apparatuses and transmits a control parameter for causing the one or multiple masterprimary apparatuses to output reaction force against the treatment operation that is outputted by the one or multiple secondary apparatuses to the one or multiple primary apparatuses.

Abstract: A medical apparatus includes a treatment mechanism, a slave actuator, an operation control unit, and a parameter acquisition unit. The treatment mechanism is used for treating a patient. The slave actuator causes the treatment mechanism to perform the treatment. The operation control unit calculates the control parameters related to the force tactile sensation, based on the information about the position that is detected along with the treatment and controls the operation of the slave actuator for causing the treatment mechanism to perform the treatment, based on the control parameters related to the force tactile sensation. The parameter acquisition unit acquires the control parameters related to the force tactile sensation.

Abstract: A learning assistance system includes an operation control unit, a parameter acquisition unit, and a display control unit. The operation control unit causes an apparatus to be controlled to operate in accordance with force tactile sensation during operation by a user. The parameter acquisition unit acquires control parameters that are used for the control by the operation control unit. The operation control unit and the display control unit comparably provide, to a second user, a first control parameter acquired by the parameter acquisition unit in a case where the operation control unit controlled the operation of the apparatus based on operation by the first user and a second control parameter acquired by the parameter acquisition unit in a case where the operation control unit controlled the operation of the apparatus based on operation by the second user.

Abstract: A position/force control system includes a worn unit and a control unit. The worn unit is configured to be worn on a body of a user, and provides force tactile sensation by an actuator. The control unit acquires data of a position of the worn unit in a space, based on data of space in which a touching object exists. The worn unit includes a control unit that acquires the data of the position from the control unit and controls driving of the actuator based on impedance and contour information of the touching object in the space, and the data of the position, thereby providing force tactile sensation.

Abstract: A position/force controller includes a control unit and an impedance estimation unit. The control unit acquires a parameter that is generated under position and force control that is implemented in response to a touch of an object to be touched. The impedance estimation unit estimates impedance of the object to be touched, based on the parameter that is acquired by the control unit.

Abstract: A position/force controller performs a first conversion for distributing control energy to at least one of velocity or position energy and force energy, in accordance with a function to be realized, based on velocity (or position) and force information, which correspond to information relating to a position based on an operation of an actuator, and information serving as reference of control. The position/force controller calculates at least one of a velocity or position control amount and a force control amount based on at least one of the energies obtained through the distribution. The position/force controller integrates the calculated control amounts, performs a second conversion, and determines input to the actuator. The position/force controller performs a process, corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, with satisfaction of a condition set for the control energy.

Abstract: Weighing and filling apparatus for controlling filling device based on a container weight. A linear actuator for driving a drive shaft coupled to container support unit is included, a weight measuring unit determines the container weight from a detected height of the drive shaft detected by a height detecting unit and a drive signal of the linear actuator at the detected height. A first acceleration signal is calculated from a specified height of the container support unit set in advance and the height detected by the height detecting unit, a second acceleration signal is calculated from the container weight and an expected weight expected to be applied to the container support unit. The container support unit is kept at the specified height by a drive signal calculated from the first and second acceleration signals.

Abstract: A function generation apparatus includes a function setter, a data string selector, and a matrix generator. The function setter sets a target function in an apparatus to be controlled. The data string selector selects, from among data strings indicating a plurality of combinations of parameters that can be reflected in control in the apparatus to be controlled, data strings according to the function set by the function setter. The matrix generator generates a transformation matrix according to the target function using the data strings selected by the data string selector as elements.

Abstract: A medical gripping device includes a housing, a gripping mechanism at one end of the housing, an operation unit, and a reaction force actuator and a gripping actuator installed in the housing. The operation unit is operated by a gripping operation of an operator, and the reaction force actuator applies an operation reaction force to the operation unit. The gripping actuator causes the gripping mechanism to perform a gripping operation. A control unit controls a force and a position that are output by the gripping actuator in an operation of the gripping mechanism in accordance with an operation with respect to the operation unit, and controls a force and a position that are output by the reaction force actuator in an operation of applying the operation reaction force to the operation unit in accordance with a reaction from a gripped object with respect to the gripping mechanism.

Abstract: A data generation device includes: a parameter generator; and a reaction force data generator. The parameter generator generates value data based on a signal having a correlation with a driving force. The parameter generator generates velocity data based on a signal representing a response of a member driven by the driving force. The reaction force data generator generates data of a reaction force received by the member from a predetermined object based on the value data and the velocity data.

Abstract: Weighing and filling apparatus for controlling filling device based on a container weight. A linear actuator for driving a drive shaft coupled to container support unit is included, a weight measuring unit determines the container weight from a detected height of the drive shaft detected by a height detecting unit and a drive signal of the linear actuator at the detected height. A first acceleration signal is calculated from a specified height of the container support unit set in advance and the height detected by the height detecting unit, a second acceleration signal is calculated from the container weight and an expected weight expected to be applied to the container support unit. The container support unit is kept at the specified height by a drive signal calculated from the first and second acceleration signals.