Abstract: A finger unit (2) of a finger mechanism (1) of a robot hand comprises a tip-side finger link (3), a root-side finger link (4), and a finger joint portion (5) for connecting the tip-side finger link (3) and the root-side finger link (4). The tip-side finger link (3) is constantly applied with torque in the robot hand gripping direction (A) around a finger joint shaft (6) by a torsion coil spring (8), reducing output torque of an electromagnetic motor (7) necessary for driving the finger mechanism (1) in the gripping direction (A). Due to this structure, the finger mechanism of the robot hand which can provide necessary driving force in the robot hand gripping direction using a low-output and compact actuator can be realized.

Abstract: Disclosed is a composition for the delivery of nucleic acid to target cells or tissues, which comprises a polycationically charged polymer as a carrier of nucleic acid. The polycationically charged polymer is a polymer which may comprise a charged polymer segment having a main chain based on poly(amino acid), polysaccharide, polyester, polyether, polyurethane or vinyl polymer and having, as a side chain, a group of formula —NH—(CH2)a—(NH(CH2)2)e—NH2 (wherein a and e independently denote an integer of 1 to 5) which is connected to the main chain either directly or via a linker. The disclosed composition has low toxicity, and has a high efficiency in introducing nucleic acid into cells.

Abstract: The invention provides block copolymers formed of poly(ethylene glycol) segments and poly(amino acid derivative) segments having side chains of at least one kind of specific amine residue. The invention also provides polyion complexes of such copolymers with polynucleotides and the like. These block copolymers are useful as carriers for in vivo delivery of active substances such as DNA.

Abstract: In a concentric double axis mechanism (1); a driving bevel gear (7) is placed concentrically with and freely from any interference with an axis-A (3), a follower bevel gear (8) is meshed with the driving bevel gear (7), and an axis-B (9) is concentrically connected and fixed to the follower bevel gear (8). Since the driving bevel gear (7) is driven by the axis-B actuator (12) that is independent from the axis-A actuator (11), the axis-B (9) can be driven being free from any interference with the axis-A (3). The axis-A actuator (11) does not become a load for the axis-B actuator (12), nor does the axis-B actuator (12) become a load for the axis-A actuator (11).

Abstract: The invention provides block copolymers formed of poly(ethylene glycol) segments and poly(amino acid derivative) segments having side chains of at least one kind of specific amine residue. The invention also provides polyion complexes of such copolymers with polynucleotides and the like. These block copolymers are useful as carriers for in vivo delivery of active substances such as DNA.

Abstract: A small-sized, lightweight servo motor brake device (1) that has a low operation speed for releasing a brake during normal operation is provided, wherein compression coil springs (7) cause a slide plate (6) to be pressed against a brake disc (4) that is securely connected to a motor shaft (2), and a braking state is formed. When a small-sized motor (12) causes a cam disc (8) to rotate in a direction in which a cam follower (10) rolls up from a trough (9b) of a cam surface (9) to a peak (9a), the slide plate (6) moves against the spring force away from the brake disc (4), and the device switches to a rotation-maintaining state in which the braking force has been released.

Abstract: A finger unit of a robot hand has a first rotational actuator, a first finger joint part, a first finger linkage, a second finger joint part, and a second finger linkage that are connected in this order. A second rotational actuator is attached to the first finger linkage. The first finger linkage swivels about the first finger joint part by the first rotational actuator, and the second finger linkage swivels about the second finger joint part by the second rotational actuator. The second rotational actuator is attached to the first finger linkage so as to be in a slantwise orientation relative to a straight line connecting a center of rotation of the first finger joint part and a center of rotation of the second finger joint part. With this configuration, an axial length of the finger unit of a robot hand can be shortened.

Abstract: A composition for the delivery of nucleic acid to target cells or tissues, which comprises polycationically charged polymer as a carrier of nucleic acid is provided. Said polycationically charged polymer is a polymer which may comprise a charged polymer segment having a main chain based on poly(amino acid), polysaccharide, polyester, polyether, polyurethane or vinyl polymer and having, as a side chain, a group of formula —NH—(CH2)a—(NH(CH2)2)e—NH2 (wherein a and e independently denote an integer of 1 to 5) which is connected to said main chain either directly or via a linker. This composition is low-toxic, and has a high efficiency in introducing nucleic acid into cells.

Abstract: In a concentric double axis mechanism (I); a driving bevel gear (7) is placed concentrically with and freely from any interference with an axis-A (3), a follower bevel gear (8) is meshed with the driving bevel gear (7), and an axis-B (9) is concentrically connected and fixed to the follower bevel gear (8). Since the driving bevel gear (7) is driven by the axis-B actuator (12) that is independent from the axis-A actuator (11), the axis-B (9) can be driven being free from any interference with the axis-A (3). The axis-A actuator (11) does not become a load for the axis-B actuator (12), nor does the axis-B actuator (12) become a load for the axis-A actuator (11).

Abstract: Methods are provided for selecting B cells that produce a desired antibody, comprising a step of culturing B cells, which have the properties of cell death being induced under specific conditions and that cell death being suppressed by a signal generated as a result of the binding between an antigen and an antibody expressed on B cell surface (B cell antigen receptor on the B cell surface), with an antigen under conditions in which cell death is induced, and selecting antibody-producing B cells that bind with the antigen as viable cells.

Abstract: In operation of a rough and fine movement mechanism (1) of a linear drive type, a fine movement mechanism (3), on which an objective workpiece to be positioned (8) is mounted, is transferred toward a target point at a high speed by a rough movement mechanism (2) and roughly positioned around the target point. Subsequently, the objective workpiece (8) is transferred in a narrow stroke range by the fine movement mechanism (3) and accurately positioned at the target point. The objective workpiece (8) is transferred with a high acceleration by the rough movement mechanism (2) under a condition where the fine movement mechanism (3) is mechanically connected to the rough movement mechanism (2) by a braking mechanism 9. As a result, when the rough movement mechanism (2) is accelerated, no load acts on the fine movement mechanism (3) or such a load can be decreased.

Abstract: In the multi-shaft driving apparatus, position command pulse trains for servomotors are generated from a motor controller and supplied to motor drivers for the respective servomotors via a multichannel pulse train transmitting apparatus. The multichannel pulse train transmitting apparatus converts the position command pulse trains supplied from the motor controller 6 to serial signals in a transmission-side converter, combines the resulting serial signals as a stream signal, and supplies the signal to a reception-side converter via a serial signal transmission path composed of a pair of signal wires. In the reception-side converter, motor position command pulse trains in the form of a serial signal is returned to multichannel pulse trains in the form of a parallel signal which are supplied to the motor drivers. The number of wires between the motor controller and the motor drivers can be reduced.

Abstract: An apparatus for transmitting a position detection signal of a multi-shaft motor whereby a parallel-form detection signal that is output from position-detecting devices disposed on each of a plurality of motors and used for indicating a motor rotation position can be transmitted to motor drivers for controlling the driving of the motors via a group of a small number of wires. In the apparatus for transmitting a position detection signal of a multi-shaft motor, a transmission-side converter converts a parallel-form detection signal from rotary encoders to a serial signal and presents the resulting signal to a reception-side converter via a serial signal transmission path. The reception-side converter returns the received serial-form detection signal to a parallel-form signal and presents the signal to motor drivers.

Abstract: An apparatus for transmitting a position detection signal of a multi-shaft motor whereby a parallel-form detection signal that is output from position-detecting devices disposed on each of a plurality of motors and used for indicating a motor rotation position can be transmitted to motor drivers for controlling the driving of the motors via a group of a small number of wires. In the apparatus for transmitting a position detection signal of a multi-shaft motor, a transmission-side converter converts a parallel-form detection signal from rotary encoders to a serial signal and presents the resulting signal to a reception-side converter via a serial signal transmission path. The reception-side converter returns the received serial-form detection signal to a parallel-form signal and presents the signal to motor drivers.

Abstract: In the multi-shaft driving apparatus, position command pulse trains for servomotors are generated from a motor controller and supplied to motor drivers for the respective servomotors via a multichannel pulse train transmitting apparatus. The multichannel pulse train transmitting apparatus converts the position command pulse trains supplied from the motor controller 6 to serial signals in a transmission-side converter, combines the resulting serial signals as a stream signal, and supplies the signal to a reception-side converter via a serial signal transmission path composed of a pair of signal wires. In the reception-side converter, motor position command pulse trains in the form of a serial signal is returned to multichannel pulse trains in the form of a parallel signal which are supplied to the motor drivers. The number of wires between the motor controller and the motor drivers can be reduced.

Abstract: A finger unit of a robot hand has a first rotational actuator, a first finger joint part, a first finger linkage, a second finger joint part, and a second finger linkage that are connected in this order. A second rotational actuator is attached to the first finger linkage. The first finger linkage swivels about the first finger joint part by the first rotational actuator, and the second finger linkage swivels about the second finger joint part by the second rotational actuator. The second rotational actuator is attached to the first finger linkage so as to be in a slantwise orientation relative to a straight line connecting a center of rotation of the first finger joint part and a center of rotation of the second finger joint part. With this configuration, an axial length of the finger unit of a robot hand can be shortened.

Abstract: The invention provides block copolymers formed of poly(ethylene glycol) segments and poly(amino acid derivative) segments having side chains of at least one kind of specific amine residue. The invention also provides polyion complexes of such copolymers with polynucleotides and the like. These block copolymers are useful as carriers for in vivo delivery of active substances such as DNA.

Abstract: A driving mechanism includes a motor and a wave gear device. Three sets of torque sensors are attached at intervals of 120° on a diaphragm of a flexible external gear of the wave gear device. In the rotational angle detecting part of the signal processing circuit, signal components that are included in the outputs of the torque sensors, that vary in the form of two cycles of a sine wave per rotation of the wave generator and are synchronous with a rotational angle of the wave generator are extracted and a coordinate transformation is carried out for the obtained three-phase sinusoidal signals to calculate two-phase sinusoidal signals that are 90° out of phase, with the rotational angle of the wave generator being calculated based on these signals. Without providing a rotational angle detector separately, it is possible to detect the rotational angle of the wave generator using the outputs of the torque sensors.

Abstract: A driving mechanism includes a motor and a wave gear device. Three sets of torque sensors are attached at intervals of 120° on a diaphragm of a flexible external gear of the wave gear device. In the rotational angle detecting part of the signal processing circuit, signal components that are included in the outputs of the torque sensors, that vary in the form of two cycles of a sine wave per rotation of the wave generator and are synchronous with a rotational angle of the wave generator are extracted and a coordinate transformation is carried out for the obtained three-phase sinusoidal signals to calculate two-phase sinusoidal signals that are 90° out of phase, with the rotational angle of the wave generator being calculated based on these signals. Without providing a rotational angle detector separately, it is possible to detect the rotational angle of the wave generator using the outputs of the torque sensors.

Abstract: A method of correcting positional error in an actuator that is equipped with a motor and a wave gear reduction drive that transmits a motor output to the target load. Positioning error relative to the absolute position of the actuator output shaft is measured, to compile error correction data relating to each position on the rotation of the motor shaft. The rotational position of the motor shaft is detected and rotational position correction information produced by adding error correction values assigned to the position concerned. The rotational positional error information thus produced is used as position feedback information for controlling the positioning of the output shaft.