Patents by Inventor Shigeki Sugano

Shigeki Sugano 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).

  • Patent number: 10730184
    Abstract: A control system (10) according to the present invention includes a robot arm (11) provided in a manner capable of moving in a given space, a motor (14) for operating the robot arm (11), a torque adjustment device (16) for operating in a manner capable of adjusting a transmitted torque that is transmitted from the motor (14) to the robot arm (11), and a control device (19) for performing operation control of the robot arm (11). The robot arm (11) is provided with a gravity-compensating mechanism (12) for cancelling an effect of gravity due to the robot arm (11), and the control device (19) commands adjustment of the transmitted torque at the torque adjustment device (16), without taking into account the effect of the gravity of the robot arm (11).
    Type: Grant
    Filed: May 23, 2016
    Date of Patent: August 4, 2020
    Assignee: WASEDA UNIVERSITY
    Inventors: Alexander Schmitz, Soumya Bhavaraju, Yoshihiro Sakamoto, Gonzaro Aguirre Dominguez, Ritsuki Sato, Wei Wang, Shigeki Sugano
  • Publication number: 20200139562
    Abstract: A power transmission system 10 includes: a variable torque limiter 16 configured to allow a torque limit value to be variable, the torque limit value being an upper limit value of transmitted power from an input unit 21 to an output unit 22; an input-side displacement sensor 17A configured to detect a displacement state of the input unit 21; an output-side displacement sensor 17B configured to detect a displacement state of the output unit 22; and a control device 19 configured to perform transmission control of the power based on detection results of the respective sensors. The control device 19 includes a safety measure control function 25, a teaching control function 26, and an operation control function 27. The safety measure control function 25 interrupts transmission of the power when the transmitted power exceeds the limit value. The teaching control function 26 interrupts transmission of the power in teaching.
    Type: Application
    Filed: February 24, 2018
    Publication date: May 7, 2020
    Applicant: WASEDA UNIVERSITY
    Inventors: Alexander Schmitz, Wei Wang, Alexis Carlos Holgado, Chincheng Hsu, Kento Kobayashi, Javier Alvarez Lopez, Yushi Wang, Shigeki Sugano
  • Publication number: 20200025258
    Abstract: A torque limiter 10 includes an input unit 11 connected to a driving device M on input side, and an output unit 12 connected to a robot arm A on output side. The input unit 11 and the output unit 12 include a coupling structure in which the input unit 11 and the output unit 12 approach and recede from each other so as to enable switching of a connecting state where the input unit 11 and the output unit 12 are connected to each other and a non-connecting state where the input unit 11 and the output unit 12 are not connected to each other, through adjustment of magnetic force therebetween. The coupling structure includes an electromagnet 17 that enables adjustment of the magnetic force through adjustment of an application voltage.
    Type: Application
    Filed: February 24, 2018
    Publication date: January 23, 2020
    Applicant: WASEDA UNIVERSITY
    Inventors: Alexander Schmitz, Wei Wang, Alexis Carlos Holgado, Chincheng Hsu, Kento Kobayashi, Javier Alvarez Lopez, Yushi Wang, Shigeki Sugano
  • Publication number: 20180370031
    Abstract: A control system (10) according to the present invention includes a robot arm (11) provided in a manner capable of moving in a given space, a motor (14) for operating the robot arm (11), a torque adjustment device (16) for operating in a manner capable of adjusting a transmitted torque that is transmitted from the motor (14) to the robot arm (11), and a control device (19) for performing operation control of the robot arm (11). The robot arm (11) is provided with a gravity-compensating mechanism (12) for cancelling an effect of gravity due to the robot arm (11), and the control device (19) commands adjustment of the transmitted torque at the torque adjustment device (16), without taking into account the effect of the gravity of the robot arm (11).
    Type: Application
    Filed: May 23, 2016
    Publication date: December 27, 2018
    Applicant: WASEDA UNIVERSITY
    Inventors: Alexander Schmitz, Soumya Bhavaraju, Yoshihiro Sakamoto, Gonzaro Aguirre Dominguez, Ritsuki Sato, Wei Wang, Shigeki Sugano
  • Patent number: 9075416
    Abstract: Disclosed is a mobile body which plans an avoidance operation of the mobile body and an expected avoidance operation which is expected of a mobile obstacle, thereby improving efficiency of the avoidance operation. A mobile body (1) which moves along an operation target includes mobile obstacle detection means (6) and (7) for detecting a mobile obstacle in the vicinity of the mobile body (1), approach determination means (15) for determining whether or not the mobile obstacle and the mobile body approach each other within a predetermined interval, and operation planning means (16) for, when the approach determination means (15) determines that the mobile obstacle and the mobile body (1) approach each other within the predetermined interval, planning the avoidance operation of the mobile body (1) and an expected avoidance operation which is expected of the mobile obstacle.
    Type: Grant
    Filed: September 6, 2011
    Date of Patent: July 7, 2015
    Assignees: TOYOTA JIDOSHA KABUSHIKI KAISHA, WASEDA UNIVERSITY
    Inventors: Kentaro Ichikawa, Toshiki Kindo, Shigeki Sugano, Taisuke Sugaiwa, Hiroyasu Iwata
  • Patent number: 8825207
    Abstract: A trajectory planning method according to the present invention is one for obtaining a trajectory for controlling a state of an object toward a goal state by a trajectory planning system. The method includes the steps of dividing, by a cell generating section for dividing a state space of the object into cells, the state space into cells in such a way that approximation error due to discretization is minimized for a predetermined number of cells; generating, by a search tree generating section, a search tree which corresponds to state transition of the object in such a way that each cell does not contain more than one of nodes of branches of the search tree; and determining, by a trajectory generating section, a path from the current state to the goal state of the object using the search tree.
    Type: Grant
    Filed: April 25, 2012
    Date of Patent: September 2, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Chyon Hae Kim, Shigeki Sugano, Shota Yamazaki
  • Publication number: 20130184980
    Abstract: Disclosed is a mobile body which plans an avoidance operation of the mobile body and an expected avoidance operation which is expected of a mobile obstacle, thereby improving efficiency of the avoidance operation. A mobile body (1) which moves along an operation target includes mobile obstacle detection means (6) and (7) for detecting a mobile obstacle in the vicinity of the mobile body (1), approach determination means (15) for determining whether or not the mobile obstacle and the mobile body approach each other within a predetermined interval, and operation planning means (16) for, when the approach determination means (15) determines that the mobile obstacle and the mobile body (1) approach each other within the predetermined interval, planning the avoidance operation of the mobile body (1) and an expected avoidance operation which is expected of the mobile obstacle.
    Type: Application
    Filed: September 6, 2011
    Publication date: July 18, 2013
    Applicants: WASEDA UNIVERSITY, TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Kentaro Ichikawa, Toshiki Kindo, Shigeki Sugano, Taisuke Sugaiwa, Hiroyasu Iwata
  • Patent number: 8442678
    Abstract: A robotic device includes a first link portion, a second link portion that moves relative to the first link portion, a first contact load detecting portion that detects a contact load in a contact area of the first link portion, a second contact load detecting portion that detects a contact load in a contact area of the second link portion, and a first link portion control target setting portion that sets a control target for the first link portion. The first link portion control target setting portion sets the control target for the first link portion such that the difference between the detection value of the contact load of the first contact load detecting portion and the detection value of the contact load of the second contact load detecting portion decreases.
    Type: Grant
    Filed: December 4, 2009
    Date of Patent: May 14, 2013
    Assignees: Toyota Jidosha Kabushiki Kaisha, Waseda University
    Inventors: Kentaro Ichikawa, Shigeki Sugano, Kunihiro Iwamoto, Taisuke Sugaiwa, Hiroyasu Iwata
  • Publication number: 20120277907
    Abstract: A trajectory planning method according to the present invention is one for obtaining a trajectory for controlling a state of an object toward a goal state by a trajectory planning system. The method includes the steps of dividing, by a cell generating section for dividing a state space of the object into cells, the state space into cells in such a way that approximation error due to discretization is minimized for a predetermined number of cells; generating, by a search tree generating section, a search tree which corresponds to state transition of the object in such a way that each cell does not contain more than one of nodes of branches of the search tree; and determining, by a trajectory generating section, a path from the current state to the goal state of the object using the search tree.
    Type: Application
    Filed: April 25, 2012
    Publication date: November 1, 2012
    Applicants: WASEDA UNIVERSITY, HONDA MOTOR CO., LTD.
    Inventors: Chyon Hae KIM, Shigeki SUGANO, Shota YAMAZAKI
  • Patent number: 8167824
    Abstract: It is intended to feed back any somatic sensation information on given body surface portion in easily understandable form without the use of special sensations, such as visual and auditory sensations. Walking rehabilitation supporting apparatus (10) comprises sensation detection unit (11) for detecting the sole pressure of patient (H); sensation presentation unit (13) for imparting given stimuli to the patient (H); and control unit (15) for controlling the behavior of the sensation presentation unit (13) so as to impart stimuli corresponding to the sole pressure detected by the sensation detection unit (11). The sensation detection unit (11) is disposed so as to be capable of detecting the sole pressure on a paralyzed side, and the sensation presentation unit (13) is fitted to a body surface portion of sensation superior to that of the sole.
    Type: Grant
    Filed: May 5, 2007
    Date of Patent: May 1, 2012
    Assignee: Waseda University
    Inventors: Hiroyasu Iwata, Shigeki Sugano
  • Publication number: 20100139437
    Abstract: A robotic device includes a first link portion, a second link portion that moves relative to the first link portion, a first contact load detecting portion that detects a contact load in a contact area of the first link portion, a second contact load detecting portion that detects a contact load in a contact area of the second link portion, and a first link portion control target setting portion that sets a control target for the first link portion. The first link portion control target setting portion sets the control target for the first link portion such that the difference between the detection value of the contact load of the first contact load detecting portion and the detection value of the contact load of the second contact load detecting portion decreases.
    Type: Application
    Filed: December 4, 2009
    Publication date: June 10, 2010
    Applicants: Toyota Jidosha Kabushiki Kaisha, Waseda University
    Inventors: Kentaro Ichikawa, Shigeki Sugano, Kunihiro Iwamoto, Taisuke Sugaiwa, Hiroyasu Iwata
  • Publication number: 20100041959
    Abstract: It is intended to feed back any somatic sensation information on given body surface portion in easily understandable form without the use of special sensations, such as visual and auditory sensations. Walking rehabilitation supporting apparatus (10) comprises sensation detection unit (11) for detecting the sole pressure of patient (H); sensation presentation unit (13) for imparting given stimuli to the patient (H); and control unit (15) for controlling the behavior of the sensation presentation unit (13) so as to impart stimuli corresponding to the sole pressure detected by the sensation detection unit (11). The sensation detection unit (11) is disposed so as to be capable of detecting the sole pressure on a paralyzed side, and the sensation presentation unit (13) is fitted to a body surface portion of sensation superior to that of the sole.
    Type: Application
    Filed: May 5, 2007
    Publication date: February 18, 2010
    Applicant: WASEDA UNIVERSITY
    Inventors: Hiroyasu Iwata, Shigeki Sugano
  • Patent number: 5864522
    Abstract: In a check mode, a determination is made as to whether or not a disc is stored in each of disc storage positions, and mapping data representing the presence of the discs are recorded into a memory. Disc storage and removal operations are performed based on such mapping data. Further, in a disc storage mode, when a disc is already stored in a specific storage position, the word "FULL" is displayed. When no disc is stored in a specific storage position, the word "EMPTY" is displayed. Further, in a skip button disc storage mode, one of empty disc storage position number is displayed, and when the skip button is pushed, the next empty disc position number is displayed. When the enter button is pushed while an empty disc storage number is displayed, a disc is stored into the empty disc storage position represented by the displayed number. Moreover, in the check mode, when power is turned off, the check mode is continued in order to complete the mapping process.
    Type: Grant
    Filed: September 18, 1995
    Date of Patent: January 26, 1999
    Assignee: AIWA Co., Ltd.
    Inventors: Shigeki Sugano, Takashi Ando, Shoji Komatsuzaki, Ayumu Konno, Takumi Usui, Morio Kurihara