Abstract: A remote control system includes: a coordinate origin setting part for setting coordinate origins of an operator and an end effector; an operator joint angle information acquisition part for acquiring information on a joint angle of a finger of the operator; an operator finger length measurement part for measuring a length of each link of the finger of the operator; an operator fingertip position calculation part for calculating a tip position of each finger of the operator viewed from a local coordinate origin of an operator model to be a fingertip position of the operator from information acquired by the operator joint angle information acquisition part and the operator finger length measurement part; and an end effector joint angle derivation part for deriving a joint angle of the end effector from the fingertip position of the operator and a local coordinate origin of the end effector by inverse kinematics.

Abstract: Provided are an analysis device, an analysis method, a program, and a calibration method. The analysis device includes: an obtaining part obtaining an image captured by an image capturing part that captures an image of one or more first markers provided on an estimation target; and a calibration part calibrating a conversion rule from a sensor coordinate system to a segment coordinate system based on the image. A posture of the first marker relative to at least one inertial measurement sensor does not change, and the posture with respect to the image capturing part is recognizable by analyzing the captured image. The calibration part derives the posture of the first marker with respect to the image capturing part, derives a conversion matrix from the sensor coordinate system to a camera coordinate system based on the derived posture, and calibrates the conversion rule by using the derived conversion matrix.

Abstract: A sensor arrangement mode acquisition device capable of acquiring an arrangement mode of sensors while evaluating a detection accuracy of a predetermined action and a limitation on the number of sensors is provided. An E2PROM (13) of a sensor arrangement mode acquisition device (1) stores a database that defines a relationship between k×m correct answer ratios when the number of sensors (2) within a range of n or less is disposed in a test subject in k different arrangement modes, the k arrangement modes, and m predetermined actions. A controller (10) acquires one or more arrangement modes from the database in a case where an upper limit number of sensors, a predetermined action, and attachment areas of the sensors are selected by operating an input device (12) and a result display button (27) is pressed, and displays the acquired arrangement modes on a display (11).

Abstract: A sensor arrangement mode acquisition device capable of acquiring an arrangement mode of sensors while evaluating a detection accuracy of a predetermined action and a limitation on the number of sensors is provided. An E2PROM (13) of a sensor arrangement mode acquisition device (1) stores a database that defines a relationship between k×m correct answer ratios when the number of sensors (2) within a range of n or less is disposed in a test subject in k different arrangement modes, the k arrangement modes, and m predetermined actions. A controller (10) acquires one or more arrangement modes from the database in a case where an upper limit number of sensors, a predetermined action, and attachment areas of the sensors are selected by operating an input device (12) and a result display button (27) is pressed, and displays the acquired arrangement modes on a display (11).

Abstract: A control device of a motion support device that can quickly and appropriately support a predetermined motion of a user wearing the motion support device when the user performs the predetermined motion is provided. A control device estimates whether a user is in a standing state, calculates an x-axis speed V_Wx of a waist part of the user M and the absolute value VA_Wx thereof, estimates that the user has started a crouching motion from the standing state if V_Wx<0 and VA_Wx>Vjud1, and controls the walking assist device such that the crouching motion is supported if the user is estimated to have started the crouching motion.

Abstract: A control device for a robot that can decrease damage when the robot falls forward or rearward and can be applied to an assist robot is provided. A controller 20 of a control device 1 determines whether a robot 2 is in a fall start state in which the robot starts to fall in one of a forward direction and a rearward direction based on detection signals from sensors 21 to 23 (STEP10 to STEP20), performs knee joint control such that a part in the one direction of a knee joint and a hip joint comes into contact with a walking surface (STEP45 and STEP63), and performs hip joint control such that the center of gravity GC_u of an upper body moves in the direction opposite to the one direction (STEP46 and STEP6 4) when it is determined that the robot 2 is in the fall start state.

Abstract: A path plan generating apparatus 10 corrects an RRT path plan that an RRT path plan generating section 22 has generated by processing based on the RRT algorithm, by a path plan correcting section 23 by processing based on the potential method. If the corrected path plan becomes a path plan with which interference between the mobile body 1 and an obstacle A is unavoidable, the apparatus 10 causes the RRT path plan generating section 22 to generate a new RRT path plan.

Abstract: A path plan generating apparatus 10 corrects an RRT path plan that an RRT path plan generating section 22 has generated by processing based on the RRT algorithm, by a path plan correcting section 23 by processing based on the potential method. If the corrected path plan becomes a path plan with which interference between the mobile body 1 and an obstacle A is unavoidable, the apparatus 10 causes the RRT path plan generating section 22 to generate a new RRT path plan.

Abstract: A joint of a robot is controlled by a torque command. The joint has a position controller with a position feedback loop. The torque command is received for the joint, and a velocity feedforward command is determined for realizing the torque command using the position controller. The velocity feedforward command is sent to the position controller and the position feedback loop is canceled. The position feedback loop is canceled by sending a position command to the position controller, where the position command is an actual measured position of the joint. The position feedback loop is also canceled by setting the gain of the position feedback loop to zero.

Abstract: A joint of a robot is controlled by a torque command. The joint has a position controller with a position feedback loop. The torque command is received for the joint, and a velocity feedforward command is determined for realizing the torque command using the position controller. The velocity feedforward command is sent to the position controller and the position feedback loop is canceled. The position feedback loop is canceled by sending a position command to the position controller, where the position command is an actual measured position of the joint. The position feedback loop is also canceled by setting the gain of the position feedback loop to zero.

Abstract: A large time constant is caused due to parasitic capacitance at an anode terminal of a photodetector of an optical receiver. Therefore, an optical receiver wherein a variable negative capacitor mainly including an NPN-type transistor operable at high speed is configured and is connected to the input terminal of a preamplifier to which the output of the photodetector is input so that parasitic capacitance caused in the photodetector and due to packaging is equivalently reduced and the fluctuation of parasitic capacitance caused due to manufacturing dispersion is also compensated is provided.