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 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 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 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 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: 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 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: Provided is technology for more appropriately realizing a human physical-act using a robot. This position/force control device comprises: an act time information retaining means for retaining a time interval or a time stamp of an act, in addition to act information when the act is recorded; a control reference information generation means for generating, from the recorded act information, information to serve as a control reference when the act is replicated; a control timing determination means for determining, from the recorded act time information, a timing for outputting the control reference information when the act is replicated; and a position/force control means for replicating the act on the basis of the generated control reference information and the determined control timing.

Abstract: A uniform voltage is applied to loads even to other than a multiple of three loads made of heating lamps connected in parallel to each other, without causing any burden on a primary side. The number of loads is divided into a multiple of three and a multiple of two. A three-phase AC voltage is applied to three primary windings, which are connected as a Y-connection or a ?-connection. Secondary windings, which are each magnetically coupled to a primary winding of a plurality of three-phase transformers and have the same number of turns, are connected with the multiple of three loads.

Abstract: A technology to control temperature of a large substrate to be heated. A temperature sensing device is disposed lateral to a region where a radiation heater faces a substrate to be heated inside a heating chamber. A heating device has the heating chamber, the radiation heater, a power-supply device, a substrate-holding device, a control device, and the temperature sensing device. A control program is built into the control device, according to which the power-supply device controls the power applied to the radiation heater to generate heat such that the temperature of the temperature measurement substrate detected by a thermocouple of the temperature sensing device becomes a set temperature. Furthermore, a circulation passage is disposed in close contact with the temperature-sensing device, and with a coolant flowing through the circulation passage, the temperature of the temperature measurement substrate can be cooled from the set temperature to an initial temperature.

Abstract: A uniform voltage is applied to loads even to other than a multiple of three loads made of heating lamps connected in parallel to each other, without causing any burden on a primary side. The number of loads is divided into a multiple of three and a multiple of two. A three-phase AC voltage is applied to three primary windings, which are connected as a Y-connection or a ?-connection. Secondary windings, which are each magnetically coupled to a primary winding of a plurality of three-phase transformers and have the same number of turns, are connected with the multiple of three loads. The number of turns of the M-seat primary winding of a Scott transformer is divided into two at a midpoint, to which an end of the T-seat primary winding having a number of turns equal to (?3)/2 times that of the M-seat primary winding, is connected and to which the three-phase AC voltage is applied.

Abstract: A technology to control temperature of a large substrate to be heated. A temperature sensing device is disposed lateral to a region where a radiation heater faces a substrate to be heated inside a heating chamber. A heating device has the heating chamber, the radiation heater, a power-supply device, a substrate-holding device, a control device, and the temperature sensing device. A control program is built into the control device, according to which the power-supply device controls the power applied to the radiation heater to generate heat such that the temperature of the temperature measurement substrate detected by a thermocouple of the temperature sensing device becomes a set temperature. Furthermore, a circulation passage is disposed in close contact with the temperature-sensing device, and with a coolant flowing through the circulation passage, the temperature of the temperature measurement substrate can be cooled from the set temperature to an initial temperature.

Abstract: According to the present invention, the method for producing toner for developing an image of electrostatic charge comprises the steps of producing a dispersion liquid of flocculated particles by forming the flocculated particles in a dispersion liquid comprising at least dispersed resin particles, forming combined particles by dispersing a liquid dispersion comprising dispersed fine resin particles into the dispersion liquid of flocculated particles so that the fine resin particles adhere to the flocculated particles and forming toner particles by fusing the combined particles by heating, wherein the molecular weight distribution curve of the resin in the toner particles by a gel permeation chromatography has at least two peaks or shoulders. According to the present invention, it is possible to produce toner for developing an image of electrostatic charge which is particularly superior in chargeability and the stability of the chargeability.