Abstract: A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

Abstract: A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

Abstract: A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

Abstract: A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

Abstract: An elastic member of a torque sensor includes spring portions, a first fastening portion, and a second fastening portion. The spring portions are disposed in a radial pattern between the first and second fastening portions to connect the first and second fastening portions together. The spring portions have a dimension smaller in a direction tangential to a circle centered on an rotation axis than in a direction of the radial pattern. The distance between the first fastening portion and the second fastening portion is smaller than the dimension in the direction of the radial pattern. The optical encoders are opposed on, for example, the same diameter on a circumference of a concentric circle centered on a rotation axis of the rotational displacement of the elastic member. For example, averaging output signals from a plurality of optical encoders reduces influence of disturbance, such as cross-axis force.

Abstract: An elastic member of a torque sensor includes spring portions, a first fastening portion, and a second fastening portion. The spring portions are disposed in a radial pattern between the first and second fastening portions to connect the first and second fastening portions together. The spring portions have a dimension smaller in a direction tangential to a circle centered on an rotation axis than in a direction of the radial pattern. The distance between the first fastening portion and the second fastening portion is smaller than the dimension in the direction of the radial pattern. The optical encoders are opposed on, for example, the same diameter on a circumference of a concentric circle centered on a rotation axis of the rotational displacement of the elastic member. For example, averaging output signals from a plurality of optical encoders reduces influence of disturbance, such as cross-axis force.

Abstract: A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

Abstract: An image processing apparatus for processing spectral image data of an object includes a normalization unit configured to normalize spectral data in each pixel of the spectral image data with respect to luminance level, a deviation amount calculation unit configured to calculate a deviation amount between the spectral data of a reference pixel and the spectral data of a target pixel to be clustered, which are normalized by the normalization unit, among each of the pixels of the spectral image data, and a segment determination unit configured to determine an affiliated segment of target pixel in the object of the spectral image data based on the deviation amount calculated by the deviation amount calculation unit.

Abstract: Solid-state image sensing elements p and q arranged on an image sensor at a higher density than other solid-state image sensing elements are configured so that the focus error amount due to the axial chromatic aberration of an imaging lens between the solid-state image sensing elements p and q is equal to or larger than an amount corresponding to the depth of focus in a maximum aperture. Also, the imaging lens has a f-number which allows the focus error amount to fall within the range between the two ends of the depth of focus.

Abstract: An image capturing apparatus performs RGB three-band image capturing. Additional band pixels BG and OG having a spectral sensitivity peak wavelength between the B and G bands and between the R and G bands, respectively, are disposed on an image sensor consisting of RGB pixels. A feature quantity in the spectral characteristics of light incident on the sensor is obtained based on pixel values in the additional bands and pixel values in the RGB bands detected by the image sensor, and is applied to image processing of a captured object image. In order to maintain the image capturing resolution, in the image sensor, the number of additional band pixels is smaller than the number of R pixels, the number of G pixels, and the number of B pixels.

Abstract: An image capturing apparatus for capturing a chart having color patches of a plurality of colors using a taking lens and obtaining a color-patch signal for creating a color profile. In the apparatus, the type of chart is identified, after which the focal length of the taking lens is acquired. Then, based upon the focal length, object distance suited to the chart type is determined and the user is notified of the object distance.

Abstract: An image capturing apparatus including an image capturing unit configured to capture an image, and a generation unit configured to generate an exposure period map by assigning, to each of the plurality of image sensor pixels, exposure control information to control a charge accumulation time, based on preliminary captured image data obtained by preliminary image capturing using the image capturing unit. The exposure control information includes first exposure control information corresponding to a first accumulation time and second exposure control information corresponding to an accumulation time longer than the first exposure control information A correction unit expands a first region having the first exposure control information on the exposure period map, and a control unit controls the accumulation time for each of the plurality of image sensor pixels in accordance with the exposure period map corrected by the correction unit.

Abstract: Solid-state image sensing elements p and q arranged on an image sensor at a higher density than other solid-state image sensing elements are configured so that the focus error amount due to the axial chromatic aberration of an imaging lens between the solid-state image sensing elements p and q is equal to or larger than an amount corresponding to the depth of focus in a maximum aperture. Also, the imaging lens has a f-number which allows the focus error amount to fall within the range between the two ends of the depth of focus.

Abstract: An image capturing apparatus calculates the frequency component of each pixel of a captured image and divides the pixels into pixels in a recovery region, whose frequency components are equal to or more than a predetermined threshold, and other pixels in a non-recovery region. A recovery unit performs recovery processing for each pixel in the recovery region to correct the degradation of image quality caused by the optical characteristics of the image capturing unit. The recovery processing unit does not perform recovery processing for the pixels in the non-recovery region. The image capturing apparatus reconstructs the captured image by combining the pixels in the recovery region for which the recovery processing has been performed with the pixels in the non-recovery region. This makes it possible to suppress degradation of image quality in a region which does not match a recovery filter in terms of focal length.

Abstract: An image capturing apparatus that performs RGB three-band image capturing. Additional band pixels BG and OG having a spectral sensitivity peak wavelength between the B and G bands and between the R and G bands, respectively, are disposed on an image sensor consisting of RGB pixels. A feature quantity in the spectral characteristics of light incident on the sensor is obtained based on pixel values in the additional bands and pixel values in the RGB bands detected by the image sensor, and is applied to image processing of a captured object image. In order to maintain the image capturing resolution, in the image sensor, the number of additional band pixels is smaller than the number of R pixels, the number of G pixels, and the number of B pixels.

Abstract: The present invention provides an image capturing apparatus comprising an image capturing unit configured to capture an image; a generation unit configured to generate an exposure period map by assigning, to each of the plurality of image sensor pixels, exposure control information to control a charge accumulation time, based on preliminary capturing data obtained by preliminary capturing using the image capturing unit, the exposure control information including first exposure control information corresponding to a first accumulation time and second exposure control information corresponding to an accumulation time longer than the first exposure control information; a correction unit configured to expand a first region having the first exposure control information on the exposure period map; and a control unit configured to control the accumulation time for each of the plurality of image sensor pixels in accordance with the exposure period map corrected by the correction unit.

Abstract: A lens control unit transmits the pattern of openings and non-openings of an aperture plate as a pattern image to a digital single-lens reflex camera when an aperture plate driving mechanism places the aperture plate at a specified position on an optical path in accordance with an external instruction.

Abstract: An image processing apparatus for processing spectral image data of an object includes a normalization unit configured to normalize spectral data in each pixel of the spectral image data with respect to luminance level, a deviation amount calculation unit configured to calculate a deviation amount between the spectral data of a reference pixel and the spectral data of a target pixel to be clustered, which are normalized by the normalization unit, among each of the pixels of the spectral image data, and a segment determination unit configured to determine an affiliated segment of target pixel in the object of the spectral image data based on the deviation amount calculated by the deviation amount calculation unit.

Abstract: An image capturing apparatus for capturing a chart having color patches of a plurality of colors using a taking lens and obtaining a color-patch signal for creating a color profile. In the apparatus, the type of chart is identified, after which the focal length of the taking lens is acquired. Then, based upon the focal length, object distance suited to the chart type is determined and the user is notified of the object distance.

Abstract: A laminating method for forming a laminated layer in the form of a transparent film on a surface of an image on a printed object includes the steps of transferring a laminate having a laminated layer and a heat resistive base material layer to the surface of the printed object for laminating to form a laminated printed object, and a rear edge peeling step of peeling off the heat resistive base material layer from a rear edge portion of the laminated printed object by exerting an active force on the rear edge of the printed object in the carrying direction. Subsequently to the rear edge peeling step, a front edge peeling step peels off the heat resistive base material layer from a front edge of the laminated printed object.