Back to results
US 11,110,612 B2Granted
Processing device, system, and control method
AssigneeSony Corporation
InventorsHiromasa Masuda, Kenichiro Nagasaka
Life of this patent
Estimating the term…
Abstract
Provided is a processing device that includes a processing unit that estimates a holding force with which an operator holds an operation body on the basis of a model that corresponds to a first robot. The first robot includes the operation body provided in a link connected to a passive articulation and a force sensor that detects a force applied to the operation body. The model regards the force sensor as a virtual articulation.
Claims8
A processing device, comprising:
- a memory configured to store model information that indicates a model corresponding to a first robot, wherein
- the first robot includes:
- a passive articulation,
- an operation body in a link connected to the passive articulation, and
- a first force sensor that detects a force applied to the operation body, and
- the model regards the first force sensor as a virtual articulation;
- and
- a processing unit configured to estimate, based on the model indicated by the model information, a holding force with which an operator holds the operation body.
5 more elements
A system, comprising:
- a first robot that includes:
- a passive articulation,
- an operation body in a link connected to the passive articulation, and
- a first force sensor configured to detect a force applied to the operation body;
- a second robot including a second force sensor,
- wherein the second robot is configured to move based on a motion of the first robot;
- and
- a processing device configured to control the motion of the first robot,
- wherein the processing device includes:
- a memory configured to store model information that indicates a model corresponding to the first robot,
- wherein the model regards the first force sensor as a virtual articulation, and
- a processing unit configured to:
- estimate, based on the model indicated by the model information, a holding force with which an operator holds the operation body,
- estimate an operating force of the operator with respect to the operation body, based on a detection result of the first force sensor included in the first robot and the estimated holding force, and
- control the motion of the first robot based on the estimated operating force.
12 more elements
A control method, comprising:
- in a processing device that includes a memory:
- storing, in the memory, model information that indicates a model corresponding to a robot, wherein
- the robot includes:
- a passive articulation,
- an operation body in a link connected to the passive articulation, and
- a force sensor that detects a force applied to the operation body, and
- the model regards the force sensor as a virtual articulation;
- estimating, based on the model indicated by the model information, a holding force with which an operator holds the operation body;
- estimating an operating force of the operator with respect to the operation body, based on a detection result of the force sensor included in the robot and the estimated holding force;
- and
- controlling a motion of the robot based on the estimated operating force.
8 more elements
Dependencies are inferred from the claim text.