# US 11,110,612 B2 · Processing device, system, and control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,110,612 B2 - Document ID: US11110612B2 - Status: Granted - Kind: B2 - Application number: 16/314,454 - Filed: 2017-05-22 - Published: 2019-05-16 - Granted: 2021-09-07 - Earliest claimed: 2016-07-11 - Assignees: Sony Corporation - Applicants: Sony Corporation - Inventors: Hiromasa Masuda; Kenichiro Nagasaka - Web page: https://patentgrep.com/patent/US11110612B2 ## CPC - B25J 13/006: {by means of a wireless system for controlling one or several manipulators} - B25J 3/00: Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements - B25J 3/04: involving servo mechanisms (servo-actuated heads B25J15/02) - B25J 5/007: {mounted on wheels} - B25J 9/161: {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor} - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 9/1689: {Teleoperation} - B25J 13/025: {comprising haptic means} - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The processing device according to claim 1, wherein the processing unit is further configured to: calculate a virtual force necessary to hold the virtual articulation, wherein the calculation of the virtual force is based on the model and a distance between a position at which the operator holds the operation body and the virtual articulation; and estimate the holding force based on the calculated virtual force. ### Claim 3 (depends on 1) The processing device according to claim 1, wherein the processing unit is further configured to 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. ### Claim 4 (depends on 3) The processing device according to claim 3, wherein the processing unit is further configured to estimate the operating force by subtraction of the estimated holding force from the force applied to the operation body. ### Claim 5 (depends on 3) The processing device according to claim 3, wherein the processing unit is further configured to control a motion of the first robot based on the estimated operating force. ### Claim 6 (depends on 5) The processing device according to claim 5, wherein the processing unit is further configured to: acquire, from a second robot, a detection result of a second force sensor included in the second robot; and control the motion of the first robot based on the detection result of the second force sensor included in the second robot, wherein a movement of the second robot is based on the motion of the first robot. ### Claim 7 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. ### Claim 8 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.