# US 11,305,433 B2 · Robot, robot control method, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,433 B2 - Document ID: US11305433B2 - Status: Granted - Kind: B2 - Application number: 16/447,719 - Filed: 2019-06-20 - Published: 2019-12-26 - Granted: 2022-04-19 - Earliest claimed: 2018-06-21 - Assignees: Casio Computer Co., Ltd. - Applicants: Casio Computer Co., Ltd. - Inventors: Toshihiko Otsuka; Hisao Kumai; Takahiro Tomida - Web page: https://patentgrep.com/patent/US11305433B2 ## CPC - B25J 11/0005: {Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means} - B25J 11/001: {with emotions simulating means} - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - B25J 11/0015: {Face robots, animated artificial faces for imitating human expressions} - B25J 13/003: {by means of an audio-responsive input (audible safety signals B25J19/061)} - B25J 19/023: {including video camera means} - B25J 19/026: {Acoustical sensing devices} - B25J 19/04: Viewing devices - G06V 40/172: {Classification, e.g. identification} - G05B 2219/40264: Human like, type robot arm - 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}) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract In a robot, an actuator causes the robot to operate. A processor is configured to acquire, when a holding portion is held by a predetermined target, physical information on a physical function of the predetermined target, and cause, by controlling the actuator depending on the acquired physical information, the robot to perform at least one of an examination operation for examining the physical function of the predetermined target and a training support operation for training the physical function of the predetermined target. ## Claims ### Claim 1 A robot comprising: an actuator configured to cause the robot to operate; a holding portion configured to be held by a target; and a processor configured to: acquire, when the holding portion is held by the target, physical information on a physical function of the target, and cause, by controlling the actuator depending on the acquired physical information, the robot to perform at least one of an examination operation for examining the physical function of the target and a training support operation for training the physical function of the target. ### Claim 2 (depends on 1) The robot according to claim 1, wherein the processor is configured to: determine, based on the acquired physical information, whether the physical function of the target has deteriorated, and cause, when the physical function is determined to have deteriorated, the robot to perform at least one of the examination operation and the training support operation by controlling the actuator. ### Claim 3 (depends on 2) The robot according to claim 2, wherein the processor is configured to cause, when the physical function is determined to have deteriorated and when the physical function of the target has not been examined within a latest predetermined period, the robot to perform the examination operation by controlling the actuator. ### Claim 4 (depends on 2) The robot according to claim 2, wherein the processor is configured to cause, when the physical function is determined to have deteriorated and when the physical function of the target has been examined within a latest predetermined period, the robot to perform the training support operation by controlling the actuator. ### Claim 5 (depends on 1) The robot according to claim 1, wherein the processor is configured to acquire, as the physical information, information on a brain function of the target. ### Claim 6 (depends on 1) The robot according to claim 1, wherein the examination operation is an operation for examining whether the target suffers from dementia, and the training support operation is an operation for preventing the dementia. ### Claim 7 (depends on 1) The robot according to claim 1 further comprising a sensor provided at the holding portion and configured to measure a grip strength of the target, wherein the processor is configured to acquire, as the physical information, the grip strength measured by the sensor. ### Claim 8 (depends on 7) The robot according to claim 7, wherein the processor causes, when the acquired grip strength is lower than a predetermined threshold, the robot to perform at least one of the examination operation and the training support operation by controlling the actuator. ### Claim 9 (depends on 1) The robot according to claim 1, wherein the processor is configured to: cause, when the holding portion is held by the target, the robot to perform the examination operation by controlling the actuator, acquire the physical information by detecting a response of the target to the examination operation, and cause, when the physical function of the target is determined to have deteriorated based on the acquired physical information, the robot to perform the training support operation by controlling the actuator. ### Claim 10 (depends on 9) The robot according to claim 9, wherein the processor is configured to acquire the physical information by detecting, as the response, a voice emitted from the target or a direction in which the holding portion is moved by the target. ### Claim 11 (depends on 1) The robot according to claim 1, wherein the processor is configured to cause, while the holding portion is being held by the target, the robot to perform at least one of the examination operation and the training support operation by controlling the actuator. ### Claim 12 (depends on 1) The robot according to claim 1, wherein the processor is configured to: recognize a face of the target when the holding portion is held by the target, and change, depending on a change in an expression of the recognized face, the examination operation or the training support operation to be performed by the robot. ### Claim 13 (depends on 1) The robot according to claim 1, wherein the processor is configured to request, when the holding portion has been held by the target for a time shorter than a predetermined time, the target to hold the holding portion for a longer time by controlling the actuator. ### Claim 14 (depends on 1) The robot according to claim 1, wherein the actuator is configured to move the robot, and the processor is configured to move the robot toward the target while stretching the holding portion in the front of the robot by controlling the actuator. ### Claim 15 (depends on 1) The robot according to claim 1, wherein the processor is configured to change, when the physical function of the target is determined to have deteriorated, the number, type, or difficulty of the training support operation to be performed by the robot depending on a deterioration level of the physical function. ### Claim 16 (depends on 1) The robot according to claim 1, wherein the holding portion is at least one hand portion provided to the robot. ### Claim 17 (depends on 1) The robot according to claim 1 further comprising: at least one of a movable unit that is a component driven by the actuator, a display, and a speaker, wherein the processor is configured to cause the robot to perform at least one of the examination operation and the training support operation by controlling the actuator so as to move the movable unit, to display an image on the display, or to output a voice from the speaker. ### Claim 18 (depends on 1) The robot according to claim 1, wherein the target includes a human. ### Claim 19 A robot control method comprising: acquiring, when a holding portion of the robot is held by a target, physical information on a physical function of the target; and causing, depending on the acquired physical information, the robot to perform at least one of an examination operation for examining the physical function of the target and a training support operation for training the physical function of the target. ### Claim 20 A non-transitory storage medium for causing a computer of a robot to function as: an acquisition unit configured to acquire, when a holding portion of the robot is held by a target, physical information on a physical function of the target; and a motion control unit configured to cause, depending on the physical information acquired by the acquisition unit, the robot to perform at least one of an examination operation for examining the physical function of the target and a training support operation for training the physical function of the target.