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MASSAGE ROBOT, CONTROL PROGRAM THEREFOR, AND ROBOT FOR SPECIFYING PORTION OF HUMAN BODY

外国特許コード F110002413
整理番号 130-PCT
掲載日 2011年2月3日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2007JP067745
国際公開番号 WO 2008/041457
国際出願日 平成19年9月12日(2007.9.12)
国際公開日 平成20年4月10日(2008.4.10)
優先権データ
  • 特願2006-266470 (2006.9.29) JP
発明の名称 (英語) MASSAGE ROBOT, CONTROL PROGRAM THEREFOR, AND ROBOT FOR SPECIFYING PORTION OF HUMAN BODY
発明の概要(英語) Massage similar to massage performed by a masseur is automatically performed by accurately grasping the state of a portion to be massaged. A massage robot (10) related to an example of this invention comprises a contact (17) brought into contact with the face (F) of a user (H), an arm (19) moving the contact (17) in a predetermined space while holding the end of the contact, a sensor (21) capable of measuring the reaction force on the contact (17) from the face (F) caused when the contact presses against the face, and a control device (15) for controlling the motion of the arm (19). The control device (15) has a shape detecting function (23) for detecting the shape of the face (F) by using the values measured by the sensor (21), a portion specifying function (24) for specifying a portion to be massaged in the face (F) by using the shape of the face detected by the shape detecting function (23) and the value measured by the sensor (21), and a massage control function (25) for so controlling the contact (17) as to give a predetermined massage to the portion to be massaged specified by the portion specifying function (24).
  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • WASEDA UNIVERSITY
  • 発明者(英語)
  • TAKANISHI, Atsuo
  • KATSUMATA, Akitoshi
  • USUDA, Yuichi
  • KOGA, Hiroki
  • MATSUNO, Masao
  • OGURA, Yu
  • ISHII, Hiroyuki
  • SOLIS, Jorge
国際特許分類(IPC)
指定国 AE(UTILITY MODEL),AG,AL(UTILITY MODEL),AM(PROVISIONAL PATENT)(UTILITY MODEL),AT(UTILITY MODEL),AU,AZ(UTILITY MODEL),BA,BB,BG(UTILITY MODEL),BH,BR(UTILITY MODEL),BW,BY(UTILITY MODEL),BZ(UTILITY MODEL),CA,CH,CN(UTILITY MODEL),CO(UTILITY MODEL),CR(UTILITY MODEL),CU(INVENTOR'S CERTIFICATE),CZ(UTILITY MODEL),DE(UTILITY MODEL),DK(UTILITY MODEL),DM,DO,DZ,EC(UTILITY MODEL),EE(UTILITY MODEL),EG(UTILITY MODEL),ES(UTILITY MODEL),FI(UTILITY MODEL),GB,GD,GE(UTILITY MODEL),GH,GM,GT,HN,HR(CONSENSUAL PATENT),HU(UTILITY MODEL),ID,IL,IN,IS,JP(UTILITY MODEL),KE(UTILITY MODEL),KG(UTILITY MODEL),KM,KN,KP(INVENTOR'S CERTIFICATE)(UTILITY MODEL),KR(UTILITY MODEL),KZ(PROVISIONAL PATENT)(UTILITY MODEL),LA,LC,LK,LR,LS(UTILITY MODEL),LT,LU,LY,MA,MD(UTILITY MODEL),ME,MG,MK,MN,MW,MX(UTILITY MODEL),MY(UTILITY-INNOVATION),MZ(UTILITY MODEL),NA,NG,NI(UTILITY MODEL),NO,NZ,OM,PG,PH(UTILITY MODEL),PL(UTILITY MODEL),PT(UTILITY MODEL),RO,RS(PETTY PATENT),RU(UTILITY MODEL),SC,SD,SE,SG,SK(UTILITY MODEL),SL(UTILITY MODEL),SM,SV,SY,TJ(UTILITY MODEL),TM(PROVISIONAL PATENT),TN,TR(UTILITY MODEL),TT(UTILITY CERTIFICATE),TZ,UA(UTILITY MODEL),UG(UTILITY CERTIFICATE),US,UZ(UTILITY MODEL),VC(UTILITY CERTIFICATE),VN,ZA,ZM,ZW,EP(AT,BE,BG,CH,CY,CZ,DE,DK,EE,ES,FI,FR,GB,GR,HU,IE,IS,IT,LT,LU,LV,MC,MT,NL,PL,PT,RO,SE,SI,SK,TR),OA(BF(UTILITY MODEL),BJ(UTILITY MODEL),CF(UTILITY MODEL),CG(UTILITY MODEL),CI(UTILITY MODEL),CM(UTILITY MODEL),GA(UTILITY MODEL),GN(UTILITY MODEL),GQ(UTILITY MODEL),GW(UTILITY MODEL),ML(UTILITY MODEL),MR(UTILITY MODEL),NE(UTILITY MODEL),SN(UTILITY MODEL),TD(UTILITY MODEL),TG(UTILITY MODEL)),AP(BW,GH,GM,KE,LS,MW,MZ,NA,SD,SL,SZ,TZ,UG,ZM,ZW),EA(AM,AZ,BY,KG,KZ,MD,RU,TJ,TM)
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