Arm control apparatus, arm control method, arm control program, robot, and integrated electronic circuit for arm control

• US 9,114,531 B2
• Filed: 07/29/2014
• Issued: 08/25/2015
• Est. Priority Date: 11/22/2012
• Status: Active Grant

• Current Assignee: Panasonic Intellectual Property Management Co., Ltd. (Panasonic Holdings Corporation)
• Original Assignee: Panasonic Intellectual Property Management Co., Ltd. (Panasonic Holdings Corporation)
• Inventors: Fudaba, Yudai, Tsusaka, Yuko, Ozawa, Jun
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US14/445,588
• Publication Number:
  US 20140336820A1
• Time in Patent Office: 392 Days
• Field of Search: 700/261, 700/260, 700/262, 700/245, 901/46, 901/14, 248/309.1
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: G05B 2219/36168 Touchscreen
• CPC Class Codes: G05B 2219/36249 Generate automatically a balance program for workpiece, dynamic balance
• CPC Class Codes: G06F 1/16 Constructional details or arrangements
• CPC Class Codes: G06F 1/1601 Constructional details related to the housing of computer displays, e.g. of CRT monitors, of flat displays constructional details related to flat displays integrated in a portable computer, e.g. laptop, handheld computer G06F1/1637; constructional details related to television receivers H04N5/64
• CPC Class Codes: G06F 2203/04108 Touchless 2D- digitiser, i.e. digitiser detecting the X/Y position of the input means, finger or stylus, also when it does not touch, but is proximate to the digitiser's interaction surface without distance measurement in the Z direction
• CPC Class Codes: G06F 2203/04808 Several contacts: gestures triggering a specific function, e.g. scrolling, zooming, right-click, when the user establishes several contacts with the surface simultaneously; e.g. using several fingers or a combination of fingers and pen
• CPC Class Codes: G06F 3/041 Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
• CPC Class Codes: G06F 3/0488 using a touch-screen or digitiser, e.g. input of commands through traced gestures
• CPC Class Codes: G09F 9/00 Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements in which the variable information is permanently attached to a movable support G09F11/00; abacus G06C1/00; slide-rules G06G1/00
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/50 Miscellaneous

Abstract

There is provided a display information acquiring unit for acquiring display information on a screen of a touch panel display, a touch pattern estimating unit for estimating a region on the screen likely to be touched by a person and a motion direction of the touch based on the display information, a load estimating unit for estimating a load or a torque to the display based on the estimated region and the motion direction, a stiffness parameter information generating unit for generating information for controlling the arm so that the position and the orientation of the display do not change along the touching direction at the time of touch panel input based on the estimated load or torque, and an arm control unit for controlling a stiffness parameter of the arm based on the generated information.

Claims

1. An arm control apparatus for controlling a position and an orientation of a touch panel display, the apparatus comprising:

a display information acquiring unit that acquires information displayed on a screen of the touch panel display;

a touch pattern estimating unit that estimates a region on the screen that is likely to be touched by a person and a motion direction of the touch based on the information acquired from the display information acquiring unit;

a stiffness parameter information generating unit that generates information for controlling the arm based on the region and the motion direction estimated by the touch pattern estimating unit so that the position and the orientation of the touch panel display do not change along a touch direction at a touch panel input time; and

an arm control unit that controls a stiffness parameter of the arm based on the information generated by the stiffness parameter information generating unit.

2. The arm control apparatus according to claim 1, further comprising:

a load estimating unit that estimates a load or a torque with respect to the touch panel display based on the region and the motion direction estimated by the touch pattern estimating unit, wherein

the stiffness parameter information generating unit generates the information for controlling the arm so that the position and the orientation of the touch panel display do not change along the touch direction at the touch panel input time based on the load or the torque estimated by the load estimating unit.

3. The arm control apparatus according to claim 2, wherein the touch pattern estimating unit estimates position information that changes while the person is touching and tracing the screen,

the load estimating unit estimates information about at least one or more of:

a force relating to a pushing force to be applied vertically to a surface of the screen and a frictional force to be applied horizontally to the surface of the screen based on the position information estimated by the touch pattern estimating unit;

a torque whose axis is horizontal to the surface of the screen based on force information about the pushing force to be applied vertically to the surface of the screen and the position information; and

a torque whose axis is vertical to the surface of the screen based on the force information about the frictional force to be applied horizontally to the surface of the screen and the position information.

4. The arm control apparatus according to claim 3, wherein the touch pattern estimating unit estimates position information that changes such that:

(1) the person touches the screen;

(2) a position on the screen which is touched by the person while being traced changes to any direction; and

(3) the person separates from the screen,

the load estimating unit estimates force information that changes such that;

(1) a force for vertically pushing the surface of the screen and the torque whose axis is horizontal to the surface of the screen are applied;

(2) the force for vertically pushing the surface of the screen, the frictional force to be horizontally applied to the surface of the screen, the torque whose axis is horizontal to the surface of the screen, and the torque whose axis is vertical to the surface of the screen are applied; and

(3) no force is applied to the screen.

5. The arm control apparatus according to claim 3, wherein

the touch pattern estimating unit estimates position information that changes such that:

(1) the person multi-touches the screen;

(2) positions on the screen multi-touched by the person change to a mutually separating direction; and

(3) the person separates from the screen,

the load estimating unit estimates force information that changes such that;

(1) a force for vertically pushing the surface of the screen and the torque whose axis is horizontal to the surface of the screen are applied;

(2) the force for vertically pushing the surface of the screen, the frictional force to be horizontally applied to the surface of the screen, the torque whose axis is horizontal to the surface of the screen, and the torque whose axis is vertical to the surface of the screen are applied; and

(3) no force is applied to the screen.

6. The arm control apparatus according to claim 3, wherein

the touch pattern estimating unit estimates position information that changes such that:

(1) the person multi-touches the screen;

(2) positions on the screen multi-touched by the person change to mutually approaching directions; and

(3) the person separates from the screen,

the load estimating unit estimates the force information that changes such that;

(1) a force for vertically pushing the surface of the screen and the torque whose axis is horizontal to the surface of the screen are applied;

(2) the force for vertically pushing the surface of the screen, the frictional force to be horizontally applied to the surface of the screen, the torque whose axis is horizontal to the surface of the screen, and the torque whose axis is vertical to the surface of the screen are applied; and

(3) no force is applied to the screen.

7. The arm control apparatus according to claim 2, wherein the touch pattern estimating unit estimates position information at a time when the person repeatedly touches the screen of the display more than once,

the load estimating unit estimates at least one or more pieces of information about:

a pushing force to be vertically applied to a surface of the screen and a force at a time when no force is applied to the screen based on the position information estimated by the touch pattern estimating unit; and

a torque whose axis is horizontal to the surface of the screen based on the force information about the pushing force to be vertically applied to the surface of the screen and the position information.

8. The arm control apparatus according to claim 7, wherein

the touch pattern estimating unit estimates the position information that repeatedly changes more than once so that:

(1) the person touches the screen; and

(2) the person separates from the screen,

the load estimating unit estimates force information that changes such that;

(1) a force for vertically pushing the surface of the screen and the torque whose axis is horizontal to the surface of the screen are applied; and

(2) no force is applied to the screen.

9. The arm control apparatus according to claim 1, wherein the touch pattern estimating unit estimates all pieces of position information about positions likely to be touched when a plurality of candidates are present as manipulations that are likely to be performed by the person on the screen of the display.

10. The arm control apparatus according to claim 2, wherein the touch pattern estimating unit estimates all pieces of position information about positions likely to be touched when a plurality of candidates are present as manipulations that are likely to be performed by the person on the screen of the display.

11. The arm control apparatus according to claim 1, further comprising:

an initial contact position information acquiring unit that acquires a position on the screen to be initially touched by the person in an untouched state, wherein

the touch pattern estimating unit estimates position information of a position that is likely to be touched by the person based on the initial contact position acquired from the initial contact position information acquiring unit.

12. The arm control apparatus according to claim 2, further comprising:

an initial contact position information acquiring unit that acquires a position on the screen to be initially touched by the person in an untouched state, wherein

the touch pattern estimating unit estimates position information of a position that is likely to be touched by the person based on the initial contact position acquired from the initial contact position information acquiring unit.

13. A robot comprising:

the arm control apparatus according to claim 1 for controlling the arm; and

the arm.

14. A robot comprising:

the arm control apparatus according to claim 2 for controlling the arm; and

the arm.

15. A robot comprising:

the arm control apparatus according to claim 3 for controlling the arm; and

the arm.

16. An arm control method for controlling a position and an orientation of a touch panel display, the method comprising:

acquiring information to be displayed on a screen of the touch panel display through a display information acquiring unit;

estimating a region on the screen likely to be touched by a person and a motion direction of the touch through a touch pattern estimating unit based on the information acquired by the display information acquiring unit;

generating information for controlling the arm through a stiffness parameter information generating unit so that the position and the orientation of the touch panel display do not change along a touching direction at a touch panel input time based on the region and the motion direction estimated by the touch pattern estimating unit; and

controlling a stiffness parameter of the arm through an arm control unit based on the information generated by the stiffness parameter information generating unit.

17. A computer-readable recording medium including an arm control program for controlling a position and an orientation of a touch panel display, the program making a computer to execute:

a step of acquiring information to be displayed on a screen of the touch panel display through a display information acquiring unit;

a step of estimating a region on the screen likely to be touched by a person and a motion direction of the touch through a touch pattern estimating unit based on the information acquired by the display information acquiring unit;

a step of generating information for controlling the arm so that the position and the orientation of the touch panel display do not change along a touching direction at a touch panel input time through a stiffness parameter information generating unit based on the region and the motion direction estimated by the touch pattern estimating unit; and

a step of controlling a stiffness parameter of the arm through an arm control unit based on the information generated by the stiffness parameter information generating unit.

18. An integrated electronic circuit for arm control, that controls a position and an orientation of a touch panel display, the circuit configured to:

acquire information to be displayed on a screen of the touch panel display through a display information acquiring unit;

estimates a region on the screen likely to be touched by a person and a motion direction of the touch through a touch pattern estimating unit based on the information acquired by the display information acquiring unit;

generate information for controlling the arm through a stiffness parameter information generating unit so that the position and the orientation of the touch panel display do not change along a touching direction at a touch panel input time based on the region and the motion direction estimated by the touch pattern estimating unit; and

control a stiffness parameter of the arm through an arm control unit based on the information generated by the stiffness parameter information generating unit.