| 摘要 |
PROBLEM TO BE SOLVED: To provide a manipulation system with excellent operability.SOLUTION: The manipulation system includes a master arm device 1, a slave arm device 2, an imaging device 3 for imaging the slave arm device 2, and a display device 4 for displaying video images imaged by the imaging device 3. By detecting biological potential signals of a wearer 0 to estimate a joint torque and operating a master arm, characteristics of arms/muscles of the wearer 0 are reflected in the master arm in real time. Also, by biological potential variable impedance control based on biological potential information, joint rigidity without displacement output is improved, intuitive and smooth operations are realized, the master arm device 1 and the wearer 0 are seamlessly connected, and the wearer 0 can move a robot arm like his/her own arm. Also, the imaging device 3 is a stereo camera and is capable of stereoscopic viewing. |
