Master operation input device and master-slave manipulator

摘要

A master operation input device operates a slave manipulator provided with joints adapted to multiple degrees of freedom. The master operation input device includes a grip portion and a first operation portion. The grip portion is variable in position and orientation while being gripped by an operator. The grip portion is configured to give command values regarding the position and orientation of a distal end of the slave manipulator in accordance with the variation in position and orientation. The distal end is the farthest end when the slave manipulator is viewed from a fixed end thereof. The first operation portion is located to be operable by a fingertip of the operator when the grip portion is gripped. The first operation portion is operable independently of the grip portion.

主权项

1. A master operation input device to operate a slave manipulator provided with joints adapted to multiple degrees of freedom, the master operation input device comprising:
a grip portion which is variable in position and orientation while being gripped by an operator, the grip portion being configured to give command values regarding the position and orientation of a distal end of the slave manipulator in accordance with the variation in position and orientation, the distal end being the farthest end when the slave manipulator is viewed from a fixed end thereof; a first operation portion to operate at least one of the joints of the slave manipulator, the first operation portion being operable independently of the grip portion; and a second operation portion to operate an effector provided in the joint at the distal end of the slave manipulator, the second operation portion being attached to the first operation portion, the second operation being operable independently of the first operation portion, wherein each of the first operation portion and the second operation portion is located to be operable by a fingertip of the operator when the grip portion is gripped.