| 摘要 |
A force sense interface includes a tactile finger base (16) having a plurality of tactile fingers (21-25), which are capable of tracking motions of the fingers (Ya) of a hand (Ha) of an operator (H), an arm mechanism (110), which allow spatial motion of the tactile finger base (16), and a controller (200A, 200B), which controls the arm mechanism (110) in accordance with the position and posture of the hand, and controls the tactile fingers (21-25) in accordance with the movements of the fingers (Ya) of the operator (H). The force sense interface further includes finger holders (26) for attaching the tactile fingers (21-25) on the fingers of the operator (H) in a state where the tactile finger base (16) is distanced from the back of the hand (Ha) of the operator (H) so as to face the back of the hand (Ha). |
