| 摘要 |
A master operation input device (10) for operating a slave manipulator having multiple joints corresponding to degrees of freedom includes a grip unit (101) and a first operation unit (102). The grip unit (101) is capable, in a state gripped by an operator, of freely change position and orientation and is configured to send command values, in response to changes in said position and orientation, of the position and orientation of the distal end of the slave manipulator, being the end furthest away when the slave manipulator as seen from the fixed end. The first operation unit (102) is provided in a position allowing operation by the operator's finger tips when the grip unit (101) in a gripped state, and can be operated independently of the grip unit (101). |
