| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a force sense presenting system using the required minimum number of passive force generation parts capable of presenting the certain force sense. <P>SOLUTION: The passive type force sense presenting system for a rotary joint type link mechanism (5) presents the force sense relative to human being, and includes an operation part (6) operated by the person; a position detection part (7) for detecting a position of the operation part; a braking force transmission part (9) capable of applying perpendicular drag as the force relative to the operation part by action of the respective passive type force generation parts using the passive type force generation part (8) using a brake comprising the same number as the number of degree of freedom of the operation part; and a control device (10) for inputting output of the position detection part and controlling the passive type force generation part. The presenting system can present the certain force sense. Further, when a force detection part (11) for detecting the force applied to the operation part is provided, force sense presenting performance can be improved by performing control also using the information. <P>COPYRIGHT: (C)2011,JPO&INPIT |
