| 摘要 |
PROBLEM TO BE SOLVED: To secure the safety of a subject to be presented with an inner force sense that is presented with the inner force sense and to allow minute control of the inner force sense presented to the subject. SOLUTION: This apparatus for presenting the inner force sense includes: a grip unit 110 for placing a human hand 300, ie., a subject to be presented with the inner force sense; a permanent magnet 120 coupled to the grip unit 110 for producing a magnetic force to provide the inner force sense to the hand 300; a permanent magnet position detecting unit 130 for detecting the position of the permanent magnet 120 that moves as the grip unit 110 moves; an electromagnet 140 provided for causing the permanent magnet 120 to produce a magnetic force; a motor 150 for moving the electromagnet 140; an electromagnet position detecting unit 160 for detecting the position of the electromagnet 140; and a control unit 170 for controlling the movement of the electromagnet 140 due to the motor 150, based on the detected positions of the permanent magnet 120 and the electromagnet 140. COPYRIGHT: (C)2009,JPO&INPIT
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