| 摘要 |
PROBLEM TO BE SOLVED: To power-assist operation and to efficiently transmit a fine sense such as a hand feeling sense, etc. to an operator. SOLUTION: This force sense controller device 1 is provided with an operation mechanism 3 including an operating end 2 to input operation against a controlling object 15, an operating force detection part 5 to detect torque added to the operating end 2, a current position detection part 6 to detect a current position of the operating end 2, an external force input part 8 to input external force added to the controlling object 15, a driving part 9 to drive the operating end 2 and a force sense controlling part 10 to control the driving part 9 to make the operating end 2 follow a target position by computing the target position of the operating end 2 in accordance with force composing operating force and the external force at optional proportion so as to assist the operation against the operating end 2 in accordance with the operating force and to show the force sense to the operating end 2 in accordance with the external force D. COPYRIGHT: (C)2007,JPO&INPIT
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