| 摘要 |
PROBLEM TO BE SOLVED: To provide an inner sense force impartment type input device capable of making a return speed of an operation part constant when an operator detaches one's hand even when return force halfway changes. SOLUTION: This inner force sense impartment type input device comprises: the operation part 1 operated by the operator; a detection means 2 detecting an operation state of the operation part 1; an inner force sense impartment means 3 imparting an inner force sense to the operation part 1; and a control means 4 controlling the drive of the inner force sense impartment means 3, and imparting a prescribed inner force sense according to the operation state to the operation part 1. The control means 4 has an operation state arithmetic part 4a, a return force arithmetic part 4b, a damper force arithmetic part 4c, and a composition force arithmetic part 4d. The damper force arithmetic part 4c multiplies the return force Te(θ) calculated in the return force arithmetic part 4b by a required proportionality coefficient c' to find a damper coefficient c [Te(θ)×c'], and multiplies the found damper coefficient c by an operation speedθdot of hte operation part 1 to calculate a damper force Te(θ)×c'×θdot. COPYRIGHT: (C)2005,JPO&NCIPI
|
