| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a manipulating operation support device for supporting operation by assisting the body operation of an operator minutely in every working direction and every working position to reduce the burden. <P>SOLUTION: The wrist of the operator 2 is put to the tip of a manipulator 5, and force generated from the wrist is measured by a force sensor 4. The wrist position is acquired by analyzing the images of cameras 6, 7. Force generated in each direction in each position of the wrist is taken into a measuring means 8 from the force sensor 4, and force sensitivity corresponding to the grade of the force is determined for each position and each direction and stored as operation, characteristics in a storage means 9. When working, a command value generating means 10 generates a command value to the manipulator 5 from information on the operation characteristics of the operator 2 stored in the storage means 9, and the force measured by the force sensor 4, and a control means 11 controls the manipulator 5 on the basis of the command value. <P>COPYRIGHT: (C)2003,JPO |
