| 摘要 |
PROBLEM TO BE SOLVED: To provide a force feedback type operating device having a wide operating range, high hand rigidity, a narrow installation area and a small burden imposed on individual motors and allowing an operator to feel little fatigued. SOLUTION: A pedestal 3 is placed on a base 1 through a sliding joint 2 with a motor 4 disposed. An arm 8 provided with an armrest pad 9 and a hand is connected to the pedestal 3 through a rotating joint 5 and a turning joint 7. A link mechanism 17 is connected to the lower face of the almost center part of the arm 8 through a sliding joint 15 and a joint 16 with three degrees of freedom. The other end of the link mechanism 17 is connected to the pedestal 3, and the connection part is provided with motors.
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