| 摘要 |
PROBLEM TO BE SOLVED: To facilitate smooth operation of manual displacement of an image system. SOLUTION: The apparatus comprises: a mobile portion including an imaging system A provided with a layer incorporating a pressure sensor 1 at an end portion; a calculating means 5 calculating a target speed corresponding to the output of the pressure sensor 1; and power assisting means 6 and 7 that drive the mobile portion so as to realize the target speed calculated. The calculating means 5 calculates the target speed Vt according to the following formula: when Vc=0 and R.F-Ss<0, then Vt=0; when Vc=0 and R.F-Ss>=0 or Vc>0, then Vt=(R/m).f.ts-S(Vc).ts+Vc; and when Vc<0, then Vt=(R/m).f.ts+S (Vc).ts+Vc [where, Vc is the speed of the mobile part; R is a power assisting coefficient; (m) is an imaginary weight; Ss is an imaginary coefficient of friction; S(Vc) is an imaginary kinetic friction formed as a function of increasing speed; f is sensor output; and ts is the interval of target speed control].
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