PASSIVE INNER FORCE SENSE PRESENTING DEVICE

摘要

PROBLEM TO BE SOLVED: To obtain an inner force sense presenting device using a passive force generation part capable of presenting an accurate inner force sense. SOLUTION: When an operation part 2 attached to the inner force sense presenting device 1 is operated, an inner force sense is presented to an operator. When the device 1 sets the number of degrees of freedom in the inner force sense allowed to be presented by the operation part 2 to m and sets the minimum number of force generation parts necessary for realizing the inner force sense of m degrees of freedom to n (n>=m), the device 1 has plural passive force generation parts 4>=n. These force generation parts 4 are controlled by a controller 3. The controller 3 utilizes information obtained by a position detector 6 or a force detector as the occasion demands. The constitution allows the device 1 to present also a force sense which can not be presented when only the minimum number of force generation parts 4 to be required are used.