| 摘要 |
PROBLEM TO BE SOLVED: To prevent the applytng of unnecessary load to an operator when inner force sense is not presented by interposing a clutch mechanism between an inner force sense presenting part and an inner force sense generating part, and disconnecting the clutch mechanism when the inner force sense is not presented, and always constantly maintaining the relative positional relation between the inner force sense preventing part and the inner force sense generating part. SOLUTION: Both end surfaces of a grip 120 are formed with a clutch 150 for connecting and disconnecting the grip 120 to/from a robot. In the case where presentation of the inner force sense is not performed, the clutch 150 is opened so as to release the mechanical connection of the grip 120 to the robot. Change of position and posture of arms of an operator is converted to the signal as a change of relative position and posture between the grip 120 and the robot by radial direction displacement detecting sensors 170... and an axial direction detecting sensor 180, and the signal is sent to a central computing unit, and control is performed so that the grip 120 always maintains a nearly constant relation to a grip support part of the robot. With this structure, applying of the force and the friction resistance, which are generated from the mass of the robot, to the operator is eliminated.
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