| 摘要 |
<p>PROBLEM TO BE SOLVED: To inexpensively obtain an inner force sense presentation device which is trouble-free and does not impart a fatigue feel to an operator by providing the device with a shell member internally filled with magnetic fluid and a magnetic field generating means for imparting a magnetic field to the magnetic fluid. SOLUTION: The inner force sense presentation device 1 has the shell member 2. The shell member 2 has a nearly hemispherical external shape and the magnetic fluid 3 is filled therein. A finger insertion hole 4 is formed in the front surface part 2a of the shell member 2. The operator inserts his or her finger into the finger insertion hole 4 and places his or her palm on a palm loading surface 5. When the operator, thereupon, makes action to clamp, for example, an object, desired current is passed to a desired coil 6 to impart the magnetic field to posture fluid 3 in order to impart the feel meeting the hardness of the object. As a result, the fluid resistance of the portion where the magnetic field of the magnetic fluid 3 is applied changes and reaction is eventually imparted to the palm and fingers making the clamping action. The operator is thus able to obtain a feel desired to clamp the object.</p> |
