| 摘要 |
PROBLEM TO BE SOLVED: To conduct smooth movement or rotation using a motor as a power source with constant operationability regardless of the position and direction of an object to be supported, such as a heavy object, so as to be capable of moving and rotating on a fixed track in the case of a point lock or the like. SOLUTION: This force auxiliary device is formed by fitting an operating handle which is disposed in the vicinity of an instrument to be supported, for example and operation microscope which is attached onto the front end part of a plurality of arms which are jointed so as to rotatable, detecting the operating force applied to the operating handle by a force torque sensor which outputs it as a signal of a plurality of axial directions (steps 101 to 103), calculating an operational command of respective joint part of a plurality of the arms based on the detected force torque information of a plurality of axial directions along with impedance control (step 106) and track control (step 107), and moving a plurality of the arms in a direction of the operational force which is applied to the operating handle based on the operational command of the respective joint parts (step 108 to 112). |
