| 摘要 |
It is proposed to drive a real or virtual slave system with p degrees of freedom by means of a manual control device comprising a grip (10) formed of an active component (12) and of one or two information-return components (14). A displacement of speed sensor (24) can be mounted in the active component (12) in order to generate signals used in driving the slave system. Actuators mounted for example in a support linked to the grip (10) by a flexible cord (22) receive information from the slave system and transform it into a torque. This torque is transmitted to the information-return component (14), for example by cables (30, 34), so that a force representative of the information originating from the slave system is applied to the hand of the operator. <IMAGE> |
