| 摘要 |
PURPOSE:To reduce sense of fatigue at the time of operation by applying a torque to a master manipulator directed upward at all times when the attitude of one's own arm is to be held constant, and allowing the arm of the operator to be placed upon a master arm. CONSTITUTION:The output from an angle sensing means 3 is entered into a computer 10, and at an own weight torque calculating means 4, the target value for the torque due to own weight of each shaft of a master arm 1 is determined on the assumption that the value of compensative acceleration alphais greater than the acceleration g of the gravity. As a result an upward directed force is generated to the master arm 1, and when the operator wishes to keep his arm in constant attitude during operation of the master arm 1, he can put his own arm on the master arm 1 to lead to reduction of fatigue at the time of operation. |
