JP2003300188A - Tactile interface and its control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a tactile interface having a wide operation space, capable of presenting a heavy feeling of a virtual object, and making an operator feel no sense of oppression and heavy feeling of a device. <P>SOLUTION: A multi-finger tactile interface 10 is provided with an arm mechanism composed of an arm part 12, a first arm joint 16, a second arm joint 17, and a wrist joint. A tactile finger base 20 is provided with a plurality of tactile fingers 21 to 25, and a finger fixing member 30 is arranged on the tip for connecting a fingertip of the operator. A control device 40 is provided for opposing the tactile finger base 20 to a hand Ha of the operator H by controlling the first arm joint 16, the second arm joint 17, and the wrist joint on the basis of detection of a position of the hand Ha of a three-dimensional position attitude sensor 42 and its attitude. A triaxial force sensor is arranged on the tactile fingers 21 to 25 for detecting a movement of a fingertip of the operator H. The control device 40 controls the tactile fingers 21 to 25 by interlocking with the movement of the fingertip on the basis of detection of the movement of the fingertip of the triaxial force sensor. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tactile interface and its control method.

[0002]

2. Description of the Related Art Conventionally, as a tactile interface, a serial link type disclosed in Non-Patent Document 1 (Prior Art 1) is used to express a feeling of resistance or weight when hitting an object in a virtual space with a single hand or fingertip. PHANToM
There is. In addition, there is a parallel link type haptic master manufactured by Nissho Electronics Co., Ltd. (prior art 2).

There is also a study (Non-patent document 2) in which two serial link type tactile interfaces are installed and force is presented to two fingertips (prior art 3). As another tactile interface, to enable the presentation of multiple forces,
Some have a force feedback mechanism attached to the back or arm of a human hand. Representative examples include Non-Patent Document 3 (Prior Art 4) and Non-Patent Document 4 (Prior Art 5).

Furthermore, in order to present the weight sensation of a virtual object, such a force feedback mechanism and an arm mechanism are attached, and as a system for fixing the arm mechanism to the hand, 3D Interaction of Virtual Technology Co., USA
(Prior Art 6) and Non-Patent Document 5 (Prior Art 7).

[0005]

[Non-Patent Document 1] SensAble Technology, Inc. [searched on February 6, 2003] (Internet <URL: htt
p: //www.Sensable.com/ ＞)

[Non-patent document 2] Tsuneo Yoshikawa, Akihiro Nagura: Non-contact non-contact force sensation presentation device for 3D space, Transactions of the Virtual Reality Society of Japan, Vol.3, No.3, pp.75-82, 1998.

[Non-Patent Document 3] Force Feedback Glove (H. Kawasak
i, and T. Hayashi: "Force Feedback Glove for Man
ipulation of Virtual Objects, Journal of Robot
ics and Mechatronics ", Vol.5, No.1, pp.79-84 1993

[Non-patent document 4] US Virtual Technology, [Heisei 1
Search February 6, 5] (Internet <URL: http: /
CyberGrasp from /www.virtex.com/ ＞)

[Non-patent document 5] Force feedback device (Naoki Suzuki, Asagi Hattori and 5 others: Development of virtual surgical system capable of surgical operation with tactile sensation, Journal of Virtual Reality Society of Japan Vol.3, No.4, pp. 237-24,1998

[0006]

Although the prior art 1 and the prior art 2 are capable of presenting the tactile sense at one place,
It is difficult for human beings to present a right angle to multiple fingertips.

Prior art 3 has a problem that its movable range is extremely narrow. Further, in such an installation type as in the related arts 1 to 3, the operator does not feel a sense of discomfort or a burden, but the operation space is wide, and no tactile interface has been researched and developed to present a multi-point force sensation.

Further, in the prior art 4 and the prior art 5, the force can be presented to a plurality of human fingertips, but it is difficult to present the weight sensation of the virtual object because it is not interlocked with the arm. In addition, since the tactile interface is attached to a human hand or arm, a feeling of pressure and a heavy feeling of the tactile interface are given to the human.

Further, in the prior art 6 and the prior art 7, since the arm mechanism and the force feedback mechanism of the fingertip are mounted on the human, the human feels a feeling of pressure, discomfort or burden.

An object of the present invention is to provide a tactile interface for presenting a force sensation to a plurality of human fingertips, which has a wide operation space and can present a weight sensation of a virtual object, so that the operator feels a feeling of pressure and a feeling of weight of the apparatus. It is to provide a tactile interface that does not let you do.

Another object is to provide a control method suitable for the tactile interface.

[0012]

In order to solve the above-mentioned problems, the invention according to claim 1 arranges a plurality of tactile fingers capable of following the movement of the fingertips of an operator on a tactile finger base, In a tactile interface that enables a spatial movement of the base by an arm mechanism, the tactile finger base is opposed to the operator's hand, and the tactile finger base is drive-controlled in conjunction with the position and posture of the hand, and the operator's fingertip A gist of a tactile interface characterized by comprising control means for driving and controlling the tactile finger in association with the movement of the tactile finger.

According to a second aspect of the present invention, in the first aspect, the control means includes a force (F _i ) acting on each tactile finger,
A force error from the target force (F _di ) is used to control the arm mechanism for driving the tactile finger base and the tactile finger.

According to a third aspect of the present invention, in the second aspect, the arm joint angle detecting means for detecting the arm joint angle of the active joint provided in the arm mechanism, and the tactile finger of the active joint provided in the tactile finger. The control means includes a tactile finger joint angle detecting means for detecting a joint angle and a motion detecting means for detecting a movement of the tactile finger. First computing means for computing the Jacobian matrix based on the arm joint angle and the tactile finger joint angle, and the force acting on the tip of each tactile finger obtained based on the detection of the motion detecting means ( For force feedback control of the force error between Fi) and the target force (Fdi), based on the arm joint angle, the tactile finger joint angle, the kinematic Jacobian matrix, and the force error, Noh A second calculation means for calculating a control input to the dynamic joint and the active joint of the arm mechanism, and controlling the active joint of the tactile finger and the active joint of the arm mechanism based on the control input. And

The invention of claim 4 is the invention of claims 1 to 3.
In any one of the above items, the tactile finger and the arm mechanism each include an active joint, and when the active joint is located in a limit direction from a predetermined threshold value within a movable range limit, the control unit, It is characterized in that position control for holding the active joint at the current position is performed. According to a fifth aspect of the present invention, in any one of the first to third aspects, the active joints provided on the tactile finger and the arm mechanism are located in a limit direction from a predetermined threshold value within a movable range limit. In the case of, the control means performs position control for holding the active joint at the current position, and when the active joint is located within a range of a predetermined threshold value within the movable range limit, the control means, It is characterized in that control is performed by using a force error between the force (F _i ) acting on each tactile finger and the target force (F _di ).

[0016] The invention of claim 6 is from claim 1 to claim 3.
In any one of the above items, when all the active joints provided on the tactile finger are within the movable range, the control unit controls the force (F _i ) acting on the tactile finger to the target force and the target force. It is characterized by performing control using a force error with (F _di ), and performing position control for holding the arm mechanism at the current position.

The invention according to claim 7 is any one of claims 1 to 3.
In any one of the above items, the control unit causes the tactile finger to exert a force (F _i ) acting on the tactile finger and a target force (F _i ).
_di )) to control the position of the tactile finger base by using a force error between the tactile finger base and the target position of the tactile finger base so as to maximize manipulability of the hand including the tactile finger base and the tactile finger. It is characterized by setting the posture.

According to an eighth aspect of the present invention, an arm mechanism having an active arm joint is provided, a tactile finger base provided on the arm mechanism, and a fingertip connection provided on the tactile finger base for connecting a fingertip of an operator. A plurality of tactile fingers having an active finger joint and a first detecting means for detecting the position and posture of the operator's hand, and the position and posture of the hand of the first detecting means. First control means for controlling the active joint for the arm based on the detection so that the tactile finger base faces the operator's hand; and second control means for detecting the movement of the operator's fingertip.
The gist of the invention is to provide a tactile interface that includes a detection unit and a second control unit that controls an active finger joint in association with the movement of the fingertip based on the movement of the fingertip detected by the second detection unit.

According to a ninth aspect of the present invention, in the eighth aspect, the second detection means is a multi-axis force sensor provided on a tactile finger, and the second control means performs force feedback control to the operator's fingertip. It is characterized by controlling the force applied to.

The invention of claim 10 is the same as that of claim 9
The second control means performs force feedback control so that the force applied to the fingertip of the operator becomes zero. According to an eleventh aspect of the present invention, in any one of the eighth to tenth aspects, the arm mechanism has six or more degrees of freedom of movement due to an arm active joint. And

According to a twelfth aspect of the present invention, in any one of the eighth to eleventh aspects, the tactile finger has three or more degrees of freedom of movement due to an active finger joint. .

According to a thirteenth aspect of the present invention, in any one of the eighth to twelfth aspects, the fingertip connecting portion is
It is characterized in that it is provided on the tip side of the tactile finger. Claim 14
In the invention of claim 13, in the fingertip connection portion,
The present invention is characterized in that a passive ball joint provided rotatably on the tip side of the tactile finger and a finger attachment portion provided on the passive ball joint for connecting an operator's fingertip are provided.

According to a fifteenth aspect of the present invention, in the fourteenth aspect, the fingertip connecting portion is provided with suction means for sucking and holding the passive ball joint. According to a sixteenth aspect of the present invention, in the fifteenth aspect, the attraction means is a magnetic force generation means for attracting and holding the passive ball joint by magnetic force.

According to a seventeenth aspect of the present invention, in the sixteenth aspect, the magnetic force generating means is a permanent magnet. According to an eighteenth aspect of the present invention, in the sixteenth aspect, the magnetic force generating means is an electromagnet, and further comprises magnetic force control means for varying the magnetic force of the electromagnet by an external signal.

According to a nineteenth aspect of the present invention, in any one of the eighth to sixteenth aspects, the first detecting means is
The tactile finger base further includes a sensor for measuring the position of the operator's hand.

According to a twentieth aspect of the present invention, an arm mechanism having an active joint for an arm, a tactile finger base provided on the arm mechanism, and a fingertip connection provided on the tactile finger base for connecting a fingertip of an operator. In a method of controlling a tactile interface including a plurality of tactile fingers having an active finger joint, a virtual fingertip of an operator is configured based on a detection result of a position and a posture of an operator's hand. The tactile finger base is opposed to the operator's hand by controlling the active joint for the arm so that the tactile finger base is located at a position symmetrical with respect to the plane of the operator's hand. The gist is the control method of the tactile interface.

According to a twenty-first aspect of the present invention, in the twenty-first aspect, the tactile interface further comprises first detecting means for detecting the position and posture of the operator's hand, and the position and posture of the hand by the first detecting means. It is characterized in that the position of the tactile finger base is controlled using the detection result of.

According to a twenty-second aspect of the present invention, in the tactile interface according to the twenty-first aspect, the tactile interface further comprises second detecting means for detecting the movement of the fingertip of the operator, and based on the movement detection of the fingertip of the second detecting means. It is characterized by controlling the active joint for the finger in conjunction with the movement of the fingertip.

[0029]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) A first embodiment in which the present invention is embodied in a multi-finger tactile interface will be described below with reference to FIGS.

FIG. 1 is a perspective view showing the outline of the multi-finger tactile interface, and FIG. 2 is a perspective view of the tactile finger of this embodiment. The multi-finger tactile interface 10 includes a base 11, an arm portion 12, and a hand 13. Arm part 12
Consists of a first arm 14 and a second arm 15. First
The arm 14 is connected to the base 11 via a first arm joint 16 having three degrees of freedom. In the present embodiment, the first arm joint 16 is the first arm joint 16 as shown in FIG.
The first arm 14 is rotated about axes x0, y0, z0 which are orthogonal to each other at the center of the first arm 14, respectively. This axis x0, y
0 and z0 are axes of the reference coordinate system.

The second arm 15 is connected to the first arm 14 via a second arm joint 17 (elbow portion) having one degree of freedom. In the present embodiment, the second arm joint 17 is
As shown in FIG. 1, the second arm 15 actively rotates about an axis m which is the center line of the second arm joint 17.

The hand 13 includes a tactile finger base 20 and five tactile fingers 21 to 25 provided on the tactile finger base 20. The five tactile fingers 21 to 25 are arranged in rows so as to be able to face the five fingers of the human thumb to little finger. That is, the first tactile finger 21 is a thumb of a human, the second tactile finger 22 is an index finger, the third tactile finger 23 is a middle finger, the fourth tactile finger 24 is a ring finger, and the fifth tactile finger 25 is a little finger. It is located at 20. The attachment portion provided on the base end side of the tactile finger base 20 is attached to the tip end portion of the second arm 15 via the wrist joint 18 (see FIG. 3). In the present embodiment, the wrist joint 18 has axes xm, y orthogonal to each other at the center of the wrist joint 18 as shown in FIG.
The tactile finger base 20 is rotated around m and zm, respectively.

The axes xm, ym, zm are axes of the tactile finger base coordinate system. The first arm joint 16, the second arm joint 17, and the wrist joint 18 are provided with drive motors as drive sources in the number corresponding to the number of degrees of freedom, and by controlling each drive motor, the above-mentioned axes are provided. Rotate around.

Further, the first arm joint 16 and the second arm joint 17
In the wrist joint 18, the rotary motors ARE1 to ARE7 as the rotation angle detecting means for detecting the rotation angle are included in the drive motors that are rotationally driven around the respective axes described above.
Are provided (see FIG. 3). The rotary encoders ARE1 to ARE7 detect the rotation angles around the respective axes. Note that, in FIG. 3, the rotary encoders ARE1 to ARE7 are collectively shown for convenience of description.

The rotary encoders ARE1 to ARE
In the present embodiment and the other embodiments, the rotation angles detected in 7 will be respectively referred to as arm joint angles q _i (i
= 1, ... 7). I of the arm joint angle q _i corresponds to the number of degrees of freedom of the arm mechanism.

The first arm joint 16, the second arm joint 17, and the wrist joint 18 correspond to active joints provided in the arm mechanism, that is, active arm joints and arm joints.
The arm portion 12, the first arm joint 16, the second arm joint 17, and the wrist joint 18 form an arm mechanism. Therefore,
The arm mechanism has 7 degrees of freedom. The arm mechanism allows the tactile finger base 20 to move spatially.

FIG. 2 shows the details of the second tactile finger 22. Since the first to fifth tactile fingers 21 to 25 are basically composed of members having the same function, the configuration of the second tactile finger 22 will be described below and other tactile fingers will be described. Is omitted.

The second tactile finger 22 includes a first link 35, a second link 36, a first finger joint 27, a second finger joint 28, a passive ball joint 29, and a finger fixing member 30. The first link 35 is attached to the tactile finger base 20 via the first finger joint 27.

The first knuckle 27 is a biaxial joint, and as shown in FIG. 2, a first link 27a and a second shaft 27b, which are orthogonal to each other at the center of the first knuckle 27, respectively, have first links. 35 is actively rotated.

That is, when the first link 35 rotates at the first finger joint 27 around the first axis 27a, the direction in which the first link 35 approaches or separates from another adjacent tactile finger (inward / outward rotation direction).
It becomes the rotation (inward and outward rotation) toward. When the first link 35 rotates at the first knuckle 27 around the second axis 27b,
It will rotate back and forth. Here, the term “front” means the tactile finger 22.
Is the direction in which it bends in the gripping direction, and the opposite direction is the 180 ° opposite direction.

The second link 36 is connected to the first link 35 through a second knuckle 28 having one degree of freedom in flexion. That is, the second knuckle 28 is
As shown in FIG. 2, the link 36 is actively rotated around the third axis 28a which is the center line of the second finger joint 28.

The first knuckle 27 and the second knuckle 28 are provided with drive motors (not shown) as drive sources, the number of which is equal to the number of degrees of freedom, and by controlling each drive motor, It rotates around the above-described first shaft 27a to third shaft 28a, respectively.

In the first finger joint 27 and the second finger joint 28, the drive motor for driving the first shaft 27a to the third shaft 28a described above has a rotary encoder URE1 as a rotation angle detecting means for detecting a rotation angle. ~ URE3 are provided respectively. These rotary encoders UR
The rotation angles around the respective axes are detected by E1 to URE3.

The rotary encoders URE1 to URE
In the present embodiment and other embodiments, the rotation angle detected in 3 will be described below as the tactile finger joint angle p.
_ij (i = 1, ... 5, j = 1, ... 3). Note that p
The i of _ij corresponds to the number of tactile fingers. j of p _ij corresponds to the number of degrees of freedom of the tactile finger, that is, the first axis 27a ...
This corresponds to the number of axes (number of axes) called the third axis 28a.

The first knuckle 27 and the second knuckle 28 correspond to active joints provided on the tactile finger, that is, active joints for fingers and tactile finger joints. The passive ball joint 29 has a spherical shape and is detachably attached to a mounting recess 26a formed in a hemispherical shape at the distal end of the second link 36 and rotatably fitted in any range of 360 degrees. ing. The passive ball joint 29 is made of a ferromagnetic material such as iron. The permanent magnet 31 is the second
The link 36 is internally mounted on the second link 36 at a portion close to the mounting recess 26 a. Due to the magnetic force (adsorption force) of the permanent magnet 31, the passive ball joint 29 is always attached to the mounting recess 2
Fitted and held in 6a. However, passive ball joint 29
Further, when a tensile force exceeding the magnetic force is applied, the passive ball joint 29 can be detached from the mounting recess 26a.

The permanent magnet 31 corresponds to an attraction means and a magnetic force generation means. The finger fixing member 30 is integrally fixed to the exposed top portion of the passive ball joint 29, and the finger mounting portion 32 is provided on the peripheral surface at the tip end. The finger attachment part 32 is recessed in a semicircular cross section at the distal half in the longitudinal direction, and the proximal half can be inserted up to the position where the tip (fingertip) of the finger approaches the top of the passive ball joint 29. It has a circular cross section.

A ring-shaped elastic tightening band 33 is fixed to the peripheral surface of the tip of the finger fixing member 30 corresponding to the finger mounting portion 32. In the present embodiment, the tightening band 33 is formed of a band made of synthetic rubber or the like. A space into which a person's index finger can be inserted is formed between the tightening band 33 and the finger mounting portion 32, and when the index finger is inserted, the tightening band 33 stably stabilizes the same with respect to the finger mounting portion 32. Accompany.

The finger fixing member 30 corresponds to a fingertip connecting portion. In addition, as with the second tactile finger 22, the finger attachment portions 32 and the fastening band 33 of the first tactile finger 21, the third tactile finger 23 to the fifth tactile finger 25 are the human thumb, middle finger, ring finger, and little finger, respectively. Can be connected.

A triaxial force sensor K2 is provided around the distal end of the second link 36. The triaxial force sensor K2 can detect translational forces acting on the second tactile finger 22 in the triaxial directions orthogonal to each other. The triaxial force sensor K2 corresponds to the second detecting means and the multiaxial force sensor.

Regarding the other three-axis force sensors of the tactile fingers, the reference numerals corresponding to the numbers in the counting order of the first to fifth tactile fingers 21 to 25 are attached to K as shown in FIG. To do. The rotary encoder UR for other tactile fingers
In FIG. 3, E1 to URE3 are collectively shown for each tactile finger for convenience of description.

Next, the electrical configuration of the device relating to the multi-finger tactile interface 10 will be described. The three-dimensional position / orientation measuring device 41 is capable of wirelessly communicating with a three-dimensional position / orientation sensor 42 attached to a wrist R of a person (hereinafter, referred to as an operator H) who handles the multi-finger tactile interface 10.
The three-dimensional position and orientation sensor 42 detects the position (three-dimensional spatial position) of the hand Ha of the operator H and its orientation, and wirelessly communicates the detection signal to the three-dimensional position and orientation measuring device 41.

The position of the hand Ha is the origin position Oh of the coordinate system of the hand Ha of the operator H wearing the three-dimensional position / orientation sensor 42 (hereinafter referred to as the hand coordinate system (xh, yh, zh)). Are three parameters that indicate Also, hand H
In the posture of a, the axes xh, yh, zh are the axes x0, y0, z0.
It is indicated by three Euler parameters, each of which is formed by the angle of each, and matches the posture of the hand coordinate system.

The three-dimensional position / orientation sensor 42 corresponds to the first detecting means. Upon receiving the detection signal transmitted from the three-dimensional position and orientation sensor 42, the three-dimensional position and orientation measuring device 41 performs signal processing on the signal as position data and orientation data of the hand coordinate system regarding the position and orientation of the hand Ha, Output to the control device 40.

The control device 40 comprises a CPU 40a (central processing unit), a ROM 40b and a RAM 40c. R
The OM 40b stores various control programs including a control program for controlling the multi-finger tactile interface 10. The RAM 40c serves as a work memory when the CPU 40a performs arithmetic processing, and stores various arithmetic results and detected values when a control program described later is executed.

The CPU 40a corresponds to the control means, the first control means and the second control means. Second tactile finger drive device 45
Is electrically connected to the control device 40, and based on a second tactile finger control signal from the control device 40, the first finger joint 27 including the first shaft 27a and the second shaft 27b of the second tactile finger 22. ,
And driving the second knuckle 28 having the third shaft 28a.

Similarly to the second tactile finger 22, the first tactile finger 21, the third tactile finger 23 to the fifth tactile finger 25 also have a driving device, and the first, third to third tactile fingers from the control device 40 are provided. 5 Based on the tactile finger control signal, the respective first finger joint 27 and second finger joint 28 are similarly driven. In FIG. 3, for convenience of description, the second tactile finger drive device 45 of the second tactile finger 22 is shown.
Etc. are illustrated, and the drive device, the first knuckle 27, and the second knuckle 28 relating to other tactile fingers are omitted.

The arm drive device 46 is electrically connected to the control device 40, and drives the first arm joint 16, the second arm joint 17, and the wrist joint 18 based on the arm control signal from the control device 40.

The robot controller 100 is provided to remotely control a robot having a humanoid hand (hereinafter referred to as a robot hand) by the multi-finger tactile interface 10, and communicates with the controller 40 wirelessly or by communication. Communication takes place via lines. The robot hand has five fingers and arms like a human hand. The robot controller 100 drives and controls the robot hand based on the teaching data input through the multi-finger tactile interface 10.

(Description of Control Flowchart) The operation of the multi-finger tactile interface 10 configured as described above will now be described with reference to the control flow chart shown in FIG. The flowchart is a teaching control program, which is periodically executed by the CPU 40a of the control device 40.

This control program is a control program for the work of the robot in the virtual space. This control program is for a robot with a robot hand in a virtual space,
Based on the demonstration of the operator H, the position and force of the fingertip of the robot hand are taught. During execution of this control program, the five fingers of the operator H are held by the tightening band 33 on the finger attachment portions 32 of the respective finger fixing members 30 of the first to fifth tactile fingers 21 to 25. When the operator H moves the hand Ha, a force acts on each tactile finger, and the force is detected by each of the three-axis force sensors K1 to K5.

The position and posture of the hand Ha of the operator H are detected by the three-dimensional position and posture sensor 42, and a detection signal is transmitted to the three-dimensional position and posture measuring device 41. Then, the three-dimensional position / orientation measuring device 41 performs signal processing on the signal as position data and attitude data of the hand coordinate system, and outputs the signal to the control device 40.

Further, the rotary encoder AR of the arm mechanism
E1 to ARE7 detect a rotation angle around each axis in each joint of the arm mechanism. That is, the rotary encoders ARE1 to ARE7 detect the arm joint angles q _i and output them to the control device 40.

In q _i , i = 1, ..., 7 are the first arm joint 16, the second arm joint 17, and the wrist joint 1 of the arm mechanism.
8 (active joints for arms) correspond to each axis to which 7 degrees of freedom are given. Also, each tactile finger 21-25
Rotary encoders URE1 to URE3 detect the tactile finger joint angles p _ij around each axis of each joint, and control device 4
Output to 0.

In p _ij , i is i = 1, ..., 5,
Each corresponds to the first to fifth tactile fingers 21 to 25.
Also, j is j = 1, ..., 3, and the first shaft 27a and the second shaft 2
7b and the third shaft 28a, respectively.

(Step 10 (hereinafter, step is referred to as S)) Now, when the teaching control program is started, S1
At 0, the CPU 40a (hereinafter simply referred to as CPU 40a) of the control device 40 drives and controls the arm 12 and each tactile finger so that the hand Ha of the operator H can be freely moved.

First, the CPU 40a uses the tactile finger base 20.
The position and the posture thereof are controlled so as to face the position and the posture of the hand Ha of the operator H. At the same time, CP
The U 40 a outputs an arm control signal to the arm drive device 46 to drive and control the arm unit 12 so as to be plane-symmetric with respect to the virtual plane α formed by the fingertip of the operator H.

That is, when the CPU 40a inputs the position data and posture data of the hand coordinate system regarding the position and posture of the hand Ha of the operator H from the three-dimensional position and posture measuring device 41, these data are set in the reference coordinate system. Convert to the tactile finger-based coordinate system via.

Then, in this tactile finger base coordinate system, with respect to the virtual plane α made by the fingertip of the operator H, the position and the posture of the tactile finger base 20 are opposed to the position and the posture of the hand Ha. An arm control signal is output to the arm driving device 46 so as to be plane-symmetrical, and the arm unit 12
Drive control. Then, the process proceeds to S30.

The arm portion 12, the first arm joint 16, the second
Since the arm mechanism including the arm joint 17 and the wrist joint 18 has seven degrees of freedom, this facing can always be realized within the operable range of the arm mechanism.

Here, the virtual plane α will be described. In the present embodiment, the virtual plane α is basically a plane formed by the three fingertips of the operator H, that is, the thumb, the index finger, and the middle finger. When these three fingers line up in a substantially straight line,
The plane on which the fingertip is placed is determined by the least squares method including the other fingers.

Further, in the present embodiment, the position of the fingertip of the hand Ha is determined by the finger fixing members 3 of the first to fifth tactile fingers 21 to 25.
Since it is held by the finger mounting portion 32 of 0, it is the same as the tip position (position of the finger mounting portion 32) of each tactile finger. Therefore, the CPU 40a determines the tip position (three-dimensional position) of each tactile finger required to determine the virtual plane α, the tactile finger joint angle p _{ij of} the tactile finger, the length of the tactile finger, and the arm joint angle of the arm mechanism. It is calculated based on q _i and the length of the arm mechanism.

The tactile finger joint angle p _{ij of} each tactile finger and the arm joint angle q _i of the arm mechanism are the detection values of the rotary encoders URE1 to URE3 of each tactile finger and the detection values of the rotary encoders ARE1 to ARE7 of the arm mechanism. Based on each. Further, the length of each tactile finger and the length of the arm mechanism are the length of each member constituting the tactile finger and the arm mechanism, and these values are stored in advance in the ROM 40b.
It is stored in.

(S20) In next S20, it is determined whether or not there is interference between the robot hand and the virtual object in the virtual space.

The robot controller 100, when the robot hand and the virtual object are in contact with each other in the virtual space,
An interference signal (a signal indicating the magnitude of the interference force for each finger in the robot hand and the interference direction for each finger) is output to the control device 40, and if no contact is made, no interference signal is output. There is.

Therefore, when there is no interference between the robot hand and the virtual object in the virtual space, the interference signal is not input, so the CPU 40a determines "NO" in S20 and proceeds to S30. On the other hand, if there is interference between the robot hand and the virtual object in the virtual space, the CPU 40a inputs the interference signal, and therefore the CPU 40a makes a determination of "YE" in S20.
It is determined to be "S", and the process proceeds to S40.

(S30) In S30, the CPU 40a
Three-axis directions (each three-axis force sensor K1
Force feedback control is performed on each tactile finger so that the force in the direction (K5 can be detected) becomes zero. That is, the first axis 27a and the second axis 27b of the first knuckle 27 of each tactile finger, and the third axis so that the detection values of the three-axis force sensors K1 to K5 become zero.
The drive motor of the shaft 28a is feedback-controlled.

Even during this force feedback control,
The CPU 40a calculates the tip position (three-dimensional position) of each tactile finger based on the tactile finger joint angle p _{ij of} the tactile finger, the tactile finger length, the arm joint angle q _{i of} the arm mechanism, and the arm mechanism length. .

The tip position of each tactile finger (the position of the finger mounting portion 32: three-dimensional position) obtained at this time is the target space position to be taught to the robot hand in the virtual space. Since there is no interference between the robot hand and the virtual object in the virtual space, the CPU 40a sets the force teaching data in the virtual space to zero.

After the processing of S30, the process proceeds to S50.
(S40) S40 is a process of generating an interference force between the robot hand and the virtual object. The CPU 40a senses a force on the operator H in the interference direction based on the input interference signal,
That is, in order to present the interference force, each tactile finger 21-25
Are subjected to force feedback control in the interference direction.

In addition, the movement along the plane orthogonal to the interference direction is force feedback controlled so that the tactile fingers can move freely and the force of the operator's H fingertip in that direction becomes zero. . Then, the process proceeds to S50.

Even during this force feedback control, the CPU 40a determines the tip position (three-dimensional position) of each tactile finger as the tactile finger joint angle p _{ij of} the tactile finger, the length of the tactile finger, and the arm joint angle of the arm mechanism. It is calculated based on q _i and the length of the arm mechanism.

Then, the tip position of each tactile finger (position of the finger mounting portion 32: three-dimensional position) obtained at this time becomes the target space position to be taught to the robot hand in the virtual space. Further, during the force feedback control, the force in the interference direction detected by each of the three-axis force sensors K1 to K5 of each tactile finger becomes teaching data of the force to be taught to the robot hand.

(S50) In S50, the CPU 40a outputs the target space position of the robot hand of the robot calculated in the previous S30 or S40 and the teaching data of the force to be taught to the robot hand to the robot controller 100, and this flowchart Ends once.

Therefore, in this embodiment, when there is no interference between the virtual object and the robot hand, the CPU 40a controls the arm portion 12 and the tactile finger 22 so that the hand Ha of the operator H can be freely moved. Will be.

If there is interference between the virtual object and the robot hand, the interference force can be presented to a plurality of fingers of the operator H in the movable range of the arm portion 12 in S40. Next, the operation of the passive ball joint 29 will be described.

The fingertip of the operator H is held by the finger attachment portion 32 of the finger fixing member 30 in each tactile finger, but the posture can be changed at the same fingertip position by the passive ball joint 29. This makes the connection between each tactile finger and the operator H smooth, and mechanically absorbs the difference between the size of each tactile finger interface and the size of the arm or hand Ha of the operator H.

The passive ball joint 29 is attracted by the permanent magnet 31 and held in the mounting recess 26a of each tactile finger. Therefore, when an excessive pulling force acts on the fingertip of the operator H, the passive ball joint 29 is automatically separated from the tactile finger, and the pulling force is not generated on the fingertip of the operator H.

According to this embodiment, the following operational effects are obtained. (1) In the multi-finger tactile interface 10 of the present embodiment, the first arm joint 16, the second arm joint 17, and the wrist joint 18
An arm section 12 (active arm joint), a first arm joint 16, a second arm joint 17, and a wrist joint 18 (arm mechanism) are provided. Further, the tactile finger base 20 and the finger fixing member 3 provided on the tactile finger base 20 and connecting the fingertips of the operator.
A plurality of tactile fingers including 0 (fingertip connection part) and a first finger joint 27 and a second finger joint 28 (active finger joint) that can be linked to the movement of the fingertip are provided.

The three-dimensional position / orientation sensor 42 (first detecting means) for detecting the position and orientation of the hand Ha of the operator H is provided. Further, the first arm joint 1 is detected based on the detection of the position and the posture of the hand Ha of the three-dimensional position and posture sensor 42.
6, CPU40 which controls the 2nd arm joint 17 and the wrist joint 18, and makes the tactile finger base 20 oppose the hand Ha of the operator H.
a (first control means).

Further, based on the triaxial force sensors K1 to K5 (second detecting means) for detecting the movement of the fingertip of the operator H, and the movement detection of the fingertip of the triaxial force sensors K1 to K5, the movement of the fingertip is performed. A CPU 40a (second control means) for controlling the first knuckle 27 and the second knuckle 28 is provided in conjunction with.

As a result, the multi-finger tactile interface 10 according to the present embodiment can present force sensations to a plurality of human fingertips, and the work area thereof is almost the work area of the arm mechanism.
A wide area (operation space) can be secured.

Further, the operator H feels the weight of the multi-finger tactile interface 10 and the hand Ha has the multi-finger tactile interface 1.
There is no need to feel a burden when connected to 0. In addition, since the presentation of the force to the fingertip of the operator H is not to be worn on the human hand itself, there is an effect of not causing a feeling of strangeness.

(2) In this embodiment, the CPU 40a
Are three-axis force sensors K1 to K5 (multi-axis force sensors) provided on each tactile finger, and the CPU 40a controls the force applied to the fingertips of the operator by force feedback control (S30, S40). ).

As a result, it is possible to preferably not give the interference force to the fingertip of the operator H, or to give the interference force. (3) In the present embodiment, the CPU 40a is configured to perform force feedback control so that the force applied to the fingertip of the operator H becomes zero.

As a result, when there is no interference between the robot hand and the virtual object, the operator H's hand H
The freedom of a is no longer bound. (4) In this embodiment, the arm unit 12 and the tactile finger base 20 (that is, the arm mechanism) have seven degrees of freedom by the first arm joint 16, the second arm joint 17, and the wrist joint 18 (active joints for arms). To have freedom of movement.

As a result, the position and the posture of the tactile finger base 20 are set so as to oppose the position and the posture of the hand Ha.
When driving and controlling the arm portion 12 so as to be plane symmetric with respect to the virtual plane α formed by the fingertip of the operator H, this facing can be always realized within the operable range of the arm mechanism.

(5) In this embodiment, each tactile finger has the first
3 by knuckle 27 and second knuckle 28 (active finger joint)
It has a degree of freedom of movement. As a result,
Multi-finger tactile interface with 3 freedoms for each tactile finger 1
Even with 0, the effects of the above (1) to (4) can be realized.

(6) In this embodiment, the finger fixing member 30
The (fingertip connection part) was provided on the tip side of the tactile finger. For example,
If the finger fixing member 30 is provided on the proximal end side of the tactile finger, the operator H's finger may interfere with the tip of the tactile finger. Since there is nothing that interferes with the movement, the fingertip can be easily connected to the finger fixing member.

(7) In this embodiment, the finger fixing member 30
Is a passive ball joint 2 that is rotatably provided on the tip side of the tactile finger.
9 and a finger attachment part 32 provided on the passive ball joint 29 for connecting the fingertip of the operator H.

As a result, the passive ball joint 29 can change its posture at the same fingertip position, the connection between each tactile finger and the operator H becomes smooth, and the size of the tactile finger interface and the arm or hand of the operator H can be changed. Differences in Ha size can be absorbed mechanistically.

(8) In this embodiment, the finger fixing member 30.
Is equipped with a permanent magnet 31 (adsorption means) that adsorbs and holds the passive ball joint 29. As a result, when the passive ball joint 29 is attracted (sucked) to the finger fixing member 30 by the permanent magnet 31 and is held, and when an excessive pulling force acts on the fingertip of the operator H, the passive ball joint 29 is automatically tactilely sensed. The operator H separates from the finger, and no pulling force is generated on the fingertip of the operator H.

(9) In this embodiment, the permanent magnet 31
Is a magnetic force generating means for attracting and holding the passive ball joint 29 by magnetic force. As a result, passive ball joint 2
The action and effect of the above (8) can be realized by using 9 as a magnetic force.

(10) In the control method of the present embodiment, the operator H with respect to the virtual plane α formed by the fingertip of the operator H based on the detection result of the position and posture of the hand Ha of the operator H.
Of the tactile finger base 20 at a position symmetrical with the position of the hand Ha of the user
The first arm joint 16, the second arm joint 17, and the wrist joint 18 (active arm joints) were controlled so as to position. Then, the tactile finger base 20 is made to face the hand Ha of the operator H.

As a result, the tactile finger base 20 can be suitably opposed to a position that is plane-symmetrical to the position of the hand Ha with respect to the virtual plane α formed by the fingertip of the operator H. (11) In the control method according to the present embodiment, the multi-finger tactile interface 10 includes a three-dimensional position / orientation sensor 42 (first detection unit) that detects the position and orientation of the hand Ha of the operator H. The tactile finger base 20 is detected by using the detection result of the position and the posture of the hand Ha by the position and posture sensor 42.
To control the position of.

As a result, by using the detection result of the three-dimensional position and orientation sensor 42, the function and effect of (10) above can be realized. (12) In the control method according to the present embodiment, the multi-finger tactile interface 10 includes the triaxial force sensors K1 to K5 (second detection means) that detect movement of the fingertip of the operator H.
Further, the first finger joint 27 and the second finger joint 28 (active finger joints) are controlled in association with the movement of the fingertips based on the detection of the fingertip movements of the three-axis force sensors K1 to K5.

As a result, the action and effect of the above (10) can be realized by using the detection results of the triaxial force sensors K1 to K5. (Second Embodiment) Next, a second embodiment will be described with reference to FIG. In addition, in the embodiments described below including the present embodiment, the same configurations as those of the first embodiment will be described.
The same reference numerals are given, the description is omitted, and different points will be mainly described.

The second embodiment is different in that an electromagnet 50 is provided instead of the permanent magnet 31. The electromagnet 50 corresponds to an attraction means and a magnetic force generation means. Further, in the present embodiment, the CPU 40a uses the electromagnet 5
It is possible to control the drive circuit that supplies the exciting current of the coil of 0. That is, an external input device (not shown)
CP based on the signal (external signal) input by the operation of
The U 40a controls the drive circuit to adjust the magnetic force of the electromagnet 50 so that the suction holding force of the passive ball joint 29 to the finger fixing member 30 can be changed.

The input signal from the external input device corresponds to the external signal, and the CPU 40a corresponds to the magnetic force control means. In this embodiment, (1) to (12) of the first embodiment.
In addition to the above effect, the operator H can adjust the limit of the pulling force generated at the fingertips of the operator H according to the age of the operator H such as male or female, or the operator H. Therefore, the safer multi-finger tactile interface 10 can be provided.

(Third Embodiment) Next, a third embodiment will be described with reference to FIG.
Will be described with reference to. In the present embodiment, the three-dimensional position and orientation measuring device 41 and the three-dimensional position and orientation sensor 42 are omitted in the configuration of the first embodiment. Instead of this, in the hand Ha of the operator H, the transmitters 55a to 55c of the three ultrasonic distance sensors are mounted as targets at different predetermined positions. The transmitter 5
The coordinate positions of the hand coordinate system of 5a to 55c are previously stored in the ROM4.
It is stored in 0b.

Further, the tactile finger base 20 is provided with a receiving portion 56 of an ultrasonic distance sensor. The receiving unit 56
The coordinate position of the haptic finger-based coordinate system is stored in the ROM 40b in advance. The receiving unit 56 includes the transmitting units 55a to 55.
It is for receiving the ultrasonic wave transmitted from c and measuring the distance between the tactile finger base 20 and each target (predetermined part of the hand Ha).

The CPU 40a of the control device 40 has the receiving unit 5
The position and the posture of the hand Ha of the operator H are calculated based on three coordinate measurement values from 6 to each target, the coordinate positions of the transmitters 55a to 55c, and the receiver 56.

Then, based on the calculated position and posture data of the hand Ha, the CPU 4 is operated in the same manner as in the first embodiment.
0a is designed to drive and control the arm portion 12 and each tactile finger.

In this embodiment, the receiver 56 of the ultrasonic distance sensor and the CPU 40a correspond to the first detecting means.
That is, the receiving unit 56 causes the transmitting unit 55a on the hand Ha side.
A distance measurement value (a value obtained by measuring the position of the hand) of 55c is obtained.

The ultrasonic distance sensor used in this embodiment is lower in cost than the three-dimensional position and orientation measuring device 41 and the three-dimensional position and orientation sensor 42. Therefore, as compared with the first embodiment, the system can be configured by the multi-finger tactile interface 10 alone, and the system can be a simple system, which is advantageous in that it does not cost much.

(Fourth Embodiment) Next, a fourth embodiment will be described with reference to FIGS. In the fourth embodiment, as shown in FIGS. 7 and 8, in the hardware configuration of the first embodiment, 3
Dimensional position and orientation measuring device 41 and three-dimensional position and orientation sensor 4
The difference is that 2 is omitted. For this reason,
The same reference numerals are attached to the same or corresponding configurations as those of the first embodiment.

Further, the fourth embodiment is different in that the CPU 40a executes the control program shown in FIG. 9 at every predetermined control cycle. The CPU 40a is a control unit, the first
It corresponds to the calculating means and the second calculating means.

The control program will be described below with reference to FIG. Also in the fourth embodiment, as in the first embodiment, when there is a contact between the robot hand and the virtual object in the virtual space, an interference signal (interference for each finger in the robot hand is generated from the robot controller 100. A signal indicating the magnitude of force and the interference direction of each finger is input. Further, when the robot hand and the virtual object are not in contact with each other in the virtual space, the interference signal is not input from the robot control device 100.

(S110) When this control program is started, in S110, based on the interference signal input from the robot controller 100, the interference force generated in the virtual space is applied to the target force F at the fingertip of the operator H. _di (i = 1, ..., 5)
Calculate as. When there is no interference, the robot controller 100 calculates the target force F _di (i = 1, ..., 5) as 0. Note that i = 1, ..., 5 correspond to the first tactile finger 21 to the fifth tactile finger 25, respectively.

(S120) In S120, the CPU 40a
Is the force F _i acting on each tactile finger by the fingertip of the operator H.
(I = 1, ..., 5) is detected based on the detection values (detection signals) from the three-axis force sensors K1 to K5. Note that i
= 1, ..., 5 correspond to the first to fifth tactile fingers 21 to 25, respectively.

(S130) In S130, each tactile finger 21
.. to 25 rotary encoders URE1 to URE3, the CPU 40a detects each tactile finger 2
Tactile knuckle joint angles p _ij (i = 1, ..., 5, j = 1) around the first axis 27a to the third axis 28a in the first to second knuckles 27 and 28 of Nos. 1 to 25. , ..., 3) are detected.

The rotary encoders URE1 to URE
Reference numeral 3 corresponds to a tactile finger joint angle detecting means. (S140) In S140, based on the detection values (detection signals) of the rotary encoders ARE1 to ARE7 of the arm mechanism, the CPU 40a causes the rotation angle of each joint about each axis, that is, the arm joint angle q _i (i = 1, 1). … 、
7) is detected.

The rotary encoders ARE1 to ARE
Reference numeral 7 corresponds to an arm joint angle detecting means. (S150) In S150, the CPU 40a calculates the Jacobian matrix J _i (i = 1, ..., 5) based on the tactile finger joint angle p _ij and the arm joint angle q _i . The Jacobian matrix is a so-called kinematic Jacobian matrix.

The Jacobian matrix J _i (i = 1, ..., 5) is a Jacobian matrix derived from the kinematic relationship from the tip of the i-th tactile finger to the base 11 of the arm mechanism. In this embodiment, the Jacobian matrix J _i has a size of 6 × 10. The “6” is the sum of the number of parameters of the position (3) of the tactile finger and the posture (3), and the “10” is the sum of the degree of freedom of the arm (7) and the degree of freedom of the tactile finger (3). is there. The degree of freedom of the arm corresponds to the number of axes of each joint in the arm mechanism (the number of axes), and the degree of freedom of the tactile finger corresponds to the number of axes of the finger joint in the tactile finger (the number of axes).

The position of the tactile finger is indicated by three parameters indicating the position of the tactile finger in the tactile finger base coordinate system. In addition, the posture of the tactile finger has axes xm, ym, zm
It is represented by three Euler parameters each of which is an angle formed by 0, y0, and z0.

(S160) In S160, the CPU 40a
Calculates the gravity compensation term g _i (i = 1, ..., 5).
The gravity compensation term g _i is obtained by allocating the gravity of the arm mechanism and the entire tactile finger with respect to one tactile finger.
Note that i = 1, ..., 5 correspond to the first to fifth tactile fingers 21 to 25, respectively.

(S170) In S170, in S110
Through S150, control input c of the tactile finger by force control (force feedback control) based on the value detected or calculated
The calculation of _i is performed by the equation (2).

For the force F _i acting on the i-th (i = 1, ..., 5) tactile finger and the target force F _di , the i-th tactile finger (first finger joint 27 of the first finger joint 27) The control inputs of the drive motors for the shaft 27a and the second shaft 27b, and the drive motor for the third shaft 28a of the second finger joint 28) are a _i . Further, an arm joint (that is, a first arm joint 16, a second arm joint 17, a wrist joint 1) that produces a force at the fingertip of the i-th tactile finger (tip of the tactile finger).
The control input of the drive motor according to No. 8 is b _i . In addition,
a _i and b _i are vectors.

C _i becomes a proportional-plus-integral control input to the tactile finger joint and the arm joint due to a force error at the fingertip of the tactile finger (tip of the tactile finger) when focusing on the i-th tactile finger. That is, when c _i = (a _i ^T , b _i ^T ) ^T ,

[0129]

[Equation 1] Is.

Note that T represents a transposed matrix. Also, K
₁ and K ₂ are feedback gain matrices for proportional and integral force errors, respectively, which are stored in the ROM 40b in advance. (S180) In S180, the calculation of the control input b of the arm mechanism by the force control (force feedback control) is calculated by the equation (2).
Will be done at.

[0131]

[Equation 2] That is, as shown in equation (2), the arm control input b
Is obtained by adding the inputs of the proportional-integral control of the force error at the fingertip of each tactile finger (tip of the tactile finger).

(S190) In S190, the CPU 40a
Calculates the tip position (three-dimensional position) of each tactile finger based on the tactile finger joint angle p _{ij of} the tactile finger, the length of the tactile finger, the arm joint angle q _{i of} the arm mechanism, and the arm mechanism length.

Then, the tip position of each tactile finger (position of the finger mounting portion 32: three-dimensional position) obtained at this time becomes the target space position to be taught to the robot hand in the virtual space. Further, at the time of control, the three-axis force sensors K1 to K of each tactile finger are
The force in the interference direction detected in 5 serves as teaching data of the force to be taught to the robot hand.

(S200) In S200, the CPU 40a
Is the control input a calculated in S170 and S180. _ias well as
The control input b is set to a driving device (for example, the first device) in each tactile finger.
The second tactile finger 22 has a second tactile finger drive device 45) and an arm.
Output to the drive device 46. Also, the CPU 40a is a virtual space
The target space position of the robot hand in
Data of the force to be taught to the robot hand
Output to the device 100 and the flow chart of this control program
To finish once.

The drive device and arm drive device 46 for each tactile finger, based on the control input a _i and the control input b,
The drive motors of the tactile fingers and the drive motors of the joints of the arm mechanism are driven.

As a result, when there is no interference between the robot hand (not shown) and the virtual object in the virtual space, the operator H can freely move his / her hand and each tactile finger and the tactile finger base 20.
Are controlled by the controller 40. At this time, in the position and orientation of the tactile finger base 20 and the tactile finger, the force F _i (i = 1, ..., 5) generated at the fingertip becomes zero, that is,
With the target force F _di (i = 1, ..., 5) set to 0, proportional-integral control of the force error is performed using the kinematic Jacobian matrix J _i (i = 1, ..., 5).

On the other hand, when there is interference between the robot hand (not shown) and the virtual object in the virtual space, the interference force generated in the virtual space is set as the target force F _di at the fingertip of the operator H, and the kinematics is set. Using the Jacobian matrix J _i (i = 1, ..., 5), each tactile finger and the tactile finger base 20 are subjected to proportional-integral control of the force error by the control device 40.

In this way, the target force is presented to the operator's fingertip by this control input. According to 4th Embodiment, there exists the following effects.

(1) The multi-finger tactile interface 10 of the fourth embodiment is different from the first embodiment in that the three-dimensional position and orientation measuring device 41 and the three-dimensional position and orientation sensor 42 are omitted. Form (1) ~ (3),
The same effects as (5) and (6) to (9) are achieved.

(2) Furthermore, since the three-dimensional position / orientation measuring device 41 and the three-dimensional position / orientation sensor 42 are omitted, the tactile interface control system can be constructed at low cost.

(Fifth Embodiment) Next, a fifth embodiment will be described with reference to FIG. Although the fifth embodiment has the same hardware configuration as that of the fourth embodiment, only the control program executed by the CPU 40a is different. Therefore, the same reference numerals are given to the same or corresponding configurations as the fourth embodiment. Attach.

FIG. 10 is a flow chart of a control program executed by the CPU 40a of the multi-finger tactile interface 10 of the fifth embodiment in a predetermined control cycle. Note that, in FIG. 10, S110 to S180 are the same processing as that of the fourth embodiment, and therefore description thereof will be omitted.

When this control program is started, S1
After the processes of 10 to S180, the process proceeds to S300. S30
0 to S340 are loop processing. In detail, S30
0 to S340 include a first loop and a second loop.
The loop starting point of the loop name is the first loop is S300,
The loop end is S340. Further, the loop start end of the second loop is S310, and the loop end is S3.
Thirty.

In the first loop, with respect to the tactile finger joint angle p _ij , S300 to S340 until i = 1, ...
The above process is repeated. That is, the determination of S320 is repeated for each of the first to fifth tactile fingers 21 to 25. In the second loop, the processes of S310 to S330 are repeated until j = 1, ..., 3 for the tactile knuckle joint angle p _ij .

As a result, the CPU 40a executes the following S320.
The process of is repeated. In S320, it is determined whether or not the tactile knuckle joint angle p _ij of the tactile finger is (L _ij ) cw <p _ij <(L _ij ) ccw ... (First determination condition). Note that i takes a numerical value of i = 1, ..., 5 and corresponds to the first tactile finger 21 to the fifth tactile finger 25, respectively. Further, j takes a numerical value of j = 1, ..., 3 and represents the first axis 27a, second axis 27b, and
It corresponds to the third shaft 28a.

Here, (L _ij ) cw is the rotation angle around the first axis 27a, the second axis 27b, and the third axis 28a of each tactile finger that is allowed to rotate in the clockwise direction. It is a threshold. This threshold is the maximum rotation angle (L _ij ) around each axis in each knuckle that is allowed to rotate in the clockwise direction.
against cwmax, there is a _{(L ij) cwmax <(L} ij) cw. The difference between the threshold (L _ij ) cw and the maximum rotation angle (L _ij ) cwmax is preferably in the range of several degrees.

(L _ij ) ccw is the first axis 2 of each tactile finger.
7a, the second shaft 27b, and the third shaft 28a is a threshold value of a rotation angle that allows rotation in the counterclockwise direction. This threshold is the maximum rotation angle (L) around each axis in each finger joint that is allowed to rotate in the counterclockwise direction.
against _{ij) ccwmax,} there is a _{(L ij) cw <(L} ij) ccwmax. Threshold (L _ij ) ccw and maximum rotation angle (L _ij ) c
The difference from cwmax is preferably in the range of several degrees.

During the first loop process and the second loop process, when all the tactile finger joint angles p _ij satisfy the first determination condition in the determination process of S320, S35
The process proceeds to S400 without shifting to 0.

[0149] The First the loop processing and the second loop process, if there is a tactile finger joint angle p _ij does not satisfy the first judgment condition of S320 is tactile finger joint angle p _ij which does not satisfy the first judgment condition The process of S350 is performed on the axes (first axis 27a, second axis 27b, third axis 28a) of the knuckle in the tactile finger concerned.

In S350, the CPU 40a causes the knuckle axes (first axis 27a, second axis 27) that do not satisfy the first determination condition.
b, stop rotation about the third axis 28a), ie,
Based on the tactile knuckle joint angle p _ij of the tactile finger, the control input a _ij of "position proportional differential integral control" is calculated so as to hold the current position. Control input a _{i j} calculated at this time
The (position control input) is stored in the RAM 40c. Here, the control input a _ij is the j-th element of the control input of the i-th tactile finger, and has a relationship of a _i = (a _i1, a _i2, a _i3 ) ^T.

This is because it is not preferable to drive the knuckle so as to move further from the current position toward the limit direction of the movable range of the knuckle. As a result, the first
A control input exceeding the limit of the movable range around the axis of the finger joint that does not satisfy the determination condition will not be output.

After the first loop and the second loop processing are performed, the third loop processing of S400 to S430 is performed. The loop start end of the third loop is S400, and the loop end is S420.

In the third loop, for the arm joint angles q _i on each axis of each joint of the arm mechanism, i = 1, ...,
The processes of S400 to S420 are repeated until the number becomes 7. As a result, the CPU 40a repeats the process of S410. Here, i = 1, ..., 7 corresponds to each axis that gives 7 degrees of freedom in the first arm joint 16, the second arm joint 17, and the wrist joint 18 (active arm joint) of the arm mechanism. It is a thing.

In S410, it is determined whether or not the arm joint angle q _i of the arm mechanism is (M _i ) cw <q _i <(M _i ) ccw (second determination condition).

Here, (M _i ) cw is a threshold value of a rotation angle around which each axis of each joint of the arm mechanism is allowed to rotate in the clockwise direction. This threshold value is (M _i ) cwmax <(M _i ) cw with respect to the maximum rotation angle (M _i ) cwmax around each axis in each joint of the arm mechanism that is allowed to rotate in the clockwise direction. It is said that. The difference between the threshold (M _i ) cw and the maximum rotation angle (M _i ) cwmax is preferably in the range of several degrees.

Further, (M _i ) ccw is a threshold value of the rotation angle around which each axis of each joint of the arm mechanism is allowed to rotate in the counterclockwise direction. This threshold value is (M _i ) cw with respect to the maximum rotation angle (M _i ) ccwmax around each axis in each joint that is allowed to rotate in the counterclockwise direction.
<(M _i ) ccwmax. The difference between the threshold value (M _i ) ccw and the maximum rotation angle (M _i ) ccwmax is preferably in the range of several degrees.

Also, while performing the third loop processing, S
In the determination processing of 410, when all the arm joint angles q _i satisfy the second determination condition, the process proceeds to S190 without proceeding to S430.

During the execution of the third loop processing, S
An arm joint angle q _i that does not satisfy the second determination condition of 410
If there is, the process of S430 is performed with respect to the axis of the joint in the relevant arm mechanism regarding the arm joint angle q _i that does not satisfy the second determination condition. The axes of the joints in the arm mechanism are the axes x0, y0, z0 of the first arm joint 16, the axis m of the second arm joint 17, and the axes xm, ym, zm of the wrist joint 18.

Then, in S430, the CPU 40a stops and holds the rotation around the axis that does not satisfy the second determination condition,
That is, the control input d _i of “proportional differential integration control of position” is calculated so as to hold the current position based on the arm joint angle q _i at each joint of the arm mechanism. Here, d _i is the control input of the i-th joint of the arm, and b =
There is a relationship of (d ₁ , d ₂ , ..., D ₇ ) ^T. The control input b is calculated by the calculation of d _i .

The control inputs d _i , b calculated at this time are R
Store in AM40c. This is because it is not preferable to drive the joint from the current position toward the limit direction of the movable range of the joint.

As a result, the control input exceeding the limit of the movable range around the axis of the joint of the arm mechanism that does not satisfy the second determination condition will not be output. When this loop process ends, the process moves to S190.

In S190, the CPU 40a performs the same processing as in the fourth embodiment. In S200, the CPU 40
a is a drive device for each tactile finger (for example, the second tactile finger drive device 45 is the second tactile finger drive device 45) and arm drive device for the control input a _i and the control input b calculated in S170, S180, S350, and S430. Output to 46.

That is, the tactile knuckle joint angle p _{ij of} each tactile finger
All satisfy the first determination condition of S320, and all the arm joint angles q _i of the arm mechanism satisfy the second determination condition of S410, the CPU 40a determines that the CPU 40a is S170, S1.
The control input a _i and the control input b calculated in 80 are output to the drive device for each tactile finger and the arm drive device 46.

On the other hand, if there is a tactile knuckle joint angle p _ij that does not satisfy the first determination condition of S320, the CPU 40a outputs the control input a _i calculated in S350 for the knuckle joint axis of the tactile knuckle joint angle p _ij. Then, for the axis of the knuckle that satisfies the first determination condition, the control input a _ij calculated in S170 is output.

In addition, the second judgment condition of S410 is satisfied.
No arm mechanism arm joint angle q _iIf there is a CP
U40a is the control input d calculated in S430_iOutput
It At the same time, in S200, the CPU 40a enters the virtual space.
The target space position of the robot hand and the robot
The robot controller uses the teaching data of the force to be taught to the hand.
Output to 100, flow chart of this control program
Ends once.

According to the fifth embodiment, the following operational effects are obtained in addition to the operational effects of the fourth embodiment. (1) Multi-finger tactile interface 10 of the fifth embodiment
Is the haptic knuckle angle pij for the haptic finger is (L _ij ) cw
When <p _ij <(L _ij ) ccw is not satisfied, that is, when any finger joint (active joint) of the tactile finger is near the limit of the movable range, the joint is not driven in the limit direction. That is, when one of the finger joints (active joints) of the tactile finger is located in the limit direction beyond the threshold value within the limit of the movable range, the joint is not driven in the limit direction.

As described above, the control input exceeding the limit of the movable range of the finger joint of the tactile finger is not output.
If there is a control input exceeding the limit of the movable range, an overload is applied to the drive motor of the finger joint of the tactile finger, which may damage the drive motor. However, in the present embodiment, the finger joint is not shown. The drive motor is not overloaded.

(2) In the multi-finger tactile interface 10 of the fifth embodiment, the arm joint angle q _i of the arm mechanism is
(M _i) cw <is not satisfied _{q i <(M i) ccw} , i.e., if any of the joints in the arm mechanism is the limit vicinity of the movable range, and the structure that does not drive the joints to the limit direction. That is, when any joint (active joint) in the arm mechanism is located in the limit direction beyond a threshold value within the limit of the movable range, the joint is not driven in the limit direction.

As described above, the control input exceeding the limit of the movable range of the joint of the arm mechanism is not output. If there is a control input exceeding the limit of the movable range, an overload is applied to the drive motors of the joints of the arm mechanism, which may damage the drive motors. The drive motor (not shown) is not overloaded.

(Sixth Embodiment) Next, a sixth embodiment will be described with reference to FIG. The sixth embodiment has the same hardware configuration as that of the fifth embodiment, but the control program executed by the CPU 40a at predetermined intervals is different. Therefore, the same components as those of the fifth embodiment or the corresponding components are designated by the same reference numerals.

FIG. 11 is a flowchart of a control program executed by the CPU 40a of the multi-finger tactile interface 10 of the sixth embodiment in a predetermined control cycle. In the flowchart of the control program shown in FIG. 11, S11
Since 0 to S180 are the same processes as those in the flowchart of the fifth embodiment, description thereof will be omitted, and different points of the flowchart will be mainly described.

When this control program is started, S1
After the processes of 10 to S180, the process proceeds to S300. 6th real
In the embodiment, S300 to S340 are the fifth embodiment.
The first loop processing and the second loop processing are the same as the above. S
At 320, the haptic finger joint angle p that does not satisfy the first determination condition
_ijIf there is, the CPU 40a determines the first determination condition in S350.
In order to stop the rotation around the axis of the knuckle that does not satisfy,
Tactile knuckle angle p of the tactile finger_ijThe current position based on
Control input of "proportional differential integral control of position" to hold
a _iIs calculated. Control input a calculated at this time
_ijThe (position control input) is stored in the RAM 40c.

Then, the process goes out of the first loop process and the second loop process and moves to S190. Further, during the first loop processing and the second loop processing, in the determination processing of S320, the first determination condition is that all tactile finger joint angles p _ij
When is satisfied, S50 is performed without shifting to S350.
Move to 0.

(S500) In S500, the control input b of the arm mechanism is calculated by position control. That is, C
The PU 40a calculates the control input b of the arm mechanism by "proportional differential integration control of position" for holding the current position of each joint of the arm mechanism. Then, the process proceeds to S190.

As described above, in the loop processing of S300 to S340, all tactile knuckle joint angles p _ij of all tactile fingers are S.
When the first determination condition of 320 is satisfied, that is, when all the finger joints are within the movable range, the CPU 40a causes the CPU 40a to execute S50.
The control input b for holding the current position of each joint of the arm mechanism calculated by 0 is output in S200. At the same time,
In S200, the CPU 40a outputs the control input a _i calculated in S170 to the drive device for each tactile finger.

As a result, the arm mechanism holds the current position by the "proportional differential integration control of position" for holding the current position. At this time, each joint of the tactile finger is force-controlled by the control input a _ij calculated in S170.

According to the above control program, S30
In the loop processing of 0 to S340, the tactile finger joint angle p
_{If ij} does not satisfy the first determination condition of S320 (axis), the CPU 40a outputs the control input b of the arm mechanism by the force control calculated in S180 in S200.
At the same time, in S200, the CPU 40a outputs the control input a _i calculated in S350 for the axis of the knuckle whose tactile knuckle angle p _ij does not satisfy the first determination condition of S320. Regarding the knuckle axis whose tactile knuckle angle p _ij satisfies the first determination condition of S320, S170
The control input a _ij calculated in step 1 is output to the drive device for each tactile finger.

As a result, each joint of the arm mechanism is driven by force control. Further, of the finger joints of the tactile fingers, those for which the tactile finger joint angles p _ij do not satisfy the first determination condition of S320 are subjected to the "position proportional-derivative integration control" for holding the current position by the current position. Hold. Among the knuckles of the tactile finger, the drive motor is driven by force control when the tactile knuckle angle p _ij satisfies the first determination condition of S320.

Therefore, in the sixth embodiment, the following operational effects are obtained.
Play the fruit. (1) In the sixth embodiment, all joints of the arm mechanism are
Tactile knuckle angle p _ijSatisfies the first determination condition of S320
And at least one tactile knuckle angle p_ijIs S
If the first judgment condition of 320 is not satisfied,
Proportional and integral control of the difference
"Differential integration control" is switched.

As a result, in the case of a slight change in the position of the fingertip of the tactile finger, the joints of the arm mechanism hardly move, only the knuckles of the tactile finger move, giving the operator H a sense of security, The power consumption of the entire system of the haptic interface 10 is also reduced.

(2) According to the sixth embodiment, there are the following operational effects. That is, in the proportional-plus-integral control of the force error of the fourth embodiment, both the tactile finger and the arm mechanism move simultaneously even if the force of the operator's H fingertip is small. Since the tactile finger has three degrees of freedom, the fingertip of the tactile finger (tip of the tactile finger) can be spatially positioned at an arbitrary point.

On the other hand, in the control program of the sixth embodiment, if it is within the movable range of the knuckle of the tactile finger, the fingertip of the tactile finger (the tip of the tactile finger) is moved only by the movement of the finger joint.
The target force F _di can be generated only by using.

(Seventh Embodiment) Next, a seventh embodiment will be described with reference to FIGS. In the seventh embodiment,
The hardware configuration is the same as that of the fourth embodiment, but the CPU 4
0a differs in the control program executed every predetermined period. Therefore, the same reference numerals are given to the same or corresponding configurations as those of the fourth embodiment.

FIG. 12 is a flow chart of a control program executed by the CPU 40a of the multi-finger tactile interface 10 of the seventh embodiment in a predetermined control cycle. In the flowchart of the control program shown in FIG. 12, S110 to S
Since 140 is the same process as the flowchart of the fifth embodiment, the description thereof will be omitted, and different points of the flowchart will be mainly described.

When this control program is started, S1
After the processes of 10 to S140, the process proceeds to S600. (S6
00) In S600, the target arm joint angle that maximizes the operability of the hand 13 is calculated. FIG. 13 shows S60.
It is a flow chart which shows details of processing of 0.

(S610) In S610, in order to calculate the Jacobian matrix J _hi (i = 1, ..., 5) of the tactile finger and to evaluate the operability of the hand 13, the operability evaluation function PI (hereinafter, An evaluation function PI) is calculated.

The Jacobian matrix J _hi (i = 1, ..., 5)
Is a Jacobian matrix derived from the kinematic relationship from the tip of the i-th tactile finger to the tactile finger base 20. In this embodiment, the Jacobian matrix J _hi has a size of 3 × 3.
The former “3” is the number of parameters of the position of the tactile finger, and the latter “3” is the number of joints of the tactile finger.

In this case, the Jacobian matrix J _hi is obtained as a function of the arm joint angle. Therefore, its determinant | J _hi |
Is a function of arm joint angle. The position of the tactile finger is indicated by three parameters indicating the position of the tactile finger in the tactile finger base coordinate system. Also, the posture of the tactile finger is the axis xm,
The axes of ym and zm are indicated by three Euler parameters, which are the angles formed by the axes x0, y0, and z0.

The evaluation function PI is

[0190]

[Equation 3] Is. Here, the w _i is a weighting coefficient.

(S620) After the processing of S610, S620
~ The fourth loop processing of S650 is performed. The loop start end of the fourth loop is S620, and the loop end is S650. In the fourth loop, for equation (4), i = 1, ...,
The processes of S620 to S650 are repeated until N is reached. Note that N is a predetermined number of times set in advance.

As a result, the CPU 40a determines S630 and S630.
The process of 640 is repeated N times. (S630) In S630, a target arm joint angle that maximizes the evaluation function PI is searched for by using a known steepest descent method. The evaluation function P
Maximizing I means maximizing manipulability.

In the steepest descent method according to this embodiment, first, an appropriate initial value (initial parameter) as a target arm joint angle is started, and the value (parameter) is changed, and updating is repeated. This is a method of obtaining a target arm joint angle).

(S640) In S640, the value (PI _k ) of the evaluation function PI obtained by substituting the value (parameter) before update into the evaluation function PI in S630 and the value (parameter) after update are set. It is determined whether or not the difference (the amount of change in the evaluation function PI) from the value (PI _{k + 1} ) of the evaluation function PI obtained by substituting the evaluation function PI is equal to or less than a predetermined threshold value e. The threshold value e is stored in the ROM 40b in advance. Note that k indicates any number of times.

In step S640, the RAM in which the amount of change in the evaluation function PI is less than or equal to the threshold value e is set as the target arm joint angle candidate in the RAM
It stores in 40c. (S700) When the loop processing is finished, in S700, the candidate of the target arm angle obtained in S640 is low-pass filtered.

The reason why this processing is necessary is as follows. When the position and posture of the tactile finger base 20 (arm joint angle of the arm mechanism) are obtained so that the operability of the hand 13 is maximized, the arm mechanism may largely move according to the movement of the tactile finger. In this case, the energy consumption of the control system that controls the arm mechanism increases, and the operator H may be anxious. Therefore, a low-pass filter process is performed to suppress a rapid change in the arm joint angle for the purpose of preventing the arm mechanism from moving largely.

(S710) In S710, the CPU 40a
Calculates the gravity compensation term g _hi (i = 1, ..., 5).
The gravity compensation term g _hi is obtained by allocating the gravity of the entire tactile finger with respect to one tactile finger. Note that i = 1,
, 5 correspond to the first tactile finger 21 to the fifth tactile finger 25, respectively.

(S720) In S720, the control input b of the arm mechanism is calculated by position control so that this target arm joint angle becomes the target arm joint angle that has been low-pass filtered in S700. After this, S
Move to 730.

(S730) In S730, the Jacobian matrix J _hi (i = 1, ..., 5) of the tactile finger is calculated (for the Jacobian matrix J _hi (i = 1, ..., 5), refer to S610 above. ).

(S740) In S740, the control input a _i of the tactile finger by force control is calculated based on the following equation (4).

[0201]

[Equation 4] Here, T represents a transposed matrix. Further, K ₃ and K ₄ are feedback gain matrices for proportional and integral force errors, respectively, which are stored in the ROM 40b in advance. g _hi is a gravity compensation term for compensating for the gravity of the tactile finger. The CPU 40a uses the gravity compensation term g _hi (i =
The calculation of 1, ..., 5) is also performed. The gravity compensation term g _hi is obtained by allocating the gravity of the entire tactile finger with respect to one tactile finger. It should be noted that i = 1, ..., 5 here correspond to the first to fifth tactile fingers 21 to 25, respectively.

(S190 and S200) In S190,
The CPU 40a performs the same processing as in the fourth embodiment. or,
In S200, the CPU 40a determines S740 and S720.
The control input a _i and the control input b calculated in step 3 are output to the drive device for each tactile finger (for example, the second tactile finger drive device 45 for the second tactile finger 22) and the arm drive device 46.

As a result, the positions of the joints of the arm mechanism are controlled, and the target position / orientation rd of the tactile finger base 20 maximizes the operability of the hand 13 while maintaining the current tip position of the tactile finger. Controlled to be.

The maximum provisional operability means that the tactile finger can most easily follow the movement or the operation force of the operator's fingertip or output a large operation force. According to the seventh embodiment, the following operational effects are exhibited.

(1) In the seventh embodiment, since the control input b of the arm mechanism by position control is calculated in S720, the position and orientation of the tactile finger base 20 is position controlled.
In this position control, the target arm joint angle that maximizes the operability of the hand 13 is calculated (S600), and the position of the tactile finger base 20 is controlled based on this target arm joint angle.

Further, in S740, the tactile finger applies the force F _i (i = i = _i ) acting on the tip of the tactile finger (tip of the tactile finger).
1, ..., 5) is controlled to be the target force F _di by proportional-integral control of the force error using the kinematic Jacobian matrix J _hi (i = 1, ..., 5) of the tactile finger.

As a result, the positions of the joints of the arm mechanism are controlled, and the target position / orientation rd of the tactile finger base 20 maximizes the operability of the hand 13 while maintaining the current tip position of the tactile finger. Controlled to be.

The embodiment of the present invention can be modified as follows in addition to the above embodiment. (1) In each of the above embodiments, the arm mechanism including the arm portion 12, the first arm joint 16, the second arm joint 17, and the wrist joint 18 has seven degrees of freedom. It may be omitted to have 6 degrees of freedom. That is,
In the coordinate system, since there are three parameters indicating the origin position of three orthogonal axes and three parameters indicating the rotation angle around each axis, it is sufficient if there are six degrees of freedom corresponding to each parameter.

(2) Further, the arm mechanism of each of the above embodiments may of course have eight or more degrees of freedom. (3) In the third embodiment, the three transmitters 55a to 55c are provided as targets, but the transmitter may be one and the receiver 56 may be three.

Each receiver 56 corresponds to a distance sensor.
Further, in the third embodiment, the transmitters 55a to 55c are provided on the hand Ha side and the receiver 56 is provided on the tactile finger base 20, but they may be provided opposite to each other.

In this case as well, the receiver 56 corresponds to the distance sensor. (4) In each of the above-described embodiments, the first to fifth tactile fingers 21 to 25 have three degrees of freedom of movement due to the first finger joint 27 and the second finger joint 28 (active finger joint). I chose However, the configuration is not limited to this, and a configuration having more than three degrees of freedom such as four degrees of freedom may be adopted.

(5) In each of the above-described embodiments, the permanent magnet 31 or the electromagnet 50 is provided as the attraction means. However, one or more suction holes are provided in the mounting recess 26a, and air is sucked through the suction hole. The passive ball joint 29 may be attracted. In this case, the suction means is a suction hole provided in the mounting recess 26a and a device for sucking air, for example,
A vacuum evacuation device or the like corresponds.

(6) In the second embodiment, the CPU 40a controls the drive circuit to adjust the magnetic force of the electromagnet 50 based on the signal input by the operation of the external input device (not shown), and the passive ball joint. The suction holding force of the finger fixing member 29 on the finger fixing member 30 is made variable, but this configuration may be omitted. That is, a constant exciting current may be simply supplied to the electromagnet 50.

[0214]

As described in detail above, according to the inventions of claims 1 to 19, it is possible to present a force sensation to a plurality of human fingertips, and the work area thereof is almost the work area of the arm mechanism, which is wide. Area (operation space) can be secured.

[0215] Further, there is an effect that the operator does not feel the weight of the tactile interface and the sense of burden when the hand is connected to the tactile interface. In addition, the presentation of the force to the fingertip of the operator is not intended to be worn on the human hand itself, so that there is an effect of not causing a feeling of strangeness.

According to Claims 20 to 22, when the tactile interface of Claims 8 to 19 controls the tactile finger base so as to face the operator's hand,
It can be suitably performed.

[Brief description of drawings]

FIG. 1 is a schematic diagram of a multi-finger tactile interface according to a first embodiment.

FIG. 2 is a perspective view of a second tactile finger 22 according to the first embodiment.

FIG. 3 is an electrical block diagram of a multi-finger tactile interface.

FIG. 4 is a control flowchart similarly executed by the CPU 40a.

FIG. 5 is a perspective view of a second tactile finger 22 according to the second embodiment.

FIG. 6 is a schematic diagram of a multi-finger tactile interface according to a third embodiment.

FIG. 7 is a schematic diagram of a multi-finger tactile interface according to a fourth embodiment.

FIG. 8 is an electrical block diagram of a multi-finger tactile interface according to a fourth embodiment.

FIG. 9 is a control flowchart similarly executed by the CPU 40a.

FIG. 10 is a control flowchart executed by a CPU 40a according to a fifth embodiment.

FIG. 11 is a control flowchart executed by the CPU 40a of the sixth embodiment.

FIG. 12 is a control flowchart executed by a CPU 40a according to a seventh embodiment.

FIG. 13 is a control flowchart similarly executed by the CPU 40a.

[Explanation of symbols]

10 ... Multi-finger tactile interface 12 ... Arm part 13 ... Hand 14 ... First arm (constituting a part of arm mechanism) 15 ... Second arm (constituting a part of arm mechanism) 16 ... First arm joint ( Active arm joint) 17 ... Second arm joint (active arm joint) 18 ... Wrist joint (active arm joint) 20 ... Tactile finger bases 21-25 ... First tactile finger-5th tactile finger 27 ... First finger Joint (active joint for fingers) 28 ... Second finger joint (active joint for fingers) 29 ... Passive ball joint 30 ... Finger fixing member (fingertip connection part) 31 ... Permanent magnet (adsorption means, magnetic force generation means) 32 ... Finger attachment Unit 42 ... Three-dimensional position / orientation sensor (first detection means) 40 ... Control device 40a ... CPU (control means, first control means, second control means, magnetic force control means, first calculation means, second calculation means) 50 ... Electromagnet (adsorption means, magnetic force generation means K1 to K5 ... Three-axis force sensor (second detection means) 56 ... Ultrasonic distance sensor receiver 56 (constitutes first detection means together with the CPU 40a) α ... Virtual plane H ... Operator Ha ... Hands ARE1 to ARE7 ... rotary encoder (arm joint angle detecting means) URE1 to URE3 ... rotary encoder (tactile finger joint angle detecting means)

Claims (22)

[Claims] 1. A tactile interface in which a plurality of tactile fingers capable of following the movement of an operator's fingertip are arranged on a tactile finger base, and the tactile finger base enables spatial movement by an arm mechanism. The tactile finger base is drive-controlled in opposition to the operator's hand in conjunction with the position and posture of the hand, and the tactile finger is drive-controlled in conjunction with the movement of the operator's fingertip. Characteristic tactile interface. 2. The control means uses a force error between a force (F _i ) acting on each tactile finger and a target force (F _di ),
The tactile interface according to claim 1, wherein an arm mechanism that drives the tactile finger base and the tactile finger are controlled. 3. An arm joint angle detecting means for detecting an arm joint angle of an active joint provided in the arm mechanism,
The tactile finger joint angle detecting means for detecting a tactile finger joint angle of an active joint provided on the tactile finger, and a motion detecting means for detecting a movement of the tactile finger, the control means, A kinematic Jacobian matrix from the tip to the base of the arm mechanism was obtained based on the detection by the first calculation means and the movement detection means based on the arm joint angle and the tactile finger joint angle. For force feedback control of a force error between the force (Fi) acting on the tip of each tactile finger and the target force (Fdi), the arm joint angle, the tactile finger joint angle, the kinematic Jacobian matrix, And second computing means for computing control input to the active joint of the tactile finger and the active joint of the arm mechanism based on the force error, and the active joint of the tactile finger based on the control input. The a Tactile interface of claim 2, wherein the controlling the active joints of the arm mechanism. 4. When the active joints provided on the tactile finger and the arm mechanism are located in a limit direction from a predetermined threshold value within a movable range limit, the control means holds the active joints at the current position. The haptic interface according to any one of claims 1 to 3, characterized in that the position control is performed. 5. The control means holds the active joint at the current position when an active joint provided on the tactile finger and the arm mechanism is located in a limit direction from a predetermined threshold value within a movable range limit. When the active joint is positioned within a range of a predetermined threshold value within the movable range limit, the control means controls the force (F _i ) acting on each tactile finger and the target force. The tactile interface according to any one of claims 1 to 3, wherein the tactile interface is controlled by using a force error with (F _di ). 6. When all the active joints provided on the tactile finger are in the movable range, the control means causes the force (F _i ) acting on the tactile finger to act on the tactile finger and the target force (F _di). 4. The haptic interface according to claim 1, wherein the haptic interface is controlled by using a force error between the haptic interface and the arm mechanism. 7. The control means controls the tactile finger by using a force error between a force (F _i ) acting on the tactile finger and a target force (F _di ) to control the position of the tactile finger base. 4. The target position / posture of the haptic finger base is set so as to maximize the operability of the hand including the haptic finger base and the haptic finger. The haptic interface according to item 1. 8. An arm mechanism having an active joint for arm, a tactile finger base provided on the arm mechanism, a fingertip connecting portion provided on the tactile finger base and connecting a fingertip of an operator, A plurality of tactile fingers having active finger joints; first detecting means for detecting the position and posture of the operator's hand; and the detection based on the position and posture of the hand detected by the first detecting means. First control means for controlling the active joint for the arm so that the tactile finger base faces the operator's hand, second detecting means for detecting the movement of the operator's fingertip, and second finger detecting means for detecting the movement of the fingertip. A tactile interface including second control means for controlling the active joint for the finger based on the movement of the fingertip. 9. The second detection means is a multi-axis force sensor provided on a tactile finger, and the second control means controls the force applied to the fingertip of the operator by force feedback control. The haptic interface according to claim 8. 10. The tactile interface according to claim 9, wherein the second control means performs force feedback control so that the force applied to the fingertip of the operator becomes zero. 11. The arm mechanism according to claim 8, wherein the arm mechanism has six or more degrees of freedom of movement due to an arm active joint.
Haptic interface described in Section. 12. The tactile interface according to claim 8, wherein the tactile finger has three or more degrees of freedom of movement by an active finger joint. 13. The tactile interface according to claim 8, wherein the fingertip connection portion is provided on a tip side of a tactile finger. 14. The fingertip connection part includes a passive ball joint rotatably provided on the tip side of a tactile finger and a finger attachment part provided on the passive ball joint for connecting an operator's fingertip. The haptic interface according to claim 13, characterized in that 15. The tactile interface according to claim 14, wherein the fingertip connection portion is provided with suction means for suction-holding the passive ball joint. 16. The tactile interface according to claim 15, wherein the attraction means is a magnetic force generation means for attracting and holding the passive ball joint by magnetic force. 17. The tactile interface according to claim 16, wherein the magnetic force generating means is a permanent magnet. 18. The magnetic force generating means is an electromagnet,
The tactile interface according to claim 16, further comprising magnetic force control means for changing the magnetic force of the electromagnet according to an external signal. 19. The first detecting means includes a sensor provided on the tactile finger base for measuring the position of an operator's hand. Haptic interface described in. 20. An arm mechanism including an active joint for arm, a tactile finger base provided on the arm mechanism, a fingertip connecting portion provided on the tactile finger base and connecting a fingertip of an operator, In a method of controlling a tactile interface having a plurality of tactile fingers having active finger joints, an operation is performed on a virtual plane formed by the operator's fingertips based on the detection result of the position and posture of the operator's hand. The tactile interface is characterized in that the active joint for the arm is controlled so that the tactile finger base is located at a position that is plane-symmetrical to the position of the human hand, and the tactile finger base faces the operator's hand. Control method. 21. The tactile interface further comprises first detecting means for detecting the position and posture of the operator's hand, and the tactile finger base is detected by using the detection result of the position and posture of the hand by the first detecting means. The method of controlling a haptic interface according to claim 20, wherein the position is controlled. 22. The tactile interface further comprises second detecting means for detecting the movement of the fingertip of the operator, and based on the movement detection of the fingertip of the second detecting means, the finger active is linked with the movement of the fingertip. 22. The tactile interface control method according to claim 21, wherein the joint is controlled.