JP2006312207A - Force sense controller device and its controlling method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To power-assist operation and to efficiently transmit a fine sense such as a hand feeling sense, etc. to an operator. <P>SOLUTION: This force sense controller device 1 is provided with an operation mechanism 3 including an operating end 2 to input operation against a controlling object 15, an operating force detection part 5 to detect torque added to the operating end 2, a current position detection part 6 to detect a current position of the operating end 2, an external force input part 8 to input external force added to the controlling object 15, a driving part 9 to drive the operating end 2 and a force sense controlling part 10 to control the driving part 9 to make the operating end 2 follow a target position by computing the target position of the operating end 2 in accordance with force composing operating force and the external force at optional proportion so as to assist the operation against the operating end 2 in accordance with the operating force and to show the force sense to the operating end 2 in accordance with the external force D. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a haptic controller device capable of presenting haptic information generated by a machine such as a heavy machine or a robot in the real world or a virtual world to an operator, and a control method therefor. .

  In support activities in stricken areas and remote areas, or in nursing care / assistance activities and operations in hospitals, it has been demanded to perform precise operations by remotely operating machines. However, with only on-site image information, when operating the machine remotely, it becomes difficult for the operator to control the adjustment of the machine force according to the work target, adding excessive force to the work target and damaging the work target. There is a possibility that In such a case, it is possible to control the force adjustment according to the work target by returning the force adjustment generated in the machine to the controller for machine operation and presenting the sense of force to the operator. Further, in preparation for the activity or the like, it is possible to perform training for remote operation of the machine by returning to the controller the force adjustment generated in the machine in the virtual world and presenting the sense of force to the operator.

  Therefore, when a machine is operated remotely, a variety of force sense presentation devices have been developed in order to present an operator with a tactile sensation generated by the machine at work. The haptic device is a device that aims to present a reaction force, shape, texture, etc. from an object when the robot touches the object. In many conventional force sense presentation devices, a serial or parallel link mechanism and a string tension type mechanism using the tension of the string have been used. For example, in the force sense interface device described in Patent Document 1, a force sense is expressed by a rotational motion of a three-axis parallel link mechanism and a linear motion of one axis. Further, in the force sense interface device described in Patent Document 2, a force sense is expressed by a parallel link mechanism having six degrees of freedom. In these force sense interface devices, by using a parallel mechanism, additional members such as a sensor for detecting an operation state and an actuator for generating a force sense are provided not on the operation portion but on the support portion. Thereby, the mass of the operation part is reduced, the operability is improved, and the fatigue of the operator during long-time operation is reduced.

JP 2000-181618 A JP 2000-148382 A

  However, although the conventional force sense interface device reduces the mass and inertial force of the operation part by using a parallel mechanism, the mass and inertial force of the operation part still exist. Since the mass and inertial force of the operation part dull or distort the sense of force, there is a problem that it is difficult to realize a fine sensation such as a touch feeling that occurs remotely with a force sense device.

  Moreover, since the parallel mechanism is employed, there is a problem that the force sense interface device is increased in size and weight. In particular, in order to provide smooth operability over multiple degrees of freedom, it is necessary to share a mechanism that realizes each degree of freedom, and it is necessary to employ a multi-axis parallel mechanism, and the device is very It becomes a factor to enlarge.

In order to solve the above-described problem, the force controller device according to the first aspect of the present invention provides:
An operation mechanism including a movable part for inputting an operation to the control target;
Operating force detection means for detecting an operating force applied to the movable part;
Current position detecting means for detecting a current position of the movable part;
An external force input means for inputting an external force applied to the control object;
Drive means for driving the movable part;
Based on a force obtained by combining the operation force and the external force at an arbitrary ratio so as to assist the operation on the movable portion according to the operation force and present a force sense to the movable portion according to the external force. Force sensing means for calculating a target position of the movable part and controlling the driving means to cause the movable part to follow the target position based on the target position and the current position.

According to this configuration, the operation force and the external force are given at an arbitrary ratio so as to assist the operation on the movable portion according to the operation force and to present a force sense to the movable portion according to the external force. The movable portion is made to follow the target position calculated based on the combined force. For this reason, the following effect is acquired.
(1) Since the target position is calculated based on the operating force, it is possible to perform power assist for an operator who operates the movable part, regardless of the mechanical / physical configuration of the operating mechanism, The movable part can be moved with a small force, and the operability can be improved and the fatigue of the operator during a long time operation can be reduced.
(2) Since the target position is calculated based on a force proportional to the external force, a sense of force corresponding to the external force can be presented to the operator via the movable portion.
(3) Since the target position is calculated based on a force obtained by combining the operation force and the external force at an arbitrary ratio, as described above, the movable portion can be moved with a small force, and the movable portion is The force sense can be presented via Accordingly, since no force is required for the operation of the movable part, it is possible to efficiently transmit a delicate sensation such as a touch feeling to the operator via the movable part.
(4) Even if the structure of the control object and the movable part is different from each other, the force sense control means presents the external force applied to the control object as a force sense through the movable part accurately and stably. be able to.

  Further, unlike the prior art, a special mechanism such as a parallel mechanism is not required, so that the size and weight can be easily reduced.

As a haptic controller device of a second invention, in the first invention,
The operation mechanism includes the movable portion that is rotatably supported around at least one spindle.
The operating force detection means detects torque generated around the support shaft as the operating force,
The current position detection means detects a rotation angle of the movable part around the support shaft as the current position,
The drive means exemplifies an aspect configured to rotationally drive the movable portion around the support shaft.

  According to this configuration, the force sense controller device of the first invention can be easily realized.

As a haptic controller device of a third invention, in the second invention,
The operation mechanism is disposed in the first movable portion so as to be rotatable about a first support shaft supported by the base portion, and to be orthogonal to the first support shaft. A second movable portion supported rotatably about the second support shaft,
The operating force detection means detects each torque generated around the first support shaft and the second support shaft as the operation force,
The current position detecting means detects the rotation angle of the first movable part and the second movable part around the first support shaft and the second support shaft as the current position;
The said drive means illustrates the aspect comprised so that the said 1st movable part and the 2nd movable part might each be rotationally driven centering | focusing on said 1st spindle and said 2nd spindle.

  According to this configuration, the force sense controller device of the second invention can be realized as having at least two degrees of freedom.

As a haptic controller device of a fourth invention, in the third invention,
The driving means is supported by the base portion,
The second support shaft is connected to the driving means via a link portion including a pair of universal joints and an extendable shaft for connecting the universal joints.
The drive means exemplifies an aspect configured to drive the second movable part via the second support shaft.

  According to this configuration, since the driving force of the driving means supported by the base portion is configured to be transmitted to the second movable portion via the power transmission portion, the second movable portion is driven. As compared with the case where the driving means for doing so is supported by the first movable part, the mass of the first movable part can be reduced, and the load on the driving means can be reduced.

As a force sense controller device of a fifth invention, in any one of the first to fourth inventions,
The said movable part illustrates the aspect balance-weighted so that it might become a predetermined | prescribed origin position in a no-load state.

  According to this configuration, even when the structure of the movable part is asymmetric, the dynamic characteristics of the operation of the movable part can be made substantially symmetrical.

The control method of the force controller of the sixth invention is
An operation mechanism including a movable part for inputting an operation to the control target;
Operating force detection means for detecting an operating force applied to the movable part;
Current position detecting means for detecting a current position of the movable part;
An external force input means for inputting an external force applied to the control object;
A control method of a force sense controller device comprising a driving means for driving the movable part,
Based on a force obtained by combining the operation force and the external force at an arbitrary ratio so as to assist the operation on the movable portion according to the operation force and present a force sense to the movable portion according to the external force. A target position of the movable part is calculated, and the driving means is controlled to cause the movable part to follow the target position based on the target position and the current position.

  Also by this method, the same effect as the first invention can be obtained.

  According to the force controller device and the control method thereof according to the present invention, there are excellent effects that the operation can be power-assisted and a delicate feeling such as a touch feeling can be efficiently transmitted to the operator.

  Hereinafter, an embodiment in which the present invention is embodied in a force controller device will be described with reference to FIGS. 1 to 8 together with a control method implemented using the device.

  As shown in FIGS. 1 to 4, the force sense controller device 1 limits the operation mechanism 3 including the operation end 2 as a movable portion for inputting an operation on the control target 15 and the operation range of the operation end 2. Limit switch 4 for operating, operating force detector 5 for detecting the operating force applied to the operating end 2, current position detecting unit 6 for detecting the current position of the operating end 2, operating force T and the current A control command output unit 7 that outputs a control command to the control target 15 according to the position, an external force input unit 8 that inputs an external force D applied to the control target 15 via an external force sensor 16 provided on the control target 15, and an operation A drive unit 9 that drives the end 2 and a force sense control unit 10 that controls the drive unit 9 based on the operation force T and the external force D are provided. In this example, the control object 15 of the force controller device 1 is a robot hand provided with a pair of gripping means (not shown) for gripping an object at the tip. It is assumed that the position is moved in a two-dimensional direction within an arbitrary plane and the object is gripped by the gripping means (not shown).

  The operating mechanism 3 includes a pedestal portion 20 as a base portion, a pair of support frames 21 and 22 erected on the pedestal portion 20 with a space therebetween, and is rotatably supported by both the support frames 21 and 22. The X support shaft 23 as the first support shaft, the frame-shaped first movable portion 24 fixed to the X support shaft 23, and the first movable portion 24 so as to be orthogonal to the X support shaft 23. A Y support shaft 25 as a second support shaft that is rotatably supported, a frame-like second movable portion 26 fixed to the Y support shaft 25, and an X support shaft 23 and a Y support shaft 25 so as to be orthogonal to each other. The operation end 2 is rotatably supported by the second movable portion 26. The operation end 2 includes a lever 27 and a grip portion 28 attached to the tip of the lever 27. As described above, the operation mechanism 3 has a structure in which the length direction of the X support shaft 23 and the length direction of the Y support shaft 25 are asymmetric with respect to the lever 27 of the operation end 2. By designing the weight balance so that the lever 27 at the end 2 stands substantially vertically (in the origin position), the dynamic characteristics of the operation of the lever 27 are made substantially symmetrical.

  The operation force detector 5 detects a torque generated around the X support shaft 23 as an operation force T applied via the operation end 2 and a first torque sensor 30 detects the torque generated around the Y support shaft 25. Two torque sensors 31 are provided. In this example, each of the torque sensors 30 and 31 employs a magnetostriction detection type sensor that detects torque in a non-contact manner.

  The current position detection unit 6 includes a first angle sensor 35 a that detects a rotation angle of the first movable unit 24 with respect to the pedestal unit 20 with the X support shaft 23 as the center, and a first movable with the Y support shaft 25 as the center. A second angle sensor 36a for detecting the rotation angle of the second movable portion 26 with respect to the portion 24, and a third angle sensor 39 for detecting the rotation angle of the operating end 2 with respect to the second movable portion 26 with the lever 27 as the center. I have. In this example, as the first angle sensor 35a and the second angle sensor 36a, angle sensors respectively incorporated in an X drive motor 35 and a Y drive motor 36 described later are used. If the angle sensor is not built in the X drive motor 35 and the Y drive motor 36, separately installed angle sensors 40 and 41 are used as the first angle sensor 35a and the second angle sensor 36a, respectively.

The control command output unit 7 is configured to output the next command to the robot hand as the control target 15.
(1) A movement command (movement speed command, movement target position command, etc.) of the tip of the robot hand according to the operation force T applied to the operation end 2.
(2) A movement target position command for the tip of the robot hand according to the current position detected by the first angle sensor 35a and the second angle sensor 36a.
(3) An opening / closing angle command for the gripping means at the tip of the robot hand according to the current position detected by the third angle sensor 39.

  The external force input unit 8 is an interface for inputting external force information (for example, pressure information) from an external force sensor 16 attached to the tip of the gripping means of the control target 15, and the input external force information is input to the force sense control unit 10. Configured to pass to.

  The drive unit 9 includes an X drive motor 35 and a Y drive motor 36 supported on the pedestal unit 20 via support members 20a and 20b, respectively, and a Z drive motor 37 supported on the second movable unit 26. . As the X drive motor 35 and the Y drive motor 36, a direct drive servo motor is employed in order to enable precise driving to present a force sense to the operation end 2. Further, a DC motor is employed as the Z drive motor 37. The rotation shaft of the X drive motor 35 is connected to the X support shaft 23. The rotation shaft of the Y drive motor 36 is connected to the Y support shaft 25 via the link portion 38. The link portion 38 includes a pair of universal joints 38a and 38b and an expansion / contraction shaft 38c that connects the universal joints. The rotation shaft of the Z drive motor 37 is connected to the lever 27.

  The force sense control unit 10 assists the operation with respect to the operation end 2 in accordance with the operation force T, and arbitrarily applies the operation force T and the external force D so as to present a force sense to the operation end 2 in accordance with the external force D. The target position of the operation end is calculated based on the force synthesized by the ratio, and the X drive is performed so that the operation end 2 follows the target position based on the target position and the current position (detected by the current position detection unit 6). The motor 35 and the Y drive motor 36 are configured to be controlled. In this example, a DSP (Digital Signal Processor) (not shown) is adopted for the force control unit 10, and high-accuracy torque control is realized by the DSP at a high rate, for example, at a sampling interval of 10 kHz. I am doing so.

  Below, the specific example of the control method by the force sense control part 10 is demonstrated.

  A mathematical model of a single-axis direct drive motor employed in the X drive motor 35 and the Y drive motor 36 is represented by equation (1).

Here, J is the rotor inertia moment of the motor (25.0 × 10 ⁻⁴ [kg · m ² ]), and c is the viscous friction coefficient of the shaft (0.710 [kg · m ² / s]).

The center of gravity of the rotating stick around each axis is on the axis of rotation, and the kinetic energy E _x and E _y of the operating end is expressed by the following equation when considering only the inertial force due to the rotor inertia moments J _x and J _y of the motor. .

Further, the viscous frictions D _x and D _y of the motor bearing are expressed by the following equations.

  Substituting these into the Lagrangian equation of motion expressed by equation (2), the equation of motion of the operating end 2 at one degree of freedom is obtained by equation (3).

  When the operation end 2 is subjected to PID control, the control performance is poor, and it is difficult to realize an accurate force sense. Therefore, the control system is designed by obtaining the state feedback coefficient using the optimal regulator theory.

  (3) The state variable in the expression

The state equation and output equation

Is expressed by equations (4) and (5).

  Next, in order to eliminate the steady-state deviation with respect to the set value, an integral follow-up type optimal regulator theory including an integral element is used. A block diagram of the integral tracking type optimum servo system is shown in FIG. A portion surrounded by a broken line in FIG. 5 is a model of the operation end 2 expressed by the equations (4) and (5). When the operator operates the operation end 2, a value obtained by subtracting the external force D applied to the robot from the operation force T applied to the operation end 2 is input to the target angle calculation unit, and the set value r is calculated. The integral tracking type optimum servo system power-assists the operation of the operation end 2 of the operator based on the operation force T and sets the motor to the target position so as to present a force sense to the operation end 2 based on the external force D. Follow. The operator can feel the external force D applied to the controlled object by the force sense presented at this time.

  For the haptic controller device 1 corresponding to FIG. 5, equations (6), (7), and (8) are established.

 Where the state variable

The expanded system is constructed as follows.

At this time, the steady values x _∞ , u _∞ , and w _∞ of x (t), u (t), and w (t) such that y (t) becomes the target value r satisfy the following expression.

  Therefore, the following equation is defined.

  Then, the following equation is obtained from the equations (9) and (10).

  Further, the force controller device 1 is expressed by the following equation.

Give an indication J for evaluation, by using an optimal regulator is a design method to find the most suitable control law in accordance with the index, it is possible to determine the feedback coefficient K _e on the sole. The index for evaluation is called the evaluation function and is a controllable multi-input system.

For the following quadratic evaluation function.

Here, Q (n × n) and R (n × m) are weight matrices, and the optimum feedback control input U ₀ that minimizes J at this time is

It is. Here, U ₀ is uniquely determined, and the minimum value at that time is given by the following equation.

  P is an arbitrary (n × n) symmetric matrix and is the only positive definite solution of the following Riccati matrix equation.

Next, the geometrical relationship of the operation end 2 in the three-dimensional model of the force controller device 1 is derived from FIG. The length of the operation end 2 is r, and the coordinates of the tip of the operation end 2 in the x, y, z space are (x, y, z). The rotation angles of the X drive motor 35 and the Y drive motor 36 installed on the x axis and the y axis are θ _y and θ _x, and the angle formed between the z axis and the operation end 2 is θ _z . Assuming that the angle between the projection of the operating end 2 on the xy plane and the x axis is φ _m and the magnitude of the operating force T generated at the operating end 2 in the x axis and y axis directions are T _x and T _y , T _x , T _y is calculated by the equations (19) and (20). Further, torques τ _y and τ _x respectively generated by the Y drive motor 36 and the X drive motor 35 are calculated by equations (21) and (22).

Next, a control method in the force sense control unit 10 for generating a force sense at the operation end 2 will be described. T _x and T _y are component forces of the operating force T applied to the operation end 2 by the operator, D _x and D _y are component forces of the external force D to the controlled object 15, and forces are generated at the controlled object 15 and the operating end 2. The resistance ratio coefficient of the sense is k _f, and the target position of the operating end 2 in the x, y, z space is set by the equations (23) and (24). k _p is a proportionality coefficient.

The target angles θ _y and θ _{x of the} motors 35 and 36 of the operating end 2 are calculated from the target position of the operating end 2 set by the expressions (23) and (24) using the expressions (25) and (26). Calculate r is the length of the operation end.

From the displacement of the operating end 2 calculated by the above equation, the torques τ _y and τ _x required to perform the displacement are calculated using the equations (21) and (22). These are input as disturbances to the motors 36 and 35. The operation end 2 is controlled to the target position by the operation of the operator by the disturbance input by the control by the integral tracking type optimum servo system.

Next, a control method in the force sense control unit 10 when the operation end 2 is operated will be described. When T _x and T _y are detected from the torque sensors 30 and 31, respectively, θ _y and θ _{x that} are target values of the motors 35 and 36 are calculated from the relationship of the equations (19) and (20). Then, the operation end 2 is operated with θ _y and θ _x as targets by the above-described integral tracking type optimum servo system. Since the torque values T _x and T _y generated at the operation end 2 are constant when the operation end 2 is held without releasing the hand, the target values θ _y and θ _x are also constant, and the operation end 2 is It is held near the target value. When the hand is released from the operation end 2, the torque values T _x and T _y are 0, and the target values θ _y and θ _x calculated from these are 0, and the operation end 2 is at the origin (the state where the lever 27 stands upright). Return to). The input torque values T _x and T _y are used for a speed command and a position command for the controlled object 15.

  A series of operation examples of the force sense controller device 1 configured as described above will be described. When an operation input is given to the operation mechanism 3, the operation force (torque) T is detected by the operation force detection unit 5, and the angle is detected by the current position detection unit 6. These torque information and angle information are output to the control command output unit 7 and the force sense control unit 10. The control command output unit 7 outputs a control command to the controlled object 15 based on the torque information and the angle information. Further, the force sense control unit 10 calculates the control amount of the operation mechanism 3 based on the external force information output from the external force sensor 16, torque information and angle information, and applies the force to the drive unit 9 so as to realize it. Output sense commands.

  Next, the Example of the force sense controller apparatus 1 of this example is described. In this experimental example, as the control command output unit 7 and the force sense control unit 10, a host computer equipped with a microprocessor (product name: Celeron (registered trademark) manufactured by Intel) having a clock frequency of 2.2 GHz and a memory of 256 MB. On the other hand, a controller having an 8-channel AD converter and a controller (product name: DS1104PPC, manufactured by dSPACE) having an 8-channel DA converter was used. For this controller, a pressure sensor (manufactured by Nitta, product name: Flexi Force A101-1) capable of measuring a maximum force of 4.4 N as the external force sensor 16 and a servo driver (Yaskawa Electric as drive motors 35 and 36 of the drive unit 9) A direct drive motor (manufactured by Yaskawa Electric, product name: SGMCS-02B3B11) driven by a company, product name: SGDS-02F01A), and a torque deducer (manufactured by Kubota Corp.) as the torque sensors 30, 31 of the operating force detector 5. , Product name: TD-002). The control experiment results of this example are shown in FIGS. These diagrams illustrate an external force D detected by the external force sensor 16 in the control target 15 and a sense of force presented to the operator by the operation end 2. FIG. In the case of the integral tracking type optimum servo system according to the example, FIG. 8 shows a result in the case where PID control is used for the haptic control unit 10 as a comparative example. As shown in FIG. 8, when PID control is used, there is a difference between the external force D and the force sense. On the other hand, as shown in FIG. 7, it was confirmed that when the integral tracking type optimum servo system of the present example was used, an accurate force sense could be realized.

In addition, this invention is not limited to the said embodiment, For example, it can also be suitably changed and embodied as follows, for example in the range which does not deviate from the meaning of invention.
(1) The force sense control unit 10 or the control command output unit 7 of the force sense controller device 1 incorporates a microprocessor and a memory (both not shown), and is controlled by a control program written in the memory (not shown). Various functions can be realized. This control program can be provided by being stored in a computer-readable recording medium. In addition, all or part of various functions realized by the microprocessor can be replaced with a hardware circuit that does not include the microprocessor.
(2) The degree of freedom in the operation mechanism 3 of the force sense controller device 1 is appropriately changed.
(3) As a control method embodying the control method in the force sense control unit 10, other control method such as PID control is adopted instead of the integral tracking type optimum servo system control method.

1 is a block diagram illustrating an overall configuration of a force controller device according to an embodiment embodying the present invention. It is a front sectional view showing a mechanical configuration of the force sense controller device. It is a plane sectional view which shows the mechanical structure of the same force sense controller apparatus. It is a sectional side view which shows the mechanical structure of the same force sense controller apparatus. It is a control block diagram of the same force sense controller device. It is a control model figure of the same force sense controller device. It is a figure which shows the control experiment result of the same force sense controller apparatus. It is a figure which shows the control experiment result of the force sense controller apparatus at the time of using PID control for a force sense control part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Force controller 2 Operation end 3 Operation mechanism 4 Limit switch 5 Operation force detection part 6 Current position detection part 7 Control command output part 8 External force input part 9 Drive part 10 Force sense control part 15 Control object 16 External force sensor 20 Base part 21 support frame 22 support frame 23 X support shaft 24 first movable portion 25 Y support shaft 26 second movable portion 27 lever 28 grip portion 30 first torque sensor 31 second torque sensor 35 X drive motor 35a first angle sensor 36 Y Drive motor 36a Second angle sensor 37 Z drive motor 38 Link 38a Universal joint 38b Universal joint 38c Telescopic shaft 39 Third angle sensor D External force T Operating force

Claims (6)

An operation mechanism including a movable part for inputting an operation to the control target;
Operating force detection means for detecting an operating force applied to the movable part;
Current position detecting means for detecting a current position of the movable part;
An external force input means for inputting an external force applied to the control object;
Drive means for driving the movable part;
Based on a force obtained by combining the operation force and the external force at an arbitrary ratio so as to assist the operation on the movable portion according to the operation force and present a force sense to the movable portion according to the external force. Force sense controller device comprising: force sense control means for calculating a target position of the movable part and controlling the drive means so that the movable part follows the target position based on the target position and the current position . The operation mechanism includes the movable portion that is rotatably supported around at least one spindle.
The operating force detection means detects torque generated around the support shaft as the operating force,
The current position detection means detects a rotation angle of the movable part around the support shaft as the current position,
The force controller apparatus according to claim 1, wherein the driving unit is configured to rotationally drive the movable portion around the support shaft. The operation mechanism is disposed in the first movable portion so as to be rotatable about a first support shaft supported by the base portion, and to be orthogonal to the first support shaft. A second movable portion supported rotatably about the second support shaft,
The operating force detection means detects each torque generated around the first support shaft and the second support shaft as the operation force,
The current position detecting means detects the rotation angle of the first movable part and the second movable part around the first support shaft and the second support shaft as the current position;
The force controller apparatus according to claim 2, wherein the driving means is configured to rotationally drive the first movable portion and the second movable portion, respectively, about the first support shaft and the second support shaft. The driving means is supported by the base portion,
The second support shaft is connected to the driving means via a link portion including a pair of universal joints and an extendable shaft for connecting the universal joints.
4. The force controller device according to claim 3, wherein the driving means is configured to drive the second movable portion via the second support shaft.   The haptic controller device according to any one of claims 1 to 4, wherein the movable portion is weight-balanced so as to be at a predetermined origin position in a no-load state. An operation mechanism including a movable part for inputting an operation to the control target;
Operating force detection means for detecting an operating force applied to the movable part;
Current position detecting means for detecting a current position of the movable part;
An external force input means for inputting an external force applied to the control object;
A control method of a force sense controller device comprising a driving means for driving the movable part,
Based on a force obtained by combining the operation force and the external force at an arbitrary ratio so as to assist the operation on the movable portion according to the operation force and present a force sense to the movable portion according to the external force. A control method of a force controller device that calculates a target position of the movable part and controls the driving means to cause the movable part to follow the target position based on the target position and the current position.