JP2009116848A5

JP2009116848A5 -

Info

Publication number: JP2009116848A5
Application number: JP2008143764A
Authority: JP
Filing date: 2008-05-30
Publication date: 2011-06-30
Anticipated expiration: 2028-05-30

Claims

A force / tactile sense presentation device for presenting force sense to an operator's finger,
A finger holding unit for holding an operator's finger;
Position presenting means for presenting a position with respect to the finger held by the finger holding unit ;
Finger contact point presentation means for presenting a finger contact point to the finger held by the finger holding unit ;
Support means for supporting the finger contact point presenting means in the tip portion of the position indicating means,
A force / tactile sensation presentation apparatus comprising:

The position presentation means comprises a serial link type arm of a basic three-degree-of-freedom drive system,
The finger contact point presenting means includes a finger contact point driving shaft disposed on the finger holding portion , a small arm whose one end is rotatably supported by the finger contact point driving shaft, and the small arm A finger contact point provided at the other end of
The support means supports the small arm with a finger contact point presentation shaft that is rotatable about the finger contact point at a tip portion of the arm constituting the position presentation means.
The force / tactile sensation presentation apparatus according to claim 1.

The finger contact point drive shaft has an active finger contact point presentation degree of freedom driven by an actuator, and by the rotation of the small arm around the finger contact point drive axis accompanying the driving of the finger contact point drive shaft, The finger contact point moves along the belly surface of the finger,
The force / tactile sensation presentation apparatus according to claim 2.

The support means is composed of a three-degree-of-freedom gimbal arranged so that the three axes of yaw, roll, and pitch intersect at a single point perpendicular to each other and the intersection point coincides with the finger contact point. Any one of the three axes is coaxial with the finger contact point presentation axis.
The force / tactile sensation presentation apparatus according to claim 2.

A multi-finger type force / tactile sensation presentation device can be obtained by combining a unit composed of a set of the position presentation unit, the finger contact point presentation unit, and the support unit as one unit for one finger and combining units for each finger. Constitute,
The force / tactile sensation presentation apparatus according to claim 1.

Regardless of the posture of the arm, it further comprises a posture holding degree of freedom that does not change the posture with respect to the finger contact point presentation axis and the global coordinate system of the gimbal,
The force / tactile sensation presentation apparatus according to claim 1.

An angle sensor that measures an angle for each axis of the three-degree-of-freedom gimbal;
The force / tactile sensation presentation apparatus according to claim 1.

Each of the joint degrees of freedom of the serial link type arm of the basic three-degree-of-freedom drive system provided in the position presentation means has an active degree of freedom driven by an actuator.
The force / tactile sensation presentation apparatus according to claim 2.

The serial link type arm is supported by a predetermined base at the base of one end,
Actuators that drive the joints of the serial link type arm are arranged in a concentrated manner at the root of the serial link, and power transmission means for transmitting the power of the actuators arranged at the root to the corresponding joints. In addition,
9. The force / tactile sensation presentation apparatus according to claim 8.

The power transmission means comprises a wire-pulley system, and includes wire tension adjusting means for adjusting the tension of the wire.
The force / tactile sensation presentation apparatus according to claim 9.

A spiral pulley is used in a joint to which power is transmitted by the power transmission means.
The force-tactile sensation presentation apparatus according to claim 10.

The position presenting means includes a wire interference driving mechanism that interference-drives a plurality of joints with a plurality of actuators.
9. The force / tactile sensation presentation apparatus according to claim 8.

A force / tactile sense presentation device for presenting force sense to an operator's finger,
A 3 DOF position presentation arm;
A three-degree-of-freedom gimbal mechanism,
A contact point presentation arm with one degree of freedom;
Holding the finger mechanism part instructions with one or more degrees of freedom;
A force / tactile sensation presentation apparatus comprising: