JP2011248528A - Operation input device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation input device that can be operated by an operator in a comfortable position without a burden on the operator's hand.SOLUTION: An operation input device 1 comprises: an operation input part 6 for generating an operation signal corresponding to an operation on a grip part 8; a movable part 22 for changing the position of the grip part 8; a mode selection part 23 for selecting a mode between a position adjustment mode to change the position of the grip part 8 by the movable part 22 and a position maintaining mode to stop the position adjustment of the grip part 8 by the movable part 22; a position detection part 24 for detecting, in the position adjustment mode, a neutral position of an operator's hand where the operator can stay naturally when operating the grip part 8 on the basis of a force applied to the grip part 8 by the hand put so that the grip part 8 can be operated; and a control part 21 for controlling the movable part 22 in the position adjustment mode so as to move the grip part 8 at the neutral position on the basis of the detection result of the position detection part 24.

Description

  The present invention relates to an operation input device.

  2. Description of the Related Art Conventionally, there has been provided an operation input device that can operate a load device such as a television, a personal computer, or an air conditioner while sitting on a sofa or sleeping on a bed.

  As such an operation input device, there is one in which the operator holds and operates the operation unit. However, the position of the operation unit is fixed in advance regardless of the physique or posture of the operator. There was a problem that their attitude was restricted. In addition, depending on the operator's physique and posture, the operator has to take an unreasonable posture, which causes a burden on the operator.

  In view of this, an operation input device that can be operated while being worn on the finger of a hand has been proposed so that the operation can be performed regardless of the posture of the operator (see, for example, Patent Document 1). The operation input device disclosed in Patent Document 1 is formed in a cylindrical shape so as to be worn on the operator's index finger. The cylindrical device body has a stick that generates a signal of an XY two-dimensional coordinate component by being pushed in the XY plane with a thumb, for example, and a click corresponding to the left click button and right click button of the mouse. And a switch. Since this operation input device is used in a state where the operator wears it on a finger, it can be operated with only the fingertip, regardless of the posture of the operator.

JP-A-10-301706

  In the operation input device of Patent Document 1 described above, the operation can be performed only with the fingertip while being worn on the finger of the hand, so that the operation can be performed regardless of the posture of the operator.

  However, since it is necessary for the operator to attach the operation input device to the finger, the operation input device must first be attached to the finger of the hand before the operation is performed, which takes time and effort for wearing. There was a problem. In addition, while the operation input device is used for operation, the operation input device must always be attached to the finger of the hand, so that another work using the hand is difficult to perform. Furthermore, since the operation input device is attached to the finger of the hand during the operation, there is a problem that the finger wearing the operation input device is burdened.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an operation input device that can be operated in an easy posture without placing a burden on an operator's hand.

  In order to solve the above-described problems, an operation input device according to the present invention includes an operation input unit, a movable unit, a mode selection unit, a position detection unit, and a control unit. The operation input unit includes an operation unit that is operated by an operator by hand, and generates an operation signal corresponding to the operation of the operation unit. The movable unit changes at least one of the position and the posture of the operation unit. The mode selection unit selects one of a position adjustment mode in which the position of the operation unit is changed by the movable unit and a position holding mode in which the position adjustment of the operation unit by the movable unit is stopped. In the position adjustment mode, the position detection unit is configured such that the operator's posture when operating the operation unit by hand is a natural posture based on a force applied to the operation unit from a hand placed at a position where the operation unit can be operated. The neutral position of such a hand is detected. In the position adjustment mode, the control unit controls the movable unit to move the operation unit to the neutral position based on the detection result of the position detection unit. Here, the neutral position of the hand means the position of the hand so that the posture of the operator when the operation unit is manually operated is a natural posture. The natural posture of the operator means a posture in which unnecessary force or tension is not applied to the operator's body in a state where the hand is placed at a position where the operation unit can be operated. . Also, a joystick type operation input unit that includes a rotation shaft (stick) that is rotatably supported at one end side and that is provided with a gripping portion at the other end side and that operates by rotating the rotation shaft by operating the gripping portion. In this case, the neutral position is defined as follows in terms of the device. That is, with the hand placed on the upper surface of the gripping part, the rotation axis is not inclined around the rotation axis, is perpendicular to the mounting surface of the operation input part, and is on the upper surface of the gripping part. The state where the pressure is uniformly applied is called a neutral position in terms of apparatus. If there is an operation part in such a neutral position, you can place your hand on the operation part or grasp the operation part by hand without stretching or shrinking your hand. ), There is no physical burden on the hand, and no force is applied to the operation part from the operator's hand. Therefore, if the movable unit moves the operation unit to a human-like neutral position, the neutral position condition is also satisfied in terms of the apparatus.

  In this operation input device, the operation unit includes a grip unit that is operated while being gripped by the operator's hand, and the position detection unit has a position where the pressure distribution applied from the operator's hand to the grip unit is uniform. It is also preferable to detect as a neutral position.

  In this operation input device, an operation force setting unit that sets an operation resistance force necessary for operation of the operation unit, an operation force adjustment unit that adjusts the operation resistance force of the operation unit according to the setting by the operation force setting unit, It is also preferable to comprise.

  In this operation input device, it is also preferable to include an operation restriction unit that restricts operation input by the operation unit.

  In addition, it is preferable that the operation input device further includes a release unit that releases the restricted state of the operation input by the operation restriction unit.

  The operation input device includes a storage unit that stores the neutral position detected by the position detection unit, and when the position adjustment mode is selected by the mode switching unit, the control unit operates the neutral position stored in the storage unit. It is also preferable to control the movable part so that the part moves.

  According to the present invention, in the position adjustment mode, the control unit controls the movable unit to move the operation unit of the operation input unit to the neutral position of the hand, and therefore places the hand at a position where the operation unit can be operated. The operator's posture does not become an unnatural posture. Therefore, since the posture of the operator becomes a natural posture, the physical burden on the operator's hand is reduced, and the operation can be performed with an easy posture.

It is the block diagram which showed schematic structure of the operation input apparatus of this embodiment. The operation input apparatus same as the above is shown, (a) is an external perspective view of the operation input unit and the movable unit, and (b) is an external perspective view of the operation input unit. It is a use condition figure of an operation input device same as the above. (A)-(f) is explanatory drawing explaining the operation direction of the operation input part used for the operation input apparatus same as the above. It is a schematic block diagram of the operation force adjustment part used for the operation input device same as the above. The operation restriction unit used in the operation input device is the same as above. (A) is a state where operation input is restricted, (b) is a state where operation in four directions is possible, and (c) is an operation in all directions. It is explanatory drawing of the state made into. It is an external appearance perspective view of an operation input part and a movable part which shows another form of the operation input apparatus same as the above.

  With regard to an embodiment in which the technical idea of the present invention is applied to an operation input device used to operate a load device such as a television, a personal computer, a lighting device, or an air conditioner while the operator is sleeping on a bed, A description will be given with reference to FIGS.

  FIG. 3 is an explanatory diagram for explaining the usage environment of the operation input device 1. The operation input device 1 is installed on the right hand side of the operator next to the bed 100 where the operator sleeps.

  As shown in FIG. 2A, the operation input device 1 includes a columnar support 2 fixed to the floor 101, and a first connected to the upper portion of the support 2 so as to be rotatable about the Y axis and the Z axis. An arm 3 and a second arm 4 rotatably connected to the tip of the first arm 3 around the Y axis and the Z axis are provided. The operation input device 1 includes a table 5 connected to the tip of the second arm 4 and an operation input unit 6 attached to the upper surface of the table 5.

  Here, a motor (not shown) that rotates the first arm 3 around the Y axis and a motor (the figure that rotates the first arm 3 around the Z axis) are connected to the support 2 and the first arm 3. (Not shown) is incorporated. These motors are controlled in rotation direction and rotation amount by a control unit 21 to be described later, and the first arm 3 rotates around the Y axis and the Z axis to a predetermined rotation angle.

  A motor (not shown) that rotates the second arm 4 around the Y axis and a motor that rotates the second arm 4 around the Z axis are also connected to the connecting portion of the first arm 3 and the second arm 4 (see FIG. (Not shown) is incorporated. The rotation direction and amount of these motors are also controlled by the control unit 21, and the second arm 4 rotates about the Y axis and the Z axis to a predetermined rotation angle.

  The table 5 is attached to the tip of the second arm 4 so as to be rotatable about the X axis, the Y axis, and the Z axis. A motor (not shown) that rotates the table 5 around the X axis, a motor (not shown) that rotates the table 5 around the Y axis, and the Z axis are also connected to the second arm 4 and the table 5. A motor (not shown) that rotates the table 5 around is incorporated. These motors are also controlled in rotation direction and amount by the control unit 21, and the table 5 rotates around the X axis, the Y axis and the Z axis to a predetermined rotation angle. Here, the control unit 21 controls the motor to rotate the table 5 about the X axis and the Y axis so that the table 5 is in a state parallel to the horizontal plane or inclined with respect to the horizontal plane. Can do. If it is easier to place the hand horizontally with respect to the ground, control the table 5 horizontally, and if the person feels comfortable with the wrist stretched without bending, tilt the table 5 with respect to the horizontal plane. Control is sufficient. In addition, when the table 5 is fixed around the Z axis, the direction in which the gripping portion 8 described below is operated back and forth (the Y axis direction) depends on the rotation angle of the first and second arms 3 and 4. There is a possibility of deviation from the longitudinal direction of the body. Therefore, the control unit 21 controls the motor to rotate the table 5 around the Z axis, so that the Y-axis direction of the gripping unit 8 can be matched with the front-rear direction of the operator's body.

  Next, the operation input unit 6 will be described with reference to FIG.

  The operation input unit 6 has a rotary shaft 7 that is supported on one end side of the table 5 so as to be rotatable about the X axis, the Y axis, and the Z axis, and a substantially rectangular plate-shaped front and rear direction (Y (Axial direction) A gripping portion 8 having both sides formed in a curved shape and a hemispherical covering portion 9 that covers the rotating shaft 7 are provided. The grip 8 is formed to a size that can be gripped by a standard adult hand, and a push button 10 for operation is disposed on the front side of the grip 8. Further, on both side surfaces of the grip portion 8 in the left-right direction (X-axis direction), rotation buttons 11 for permitting the grip portion 8 to rotate around the Z axis are arranged. The rotation button 11 may be provided on only one of the left and right side surfaces of the grip 8.

  The operation input unit 6 is operated in the positive direction around the X axis by tilting the gripping unit 8 to the right as shown in FIG. 4A, and the gripping unit 8 is moved to the left as shown in FIG. 4B. It is operated in the negative direction around the X axis by the tilting operation. Further, the operation input unit 6 is operated in the positive direction around the Y axis by an operation of tilting the gripping portion 8 forward as shown in FIG. 4C, and the gripping portion 8 is moved backward as shown in FIG. It is operated in the negative direction around the Y axis by the tilting operation. In addition to the four directions of the left-right direction (X-axis direction) and the front-rear direction (Y-axis direction), the rotation shaft 7 can also be rotated in an oblique direction (oblique right front, oblique left front, oblique right rear, oblique left rear). If so, it is possible to perform operations in eight directions combining diagonal directions.

  Further, when the rotation button 11 is pressed, the operation input unit 6 is in a locked state in which the operation of rotating the rotary shaft 7 about the X axis and the Y axis is prohibited. Rotating operation becomes possible. FIG. 4E shows a state in which the gripping portion 8 is rotated in the negative direction around the Z axis (clockwise as viewed from above), and FIG. 4F shows the gripping portion 8 in the positive direction around the Z axis (upper side). It shows a state of being rotated counterclockwise as viewed from. Here, the amount of rotation θ around the Z axis is, for example, (−30 degrees) ≦ θ ≦ (+30 degrees), and the resolution is 0.1 degrees. Thereby, using the operation input unit 6, the operator can input an operation for rotating the grip unit 8.

  Next, the functional configuration of the operation input device 1 will be described with reference to FIG. The operation input device 1 includes an operation input unit 6 and a position adjustment unit 20 that adjusts the position of the operation input unit 6.

  The operation input unit 6 includes an operation signal corresponding to the rotation direction and amount of rotation of the gripping unit 8, the rotating shaft 7 connected to the gripping unit 8, and the rotating shaft 7 that rotates in accordance with the operation of the gripping unit 8. An operation signal generation unit 12 that generates an operation signal corresponding to the operation of the push button 10 and outputs the operation signal to the load device 110 is provided.

  The position adjustment unit 20 includes a control unit 21, a movable unit 22, a mode selection unit 23, a position detection unit 24, a memory 25, an operation force setting unit 26, an operation force adjustment unit 27, and an operation restriction switch. 28, an operation restriction unit 29, and a release switch 30 are provided as main components.

  The movable part 22 changes the position of the grip part 8 as an operation part by changing the position of the table 5 using the first arm 3 and the second arm 4. In the present embodiment, a motor (not shown) that rotates the first arm 3 and the second arm 4 about the Y axis and the Z axis, respectively, and these motors are driven in accordance with control commands from the control unit 21. A movable portion 22 is configured by a drive circuit (not shown). The movable unit 22 may be one that moves the gripping part 8 to the neutral position by changing the posture of the gripping part 8, or the gripping part 8 by changing both the position and the posture of the gripping part 8. It may be moved to a neutral position.

  The mode selection unit 23 selects one of a position adjustment mode in which the position of the gripping unit 8 is changed by the movable unit 22 and a position holding mode in which the position adjustment of the gripping unit 8 by the movable unit 22 is stopped. Therefore, the switch is operated by the operator.

  In the position adjustment mode, the position detection unit 24 determines the posture of the operator when operating the grip unit 8 by hand based on the force applied to the grip unit 8 from a hand placed at a position where the grip unit 8 can be operated. Detects the neutral position of the hand to be a natural position. Here, when the hand is placed on the gripping portion 8, if the operator takes a natural posture, no force is applied to the gripping portion 8 from the hand placed on the gripping portion 8. On the other hand, when a hand is placed on the grip portion 8 in a state where the operator is in an unnatural posture, force is applied to the grip portion 8 from the operator's hand. For example, when the grip portion 8 is on the near side with respect to the neutral position of the hand, a force is applied to push the grip portion 8 forward from the hand placed on the grip portion 8. Contrary to the above, when the grip portion 8 is far from the neutral position of the hand, a force is applied to the grip portion 8 from the hand placed on the grip portion 8 toward the front side. . Therefore, the position detection unit 24 detects the position where the force applied to the grip unit 8 is the smallest in the position adjustment mode as the neutral position of the operator's hand. In the case of the joystick type operation input unit 6, when the gripping unit 8 is moved to the neutral position of the hand, the rotation shaft 7 is not inclined around the rotation axis (around the X axis and the Y axis), and the operation is performed. It is perpendicular to the mounting surface of the input unit 6 (the upper surface of the table 5). Further, the pressure is uniformly applied to the upper surface of the grip portion 8. If there is an operation part in such a neutral position, you can place your hand on the operation part or grasp the operation part by hand without stretching or shrinking your hand. ), There is no physical burden on the hand, and no force is applied to the operation part from the operator's hand. Therefore, if the movable unit moves the operation unit to a human-like neutral position, the neutral position condition is also satisfied in terms of the apparatus.

  In this operation input device, the operation unit includes a grip unit that is operated while being gripped by the operator's hand, and the position detection unit has a position where the pressure distribution applied from the operator's hand to the grip unit is uniform. It is also preferable to detect as a neutral position.

  The control unit 21 is composed of, for example, a microcomputer. When the position adjustment mode is selected by the mode selection unit 23, the control unit 21 moves the gripping unit 8 serving as the operation unit to the neutral position based on the detection result of the position detection unit 24. Next, the movable portion 22 is controlled to move the table 5. When the position holding mode is selected by the mode selection unit 23, the control unit 21 stops the operation of the movable unit 22 and fixes the position of the table 5.

  The memory 25 is composed of an electrically rewritable nonvolatile memory (for example, EEFROM, flash memory, etc.), and stores the neutral position of the grip 8 detected by the controller 21. Actually, the rotation angles around the Y axis and the Z axis of the first arm 3 and the second arm 4 when the grip 8 is moved to the neutral position are stored.

  The operation force setting unit 26 is used for an operator to set an operation resistance force when operating the grip unit 8.

  The operation force adjustment unit 27 applies an operation resistance force set using the operation force setting unit 26 to the grip unit 8. Specifically, as shown in FIG. 5, a pressing portion 27a disposed on both sides of the operation direction (X-axis direction and Y-axis direction) with respect to the rotating shaft 7, a motor 27b for driving the pressing portion 27a, The operating force adjustment unit 27 is configured by the motor control circuit 27c that controls the operation of the motor 27b.

  Each of the pressing portions 27a is disposed so as to freely advance and retract in the operation direction (X-axis direction or Y-axis direction) of the rotary shaft 7. When the pressing portion 27a is pushed by the rotating shaft 7 along with the rotation operation of the rotating shaft 7, the motor 27b is driven by the motor control circuit 27c, and the pressing portion 27a pushes the rotating shaft 7 to the opposite side to the operation direction. An operation resistance force is applied to the grip 8 connected to the rotary shaft 7. For example, as shown in FIGS. 4C and 4D, when the rotary shaft 7 is rotated around the Y axis, the operation resistance forces F1 and F2 in the direction opposite to the operation direction are applied to the rotary shaft 7. In the motor control circuit 27 c, the driving force of the motor 27 b is changed according to the setting of the operating force setting unit 26, thereby adjusting the operating resistance force applied to the gripping unit 8.

  In the present embodiment, the motor 27b drives the pressing portion 27a and pushes the rotating shaft 7 to the opposite side to the operation direction to give the gripping portion 8 an operation resistance force. However, the configuration other than the motor 27b is used. Operation resistance may be applied. For example, a part of the rotating shaft 7 is housed in a container filled with electrorheological fluid, a voltage is applied to the electrorheological fluid, and the viscosity of the electrorheological fluid is changed, so that the operating resistance force is applied to the rotating shaft 7. It may be given.

  The operation restriction unit 29 restricts the operation input by the gripping unit 8, restricts the operation input according to the operation of the operation restriction switch 28, and is input from the control unit 21 according to the operation of the release switch 30. In response to the release command, the operation input restriction state is released. Here, the release unit is configured by the release switch 30 and the control unit 21 that outputs a release command to the operation restriction unit 29 according to the operation of the release switch 30.

  FIG. 6 shows a specific configuration of the operation limiting unit 29, which includes stoppers 31a to 31d arranged on four sides of the rotating shaft 7 and driving units 32a to 32d for driving the stoppers 31a to 31d, respectively. 6B and 6C, the drive units 32a to 32d are omitted.

  The drive units 32a to 32d move the stoppers 31a to 31d to the positions shown in FIGS. 6A, 6B, and 6C in accordance with a control signal from the control unit 21.

  In the position shown in FIG. 6A, the stoppers 31 a to 31 d come into contact with the rotating shaft 7 from four directions, so that the rotating shaft 7 cannot be moved, and the operation input by the grip portion 8 is limited. . In the position shown in FIG. 6B, the stoppers 31a to 31d are separated from the rotating shaft 7, and a gap through which the rotating shaft 7 passes is provided between the adjacent stoppers 31a to 31d. It is possible to operate in the X-axis direction and the Y-axis direction). Further, at the position shown in FIG. 6C, the stoppers 31a to 31d are further separated from the rotating shaft 7, and the rotating shaft 7 is added to the above four directions, diagonally right upper, diagonally upper left, diagonally lower right, diagonally lower left. Can be moved in four directions, and operation in a total of eight directions is possible. If the rotary shaft 7 itself is rotatable in all directions, the stoppers 31a to 31d are moved to the positions shown in FIG. 6C, and the operation in all directions is permitted.

  Here, when the operation restriction switch 28 is operated by the operator, the control unit 21 drives the driving units 32a to 32d to move the stoppers 31a to 31d to the position shown in FIG. The operation input by the grip portion 8 is limited. Since the rotating shaft 7 cannot be rotated in this locked state, it is difficult to perform an inadvertent operation of the grip portion 8.

  On the other hand, when the release switch 30 is operated by the operator, the control unit 21 drives the drive units 32a to 32d to move the stoppers 31a to 31d to positions away from the rotary shaft 7 (FIG. 6B). ) Or the position shown in FIG. As a result, the rotary shaft 7 can be operated in four directions, eight directions, or all directions, and the operation input restriction state is released.

  As described above, the operation input device 1 according to this embodiment includes the position adjustment unit 20 that moves the grip 8 of the operation input unit 6 to the neutral position of the operator's hand. The operation input unit 6 includes a gripping unit 8 as an operation unit operated by an operator by hand, and generates an operation signal corresponding to the operation of the gripping unit 8. The position adjustment unit 20 includes a movable unit 22 that changes the position of the gripping unit 8, a position adjustment mode that changes the position of the gripping unit 8 using the movable unit 22, and a position holding that stops the position adjustment of the gripping unit 8 by the movable unit 22. A mode selection unit 23 that selects one of the modes is provided. In addition, the position adjustment unit 20 is the position of the operator when operating the grip unit 8 by hand based on the force applied to the grip unit 8 from a hand placed at a position where the grip unit 8 can be operated in the position adjustment mode. Is provided with a position detection unit 24 for detecting a neutral position of the hand so that a natural posture is obtained. Then, the control unit 21 controls the movable unit 22 so as to move the gripping unit 8 to the neutral position based on the detection result of the position detection unit 24 in the position adjustment mode.

  As a result, in the position adjustment mode, the control unit 21 controls the movable unit 22 to move the gripping unit 8 of the operation input unit 6 to the neutral position of the hand. When the is placed, the posture of the operator does not become an unnatural posture. Therefore, since the posture of the operator becomes a natural posture, the physical burden on the operator's hand is reduced, and the operation can be performed with an easy posture.

  By the way, the position detection unit 24 detects, as a neutral position, a position where the force applied to the grip 8 is the smallest based on the force applied to the grip 8 from the hand while the operator's hand is placed on the grip 8. However, a position where the pressure distribution applied to the grip portion 8 from the operator's hand becomes uniform may be detected as a neutral position. For example, the position detection unit 24 includes a pressure sensor that measures the pressure distribution on the upper surface (the surface on which the hand is placed) of the gripping unit 8, and the position where the pressure distribution becomes uniform is determined as the center position from the detection result of the pressure sensor To detect. If the operator's hand is in the neutral position, when the hand is placed on the grip 8, the operator's hand will be in uniform contact with the entire grip 8 and the upper surface of the grip 8 will be uniformly pressurized. It is done. Therefore, the neutral position of the hand can be detected more accurately by detecting the position where the pressure distribution on the upper surface of the gripping portion 8 becomes uniform by the pressure sensor.

  Note that a plurality of touch sensors may be attached to the upper surface of the gripping portion 8, and a position detected by the plurality of touch sensors when the entire hand is in contact with the gripping portion 8 may be detected as a neutral position. By detecting the position where the entire hand is in contact with the grip portion 8 by the touch sensor, the neutral position can be easily obtained as compared with the case where the position where the pressure distribution is uniform is obtained.

  In the present embodiment, when the operator sets the operation resistance force using the operation force setting unit 26, the control unit 21 controls the operation of the operation force adjustment unit 27 and adjusts the operation resistance force of the gripping unit 8. ing.

  Thereby, the operation resistance set by the operator can be applied to the grip portion 8, and the operability can be improved by giving an appropriate operation feeling to the operator's hand.

  When the operator operates the operation restriction switch 28, the control unit 21 controls the operation restriction unit 29 so that the operation of rotating the gripping unit 8 around the X axis and the Y axis cannot be performed.

  Thereby, it becomes difficult to operate the holding part 8 carelessly, and it is possible to suppress an erroneous operation.

  Further, when the operator operates the release switch 30, the control unit 21 releases the restricted state by the operation restriction unit 29.

  Thereby, a normal operation using the grip portion 8 can be performed.

  Further, the neutral position detected by the position detection unit 24 in the position adjustment mode is stored in the memory 25 (storage unit). Thus, when the position adjustment mode is selected by the mode selection unit 23, the control unit 21 reads the neutral position obtained last time from the memory 25, and the movable unit so that the operation input unit 6 moves to this neutral position. 22 may be controlled.

  Thereby, there is no need to obtain the neutral position each time, and the operation input unit 6 can be moved to the previous neutral position in a short time.

  Incidentally, in the above-described embodiment, the second arm 4 is also rotatable around the Y axis and the Z axis, but the movable portion 22 is not limited to the above embodiment. For example, as shown in FIG. 7, the second arm 4 may be nested with respect to the first arm 3, and the second arm 4 may be expanded and contracted by the movable portion 22.

DESCRIPTION OF SYMBOLS 1 Operation input device 6 Operation input part 8 Gripping part (operation part)
21 Control Unit 22 Movable Unit 23 Mode Selection Unit 24 Position Detection Unit 25 Memory (Storage Unit)
26 Operation Force Setting Unit 27 Operation Force Adjusting Unit 28 Operation Limit Switch 29 Operation Limit Unit 30 Release Switch (Release Unit)

Claims (6)

An operation input unit that includes an operation unit that is operated by an operator by hand, and that generates an operation signal according to the operation of the operation unit;
A movable unit that changes at least one of the position and orientation of the operation unit;
A mode selection unit for selecting one of a position adjustment mode for changing the position of the operation unit by the movable unit and a position holding mode for stopping the position adjustment of the operation unit by the movable unit;
In the position adjustment mode, based on the force applied to the operation unit from a hand placed at a position where the operation unit can be operated, the posture of the operator when operating the operation unit by hand is a natural posture. A position detection unit for detecting the neutral position of the hand,
An operation input device comprising: a control unit that controls the movable unit to move the operation unit to the neutral position based on a detection result of the position detection unit in the position adjustment mode. The operation unit includes a gripping unit that is operated in a state of being gripped by an operator's hand,
The operation input device according to claim 1, wherein the position detection unit detects, as the neutral position, a position where a pressure distribution applied to the grasping unit from an operator's hand becomes uniform. An operation force setting unit for setting an operation resistance necessary for the operation of the operation unit;
The operation input device according to claim 1, further comprising an operation force adjustment unit that adjusts an operation resistance force of the operation unit according to the setting by the operation force setting unit. .   The operation input device according to claim 1, further comprising an operation restriction unit that restricts an operation input by the operation unit.   The operation input device according to claim 4, further comprising a release unit that cancels a restricted state of the operation input by the operation restriction unit. A storage unit for storing the neutral position detected by the position detection unit;
When the position adjustment mode is selected by the mode switching unit, the control unit controls the movable unit so that the operation unit moves to the neutral position stored in the storage unit. The operation input device according to any one of claims 1 to 5.

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