JP2018190254A - Remote control input system and wrist operation detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote control input system that allows an operator to intuitively perform remote control of a mobile object with a simple structure.SOLUTION: A remote control input system 10 includes a wrist operation detection device 11 that is arranged around a wrist on one side of an operator and detects an operation state of the wrist, and a computer 12 that issues an operation command to a mobile object M corresponding to the detection result. The wrist operation detection device 11 includes an operation unit 14 that is composed of a mechanism that operates in accordance with movement of the wrist on one side in a state of non-contact with an elbow on one side, and a detection unit 15 that detects the operation state of the operation unit 14. The operation unit 14 includes a grasping member 17 that is grasped by a hand on one side, and a support unit 18 that operatively supports the grasping member 17 so as to allow movement of the wrist in all directions or partial directions in a state where the grasping member 17 is grasped. The computer 12 issues the operation command to the mobile object M so as to rotate and move the mobile object M in a same direction as a rotating direction and a moving direction of the grasping member 17.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a remote control input system and a wrist motion detection device, and more particularly, to a remote control input system and wrist motion detection for enabling an operator to intuitively perform remote control of various moving objects. Relates to the device.

  Conventionally, in the case of remotely operating various moving bodies such as devices having a moving function and robots, operation commands by an input device such as a joystick are exclusively used. However, in this conventional input device, the operation direction does not necessarily match the input direction with respect to the posture of the moving body, and it is difficult for the operator to understand the operation direction and operation method of the moving body during remote operation. For this reason, it is desirable that the input device enables an intuitive operation as if it is operated in a desired moving direction using only the wrist while holding the moving body with the operator's own hand. This intuition of remote operation is especially true when the mobile unit is remotely operated in an environment where the operator cannot directly view the mobile unit, such as under rubble or buildings at the disaster site, or far away in the air. This is useful when the accuracy of the direction command is further required.

  By the way, in patent document 1, in a state where the operator grips the grip, the elbow is arbitrarily moved in a state where the elbow is placed on the arm connected to the grip, and a change in the position or posture of the grip is detected by a sensor. There has been proposed a control device that gives an operation command to a robot to be operated based on the change.

JP 2002-264045 A

  However, in the control device of Patent Document 1, an intuitive remote operation of the moving body by the operator cannot be realized. That is, since this control device is structured to issue an operation command while moving the elbow and wrist while the elbow is placed on the arm, the position of the elbow is restricted within a predetermined range. Regardless of, you can not get the feeling of moving using the wrist only while holding the moving body directly in your hand. In addition, the control device employs a mechanism including an arm provided with a link mechanism that allows the elbow to move, and a pedestal that is attached to the arm and slides the elbow in a plane direction. This will increase the size of the entire device. Furthermore, it is necessary to place the pedestal on a flat part such as a table at the time of use, resulting in a restriction on the use mode of the control device. For example, when using outdoors where there is no flat part, the installation place is restricted. Will be difficult to use. Also, since the arm is provided with a rhombus link mechanism, the elbow cannot be translated laterally from the installation direction, and only the rotation of the joint of the arm is performed in the lateral direction. Therefore, a singular point is generated and the elbow cannot be moved within a free range. For this reason, when an instruction to continue the same operation is performed when the elbow is moved out of its movable range, the operator may temporarily perform another operation unrelated to the operation. The operation command must be reset, and the intuition of remote operation cannot be obtained from this point.

  The present invention has been devised to solve such a problem, and its purpose is to provide a remote control input that allows an operator to intuitively perform a remote control of a moving body with a simple structure. A system and a wrist motion detection device are provided.

  In order to achieve the above object, the present invention mainly relates to an input system for remote operation in which an operation direction is commanded to the moving body by an operation of a wrist of an operator when a predetermined moving body is remotely operated. Wrist movement detection means that is arranged around the wrist on one side of the wrist and detects the movement state of the wrist, and an operation command means that issues an operation command to the moving body in response to a detection result of the wrist movement detection means The wrist motion detecting means is in a non-contact state with respect to the elbow on the one side and is configured to operate in accordance with the movement of the wrist on the one side, and the operating state of the operating portion A detecting unit that detects the movement of the wrist, and the movement unit moves the wrist in all directions or in some directions while the holding member is held. The gripping part to allow A support unit that operably supports the gripping member, and the detection unit includes a rotation amount of the gripping member about at least one axis in the three orthogonal axes and a movement amount of the gripping member in at least one direction on the three orthogonal axes. And the operation command means moves the moving body to rotate and move in the same direction as the rotation direction and movement direction of the gripping member based on the rotation amount and the movement amount. The operation instruction is performed.

  In the present specification and claims, the term indicating the position or direction related to the wrist motion detecting device is based on the three orthogonal axes shown in FIG. 2 unless otherwise specified, and the operator at the time of wearing the device. It is defined as follows corresponding to the movement direction of the wrist. That is, the direction along the x-axis in FIG. 2 that is the extending direction of the arm when the apparatus is mounted is referred to as the “front-rear direction”, and the direction along the y-axis that is the lateral direction of the arm when the apparatus is mounted is “ The direction along the z-axis, which is the vertical direction of the arm when the apparatus is mounted, is referred to as the “vertical direction”. “Front” means the direction of the tip of the hand when the apparatus is mounted. Further, the rotation direction around the x axis is referred to as “roll direction”, the rotation direction around the y axis as “pitch direction”, and the rotation direction around the z axis as “yaw direction”.

  According to the present invention, since the wrist is not moved while the elbow is supported by the arm or the like, a mechanism such as an arm or a link becomes unnecessary, and the entire apparatus can be reduced in size. In addition, by operating the moving unit in a direction corresponding to the rotational direction or translational direction of the moving body, the moving direction of the moving body, that is, the translational direction so that the moving direction or posture of the moving body matches the operation direction of the moving unit. And the direction of rotation can be commanded, and an intuitive remote operation as if the operator directly operates the moving body with his / her hand is possible. Furthermore, since the movement of the wrist or elbow is not unnecessarily restrained when the operator performs a remote operation, the intuition of the remote operation can be obtained more.

  In addition, when a configuration further including an immersive feeling imparting means is adopted, the moving object is in a state in which the operator enters the field of view from the moving object as if the operator's own eyes are attached to the moving object. Remote operation is possible, and the moving direction of the moving body can be matched by the operator's senses, making it easier to perform the remote operation of the moving body.

1 is a schematic configuration diagram of a remote control input system according to a first embodiment. FIG. The schematic perspective view of the wrist motion detection apparatus applied to the input system for remote control of 1st Embodiment. The enlarged view of FIG. The schematic block diagram of the input system for remote control concerning 2nd Embodiment. The schematic perspective view of the wrist motion detection apparatus applied to the input system for remote operation of 2nd Embodiment. The principal part schematic plan view for demonstrating the positional relationship of a moving direction display line and an index finger.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)

  FIG. 1 is a schematic configuration diagram showing the configuration of the remote control input system according to the first embodiment. In this figure, the remote operation input system 10 functions as an input interface for giving a command of an operation direction related to movement and rotation of a predetermined moving body M by remote operation of an operator. The moving body M in the present invention is an unmanned flying body such as a drone, an unmanned traveling body such as an automobile or a crawler type apparatus, a submerged craft, a mobile medical apparatus such as an endoscope or a catheter, or a medical use. Including robots, industrial robots, humanoid robots, etc., devices with various movement functions and objects that can be moved by robots, characters and icons for games, etc., images that can be moved on the screen, marks, etc. Used as In the following embodiments, a mobile unit M is assumed to be a drone, and a description will be given of a system for performing remote maneuvering that instructs the operation direction of the drone.

  The remote operation input system 10 is arranged around a wrist on one side of the operator, and includes a wrist motion detection device 11 that functions as a wrist motion detection unit that detects a wrist motion state, and a wrist motion detection unit 11. And a computer 12 functioning as an operation command means for issuing an operation command to the moving body R in accordance with the detection result.

  The wrist motion detection device 11 is configured to detect a motion state of the motion unit 14 and a motion unit 14 including a mechanism that operates in accordance with the movement of the wrist on the one side in a non-contact state with the elbow on the one side. Part 15.

  As shown in FIG. 2, the operating unit 14 includes a gripping member 17 gripped by the one hand H1 and a wrist omnidirectional or partial direction in a state where the gripping member 17 is gripped. A support unit 18 that operably supports the gripping member 17 is provided so as to allow movement.

  The gripping member 17 is not particularly limited, but is substantially L-shaped in a side view, and the front portion extending in the vertical direction is a gripping portion 17A that is gripped by the operator's hand H1. The base end side of the base portion 17B extending in the front-rear direction, which is the axial direction, is a portion connected to the support unit 18 side.

  The support unit 18 includes a rotation mechanism that supports the gripping member 17 so as to be rotatable about three orthogonal axes, and a slide mechanism that supports the gripping member 17 so as to be movable in the three orthogonal axes. It is structured to support operation with 6 degrees of freedom.

  That is, as shown in FIG. 3, the support unit 18 pitches the first support member 21 that supports the gripping member 17 to be rotatable in the yaw direction (around the z axis), and the first support member 21. A second support member 22 that is rotatably supported in the direction (around the y-axis), and is disposed outside the second support member 22 so that the second support member 22 is moved in the front-rear direction (x-axis direction) and the vertical direction ( a third support member 23 that is movably supported in the z-axis direction), a fourth support member 24 that rotatably supports the third support member 23 in the roll direction (around the x-axis), and a fourth The fifth support member 25 is configured to support the support member 24 so as to be movable in the left-right direction (y-axis direction).

  The first support member 21 is a rotating shaft that constitutes a rotating mechanism that allows relative rotation in the yaw direction about the wrist with the gripping member 17 in the gripping state with respect to the base portion 17B of the gripping member 17. Connected with C1.

  The second and third support members 22 and 23 are connected by a rotation shaft C2 that constitutes a rotation mechanism that allows relative rotation in the pitch direction around the wrist while the gripping member 17 is gripped.

  The third support member 23 employs a slide mechanism that supports the second support member 22 so as to be relatively movable in the front-rear direction and the up-down direction using a rail R or the like.

  The fourth support member 24 is formed in a circular ring shape having a hollow portion and is connected to the fifth support member 25 via a connecting portion 27. The connecting portion 27 is provided with a rotation mechanism that allows the fourth support member 24 to relatively rotate in the roll direction around the wrist while the gripping member 17 is gripped. Further, as shown in FIG. 2, the hollow portion of the fourth support member 24 is opposed to the gripping portion 17A and penetrates the arm portion A1 connected to the one hand H1 that grips the gripping portion 17A. The grip portion 17A can be gripped with the arm portion A1 passing through the hollow portion.

  The fifth support member 25 is composed of a rectangular frame that is disposed so as to surround the fourth support member 24. In addition, a connecting portion 27 is attached to the upper portion 25A extending in the left-right direction, and a slide mechanism that allows the connecting portion 27 to move in the left-right direction along the upper portion 25A is provided between them. Yes. A device fixing means 29 for fixing the entire device is provided on the lower portion 25B facing the upper portion 25A.

  As shown in FIG. 2, the device fixing means 29 has a structure that can be fixed to the arm portion A2 on the other side of the operator while holding the grip portion 17A with the hand H1 on the one side of the operator. Yes. Specifically, the device fixing means 29 is made of a cylindrical member having an inner diameter through which the arm portion A2 can be inserted.

  As the device fixing means 29, a configuration such as a chuck that can be fixed to any object such as a columnar shape or a block shape in addition to being fixed to the other arm portion A2 of the operator can be adopted.

  Although not shown in FIGS. 2 and 3, the detection unit 15 detects the amount of rotation and the amount of movement in each direction when each slide mechanism and each rotation mechanism in the support unit 18 operate. In order to make it possible, it includes a displacement detection sensor such as a potentiometer provided in each of the slide mechanism and the rotation mechanism. That is, the amount of movement of the gripping member 17 in the three orthogonal axes and the amount of rotation about the three axes (rotation angle) are measured by each sensor.

  The computer 12 moves in the same direction as the rotation direction and the movement direction of the gripping member 17 operated by the operator's hand H1, based on the operation amount and the operation speed based on the rotation amount and the movement amount measured by the detection unit 15. In order to rotate and translate the body M, a signal for operating the moving body M is generated.

  Next, an input operation by the remote operation input system 10 will be described.

  First, as shown in FIG. 2, the operator holds the holding portion 17 </ b> A with the one hand H <b> 1 in a state where either the left or right arm portion A <b> 1 is passed through the ring-shaped fourth support member 24. At the same time, the arm portion A2 is passed through the cylindrical device fixing means 29 so as to cross the other arm portion A2 below the hand H1, thereby supporting the entire wrist motion detecting device 11.

In this state, if the wrist on which the gripping part 17A is gripped (hereinafter referred to as “the gripping wrist”) is to be moved in the front-rear direction, the second and third support members 22, 23 are moved in the front-rear direction. The gripping member 17 is moved in the front-rear direction integrally with the first and second support members 21, 22 by the slide mechanism for relative movement, and the movement amount in the direction is detected by the detection unit 15.
Further, when the grip-side wrist is moved in the left-right direction, the slide mechanism for moving the fourth and fifth support members 24, 25 in the left-right direction integrally with the first to fourth support members 21-24. Then, the gripping member 17 moves in the left-right direction, and the amount of movement in that direction is detected by the detection unit 15.
Further, when the gripping wrist is moved in the vertical direction, the slide mechanism for moving the second and third support members 22 and 23 in the vertical direction integrally with the first and second support members 21 and 22. Then, the gripping member 17 moves in the vertical direction, and the movement amount in the direction is detected by the detection unit 15.
Further, when the gripping wrist is rotated in the roll direction, the first to fourth support members 21 to 24 are rotated by a rotation mechanism that rotates the fourth support member 24 in the roll direction with respect to the fifth support member 25. The gripping member 17 rotates in the roll direction integrally, and the rotation amount in the direction is detected by the detection unit 15.
Furthermore, when the gripping wrist is rotated in the pitch direction, the first and second support members 21 and 22 are rotated by a rotation mechanism that rotates the second support member 22 in the pitch direction with respect to the third support member 23. The gripping member 17 rotates in the pitch direction integrally, and the amount of rotation in that direction is detected by the detection unit 15.
Further, when the gripping wrist is rotated in the yaw direction, only the gripping member 17 is rotated in the yaw direction by the rotation mechanism that rotates the gripping member 17 in the yaw direction with respect to the first support member 21. The amount of rotation in the direction is detected by the detection unit 15.

  In the computer 12, the detection result of the detection unit 15, that is, the movement direction and the movement amount of the gripping wrist, and the rotation direction and the rotation amount of the gripping wrist are matched. Based on the movement direction and movement amount (or movement speed) and the rotation direction and rotation amount (or rotation speed) of the moving body M, a command signal to the moving body M is generated so that the moving body M operates.

That is, when the grasping wrist is moved in the front-rear direction, an operation signal for translating the movable body M in the front-rear direction is generated with a movement amount corresponding to the movement amount.
Further, when the gripping wrist is moved in the left-right direction, an operation signal for translating the moving body M in the left-right direction is generated with a movement amount corresponding to the movement amount.
Further, when the gripping wrist is moved in the vertical direction, an operation signal for translating the movable body M in the vertical direction is generated with a movement amount corresponding to the movement amount.
Further, when the gripping wrist is rotated in the roll direction, an operation signal for turning the moving body M in the roll direction is generated with a rotation amount corresponding to the rotation amount.
Further, when the gripping wrist is rotated in the pitch direction, an operation signal for turning the moving body M in the pitch direction is generated with a rotation amount corresponding to the rotation amount.
When the gripping wrist is rotated in the yaw direction, an operation signal for turning the moving body M in the yaw direction is generated with a rotation amount corresponding to the rotation amount.

  Note that the computer 12 generates only a command signal for the moving direction and the rotating direction of the moving body M as necessary, and the gripping portion 17A can move from a predetermined initial position or initial position regardless of the moving amount or rotating amount. You may make it operate the mobile body M by the fixed moving speed and rotation speed in the changed direction, and various aspects are employable about use of the said movement amount and rotation amount.

  Therefore, according to the remote operation input system 10, it is possible to perform input by rotating and sliding around the wrist of the operator, and whether the moving body M is directly gripped and moved by the operator's hand. Such an operation direction command can be performed, and the mobile body M can be intuitively operated remotely.

Next, another embodiment of the present invention will be described. In the following description, the same reference numerals are used for the same or equivalent components as in the first embodiment, and the description is omitted or simplified.
(Second Embodiment)

  As shown in FIG. 4, the remote operation input system 30 according to the second embodiment provides the operator with a sense of immersion in the field of view of the moving body M compared to the remote operation input system 10 according to the first embodiment. It is characterized in that it further includes an immersive feeling imparting means 31 to be imparted.

  The immersive feeling imparting means 31 represents a moving direction of the moving body M in a camera 33 attached to the moving body M so as to be able to image a forward visual field in the moving direction of the moving body M, and a camera image acquired by the camera 33. An image processing unit 34 that generates a composite image in which accompanying information is superimposed, a display unit 35 for presenting the composite image generated by the image processing unit 34 to an operator, and a posture sensor that detects the posture of the display unit 35 37.

  In the present embodiment, as shown in FIG. 5 when the wrist motion detection device 11 is viewed from the opposite direction to FIG. 2, the operator extends the index finger F along the extending direction of the arm portion A1. The gripping member 17 is gripped. Then, in the immersive sensation imparting means 31, as will be described in detail below, the extending direction of the index finger F is taken as the moving direction of the moving body M, and the linear moving direction is matched with the extending direction of the index finger F. The composite image is generated by superimposing the display line L as the accompanying information on a camera image that is an image in real space. The moving direction display line L is presented to the operator through the display unit 35 attached to the upper portion 25A of the fifth support member 25 as a composite image superimposed on the camera image, whereby the immersive feeling is manipulated. It will be given to the person.

  As shown in FIG. 4, the image processing unit 34 includes an image acquisition unit 39 that acquires the camera image using wired or wireless communication, and an index finger F that is holding the gripping member 17. For the position and posture, the operation side state calculation unit 40 obtained by calculation from the detection result of the position and posture of the gripping member 17 in the detection unit 15 and the movement direction display line L are identified from the position and posture of the index finger F and moved. A processing unit 41 that performs processing of superimposing the direction display line L on the camera image, and an image transmission unit 42 that transmits the composite image generated by the processing unit 41 to the display unit 35 are provided.

  In the processing unit 41, a composite image in which the movement direction display line L is superimposed on the camera image is generated by the following coordinate conversion processing or the like. That is, when the extending direction of the index finger F is the moving direction of the moving body M, the display unit 35 is fixed at a fixed position of the wrist operation detecting device 11 and the posture of the display unit 35 is the posture sensor 37. Therefore, the position and posture of the display unit 35 with respect to the wrist operation detection device 11 are specified. Therefore, the extension direction of the movement direction display line L in the image coordinate system in the display unit 35 is specified by coordinate conversion from the position and posture of the index finger F specified by the operation side state calculation unit 40, and the movement direction display line is determined. L is superimposed on the camera image. That is, here, the lower end side of the display unit 35 is the moving body M side, and the movement direction display line L extends from the lower end side of the screen of the display unit 35 toward the upper side of the screen if the indicated moving direction is forward. For example, if the moving direction to be instructed is diagonally forward right, it is displayed in the composite image so as to extend from the lower end side of the screen of the display unit 35 toward the diagonally upper right side of the screen.

  The display unit 35 may be anything as long as it has a display screen such as a terminal such as a smartphone, and is provided so as to enable wired or wireless communication with the image transmission unit 42. Further, the display unit 35 is arranged above the front side of the index finger F of the arm unit A1 holding the gripping member 17, and in this embodiment, in FIG. As indicated by a broken line, the display unit 35 is attached to the support unit 18 so that the index finger F and the moving direction display line L on the composite image are aligned on the same line of sight of the operator. This makes it possible to further enhance the immersive feeling.

  The posture sensor 37 may use a posture sensor built in a terminal such as a smartphone, or may be disposed at a connection portion between the support unit 18 and the display unit 35.

  The wrist motion detection means applied to the present invention is not limited to the structure of the wrist motion detection device 11 in each of the embodiments described above, and is arranged around the wrist, without contacting the elbow of the operator, As long as it has a mechanism that operates following the movement and rotation of each direction of the wrist, and has a structure that can detect the state of each operation, various types that have been changed in design can be adopted.

  In each of the above embodiments, the wrist motion detection device 11 is configured to be capable of motion with six degrees of freedom. However, the present invention is not limited to this, and for example, a mechanism that enables movement in the vertical and horizontal directions. Depending on the operation mode of the moving body M, such as an endoscope robot or the like, which is configured to be capable of four-degree-of-freedom operation for remote operation of the moving body M in which only the moving direction in the front-rear direction is assumed. Further, it is possible to adopt a structure in which the number of degrees of freedom is increased or decreased and the moving direction or the rotating direction is limited.

  Further, as the structure of the support unit 18, an urging member such as a spring that restores the gripping member 17 to the initial position and the initial posture when the external force applied to the gripping member 17 by the operator's hand H1 is released. Can also be provided in each operating part.

  In addition, the configuration of each part of the apparatus in the present invention is not limited to the illustrated configuration example, and various modifications are possible as long as substantially the same operation is achieved.

10, 30 Remote operation input system 11 Wrist motion detection device (wrist motion detection means)
12 Computer (operation command means)
DESCRIPTION OF SYMBOLS 14 Operation part 15 Detection part 17 Gripping member 18 Support unit 29 Device fixing means 31 Immersion feeling provision means 33 Camera 34 Image processing part 35 Display part A1 Arm part A2 Arm part F Index finger H1 Hand L Moving direction display line M Moving body

Claims (7)

In a remote control input system for commanding a moving direction to the moving body by an operation of a wrist of an operator when remotely operating a predetermined moving body,
Wrist motion detection means that is arranged around the wrist on one side of the operator and detects the movement state of the wrist, and issues an operation command to the moving body in response to the detection result of the wrist motion detection means Operation command means,
The wrist motion detection means is a non-contact state with respect to the one side elbow, and includes a motion part configured to operate in accordance with the movement of the wrist on the one side, and a detection for detecting a motion state of the motion part. With
The operating unit includes a gripping member gripped by the one hand, and the gripping member so as to allow movement of the wrist in all directions or in some directions while the gripping member is gripped. And a support unit that operably supports
The detection unit detects a rotation amount of the gripping member around at least one axis in the three orthogonal axes and a movement amount of the gripping member in at least one direction in the three orthogonal axes,
The operation command means issues an operation command to the moving body so as to rotate and move the moving body in the same direction as the rotation direction and movement direction of the gripping member based on the rotation amount and the movement amount. An input system for remote operation characterized by that. An immersive feeling imparting means for imparting an immersive feeling to the operator in the field of view of the movable body;
The immersive sensation providing unit generates an image processing unit that generates a composite image in which a camera arranged so as to be able to capture the field of view and a camera image acquired by the camera are superimposed with an accompanying display indicating a moving direction of the moving body And a display unit for presenting the composite image to the operator,
2. The remote operation input according to claim 1, wherein the processing unit generates the composite image by specifying a position and orientation of the accompanying display in the camera image based on a detection result of the detection unit. system. An immersive feeling imparting means for imparting an immersive feeling to the operator in the field of view of the movable body;
The immersion feeling imparting means includes a camera arranged so as to be able to image a field of view ahead of the moving body in the moving direction, and a camera image acquired by the camera in a straight line that is accompanying information indicating the moving direction of the moving body. An image processing unit that generates a composite image in which movement direction display lines are superimposed, and a display unit that presents the composite image to the operator,
In the processing unit, the position and orientation of the moving direction display line in the camera image is specified based on the detection result of the detecting unit, and the moving direction display line is positioned on the front side in the moving direction of the moving body in the camera image. The input system for remote operation according to claim 1, wherein the composite image is generated by being superimposed so as to extend from the side to the depth side.   When the operator extends his / her index finger along the extending direction of the arm on one side holding the gripping member, the display unit displays the index finger and the moving direction display line on the composite image. 3. The remote operation input system according to claim 2, wherein the remote operation input system is arranged so as to line up on the same line of sight of the operator. It is used in a remote control input system that commands the moving body by the movement of the operator's wrist when remotely operating a predetermined moving body, and is arranged around the wrist on one side of the operator. In the wrist motion detection device for detecting the wrist movement state,
An operation unit comprising a mechanism that operates in accordance with the movement of the wrist on the one side in a non-contact state with respect to the elbow on the one side, and a detection unit that detects an operation state of the operation unit;
The operating unit includes a gripping member gripped by the one hand, and the gripping member so as to allow movement of the wrist in all directions or in some directions while the gripping member is gripped. And a support unit that operably supports
The wrist motion characterized in that the detection unit detects a rotation amount of the gripping member about at least one axis in the three orthogonal axes and a movement amount of the gripping member in at least one direction in the three orthogonal axes. Detection device. The support unit includes a rotation mechanism that rotatably supports the gripping member, and a slide mechanism that supports the gripping member in a translatable manner, and supports the gripping member so that the gripping member can operate at least in four degrees of freedom. ,
The rotation mechanism is provided so as to allow the rotation of the gripping member in all three directions on three orthogonal axes,
6. The wrist motion detection device according to claim 5, wherein the slide mechanism is provided so as to allow movement of the gripping member in at least the front-rear direction. A device fixing means for fixing the entire device;
The device fixing means is provided so that the entire device can be fixed using the arm portion on the other side of the operator while the gripping member is gripped with the hand on the one side of the operator. The wrist motion detection device according to claim 5.

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