JP2019136437A - Excavation feeling imparting device, joint structure, excavation feeling imparting method and excavation feeling imparting program, as well as skill evaluation device, skill evaluation method and skill evaluation program - Google Patents

Abstract

To provide an excavation feeling imparting device that imparts artificial reality with a sense of reality having both of high rigidity and high response performance to a rigid object, and provide a joint structure, an excavation feeling imparting method and an excavation feeling imparting program, etc.SOLUTION: An excavation feeling imparting device has: excavation operation means having an excavated operation unit where the simulated excavation operation to an assumed excavation object is performed by an operator; and excavation feeling imparting means for imparting an artificial excavation feeling to the operator according to the excavation force applied to the excavated operation unit through the excavation operation means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an excavation feeling imparting apparatus, a joint structure, an excavation feeling imparting method, an excavation feeling imparting program, a skill evaluation apparatus, a skill evaluation method, and a skill evaluation program.

  In recent years, with the improvement of medical technology and the development of medical devices, development of training simulators using force sense presentation devices and the like has been promoted for the purpose of improving the skills of surgeons and the like and acquiring special skills.

  As such a force sense presentation device, for example, a device that realizes an artificial reality with a sense of presence with respect to a delicate contact operation with a soft object such as a skin or an organ has been proposed. The responsiveness is improved by reducing the weight of the operating end that presents the movement and the drive mechanism that transmits the motion to the operating end. However, when the responsiveness is improved by reducing the weight of the operation end or the drive mechanism, the rigidity of the force sense presentation device may be reduced, but the operation force is small in a delicate contact operation to a soft object such as skin or organ. Therefore, it is considered that the influence of the rigidity reduction of the force sense presentation device is small.

On the other hand, a force sense presentation device as a training simulator for hard objects such as bones and teeth has also been proposed. For example, an image synthesizing unit that synthesizes an image including each tissue of a surgical target portion from images of a plurality of modalities, and a synthesized image that includes a simulated surgical tool such as a scalpel or a drill that can be grasped and moved by an operator, Three-dimensional image display means for displaying in three dimensions, superimposed display means for superimposing and displaying the simulated surgical tool on the image including its movement, and when the simulated surgical tool contacts the tissue in the superimposed display means, a sound corresponding to the hardness of the two A surgical simulation system having an artificial reality creation means for generating a repulsive force on a simulated surgical tool has been proposed (see, for example, Patent Document 1).
Further, a bone resection simulation is described with respect to a surgical navigation system for assisting a surgeon in performing a surgery (see, for example, Patent Document 2).

JP-A-5-123327 Japanese translation of PCT publication No. 2004-530485

However, the above-described prior art documents do not disclose a force sense presentation technique that gives a realistic presence to a hard object such as a bone or a tooth. In addition, bone cutting and bone resection to hard objects such as bones and teeth are operations that give a strong impact force, and the force sense presentation device that gives a realistic sense of reality to the operation includes: Along with high rigidity, high responsiveness of the movement of the operation end is also required, but a force sense presentation device that has a high rigidity and high responsiveness to give a realistic sense of reality to hard objects has not been provided yet. .
Furthermore, the operator who performs bone cutting and bone resection for hard objects such as bones and teeth has an appropriate excavation force that does not cause cracks, fractures, and perforations of the bones and teeth due to excessive loads on the bones and teeth. Since nerves, blood vessels, and organs often exist in the vicinity, there is a need to acquire highly skilled skills that enable safe operation without damaging them.

An object of the present invention is to solve at least one of the above-described problems and achieve the following object. That is, the present invention provides an excavation feeling imparting apparatus, a joint structure, an excavation feeling imparting method, and an excavation feeling imparting program that provide artificial reality with a sense of presence with respect to a hard object, which has high rigidity and high response performance. For the purpose.
It is another object of the present invention to provide a skill evaluation apparatus, a skill evaluation method, and a skill evaluation program that can appropriately evaluate the skill of an operator and can acquire a skilled skill safely and reliably.

The excavation feeling imparting apparatus according to the present invention includes an excavation operation unit having an excavation operation unit in which a simulated excavation operation on an assumed excavation target is performed by an operator, and an excavation force applied to the excavation operation unit. And excavation feeling imparting means for imparting an artificial excavation feeling to the operator via the excavation operation means.
According to the excavation feeling imparting device of the present invention, by having the excavation operation means and the excavation feeling imparting means, it is possible to give a realistic feeling to the hard object, such as bones in oral surgery and orthopedic surgery, It is suitable as a training simulator for cutting or cutting hard objects such as teeth.

The excavation feeling imparting method of the present invention is applied to the excavated operation part in the excavation operation process in which a simulated excavation operation on an assumed excavation target is performed by an operator on the excavated operation part, and the excavation operation process. An excavation feeling imparting step of imparting an artificial excavation feeling to the operator via the excavation operation step according to the excavation force.
According to the excavation feeling imparting method of the present invention, by including the excavation operation process and the excavation feeling imparting process, it is possible to give an artificial reality with a sense of reality to a hard object, such as a bone in oral surgery or orthopedic surgery, Training of cutting and excision of hard objects such as teeth can be suitably performed.

The excavation feeling imparting program of the present invention accepts a simulated excavation operation for an assumed excavation target performed by an operator via excavation operation means having an excavated operation unit, and excavation applied to the excavated operation unit In response to the force, the computer is caused to execute a process of giving an artificial feeling of excavation to the operator via the excavation operation means.
According to the excavation feeling imparting program of the present invention, it is possible to give a realistic sense of reality to a hard object, and it is suitable for training of cutting and excision of hard objects such as bones and teeth in oral surgery and orthopedic surgery. Can be done.

The joint structure of the present invention includes a ball retainer, a rotation guide member that guides the rotation of the ball retainer while pressing the ball retainer, a connection portion connected to the ball retainer, and the rotation guide member. A rod-like member having a shaft support portion pivotally supported so that the ball retainer can be rotated in a direction orthogonal to the rotation direction of the ball retainer guided by.
The joint structure of the present invention includes a ball retainer, a rotation guide member, and a rod-shaped member. The ball retainer has a structure in which a plurality of rotatable balls are arranged on the surface, and the ball retainer is supported by point contact between the plurality of balls on the surface and the rotation guide member. As a result, the ball retainer and the rotation guide member come into close contact with each other, and by reducing backlash, a smooth three-axis rotation operation can be performed, and rattling can be reliably prevented.

The skill evaluation apparatus according to the present invention includes a drilling operation unit having a drilled operation unit in which a simulated drilling operation on an assumed drilling target is performed by an operator, and a drilling force applied to the drilled operation unit, The excavation feeling imparting means for imparting an artificial excavation feeling to the operator via the excavation operation means, and a reference that stores in advance at least one of the magnitude of the excavation force and the application direction of the assumed operator And an evaluation unit that evaluates the skill of the operator in comparison with data.
According to the skill evaluation apparatus of the present invention, by having the excavation operation means, the excavation feeling imparting means, and the evaluation means, it is possible to appropriately evaluate the skill of the operator and learn the skill safely and reliably. You can pass on the most skilled skills.

According to the skill evaluation method of the present invention, a simulated excavation operation on an assumed excavation target is performed by an operator on the excavated operation unit, and the excavation force applied to the excavated operation unit is determined. , The excavation feeling imparting step for imparting an artificial excavation feeling to the operator via the excavation operation means, and at least one of the magnitude and the application direction of the excavation force of the assumed operator is stored in advance. And an evaluation step for evaluating the skill of the operator in comparison with reference data.
According to the skill evaluation method of the present invention, by including the excavation operation process, the excavation feeling imparting process and the evaluation process, the operator's skill can be appropriately evaluated, and the skill can be learned safely and reliably. You can pass on the most skilled skills.

The skill evaluation program of the present invention receives a simulated excavation operation for an assumed excavation target performed by an operator via an excavation operation unit having an excavated operation unit, and the excavation operation unit applies the excavation operation unit to the excavated operation unit. According to the applied excavation force, an artificial excavation feeling is given to the operator via the excavation operation means, and at least one of the magnitude of the excavation force and the application direction of the assumed operator is stored in advance. The computer is caused to execute processing for evaluating the skill of the operator in comparison with the reference data being processed.
According to the skill evaluation program of the present invention, the skill of the operator can be properly evaluated, and the skill can be learned safely and reliably, so that highly skilled skill can be passed down.

According to the present invention, it is possible to provide an excavation feeling imparting apparatus, a joint structure, an excavation feeling imparting method, and an excavation feeling imparting program capable of giving a realistic sense of reality to a hard object.
Further, according to the present invention, it is possible to provide a skill evaluation device, a skill evaluation method, and a skill evaluation program that can appropriately evaluate the skill of an operator and can learn the skill safely and reliably.

FIG. 1 is a schematic perspective view showing an example of the excavation feeling imparting apparatus of the present invention. FIG. 2 is a partially enlarged perspective view showing an example of a joint structure portion of the excavation feeling imparting apparatus according to the present invention. FIG. 3 is a partially enlarged exploded perspective view showing an example of the joint structure portion of the excavation feeling imparting apparatus of the present invention. FIG. 4 is a schematic view showing an example of a ball retainer used in the joint structure portion of the excavation feeling imparting apparatus of the present invention. FIG. 5 is a block diagram including an example of a hardware configuration of a computer in the excavation feeling imparting apparatus. FIG. 6 is a block diagram illustrating an example of a functional configuration of a computer in the excavation feeling imparting apparatus. FIG. 7 is a block diagram illustrating an example of admittance control. FIG. 8 is a block diagram showing a detailed example of admittance control performed by the control unit in the excavation feeling imparting apparatus. FIG. 9 is a graph showing the experimental results when a digging force is applied to the excavated operation part with a hammer. FIG. 10 is a graph showing experimental results when a drilling force is applied to the excavated operation portion with a hammer only by feedback (FB) control. FIG. 11 is a schematic perspective view showing an example of the skill evaluation apparatus of the present invention.

(Drilling feeling imparting device, excavation feeling imparting method, and excavation feeling imparting program)
The excavation feeling imparting apparatus of the present invention includes excavation operation means and excavation feeling imparting means, preferably includes virtual space display means and support means, and further includes other means as necessary.
The excavation feeling imparting method of the present invention includes an excavation operation process and an excavation feeling imparting process, preferably includes a virtual space display process and a support process, and further includes other processes as necessary.
The excavation feeling imparting program of the present invention accepts a simulated excavation operation for an assumed excavation target performed by an operator via excavation operation means having an excavated operation unit, and excavation applied to the excavated operation unit In response to the force, the computer is caused to execute a process of giving an artificial feeling of excavation to the operator via the excavation operation means.

The control performed by the excavation operation means, the excavation feeling imparting means, etc. in the “excavation feeling imparting device” of the present invention is synonymous with the implementation of the “excavation feeling imparting method” of the present invention. Details of the “excavation feeling imparting method” of the present invention will be clarified through the description of the “apparatus”. Moreover, since the “digging feeling imparting program” of the present invention is realized as the “digging feeling imparting apparatus” of the present invention by using a computer or the like as a hardware resource, the “excavation feeling imparting apparatus” of the present invention The details of the “digging feeling imparting program” of the present invention will be clarified through the explanation.
The excavation feeling imparting method of the present invention can be suitably implemented by the excavation feeling imparting apparatus of the present invention, the excavation operation process can be performed by excavation operation means, and the excavation feeling imparting process is performed by excavation feeling imparting means. The virtual space display process can be performed by the virtual space display means, the support process can be performed by the support means, and the other processes can be performed by other means.

<Excavation operation process and excavation operation means>
The excavation operation process is a process in which a simulated excavation operation on an assumed excavation target is performed by an operator on the excavated operation unit, and is performed by excavation operation means.

<< Drilling target >>
Hereinafter, an object assumed as an object of a simulated excavation operation in the present invention is referred to as an “excavation object”. That is, in the following description, “applying excavation force to an excavation target” means an operation of applying a simulated excavation force to an assumed excavation target.
The object to be excavated is not particularly limited as long as it is an object that can be excavated, and can be appropriately selected according to the purpose.
Excavation means that a strong force is applied to the excavation target to excavate or cut the excavation target, and includes adjusting the excavation target to a desired shape by striking or pushing a rotating body.
Examples of the excavation target include bones, teeth, stones, metals, wood, plastics, ceramics, and jewels.
Examples of bones include skulls, facial bones, vertebrae, sternum, ribs, scapula, clavicle, humerus, forearm bone, carpal bone, metacarpal bone, phalange, pelvis, femur, patella, crus bone, tarsal bone Examples include bones, metatarsals, and ribs.
Examples of teeth include milk teeth (mid-milk incisors, milk side incisors, canine teeth, first deciduous teeth, second deciduous teeth), permanent teeth (incisors, canine teeth, premolars, molars) and the like.
Examples of the stone include marble, granite, granite, sandstone, limestone, andesite, tuff, and slate.
Examples of the metal include iron, aluminum, copper, gold, silver, magnesium, nickel, stainless steel, titanium, and zinc.
Examples of the wood include cypress, beihi, hiba, beihiba, cedar, cedar, larch, red pine, spruce, chestnut, zelkova, sawara, maki, oak, cherry, fir, tsuga, and baitsuga.
Examples of the plastic include vinyl chloride, polyvinylidene chloride, polyvinyl alcohol, polystyrene, styrene / acrylonitrile copolymer, styrene / butadiene / acrylonitrile copolymer, polyethylene, ethylene / vinyl acetate copolymer, polypropylene, polyacetal, acrylic, Examples include polymethyl methacrylate, modified acrylic, polycarbonate polyamide, polyurethane, polybutylene terephthalate, polysulfone, polyphenylene sulfide, polyether ether ketone, polyimide, and polyether imide.
Examples of the ceramic include alumina, zirconia, silicon nitride, aluminum nitride, silicon carbide, barium titanate, hydroxyapatite, ferrite, aluminum oxide, and zinc oxide.
Examples of the jewel include emerald, opal, crystal, diamond, turquoise, and pearl.

<< Operator >>
An operator is a person who performs a simulated excavation operation on an excavation target on an excavated operation unit, for example, a student in a medical department or a dentistry department, a doctor, a dentist, a dental technician, a carpenter, a woodworker, a mason, or a sculptor , Metalworking craftsman, lathe, mold craftsman, jewelry processing craftsman.

<< Excavated operation section >>
The excavated operation part is a place where a simulated excavation operation on an excavation target is performed by an operator, and is, for example, a hit part or a rotated or rotating part. In addition, the size, shape, structure, etc. can be appropriately selected and exchanged according to the excavation target.

-Struck part-
A hit | damage part is a part to which excavation force is applied by hit | damaging by a hit | damage means, and a striking surface etc. correspond.
The hitting means that the object to be excavated is hit hard, that is, the hitting surface of the object to be excavated and the hitting means are strongly hit, and includes not only the case where the person performs but also the case where the machine or robot executes. It is.
The striking force means a force that strikes the object to be excavated.

There is no restriction | limiting in particular as a magnitude | size, a shape, and a structure of a hit | damage part, According to the magnitude | size, shape, and structure of excavation object, it can select suitably.
The material of the hit portion is not particularly limited as long as the object to be excavated can be excavated, and can be appropriately selected according to the purpose. Examples thereof include metals and resins.
Examples of the metal include aluminum, iron, copper, stainless steel, chromium-nickel alloy, titanium alloy, and the like.
Examples of the resin include polyethylene, polycarbonate, acrylonitrile-butadiene-styrene (ABS) copolymer, fiber reinforced plastic (FRP), and Teflon (registered trademark).

Specific examples of the hit portion include hitting surfaces such as fleas, bone fleas, scalpels, cutters, nails, and needles.
Examples of the hitting means include a hammer, a bone mallet, a hammer, an ax, and a human fist.

-Rotated or rotating part-
The rotated or rotating part is a part to which pressing force and rotating force or rotating force are applied as excavation force by rotating or rotating while being pressed.
Turning or rotating while being pressed means that the rotating body is pushed into the excavation object while rotating or rotating.

There is no restriction | limiting in particular as a magnitude | size, a shape, a structure, and a material of a to-be-rotated thru | or rotation part, According to the objective, it can select suitably.
There is no restriction | limiting in particular as a magnitude | size, a shape, and a structure of a to-be-rotated thru | or rotating part, According to the magnitude | size, shape, and structure of excavation object, it can select suitably.
The material of the pivoted or rotating part is not particularly limited as long as the object to be excavated can be excavated, and can be appropriately selected according to the purpose. Examples thereof include metals and resins.
Examples of the metal include aluminum, iron, copper, stainless steel, chromium-nickel alloy, titanium alloy, and the like.
Examples of the resin include polyethylene, polycarbonate, acrylonitrile-butadiene-styrene (ABS) copolymer, fiber reinforced plastic (FRP), and Teflon (registered trademark).

  Specific examples of the rotated or rotating part include a manual or electric drill, a drill, a screw, a bolt, a milling cutter, a cutting tool, and a file.

<Drilling feeling imparting step and excavation feeling imparting means>
The excavation feeling imparting step is a step of imparting an excavation feeling to the operator through the excavation operation step according to the excavation force applied to the excavated operation part by the excavation operation step. Implemented by means.
“Artificial excavation feeling” means dynamic virtual reality (VR), and means to give a sense of reality close to the excavation operation, although the excavation target is not actually excavated.

The excavation feeling imparting means includes a ball retainer, a rotation guide member, and a rod-like member, preferably includes a detection unit and a control unit, and further includes other members as necessary.
Hereinafter, the ball retainer, the rotation guide member, the rod-like member, and other members are collectively referred to as a joint structure portion.
The excavation sensation imparting means can reduce backlash by having the joint structure, and can provide a smooth three-axis rotation operation and can have a high rigidity capable of withstanding an impact force. Since there is no backlash, it is possible to give an artificial reality with a sense of presence to a hard object.

-Ball retainer-
The ball retainer is connected to the excavation operation unit in the excavation operation means.
There is no restriction | limiting in particular as a connection method of a ball retainer and a to-be-excavated operation part, According to a to-be-excavated operation part, it can select suitably.
The ball retainer has a structure in which a plurality of rotatable balls are arranged on the surface, and the ball retainer is supported by point contact between the plurality of balls on the surface and the rotation guide member. As a result, the ball retainer and the rotation guide member are in close contact with each other to reduce backlash, thereby enabling a smooth three-axis rotation operation without backlash and having a high rigidity capable of withstanding an impact force. .
In addition, by employing the ball retainer, for example, the rotational resistance in the Z-axis rotation direction can be reduced despite the ball retainer being sandwiched between a pair of semicircular support plates.
There is no restriction | limiting in particular as a ball retainer, According to the objective, it can select suitably, A commercial item can be used. Examples of commercially available products include a ball retainer (model number: EMBS8-25) manufactured by MISUMI Corporation.

-Rotation guide member-
The rotation guide member makes point or line contact with the ball retainer while guiding the ball retainer and guides the rotation of the ball retainer.
The rotation guide member includes a pair of members having a surface that presses the ball retainer, and a biasing member that biases the pair of members so that the pair of members press the ball retainer. A semicircular support plate may be used.
As a magnitude | size, a shape, a structure, and a material of a rotation guide member, it can select suitably according to the magnitude | size, shape, and structure of excavation object.
There is no restriction | limiting in particular as a material of a rotation guide member, According to the objective, it can select suitably, For example, a metal, resin, etc. are mentioned.
Examples of the metal include aluminum, iron, copper, stainless steel, chromium-nickel alloy, titanium alloy, and the like.
Examples of the resin include polyethylene, polycarbonate, acrylonitrile-butadiene-styrene (ABS) copolymer, fiber reinforced plastic (FRP), and Teflon (registered trademark).

−Biasing member−
Examples of the urging member include an elastic body such as a spring, rubber, or elastomer.
Specific examples of the urging member include a combination of a bolt, a flat washer, and a spring. In addition, when a rotation guide member is an elastic material, it can also serve as an urging member when the rotation guide member bends.

-Bar-shaped member-
The rod-shaped member is a connecting portion having one end connected to the ball retainer, and the other end pivotally supports the rod-shaped member in a direction orthogonal to the rotation direction of the ball retainer guided by the rotation guide member. Has a shaft support. Examples of the shaft support include a Z-direction support shaft. Further, the connection portion and the shaft support portion do not have to be at the end of the rod-shaped member, and may exist at the intermediate portion.
There is no restriction | limiting in particular as a magnitude | size, a structure, and a material of a rod-shaped member, According to the objective, it can select suitably.
There is no restriction | limiting in particular as a material of a rod-shaped member, According to the objective, it can select suitably, For example, a metal, resin, etc. are mentioned.
Examples of the metal include aluminum, iron, copper, stainless steel, chromium-nickel alloy, titanium alloy, and the like.
Examples of the resin include polyethylene, polycarbonate, acrylonitrile-butadiene-styrene (ABS) copolymer, fiber reinforced plastic (FRP), and Teflon (registered trademark).

The joint structure part is provided with a drive mechanism, and can rotate or rotate in three rotation directions of the X-axis direction, the Y-axis direction, and the Z-axis direction.
The X-direction support shaft rotates or rotates in the X-axis direction of the joint structure portion by the operation of the connected drive mechanism.
The Y-direction support shaft rotates or rotates in the Y-axis direction of the joint structure by the operation of the connected drive mechanism.
The Z-direction support shaft rotates or rotates in the Z-axis direction of the joint structure portion by the operation of the connected drive mechanism.
Examples of the drive mechanism include a servo motor and a stepping motor. Further, the rotation or rotational movement can be adjusted by combining the drive mechanism, the speed reducer, and the brake.
A rotary encoder is provided in each servo motor in the joint structure, and the rotation angle and angular velocity of the joint structure can be measured by the rotary encoder.
The measured rotation angle and angular velocity of the joint structure part are transmitted to the control part.

<< support means >>
With the joint structure described above, the excavation operation means can be rotated or rotated in three rotation directions of the X-axis direction, the Y-axis direction, and the Z-axis direction. In addition, the support means supports the excavation operation means so as to be movable in the X direction, the Y direction orthogonal to the X direction, and the Z direction orthogonal to the installation surface within the installation surface of the excavation feeling imparting device. To do.
The support means is not particularly limited and may be appropriately selected depending on the purpose. However, the support means guides the linear motion of the excavation operation means, and is along the three axes of the X axis, the Y axis, and the Z axis that intersect each other. An X-axis linear guide, a Y-axis linear guide, and a Z-axis linear guide that are arranged are suitable.
The X-axis linear guide moves the joint structure portion in the excavation operation means left and right by the operation of a drive mechanism provided at the end portion.
The Y-axis linear guide moves the joint structure part back and forth in the excavation operation means by the operation of the drive mechanism provided at the end part.
The Z-axis linear guide moves the joint structure portion up and down in the excavation operation means by the operation of the drive mechanism provided at the end portion.
The size, shape, structure, material, etc. of the linear guide are not particularly limited as long as they have the high rigidity necessary to give a realistic sense of reality to hard objects, and are appropriately selected according to the purpose. can do.
As the X-axis, Y-axis, and Z-axis linear guides, commercially available products can be used, and examples of the commercially available products include LM guide actuators (manufactured by THK Corporation, model number: SKR46).
Examples of the drive mechanism include a servo motor and a stepping motor. Further, the rotation or rotational movement can be adjusted by combining the drive mechanism, the speed reducer, and the brake.
A rotary encoder is provided in each servo motor in the support means, and the rotary encoder can measure the movement position and movement distance of each axis of the linear guide.
The measured movement position and movement distance of each axis of the linear guide are transmitted to the control unit.

-Detector-
The detection unit detects the magnitude of the excavation force applied to the excavated operation unit and the application direction.
It is preferable to use a six-axis force sensor for detecting the magnitude of the excavation force applied to the excavated operation unit.
The 6-axis force sensor is provided, for example, between the base of the joint structure portion mounted on the Z-axis linear guide so as to be vertically movable via the support arm and the support arm, and is applied to the excavated operation portion. The magnitude of the excavated force is detected.
The 6-axis force sensor is a sensor that indicates the magnitude and direction of force and torque (moment) by a three-dimensional space vector. It is a sensor which shows the force component of each axial direction by Fx, Fy, Fz, and shows the torque component which acts around each axis by Tx, Ty, Tz.
A commercially available product can be used as the 6-axis force sensor, and examples thereof include a 6-axis force sensor (model number: 080YA501) manufactured by Leptorino Co., Ltd.

  In the detection unit, the direction in which the excavation force applied to the excavated operation unit was measured by a rotary encoder in a servo motor connected to the X direction, Y direction, and Z direction support shafts of the joint structure unit. It may be obtained from the rotation angle and angular velocity, and the movement position of each axis of the linear guide measured by the rotary encoder in the servo motor provided in the X-axis, Y-axis, and Z-axis linear guides as the support means. Absent.

-Control unit-
According to the magnitude of the excavation force detected by the detection unit and the application direction, the control unit moves from the position of the excavated operation unit before the excavation force is applied to a predetermined speed when the excavation force is applied. Then, the excavated operation unit is controlled to move, rotate, or rotate.
Here, the predetermined position means the position of the excavated operation unit according to the applied excavation force. As the predetermined position, for example, a position in a virtual state calculated according to excavation force in a virtual model is preferable.
The virtual model is a mathematical model that represents an object to be excavated by parameters indicating mechanical properties such as mass, spring constant, viscosity coefficient, or natural angular frequency. By setting parameters indicating mechanical properties, it is possible to assume, for example, metal, wood, bone, teeth, stones, plastics, ceramics, and the like as objects to be excavated. Based on the parameters indicating the mechanical properties set in advance as the virtual model, and the virtual state such as position, velocity, angle, angular velocity, etc. in the virtual model after the excavation force is applied from the magnitude and direction of the detected excavation force Can be calculated.
The predetermined speed means at least one of a moving speed, a rotating speed, and a rotating speed of the excavated operation unit according to the applied excavating force. As the predetermined speed, for example, a speed in a virtual state calculated in accordance with the magnitude of the detected excavation force and the application direction in the virtual model is preferable.

  The control by the control unit is preferably performed by a combination of feedback control and feedforward control. As a result, the control unit can be driven so as to quickly give the excavation feeling according to the excavation force to the excavated operation unit by feedforward control, and can realize high responsiveness, and according to the excavation force by feedback control. It is possible to drive so as to accurately give a feeling of excavation to the operation part to be excavated.

  When the cumulative amount of excavation force applied to the excavation object once or multiple times by the excavation operation means exceeds the set value, the control unit moves the excavated operation unit at a speed greater than a predetermined speed until it exceeds, It is preferable to rotate and rotate. In addition, the magnitude | size of excavation force means the impulse of the detected excavation force. The control unit lowers the predetermined speed of the excavation object immediately after the excavation force is applied until the accumulated excavation force exceeds the set value (including the predetermined speed of zero), thereby causing a sense that the excavation object is hard. It can be obtained by the operator. In addition, when the accumulated amount of excavation force exceeds a set value, the control unit moves the excavated operation unit at a speed larger than a predetermined speed, so that the excavation target is shaved or penetrated. It is possible to make the operator feel that fleas are removed. In order to move the excavated operation unit at a speed larger than the predetermined speed, the control unit preferably switches a parameter indicating the mechanical property set in the virtual model. When it is determined that the accumulated excavation force does not exceed the set value, the control unit leaves the parameter indicating the mechanical property set in advance. And when it determines with the accumulation of the magnitude | size of excavation force having exceeded the setting value, a control part is by switching to the parameter whose mass and natural angular frequency are substantially 0 among the parameters which show a mechanical property. Since the operator can move the excavated operation part almost freely, the operator can get a feeling that the object to be excavated is cut or penetrated and fleas are removed.

Various processes performed by the control unit are executed by a computer having the control unit.
The computer is not particularly limited as long as it is a device equipped with devices such as storage, calculation, and control, and can be appropriately selected according to the purpose. Examples thereof include a personal computer.

<< Virtual space display means >>
The virtual space display means displays at least the excavation target on the virtual space. The virtual space display means may display the excavated operation unit in front of the excavation target. By providing the virtual space display means, visual virtual reality (VR) can be realized, and the realistic feeling of excavation feeling provided by the excavation feeling imparting device can be further enhanced.
Examples of the virtual space display means include a monitor, a projector, VR goggles, a head mounted display, and the like.

<Other processes and other means>
Other processes are not particularly limited and may be appropriately selected depending on the purpose. Examples thereof include a recording process and a display process.
The other means is not particularly limited and may be appropriately selected depending on the purpose. Examples thereof include a recording means and a display means.

(Joint structure)
The joint structure of the present invention includes a ball retainer, a rotation guide member, and a rod-shaped member, and further includes other members as necessary.
The rotation guide member includes a pair of members having a surface that presses the ball retainer, and an urging member that urges the pair of members so that the pair of members press the ball retainer.
The ball retainer, the rotation guide member, the rod-like member, and the urging member in the joint structure are all the same as the joint structure portion of the excavation feeling imparting device of the present invention.

In the joint structure of the present invention, a ball retainer used for sliding a shaft such as a slide rail is usually used for rotating or rotating operation.
In the joint structure, the ball retainer is supported by point contact between a plurality of balls on the surface of the ball retainer and a pair of semicircular support plates serving as rotation guide members.
The protruding width of the convex member disposed between the pair of semicircular support plates is configured to be smaller than the outer diameter of the ball retainer. The ball retainer is fixed by the biasing member from the outside of the pair of semicircular support plates. Even when the ball retainer is pressed from the outside by the pair of semicircular support plates by the pressing force of the urging member, a clearance in which the ball retainer slides can be secured by the convex member disposed between the pair of semicircular support plates. Since the ball retainer is in point contact with the semicircular support plate by a plurality of balls on the surface thereof, the operation end connected to the ball retainer can be smoothly moved, and rattling can be reliably prevented.

  The joint structure has the above-mentioned features, and is suitably used as a joint structure part of the excavation feeling imparting device of the present invention. However, the joint structure can be widely used for various devices that require smooth rotation or rotation. For example, a control stick, various operation levers, a computer input device, a joystick as a game controller, and the like can be given.

(Skill evaluation device, skill evaluation method, and skill evaluation program)
The skill evaluation apparatus of the present invention includes excavation operation means, excavation feeling imparting means, and evaluation means, and further includes other means as necessary.
The excavation feeling imparting method of the present invention includes an excavation operation process, an excavation feeling imparting process, and an evaluation process, and further includes other processes as necessary.
The skill evaluation program of the present invention accepts a simulated excavation operation for an assumed excavation object performed by an operator via an excavation operation means having an excavated operation part, and applies the excavation force applied to the excavated operation part. Accordingly, an artificial feeling of excavation is given to the operator via the excavation operation means,
The computer is caused to execute a process of evaluating the skill of the operator by comparing at least one of the magnitude of the excavating force and the application direction of the assumed operator with reference data stored in advance.

Since the control performed by the excavation operation means, excavation feeling imparting means, evaluation means, etc. in the “skill evaluation apparatus” of the present invention is synonymous with the implementation of the “skill evaluation method” of the present invention, Details of the “skill evaluation method” of the present invention will be clarified through the description of the “apparatus”. In addition, since the “skill evaluation program” of the present invention is realized as the “skill evaluation apparatus” of the present invention by using a computer or the like as a hardware resource, the “skill evaluation apparatus” of the present invention is used to explain the present invention. The details of the “skill evaluation program” of the invention will also be clarified.
The skill evaluation method of the present invention can be suitably implemented by the skill evaluation apparatus of the present invention, the excavation operation process can be performed by excavation operation means, and the excavation feeling imparting process can be performed by excavation feeling imparting means. The evaluation process can be performed by evaluation means, and the other processes can be performed by other means.

By the way, skilled skills have been handed down such as “learning with the body through repeated training”, “learning by seeing the way of the predecessor”, or “obtaining a subtle sense from repeated repetition of failure”. If it is a difficult and subtle item that is not fully understood by the skilled technician itself, such as the so-called “difficulty to explain” and “skills to respond appropriately to changes” There are many.
In addition, the value of skilled technicians, such as "Guru" and "Artisan", will be demonstrated in response to new or unforeseen situations, not in predetermined routine work. Therefore, it is not possible to evaluate the location of the skilled skill in the true sense simply by extracting the operation pattern for a predetermined routine work in association with the work specification.
Therefore, the skill evaluation device and the skill evaluation method of the present invention have a drilling operation means, a feeling of excavation giving means, and an evaluation means, in order to acquire a high-level and delicate skill point, which is called so-called skilled skill, The skill of the operator can be accurately evaluated.

  The “skill evaluation apparatus” of the present invention has the same means as the “excavation feeling imparting apparatus” of the present invention, except that it has an evaluation means. The “skill evaluation method” of the present invention includes the same steps as the “excavation feeling imparting method” of the present invention except that it includes an evaluation step.

<Evaluation process and evaluation means>
The evaluation step is a step of evaluating the skill of the operator by comparing at least one of the magnitude of the excavating force and the application direction of the assumed operator with reference data stored in advance, and is performed by the evaluation means.

-Assumed operator-
The assumed operator means a person skilled in the technical field, which is a reference for skill evaluation, and can be appropriately selected according to the field.
Examples of the skilled person include an orthopedic surgeon having a high level of skill, an oral surgeon having a high level of skill, and a craftsman having a high level of skill.

-Reference data-
The reference data is data that serves as a reference for skill evaluation. Examples of the reference data include the magnitude of excavation force in the excavation operation of a skilled person and time-series data of the application direction.
It is also possible to construct a database from reference data obtained from skilled technicians and teach the robot the data in this database according to work specifications.

-Evaluation method-
Evaluation methods include, for example, the average value of the difference between the reference data and the magnitude of the operator's excavation force and the data in the direction of application, the standard deviation, the time series reference data and the magnitude of the operator's excavation force And a method for obtaining a correlation with the data in the application direction, a method for obtaining a cumulative value of the number of errors of the operator deviating from the time-series reference data, and the like.

<First Embodiment>
Here, the first embodiment of the excavation feeling imparting apparatus of the present invention will be described in detail with reference to the drawings.
The excavation feeling imparting apparatus of the first embodiment of the present invention uses the joint structure of the present invention as a joint structure, and the joint structure of the present invention is included in the excavation feeling imparting apparatus of the present invention. Through the description of the embodiment of the excavation feeling imparting apparatus of the present invention, the embodiment of the joint structure of the present invention will also be described.
In addition, in each drawing, the same code | symbol is attached | subjected to the same component and the overlapping description may be abbreviate | omitted. In addition, the number, position, shape, and the like of the following constituent members are not limited to the present embodiment, and can be set to a preferable number, position, shape, and the like for carrying out the present invention.

  FIG. 1 is a schematic perspective view showing an example of the excavation feeling imparting apparatus of the present invention. FIG. 2 is a partially enlarged perspective view of a joint structure portion of the excavation feeling imparting apparatus. The excavation feeling imparting apparatus 100 in FIG. 1 includes an operation end 1 that is like a bone flea as an excavated operation unit, an X-axis linear guide 2, a Y-axis linear guide 3, and a Z-axis linear guide 4 as support means, 6-axis force sensor 6 as a detection unit, X-axis servo motor 7, Y-axis servo motor 8, Z-axis servo motor 9 as a drive mechanism for X-axis, Y-axis, and Z-axis linear guides, and joint structure The control unit 11 includes an X-axis rotation direction servomotor 15, a Y-axis rotation direction servomotor 16, and a Z-axis rotation direction servomotor 17 as 50 drive mechanisms. In FIG. 1, 10 is an X-axis auxiliary guide, and 12 is a base.

The operation end 1 is given a striking force by the operator's striking. Reference numeral 1a denotes a striking surface as a hit portion. The batting is done using a hammer.
Considering that a large impact force is applied to the operation end 1 by the hammering operation by the operator's hammer, the excavation feeling imparting apparatus 100 has a structure having high rigidity and strength. In addition, it is required to be able to move in the front-rear direction, the up-down direction, and the left-right direction so that the operation end 1 can be freely operated. Therefore, as shown in FIG. 1, the excavation feeling imparting apparatus 100 includes an X-axis linear guide 2 that guides linear movement in the X-axis direction as a support means, and a Y-axis linear guide 3 that guides linear movement in the Y-axis direction. By having the Z-axis linear guide 4 for guiding the linear movement in the Z-axis direction, translational movement in three directions of the X-axis, the Y-axis, and the Z-axis becomes possible. Since the structure using such a linear guide has high strength and rigidity, it can sufficiently withstand a large load load and impact against translational movement. Therefore, the excavation feeling imparting apparatus 100 can provide an artificial reality with a sense of presence to a hard object.

The X-axis, Y-axis, and Z-axis linear guides 2, 3, 4 as supporting means are in a desired direction by the operation of the X-axis servomotor 7, Y-axis servomotor 8, and Z-axis servomotor 9 as drive mechanisms. Can be moved to. In this embodiment, LM guide actuators (model number: SKR46, manufactured by THK Corporation) are used as the X-axis, Y-axis, and Z-axis linear guides.
The X-axis, Y-axis, and Z-axis servomotors 7, 8, and 9 are provided with a rotary encoder, and the rotary encoder measures the movement position and movement distance of each axis of each linear guide.
The measured movement position and movement distance of each axis of the linear guide are transmitted to the control unit 11.

The joint structure portion 10 includes a ball retainer 14, a pair of semicircular support plates 13 and 13 as rotation guide members, and a Z-direction support shaft 20 as a rod-shaped member.
The joint structure portion 50 is mounted on the Z-axis linear guide 4 so as to be vertically movable via a support arm 33, and a 6-axis force sensor 6 is installed between the base 22 of the joint structure portion 50 and the support arm 33. Has been. In this embodiment, as the 6-axis force sensor 6, a 6-axis force sensor (model number: 080YA501) manufactured by Leptorino Co., Ltd. is used.
The 6-axis force sensor 6 can detect the excavation force and the direction in which the excavation force is applied, and can measure up to a rated load of 500 (N) and a rated moment of 20 (Nm).

As shown in FIG. 2, the X-direction support shaft 18 is a joint structure portion by the operation of a pair of semicircular support plates 13, 13 and a Z-direction support shaft 20 as a rod-like member. 50 is rotated or moved in the X-axis direction. In FIG. 2, 31 is a motor cover, and 32 is a bearing holder.
The Y-direction support shaft 19 rotates or rotates the joint structure portion 50 in the Y-axis direction by the operation of the connected servo motor 16.
The Z-direction support shaft 20 rotates or rotates the joint structure portion 50 in the Z-axis direction by the operation of the servo motor 17 connected thereto.
A rotary encoder is provided in each servo motor 15, 16, 17, and the rotation angle and angular velocity of the joint structure 50 can be measured by the rotary encoder.
The measured rotation angle and angular velocity of the joint structure unit 50 are transmitted to the control unit 11 to detect the rotation direction and rotation direction angle and angular velocity of the excavating force applied to the excavated operation unit in the detection unit. Used.

As shown in FIG. 3, the joint structure 50 includes a structure that supports the ball retainer 14 between a pair of semicircular support plates 13 and 13.
The ball retainer 14 has a structure in which a plurality of rotatable balls 34 are arranged on the surface as shown in FIG. In this embodiment, a ball retainer (model number: EMBS8-25) manufactured by MISUMI Corporation is used.
The ball retainer 14 is supported by point contact between a plurality of balls 34 on the surface of the ball retainer and the pair of semicircular support plates 13 and 13.
The protruding widths of the convex members 24, 24 arranged between the pair of semicircular support plates 13, 13 are configured to be smaller than the outer diameter of the ball retainer 14. The ball retainer 14 is fixed with bolts 26 from outside the pair of semicircular support plates 13 and 13 via springs 25. Even if the ball retainer 14 is pressed from the outside by the pair of semicircular support plates 13, 13 by the pressing force of the spring 25, the ball retainer 14 is held by the convex member 24 arranged between the pair of semicircular support plates 13, 13. A sliding gap can be secured. Since the ball retainer 14 is in point contact with the semicircular support plates 13 and 13 by a plurality of balls 34 on the surface thereof, the operation end 1 connected to the ball retainer 14 can be smoothly moved, and rattling is reduced. It can be surely prevented.

A rotary encoder in a servo motor provided in each of the linear guides of the X-axis linear guide 2, the Y-axis linear guide 3, and the Z-axis linear guide 4 as support means, the X-direction support shaft 19 of the joint structure 50, Y Various signals obtained by the rotary encoder in the servo motor connected to the direction support shaft 20 and the Z direction support shaft 21 and the 6-axis force sensor 6 are processed by the control unit 11.
Hereinafter, a computer used in the present embodiment will be described.

  FIG. 5 is a block diagram including a hardware configuration of a computer in the excavation feeling imparting apparatus. As shown in FIG. 5, the computer 70 is communicably connected to the drive mechanism 60 and the head mounted display 90. The computer 70 has the following units. Each part is connected via a bus 77.

A CPU (Central Processing Unit) 71 is a type of processor and is a processing device that performs various controls and operations.
The CPU 71 implements various functions by executing an OS (Operating System) and programs stored in the auxiliary storage device 73 and the like. That is, in this embodiment, the CPU 71 functions as a control unit 82 described later by executing the excavation feeling imparting program.

  The excavation feeling imparting program is not necessarily stored in the auxiliary storage device 73 or the like from the beginning. The excavation feeling imparting program stores, for example, the excavation feeling imparting program in another information processing apparatus or the like that is communicably connected to the excavation feeling imparting apparatus 100 via the Internet or the like. A feeling imparting program may be acquired and executed. The excavation feeling imparting program may be stored in a computer-readable recording medium, for example, and the excavation feeling imparting apparatus 100 may acquire and execute the excavation feeling imparting program from this recording medium. Examples of the recording medium include a portable recording medium, a semiconductor memory, and a hard disk. Examples of the portable recording medium include a CD (Compact Disc) -ROM (Read Only Memory), a USB (Universal Serial Bus) memory, and the like. An example of the semiconductor memory is a flash memory.

  The CPU 71 is used to control the operation of the excavation feeling imparting apparatus 100 as a whole. In the present embodiment, the device that controls the operation of the excavation feeling imparting device 100 as a whole is the CPU 71, but is not limited thereto, and may be, for example, an FPGA (Field Programmable Gate Array). These may be used alone or in combination of two or more.

The main storage device 72 stores various programs, and stores data necessary for executing the various programs.
The main storage device 72 has a ROM and a RAM (Random Access Memory) not shown.
The ROM stores various programs such as BIOS (Basic Input / Output System).
The RAM functions as a work range that is developed when various programs are executed by the CPU 71. There is no restriction | limiting in particular as RAM, According to the objective, it can select suitably. Examples of the RAM include DRAM (Dynamic Random Access Memory) and SRAM (Static Random Access Memory).

In this embodiment, the auxiliary storage device 73 is a hard disk drive (sometimes referred to as “HDD”).
The auxiliary storage device 73 is not particularly limited as long as various types of information can be stored, and can be appropriately selected according to the purpose. Examples thereof include a solid state drive and a magnetic tape. Examples of the other auxiliary storage device 73 include a portable storage device such as a CD drive and a DVD (Digital Versatile Disc) drive. These may be used alone or in combination of two or more.

In this embodiment, the communication interface 74 is a CAN (Controller Area Network) board.
The communication interface 74 is not particularly limited, and a known one can be used as appropriate. For example, a communication device using a wire such as a LAN (Local Area Network) port, a communication device using radio, and the like can be given. It is done. The communication interface 74 may be connected to the Internet or the like.

In this embodiment, the input device 75 is a keyboard and a mouse.
The input device 75 is not particularly limited as long as it can accept various requests to the excavation feeling imparting device 100, and a known device can be used as appropriate, and examples thereof include a touch panel. These may be used alone or in combination of two or more.

In this embodiment, the output device 76 is a liquid crystal display.
In addition, there is no restriction | limiting in particular as the output device 76, A well-known thing can be used suitably, For example, another display, a speaker, etc. are mentioned. These may be used alone or in combination of two or more.

  The head-mounted display 90 as a virtual space display device displays the operation end 1 and the bone to be excavated on the virtual space.

  FIG. 6 is a block diagram illustrating a functional configuration of the computer 70 in the excavation feeling imparting apparatus. As shown in FIG. 6, the excavation feeling imparting apparatus 100 includes a communication unit 81, a control unit 82, a storage unit 83, an input unit 84, and an output unit 85.

  The communication unit 81 receives a sensor output signal from the six-axis force sensor 6 and a detection signal from each rotary encoder via the communication interface 74. The communication unit 81 outputs a current command value as a command signal based on the sensor output signal and the detection signal to each servo motor.

Control unit 82, the digging force calculated by the sensor output signal and the detection signal as input, such as a block diagram of the admittance control shown in FIG. 7, the drive current command I _d obtained by the feed-forward control and feedback control mechanism 60. Thus, the control unit 82, it is possible to transmit by driving each servo motor based on the current command I _d a driving force as a force sense to the operation end 1, presents a force sense in accordance with the digging force by the operator be able to.

FIG. 7 shows a block diagram of admittance control performed by the control unit 82. As illustrated in FIG. 7, the control unit 82 includes a feedback controller, a feedforward controller, a virtual model, and a drive mechanism 60.
The controller 82 inputs the difference between the position of the virtual model after the excavation force is applied and the position of the drive mechanism 60 before the excavation force is applied to the feedback controller. Thereby, the drive mechanism 60 that drives the excavation target can be accurately controlled according to the position of the virtual model after the excavation force is applied.
Furthermore, the control unit 82 can increase the initial drive speed of the drive mechanism 60 by using a combination of a feedforward controller and a feedback controller as compared with a case where only the feedback controller is provided. For this reason, the excavation feeling imparting apparatus 100 can obtain high responsiveness to the applied excavation force.
In this embodiment, assuming that the object to be excavated is a bone, and the parameters of the mass, viscous resistance, and spring constant of the virtual model are set to be relatively large, the control unit 82 may apply a large excavating force to the operation end 1. Since the virtual model has a large mass setting, the movement of the virtual model is minute, and the movement of the operation end 1 controlled in accordance with the virtual state of the virtual model is also minute. For example, assuming that the object to be excavated is an organ or the like, and the parameters of the virtual model mass, viscous resistance, and spring constant are set to be relatively small, the control unit 82 applies a slight excavation force to the operation end 1. The virtual model moves, and the operation end 1 also moves. Thus, the excavation feeling imparting apparatus can present an operator with a force sense that the excavation target is close to a desired material by setting the parameters of the virtual model.

  FIG. 8 shows a detailed block diagram of the admittance control performed by the control unit 82. In the present embodiment, each servo motor of the drive mechanism 60 is a current control system. The motion of the drive mechanism 60 at this time is expressed as follows.

Here, _{m d} is the drive mechanism 60 mass (kg), _{c d} is the equivalent viscosity (Ns / m), _{K T} is a current-force conversion factor (N / A), _{x d} is the transport distance of the drive mechanism 60 (m), _{I d} denotes a current command value (a).
Moreover, when Formula (1) is standardized, it becomes the following formula.

Here, ω _d represents a corner angular frequency (rad / s), and K represents a gain constant (m / s / A). ω _d and K were obtained by an identification experiment, and ω _d = 10 rad / s and K = 0.05 m / s / A were obtained.
In the virtual model, the excavation force F (N) is calculated by dividing the handle length L ₀ (m) of the rotation mechanism from the excavation torque T _n (Nm) measured by the 6-axis force sensor 6. The The relationship between the excavation force F (N) and the virtual position x _v (m) of the operating end is shown in the following equation.

Here, the virtual mass is m _v (kg), the viscosity coefficient is c _v (Ns / m), and the spring constant is k _v (N / m).

Further, when Expression (3) is standardized, Expression (4) is obtained.

Here, the natural angular frequency is ω _v (rad / s) and the damping ratio is ζ. By setting the parameters m _v , ω _v , and ζ in the equation (4), it is possible to create various sensations of the excavation target. In the present embodiment, ζ = 1 is set for the purpose of obtaining high responsiveness without vibration. In creating a feeling of being hard when applying excavation force, the parameters m _v and ω _v are given a large value to create an elastic body with high resistance, so that when excavation force F (N) is input, displacement It can be made to feel hard without producing. The value is as shown in the upper part of Table 1, and is a value determined by gradually increasing the parameter, feeling that it is sufficiently hard, and expecting no change even if it is further increased.
The control unit 82 performs the following control in order to create a feeling that fleas come off when the excavation target is cut. First, the control unit 82 accumulates the excavation force F (N), and sets the current state r (k) of the excavation target to the previous state r (k−1) as shown in Expression (5). Will be added. Next, when the added impulse value exceeds the set value, the parameter shown in the upper part of Table 1 feels that the person is close to the state of moving the hand naturally as shown in the lower part of Table 1 Switch to each parameter of. Thereby, the excavation feeling imparting apparatus 100 can create a feeling that fleas come off when the excavation target is shaved. Incidentally, the parameters shown in Table 1 the lower part, so that there is no excessive behavior carriage after switching, the spring constant k _v is not 0.

Here, it is assumed that the discrete time is k, the sampling time is Δt, and the reference coefficient is α. A predetermined set value is provided for r (k), and the parameter is switched when the set value is exceeded.
In the feedforward controller, the following equation is used to control the drive mechanism 60 according to the virtual state of the virtual model.

Here, P _d ⁻¹ represents an inverse model of the drive mechanism 60 shown in Expression (2), P _d is a virtual model shown in Expression (4), and L represents a low-pass filter. The low-pass filter is installed so as not to amplify noise in the high frequency band, and the following equation is obtained.

Here, ω _f (rad / s) is the corner angular frequency of the low-pass filter. In this embodiment, ω _f = 60 rad / s.
The feedback controller is installed to compensate for the deviation between the output from the drive mechanism 60 and the output from the virtual model. In this embodiment, the feedback controller is PD control. The PD controller is shown in the following equation.

Here, K _P is a proportional gain, and K _D is a differential gain. In the present invention, K _P and K _D are determined by the pole placement method based on the transfer characteristics from the output x _v from the virtual model to the output x _d from the drive mechanism 60. In this embodiment, K _P = 800 and K _D = 60 are obtained.

FIG. 9 shows an experimental result when a digging force is applied to the operation end 1 with a hammer. When the excavation force F is applied intermittently, it is confirmed that the displacement is very small before the parameter change, creating a hard feeling. The value of r (k) gradually increases, and when the carriage exceeds the set value, the trolley moves instantaneously, creating a feeling that the flea when the object is shaved is removed. Since this parameter change depends on the set value of r (k), the thickness of the cutting material can be assumed by manipulating this set value and adjusting the parameter change time. In addition, the acceleration generated when the flea is removed is 4.55 m / s ^2, and it is confirmed that a high acceleration that does not give the operator a sense of incongruity is generated. That is, this confirms that the excavation feeling imparting apparatus can exhibit high responsiveness even when the mass of the excavation target is large.

FIG. 10 shows the experimental results when excavating force is applied to the operating end 1 with a hammer using only the feedback control without performing the feedforward control in FIG. As a result, the acceleration generated when the exit of fleas is 1.5 m / ^{s 2,} became smaller acceleration than the acceleration 4.55m / ^{s 2} in FIG. From this result, when the excavation feeling imparting apparatus 100 does not include a feedforward controller, the initial driving speed of the drive mechanism 60 is slower than when the excavation feeling imparting apparatus 100 includes the feedforward controller. It was confirmed that cannot be obtained. In other words, the excavation feeling imparting apparatus 100 has confirmed that the operator cannot sufficiently obtain a sense that realistic fleas can be removed unless feedforward control is performed.

<Second Embodiment>
Here, the skill evaluation apparatus according to the second embodiment will be described in detail with reference to the drawings.
The skill evaluation apparatus according to the second embodiment of the present invention uses the joint structure of the present invention as a joint structure, and the joint structure of the present invention is included in the skill evaluation apparatus of the present invention.

  FIG. 11 is a schematic perspective view showing an example of the skill evaluation apparatus 300 according to the second embodiment of the present invention. The skill evaluation apparatus 300 in FIG. 11 has the same configuration as the excavation feeling imparting apparatus 100 in FIG. 1 except that the skill evaluation apparatus 300 includes the evaluation unit 310. Therefore, the same components are denoted by the same reference numerals, and redundant description is omitted. There is a case. In addition, the number, position, shape, and the like of the following constituent members are not limited to the present embodiment, and can be set to a preferable number, position, shape, and the like for carrying out the present invention.

The evaluation means 310 is a means for evaluating the skill of the operator by comparing at least one of the magnitude of the excavation force and the application direction of the assumed operator with reference data stored in advance.
In the present embodiment, at least one of the magnitude and the application direction of the expert's excavation force as an assumed operator is stored in advance as reference data, and the operator's skill is evaluated based on this reference data.
Evaluation methods include, for example, the average value of the difference between the reference data and the operator's data, the method for obtaining the standard deviation, the method for obtaining the correlation with the time series reference data, and the number of errors out of the time series reference data. And a method for obtaining the cumulative value of.

  In the first embodiment and the second embodiment of the present invention, the operator applies a digging force to the operation end 1 with a hammer as an operation part to be excavated. By applying a pressing force at the time of rotation or rotation to the rotated or rotation unit as the operation unit, it is possible to give the operator an artificial reality of a drilling operation by a drill or the like.

Aspects of the present invention are as follows, for example.
<1> Excavation operation means having an excavated operation unit in which a simulated excavation operation on an assumed excavation target is performed by an operator;
Excavation feeling imparting means for imparting an artificial excavation feeling to the operator via the excavation operation means according to the excavation force applied to the excavated operation portion;
It is an excavation feeling imparting apparatus characterized by having.
<2> The excavation feeling imparting apparatus according to <1>, wherein the excavation operation unit is hit by the hitting unit and the hitting force is applied.
<3> The above-described <1> which is a rotated or rotating part to which a pressing force and a rotating force or a rotating force are applied as the excavating force by rotating or rotating the pressed operation unit while being pressed. > Is an excavation feeling imparting device.
<4> The excavation feeling imparting means is
A ball retainer connected to the excavated operation unit;
A rotation guide member for guiding the rotation of the ball retainer while pressing the ball retainer;
A rod-shaped member that is connected to the ball retainer, and a shaft that pivotally supports the rod-shaped member in a direction orthogonal to the rotation direction of the ball retainer guided by the rotation guide member. A rod-shaped member having a branch;
The excavation feeling imparting device according to any one of <1> to <3>.
<5> The rotation guide member is
A pair of members having a surface for pressing the ball retainer;
A biasing member that biases the pair of members such that the pair of members presses the ball retainer;
The excavation feeling imparting apparatus according to <4>, wherein the excavation feeling imparting apparatus is provided.
<6> The excavation feeling according to any one of <1> to <5>, wherein the excavation feeling imparting unit includes a detection unit that detects a magnitude and an application direction of an excavation force applied to the excavated operation unit. It is a grant device.
<7> The excavation feeling imparting device according to <6>, wherein the detection unit is a six-axis force sensor.
<8> According to the magnitude and application direction of the excavation force detected by the detection unit,
From the position of the excavated operation part before the excavation force is applied,
The excavation feeling imparting apparatus according to any one of <6> to <7>, further including a control unit that controls the excavated operation unit to move to a predetermined position at a predetermined speed when the excavation force is applied. is there.
<9> The excavation feeling imparting apparatus according to <8>, wherein the control by the control unit is performed by a combination of feedback control and feedforward control.
<10> The control unit is
When the cumulative amount of the excavation force applied once or multiple times to the excavated operation unit exceeds a set value,
Excavation feeling imparting according to any one of <8> to <9>, wherein the excavated operation unit is moved at a speed faster than a predetermined speed for moving the excavated operation unit until the set value is exceeded. Device.
<11> It further has a virtual space display means,
The excavation feeling imparting device according to any one of <1> to <10>, wherein the virtual space display unit displays at least the assumed excavation target in a virtual space.
<12> The excavation operation means is movably supported in the X direction, the Y direction orthogonal to the X direction, and the Z direction orthogonal to the installation surface in the installation surface of the excavation feeling imparting apparatus. The excavation feeling imparting apparatus according to any one of <1> to <11>, further including supporting means for performing the excavation.
<13> The excavation feeling imparting device according to <12>, wherein the support means is a linear guide.
<14> A ball retainer,
A rotation guide member for guiding the rotation of the ball retainer while pressing the ball retainer;
A rod-shaped member that is connected to the ball retainer, and a shaft that pivotally supports the rod-shaped member in a direction orthogonal to the rotation direction of the ball retainer guided by the rotation guide member. A rod-shaped member having a branch;
It is a joint structure characterized by having.
<15> The rotation guide member is
A pair of members having a surface for pressing the ball retainer;
A biasing member that biases the pair of members such that the pair of members presses the ball retainer;
It is a joint structure as described in said <14> which has.
<16> An excavation operation process in which a simulated excavation operation on an assumed excavation target is performed by an operator on the excavated operation unit;
Excavation feeling imparting step of imparting an artificial excavation feeling to the operator via the excavation operation step according to the excavation force applied to the excavated operation part in the excavation operation step;
It is the excavation feeling provision method characterized by including.
<17> Excavation operation means having an excavated operation unit in which a simulated excavation operation on an assumed excavation target is performed by an operator;
Excavation feeling imparting means for imparting an artificial excavation feeling to the operator via the excavation operation means according to the excavation force applied to the excavated operation portion;
An evaluation means for evaluating the operator's skill by comparing at least one of the magnitude of the excavation force and the application direction in the assumed operator with reference data stored in advance;
It is a skill evaluation apparatus characterized by having.
<18> Excavation operation process in which a simulated excavation operation on an assumed excavation target is performed by an operator on the excavated operation unit;
Excavation feeling imparting step of imparting an artificial excavation feeling to the operator via the excavation operation means according to the excavation force applied to the excavated operation part;
An evaluation step of evaluating the skill of the operator by comparing with reference data stored in advance at least one of the magnitude of the excavating force and the application direction in the assumed operator;
It is the skill evaluation method characterized by including.
<19> Accepting a simulated excavation operation for an assumed excavation target performed by an operator via excavation operation means having an excavated operation unit,
According to the excavation force applied to the excavated operation part, an artificial excavation feeling is given to the operator via the excavation operation means.
An excavation feeling imparting program that causes a computer to execute processing.
<20> Accepting a simulated excavation operation for an assumed excavation object performed by an operator via an excavation operation means having an excavated operation unit,
According to the excavation force applied to the excavated operation part, to give an artificial excavation feeling to the operator via the excavation operation means,
A skill evaluation program for causing a computer to execute a process of evaluating the skill of the operator by comparing at least one of the magnitude of the excavation force and the application direction of the assumed operator with reference data stored in advance. It is.

  The excavation feeling imparting device according to any one of <1> to <13>, the joint structure according to any one of <14> to <15>, and the excavation feeling imparting according to <16> above. Method, skill evaluation device according to <17> above, skill evaluation method according to <18> above, excavation feeling imparting program according to <19> above, and skill evaluation according to <20> above According to the program, the above-mentioned problems in the prior art can be solved and the object of the present invention described above can be achieved.

1 Operation end 1a Striking part (striking surface)
2 X-axis linear guide 3 Y-axis linear guide 4 Z-axis linear guide 6 6-axis force sensor 7 X-axis servo motor 8 Y-axis servo motor 9 Z-axis servo motor 10 X-axis auxiliary guide 11 Control unit 12 Base 14 Ball retainer 15 X-axis rotation direction servo motor 16 Y-axis rotation direction servo motor 17 Z-axis rotation direction servo motor 22 Base 33 Support arm 50 Joint structure 60 Drive mechanism 70 Computer 90 Head mount display 100 Excavation feeling imparting device 300 Skill evaluation device 310 Evaluation means

Claims (20)

An excavation operation means having an excavated operation unit in which a simulated excavation operation on an assumed excavation target is performed by an operator;
Excavation feeling imparting means for imparting an artificial excavation feeling to the operator via the excavation operation means according to the excavation force applied to the excavated operation portion;
An excavation feeling imparting apparatus characterized by comprising:   The excavation feeling imparting apparatus according to claim 1, wherein the excavation operation unit is an hitting unit to which the excavation force is applied by being hit by a hitting unit.   2. The rotated or rotating part to which a pressing force and a rotational force or a rotational force are applied as the excavating force when the drilled operation unit is rotated or rotated while being pressed. Drilling feeling imparting device. The excavation feeling imparting means is
A ball retainer connected to the excavated operation unit;
A rotation guide member for guiding the rotation of the ball retainer while pressing the ball retainer;
A rod-shaped member that is connected to the ball retainer, and a shaft that pivotally supports the rod-shaped member in a direction orthogonal to the rotation direction of the ball retainer guided by the rotation guide member. A rod-shaped member having a branch;
The excavation feeling imparting apparatus according to any one of claims 1 to 3. The rotation guide member is
A pair of members having a surface for pressing the ball retainer;
A biasing member that biases the pair of members such that the pair of members presses the ball retainer;
The excavation feeling imparting apparatus according to claim 4.   The excavation feeling imparting apparatus according to any one of claims 1 to 5, wherein the excavation feeling imparting unit includes a detection unit that detects a magnitude and an application direction of an excavation force applied to the excavated operation unit.   The excavation feeling imparting apparatus according to claim 6, wherein the detection unit is a six-axis force sensor. According to the magnitude and application direction of the excavation force detected by the detection unit,
From the position of the excavated operation part before the excavation force is applied,
The excavation feeling imparting apparatus according to any one of claims 6 to 7, further comprising a control unit that controls the excavated operation unit to move to a predetermined position at a predetermined speed when the excavation force is applied.   The excavation feeling imparting apparatus according to claim 8, wherein the control by the control unit is performed by a combination of feedback control and feedforward control. The control unit is
When the cumulative amount of the excavation force applied once or multiple times to the excavated operation unit exceeds a set value,
The excavation feeling imparting apparatus according to any one of claims 8 to 9, wherein the excavation operation unit is moved at a speed faster than a predetermined speed for moving the excavation operation unit until the set value is exceeded. A virtual space display means;
The excavation feeling imparting apparatus according to any one of claims 1 to 10, wherein the virtual space display unit displays at least the assumed excavation object on a virtual space.   Support means for movably supporting the excavation operation means in each direction of the X direction, the Y direction orthogonal to the X direction, and the Z direction orthogonal to the installation surface in the installation surface of the excavation feeling imparting apparatus. The excavation feeling imparting apparatus according to any one of claims 1 to 11, further comprising:   The excavation feeling imparting apparatus according to claim 12, wherein the support means is a linear guide. A ball retainer,
A rotation guide member for guiding the rotation of the ball retainer while pressing the ball retainer;
A rod-shaped member that is connected to the ball retainer, and a shaft that pivotally supports the rod-shaped member in a direction orthogonal to the rotation direction of the ball retainer guided by the rotation guide member. A rod-shaped member having a branch;
A joint structure characterized by comprising: The rotation guide member is
A pair of members having a surface for pressing the ball retainer;
A biasing member that biases the pair of members such that the pair of members presses the ball retainer;
The joint structure according to claim 14, comprising: Excavation operation process in which a simulated excavation operation for an assumed excavation target is performed by an operator on the excavated operation unit;
Excavation feeling imparting step of imparting an artificial excavation feeling to the operator via the excavation operation step according to the excavation force applied to the excavated operation part in the excavation operation step;
The excavation feeling imparting method characterized by including. An excavation operation means having an excavated operation unit in which a simulated excavation operation on an assumed excavation target is performed by an operator;
Excavation feeling imparting means for imparting an artificial excavation feeling to the operator via the excavation operation means according to the excavation force applied to the excavated operation portion;
An evaluation means for evaluating the operator's skill by comparing at least one of the magnitude of the excavation force and the application direction in the assumed operator with reference data stored in advance;
A skill evaluation apparatus comprising: Excavation operation process in which a simulated excavation operation for an assumed excavation target is performed by an operator on the excavated operation unit;
Excavation feeling imparting step of imparting an artificial excavation feeling to the operator via the excavation operation means according to the excavation force applied to the excavated operation part;
An evaluation step of evaluating the skill of the operator by comparing with reference data stored in advance at least one of the magnitude of the excavating force and the application direction in the assumed operator;
A skill evaluation method comprising: Accepting a simulated excavation operation for an assumed excavation object performed by an operator via an excavation operation means having an excavated operation unit;
According to the excavation force applied to the excavated operation part, an artificial excavation feeling is given to the operator via the excavation operation means.
An excavation feeling imparting program that causes a computer to execute processing. Accepting a simulated excavation operation for an assumed excavation object performed by an operator via an excavation operation means having an excavated operation unit;
According to the excavation force applied to the excavated operation part, to give an artificial excavation feeling to the operator via the excavation operation means,
A skill evaluation program for causing a computer to execute a process of evaluating the skill of the operator by comparing at least one of the magnitude of the excavation force and the application direction of the assumed operator with reference data stored in advance. .