JP3329443B2 - Parallel link type haptic input / output device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an input / output device such as a parallel link type force input / output device which is operated when a movable body is actuated, and more particularly to an actuator using a hydraulic cylinder, a pneumatic cylinder or the like. It relates to an input / output device.

[0002]

2. Description of the Related Art The use of fluids such as oil and air for motion transmission has been widely known, and specific examples thereof include hydraulic cylinders and pneumatic cylinders. In many cases, these are used as actuators for outputting force in many industrial machines including construction machines. This type of actuator is a cylinder that is provided in the middle of a hydraulic circuit such as a hydraulic circuit or a pneumatic circuit, and a piston that reciprocates (linearly moves) according to the pressure of a fluid such as oil or air inside the cylinder. And In addition to the cylinder, a fluid tank, a pump, a control valve, and the like are arranged in the fluid pressure circuit. Further, an input / output device including a switch of a control panel, a joystick, and the like is disposed at a location away from the actuator. And
When driving the actuator, the input / output device is manually operated. With this operation, the control valve operates, the pressure of the fluid acting on the piston is adjusted, and the piston moves. As described above, the actuator is not directly operated manually, and is usually operated at a remote location.

[0003] By the way, there are various applications of the actuator in addition to those described above. As one of the methods, in a normal usage, there is a method of moving (linear movement) by applying a force by hand, for example, a method of attaching a movable body such as a tool or a truck to a piston. In this case, the fluid pressure circuit, tank, pump, control valve, and the like are provided in the same manner as described above. This application is made by paying attention to the fact that the movable body makes a linear motion like a piston. According to this application, the force required for operating the movable body can be smaller than when the actuator is not used, by allowing the actuator to bear a part of the force applied to the movable body when operating only with the hand. . In addition, it is expected that the operation can be performed directly and intuitively, instead of being operated at a position away from the movable body.

[0004]

However, when the movable member is simply attached to the piston, the movable member is merely attached to the piston due to the limit of the structure of the control valve and the large friction between the cylinder and the piston. It is difficult to move the piston with force. For example, it is conceivable to use a block center type control valve and hold the control valve in a neutral state when moving the movable body. However, in the neutral state, the oil inlet and outlet are all closed and the oil cannot flow,
It is difficult to move the piston. On the other hand, even when a so-called open center type control valve is used, in which the oil inlet / outlet opens in the neutral state, the friction between the cylinder and the piston is large, that is, both the static friction force and the dynamic friction force acting on the piston are high, and human It is difficult to move the piston by hand. For this reason, the above-mentioned applications remain at the idea stage and are not actually realized.

[0005] Therefore, an object of the present invention is to move a piston with a force applied by a person, and to operate the movable body directly and intuitively by moving the piston according to the force. And an input / output device such as a parallel link type haptic input / output device.

[0006]

[0007]

[0008]

[0009]

[0010]

[0011]

[0012]

According to a first aspect of the present invention, there is provided the first method according to the first aspect.
The present invention is a parallel link type haptic input / output device that is remotely operated upon operation of a movable body, and is arranged in a parallel state,
And a plurality of cylinders each having a fluid in and out, a plurality of actuators having a plurality of pistons reciprocally housed in the respective cylinders at the inner end, and any one of the cylinders and pistons in all the actuators A common pedestal mounted via a universal joint ,
Of the cylinders and pistons in all of the actuators, a common input operation unit attached via a universal joint to a member on the side different from the pedestal, and a piston of each of the actuators when operating the input operation unit Operating force detecting means for detecting a force applied to the inner end portion of each of the pistons according to at least a detection result of the operating force detecting means and a reaction force from a work object generated by operation of the movable body. The pressure of the fluid applied to the
Pressure adjusting means for moving the pistons in substantially the same direction as the direction .

[0013] In the first aspect of the present invention, when the operator attempts to operate the input operation unit when remotely operating the movable body,
The force is applied to the piston of each actuator. These forces are detected by operating force detecting means. On the other hand, when the movable body operates and performs some work on the work object,
A reaction force is received from the work object. In the pressure adjusting means,
The pressure of the fluid applied to the inner end of each piston is adjusted based on at least the operation force detected by the operation force detection means and the reaction force received by the movable body from the work target, for example, based on a value obtained by subtracting the reaction force from the operation force. Is done.

Each piston moves due to these pressure adjustments, that is, each actuator expands and contracts. At this time, since the moving direction of each piston due to the pressure adjustment is the same or substantially the same as the direction in which the operator applies a force, the operator feels as if he / she is directly moving each piston with his / her own force. Can be In addition, as the fluid pressure for moving each piston in the above direction increases, the operating force applied to the input operation unit can be reduced. The length and inclination of each actuator change due to the expansion and contraction, and the position, inclination (posture), and the like of the input operation unit become the same as those intended by the operator.

The movable body operates in response to the operation of the input operation unit. At this time, the fluid pressure in consideration of the reaction force acts on the piston, and the resistance to the force for moving the input operation unit changes. If this resistance is increased as the reaction force increases, the operator can confirm that the movable body is receiving the reaction force,
The magnitude of the reaction is perceived by the magnitude of the resistance. In this manner, the reaction force received by the movable body is fed back to the operator at a location away from the movable body, and presented as a reaction force sensation (force sense).

[0016]

(First Embodiment) A first embodiment of the present invention will be described below with reference to FIG. The input / output device 1 here is operated when the tool 2 as a movable body is linearly moved by hydraulic pressure to perform processing on a work (workpiece) W. Examples of the tool 2 include a drilling cutting tool. This tool 2 makes a part of the work W by linearly moving in the longitudinal direction (left-right direction in FIG. 1) of the rotary cutting blade 2a while rotating the long rotary cutting blade 2a such as a drill and a reamer. To make holes.

The input / output device 1 has an actuator 5 composed of a cylinder 3 and a piston 4. Piston 4
The inner end portion (the right end portion in FIG. 1) has a larger diameter than other portions (hereinafter, this portion is referred to as a "pressure receiving portion 4a"), and the pressure receiving portion 4a reciprocates in the cylinder 3 in the left-right direction. It is movably housed. The inside of the cylinder 3 is partitioned into a first pressure chamber 6 and a second pressure chamber 7 by the pressure receiving portion 4a.
Each of the pressure chambers 6, 7 has an inlet / outlet 6a for an oil 8 as a fluid.
7a is provided. The oil 8 pumped from the tank 11 by the pump 9 is supplied to each of the pressure chambers 6, 7 through these ports 6a, 7a. In addition, each pressure chamber 6,
The oil 8 in 7 is returned to the tank 11 through these ports 6a, 7a.

An operation handle 12 as an input operation unit is attached to a portion of the piston 4 exposed from the cylinder 3. Operating handle 12 for piston 4
The mounting position is not particularly limited, but here, the outer end (the left end in FIG. 1) of the piston 4 is the mounting position. A force sensor 13 is attached to the actuator 5 as operating force detecting means. The force sensor 13 is for detecting a force applied to the piston 4 in response to the operation of the operation handle 12. For example, the amount of expansion and contraction of a material such as a metal is taken as a change in electric resistance or the like.
A so-called strain gauge is used. Here, the force sensor 13 is arranged between the outer end of the piston 4 and the operation handle 12. The tool 2 is attached to the operation handle 12 in a state where the moving direction matches the reciprocating direction of the piston 4. This tool 2 may be attached to the piston 4 instead of the operation handle 12.

Further, the input / output device 1 is provided with pressure adjusting means for adjusting the pressure (here, the oil pressure) of the fluid applied to the pressure receiving portion 4a of the piston 4. This pressure adjusting means is controlled by a control valve 14 provided between the cylinder 3 and the pump 9.
And a control device 15 for controlling the drive of the control valve 14. Here, as the control valve 14, a spool (not shown) is displaced in accordance with an input current to change the valve opening and control the flow rate and pressure of the oil 8 from the pump 9 with a high response speed. Although an electromagnetic valve, a so-called servo valve, is used, it is not limited to this. The force sensor 13
The control valve 14 is connected to a control device 15. The control device 15 controls the control valve 1 according to the detection result of the force sensor 13.
4 is controlled. With this control, each pressure chamber 6,
7, the hydraulic pressure is adjusted.

According to the input / output device 1, when the operator grips the operation handle 12 and moves the work W toward the work W (left side in FIG. 1) when drilling the work W, the force accompanying the operation is required. (Operation force) is detected by the force sensor 13. The control device 15 controls the energization state of the control valve 14 based on the detection result (magnitude of the force) of the force sensor 13. In the control valve 14, the spool moves according to the input current, and the valve opening changes. Accordingly, in the actuator 5, the hydraulic pressure applied to the pressure receiving portion 4a changes, and the piston 4
The operator moves in the direction in which the force is applied. Operation handle 12
And the tool 2 moves together with the piston 4. At this time, the moving direction of the piston 4 due to the hydraulic adjustment is the same as the direction in which the operator applies a force, and the operating handle 12 is displaced by the same distance as the tool 2, so that the piston 4 is moved by the hydraulic adjustment. However, the operator feels as if he / she is directly moving the piston 4 with his / her own force. When the piston 4 moves as described above, the tool 2 also moves according to the movement, and a hole is drilled in the work W by the rotary cutting blade 2a.

The operator moves the tool 2 by using the power of the actuator 5.
The force of the operator required to move the tool 2 can be reduced by setting the force of the operator large. That is, by controlling the drive of the control valve 14 so that the hydraulic pressure in the same direction as the direction of the force applied by the operator among the hydraulic pressures applied to the piston 4 becomes high, even if a slight operating force is applied to the operation handle 12 , You can also move tool 2,
The operation feeling becomes lighter. As described above, according to the input / output device 1 of the present embodiment, the operating force of the operator is detected by the force sensor 13 and the piston 4 is actively moved based on the detection result. For this reason, the piston 4 can be moved with a force that can be applied by a person with a very simple configuration. In addition, by moving the piston 4 according to the operating force, the tool 2 can be operated and moved directly and intuitively.

(Second Embodiment) Next, a second embodiment of the present invention will be described with reference to FIG. In the second embodiment, the movable body is located at a position distant from the actuator 5 and is remotely operated by operating the operation handle 12 to perform work on the work object 19 (hereinafter referred to as “remote operation body 16”).
And that the remote control 16
Is greatly different from the first embodiment in that the reaction force received from the work object 19 is reflected in the control of the control valve 14. The reaction force is applied to the remote operation body 16 and the work 1
9 due to physical interference between them. Hereinafter, description will be made focusing on this difference, but the same members as those in the first embodiment will be denoted by the same reference numerals and description thereof will be omitted.

The remote controller 16 here is limited to the one that reciprocates along one axis. This is because only one actuator 5 is used, and the direction that can be applied to the operation handle 12 is limited to a direction along one axis. The remote control 16 operates based on a drive signal or the like sent from the control device 15 to the control valve 14.
Further, the remote control 16 may be operated based on the displacement of the piston 4 with respect to the cylinder 3 or the displacement of the remote control 16 or both. However,
In this case, a sensor for detecting the displacement amount of the piston 4 or the remote operation body 16 is required. Further, the remote control 16
A force sensor 21 is provided to detect a reaction force received from the work object 19. The detection result of the force sensor 21 is used as information on the remote operation body 16 by the control device 1.
5 is input. Although not shown, the remote control 1
The work state of the work object 19 by the camera 6 is photographed by a camera and displayed on a display such as a head-mounted display or a CRT, so as to be presented to the operator as visual information.

According to the input / output device 17, when the operator operates the operating handle 12 to extend and retract the piston 4 while looking at the display during the remote operation of the remote operation body 16, the force accompanying the operation is required. (Operation force) is detected by the force sensor 13. On the other hand, when the remote operation body 16 receives a reaction force due to physical interference with the work object 19, the reaction force is detected by the force sensor 21. The control device 15 controls the operation force of the force sensor 13 and the force sensor 21.
The energization of the control valve 14 is controlled based on, for example, a value obtained by subtracting the reaction force from the operation force.
When the reaction force is not detected, the control valve 14 is controlled based on only the detection result of the force sensor 13 as in the first embodiment.
Is controlled.

The control valve 1 responds to these controls.
4 operates, and the hydraulic pressure applied to the pressure receiving portion 4a in each of the pressure chambers 6 and 7 changes. The piston 4 moves in the direction in which the operator applies a force, and the piston 4 moves together with the operating handle 1.
2 moves. Further, the remote operation body 16 operates in response to the operation of the operation handle 12. At this time, the hydraulic pressure considering the reaction force acts on the pressure receiving portion 4a, and the resistance to the force for moving the operation handle 12 changes. This resistance increases as the reaction force increases. The operator operates the remote control 16
Can be perceived by the magnitude of the resistance.

Therefore, according to the second embodiment, the same operation and effect as those of the first embodiment can be obtained. Besides that,
Not only the visual information but also the reaction force received by the remote operation body 16 can be fed back to an operator at a location away from the remote operation body 16 and presented as a reaction force sensation (force sense). The operator can intuitively perform an input operation with a high sense of reality close to reality, even though the operator is performing a remote operation.

(Third Embodiment) Next, a third embodiment in which the present invention is embodied in a parallel link type haptic input / output device will be described.
This will be described with reference to FIGS. The parallel link type haptic input / output device (hereinafter, simply referred to as “input / output device”) 22 of the third embodiment is used when inputting three-dimensional information, and uses a plurality of actuators 5. The point that they are arranged in parallel, the force sensor 1 for each actuator 5
3 and the control valve 14 are different from the second embodiment. Hereinafter, description will be made focusing on this difference, but the same members as those in the second embodiment are denoted by the same reference numerals, and description thereof will be omitted.

The input / output device 22 includes a common pedestal 23, a common input operation unit, and a plurality of (for example, six) actuators 5 for connecting the pedestal 23 and the input operation unit. The input operation unit includes a support 24 and a handle 25 mounted thereon. Each actuator 5 has the same structure as that described in the first embodiment, and is arranged such that the cylinder 3 is located on the lower side and the piston 4 is located on the upper side. The lower end of each cylinder 3 is swingably attached to the pedestal 23 by the universal joint 26, and the upper end of each piston 4 is swingably attached to the support base 24 by the universal joint 27. Note that the actuators 5 may be arranged with the vertical position of the cylinder 3 and the piston 4 reversed, that is, with the cylinder 3 on the upper side and the piston 4 on the lower side. This input / output device 2
In 2, by expanding and contracting each actuator 5,
The handle 25 can be freely moved in all of a plurality of degrees of freedom (six degrees of freedom) in a three-dimensional space.

Each force sensor 13 is interposed between the piston 4 of each actuator 5 and the universal joint 27. Instead, each force sensor 13 may be interposed between the cylinder 3 and the universal joint 26. Further, each actuator 5 has a cylinder 3 in addition to the force sensor 13.
Sensor 28 for detecting the amount of displacement of the piston 4 with respect to the pressure, and the fluid pressure (here, the hydraulic pressure)
And a pair of pressure sensors 29 for detecting the pressure. As the displacement sensor 28, for example, a potentiometer can be used to directly detect the amount of displacement of the piston 4, but in addition, a flow meter is used, and the amount of displacement of the piston 4 is indirectly determined from the detected value (flow rate). You may ask.
The force sensor 13, displacement sensor 28 and both pressure sensors 29 for each of the actuators 5 are connected to the control device 15. Note that the sensors described here are only examples,
Appropriate changes are possible. For example, a sensor for detecting the amount of displacement of the remote operation body 16 may be added, or the pressure sensor 29 may be omitted.

According to the input / output device 22, when the operator attempts to move the handle 25 while looking at the display during the remote operation of the remote controller 16, the force is applied to the support base 2.
The force is transmitted to the force sensors 13 of the respective actuators 5 via the universal joint 4 and the universal joint 27, and is detected by those force sensors 13. On the other hand, when the remote operation body 16 receives a reaction force from the work object 19 due to physical interference with the work object 19, the reaction force is detected by the force sensor 21. Further, the displacement amount of each piston 4 with respect to each cylinder 3 is detected by a displacement sensor 28, and the oil pressure of each pressure chamber 6, 7 is detected by a pressure sensor 29. Control device 15
Each control valve 14 is controlled based on the operating force, reaction force, displacement, and oil pressure by the various sensors 13, 21, 28, 29 described above.
Is controlled. Each control valve 14 operates in response to these controls, the hydraulic pressure applied to the pressure receiving portion 4a in each of the pressure chambers 6 and 7 changes, and each actuator 5 expands and contracts.

Therefore, according to the third embodiment, the same operation and effect as those of the first and second embodiments can be obtained. In addition, the length and inclination of each actuator 5 change due to the expansion and contraction. The (posture) and the like are the same as those intended by the operator. It is possible to operate the handle 25 with a natural operation feeling and to input a three-dimensional position and orientation with high accuracy. In addition, a reaction force sense (force sense) is presented to the operator through the handle 25.

For this reason, the input / output device 22 can provide three-dimensional position information and reaction force sensation, such as remote operation of a robot and operation of an object in a virtual reality (VR) space, as important clues in performing the operation. This is particularly useful when a more complicated and difficult operation is required, such as one that requires a subtle force sensation of the operator. The remote control operation by the robot includes, for example, polishing, assembling, attaching and removing screws, operating valves, various inspections, cleaning, medical surgery, medical inspection, and the like. Examples of the operation of the object in the VR space include various simulations such as plant control and disaster countermeasures. The input / output device 22 is connected to a three-dimensional CA.
If it is used as an input device for D and CG (computer graphics), it is possible to grasp a three-dimensional positional relationship by feeding back interference with an object or the like and to facilitate complicated three-dimensional position input work. Can be expected. Further, the input / output device 22 can be used as an input device for remote control of various machines at the time of disaster recovery, for example, for removing rubble, rescuing the injured, transporting goods, and the like.

This embodiment has the following features in addition to the items described above.

(A) As another type of input / output device for presenting a reaction force sensation (force sensation), for example, a device having a pantograph-type movable portion can be considered. In this technique, the pedestal and the handle are connected by a pantograph-type movable portion, and the movable portion is driven by an electric motor or the like. However, there is a problem that the structure is complicated, the strength of the movable portion is not sufficiently high, and a mechanism for converting the rotational motion of the electric motor into a linear motion is separately required.

On the other hand, in the input / output device 22 in the third embodiment, a plurality of (six) actuators 5 composed of hydraulic cylinders are arranged in parallel between the base 23 and the support 24. When the actuator 5 operates, each piston 4 only moves linearly. For this reason, the input / output device 22 has a sufficiently high strength and rigidity as compared with a device having a pantograph-type movable portion, sufficiently withstands even when a large force is applied to the handle 25, and is less likely to fail. Also, the plurality of actuators 5 arranged in parallel are mounted on the pedestal 2 respectively.
It only needs to be attached to the support 3 and the support 24, and no mechanism for changing the direction of movement is required, and the structure is simple.
In addition, since a hydraulic parallel mechanism is used, extremely high-precision positioning and high-speed driving can be performed as compared with an electric type (pantograph type or parallel type).

(B) As another type of input device for presenting a reaction force sensation (force sensation), a device using hydraulic pressure as a drive source has been conventionally proposed (for example, Japanese Patent Application Laid-Open No. Hei 5-216584).
Reference). This is a configuration in which six hydraulic cylinders are arranged in parallel between the pedestal and the handle. In a normal state, the electromagnetic valves are opened, and all the hydraulic cylinders can be extended and contracted. On the other hand, when presenting a sense of force, the solenoid valve is controlled based on the hydraulic pressure, and the length of the hydraulic cylinder is fixed. Since this input / output device has a passive piston, usable hydraulic cylinders are limited to those having low friction between the cylinder and the piston. In addition, the operational feeling is constant. On the other hand, in the third embodiment, the actuator 5 is actively moved based on the operation force of the operator by the force sensor 13 as already described in the first embodiment. Therefore, it is not necessary to use an actuator having a special mechanism, for example, a low friction cylinder. Further, by controlling the control valve to adjust the hydraulic pressure applied to the piston 4, it is possible to variously change the lightness of the operational feeling.

The present invention can be embodied in another embodiment described below.

(1) The movable member in the first embodiment may be any member that can move linearly along one axis during operation. Such a thing other than the tool 2 is, for example, a cart 31 as shown in FIG. In this case, in a state where the moving direction (the left-right direction in FIG. 5) of the cart 31 matches the reciprocating direction of the piston 4, the cart 31
Is attached to the piston 4. Also in this case, similarly to the first embodiment, the carriage 31 can be directly and intuitively moved by human power. In this case, if the carriage 31 is a rigid body, the force sensor 13 is controlled by the operation handle 12 and the carriage 31.
It may be arranged between them, or may be arranged between the carriage 31 and the piston 4.

(2) A fluid other than oil may be used as the fluid in the cylinder 3 for operating the piston 4.
A typical example thereof is air, but other liquids and gases may be used.

(3) In the third embodiment, the number of the actuators 5 may be appropriately changed. FIG. 6 shows a case where three actuators 5 are used. However, as the number of actuators 5 decreases, the degree of freedom of movement of the handle 25 is more likely to be restricted.

(4) In the third embodiment, instead of providing the force sensor 13 for each actuator 5, as shown in FIG. 7, a multi-axis type (with six actuators) is provided between the handle 25 and the support 24. In this case, one force sensor 13 of a six-axis type and three in the case of three) may be attached.

(5) In controlling the control valve 14 by the control device 15, by adjusting the gain applied to the detection value of the force sensor 13, the ratio of the driving speed of the piston 4 to the magnitude of the operating force is changed to provide an operational feeling. Can be made heavier or lighter. In addition, the operation feeling described above is changed to the work object 19 of the work.
Can be adjusted and set to one that is easy for the operator to work with.

(6) In the third embodiment, as in the first embodiment, the reflection of the reaction force by the force sensor 21 in controlling the control valve 14 may be omitted.

(7) In each of the above embodiments, a pair of pressure sensors (corresponding to the pressure sensor 29 in FIG. 3) for detecting the fluid pressure in each of the pressure chambers 6 and 7 of the cylinder 3 is provided.
These pressure sensors may be used as operating force detecting means. In this case, the pressure difference between the fluid pressures by the two pressure sensors is the force applied to the piston 4 in accordance with the input operation.

[0045]

[0046]

[0047]

[0048]

As described above, according to the first aspect of the present invention, when inputting a three-dimensional position and orientation with high accuracy, the piston can be moved with a force applied by a person. The movable body can be directly and intuitively operated and operated by the corresponding piston movement. Furthermore, the operator can intuitively perform an input operation with a high sense of reality close to reality, even though the operator is performing a remote operation.

[Brief description of the drawings]

FIG. 1 is a conceptual configuration diagram illustrating an input / output device according to a first embodiment of the present invention.

FIG. 2 is a conceptual configuration diagram illustrating an input / output device according to a second embodiment of the present invention.

FIG. 3 is a conceptual configuration diagram showing a parallel link type haptic input / output device according to a third embodiment of the present invention.

FIG. 4 is a perspective view showing a parallel link type haptic input / output device of a third embodiment.

FIG. 5 is a conceptual configuration diagram showing another embodiment of the input / output device.

FIG. 6 is a perspective view showing another embodiment of the parallel link type haptic input / output device.

FIG. 7 is a perspective view showing another embodiment of the parallel link type haptic input / output device.

[Explanation of symbols]

 Reference Signs List 1, 17 Input / output device 2 Tool as movable body 3 Cylinder 4 Piston 4a Pressure receiving unit constituting inner end of piston 5 Actuator 8 Oil as fluid 12 Operating handle as input operating unit 13 Force as operating force detecting means Sensor 14 Control valve constituting a part of pressure regulating means 15 Control device constituting a part of pressure regulating means 16 Remote control body as movable body 19 Work target 22 Parallel link type force sense input / output device 23 Pedestal 24 Input A support base constituting a part of the operation unit 25 A handle constituting a part of the input operation unit 31 A carriage as a movable body

──────────────────────────────────────────────────続 き Continued from the front page Examiner Tang Qiang (56) References JP-A-2-292193 (JP, A) JP-A-62-162479 (JP, A) JP-A-3-230210 (JP, A) JP-A-6-328940 (JP, A) JP-A-6-156083 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) F15B 15/14 B25J 3/00 G06F 3/033 310

Claims (3)

(57) [Claims] 1. An input / output device which is remotely operated when a movable body is actuated, wherein said input / output device is arranged in a side-by-side state and is capable of reciprocating in said plurality of cylinders at respective inner ends thereof. A plurality of actuators having a plurality of pistons accommodated in, a common pedestal attached via a universal joint to one of the cylinders and pistons in all of the actuators, and of the cylinders and pistons in all of the actuators, A common input operation unit attached via a universal joint to a member on a side different from the pedestal, and operation force detection means for detecting a force applied to a piston of each actuator when operating the input operation unit And at least a detection result of the operating force detecting means and a reaction force from the work object generated by the operation of the movable body. Then, the pressure of the fluid applied to the inner end of each piston is adjusted, and each of the pistons is moved in substantially the same direction as the direction in which the operator applies a force.
And a pressure adjusting means for moving the ston. 2. The operating force detecting means according to claim 1, wherein
Between the piston and the universal joint in the eta,
Or a compound interposed between the cylinder and the universal joint.
2. The method according to claim 1, comprising a number of force sensors.
Parallel link type haptic input / output device. 3. The input operation unit includes a support base and a support base on the support base.
Consisting of a mounted handle, The operating force detecting means is provided between the handle and the support base.
It consists of a multi-axis type force sensor installed between
The parallel link type haptic input / output device according to claim 1,
Place.