JP6804346B2 - Rotation control mechanism and load generator using it - Google Patents

Description

The present invention relates to a rotation control mechanism capable of changing rotational resistance using a ferrofluid and a load generator using the same.

Conventionally, a technology that allows an operator to experience the usability of a product in advance by making a virtual object as data inside a computer feel as if it exists, or a target object that is far away. As a force sensation device that can be applied to a technique that allows an operator to operate while feeling as if he / she is at hand, the technique described in Patent Document 1 below has been proposed.

The technique described in Patent Document 1 is a member that touches a contactable surface such as the pad surface of a finger of a flexible glove, a wire that pulls this member in a direction opposite to the bending of the finger, and a tube that freely guides the wire. A member for fixing a part of the wire is attached to the outside of a flexible glove to be attached to the fingers, the tube for guiding the wire is extended from the glove, the wire is taken out from the end opposite to the glove of the tube, and the wire is wound. It is provided. The winding means is composed of a DC motor and is driven by a current corresponding to the sense of force.

Japanese Unexamined Patent Publication No. 06-324622

The technique described in Patent Document 1 uses a wire winding device using a DC motor. Specifically, a pulley is attached to the output shaft of the DC motor, and a wire is wound around the pulley. The torque of the DC motor is controlled so that the force applied to the fingers is equal to the force sensation to be applied. It is supposed to be done.

In such a technique described in Patent Document 1, it is necessary to control the motor so as to match the feel of the operator's finger, which is difficult to control. Further, there is a problem that the mechanism for applying the operation reaction force to the operator's finger becomes complicated.

An object of the present invention is to provide a rotation control mechanism capable of precisely applying an operating reaction force and a load generator using the rotation control mechanism in order to solve the above problems.

In order to achieve the above object, the rotation control mechanism of the present invention freely changes a retractable drawer material, a rotating portion for winding the drawer material, and a force required to pull out the drawer material. The rotating portion includes a mechanism and a winding portion for winding the drawn drawer material on the rotating portion, and the winding portion applies a force in a direction opposite to the drawing direction of the drawer material to the rotating portion. The load generating mechanism, which is composed of a spring, includes a movable member that rotates in conjunction with the rotating portion, a magnetic generating mechanism that faces the movable member with a gap in between, and a magnetic field that exists in at least a part of the gap. It has a magnetically viscous fluid whose viscosity changes according to the strength of the magnetic field, and further includes an energization control unit that changes the amount of energization to the magnetic generation mechanism.

Further, the rotation control mechanism of the present invention includes an angle detection unit that detects the rotation angle of the rotation unit, and the energization control unit detects the withdrawal amount of the drawing material from the detection value of the angle detection unit.

The rotation control mechanism of the present invention comprises a support portion for rotatably supporting the rotary part, the spring, the one end is connected to the rotating part is the spiral spring whose other end is connected to the support portion ..

Further, the load generator of the present invention is provided with the rotation control mechanism and is connected to a glove portion that can be worn by the operator's hand and a tip portion of the drawer material that is arranged at the position of the operator's finger in the glove portion. It is characterized in that a tactile sensation imparting portion is provided.

Further, the load generator of the present invention includes a rotation control mechanism and a spatial coordinate measuring unit for detecting the tip position of the drawing material, and the spatial coordinates measured by the spatial coordinate measuring unit and the coordinate data of the virtual object. When the spatial coordinates and the coordinate data come into contact with each other, the load generating mechanism generates a desired load.

Further, the load generator of the present invention includes a glove-shaped covering portion that can be worn by the operator's hand.

Further, the load generator of the present invention includes the rotation control mechanism, detects the withdrawal amount of the drawer material at a predetermined time interval, and generates the load when the time change of the withdrawal amount is equal to or less than a predetermined threshold value. A braking force larger than the winding force of the winding portion is generated in the mechanism.

Further, the load generating device of the present invention is characterized by including the rotation control mechanism and a distance calculating unit for obtaining a wire withdrawal amount based on an angle detected by the angle detecting unit.

According to the present invention, it is possible to provide a rotation control mechanism capable of precisely applying an operating reaction force and a load generator using the rotation control mechanism.

The perspective view which made a part of the rotation control mechanism of embodiment of this invention a cross section. Explanatory sectional view which shows the internal structure of the rotation control mechanism of FIG. The explanatory view which shows the 1st Embodiment of the load generator provided with the rotation control mechanism. The block diagram which shows the function of the load generator of 1st Embodiment. The flowchart which shows the operation of the load generator of 1st Embodiment. The block diagram which shows the 2nd Embodiment of the load generator provided with the rotation control mechanism.

Next, an example of the embodiment of the rotation control mechanism and the load generator of the present invention will be described with reference to FIGS. 1 to 5.

First, the rotation control mechanism of the present embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a perspective view showing a part of the rotation control mechanism of the present embodiment as a cross section, and FIG. 2 is an explanatory sectional view showing an internal structure of the rotation control mechanism.

As shown in FIGS. 1 and 2, the rotation control mechanism 1 includes a substantially cylindrical housing 2, a rotating portion 3 rotatably supported at the center position of the housing 2, and magnetic generation housed in the housing 2. The mechanism 4, the movable member 5 that rotates integrally with the rotating portion 3, the wire 6 wound around the rotating portion 3, and the wire 6 connected to the rotating portion 3 and the housing 2 and wound around the rotating portion 3 in a predetermined direction. A cylinder spring 7 is provided as a take-up portion.

The housing 2 is made of synthetic resin and houses the magnetic generation mechanism 4, the rotating portion 3, the wire 6, and the mainspring 7, and a wire lead-out hole 18 is provided on the outer peripheral surface of the portion around which the wire 6 is wound. .. The housing 2 in this embodiment constitutes the support portion in the present invention. In this embodiment, the wire is the drawing material. However, the drawer material may be a rollable band or the like. Furthermore, the drawer material may be a wire rod or the like which itself has elasticity.

The magnetic generation mechanism 4 includes a first yoke 8 and a second yoke 9 formed of a soft magnetic material such as a Ne—Fe alloy, and both members are fixed in the housing 2. Further, an exciting coil 10 is provided in the first yoke 8. The windings constituting the exciting coil 10 are connected to the external connection terminal 11, and the exciting coil 10 is connected to the energization control unit 29 of the load generating device 20 described later via the external connection terminal 11.

The first yoke 8 and the second yoke 9 are provided with through holes 8a and 9a in which the rotating portion 3 is rotatably arranged in the center. A radial bearing 12a is provided in the through hole 8a of the first yoke 8, and the rotating portion 3 is rotatably supported by the radial bearing 12a.

The movable member 5 is a disk-shaped member that rotates integrally with the rotating portion 3, and is arranged in a gap 13 provided between the first yoke 8 and the second yoke 9 of the magnetic generation mechanism 4. .. Further, the gap 13 is filled with the magnetic viscous fluid 14. The magnetic viscous fluid 14 is a fluid in which magnetic powder or magnetic particles such as Ni—Fe alloy powder are mixed inside an oil agent such as silicone oil.

In the present embodiment, the load generating mechanism 15 (see FIG. 4) of the present invention is formed by the movable member 5, the ferrofluid 14, and the magnetic generating mechanism 4.

The rotating portion 3 is a shaft-shaped member rotatably supported by the radial bearings 12a and 12b in the housing 2. The rotating portion 3 is provided with a wire core portion 3a around which the wire 6 is wound on the proximal end side (right side in FIG. 2) of the movable member 5. Further, a spring 7 is attached to the base end side of the rotating portion 3 with respect to the wire core portion 3a.

Further, an angle detecting unit 16 for detecting the angle of the rotating unit 3 is provided at the tip end portion (left side in FIG. 2) of the housing 2. The angle detection unit 16 is a rotation detection unit such as a so-called rotary encoder, and optically detects the rotation of the rotation unit 3 and transmits it to the energization control unit 29 described later. Alternatively, the angle detection unit 16 may be a rotary variable resistor, an optical rotation sensor, or the like.

Since the rotation control mechanism 1 of the present embodiment has the above configuration, when the wire 6 wound around the wire core portion 3a is pulled out by an external force, the rotating portion 3 is rotated by the wire 6. At that time, the mainspring 7 is rotated in the direction of compression. Therefore, when the wire 6 is pulled out, the compressive force of the mainspring 7 is applied, but in the present embodiment, the mainspring 7 has a small compressive force so that the operator can freely move his / her finger.

When the external force applied to the wire 6 disappears, the rotating portion 3 rotates in the direction opposite to the pull-out direction of the wire 6 due to the elastic force accumulated in the mainspring 7, and the wire 6 is wound around the wire core portion 3a. It is supposed to be taken.

In this way, when the wire 6 is pulled out or wound up in the rotation control mechanism 1, the rotating portion 3 rotates, and the movable member 5 integrated with the rotating portion 3 also rotates. The movable member 5 rotates in the ferrofluid 14 filled in the gap 13 between the first yoke 8 and the second yoke 9 of the magnetic generation mechanism 4.

At this time, when a current is applied to the exciting coil 10 of the first yoke 8, a magnetic field is induced in the exciting coil 10 and a magnetic flux is generated across the gap 13 between the first yoke 8 and the second yoke 9. This magnetic flux changes depending on the magnitude of the current applied to the exciting coil 10.

In this way, when a magnetic flux crossing the gap 13 between the first yoke 8 and the second yoke 9 is generated, a cohesive structure of magnetic powder or magnetic particles is formed in the magnetic viscous fluid 14 filled inside the gap 13. Since the bridge structure changes, the frictional force generated in the movable member 5 provided in the ferrofluid 14 changes.

When a strong electric current is applied to the exciting coil 10, the degree of aggregation of magnetic powder or magnetic particles in the magnetic viscous fluid 14 increases, and a strong braking force is applied to the movable member 5. On the contrary, when the current applied to the exciting coil is weak, the degree of aggregation of the magnetic powder or magnetic particles in the magnetic viscous fluid 14 is small, so that the braking force applied to the movable member 5 becomes small.

Next, the load generator 20 of the first embodiment using the rotation control mechanism 1 will be described with reference to FIGS. 3 to 5. FIG. 3 is an explanatory view showing a glove portion of the load generator of the first embodiment, FIG. 4 is a block diagram showing a function of the load generator of the first embodiment, and FIG. 5 is a load diagram of the first embodiment. It is a flowchart which shows the operation of a generator.

As shown in FIG. 3, the load generator 20 of the first embodiment includes a glove portion 21, and the glove portion 21 includes a covering portion 22 that covers the outside of the operator's hand and a tactile sensation that is attached to a fingertip. It includes a giving portion 23, a guide portion 24 that is arranged outside the finger and guides the wire 6, and a wrist holder 25 that is attached to the wrist and to which the rotation control mechanism 1 is fixed.

The tactile imparting portion 23 is made of a material such as synthetic resin or metal, and the plate-shaped member is curved according to the shape of the fingertip so that the tip portion of the wire 6 of the rotation control mechanism 1 can be connected. It is formed. The guide portion 24 is a ring-shaped member having a hole large enough for the operator's finger to pass through, and is a member that guides the wire 6 from the surface of the operator's hand to a predetermined height.

The wrist holder 25 is a ring-shaped member that covers the circumference of the operator's wrist, and the inner diameter can be changed according to the thickness of the operator's wrist by an adjustment mechanism (not shown). On the surface of the wrist holder 25, five rotation control mechanisms 1 are attached according to the fingers of the operator. A wire 6 extends from each of the five rotation control mechanisms 1, and a tip portion thereof is connected to a tactile sensation imparting portion 23 arranged for each finger. Further, a connection cable 1a is connected to the angle detection unit 16 and the external connection terminal 11 of the rotation control mechanism 1, and is connected to the controller 26 described later.

Next, with reference to FIG. 4, the functional configuration of the load generator 20 of the first embodiment will be described. The load generator 20 includes a controller 26 in addition to the rotation control mechanism 1 and the glove portion 21. The controller 26 includes a spatial coordinate measurement unit 27 provided on a so-called VR display (not shown) for displaying virtual reality, a coordinate data comparison unit 28, and an energization control unit 29 that controls an energization state of the magnetic generation mechanism 4. It has.

The spatial coordinate measurement unit 27 reads the position of the marker 30 provided at the fingertip position of the glove unit 21 by a camera (not shown) provided on the VR display, and detects the fingertip position of the glove unit 21. Further, in the present embodiment, the spatial coordinate measurement unit 27 also controls the display of the virtual object 31 on the VR display to be shown to the operator.

The coordinate data comparison unit 28 grasps the state of the area viewed by the operator through the VR display (not shown) by image processing, and the glove unit 21 in the area including the virtual object 31 displayed so that the operator can see it. Identify the position of. The virtual object 31 is displayed as an animation or as a computer graphic on the VR display. Alternatively, a photograph of the virtual object 31 may be displayed.

The energization control unit 29 changes the magnitude of the current supplied to the magnetic generation mechanism 4 by the angle of the rotating unit 3 detected by the angle detecting unit 16 and the signal from the coordinate data comparing unit 28. In the present embodiment, the energization control unit 29 detects the amount of change (rotational speed) of the angle of the rotating unit 3 per time in addition to the angle of the rotating unit 3 detected by the angle detecting unit 16.

Next, the operation of the load generator 20 of the first embodiment will be described with reference to FIG. First, the operator attaches the glove portion 21 to his / her hand (STEP 1). At the same time, the operator wears a VR display (not shown). When the operator looks at the glove unit 21 through the VR display, a 3D image of the hand is displayed on the VR display.

In this 3D image of the hand, the movement of the marker 30 of the glove unit 21 is measured by the spatial coordinate measurement unit 27, and the 3D image of the hand moves according to the movement of the operator's finger and the movement of the hand. (STEP2). The background in the VR display may project the background of the place where the operator is actually present, or may be a fictitious 3D image.

Here, the operation of the load generating device 20 when the operator touches the virtual object 31 shown in FIG. 3 will be described. In the state of FIG. 3, the index finger 32f of the operator does not touch the virtual object 31. In this state, the rotation control mechanism 1 does not generate a load by the load generating mechanism 15 so that the operator can freely move the finger.

Next, when the operator brings the index finger 32f closer to the virtual object 31 in an attempt to touch the virtual object 31, the angle of the joint of the index finger 32f changes. The relative distance from the guide portion 24 located near the first joint of 32f changes, and the wire 6 is pulled.

When the wire 6 for the index finger 32f is pulled, the rotation control mechanism 1 rotates the rotation unit 3, and the angle detection unit 16 detects the angle (STEP 3). At the same time, the movement of the index finger 32f is detected by the spatial coordinate measurement unit 27 via the marker 30 (STEP 4), and the coordinate data comparison unit 28 determines the coordinates of the tip of the index finger 32f and the coordinates of the virtual object 31. It is compared and it is determined whether or not the fingertip is touching the virtual object 31 (STEP 5).

As shown in FIG. 3, when the index finger 32f is not touching the virtual object 31 (NO in STEP 5), the coordinate data comparison unit 28 detects that fact, and no signal is transmitted to the energization control unit 29. Therefore, since no load is generated by the load generating mechanism 15, the load of only the mainspring 7 is applied to the index finger 32f of the operator, and the state returns to the state of STEP2.

From this state, when the tip of the index finger 32f reaches the position where it touches the virtual object 31, the coordinates of the index finger 32f are detected by the spatial coordinate measurement unit 27, and the index finger 32f touches the virtual object 31 by the coordinate data comparison unit 28. Is detected (YES in STEP 5).

At this time, the energization control unit 29 detects the amount of change (rotational speed) in the angle of the rotating unit 3 per time (STEP 6). Further, the energization control unit 29 determines whether the virtual object 31 is hard or soft from the signal from the space coordinate measurement unit 27 (STEP 7). When the virtual object 31 is a hard object such as a bottle or a can (YES in STEP 7), the energization control unit 29 supplies a high current to the magnetic generation mechanism 4 inside the load generation mechanism 15 (STEP 8).

When a high current is supplied from the energization control unit 29, a strong magnetic field is induced in the exciting coil 10 of the load generating mechanism 15, and a strong magnetic flux is generated across the gap 13 between the first yoke 8 and the second yoke 9 ( STEP10). Due to this strong magnetic flux, the aggregated structure and bridge structure of the magnetic powder or magnetic particles are significantly changed in the magnetic viscous fluid 14 filled in the gap 13, and the movable member 5 provided in the magnetic viscous fluid 14 is provided. A strong frictional force is generated in (STEP 11).

As a result, the rotation of the rotating portion 3 is strongly restricted, and the force (resistive torque) required to pull out the wire 6 becomes stronger (STEP 12). Therefore, it becomes difficult to pull out the wire 6 on the index finger 32f, and even if the operator tries to push the index finger further downward, the tip of the index finger cannot be pushed down by the tactile imparting portion 23 tensioned by the wire 6.

On the other hand, when the virtual object 31 is a soft object such as a cushion (NO in STEP 7), the energization control unit 29 supplies a low current to the magnetic generation mechanism 4 inside the load generation mechanism 15 (STEP 9). When a low current is supplied from the energization control unit 29, a weak magnetic field is induced in the exciting coil 10 of the load generating mechanism 15, and a weak magnetic flux is generated across the gap 13 between the first yoke 8 and the second yoke 9. STEP10).

Due to this weak magnetic flux, the aggregated structure and bridge structure of the magnetic powder or magnetic particles are slightly changed in the magnetic viscous fluid 14 filled in the gap 13, and the movable member provided in the magnetic viscous fluid 14 is provided. A weak frictional force is generated in 5 (STEP 11).

As a result, the rotation of the rotating portion 3 is weakly restricted, and the force required to pull out the wire 6 changes (STEP 12), but does not change significantly. Therefore, if the pull-out of the wire 6 on the index finger 32f is slightly changed and the operator tries to push the index finger further downward, the tactile sensation imparting portion 23 can be pushed down with some resistance.

Further, in STEP 10, the angle detection unit 16 detects a change in the angle of the rotating unit 3 per unit time. For example, when the virtual object 31 is soft and the operator tries to quickly push down the index finger 32f, the resistance from the virtual object 31 becomes stronger than when the virtual object 31 is pushed down slowly. Therefore, in such a case, the current transmitted from the energization control unit 29 is increased.

Further, when the virtual object 31 is soft and the operator tries to slowly push down the index finger 32f, the current transmitted from the energization control unit 29 is lowered as compared with the case where the index finger 32f is pushed down quickly.

By the way, regarding the thumb 32t, if the operator does not bring the thumb 32t close to the virtual object 31, the position of the thumb 32t is detected by the spatial coordinate measurement unit 27, and the thumb 32t is the virtual object by the coordinate data comparison unit 28. Since it is detected that the 31 is not touched, the energization control unit 29 does not energize the magnetic generation mechanism 4.

Therefore, since the operator does not feel resistance to the thumb 32t, there is no difference between the operator's visual information and the sensory information from the finger, so that the finger operation in the virtual space can be performed naturally. ..

By the above control, the operator can obtain a sensation as if he / she is actually touching the virtual object 31, and can reproduce the sensation felt by the operator according to the hardness set in the virtual object 31. Yes (STEP 13).

In the above embodiment, when the amount of change (velocity) of the movement of the index finger 32f or the thumb 32t per time is equal to or less than a predetermined threshold value, for example, when the movement of the finger is almost stopped, the mainspring 7 in the rotation control mechanism 1 It is also possible to give a braking force larger than the winding force of.

By performing such control, when the movement of the finger is stopped or almost stopped, the winding force of the mainspring 7 does not act on the tactile imparting portion 23, so that the operator can use the finger. You will be able to keep the state natural.

Further, the present invention is not limited to the above-described embodiment, and can be appropriately implemented within the scope of the present invention. For example, in the above embodiment, in the rotation control mechanism 1, the wire 6 is wound directly around the wire core portion 3a of the rotating portion 3, but the present invention is not limited to this, and a rod is extended in the radial direction from the rotating portion 3 to extend the rod. A wire may be connected to the tip. Further, in the above embodiment, the mainspring 7 is used as the take-up portion, but the present invention is not limited to this, and other types of springs may be used. Alternatively, a power source such as a motor may be used as the take-up portion, and the wire (drawing material) may be rewound by the power of the motor or the like.

Further, in the above embodiment, the marker 30 is used when the movement of the glove unit 21 is measured by the space coordinate measurement unit 27, but the present invention is not limited to this, and the spatial coordinates are measured by analyzing the image of the glove unit 21. You may try to do it.

Further, in the energization control unit 29, in addition to the angle of the rotating unit 3 detected by the angle detecting unit 16, the amount of change (rotational speed) of the angle of the rotating unit 3 per time is detected. Not limited to this, only the angle may be detected, or the acceleration of the rotating portion 3 may be detected and controlled.

FIG. 6 is a block diagram showing a load generator 120 according to a second embodiment of the present invention. The load generator 120 can be used as a distance measuring device or a displacement meter.
In the load generator 120, the controller 126 is provided with a distance calculation unit (dimension calculation unit) 128 and an energization control unit 129. When the wire 6 is pulled out from the rotation control mechanism 1, the rotation angle of the rotation unit 3 is detected by the angle detection unit 16, and the detected rotation angle is converted into a distance (or dimension) by the distance calculation unit 128. Thereby, the pull-out amount of the wire 6 can be recognized.

The energization control unit 129 can change the load generated by the load generating mechanism 15 according to the measured amount of wire 6 pulled out. As a result, different pull-out loads can be applied according to the pull-out amount of the wire 6. Further, when the pull-out amount of the wire 6 reaches a predetermined value, a braking force may be applied by the rotation control mechanism 1 to lock the wire 6 so that the wire 6 cannot be pulled out any more. Further, the braking force once applied can be released, and when the wire 6 is pulled out by a predetermined dimension, the braking force can be applied again. Further, as a method of applying the braking force, when the wire 6 is pulled out, by giving a weak resistance force capable of pulling out, the wire 6 can be prevented from loosening, and the longer the pulling amount of the wire 6 is, the more the resistance is. It is also possible to control the force to be weakened or strengthened. Further, when the target withdrawal amount is reached, a strong braking force can be generated to control the wire 6 so that it cannot be pulled out any more. In this way, it is easy to confirm the predetermined distance.

Since the load generator 120 can freely control the magnetic field generated by the magnetic generation mechanism 4 by the energization control unit 129, the resistance force given to the wire 6 can be freely set according to the purpose of the pull-out operation of the wire 6. be able to.

1 ... Rotation control mechanism 2 ... Housing (support part)
3 ... Rotating part 4 ... Magnetic generating mechanism 5 ... Movable member 6 ... Wire 7 ... Spring (winding part)
8 ... 1st yoke (magnetic generation mechanism)
9 ... 2nd yoke (magnetic generation mechanism)
10 ... Exciting coil (magnetism generation mechanism)
13 ... Gap 14 ... Magnetic viscous fluid 15 ... Load generating mechanism 16 ... Angle detection unit 20 ... Load generating device 21 ... Globe part 22 ... Covering part 23 ... Tactile imparting part 24 ... Guide part 25 ... Wrist holder 26 ... Controller 27 ... Space Coordinate measurement unit 28 ... Coordinate data comparison unit 29 ... Energization control unit 31 ... Virtual object 32f ... Index finger 32t ... Thumb 120 ... Load generator 128 ... Distance calculation unit 129 ... Energization control unit

Claims (8)

A retractable drawer material, a rotating portion for winding the drawer material, a load generating mechanism for freely changing the force required to pull out the drawer material, and the drawn drawer material being wound around the rotating portion. Equipped with a take-up part to make it
The take-up portion is composed of a spring that applies a force in the direction opposite to the pull-out direction of the drawer material to the rotating portion .
The load generating mechanism is present in at least a part of a movable member that rotates in conjunction with the rotating portion, a magnetic generating mechanism that faces the movable member with a gap in between, and a magnetic field strength. Has a ferrofluid whose viscosity changes
Further, the rotation control mechanism is provided with an energization control unit that changes the amount of energization to the magnetic generation mechanism. An angle detection unit for detecting the rotation angle of the rotation unit is provided.
The rotation control mechanism according to claim 1, wherein the energization control unit detects the withdrawal amount of the drawing material from the detection value of the angle detection unit. A support portion that rotatably supports the rotating portion is provided.
Said spring, said one end is connected to the rotating portion, the rotation control mechanism according to claim 1 or claim 2 and the other end is a spiral spring connected to the support part. A load generator comprising the rotation control mechanism according to any one of claims 1 to 3.
A load generation characterized by being provided with a glove portion that can be worn on the operator's hand and a tactile imparting portion that is arranged at the position of the operator's finger in the glove portion and is connected to the tip portion of the drawer material. apparatus. The rotation control mechanism according to any one of claims 1 to 3 and a spatial coordinate measuring unit for detecting the tip position of the drawer material are provided.
The spatial coordinates measured by the spatial coordinate measuring unit are compared with the coordinate data of the virtual object, and when the spatial coordinates and the coordinate data come into contact with each other, the load generating mechanism generates a desired load. Load generator. The load generator according to claim 5, further comprising a glove-shaped covering that can be worn on the operator's hand. The rotation control mechanism according to any one of claims 1 to 3 is provided, and when the withdrawal amount of the drawer material is detected at a predetermined time interval and the time change of the withdrawal amount is equal to or less than a predetermined threshold value, the above-mentioned a load generating mechanism, the load generating device, characterized in that to generate a large braking force from the winding force of the winding unit. A load generating device comprising the rotation control mechanism according to claim 2, and having a distance calculating unit for obtaining a wire withdrawal amount based on an angle detected by the angle detecting unit.

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