JP7315177B2 - Input device for remote control - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act June 06, 2003 http://robomech2021. org/ June 06-08, 2003 Presented in writing at the "Robotics and Mechatronics Conference 2021 in Osaka" hosted by the Robotics and Mechatronics Division of the Japan Society of Mechanical Engineers

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control input device, and more particularly to a remote control input device that is used to remotely control a moving object by an operator's wrist motion.

2. Description of the Related Art Conventionally, when a moving object such as an unmanned aerial vehicle or a robot is remotely operated, an operation command is generally output using an input device such as a joystick. However, in an input device such as a joystick, the operation direction does not necessarily match the input direction with respect to the posture of the moving object. Therefore, it was difficult for the operator to understand how to remotely control the mobile object.

Therefore, there is also known an input device that allows an operator to intuitively operate a mobile object in a desired moving direction while holding the mobile object with his or her own hand (for example, Patent Document 1). The remote control input device of Patent Document 1 has a gripping member that is gripped by a hand and an instruction unit that supports the gripping member. The gripping member is supported by the instruction unit so as to allow translational movement and rotational movement of the wrist while the gripping member is gripped. Then, it detects translational motion and rotational motion of the gripping member and outputs an operation command to the moving body. Here, the center points of the translational movement and the rotational movement of the gripping member in Patent Document 1, that is, the XYZ coordinate center point and the roll/pitch/yaw rotation center point coincide in position. Specifically, the XYZ coordinate center point and the roll/pitch/yaw rotation center point are arranged at the center of the wrist joint of the operator.

JP 2018-190254 A

However, even with the input device of Patent Literature 1, the feeling of operation by the operator on the input device differs from the movement of the moving object. This is particularly noticeable when the structure of a moving object such as an unmanned aerial vehicle or a robot to be operated is different from the structure of a human body. For example, when a mobile body has a special shape or structure to cope with a complex environment, the feeling of operation and the movement of the mobile body differ greatly, making it difficult for the operator to intuitively operate the mobile body as if it were his/her own body.

In general, a moving object moves according to the degrees of freedom of an orthogonal coordinate system of XYZ axes and an orthogonal coordinate system of roll, pitch, and yaw rotation axes, but the human body moves according to the control of the musculoskeletal system and the recognition of the retinal coordinate system. For this reason, it has been difficult to intuitively operate a moving object with conventional devices.

Therefore, it has been desired to develop a remote-control input device that can be operated intuitively when remote-controlling a moving object such as an unmanned aerial vehicle or a robot.

SUMMARY OF THE INVENTION In view of such circumstances, it is an object of the present invention to provide a remote control input device that enables intuitive remote control of a mobile body.

In order to achieve the above-described object of the present invention, the remote control input device according to the present invention includes: a grip portion for an operator to hold; a translational mechanism portion connected to the grip portion and performing translational movement in accordance with the translational motion of the operator's fist about the center point of the XYZ coordinates; It comprises a rotation mechanism that rotates according to the rotation of the wrist joint, a rotation detector that detects the amount of rotation of the rotation mechanism, and a controller that outputs an operation command to the moving object using the translational momentum detected by the translational motion detector and the rotational momentum detected by the rotary motion detector.

Here, the translational mechanism may be composed of a base that is slidable along the X and Y axes, and a column that is arranged on the base and is slidable along the Z axis.

Further, the rotation mechanism may be composed of a pitch rotation section that is offset from the pillar and arranged to be pitch rotatable on the pitch rotation axis, a yaw rotation section that is arranged to be yaw rotatable on an axis perpendicular to the pitch rotation axis of the pitch rotation section, and a roll rotation section that is arranged to be roll rotatable on an axis perpendicular to the pitch rotation axis of the pitch rotation section and the yaw rotation axis of the yaw rotation section.

Further, the rotation mechanism section may include a pitch rotation section arranged to be pitch-rotatable with respect to the pitch rotation axis, a roll rotation section arranged to be roll-rotatable on an axis perpendicular to the pitch rotation axis of the pitch rotation section, and a yaw rotation section arranged offset from the column section and arranged to be yaw-rotatable on an axis perpendicular to the pitch rotation axis of the pitch rotation section and the roll rotation axis of the roll rotation section.

Further, the rotation mechanism may include a yaw rotation section offset from the column and arranged to be yaw rotatable about the yaw rotation axis, a pitch rotation section arranged to be pitch rotatable about an axis perpendicular to the yaw rotation axis of the yaw rotation section, and a roll rotation section offset from the column and arranged to be roll rotatable about an axis perpendicular to the yaw rotation axis of the yaw rotation section and the pitch rotation axis of the pitch rotation section.

Also, the roll rotating portion may have a double ring structure.

In addition, the XYZ coordinate center point of the translation mechanism should be located at the center of the grip, and the roll/pitch/yaw rotation center of the rotation mechanism should be located at the center of the wrist joint of the operator.

Further, the translation mechanism and the rotation mechanism may have elastic members for returning the grip to the XYZ coordinate center point and the roll/pitch/yaw rotation center point, which are the reference positions.

Further, the translational motion detection section and the rotational motion detection section may detect the translational motion amount and the rotational motion amount using a displacement detection sensor.

Further, the translation mechanism and the rotation mechanism may have drive motors for returning the grip to the XYZ coordinate center point and the roll/pitch/yaw rotation center point, which are the reference positions.

Further, the translational motion detection section and the rotational motion detection section may detect the translational motion amount and the rotational motion amount using a driving motor.

The remote-control input device of the present invention has the advantage of being able to intuitively remote-control a moving object.

FIG. 1 is a schematic perspective view for explaining the overall configuration of the remote control input device of the present invention. FIG. 2 is a schematic front view for explaining the remote control input device of the present invention. FIG. 3 is a schematic side view for explaining the remote control input device of the present invention. FIG. 4 is a schematic side view for explaining still another example of the remote control input device of the present invention. FIG. 5 is a schematic side view for explaining another example of the remote control input device of the present invention.

Hereinafter, embodiments for carrying out the present invention will be described together with illustrated examples. FIG. 1 is a schematic perspective view for explaining the overall configuration of the remote control input device of the present invention. FIG. 2 is a schematic front view for explaining the remote control input device of the present invention. FIG. 3 is a schematic side view for explaining the remote control input device of the present invention. In the drawings, the parts with the same reference numerals represent the same parts. Moreover, in FIG.2 and FIG.3, only one part was shown. The remote control input device of the present invention is used to remotely control a moving object by an operator's wrist motion. Here, the wrist movement refers to the movement of the fist (translational movement) or the movement of the wrist joint (rotational movement) due to the movement of the arm such as the elbow or shoulder.

As shown in FIG. 1, the remote control input device of the present invention is mainly composed of a grip portion 10, a translational mechanism portion 20, a translational motion detection portion 30, a rotation mechanism portion 40, a rotational motion detection portion 50, and a control portion 60.

The grip part 10 is to be gripped by the operator. The grip part 10 may have a shape that can be gripped by the operator's palm, as shown in the illustrated example. The operator grips the grip part 10 and remotely operates the moving object by wrist movements. Although the illustrated example shows an example in which the grip of the grip portion 10 extends in the vertical direction, the present invention is not limited to this, and the grip portion 10 may have a shape in which the grip extends in the horizontal direction. Further, although a structure in which the upper and lower parts of the grip portion 10 are connected to the translation mechanism portion 20 described later is illustrated, the present invention is not limited to this, and the grip portion 10 may be connected to the translation mechanism portion 20 on one side.

The translation mechanism section 20 is connected to the grip section 10 . The translation mechanism 20 translates according to the translation of the operator's fist. That is, the translational mechanism section 20 allows the grip section 10 to be translated in accordance with the movement of the fist caused by the movement of the operator's arm such as the elbow or shoulder. The translation mechanism section 20 translates around the center point of the XYZ coordinates. Translational motion is specifically motion that moves parallel along the X-, Y-, and Z-axes. Further, the XYZ coordinate center point refers to the center point at the reference position that is not touched by the operator. In the illustrated example, the XYZ coordinate center point is arranged at the center position of the grip portion 10 . That is, it is arranged at the center position of the operator's fist. In the illustrated example, the translational mechanism section 20 consists of a base section 21 and a column section 22 . The base 21 is configured to be slidable along the X-axis and the Y-axis. That is, it is configured to be slidable on the XY plane. More specifically, the base 21 is a combination of a stage that is slidable only in the X-axis direction and a stage that is slidable only in the Y-axis direction. Moreover, the column portion 22 is arranged on the base portion 21 and is configured to be slidable only in the Z-axis direction. Specifically, the column portion 22 may be configured by a slide rail or the like.

Since the base portion 21 in the illustrated example is configured to be slidable on the XY plane, the XYZ coordinate center point is determined by the position of the column portion 22 that is slidable in the Z-axis direction. The grip portion 10 may be arranged on the Z-axis determined by the position of the column portion 22 . Note that the present invention is not limited to this, and any conventional or future development mechanism can be applied to the translation mechanism as long as it can translate about the center point of the XYZ coordinates.

FIG. 1 shows an example in which the translation mechanism section 20 has an X-axis drive motor 23 , a Y-axis drive motor 24 and a Z-axis drive motor 25 . That is, the stage configured to be slidable only in the X-axis direction of the base 21 is provided with an X-axis drive motor 23, the stage configured to be slidable only in the Y-axis direction is provided with a Y-axis drive motor 24, and the column portion 22 configured to be slidable only in the Z-axis direction is provided with a Z-axis drive motor 25. Each drive motor is also used to return the grip portion 10 to the XYZ coordinate center point, which is the reference position. In other words, the translation mechanism 20 performs translational motion in accordance with the translational motion of the operator's fist, and when the operator releases the hand or loosens the force, the grip part 10 may be returned to the XYZ coordinate center point, which is the reference position. The present invention is not limited to this, and the translation mechanism section 20 may be of any type as long as it can be returned to the reference position. For example, the translation mechanism section 20 may have an elastic member for returning the grip section 10 to the XYZ coordinate center point, which is the reference position. The elastic member may be spring, rubber, or the like.

The translational motion detector 30 detects the translational momentum of the translation mechanism 20 . The translational motion detection unit 30 detects the amount of translational motion due to the wrist motion of the grip unit 10 of the operator. That is, the translation mechanism 20 detects the movement amount and the movement speed of parallel movement along the X-, Y-, and Z-axes. Specifically, the translational motion detector 30 may be a displacement detection sensor such as a rotary encoder or a potentiometer. The displacement detection sensor may be, for example, one that can detect the movement amount and movement speed due to translational motion using light, magnetism, or the like, or one that can detect the movement amount and movement speed due to translational motion from the rotational position of the motor.

The X-axis drive motor 23 , the Y-axis drive motor 24 , and the Z-axis drive motor 25 may be used as the translational motion detector 30 . That is, it may be configured such that the movement amount and the movement speed due to the translational motion with respect to each axis can be detected from the displacement of the rotational position of each drive motor.

The rotation mechanism section 40 is connected to the grip section 10 . The rotation mechanism 40 rotates according to the rotation of the wrist joint of the operator. That is, the rotation mechanism section 40 enables the grip section 10 to rotate according to the movement of the wrist joint of the operator. The rotation mechanism 40 rotates around a roll/pitch/yaw rotation center point. Rotational motion specifically refers to motion rotating about a roll rotation axis, a pitch rotation axis, and a yaw rotation axis. Further, the roll/pitch/yaw rotation center point refers to the center point at the reference position that is not touched by the operator.

Here, the most characteristic point of the present invention is that the roll/pitch/yaw rotation center point is offset from the XYZ coordinate center point toward the operator's wrist joint. That is, the roll/pitch/yaw rotation axes of the rotation mechanism section 40 and the XYZ coordinate axes of the translation mechanism section 20 are configured such that their center points are arranged at different positions. In the illustrated example, the XYZ coordinate center point is arranged at the center position of the grip portion 10 . That is, it is arranged at the center position of the operator's fist. On the other hand, the roll/pitch/yaw rotation center point is arranged at the center of the operator's wrist joint. By offsetting in this way, it is possible to perform an operation directly linked to the movement of the operator's body, and it is possible to realize a remote-control input device capable of intuitively remote-controlling a moving object.

Specifically, the rotation mechanism section 40 includes a yaw rotation section 41 , a pitch rotation section 42 and a roll rotation section 43 . The yaw rotation part 41 makes the grip part 10 rotatable around the yaw rotation axis. The pitch rotation part 42 makes the grip part 10 rotatable around the pitch rotation axis. The roll rotation part 43 makes the grip part 10 rotatable around the roll rotation axis. In the illustrated example, the yaw rotating portion 41 , the pitch rotating portion 42 , and the roll rotating portion 43 are arranged offset from the column portion 22 . Specifically, the pitch rotation part 42 arranged so as to be pitch-rotatable on the pitch rotation axis is offset from the column part 22 . The yaw rotation section 41 is arranged so as to be yaw rotatable about an axis perpendicular to the pitch rotation axis of the pitch rotation section 42 . The roll rotation section 43 is arranged so as to be roll-rotatable about an axis perpendicular to the pitch rotation axis of the pitch rotation section 42 and the yaw rotation axis of the yaw rotation section 41 .

More specifically, the roll rotating part 43 of the illustrated example has a double ring structure. The double ring structure consists of an inner ring 45 and an outer ring 46 . The inner ring 45 and the outer ring 46 are coaxially rotated, so that roll rotation is possible. In the illustrated example, the yaw rotating part 41 is fixed to the inner ring 45 . That is, the grip portion 10 is connected to the inner ring 45 of the roll rotating portion 43 via the yaw rotating portion 41 . Also, the pitch rotation portion 42 is fixed to the outer ring 46 . The pitch rotation portion 42 is fixed to the column portion 22 via an I-shaped bracket 47 . The I-shaped bracket 47 has a length corresponding to the offset arrangement between the XYZ coordinate center point and the roll/pitch/yaw rotation center point. There are two pillars 22 in the illustrated example, which are fixed to the pitch rotation parts 42 provided on both sides of the outer ring 46 via I-shaped brackets 47 . It should be noted that the present invention is not limited to this, and any conventional or future development can be applied to the rotating mechanism as long as it can rotate around the roll, pitch, and yaw rotation center points.

FIG. 1 shows an example in which the yaw rotation section 41, the pitch rotation section 42, and the roll rotation section 43 of the rotation mechanism section 40 are each configured by a drive motor. Each drive motor is also used to return the rotational position of the grip portion 10 to the roll/pitch/yaw rotational center point, which is the reference position. That is, the rotation mechanism 40 rotates according to the rotation of the wrist joint of the operator, and when the operator releases the hand or loosens the force, the grip 10 may be returned to the roll/pitch/yaw rotation center point, which is the reference position. The present invention is not limited to this, and the rotation mechanism section 40 may be of any type as long as it can be returned to the reference position. For example, the rotation mechanism section 40 may have an elastic member for returning the grip section 10 to the roll/pitch/yaw rotation center point, which is the reference position. The elastic member may be spring, rubber, or the like.

With such a structure, the yaw rotating portion 41 , the pitch rotating portion 42 , and the roll rotating portion 43 are arranged offset from the column portion 22 . That is, the XYZ coordinate center point and the roll/pitch/yaw rotation center point are offset. The grip part 10 can rotate independently on the roll rotation axis, the pitch rotation axis, and the yaw rotation axis, and can translate independently on the XYZ axes.

It should be noted that the offset arrangement position between the XYZ coordinate center point and the roll/pitch/yaw rotation center point may be appropriately adjusted according to the size of the wrist of the operator and the sense of operation. That is, the length of the I-shaped bracket 47 may be adjusted as appropriate. Furthermore, in the illustrated example described above, an example is shown in which the center position of the grip portion is arranged at the center point of the XYZ coordinates, but the present invention is not limited to this, and the position of the grip portion may also be adjusted as appropriate according to the operational feeling of the operator. In any case, it is sufficient that the roll/pitch/yaw rotation center point is offset from the XYZ coordinate center point toward the operator's wrist joint.

The rotational motion detection section 50 detects the amount of rotational motion of the rotation mechanism section 40 . The rotary motion detector 50 detects the amount of rotary motion caused by the wrist motion of the grip 10 of the operator. That is, the rotation mechanism 40 detects the rotation amount and the rotation speed of the rotation mechanism 40 along the roll rotation axis, the pitch rotation axis, and the yaw rotation axis. Specifically, the rotary motion detector 50 may be a displacement detection sensor such as a rotary encoder or potentiometer. The displacement detection sensor may be, for example, one that can detect the rotation amount and rotation speed due to the rotary motion using light or magnetism, or one that can detect the rotation amount and rotation speed due to the rotary motion from the rotational position of the motor.

It should be noted that when the rotation mechanism section 40 is configured by drive motors, each drive motor may be used as the rotary motion detection section 50 . In other words, the rotation amount and the rotation speed due to the rotation motion about each axis may be detected from the displacement of the rotation amount of each drive motor.

The control unit 60 uses the translational momentum detected by the translational motion detection unit 30 and the rotational momentum detected by the rotational motion detection unit 50 to output an operation command to the moving body. The wrist motion of the grip unit 10 of the operator is detected using translational momentum, which is the amount of movement and movement speed detected by the translational motion detection unit 30, and rotational momentum, which is the amount and speed of rotation detected by the rotational movement detection unit 50. The control unit 60 obtains the direction of translation, the amount of translation, the speed of translation, the direction of rotation, the amount of rotation, and the speed of rotation from this momentum, and outputs an operation command to the moving object. The operation command may be an operation amount for the moving object. The control unit 60 may be implemented by a program for a personal computer, a microcomputer, or the like, or may be implemented by a program for an electronic information terminal such as a smart phone. Note that the control sensitivity, which is the relationship between the detected amount of exercise and the amount of operation of the moving body, may be adjusted as appropriate.

In the illustrated examples so far, the roll rotation section 43 has a double ring structure, and the yaw rotation section 41 and the pitch rotation section 42 are included in the double ring structure. That is, the yaw rotating portion 41, the pitch rotating portion 42, and the roll rotating portion 43 are all arranged on the yaw/pitch plane. However, the invention is not so limited. FIG. 4 is a schematic side view for explaining another example of the remote control input device of the present invention. In the figure, the parts denoted by the same reference numerals as those in FIG. 1 represent the same parts. In this example, the yaw rotation section 41 is arranged at a different position from the pitch rotation section 42 and the roll rotation section 43 arranged on the pitch/roll plane. The pitch rotation part 42 is arranged so as to be pitch-rotatable with respect to the pitch rotation axis. The pitch rotation part 42 is fixed to the column part 22 . The roll rotation part 43 is arranged so as to be roll-rotatable on an axis perpendicular to the pitch rotation axis of the pitch rotation part 42 . The yaw rotating portion 41 is offset from the column portion 22 and is rotatable about an axis perpendicular to the pitch rotating shaft of the pitch rotating portion 42 and the roll rotating shaft of the roll rotating portion 43 .

In the illustrated example, a roll rotating portion 43 having a double ring structure is connected to the column portion 22 via a pitch rotating portion 42 . Specifically, for example, an outer ring having a double ring structure may be connected to the column portion 22 via the pitch rotation portion 42 . Then, the inner ring having the double ring structure may be connected to the yaw rotating portion 41 via the I-shaped bracket 47 . In the illustrated example, the yaw rotation section 41 has a structure in which a drive motor capable of yaw rotation is provided in a single ring structure, for example, and an I-shaped bracket 47 is fixed to this single ring structure. The I-shaped bracket 47 has a length corresponding to the offset arrangement between the XYZ coordinate center point and the roll/pitch/yaw rotation center point.

In such a structure, the pitch rotation axis of the pitch rotation portion 42 is arranged vertically on the Z-axis determined by the position of this column portion 22 . On the other hand, the yaw rotating portion 41 is connected to the column portion 22 via an I-shaped bracket 47 . Therefore, the yaw rotation axis is located at the center of the operator's wrist joint. As a result, the XYZ coordinate center point and the roll/pitch/yaw rotation center point are offset.

FIG. 5 is a schematic side view for explaining still another example of the remote control input device of the present invention. In the figure, the parts denoted by the same reference numerals as those in FIG. 1 represent the same parts. In addition, in the illustrated example, a state in which the roll is rotated is shown for the sake of explanation. In this example, the roll rotation section 43 is arranged at a different position from the yaw rotation section 41 and the pitch rotation section 42 arranged on the yaw/pitch plane. The yaw rotation part 41 is arranged offset from the column part 22 and arranged so as to be yaw rotatable about the yaw rotation axis. The pitch rotation section 42 is arranged so as to be pitch rotatable about an axis perpendicular to the yaw rotation axis of the yaw rotation section 41 . The roll rotation section 43 is offset from the column section 22 and arranged to be roll-rotatable about an axis perpendicular to the yaw rotation axis of the yaw rotation section 41 and the pitch rotation axis of the pitch rotation section 42 .

In the illustrated example, the yaw rotation section 41 has a structure in which a driving motor capable of yaw rotation is provided in, for example, a single ring structure, and a U-shaped bracket 48 is connected to this single ring structure via the pitch rotation section 42. The roll rotating part 43 is connected to this U-shaped bracket 48 . Also, the roll rotating portion 43 is connected to the column portion 22 via an L-shaped bracket 49 . The roll rotating part 43 is arranged at the tip of the operator's fist. The length between the grip portion 10 and the single ring structure in which the yaw rotation portion 41 and the pitch rotation portion 42 are arranged corresponds to the offset arrangement between the XYZ coordinate center point and the roll/pitch/yaw rotation center point.

In such a configuration, the yaw and pitch axes of rotation would be centered at the operator's wrist joint. As a result, the XYZ coordinate center point and the roll/pitch/yaw rotation center point are offset.

In this example, on the other hand, as for the roll rotation axis, the roll rotation part 43 is arranged at the tip of the operator's fist. However, in the reference position, the roll/pitch/yaw rotation center point is located at the center of the operator's wrist joint. Therefore, the roll/pitch/yaw rotation center point is offset from the XYZ coordinate center point.

As described above, the remote control input device of the present invention may have a configuration in which any one of the roll rotation axis, the pitch rotation axis, and the yaw rotation axis is offset from the XYZ coordinate center point so that the roll/pitch/yaw rotation center point is offset from the XYZ coordinate center point.

It should be noted that the remote control input device of the present invention is not limited to the illustrated examples described above, and can of course be modified in various ways without departing from the gist of the present invention.

10 Grip Part 20 Translation Mechanism Part 21 Base Part 22 Column Part 23 X-axis Drive Motor 24 Y-axis Drive Motor 25 Z-axis Drive Motor 30 Translation Motion Detection Part 40 Rotation Mechanism Part 41 Yaw Rotation Part 42 Pitch Rotation Part 43 Roll Rotation Part 45 Inner Ring 46 Outer Ring 47 I-shaped Bracket 48 U-shaped Bracket 49 L Character-shaped bracket 50 Rotational motion detection unit 60 Control unit

Claims (11)

A remote control input device used to remotely control a moving object by an operator's wrist motion, the remote control input device comprising:
a grip portion for an operator to hold;
a translation mechanism unit connected to the grip unit and arranged so that the center point of the XYZ coordinates is arranged on the grip unit, the translation mechanism unit performing translational movement around the center point of the XYZ coordinates in accordance with the translational motion of the operator's fist;
a translational motion detector that detects the translational momentum of the translation mechanism;
a rotation mechanism unit that is connected to the grip unit and configured such that a roll/pitch/yaw rotation center point is located at a position that is different from the XYZ coordinate center point and that is offset from the XYZ coordinate center point toward the operator's wrist joint, the rotation mechanism unit rotating about the roll/pitch/yaw rotation center point in accordance with the rotation of the operator's wrist joint;
a rotational motion detector that detects the rotational momentum of the rotating mechanism;
a control unit that outputs an operation command to a moving body using the translational momentum detected by the translational motion detection unit and the rotational momentum detected by the rotational motion detection unit;
A remote control input device comprising: 2. The remote control input device according to claim 1, wherein the translation mechanism unit
a base slidable in the X and Y axes;
a column disposed on the base and slidable along the Z axis;
A remote control input device comprising: 3. The remote control input device according to claim 2, wherein the rotating mechanism section comprises:
a pitch rotation part offset from the column part and arranged to be pitch-rotatable about the pitch rotation axis;
a yaw rotation unit arranged to be yaw rotatable about an axis perpendicular to the pitch rotation axis of the pitch rotation unit;
a roll rotator arranged to be roll rotatable about an axis perpendicular to the pitch rotation axis of the pitch rotation part and the yaw rotation axis of the yaw rotation part;
A remote control input device comprising: 3. The remote control input device according to claim 2, wherein the rotating mechanism section comprises:
a pitch rotation unit disposed so as to be pitch-rotatable with respect to the pitch rotation axis;
a roll rotator arranged to be roll rotatable about an axis perpendicular to the pitch rotation axis of the pitch rotator;
a yaw rotating part that is offset from the column part and arranged to be yaw rotatable about an axis perpendicular to the pitch rotating axis of the pitch rotating part and the roll rotating axis of the roll rotating part;
A remote control input device comprising: 3. The remote control input device according to claim 2, wherein the rotating mechanism section comprises:
a yaw rotating part that is offset from the column part and arranged to be yaw rotatable about the yaw rotation axis;
a pitch rotation unit arranged to be pitch-rotatable about an axis perpendicular to the yaw rotation axis of the yaw rotation unit;
a roll rotation unit offset from the column and arranged to be roll-rotatable about an axis perpendicular to the yaw rotation axis of the yaw rotation unit and the pitch rotation axis of the pitch rotation unit;
A remote control input device comprising: 5. The remote control input device according to claim 3, wherein said roll rotating part has a double ring structure. The remote control input device according to any one of claims 1 to 6,
The XYZ coordinate center point of the translation mechanism is arranged at the center of the grip,
The roll/pitch/yaw rotation center point of the rotation mechanism is arranged at the center position of the wrist joint of the operator.
A remote control input device characterized by: 8. The remote control input device according to claim 1, wherein the translation mechanism and the rotation mechanism have an elastic member for returning the grip to the XYZ coordinate center point and the roll/pitch/yaw rotation center point, which are the reference positions. 9. The remote control input device according to claim 8, wherein the translational motion detector and the rotational motion detector detect the translational momentum and the rotational momentum using a displacement detection sensor. 8. The remote control input device according to claim 1, wherein the translation mechanism and the rotation mechanism have a drive motor for returning the grip to the XYZ coordinate center point and the roll/pitch/yaw rotation center point, which are the reference positions. 11. The remote control input device according to claim 10, wherein the translational motion detector and the rotational motion detector detect the translational motion and the rotational motion using a driving motor.