JPH0227418A - Three-dimensional coordinate input controller - Google Patents

Abstract

PURPOSE:To input three-dimensional coordinates with high accuracy and at high speed by constituting a holding mechanism of an arm mechanism having plural joints, controlling one of joints with a piezoelectric type rotation force control mechanism, and controlling the action of an arm. CONSTITUTION:A coordinate detecting part 52 to detect the three-dimensional coordinates of an input operation part, a holding mechanism to hold movably a three-dimensional coordinate input operation part with three-dimensional space and a coordinate converting part 53 to convert it to a coordinate system to display the detected result of the coordinate detecting part 52 are provided. The holding mechanism is composed of the arm mechanism having joints and for at least one out of the joints, the action of the arm is controlled by piezoelectric type turning force control mechanisms 21-23. For the holding mechanism, the arm mechanism having plural joints is desirable. Consequently, the holding mechanism of a sensor, the improvement of the instruction accuracy due to suppressing the unstable action of a hand, the improvement of the instruction speed, the reduction of the operation fatigue and the dynamical feedback function from a system to an operator can be obtained.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to a three-dimensional coordinate input control device, and in particular, in an interface between a system such as a computer and a human,
The present invention relates to a three-dimensional coordinate input control device for inputting three-dimensional coordinates quickly and accurately and for realizing dynamic feedback from the system in response to the input.

[Conventional technology] Robots in virtual space (designing three-dimensional objects with sense, or robots working on behalf of humans in spaces where humans cannot easily enter, such as space or the ocean floor) with a sense of reality. Various operations in artificial immersive spaces, such as remote control, have long been considered a dream technology.The technology necessary to realize such a man-machine interface is three-dimensional Image display technology, three-dimensional coordinate input technology 1. Interaction control technology between the machine and the operator.Among these, image display technology is the most basic for this interface, and various methods have been used to date. Although it has been considered, it has not been put into practical use for a long time due to many constraints.

However, in recent years, with the advent of high-speed, high-brightness displays, practical binocular stereoscopic displays using time-sharing glasses, polarized glasses, etc. have been developed, and this interface has come to be considered as a realistic one. became.

As mentioned above, the trends regarding the above-mentioned interfaces are as follows:
Although three-dimensional image display technology has finally been developed, coordinate input in the three-dimensional display environment and interaction control technology with the operator remain issues. There are few inventions related to instruction input devices, and furthermore, devices for controlling interaction between a system and an operator.

As a three-dimensional indication input device, it is possible to use an improved two-dimensional input device such as a mouse, but according to the experiments of the present inventors, in this case, for example, a mouse switch is used to indicate the depth direction. This results in undesirable results in terms of operational characteristics, such as anisotropy in the instruction time when comparing instructions in the depth direction and instructions in a direction that does not include depth. In this way, the X axis.

If the y-axis and z-axis movement methods are not all the same, the operating characteristics tend to deteriorate.

According to the above concept, it can be said that a method using a sensor that detects the three-dimensional coordinates where the input operation section is located is promising for the three-dimensional pointing device. That is, this is a method in which coordinates are selected and input by using a three-dimensional sensor such as a magnetic sensor or an optical sensor and directly operating the sensor with the hand. The inventors of the present application experimented with this using a magnetic sensor and confirmed that the anisotropy of the instruction time was reduced and the operability was improved. However, this experiment also revealed problems such as holding the sensor in the hand is unstable, making it unsuitable for indicating small targets, and using it for long periods of time is difficult due to arm fatigue. Furthermore, this method is not suitable for processing that requires interaction between the system and the operator, as it is not possible to provide dynamic feedback from the system to the operator.

[Problem A to be Solved by the Invention] Therefore, the main purpose of the present invention is to solve the holding function of the sensor, which is necessary when applying the three-dimensional sensor to an instruction input device, to prevent the unstable movement of one hand. It is an object of the present invention to provide a three-dimensional coordinate input control device that can improve instruction accuracy, increase instruction speed, reduce operation fatigue, and realize a mechanical feedback function from the system to an operator by suppressing the input speed.

[Means for Solving the Problem] The invention according to the first claim includes a three-dimensional coordinate detection section for detecting three-dimensional coordinates of an input operation portion, and a three-dimensional coordinate input operation portion that is movable in three-dimensional space. The holding mechanism includes a holding mechanism for holding the 3D coordinate detector, and a coordinate conversion unit for converting the detection results of the three-dimensional coordinate detection unit into a coordinate system for display. At least one of them is configured so that the movement of the arm is controlled by a piezoelectric rotational force control mechanism. Here, more preferably, the holding mechanism is an arm mechanism having a plurality of joints.

The invention according to claim 2 is a piezoelectric rotational force control mechanism that includes a circular stator and a rotor provided opposite to the stator, and the stator is fixed to one arm element and excited by an ultrasonic vibrator. and the rotor is configured to be fixed to the other arm element.

More preferably, the mutual force between the stator and the rotor can be controlled by generating at least a standing wave in the stator.

[Function] Since the three-dimensional coordinate input control device according to the present invention has a three-dimensional position detecting section and a mechanism for holding the detecting section separated, a highly reliable design for each can be achieved. . In addition, the holding part is composed of an arm mechanism with joints,
Since the joint is controlled by a circular piezoelectric rotational force control mechanism using an ultrasonic vibrator, the following effects can be obtained.

(2) Since the piezoelectric rotational force control mechanism has an extremely high holding torque in the normal (OFF) state, the detection unit and the hand holding it can be easily held in space.

■ The frictional force (holding torque) of the piezoelectric rotational force control mechanism can be freely controlled by exciting the vibrator. For example, when a standing wave is generated, the holding torque is reduced, so the arm mechanism can freely follow the movement of the hand. By controlling the holding torque in this manner, unstable movements of the hand can be suppressed, thereby improving instruction accuracy and input speed.

■ More preferably, by generating a traveling wave in the vibrator, it is possible to generate a rotational force, and this generated force can be controlled by changing the amplitude of the traveling wave, so that it is possible to improve the dynamics for the operator. This makes it easier to provide feedback.

■ Since the piezoelectric rotational force control mechanism has a simple structure, it is less likely to be destroyed even if an excessive impact is applied, and therefore reliability can be improved. Furthermore, the holding mechanism can be designed to be small and lightweight.

■ The piezoelectric rotational force control mechanism has a quick response, so it does not cause any discomfort to the operator. In other words, holding control and feedback control with a high sense of realism are possible.

- Unlike an electromagnetic motor, a piezoelectric rotational force control mechanism does not generate electromagnetic noise, so it can be used in combination with a magnetic sensor as a three-dimensional position detection device.

[Embodiments of the invention] FIG. 1 is an external perspective view showing an embodiment of the present invention.

In FIG.
11, 112 and 113.

Arm elements 11 and 12 are directed to be freely rotatable in the vertical direction by a joint 111, arm element 12 is supported by a joint 112 so as to be freely rotatable in the vertical direction, and joint 112 is supported by a joint 113 so as to be freely rotatable in the horizontal direction. has been done. Note that the joint 113 is attached to the pedestal 10. Each joint 111
．． 112 and 113 are respectively provided with piezoelectric rotational force control mechanisms 21, 22, and 23 to control their respective rotational forces.

Further, in order to control the holding force between the arm ropes 11 and 12, a pressure regulating mechanism 3 is provided, a weight mechanism 41 is provided at one end of the arm element 11, and a weight mechanism is provided at one end of the arm element 12. 42 are provided.

A rod-shaped member is provided protruding from the other end of the arm element 11, and a ball 7 is provided at the tip thereof. The handle 6 is supported by this ball 7. A magnetic detection coil 9 is built into the handle 6, and a magnetic source coil 8 is provided outside. Further, a support mechanism 5 is provided to support the rotation of the arm mechanism 1.

Next, the three-dimensional coordinate detection section will be explained in more detail. The three coils constituting the magnetic source coil 8 are arranged at predetermined positions in orthogonal directions, and are sequentially excited in a time-sharing manner by an oscillator (not shown) to form an alternating current magnetic field around them. Similarly, the magnetic detection coil 9 provided in the handle 6 is composed of three coils arranged in orthogonal directions, and is configured to adjust the intensity of the alternating current magnetic field formed by the magnetic source coil 8. It is detected as a voltage, and the X, y, and z components are calculated in the coordinate system of the magnetic source coil 8 by a coordinate detection device (not shown). As a result, the position and orientation of the handle 6 with respect to the magnetic source coil 8 are measured. Furthermore, the position and orientation are converted to the coordinate system of a three-dimensional display device (not shown). Therefore, when the handle 6 is moved, its position is displayed in conjunction with the three-dimensional display.

Note that the three-dimensional magnetic sensor can not only output absolute coordinates based on a predetermined origin, but also output the amount of movement relative to the previous position.

Next, the degree of freedom of movement of the handle 6 will be explained.

The handle 6 can freely rotate around the ball 7 because a hole mechanism provided in the center fits into a ball 7 at the tip of a rod-like member provided on the arm element 11. Also, arm requirement f:
11.12 is three functions ml 11°112 and 113
Since the handle 6 is rotatably supported by the handle 6, the handle 6 can freely move in three-dimensional space. That is, when the base 10 is taken as a reference, the distance and vertical movement can be adjusted by the joints 11.1 and 112, and the left and right movement can be adjusted by the joint 113. In this way, the handle 6 can move through 60 degrees of freedom. In this embodiment, the three-dimensional position detection system and the arm mechanism can be mechanically designed separately.

Next, a motion control mechanism for joints 111, 112, and 113 will be explained. Since the arm elements 11, 12 are always subjected to a vertical rotational force due to gravity, a rotational force in the opposite direction is required to counteract this.

In this embodiment, piezoelectric rotational force control mechanisms 21.22 are used as examples of this mechanism, and weight mechanisms 41.22 are used.
42 is used. As the weight mechanism 41.42, each arm element 11.1 is connected via the joints 111, 112.
A weight is provided on the opposite side of 2 so that the rotational force is almost the same. In the piezoelectric rotational force control mechanisms 21 and 22, a frictional force is set by the pressure regulating mechanism 3 to such an extent that the two arm elements do not rotate. If a large weight mechanism is used as the weight mechanism 41, 42, the movement of the handle 6 will be heavy, so in this embodiment, it is positioned as an auxiliary to the piezoelectric rotational force control mechanism 21, 22, and may be omitted.

FIG. 2 is a diagram showing the piezoelectric rotational force control mechanism, and FIG. 3 is an enlarged diagram of a part thereof.

Next, with reference to FIGS. 2 and 3, the structure and driving method of a joint using a piezoelectric rotational force control mechanism will be described. As shown in FIG. 2, the piezoelectric rotational force control mechanism is composed of a circular stator 21 and a rotor 22 provided opposite to the circular stator 21. Circular stator 21
and rotor 22 each form part of the arm element 11.12. Further, a predetermined pressure is applied between the circular stator 21 and the rotor 22 by a pressure regulating mechanism 3 such as a spring during assembly. As shown in FIG. 3, the stator 21 includes an elastic body 25, a piezoelectric element 24 fixed to the elastic body 25 with adhesive or the like, and a buffer member 23 fixed to the piezoelectric element 24.
Consisted of. Slits 26 are formed in the elastic body 25 at regular intervals.

Fig. 4 is a diagram showing the configuration of a piezoelectric element for driving the stator, Fig. 5 is a diagram showing the electric field direction and polarization direction of the piezoelectric element, and Fig. 6 is a diagram explaining the bending vibration of the piezoelectric element. FIG. 7 is a diagram showing an excitation state of the stator.

Next, a method for driving a joint using a piezoelectric rotational force control mechanism will be described with reference to FIGS. 2 to 7. The piezoelectric element is made of one continuous piezoelectric plate, with a common electrode (not shown) formed on one side, and two 711ti241 plates in sections A and B on the other side, as shown in FIG. 2
42 is formed.

Furthermore, the piezoelectric bodies in each section are polarized in advance at intervals of λ/2 (λ: wavelength of the drive voltage) along the circumference so that the directions of polarization alternate as shown by arrows c and d.

When a high frequency voltage is applied to either section A or B of the piezoelectric element 24 as shown in FIG. 4, as shown in FIG. tries to grow.

Here, when the drive frequency is set to the natural frequency of the stator 21, the stator 21 undergoes bending vibration. The excitation state of the stator 21 is shown in FIG.

In FIG. 7, since the circumference is 9λ, standing waves are generated at nine locations. The amplitude of this standing wave changes depending on the applied voltage. The rotor 22 is provided facing the stator 21, and a predetermined frictional force is set by the pressure regulating mechanism 3. As mentioned above, when a standing wave is generated and the amplitude of this wave is increased, the frictional force is gradually decreases.

Note that the stator 21 may have a double ring structure by providing a ring that provides frictional force on the outside of the piezoelectric ring. In this way, the magnitude of the holding torque can be controlled by the magnitude of the applied voltage that generates the standing wave. therefore,
When the three-dimensional sensor and the hand 101 are kept empty, no voltage is applied, but when it is necessary to move the sensor, such as during input, a voltage is applied to control the frictional force. movements are possible.

Next, feedback control will be explained.

When the system applies mechanical feedback to the operator in response to the operator's input, the joints need to generate large torques at high speeds in opposition to the operator's movements. Regarding the method of driving the piezoelectric element 24 in this case, as shown in FIG.
These high frequency voltages Φ0 whose temporal phases differ by 90° from each other
．． This is possible by applying Φ9°.

That is, when such a voltage is applied to the piezoelectric element 24, waves generated in both sections interfere with each other and are combined, and a traveling wave is generated on the surface of the elastic body 25. This situation is shown in FIG. Set the phase of section B to +90' or -
By setting it to 90', forward and reverse rotation can be controlled. Although the rotation speed can be controlled by applied voltage or drive frequency, it is relatively slow (several rotations per second) and is suitable for controlling the movement of the handle 6.

FIG. 8 is a diagram showing a piezoelectric rotational force control mechanism in which two sets of piezoelectric rings for adjusting holding torque and piezoelectric rings for generating driving torque are provided concentrically. In FIG. 8, stator 2
1 is a ring-shaped piezoelectric cord 24 on a circular buffer member 23.
1 and 242 are arranged concentrically, an elastic body 251 in which a slit is formed is placed above the piezoelectric element 241, and an elastic body 252 is placed above the piezoelectric cord 242. t, the piezoelectric ring 31 for generating driving torque is constituted by the piezoelectric cord 241 on the outside and the elastic body 251, and the piezoelectric ring 32 for adjusting the holding torque is constituted by the piezoelectric element 242 and the elastic body 252 on the inside.

By switching or combining these driving torque generation piezoelectric ring 31 and holding torque adjustment piezoelectric ring 32, the holding force and feedback driving force of the handle 6 can be varied in various ways. Note that since the piezoelectric rotational force control mechanism operates using voltage as described above, it does not interfere with the magnetic sensor.

FIG. 9 is a diagram showing the configuration of a system for inputting three-dimensional coordinates using an embodiment of the present invention.

In FIG. 9, the handle 6, which is an input operation section, is provided with a first thumb switch 58, a second thumb switch 59, and an instruction input switch 60. When the first and second thumb switches 58, 59 and the instruction input switch 60 are operated, an instruction input signal is sent to the main controller j! t54
given to. A vibrator 61 is provided on the handle 6. This vibrator 61 is for providing feedback to the operator by vibrating the handle 6, and in response to a control signal from the main controller 54, the vibrator drive device 62
driven by.

The detection output of the magnetic field detection coil 9 is given to a three-dimensional coordinate/movement amount detection device 52. Three-dimensional coordinate/movement detection device 5
Reference numeral 2 detects the three-dimensional coordinates and movement amount using the magnetic field detection coil 9 with respect to the magnetic source coil 8, and provides a detection output to the main controller 54. The piezoelectric rotational force control mechanisms 21, 22 and 23 are connected to the main controller 54.
The drive unit 51 is driven by a drive device 51 in response to a control signal from the drive unit 51 . The main control device 54 has a built-in coordinate conversion section 53 that performs coordinate conversion on the coordinates of the display screen, and is connected to a three-dimensional database 57. This three-dimensional database 57 stores data for displaying three-dimensional figures.

The three-dimensional display device 55 is configured using binocular stereoscopic vision, holography, or the like, and its display is controlled by a display control device 56 in response to a control signal from the main control device 54.

Next, the operation of the three-dimensional coordinate input system shown in FIG. 9 will be explained. Usually, piezoelectric rotational force control mechanism 21.2
2 and 23 are in the OFF state, joints 111.112
and 113 are fixed by frictional force, so that the handle 6 is held in space. Here, if the operator intends to move only the handle 6, only the thumb switch 58 shown in FIG. 1 is turned on. Furthermore, when attempting to move the cursor 65 on the display screen of the three-dimensional display device 55, the second thumb switch 59 is turned on.

The main controller 54 has a first thumb switch 58 or a second thumb switch 58 .
In response to the thumb switch 59 being turned on, the driving device 51 is commanded to reduce the holding torque of the joints 111, 112, and 113. Accordingly, the drive device 51 generates a piezoelectric rotational force;1. Control mechanism 21, 22 and 2
Standing wave drive is applied to 3 to reduce the holding torque. This allows the arm mechanism 1 to move freely in three-dimensional space.

The detection output of the magnetic field detection coil 9 is given to a three-dimensional coordinate/movement amount detection device 52, where the three-dimensional coordinates and the amount of movement are detected and given to the main controller 54.

The coordinate conversion unit 53 of the main control device 54 converts the movement amount and direction of the handle 6 into display coordinates of the three-dimensional display device 55. Based on the converted display coordinates, the main control device 54 then instructs the display control device 56 to display the position of the cursor 65 on the three-dimensional display device 55 at a predetermined position.

Here, the three-dimensional display device 55 displays objects 63 and 64 based on data given from the three-dimensional database 57.
is displayed. Now, consider a situation in which the cursor 65 that is linked to the movement of the handle 6 collides with the object 63. in this case,
The main controller 54 instructs the drive device 51 to stop the standing wave drive of the piezoelectric rotational force control mechanism 21, 22, 23 so that the cursor 65 does not enter the inside of the object 63, and Feedback is applied so that the mechanism 1 cannot move in a predetermined direction determined by the shape of the object 63.

The display object 64 is, for example, a spring, and the cursor 65
When operating this using a spring, it is necessary to apply this reaction force to the handle 6 against movements such as extending or contracting the spring. Therefore, the main controller 54 instructs the drive device 51 to drive the piezoelectric rotational force control mechanisms 21, 22, 23 in a traveling wave and apply a forward or reverse rotational force to the arm mechanism 1.

The main controller 54 also causes the vibrator 61 to vibrate in order to provide feedback that the cursor 65 has collided with the object 63.

In FIG. 9, another example of operation in which this system works effectively is a use in which when a magnetic body is placed in a magnetic field, the operator is made to perceive the force acting on the magnetic body. In this case, by appropriately driving the piezoelectric rotational force side go mechanisms 21, 22 and 23 with traveling waves, the hand of the operator who has picked up the magnetic material on the screen of the three-dimensional display vtri 155 is attracted to the magnetic field. You can receive repulsion and experience the sensation of being in that magnetic field space.

In the above embodiment, the piezoelectric rotational force control mechanisms 21, 22 and 23 are applied to the joints 111,
112 and 113 are shown, the piezoelectric rotational force control mechanisms 21, 22, and 23 have features such as being small, lightweight, and simple in structure, so they are suitable for rotating mechanisms other than the joints 111, 112, and 113, for example, the handle 6. This can also be applied to the ball 7 part.

Further, as the three-dimensional sensor, an optical sensor may be used instead of the magnetic field detection coil 9 provided at the tip of the arm. Furthermore, the three-dimensional sensor may be configured such that an angle sensor is attached not only to the tip of the arm mechanism 1 but also to each joint 111, 112, and 113.

FIG. 10 is a diagram showing the configuration of another embodiment of the invention. In FIG. 10, the X, ymm tablet 502 is supported by the tip of an arm 521, and the other end of the arm 521 is rotatably supported by a gate 522. A piezoelectric rotational force control mechanism 520 is provided at the joint 522, and an angle sensor 511 is provided to detect the rotation angle of the arm 521.

Further, the tablet 502 is provided with a mouse input device 501 for movement in the X and Y directions. The output of this mouse input device 501 is connected to an X-direction and y-direction position detection device 503. This X direction,
The y-direction position detection device 503 detects the X position based on the output of the mouse input device 501.

This detects the position in the y direction. Further, the output of the angle sensor 511 is given to a Z-direction position detection device 512. The two-direction position detection device 512 detects positions in two directions based on the output of the angle sensor 511. The X-direction, X-direction position detecting device 503, and two-direction position detecting device 512 constitute a three-dimensional coordinate detecting section. Here, the input operation unit includes a mouse input device 501 and a tablet 50.
Corresponds to 2. The respective outputs of the X-direction, X-direction position detection device 503 and two-direction position detection device 512 are given to a coordinate conversion section 530, and converted into the coordinate system of the three-dimensional display device 55 by this coordinate conversion section 530.

By configuring as described above, the tablet 502
is held in three-dimensional space by arms 521 and joints 522. Since the operations in the X direction and the X direction are similar to those of a normal mouse, detailed explanation thereof will be omitted. Regarding operations in two directions, since the piezoelectric rotational force control mechanism 520 normally exerts a high holding force H, inputs in the X direction and the X direction are possible at arbitrary heights (positions in two directions). In order to move the tablet 502 downward, the piezoelectric rotational force control mechanism 520 may be driven by a standing wave to lower the holding force. Furthermore, in order to move the tablet 502 upward, a clockwise rotational force may be generated in FIG. 10.

As described above, in the present invention, the three-dimensional coordinate detection section may have various configurations, and the holding mechanism may be an arm mechanism having one joint.

Further, in one embodiment of the present invention, a three-dimensional coordinate input device is applied to the interface of the three-dimensional display device 55, but a display method that gives a sense of depth in a two-dimensional display device is equally effective.

[Effects of the Invention] As described above, according to the present invention, the holding mechanism is configured by an arm mechanism having a plurality of joints, and the movement of the arm is controlled by a piezoelectric rotational force control mechanism for at least one of the joints. With this configuration, three-dimensional coordinates can be input with high precision and at high speed. Further, since no electromagnetic noise is generated, the reliability of coordinate detection by the magnetic sensor is high, the fatigue of the operator is reduced, and it is easy to give mechanical feedback to the operator. Therefore, it can be used in interface application fields such as creation of three-dimensional images, operation of three-dimensional databases, realistic remote control of robots, and simulated experiences.

[Brief explanation of the drawing]

FIG. 1 is an external perspective view of one embodiment of the present invention. Second
The figure shows a piezoelectric rotational force control mechanism. FIG. 3 is an enlarged view of a part of the piezoelectric rotational force control mechanism. FIG. 4 is a diagram showing the configuration of a piezoelectric element for driving the stator. FIG. 5 is a diagram showing the direction of the electric field and the direction of polarization of the piezoelectric element. FIG. 6 is a diagram for explaining bending vibration of a piezoelectric element. FIG. 7 is a diagram showing an excitation state of the stator. FIG. 8 is a diagram showing a piezoelectric rotational force control mechanism in which a piezoelectric ring for adjusting holding torque and a piezoelectric ring for generating driving torque are arranged concentrically for 2 m. FIG. 9 is a diagram showing an example of a system for inputting three-dimensional coordinates using an embodiment of the present invention. FIG. 10 is a diagram showing the configuration of another embodiment of the invention. In the figure, 1 is an arm mechanism, 3 is a pressure regulating mechanism, 6 is a handle, and 7
is a sphere, 8 is a magnetic source coil, 9 is a magnetic field detection coil, 1
1.12 is an arm element, 21. 22゜23.520 is a piezoelectric rotational force control mechanism, 41 and 42 are weights, 51 is a drive device, 52 is a three-dimensional coordinate/movement detection device, 53.530 is a coordinate conversion unit, 54 is a main control device, 55 1 is a three-dimensional display device, 56 is a display control device, 57 is a three-dimensional database, 1
11. 112, 113, 522 are joints, 501 is a mouse input device, 502 is a tablet, 503 is an X direction, an X direction position detection device, 512 is a two-direction position detection device, 521
shows the arm. Patent applicant: A.T.R. Communication Systems Research Institute, Ltd., 70 Figure 8, No. 4 Sword

Claims (3)

[Claims] (1) A three-dimensional coordinate detection unit for detecting the three-dimensional coordinates where the input operation part is located, a holding mechanism for holding the three-dimensional coordinate input operation part movably in three-dimensional space, and the three-dimensional coordinates. a coordinate conversion section for converting the detection result of the detection section into a coordinate system for display, and the holding mechanism is constituted by an arm mechanism having joints, and at least one of the joints has a piezoelectric rotation force. A three-dimensional coordinate input control device characterized in that arm movement is controlled by a control mechanism. (2) The piezoelectric rotational force control mechanism includes: a circular stator; and a rotor provided opposite to the stator; the stator is fixed to one arm element and excited by an ultrasonic vibrator; The three-dimensional coordinate input control device according to claim 1, wherein the rotor is fixed to the other arm element. (3) The piezoelectric rotational force control mechanism includes a circular stator and a rotor provided opposite to the stator, and generates at least a standing wave in the stator to generate a mutual force with the rotor. 2. The three-dimensional coordinate input control device according to claim 1, wherein the three-dimensional coordinate input control device controls: