JPH0919879A - Input manual operating device using gripping motion - Google Patents

Abstract

PROBLEM TO BE SOLVED: To conduct input manual operation for a computer etc., through grasping motions for any object appearing in everyday life and can present a feeling of a grasping object. SOLUTION: An input manual operating device concerned is composed of a grasping operation part 1 consisting of a thumb piece 11 and forefinger piece 12 configured capable of opening and closing and a coordinate sensing part 2 in a similar form to a mouth to detect the coordinates by movement on a two-dimensional plane. The shaft 13 of the grasping operation part 1 is equipped with an angle encoder to sense the operating angle of the forefinger piece 12 and a brake device which presents a feeling of grasping an object by means of giving a resistance to the rotating forefinger piece 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an input operation device using a grasping operation for performing operations of a computer having a GUI (graphics user interface) or a teleoperation by a natural hand operation. It is a thing.

[0002]

2. Description of the Related Art The most common method of moving the position of an object on a screen by operating a computer having a GUI is to use a mouse as a pointing device. The mouse used at this time has several mouse buttons, and input can be performed by pressing these buttons. The number of mouse buttons is often one to three. The operation of pressing and releasing the mouse button by an input operation with a mouse, so-called clicking operation, includes a single-click operation of clicking and releasing once and a double-click operation of pressing and releasing twice within a certain period of time. In addition, there is an operation called a drag operation in which the mouse is held down while the mouse is held down. Various instructions can be realized by combining such mouse button operations and computer software.

For example, when moving the position of an object on the screen, the palm is placed on the mouse, the mouse cursor is brought onto the object on the screen, and the drag operation is performed. To view the contents of a file as an object on the screen, move the mouse cursor over the file on the screen and double-click. Furthermore, in order to start the application software as an object on the screen, bring the mouse cursor over the application software on the screen,
Doing a double-click operation.

In such a mouse operation, an object on the screen imitates an object on the table and a mouse cursor imitates a fingertip, and constitutes a daily work environment space. However, the dragging action and the double-clicking action are actions that are not found in everyday life, and thus the relevance between these actions and the result of the actions is lacking. Therefore, the meaning of these operations is difficult to understand, which is one of the causes of techno-stress that cannot be ignored by computer operators.

On the other hand, some medical devices have similar problems. For example, there is a work of collecting a tissue in a body under magnified observation by using an endoscope equipped with a biopsy tool together with an observation section having an observation optical system. This biopsy device has a kind of telemanipulator structure with a hand-shaped tip, and the operator operates the operation part that moves the hand while looking at the endoscope, etc., and from inside the organs such as the stomach and joints. Collect the tissue. However, such an operation includes a very delicate operation due to the fact that the work of collecting the tissue is performed under magnified observation and the distance between the collection site and the operation unit is large. Moreover, as in the case of the mouse operation described above, since there is a difference between the operation and the result of the operation, it is not always easy, and it causes the operator's fatigue.

Further, it is difficult to perform such an operation.
One reason is that when the operator operates the operation unit that moves the hand and the hand cuts and collects the tissue, there is no response. This also applies to the mouse operation described above. That is, in the mouse operation or the telemanipulator operation, the operator does not have the sensation of "grabbing" or "gripping" with respect to the object pointed by the mouse cursor on the computer screen or the tissue collected with the hand of the telemanipulator tip. , It is out of the ordinary movement, so it induces techno-stress and makes work difficult.

[0007]

SUMMARY OF THE INVENTION In view of the above situation, the technical problem of the present invention is to make an input to a computer or a telemanipulator by grasping an object close to a daily operation. To provide an operating device. Another technical problem of the present invention is to provide an input operation device that presents a response when an object is grabbed so that a feeling of “grabbing” or “gripping” can be obtained. .

[0008]

In order to solve the above-mentioned problems, an input operation device using a grasping operation of the present invention comprises a grasping operation portion composed of a thumb piece and an index finger piece which are configured to be openable and closable. And a coordinate detection unit that detects coordinates by moving on a two-dimensional plane. In the above-mentioned input operation device, it is appropriate to attach a brake device that gives resistance to the rotation to the shaft that opens and closes the thumb piece and the index finger piece and present the response when grasping an object. Further, the push switch having the function of the mouse button can be provided at a position where it can be operated by the abduction movement of the thumb of the thumb piece, and the switch operation can be facilitated.

In the conventional operation of a computer, an object on the screen is moved by a drag operation in which the mouse is moved while pressing a mouse button. However, such an input operation device allows an object to be grasped by a hand. Objects can be moved, and it becomes possible to perform computer operations with natural hand movements. The same applies to the case of excising tissue using a telemanipulator or the like. Further, when the operator is moving an object on the screen by using this input operation device or is moving a hand to excise tissue, there is a response to the operation, and the operation can be confirmed via the tactile system. .

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below.
This will be described with reference to FIGS. FIG. 1 shows a mode of operation of the input operation device according to the present invention, and FIGS.
Respectively show a configuration of the input operation device according to the present invention. The illustrated input operation device of the present invention has a grasping operation unit 1 composed of a thumb piece 11 and an index finger piece 12 configured to be capable of opening and closing, and a mouse function as a pointing device that is movable on a two-dimensional plane. An input system including a coordinate detection unit 2 having the angle detection unit 3 and an angle detection unit 3 that detects an operation angle of the operation of the grip operation unit 1;
It is equipped with a force feedback system that presents the response when grasping an object.

The gripping operation portion 1 consisting of the thumb piece 11 and the index finger piece 12 is provided on the upper surface of the case 5, and a flat thumb-shaped thumb portion is mounted on a shaft 13 rotatably erected on the upper surface. The piece 11 and the index finger piece 12 are attached to one side of the case 5 perpendicular to the upper surface thereof.
Reference numeral 1 is fixed to the case 5, only the index finger piece 12 is rotatably supported by a shaft 13 in a certain range, and a return force is applied to it by a grip return spring 14. Both the thumb piece 11 and the index finger piece 12 can be rotatably supported.

In the grip operating portion 1, the palm is placed on the shaft 13 and the thumb f ₁ is placed on the outer surface side of the thumb piece 11, and
Other four-finger containing forefinger f ₂ intended for use against the outer surface side of the index finger piece 12, only the index finger piece 12 as described above to the rotational movement, other 4, including forefinger f ₂ By the bending motion of the finger, a grasping opening / closing motion similar to a grasping motion is performed, and an input operation is performed. Also, the thumb piece 1
A push switch 15 which is operated by the abduction motion of the thumb is attached to the upper part of the outer side surface of 1.

In order to detect the angle of the grasping operation by the grasping opening / closing movement of the grasping operation section 1, the operation angle of the grasping operation section 1 is detected inside the case 5 on the shaft 13 to which the index finger piece 12 is connected. The angle detection unit 3 is connected. The angle detector 3 is configured by connecting a potentiometer type angle encoder 32 to the shaft 13 via a transmission mechanism 31 such as a gear.

Inside the case 5, a coordinate detecting section 2 having a mechanism similar to a mouse as a pointing device is provided.
In addition to the above, a brake device 4 that constitutes a force feedback system
Various mechanisms are provided. The coordinate detection unit 2 has a built-in encoder that detects movement by a method using rotation of a ball or an optical method, and detects the movement direction and movement distance when the case 5 is two-dimensionally moved on a desk or the like. It is detected and is fixed to the bottom of the case 5. Therefore, when the hand operating the grip operation unit 1 is moved on the horizontal plane, the coordinate detection unit 2 moves accordingly, and the change in the coordinates is detected.

Further, the brake device 4 which constitutes the force feedback system controls the resistance of the opening / closing movement of the grip operating portion 1 and presents a response when the object is gripped. It is connected to the brake device 4 including the grip portion loading spring 43 utilizing the electromagnetic clutch 42 via the transmission mechanism portion 41. This brake device 4
Can have any braking function utilizing electromagnetic or mechanical friction, and by energizing a magnet or activating a braking mechanism based on a signal from a computer main body or a telemanipulator device, The resistance of the movement of the index finger piece 12 of the grip operation unit 1 is controlled.

Although illustration is omitted, the coordinate detecting section 2, the angle detecting section 3, the brake device 4, etc. and the computer or the telemanipulator are electrically connected bidirectionally as necessary. Further, the push switch 15 described above has the same function as a mouse button in a mouse and is also electrically connected to a computer or a telemanipulator.

Therefore, the moving direction and the moving distance when the input operation device is moved two-dimensionally on a desk or the like, and the angle of the gripping motion detected by the angle encoder 32 are sent to the computer or the telemanipulator. In the computer, the position of the cursor on the screen and the opening angle of the scissors-like cursor are changed based on the sent movement direction, movement distance, and angle signal of the grasping operation.In the telemanipulator, the hand portion of the manipulator is changed. Change the position of and the opening angle of the hand part.

Next, the operation of the above-mentioned input operation device will be described. As shown in FIG. 1, when operating the grip operation unit 1, the palm is applied to the grip operation unit 1 so as to circulate a shaft 13, the thumb f ₁ is applied to the outer surface side of the thumb piece 11, and The other four fingers including f ₂ are applied to the outer surface side of the index finger portion 12, and in the grasping operation, the bending movement of the other four fingers including the index finger f ₂ causes the index finger portion 12 to rotate. The grasping operation unit 1 is grasped and opened / closed. The angle of the gripping operation by the opening / closing motion of the gripping operation unit 1 is detected by the angle encoder 32. Further, by pushing the thumb f ₁ placed on the thumb piece 11 in this state, the push switch 15 can be pushed.

The coordinate detecting section 2 which functions like a mouse,
When the input operating device is two-dimensionally moved in a horizontal direction in a desired direction by a hand operating the grip operating portion 1, the moving direction and moving distance are detected, and the grip detected by the angle encoder 32 is detected. It is converted into an electric signal and sent to a computer or a telemanipulator together with an operation angle and the like. In a computer or telemanipulator, the position of the cursor on the computer screen and the opening angle of the scissors-like cursor, or the hand of the manipulator, based on the sent electric signals such as the moving direction, moving distance, and the angle of the grasp operation. Change the position and the opening angle of the hand.

Therefore, when the input operation device is moved on a plane and the cursor on the computer screen approaches the object, when the operator performs a grasping operation with the grasping operation section 1, the opening angle of the cursor is narrowed. , The cursor on the screen seems to have grabbed the object.
Further, in the case of a telemanipulator, when the operator approaches the tissue of the target collection site by the hand, when the operator performs a grasping operation with the hand, the opening angle of the hand is narrowed and the tissue operates so as to grasp the tissue.

The shaft 13 of the grip operating portion 1 is a brake device 4
Therefore, it is possible to apply a resistance to the movement of the index finger piece 12 of the grasping operation section 1 by operating the brake mechanism based on the signal from the computer or the telemanipulator. When the cursor on the computer screen touches the object, or when the telemanipulator hand touches the tissue, the contact information is sent as a signal from the computer or the telemanipulator to the input operation device, and based on this, the braking device 4 Is operated, and the index finger piece 12 of the grip operation unit 1
Resists the movement of. This feels as if the user were grasping something in the hand of the grasping operation.

In the case of computer operation, when the input operation device is moved on a two-dimensional plane after it feels like grasping an object, the object on the computer screen moves together with the cursor. When the object is application software, the application is started by pressing the push switch 15 provided on the thumb piece 11 of the grip operation unit 1 with the abduction of the thumb f ₁ after feeling that the object is grasped. To do. Furthermore, when the object is a file, the contents of the file can be seen by pressing the push switch 15 with the thumb f ₁ abducted after feeling that the object is grabbed. Similarly, in the case of a telemanipulator, if the thumb f ₁ is abducted and the push switch 15 is pressed after feeling that an object has been grabbed, the hand of the telemanipulator cuts and extracts the tissue.

[0023]

As described above, according to the input operation device of the present invention, input is performed by the action of grasping an everyday object such as the opposition action of the thumb and the other four fingers, and the object on the computer screen, Excision of tissue by telemanipulator
Since it is possible to perform the collection, and further, the response when the object is grabbed is presented, it is possible to obtain a feeling that the object is grabbed. In the case of computer operation, activation of application software as an object and reference of a file can be processed by opening the lid of a bottle or a box by returning the wrist. On the other hand, in the case of the telemanipulator, the tissue can be cut and collected by moving the wrist back as if the object was to be cut. Such natural and daily actions are extremely effective in reducing techno-stress during computer operation and reducing mental and physical burden during operation of the telemanipulator.

[Brief description of the drawings]

FIG. 1 is a perspective view of essential parts showing an operating state of an input operating device according to the present invention.

FIG. 2 is a plan view in which a case of the input operation device is seen through.

FIG. 3 is a front view of the same.

FIG. 4 is a side view of the same.

[Explanation of symbols]

 1 Grip operation part 2 Coordinate detection part 3 Angle detection part 4 Brake device 5 Case 11 Thumb part piece 12 Index finger part 13 Axis 15 Push switch 32 Angle encoder

Claims (3)

[Claims] 1. A gripping operation section comprising a thumb piece and an index finger piece configured to be openable and closable, and a coordinate detecting section for detecting coordinates by moving on a two-dimensional plane. An input operation device that uses a gripping action. 2. A shaft for opening and closing the thumb piece and the index finger piece is provided with a brake device for giving a resistance to the rotation of the shaft so as to provide a response when grasping an object. An input operation device using the grasping movement described in 1. 3. The input using the grasping operation according to claim 1, wherein a push switch having a mouse button function is provided at a position where it can be operated by the abduction movement of the thumb of the thumb piece. Operating device.