JP5115338B2 - Force-tactile presentation device - Google Patents

Description

  The present invention provides a haptic or tactile sensation for an operator in a simulation space in which a physical environment is precisely calculated, a simulation space in which a physical environment is calculated in a pseudo or simple manner, or a real physical space in a master-slave relationship. The present invention relates to a force / tactile sensation presentation device for presenting, and more particularly, to a force / tactile sense presentation device for presenting a gripping sensation to an operator's fingertip.

  More specifically, the present invention relates to a force / tactile sense presentation device that presents a force sense to an operator's fingertip and also presents a shape by driving a plurality of fingers, and in particular, a force sense or tactile sense for a fixed contact point. The present invention relates to a force / tactile sensation presentation apparatus that not only presents but also presents the position of a contact point that reflects a contact state.

  In the technical field of virtual reality (virtual reality) and remote reality (telereality), in addition to visual information and auditory information, a haptic display or “haptic device” for presenting haptic or tactile sensation to the operator is essential. is there.

  With recent improvements in computer speed and advances in simulation technology, it is possible to simulate in real time a virtual environment in which multiple objects coexist and physical interactions such as collision and contact occur between them. I came. In this way, when the collision between objects and the contact force at that time can be calculated accurately and in real time in consideration of dynamics, the calculated force is actually generated by an actuator such as a motor. -It is possible to present the user with a sense of touching or grasping an object in the virtual environment via the device.

  Haptic devices have a wide range of applications. The simulation space where the physical environment is precisely calculated, the simulation space where the physical environment is calculated in a pseudo or simple manner, or the real physical space where the relationship between the master and the slave is present is powerful for the operator. Used to present sensation or tactile sensation. Specifically, 3D to objects that cannot actually be tentacled in medical or other special skills, virtual environments such as microcosms or oceans, or remote operations in special or dangerous environments such as nuclear reactors. It is possible to present haptic or tactile sensations. With the scale and accuracy of the virtual space that can be processed in real time, demand for haptic displays is expected to increase in the future.

  For example, a pen-type haptic device using a serial link as shown in FIG. 18 is common. The user grips the tip of the pen type and presents a moment of three to six axial forces (see, for example, Patent Document 1 and Non-Patent Document 1). The illustrated haptic device has an operation system in which the operator has just a pen (or probe), and has three degrees of freedom to present an arbitrary spatial position and moment to a specific part such as a pen tip. The arm and the three-degree-of-freedom gimbal are connected. According to this type of device, in principle, it is possible to generate a translational force and a moment at any place, but since the operating system based on probing is the keynote, the resulting sensation struck with a pen. It cannot be given a sense of grasping an object.

  Alternatively, as a structure that solves the lack of rigidity of the serial link, as shown in FIG. 19, a haptic device that presents a 3-axis force to a 6-axis force moment using a parallel link structure has also been proposed (for example, , Patent Document 2, Non-Patent Document 2, and Non-Patent Document 3).

  Any of these haptic devices using the link mechanism presents a force sense only for one point of the gripping position. In other words, it does not perform an independent force sense presentation to each finger of the operator. Absent. For this reason, there is a problem that it is impossible to present a sense of grasping a virtual object with a finger.

  As a function of the haptic device, there are a force sense that presents a force itself and a contact sense that presents a contact state. Of course, the motion sense normally performed by human beings is also included. In order to realize these, in addition to the force control capability required for haptics, in addition to the position presentation performance that reflects the shape of the target object, in addition to the realization of dynamic tactile sense, excellent responsiveness, that is, speed and acceleration control performance is required. It is done. There is also a method of sharpening the sense of force with a pen (probe) type. However, in order to know the shape of the object, it is considered more natural to have a plurality of contact points, as in the case of gripping an object with multiple fingers.

  For example, a multi-finger haptic device has an advantage that the shape of an object can be presented by driving a plurality of fingers. By applying the slave hand, such as a robot hand, to a master hand that remotely operates, the movement of the master hand (operation means) is transmitted to the slave hand (working means), and the force sense of the slave hand is master.・ Has a function presented to the hand. That is, the master-side operator can obtain a feeling that the operator is directly working on the work target. That is, according to the multi-finger haptic device, a force sense can be presented to the fingertip of the operator, and a shape can be presented by driving a plurality of fingers.

  In order to present force to multiple fingers, as shown in FIG. 20, a haptic device has been proposed in which a finger and a remote motor are connected by a wire and a force is applied to each finger through the wire. (See, for example, Non-Patent Document 4). However, in such a device configuration, it is necessary to perform control so that the wire does not loosen at all times, and control tends to be complicated. Moreover, interference between wires is likely to occur, and the movable range relating to rotation is not particularly wide.

  A haptic device that adds a hand-type force presentation mechanism to an opposed manipulator as shown in FIG. 21 has also been proposed (see, for example, Non-Patent Document 5). Alternatively, as a similar method, a method of adding a hand-type force presentation mechanism to the tip of the exoskeleton has also been proposed (see, for example, Non-Patent Document 6).

  There has also been proposed a system in which a finger sack is attached to the tip of the serial link and a three-axis force is presented to the finger.

  For example, a 6-axis force sensor composed of a finger sack for inserting a human finger, a finger cover for touching an object, and an elastic structure having a strain gauge attached between the finger sack and the finger cover, a small manipulator A force sense presentation device configured to be connected to a base via a base has been proposed (see, for example, Patent Document 3). According to this force sense presentation device, force sense can be presented to a human fingertip, and force data when a human actually touches an object can be recorded and reproduced.

  Also, it is attached to the user's (user's) hand (finger), and a tactile sensation (sensation of touch, for example, distribution of contact strength such as texture, shape, strength, etc.) There has been proposed a tactile / force-sensing system including a pair of real gloves that gives a sense of force applied when touched (see, for example, Patent Document 4), and the first of each finger of the user is proposed. A tactile sensation generating unit is provided at a position covering the fingertip portion from the joint (joint between the distal phalanx and the middle phalanx).

  In addition, the plurality of aggregates are movably coupled at the coupling portion, and include an elastic expansion / contraction body fixed between the plurality of aggregates across the coupling portion, and coupled to the aggregate, and at least a finger or a palm or A haptic display hand that further includes a finger sack or glove engaged with a part of the hand including the back of the hand, and gives a pseudo force to the part of the hand by expanding or contracting the elastic expansion / contraction body is proposed. (For example, refer to Patent Document 5).

  However, all of the above-described conventional techniques related to the multi-finger haptic device can only present a translational force to the fingertips, and cannot indicate where each fingertip is in contact, that is, an action point. For this reason, it is difficult to say that the gripping sensation is satisfactorily presented to a plurality of fingertips.

  It is important to obtain a contact sensation that an object is in direct contact with a human finger. From such a viewpoint, a force / tactile sensation presentation device that allows an operator to acquire contact point information by placing a spherical protrusion on a fingertip and changing its position has been proposed (for example, Non-Patent Document 7, Non-Patent Document 7, (See Patent Document 8). This apparatus is configured to roll a roller that is in direct contact with the fingertip of the operator to clearly present the position of the contact point, and the operator can obtain a sense of contact more sensitively. However, since the contact point presentation roller is always in contact with the finger, even when the presentation force is zero, the roller moves, and unnecessary contact information is transmitted to the operator. Moreover, since it is perceived more sensitively by direct touch, it seems that the sense of discomfort is felt even greater.

  In order to present the most precise force sense and contact sense, it is necessary to present three translational degrees of freedom and three rotational degrees of freedom. However, if actuators are arranged on all axes, the force / tactile sense presenting device is designed. Tends to be mechanically large, and as a result, there is concern about the degree of freedom near the fingertips.

  At this time, if the torque of the actuator is used not only for gravity compensation but also for inertial force compensation, there is a great possibility that the force that can be substantially presented becomes small or that the transient characteristics are deteriorated.

  Further, in a multi-finger haptic device, when a mechanism in which the rotation center (contact point) is always fixed is used, the posture of each finger changes with respect to the grasped object. That is, since the change cannot be reflected even in a state where the contact point would have changed, the feedback force / tactile sense changes to the operator.

  In an operation state far from gripping such as a pen type or a grip type, it seems that the uncomfortable feeling caused by the change of the contact point not being appropriately reflected is less likely to be a problem. However, it can be said that this problem tends to increase if more haptic and contact sensations are presented using multiple fingers.

Special table 2007-510232 gazette Japanese Patent No. 3329443 JP 2002-182817 A JP 2003-323247 A Japanese Patent Application Laid-Open No. 2004-29999 http: // www. sensorable. com / haptic-phantom-desktop. htm (as of October 9, 2007) http: // forcedimension. com / fd / avs / home / products / (as of October 9, 2007) http: // www. quanter.com/industrial/html/products/fs_5dof. asp (as of October 9, 2007) http: // sklab-www. pi. titech. ac. jp / frame_index-j. html (as of October 9, 2007) Co-authored by Haruhisa Kawasaki, Takumi Hori, and Tetsuya Mouri “opposing multi-finger haptic interface” (Journal of the Robotics Society of Japan Vol.23, No.4, pp449-456, 2005) http: // www. immersion. com / 3d / products / cyber_grasp. php (as of October 9, 2007) http: // telebotics. Stanford. edu / publications / Provencher03-ISRR-Perception. pdf (as of October 9, 2007) http: // bdml. Stanford. edu / twiki / bin / view / Haptics / ContactLocationDisplay (as of October 9, 2007)

  An object of the present invention is to provide a force sense to an operator in a simulation space in which a physical environment is precisely calculated, a simulation space in which a physical environment is calculated in a pseudo or simple manner, or a real physical space in a relationship between a master and a slave. An object of the present invention is to provide an excellent force / tactile sense presentation device capable of suitably presenting a tactile sense.

  A further object of the present invention is to provide an excellent force / tactile sensation presentation device capable of presenting a sense of force to an operator's fingertip, and also capable of presenting a sense of grasping an object and presenting the shape of the grasped object by driving a plurality of fingers. It is to provide.

  A further object of the present invention is to provide an excellent force / tactile sense presentation device capable of not only presenting a force sense or tactile sense with respect to a fixed contact point but also presenting the position of the contact point reflecting the contact state. It is to provide.

The present invention has been made in consideration of the above problems, and is a force / tactile sense presentation device that presents a force sense to an operator's fingertip,
A finger sack to insert the operator's fingertips;
Position presenting means for presenting a position with respect to a fingertip held on the finger suck;
Fingertip contact point presenting means for presenting a fingertip contact point to the fingertip held by the finger sack;
Unnecessary moment removing means for supporting the fingertip contact point presenting means so that no unnecessary moment is generated at the tip portion of the position presenting means;
It is the force tactile sense presentation apparatus characterized by comprising.

  In the technical fields such as virtual reality and remote reality, a haptic device for presenting force sense and tactile sense to an operator in addition to visual information and auditory information is essential. For example, a multi-finger haptic device can give an operator an interval that is directly working on a work target, such as holding an object. However, all of the above-described conventional techniques related to the multi-finger haptic device can only present a translational force to the fingertips, and cannot indicate where each fingertip is in contact, that is, an action point. For this reason, it is difficult to say that the gripping sensation is satisfactorily presented to a plurality of fingertips.

  In addition, it is necessary to present three translational degrees of freedom and three rotational degrees of freedom in order to present a precise force sense and contact sense. However, if actuators are arranged on all axes, the force / tactile sense presenting apparatus mechanically There is concern about the degree of freedom near the fingertips.

  In addition, in a multi-finger haptic device, if a mechanism that always fixes the contact point of the fingertip is used, even if the posture of each finger changes with respect to the grasped object, the change cannot be reflected. Therefore, the feedback force haptic sensation changes to the operator.

  In contrast, the force / tactile sensation presentation device according to the present invention reduces the active degree of freedom per unit for one finger, and contacts according to the contact state of the fingertip when presenting the force sense or tactile sense at the contact point. The position of the point is presented.

  The force / tactile sensation presentation device according to the present invention basically includes a three-degree-of-freedom position-presenting arm, a three-degree-of-freedom gimbal mechanism, a one-degree-of-freedom contact point presenting arm, and a fingertip portion having one-degree-of-freedom or more. This is a unit for one finger, which is composed of mechanism unit instruction holding. Of these, the three degrees of freedom of the position presentation arm and the one degree of freedom of the fingertip unit mechanism holding are active degrees of freedom. That is, the force / tactile sensation presentation apparatus configured for one finger has four active degrees of freedom and three passive degrees of freedom, and reduces the active degree of freedom per unit. It becomes easy to design. And, by combining units for each finger, a multi-finger type force / tactile sensation presentation device is constructed, and the operational feeling is enhanced through presentation of an appropriate force sense or contact sense to an appropriate operator. Operator fatigue due to a sense of discomfort can be reduced.

  The position presenting means comprises a serial link type arm of a basic three-degree-of-freedom drive system, and the fingertip contact point presenting means comprises a fingertip contact point drive shaft disposed on the finger suck, and the fingertip contact point A small arm whose one end is rotatably supported by the drive shaft and a fingertip contact point provided at the other end of the small arm are provided. The unnecessary moment removing means supports the small arm by a fingertip contact point presenting shaft that can be rotated around the fingertip contact point at a tip portion of the arm constituting the position presenting means.

  The fingertip contact point drive shaft has an active fingertip contact point presentation degree of freedom driven by an actuator, and by rotation of the small arm around the fingertip contact point drive axis accompanying the driving of the fingertip contact point drive axis, The fingertip contact point moves along the abdominal surface of the finger. Therefore, by controlling the degree of freedom of presenting the fingertip contact point by the active fingertip contact point drive axis, it is possible to determine the position of the abdominal contact point of the fingertip in the finger sack. Thereby, it is possible to give the operator a force sense as if the contact point has changed at the fingertip.

  The unnecessary moment removing means is composed of a three-degree-of-freedom gimbal arranged such that the three axes of yaw, roll, and pitch intersect at one point perpendicular to each other and the intersection coincides with the fingertip contact point. Is done. And it is assembled so that any one of the three axes may be coaxial with the fingertip contact point presentation axis. According to this three-degree-of-freedom gimbal, the posture of the fingertip can be changed around the fingertip contact point. Accordingly, unlike the case where the contact point of the fingertip is fixed, there is no offset from the action point when a force sense is given through the finger sack, and no unnecessary moment is generated. Therefore, since the operator does not feel uncomfortable in operation, the operator's feeling of fatigue can be reduced.

  Note that the gimbal is provided with an angle sensor that measures the angle of each axis so that the posture of the fingertip contact point can be measured.

  As already described, the four degrees of freedom of the basic three-degree-of-freedom drive system and the fingertip contact point drive shaft are active degrees of freedom, and the gimbal 3 consisting of yaw, roll (coaxial with the fingertip contact point presentation axis), and pitch. The degree of freedom is a passive degree of freedom. That is, since the active degree of freedom per unit for one finger is reduced, the mechanism is simplified, the device design is facilitated, and the weight near the fingertip is reduced. In addition, when a multi-finger type force / tactile sensation presentation device is configured by combining units for each finger, it is difficult to cause interference between adjacent fingertips during an operator operation, and the range of motion is expanded.

  In addition, the force / tactile sensation presentation device according to the present invention may further include a posture holding freedom degree that does not change the posture of the fingertip contact point presentation axis and the gimbal with respect to the global coordinate system regardless of the posture of the arm.

  If a multi-finger type force / tactile sensation presentation device is configured by combining the units for each finger without posture holding freedom, the fingertip contact point presentation axis will be There is a risk that the gimbal will cause mutual interference in response to changes in the global coordinate system and the attitude relative to the global coordinate system. In contrast, the force / tactile sensation presentation device according to the present invention has a posture holding degree of freedom, so that even if it is operated while keeping the gap between the fingers, the posture of the gimbal root is determined by the posture holding degree of freedom. Therefore, it is difficult to cause mutual interference between adjacent units, and as a result, the operation space of each unit can be expanded.

  As already described, the position presentation means is composed of a serial link type arm of a basic three-degree-of-freedom drive system, and has three active degrees of freedom. An indirect driving method can be applied to driving with these active degrees of freedom. For example, when a serial link type arm is supported by a predetermined base at the base of one end, each actuator for realizing the active degree of freedom is arranged in a concentrated manner at the base of the serial link. Interference and the moment of inertia of the drive unit itself can be suppressed.

  By using, for example, a wire / pulley type power transmission means, the power generated by each actuator arranged at the root portion can be transmitted to the corresponding joint with little loss on the way. In such a case, it is preferable to provide a wire tension adjusting means in order to maintain a sufficient wire tension.

  In addition, a spiral pulley may be used in the basic drive system drive unit, that is, the joint, to which power is transmitted by the power transmission means. A spiral pulley is a mechanical component in which a groove having a substantially V-shaped cross section is formed in a spiral shape. By winding a wire a plurality of times along the V-shaped groove, the wire of the basic drive system drive unit The tension can be increased, the backlash can be minimized, and a sufficient drive torque can be transmitted. Moreover, if it is a spiral pulley, the number of windings of a wire can be ensured in a space-saving manner.

  In addition, the position presenting means may apply a wire interference driving mechanism that performs interference driving of a plurality of joints with a plurality of actuators for driving the basic three-degree-of-freedom driving system. In the wire interference drive system, one end of each wire is wound around a pulley integrated with a joint portion of a link member constituting the arm, and the other end is fixed to an output shaft of the actuator. Then, the wire for driving the link member on the distal end side looks like connecting the joint portion and the output shaft of the actuator via the joint pulley on the more proximal side.

  In the wire interference drive system, the joint pulley on the base side receives interference from a wire connected to the joint pulley on the distal end side in addition to its own wire. That is, since the joint pulley on the root side is driven by the total tension obtained from all the wires wound around itself, as a result, a larger torque can be obtained at the link portion on the root side, and a smaller actuator can be used. Operation is possible.

  According to the present invention, there is provided an excellent force / tactile sense presentation device capable of presenting a sense of force to an operator's fingertip, and also capable of presenting a sense of grasping an object and presenting the shape of the grasped object by driving a plurality of fingers. can do.

  In addition, according to the present invention, an excellent force / tactile sensation presentation apparatus capable of not only presenting a force sense or a tactile sense with respect to a fixed contact point but also presenting the position of the contact point reflecting the contact state. Can be provided.

  According to the present invention, regardless of whether the target for presenting a force / tactile sensation is a virtual physics / dynamics simulation space or a real space, an operation for the operator can be performed by presenting an appropriate force sense and contact sensation to the operator It is possible to enhance the feeling, avoid a dangerous contact state (or gripping state) with respect to the object, and reduce the fatigue of the operator due to an uncomfortable feeling in operation.

  The force / tactile sensation presentation device according to the present invention includes position presentation means including a serial link type arm of a basic three-degree-of-freedom driving system supported on a predetermined base, and each actuator for realizing active degrees of freedom Can be concentrated on the root of the serial link to suppress self-interference and the moment of inertia of the drive unit itself.

  In addition, power is transmitted from each actuator arranged at the root portion to each joint portion using a wire-pulley type power transmission means, and at the tip portion, the wire is fixed to the joint portion using a spiral pulley, By maintaining a sufficient wire tension by using the wire tension adjusting means, it is possible to reduce the backlash and transmit a sufficient driving torque.

  Further, a wire interference drive mechanism may be applied to drive the basic three-degree-of-freedom drive system of the position presentation means. According to the wire interference driving method, the joint pulley on the root side is driven by the total tension obtained from all the wires wound around itself, so that a larger torque can be obtained at the link portion on the root side. Operation with a small actuator is possible.

  Other objects, features, and advantages of the present invention will become apparent from more detailed description based on embodiments of the present invention described later and the accompanying drawings.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  The present invention relates to a force / tactile sensation presentation apparatus for presenting force sense or tactile sense to an operator. Regardless of whether the target of force / tactile sensation is a virtual physical / mechanical simulation space or a real space, an appropriate force sensation or contact sensation is presented to the operator, thereby enhancing the operational feeling for the operator. The present inventors consider that it is possible to avoid a dangerous contact state (or gripping state) against the operator and to reduce operator fatigue due to an uncomfortable feeling in operation.

  As a function of the force / tactile sensation presentation device, in addition to the force sense that presents the force itself, there is a contact sense that presents a contact state. Of course, the motion sense normally performed by human beings is also included. In order to realize these, in addition to the ability to perform the force control required by haptics, in addition to the position presentation performance that reflects the shape of the target object, it also has excellent responsiveness, namely speed and acceleration control performance, for the realization of dynamic touch Is required. There is a method of sharpening the sense of force with a pen (probe) type, but it is thought that it is more natural to have a plurality of contact points to know the shape of the object. For example, a multi-finger haptic device has an advantage that the shape of an object can be presented by driving a plurality of fingers.

  Many conventional multi-finger type force / tactile sensation presentation devices can only present translational force to the fingertips, and where they are in contact with each other, i.e., the point of action cannot be presented. It is hard to say that it provides a good grip sensation on the fingertip. It is necessary to present three translational degrees of freedom and three rotational degrees of freedom in order to present the most precise force and contact sensations. However, as the active degree of freedom increases, the mechanism of the device becomes enlarged and the distance between adjacent fingers is increased. There is concern about the degree of freedom near the fingertips, such as interference. In addition, if a mechanism in which the contact point of the fingertip is always fixed is used, a change in the posture of each finger cannot be fed back to the grasped object, giving the operator a sense of incongruity or fatigue associated with the operation.

  In contrast, the force / tactile sensation presentation device according to the present invention reduces the active degree of freedom per unit for one finger, and contacts according to the contact state of the fingertip when presenting the force sense or tactile sense at the contact point. The position of the point is presented.

  The force / tactile sensation presentation device according to the present invention basically includes a three-degree-of-freedom position-presenting arm, a three-degree-of-freedom gimbal mechanism, a one-degree-of-freedom contact point presenting arm, and a fingertip portion having one-degree-of-freedom or more. A structure having four active degrees of freedom and three passive degrees of freedom composed of mechanism unit instruction holding is defined as one unit for one finger. By combining the units for each finger, a multi-finger type force / tactile sensation presentation device is constructed, and the operational feeling is enhanced by presenting an appropriate force / contact sensation to an appropriate operator. Operator fatigue due to a sense of discomfort can be reduced.

  FIG. 1 conceptually shows the degree of freedom configuration of the force / tactile sense presentation device according to the embodiment of the present invention. However, this figure shows one unit for one finger, and a multi-finger type force / tactile sensation presentation device can be configured by combining units for each finger. In the following description, an example in which a force sense is presented to one finger of the operator, the thumb, the index finger, and the middle finger will be described.

  The illustrated unit 10 includes a finger sack 11 that inserts and holds an operator's fingertip, a position presentation unit that presents a contact point position and force in space with respect to the fingertip held by the finger sack 11, and a position presentation unit. Unnecessary moment does not occur at the tip of the arm constituting the position presentation means and the fingertip contact point presentation means for presenting the fingertip contact point to the fingertip attached to the tip portion and held by the finger sack 11 In this way, unnecessary moment removing means for supporting the fingertip contact point presenting means is provided.

  In the example shown in the figure, the position presentation means is composed of a serial link type arm that is operated by the basic three-degree-of-freedom drive system 12, and is supported by a predetermined base at the root of one end thereof. Each degree of freedom for driving the arm has three active degrees of freedom driven by an actuator (not shown). However, it should be understood that the gist of the present invention is not limited to the serial link type basic three-degree-of-freedom drive system, and can be replaced by other links or the like having equivalent degrees of freedom. .

  The fingertip contact point presenting means includes a small arm 14 whose one end is rotatably supported by a fingertip contact point drive shaft 13 on the finger sack 11, and a fingertip contact point provided at the other end of the small arm 14. It has. The fingertip contact point drive shaft 13 is disposed at a portion corresponding to the back of the fingertip held by the finger sack 11, the fingertip contact point is disposed at a portion corresponding to the belly of the fingertip, and the fingertip contact point presentation shaft 15. Has a degree of freedom of rotation around the fingertip contact point. The fingertip contact point drive shaft 13 has an active fingertip contact point presentation degree of freedom driven by an actuator (not shown), and a small arm 14 around the fingertip contact point drive shaft accompanying the driving of the fingertip contact point drive shaft 13. By this rotation operation, the fingertip contact point moves along the surface while abutting the belly of the finger. Thus, by controlling the degree of freedom of presenting the fingertip contact point by the active fingertip contact point drive shaft 13, the position of the contact point on the belly of the fingertip in the finger sack 11 can be determined. The operator can be given a sense of force as if the contact point has changed at the fingertip.

  FIG. 2 shows a state in which the fingertip contact point moves along the abdominal surface of the finger by the rotation operation of the small arm 14 around the fingertip contact point drive shaft accompanying the driving of the fingertip contact point drive shaft 13. However, in the figure, the drive system which approximates the simplest arc is shown.

  Further, the unnecessary moment removing means supports the small arm 14 by the fingertip contact point presentation shaft 15 so as to be rotatable around the fingertip contact point at the tip portion of the arm constituting the position presentation means. In the example shown in FIG. 1, the unnecessary moment removing means is composed of a gimbal 16 having three degrees of freedom. The gimbal 16 is a mechanism in which the three axes of yaw, roll, and pitch are orthogonal to each other and intersect at one point, and this intersection is disposed so as to coincide with the fingertip contact point. Further, the roll axis at the mechanism tip of the gimbal 16 is assembled coaxially with the fingertip contact point presentation axis 15. Since the posture of the fingertip can be changed around the fingertip contact point, unlike the case where the fingertip contact point is fixed, the contact point and the action point when a force sense is given via the finger sack 11 There is no offset and no unnecessary moment is generated. Therefore, since the operator does not feel uncomfortable in operation, the operator's feeling of fatigue can be reduced.

  The four degrees of freedom of the basic three-degree-of-freedom drive system 12 for driving the serial link type arm and the fingertip contact point drive shaft 13 are active degrees of freedom, and yaw, roll (coaxial with the fingertip contact point presentation shaft 15), and The three degrees of freedom of a gimbal consisting of pitches is a passive degree of freedom. That is, the active degree of freedom per unit for one finger is reduced as compared to the case where actuators are mounted on all axes in order to present force sense for both translation with three degrees of freedom and rotation with three degrees of freedom (described above). Therefore, the mechanism is simplified and the device design is facilitated, and the weight near the fingertip is reduced. Further, when a multi-finger type force / tactile sensation presentation device is configured by combining units for each finger, it is difficult for an operator to cause interference between adjacent fingertips, and the movable range is expanded.

  As an additional function, the unit 10 has a mechanism that does not change the posture of the fingertip contact point presentation axis 15 and the gimbal 16 with respect to the global coordinate system regardless of the posture of the arm composed of the basic three-degree-of-freedom drive system 12, that is, the posture holding freedom degree. It is necessary to prepare appropriately.

  3A and 3B show an operation example when two units 10 are opposed to each other for two fingers. However, each figure shows an operation example of the unit 10 when the fingertip contact point presentation shaft 15 and the gimbal 16 do not have the posture maintenance freedom. That is, when the arm shifts from the initial posture shown in FIG. 3A to another posture, the posture changes relative to the global coordinate system of the fingertip contact point presentation axis 15 and the gimbal 16 with respect to the global coordinate system. Here, when a multi-finger type force / tactile sensation presentation device is configured by combining units for each finger, if an attempt is made to operate while keeping the gap between the fingers, as shown in FIG. There is a risk of causing When the gripping target object (presentation target object) is small, it can often be said that such a problem may occur.

  FIG. 4A and FIG. 4B show another operation example when two units 10 are opposed to each other for two fingers. However, in each figure, the operation example of the unit 10 in the case where the fingertip contact point presentation shaft 15 and the gimbal 16 have the posture holding freedom is shown. When shifting from the initial position of the arm, which is substantially the same as that shown in FIG. 3A as shown in FIG. 4A, to another position, even if the operation is performed while keeping the gap between the fingers in the same manner, Since the posture is maintained, it is difficult to cause mutual interference between adjacent units as shown in FIG. 4B, and as a result, the operable space of each unit arranged for each finger can be expanded.

  Such posture maintenance freedom can be configured, for example, by using a mechanism equivalent to a parallel link as an arm as a basic three-degree-of-freedom drive system. Parallel links can be made using equi-diameter pulleys and wires. Of course, a method of realizing a posture holding freedom degree by a servo by an actuator is also conceivable due to a mechanism design restriction or the like.

  5 and 6 show a design model around the fingertip holding mechanism (corresponding to a portion attached to the tip of the basic three-degree-of-freedom drive system 12 in FIG. 1). However, FIG. 5 is an exploded view and FIG. 6 is an assembly view thereof.

  The gimbal mechanism is composed of three gimbal arm members, and is assembled so that the three axes of yaw, roll, and pitch intersect each other at a single point.

  Although not shown, the finger sack 11 is attached to a fingertip holding mechanism. Then, due to the rotation of the small arm 14 around the fingertip contact point drive shaft accompanying the driving of the fingertip contact point drive shaft 13, the fingertip contact point moves along the surface while abutting the belly of the finger. Yes. Each gimbal arm is provided with an angle sensor for measuring the angle of each axis so that the posture of the fingertip contact point can be measured.

  Since the roll axis at the tip of the mechanism of the gimbal 16 is coaxial with the fingertip contact point presentation axis 15, when the posture of the fingertip is changed around the fingertip contact point, the offset between the fingertip contact point and the action point that gives hot water planning There is no unnecessary moment. Therefore, since the operator does not feel uncomfortable in operation, the operator does not have to feel unnecessary fatigue.

  For reference, FIGS. 7 to 12 show how the periphery of the fingertip holding mechanism shown in FIGS. 5 and 6 operates.

  FIG. 13 shows a design model of an entire unit for one finger. In the illustrated example, the basic three-degree-of-freedom drive system is configured as a serial arm type.

  In order to reduce the inertia of each link as much as possible, each actuator, motor, etc. that realizes an active degree of freedom is arranged on the base side. In addition, a wire drive mechanism for reducing backlash is applied.

  For further reference, FIGS. 14 to 17 show how the unit shown in FIG. 13 operates. The unit shown in FIG. 13 has a degree of freedom of posture maintenance by configuring an arm as a basic three-degree-of-freedom drive system using a mechanism equivalent to a parallel link. Therefore, it should be understood that when the arm is shifted from the initial posture shown in FIG. 13 to various postures shown in FIGS. 14 to 17, the posture of the gimbal root is maintained by the posture holding freedom.

  As already described, the force / tactile sensation presentation device according to the present embodiment includes a serial link type arm of a basic three-degree-of-freedom driving system as position presentation means. As shown in FIG. 1, the serial link type arm is supported by a predetermined base at the base of one end. The serial link type arm has three active degrees of freedom. As shown in FIG. 13, the actuators for realizing the active degree of freedom are arranged in a concentrated manner at the root of the serial link. This suppresses self-interference and the moment of inertia of the drive unit itself.

  Further, in this embodiment, the power generated by each actuator arranged at the root portion is transmitted to the corresponding joint with less loss on the way by using a wire-pulley type power transmission means. Yes.

  In such a case, it is preferable to provide a wire tension adjusting means in order to maintain a sufficient wire tension. FIG. 22 shows a configuration example of the wire tension adjusting means. In FIG. 22A, reference numeral 101 is a fixed portion, reference numeral 102 is a stopper, reference numeral 103 is a spring, one end of the spring 103 is coupled to the wire 104, and the stopper 102 is fixed to the wire 104.

  FIG. 22B shows a state where the spring 103 is not attached to the wire tension adjusting means. In this case, the wire 104 remains loose. On the other hand, when the wire 104 is coupled to the other end of the spring 103 attached at one end to the bottom of the fixed portion 101, the tension in the pulling direction into the fixed portion 101 is caused by the restoring force of the spring 103. Since it joins 104, the wire 104 does not loosen.

  Here, the wire 104 is not loosened, but the wire 104 itself may expand and contract under the influence of the spring 103 (arrow in FIG. 22C). On the other hand, when the wire 104 is loosened, the spring 103 keeps the tension while the stopper 102 suppresses the expansion and contraction of the spring 103 itself.

  When the wire 104 is loosened, the operator 102 can visually detect that the wire 104 has been loosened because a gap is generated between the stopper 102 and the fixed portion 101. Further, as shown by the arrow in FIG. 22A, if the stopper 102 is provided with a one-way clutch structure that operates on the wire 104 side, the influence of expansion and contraction of the spring 103 itself can be further suppressed.

  In addition, a spiral pulley may be used in the basic drive system drive unit, that is, the joint, to which power is transmitted by the power transmission means. A spiral pulley is a mechanical component in which a groove having a substantially V-shaped cross section is formed in a spiral shape. By winding a wire a plurality of times so as to be sandwiched between V wires to some extent, The tension of the wire can be increased, the backlash can be reduced, and a sufficient drive torque can be transmitted. Moreover, if it is a spiral pulley, the number of windings of a wire can be ensured in a space-saving manner. FIG. 23 shows a configuration example of a drive unit using a spiral pulley. In the illustrated example, the idler pulley is appropriately arranged, but the idler pulley is not an essential component of the present invention.

  According to the drive system using the spiral pulley, sufficient initial torque is applied to the wire to generate a sufficient transmission torque. On the contrary, if the initial tension of the wire is insufficient, the frictional force in the V-groove is extremely reduced, and a relative movement occurs between the wire and the spiral pulley, and the wire eventually falls off from the end of the spiral. It will be. It should be understood that wire tension adjusting means such as that shown in FIG. 22A is essential to prevent such wire dropping.

  Regarding the mechanism using a spiral pulley, for example, Shigeo Hirose, Yasuyuki Uchida, and Richard Chu, “Consideration of a New Wire Drive System” (Robotics and Mechatronics Lecture '98 Proceedings, 1C12-3 (1- 2) (1998)).

  In addition, a wire interference driving mechanism that drives a plurality of joints with a plurality of actuators may be applied to driving the basic three-degree-of-freedom driving system. In the wire interference drive system, one end of each wire is wound around a pulley integrated with a joint portion of a link member constituting the arm, and the other end is fixed to an output shaft of the actuator. Then, the wire for driving the link member on the distal end side looks like connecting the joint portion and the output shaft of the actuator via the joint pulley on the more proximal side.

  In FIG. 24, the structural example of the power transmission means by a wire interference drive system is shown. In the illustrated example, a link mechanism having a root joint and an intermediate joint is assumed, and the actuators A and B for driving each joint are concentratedly arranged at the root portion. At the root joint, a wire A that is coupled to the output shaft of the actuator A is wound around a spiral pulley A that fixes the link A. The other end of the wire B coupled to the output shaft of the actuator B is wound around a spiral pulley B2 that fixes the link B at an intermediate joint via an idler pulley B2 disposed at the root joint. .

The intermediate joint section, applied tension T _B2 from the wire B that is wound around the spiral pulley B2, which is the torque for driving the front link B. On the other hand, in addition to the tension T _A received from the wire A wound around the spiral pulley A, the tension T _{B1 applied} from the wire B wound around the idler pulley B1 is applied to the root joint portion, and T _A + T _B1 is a torque for driving the root link A.

  The wire interference drive is a power transmission means that can give a large torque to the joint link on the base side. In other words, it is sufficient that the actuator of the drive unit has a small output, and it is possible to realize a drive system with generally low inertia and excellent response.

  In designing a haptic device such as the force-tactile sensation presentation apparatus shown in FIG. 1, the present inventors consider that a wire interference driving system is effective for driving an intermediate joint of an arm. This is because it is better not to place an actuator / motor that is a heavy object as much as possible in the intermediate joint.

  As for the interference drive method, for example, “Interference drive of multi-degree-of-freedom robot” written by Shigeo Hirose and Mikio Sato (Journal of the Robotics Society of Japan, 7, 2, 128-135 (1989)), or by Shigeo Hirose and Mahonone See “Development of Wire Interference Drive Type Articulated Manipulator” (Proceedings of the Society of Instrument and Control Engineers, 26, 11, 1291-1298 (1990)).

  In the drive system to which the wire interference drive system described above is applied, the wire interference method, that is, the method of stretching each wire is appropriately changed according to the arrangement of the actuators for driving each joint at the base of the arm. It is preferable. Hereinafter, this point will be described in detail.

  Here, the link is connected at each of the root joint and the intermediate joint, and the tip of the link mechanism becomes an end effector that presents a force-tactile sensation to the operator, and the drive actuator of each joint is the root. Assume a serial link structure arm concentrated in In addition, the two links connected by the intermediate joint maintain a substantially “<” shape, and by driving the actuator, the posture with respect to the floor surface (or horizontal direction) of the “<” shape at the root joint portion, The included angle of the “<” character at the intermediate joint changes (see FIG. 25).

  In such a serial link structure, it is necessary to apply forces in the gravity support direction and the horizontal presentation direction in the end effector. In such a case, in the intermediate joint part, it is necessary to generate an intermediate joint gravity support torque for supporting the link on the distal end side in a direction against gravity. In addition, in the root joint part, it is necessary to generate a root joint gravity support torque for supporting the link on the root side and subsequent sides in a direction against gravity.

  Here, the direction of the intermediate joint gravity support torque required in the intermediate joint portion basically requires a torque around the intermediate joint axis for generating a force in the horizontal presentation direction. 26A and 26B, and as indicated by solid arrows in FIGS. 27A and 27B, if the horizontal presentation direction is constant, the direction of the intermediate joint gravity support torque is also constant (in the example shown, Counterclockwise).

  On the other hand, the direction of the root joint gravity support torque required at the root joint is reversed according to the posture of the serial link structure arm, and the root joint for generating the force against the gravity generated at the center of gravity position of the arm When the torque around the axis is necessary, specifically, when the gravity acting on the position of the center of gravity of the arm is a counterclockwise torque with respect to the root joint axis, a dotted arrow in FIGS. 26A and 27A As shown, the root joint gravity support torque is clockwise. Further, when the gravity acting on the position of the center of gravity of the arm is a clockwise torque with respect to the root joint axis, the root joint gravity support torque is counterclockwise as shown by a dotted arrow in FIGS. 26B and 27B. It becomes.

  Furthermore, when the wire interference driving method described above is applied, the intermediate joint gravity support torque interferes with the root joint portion. The direction in which the intermediate joint gravity support torque that interferes at the root joint portion acts varies depending on the method of stretching the interference wire between the root joint portion and the intermediate joint portion. Since the direction in which the root joint gravity support torque acts at the root joint portion is switched according to the posture of the arm, at the root joint portion, the intermediate joint gravity support torque and the root joint gravity support torque are determined by the interference wire tensioning method. Depending on the posture of the arm, it is either the same direction or the opposite direction.

  The wire tensioning method here refers to a tensioning method in which the wire is wound in parallel without crossing between the root joint and the intermediate joint (or the rotation direction of the joint axis between the root joint and the intermediate joint) A method of tensioning an interference wire in which the wire rotates forward) and a method of tensioning an interference wire that is wound by crossing the wire between the root joint portion and the intermediate joint portion (or between the root joint portion and the intermediate joint portion). The method is roughly divided into two methods, ie, an interference wire stretching method in which the rotation direction of the joint axis is reversed.

  First, a method of stretching an interference wire that is wound in parallel without crossing the wire between the root joint portion and the intermediate joint portion (or the rotation direction of the joint axis between the root joint portion and the intermediate joint portion is normally rotated. Consider how to make a simple interference wire.

  When the gravity acting on the position of the center of gravity of the arm is a clockwise torque with respect to the root joint axis, as shown in FIG. 26B, the intermediate joint gravity support torque acting at each of the root joint portion and the intermediate joint portion is the same. Direction. Therefore, since the total torque of the intermediate joint gravity support torque and the root joint gravity support torque is applied by the interference action at the root joint portion, the end effector can obtain a larger force in the gravity support direction. Instead, the force generated in the attracting direction is slightly weakened.

  On the other hand, when the gravity acting on the position of the center of gravity of the arm is a counterclockwise torque with respect to the root joint axis, as shown in FIG. 26A, the intermediate joint gravity support acting at each of the root joint portion and the middle joint portion is provided. Torque is in the opposite direction. Accordingly, the torque applied to the root joint portion becomes a difference between the intermediate joint gravity support torque and the root joint gravity support torque due to the interference action, and the obtained gravity support torque decreases. However, since the required torque is assumed to be small in the posture state shown in FIG. 26A (such as when the "<"-shaped arm is raised), it is considered that there is no problem in operation.

  Subsequently, a method of stretching an interference wire in which the wire is crossed and wound between the root joint portion and the intermediate joint portion (or an interference wire in which the rotation direction of the joint axis is reversed between the root joint portion and the intermediate joint portion) Consider the case of the installation method.

  When the gravity acting on the position of the center of gravity of the arm becomes a counterclockwise torque with respect to the root joint axis, as shown in FIG. 27A, the intermediate joint gravity support torque acting at each of the root joint portion and the intermediate joint portion is The same direction. Therefore, since the total torque of the intermediate joint gravity support torque and the root joint gravity support torque is applied by the interference action at the root joint portion, the end effector can obtain a larger force in the gravity support direction. Instead, the force generated in the attracting direction is slightly weakened. However, in a posture in which the included angle of the “<” character drawn by the arm is sharper (that is, in a state where the arm is more bent), compared to the wire stretching method in which the wires shown in FIG. 26A are wound in parallel, It can also be said that it is effective because the burden of driving torque is reduced.

  On the other hand, when the gravity acting on the position of the center of gravity of the arm is a clockwise torque with respect to the root joint axis, as shown in FIG. 27B, the intermediate joint gravity support torque acting at each of the root joint portion and the intermediate joint portion. Is the opposite direction. Accordingly, the torque applied to the root joint portion becomes a difference between the intermediate joint gravity support torque and the root joint gravity support torque due to the interference action, and the obtained gravity support torque decreases. When using the posture state in which the “ku” drawn by the arm falls deeply, it is necessary to consider the operation method including the method of stretching the interference wire.

  As described above, when the wire interference driving method is applied to the serial link type arm, it can be understood that the characteristics change depending on the posture of the arm and the method of stretching the interference wire. Also, when a plurality of units 10 are operated adjacent to each other for multiple fingers, it is necessary to sufficiently consider such characteristics.

  For example, when the distance between the arm base portions of the two units 10 facing two fingers is wide (see FIG. 28A), the wires are not crossed between the root joint portion and the intermediate joint portion. It is considered that a method of stretching an interference wire wound in parallel is suitable. This is because each arm posture is stretched and requires similar characteristics suitable for supporting its weight (see FIG. 28B). In the case of the arrangement shown in FIG. 28, a large work area can be obtained, and it is advantageous that there is little excessive yaw motion at the arm base.

  Further, for example, when the interval between the arm base portions of the two units 10 facing each other for two fingers is made narrow (see FIG. 29A), the wires are crossed between the root joint portion and the intermediate joint portion. It is considered that a method of stretching an interference wire wound around is suitable. This is because, as shown in FIG. 29B, the “<” shape drawn by each arm is bent deeply, and it is easier to support its own weight.

  Finally, main features of the force / tactile sense presentation device according to the present invention will be described.

Possible to present change in contact point position The force / tactile sense presentation device according to the present invention can present a change in contact point on each finger to an operator. For example, when an object of about several mm to 20 mm is gripped, it is a “pinch” operation, and is generally gripped with the tip of the finger. On the other hand, when the size of the target object is larger than that, a “grab” operation is performed, so that the contact point at the fingertip gradually moves from the tip to the finger belly (close to the first joint).

  Many conventional force / tactile sensation presentation devices have a fixed position of the fingertip contact point, so that the force sense is presented to the fingertip contact point that does not change regardless of the gripping state of the target object, which makes the operator feel uncomfortable. May remember. On the other hand, the force / tactile sense presentation device according to the present invention can present the fingertip contact point at a position that can be imagined by the operator according to the contact state of the target object. There is an effect that it is easy to perceive the characteristic more intuitively.

Improving controllability by a simple mechanism In order to present the most precise force sensation and contact sensation in a conventional force / tactile sensation presentation device, it is necessary to present three translational degrees of freedom and three rotational degrees of freedom. Therefore, it is necessary to use a 6-axis actuator per finger, and even if a design is devised, the apparatus becomes large and there is a problem that the weight (moment of inertia) must be increased.

  On the other hand, the force / tactile sensation presentation device according to the present invention can be realized by a simple mechanism in which the degree of active freedom is reduced. Therefore, the required output of the actuator can be suppressed, and improvement in controllability due to improvement in transient characteristics can be expected.

Various gripping objects by securing a wide range of movement (working area) The force / tactile sensation presentation device according to the present invention can have a simple mechanism and can hold a fingertip posture to further expand the working space. It can be realized. Thereby, the selectivity of the posture of each finger is improved, and various objects can be gripped. As a result, the force-tactile sense presentation device according to the present invention can be widely applied in various industrial fields and technical fields.

Simulates the torque around the contact point in a pseudo manner When the operator perceives the torque around the contact point, the rotation center is calculated based on the force distribution on the contact surface of the fingertip, unless it is twisted for each finger. I guess that. Therefore, since the force / tactile sensation presentation device according to the present invention uses a finger sack-like fingertip holder, it is only necessary to accurately present only the center of rotation, and by presenting the contact point position, the operator can provide the torque. It feels as if it can be perceived, and there is no sense of incongruity.

Understanding the shape of the target object When the operator touches the target object, the initial contact point position prediction by the control side is performed, so that the touch at the moment of contact becomes accurate. For example, when the target object is a polyhedron, it becomes easy to perceive each constituent surface of the object, and therefore it becomes easy to intuitively grasp the shape of the target object when grasped.

  The present invention has been described in detail above with reference to specific embodiments. However, it is obvious that those skilled in the art can make modifications and substitutions of the embodiment without departing from the gist of the present invention.

  The tactile sensation presentation device according to the present invention is used in various applications such as acquisition of medical and other special skills, virtual environments such as microcosms and oceans, and remote work in special or dangerous environments such as nuclear reactors. It can be applied to feed back a three-dimensional force sense or tactile sense to an object in an environment that cannot actually be touched to the user.

  In addition, the force / tactile sensation presentation device according to the present invention presents a force sense to a plurality of fingers, but can appropriately select the number of fingers to be presented according to the operation content or application. When the object to be grasped is small (pick-up action), it is more suitable to make the mechanism itself small, and a force sense can be presented with two or three fingers. On the other hand, when the object to be grasped is a little larger (the action of grasping), it is possible to more accurately present the shape and size of the object by presenting the sense of force using more than three fingers. it can.

  In short, the present invention has been disclosed in the form of exemplification, and the description of the present specification should not be interpreted in a limited manner. In order to determine the gist of the present invention, the claims should be taken into consideration.

FIG. 1 is a diagram conceptually illustrating a configuration of degrees of freedom of a force / tactile sensation presentation device according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a state in which the fingertip contact point moves along the abdominal surface of the finger by the rotation operation of the small arm 14 around the fingertip contact point drive shaft accompanying the driving of the fingertip contact point drive shaft 13. FIG. 3A is a diagram illustrating an operation example of the unit 10 when the fingertip contact point presentation shaft 15 and the gimbal 16 do not have the posture maintenance freedom. FIG. 3B is a diagram illustrating an operation example of the unit 10 when the fingertip contact point presentation shaft 15 and the gimbal 16 do not have the posture maintaining freedom. FIG. 4A is a diagram illustrating an operation example of the unit 10 in the case where the fingertip contact point presentation axis 15 and the gimbal 16 have the posture holding freedom. FIG. 4B is a diagram illustrating an operation example of the unit 10 in the case where the fingertip contact point presentation shaft 15 and the gimbal 16 have the posture holding freedom. FIG. 5 is a view showing a design model around the fingertip holding mechanism (corresponding to a portion attached to the tip of the basic three-degree-of-freedom drive system 12 in FIG. 1). FIG. 6 is a diagram showing a design model around the fingertip holding mechanism (corresponding to a portion attached to the tip of the basic three-degree-of-freedom drive system 12 in FIG. 1). FIG. 7 is a diagram illustrating a state in which the periphery of the fingertip holding mechanism illustrated in FIGS. 5 and 6 operates. FIG. 8 is a diagram illustrating a state in which the periphery of the fingertip holding mechanism illustrated in FIGS. 5 and 6 operates. FIG. 9 is a diagram illustrating a state in which the periphery of the fingertip holding mechanism illustrated in FIGS. 5 and 6 operates. FIG. 10 is a diagram illustrating a state in which the periphery of the fingertip holding mechanism illustrated in FIGS. 5 and 6 operates. FIG. 11 is a diagram illustrating a state in which the periphery of the fingertip holding mechanism illustrated in FIGS. 5 and 6 operates. FIG. 12 is a diagram showing a state in which the periphery of the fingertip holding mechanism shown in FIGS. 5 and 6 operates. FIG. 13 is a diagram showing a design model of an entire unit for one finger. FIG. 14 is a diagram illustrating how the unit illustrated in FIG. 13 operates. FIG. 15 is a diagram showing how the unit shown in FIG. 13 operates. FIG. 16 is a diagram illustrating how the unit illustrated in FIG. 13 operates. FIG. 17 is a diagram illustrating how the unit illustrated in FIG. 13 operates. FIG. 18 is a diagram illustrating a configuration example of a pen-type haptic device using a serial link. FIG. 19 is a diagram showing a configuration example of a haptic device that presents a 3-axis force to a 6-axis force moment using a parallel link structure. FIG. 20 is a diagram illustrating a configuration example of a haptic device that connects a finger and a remote motor with a wire and applies a force through the wire. FIG. 21 is a diagram illustrating a configuration example of a haptic device that adds a hand-type force presentation mechanism to an opposed manipulator. FIG. 22A is a diagram illustrating a configuration example of the wire tension adjusting unit. FIG. 22B is a diagram illustrating a configuration example of the wire tension adjusting unit. FIG. 22C is a diagram illustrating a configuration example of the wire tension adjusting unit. FIG. 23 is a diagram illustrating a configuration example of a drive unit using a spiral pulley. FIG. 24 is a diagram showing a configuration example of power transmission means by a wire interference drive system. FIG. 25 is a diagram showing a state (change in posture) of an arm having a serial link structure in which links are respectively connected at the root joint portion and the intermediate joint portion. FIG. 26A shows a serial link structure in which the link forms a “<” shape when the interference wire is wound in a parallel manner without crossing the wire between the root joint portion and the intermediate joint portion. It is the figure which showed the direction of the torque added to a root joint part and an intermediate joint part according to the attitude | position of an arm. FIG. 26B shows a serial link structure in which the link forms a “<” shape when an interference wire is wound between the root joint portion and the intermediate joint portion without winding the wires in parallel. It is the figure which showed the direction of the torque added to a root joint part and an intermediate joint part according to the attitude | position of an arm. FIG. 27A shows an attitude of an arm having a serial link structure in which a link forms a “<” shape when a method of stretching an interference wire in which wires are crossed and wound between a root joint portion and an intermediate joint portion. It is the figure which showed the direction of the torque added to a root joint part and an intermediate | middle joint part according to. FIG. 267 shows the posture of the arm of the serial link structure in which the link forms a “<” shape when the interference wire is stretched by winding the wire between the root joint portion and the intermediate joint portion. It is the figure which showed the direction of the torque added to a root joint part and an intermediate | middle joint part according to. FIG. 28A is a diagram showing a state in which the distance between the arm base portions of the two units 10 facing two fingers is widened. FIG. 28B shows an interference wire wound in parallel without crossing the wire between the root joint portion and the intermediate joint portion when the distance between the arm base portions of the two units 10 facing two fingers is wide. It is a figure for demonstrating that the extending | stretching method of is suitable. FIG. 29A is a diagram showing a state in which the distance between the arm base portions of the two units 10 facing two fingers is narrowed. FIG. 29B shows an interference wire that is wound with a wire crossed between the root joint portion and the intermediate joint portion when the distance between the arm base portions of the two units 10 facing two fingers is narrow. It is a figure for demonstrating that the method is suitable.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Unit 11 ... Finger sack 12 ... Basic 2 degree-of-freedom drive system 13 ... Finger tip contact point drive shaft 14 ... Small arm 15 ... Finger tip contact point presentation shaft 16 ... Gimbal 101 ... Fixed part 102 ... Stopper 103 ... Spring 104 ... Wire

Claims (13)

A force / tactile sense presentation device for presenting force sense to an operator's finger,
A finger holding unit for holding an operator's finger;
A position presentation unit that presents a position with respect to the finger held by the finger holding unit;
A finger that presents a finger contact point along the belly surface of the finger by driving a finger contact point drive shaft that is held by the finger holding unit and is driven by an actuator and has an active finger contact point presentation degree of freedom. A contact point presentation unit;
A support unit for supporting the finger contact point presentation unit at a tip portion of the position presentation unit;
A tactile sensation presentation apparatus comprising: The position presentation unit is composed of a serial link type arm of a basic three-degree-of-freedom drive system,
The finger contact point presentation unit includes a finger contact point drive shaft disposed on the finger holding unit, a small arm whose one end is rotatably supported by the finger contact point drive shaft, and the small arm A finger contact point provided at the other end of
The support unit supports the small arm with a finger contact point presentation shaft that is rotatable around the finger contact point at a tip portion of the arm constituting the position presentation unit.
The force / tactile sense presenting apparatus according to claim 1. The degree of freedom of presenting the finger contact point is that the finger contact point moves along the abdominal surface of the finger by the rotation of the small arm around the finger contact point drive axis accompanying the driving of the finger contact point drive shaft.
The force / tactile sense presentation device according to claim 2. The support portion is composed of a three-degree-of-freedom gimbal arranged such that the three axes of yaw, roll, and pitch intersect at a single point perpendicular to each other and the intersection point coincides with the finger contact point. Any one of the three axes is coaxial with the finger contact point presentation axis.
The force / tactile sense presentation device according to claim 2. A multi-finger type force / tactile sensation presentation device is obtained by combining a structure for each finger with one unit for one finger, and a unit for each finger, with the structure including one set of the position presentation unit, the finger contact point presentation unit, and the support unit. Constitute,
The force / tactile sense presenting apparatus according to claim 1. Regardless of the posture of the arm, it further comprises a posture holding degree of freedom that does not change the posture with respect to the finger contact point presentation axis and the global coordinate system of the gimbal,
The force-tactile sense presentation device according to claim 4 . An angle sensor that measures an angle for each axis of the three-degree-of-freedom gimbal;
The force-tactile sense presentation device according to claim 4 . Each joint freedom degree of the serial link type arm of the basic three-degree-of-freedom drive system provided in the position presentation unit has an active degree of freedom driven by an actuator.
The force / tactile sense presentation device according to claim 2. The serial link type arm is supported by a predetermined base at the base of one end,
Actuators that drive each joint of the serial link type arm are concentratedly arranged at the root of the serial link, and a power transmission unit that transmits the power of each actuator arranged at the root to the corresponding joint. In addition,
The force-tactile sense presentation device according to claim 8. The power transmission unit is composed of a wire-pulley system and includes a wire tension adjusting unit that adjusts the tension of the wire.
The force tactile sense presentation device according to claim 9. A spiral pulley is used at a joint to which power is transmitted by the power transmission unit.
The force-tactile sense presentation device according to claim 10. The position presentation unit includes a wire interference drive mechanism that interference-drives a plurality of joints with a plurality of actuators.
The force-tactile sense presentation device according to claim 8. A force / tactile sense presentation device for presenting force sense to an operator's finger,
A finger holding unit for holding an operator's finger;
A three-degree-of-freedom position-presenting arm that presents a position with respect to the finger held by the finger holding unit ;
A one-degree-of-freedom contact point presentation arm in which one end is rotatably supported by a finger contact point drive shaft disposed on the finger holding unit and the other end is a finger contact point ;
A finger mechanism point indication holding unit that presents the finger contact point along the belly surface of the finger to the finger by driving the finger contact point drive shaft having an active finger contact point presentation degree of freedom driven by an actuator ; ,
A three-degree-of-freedom gimbal mechanism that supports the contact point presentation arm at a finger contact point presentation axis that can be rotated around the finger contact point at the tip of the position presentation arm ;
A tactile sensation presentation apparatus comprising: