Patent ID: 9232980
Filing Date: 2016-01-12
CPC Classification: A61B,B25J,G05G,G06F

Claim Text:
1. An operation input device that has two or more multi-jointed arms which have a plurality of joints in series having a degree of freedom of rotation or translation and are configured so that a position and an orientation of a distal end thereof relative to a proximal end thereof are changed, the operation input device comprising: a holding unit that holds the proximal ends of the multi-jointed arms in a state in which a relative positional relationship between the proximal ends is fixed; a detection unit that is provided in each of the plurality of joints to detect a joint movement amount that represents a movement of each of the plurality of joints by a rotation angle or a translational displacement from an unknown initial joint value; an engagement unit that is provided in each of the distal ends of the multi jointed arms and is engaged so that a relative position between the distal ends is fixed; a data acquisition unit that acquires a plurality of sets of joint movement amounts detected by the detection unit in a time series when engaging the distal ends of the multi jointed arms via the engagement unit and moving the mutually engaged distal ends; and an initial value calculation unit that calculates the unknown initial joint value under a condition that a relative positional relationship between the distal ends is fixed via the engagement unit based on the plurality of sets of joint movement amounts acquired by the data acquisition unit in a time series.