Patent ID: 6301526
Filing Date: 2001-10-09
Classification: B25J,G05B,Y10T

Abstract:
A master device having force reflecting function attached to a body of an operator for controlling robot remotely, comprising:first combining means fixed to an upper portion of a back of the operator;second and third combining means connected and fixed to upper and lower portions of an elbow of the operator;fourth combining means connected and fixed to a back of a hand of the operator;first rotating shaft means fixed to the first combining means, the first rotating shaft means having a plurality of cylindrical rotating shaft members;first connecting means of which one end is joined to the first rotating shaft means and the other end is serially connected through a plurality of rotating link members to a plurality of connecting members joined to the second combining means;third rotating shaft means having a plurality of cylindrical rotating shaft members joined to the second combining means through connecting members;second rotating shaft means having cylindrical rotating shaft members, the second rotating shaft means joined between the second combining means and the third combining means through connecting members; andsecond connecting means of which one end is joined to the fourth rotating shaft means and the other end is serially connected through a plurality of rotating link members to a plurality of connecting members joined to the third rotating shaft means,wherein the first rotating shaft means senses motion of a shoulder of the operator, the second rotating shaft means senses motion of the elbow of the operator, and the third rotating shaft means senses motion of a wrist of the operator.