Patent ID: 9189065
Filing Date: 2015-11-17
Classification: B25J,G06F

Abstract:
1. A side-type force sense interface provided on a side of an operator, which provides a force sense to each of fingers of the operator, the interface comprising: a tactile finger base having one to five tactile fingers, which can follow movement of the fingers of the operator; an arm mechanism, which enables spatial movement of the tactile finger base; a controller that controls the arm mechanism in accordance with a position and a posture of a hand of the operator and controls the tactile fingers in accordance with movement of the fingers of the operator; a first detection portion, which detects a position and a posture of a wrist of the operator, the arm mechanism having a wrist joint corresponding to the wrist of the operator; and a second detection portion, which detects a position and a posture of the wrist joint of the arm mechanism, wherein one to five finger attachment portions are provided on the tactile fingers, wherein the finger attachment portions are attached to the fingers of the operator in a state in which the tactile fingers and the tactile finger base face the back of the hand of the operator and are spaced apart from the back, and based on a detection result of the first detection portion and a detection result of the second detection portion, the controller computes an evaluation function for avoiding physical interference between the wrist of the operator and the wrist joint of the arm mechanism except for the finger attachment portions and controls the arm mechanism on the basis of a computation result of the evaluation function.