Patent Publication Number: US-2021162603-A1

Title: Manipulation device and manipulation system

Description:
TECHNICAL FIELD 
     The present disclosure relates to a manipulation device and a manipulation system which transmit to an operator vibration which acts on a manipulating target. 
     BACKGROUND ART 
     Conventionally, a system which generates vibration at an input device on an operator&#39;s end based on vibration which acted on a robot, and transmits to the operator the vibration which acted on the robot is proposed. Thus, a system which transmits to the operator of the robot the vibration which acted on the robot by generating the vibration on the operator&#39;s end is disclosed in Patent Document 1. In Patent Document 1, a vibration presenting part includes a speaker and a vibrating element. A case in which vibration which acted on the robot is transmitted to the operator through the speaker by audio, and a case in which vibration which acted on the robot is transmitted to the operator through the vibrating element by vibration, are disclosed. 
     REFERENCE DOCUMENT OF CONVENTIONAL ART 
     Patent Document 
     
         
         [Patent Document 1] JP2016-214715A 
       
    
     DESCRIPTION OF THE DISCLOSURE 
     Problems to be Solved by the Disclosure 
     However, according to the system disclosed in Patent Document 1, it is thought that vibration which acted on the robot is transmitted to the operator by using the speaker or vibrating element of a configuration different from a part where the manipulation of the robot is performed. Therefore, the configuration for transmitting the sound or vibration to the operator is required separately from the part where the manipulation is performed. Thus, the configuration of the device may become complicated, and thereby increasing the manipulation device in the size. 
     Therefore, the present disclosure is made in view of the above situations, and one purpose thereof is to provide a manipulation device and a manipulation system of a simpler configuration. 
     Summary of the Disclosure 
     According to one aspect of the present disclosure, a manipulation device includes an input part configured to receive an input of an operational instruction by an operator in order to operate a manipulating target, and a vibrating element configured to receive a signal based on vibration detected at the manipulating target and generate vibration based on the received signal. The vibration generated by the vibrating element is transmitted to the operator through at least a part of the input part. 
     According to this configuration of the manipulation device, since the vibration generated by the vibrating element is transmitted to the operator through the input part, the input part can serve as a transmitting part of the vibration to the operator, thus the configuration can be simpler. 
     The input part may include a grip part configured to be gripped by the operator when the operational instruction is inputted, and an arm part movably supporting the grip part. The arm part may be provided at a position between the grip part and the vibrating element. The vibration generated by the vibrating element may be transmitted to the operator through the arm part and the grip part. 
     Since the vibration generated by the vibrating element is transmitted to the operator through the arm part and the grip part, the vibration received by the arm part can be transmitted to the operator certainly. 
     The input part may include a grip part configured to be gripped by the operator when the operational instruction is inputted, and the vibrating element may be attached to the grip part. 
     Since the vibrating element is attached to the grip part, the vibration generated by the vibrating element can be transmitted to the grip part directly. Therefore, the vibration can be transmitted to the operator certainly. 
     The input part may include a grip body having two grip parts. 
     The vibrating element may be a speaker. 
     The vibrating element may be a transducer. 
     The vibrating element may be a first motor. 
     The vibrating element may be a second motor configured to after the grip part is moved, cause torque for moving the arm part so that the grip part is returned to a given position, to act on the arm part, present a force sense to the operator, or support the grip part and the arm part. 
     According to another aspect of the present disclosure, a manipulation system includes a manipulating target having a sensor part configured to detect vibration and transmit a signal based on the detected vibration, and a manipulation device having an input part configured to receive an input of an operational instruction by an operator in order to operate the manipulating target, and a vibrating element configured to receive a signal from the sensor part and generate vibration based on the received signal. The vibration generated by the vibrating element is transmitted to the operator through at least a part of the input part. 
     According to this configuration of the manipulation system, since the vibration generated by the vibration element is transmitted to the operator through the input part, the input part can serve as a transmitting part of the vibration to the operator, thus the configuration can be simpler. 
     The manipulation system may include a controller configured to receive the signal from the sensor part and transmit the received signal to the vibrating element. The controller may have a filter configured to pass only a particular frequency band of the signal transmitted from the sensor part. 
     Since the filter passes only the particular frequency band of the signal transmitted from the sensor part, an unnecessary portion of the signal can be removed and only a necessary portion of the signal can be transmitted to the operator. Therefore, the information on the manipulating target can be transmitted to the operator certainly. 
     The particular frequency band may be a frequency band exceeding a threshold of a sound pressure level. 
     Effect of the Disclosure 
     According to the present disclosure, since the manipulation device which transmits to the operator the vibration which acts on the manipulating target can be made the simpler configuration, the manipulation device can be reduced in the size. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a perspective view of a manipulation device according to a first embodiment of the present disclosure. 
         FIG. 2  is a perspective view illustrating a state where an operator operates a robot by using the manipulation device of  FIG. 1 . 
         FIG. 3  is a perspective view illustrating the manipulation device of  FIG. 1 , seen from obliquely downward. 
         FIG. 4  is a plan view illustrating a part of the manipulation device of  FIG. 1  to which a speaker is attached, seen from below. 
         FIG. 5  is a block diagram illustrating a configuration of a control system of the robot of  FIG. 2 . 
         FIG. 6  is a block diagram illustrating a configuration of the control system of the manipulation system for operating the robot by using the manipulation device of  FIG. 2 . 
         FIG. 7  is a perspective view of a manipulation device according to a second embodiment of the present disclosure. 
         FIG. 8( a )  is a perspective view of a transducer of  FIG. 7 , and  FIG. 8( b )  is a cross-sectional view of the transducer of  FIG. 7 . 
         FIG. 9  is a perspective view of a manipulation device according to a third embodiment of the present disclosure. 
         FIGS. 10( a ) and 10( b )  are graphs illustrating signals of vibration extracted from signals of vibration transmitted to a vibrating element of a manipulation device according to a sixth embodiment of the present disclosure. 
     
    
    
     MODES FOR CARRYING OUT THE DISCLOSURE 
     Hereinafter, a manipulation device and a manipulation system according to embodiments of the present disclosure will be described with reference to the accompanying drawings. 
     First Embodiment 
       FIG. 1  is a perspective view illustrating a manipulation device  100  according to a first embodiment of the present disclosure. The manipulation device  100  includes an input part  10  into which an operational instruction is inputted by an operator in order to operate a manipulating target, a speaker (vibrating element)  20  which receives a signal based on vibration detected at the manipulating target, and generates vibration based on the received signal, and a support table  30  which supports the input part  10  and the speaker  20 . 
     In this embodiment, the manipulating target to be operated with the manipulation device  100  is a robot. A configuration view illustrating the robot  200  to be manipulated is illustrated in  FIG. 2 . Here, for example, a configuration in which the robot  200  holds a seat  300 , and the robot  200  attaches the seat  300  to a cart  400  is described. 
     The robot  200  as the manipulating target has a robotic arm. A plurality of links are connected to form the robotic arm. In the robotic arm, a joint is formed between the links. Moreover, the robotic arm is provided with servo motors corresponding to the respective joints. 
     The robot  200  is configured to be holdable of the seat  300 . The robot  200  holds the seat  300 , moves the arm of the robot  200  to bring the seat  300  closer to the cart  400 , and attaches the held seat  300  to the cart  400 . In that case, the operator operates the manipulation device  100  to operate the robot  200  and attach the seat  300  to the cart  400 . 
     Moreover, as illustrated in  FIG. 2 , the robot  200  moves the robotic arm to move the seat  300  held by the robot  200 . Thus, the seat  300  is brought close to the cart  400 , and as a result, the seat  300  is brought in contact with an attaching position of the cart  400 . In this way, the seat  300  is attached to the cart  400 . 
     In  FIG. 2 , since the robot  200  holds the seat  300  and attaches the held seat  300  to the cart  400 , an adapter  500  having the shape of the seat  300  is attached to the manipulation device  100  in order to facilitate the attaching work of the seat  300 . Since the adapter  500  having the shape of the seat  300  is attached to the manipulation device  100 , the operator can operate the robot  200  by operating the adapter  500  having the shape of the seat  300 . Therefore, the operator can operate the robot  200  by performing an operation of actually attaching the seat  300  to the cart  400 , and the operator can operate the robot  200  easily and naturally. 
     Moreover, as illustrated in  FIG. 2 , a camera  600  is attached above an operating range of the robot  200 . While the robot  200  performs the work, the robot  200  and its surroundings can be imaged by the camera  600 . Thus, the operator can perform the manipulation, while looking at the robot  200  and its surroundings through an image captured by the camera  600 . When manipulating the robot  200 , the robot  200  may be remotely manipulated, without confirming the operation of the robot  200  by naked eyes. Thus, when remotely manipulating the robot  200 , the operator may cause the robot  200  to perform the work, while the operator looks at the image captured by the camera and confirming the robot  200  and its surroundings. 
     Next, a configuration of the manipulation device  100  is described. 
     The input part  10  includes a grip part  11  gripped by the operator when the operational instruction is inputted, arm parts  12  which movably support the grip part  11 , and motors  14 . 
     The grip part  11  is formed in order for the operator to grip easily so that the operator can grip and hold the grip part  11 . In a state where the operator grips and holds the grip part  11 , the operator moves the grip part  11  to move the robot  200 , thereby operating the robot  200 . 
     The grip part  11  is supported by the support part  13 . Moreover, the grip part  11  is connected with the support part  13  through a cylindrical connecting part  13   c . The support part  13  is movably supported by the arm part  12 . The arm part  12  is connected to the motor  14 . Moreover, the arm part  12  is provided at a position between the grip part  11  and the speaker  20 . 
     Each arm part  12  has a joint  12   a , and is formed so as to be bendable centering on the joint  12   a . Therefore, in the arm part  12 , a grip-part-side arm part  12   b  and a motor-side arm part  12   c  are bendably connected to each other through the joint  12   a.    
     Moreover, the input part  10  is provided with the motor  14 . The motor  14  is supported by the support table  30 . After the grip part  11  is moved, the motor  14  causes torque for moving the arm part  12  so that the grip part  11  returns to a given position, to act on the arm part  12 . Six motors  14  are provided in this embodiment. The six motors  14  are arranged in a triangular shape on the support table  30 , and two motors  14  constitute one side of the triangle. Moreover, an encoder is disposed at a position coaxial with each motor. Six encoders are arranged corresponding to the six arm parts  12  so that each encoder is detectable of a displacement of a rotation shaft of the arm part  12 . 
     Moreover, one arm part  12  is provided per motor  14 . In this embodiment, since the six motors  14  are provided to the manipulation device  100 , the six arm parts  12  are provided to the manipulation device  100 . 
     In this embodiment, the six motors  14  are arranged in a triangular shape on the support table  30 , and the two motors  14  constitute one side of the triangle. The two motors  14  which constitute one side among the six motors  14  arranged in the triangular shape are each provided with one arm part  12  (a total of two). Therefore, the two motors  14  which constitute one side among the six motors  14  which form the triangle are provided with the two arm parts  12 . 
     One side  13   a  of three sides surrounding the support part  13  is sandwiched by the arm parts  12  provided to the two motors  14  which constitute one side of the triangle formed by the six motors  14 . A shaft  13   b  is disposed so as to pass through the inside of the support part  13  at the side  13   a  of the support part  13 . The shaft  13   b  is held rotatably at both ends by the two grip-part-side arm parts  12   b  which sandwiches the side  13   a . Therefore, the support part  13  is supported rotatably centering on the shaft  13   b.    
     Note that, the shaft  13   b  is held at the both ends by the two grip-part-side arm parts  12   b . The grip-part-side arm part  12   b  holds the shaft  13   b  rotatably on three axes which are perpendicular to each other and include a center axis of the shaft  13   b . Therefore, the support part  13  is supported rotatably on the three axes which are perpendicular to each other and include the center axis of the shaft  13   b . Thus, the support part  13  is supported by the two grip-part-side arm parts  12   b  so as to be rotatable on the three axes which are perpendicular to each other and include the center axis of the shaft  13   b.    
     The configuration of the side  13   a  and the shaft  13   b  of the support part  13  is similar, for all the three sides of the support part  13 . 
     The speaker  20  is attached to a position of a supporting plate  31  of the support table  30 , on the opposite side from the surface to which the input part  10  is attached. A perspective view of the manipulation device  100 , seen from a position of obliquely downward, is illustrated in  FIG. 3 . Moreover, a plan view of the manipulation device  100 , seen from below, is illustrated in  FIG. 4 . 
     When the speaker  20  generates vibration, vibration can be generated in the manipulation device  100 . In this embodiment, the speaker  20  functions as a vibrating element which generates the vibration. 
     Next, a controller  210  which controls operation of the robot  200  is described.  FIG. 5  is a block diagram roughly illustrating one example of a configuration of a control system of the robot  200 . 
     As illustrated in  FIG. 5 , the controller  210  includes a processor  210   a , a memory  210   b , and a servo controller  210   c.    
     The controller  210  is a robot controller provided with, for example, a computer, such as a microcontroller. Note that the controller  210  may be comprised of a sole controller  210  which carries out a centralized control, or may be comprised of a plurality of controllers  210  which collaboratively carry out a distributed control. 
     The memory  210   b  stores information on a basic program as the robot controller, various fixed data, etc. The processor  210   a  controls various operations of the robot  200  by reading and executing software, such as the basic program, stored in the memory  210   b . That is, the processor  210   a  generates a control command of the robot  200  and outputs it to the servo controller  210   c.    
     The servo controller  210   c  is configured to control the drive of the servo motors corresponding to the respective joints of the robotic arm of the robot  200  based on the control command generated by the processor  210   a.    
     Next, a control system of a robot system for operating the robot  200  by using the manipulation device  100  is described.  FIG. 6  is a block diagram roughly illustrating one example of a configuration of the control system of the robot system for operating the robot  200  by using the manipulation device  100 . 
     The controller  210  receives a signal of the operational instruction for operating the robot  200  inputted from the manipulation device  100 . 
     The controller  210  controls the robotic arm  220  to operate based on the input signal received from the manipulation device  100 . 
     The controller  210  receives an input signal transmitted from a sensor part  230 . The sensor part  230  detects vibration and transmits a signal based on the detected vibration to the controller  210 . The controller  210  receives the signal transmitted from the sensor part  230 . 
     Moreover, the controller  210  transmits to the speaker  20  a signal based on the signal received from the sensor part  230 . The speaker  20  generates vibration by the speaker  20  based on the received signal. Thus, the vibration based on the vibration detected by the sensor part  230  is transmitted to the operator of the manipulation device  100 . 
     Moreover, the controller  210  may also receive other signals. For example, other sensors (not illustrated) may be provided to the robot  200  and signals from other sensors may be received. Moreover, the controller  210  may also transmit other signals. 
     Next, operation when operating the robot  200  by the manipulation device  100  is described. When operating the robot  200  by the manipulation device  100 , the operator grips the grip part  11  in the input part  10  of the manipulation device  100 . The operator moves the grip part  11  in a desired direction for moving the robot, while gripping the grip part  11 . 
     When the operator moves the grip part  11 , the support part  13  which supports the grip part  11  moves along with the movement of the grip part  11 . In addition, by the movement of the support part  13 , the grip-part-side arms parts  12   b  connected to the support part  13  move, and the arm parts  12  move. 
     When the arm parts  12  move, the rotation shafts of the encoders are rotated accordingly. Here, the displacements of the rotation shafts are detected by the respective encoders. Therefore, the signals according to the displacements of the rotation shafts are generated. The signals according to the input by the operator through the grip part  11  can be generated, and can be transmitted to the controller  210 . Thus, the input part  10  is provided with the encoders which detect the displacements of the rotation shafts according to the position and the posture of the grip part  11 . 
     After inputting the movement of the robotic arms of the robot  200  by moving the grip part  11 , the grip part  11  returns to a given original position. In this embodiment, the arm parts  12  are moved to the given original position by causing the motors  14  to act the torques on the arm parts  12 . Thus, the motors  14  cause the torques, for moving the arm parts  12  so that the grip part  11  is returned to the original position, to act on the arm parts  12 , after the grip part  11  is moved. 
     Moreover, the motors  14  have a function to present the operator a force sense when the operator operates the manipulating target. While the operator operates the manipulating target, if the manipulating target contacts an object, the operator can sense the force by giving resistance to the operator by the motors  14 . Therefore, information on the manipulating target can be sensed more certainly. Moreover, when a load is applied to the manipulating target, the motors  14  can present the operator the force according to the load. Moreover, the motors  14  have a function to support the grip part  11  and the arm parts  12 . Since the motors  14  support the grip part  11  and the arm parts  12 , the grip part  11  and the arm parts  12  can be located at a given position. 
     Particularly, in this embodiment, the support part  13  is configured to be rotatable centering on the shafts  13   b  provided to the three sides, respectively, and is configured to be supported by the two grip-part-side arm parts  12   b  so as to be rotatable on the three axes which are perpendicular to each other and include the center axis of the shaft  13   b . Therefore, the support part  13  is configured to be able to lean by leaning the grip part  11 . Thus, since the grip part  11  can change its posture by being inclined, the robot  200  can be operated so that the posture of the robot  200  is changed. 
     Next, operation of the robot  200  and the manipulation device  100  when vibration occurs at the robot  200  end is described. 
     When vibration occurs at the robot  200  end, the vibration is detected by the sensor part  230  attached to the robot  200 . For example, the sensor part  230  is attached to a tip-end part of the robotic arm of the robot  200  illustrated in  FIG. 2 . In this embodiment, a sound concentrating microphone is used as the sensor part  230 . Alternatively, a sound concentrating microphone with an amplifier which is a sound concentrating microphone to which the amplifier is attached, may be used as the sensor part. 
     Note that the sensor part  230  is not limited to the configuration attached to the tip-end part of the robotic arm. The sensor part may be attached to other positions of the robot  200 . The sensor part  230  may be attached to any position, as long as it can detect vibration when the vibration acts on the robot  200 . 
     When vibration which acted on the robot  200  is detected by the sensor part  230  attached to the robot  200 , a signal based on the vibration detected by the sensor part  230  is generated, and the generated signal is transmitted to the controller  210 . When the controller  210  receives the signal from the sensor part  230 , it performs amplification, filtering, etc. of the signal and transmits the signal to the speaker  20 . When the signal is transmitted to the speaker  20 , the speaker  20  generates vibration according to the signal. At this time, the speaker  20  functions as a vibrating element which generates the vibration. 
     Here, since the speaker  20  is attached to the position of the supporting plate  31  of the support table  30  opposite from the surface to which the input part  10  is attached, the vibration generated by the speaker  20  is directly transmitted to a hand of the operator which grips the grip part  11  of the robot  200  through the input part  10 . That is, the vibration generated by the speaker  20  is directly transmitted to the operator who grips the grip part  11 , through the support table  30 , the motors  14 , the arm parts  12 , the support part  13 , and the grip part  11 . 
     Since the vibration generated by the speaker  20  is directly transmitted to the operator who grips the grip part  11 , the operator can certainly recognize that the vibration occurs at the robot  200  when the vibration acts on the robot  200 . For example, it can be prevented that energy of the vibration is spread to other positions, and vibration to be transmitted to the operator is reduced due to the vibration transmitted to the operator being transmitted through many configurations other than the manipulation device  100 . Thus, it can be prevented that the operator continues the work while he/she does not notice the vibration. In this embodiment, since the vibration generated by the speaker  20  is directly transmitted to the operator through the configuration of the manipulation device  100 , the operator can certainly sense the vibration. Thus, since the vibration occurred at the robot  200  can be recognized more certainly, the information on the robot  200  can be recognized more certainly. 
     For example, when the robot  200  collides the cart  400 , vibration caused by this contact between the robot  200  and the cart  400  is transmitted to the operator who grips the grip part  11  of the manipulation device  100 . Therefore, the operator who grips the grip part  11  of the manipulation device  100  can certainly recognize that the robot  200  contacted the cart  400 . 
     The vibration transmitted to the operator may be those detected by the operator&#39;s tactile sense or may be those detected by the operator&#39;s hearing. That is, the vibration may be those transmitted to the operator through the operator&#39;s sense, or may be those transmitted to the operator through audio. 
     Moreover, in this embodiment, a part of the input part  10  is disposed between the speaker  20  and the grip part  11  gripped by the operator. Therefore, vibration generated by the speaker  20  is transmitted to the operator through at least a part of the input part 10 . Since the vibration is transmitted to the operator who grips the grip part  11  through a part of the input part  10  of the manipulation device  100 , it is not necessary to newly provide a configuration for transmitting the vibration to the operator. Therefore, the configuration of the manipulation device  100  can be simplified. The manipulation device  100  can be reduced in the size by simplifying the configuration of the manipulation device  100 . Moreover, the manufacturing cost of the manipulation device  100  can be kept low. 
     In this embodiment, the input part  10  of the manipulation device  100  is provided with the arm parts  12  which movably support the grip part  11 . Since the arm parts  12  are provided at the position between the grip part  11  and the speaker  20 , the vibration generated by the speaker  20  is transmitted to the operator through the arm parts  12  and the grip part  11 . 
     In this embodiment, each arm part  12  is formed in a narrow and long pipe shape. Moreover, in the arm part  12 , the motor-side arm part  12   c  connected to the motor  14  at a position directly below the grip part  11  disposed at the center is disposed radially outward of the motor  14 , and the grip-part-side arm part  12   b  is disposed so as to extend toward the grip part  11  via the joint  12   a . Therefore, the arm part  12  has the shape which is easy to gather vibration when the vibration occurs at the speaker  20 . Thus, the vibration is easy to be transmitted to the grip part  11  through the arm part  12 . As a result, the vibration generated by the speaker  20  can be transmitted to the operator more certainly. 
     Moreover, in this embodiment, the six motors  14  are disposed on the support table  30 , and the six arm parts  12  are attached to the motors  14  corresponding to the motors  14 . In this embodiment, the six arm parts  12  are arranged so as to be divided into three sets of two aim parts  12 . The three sets of arm parts  12  are disposed on the support table  30  at about 120° interval. Therefore, the three sets of arm parts  12  are arranged so as to equally surround the perimeter of the grip part  11 . By arranging the arm parts  12  in this way, the arm parts  12  have the shape which is easier to gather the vibration emitted from the speaker  20 . Therefore, the vibration generated by the speaker  20  can be transmitted to the operator more certainly. 
     Note that, the speaker  20  may be provided with an amplifier which amplifies the signal transmitted to the speaker  20 . The signal transmitted to the speaker  20  from the controller  210  may be amplified by an amplifier at the speaker  20  end provided to the speaker  20 . 
     Moreover, although, in the above embodiment, when vibration acts on the robot  200 , the signal based on the vibration detected by the sensor part  230  is transmitted to the controller  210 , the present disclosure is not limited to the above embodiment. The signal based on the detected vibration may be transmitted to the vibrating element, without going through the controller. That is, the signal based on the vibration detected by the sensor part  230  may be directly transmitted to the speaker  20 , without being transmitted to the controller  210 . 
     Second Embodiment 
     Next, a manipulation device  100   a  according to a second embodiment of the present disclosure is described. Note that description of a part configured similarly to the first embodiment is omitted, but only a different part is described. 
     In the first embodiment, the speaker  20  is used as the vibrating element which generates at the manipulation device  100  end, vibration to be transmitted to the operator. In the second embodiment, a transducer  21  is used as the vibrating element which generates at the manipulation device  100   a  end, the vibration to be transmitted to the operator. The transducer  21  used in the second embodiment is a transducer of a type which converts an electrical signal into vibration. 
     A perspective view of the manipulation device  100   a  in the second embodiment is illustrated in  FIG. 7 . In the second embodiment, the transducer  21  is disposed in the surface of the support table  30  to which the input part  10  is attached. 
     A configuration of the transducer  21  is described. A perspective view of the transducer  21  is illustrated in  FIG. 8( a ) , and a cross-sectional view of the transducer  21  is illustrated in  FIG. 8( b ) . 
     The transducer  21  has a magnetic circuit  211 , a bobbin  212 , a voice coil  213 , and a suspension  214 . The magnetic circuit  211  is mainly comprised of a magnet (a magnetic field generator)  215 , an inner yoke  216 , and an outer yoke  217 . The bobbin  212  has a cylindrical shape. The suspension  214  connects the bobbin  212  with the outer yoke  217  so that the outer yoke  217  is disposed at a given position of the transducer  21 . In a state where the bobbin  212  and the outer yoke  217  are connected through the suspension  214 , the outer yoke  217  is configured to be movable in a separating direction and in an approaching direction from/to the bobbin  212 . An annular member  218  is provided to a tip end of the bobbin  212 . When the transducer  21  is attached to the manipulation device  100   a , a tip-end part of the annular member  218  is attached to the surface of the support table  30  of the manipulation device  100   a  to which the input part  10  is attached. The transducer  21  is configured so that the voice coil  213  is generatable of vibration by applying electric current to the voice coil  213  inside a magnetic field of the magnet  215 . 
     In the transducer  21  having such a structure, when the current flows into the voice coil  213 , the outer yoke  217  vibrates by the voice coil  213  causing the vibration. At this time, the outer yoke  217  vibrates in the approaching direction and the separating direction to/from the bobbin  212 . The vibration of the outer yoke  217  is transmitted to the manipulation device  100   a  through the annular member  218 . Therefore, the vibration caused by the voice coil  213  is transmitted to the input part  10  of the manipulation device  100   a  through the bobbin  212  and the annular member  218 . For example, by attaching such a transducer  21  to the manipulation device  100   a  in the same configuration as the speaker  20  illustrated in  FIG. 1  and using the transducer  21 , it becomes possible to transmit the vibration to the operator through the manipulation device  100   a.    
     Generally, the transducer has a smaller configuration than the speaker. Therefore, in the second embodiment, the transducer  21  is disposed in a space of a gap between the motors  14  on the support table  30 . It is difficult to dispose the speaker  20  in the space of the gap between the motors  14  if the speaker  20  has the size illustrated in  FIGS. 3 and 4  in the first embodiment. However, if the small transducer  21  is used, it can be disposed in the space of the gap between the motors  14 . Therefore, the transducer  21  is able to be attached to the position on the surface of the support table  30  to which the input part  10  is attached. 
     When vibration acts on the robot  200  while the operator operates the robot  200  by using the manipulation device  100   a  having this configuration, the vibration is detected by the sensor part  230 , the signal based on the detected vibration is generated, and the signal is transmitted to the controller  210 . When the controller  210  receives the signal from the sensor part  230 , the signal is transmitted to the transducer  21  at the manipulation device  100   a  end. When the transducer  21  receives the signal, the transducer  21  generates the vibration according to the signal. At this time, the transducer  21  functions as the vibrating element which generates vibration. 
     Since the transducer  21  is attached to the surface of the support table  30  to which the input part  10  is attached, the transducer  21  can generate the vibration at a position closer to the grip part  11 . Therefore, the vibration generated by the transducer  21  is more certainly recognized by the operator who grips the grip part  11 . 
     Moreover, since the transducer  21  is attached to the surface of the support table  30  to which the input part  10  is attached, the vibration emitted at the backside of the transducer  21  is transmitted to the grip part  11  through the support table  30  and the arm parts  12 . Moreover, the vibration emitted forward of the transducer  21  is transmitted to the grip part  11  through the arm parts  12  or is directly transmitted to the grip part  11 . Therefore, the vibration emitted from the transducer  21  can be more efficiently transmitted to the operator. 
     Since the vibration which acted on the robot  200  can be recognized more certainly, the information on the robot  200  can be acquired more certainly. Moreover, since the configuration of the vibrating element can be reduced in the size, the configuration of the manipulation device  100   a  can be reduced in the size. Moreover, since the space of the gap between the motors  14  can be effectively used, the configuration of the manipulation device  100   a  can be further reduced in the size. 
     Note that, although in the second embodiment the transducer  21  is disposed at the surface of the support table  30  to which the input part  10  is attached, the present disclosure is not limited to the above embodiment. The transducer  21  may be attached to the surface of the supporting plate  31  of the support table  30  opposite the surface to which the input part  10  is attached, similar to the speaker  20  of the first embodiment. 
     Third Embodiment 
     Next, a manipulation device  100   b  according to a third embodiment of the present disclosure is described. Note that description of a part configured similarly to the first embodiment and the second embodiment is omitted, but only a different part is described. 
     In the third embodiment, a motor is used as the vibrating element which generates at the manipulation device  100   b  end, vibration to be transmitted to the operator. 
     A perspective view of the manipulation device  100   b  in the third embodiment is illustrated in  FIG. 9 . In the input part  10   a  of the third embodiment, a grip body  15  gripped by the operator is provided on the support part  13  in order to input the operational instruction into the robot  200 . 
     The grip body  15  includes a grip part (grasp part)  15   a  gripped by the operator using hands. In this embodiment two grip parts  15   a  are provided so that the operator operates the manipulation device  100   b  with both hands and the grip parts  15   a  can be gripped by the respective hands. The grip body  15  can be leaned by changing the height between the two grip parts  15   a . Therefore, the grip body  15  can be leaned easily and the operation of leaning the manipulating target can be performed easily. Thus, the operation of the manipulating target can be performed more easily by using the grip body  15 . Therefore, the operability of the manipulation device  100   b  can be improved. Each grip part  15   a  is formed in a cylindrical shape. In this embodiment, the grip part  15   a  is attached at both ends of the grip body  15 . 
     A diameter increased part  15   b  in which the diameter is formed larger than other parts is formed near a central part of the grip part  15   a  in a direction in which the center axis extends. The diameter increased part  15   b  is formed in a cylindrical shape having a larger diameter than other parts of the grip part  15   a . In this embodiment, when the operator grips the grip part  15   a , the diameter increased part  15   b  is provided to the grip part  15   a  so that the operator is easy to grip the grip part  15   a  by a hand 
     Connecting members  15   c  which connect the grip parts  15   a  with each other are provided between the grip parts  15   a  provided at both ends. Two connecting members  15   c  are provided so as to connect both ends of the grip parts  15   a  with each other. A beam member  15   d  which connects the connecting member  15   c  with each other is provided near the center of the connecting member  15   c  between the grip parts  15   a . The beam member  15   d  is attached to the connecting part  13   c , and thereby, the grip body  15  is supported by the support part  13 . The height between the two grip parts  15   a  can be changed by rotating the grip body  15  centering on the beam member  15   d.    
     In this embodiment, a motor (first motor)  22  is disposed inside each grip part  15   a.    
     When vibration acts on the robot  200  while the operator operates the robot  200  by using the manipulation device  100   b  configured in this way, the vibration is detected by the sensor part  230  attached to the robot  200 . The vibration is detected by the sensor part  230 , a signal based on detected vibration is generated, and the signal is transmitted to the controller  210 . When the controller  210  receives the signal from the sensor part  230 , the signal passes through a level conversion circuit. 
     When the signal is adjusted by the level conversion circuit, the signal according to the vibration to be generated is transmitted to the motor  22  at the manipulation device  100   b  end. When the motor  22  receives the signal, the motor  22  generates vibration according to the signal. 
     In this embodiment, since the motor  22  is disposed inside the diameter increased part  15   b  of the grip part  15   a , vibration according to the vibration which acted on the robot  200  is generated by the motor  22  at a position closer to the operator&#39;s hand. Since the motor  22  generates the vibration at the position closer to the operator&#39;s hand, the operator can certainly sense the vibration. Therefore, the information on vibration which acted on the robot  200  can be certainly transmitted to the operator. 
     Moreover, since the motor  22  is provided inside the grip part  15   a , the manipulation device  100   b  can be reduced in the size. 
     Moreover, in this embodiment, the motors  22  are disposed at the grip body  15  provided with the two grip parts  15   a . However, the present disclosure is not limited to the above embodiment, and the motor  22  may be installed in the manipulation devices described in the first embodiment and the second embodiment. In that case, the motor  22  may be provided to the grip part  11 , or may be provided at other positions. For example, similar to the speaker  20 , the motor  22  may be provided at the position of the supporting plate  31  of the support table  30  on the surface opposite from the surface to which the input part  10  is provided, or may be provided at the position of the support table  30  on the surface same as the surface to which the input part  10  is provided, similar to the transducer  21 . 
     Fourth Embodiment 
     Next, a manipulation device according to a fourth embodiment of the present disclosure is described. Note that description of a part configured similarly to the first embodiment to the third embodiment is omitted, but only a different part is described. 
     In the fourth embodiment, the motor (rotation part)  22  is disposed inside the grip part  15   a , similar to the third embodiment. Moreover, in the fourth embodiment, an eccentric weight (eccentric member) is attached to a rotation shaft (output shaft) of the motor  22 . The weight is provided inside the grip part  15   a , and is attached to the rotation shaft of the motor  22  so as to be rotatable inside the grip part  15   a . In this embodiment, the weight is accommodated inside the diameter increased part  15   b  of the grip part  15   a . The weight is attached to the rotation shaft of the motor  22  so as to be rotatable inside the diameter increased part  15   b.    
     When vibration is detected by the sensor part  230  while the operator operates the robot  200  by using the manipulation device having this configuration, a signal based on the detected vibration is generated and it is transmitted to the controller  210 . When the controller  210  receives the signal from the sensor part  230 , a signal is transmitted to the motor  22  at the manipulation device end. When the motor  22  receives the signal, the motor  22  generates vibration according to the signal. At this time, the motor  22  and the eccentric weight function as the vibrating element which generates vibration. 
     Since the eccentric weight is attached to the rotation shaft of the motor  22 , a larger vibration can be generated by the rotation of the motor  22  when generating the vibration according to the vibration which acted on the robot  200 . Therefore, when the vibration is generated by the motor  22 , the operator can sense the generated vibration more certainly. 
     Moreover, in the fourth embodiment, the vibration is generated at the diameter increased part  15   b  of the grip part  15   a . The operator senses the vibration in the palm which grips the diameter increased part  15   b  of the grip part  15   a . Therefore, the generated vibration can be sensed more directly. Therefore, the information on the vibration which acted on the robot  200  can be transmitted to the operator more certainly. 
     Note that, in this embodiment, the motor  22  and the eccentric weight are disposed at the grip body  15 . However, the present disclosure is not limited to the above embodiment, and the motor  22  and the eccentric weight may be installed in the manipulation devices described in the first embodiment and the second embodiment. In that case, the motor  22  and the eccentric weight may be provided to the grip part  11 , or may be provided to other positions. For example, similar to the speaker  20 , the motor  22  and the eccentric weight may be provided at the position on the surface of the supporting plate  31  of the support table  30  on the opposite side from the surface to which the input part  10  is provided, or may be provided at the position on the same surface of the support table  30  as the surface to which the input part  10  is provided, similar to the transducer  21 . 
     Moreover, although in the above embodiment the eccentric weight is attached to the motor, the present disclosure is not limited to the above embodiment. The eccentric weight may be attached to an AC motor. 
     Fifth Embodiment 
     Next, a manipulation device according to a fifth embodiment of the present disclosure is described. Note that description of a part configured similarly to the first embodiment to the fourth embodiment is omitted, but only a different part is described. 
     In the third embodiment and the fourth embodiment, the motor  22  used as the vibrating element which generates the vibration at the manipulation device end is attached inside the grip part  15   a  of the grip body  15 . In the input part  10  of the manipulation devices in the first embodiment to the fourth embodiment, the fifth embodiment is configured so that the motor  14  disposed on the support table  30  generates vibration at the manipulation device end. By the rotation of the motor  14 , vibration according to the vibration which acted on the robot  200  is generated at the manipulation device end. At this time, the motor (second motor)  14  functions as the vibrating element which generates vibration. 
     In this embodiment, the motor  14  causes torque for moving the arm part  12  to act on the arm part  12  after the grip body  15  is moved so that the grip body  15  is returned to a given position. Therefore, the motor  14  which causes the torque for moving the arm part  12  to act on the arm part  12  functions as the vibrating element which generates vibration. 
     Thus, the motor  14  which constitutes the input part  10  functions as the vibrating element which generates vibration at the manipulation device end. Since the motor  14  functions as the vibrating element which generates vibration at the manipulation device end, it is not necessary to provide a new configuration in order to generate the vibration at the manipulation device end. Therefore, the configuration of the manipulation device can be simplified. Since the configuration of the manipulation device  100   d  can be simplified, the manufacturing cost of the manipulation device can be kept low. Moreover, the manipulation device can be reduced in the size. 
     Note that, in the above embodiment, the motor  14  causes the torque for moving the arm part  12  to act on the arm part  12  so that the grip body  15  is returned to the given position. However, the present disclosure is not limited to the above embodiment, and the motor  14  may be to present the operator a force sense of load when the load is applied to the manipulating target. Moreover, the motor  14  may be to support the grip part  11  and the arm part  12 . Moreover, the motor  14  may have a plurality of functions among the functions described above. 
     Moreover, in this embodiment, the motor  14  functions as the vibrating element which generates vibration in the manipulation device using the grip body  15 . However, the present disclosure is not limited to the above embodiment, and the motor  14  which functions as the vibrating element may be installed in the manipulation devices described in the first embodiment and the second embodiment. That is, the motor  14  which causes the torque for moving the arm part  12  to act on the arm part  12  so that the grip part  11  is returned to the given original position after the grip part  11  is moved may be configured to function as the vibrating element. 
     Sixth Embodiment 
     Next, a manipulation device according to a sixth embodiment of the present disclosure is described. Note that description of a part configured similarly to the first embodiment to the fifth embodiment is omitted, but only a different part is described. 
     In the sixth embodiment, the controller  210  has a filter which passes only a particular frequency band of the signal transmitted from the sensor part  230 . In this embodiment, the filter passes only a frequency band exceeding a threshold for a sound pressure level of the signal. 
     A manipulation system for operating the robot  200  by using the manipulation device of the sixth embodiment is described. 
     When vibration acts on the robot  200 , the vibration is detected by the sensor part  320  of the robot  200 . A signal of the vibration detected by the sensor part  230  is transmitted to the controller  210 . That is, the sensor part  230  detects the vibration and transmits the signal based on the detected vibration to the controller  210 . The controller  210  receives the signal transmitted from the sensor part  230 . 
     The controller  210  receives the signal from the sensor part  230  at the robot  200  end, and transmits the received signal to the vibrating element at the manipulation device end. At this time, the controller  210  filters the signal received from the sensor part  230 . Here, the signal is filtered before transmitting the signal for generating the vibration at the manipulation device end to the vibrating element. 
     When the controller  210  filters the signal received from the sensor part  230 , only the particular frequency band of the signal transmitted from the sensor part  230 , which is to be sensed by the operator, can be passed. Further, the filter passes only the frequency band of the signal transmitted from the sensor part  230  exceeding the threshold of the sound pressure level. 
     Therefore, only a necessary signal of the signal received from the sensor part  230  at the robot  200  end is extracted. That is, surrounding noise which is not related to the operation can be removed. Thus, the controller  210  has the filter for extracting only a given portion of the signal transmitted from the sensor part  230 . 
     The filtered signal is transmitted to the vibrating element which generates the vibration at the manipulation device end. Thus, only the frequency band of the sound pressure level of the signal transmitted from the sensor part  230  which exceeds the threshold is transmitted to the vibrating element. The vibrating element vibrates based on the extracted signal. Therefore, only the vibration component extracted from the vibration generated at the robot  200  end can be transmitted to the manipulation device end. 
     The vibrating element generates vibration based on the received signal, and transmits the vibration based on the vibration detected by the sensor part  230  to the operator of the manipulation device. 
     Graphs of the frequency portion of the signal which is extracted from the signal based on the vibration generated at the robot  200  end by using the filter, and is transmitted to the vibrating element is illustrated in  FIGS. 10( a ) and 10( b ) . In the graphs illustrated in  FIGS. 10( a ) and 10( b ) , the vertical axis indicates the sound pressure level (dB), and the horizontal axis indicates the frequency (Hz). 
     In the graphs illustrated in  FIGS. 10( a ) and 10( b ) , the vibration of the extracted frequency portion is painted in black. In the graph illustrated in  FIG. 10( a ) , only the portion having the portion where the sound pressure level is zero or more is extracted. Moreover, similar in the graph illustrated in  FIG. 10( b ) , only the frequency band having the component where the sound pressure level is zero or more is extracted. 
     As illustrated in  FIGS. 10( a ) and 10( b ) , only the frequency component having the sound pressure level more than the certain value (i.e., the sound pressure level is zero or more) is extracted, and only the extracted frequency component is transmitted to the vibrating element. The signal of only the extracted frequency component is transmitted to the vibrating element, and the vibrating element vibrates based on the signal of only the extracted frequency component. 
     In this embodiment, for example, since only the extracted vibration can be transmitted to the operator, only the vibration having the sound pressure level exceeding the threshold among the vibration which acted on the robot  200  can be exaggerated and transmitted to the operator. Therefore, the information on the robot  200  can be transmitted to the operator more certainly. 
     For example, if the robot  200  is installed in a factory, various sounds are made in the factory. Therefore, the sensor part  230  attached to the robot  200  may also collect vibration other than the vibration which acted on the robot  200 . Since this vibration is transmitted to the operator, the sound which is not related to the robot  200  is also transmitted to the operator, and therefore, the operator may be unable to correctly grasp the information on the environment around the robot  200 . 
     Therefore, in this embodiment, only the extracted signal is transmitted to the vibrating element by using the filter. Therefore, the operator can grasp the information on the environment around the robot  200  more correctly. 
     Note that, in the above embodiment, only the frequency band of the signal transmitted from the sensor part  230  exceeding the threshold of the sound pressure level is transmitted to the operator by using the filter. Thus, only the signal extracted from the signal received from the sensor part  230  at the robot  200  end is transmitted to the operator. However, the present disclosure is not limited to this configuration, and only the necessary signal may be extracted from the signal received from the sensor part  230  at the robot  200  end by using other methods. 
     For example, a sound concentrating microphone may be installed around the robot  200 , separately from the sensor part  230 . Thus, signal of sound around the robot  200  is generated, which is detected by the sound concentrating microphone provided separately from the sensor part  230 . The signal from the sensor part  230  is compared with the signal from the separate sound concentrating microphone, and a signal component which is the same as the signal of the sound detected by the sound concentrating microphone provided separately from the sensor part  230  is removed from the signal received from the sensor part  230 . Therefore, the sound caused around the robot  200  is cancelled out. Therefore, the controller  210  can cancel out the sound caused around the robot  200 , and extract only the necessary sound. 
     Other Embodiments 
     Note that, although in the above embodiments the speaker, the direct-current motor, the motor for generating the electrical signal, etc. are used as the vibrating element which generates vibration at the manipulation device end, the present disclosure is not limited to the above embodiments. 
     The vibrating element may be other types, as long as it can generate, when vibration acts on the manipulating target of the manipulation device, vibration based on the vibration at the manipulation device end. 
     Moreover, although in the above embodiments the robot is used as the manipulating target of the manipulation device, the present disclosure is not limited to the above embodiments. The manipulating target may be other than the robot. The manipulating target may be other things, as long as it is manipulated by the manipulation device. 
     DESCRIPTION OF REFERENCE CHARACTERS 
     
         
           10  Input Part 
           20  Speaker 
           100  Manipulation Device