Patent Publication Number: US-2022236813-A1

Title: Operation system and operation method using force sensor, and program

Description:
This Nonprovisional application claims priority under 35 U.S.C. § 119 on Patent Application No. 2021-009880 filed in Japan on Jan. 25, 2021, the entire contents of which are hereby incorporated by reference. 
     TECHNICAL FIELD 
     The present invention relates to an operation system and an operation method each of which uses a force sensor, and a program. 
     BACKGROUND ART 
     For example, in passenger vehicles etc., electrification of in-vehicle equipment has been advanced. Such advancement has led to setting up many operation switches in the passenger vehicles etc. However, in cases where there are many operation switches, a large area is necessary for setting up the operation switches. Moreover, in a case where there are many operation switches in a vehicle, the following problems occur: a driver may be given an impression that operations are complicated; and it is difficult to understand where each operation switch is located. Therefore, it is preferable that the number of operation switches be as small as possible. 
     Further, in a case where there are many operation switches, an operation switch may be located far from a steering wheel. The operation switch located far from the steering wheel may require the driver to check a location of the operation switch. However, checking the location of the operation switch would take driver&#39;s eyes away from a direction ahead of the vehicle. This is dangerous. 
     For example, Patent Literature 1 discloses a low-cost, sturdy substitute for a multiaxial computer input device, and discloses, as an examples of such a substitute, a six-axis computer input device and a high resolution transducer element. It is considered that this makes it possible to provide a simple six-axis computer input device which is composed of the smallest possible number of components and which can be easily manufactured. 
     CITATION LIST 
     Patent Literature 
     [Patent Literature 1] 
     Japanese Patent Application Publication Tokukai No. 2011-090707 
     SUMMARY OF INVENTION 
     Technical Problem 
     However, the above-described conventional feature disclosed in Patent Literature 1 specifically uses, for example, an optical transducer array composed of one or more light emitters and one or more light detectors, or one or more ionically conductive elements. However, there is a demand for an operation system which has a simpler configuration than the conventional feature and which makes it possible to reduce the number of operation switches. 
     An object of an aspect of the present invention is to provide an operation system which has a simpler configuration than a conventional feature and which can lead to reduction in the number of operation switches, an operation method, and a program. 
     Solution to Problem 
     An operation system in accordance with an aspect of the present invention includes: a force sensor; and a stick body configured to transmit, to a strain element of the force sensor, force or moment which has been received; and a control section configured to detect a direction of the force or moment received by the stick body, on the basis of an output of the force sensor, and to generate an operation signal for an object to be operated in accordance with the direction detected. 
     An operation method in accordance with an aspect of the present invention includes the steps of: detecting, from an output of a force sensor, a direction of force or moment applied to the force sensor; and generating an operation signal for an object to be operated in accordance with the direction detected. 
     An operation device in accordance with an aspect of the present invention includes: a force sensor; and a stick body configured to transmit, to a strain element of the force sensor, force or moment which has been received. 
     The control section in accordance with each aspect of the present invention may be realized by a computer. In this case, an aspect of the present invention includes an operation program of the operation system and a computer-readable storage medium in which the operation program is stored, the operation program causing the control section to be realized by the computer by causing the computer to operate as each section (software component) of the control section. 
     Advantageous Effects of Invention 
     An aspect of the present invention makes it possible to provide an operation system which has a simpler configuration than a conventional feature and which can lead to reduction in the number of operation switches, an operation method, and a program. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a diagram illustrating an overall configuration of an operation system in accordance with Embodiment 1 of the present invention. 
         FIG. 2  is a diagram showing a configuration of an operation section in accordance with Embodiment 1, and respective directions of forces which are detected by a six-axis force sensor. 
         FIG. 3  is a diagram illustrating an arrangement of operation sections in accordance with Embodiment 1. 
         FIG. 4  is a diagram illustrating an arrangement of an operation display section in accordance with Embodiment 1. 
         FIG. 5  illustrates one configuration example of a case where a control section is realized by a computer. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Embodiment 1 
     The following description will discuss an embodiment of the present invention in detail with reference to drawings.  FIG. 1  is a diagram illustrating an overall configuration of an operation system  1  in accordance with Embodiment 1 of the present invention. The operation system  1  is used for controlling the state of in-vehicle equipment of a mobile body (for example, a vehicle). As illustrated in  FIG. 1 , the operation system  1  includes a six-axis force sensor  10  (an example of “force sensor” in claims), a stick body  15 , and a control section  30 . Note that a member including the six-axis force sensor  10  and the stick body  15  is also referred to as “operation section (or operation device)  20 ”. The six-axis force sensor  10  includes a strain element  11  and a base part  12 . The stick body  15  is fixed to the strain element  11  via a support part  16 . The control section  30  is connected to the six-axis force sensor  10  so as to be able to receive an output of the six-axis force sensor  10 . Note that the “stick body” in the present embodiment is a substantially rod-shaped operating tool which can be pushed down or depressed by an operator&#39;s finger, but the form of the stick body is not limited. As will be described later, the stick body can be anything that can be configured to transmit received force or moment to the strain element  11  of the six-axis force sensor  10 . 
     The stick body  15  is arranged upright with respect to the strain element  11 .  FIG. 1  illustrates, as an example of the stick body  15 , a cylindrical rigid body whose upper end portion has an increased diameter. The stick body  15  is configured to transmit the received force or moment to the strain element  11  of the six-axis force sensor  10 . 
     Specifically, when the six-axis force sensor  10  is seen from above, the stick body  15  is supported by the support part  16  so that an operator (e.g., a driver) can push (push down) the stick body  15 , like a joystick, in top, bottom, right and left directions or rotate the stick body  15  about the axis of a cylinder. The operator can also push the stick body  15  downward so as to depress the stick body  15  into the strain element  11 . The stick body  15  returns to its original upright position when the operator releases his/her hand. In the present embodiment, the force means force which is applied to the stick body  15  in the top, bottom, right and left directions and a downward direction. Further, the moment means force which is applied to the stick body  15  and which causes the stick body  15  to rotate about the axis. In the following description, the force and the moment may be collectively referred to simply as “force”. 
     The support part  16  is attached to the strain element  11 , for example, with use of a screw, and the force or moment received by the stick body  15  is transmitted to the strain element  11 . The six-axis force sensor  10  outputs, to the control section  30 , an output signal corresponding to the direction and the magnitude of the force or moment applied to the strain element  11 . For example, in a case where the strain element  11  is of a cross beam type, the stick body  15  is fixed to a center part of a cross beam. 
     (Control Section) 
     The control section  30  detects the direction of the force or moment received by the stick body  15 , on the basis of the output of the six-axis force sensor  10 . Then, the control section  30  generates an operation signal for an object to be operated in accordance with the direction thus detected. The control section  30  also detects the magnitude of the force or moment received by the stick body  15 , on the basis of the output of the six-axis force sensor  10 . Then, the control section  30  generates an operation signal in accordance with the magnitude of the force or moment thus detected. This configuration allows the control section  30  to change the content of operation and the speed of the operation, the amount of the operation, and/or the like, in accordance with the magnitude of the force or moment received by the stick body  15  in addition to the direction of the force or moment. The object to be operated will be described later in detail. 
     The control section  30  includes a direction detecting section  31 , a power detecting section  32 , an operation signal generating section  33 , a display signal generating section  34 , and an input/output section  35 . The direction detecting section  31  detects the direction of the force received by the stick body  15 , on the basis of the output of the six-axis force sensor  10 , and outputs the direction thus detected, to the operation signal generating section  33 . The power detecting section  32  detects the magnitude of the force received by the stick body  15 , on the basis of the output of the six-axis force sensor  10 , and outputs the magnitude thus detected, to operation signal generating section  33 . 
     The operation signal generating section  33  generates the operation signal for the object to be operated, in accordance with the direction of the force obtained from the direction detecting section  31  and the magnitude of the force obtained from the power detecting section  32 . The operation signal is a signal for controlling the state of the in-vehicle equipment of the mobile body. This configuration makes it possible to control, with a small number of control sections, respective states of a large number of pieces of the in-vehicle equipment in, for example, a passenger vehicle. The operation signal generating section  33  outputs the operation signal thus generated, to the outside via the input/output section  35 . The operation signal generating section  33  also outputs the operation signal to the display signal generating section  34 . The display signal generating section  34  generates a display signal in accordance with the direction of the force which has been obtained from the operation signal generating section  33 . 
     The input/output section  35  receives the output of the six-axis force sensor  10 , and transmits this output of the six-axis force sensor  10 , to the direction detecting section  31  and the power detecting section  32 . Further, the input/output section  35  outputs the operation signal, which has been generated by the operation signal generating section  33 , and the display signal, which has been generated by the display signal generating section  34 . 
     Next, the following description will discuss directions of forces which are detected by the direction detecting section  31 .  FIG. 2  is a diagram showing a configuration of the operation section  20 , and respective directions of forces which are detected by the six-axis force sensor  10 . The directions of the forces which are detected by the six-axis force sensor  10  are determined by a configuration of the strain element  11 , and in the present Embodiment 1, such directions are directions as shown in  2001 . Specifically, the directions of the forces are an X direction (+ direction and − direction; the same applies to the following directions), a Y direction, and a Z direction, which correspond to three axes orthogonal to each other, and an Mx direction which is a direction of a moment about an X axis, an My direction which is a direction of a moment about a Y axis, and an Mz direction which is a direction of a moment about a Z axis. The magnitude of the force applied by the operator to the stick body  15  is detected for each of these directions by the six-axis force sensor  10 . 
     Meanwhile, respective directions of forces (excluding the moments) to be detected by the direction detecting section  31  are as follows. When viewed in an XY plane, as shown in  2002 , when a resultant force vector of the forces (excluding the moments) which are detected in the X direction and the Y direction by the six-axis force sensor  10  is in a region A, the direction detecting section  31  detects that the direction of the force is in a −Y direction. In this way, the direction detecting section  31  detects all directions within a predetermined range as a predetermined one direction. Accordingly, the direction detecting section  31  is also described to “determine” the direction. When the resultant force vector of the forces in the X direction and the force in the Y direction are in a region B, the direction detecting section  31  determines that the direction of the force is in the −X direction. When the resultant force vector of the forces in the X direction and in the Y direction are in a region C, the direction detecting section  31  determines that the direction of the force is in the +Y direction. When the resultant force vector of the forces in the X direction and in the Y direction are in a region D, the direction detecting section  31  determines that the direction of the force is in the +X direction. Note that each boundary between adjacent two of the regions A to D is at an angle of 45 degrees from each of the X axis and the Y axis. The same applies to each of the other boundaries. 
     Further, when viewed in an XZ plane, as shown in  2003 , when a resultant force vector of the forces which are detected in the X direction and the Z direction by the six-axis force sensor  10  is in a region E, the direction detecting section  31  determines that the direction of the force is in a −Z direction. When the resultant force vector of the forces in the X direction and in the Z direction are in the region B, the direction detecting section  31  determines that the direction of the force is in the −X direction. When the resultant force vector of the forces in the X direction and in the Z direction are in a region F, the direction detecting section  31  determines that the direction of the force is in a +Z direction. When the resultant force vector of the forces in the X direction and in the Z direction are in the region D, the direction detecting section  31  determines that the direction of the force is in the +X direction 
     Furthermore, when viewed in a YZ plane, as shown in  2004 , when a resultant force vector of the forces which are detected in the Y direction and the Z direction by the six-axis force sensor  10  is in the region E, the direction detecting section  31  detects that the direction of the force is in a −Z direction. When the resultant force vector of the forces in the Y direction and in the Z direction are in the region A, the direction detecting section  31  determines that the direction of the force is in the −Y direction. When the resultant force vector of the forces in the Y direction and in the Z direction are in the region F, the direction detecting section  31  determines that the direction of the force is in the +Z direction. When the resultant force vector of the forces in the Y direction and in the Z direction are in the region C, the direction detecting section  31  determines that the direction of the force is in the +Y direction. 
     The above has described cases where the direction of the resultant force vector is viewed in each of the above three planes. In practice, those six regions A to F are three-dimensionally defined. Therefore, the direction detecting section  31  can determine the direction of the force depending on which one of those three-dimensional regions A to F the resultant force vector of three dimensions belongs to. 
     It should be noted that in the present embodiment, the direction detecting section  31  detects the direction of only the force in the region A, the region B, the region C, the region, D, and the region F, and outputs the direction thus detected. Further, with regard to the moment, the direction detecting section  31  detects the direction of only the moment about the Z-axis (±Mz), and outputs the direction thus detected. 
     The power detecting section  32  detects the magnitude of the force in the direction of the force which the direction detecting section  31  detects. That is, the power detecting section  32  detects the magnitude (scalar) of the above-described three-dimensional resultant force vector of the force which has been applied by the operator to the stick body  15 . 
     It should be noted that, in the above-described detection method, in a case where the resultant force vector is significantly apart from both of an X-axis direction and a Y-axis direction, an erroneous operation is considered to have been made. Accordingly, in such a case, the direction detecting section  31  may determine that the direction is undetectable. Further, instead of the above-described detection method, the direction detecting section  31  may simply detect the direction of a largest component force vector from among the X-axis direction, the Y-axis direction and the Z-axis direction. Furthermore, the power detecting section  32  may detect the scalar of the component force vector in the X-axis direction, the Y-axis direction, or the Z-axis direction instead of the scalar of the resultant force vector. This is because the operator usually applies force in an axis direction which is intentionally determined, so that a large force is applied in that axis direction and a component force(s) in the other direction(s) is/are very small. 
     In addition, the power detecting section  32  may determine, as the magnitude of the force applied by the operator to the stick body  15 , the magnitude of the largest component force among component forces in respective axis directions instead of the magnitude of the three-dimensional resultant force vector described above. 
     The moment detectable by the operation section  20  of the present Embodiment 1 is only the moment ±Mz about the Z axis. This moment is generated by twisting the stick body  15  clockwise or counterclockwise. However, the operation section  20  may also be an operation section which can detect and use the moment about the X axis or Y axis. For example, the operation section  20  may be configured such that a handle is attached to a side surface of the strain element  11  of the six-axis force sensor  10 , and the moment about the X axis or Y axis can be applied by twisting the handle (not illustrated). 
     (Arrangement of Operation Sections) 
     Next, the following description will discuss an arrangement of operation sections  20  and objects to be operated, with reference to the drawings.  FIG. 3  is a diagram illustrating an arrangement of the operation sections  20 . In the present embodiment, as illustrated as  3001  in  FIG. 3 , two operation sections  20 A and  20 B are located on a steering wheel  40  of a vehicle. Such a configuration allows a driver of a passenger car or the like to operate in-vehicle equipment without taking his/her eyes away from the direction ahead of the vehicle. Specifically, the two operation sections  20 A and  20 B are provided on front sides of spoke portions  42  in right and left parts of the steering wheel  40 . Since the operation sections  20 A and  20 B are provided on the spoked portions  42  of the steering wheel  40 , there is an advantage that the driver does not need to take his/her eyes away from the direction ahead of the vehicle when the driver makes an operation on the operation section  20 A or  20 B. For both of the operation sections  20 A and  20 B, the left-right direction of a drawing sheet of  FIG. 3  is defined as ±X directions, and the top-bottom direction of a drawing sheet of  FIG. 3  is defined as ±Y directions. Although only the front side of the steering wheel  40  is illustrated in  FIG. 3 , two operation sections  20 C and  20 D are also provided on back sides of the spoke portions  42  in the right and left parts of the steering wheel  40 . Hereinafter, when the operation sections  20  are each individually referred to, each operation section  20  is referred to with a specific reference sign, for example, referred to as “operation section  20 A”, and when a plurality of operation sections  20 A,  20 B etc. are collectively referred to, the plurality of operation sections  20 A,  20 B etc. are referred to as “operation section  20 ”. 
     As shown as  3002  in  FIG. 3 , an operation section  20 E is arranged on a center console  50  on the left side of the driver&#39;s seat. The center console  50  is at a position which the driver can touch if the driver puts his/her left hand down. This has an advantage that the driver does not need to take his/her eyes away from the direction ahead of the vehicle when the driver makes an operation on the operation section  20 E. Further, there is also an advantage that a person who sits in the passenger seat can make an operation on the operation section  20 E. However, it is preferable that the operation to be made by the driver be not set as an operation to be made via the operation section  20 E. Note that the arrangement of the operation sections  20  is not limited to the above-described examples. For example, an operation section  20  may be attached on an inner side of the door on a driver&#39;s seat side. 
     (Objects to be Operated Via Operation Sections) 
     The objects to be operated via the operation sections  20 A to  20 D and the content of operations to the objects to be operated are set, for example, as follows. 
     
       
         
           
               
               
               
               
               
             
               
                 TABLE 1 
               
               
                   
               
               
                 Location 
                   
                   
                   
                   
               
               
                 ofoperatin 
                 Operatin 
                   
                 Object to be 
                 Content of 
               
               
                 section 
                 section 
                 Direction 
                 operated 
                 operation 
               
               
                   
               
             
            
               
                 Front 
                 20A 
                 +X 
                 Driver&#39;s seat 
                 Open 
               
               
                 side of 
                   
                 −X 
                 power window 
                 Close 
               
               
                 steering 
                   
                 +Y 
                 Driver&#39;s seat 
                 Bring up 
               
               
                 wheel 
                   
                 −Y 
                 backrest 
                 Bring down 
               
               
                   
                   
                 +Mz 
                 Engine 
                 Start 
               
               
                   
                   
                 −Mz 
                   
                 Stop 
               
               
                   
                 20B 
                 +X 
                 Audio music 
                 Forward 
               
               
                   
                   
                 −X 
                 selection 
                 Back 
               
               
                   
                   
                 +Y 
                 Audio volume 
                 Increase 
               
               
                   
                   
                 −Y 
                   
                 Decrease 
               
               
                   
                   
                 +Mz 
                 Wiper 
                 Wipe once 
               
               
                   
                   
                 −Mz 
                   
                 Wipe at low 
               
               
                   
                   
                   
                   
                 speed 
               
               
                 Back 
                 20C 
                 +X 
                 Height of driver&#39;s 
                 Move up 
               
               
                 side of 
                   
                 −X 
                 seat 
                 Move down 
               
               
                 steering 
                   
                 +Y 
                 Driver&#39;s seat 
                 Move forward 
               
               
                 wheel 
                   
                 −Y 
                   
                 Move 
               
               
                   
                   
                   
                   
                 backward 
               
               
                   
                   
                 +Mz 
                 Gasoline filling port 
                 Open 
               
               
                   
                   
                 −Mz 
                 Washer liquid 
                 Spray 
               
               
                   
                 20D 
                 +X 
                 Air volume of air 
                 Increase 
               
               
                   
                   
                 −X 
                 conditioner 
                 Decrease 
               
               
                   
                   
                 +Y 
                 Temperature of air 
                 Increase 
               
               
                   
                   
                 −Y 
                 conditioner 
                 Decrease 
               
               
                   
                   
                 +Mz 
                 Wiper 
                 Wipe at high 
               
               
                   
                   
                   
                   
                 speed 
               
               
                   
                   
                 −Mz 
                   
                 Stop 
               
               
                   
               
            
           
         
       
     
     Further, objects to be operated via the operation section  20 E and the content of operation to the objects to be operated are set, for example, as follows. 
     
       
         
           
               
               
               
               
             
               
                 TABLE 2 
               
               
                   
               
               
                 Operatin 
                   
                   
                 Content of 
               
               
                 section 
                 Direction 
                 Object to be operated 
                 operation 
               
               
                   
               
             
            
               
                 20E 
                 +X 
                 Passenger seat power window 
                 Open 
               
               
                   
                 −X 
                   
                 Close 
               
               
                   
                 +Y 
                 Right rear seat power window 
                 Open 
               
               
                   
                 −Y 
                   
                 Close 
               
               
                   
                 +Mz 
                 Left rear seat power window 
                 Open 
               
               
                   
                 −Mz 
                   
                 Close 
               
               
                   
               
            
           
         
       
     
     The objects to be operated and the content of operations which are shown in Tables 1 and 2 are merely examples, and the operation to be assigned to each direction of each of the operation sections  20  can be arbitrarily decided. Further, in cases of an operation in which the speed of operation or the amount of operation is adjustable, for example, the operation of opening/closing a power window or the operation of changing the air volume of an air conditioner, or the like operation, the speed or amount of such an operation can be changed by the magnitude of the force pushing the stick body  15 . That is, as the force pushing the stick body  15  is increased, the speed of opening/closing the power window or the amount of change in the air volume of the air conditioner can be increased. However, in cases of an operation of turning an engine on/off, an operation of opening a gasoline filling port, an operation of a wiper, and the like operations, the magnitude of the force pushing the stick body  15  does not affect the content of operation. 
     (Prevention of Erroneous Operation) 
     In making an operation with use of the operation section  20 , it is preferable that prevention of an erroneous operation be possible. In the present Embodiment 1, a plurality of steps of operation are to be made via the operation section  20 , so that an erroneous operation is prevented. Specifically, the operation signal generating section  33  generates an operation signal after the direction detecting section  31  detects the direction of the force or moment a plurality of times. This configuration makes it possible to prevent an erroneous operation. 
     For example, the operator releases his/her hand from the stick body  15  after pushing the stick body  15  in a direction assigned to an operation to be carried out. Then, the stick body  15  once returns to its original position. At this time point, the direction detecting section  31  detects the force applied in the direction. This step is the step of selecting the operation. Then, the operator pushes the stick body  15  in the Z-axis direction. That is, the stick body  15  is pushed downward. At this time point, the direction detecting section  31  detects the force that is applied downward. This step is the step of determining the content of operation. Next, the operator pushes the stick body  15  again in the direction assigned to the operation to be carried out. At this time point, the direction detecting section  31  detects the force applied in the direction. In this step, the operation signal generating section  33  generates the operation signal. That is, in this step, the operation is carried out. Since the operation is carried out as a result of applying the force to the stick body  15  a plurality of times as described above, the operation is not carried out in a case where the stick body  15  is erroneously pushed only one time. 
     Further, there may be a method for cancelling an operation. For example, it is possible to have a configuration in which when the stick body  15  is pushed in a certain direction and then pushed in another direction other than downward, an immediately preceding operation is cancelled. Alternatively, it is possible to have a configuration in which when no operation is made for a predetermined time after a first operation is made, the first operation is cancelled. Such a multi-step operation is not limited to the above-described method. Meanwhile, it is preferable that the operator can check what type of operation he/she has made. Furthermore, it is preferable that the operator be able to check which one of the step of selecting the operation (selection step), the step of determining the operation (determination step) and the step of carrying out the operation (execution step) the current step is. 
     (Display Signal) 
     Next, the following description will discuss the function of the display signal generating section  34 . The display signal generating section  34  generates a display signal for displaying the type of the operation signal which is generated by the operation signal generating section  33 . This configuration allows the operator to check the content of operation which has been made by the operator. For example, in a case where the operator first pushes the stick body  15  in a certain direction, the display signal generating section  34  generates a signal for displaying, on the operation display section  62 , the content of operation (for example, the words “Open right window”) corresponding to that certain direction. In this step, the content of operation has been selected. Next, when the operator depresses the stick body  15 , the display signal generating section  34  generates, for example, a signal for changing a color to be displayed. In this step, the content of operation has been determined. Next, the display signal generating section  34  then generates, for example, a signal for causing the display to flash in a case where the operator pushes the stick body  15  again in the direction in which the stick body  15  is first pushed. In this step, the operation is carried out. As described above, the operator can visually check which step the content of operation made by the operator is in. 
       FIG. 4  is a diagram illustrating a location of the operation display section  62  in accordance with Embodiment 1. As illustrated in  FIG. 4 , the operation display section  62  is located, for example, in an instrument panel  60  in front of the driver&#39;s seat.  FIG. 4  indicates a state in which the words “Open right window” are displayed in white as the content of operation, on the operation display section  62 . This means that in the current step, an operation to open the right window (driver&#39;s seat-side window) has been selected. That is, when the stick body  15  of the operation section  20 A is first pushed in the +X direction, the words are displayed in white (selection step). When the stick body  15  is then depressed, the words are displayed in red (determination step). When the stick body  15  is then pushed in the +X direction in which the stick body  15  is pushed first, the words flashes (execution step). This configuration allows the operator to visually check which step the content of operation made by the operator is in. Instead of generating a signal to be displayed on the operation display section  62 , the display signal generating section  34  may, for example, generate an audio signal and present an operation step to the operator with sound or voice. 
     According to the operation system  1  in accordance with Embodiment 1 described above, for example, it is possible to carry out, with use of only the operation section  20 A, six operations to three objects to be operated. This makes it possible to have a simpler configuration as compared to a conventional feature, and consequently to reduce the number of operation switches in the vehicle. Further, since the operation section  20  is located in a position which a driver&#39;s hand can easily reach, for example, on the steering wheel or the center console, the driver does not need to take his/her eyes away from the direction ahead of the vehicle while driving. 
     (Variation 1) 
     In Embodiment 1 described above, the operation signal generating section  33  generates an operation signal, on the basis of the direction and the magnitude of the force which the stick body  15  has received. However, the operation signal generating section  33  may generate an operation signal, on the basis of only the direction of the force which the stick body  15  has received. In this case, the operation signal generating section  33  generates only a signal for carrying out a predetermined operation, without including a signal indicative of a level of the speed of operation, the magnitude of the amount of operation, and the like. 
     (Variation 2) 
     In Embodiment 1 described above, the stick body  15  is fixed to the strain element  11  via the support part  16 , but the stick body  15  may be fixed directly to the strain element  11  by welding or the like. Since the strain element  11  deforms only to a small extent, the stick body  15  may have a certain degree of elasticity. This configuration allows the stick body  15  to deform in accordance with force received and also to transmit, to the strain element  11 , force corresponding to the force received. The operator can recognize the direction in which the stick body  15  is deformed and check the operation which he/she has made. 
     (Variation 3) 
     In Embodiment 1 described above, the stick body  15  is exemplified by a cylindrical body whose upper end portion has an increased diameter. However, the shape of the stick body  15 , in particular, the shape of the upper end portion, can be any shape as long as the shape allows the operator to easily make an operation. For example, the upper end portion of the stick body  15  may be a chamfered rectangle so that the operator can easily apply forces in four directions and forces about respective axes. 
     [Software Implementation Example] 
     Control blocks of the control section  30  (particularly, the direction detecting section  31 , the power detecting section  32 , the operation signal generating section  33  and the display signal generating section  34 ) can be realized by a logic circuit (hardware) provided in an integrated circuit (IC chip) or the like or can be alternatively realized by software. In the latter case, the functions of the control section  30  are each implemented by, for example, a computer which executes instructions of a program P that is software. 
       FIG. 5  illustrates an example of such a computer (hereinafter, referred to as “computer C”). The computer C includes at least one processor C 1  and at least one memory C 2 . The memory C 2  stores a program P for causing the computer C to operate as the control section  30 . In the computer C, the processor C 1  reads the program P from the memory C 2  and executes the program P, so that the functions of the control section  30  are implemented. 
     Examples of the processor C 1  encompass a central processing unit (CPU), a graphic processing unit (GPU), a digital signal processor (DSP), a micro processing unit (MPU), a floating point number processing unit (FPU), a physics processing unit (PU), a micro controller, and a combination thereof. Examples of the memory C 2  encompass a flash memory, a hard disk drive (HDD), a solid state drive (SSD), and a combination thereof. 
     Note that the computer C can further include a random access memory (RAM), in which the program P is loaded when the program P is to be executed and in which various kinds of data are temporarily stored. The computer C can further include a communication interface through which data can be transmitted to and received from another device. The computer C can further include an input/output interface through which an input device such as a keyboard and a mouse and/or an output device such as a display and a printer is/are connected to the computer C. 
     The program P can be stored in a non-transitory, tangible storage medium M capable of being read by the computer C. Examples of such a storage medium M encompass a tape, a disk, a card, a semiconductor memory, and a programmable logic circuit. The computer C can obtain the program P via the storage medium M. Alternatively, the program P can be transmitted via a transmission medium. Examples of such a transmission medium encompass a communication network and a broadcast wave. The computer C can also obtain the program P via the transmission medium. 
     [Supplementary Note] 
     The present invention is not limited to the embodiments, but can be altered by a skilled person in the art within the scope of the claims. The present invention also encompasses, in its technical scope, any embodiment derived by combining technical means disclosed in differing embodiments. For example, the embodiment described above employs a six-axis force sensor as the force sensor. However, the force sensor is not limited to the six-axis force sensor. For example, the force sensor can be a three-axis force sensor. Further, a combination of forces and/or moments to be detected can be arbitrarily decided. For example, the force sensor may be a three-axis force sensor which detects the force in the X-axis direction, the moment about the Y axis and the moment about the Z axis, or a three-axis force sensor which detects the moment about the X axis, the force in the Y-axis direction, and the force in the Z-axis direction. 
     REFERENCE SIGNS LIST 
     
         
         
           
               1  operation system 
               10  six-axis force sensor 
               11  strain element 
               12  base part 
               15  stick body 
               16  support part 
               20  operation section 
               30  control section 
               31  direction detecting section 
               32  power detecting section 
               33  operation signal generating section 
               34  display signal generating section 
               35  input/output section 
               50  center console 
               60  instrument panel 
               62  operation display section