Patent ID: 6943513

Claim:
A force-applying input device comprising: an operation unit operated by an operator; an encoder for detecting an operation state of the operation unit; a torque generating unit for applying a force to the operation unit; and a controller for controlling a driving operation of the torque generating unit in order to apply a predetermined force corresponding to the operation state of the operation unit to the operation unit, wherein the controller comprises a first rotational angular-speed calculating unit, a second rotational angular speed calculating unit, a rotational angular speed selecting unit, a rotational angle calculating unit, and a torque calculating unit, the first rotational angular speed calculating unit calculates rotational angular speed information of the operation unit based on a signal pulse output from the encoder, the second rotational angular speed calculating unit calculates rotational angular speed information of the operation unit based on rotational angular acceleration which the operation unit undergoes, the rotational angular speed selecting unit selects either the rotational angular speed information output from the first rotational angular speed calculating unit or the rotational angular speed information output from the second rotational angular speed calculating unit, the rotational angular speed information output from the second rotational angular speed calculating unit being selected and being output to the rotational angle calculating unit and the torque calculating unit when the rotational angular speed information output from the first rotational angular speed calculating unit is greater than a predetermined value, the rotational angle calculating unit calculates rotational angle information of the operation unit based on the rotational angular speed information output from the rotational angular speed selecting unit, and the torque calculating unit calculates information of torque to be applied to the torque generating unit, based on the rotational angular speed information output from the rotational angular speed selecting unit and the rotational angle information output from the rotational angle calculating unit.