JP2006024041A - Tension-driven grip type kinesthetic sense presenting device and input method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a kinesthetic sense presenting device capable of performing input operation on a desk, in a tension-driven kinesthetic sense presenting device. <P>SOLUTION: The tension-driven grip type kinesthetic sense presenting device 10 is provided with: an indication means for indicating a three-dimensional position; supporting points 1c of strings 6 which are arranged at least on seven positions on the contour of the indication means in order to support the indication means so as to freely move it in the three-dimensional directions and turn it around an optional axis; and a string tension control means for connecting the ends of strings 6 delivered from the supporting points 1c of the strings 6 to the supporting part 9 to respective measuring means, measuring the length of each string 6 from each supporting point up to each measuring means by the measuring means and controlling the tension of respective strings 6 on the basis of the measured values of the measuring means. The indication means is a grip 1 condensed into a grip type spherical shell 1a. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a grip-type force sense presentation device driven by thread tension.

Conventionally, when a human sensory organ touches an “object” in a virtual reality created in a computer, there is a so-called “force sense presentation device” that feeds back the tactile sensation. As one of the force sense presenting devices, there is a force sense presenting device by thread tension driving.
Compared to a serial mechanism that consists of a linear motion mechanism and a parallel mechanism that consists of a link mechanism, the force-sensing device using tension drive is simple in structure and light in weight, so that the operator's physical load is reduced. There is an advantage that it is economically advantageous because the movable range can be easily increased by taking a small yarn length and a large yarn length. In general, the material of the thread (kepler, fishing line, wire, etc.) is strong against pulling, so the use of these threads can reduce the weight of the mechanism and is convenient for force control with acceleration and deceleration. Is good.
The sense of force is a sensation that occurs when an object is touched, and is also called a tactile sensation, and is sensed by the skin touch points and various receptors.

  Conventionally, users such as CAD / CAM (computer aided design / computer aided manufacturing) have used “Magellan” of 3DCONNEXION, but it is difficult to operate because there is no force sense presentation function, that is, no response. (For example, refer nonpatent literature 1).

  FIG. 8 is a perspective view of a three-dimensional input device, which is a conventional force sense presentation device, and is a perspective view showing an arrangement of a frame, a grip, a thread, and a motor. As shown in FIG. 8, the conventional three-dimensional input device 11 is formed in a cubic lattice shape so that the frame 12 presents a uniform and stable force sensation in all directions, and is placed on each vertex of the frame 12. Eight motors (DC motors) 13a, 13b,... 13h are installed as a whole. Further, eight threads 14a, 14b,... 14h are wired at the apexes of the frames 12 and 12 to support one grip 15. The grip 15 is formed in a substantially spherical shape so that it can be gripped by the thumb and other fingers. The grip 15 has upper and lower right and upper and lower left half and upper and lower left half, respectively. Are connected to pulleys 16a, 16b,... 16h that rotate integrally with the motor shafts of the motors 13a, 13b,. It has been turned. The motors 13a, 13b,... 13h are provided with rotary encoders 17a, 17b,... 17h as part of the yarn length measuring means, and the number of pulses output from the rotary encoders 17a, 17b,. , 16h and the thread length from the support point of each thread 14a, 14b,... 14h to the connection point with the grip 15 are measured (for example, Patent Document 1). reference).

If the supporting point and the number of yarns are at least 7, it is possible to correspond to 6 degrees of freedom of a three-dimensional position (3 degrees of freedom) and posture (3 degrees of freedom). For this reason, a tactile sense corresponding to the instruction, that is, a force sense, is fed back to the operator (input person), and the operator can know the degree of operation as a change in force sense by this feedback.
If the support point and the number of yarns are 8, it is possible to correspond to 7 degrees of freedom of three-dimensional position (3 degrees of freedom), posture (3 degrees of freedom), and gripping (1 degree of freedom).
The yarn length measuring means measures the length of the yarn from each support point to the connection point with the indicating means (grip 15) in response to the instruction from the indicating means (grip 15). The tension of each yarn is controlled based on the measurement value of the length measuring means. For this reason, a tactile sense corresponding to the instruction, that is, a force sense is fed back to the input person.
In such a three-dimensional input device, when the support points are arranged in a cubic lattice or a rectangular lattice with the indicating means as the center, it is possible to realize a uniform and stable force sense in all directions.
Gerd Hirzinger: Intuitive Robot Motion Control-The SPACE MOUSE Story, Journal of the Robotics Society of Japan Vol17.No.2, pp.175-179,1999 JP 2000-093904 (paragraph numbers 0025 to 0030, FIG. 1)

  However, the size of the conventional three-dimensional input device is as large as 6 m (W) × 2 m (L) × 4 m (H), and even if it is small, the limit is 1 m (W) × 1 m (L) × 1 m (H). There is a new problem that the connected yarns easily interfere with each other, and there is a problem that it cannot be further reduced.

  Therefore, an object of the present invention is to provide a tension-sensing force sense presentation device that can be reduced to a palm size without interfering with a thread and can be placed on a table and operated with one hand, and an input method using the device. .

  According to the first aspect of the present invention, there is provided an instruction means for indicating a three-dimensional position, and an instruction for supporting the instruction means so as to be movable in a three-dimensional direction and rotatable about an arbitrary axis. The support points (1c) of the thread (6) disposed at least seven places on the contour of the means and the support points (1c) of the thread (6) are fed out toward the support part (9), and the thread ( The ends of 6) are respectively connected to the measuring means, the yarn length of each yarn (6) from each support point to each measuring means is measured by the measuring means, and the tension of each yarn is determined based on the measured value of the measuring means. A tension type drive grip-type force sense presentation device (10) having a thread tension control means for controlling the grip (1), wherein the indicating means is a grip (1) condensed in a grip-type spherical shell (1a). )

  According to the first aspect of the present invention, since the pointing means is the spherical shell (1a) of the grip-type grip (1), it can be grasped with one hand, so that the operability can be improved.

  The invention according to claim 2 is the tension-driven grip-type force sense presentation device (10) according to claim 1, wherein the lower base (2) and the support portion (5) on the lower base (2) are provided. ) And a middle base (7) supported on the middle base (7), and a support portion (9) is erected from the middle base (7) and supported on the middle base (7). The middle base (7), the support portion (9), and the upper base (8) are built in the spherical shell (1a), and an upper support point (1c) in the spherical shell (1a). Are connected to at least three yarns (6), each of which passes through the upper base (8), and passes through the lower base (2) provided below the middle base (7). The lower support in the spherical shell (1a) is wound around the pulley (4a) of each encoder-equipped motor (4) installed on the lower surface of (2) Four threads (6) are connected to (1c), each thread is inserted through the middle base (7), and each encoder-equipped motor (4) pulley installed on the upper surface of the lower base (2) It is wound around (4a).

  According to the invention of claim 2, since the lower base, the middle base, and the upper base are formed vertically, it can be placed next to a PC (Personal Computer) placed on a table, so that the apparatus is compact. Can be.

  The invention according to claim 3 is an input method using the grip-type force sense presentation device (10) by tension type drive according to claim 2, wherein the grip (1) is the grip-type force sense presentation device (10). ) Is input near the center, and when the grip (1) moves away from the center of the grip-type force sense presentation device (10), speed input is performed. It is characterized by combining.

  According to the third aspect of the invention, by performing the input method based on the combination of the position input and the speed input, switching between the speed input and the position input becomes easy to understand, and there is no sense of incongruity. In addition, when this input is used, there is no restriction on the range that can be moved, so that a wide area can be operated. In addition, the user feels less discomfort than speed input, and the movement is not complicated. Therefore, in work that does not require the accuracy of force sense presentation, each problem can be solved by combining this position input and speed input.

  According to the first aspect of the present invention, the conventional frame is replaced with a ball-shaped spherical shell (outline), and the pointing means is made compact by making it a spherical shell grip type. Thus, it is possible to provide a grip-type force sense presentation device using tension driving.

  According to the second aspect of the present invention, since the pointing means is made compact by making it a spherical shell grip type, it is possible to provide a grip type force sense presentation device by tension drive that can be placed on a table and operated by one hand. .

  According to the invention which concerns on Claim 3, the optimal input method which overcame the problem can be provided by performing the input method by the combination of a position input and a speed input.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a perspective view showing the entire grip-type force sense presentation device by tension driving according to the present invention.
As shown in FIG. 1, the grip 1 is an indicating means for indicating a three-dimensional position, and is formed by a spherical plastic shell 1a having a spherical meat. There is no conventional frame here, and the spherical shell 1a has the function of the conventional frame. It has an opening 1b in the lower part, and the size is almost the same as the vertical size of the mouse, about 10 cm in diameter, and about the size of a softball (9.7 cm). On the inner side of the grip 1, three yarns 6 are connected to the upper side of the upper base 8 at support points 1 c arranged every 120 degrees. The yarns 6, 6, 6 inserted through the upper base 8 of the support portion 9 built in the shell 1 a pass directly through the middle base 7 of the support portion 9, pass through the support portion 5, and pass through the insertion hole of the lower base 2. Is wound around a pulley 4a of a motor 4 with an encoder provided in

The lower base 2 has a size of 10 cm × 10 cm, is formed of an aluminum material having a thickness of about 10 mm, and is horizontally supported by tripods 2a, 2a, and 2a. Four motors 4 with encoders are also provided on the upper surface of the lower base 2 via L-shaped brackets 3. A pulley 4a is attached to each motor shaft tip of the motor 4 with an encoder, and each motor shaft tip prevents the deflection of the motor shaft tip due to the tension of each thread 6 from the L through a bearing. It is supported by a bracket 3a of the mold.
Four yarns 6 in total near the middle base 7 are tied to the support points 1c provided in the same circle every 90 degrees, and the yarns 6, 6, 6, 6 inserted through the middle base 7 are supported. It passes through the part 5 and is wound around a pulley 4a of a motor 4 with an encoder provided on the upper surface of the lower base 2.
The number of rotations of the pulley 4a is detected by integrating the number of pulses output by the encoder of the encoder-equipped motor 4 provided on the upper surface and the lower surface of the lower base 2, and the connection point is determined from each support point of the grip 1 (instruction means). The yarn length of each yarn is measured (measurement means).

FIG. 2 is a bottom view of the grip-type force sense presentation device of the present invention. As shown in FIG. 2, three motors 4 with encoders are disposed on the lower surface of the lower base 2 via brackets 3. Similarly to the above, in order to prevent the deflection of the tip of the motor shaft of the motor 4 with the encoder, it is supported by the L-shaped bracket 3a via a bearing.
The motor 4 with an encoder is, for example, a model 271107 manufactured by Maxon, and the motor is a motor model 220432 having a short length with respect to the diameter so as not to take a place. The encoder is a magnetic encoder model 201937, and the resolution for measuring a minute change in yarn length is 512 counts / rotation. If the pulley diameter is 7 mm, the amount of change L in yarn length per count is L = πd / p = (π × 7) /512=0.0429. That is, the change amount of the yarn length can be measured with an accuracy of 0.0429 mm per count.

As shown in FIG. 1, a support portion 5 composed of four pipe-shaped columns 5 a is erected from the central portion of the lower base 2, and the middle base 7 is supported thereon. Further, a support portion 9 composed of four pipe-shaped columns 9a is erected from the middle base 7, and the upper base 8 is supported thereon. The middle base 7 and the upper base 8 are surrounded by the spherical shell 1 a of the grip 1. Three yarns 6 are tied to the upper part of the grip 1, and four yarns 6 in total, two each, are tied to the inner central or lower facing part, for a total of seven yarns 6. Each thread 6 holds the grip 1 in a suspended state, passes through a support portion 9 in the grip 1, and is wound around a pulley 4 a of an encoder-equipped motor 4 installed under the grip 1. It has been turned.
In addition, an oil-free bush is used as a bearing at the insertion portion between the upper base 8 and the middle base 7 through which the yarn 6 is inserted, and the friction coefficient is kept low.

  FIG. 3 is a schematic diagram comparing the size of a conventional three-dimensional input device and the grip-type force sense presentation device of the present invention. As shown in FIG. 3, the conventional three-dimensional input device is formed in a cubic lattice shape by twelve frames 12. Thus, in the conventional three-dimensional input device, a wide space (space) is required, and the grip 15 is disposed at the center. A hand is put in this wide space and the grip 15 is gripped. However, as shown in the right figure of FIG. 3, the input part of the grip-type force sense presentation device of the present invention does not have a frame, and the frame is a ball-shaped spherical shell 1a. If a cube with a side of 1 m is a sphere that fits into a cube with a side of 10 cm, the size is reduced to at least 1/1000.

FIG. 4 is a configuration diagram showing the configuration of the entire system. As shown in FIG.
Computer) is connected to the SPIDAR amplifier via USB2.0. The current supplied to the motor by the SPIDAR amplifier is controlled, and the encoder information received by the SPIDAR amplifier is obtained. The SPIDAR amplifier is connected to the motor of the device, and receives the signal from the encoder by adjusting the motor current so that torque is generated as instructed by the PC.
The reason why the PC and the SPIDAR amplifier are connected by USB 2.0 is to perform control at a high frequency. Since the sense of force is a very sensitive sensation, the motor is frequently controlled so that the user does not feel uncomfortable. The device in this case may be updated at a frequency of 200 to 500 Hz.

  Here, a control method will be described. Even in the case where the presenting unit is arranged inside the grip 1 as in this device, it can be basically controlled in the same manner as SPIDAR. This device uses seven yarns, but the method is the same even if the number of yarns is increased. Here, m yarns are used.

  In the haptic calculation, a haptic presented from the grip 1 is set as a haptic vector f. Further, a vector τ whose component is the tension of each of the m yarns is set. The force vector f is a wire matrix in which unit tension vectors φ representing the direction of each thread are arranged,

のように表わすことができる。
なお、糸の単位張力ベクトルφは、グリップからフレームの方向を正とする。

It can be expressed as
The unit tension vector φ of the yarn is positive from the grip to the frame.

FIG. 5 is a schematic diagram showing the relationship between the grip, the frame, and the thread. As shown in FIG. 5, the device is using the yarn of the m, p _i represents the fixed position on the frame of the yarn. However, there is no conventional frame here. In addition, although the form of φ varies depending on the type of force to be presented, the following is performed in this device. When presenting the three degrees of freedom of the translational force, the component of the haptic vector f is the axial method component of the translational force.

とする。
また、並進・回転力の６自由度を提示する場合は、各力覚ベクトルf の成分は、並進力、回転力の軸方向成分となる。フレームの中心からｉ番目の糸の設置位置までのベクトルをｄ_iとして、

And
In addition, when presenting six degrees of freedom of translation / rotation force, the components of each force vector f are axial components of translation force and rotation force. Let d _{i be} the vector from the center of the frame to the installation position of the i-th thread.

とする。

And

In order to obtain the tension vector τ to be output from the haptic vector f to be presented, this problem is replaced with a quadratic optimization problem. That is, a quadratic objective function J is determined, and a tension vector τ that minimizes the objective function J is obtained. However, at least τ _min of tension must be applied to each yarn to maintain the yarn tension. In addition, since the maximum output of the motor is determined, only a _maximum tension of τ _max can be applied.
In this device, the objective function is as follows.

式（４）のτ_iは張力ベクトルの各成分、すなわち各糸の張力であり、τ_mini、τ_maxiは、各糸の最小張力、最大張力である。また、λ_sは正定数である。Jの第１項は、提示したい力覚ベクトルf と張力による力の大きさをできるだけ小さくする目的の項であり、第２項は、張力値の一意性・連続性を実現する目的の項である。

In the equation (4), τ _i is each component of the tension vector, that is, the tension of each yarn, and τ _mini and τ _maxi are the minimum tension and the maximum tension of each yarn. Also, λ _s is a positive constant. The first term of J is a term for the purpose of minimizing the force vector f and the force due to the tension to be presented, and the second term is a term for realizing the uniqueness and continuity of the tension value. is there.

  In the posture calculation, a desired posture vector is r, and a vector having a length of m yarns as a component is l (el). Considering the virtual work in minute time, the work that Grip 1 has achieved outside is equal to the work received from the outside,

の関係が成り立つ。糸の長さの増加方向と、張力ベクトルの増加方向が逆であるので、式（５）のように、両辺の符合は逆になる。
さて、式（１）より、f ＝Ｗτであるから、式（５）を変形すると、

The relationship holds. Since the direction in which the yarn length increases and the direction in which the tension vector increases are opposite, the signs on both sides are reversed as in equation (5).
Now, from equation (1), f = Wτ, so if equation (5) is transformed,

となる。実現する自由度よりも糸の本数は多くなるため、この連立方程式は冗長である。Ｗ^Tの擬似逆行列［Ｗ^T］⁺ を定義してΔγを求める。

It becomes. This simultaneous equation is redundant because the number of yarns is greater than the degree of freedom to be realized. Pseudo-inverse of W ^T [W ^{T] +} defines the Request [Delta] [gamma].

以上により、微少時間における姿勢の変化量を求めることができるので、デバイスの使用開始時に初期姿勢でキャリブレーションを行うことで、逐次姿勢を求めることができる。

As described above, since the amount of change in posture in a very short time can be obtained, the posture can be obtained sequentially by performing calibration in the initial posture at the start of use of the device.

Next, an input method using a grip-type force sense presentation device driven by tension will be described.
Normally, when an object in the virtual world is operated by a haptic device, the position input is performed so that the posture of the presentation unit of the haptic device is proportional to the posture of the object in the virtual world. When an object in the virtual world receives a force, a haptic device (not shown) presents a force proportional to the received force.
When using an existing haptic device, no major problem occurs in position input. However, since this device has a narrow range of motion, there is a problem when performing operations on a large virtual space when a position is input.
Therefore, the problem due to position input will be described.

The position (posture) input method is a method in which the posture of the presentation unit of the haptic device (not shown) is proportional to the posture of the object in the virtual world. Haptic presentation is performed by the haptic device presenting a force proportional to the force applied to the object in the virtual world. Since this position input method returns the force received by the object in the virtual world as it is, the force can be accurately presented. Therefore, it is suitable when accuracy such as psychological experiments is required.
However, this device with a narrow range of motion has the disadvantage that a wide area cannot be operated. Therefore, it is possible to widen the area to be operated by increasing the ratio value of the proportional relationship, but it becomes difficult to perform fine operations and the operability is significantly reduced. Further, since the amount of movement during one step becomes large, there is a problem that the accuracy of the physical simulator is lowered. This method is expressed as follows.

r_v：仮想世界内のオブジェクトの姿勢
r_d：デバイスの姿勢
ｆ_v：仮想世界内のオブジェクトが受ける力
ｆ_d：デバイスが提示する力
a,b：比例定数

r _v : the posture of the object in the virtual world
r _d : device attitude f _v : force received by an object in the virtual world f _d : force presented by the device
a, b: Proportional constant

The speed input which is another input method will be described. The speed input is a method in which the movement amount of the haptic device is proportional to the speed of the object in the virtual world. In haptic presentation, the haptic device presents a force proportional to the speed change of the object in the virtual world. When this method is performed with the present device, a force for returning the grip to the center may be further applied so as to improve the operational feeling.
This method is expressed as follows.

ｖ_v：仮想世界内のオブジェクトの速度
r_d：デバイスの姿勢
ｖ_v：仮想世界内のオブジェクトの速度変化
ｖ_d：デバイスが提示する力
c,d,e：比例定数

この速度入力方法は、仮想世界内のオブジェクトが移動できる範囲の制限がないため、広い領域を操作することが可能である。しかし、独特の操作感があるため、その感覚を有効に利用できるゲームなどには適しているが、一般的な作業においては慣れが必要であり、違和感を覚えるという問題がある。

v _v : speed of the object in the virtual world
r _d : attitude of the device v _v : speed change of the object in the virtual world v _d : force presented by the device
c, d, e: Proportional constant

Since this speed input method does not limit the range in which an object in the virtual world can move, it is possible to operate a wide area. However, since it has a unique feeling of operation, it is suitable for a game or the like that can effectively use the feeling, but there is a problem that familiarity is required in general work and a sense of incongruity is felt.

Therefore, an input method combining the position input and the speed input according to the present invention will be described as an input method that can complement and solve each problem. In a method combining position input and speed input, position input is performed when the grip moves near the center of the virtual input space, and speed input is performed when the grip moves away from the center of the movable range. The haptic presentation is performed in the same manner as described above. However, when speed input is performed, the force to return to the center of the grip should be larger (stronger). This corresponds to increasing the value of er _{d on} the right side of Equation (9).

FIG. 6 is a conceptual diagram illustrating a method in which position input and speed input are combined.
As shown in FIG. 6, the left and right areas are speed inputs, and the area between them is a position input. The concept of this input method is indicated by a thick line by taking movement in the x direction as an example. In this way, switching between speed input and position input is easy to understand, and there is no sense of incongruity.
When this input is used, there is no restriction on the range that can be moved, and thus a wide area can be operated. In addition, the user feels less discomfort than speed input, and the movement is not complicated. Therefore, in work that does not require the accuracy of force sense presentation, each problem can be solved by combining this position input and speed input.

Here, an embodiment in which accuracy is verified will be described. Since this device focuses on downsizing, the minimum required number of seven is required to achieve six degrees of freedom, so there is concern about the accuracy of posture calculation, so when the grip 1 is moved The accuracy of was verified.
Using this device, the posture calculated from the length of the yarn is compared with the posture measured from the outside by OPTOTROK as a measuring device. OPTOTROK is a device that tracks an infrared light emitting diode attached to a measurement object and measures three-dimensional coordinates in real time. An experiment for verification was performed by attaching an OPTOTROK marker to the device and moving the grip by hand. Measured when the grip is moved in a total of 6 degrees of freedom, combining the three translational axes along the x, y, and z axes and the rotational directions around the x, y, and z axes. did.

The translation direction moves the range from the center position of the grip 1 in the direction of ± 10 mm in each direction, and the rotation direction is each direction from the center position of the grip 1 for rotation about the x axis and the y axis. In the range of ± 25 °, the rotation about the z axis was moved in the range of ± 40 ° from the center position of the grip 1 in each direction.
As shown in FIG. 1, the coordinate system using the experiment has an x axis on the left and right, a y axis on the front and back, and a z axis on the top and bottom, as viewed from the front of the device.

FIG. 7 is a graph showing the measurement results. The upper, middle, and lower (a), (b), and (c) on the left side show the results measured in the translation direction with respect to the x-axis, y-axis, and z-axis. (D), (e), (f) in the upper, middle, and lower stages on the right side are graphs showing the results of measurement about the rotational directions around the x-axis, y-axis, and z-axis.
In each graph, the measured value by OPTOTROK is plotted on the horizontal axis, and the value calculated by this device is plotted on the vertical axis. As shown in FIGS. 7A, 7B, and 7C, when moving in the translational direction, an error of about 1 mm occurs when moving in the respective axial directions ± 10 mm. However, it can be seen that the value calculated by this device agrees with the value actually measured by OPTOTROK. It can also be seen that there is little error in the rotation direction, and the posture can be calculated with high accuracy. The cause of the minute error is the error that comes from the position accuracy of the hole through which the thread passes, and the center of the grip when the grip is centered at the start of use and the initial length is calibrated. This error is derived from the positional accuracy between the position and the true center position.
An error of about 1 mm in this device is not a problem at all from the viewpoint of the position of the human hand, and is within a range of accuracy sufficient for use as a human interface.

  The present invention can be variously modified and changed within the scope of the technical idea. For example, the processing accuracy of the upper base, middle base, and lower base may be further increased. Further, the yarn is a lightweight and difficult-to-extend yarn material such as aromatic polyamide fiber (trade name: Kevlar), Tegg's hanging yarn, wire and the like.

It is a perspective view showing the whole grip type force sense presentation device by tension drive of the present invention. It is a bottom view of the grip type force sense presentation device of the present invention. It is the schematic diagram which compared the magnitude | size of the conventional three-dimensional input device and a grip type force sense presentation apparatus. It is a block diagram which shows the structure of the whole system. It is a schematic diagram which shows the relationship between a grip, a frame, and a thread | yarn. It is an enlarged view of the conventional steady rest apparatus, (a) is sectional drawing which shows the state before a process, (b) is sectional drawing which shows the state at the time of completion | finish of a process. It is a graph which shows a measurement result, (a), (b), (c) on the upper left, middle, and lower left are the results of measurement in the x-axis, y-axis, and z-axis translation directions. , (D), (e), and (f) in the middle and lower stages are graphs showing the results of measurement with respect to the rotation directions of the x-axis, y-axis, and z-axis. It is a perspective view of the three-dimensional input device which is the conventional force sense presentation device.

Explanation of symbols

1 grip 1a spherical shell 1b opening 1c support point 2 lower base 2a tripod 3, 3a bracket 4 motor with encoder 4a pulley 5 support 5a support 6 thread 7 middle base 8 upper base 9 support 9a support 10 grip type force sense presentation apparatus

Claims (3)

Indicating means for indicating a three-dimensional position;
Support points for the yarn (6) disposed at least at seven locations in the contour of the indicating means in order to support the indicating means so as to be movable in a three-dimensional direction and rotatable about an arbitrary axis. (1c) and the yarn (6) from the support point (1c) to the support portion (9). The yarn (6) is connected to the measuring means at each end, and from each support point to each measuring means. A grip-type force sense by tension-type drive, comprising: a yarn tension control unit that measures the yarn length of each yarn (6) of the yarn (6) by the measuring unit and controls the tension of each yarn based on the measurement value of the measuring unit. A presentation device (10) comprising:
The grip type force sense presentation device (10) by tension type drive characterized in that the indication means is a grip (1) condensed in a grip type spherical shell (1a). Lower base (2),
A support part (5) is erected on the lower base (2), a middle base (7) supported on the lower base (2), and a support part (9) is erected from the middle base (7). An upper base (8) supported above,
The middle base (7), the support portion (9) and the upper base (8) are built in the spherical shell (1a),
At least three yarns (6) are connected to the upper support point (1c) in the spherical shell (1a), and each yarn passes through the upper base (8) and below the middle base (7). Is passed through the lower base (2) provided on the lower base (2), wound around the pulley (4a) of each encoder-equipped motor (4) installed on the lower surface of the lower base (2),
Four threads (6) are connected to the lower support point (1c) in the spherical shell (1a), and each thread passes through the middle base (7) and is installed on the upper surface of the lower base (2). The grip type force sense presentation device (10) by tension type drive according to claim 1, wherein the grip type force sense device (10) is wound around a pulley (4a) of each of the motors with encoders (4). When the grip (1) is moving near the center of the grip-type force sense presentation device (10), position input is performed, and the grip (1) is moved away from the center of the grip-type force sense presentation device (10). 3. The input method using the grip-type force sense presentation device (10) by tension type drive according to claim 2, wherein a speed input is performed and a position input and a speed input are combined.

Images