JP7148774B2 - Drilling sensation imparting device, joint structure, drilling sensation imparting method, drilling sensation imparting program, skill evaluation device, skill evaluation method, and skill evaluation program - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act 60th Automatic Control Joint Lecture, SuI1-4, Society of Instrument and Control Engineers, November 12, 2017 http://www. sice. or. jp/rengo60/

The present invention relates to an excavation sensation imparting device, a joint structure, an excavation sensation imparting method, an excavation sensation imparting program, a skill evaluation device, a skill evaluation method, and a skill evaluation program.

BACKGROUND ART In recent years, with the improvement of medical technology and the development of medical equipment, training simulators using haptic presentation devices and the like have been developed for the purpose of improving the skills of surgeons and acquiring special skills.

As such a haptic presentation device, for example, a device has been proposed that realizes an artificial reality with a sense of realism in response to a delicate contact action on a soft object such as the skin or an organ. The responsiveness is improved by reducing the weight of the manipulator that presents and the drive mechanism that transmits motion to the manipulator. However, increasing the responsiveness by reducing the weight of the operation end and drive mechanism may reduce the rigidity of the haptic device. Therefore, it is considered that the influence of the decrease in rigidity of the haptic device is small.

On the other hand, force sense presentation devices have also been proposed as training simulators for hard objects such as bones and teeth. For example, an image synthesizing means for synthesizing an image including each tissue of the surgical target portion from images of a plurality of modalities, and synthesizing the synthesized image into three. A three-dimensional image display means for dimensional display, a superimposed display means for superimposing and displaying the simulated surgical tool including its movement on the image, and a sound corresponding to the hardness of both when the simulated surgical tool comes into contact with the tissue in the superimposed display means. A surgical simulation system has been proposed that has an artificial reality creation means that generates a repulsive force on a simulated surgical tool (see, for example, Patent Document 1).
Also, a surgical navigation system for assisting a surgeon in performing surgery is described for bone resection simulation (see, for example, US Pat.

JP-A-5-123327 Japanese Patent Publication No. 2004-530485

However, the above-mentioned prior art documents do not disclose a haptic presentation technology that gives realistic artificial reality to hard objects such as bones and teeth. In addition, osteotomy and osteotomy for hard objects such as bones and teeth are operations that apply a strong impact force. In addition to high rigidity, high responsiveness in movement of the operating end is also required, but there has not yet been provided a haptic presentation device that has both high rigidity and high responsiveness and gives realistic artificial reality to hard objects. .
Furthermore, an operator who performs osteotomy and osteotomies on hard objects such as bones and teeth must have an appropriate excavation force that does not cause cracks, fractures, and perforations in bones and teeth due to excessive load on the bones and teeth, Nerves, blood vessels, and organs are often located nearby, so there is a need to acquire high-level skills to safely perform surgery without damaging them.

SUMMARY OF THE INVENTION An object of the present invention is to solve at least one of the above-described conventional problems and to achieve the following objects. That is, the present invention provides an excavation sensation imparting device, a joint structure, an excavation sensation imparting method, and an excavation sensation imparting program that imparts realistic artificial reality to a hard object with both high rigidity and high response performance. for the purpose.
Another object of the present invention is to provide a skill evaluation device, a skill evaluation method, and a skill evaluation program capable of properly evaluating the skill of an operator and safely and reliably acquiring expert skills.

An excavation feeling imparting apparatus of the present invention comprises an excavation operation means having an excavation operation section in which an operator performs a simulated excavation operation on an assumed excavation object, and an excavation operation section that responds to an excavation force applied to the excavation operation section. and excavation feeling imparting means for imparting an artificial excavation feeling to the operator through the excavation operation means.
According to the excavation sensation imparting device of the present invention, by having the excavation operation means and the excavation sensation imparting means, it is possible to impart realistic artificial reality to a hard object. It is suitable as a training simulator for cutting and excision of hard objects such as teeth.

The method for imparting an excavation feeling of the present invention includes an excavation operation step in which a simulated excavation operation for an assumed excavation object is performed on an excavation operation portion by an operator, and an excavation operation step in which an excavation operation portion is impressed in the excavation operation step. and a digging feeling imparting step of imparting an artificial digging feeling to the operator through the digging operation step according to the excavating force applied.
According to the excavation sensation imparting method of the present invention, by including the excavation operation step and the excavation sensation imparting step, it is possible to impart realistic artificial reality to a hard object. Training for cutting and resecting hard objects such as teeth can be suitably performed.

A program for imparting a feeling of excavation according to the present invention receives a simulated excavation operation for an assumed excavation target performed by an operator via excavation operation means having an excavation operation unit, and excavation is applied to the excavation operation unit. A computer is caused to execute a process of giving an artificial excavation feeling to the operator through the excavation operation means according to the force.
According to the excavation feeling imparting program of the present invention, it is possible to impart realistic artificial reality to hard objects, and it is suitable for training in cutting and excision of hard objects such as bones and teeth in oral surgery and orthopedic surgery. can be done.

The joint structure of the present invention includes a ball retainer, a rotation guide member for guiding rotation of the ball retainer while pressing the ball retainer, a connecting portion connected to the ball retainer, and the rotation guide member. a rod-like member having a shaft support portion that is pivotally supported so as to allow the ball retainer to rotate in a direction perpendicular to the direction of rotation of the ball retainer guided by the ball retainer.
A joint structure of the present invention has a ball retainer, a rotation guide member, and a rod-shaped member. The ball retainer has a structure in which a plurality of rotatable balls are arranged on its surface, and the ball retainer is supported by point contact between the plurality of balls on its surface and the rotation guide member. As a result, the ball retainer and the rotation guide member are brought into close contact with each other to reduce backlash, thereby enabling smooth rotation of the three axes and reliably preventing backlash.

The skill evaluation apparatus of the present invention comprises an excavation operation means having an excavation operation unit in which an operator performs a simulated excavation operation on an assumed excavation object; Excavation feeling imparting means for imparting an artificial excavation feeling to the operator through the excavation operation means, and a reference pre-stored at least one of the magnitude and application direction of the excavation force for the assumed operator. an evaluation unit for evaluating the operator's skill compared to the data.
According to the skill evaluation device of the present invention, by having the excavation operation means, the excavation feeling imparting means, and the evaluation means, the operator's skill can be properly evaluated, and the operator can learn the skill safely and reliably. skills can be passed on.

The skill evaluation method of the present invention includes an excavation operation step in which an operator performs a simulated excavation operation on an assumed excavation target on an excavated operation unit, and an excavation force applied to the excavated operation unit. and at least one of a digging feeling imparting step of imparting an artificial digging feeling to the operator via the digging operation means, and the magnitude and application direction of the digging force for the assumed operator are stored in advance. an evaluation step of evaluating the operator's skill compared to reference data.
According to the skill evaluation method of the present invention, by including the excavation operation process, the excavation feeling imparting process, and the evaluation process, the operator's skill can be properly evaluated, and the skill can be learned safely and reliably. skills can be passed on.

The skill evaluation program of the present invention receives a simulated excavation operation for an assumed excavation target performed by an operator via an excavation operation means having an excavation operation unit, According to the applied excavation force, an artificial excavation feeling is given to the operator via the excavation operation means, and at least one of the magnitude and application direction of the excavation force for the assumed operator is stored in advance. A computer is caused to perform a process of evaluating the operator's skill in comparison with the reference data that is running.
According to the skill evaluation program of the present invention, the skill of the operator can be properly evaluated, and the skill can be learned safely and reliably, so that highly skilled skills can be handed down.

According to the present invention, it is possible to provide an excavation sensation imparting device, a joint structure, an excavation sensation imparting method, and an excavation sensation imparting program capable of imparting realistic artificial reality to a hard object.
Moreover, according to the present invention, it is possible to provide a skill evaluation device, a skill evaluation method, and a skill evaluation program that can properly evaluate the skill of an operator and enable the skill to be learned safely and reliably.

FIG. 1 is a schematic perspective view showing an example of the excavation sensation imparting device of the present invention. FIG. 2 is a partially enlarged perspective view showing an example of the joint structure of the excavating feeling imparting device of the present invention. FIG. 3 is a partially enlarged exploded perspective view showing an example of the joint structure of the excavating feeling imparting device of the present invention. FIG. 4 is a schematic diagram showing an example of a ball retainer used in the joint structure of the excavating feeling imparting device of the present invention. FIG. 5 is a block diagram including an example of the hardware configuration of a computer in the excavation sensation imparting device. FIG. 6 is a block diagram showing an example of a functional configuration of a computer in the excavation sensation imparting device. FIG. 7 is a block diagram showing an example of admittance control. FIG. 8 is a block diagram showing a detailed example of admittance control performed by a control unit in the excavation feeling imparting device. FIG. 9 is a graph showing experimental results when an excavating force is applied to the excavating operating portion with a hammer. FIG. 10 is a graph showing experimental results when an excavating force is applied to the excavating operation portion with a hammer only by feedback (FB) control. FIG. 11 is a schematic perspective view showing an example of the skill evaluation device of the present invention.

(Drilling sensation imparting device, drilling sensation imparting method, and drilling sensation imparting program)
The excavation sensation imparting device of the present invention has excavation operation means and excavation sensation imparting means, preferably virtual space display means and support means, and further comprises other means as necessary.
The excavation feeling imparting method of the present invention includes an excavation operation step and an excavation sensation imparting step, preferably includes a virtual space display step and a supporting step, and further includes other steps as necessary.
A program for imparting a feeling of excavation according to the present invention receives a simulated excavation operation for an assumed excavation target performed by an operator via excavation operation means having an excavation operation unit, and excavation is applied to the excavation operation unit. The computer is caused to execute a process of giving an artificial excavation feeling to the operator via the excavation operation means in accordance with the force.

The control performed by the excavation operation means, the excavation sensation imparting means, etc. in the "excavation sensation imparting device" of the present invention is synonymous with carrying out the "excavation sensation imparting method" of the present invention. The details of the "excavation feeling imparting method" of the present invention will also be clarified through the explanation of the "apparatus". Further, since the "excavation feeling imparting program" of the present invention is realized as the "excavation feeling imparting device" of the present invention by using a computer or the like as hardware resources, the "excavating sensation imparting device" of the present invention can be realized. The details of the "excavation feeling imparting program" of the present invention will also be clarified through the explanation.
The excavation feeling imparting method of the present invention can be preferably carried out by the excavation sensation imparting device of the present invention, the excavation operation step can be carried out by the excavation operation means, and the excavation sensation imparting step can be carried out by the excavation sensation imparting means. The virtual space display step can be performed by the virtual space display means, the support step can be performed by the support means, and the other steps can be performed by other means.

<Excavation operation step and excavation operation means>
The excavation operation process is a process in which a simulated excavation operation for an assumed excavation target is performed by the operator on the excavated operation unit, and is performed by the excavation operation means.

<<Drilling target>>
Hereinafter, an object assumed as an object for a simulated excavation operation in the present invention will be referred to as an "excavation object". That is, in the following description, "applying an excavation force to an excavation target" means an operation of applying a simulated excavation force to an assumed excavation target.
The object to be excavated is not particularly limited as long as it is an object that can be excavated, and can be appropriately selected according to the purpose.
Excavation means digging or scraping an object to be excavated by applying a strong force to the object to be excavated, and includes adjusting the object to be excavated into a desired shape by hitting, pressing a rotating body, or the like.
Excavation targets include, for example, bones, teeth, stones, metals, wood, plastics, ceramics, gems, and the like.
Bones include, for example, the skull, facial bones, vertebrae, sternum, ribs, scapula, clavicle, humerus, forearm, carpal, metacarpal, phalanges, pelvis, femur, patella, lower leg, and tarsus. Examples include bones, metatarsal bones, and toe bones.
Teeth include, for example, deciduous teeth (deciduous central incisors, deciduous lateral incisors, deciduous canines, first deciduous molars, second deciduous molars), permanent teeth (incisors, canines, premolars, molars) and the like.
Stones include, for example, marble, granite, granite, sandstone, limestone, andesite, tuff, and slate.
Examples of metals include iron, aluminum, copper, gold, silver, magnesium, nickel, stainless steel, titanium, and zinc.
Examples of wood include cypress, cypress, cypress, cedar, Japanese cedar, larch, red pine, Ezo spruce, chestnut, zelkova, Japanese sawara, Japanese maki, oak, cherry, fir, hemlock, and hemlock.
Examples of plastics include vinyl chloride, polyvinylidene chloride, polyvinyl alcohol, polystyrene, styrene/acrylonitrile copolymer, styrene/butadiene/acrylonitrile copolymer, polyethylene, ethylene/vinyl acetate copolymer, polypropylene, polyacetal, acrylic, polymethyl methacrylate, modified acrylic, polycarbonate polyamide, polyurethane, polybutylene terephthalate, polysulfone, polyphenylene sulfide, polyetheretherketone, polyimide, polyetherimide and the like.
Examples of ceramics include alumina, zirconia, silicon nitride, aluminum nitride, silicon carbide, barium titanate, hydroxyapatite, ferrite, aluminum oxide, and zinc oxide.
Gems include, for example, emeralds, opals, crystals, diamonds, turquoises, pearls, and the like.

<<operator>>
An operator is a person who performs a simulated excavation operation on an excavation target, and is, for example, a medical or dental student, a doctor, a dentist, a dental technician, a carpenter, a wood worker, a mason, or a sculptor. , metal workers, lathe workers, mold workers, and jewelers.

<<Excavating Operation Part>>
The excavation operation part is a part where the operator performs a simulated excavation operation on the excavation object, and is, for example, a hit part, a rotated or a rotating part, and the like. In addition, the size, shape, structure, etc. can be appropriately selected and exchanged according to the excavation target.

-Striking part-
The hit portion is a portion to which an excavation force is applied by being hit by the hitting means, and corresponds to a hitting surface or the like.
Striking means hitting the object to be excavated hard, that is, the surface of the object to be excavated hits hard against the striking means. be
The impact force means the force with which the object to be excavated is impacted.

The size, shape, and structure of the hit portion are not particularly limited, and can be appropriately selected according to the size, shape, and structure of the object to be excavated.
The material of the impacted portion is not particularly limited as long as the object to be excavated can be excavated, and can be appropriately selected according to the purpose. Examples thereof include metals and resins.
Examples of metals include aluminum, iron, copper, stainless steel, chromium-nickel alloys, titanium alloys, and the like.
Examples of resins include polyethylene, polycarbonate, acrylonitrile-butadiene-styrene (ABS) copolymer, fiber reinforced plastic (FRP), and Teflon (registered trademark).

Specific examples of the hit part include the hitting surfaces of chisels, bone chisels, scalpels, cutters, nails, needles, and the like.
Examples of striking means include hammers, bone mallets, hammers, axes, human fists, and the like.

- Rotating or Rotating Part -
The rotated or rotated portion is a portion to which pressing force and rotating force or rotating force are applied as excavation force by being rotated or rotated while being pressed.
Rotating or rotating while being pressed means pushing the rotating body into the excavation object while rotating or rotating.

The size, shape, structure, and material of the to-be-rotated or rotating portion are not particularly limited and can be appropriately selected according to the purpose.
The size, shape, and structure of the to-be-rotated or rotating portion are not particularly limited, and can be appropriately selected according to the size, shape, and structure of the object to be excavated.
The material of the rotated or rotating part is not particularly limited as long as the object to be excavated can be excavated, and can be appropriately selected according to the purpose. Examples thereof include metals and resins.
Examples of metals include aluminum, iron, copper, stainless steel, chromium-nickel alloys, titanium alloys, and the like.
Examples of resins include polyethylene, polycarbonate, acrylonitrile-butadiene-styrene (ABS) copolymer, fiber reinforced plastic (FRP), and Teflon (registered trademark).

Examples of the rotated or rotating part include manual or electric drills, drills, screws, bolts, milling cutters, tools, files, and the like.

<Excavation feeling imparting step and excavation sensation imparting means>
The excavation feeling imparting step is a step of imparting an artificial excavation feeling to the operator through the excavation operation step according to the excavation force applied to the excavated operation part in the excavation operation step. implemented by means.
The “artificial excavation feeling” means a dynamic virtual reality (VR), which does not actually excavate the object to be excavated, but gives a sense of realism close to excavation.

The excavation feeling imparting means has a ball retainer, a rotation guide member, and a rod-shaped member, preferably has a detection section and a control section, and further has other members as necessary.
Hereinafter, the ball retainer, the rotation guide member, the rod-shaped member, and other members are collectively referred to as a joint structure.
By having the joint structure, the excavation feeling imparting means can reduce backlash, enable smooth three-axis rotation, and have high rigidity to withstand impact force. Since there is no wobble, it is possible to give realistic artificial reality to hard objects.

－Ball retainer－
The ball retainer is connected to the excavated operating portion of the excavating operation means.
A connection method between the ball retainer and the operation portion to be excavated is not particularly limited, and can be appropriately selected according to the operation portion to be excavated.
The ball retainer has a structure in which a plurality of rotatable balls are arranged on its surface, and the ball retainer is supported by point contact between the plurality of balls on its surface and the rotation guide member. As a result, the ball retainer and the rotation guide member are in close contact with each other to reduce backlash, thereby enabling smooth three-axis rotation operation without backlash and having high rigidity to withstand impact force. .
In addition, by adopting the ball retainer, for example, even though the ball retainer is sandwiched between the pair of semi-circular support plates, the rotation resistance in the Z-axis rotation direction can be reduced.
The ball retainer is not particularly limited, can be appropriately selected according to the purpose, and a commercially available product can be used. Commercially available products include, for example, a ball retainer manufactured by Misumi Corporation (model number: EMBS8-25).

-Rotating guide member-
The rotation guide member presses the ball retainer, makes point or line contact with the ball retainer, and guides the rotation of the ball retainer.
The rotation guide member has a pair of members having surfaces that press the ball retainer, and a biasing member that biases the pair of members so that the pair of members press the ball retainer. A semicircular support plate and the like are included.
The size, shape, structure, and material of the rotary guide member can be appropriately selected according to the size, shape, and structure of the object to be excavated.
The material of the rotation guide member is not particularly limited and can be appropriately selected according to the purpose. Examples thereof include metals and resins.
Examples of metals include aluminum, iron, copper, stainless steel, chromium-nickel alloys, titanium alloys, and the like.
Examples of resins include polyethylene, polycarbonate, acrylonitrile-butadiene-styrene (ABS) copolymer, fiber reinforced plastic (FRP), and Teflon (registered trademark).

-biasing member-
Examples of the biasing member include elastic bodies such as springs, rubbers, and elastomers.
Specific examples of the biasing member include a combination of a bolt, a flat washer, and a spring. If the rotation guide member is made of an elastic material, the deflection of the rotation guide member can also serve as an urging member.

-Bar-shaped member-
The rod-shaped member has one end connected to the ball retainer, and the other end supports the rod-shaped member so as to be rotatable in a direction perpendicular to the rotation direction of the ball retainer guided by the rotation guide member. It has a pivot. Examples of the shaft support include a Z-direction support shaft. Also, the connection part and the pivotal part may not be located at the ends of the rod-like member, and may be present in the intermediate part.
The size, structure, and material of the rod-shaped member are not particularly limited, and can be appropriately selected according to the purpose.
The material of the rod-shaped member is not particularly limited and can be appropriately selected according to the purpose. Examples thereof include metals and resins.
Examples of metals include aluminum, iron, copper, stainless steel, chromium-nickel alloys, titanium alloys, and the like.
Examples of resins include polyethylene, polycarbonate, acrylonitrile-butadiene-styrene (ABS) copolymer, fiber reinforced plastic (FRP), and Teflon (registered trademark).

The joint structure has a drive mechanism, and is capable of turning or rotating in three directions of X-axis, Y-axis, and Z-axis.
The X-direction support shaft rotates or rotates the joint structure in the X-axis direction by the operation of the drive mechanism connected thereto.
The Y-direction support shaft rotates or rotates the joint structure in the Y-axis direction by the operation of the drive mechanism connected thereto.
The Z-direction support shaft rotates or rotates the joint structure in the Z-axis direction by the operation of the drive mechanism connected thereto.
Examples of the drive mechanism include servo motors and stepping motors. Further, the rotation or rotational movement can be adjusted by combining the driving mechanism with the decelerator or the brake.
A rotary encoder is provided in each servomotor in the joint structure, and the rotation angle and angular velocity of the joint structure can be measured by the rotary encoder.
The measured rotation angle and angular velocity of the joint structure are transmitted to the control unit.

<<Support Means>>
The above-described joint structure allows the excavation operation means to rotate or rotate in three rotation directions of the X-axis direction, the Y-axis direction, and the Z-axis direction. In addition, the support means movably supports the excavation operation means in each of the X direction, the Y direction orthogonal to the X direction, and the Z direction orthogonal to the installation surface within the installation surface of the excavation feeling imparting device. do.
The support means is not particularly limited and can be appropriately selected according to the purpose. Arranged X-axis linear guides, Y-axis linear guides, and Z-axis linear guides are suitable.
The X-axis linear guide moves the joint structure in the excavation operation means to the left and right by the operation of the drive mechanism provided at the end.
The Y-axis linear guide moves the joint structure back and forth in the excavation operation means by the operation of a drive mechanism provided at its end.
The Z-axis linear guide vertically moves the joint structure in the excavation operation means by the operation of the drive mechanism provided at the end.
There are no particular restrictions on the size, shape, structure, material, etc. of the linear guide, as long as it has the high rigidity necessary to give a realistic artificial reality to hard objects, and can be selected appropriately according to the purpose. can do.
As the X-, Y-, and Z-axis linear guides, commercially available products can be used, and examples of commercially available products include LM Guide Actuator (manufactured by THK Corporation, model number: SKR46).
Examples of the drive mechanism include servo motors and stepping motors. Further, the rotation or rotational movement can be adjusted by combining the driving mechanism with the decelerator or the brake.
A rotary encoder is provided in each servomotor in the support means, and the rotary encoder can measure the movement position and movement distance of each axis of the linear guide.
The measured movement position and movement distance of each axis of the linear guide are transmitted to the control unit.

-Detection unit-
The detection unit detects the magnitude and application direction of the excavation force applied to the excavated operation unit.
A six-axis force sensor is preferably used to detect the magnitude of the excavating force applied to the excavating operation part.
The 6-axis force sensor is provided, for example, between the support arm and the base of the joint structure mounted on the Z-axis linear guide so as to be able to move up and down via the support arm. Detects the magnitude of the excavation force applied.
A six-axis force sensor is a sensor that indicates the magnitude and direction of force and torque (moment) by three-dimensional space vectors. In this sensor, Fx, Fy, and Fz indicate force components in each axial direction, and Tx, Ty, and Tz indicate torque components acting around each axis.
As the 6-axis force sensor, a commercially available product can be used, such as a 6-axis force sensor (model number: 080YA501) manufactured by Leptrino Co., Ltd., for example.

In the detecting section, the application direction of the excavating force applied to the excavating operation section was measured by a rotary encoder in a servo motor connected to the X-, Y-, and Z-direction support shafts of the joint structure. It may be obtained from the rotation angle, angular velocity, and the movement position of each axis of the linear guide measured by the rotary encoder in the servo motor provided in the X-axis, Y-axis, and Z-axis linear guides that are the support means. do not have.

- Control part -
According to the magnitude and application direction of the excavation force detected by the detection unit, the control unit moves the excavated operation unit from a position before application of the excavation force to a predetermined position at a predetermined speed when the excavation force is applied. controls the excavated operation part to move, rotate, or rotate at least one of them.
Here, the predetermined position means the position of the excavating operation part according to the applied excavating force. The predetermined position is preferably, for example, a position in a virtual state calculated according to the excavation force in the virtual model.
A virtual model is a mathematical model that represents an excavation target using parameters that indicate mechanical properties such as mass, spring constant, viscosity coefficient, or natural angular frequency. By setting parameters indicating mechanical properties, it is possible to assume, for example, metals, woods, bones, teeth, stones, plastics, ceramics, etc., as objects to be excavated. A virtual state such as position, speed, angle, angular velocity, etc. in the virtual model after the excavation force is applied is calculated from the parameters indicating the mechanical properties preset as the virtual model and the magnitude and application direction of the detected excavation force. can be calculated.
The predetermined speed means at least one of a moving speed, a rotating speed, and a rotating speed of the excavating operation part according to the applied excavating force. The predetermined speed is preferably, for example, a speed in a virtual state calculated according to the magnitude and application direction of the excavation force detected in the virtual model.

Control by the controller is preferably performed by a combination of feedback control and feedforward control. As a result, the control unit can drive the operation part to be excavated so as to quickly give an excavating feeling corresponding to the excavating force by the feedforward control, thereby achieving high responsiveness, and by the feedback control, the excavating force can be controlled according to the excavating force. It is possible to drive so as to accurately give the feeling of excavation to the operation part to be excavated.

The control unit moves the excavation operation unit at a speed higher than a predetermined speed until the accumulated excavation force applied to the excavation object by the excavation operation means once or multiple times exceeds a set value, Rotation and rotation are preferred. The magnitude of the excavation force means the impulse of the detected excavation force. The control unit reduces the predetermined speed of the object to be excavated immediately after the application of the excavating force (including the predetermined speed of zero) until the accumulated magnitude of the excavating force exceeds the set value, thereby making the object to be excavated hard. can be obtained by the operator. Further, when the accumulated excavation force magnitude exceeds the set value, the control unit moves the excavated operation unit at a speed higher than the predetermined speed so that the excavation object is scraped or penetrated. It is possible to make the operator feel that the chisel or the like is coming out. In order to move the excavated operation part at a speed higher than the predetermined speed, it is preferable that the control part switches the parameters indicating the mechanical properties set in the virtual model. When the control unit determines that the accumulated excavating force magnitude does not exceed the set value, the control unit keeps the parameter indicating the mechanical properties set in advance. Then, when it is determined that the accumulated excavating force has exceeded the set value, the control unit switches the parameters indicating the mechanical properties to parameters in which the mass and the natural angular frequency are substantially zero. Since the operator can move the operation part to be excavated almost freely, it is possible for the operator to feel that the excavated object is scraped or pierced and the chisel or the like is pulled out.

Various processes performed by the control unit are executed by a computer having the control unit.
The computer is not particularly limited as long as it is equipped with devices such as storage, calculation, and control, and can be appropriately selected according to the purpose. Examples thereof include personal computers.

<<Virtual Space Display Means>>
The virtual space display means displays at least the excavation target in the virtual space. Further, the virtual space display means may display the excavated operation part in front of the excavated object. By providing the virtual space display means, visual virtual reality (VR) can be realized, and the realism of the excavation feeling provided by the excavation feeling imparting device can be further enhanced.
Examples of virtual space display means include monitors, projectors, VR goggles, and head-mounted displays.

<Other steps and other means>
Other steps are not particularly limited and can be appropriately selected depending on the purpose. Examples thereof include a recording step and a display step.
Other means are not particularly limited and can be appropriately selected according to the purpose. Examples thereof include recording means and display means.

(joint structure)
The joint structure of the present invention has a ball retainer, a rotation guide member, a rod-shaped member, and further has other members as necessary.
The rotation guide member has a pair of members having surfaces that press the ball retainer, and a biasing member that biases the pair of members so that the pair of members press the ball retainer.
The ball retainer, the rotation guide member, the rod-shaped member, and the biasing member in the joint structure are all the same as those in the joint structure of the excavation feeling imparting device of the present invention.

The joint structure of the present invention uses a ball retainer, which is normally used for sliding a shaft such as a slide rail, for turning or rotating.
In the joint structure, the ball retainer is supported by point contact between a plurality of balls on the surface of the ball retainer and a pair of semicircular support plates as rotation guide members.
The projecting width of the convex member arranged between the pair of semicircular support plates is configured to be smaller than the outer diameter of the ball retainer. The ball retainer is fixed in a state of being sandwiched by a biasing member from the outside of the pair of semicircular support plates. Even if the ball retainer is pressed from the outside by the pair of semi-circular support plates due to the pressing force of the urging member, the convex member disposed between the pair of semi-circular support plates can secure a clearance for the ball retainer to slide. Since the ball retainer is in point contact with the semicircular support plate by means of a plurality of balls on its surface, the operating end connected to the ball retainer can be smoothly moved, and rattling can be reliably prevented.

The joint structure has the above characteristics and is suitably used as the joint structure of the device for imparting a feeling of excavation according to the present invention. Examples include control rods, various control levers, computer input devices, and joysticks as game controllers.

(Skill evaluation device, skill evaluation method, and skill evaluation program)
The skill evaluation device of the present invention has excavation operation means, excavation feeling imparting means, and evaluation means, and further has other means as necessary.
The excavation feeling imparting method of the present invention includes an excavation operation step, an excavation sensation imparting step, an evaluation step, and further includes other steps as necessary.
The skill evaluation program of the present invention receives a simulated excavation operation for an assumed excavation object performed by an operator via an excavation operation means having an excavation operation unit, and adjusts the excavation force applied to the excavation operation unit. giving an artificial excavation feeling to the operator through the excavation operation means,
A computer is caused to execute a process of evaluating the operator's skill by comparing at least one of the magnitude and application direction of the excavation force of the assumed operator with pre-stored reference data.

The control performed by the excavation operation means, the excavation feeling imparting means, the evaluation means, etc. in the "skill evaluation apparatus" of the present invention is synonymous with implementing the "skill evaluation method" of the present invention. The details of the "skill evaluation method" of the present invention will also be clarified through the explanation of the "apparatus". In addition, since the "skill evaluation program" of the present invention is realized as the "skill evaluation device" of the present invention by using a computer or the like as a hardware resource, the present invention will be explained through the explanation of the "skill evaluation device" of the present invention. The details of the "skill evaluation program" of the invention will also be clarified.
The skill evaluation method of the present invention can be suitably implemented by the skill evaluation device of the present invention, the excavation operation step can be performed by the excavation operation means, and the excavation feeling imparting step can be performed by the excavation sensation imparting means. , the evaluation step can be performed by evaluation means, and the other steps can be performed by other means.

By the way, skilled skills have been handed down through the process of ``learning with the body through repeated training'', ``learning by watching the methods of predecessors'', and ``obtaining subtle sensations through repeated failures''. It is a difficult and delicate item that even the skilled technician himself cannot accurately grasp what should be taught, such as so-called "points that are difficult to explain" or "skills to respond appropriately to changes". There are many.
In addition, the value of skilled technicians, who are called ``masters'' or ``craftsmen,'' is not in routine work that has been decided in advance, but in responding to new or unexpected situations. Therefore, it is not possible to evaluate the presence of skilled skills in the true sense simply by extracting operation patterns for predetermined routine work in association with work specifications.
Therefore, the skill evaluation device and the skill evaluation method of the present invention include excavation operation means, excavation feeling imparting means, and evaluation means. An operator's skill can be accurately evaluated.

The "skill evaluation device" of the present invention has the same means as the "drilling feeling imparting device" of the present invention, except that it has evaluation means. The "skill evaluation method" of the present invention includes the same steps as the "excavation feeling imparting method" of the present invention, except that the evaluation step is included.

<Evaluation process and evaluation means>
The evaluation step is a step of comparing at least one of the excavation force magnitude and application direction of the assumed operator with pre-stored reference data to evaluate the operator's skill, and is carried out by the evaluation means.

-Assumed operator-
The assumed operator means an expert in the technical field that serves as a reference when evaluating the skill, and can be appropriately selected according to the field.
Skilled persons include, for example, highly skilled orthopedic surgeons, highly skilled oral surgeons, and highly skilled craftsmen.

－Reference data－
The reference data is data that serves as a reference for skill evaluation. Examples of the reference data include time-series data of the magnitude and application direction of the excavation force in the excavation action of the expert.
It is also possible to construct a database from reference data obtained from a skilled worker, and to teach the robot the data in this database according to work specifications.

-Evaluation method-
Evaluation methods include, for example, a method of obtaining the average value and standard deviation of the difference between the reference data and the operator's excavating force magnitude and application direction data, and a time-series reference data and operator's excavating force magnitude. and a method of obtaining a correlation with the data of the application direction, a method of obtaining a cumulative value of the number of operator errors deviating from the time-series reference data, and the like.

<First embodiment>
Here, a first embodiment of the excavation feeling imparting device of the present invention will be described in detail with reference to the drawings.
The excavation sensation imparting device of the first embodiment of the present invention uses the joint structure of the present invention as a joint structure, and the joint structure of the present invention is included in the excavation sensation imparting device of the present invention. An embodiment of the joint structure of the present invention will also be described through the description of the embodiment of the device for imparting a feeling of excavation of the present invention.
In addition, in each drawing, the same code|symbol may be attached|subjected to the same component part, and the overlapping description may be abbreviate|omitted. Moreover, the number, position, shape, etc. of the following constituent members are not limited to those of this embodiment, and may be set to a preferable number, position, shape, etc. in carrying out the present invention.

FIG. 1 is a schematic perspective view showing an example of the excavation sensation imparting device of the present invention. FIG. 2 is a partially enlarged perspective view of a joint structure portion of the excavation sensation imparting device. The excavation feeling imparting device 100 of FIG. 1 includes an operation end 1 that is likened to a bone chisel as an operation part to be excavated, an X-axis linear guide 2, a Y-axis linear guide 3, and a Z-axis linear guide 4 as support means, A 6-axis force sensor 6 as a detection unit, an X-axis servomotor 7, a Y-axis servomotor 8, and a Z-axis servomotor 9 as drive mechanisms for the X-axis, Y-axis, and Z-axis linear guides, and a joint structure It has an X-axis rotation direction servomotor 15 , a Y-axis rotation direction servomotor 16 , and a Z-axis rotation direction servomotor 17 as drive mechanisms 50 , and a control unit 11 . In FIG. 1, 10 is an X-axis auxiliary guide, and 12 is a base.

The operating end 1 is given an impact force by an operator's impact. 1a is a hitting surface as a hit part. Hitting is done with a hammer.
Considering that a large impact force is applied to the operating end 1 by the operator's hitting operation with a hammer, the excavating feeling imparting device 100 has a structure having high rigidity and strength. In addition, it is required that the operating end 1 can be moved in the front-back direction, the up-down direction, and the left-right direction so that the operating end 1 can be freely operated. Therefore, as shown in FIG. 1, the excavation sensation imparting device 100 includes an X-axis linear guide 2 that guides linear movement in the X-axis direction and a Y-axis linear guide 3 that guides linear movement in the Y-axis direction as support means. , and a Z-axis linear guide 4 that guides linear movement in the Z-axis direction, translational movement in three directions of the X-axis, Y-axis, and Z-axis becomes possible. Since a structure using such a linear guide has high strength and rigidity, it can sufficiently withstand a large load and impact for translational movement. Therefore, the excavation feeling imparting device 100 can impart realistic artificial reality to a hard object.

X-axis, Y-axis and Z-axis linear guides 2, 3 and 4 as support means are driven in desired directions by the operation of X-axis servomotor 7, Y-axis servomotor 8 and Z-axis servomotor 9 as drive mechanisms. can be moved to In this embodiment, LM guide actuators (manufactured by THK Corporation, model number: SKR46) are used as the X-, Y-, and Z-axis linear guides.
The X-, Y-, and Z-axis servomotors 7, 8, and 9 are provided with rotary encoders, and the rotary encoders measure the movement position and movement distance of each axis of each linear guide.
The measured movement position and movement distance of each axis of the linear guide are transmitted to the control unit 11 .

The joint structure 10 has a ball retainer 14, a pair of semi-circular support plates 13, 13 as rotation guide members, and a Z-direction support shaft 20 as a rod-shaped member.
The joint structure 50 is mounted on the Z-axis linear guide 4 via the support arm 33 so as to be vertically movable, and the 6-axis force sensor 6 is installed between the base 22 of the joint structure 50 and the support arm 33. It is In this embodiment, as the 6-axis force sensor 6, a 6-axis force sensor (model number: 080YA501) manufactured by Leptrino Co., Ltd. is used.
The 6-axis force sensor 6 can detect the excavation force and the application direction of the excavation force, and can measure up to a rated load of 500 (N) and a rated moment of up to 20 (Nm).

As shown in FIG. 2, the X-direction support shaft 18 is connected to a pair of semi-circular support plates 13, 13 via a Z-direction support shaft 20 as a rod-shaped member. 50 is rotated or rotated in the X-axis direction. 2, reference numeral 31 denotes a motor cover, and 32 denotes a bearing holder.
The Y-direction support shaft 19 rotates or rotates the joint structure 50 in the Y-axis direction by the operation of the connected servomotor 16 .
The Z-direction support shaft 20 rotates or rotates the joint structure 50 in the Z-axis direction by the operation of the connected servomotor 17 .
A rotary encoder is provided in each of the servo motors 15, 16, and 17, and the rotation angle and angular velocity of the joint structure 50 can be measured by the rotary encoder.
The measured rotation angle and angular velocity of the joint structure part 50 are transmitted to the control part 11, and the detection part detects the angle and angular velocity of the excavation force applied to the excavated operation part in the rotation direction and rotation direction. Used.

The joint structure 50 has a structure for supporting the ball retainer 14 between the pair of semi-circular support plates 13, 13, as shown in FIG.
The ball retainer 14 has a structure in which a plurality of rotatable balls 34 are arranged on its surface, as shown in FIG. In this embodiment, a ball retainer (model number: EMBS8-25) manufactured by Misumi Corporation is used.
The ball retainer 14 is supported by point contact between the plurality of balls 34 on the surface of the ball retainer and the pair of semi-circular support plates 13 , 13 .
The projecting width of the convex members 24, 24 arranged between the pair of semicircular support plates 13, 13 is smaller than the outer diameter of the ball retainer 14. As shown in FIG. The ball retainer 14 is clamped and fixed with bolts 26 via springs 25 from the outside of the pair of semicircular support plates 13 , 13 . Even if the ball retainer 14 is pressed from the outside by the pair of semi-circular support plates 13, 13 due to the pressing force of the spring 25, the ball retainer 14 is held by the convex member 24 disposed between the pair of semi-circular support plates 13, 13. A sliding gap can be secured. Since the ball retainer 14 is in point contact with the semi-circular support plates 13, 13 by means of a plurality of balls 34 on its surface, the operating end 1 connected to the ball retainer 14 can be smoothly moved to prevent backlash. It can definitely be prevented.

A rotary encoder in a servo motor provided in each linear guide of the X-axis linear guide 2, the Y-axis linear guide 3, and the Z-axis linear guide 4 as a support means, the X-direction support shaft 19 of the joint structure 50, the Y Various signals obtained by the rotary encoders in the servomotors connected to the direction support shaft 20 and the Z-direction support shaft 21 and the 6-axis force sensor 6 are processed by the control unit 11 .
The computer used in this embodiment will be described below.

FIG. 5 is a block diagram including the hardware configuration of a computer in the excavation sensation imparting device. As shown in FIG. 5, the computer 70 is communicatively connected to the driving mechanism 60 and the head mounted display 90. As shown in FIG. Also, the computer 70 has the following units. Each unit is connected via a bus 77 .

A CPU (Central Processing Unit) 71 is a type of processor, and is a processing device that performs various controls and calculations.
The CPU 71 implements various functions by executing an OS (Operating System) and programs stored in the auxiliary storage device 73 and the like. That is, in this embodiment, the CPU 71 functions as a control section 82, which will be described later, by executing an excavation feeling imparting program.

The excavation feel imparting program does not necessarily have to be stored in the auxiliary storage device 73 or the like from the beginning. The excavation sensation imparting program stores the excavation sensation imparting program in another information processing device or the like communicably connected to the excavation sensation imparting device 100 via the Internet, for example, and the excavating sensation imparting device 100 excavates from these. A sensitization program may be obtained and executed. Further, the excavation sensation imparting program may be stored in, for example, a computer-readable recording medium, and the excavation sensation imparting program may be obtained from the recording medium and executed by the excavation sensation imparting device 100 . Examples of recording media include portable recording media, semiconductor memories, and hard disks. Portable recording media include, for example, CD (Compact Disc)-ROM (Read Only Memory), USB (Universal Serial Bus) memory, and the like. Semiconductor memories include, for example, flash memories.

Further, the CPU 71 is used to control the operation of the whole excavation feeling imparting device 100 . In the present embodiment, the CPU 71 is used as the device for controlling the operation of the whole excavation feeling imparting device 100, but it is not limited to this, and may be, for example, an FPGA (Field Programmable Gate Array). These may be used individually by 1 type, and may use 2 or more types together.

The main storage device 72 stores various programs and also stores data necessary for executing the various programs.
The main storage device 72 has a ROM and a RAM (Random Access Memory), not shown.
The ROM stores various programs such as BIOS (Basic Input/Output System).
The RAM functions as a working range or the like that is developed when various programs are executed by the CPU 71 . The RAM is not particularly limited and can be appropriately selected according to the purpose. Examples of RAM include DRAM (Dynamic Random Access Memory) and SRAM (Static Random Access Memory).

The auxiliary storage device 73 is a hard disk drive (also referred to as "HDD") in this embodiment.
The auxiliary storage device 73 is not particularly limited as long as it can store various types of information, and can be appropriately selected according to the purpose. Examples thereof include solid state drives and magnetic tapes. Other auxiliary storage devices 73 include, for example, portable storage devices such as CD drives and DVD (Digital Versatile Disc) drives. These may be used individually by 1 type, and may use 2 or more types together.

The communication interface 74 is a CAN (Controller Area Network) board in this embodiment.
The communication interface 74 is not particularly limited, and any known one can be used as appropriate. Examples include a wired communication device such as a LAN (Local Area Network) port, and a wireless communication device. be done. Also, the communication interface 74 may be connected to the Internet or the like.

The input device 75 is a keyboard and mouse in this embodiment.
Note that the input device 75 is not particularly limited as long as it can receive various requests to the excavation feeling imparting device 100, and any known device can be used as appropriate, such as a touch panel. These may be used individually by 1 type, and may use 2 or more types together.

Output device 76 is a liquid crystal display in this embodiment.
It should be noted that the output device 76 is not particularly limited, and any known device can be used as appropriate, such as other displays, speakers, and the like. These may be used individually by 1 type, and may use 2 or more types together.

A head-mounted display 90 as a virtual space display device displays the operating end 1 and a bone to be excavated in a virtual space.

FIG. 6 is a block diagram showing the functional configuration of the computer 70 in the excavation sensation imparting device. As shown in FIG. 6 , the excavation feeling imparting device 100 includes a communication section 81 , a control section 82 , a storage section 83 , an input section 84 and an output section 85 .

The communication unit 81 receives sensor output signals from the six-axis force sensor 6 and detection signals from the rotary encoders through the communication interface 74 . The communication unit 81 outputs a current command value as a command signal based on the sensor output signal and the detection signal to each servo motor.

The control unit 82 receives as input the excavating force calculated from the sensor output signal and the detection signal, and as shown in the block diagram of the _admittance control shown in FIG. 60. As a result, the control unit 82 can drive each _servomotor based on the current command Id to transmit the driving force as a force sense to the operating end 1, thereby presenting the operator with a force sense corresponding to the excavation force. be able to.

FIG. 7 shows a block diagram of admittance control performed by the controller 82. As shown in FIG. As shown in FIG. 7 , the controller 82 includes a feedback controller, a feedforward controller, a virtual model, and a drive mechanism 60 .
The controller 82 inputs the difference between the position of the virtual model after the excavation force is applied and the position of the drive mechanism 60 before the excavation force is applied to the feedback controller. As a result, the drive mechanism 60 that drives the excavation object can be accurately controlled according to the position of the virtual model after the excavation force is applied.
Furthermore, by combining the feedforward controller and the feedback controller, the controller 82 can increase the initial driving speed of the drive mechanism 60 compared to the case where only the feedback controller is provided. Therefore, the excavation feeling imparting device 100 can obtain high responsiveness to the applied excavation force.
In this embodiment, assuming that the object to be excavated is a bone, if the virtual model's mass, viscous resistance, and spring constant parameters are set relatively large, the control unit 82 can apply a large excavation force to the operating end 1. Since the mass of the virtual model is set to be large, the movement of the virtual model is minute, and the movement of the operating end 1 controlled according to the virtual state of the virtual model is also minute. For example, assuming that the object to be excavated is an organ or the like, and the parameters of the mass, viscous resistance, and spring constant of the virtual model are set to be relatively small, the controller 82 applies a slight excavation force to the operating end 1. , the virtual model moves, and the operating end 1 also moves. In this manner, the excavation feeling imparting device can present the operator with a force sensation that the excavation target is close to a desired material by setting the parameters of the virtual model.

FIG. 8 shows a detailed block diagram of the admittance control performed by the controller 82. As shown in FIG. In addition, in this embodiment, each servo motor of the drive mechanism 60 is a current control system. The motion of the drive mechanism 60 at this time is expressed by the following equation.

ここで、ｍ_ｄは駆動機構６０の質量（ｋｇ）、ｃ_ｄは等価粘性係数（Ｎｓ／ｍ）、Ｋ_Ｔは電流・力変換係数（Ｎ／Ａ）、ｘ_ｄは駆動機構６０の搬送距離（ｍ）、Ｉ_ｄは電流指令値（Ａ）を示す。
また、式（１）を標準化すると次式となる。

Here, _md is the mass (kg) of the driving mechanism 60, cd is the equivalent viscosity coefficient (Ns/m), _KT is the current/force conversion coefficient (N/A), and _xd is the conveying distance of the driving mechanism 60 _. (m), _Id indicates the current command value (A).
Further, standardizing the formula (1) yields the following formula.

ここで、ω_ｄは折点角周波数（ｒａｄ／ｓ）、Ｋはゲイン定数（ｍ／ｓ／Ａ）を示す。ω_ｄとＫは同定実験により得られ、ω_ｄ＝１０ｒａｄ／ｓ、Ｋ＝０．０５ｍ／ｓ／Ａが得られた。
そして、仮想モデルでは、６軸力覚センサ６により計測される掘削トルクＴ_ｎ（Ｎｍ）から、回転機構のハンドル長さＬ_０（ｍ）を除することで掘削力Ｆ（Ｎ）が算出される。掘削力Ｆ（Ｎ）から操作端の仮想位置ｘ_ｖ（ｍ）の関係を次式に示す。

Here, _ωd indicates a corner angular frequency (rad/s), and K indicates a gain constant (m/s/A). ω _d and K were obtained by an identification experiment, and ω _d =10 rad/s, K=0.05 m/s/A.
In the virtual model, the excavation force F (N) is calculated by dividing the handle length L ₀ (m) of the rotating mechanism from the excavation torque T _n (Nm) measured by the 6-axis force sensor 6. be. The relationship between the digging force F(N) and the virtual position x _v (m) of the operating end is shown in the following equation.

ここで、仮想的な質量をｍ_ｖ（ｋｇ）、粘性係数をｃ_ｖ（Ｎｓ／ｍ）、バネ定数をｋ_ｖ（Ｎ／ｍ）とする。

Here, the virtual mass is m _v (kg), the viscosity coefficient is c _v (Ns/m), and the spring constant is k _v (N/m).

Also, standardizing the expression (3) results in the expression (4).

Here, the natural angular frequency is ω _v (rad/s), and the damping ratio is ζ. By setting the parameters m _v , ω _v , and ζ in Equation (4), it is possible to create various sensations of the excavation target. In this embodiment, .zeta.=1 for the purpose of obtaining high responsiveness without causing vibration. To create a feeling of hardness when an excavation force is applied, the parameters _mv and _ωv are given large values to create an elastic body with a large resistance. It can be made to feel hard without causing The values are as shown in the upper part of Table 1, and are the values determined by gradually increasing the parameter, feeling that the material is sufficiently hard, and not expecting any change even if the parameter is increased further.
The control unit 82 performs control as follows in order to create a sensation that the chisel will come off when the excavation target is scraped. First, the control unit 82 accumulates the excavation force F(N), and converts the current state r(k) of the excavation object to the previous state r(k−1) and the impulse is added. Next, when the value of the added impulse exceeds the set value, and from the parameters shown in the upper row of Table 1, it is felt that it is close to the state in which a human hand moves naturally as shown in the lower row of Table 1. switch to each parameter instantaneously. As a result, the excavation sensation imparting device 100 can create a sensation that a chisel will come off when the object to be excavated is scraped. For the parameters shown in the lower part of Table 1, the spring constant _kv is not set to 0 so that the bogie does not behave excessively after switching.

Here, k is the discrete time, Δt is the sampling time, and α is the reference coefficient. A predetermined set value is provided for r(k), and the parameter is switched when the set value is exceeded.
In the feedforward controller, the following equation is used so as to control the drive mechanism 60 according to the virtual state of the virtual model.

ここで、Ｐ_ｄ ^－１は式（２）に示す駆動機構６０の逆モデルを示し、Ｐ_ｄは式（４）に示す仮想モデルであり、Ｌはローパスフィルタを表す。ローパスフィルタは高周波帯域でのノイズを増幅させないように設置されるもので、次式が得られる。

Here, P _d ⁻¹ represents the inverse model of the drive mechanism 60 shown in equation (2), P _d is the virtual model shown in equation (4), and L represents the low-pass filter. The low-pass filter is installed so as not to amplify noise in the high frequency band, and the following equation is obtained.

ここで、ω_ｆ（ｒａｄ／ｓ）はローパスフィルタの折点角周波数である。本実施形態ではω_ｆ＝６０ｒａｄ／ｓであった。
そして、フィードバック制御器は、駆動機構６０からの出力と仮想モデルからの出力の偏差を補償するために設置される。本実施形態ではフィードバック制御器をＰＤ制御とする。ＰＤ制御器を次式に示す。

where ω _f (rad/s) is the corner frequency of the low-pass filter. In this embodiment, ω _f =60 rad/s.
A feedback controller is then installed to compensate for deviations in the output from the drive mechanism 60 and the output from the virtual model. In this embodiment, the feedback controller is PD control. The PD controller is shown below.

ここで、Ｋ_Ｐは比例ゲインであり、Ｋ_Ｄは微分ゲインを示す。本発明では、Ｋ_Ｐ及びＫ_Ｄの決定は、仮想モデルからの出力ｘ_ｖから駆動機構６０からの出力ｘ_ｄまでの伝達特性を基づいて、極配置法により求める。本実施形態ではＫ_Ｐ＝８００、Ｋ_Ｄ＝６０が求められた。

where K _P is the proportional gain and K _D is the derivative gain. In the present invention, K _P and K _D are determined by the pole placement method based on the transfer characteristic from the output x _v from the virtual model to the output x _d from the driving mechanism 60 . In this embodiment, K _P =800 and K _D =60 were obtained.

FIG. 9 shows experimental results when a digging force is applied to the operating end 1 with a hammer. When the digging force F is applied intermittently, the displacement is very small before the parameter change, confirming that it creates a hard sensation. The value of r(k) gradually increases, and when the set value is exceeded, the carriage momentarily moves, creating a feeling that a chisel will come off when the object is scraped. Since this parameter change depends on the set value of r(k), it is possible to estimate the plate thickness of the cutting material by manipulating this set value and adjusting the parameter change timing. Also, the acceleration generated when the chisel is pulled out is 4.55 m/s ² , and it is confirmed that a high acceleration that does not give the operator a sense of discomfort is generated. That is, it is confirmed that the excavation feeling imparting device can exhibit high responsiveness even when the mass of the excavation object is large.

FIG. 10 shows experimental results when the excavating force was applied to the operating end 1 with a hammer only by feedback control without feedforward control in FIG. As a result, the acceleration generated when the chisel came off was 1.5 m/s ² , which was smaller than the acceleration of 4.55 m/s ² in FIG. 9 . From this result, if the excavation feeling imparting device 100 does not have a feedforward controller, the initial drive speed of the drive mechanism 60 will be slower than if it does, so that the response to the applied excavation force will be high. was confirmed not to be obtained. In other words, it was confirmed that if feedforward control is not performed in the excavation feeling imparting device 100, the operator cannot sufficiently obtain the realistic sensation of pulling out a chisel.

<Second embodiment>
Here, the skill evaluation device of the second embodiment will be described in detail with reference to the drawings.
The skill evaluation device of the second embodiment of the present invention uses the joint structure of the present invention as a joint structure, and the joint structure of the present invention is included in the skill evaluation device of the present invention.

FIG. 11 is a schematic perspective view showing an example of a skill evaluation device 300 according to the second embodiment of the invention. The skill evaluation device 300 of FIG. 11 has the same configuration as the excavation feeling imparting device 100 of FIG. Sometimes. Moreover, the number, position, shape, etc. of the following constituent members are not limited to those of this embodiment, and may be set to a preferable number, position, shape, etc. in carrying out the present invention.

The evaluation means 310 is means for evaluating the operator's skill by comparing at least one of the excavation force magnitude and application direction of the assumed operator with pre-stored reference data.
In the present embodiment, at least one of the magnitude and application direction of the excavation force of an expert as an assumed operator is stored in advance and used as reference data, and the skill of the operator is evaluated based on this reference data.
Evaluation methods include, for example, the average value and standard deviation of the difference between the reference data and the operator's data, the method of obtaining the correlation with the time-series reference data, and the number of errors that deviate from the time-series reference data. , and the like.

In the first and second embodiments of the present invention, the operator applied the excavating force with a hammer to the operation end 1 as the operation part to be excavated. It is also possible to give the operator an artificial reality of excavation operation with a drill or the like by applying a pressing force at the time of rotation or rotation to the rotated or rotating portion as the operating portion.

Aspects of the present invention are, for example, as follows.
<1> an excavation operation means having an excavation operation section in which an operator performs a simulated excavation operation on an assumed excavation target;
excavation feeling imparting means for imparting an artificial excavation feeling to the operator via the excavation operation means according to the excavation force applied to the excavated operation part;
It is an excavation feeling imparting device characterized by having
<2> The excavation sensation imparting device according to <1>, wherein the excavation operation portion is a hit portion to which the excavation force is applied by being hit by a hitting means.
<3> The excavating operation portion is a rotated or rotated portion to which a pressing force and a rotating force or a rotating force are applied as the excavating force by being rotated or rotated while being pressed. > is the device for imparting a feeling of excavation according to the above.
<4> The excavation feeling imparting means includes:
a ball retainer connected to the excavated operation part;
a rotation guide member that guides the rotation of the ball retainer while pressing the ball retainer;
A rod-shaped member, a connecting portion connected to the ball retainer, and a shaft that supports the rod-shaped member so as to be rotatable in a direction perpendicular to the rotation direction of the ball retainer guided by the rotation guide member. a rod-shaped member having a branch;
The device for imparting a feeling of excavation according to any one of <1> to <3>.
<5> The rotation guide member is
a pair of members having surfaces for pressing the ball retainer;
a biasing member that biases the pair of members so that the pair of members presses the ball retainer;
The device for imparting a feeling of excavation according to <4>.
<6> The excavation feeling according to any one of <1> to <5>, wherein the excavation feeling imparting means has a detection unit for detecting the magnitude and application direction of the excavation force applied to the excavated operation part. Applicator.
<7> The excavation feeling imparting device according to <6>, wherein the detection unit is a 6-axis force sensor.
<8> Depending on the magnitude and application direction of the excavation force detected by the detection unit,
from the position of the excavated operation part before the excavation force is applied,
The excavation feeling imparting device according to any one of <6> to <7>, further comprising a control unit that controls the excavation operation unit to move to a predetermined position at a predetermined speed when the excavation force is applied. be.
<9> The excavation feeling imparting device according to <8>, wherein the control by the control unit is performed by a combination of feedback control and feedforward control.
<10> The control unit
When the cumulative magnitude of the excavating force applied to the excavating operation portion once or multiple times exceeds a set value,
The feeling of excavation according to any one of <8> to <9>, wherein the operation part to be excavated is moved at a speed higher than a predetermined speed for moving the operation part to be excavated until the set value is exceeded. It is a device.
<11> further comprising virtual space display means;
The excavation feeling imparting device according to any one of <1> to <10>, wherein the virtual space display means displays at least the assumed excavation object in a virtual space.
<12> The excavation operation means is movably supported in each of the X direction, the Y direction orthogonal to the X direction, and the Z direction orthogonal to the installation surface within the installation surface of the excavation feeling imparting device. The device for imparting a feeling of excavation according to any one of <1> to <11>, further comprising support means for providing a feeling of excavation.
<13> The device for imparting a feeling of excavation according to <12>, wherein the support means is a linear guide.
<14> a ball retainer;
a rotation guide member that guides the rotation of the ball retainer while pressing the ball retainer;
A rod-shaped member, a connecting portion connected to the ball retainer, and a shaft that supports the rod-shaped member so as to be rotatable in a direction perpendicular to the rotation direction of the ball retainer guided by the rotation guide member. a rod-shaped member having a branch;
A joint structure characterized by having
<15> The rotation guide member is
a pair of members having surfaces for pressing the ball retainer;
a biasing member that biases the pair of members so that the pair of members presses the ball retainer;
The joint structure according to <14>.
<16> an excavation operation step in which an operator performs a simulated excavation operation on an assumed excavation target on the excavated operation unit;
an excavation feeling imparting step of imparting an artificial excavation feeling to the operator through the excavation operation step according to the excavation force applied to the excavated operation part in the excavation operation step;
A method for imparting an excavation feeling, characterized by comprising:
<17> an excavation operation means having an excavation operation section in which an operator performs a simulated excavation operation on an assumed excavation target;
excavation feeling imparting means for imparting an artificial excavation feeling to the operator via the excavation operation means according to the excavation force applied to the excavated operation part;
evaluation means for evaluating the operator's skill by comparing at least one of the magnitude and application direction of the excavation force of an assumed operator with reference data stored in advance;
It is a skill evaluation device characterized by having
<18> an excavation operation step in which an operator performs a simulated excavation operation on an assumed excavation target on the excavated operation unit;
an excavation feeling imparting step of imparting an artificial excavation feeling to the operator via the excavation operation means according to the excavation force applied to the excavated operation part;
an evaluation step of comparing at least one of the magnitude and application direction of the excavation force of an assumed operator with reference data stored in advance to evaluate the skill of the operator;
A skill evaluation method characterized by including
<19> Receiving a simulated excavation operation for an assumed excavation target performed by an operator via an excavation operation means having an excavation operation unit;
Giving an artificial excavation feeling to the operator via the excavation operation means according to the excavation force applied to the excavated operation part;
It is an excavation feeling imparting program characterized by causing a computer to execute processing.
<20> Receiving a simulated excavation operation for an assumed excavation target performed by an operator via an excavation operation means having an excavation operation unit;
giving an artificial excavation feeling to the operator via the excavation operation means according to the excavation force applied to the excavated operation part;
A skill evaluation program characterized by causing a computer to execute a process of evaluating the skill of an assumed operator by comparing at least one of the magnitude and direction of application of the excavation force of the assumed operator with pre-stored reference data. is.

The excavation feeling imparting device according to any one of <1> to <13> above, the joint structure according to any one of <14> to <15> above, and the excavation feeling imparting device according to <16> above. The method, the skill evaluation device according to <17> above, the skill evaluation method according to <18> above, the drilling feeling imparting program according to <19> above, and the skill evaluation according to <20> above. According to the program, it is possible to solve the above-mentioned conventional problems and achieve the above-mentioned object of the present invention.

1 operating end 1a hitting part (hitting surface)
2 X-axis linear guide 3 Y-axis linear guide 4 Z-axis linear guide 6 6-axis force sensor 7 X-axis servomotor 8 Y-axis servomotor 9 Z-axis servomotor 10 X-axis auxiliary guide 11 Control unit 12 Base 14 Ball retainer 15 X-axis rotation direction servomotor 16 Y-axis rotation direction servomotor 17 Z-axis rotation direction servomotor 22 Base 33 Support arm 50 Joint structure 60 Drive mechanism 70 Computer 90 Head mount display 100 Excavation feeling imparting device 300 Skill evaluation device 310 Evaluation means

Claims (15)

an excavation operation means having an excavation operation section for an operator to perform a simulated excavation operation on an assumed excavation target;
artificial excavation to the operator by presenting a force sensation close to an excavation action of the material of the excavation object via the excavation operation means according to the excavation force applied to the excavation operation part; an excavation feeling imparting means for imparting a feeling;
has
The excavating operation part is a hit part to which the excavation force is applied by being hit by the hitting means; An excavation feeling imparting device characterized by being a rotated or rotating part to which a force is applied as the excavation force. The excavation feeling imparting means is
a ball retainer connected to the excavated operation part;
a rotation guide member that guides the rotation of the ball retainer while pressing the ball retainer;
A rod-shaped member, a connecting portion connected to the ball retainer, and a shaft that supports the rod-shaped member so as to be rotatable in a direction perpendicular to the rotation direction of the ball retainer guided by the rotation guide member. a rod-shaped member having a branch;
The excavation feeling imparting device according to claim 1, comprising: The rotation guide member is
a pair of members having surfaces for pressing the ball retainer;
a biasing member that biases the pair of members so that the pair of members presses the ball retainer;
The excavation feeling imparting device according to claim 2, comprising: 4. The excavation feeling imparting device according to any one of claims 1 to 3, wherein the excavation sensation imparting means has a detection portion for detecting the magnitude and application direction of the excavation force applied to the excavated operating portion. 5. The excavation feeling imparting device according to claim 4, wherein the detection unit is a 6-axis force sensor. Depending on the magnitude and application direction of the excavation force detected by the detection unit,
from the position of the excavated operation part before the excavation force is applied,
6. The excavation feeling imparting device according to claim 4, further comprising a control section for controlling the excavation operation section to move to a predetermined position at a predetermined speed when the excavation force is applied. 7. The excavation feeling imparting device according to claim 6, wherein the control by the control unit is performed by a combination of feedback control and feedforward control. The control unit
When the cumulative magnitude of the excavating force applied to the excavating operation portion once or multiple times exceeds a set value,
8. The excavation feeling imparting device according to claim 6, wherein the excavated operation part is moved at a speed higher than a predetermined speed for moving the excavated operation part until the set value is exceeded. further comprising virtual space display means;
9. The excavation feeling imparting device according to any one of claims 1 to 8, wherein the virtual space display means displays at least the assumed excavation object in the virtual space. Support means for movably supporting the excavation operation means in each of the X direction, the Y direction orthogonal to the X direction, and the Z direction orthogonal to the installation surface within the installation surface of the excavation feeling imparting device. 10. The excavation feeling imparting device according to any one of claims 1 to 9, further comprising: 11. The excavation feeling imparting device according to claim 10, wherein the support means is a linear guide. an excavation operation step in which a simulated excavation operation for an assumed excavation target is performed on the excavated operation part;
In the excavation operation step, according to the excavation force applied to the operation subject to be excavated, a force sense similar to that of excavating the material of the object to be excavated is presented via excavation operation means having the operation subject to excavation. an excavation feeling imparting step in which an artificial excavation feeling is imparted by
including
The excavating operation part is a hit part to which the excavation force is applied by being hit by the hitting means; A method for imparting an excavation feeling, wherein a force is a rotated or rotating part to which a force is applied as the excavation force. receiving a simulated excavation operation for an assumed excavation target performed by an operator via an excavation operation means having an excavation operation part;
According to the excavation force applied to the excavated operation part, the excavation target materialoperation to drillgiving an artificial excavation feeling to the operator by presenting a force sense close to
let the computer do the work,
The excavation operation part is a hit part to which the excavation force is applied by being hit by the hitting means; is a rotated or rotating part to which a force is applied as said digging force An excavation feeling imparting program characterized by: receiving a simulated excavation operation for an assumed excavation target performed by an operator via an excavation operation means having an excavation operation part;
artificial excavation to the operator by presenting a force sensation close to an excavation action of the material of the excavation object via the excavation operation means according to the excavation force applied to the excavation operation part; give a sense of
Evaluating the operator's skill by comparing at least one of the magnitude and application direction of the excavation force of the assumed operator with pre-stored reference data;
A skill evaluation program characterized by causing a computer to execute processing. The excavating operation part is a hit part to which the excavation force is applied by being hit by the hitting means; 15. The skill evaluation program according to claim 14, wherein the force is a rotated or rotating part applied as the digging force.

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