JPS61260988A - Master/slave control finger - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a master/slave control finger that can transmit pressure information of a slave finger eyebrow break to the operation sound of operating a master finger manipulator by the pressure sensation itself.

<Prior art> In a master-slave controlled finger manipulator according to the prior art, when transmitting pressure information from a slave finger manipulator to an operator operating a master finger manipulator, the pressure information is converted into vibration or the like. It was communicated alternatively.

<Problems to be Solved by the Invention> As mentioned above, when pressure information is replaced with other information, there is a drawback that the information is different from pressure information intuitively and becomes insufficient for information transmission. Ta.

Pressure sensation is important in master-slave type finger manipulators that perform delicate tasks, and in order to better convey this information to the operator who operates the master finger manipulator,
The emergence of a device that directly stimulates human pressure sensation is eagerly awaited.

SUMMARY OF THE INVENTION In view of the above-mentioned needs, it is an object of the present invention to provide a master/slave control finger that can transmit pressure information from a slave finger manipulator to a person operating a master finger manipulator using the pressure sense itself.

Means for Solving Problems> The configuration of the present invention that achieves the above object includes a slave finger manipulator equipped with a pressure sensor, and a mechanical displacement according to the pressure detected by the pressure sensor transmitted via an inner wire. a serpentine wire, a cylindrical holder formed into which an operator's finger can be inserted, and a press-contact actuator that presses the finger with a pressure corresponding to the mechanical displacement transmitted through the inner wire. a slave finger manipulator equipped with a pressure sensor, a flexible tube type wire that transmits mechanical displacement according to the pressure detected by the pressure sensor via an inner wire, and an operator's finger. The master finger eyebrow break includes a belt pressure contact portion into which the finger can be inserted, and one end of which presses the finger with pressure according to mechanical displacement transmitted through the inner wire fixed to the inner wire.

Example of implementation Embodiments of the present invention will be described in detail below based on the drawings.

As shown in FIG. 1, the master finger manipulator 1 has a finger 2
(in this example, the thumb and index finger)
It has a cylindrical holder 1b fixed to a, and this holder 1
The operator's finger 2 can be inserted into b. The fixing member IC is fixed to the surface of the main body 1a and the flexible tube type wire 3
One end of the outer wire 3a is fixed. One end of the inner wire 3a of the flexible tube wire 3 is fixed to the base end of a ring-shaped movable portion 1d via a connecting member 1e. The other end of the inner wire 3a is connected to a drive device 4, and the drive device 4 drives the inner wire 3a.
The feed length of a is adjusted. At this time, the pressure contact part 1f with a pressure sensor is fixed to the tip of the movable part 1d, and as the movable part 1d moves with the movement of the inner wire 3a, the pressure contact part 1f with a pressure sensor is attached to the pad of the finger 2. It is designed to be able to approach and separate from each other. On the other hand, a spring 1g is interposed between the fixed member 1c and the connecting member 1e, and applies a force to the movable part 1d so that the pressure sensor equipped pressure contact part 1f moves away from the pad of the finger 2. The slave finger manipulator 5 has pressure sensors 5b at the tips of two fingers 5a, respectively.
It is possible to detect the pressure when the object 6 is gripped with these fingers 5a. The comparator 7 compares the output signal of the pressure contact part 1f with pressure sensor inputted via the sensor amplifier 8a and the output signal of the pressure sensor 5b inputted via the sensor amplifier 8b, and calculates the difference between the two. Sends a signal according to the The servo driver 9 connects the pressure contact portion 1f with a pressure sensor and the pressure sensor 5 according to the output signal of the comparator 7.
The drive device 4 is controlled so that the output signal of the output signal b is the same as that of the output signal b.

In this embodiment, when the slave finger manipulator 5 holds the object 6, the pressure sensation applied to the finger of the slave finger manipulator 5 is detected by the pressure sensor 5b. This information is transmitted to the finger 2 of the operator who operates the master finger eyebrow break 1 as follows. That is, to the drive device 4,
When the inner cable 3b of the flexible tube type wire 3 is pulled, the pressure contact part 1f with a pressure sensor presses the finger 2, giving the operator a feeling as if the fingertip had received a pressure sensation by grasping a phrase. At this time, the force is controlled by pressure contact section 1f with pressure sensor.
The pressure information of
control.

In addition, by comparing these using a computer,
M coarse control is also possible.

In addition, by using the belt type press-contacting part 10 as shown in FIGS. and the other end is the main body 1.
It has a ring shape into which the finger 2 can be inserted by being fixed to the hole a. Since the other configurations are the same as those in FIG. 1, the same parts are given the same numbers and redundant explanations will be omitted.

<Effects of the Invention> As described above, according to the present invention, in a master-slave control finger mechanism, pressure information of the fingertip of the slave finger manipulator is transmitted to the fingers of the operator operating the master finger manipulator, thereby making it possible to perform delicate tasks. becomes possible. In particular, since pressure information is transmitted to the finger as a pressure sensation itself, judgment is easy.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram showing an embodiment of the present invention, FIG. In the drawings, 1 is a master finger manipulator, 1b is a holder, 1d is a movable part, 1f is a pressure contact part with a pressure sensor, 2 is a finger, 3 is a flexible tube type wire, 3b is an inner wire, 4 is a drive device, and 5 is a Slave finger manipulator, numeral 10 is a belt type press-contacting part. Procedural amendment (method) February 22, 1930 Director General of the Patent Office Michibu Uga Case Indication 1985 Patent Application No. 100604 Title of the invention Master・Relationship with the slave control finger correction case Patent applicant address: 3-1 Kasumigaseki-chome, Chiyoda-ku, Tokyo Target of amendment Drawings.

Claims (2)

[Claims] (1) A slave finger manipulator equipped with a pressure sensor;
A flexible tube type wire that transmits mechanical displacement according to the pressure detected by this pressure sensor via an inner wire, a cylindrical holder formed to allow insertion of an operator's finger, and a mechanical displacement transmitted via the inner wire. and a master finger manipulator equipped with a pressure contact actuator that presses the finger with a pressure corresponding to a mechanical displacement. (2) a slave finger manipulator equipped with a pressure sensor;
A flexible tube type wire that transmits mechanical displacement according to the pressure detected by the pressure sensor via an inner wire, and a mechanical displacement transmitted via an inner wire into which an operator's finger can be inserted and one end of which is fixed to the inner wire. A master/slave control finger comprising: a master finger manipulator having a belt pressure contact portion that presses the finger with a pressure corresponding to the displacement.