Input device and teleoperation system

Abstract

To provide an input device capable of detecting input operations performed by an operator.SOLUTION: An input device comprises: a rod-like first operation member 331; a rod-like second operation member 332; a connection member 334 which connects the second operation member 332 to the first operation member 331 and rotatably supports the second operation member 332 with respect to the first operation member 331; and a sensor member which detects an amount of rotation of the second operation member 332. The second operation member 332 has a first end part 332a on one side and a second end part 332b on the other side opposite to the first end part 332a, and is configured to be capable of changing a distance between the first end part 332a and the first operation member 331 by rotating about a rotary fulcrum part 400 to which the connection member 334 is connected.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an input device and a teleoperation system. [Background technology]

[0002] BACKGROUND ART Conventionally, a system has been proposed for operating a manipulator, such as a surgical manipulator, based on an input operation input by an operator to an input device (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2024-10205 Summary of the Invention [Problem to be solved by the invention]

[0004] Various input device configurations have been devised for systems that remotely control robots via such input devices, but they have complex configurations and require further improvements in operability and accuracy, so there has been a demand for the emergence of input devices with new configurations.

[0005] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide an input device that detects an input operation by an operator. [Means for solving the problem]

[0006] One aspect of the present invention is an input device that detects an input operation by an operator, comprising: a rod-shaped first operating member; a rod-shaped second operating member; a connecting member that connects the first operating member and the second operating member and supports the second operating member so that it can rotate relative to the first operating member; and a sensor member that detects the amount of rotation of the second operating member, wherein the second operating member has a first end on one side and a second end on the other side opposite the first end, and is configured to be able to change the distance between the first end and the first operating member by rotating around a rotation fulcrum portion on the connecting member. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide an input device that detects an input operation by an operator. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram showing a teleoperation system according to an embodiment of the present invention; [Figure 2] 1 is a schematic diagram illustrating an input device according to an embodiment of the present invention. [Figure 3] FIG. 1 is a control block diagram of a teleoperation system according to an embodiment of the present invention. [Figure 4] FIG. 2 is a schematic diagram showing the input device in an open position. [Figure 5] FIG. 2 is a schematic diagram showing the input device in a closed position. [Figure 6] FIG. 2 is an enlarged view showing the tip of the input device. DETAILED DESCRIPTION OF THE INVENTION

[0009] A teleoperation system equipped with an input device according to an embodiment of the present invention will be described in detail below with reference to the drawings. Note that the configuration shown below is merely an example, and the details of the configuration may be modified by the parties concerned as appropriate within the scope of the invention.

[0010] <Teleoperation system configuration> 1, a teleoperation system 1 according to this embodiment includes a teleoperated robot 2 and an input device 3 separate from the teleoperated robot 2, and is a system that remotely controls the teleoperated robot 2 based on an operation input to the input device 3. The teleoperated robot 2 includes a double-armed robot 21 and a moving device 22 that moves the double-armed robot 21, and the double-armed robot 21 includes a pair of robot arms 211, 212, end effectors 213, 214 provided at the tips of the robot arms 211, 212, a camera 215, and a control unit 216 (see FIG. 3).

[0011] More specifically, the end effectors 213 and 214 are grippers (robot hands) that grip an object, and the robot arms 211 and 212 are articulated robots having multiple joints. Furthermore, the camera 215 is disposed on the end effectors 213 and 214 and is capable of capturing images of the object and the operations of the end effectors 213 and 214. Note that the end effectors 213 and 214 may be changed to other types depending on the work, and the configuration of the robot arms, such as the number of joints, may also be changed as appropriate.

[0012] The moving device 22 is a device for moving the above-mentioned double-arm robot 21, and includes a support unit 221 that supports the double-arm robot 21, a first moving unit 222 that moves the double-arm robot 21 in the horizontal direction, and a second moving unit 223 that moves the double-arm robot 21 in the vertical direction. The first moving unit 222 is made up of a vehicle with multiple wheels, and is configured to be able to move the double-arm robot 21 forward, backward, left, and right. The second moving unit 223 is supported by the first moving unit 222, and is configured to be able to move the double-arm robot 21 in the vertical direction (up and down) by raising and lowering the support unit 221.

[0013] The input device 3 includes a pair of operational robot arms 31, 32 corresponding to the above-mentioned robot arms 211, 212, input devices 33, 34 attached to the tip of each robot arm 31, 32, and a control unit 35. As shown in FIG. 2, the above-mentioned operational robot arms 31, 32 are multi-joint robots each having three rotational joints J11 to J13, J21 to J23.

[0014] More specifically, the robot arm 31 constituting the right arm is configured such that a link L11 provided on the base 36 is connected to a link L12 via a joint J11, the link L12 is connected to a link L13 via a joint J12, and the link L13 is connected to a link L14 via a joint J13.

[0015] The robot arm 32 constituting the left arm is configured such that a link L21 provided on the base 36 is connected to a link L22 via a joint J21, the link L22 is connected to a link L23 via a joint J22, and the link L23 is connected to a link L24 via a joint J23.

[0016] Furthermore, motors M11 to M13, M21 to M23 and encoders E11 to E13, E21 to E23 (see FIG. 3) are provided at the joints J11 to J13, J21 to J23 of the robot arms 31, 32, respectively. The provision of the motors M11 to M13, M21 to M23 makes it possible to control the positions and postures of the joints J11 to J13, J21 to J23 and links L11 to L14, L21 to L24, and the provision of the encoders E11 to E13, E21 to E23 makes it possible to detect the positions and postures of the joints J11 to J13, J21 to J23 and links L11 to L14, L21 to L24.

[0017] Furthermore, the above-mentioned input devices 33, 34 are attached to the links L14, L24, which are the final links at the tip ends of the robot arms 31, 32, respectively. The input devices 33, 34 are chopstick-shaped input units having a pair of rod-shaped operating members 331, 332, 341, 342, and the end effectors 213, 214 can be operated by operating these rod-shaped operating members 331, 332, 341, 342. Furthermore, the input devices 33, 34 are provided with operating tools 333, 343 for operating the movement device 22.

[0018] With this configuration, when operating the teleoperated robot 2, the operator grasps the operation members 331, 332, 341, 342 of the input device 3. Then, by moving the robot arms 31, 32 while referring to the image captured by the camera 215 of the teleoperated robot 2 displayed on the display device 37, the operator moves the robot arms 211, 212 of the teleoperated robot 2 in accordance with the movements of the robot arms 31, 32.

[0019] Then, when the robot arms 211, 212 of the teleoperated robot 2 move to the desired position, the operator can operate the operating members 331, 332, 341, 342 of the chopstick-type input devices 33, 34 to perform a grasping operation, thereby grasping an object with the grippers of the end effectors 213, 214.

[0020] Furthermore, when an object is not located within the movable range of the robot arms 211, 212 of the teleoperated robot 2, the operator operates the operating tools 333, 343 to move the positions of the robot arms 211, 212 using the movement device 22. For example, when it is desired to move the positions of the robot arms 211, 212 in a horizontal direction, the operator operates the operating tool 333 to move the teleoperated robot 2 forward, backward, left, or right using the first movement unit 222. When it is desired to move the positions of the robot arms 211, 212 in a vertical direction, the operator operates the operating tool 343 to move the robot arms 211, 212 of the teleoperated robot 2 up and down using the second movement unit 223.

[0021] <Control block diagram of the teleoperation system> Next, a control block diagram of the teleoperation system 1 will be described with reference to Fig. 3. As shown in Fig. 3, the control unit 216 of the teleoperation robot 2 is configured by a computer and includes a CPU (Central Processing Unit) 231, which is an example of a processor, a memory 232 and a hard disk 233, which serve as storage units, and a communication interface 234. The CPU 231, the memory 232, the hard disk 233, and the communication interface 234 are connected to each other via a bus so as to be able to communicate data with each other. In addition, the dual-arm robot 21 and the moving device 22, which are to be controlled, are connected to the control unit 216, and are able to communicate data with each other via the bus.

[0022] The memory 232 has, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory), and stores basic programs related to the operation of the computer, as well as temporarily storing various data such as the results of calculations.

[0023] The hard disk 233 stores the results of the calculations performed by the CPU 231 and various data acquired from the outside, as well as programs for causing the CPU 231 to execute various processes.

[0024] The communication interface 234 is connected to the communication interface 354 of the control unit 35 of the input device 3 via a wired or wireless connection, and enables transmission and reception of information between the teleoperated robot 2 and the input device 3.

[0025] The control unit 35 of the input device 3 is configured by a computer and includes a CPU 351, which is an example of a processor, a memory 352 and a hard disk 353, which serve as storage units, and a communication interface 354. The CPU 351, the memory 352, the hard disk 353, and the communication interface 354 are connected to each other via a bus so as to be able to communicate data with each other. The control unit 35 of the input device 3 is also connected to the display device 37, the motors M11-M13, M21-M23 and the encoders E11-E13, E21-E23 of the robot arms 31, 32, the motors M31, M41 and the encoders E31, E41 of the input devices 33, 34, and the sensors S1, S2 of the operating implements 333, 343, and is able to communicate data with each other via the bus.

[0026] The memory 352 has, for example, a ROM and a RAM, and stores basic programs related to the operation of the computer, and also temporarily stores various data such as the results of arithmetic processing.

[0027] The hard disk 353 stores the results of the calculations performed by the CPU 55 and various data acquired from the outside, as well as programs for causing the CPU 351 to execute various processes.

[0028] The communication interface 354 is connected to the communication interface 234 of the control unit 216 of the teleoperated robot 2 via a wired or wireless connection, and enables transmission and reception of information between the teleoperated robot 2 and the input device 3.

[0029] <Detailed configuration of the chopsticks-type input device> Next, we will explain the detailed configuration of the chopsticks-type input devices 33, 34. The input devices 33, 34 are different on the left and right sides, but their configurations are essentially the same. Therefore, in the following explanation, only the configuration of the right input device 33 will be explained, and the explanation of the configuration of the left input device 34 will be omitted.

[0030] 4, the input device 33 includes a base portion 335 attached to the link L14 at the tip of the robot arm 31, a rod-shaped first operation member 331 extending from the base portion 335, a connecting member 334, and a rod-shaped second operation member 332 connected to the first operation member 331 via the connecting member 334. The second operation member 332 is rotatably supported by the connecting member 334, and as the second operation member 332 rotates, the position of a tip portion 332a of the second operation member 332 can be moved between an open position (position in FIG. 4) away from the first operation member 331 and a closed position (position in FIG. 5) close to the first operation member 331. In other words, as the second operation member 332 rotates, the distance between the tip portion (first end portion on one side) 332a of the second operation member 332 and the first operation member 331 can be changed.

[0031] Furthermore, a rear end portion (second end portion on the other side) 332b of the second operation member 332 opposite to the tip portion 332a is connected to a drive unit 350 of the input device 33 via a parallel link mechanism 340. The drive unit 350 is supported by the above-mentioned base portion 335, and includes a motor M31 as a drive source and an encoder E31 (see FIG. 3) as a sensor portion. The rotation amount (rotation position) of the second operation member 332 is detected by this encoder E31, and the second operation member 332 can be rotationally driven by the motor M31.

[0032] More specifically, when an operator performs an operation input using the input device 33, the operator holds the first operation member 331 between the base of the thumb and the palm of the hand, and places the ring finger on the tip of the first operation member 331 to hold it in a fixed position. The operator also holds the second operation member 332 with the thumb, index finger, and middle finger of the same hand, and rotates the second operation member 332 with the index finger and middle finger, using the thumb as a fulcrum. The parallel link mechanism 340 described above includes a first link 341 connected to the second operation member 332, a second link 341 connected to the drive unit 350, and a third link 343 connecting the first link 341 and the second link 342. When the second operation member 332 is rotated, the first link 341 rotates, and the second link 342 also rotates via the third link 343. The amount of rotation of the second link 342 is detected by the encoder E31, and the amount of rotation (rotation position) of the second operating member 332 is thereby detected.

[0033] In this way, the input device 33 is configured to detect the amount of rotation of the second operating member 332 using the encoder E31, thereby detecting the operator's pinching operation (operation input) of the first and second operating members 331, 332, which are chopstick-shaped operating members. The chopstick-shaped configuration of the input device 33 enables accurate and delicate input operations with a simple and easy configuration. In particular, the input device 33 has a rotation fulcrum portion 400 on the connecting member 334 located at the position where the thumb, which serves as the fulcrum when rotating the second operating member 332, is located, so that the mechanical fulcrum position and the operational fulcrum position coincide. Due to the structure of human fingers, it is easiest to operate a chopstick-shaped device when the rotation fulcrum of the second operating member 332 is located near the tip of the thumb, allowing the operator to easily rotate the second operating member 332. In addition, the input device 33 is configured to control the motor M31 according to the state of the end effector 213, so that when the operator operates the input device 33, the operating force of the second operating member 332 can be changed to appropriately provide the operator with feedback on the state of the end effector 213 on the teleoperated robot 2 side.

[0034] In the above-described embodiment, the encoder E31 is used as an example of a sensor for detecting the amount of rotation of the second operating member 332, but the present invention is not limited to this and any sensor may be used, such as a potentiometer or a force sensor, as long as it is capable of detecting the rotation of the second operating member 332. Similarly, the above-described potentiometers, force sensors, etc. may be used instead of the encoders E11 to E13 (E21 to E23).

[0035] Furthermore, in the parallel link mechanism 340, the first link 341 is configured as an L-shaped link that extends from the second operating member 332 to the side opposite the first operating member 331 and then bends toward the tip of the second operating member 332, and the third link 343 is configured as an annular link, and the first link 341 is connected to the third link 343 from the inner periphery side of the third link 343, but this is not necessarily limited to this. The link mechanism between the second operating member 332 and the drive unit 350 may be any link mechanism that can interlock the second operating member 332 and the drive unit 350, and may also be any mechanism that can transmit power between the second operating member 332 and the drive unit 350. In other words, the power transmission mechanism between the second operating member 332 and the drive unit 350 may be, for example, a power transmission mechanism having a belt and pulleys, in addition to a link mechanism.

[0036] Furthermore, in this embodiment, as shown in FIG. 6, a recess 331a1 is formed in the tip end (third end) 331a of the first operating member 331, and a tip end 332a of the second operating member 332 is formed to be thinner than other portions of the second operating member 332 (for example, the rear end (fourth end) 331b). Therefore, when the second operating member 332 of the input device 33 is in the closed position shown in FIG. 5, the tip end 332a of the second operating member 332 enters the recess 331a1 of the tip end 331a of the first operating member 331, and the tip end 331a of the first operating member 331 and the tip end 332a of the second operating member 332 can intersect. As a result, when the second operating member 332 rotates, the tip end 332a abuts against the tip end 331a of the first operating member 331, and the rotation range is not limited. This allows the second operating member 332 to rotate over a larger range.

[0037] Furthermore, the rotation fulcrum part 400, at which the connecting member 334 rotatably supports the second operating member 332, is designed so that the thumb, which serves as a fulcrum when the operator rotates the second operating member 332 while holding the input device 33, comes exactly at the position of the rotation fulcrum part 400. Specifically, the rotation fulcrum part 400 is located midway between the tip end part 332a and the rear end part 332b of the second operating member 332, and is located closer to the rear end side 332b than the center of the second operating member 332 in the longitudinal direction.

[0038] As described above, the thumb only serves as a fulcrum when rotating the second operating member 332, and therefore the posture of the second operating member 332 can be tilted even while the second operating member 332 is being rotated. For this reason, in this embodiment, an operating tool 333 that is operated by the thumb is provided on the rotation fulcrum portion 400. This operating tool 333 is an operating tool for operating the first moving unit 222, and includes a third operating member 333a that is operated by the operator's thumb, and a sensor member (second sensor member) S1 that detects an operation on the third operating member 333a. For example, in this embodiment, the third operating member 333a is a stick-shaped operating member that can be tilted, and the sensor member S1 is an optical sensor, a strain sensor, or the like.

[0039] In this way, by arranging an operating tool 333 that can be operated simultaneously with the chopstick-shaped first and second operating members 331, 332, in addition to these operating members, it is possible to perform various operations with a single input device unit (for example, in this embodiment, it is possible to operate multiple operating objects of the end effector and the moving device).

[0040] The operation tool 333 of the right input device 33 and the operation tool 343 of the left input device 34 have the same configuration, but the only difference is the operation target. Therefore, for example, the operation tool 333 may be used to operate the second movement unit 223, and the operation tool 343 may be used to operate the first movement unit 222.

[0041] As described above, the teleoperation system 1 in this disclosure has a main feature in the input device 3, and has been described using the example of a teleoperation robot 2 that can perform nursing care and assistance with daily life, but it can also be applied to, for example, the following targets. Surveys and work in dangerous areas: Surveys, removal work, and restoration work in dangerous areas due to radiation leaks, chemical leaks, etc. Use in dangerous environments where humans must travel to the site. Medical procedures such as surgery: Assisting and performing surgeries where human hands are limited, such as in hard-to-reach places or when delicate work is required. Deep sea exploration: Exploration of deep sea areas that are difficult for humans to reach directly, such as collecting samples and investigating the seabed topography. Space exploration: scientific research and investigation into extraterrestrial bodies and outer space, such as repairing satellites and exploring planets. Disaster relief activities: Rescue activities in disaster areas such as earthquakes, floods, avalanches, etc. Search and rescue operations and transportation of supplies in areas that are inaccessible directly. Maintenance and diagnostic work: inspecting and diagnosing the internal structure of machines and equipment, as well as carrying out repair and maintenance work. Education and training: Real-time skills transfer, practice of high-stakes tasks, etc.

[0042] In addition, in the present disclosure, the teleoperated robot 2 is a physical robot that is operated by the input device 3. However, this operation target should not be limited to a physical object. For example, the operation target may be a virtual object on a computer, such as a computer model. Furthermore, the teleoperation system in the present disclosure is also applicable to visual technologies such as virtual reality (VR) and augmented reality (AR). This allows the user to interact not only with a remote physical environment but also with virtual information and objects. In addition, as described above, the input via the input device 3 can be used as training data to train an AI model (stored in the memory units 232 and 233, for example) that autonomously controls an operation target such as the teleoperated robot 2. This allows the operation input via the input device 3 to be reproduced without the operator's operation.

[0043] <Summary> [Configuration 1] An input device (3) for detecting an input operation by an operator, a rod-shaped first operating member (331); a rod-shaped second operating member (332); a connecting member (334) that connects the first operating member (331) and the second operating member (332) and supports the second operating member (332) rotatably relative to the first operating member (331); a sensor member (E31) for detecting the amount of rotation of the second operating member (332); The second operating member (332) has a first end (332a) on one side and a second end (332b) on the other side opposite to the first end (332a), and is configured to be able to change the distance between the first end (332a) and the first operating member (331) by rotating around a rotation fulcrum (400) on the connecting member (334). An input device (3).

[0044] In this way, by connecting the pair of rod-shaped operating members 331, 332 with the connecting member 334 and configuring the second operating member 332 to be rotatable relative to the first operating member 331, the operator can operate the second operating member 332 like chopsticks to perform an input operation on the input device 3. Then, with a simple configuration in which the sensor member E31 detects the amount of rotation of this second operating member 332, the input operation by the operator can be detected. Furthermore, since the input operation can be performed by a pinching action with chopsticks, an action familiar to Japanese people, the operation target can be operated accurately and with good operability.

[0045] [Configuration 2] The rotation fulcrum (400) is provided closer to the second end (332b) than the center in the longitudinal direction of the second operating member (332). 2. The input device (3) according to configuration 1.

[0046] In this way, by positioning the pivot fulcrum portion 400 closer to the second end (332b) than to the longitudinal center of the second operating member 332 (the longitudinal center of the second operating member 332, at a position where the distance from the first end and the distance from the second end are equal), the distance from the fulcrum to the first end 332a of the second operating member 332 is greater, and the first end portion 332a of the second operating member 332 can be easily and delicately operated with a small amount of operation.

[0047] [Configuration 3] The first operating member (331) and the second operating member (332) are chopstick-shaped operating members that are gripped by an operator's three fingers, i.e., the thumb, index finger, and middle finger, and the second operating member (332) is rotated by the index finger and middle finger with the thumb as a fulcrum, The rotation fulcrum portion (400) is disposed at a position where the thumb of an operator is located when the operator holds the first operating member (331) and the second operating member (332). 3. An input device (3) according to configuration 1 or 2.

[0048] In this way, by positioning the rotation fulcrum part 400 at the position where the thumb, which serves as the fulcrum when rotating the second operating member 332, is located, the mechanical fulcrum position and the operational fulcrum position coincide, making it easy to rotate the second operating member 332. This utilizes the principle that, due to the structure of human fingers, it is easiest to operate a chopstick-shaped device when the fulcrum of the second operating member 332 is located near the tip of the thumb.

[0049] [Configuration 4] a third operating member (333) operated by the fingers of an operator holding the first and second operating members (331, 332); a second sensor member (S1) that detects an operation of the third operating member (333), The third operating member (333) is provided on the rotation fulcrum (400) of the second operating member (332). 4. An input device (3) according to any one of configurations 1 to 3.

[0050] In this way, by providing the third operating member 333 operable by the operator's finger on the rotation fulcrum portion 400, it is possible to perform an operation input using the first and second operating members 331 and 332, while also performing a different operation input using the third operating member 333. Note that the thumb is preferably used as the finger operating the third operating member 333, but it may also be configured so that operation input is performed using a finger other than the thumb, such as the index finger or middle finger, for example.

[0051] [Configuration 5] a drive source (M31) that drives the second operating member (332); a power transmission mechanism (340) that transmits power between the second operating member (332) and the drive source (M31); 5. An input device (3) according to any one of configurations 1 to 4.

[0052] In this way, by configuring the drive force from the drive source M31 to be transmittable to the second operating member 332 via the power transmission device 340, power can be transmitted from the drive source M31 to the second operating member 332, and the operating force of the second operating member 332 can be adjusted depending on the status of the operating object. This makes it possible to provide feedback to the operator about the status of the operating object by means of a tactile response or the like.

[0053] [Configuration 6] A base portion (335) is provided, The first operating member (331) has a third end (331a) on one side and a fourth end (331b) on the other side, The fourth end portion (331b) of the first operation portion (331) is attached to the base portion (335), and the driving source (M31) is supported on the base portion (335). The power transmission mechanism (340) is connected to the second end (332b) of the second operating member (332). 6. An input device (3) according to any one of configurations 1 to 5.

[0054] In this way, by arranging the drive source M31 and the power transmission mechanism 340 on the second end 332b side of the second operating member 332, the drive source M31 and the power transmission mechanism 340 do not interfere with the operation of the second operating member 332.

[0055] [Configuration 7] The power transmission mechanism (340) is a link mechanism. 7. The input device (3) according to configuration 5 or 6.

[0056] This allows the power transmission mechanism 340 to be configured with a simple link mechanism.

[0057] [Configuration 8] The first operating member (331) has a third end (331a) on one side and a fourth end (331b) on the other side, one of the first end (332a) and the third end (331a) is provided with a recess (331a1) into which the other of the first end (332a) and the third end (331a) enters when the second operating member (332) rotates and the first end (332a) approaches the third end (331a); 8. An input device (3) according to any one of configurations 1 to 7.

[0058] In this way, by forming recess 331a1 in one of first end 332a and third end 331a, into which the other of first end 332a and third end 331a enters when second operating member 332 rotates, the rotation range of second operating member 332 can be increased. Note that in the above-described embodiment, first end 332a is formed in a bifurcated shape, and recess 331a1 is formed between the bifurcated ends. However, recess 331a1 does not have to be formed between the bifurcated ends. For example, recess 331a1 may be an L-shaped recess with one side of the bifurcated end cut out. Furthermore, recess 331a1 may be provided in first end 332a of second operating member 332, for example.

[0059] [Configuration 9] A robot arm (31) having a plurality of drivable joints, the first operating member (331), the second operating member (332), the connecting member (334), and the sensor member (E31) are unitized and provided at the tip of the robot arm (31); 9. An input device (3) according to any one of configurations 1 to 8.

[0060] [Configuration 10] An input device (3) according to any one of configurations 1 to 9; and a teleoperated robot (2) that operates based on an input operation input to the input device (3). A teleoperation system (1). [Explanation of symbols]

[0061] 3: input device, 331: first operating member, 332: second operating member, 334: connecting member, 400: rotation fulcrum portion, E31: sensor member (encoder)

Claims

1. An input device for detecting an input operation by an operator, a rod-shaped first operating member; a rod-shaped second operating member; a connecting member that connects the first operating member and the second operating member and supports the second operating member rotatably with respect to the first operating member; a sensor member that detects the amount of rotation of the second operating member, The second operating member has a first end on one side and a second end on the other side opposite to the first end, and is configured to be able to change the distance between the first end and the first operating member by rotating around a rotation fulcrum on the connecting member. An input device characterized by:

2. The rotation fulcrum portion is provided closer to the second end portion than the center in the longitudinal direction of the second operating member.

2. The input device according to claim 1.

3. the first operating member and the second operating member are chopstick-shaped operating members that are gripped by an operator's three fingers, i.e., a thumb, an index finger, and a middle finger, and that rotate the second operating member with the index finger and the middle finger, with the thumb as a fulcrum; the rotation fulcrum portion is disposed at a position where the thumb of an operator is located when the first operating member and the second operating member are gripped by the operator; 2. The input device according to claim 1.

4. a third operating member that is operated by the fingers of an operator holding the first and second operating members; a second sensor member that detects an operation of the third operating member, The third operating member is provided at the rotation fulcrum portion of the second operating member.

4. The input device according to claim 1, wherein the input device is a touch panel.

5. a drive source that drives the second operating member; a power transmission mechanism that transmits power between the second operating member and the drive source, 2. The input device according to claim 1.

6. It has a base part, the first operating member has a third end on one side and a fourth end on the other side; the fourth end of the first operation unit is attached to the base portion, and the drive source is supported on the base portion; the power transmission mechanism is connected to the second end of the second operating member; 6. The input device according to claim 5.

7. the power transmission mechanism is a link mechanism; 7. The input device according to claim 6.

8. the first operating member has a third end on one side and a fourth end on the other side; one of the first end and the third end is provided with a recess into which the other of the first end and the third end enters when the second operating member rotates and the first end approaches the third end; 2. The input device according to claim 1.

9. a robotic arm having a plurality of drivable joints; the first operating member, the second operating member, the connecting member, and the sensor member are unitized and provided at the tip end of the robot arm; 2. The input device according to claim 1.

10. The input device according to claim 1; a teleoperated robot that operates based on an input operation input to the input device, A teleoperation system characterized by:

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