Operating system and operating device

Abstract

This technology provides improved operability and enables more precise operation in an operating system where a master device worn on the body controls a slave device. [Solution] The master-slave system 1 comprises a master device 10 and a slave device 20. The master device 10 comprises a passive body 100 (detection unit), an active body 200 (drive unit), and an end-effector module 300 (force tactile feedback unit). The passive body 100 detects the movement of the operator's body parts. The active body 200 is mechanically separated from the passive body 100 and moves by a driving force in accordance with the detection results of the passive body 100. The end-effector module 300 is installed on the active body 200 and provides force tactile feedback to the operator's body. The slave device 20 operates in response to instructions from the master device 10 and transmits a response to the movement to the master device 10.

Claims

1. A detection unit that detects the movement of the operator's body parts, A drive unit is mechanically separated from the detection unit and moves by a driving force according to the detection result of the detection unit. A master device comprising: a force-tactile feedback unit installed in the drive unit and providing force-tactile feedback to the operator's body; A slave device that operates in response to instructions from the master device and transmits a response to the operation to the master device, An operating system characterized by comprising the following features.

2. The force-tactile feedback unit includes a holding member on which the part of the operator's body to be subjected to force-tactile feedback is installed. The operating system according to claim 1, characterized in that the drive unit moves by driving force in accordance with the detection result of the detection unit, thereby maintaining the state in which the part of the operator's body that is the target of force tactile sensation presentation is placed on the holding member.

3. The force-feedback unit includes a force-feedback actuator that outputs the position of the holding member and the force to be presented to the operator. The operating system according to claim 2, characterized in that the operator inputs an operation to the slave device to the holding member, and the force-tactile feedback actuator outputs a reaction force in the slave device that has been operated in response to the operation.

4. The operating system according to claim 1 or 2, characterized in that the detection unit detects the movement of a part of the operator's body by detecting the position of a member that is linked to the operator's body.

5. The detection unit includes position detection means for detecting the position of a part of the operator's body without contacting the operator's body, The operating system according to claim 2, characterized in that the drive unit moves by driving force in accordance with the detection result of the detection means, thereby maintaining the state in which the part of the operator's body that is the target of force tactile sensation presentation is placed on the holding member.

6. An operating device that is worn on the operator's body and used to operate a slave device, A detection unit that detects the movement of the operator's body part, A drive unit is mechanically separated from the detection unit and moves by a driving force according to the detection result of the detection unit. The drive unit is equipped with a force-tactile feedback unit that provides force-tactile feedback to the operator's body, An operating device characterized in that the force-feedback unit presents force-feedback based on a response from the slave device which operates in response to an instruction from the operating device.

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