Operating device and operating system

Abstract

To achieve a technique capable of performing various operations to an operation object.SOLUTION: An operation device (1,1') includes: at least one six-axis force sensor (14); and a button (12). The six-axis force sensor (14) can detect the force in the first axial direction and the moment around the first axis about the first axis intersecting the first major surface (11S1,11'S1) of a housing (11,11'), the force in the second axial direction and the moment around the second axis about the second axis along the first major surface (11S1,11'S1) of the housing (11,11'), and the force in the third axial direction and the moment around the third axis about the third axis intersecting the second axis along the first major surface (11S1,11'S1) of the housing (11,11'). A button (12) can detect at least the force in the first axial direction, the moment around the second axis and the moment around the third axis, and is provided on the first major surface (11S1,11'S1) of the housing (11,11').SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an operating device and an operating system. [Background technology]

[0002] Patent Document 1 describes an input device that includes a multi-axis force sensor that detects the direction and strength of force applied by an operator, and an operation unit that allows operation in any direction. The input device in Patent Document 1 improves the operational feel by providing a spiral spring that connects the operation unit and the multi-axis force sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-252378 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the input device described in Patent Document 1 is configured so that the curved operating section can be operated in three axial directions, namely, left-right (X-axis), front-back (Y-axis), and up-down (Z-axis), relative to the surface of the game console body, and the direction and strength of the translational force applied by the operator in the three axes (X-axis, Y-axis, and Z-axis) are detected by a multi-axis force sensor.

[0005] For this reason, the input device described in Patent Document 1 is limited in the direction of force that can be detected by the multi-axis force sensor to three translational axes, which is insufficient in terms of the variety of operations that can be performed on an object to be operated.

[0006] An object of one aspect of the present invention is to provide an operation device that can perform a wider variety of operations on an operation target. [Means for solving the problem]

[0007] In order to solve the above problems, an operating device according to one embodiment of the present invention comprises at least one six-axis force sensor and a button, wherein the six-axis force sensor is capable of detecting a force in a first axis direction relative to a first axis intersecting with a first main surface of the housing and a moment around the first axis, a force in a second axis direction relative to a second axis along the first main surface of the housing and a moment around the second axis, and a force in a third axis direction relative to a third axis along the first main surface of the housing and intersecting with the second axis, and a moment around the third axis, and the button is capable of detecting at least a force in the first axis direction, a moment around the second axis, and a moment around the third axis, and is provided on the first main surface of the housing. [Effects of the Invention]

[0008] According to one aspect of the present invention, a technique can be realized that allows a wider variety of operations to be performed on an operated object. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 2 is a diagram illustrating an example of an operation target; [Figure 2] 1 is a schematic diagram showing the appearance of an operating device according to an embodiment of the present invention; [Figure 3] 10 is a partial cross-sectional view showing a structure in which a button and a strain generating element provided in the operating device are connected to each other. FIG. [Figure 4] 4 is a diagram illustrating the movement of the button, and is a cross-sectional view taken along the line AA' in FIG. 3. FIG. [Figure 5] 3A and 3B are a side view and a bottom view showing a structure in which a lever and a strain generating body provided in the operating device are connected to each other. [Figure 6] FIG. 10 is a bottom view illustrating the movement of the lever. [Figure 7] 10A and 10B are perspective views illustrating a modified example of the lever and its movement. [Figure 8] 1 is a block diagram showing the configuration of the main parts of an operation device, an operated object, and the like according to the present embodiment. [Figure 9] 10 is a flowchart illustrating an example of a processing procedure for an operation control process according to the present embodiment. [Figure 10]10A to 10C are screen transition diagrams showing examples of button operations on an operating device and examples of transitions of display screens displayed on a display screen of an operated object corresponding to each button operation. [Figure 11] FIG. 10 is a perspective view showing a modified example of the operation system. DETAILED DESCRIPTION OF THE INVENTION

[0010] An operating device 1 according to one embodiment of the present invention will be described with reference to Figs. 1 to 6. Fig. 1 is a diagram for explaining an example of an operated object 2, and is a schematic diagram showing the appearance of the operated object 2. Fig. 2 is a schematic diagram showing the appearance of the operating device according to this embodiment, with Fig. 2(A) showing the appearance of the operating device 1 according to one embodiment of the present invention as seen from the button 12a side, and Fig. 2(B) showing the appearance of the operating device 1 as seen from the button 12b side. Fig. 2(C) shows the appearance of an operating device 1' according to another embodiment of the present invention.

[0011] The operated object 2 may be, for example, a conventionally known portable game device, a personal computer that can be used as a game machine such as a video game device, a tablet personal computer, a device such as a smartphone, or a multicopter.

[0012] A motion control object whose motion is controlled by the operation devices 1, 1', such as the character 31 in this example, is depicted on the display screen 2D of the operated object 2. An auxiliary part for the motion control object, such as a power gauge 32 that moves in conjunction with the character 31, may also be depicted on the display screen 2D.

[0013] The operation device 1 is an operation means for a user to operate any operation target 2. As shown in (A) and (B) of Figures 2, the operation device 1 has two buttons 12a and 12b on a first main surface 11S1 of the housing 11 and two levers 13a and 13b on a side surface 11S3 of the housing 11. Inside the housing 11 of the operation device 1, two six-axis force sensors (see six-axis force sensor 14 in Figure 3) are provided.

[0014] The button 12a and the lever 13a are each connected to one of two 6-axis force sensors (see the 6-axis force sensor 14 in FIG. 3), and the button 12b and the lever 13b are each connected to the other of two 6-axis force sensors (see the 6-axis force sensor 14 in FIG. 3).

[0015] The operating device 1 detects the direction and magnitude of the force or moment received by the button 12a and the lever 13a using a six-axis force sensor (see six-axis force sensor 14 in Figure 3), and outputs a signal corresponding to the detected value, for example, by analog-to-digital (AD) conversion.

[0016] Similarly, the operating device 1 detects the direction and magnitude of the force or moment received by the button 12b and the lever 13b using a six-axis force sensor (see six-axis force sensor 14 in Figure 3), and outputs a signal corresponding to the detected value, for example, by AD conversion.

[0017] In the following description, the two six-axis force sensors included in the operating device 1 may be referred to as six-axis force sensors 14a and 14b, or may be referred to simply as six-axis force sensor 14. The same applies to buttons 12a and 12b and levers 13a and 13b; buttons 12a and 12b may be referred to simply as buttons 12, and levers 13a and 13b may be referred to simply as levers 13.

[0018] As shown in Fig. 2(C), the operating device 1' has one button 12 on a first main surface 11'S1 of the housing 11' and one lever 13 on a side surface 11'S3 of the housing 11'. One six-axis force sensor (see six-axis force sensor 14 in Fig. 3) is provided inside the housing 11' of the operating device 1'. The button 12 and the lever 13 are connected to the six-axis force sensor (see six-axis force sensor 14 in Fig. 3).

[0019] The configuration of each part of the operating device 1, 1' will be described below. Fig. 3 is a partial cross-sectional view showing the structure in which the button 12 of the operating device 1, 1' and the strain body 141 of the six-axis force sensor 14 are connected.

[0020] The six-axis force sensor 14 includes a strain body 141. The strain body 141 is disposed so that its two main surfaces are parallel to the first main surfaces 11S1 and 11'S1 of the housings 11 and 11' of the operating devices 1 and 1'. Therefore, the six-axis force sensor 14 detects forces (F Z ,F X ,F Y ) and moments around each axis (M Z ,M X ,M Y ) can be detected.

[0021] To be precise, the strain body 141 provided in the six-axis force sensor 14 detects the force F (F Z ,F X ,F Y ) and moments around each axis (M Z ,M X ,M Y ) can be detected. Z ,F X ,F Y ) can be simply called force F, or the moment (M Z ,M X ,M Y ) may simply be called the moment M.

[0022] The force F about each axis is positive in the direction of the arrow in the diagram, and negative in the direction opposite the arrow. The moment M about each axis is positive in the clockwise direction toward the arrow in the diagram, and negative in the counterclockwise direction toward the arrow in the diagram.

[0023] Here, the axes refer to the Z axis (first axis) that intersects with the first main surface 11S1, 11'S1, the X axis (second axis) that runs along the first main surface 11S1, 11'S1 of the housing 11, 11' of the operating device 1, 1', and the Y axis (third axis) that runs along the first main surface 11S1, 11'S1 of the housing 11, 11' of the operating device 1, 1' and intersects with the X axis.

[0024] The flexure body 141 is a structure made of a material having spring properties. The specific configuration of the flexure body 141 does not limit the present embodiment, but for example, a Y-shaped flexure body can be used as the flexure body 141.

[0025] As shown in FIG. 3, the Y-shaped strain element 141 includes a core portion 142, a frame portion 143 surrounding the core portion 142, and arm portions 144a to 144c (only some of which are shown) connecting the core portion 142 and the frame portion 143.

[0026] Strain gauges (not shown) are mounted on each of the arm portions 144a to 144c (only some of which are shown). When an external force is applied to the core portion 142 from outside the operating device 1, 1' while the frame portion 143 is fixed, strain corresponding to the external force is generated in the arm portions 144a to 144c. The strain gauges (not shown) detect the external force. The core portion 142 is sometimes called the force-receiving portion, and the frame portion 143 is sometimes called the fixed portion.

[0027] For example, a cross-beam type flexure element can be used instead of the Y-shaped flexure element as the flexure element 141. Note that a Y-shaped flexure element has fewer arm portions than a cross-beam type flexure element, and therefore has the advantage of requiring fewer strain gauges to be mounted on the arm portions.

[0028] The material of the flexure element 141 is generally, but not limited to, various materials such as aluminum alloy, alloy tool steel, stainless steel, ceramic, etc. The flexure element 141 may be made of, for example, resin.

[0029] Because the strain body 141 is made of resin, the 6-axis force sensor 14 can be manufactured more inexpensively than if it were made of metal. Furthermore, by incorporating the strain body 141 into the operating device 1, 1' and integrating it with the handle portion of the operating device 1, 1', the operating device 1, 1' can be made lighter and smaller. Therefore, a 6-axis force sensor equipped with a resin strain body can be suitably used as the 6-axis force sensor 14 provided in the operating device 1, 1' that is held in the user's hand for operation.

[0030] There are no particular limitations on the type of resin used to manufacture flexure element 141, and any resin can be used to manufacture flexure element 141. Examples of resins that can be used to manufacture flexure element 141 include polyamide-based resins. A flexure element manufactured using polyamide-based resin has the advantage of being excellent in rigidity, bending strength, and the like.

[0031] The configuration of the button 12 will be described with reference to Figures 3 and 4. As shown in Figure 4, the button 12 has a head 121 and a neck 122 having a smaller diameter than the head 121. The button 12 is designed to withstand at least a force F in the Z-axis direction. Z , moment M about the X axis X and moment M about the Y axis Y is connected to the flexure element 141 so that the force can be applied to the flexure element 141.

[0032] 3, the operating device 1, 1' further includes a first plate 15 and a second plate 16 that connect the button 12 and the flexure body 141, and the button 12 is connected to the flexure body 141 in a one-to-one relationship. The button 12 and the flexure body 141 are connected via two layers of plates, that is, the first plate 15 and the second plate 16 are arranged in this order from the flexure body 141.

[0033] In addition, two pairs of first springs (first elastic members) 17a to 17d (only some of which are shown) are provided between the first plate 15 and the second plate 16, and one second spring (second elastic member) 18 is provided between the button 12 and the second plate 16.

[0034] The structure (connected structure) in which the button 12 is connected to the strain body 141 will be described in more detail with reference to FIG. 12 4 is a diagram for explaining the movement of the button 12, and is a cross-sectional view taken along the line AA' in FIG. 2. A state ST121 shown in FIG.

[0035] 4, in the connected structure, the second main surface 15S2 of the first plate 15 is connected to the first main surface 141S1 of the core portion 142 of the strain body 141. In this specification, of the two main surfaces of each portion constituting the connected structure, the main surface on the positive Z-axis direction side is referred to as the first main surface, and the main surface on the negative Z-axis direction side is referred to as the second main surface.

[0036] The second plate 16 is connected to the center of the first main surface 15S1 of the first plate 15 by a ball joint 19. S It can be tilted in any direction relative to 1.

[0037] The ball joint 19 is composed of a ball portion 191 provided in the center of the first main surface 15S1 of the first plate 15 and a ball receiving portion 192 provided in the center of the second main surface 16S2 of the second plate 16.

[0038] The joint connecting the first plate 15 and the second plate 16 is not limited to the spherical ball joint 19, and any joint can be used that can connect the second plate 16 so that it can tilt relative to the first main surface 15S1 of the first plate 15. An example of a joint other than the spherical ball joint 19 may be a spherical roller mechanism.

[0039] Two pairs of first springs 17a to 17d are provided between the first plate 15 and the second plate 16 so as to bias the second plate 16 in directions away from the first main surface 15S1 of the first plate 15.

[0040] First springs 17a and 17c form a pair, and first springs 17b and 17d form a pair. Of the two pairs of first springs 17a to 17d, only one pair, first springs 17a and 17c, is shown in Figure 4. The two pairs of first springs 17a to 17d may be simply referred to as first springs 17 without distinction.

[0041] There is no particular limitation on the number of first springs 17, as long as there is at least one pair. Furthermore, the type of spring used as first spring 17 is not particularly limited as long as it can exert the desired function of biasing second plate 16 in a direction separating it from first main surface 15S1 of first plate 15.

[0042] Examples of springs suitable for use as first spring 17 include compression coil springs (e.g., cylindrical, barrel, conical, etc.) and leaf springs. A cylindrical compression coil spring is preferable from the viewpoint of efficiently transmitting the load applied to button 12 to strain-generating body 141. In this embodiment, an example has been shown in which a spring is used as the first elastic member, but an elastic body other than a spring may also be used as the first elastic member.

[0043] An example of an elastic body other than a spring includes rubber. Button 12 is connected to the center of first main surface 16S1 of second plate 16 by screw 21 so as to be movable in a direction perpendicular to first main surface 16S1 of second plate 16.

[0044] A second spring 18 is provided between button 12 and second plate 16 so as to bias button 12 in a direction away from first main surface 16S1 of second plate 16. The types of springs that can be used as second spring 18 are the same as those described for first spring 17.

[0045] It is preferable that the second spring 18 is stiffer (for example, has a larger Young's modulus) than the first spring 17. The reason for this is as follows: if the stiffness (for example, Young's modulus) of the first spring 17 is greater than that of the second spring 18, a moment M about the X axis is applied to the button 12. X or moment M about the Y axis Y When a moment M is applied, the second spring 18 expands and contracts before the first spring 17. X or moment M about the Y axis Y The force F is greater than the detected value Z The detected value becomes more likely to be detected.

[0046] On the other hand, if the stiffness (for example, Young's modulus) of the spring is greater than that of the first spring 17, the button 12 is subjected to a moment M about the X axis. X or moment M about the Y axis Y When the force is applied, the first spring 17 expands and contracts before the second spring 18. As a result, F Z The detection value of is difficult to detect, and the moment M around the X axis X or moment M about the Y axis Y The detected value is easy to detect.

[0047] The stiffness of the spring (for example, Young's modulus) can be measured by a known method. Although only one connecting structure is shown in Figures 3 and 4, the operating device 1 is provided with another connecting structure, and the other connecting structure not shown in Figure 3 also has the same structure as the connecting structure shown in Figures 3 and 4.

[0048] The movement of button 12 when the user applies a load will be described with reference to Fig. 4. State ST122 shown in Fig. 4 represents the state of the connecting structure when the user applies a load downward (in the direction of the arrow in the figure) to the center of button 12.

[0049] As shown in state ST122, when the user applies a load downward (in the direction of the arrow in the figure) to the center of button 12, button 12 is pressed down in a direction perpendicular to first main surface 16S1 of second plate 16. As a result, a negative Z-axis force F Z - acts on the 6-axis force sensor 14, and a force F in the negative direction of the Z axis acts on the 6-axis force sensor 14. Z -Detect.

[0050] When the user stops applying the load to the button 12, the pressed button 12 returns to the position before the load was applied (the position shown in state ST121) due to the restoring force of the compressed second spring 18.

[0051] The degree to which the button 12 is pressed down in the vertical direction changes depending on the magnitude of the load applied to the button 12, and as a result, the force F in the negative Z-axis direction detected by the six-axis force sensor 14 Z- The magnitude of the detected value changes.

[0052] 4 represents the state of the connecting structure when the user applies a load downward (in the direction of the arrow in the figure) to the left portion of button 12. In the following description, the front, back, left, and right of button 12 represent positions on first main surface 12S1 of head 121 of button 12.

[0053] 2, the position on the -Y side, which is the negative side of the Y axis when viewed from the center of first main surface 12S1 of head 121 of button 12, is referred to as the front of button 12, and the position on the +Y side, which is the positive side of the Y axis, is referred to as the rear of button 12. Similarly, the position on the +X side, which is the positive side of the X axis, is referred to as the left of button 12, and the position on the -X side, which is the negative side of the X axis, is referred to as the right of button 12.

[0054] As shown in state ST123, for example, when the user applies a load downward (in the direction of the arrow in the figure) to the left portion of the button 12, the second plate 16 tilts leftward around the ball portion 191 of the ball joint 19.

[0055] As a result, a positive moment M Y + acts on the 6-axis force sensor 14, and a positive moment M Y When the user stops applying a load to the button 12, the second plate 16 returns to the position before the load was applied (the position shown in state ST121) due to the restoring force of the compressed first spring 17a.

[0056] Similarly, when the user applies a load downward (in the direction of the arrow in the figure) to the right, front, or rear of the button 12, the second plate 16 tilts to the right, front, or rear around the ball portion 191 of the ball joint 19, depending on the position where the load is applied.

[0057] As a result, a moment M in the negative direction around the Y axis is applied to the strain body 141. Y -, positive moment M about the X axis X + or negative moment M about the X axisX - acts on the six-axis force sensor 14. The six-axis force sensor 14 also acts on the six-axis force sensor 14. Y -, Moment M in the positive direction of the X axis X Moment M in the + or negative X-axis direction X - are detected respectively.

[0058] The degree of inclination of the second plate 16 changes depending on the magnitude of the load applied to the button 12. As a result, the moment M in the positive direction of the Y-axis detected by the six-axis force sensor 14 Y +, Moment M in the negative Y-axis direction Y -, Moment M in the positive direction of the X axis X Moment M in the + or negative X-axis direction X - The magnitude of the detected value changes.

[0059] The second plate 16 is tiltably connected to the first plate 15 by the ball joint 19, and can therefore tilt in any direction on the XY plane around the ball portion 191 of the ball joint 19, depending on the position at which the load on the button 12 is applied.

[0060] The second plate 16 is connected to the first plate 15 by a ball joint 19 so as to be tiltable. Therefore, a moment M in the positive direction around the Y axis is applied to the strain body 141. Y +, negative moment M about the Y axis Y -, positive moment M about the X axis X Moment M in the negative direction about the + and X axes X In addition to the above, moments can also be applied around any axis on the XY plane. An arbitrary axis on the XY plane refers to any composite component of the X and Y axes.

[0061] As a result, the six-axis force sensor 14 detects a positive moment M Y +, negative moment M about the Y axis Y -, positive moment M about the X axis X Moment M in the negative direction about the + and X axes X -It can also detect moments around any axis on the XY plane.

[0062] The button 12 is pressed against the Z-axis force F Z , moment M about the X axis X , moment M about the Y axis Y and a moment about any axis on the XY plane, plus a force F in the X-axis direction. X , force F in the Y-axis direction Y The six-axis force sensor 14 can be configured to detect forces in any direction on the XY plane. State ST124 shown in Fig. 4 represents the state of the connecting structure when the user applies force to the button 12 in the positive direction of the X axis +X (the direction of the arrow in the figure).

[0063] As shown in state ST124, for example, when the user applies a load to the button 12 so as to slide it in the positive direction of the X axis (the direction of the arrow in the drawing), the second plate 16 moves leftward relative to the strain body 141.

[0064] As a result, a force F in the positive direction of the X axis is applied to the strain body 141. X + acts, and the 6-axis force sensor 14 detects a force F in the positive direction of the X axis. X When the user stops applying a load to the button 12, the second plate 16 returns to the position before the load was applied (the position shown in state ST121) due to the weight of the second plate 16 and the restoring force of the first spring 17.

[0065] Similarly, when the user applies a load to the button 12 so as to slide it in the negative direction of the X axis −X, the positive direction of the Y axis +Y, the positive direction of the X axis +X, or any direction on the XY plane, the second plate 16 moves horizontally relative to the strain body 141 depending on the direction of the applied load.

[0066] The second plate 16 tilts to the right, front, or rear around the ball portion 191 of the ball joint 19, and generates a force F in the negative direction of the X axis on the strain body 141. X -, Force F in the positive direction of the Y axis Y +, Force F in the negative Y-axis direction Y As a result, the six-axis force sensor 14 detects a force F in the negative direction of the X-axis. X -, Force F in the positive direction of the Y axisY +, Force F in the negative Y-axis direction Y - or detects forces in any direction on the XY plane.

[0067] The degree of horizontal movement of the second plate 16 changes depending on the magnitude of the load applied to the button 12. As a result, the force F in the positive direction of the X-axis detected by the six-axis force sensor 14 X +, Force F in the negative direction of the X axis X -, Force F in the positive direction of the Y axis Y +, Force F in the negative Y-axis direction Y -Or the magnitude of the detected force in any direction on the XY plane changes.

[0068] As described above, the button 12 can have two functions, for example, that of a conventional cross key and an analog stick. Specifically, like a conventional cross key, it is possible to input eight directions, including not only the positive X-axis direction +X, the negative X-axis direction -X, the positive Y-axis direction +Y, and the negative Y-axis direction -Y, but also diagonal directions. Also, like a conventional analog stick, it is possible to move the button 12 360°.

[0069] In addition, the button 12 has a structure that is low in the Z-axis direction like a conventional cross key and is suitable for making the operating device 1, 1' low in height, but is strong enough to withstand a force F in the Z-axis direction. Z The six-axis force sensor 14 can detect a force in any direction on the XY plane and a moment around any axis on the XY plane.

[0070] As shown in FIG. 4, it is preferable that the first main surface 11S1, 11'S1 of the housing 11, 11' of the operating device 1, 1' is provided with a recess 113 for accommodating the head 121 of the button 12, the recess 113 having a button opening 1131 formed on the bottom surface for passing through the neck portion 122 of the button 12.

[0071] By providing the first main surfaces 11S1, 11'S1 of the housings 11, 11' with the recesses 113 having the above-described configuration, the heads 121 of the buttons 12 can be accommodated in the recesses 113. This prevents the buttons 12 from protruding from the first main surfaces 11S1, 11'S1 of the housings 11, 11', allowing the surfaces of the operating devices 1, 1' to be flat.

[0072] Furthermore, the button opening 1131 formed in the bottom surface of the recess 113 has a smaller diameter than the head 121 of the button 12. This limits the range of tilt of the second plate 16 relative to the first main surface 15S1 of the first plate 15 in certain cases. This prevents an overload from being applied to the six-axis force sensor 14 when a load greater than a certain level is applied to the button 12.

[0073] In a specific case, for example, button 12 is F Y + is applied , Bo Moment M about the X axis on Tan 12 X or moment M about the Y axis Y This is the case when

[0074] The configuration of the lever 13 will be described with reference to Figures 5 and 6. Figure 5 is a side view and a bottom view showing a structure (connected structure) in which the lever 13 and the strain body 141 provided in the operating device 1, 1' are connected.

[0075] The lever 13 has an arm portion 131 having a pair of arms at the end on the inner side of the housings 11, 11′, and is fixed to the housings 11, 11′ of the operating devices 1, 1′ via a rotation shaft 24. Therefore, the lever 13 is rotatable around the rotation shaft 24.

[0076] The lever 13 is subjected to a moment M around the Z axis. Z The third plate 23 is connected to the flexure element 141 so that the force acting on the flexure element 141 can be applied to the flexure element 141. Specifically, a third plate 23 having a protrusion 231 is connected to the flexure element 141. The third plate 23 is connected to the second main surface 141S2 of the core portion 142 of the flexure element 141.

[0077] The protruding portion 231 of the third plate 23 is located between the outer peripheral end surface of the third plate 23 and the arm of the arm portion 131 of the lever 13. The gap The arm portion 131 of the lever 13 and the protruding portion 231 of the third plate 23 are connected via a pair of third springs (third elastic members) 25a, 25b. The pair of third springs 25a, 25b may be simply referred to as third spring 25 without distinction.

[0078] The types of springs that can be used as the third spring 25 are the same as those described for the first spring 17. By connecting the lever 13 to the strain body 141 in the orientation described above, the lever 13 can be provided on the side surface 11S3, 11'S3 of the housing 11, 11' of the operating device 1, 1'.

[0079] 5, protruding direction 23P of protruding portion 231 of third plate 23 is, for example, perpendicular to normal direction 12N of first main surface 12S1 of button 12. Lever 13 protrudes in a direction (direction 13P) along protruding direction 23P, and is coupled to protruding portion 231 of third plate 23 so as to be able to rotate protruding portion 231 in the circumferential direction of the Z axis.

[0080] Since the normal direction 12N and the protruding direction 23P are perpendicular to each other, in the operating device 1, 1′, the six-axis force sensor 14 can detect six axes (force F Z ,F X ,F Y and moment M Z ,M X ,M Y ) information can be used to the fullest extent.

[0081] Although Figure 5 shows only one connecting structure, the operating device 1, 1' has another connecting structure, and the other connecting structure not shown in Figure 5 also has the same structure as the connecting structure shown in Figure 5.

[0082] The movement of the lever 13 when the user applies a load will be described with reference to Fig. 6. Fig. 6 is a bottom view illustrating the movement of the lever 13. A state ST131 shown in Fig. 6 represents the state of the connecting structure when the user does not apply a load to the lever 13. 6 The state ST132 shown in FIG. 1 represents the state of the connecting structure when the user applies a load to the lever 13 in the direction of the arrow in the drawing.

[0083] As shown in state ST132, for example, when the user applies a load to the lever 13 in the direction of the arrow in the figure, the lever 13 rotates counterclockwise on the paper surface around the rotation shaft 24. As a result, the arm portion 131 moves toward the third plate 23 By acting on the protrusion 231, a load around the Z axis is applied to the strain body 141. direction Moment M Z - acts on the 6-axis force sensor 14, and a moment M in the negative direction around the Z axis acts on the 6-axis force sensor 14. Z When the user stops applying a load to the lever 13, the lever 13 returns to the position before the load was applied (the position shown in state ST131) due to the restoring force of the compressed third spring 25a.

[0084] Similarly, when the user applies a load to the lever 13 in the direction opposite to the arrow in the figure, the lever 13 rotates clockwise on the paper about the rotation axis 24. As a result, the arm portion 131 moves toward the third plate 23 By acting on the protrusion 231, the positive force around the Z axis acts on the strain body 141. direction Moment M Z + acts on the 6-axis force sensor 14, and a positive moment M Z Detect +.

[0085] The degree of rotation of the lever 13 changes depending on the magnitude of the load applied to the lever 13, and as a result, the six-axis force sensor 14 detects a rotation in the negative direction around the Z axis. or the positive direction around the Z axis Moment M Z - or M Z The magnitude of the + detection value changes.

[0086] It is preferable that a lever opening 114 for passing the lever 13 is provided on the side surface 11S3, 11'S3 of the housing 11, 11' of the operating device 1, 1', and that walls (convex portions) 115 protruding in a direction intersecting with the first main surface 11S1, 11'S1 of the housing 11, 11' are provided on both outer sides of the arm portion 131 on the inner surface of the housing 11, 11'.

[0087] The lever opening 114 is provided on the side surface 11S3, 11'S3 of the housing 11, 11' of the operating device 1, 1', so that the lever 13 can be exposed from the lever opening 114.

[0088] Furthermore, walls 115 are provided on both outer sides of the arm portions 131 on the inner surfaces of the housings 11 and 11'. ,one When a load equal to or greater than a predetermined value is applied to the lever 13, an overload can be prevented from being applied to the six-axis force sensor 14.

[0089] As described above, by providing the operating device 1, 1' with the lever 13, the six-axis force sensor 14 detects the moment M Z By rotating the lever 13 on the XY plane, a moment M about the Z axis with respect to the strain body 141 can be detected. Z As a result, the moment M around the Z axis is generated by twisting the lever 13. Z In comparison with the case where the above-mentioned detection is performed, the operability of the operation devices 1, 1' is improved.

[0090] In addition, the 6-axis force sensor 14 detects a moment M around the Z axis by the lever 13. Z By detecting this, the moment M around the Z axis with respect to the strain body 141 Z The twisting action to activate the function can be independent of the pressing or tilting of the button 12.

[0091] As a result, the force F in the Z-axis direction Z , force F in the X-axis direction X , force F in the Y-axis direction Y , moment M about the X axis Xor moment M about the Y axis Y and the moment M around the Z axis Z Since the detection of the first and second keys can be performed simultaneously, the versatility of the operation of the operation devices 1, 1' is improved.

[0092] Furthermore, the user can apply a force F or a moment M three-dimensionally to the button 12 and the lever 13 of the operation device 1, 1', and the direction and magnitude of the force F or the moment M are detected by the six-axis force sensor 14. This allows the user to perform a wider variety of operations on the operated object 2.

[0093] As a result, it is possible to make the object of motion control, such as the character 31 depicted in the operated object 2, perform a wider variety of movements. In addition, the operation device 1, 1' can adjust the force (for example, the force F in the Z-axis direction) Z , moment M about the X axis X , moment M about the Y axis Y , moment M about the Z axis Z ) can be detected, it is possible to change the speed at which the motion control target drawn on the operated object 2 moves.

[0094] Furthermore, the motion of the motion-controlled object, which is the object whose motion is controlled by the operation device 1, 1', may be assisted by a motion-controlled object assisting unit, and there may be more than one assisting unit. For example, the motion-controlled object assisting unit is controlled by the operation device 1, 1'. The operation device 1, 1' may also perform control such as turning off the power of the operated object 2 itself. Furthermore, the lever 13 may be configured to be installed on the back of the first main surface 11S1, 11'S1 as shown in FIG. 7.

[0095] A modified example of the lever 13 will be described with reference to Fig. 7. Fig. 7 is a perspective view illustrating a modified example of the lever 13 and its movement. The lever 13 may be provided on the second main surface 11S2, 11'S2 (see Fig. 2) of the housing 11, 11' of the operating device 1, 1'. In this case, as shown in Fig. 7, the lever 13 is fixed to the housing 11, 11' of the operating device 1, 1' via a rotation shaft 24 facing in the direction along the Z axis.

[0096] 7, the lever 13 is fixed in a direction in which the arm of the arm portion 131 of the lever 13 is perpendicular to the protrusion 231 of the third plate 23. The arm portion 131 of the lever 13 and the protrusion 231 of the third plate 23 are connected via a pair of third springs (third elastic members) 25 (25a, 25b). By connecting the lever 13 to the strain body 141 in the above-mentioned direction, the lever 13 can be provided on the second main surfaces 11S2, 11'S2 (see FIG. 2) of the housings 11, 11' of the operating devices 1, 1'.

[0097] 7, protruding direction 23P of protruding portion 231 of third plate 23 is, for example, perpendicular to normal direction 12N of first main surface 12S1 of button 12. Lever 13 protrudes in a direction (direction 13P) intersecting protruding direction 23P, and is coupled to protruding portion 231 of third plate 23 so as to be able to rotate protruding portion 231 in the circumferential direction of the Z axis.

[0098] In the operating device 1, 1′ having the modified lever 13 shown in FIG. 7, the normal direction 12N and the protruding direction 23P are perpendicular to each other, so the six axes (force F Z ,F X ,F Y and moment M Z ,M X ,M Y ) information can be used to the fullest extent.

[0099] Next, in a mode in which the lever 13 is provided on the second main surface 11S2, 11'S2 (see FIG. 2) of the housing 11, 11' of the operating device 1, 1', the movement of the lever 13 when a user applies a load will be described with reference to FIG. 7. As shown in FIG. 7, for example, when the user applies a load to the lever 13 in the direction of the arrow in the figure, the lever 13 rotates clockwise in the plane of the drawing around the rotation axis 24.

[0100] As a result, the arm portion 131 acts on the protrusion 231 of the third plate, and a negative moment M Z- acts, and the 6-axis force sensor 14 is M Z -Detect.

[0101] When the user stops applying a load to lever 13, lever 13a returns to its original position due to the restoring force of compressed third spring 25a. Similarly, when the user applies a load to lever 13 in the direction opposite to the arrow in the figure, lever 13 rotates counterclockwise on the paper about rotation axis 24.

[0102] As a result, the arm portion 131 acts on the protrusion 231 of the third plate, and a moment M Z + acts on the 6-axis force sensor 14, and a positive moment M Z Detect +.

[0103] The operation devices 1, 1' are provided with a communication interface (not shown) for performing wired or wireless communication with an operated object. The communication interface may be any known interface for performing wireless communication with the operated object via a LAN (Local Area Network), or any known interface for performing wired communication with the operated object.

[0104] In the present embodiment, the operating devices 1, 1' are described as having one or two 6-axis force sensors 14, and each 6-axis force sensor 14 is connected to both the button 12 and the lever 13, but the present invention is not limited to this. In other words, the operating devices 1, 1' may be configured to have more than two 6-axis force sensors 14 as needed.

[0105] Furthermore, only one of the buttons 12 and the levers 13 may be connected to the six-axis force sensor 14. The numbers of buttons 12 and levers 13 provided on the operation devices 1, 1' do not need to be the same, and either one of the buttons 12 and levers 13 may be more than the other, as necessary.

[0106] In this embodiment, the button 12 and the lever 13 are used to apply force (F Z ,F X ,F Y ) and moments around each axis (M Z ,M X ,M Y ) is detected, the present invention is not limited to this.

[0107] That is, at least four of the six axes (force F in the Z-axis direction) Z , moment M about the Z axis Z , moment M about the X axis X and moment M about the Y axis Y ) may be detected.

[0108] At least four of the six axes (force F in the Z-axis direction) Z , moment M about the Z axis Z , moment M about the X axis X and moment M about the Y axis Y By detecting the force, it is possible to detect the amount of force that could not be detected by conventional devices, and therefore this modified example can significantly improve the variety of operations that can be performed on the object to be operated.

[0109] Furthermore, this modified example has a configuration in which at least four of the six axes are detected, which has the advantage that the output signals are not too complex compared to when forces F and moments M, etc. are detected on all six axes.

[0110] In addition, as shown in FIG. 2, by using the structure of the operation device 1, 1' in which the button 12 is pressed with the thumb or the like and the lever 13 (13a, 13b) is operated with the index finger or the like, it is possible to apply force F X and the force F in the Y-axis direction Y ) detection can be omitted.

[0111] The flow of information between the operation devices 1, 1' and the operated object 2 will be explained using Figures 8 and 9. The explanation will be made using Figure 8, which is a block diagram showing the main configuration of the operation devices 1, 1' and the operated object 2 according to this embodiment. The operation system S includes the operation devices 1, 1' equipped with at least one 6-axis force sensor 14, for example, and the operated object 2.

[0112] The operating devices 1, 1' output signals corresponding to the detection values ​​of the force F and moment M detected by the strain body 141 via the detection value transmitter 46. The operated object 2 may include a force sense information processor 40 that converts the signals corresponding to the detection values ​​of the force F and moment M into force sense information HI. The force sense information HI is information indicating the motion of the object to be motion controlled, and is information based on at least one of the force F and the moment M.

[0113] The force sense information processing unit 40 may be included in the operation device 1, 1′. Furthermore, the force sense information processing unit 40 may receive the detection values ​​of the force F and moment M themselves from the operation device 1, 1′, rather than signals corresponding to the detection values.

[0114] The force sense information processing unit 40 includes a detection value receiving unit 42 that receives signals corresponding to the detection values ​​of the force F and moment M, a force sense information calculation unit 41 that calculates the force sense information H I, and a force sense information transmission unit 43 that transmits the calculated force sense information H I. In other words, it can be said that the force sense information processing unit 40 calculates the force sense information H I.

[0115] The operated object 2 includes a force sense information receiving unit 44 that receives force sense information HI, and a movement control unit 45 that controls the movement of the movement control object in the operated object 2 based on the force sense information HI. There are no particular limitations on the type of the operated object 2. In other words, it can be said that the operated object 2 controls the movement of the movement control object in the operated object 2.

[0116] The signal corresponding to the detected values ​​of the force F and moment M transmitted from the six-axis force sensor 14a of the operating device 1 and the signal corresponding to the detected values ​​of the force F and moment M transmitted from the six-axis force sensor 14b are each converted into force information HI separately by the force information processing unit 40. Each of the converted force information HI may be transmitted separately to the operated object 2.

[0117] For example, two independent force sense information processing units 40a and 40b may be provided corresponding to the six-axis force sensor 14a and the six-axis force sensor 14b.

[0118] For example, the force-sense information calculation unit 41, the detection value receiving unit 42, the force-sense information transmission unit 43, the force-sense information receiving unit 44, and the operation control unit 45 are implemented in the operation devices 1, 1' and the operated object 2 by means of integrated circuits or the like.

[0119] The force information calculation unit 41, the detection value receiving unit 42, the force information transmission unit 43, the force information receiving unit 44, and the operation control unit 45 may be programs stored in a memory unit such as a RAM (Random Access Memory) not shown in the figures provided in the operation device 1, 1' or the operated object 2, and may be executed by an execution unit such as a CPU (Central Processing Unit) not shown in the figures provided in the operation device 1, 1' or the operated object 2.

[0120] 9 is a flowchart illustrating an example of the processing procedure of the action control process M1 regarding the flow of information between the operation devices 1, 1′ and the operated object 2 according to this embodiment. For example, the action of the character 31 in the operated object 2 (e.g., a game machine) is controlled by the action control process M1.

[0121] The operating device 1, 1' outputs a signal corresponding to the detection values ​​of the force F and moment M detected by the strain body 141 via the detection value transmitter 46 (step M11). The force sense information processing unit 40 receives the signal corresponding to the detection values ​​of the force F and moment M via the detection value receiver 42, calculates force sense information H I based on the signal corresponding to the detection values ​​via the force sense information calculator 41, and transmits the calculated force sense information H I via the force sense information transmitter 43 (step M12).

[0122] The operated object 2 receives the force sense information HI by the force sense information receiving unit 44, and controls the movement of the character 31 by the movement control unit 45 so that the operation content is executed based on the force sense information HI (step M13).

[0123] As an example, an example of button operations of the controller device 1 in a baseball game and an action control process executed by the controller system S in response to the button operations will be described with reference to Fig. 10. Fig. 10 is a screen transition diagram showing an example of button operations of the controller device 1 and an example of transition of display screens displayed on the display screen 2D corresponding to each button operation. Fig. 10 describes an example of controlling the actions of a character 31 in a baseball game.

[0124] For example, in the baseball game shown in Figure 10, two motion control processes are performed in parallel: a motion control process for the strength of the force with which the character 31 holds the bat, and a motion control process for the weight transfer of the character 31 before swinging the bat.

[0125] In the example described below, button 12a (FIG. 2) is used to control the strength of the force with which character 31 holds the bat, and button 12b is used to control the weight transfer until character 31 swings the bat. The assignment of functions to buttons 12a and 12b is not limited to this.

[0126] First, the motion control process for the magnitude of the force with which the character 31 holds the bat will be described. The user continues to press the button 12a with an arbitrary amount of force. Then, in step M11 of the motion control process for the magnitude of the force with which the character 31 holds the bat, the operation device 1 first calculates F, which is the detection value detected by the strain body 141 to which the button 12a is connected. Z - A signal according to the detected value is output via the detected value transmitting unit 46.

[0127] Next, in step M12 of the motion control process for the magnitude of the force with which the character 31 holds the bat, the force sense information calculation unit 41 of the force sense information processing unit 40 calculates force sense information HI that is the magnitude of the force with which the character 31 holds the bat based on a signal corresponding to the detection value.

[0128] Next, in step M13 of the motion control process for the magnitude of the force with which the character 31 holds the bat, the motion control unit 45 of the operated object 2 controls the magnitude of the force with which the character 31 holds the bat and the height of the bar shown on the power gauge 32 drawn on the display screen 2D shown in Figure 10.

[0129] By looking at the height of the bar displayed on the power gauge 32 drawn on the display screen 2D, the user can increase or decrease the force applied by the user to the controller device 1, thereby adjusting the detection value detected by the strain body 141.

[0130] Next, a description will be given of the motion control process for weight shift of the character 31. The user can control the weight shift of the character 31 until the character 31 swings the bat by changing the position on the main surface of the button 12b that is pressed.

[0131] First, the user presses the center of button 12b (position A in FIG. 10), then the rear of button 12b (position B in FIG. 10), and finally the front of button 12b (position C in FIG. 10).

[0132] Then, in step M11, the operation device 1 first detects the force F in the negative direction of the Z axis, which is the detection value detected by the strain body 141 of the six-axis force sensor 14b to which the button 12b is connected. Z -, negative moment M about the X axis X -, negative moment M about the X axis X Moment M in the negative direction about the + and X axes Y The signals corresponding to the detected values ​​are sequentially output via the detected value transmitting unit 46.

[0133] Next, in step M12, the force sense information calculation unit 41 of the force sense information processing unit 40 calculates the force F in the negative direction of the Z axis. Z -, negative moment M about the X axis X -, positive moment M about the X axis X Based on the signal corresponding to the detected value of +, force sense information HI of the weight shift from the center to the rear to the front until the character 31 swings the bat is calculated.

[0134] Furthermore, the force sense information calculation unit 41 of the force sense information processing unit 40 calculates the moment M Y Based on the signal corresponding to the detected value of (a), force sense information HI of the direction in which the character 31 throws the ball 33 is calculated.

[0135] Next, in step M13, the movement control unit 45 controls the weight shift of the character 31 depicted on the display screen 2D from the center to the rear to the front until the character 31 swings the bat so that the operated object 2 executes the operation content based on the force sense information HI. As a result, the display screen 2D transitions in the order of display screen 2D1 → display screen 2D2 → display screen 2D3.

[0136] Furthermore, the movement control unit 45 of the operated object 2 controls the direction in which the character 31 hits the ball 33. In the example shown in Fig. 10, the character 31 hits the ball forward and to the right. To increase the distance the ball travels, such as for a home run, the user simply operates the button 12b to lengthen the time it takes for the character 31 to shift their weight. In other words, the user simply presses the button 12b so that the total time from when the center portion A of the button 12b is pressed until the front portion C is pressed is lengthened.

[0137] On the other hand, if the user wants to hit the ball a short distance, such as by hitting it, the user can adjust the time for which the button 12b is pressed so that the total time from pressing the center part A of the button 12b to pressing the front part C is shortened according to the desired distance.

[0138] In this explanation, the method of operating the button 12a and the method of operating the button 12b have been explained separately, but when actually controlling the character 31, the operation of the button 12a and the operation of the button 12b are performed in parallel.

[0139] The operation system S according to this embodiment is particularly advantageous when operating a smartphone as the operated object 2. Usually, games on a smartphone are operated by touching the screen, making it difficult to see the game screen.

[0140] Furthermore, the speed at which an operated object such as the character 31 moves cannot be changed by touching the screen. Therefore, as in the operation system S according to this embodiment, by operating the game screen using an operation device 1 separate from the smartphone, the effect is achieved that the game screen is easy to see and operate.

[0141] In addition, since the operation is performed using the operation device 1, it is possible to control the force (F) which was previously difficult to do with button operations on a game screen. Z , M X , M Y , M Z ) can be detected, and it becomes possible to change the speed at which the character 31 moves and the speed at which the background moves.

[0142] When the operated object 2 is a game machine, the type of game that the game machine runs is not particularly limited. The controller device 1 allows the user to apply forces to the buttons 12 and levers 13 of the controller device 1 in three dimensions.

[0143] Therefore, the direction and magnitude of the force applied to the button 12 and lever 13 are detected by the six-axis force sensor, which improves the variety of operations for the operated object and allows for more precise operations on the operated object, thereby enabling more flexible movements of the operated object such as the character 31.

[0144] Furthermore, the controller device 1 can detect the strength of force, making it possible to change the speed at which the operated object moves. This makes the controller device 1 suitable for use in controlling VR (Virtual Reality) games. By operating the controller device 1, the force can be transmitted to the game in three dimensions, allowing for operation with a feeling closer to reality.

[0145] In the above description, an example has been described in which buttons 12a and 12b of the controller 1 are used to control the movements of the character 31. However, lever 13b may be used instead of button 12a, and for example, controller 1' of FIG. 2(C) may be used. When controller 1' is used, the user can operate controller 1' with only one hand.

[0146] In the above description, the configuration of the operation device 1, 1' is described as being suitable for use in a state in which the operation device 1, 1' and the operated object 2 are separated, but the present invention is not limited to this. That is, the operation device 1, 1' may be configured so that the operated object 2 is attached to the operation device 1, 1' and used in a state in which the operated object 2 is mounted on the operation device 1, 1'.

[0147] The operation system S is connected to the operated object 2 as shown in FIG. Operation device 1'' and It may be an integrated system that includes an unillustrated grip portion that is easy for the user to hold. FIG. 11 is a perspective view showing a modified example of the operation system S (hereinafter referred to as operation system S'). As shown in FIG. 11, the operation system S' according to this modified example includes an operation device 1'' and an operation target 2.

[0148] The operation device 1'' has at least one terminal on the first main surface 11''S1 of the housing 11'' that can be electrically connected to the operated object 2. This allows the operated object 2 to be attached to the operation device 1''. For example, if the operated object 2 is a multicopter, the object to be controlled in operation would be a motor or the like equipped on the multicopter. The operation systems S, S' of the present invention make it possible to realize a system that can perform a wider variety of operations on the operated object 2.

[0149] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0150] 1, 1', 1''...operation device, 2...operated object, 11, 11', 11''...casing, 12, 12a, 12b...button, 13, 13a, 13b...lever, 14, 14a, 14b...6-axis force sensor, 15...first plate, 16...second plate, 17...first spring (first elastic member), 18...second spring (second elastic member), 23...third plate, 24...rotation axis, S, S'...operation system.

Claims

1. The device includes at least one six-axis force sensor, a button, a housing, a first plate, and a second plate; the six-axis force sensor is capable of detecting a force in a first axis direction relative to a first axis intersecting with a first main surface of the housing and a moment around the first axis, a force in a second axis direction relative to a second axis along the first main surface of the housing and a moment around the second axis, and a force in a third axis direction relative to a third axis along the first main surface of the housing and intersecting with the second axis, and is provided inside the housing; the button is capable of applying at least a force in the first axis direction, a moment around the second axis, and a moment around the third axis to the six-axis force sensor, and is provided on the first main surface of the housing; the first plate and the second plate connect the button and a strain body provided in the six-axis force sensor, a first main surface of the strain body is connected to a second main surface of the first plate; a second main surface of the second plate is connected to a central portion of a first main surface of the first plate so as to be tiltable relative to the first main surface of the first plate; the button is connected to a central portion of the first main surface of the second plate so as to be movable in a direction perpendicular to the first main surface of the second plate; At least one pair of first elastic members is provided between the first plate and the second plate so as to bias the second plate in a direction away from the first main surface of the first plate, a second elastic member is provided between the button and the second plate so as to bias the button in a direction away from the first main surface of the second plate; Operating device.

2. The operating device according to claim 1 , wherein the second elastic member has a larger Young's modulus than the first elastic member.

3. The button has a head and a neck having a smaller diameter than the head, 3. The operating device according to claim 1, wherein the first main surface of the housing is provided with a recess for accommodating the head, the recess having a button opening formed on a bottom surface for allowing the neck portion to pass through.

4. A device comprising at least one six-axis force sensor, a button, a housing, and a lever; the six-axis force sensor is capable of detecting a force in a first axis direction relative to a first axis intersecting with a first main surface of the housing and a moment around the first axis, a force in a second axis direction relative to a second axis along the first main surface of the housing and a moment around the second axis, and a force in a third axis direction relative to a third axis along the first main surface of the housing and intersecting with the second axis, and is provided inside the housing; the button is capable of applying at least a force in the first axis direction, a moment around the second axis, and a moment around the third axis to the six-axis force sensor, and is provided on the first main surface of the housing; the lever is capable of applying a moment around the first axis to the six-axis force sensor, and is provided on a side surface or a second main surface of the housing, the lever has an arm portion having a pair of arms at an end portion on the inner side of the housing, and is fixed to the housing via a rotation shaft; a third plate having a protrusion is connected to the strain body of the six-axis force sensor; the protruding portion protrudes from an outer peripheral end surface of the third plate toward a portion between the arms of the arm portion, The arm portion of the lever and the protrusion portion are connected via a third elastic member. Operating device.

5. a lever opening for allowing the lever to pass through is provided on the side surface or the second main surface of the housing; The operating device according to claim 4 , wherein convex portions are provided on both outer sides of the arm portion on the inner surface of the housing, the convex portions protruding in a direction intersecting with the first main surface of the housing.

6. The operating device according to claim 4; a force information processing unit that calculates force information based on the force and the moment detected by the six-axis force sensor; an operated object that controls the movement of an object to be operated based on the force information; An operating system comprising:

Images