223 results about "Grip force" patented technology

The invention discloses a mechanical arm autonomous grabbing system and method based on visual guidance and visual touch fusion. The mechanical arm autonomous grabbing system at least comprises a visual semantic guidance and grabbing pose generation module, a smooth grabbing control module based on visual touch fusion and a dynamic planning module based on model prediction path integration. The visual module efficiently generates a six-degree-of-freedom grabbing pose from the point cloud data by using a deep learning network; the smooth grabbing control module monitors object slippage in real time and adaptively adjusts clamping force by fusing visual and tactile information, and stable grabbing of fragile or slippery objects is achieved. And the dynamic planning module adopts a model prediction path integral algorithm MPPI to realize collision-free path planning of the mechanical arm in a complex dynamic environment. The problems that an existing mechanical arm is insufficient in sensing capacity, poor in grabbing robustness and low in path planning efficiency in an unstructured scene are solved, and the autonomous operation capacity and safety of the mechanical arm in the scenes of accompanying, intelligent sorting and the like are remarkably improved.

The invention discloses intelligent fruit picking and air transportation integrated equipment and an operation method thereof.The intelligent fruit picking and air transportation integrated equipment comprises three types of multifunctional mechanical arms, the tail ends of the picking mechanical arms are integrated with image recognition and clamping mechanisms, lossless picking of fruit stems is achieved through joint cooperation and preset clamping force control, and fruits are conveyed to a temporary storage box through a special conveying pipe; the placing mechanical arm integrates a clamping mechanism and an air suction head, and empty basket placing and fruit basket placing are integrated. The lifting appliance grabbing mechanical arm integrates multiple assemblies and completes multi-task grabbing of a lifting appliance, a full fruit basket and an empty fruit basket. A magnet pole controllable design is adopted to realize lossless grabbing and releasing of the lifting appliance, the unmanned aerial vehicle autonomously plans a path based on a position sensor A / B to cooperate with ground equipment, and the supporting platform can be rotatably folded to save space; in addition, an overhanging button and a sound-light alarm are arranged to guarantee man-machine safety, all links are linked to form a full-process automatic operation closed loop, and picking and transporting efficiency and operation flexibility are remarkably improved.

Provided is technology which enables suitable control of a chuck holding force. In this machine tool comprising a main shaft provided with a chuck for holding a workpiece, when an open / close mechanism has performed a closing operation on the chuck such that the chuck enters a closed state from an open state, a holding force of the chuck on the workpiece in the closed state is acquired on the basis of the magnitude of a difference between a first time taken from when a control unit emits a control signal for the closing operation to the open / close mechanism to when a first sensor detects that the chuck is no longer in the open state, and a second time taken from when the control unit emits a control signal in an open / close mechanism to when a second sensor detects that the chuck has entered the closed state.

The invention relates to the technical field of suture line processing equipment, and particularly discloses a cutting device for a barb suture line and a barb cutting technology.The cutting device comprises a base, a line inlet guide mechanism, a barb cutting mechanism and a line outlet guide mechanism are arranged at the two ends of the base respectively, and the barb cutting mechanism comprises a carrier plate; a center hole for a suture line to pass through is formed in the carrier plate, two cutting clamping seats are symmetrically arranged on the carrier plate located on the two sides of the center hole, linear grooves are formed in the side faces, close to each other, of the two cutting clamping seats, and cutting knife assemblies are arranged on the cutting clamping seats. One end of the cutting knife assembly extends into the linear groove through a groove formed in the cutting clamping seat; according to the cutting device for the suture line with the barbs, continuous and high-speed barb cutting of the suture line is achieved, the production efficiency is remarkably improved, the barbs formed after cutting can be outwards kept at a large unfolding angle, and the grabbing force and the connecting stability of the barbs in the using process are enhanced.

The invention relates to the technical field of rehabilitation medical treatment, in particular to a hand rehabilitation training system based on virtual reality and gesture interaction, and the system comprises a gesture sensing module which collects a hand movement track, a muscle electric signal, grip pressure and a joint movement angle; the VR rehabilitation scene construction module constructs a rehabilitation training virtual scene, simulates a hand interaction behavior and a force feedback effect through an adaptive physical engine and a neural action mapping algorithm, and outputs simulation data; the intelligent evaluation center evaluates the action standard degree and the muscle activation efficiency based on an improved CNN-GRU model, identifies an action compensation mode and abnormal force generation, and outputs an evaluation report; the interactive training unit renders a motion state and a training process in real time, and generates personalized training guidance in combination with voice, visual and tactile prompts; and the personalized regulation and control unit predicts a rehabilitation trend and a stage target through a reinforcement learning algorithm, and dynamically adjusts training parameters and scene difficulty. Therefore, the problems of low interaction precision, incapability of sharing and the like in the prior art are solved.

A surgical robotic system includes a robotic arm having an instrument with a pair of opposing jaws configured for grasping, and an instrument drive unit configured to couple to and to actuate the instrument. The system also includes a surgeon console having a handle controller configured to control the robotic arm and the instrument. The system further includes a controller configured to: receive an electrical property of the opposing jaws; receive an angle of the opposing jaws; determine whether the opposing jaws are grasping a metallic object; and adjust a gripping force of the opposing jaws based on the determination.

The machine tool includes: a first spindle that includes a collet chuck that grips a workpiece; a first headstock that rotatably supports the first spindle; an air cylinder that generates a driving force for changing a state of the collet chuck between a gripping state for gripping the workpiece and a release state for releasing the grip of the workpiece; a non-rotary transmitting member that transmits the driving force received from the air cylinder; a rotary transmitting member that rotates together the first spindle and transmits to the collet chuck the driving force received from the non-rotary transmitting member; strain detection means that is attached to the non-rotary transmitting member and detects a strain of the non-rotary transmitting member produced when the driving force is transmitted from the air cylinder to the collet chuck, and a deriving unit that derives the gripping force of the collet chuck based on a detection result of the strain detection means.

The invention discloses a flexible manipulator with variable clamping force and constant-force rubbing and a using method thereof, and belongs to the technical field of micromanipulators, the flexible manipulator comprises a first driving mechanism, a second driving mechanism, a variable-rigidity clamping mechanism and a constant-force rubbing mechanism, the variable-rigidity clamping mechanism is formed by connecting a guide beam assembly, a variable-rigidity beam assembly and a decoupling beam assembly in series, and the constant-force rubbing mechanism is connected with the first driving mechanism. A first clamping end is arranged at the tail end, the rigidity of the constant force rubbing mechanism can be adjusted through embedded shape memory alloy, the constant force rubbing mechanism is composed of a positive rigidity structure and a negative rigidity structure, a second clamping end opposite to the first clamping end is arranged at the tail end, and the two mechanisms are connected through the decoupling beam assembly to achieve structural decoupling. The problems that an existing flexible manipulator is non-adjustable in clamping rigidity, slow in constant force response and mutual in function interference are solved, and self-adaptive grabbing and stable rubbing of micro-scale objects are achieved.

A connector and a connector assembly. The connector is configured for plug-in engagement with a mating connector, the connector comprising a main body, a limiting member and a lever. The side wall on at least one side of the main body is provided with an accommodating space. The limiting member is rotationally connected to the main body; when the limiting member is not under pressure, at least part of the limiting member protrudes beyond the outer surface of the main body. The lever grips both sides of the main body and is capable of rotating, wherein the lever is rotationally connected to the part of the limiting member protruding beyond the outer surface of the main body. In the present application, when the lever is not mounted on the connector, the limiting member is not subjected to the gripping force from the lever, such that the part of the limiting member configured to be gripped by the lever naturally protrudes beyond the outer surface of the main body. When the connector provided in the present application is plugged into the mating connector, the part of the limiting member that protrudes beyond the outer surface of the main body interferes with the mating connector, preventing the connector provided in the present application from being plugged into the mating connector normally. In this way, an operator has a direct sense of anomalies in the state of insertion, allowing the operator to promptly notice the problem of lever missing or detachment, thereby preventing the connector that does not have the lever mounted thereon from being left at a vehicle operation site. In addition, after the lever is mounted on the connector, the gripping force provided by the lever enables the limiting member to be accommodated in the accommodating space, thereby preventing the connector provided in the present application from interfering with the mating connector when plugged into the mating connector normally.

The beverage bottle convenient to grasp comprises a bottle body and an inner groove, the top of the bottle body is connected with a bottle opening, the surface of the bottle body is provided with a label face used for being attached with a label, and the surface of the bottle body and the bottom of the label face are annularly provided with a plurality of inwards-sunken grabbing grooves. The inner grooves are formed in the surface of the bottle body, the grabbing grooves are arranged in a V shape, reinforcing strips are arranged on the surface of the bottle body and located in the middles of the grabbing grooves, and the grabbing grooves are annularly formed in the bottom of the label surface of the surface of the bottle body, so that additional grabbing acting points are provided for a user; by means of the structure, fingers can be naturally embedded into the bottle body, the friction force between the hand and the bottle body is increased, the grabbing grooves are arranged in the V shape and further fit with the shapes of the fingers, the grabbing comfort and stability are improved, and a consumer can more easily and firmly grab the beverage bottle when opening the bottle cap for drinking beverages.

This invention relates to the field of medical device technology and discloses a surgical sternal closure fixator, comprising a main body, a male hook plate at one end of the main body, and a fixing mechanism on the main body. The fixing mechanism includes a flexible plug and a female hook plate. The flexible plug is located inside the main body, and the female hook plate is connected to the end of the flexible plug away from the male hook plate. The fixing mechanism includes a sliding mechanism, which includes a female hook plate located on the inner wall of the female hook plate facing the male hook plate, with one end of the female hook plate inserted into the flexible plug. The flexible plug contains an auxiliary mechanism and a rotating mechanism, the auxiliary mechanism being connected to the rotating mechanism. A wobbling mechanism is provided on the side wall of the female hook plate facing the male hook plate. This invention can adjust the gripping force and gripping position according to the expansion and contraction of the sternum during the patient's breathing, reducing local misfitting between the fixator and the sternum, which affects the stability of sternal fixation and improving stability.

The present invention provides a prize acquisition device and a prize acquisition game device that enable miniaturization of the device for gripping prizes. [Solution] The gripping arm 203 grips the prize. The arm mounting base 203b pivotally supports the gripping arm 203 so that it can swing up and down. The first actuated part 203d and the second actuated part 203e are provided at the base of the gripping arm 203. The actuated plate 226e acts on the first actuated part 203d and the second actuated part 203e. The motor 221 acts on the actuated plate 226e. The first actuated part 203d and the second actuated part 203e are arranged spaced apart vertically. The actuated plate 226e is interposed between the first actuated part 203d and the second actuated part 203e and is displaceable vertically by the drive of the motor 221. By moving the actuated plate 226e upward and acting on the first actuated part 203d, it is possible to apply a gripping force to the gripping arm 203.

The utility model relates to the field of leather products and shoemaking technology, especially a kind of high-performance microfiber leather base sports shoes leather, including base, waterproof function layer and wear-resistant coating, the top of base is provided with ventilative function layer, several ventilative micropores are evenly distributed on the upper end of ventilative function layer, waterproof function layer is covered on ventilative function layer, contact angle is not less than 120 °, wear-resistant coating is set to the side of sports shoes leather and ground contact, with anti-skid texture.The utility model relates to a kind of high-performance microfiber leather base sports shoes leather, by ventilative, waterproof, wear-resistant and anti-skid key performance is integrated in one body.Ventilative micropore is rectangular array distribution and aperture precision design, can efficiently discharge shoe in moisture, keep dry, inhibit bacteria breeding;Multi-layer waterproof layer is collocated with stable outer frame, waterproof is strict, and is not afraid of damp environment.Wear-resistant coating and anti-skid texture cooperate, wear-resistant at the same time grip ground force is strong, adapt to various sports scenes.

The present application relates to the field of snow tire pattern design, and discloses a snow tire tread capable of preventing side sliding and improving ice ground adhesion. The tread adopts an asymmetric multi-directional pattern style, the asymmetric pattern can provide more targeted adhesion and handling performance, and the multi-directional pattern block can enhance the adhesion of the tire under various working conditions such as starting, braking and turning, and reduce the risk of side sliding. The shoulder part of the snow tire is provided with longitudinally and transversely staggered flow guide sipes, which can effectively absorb and remove the water film on the ice surface. The streamlined boss sucker on the outside of the shoulder has the function of adsorbing the ice surface when the vehicle slides, which can not only increase the lateral tread contact area, but also increase the tread adsorption force. A row of triangular anti-skid gradient steps is added on the outside of the driving line, which can not only increase the adhesion area of the tread, but also play a role in hiding the ground when the vehicle slides, fully increase the frictional resistance between the tread and the ice surface, and prevent the vehicle from sliding.

A ground gripping device comprises a shell 51, the lower end of the shell 51 is connected with a lower guide piece 52, a lower supporting column hole 522 is formed in the center of the lower guide piece 52, a plurality of lower guide holes 521 are formed in the position along the center radius R, a ground gripping column 53 is inserted into the lower guide holes 521, a supporting column 54 is sleeved with the lower supporting column hole 522, and an upper guide piece 55 is sleeved with the upper end of the ground gripping column 53. The walking stick has the advantages that the ground gripping device can be connected to the lower portion of the walking stick in the using process, and the ground gripping device is unfolded to enhance the ground gripping force of a muddy road surface in the using process; when not in use, the ground gripping device can be stored in the crutch handle hole, so that the daily use is prevented from being influenced; the included angle between the ground gripping column and the supporting column is increased when the ground gripping column is unfolded, so that more stable ground gripping support is formed; telescopic adjustment is achieved, use is convenient, clamping can be achieved after stretching, and the structure is stable; and a plurality of parts and structures are unified standardized structural parts, so that the production cost is low.

The utility model discloses a forklift ramp platform with an anti-skidding function, which comprises a forklift ramp platform main body, a ramp is arranged on the forklift ramp platform main body, an anti-skidding component is arranged in the ramp, a mounting component is arranged on the side wall of the anti-skidding component, and the mounting component is arranged on the side wall of the anti-skidding component. The mounting assembly is used for fixedly mounting parts of the anti-skid assembly, and the parts of the anti-skid assembly can be quickly mounted and dismounted through the mounting assembly; when the forklift turns or inclines, the friction force between the surface of the ramp and tires of the forklift is greatly increased due to the action of the antiskid plates, so that the phenomenon of sideslip or rollover caused by insufficient road holding force is effectively avoided, the forklift is more stable when running in a complex environment, and goods are prevented from falling off due to slippage.

The present application relates to a kind of mechanical dexterous hand fingers and dexterous hand, which includes: palm base;Finger knuckles, which includes sequentially connected finger root knuckles, middle knuckles and distal knuckles;Finger root component, which includes finger root pivot installed on the palm base, spherical bearing is set on the finger root pivot and matches the installation finger root knuckles;Bending transmission mechanism, which includes driving bevel gear, driven bevel gear, finger root transmission member and finger flexion shaft;Side swing transmission mechanism, which includes side swing drive installed on palm base, and side swing transmission shaft is connected with the side swing drive, and the side swing transmission shaft keeps contact with the finger root knuckles in side swing operation.Compared with prior art, the present application can satisfy the side swing of dexterous hand finger joint, bending, while ensuring that it occupies small volume while providing certain gripping force and durability.

This invention provides an adaptive grasping dexterity hand, comprising: a fixed drive mechanism, a proximal joint mechanism, a middle joint mechanism, and a fingertip mechanism. The fixed drive mechanism includes a base, a drive component, and a reversing transmission component. The proximal joint mechanism includes a proximal joint rod and an adaptive component. The middle joint mechanism includes a middle joint rod and a middle finger transmission rod. This invention forms a unique double four-bar composite transmission system to achieve high-precision biomimetic simulation. Simultaneously, the adaptive component can dynamically adjust the relative position and gripping force of each joint in real time, thereby achieving adaptive envelope of the object. This dynamic adaptability significantly improves the envelope grasping stability of the dexterity hand for objects of different shapes and sizes, effectively expanding its application scenarios. Compared to conventional dexterity hand structures, this application has significant advantages such as high flexibility, strong grasping adaptability, lightweight structure, and low control energy consumption, providing new directions and ideas for dexterity hand structure design.

This invention provides an electric gripper and a method for operating it. [Solution] The electric gripper includes a circuit board, a motor, a transmission mechanism, and two claw bases. The motor generates an overtorque based on an overcurrent supplied from the circuit board, and the overtorque drives the transmission mechanism. The transmission mechanism moves the two claw bases in the closing direction based on the overtorque, generating an over-gripping force to grip an object. After gripping an object, the electric gripper maintains the gripping force of the two claw bases within a predetermined range, where the upper limit is the over-gripping force, via the transmission mechanism.

The utility model relates to the technical field of foot-type robots, in particular to a foot-type robot anti-skid sole which comprises a base layer and a sole mounting seat, the side face of the base layer is of an arc-shaped or curved-surface structure, the section of the base layer is a fan-shaped cylindrical body, a lining plate consistent with the base layer in curvature is embedded in the base layer, and replaceable anti-skid nails are supported by the embedded lining plate. By combining the damping holes and the buckle limiting structure, the problems that traditional sole road holding force is insufficient, anti-skid nails are prone to falling off and impact resistance is poor are solved, and the anti-skid shoe is suitable for stable movement of robots under complex terrains.

This utility model discloses a material extraction structure for unloading liquefied materials at a dock. It includes an extraction pipe installed on the discharge pipe of a material tank, a first flange mounted on the extraction pipe, and a second flange detachably connected to the discharge pipe. The structure also includes an anti-detachment structure mounted on the first flange. The anti-detachment structure comprises several anti-detachment hooks that grip the bottom of the second flange. The gripping force of the anti-detachment hooks is adjusted by a tension adjustment structure. During the extraction process, when the flanges are connected, the locking action of the anti-detachment hooks locks the connected flange structure, preventing the flanges from loosening and causing serious safety accidents, especially for hazardous chemicals, due to leakage or splashing.

The invention relates to the technical field of dexterous hands, and particularly discloses a high-precision dexterous finger and a bionic dexterous hand. The high-precision dexterous finger comprises a finger root support, a first joint and a second joint; the finger root support is provided with a driving module, the driving module comprises a rotating motor and a ball screw assembly, and the transmission nut is movably connected with the first joint; a linear motor is mounted in the first joint, and an output shaft of the linear motor is rotationally connected with the second joint; a first elastic piece is arranged between the finger root support and the transmission nut and has the trend of driving the transmission nut to be away from the finger root support. A second elastic piece is arranged between the finger root support and the first joint, and the second elastic piece has the trend of driving the first joint to reset and rotate to a straightened state; a third elastic piece is arranged between the first joint and the second joint and has the trend of driving the second joint to reset and rotate to the straightened state. The high-precision dexterous finger can solve the problems of positioning precision and gripping force control stability.

The application provides a driving rope and mechanical hand system with force sensing capability, and belongs to the technical field of bionic mechanical hands. The system is composed of a tensile strain sensor and a driving rope. The tensile strain sensor is arranged on the surface of the driving rope and is bonded with the front section by using a flexible adhesive to be arranged in a mechanical hand. The tensile strain sensor and the driving rope are separated at the rear section. The separated driving rope is used for connecting a motor, and the tensile strain sensor is used for connecting a control system. In this way, the tensile strain of the driving rope can be measured in real time while power is transmitted, and the gripping force of a mechanical finger is obtained, so that the "sensing and driving integration" mode of a bionic tendon is realized.

The utility model discloses a sole and spiked shoe suitable for middle and long distance running, the sole comprises a cushioning component, a ground gripping component and a plurality of spikes, the cushioning component is provided with a front mounting part, a rear mounting part and a ground gripping part, the ground gripping component comprises a front ground gripping piece and a rear ground gripping piece, the front ground gripping piece is fixedly arranged on the front mounting part, the rear ground gripping piece is fixedly arranged on the rear mounting part, and the spikes are arranged on the front mounting part and the rear mounting part. And meanwhile, a first bulge, a second bulge and a third bulge are respectively arranged on the bottom side surfaces of the ground gripping part, the front ground gripping piece and the rear ground gripping piece. After the sole is applied to spiked shoes, balance can be achieved between keeping of good road holding force and providing of a good cushioning effect.

A tool, for depalletizing mixed pallet load article units, includes: a frame; a first grip assembly interfacing and engaging with a surface of a pallet load article unit, where the first grip assembly is movable, relative to the frame, in a first direction between gripping and ungripping positions; a second grip assembly, movably connected to the frame, and has at least a grip contact point oriented to interface with and generate a grip force, on another surface of the pallet load article unit, in a direction angled to the first direction, the second grip assembly being configured so as to effect, in combination with the first grip assembly, stable hold and pose of the pallet load article unit in a predetermined position; and an article unit seat member, is movably mounted to the frame, and disposed in opposition to at least one of the first and the second grip assembly.

The invention relates to the technical field of submarine mining, provides a grabbing and clamping device for a submarine mining vehicle, and aims to solve the problems that an existing manipulator is easy to empty in grabbing under ocean current disturbance, low in fitting degree with irregular minerals and low in grabbing force control precision. According to the device, a first driving motor and a second driving motor are used for driving a connecting plate and a supporting pipe to rotate through an adjusting mechanism, and initial position adjustment of a clamping mechanism is achieved; a stepping motor in the moving mechanism drives a transmission screw rod to rotate through a gear component, so that a moving box drives a moving pipe to move, and further positioning is realized; the clamping mechanism drives the moving frame through the electric push rod to drive the multiple fixing claws to get close to each other, and seabed ore is clamped from different directions. The device can effectively cope with ocean current disturbance, improve the fitting degree with irregular minerals, flexibly adjust the grabbing force, and improve the clamping and collecting efficiency and reliability of seabed ores.

This utility model discloses a robotic stacking device for adaptive gripping of battery cells, including an arm and a gripper. The gripper is located at the top of the arm, and a robotic arm is movably connected to the side of the arm. A main unit is movably connected to the bottom of the robotic arm, and a base plate is located at the bottom of the main unit. A rubber plate is located on the inner side of the gripper, and an elastic sleeve is located on the side of the rubber plate. A fixing frame is located outside the elastic sleeve, and a fastening screw is embedded inside the fixing frame. A threaded hole is formed on the outside of the gripper, and the fastening screw is threaded into the threaded hole. This robotic stacking device for adaptive gripping of battery cells, by providing a rubber plate on the outside of the gripper and subsequently tightening the fastening screw to install it on the outside of the gripper, allows the rubber structure to be installed on the outside of the gripper. During use, the rubber directly contacts the battery cells, and the gripping force can be automatically adjusted according to the thickness or deformation of the battery cells to avoid squeezing and damaging them.

The utility model relates to the technical field of shoe soles, and provides an antiskid shoe sole which comprises a shoe sole body, a plurality of Kevlar fiber stab-resistant pads are fixedly arranged on the outer surface of the bottom of the shoe sole body, a plurality of Kevlar fiber stab-resistant pads are arranged on the surface of the shoe sole body, and the Kevlar fiber stab-resistant pads have the advantages of being high in strength, low in density, resistant to high temperature and good in toughness. The shoe sole has the advantages that the shoe sole can resist repeated impact and can effectively buffer piercing impact force while providing soft and light wearing experience, a plurality of polyurethane protective pads are arranged on the surface of the shoe sole main body and have excellent wear resistance and piercing resistance and skid resistance, and a plurality of first anti-skid grooves, second anti-skid grooves and a plurality of anti-skid pads are matched with one another, so that the anti-skid effect of the shoe sole is improved. Stable anti-skid performance and road holding force are provided for the shoe sole body, the toe anti-pricking capacity of the shoe sole body is improved through the toe anti-pricking pad, the side face anti-collision strips protect the shoe sole body against lateral impact, and the two damping air cushions improve the damping performance of the shoe sole body.

This utility model relates to the field of durability testing technology, specifically a solid-state drive (SSD) insertion / removal durability testing fixture. It includes a test base, a feeding mechanism, a gripping mechanism, and an insertion / removal mechanism. The feeding mechanism is mounted on the surface of the test base and includes a conveyor frame, a conveyor belt, and a conveyor motor. It can quickly and accurately align the gripping claw with the SSD under test, and the gripping force can be naturally adjusted according to the spring compression. This avoids damage to the SSD casing caused by rigid gripping while ensuring effective clamping of the SSD. The pawl, under the elastic force of the second spring, continuously engages with the ratchet tooth groove, forming a one-way locking structure. This completely restricts gear reversal, thereby locking the position of the pressure plate and ensuring that the gripping claw maintains a stable clamping force. Even if the electric telescopic rod experiences slight extension or contraction, or if the equipment vibrates during operation, it will not loosen, providing absolutely stable gripping assurance for subsequent lifting, conveying, and other processes.

The invention relates to a position indicating device, a computer and a control method. The present invention makes it possible to satisfactorily control the line width and transparency even in the absence of a real touch surface. An electronic pen (5) is provided with: an outer case (5a); a pen tip (5b) for indicating a position; a pen pressure sensor (54) that detects pen pressure applied to the pen tip (5b); a gripping force sensor (55) that detects a gripping force applied to the outer case (5a); a plane communication unit (51) that transmits the pen pressure detected by the pen pressure sensor (54); and a space communication unit (52) that transmits the gripping force detected by the gripping force sensor (55).