PURPOSE: To provide a snipping force to an operation part in order to positively feed back the snipping force applied to the tip part of a forceps to an operator and to operate a chelicera-shaped member on the basis of the provided snipping force.
CONSTITUTION: The electrical output from a strain gauge 12 is transmitted to a snipping force display device 15 through the signal amplifier 18 and display device driving part of the strain gauge. In this snipping force feedback device, the snipping force is transmitted to a chelicera-shaped member 11 from the snipping force display device 15 through a fixed grasping part 14, a fixed grasping part support 13 and a main shaft 10. The snipping force state of the chelicera-shaped member 11 is detected by the strain gauge 12.
AKIYAMA KAZUHIRO
KAWABE TAKUYA
OU REIHOU
