PURPOSE: To improve the restoring efficiency even in the electric motor driving condition, and to make an excessive strength unnecessary, by restoring a master side to the original opening position by the initial instruction value of the master side, restoring a slave side also to the original opening position by receiving the initial instruction value at the master side, and making the initial instruction value zero together with the above restoration.
CONSTITUTION: To the motor for driving a master hand, the instruction initial value of the torque instruction value is set to make a claw A9 and a claw B10 rotate in the direction (b) constantly. When an operator removes his fingers from the claw A9 and the claw B10, the claw A9 is rotated in the direction (b) until the angle to make the claw A9 in contact with a stopper 11. Then, the claw B10 is rotated also in the direction (b). generating torque operation unit of a driving motor receives the position signals of the condition opening the claw A9 and the claw B10, and detects that they are opened at specific angles. Depending on the detecting result, the instruction initial value is made zero. This rotating angle is regulated by the installing position of the stopper 11 on the upper surface of a base 3.
YASUDA KENICHI
KONO TOSHIYUKI
