Title:
TACTILE CONTROL SYSTEM, MASTER DEVICE, SLAVE DEVICE, TACTILE CONTROL METHOD, AND TACTILE CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2022/024238
Kind Code:
A1
Abstract:
The present invention comprises: a master device (1) provided with an operating device (11); and a slave device (2) for controlling a robot hand (21). The master device (1) is provided with an actuator (13) for generating a tactile force on the operating device (11) and a master control unit (14) for outputting a tactile force generation control signal to the actuator (13) according to the displacement of the robot hand (21). The slave device (2) is provided with an actuator (23) for generating a tactile force on the robot hand (21) and a slave control unit (24) for outputting a tactile force generation control signal to the actuator (23) according to the displacement of the operating device (11). The master control unit (14) generates a certain reaction force on the operating device (11) when the robot hand (21) is not in contact with a target person. When in contact therewith, the master control unit generates a tactile force along with the certain reaction force.
Inventors:
MORINISHI YUJI (JP)
NAGAO JIRO (JP)
ISAKA TAKERU (JP)
NIIJIMA ARINOBU (JP)
NAGAO JIRO (JP)
ISAKA TAKERU (JP)
NIIJIMA ARINOBU (JP)
Application Number:
PCT/JP2020/028975
Publication Date:
February 03, 2022
Filing Date:
July 29, 2020
Export Citation:
Assignee:
NIPPON TELEGRAPH & TELEPHONE (JP)
International Classes:
B25J3/00; B25J13/02; G05D3/12
Foreign References:
| JPH07246578A | 1995-09-26 | |||
| JP2015089605A | 2015-05-11 | |||
| JPH0271979A | 1990-03-12 | |||
| JP2014004655A | 2014-01-16 |
Attorney, Agent or Firm:
MIYOSHI Hidekazu et al. (JP)
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