Being the inner force sense presentation device which transmits the inner force sense which is provided with the operating devices which are trailed

摘要

PROBLEM TO BE SOLVED: To provide an inner force sense presenting device presenting an inner force sense in a movement section to an operator, and to provide a power assist arm and a power assist device with the same.;SOLUTION: An arm section inner force sense presenting device 21 is provided between the arm section 4 of the power assist arm 1 and an operation section 2. The arm section inner force sense presenting device 21 is provided with first and second hydraulic cylinders 31, 41. The cylinder 33 of the first hydraulic cylinder 31 is partitioned into a first space 34 and a second space 35 by a piston 36. The cylinder 43 of the second hydraulic cylinder 41 is partitioned into a third space 44 and a forth space 45 by a piston 46. The first space 34 and the third space 44 are connected via first piping 38, and the second space 35 and the forth space 45 are connected via second piping 39. When the arm section 4 is extended, an operating oil is fed by pressure from the first space 34 to the third space 44, and an operation handle 11 is slid along with the movement of a piston rod 47.;COPYRIGHT: (C)2008,JPO&INPIT