PARALLEL LING TYPE INNER FORCE SENSE INPUT AND OUTPUT DEVICE

摘要

PROBLEM TO BE SOLVED: To move a piston even with a force having a degree which can be applied by a person, and to operate a movable member by directly and sensually actuating the movable member through movement of the piston in accordance with the force.;SOLUTION: An input and output device 22 is remote-controlled during operation of a remote control body 16, and comprises a plurality of actuators 5 which are arranged in parallel with one another between a base 23 and a handle 25, a force sensor 13, a control valve 14, and a control device 15. Each actuator 5 comprises a cylinder 3 which oil 8 flows in and out, a piston 4 which is accommodated in the pressure receiving part 4a of the cylinder 3 so as to be reciprocable therein. The force sensor 13 detects a force applied to each piston in association with the manipulation of the handle 25. The control device 15 controls the control valve 14 at least in accordance with a result of detection by the force sensor 13 and a reaction force of the remote control body 16 received from a workpiece 19 to adjust a hydraulic pressure applied to the pressure receiving part 4a.;COPYRIGHT: (C)2000,JPO