MASTER DEVCIE HAVING HUMAN ARM MOUNT TYPE FORCE REPRODUCING FUNCTION

摘要

PROBLEM TO BE SOLVED: To simplify a master device as a serial interlocking structure and concentrate a torque generation part to the vicinity of a body by providing a first rotating shaft part for sensing the movement of the shoulder of an operator, a second rotating shaft for sensing the movement of the elbow of the operator, and a third rotating shaft part for sensing the movement of the wrist of the operator. SOLUTION: In order to improve the fatigue of a human body by the dead weight caused by mounting a robot remote control device on the arm of an operator or the complicatedness of operation, a simple serial interlocking structure is adapted. In order to minimize the dead weight of the device applied to the arm, cylindrical rotating shaft parts 44 and 45 for controlling torque are concentrated to one place and located in a position as close as possible to the body. Therefore, a first cylindrical rotating shaft member 2 is fixed to one side of a first body connection part 1 fixed to the back of the operator, and first, second and third cylindrical rotating shaft members 2, 3, 4 rotating in three directions of roll, pitch and yaw are provided so as to be positioned in combination according to the movement of the joint of the shoulder.