CONTROL SYSTEM, CONTROL DEVICE, CONTROL METHOD AND PROGRAM

To reduce a load applied to a user when operating a master device, and allow a user to easily perceive a change of a state of a slave device.SOLUTION: A control system 1 comprises: a master device 10; a slave device 20; and a control device 30. The control device 30 comprises: a transmission conditi...

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Bibliographische Detailangaben
Hauptverfasser:	MIZOGUCHI TAKAHIRO, MAKI SHIN, ONISHI KOHEI, FUJII TOSHIHIRO, HABU YOSHIYUKI
Format:	Patent
Sprache:	eng ; jpn
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES DIAGNOSIS HAND TOOLS HUMAN NECESSITIES HYGIENE IDENTIFICATION MANIPULATORS MEDICAL OR VETERINARY SCIENCE PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS SURGERY TRANSPORTING
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Beschreibung
Zusammenfassung:	To reduce a load applied to a user when operating a master device, and allow a user to easily perceive a change of a state of a slave device.SOLUTION: A control system 1 comprises: a master device 10; a slave device 20; and a control device 30. The control device 30 comprises: a transmission condition setting unit 351; a haptics transmission unit 353. The haptics transmission unit 353 controls transmission of haptics between the master device 10 and the slave device 20. The transmission condition setting unit 351 amplifies at a set amplification factor, force to be input to the slave device 20, and subtracts, from the amplified force, a force offset amount set on the basis of the amplification factor, and causes the force to be transmitted to the master device 10.SELECTED DRAWING: Figure 5 【課題】マスタ装置を操作するユーザの負荷を低減しつつ、スレーブ装置の状態変化を知覚させ易くする。【解決手段】制御システム１は、マスタ装置１０と、スレーブ装置２０と、制御装置３０と、を備える。また、制御装置３０は、伝達条件設定部３５１と、力触覚伝達部３５３と、を備える。力触覚伝達部３５３は、マスタ装置１０及びスレーブ装置２０における力触覚の伝達を制御する。伝達条件設定部３５１は、スレーブ装置２０に入力する力に対して、設定された増幅率で力を増幅すると共に、増幅した力から、増幅率に基づいて設定された力のオフセット量を減じて、マスタ装置１０に伝達させる。【選択図】図５