PROBLEM TO BE SOLVED: To provide a manipulating system having haptic function which shows excellent operability and achieves a reduction in size and weight.SOLUTION: In performing bilateral control of automatic operation of a slave manipulator 105 which follows manual operation of a master manipulator 101 by communication, the master manipulator mainly controls a speed by an electric driving system, and the slave manipulator mainly controls force by a pneumatic driving system. The force applied on the slave manipulator side is shown in terms of haptics on the master manipulator side. The master manipulator is equipped with a translation part 110 constituted of a delta mechanism and an attitude part 120 which is connected to the translation part and is constituted of a gimbal mechanism. The slave manipulator is equipped with a holding part 150 constituted by combining a parallel linkage mechanism and the gimbal mechanism and a tightly holding part 160 which is held by the holding part and is constituted of a wire mechanism and a linkage mechanism. The tightly holding part is equipped with a servo valve connected to two pneumatic actuators and an antagonistic driving system having a wire and is driven by varying tension of the wire by controlling the servo valve.COPYRIGHT: (C)2010,JPO&INPIT【課題】操作性に優れた小型軽量の力覚提示機能を有する操縦システムを提供することにある。【解決手段】主操作装置101の手動操作に倣った従操作装置105の自動操作を通信によりバイラテラル制御する際、主操作装置は、電気駆動系による速度制御を主とし、従操作装置は、空気圧駆動系による力制御を主とし、従操作装置側に働く力を主操作装置側で力覚提示する。主操作装置は、デルタ機構で構成された並進部110と、当該並進部に連結されジンバル機構で構成された姿勢部120を備え、従操作装置は、平行リンク機構とジンバル機構の組み合わせで構成された保持部150と、当該保持部に保持されワイヤ機構とリンク機構で構成された挟持部160を備える。挟持部は、2つの空気圧アクチュエータに接続されたサーボバルブ及びワイヤを備えた拮抗駆動系を備え、サーボバルブを制御してワイヤの張力を可変することにより駆動される。【選択図】図1
