PROBLEM TO BE SOLVED: To independently and intuitively manipulate the operating angle and position of an articulated joint at the distal end of a shaft.SOLUTION: Provided is a manipulator 1, which comprises: an elongated shaft 3 at least one articulated joint 4 arranged at the distal end of the shaft 3 a control unit 6 for inputting an operation command for the articulated joint 4 and a drive unit 7 for driving the articulated joint 4 in response to the operation command input through the control unit 6. The control unit 6 comprises: a handle 9 secured to the shaft 3 and adapted to be gripped with one hand by an operator a displaceable member 10 arranged at a position at which at least one finger of a hand gripping the handle 9 is allowed to sit thereon, the displaceable member 10 being displaced by motion of the finger on the displaceable member and a sensor 11 for detecting the displacement of the displaceable member 10 and outputting an appropriate operation command.SELECTED DRAWING: Figure 1COPYRIGHT: (C)2016,JPO&INPIT【課題】シャフトの先端の関節の動作角度と位置とを独立にかつ直感的に操作する。【解決手段】細長いシャフト3と、該シャフト3の先端に配置された少なくとも1つの関節4と、該関節4の動作指令を入力させる操作部6と、該操作部6を介して入力された動作指令に従って関節4を駆動する駆動部7とを備え、操作部6が、シャフト3に固定され、操作者の片手によって把持されるハンドル9と、該ハンドル9を把持した手の少なくとも1つの指を沿わせることができる位置に配置され、沿わせた指の動作により変位させられる変位部材10と、該変位部材10の変位を検出し動作指令として出力するセンサ11とを備えるマニピュレータ1を提供する。【選択図】図1
