PROBLEM TO BE SOLVED: To provide a master slave robot which prevents a master mechanism from moving greatly by being applied a large force even when inertia differs between a slave mechanism and the master mechanism, and which can allow a person to feel the fed-back force even when correction is made to prevent the great movement.SOLUTION: A master slave device 100 for performing work while gripping and being in contact with an object comprises: a force detection unit 13 for measuring force information applied to a slave mechanism 40 a force correction determination unit 36 for determining a force correction point of the force information transmitting to a master mechanism 33 from correction start to end time, and a correction method between a first method which determines and corrects gain so that the decrease in an absolute value of the force information of the force correction point is maintained for a certain period of time, and a second method which determines and corrects gain so that increase/decrease is repeated within a range of the value or below in which the absolute value of the force information of the force correction point decrease and a force correction unit 41 for correcting the force information of each kind by the correction method based on the force correction point and the gain from the force correction determination unit.COPYRIGHT: (C)2014,JPO&INPIT【課題】スレーブ機構とマスター機構との間で慣性が異なる場合でもマスター機構に大きな力を加えて大きく移動してしまうことを防ぎ、大きく移動しないように補正しても人がフィードバックされた力を感じることができるマスタースレーブロボットを提供する。【解決手段】対象物を把持し接触しながら作業を行うマスタースレーブ装置100において、スレーブ機構40に加えられた力情報を計測する力検出部13と、マスター機構33に伝達する力情報の補正開始~終了時刻までの力補正箇所と、力補正箇所の力情報の絶対値の減少を一定時間維持するようにゲインを決定して補正する第1の方法、又は、力補正箇所の力情報の絶対値を減少させた値以下の範囲内で増減を繰返すようにゲインを決定して補正する第2の方法の補正方法を決定する力補正決定部36と、力補正決定部からの力補正箇所とゲインに基づいて種別の力情報を補正方法で補正する力補正部41とを備える。【選択図】図2
