PROBLEM TO BE SOLVED: To provide an operation system having an inner force sense presentation function, the operation system being compact and light in weight and with excellent operability.SOLUTION: When performing bilateral control of automatic operation of a slave operation device 105 following manual operation of a master operation device 101 by communication, the master operation device mainly performs speed control by an electric drive system, the slave operation device mainly performs force control by a pneumatic drive system, and an operation system performs inner force sense presentation of force applied to the slave operation device side on the master operation device side. The master operation device includes: a translation part 110 composed of a delta mechanism and an attitude part 120 composed of a gimbal mechanism connected to the translation part 110. The slave operation device includes: a holding part 150 composed by a combination between a parallel link mechanism and the gimbal mechanism and a pinch part 160 composed of a wire mechanism held by the holding part and a link mechanism. The pinch part includes: a servo valve connected to two pneumatic actuators and an antagonistic drive system including a wire. The pinch part is driven by varying tension of the wire by controlling the servo valve.COPYRIGHT: (C)2014,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。【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
