Machine that moves lever, and computer connected to machine

A computer that is connected to a machine that moves a lever movable in a first direction and a second direction perpendicular to the first direction, the machine comprising:

• a base member extending in the first direction and connectable to a base to which the lever is fixed;
• a first actuator having a first output shaft that moves along the first direction;
• a second actuator having a second output shaft that moves along the second direction;
• a connector configured to be connected to the lever;
• a first frame having a first proximal end and a first distal end opposite to the first proximal end, the first proximal end in which a first joint rotatable in the first direction is disposed, the first distal end in which a second joint rotatable in the first direction is disposed;
• a second frame having a second proximal end and a second distal end opposite to the second proximal end, the second proximal end being connected to the first distal end via the second joint, the second distal end in which a third joint rotatable in the first direction is disposed;
• and
• a third frame having a third proximal end and a third distal end opposite the third proximal end, the third distal end being connected to the second output shaft of the second actuator, wherein
• the lever is fixed to the base via a fourth joint,
• the first joint, the second joint, the third joint, and the fourth joint, the lever, the first frame, the second frame, and the base member form a four-bar link mechanism,
• the first actuator is configured integrally with one of the first joint, the second joint, and the third joint, and the first output shaft moves the one of the first joint, the second joint and the third joint along the first direction,
• the second actuator moves an entirety of the link mechanism along the second direction via the third frame, and
• the connector transmits movement along the first direction by the first actuator and movement along the second direction by the second actuator to the lever, and
• wherein
• the lever is configured to automatically return to a neutral position when a forcing force is removed when the lever is displaced from the neutral position due to the forcing force applied to the lever,
• the first actuator has backdrivability to allow the first frame and the second frame to move along the first direction based on a forcing force applied to the lever when the first actuator is inactive,
• the second actuator has backdrivability to allow the first actuator and the third frame to move along the second direction based on a forcing force applied to the lever when the second actuator is inactive, and
• the computer detects a position of the lever when the first actuator and the second actuator are inactive, as a neutral position.