Force input operation device, movable body, carrying vehicle, and auxiliary vehicle for walking

Abstract

A manipulator for a mobile object which allows operating the mobile object with a natural feeling without difficulty irrespective of the physical condition of the user, and a push cart and a walker including such a manipulator are to be provided. The straight travel reference vector Fs, direction change reference vector Fc and rotating reference vector Fr are developed in advance based on the applied manipulating force of the user. An angle defined by the vector of the manipulating force applied by the user (applied manipulating force vector Fi) and the straight travel reference vector Fs is denoted as α, an angle defined by the applied manipulating force vector Fi and the direction change reference vector Fc as β, and an angle defined by the applied manipulating force vector Fi and the rotating reference vector Fr as γ. Herein the angles are illustrated as α<β<γ, and the moving mode (straight travel mode in this example) is selected in relation with the reference manipulating force vector (the straight travel reference vector Fs in this example) that makes the smallest angle (α).

Dependencies are inferred from the claim text.