Side-type force sense interface

A side-type force sense interface including a first force sense interface and a second force sense interface provided on each of sides of an operator, each of which provides a force sense to fingers of a hand of the operator, wherein

• the first force sense interface is for the right hand of the operator, and the second force sense interface is for the left hand of the operator,
• each of the first and the second force sense interfaces includes:
• a tactile finger base having one to five tactile fingers, which can follow movement of the fingers of the operator;
• an arm mechanism, which enables spatial movement of the tactile finger base;
• a controller that controls the arm mechanism in accordance with a position and a posture of the corresponding hand of the operator, and controls the tactile fingers in accordance with movement of the corresponding fingers of the operator;
• a first detection portion, which detects a position and a posture of a wrist of the operator, the arm mechanism having a wrist joint corresponding to the wrist of the operator;
• and
• a second detection portion, which detects a position and a posture of the wrist joint of the arm mechanism, wherein
• one to five finger attachment portions are provided on the tactile fingers, wherein the finger attachment portions are attached to the fingers of the operator in a state in which the tactile fingers and the tactile finger base face the back of the corresponding hand of the operator and are spaced apart from the back, and
• based on a detection result of the first detection portion and a detection result of the second detection portion, the controller computes an evaluation function for avoiding interference between the wrist of the operator and the wrist joint of the arm mechanism except for the finger attachment portions and controls the arm mechanism on the basis of a computation result of the evaluation function.