Mobile-body manipulation device and manipulation system
AssigneeHonda Motor Co., Ltd.
InventorToru Takenaka
Life of this patent
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Abstract
A manipulation device 51 (master device) includes: an upper-body support part 65 which is mounted on an upper body of an operator P to be able to move together with the operator P as the operator P moves; and a movement command determination unit 94 which determines a movement control command value of a mobile body 1 (slave device) according to an observation value of a motion state including a movement speed of the upper-body support part 65 in a movement environment of the operator P. A reaction force received from the operator P by the upper-body support part 65 can be controlled by action control of a movement mechanism 52 of the manipulation device 51 and a lifting mechanism 60.
Claims31
A mobile-body manipulation device capable of performing a manipulation for moving a mobile body, the device comprising:
- an upper-body support part which is mounted on an upper body of an operator to be able to move together with the operator as the operator moves;
- an upper-body support part drive mechanism which is attached to the upper-body support part such that a force for moving the upper-body support part is able to be applied to the upper-body support part;
- a first control unit which controls an action of the upper-body support part drive mechanism according to any one of an observation value of an upper-body support part reaction force which is a reaction force received from the upper body of the operator by the upper-body support part and an observation value of an operator upper-body relative displacement which is a relative displacement of the upper body of the operator with respect to the upper-body support part;
- and
- a movement command determination unit which determines a movement control command value for a predetermined representative point of the mobile body according to an observation value of a motion state of the upper-body support part including at least one of a movement position and a movement speed of the upper-body support part in a movement environment of the operator.
(canceled)
Dependencies are inferred from the claim text.