Master-slave manipulator apparatus and method therefor, further training apparatus for manipulator operation input and method therefor

A control method for a master-slave manipulator apparatus, wherein a slave manipulator is driven and controlled corresponding to an operation input from a master manipulator, and the master manipulator includes a plurality of force detector means, the control method comprising the steps of:

• detecting forces being applied onto the master manipulator by means of the plurality of force detector means;
• producing a generation pattern of the plural forces applied to the master manipulator, being detected in the detecting step;
• and
• removing an operation input applied unconsciously onto the master manipulator based on the generation pattern being produced.

An apparatus for making a training of operating a master-slave manipulator apparatus, wherein a slave manipulator is driven and controlled corresponding to an operation input from a master manipulator, comprising:

• a controller for processing the operation input from the master manipulator;
• wherein the master manipulator forming a training apparatus for operation input of the manipulator includes a plurality of force detector means for detecting the operation input;
• and
• wherein the controller includes means for deciding presence of the operation input being applied by an operator unconsciously in the operation input of the master manipulator based on outputs from the plurality of force detector means;
• wherein the training of the master-slave manipulator apparatus is conducted based on the presence of the unconscious operation input which is decided by means of the decision means.

A method for making a training of operating a master-slave manipulator apparatus, wherein a slave manipulator is driven and controlled corresponding to an operation input from a master manipulator, and the master manipulator includes a plurality of force detector means for detecting the operation input, the method comprising the steps of:

• detecting forces applied onto the master manipulator by means of the plurality of force detector means;
• producing a generation pattern of the plural forces applied onto the master manipulator, which are detected in the above step;
• deciding a presence of an operation input being applied unconsciously by an operator in the operation input of the master manipulator;
• and
• conducting the training for the operation input of the manipulator based on the existence of the unconscious operation input by the operator, which is decided.