抄録
Safety and reliability are required to control input devices in the service industry. Additionally low acoustic noise and energy saving performance are expected. In this paper, we make a prototype of link mechanism as a control input devoce using magnetic particle brakes at each joint in place of servo motors. The magnetic particle brakes are proportional torque devices. The torque is controlled by varying the excitation current. This mechanism can hold the angle of hand-operated lever and provide intelligent operational feeling passively. After the dynamics of the prototype is analized, self weight compensation and force display was realized by appropriate actuation of magnetic particle brakes to advise the reasonable operation of life supporting devices.
