To change an amplification factor of transmission without replacing a cylinder in an inner force sense presenting device using a fluid pressure cylinder.
The inner force sense presenting device 1 is provided with: a first cylinder 11 having a first pressure chamber 21 and a second pressure chamber 22; a second cylinder 12 having a third pressure chamber 23 and a fourth pressure chamber 24; a first communication passage 31 communicating the second pressure chamber 22 and the third pressure chamber 23; a second communication passage 32 communicating the first pressure chamber 21 and the fourth pressure chamber 24, a first vessel 41 and a second vessel 42; a third communication passage 33 communicating the first vessel 41 and the first communication passage 31; a fourth communication passage 34 communicating the second vessel 42 and the second communication passage 32; a first solenoid valve 51 disposed in the third communication passage 33; a second solenoid valve 52 disposed in the fourth communication passage 34; a first compressor 61 controlling an internal pressure of the first vessel 41; and a second compressor 62 controlling an internal pressure of the second vessel 42.
ADACHI SHUICHI
YAMAOKA YOSHIHIRO
