A robot operating device is mounted to a robot. The robot is capable of performing a motion by means of lead-through control in which a force applied by an operator is detected and a position and an orientation are changed in accordance with the detected force and the robot operating device including: a bracket that is secured to a flange at a distal end of the robot and with which an elongated tool is attached at a decentered position with respect to a rotation axis of the flange so as to be parallel to a plane containing the rotation axis; and two handles that are secured to the bracket and that are respectively grasped by two hands of the operator, wherein the handle is disposed in the plane so as to extend in a direction along a longitudinal axis of the tool, and the handle is disposed in a vicinity of the tool so as to extend in a direction intersecting the plane.

A computer-assisted system includes a manipulator arm including a joint, an actuator mechanism configured to drive the joint, and a controller including a computer processor. The controller is communicatively coupled to the manipulator arm and configured with a first control mode and a second control mode. In each of the first control mode and the second control mode, the controller commands the actuator mechanism to allow an external articulation to reconfigure the manipulator arm by backdriving the joint. The first control mode is distinguished from the second control mode at least by the controller being configured to, in the first control mode, command the actuator mechanism to provide a first speed-dependent resistance in response to the joint being backdriven at a first backdriven speed above a first speed threshold. The first speed-dependent resistance opposes the joint being backdriven.

A robot system includes a robot and a control portion. The robot includes a contact detection portion configured to output a signal in accordance with contact performed by a user. The control portion is configured to control resistance of the robot applied to the user when the user moves the robot, in accordance with a number of contact positions at which the user contacts the robot, based on a signal from the contact detection portion.