JP2000112618A - Tactile presentation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To give an operator an accurate feeling of a touch on a body surface by providing a liquid layer filled with magnetic liquid, a coil which applies a magnetic field to the magnetic liquid, and a control means for power supply to the coil. SOLUTION: A hand 6 is mounted on an outside member 4, its palm 6a is brought into contact with the outside member 4, and electric power is supplied to coils 7 and 8 at desired positions to produce a magnetic field. Consequently, the magnetic liquid 5 is attracted to the powered coils 7 and 8, so the parts of the outside member 4 which correspond to the powered coils 7 and 8 swell outward and then the operator feels the touches at the positions. To cease the touch state, the coils 7 and 8 are powered off and then the magnetic field at the part is not generated any more, and the magnetic liquid 5 which is attracted to the places are dispersed, so that the swells of the outside member 4 formed at the parts disappear. Consequently, a tactile feeling of touching a body having a concrete shape can be presented.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a novel tactile presentation device. More specifically, the present invention relates to a technique for giving an operator a sense of contact with the surface of an object in a virtual space.

[0002]

2. Description of the Related Art In a virtual space constructed as data on a computer, there is a virtual object operation system that can sense and operate a virtual object as if it were a real object.

[0003] Such a virtual object operation system includes a force sense presentation device that gives the operator a sense of contact when the operator touches the virtual object.

[0004] The conventional force sensation presentation device provides a tactile sensation to the operator by adding vibration or the like to the operator by mechanical means.

[0005]

By the way, in the conventional force sense presentation device, since vibration is used, an operator can be given a tactile sensation of touching an object. It was difficult to recognize even the specific shape of.

[0006] It is an object of the present invention to provide a tactile sensation presentation device for giving an operator a sense of contact with an object surface in a virtual space in the virtual object operation system described above.

[0007]

According to the present invention, there is provided a tactile display device comprising: a fluid layer filled with a magnetic fluid; a plurality of coils for applying a magnetic field to the magnetic fluid; And control means for controlling the energization of the coil.

Therefore, in the tactile presentation device of the present invention,
A tactile sensation of touching an object having a specific shape can be presented to the operator.

[0009]

Embodiments of the present invention will be described below with reference to the accompanying drawings. In the illustrated embodiment, the present invention is applied to a tactile sensation providing apparatus for providing a tactile sensation to the entire palm of a person.

The tactile presentation device 1 has a fluid layer 2 filled with a magnetic fluid.

The fluid layer 2 is formed by an inner member 3 having a hemispherical shape and an outer member 4 arranged outside the inner member 3 at a predetermined interval. The inner member 3 is formed of a hard non-magnetic material, and the outer member 4 is formed of a flexible film.

[0013] The magnetic fluid 5 is filled in the fluid layer 2 formed by the inner member 3 and the outer member 4. A magnetic fluid is a liquid in which a high concentration of ferromagnetic ultrafine particles is stably dispersed in a liquid, and the medium is a hydrocarbon-based oil,
There are water, fluorine-based oil and the like, and as the magnetic material, magnetite, composite ferrite and the like are used. When the operator's hand 6 is placed on the outer member 4, an amount of the magnetic fluid 5 in the fluid layer 2 is small enough to prevent the outer member 4 from contacting the inner member 3 due to the pressure. It needs to be satisfied.

A number of coils 7, 7,... And 8, 8,... Are arranged on the inner member 3 and the outer member 4, respectively. The coils 8, 8,... Arranged on the outer member 4 are printed coils, that is, formed by printing a coil-shaped conductive pattern on the surface of the outer member 4 (film). As a result, the coil 8, 8,.
・ ・ There is no feeling of existence. The coil 7,
, And 8, 8, ... are formed over the entire surface of the inner member 3 and the outer member 4. , And 8, 8,..., For example, it is desirable to arrange them so as not to affect each other between adjacent coils, but such precision is required. Otherwise, they may be arranged at a wider interval.

Each of the coils 7, 7,... And 8, 8,.
Are connected to the control means 9 so that the desired coils 7, 7,..., 8, 8,.

The tactile presentation device 1 is used as follows.

The hand 6 is placed on the outer member 4 and its palm 6a
Is brought into close contact with the outer member 4.

Therefore, the coils 7 and 8 at desired positions are energized to generate a magnetic field. As a result, the magnetic fluid 5 is attracted to the energized coils 7 and 8, so that the outer member 4
The portion corresponding to the energized coils 7 and 8 of the coil is raised outward (see FIG. 3), and the operator feels contact at the position due to the protrusion.

To end the contact state at the above position,
When the energization of the coils 7 and 8 is released, the magnetic field in the relevant portion disappears, and the magnetic fluid 5 drawn to the relevant portion is dispersed throughout, and therefore, the outer member 4 formed in the relevant portion is removed. The bump is eliminated.

A more specific use example of the tactile presentation device 1 of the present invention will be described below.

For example, consider an operation in a virtual space constructed on a computer or the like. It is assumed that the operator touches an object that is the palm 6a, for example, a pencil in this virtual space. Therefore, the position where the palm 6a and the pencil are in contact in the virtual space is detected, and the coils 7, 7,... And 8, 8,. . Thus, the portions of the outer member 4 corresponding to the positions of the coils 7, 7,... And 8, 8,.
Give a a touch sensation.

In the tactile presentation device 1 described above, the fluid layer 2
Mechanism for giving a touch sensation to the entire surface of the operator's part in contact with the magnetic fluid (magnetic fluid 5, coil 7, 7,...)
, 8, 8,...) Are arranged, so that it is possible to present to the operator a feeling as if he or she is actually touching an object.

In the above embodiment, the fluid layer 2 is configured as one large space. However, as shown in FIG.
Are divided into a number of small chambers 2a, 2a,... By magnetic fluids 5, 5,. Can be prevented from being extremely biased.

In the above-described embodiment, the fluid layer 2 is shown as having a hemispherical shape. However, the present invention is not limited to the hemispherical shape. It may take an appropriate form. It should be appropriately selected according to the purpose of use of the tactile presentation device.

Although the coils are arranged so as to sandwich the magnetic fluid, the outer coils need not be provided if a sufficient magnetic field can be obtained only by the coils arranged inside.

It should be noted that the shape or structure of each part shown in the above-described embodiment is merely an example of the embodiment to be performed when carrying out the present invention.
These should not be construed as limiting the technical scope of the present invention.

[0026]

As is apparent from the above description, the tactile presentation device of the present invention includes a fluid layer filled with a magnetic fluid, a number of coils for applying a magnetic field to the magnetic fluid, And control means for controlling energization of the coil.

Therefore, in the tactile presentation device of the present invention,
A tactile sensation of touching an object having a specific shape can be presented to the operator.

In the invention described in claim 2, the fluid layer is formed by an inner member and an outer member arranged at a distance from the inner member, and the outer member is formed into a film shape. Since a coil is formed by a conductive pattern on the member, the inner member is formed by a hard non-magnetic material, and the coil is arranged over the entire surface of the inner member, so that a fluid layer can be easily formed, and It is possible to prevent the operator from feeling the coil provided on the member.

According to the third and fourth aspects of the present invention, since the fluid layer is formed in a hemispherical shape protruding outward, an apparatus suitable for providing a tactile sensation to a human palm is provided. Can be provided.

According to the fifth to eighth aspects of the present invention, since the fluid layer is divided into a number of small chambers and each of the small chambers is filled with the magnetic fluid, an extreme bias of the magnetic fluid is prevented. be able to.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the tactile presentation device of the present invention, and FIG. 1 is a schematic vertical sectional view of the whole.

FIG. 2 is an enlarged cross-sectional view of a main part showing a non-operation state.

FIG. 3 is an enlarged sectional view of a main part showing a state during operation.

FIG. 4 is an overall schematic cross-sectional view showing a modification of the tactile sensation providing device of the present invention.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 tactile presentation device 2 fluid layer 3 inner member 4 outer member 5 magnetic fluid 7 coil 8 coil 9
Control means, 2a ... small room

Claims (8)

[Claims] 1. A haptic sense comprising: a fluid layer filled with a magnetic fluid therein; a number of coils for applying a magnetic field to the magnetic fluid; and control means for controlling energization of the coils. Presentation device. 2. The fluid layer is formed by an inner member and an outer member spaced from the inner member. The outer member has a film shape, and a coil is formed on the outer member by a conductive pattern. The tactile presentation device according to claim 1, wherein the inner member is formed of a hard non-magnetic material, and a coil is arranged over the entire surface of the inner member. 3. The tactile sensation presentation device according to claim 1, wherein the fluid layer has a hemispherical shape projecting outward. 4. The tactile sensation presentation device according to claim 2, wherein the fluid layer has a hemispherical shape projecting outward. 5. The tactile sensation presentation device according to claim 1, wherein the fluid layer is divided into a number of small rooms, and each of the small rooms is filled with a magnetic fluid. 6. The tactile sensation presentation device according to claim 2, wherein the fluid layer is divided into a number of small rooms, and each of the small rooms is filled with a magnetic fluid. 7. The tactile sensation providing device according to claim 3, wherein the fluid layer is divided into a number of small rooms, and each small room is filled with a magnetic fluid. 8. The tactile sensation providing device according to claim 4, wherein the fluid layer is divided into a number of small chambers, and each of the small chambers is filled with a magnetic fluid.