JP2006058973A - Tactile information creation apparatus and tactile information creation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To create tactile information capable of presenting substantially the same tactile feel to an operating body as an actual operation of an object, and enable virtual presentation of substantially the same tactile feel as by the operation of the object to the operating body according to the tactile information at an object operation. <P>SOLUTION: An apparatus for creating tactile information for reproducing a tactile feel given to an operating body comprises a tactile detection glove 1R for detecting a tactile feel from the operation of an actual object to output tactile detection signals, and an information creation means 10 for signal-processing the tactile detection signals output from the tactile detection glove 1R to create tactile information. The structure can create the tactile information capable of presenting substantially the same tactile feel to the operating body as an actual operation of the object. At an object operation, substantially the same tactile feel as by the operation of the object can be presented to the operating body in simulated manner according to the tactile information. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an information processing apparatus with a tactile input function, a tactile information creating apparatus and a tactile information creating method suitable for creating tactile information stored in advance in a mobile phone, an information portable terminal device or the like. Specifically, it has information creation means for creating tactile information to reproduce the tactile sensation given to the operating body, and it processed the object by actually processing the tactile detection signal obtained when operating the actual object. It is possible to create tactile information capable of presenting the tactile sensation almost equivalent to the operating body, and to present pseudo-tactile sensation to the operating body substantially equivalent to the manipulation of the object based on the tactile information during object operation. It is what I did.

  In recent years, users (operators) have taken various contents into portable terminal devices such as mobile phones and PDAs (Personal Digital Assistants) and used them. These portable terminal devices are provided with an input device. In many cases, a keyboard, an input means such as a JOG dial, a touch panel combined with a display unit, or the like is used as the input device.

  In addition, devices having a portable terminal device with a tactile input function in which various types of touch panels, a display unit, and a piezoelectric element are combined have been devised. According to this type of portable terminal device, a storage device storing tactile information is provided. The tactile information is used to give a tactile sensation to the operator's finger during an input operation. The operator selects an input item by directly touching the icon display position. At this time, the piezoelectric element operates so as to give a tactile sensation to the operator's finger.

  In this way, a tactile input function can be realized by a pressing operation such as directly touching (inputting or pressing) various icons displayed on the display unit, and the amount of eye movement is also compared to the JOG dial method. The input items can be selected more directly and less.

  In connection with the creation of this type of tactile information, Patent Document 1 discloses a finger-mounted 6-axis force sensor. According to this finger-mounted 6-axis force sensor, an elastic structure is provided between a finger sack into which a human finger is inserted and a finger cover that touches an object. The elastic structure is obtained from a specific force and moment. The force component is easily distorted, and the strain with respect to the force component is converted into an electric signal by a strain gauge or an optical sensor. By configuring the force sensor in this way, it is possible to detect a dynamic change in contact force, which is what kind of force a human fingertip is generating at what timing.

  Further, in connection with the creation of tactile information, Patent Document 2 discloses a grasp data input device. According to this grasping data input device, a link mechanism attached to a fixed base, an angle sensor attached to a predetermined part of the link mechanism, and a finger-mounted 6-axis force sense attached to a predetermined part of the link mechanism This force sensor has an elastic structure between a finger sack for inserting a human finger and a finger cover that touches an object, and this elastic structure is a force composed of a specific force and moment. It has a structure that is easily distorted with respect to the component, and the strain with respect to the force component is converted into an electric signal by a strain gauge or an optical sensor. The angle detection sensor detects the movement of the link mechanism and measures the movement of the human fingertip. By configuring the input device in this way, it is possible to measure the movement of human fingers and the contact force acting on the fingertip.

  Further, Patent Document 3 discloses an image / tactile information input device in relation to a tactile detection glove. According to this image / tactile information input device, the glove-like input device that can be worn on the hand is provided, and the photographer wears the glove-like input device. On the premise of this, an object is photographed to acquire image information, and a part of the object is touched to acquire tactile information through a glove-shaped input device. When saving information, image information and tactile information are stored in association with each other. At the time of information reproduction, tactile information is reproduced in association with image information. If the input device is configured in this way, the image and tactile sensation of the object can be accurately reproduced.

Japanese Examined Patent Publication No. 14-3261653 (Page 2, Fig. 3) Japanese Patent Publication No. 15-3409160 (2nd page, Fig. 3) Japanese Patent Application Laid-Open No. 2004-0021820 (second page, FIG. 4)

  Incidentally, the tactile information creating apparatus according to the conventional example has the following problems.

  i. Finger-attachment as shown in Patent Documents 1 and 2 for creating tactile information stored in advance in an information processing device with a tactile input function, a tactile presentation device such as a mobile phone or an information portable terminal device A method of measuring a contact force to an object such as a switch or a keyboard actually operated by a user, an acceleration at the time of operation, or the like using a type 6-axis force sensor is conceivable.

  When such a measurement method is adopted, the operator is different from a state where the electronic device is normally and naturally operated, and as a result, there are many cases where tactile detection information such as appropriate force and acceleration cannot be obtained. Therefore, it becomes difficult to create tactile information that can present to the operating body a tactile sensation substantially equivalent to the actual manipulation of the object. As a result, even when the tactile information is used at the time of object operation, it becomes impossible to present to the operating body a tactile sensation that is almost equivalent to the operation of the object.

  ii. Moreover, when performing operation using five fingers simultaneously like keyboard operation, there exists a complexity which performs the measurement regarding each finger separately. Incidentally, a method of acquiring tactile sense detection information with five fingers using a glove-like input device as shown in Patent Document 3 is conceivable. However, even if the image information and the tactile information can be associated with each other, the tactile presentation device does not store the image information of the operation target object. Therefore, the tactile information acquired from the operation target object and the object that is the operation target is stored. It becomes difficult to associate with.

  iii. When tactile information obtained by signal processing of tactile detection information such as contact force and acceleration measured by the method as described above is used as a control signal for an information processing device with a tactile input function or a tactile presentation device such as a mobile phone, It is necessary to process it according to the characteristics of the tactile sense presentation device. However, such work has so far depended on the subjectivity (sense) of the information processor, and has been poor in reproducibility and versatility.

  Therefore, the present invention solves such a conventional problem, and makes it possible to create tactile information that can present to the operating body a tactile sensation that is almost equivalent to the actual manipulation of the object. It is an object of the present invention to provide a tactile information creation apparatus and a tactile information creation method that can pseudo-present a tactile sensation equivalent to the manipulation of an object based on tactile information.

  The above-described problem is an apparatus that creates tactile information for reproducing a tactile sensation given to an operating body, and detects tactile sensation obtained when an actual object is operated, and outputs a tactile detection signal. The present invention is solved by a tactile information creating apparatus comprising: an information creating means for creating a tactile information by processing a tactile detection signal output from the tactile sense detecting means.

  According to the tactile information creation device according to the present invention, when creating tactile information for reproducing the tactile sensation given to the operating body, the tactile sense detecting means detects the tactile sense obtained when the actual object is operated. A tactile detection signal is output. For example, a tactile detection glove that can be worn on the operator's hand is used as the tactile detection means, and this tactile detection glove outputs a tactile detection signal related to the contact force of the operator's hand during object operation. A tactile detection signal related to the acceleration of the movement of the operator's hand is output. On the premise of this, the information creating means creates tactile information by processing the tactile detection signals such as contact force and acceleration output from the tactile sense detecting means.

  Therefore, it is possible to create tactile information that can present to the operating body a tactile sensation substantially equivalent to the actual manipulation of the object. As a result, at the time of object operation, a tactile sensation substantially equivalent to the operation of the object based on the tactile information can be presented to the operating body in a pseudo manner.

  A tactile information creation method according to the present invention is a method of creating tactile information for reproducing a tactile sensation given to an operating body, the step of detecting a tactile sensation obtained by operating an actual object, and the detected object And a step of creating tactile information at the time of manipulating the object based on the tactile sense from.

  According to the tactile information creation method according to the present invention, when creating tactile information for reproducing the tactile sensation given to the operating body, a tactile sensation that can present to the operating body a tactile sensation substantially equivalent to the actual manipulation of the object. Information can be created. Accordingly, when the object is operated, a tactile sensation substantially equivalent to the operation of the object based on the tactile information can be presented to the operating body in a pseudo manner.

  According to the tactile information creation device according to the present invention, when creating tactile information for reproducing a tactile sensation given to an operating body, a tactile sense signal obtained by operating an actual object is subjected to signal processing. Is provided with information creation means for creating

  With this configuration, it is possible to create tactile information that can present to the operating body a tactile sensation substantially equivalent to the actual manipulation of the object. Accordingly, when the object is operated, a tactile sensation substantially equivalent to the operation of the object based on the tactile information can be presented to the operating body in a pseudo manner.

  According to the tactile information creation method according to the present invention, when creating tactile information for reproducing a tactile sensation given to an operating body, a tactile sensation obtained when an actual object is operated is detected and detected here. Based on the tactile sensation from the object, tactile sensation information when operating the object is created.

  With this configuration, it is possible to create tactile information that can present to the operating body a tactile sensation substantially equivalent to the actual manipulation of the object. Accordingly, when the object is operated, a tactile sensation substantially equivalent to the operation of the object based on the tactile information can be presented to the operating body in a pseudo manner.

Next, an embodiment of a tactile information creating apparatus and a tactile information creating method according to the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an example of the appearance of a haptic information creation apparatus 100 using a haptic detection glove as an embodiment according to the present invention.
In this embodiment, there is provided information creating means for creating tactile information for reproducing the tactile sensation given to the operating body, and the tactile detection signal obtained when operating the actual object is signal-processed to actually operate the object. It is possible to create tactile information that can present a tactile sensation that is almost equivalent to the operation object, and to simulate a tactile sensation that is almost equivalent to the operation of the object based on the tactile information during object operation. It can be presented.

  A tactile information creation device 100 shown in FIG. 1 is a device that creates tactile information for reproducing a tactile sensation given to an operating body. The operating body is an electronic device (tactile presentation device) with a tactile input function, an operator's hand or finger having these electronic devices, or the like. The tactile information creating apparatus 100 is equipped with a tactile sense glove 1R and the like. The tactile sense glove 1R can be mounted on, for example, the operator's right hand, and when the operator operates an input device such as various switches or a keyboard, the operator senses a tactile sense (operation feeling) fed back from the input device. It operates so as to convert it into an electric signal without impairing its natural input operation. A measurement cable 2 is connected to the tactile sense glove 1, and a connector 3 is attached to the other end of the measurement cable 2. The connection tool 3 is used by connecting to the information creating means 10.

FIG. 2 is a block diagram illustrating a configuration example of the haptic information creation apparatus 100 including the haptic detection globe 1R.
A tactile information creation device 100 shown in FIG. 2 includes a glove-like input device that can be easily worn by an operator, and an object (of the electronic device to be operated) is placed on a fingertip portion that the operator touches the electronic device for normal operation. A sensor that can measure the force, acceleration, etc. generated when contacting the switch, etc. is provided, and the operational feeling received by the operator is converted into an electrical signal by this sensor, and then the electrical signal is subjected to predetermined processing. It is a device for obtaining tactile information.

  The tactile information creation device 100 includes left and right hand tactile detection gloves 1L and 1R, information creation means 10 and a storage device (HDD) 3. The tactile sense globes 1R and 1L detect a tactile sense of pressing a shutter obtained when operating an actual object, for example, a single-lens reflex camera, and output a tactile sense detection signal. In this example, a glove-like input device that can be worn on the operator's hand is used as the tactile sense gloves 1R and 1L.

  An information generating means 10 is connected to the left-hand and right-hand tactile detection gloves 1R and 1L, and electronic devices with a tactile input function are processed by processing the tactile detection signals SR and SL output from the tactile detection gloves 1R and 1L. Tactile information for controlling (hereinafter referred to as a tactile presentation device) is created. The information creating means 10 has a system bus 14. The system bus 14 includes, for example, a data bus and a control signal bus. The system bus 14 includes, for example, an input selection unit 4, an A / D conversion unit 5, a data processing unit 6, a central processing unit (hereinafter referred to as a CPU 15), a ROM (Read Only Memory) 7, and a RAM (Random Access Memory) 8. The waveform pattern storage unit 9, the I / O port 11, the operation unit 12 and the monitor 13 are connected.

  The ROM 7 stores system program data DP for controlling the entire apparatus and a predetermined algorithm for processing tactile detection data. The RAM 8 is used as a work memory. For example, the RAM 8 temporarily stores operation data D3, control commands, and the like. In this example, when the power is turned on, the CPU 15 reads the system program data DP from the ROM 7 into the RAM 8 to start the system, and controls the entire apparatus based on the operation data D3 from the operation unit 12.

  The CPU 15 controls input / output of the input selection unit 4, A / D conversion unit 5, data processing unit 6, ROM 7, waveform pattern storage unit 9, I / O port 11, operation unit 12, and monitor 13. Since the CPU 15 processes the tactile detection data based on a predetermined algorithm read from the ROM 7, it is possible to efficiently execute a certain level of waveform processing without depending on the subjectivity (sense) of the processing operator. Further, the CPU 15 creates vibration pattern data DP0 having a frequency of 50 Hz or more and 500 Hz or less suitable for human sensing based on a tactile detection signal such as contact force or acceleration output from the tactile detection globe 1R or the like.

  The CPU 15 controls the data processing unit 6 so as to create the vibration pattern data DP0 while maintaining the characteristics of the change rate of the frequency that changes along the time axis included in the tactile detection signal (acceleration detection signal) related to acceleration. However, the present invention is not limited to this, and the CPU 15 controls the data processing unit 6 so as to create the vibration pattern data DP0 while maintaining the temporal change rate characteristic of the amplitude of the acceleration detection signal. This is because the data processing at a certain level is efficiently executed without depending on the subjectivity (sense) of the processing operation of the creator.

  Based on the input selection signal S11, the input selection unit 4 outputs the left-hand analog tactile detection signal SL output from the left-hand tactile detection glove 1L or the right-hand analog output from the right-hand tactile detection glove 1R. One of the tactile sense signals SR of the left hand, or both the tactile sense signal SL for the left hand and the tactile sense signal SR for the right hand. For example, when detecting a shutter switch operation of a single-lens reflex camera, a tactile detection signal SR by the right index finger of the operator wearing the right hand tactile detection glove 1R is acquired.

  When detecting a numeric keypad input operation with a mobile phone or the like, a tactile detection signal SL of the operator's thumb wearing the left hand tactile detection glove 1L is acquired. When detecting a character input operation with a keyboard or the like, both the left and right hand tactile detection gloves 1L and 1R are attached, and tactile detection signals SL and SR of five fingers are simultaneously acquired. The operator instructs the CPU 15 to input from the operation unit 12 for each operation target object. In response to this instruction, the input selection signal S11 is supplied from the CPU 15 to the input selection unit 4.

  An A / D conversion unit 5 is connected to the input selection unit 4, and the tactile detection signals SR and SL such as contact force and acceleration are converted from analog to digital based on the conversion control signal S12, thereby converting the digital tactile detection data DR and DL. And so on. The tactile detection data DR and DL may be temporarily stored in the storage device 3. The A / D conversion control signal S12 is output from the CPU 15 to the A / D conversion unit 5.

  A data processing unit 6 is connected to the A / D conversion unit 5 and performs waveform analysis processing on the tactile sense detection data DR, DL and the like after A / D conversion. The data processing unit 6 includes a separation unit 61, an extraction unit 62, a conversion unit 63, and a synthesis unit 64. These are constructed on the RAM, and a data processing function is realized under the control of the CPU 15.

  The separation unit 61 inputs the tactile detection data DR and DL directly from the A / D conversion unit 5 or from the storage device 3, detects a waveform that repeatedly appears based on the separation control signal S13, and uses the repeated waveform as a reference. Separate (decompose) the lump of synthesized waveforms. For example, the composite waveform is a set of waveforms having different frequencies n measured between waveforms having a large amplitude, and is divided into a plurality of measurement periods. The separation control signal S13 is output from the CPU 15 to the separation unit 61.

  An extraction unit 62 is connected to the separation unit 61, and a waveform element having a frequency n and an amplitude a is extracted from a combined waveform of the measurement period divided into a plurality of measurement periods based on the extraction control signal S14. In this extraction process, waveforms having the same amplitude a and frequency n are individually divided. The extraction control signal S14 is output from the CPU 15 to the extraction unit 62.

  A conversion unit 63 is connected to the extraction unit 62, and the frequency f = 50 Hz to 500 Hz suitable for human detection based on the element conversion control signal S15 based on the element conversion control signal S15. The following waveform pattern is replaced. The waveform pattern is defined by the amplitude A and the vibration frequency N in addition to the frequency f. When a plurality of waveform patterns are combined, waveform pattern data for the tactile sense presentation period is configured. In this example, the tactile sense presentation period corresponds to the measurement period. The element conversion control signal S15 is output from the CPU 15 to the conversion unit 63.

  The synthesizer 64 synthesizes the converted waveform pattern data and other waveform pattern data based on the synthesis control signal S16 to construct vibration pattern data DP0 in a plurality of tactile sense presentation periods. The synthesis control signal S16 is output from the CPU 15 to the synthesis unit 64. The constructed vibration pattern data DP0 giving a sense of touch is stored (saved) in the storage device 3 in association with an operation target object such as a shutter.

  The waveform pattern storage unit 9 stores a plurality of waveform pattern data DPi (i = 1 to m) for tactile presentation. The waveform pattern is a waveform having a frequency of 50 Hz or more and 500 Hz or less suitable for human sensing. The waveform pattern storage unit 9 is a ROM or EEPROM.

  An operation unit 12 and a monitor 13 are connected to an input / output port (hereinafter referred to as I / O port 11). The operation unit 12 is operated to input a tactile detection signal SR, SL capturing instruction, a waveform processing start instruction, or the like. A keyboard or the like is used for the operation unit 12. Information designated by the operation unit 12 is output to the CPU 15 as operation data D3. The monitor 13 displays an analog tactile detection signal SR at the time of tactile measurement based on the display data D2 based on the tactile detection data DR and DL, or displays a tactile presentation signal at the time of tactile provision based on the vibration pattern data DP0. The As the monitor 13, a liquid crystal display, a CRT, or the like is used.

  The information creating means 10 is connected to the storage device 3 through the system bus 14 and stores the synthesized vibration pattern data DP0. The vibration pattern data DP0 is stored (downloaded) in an electronic device with a tactile input function. A hard disk is used for the storage device 3, but a personal computer can be used for the information creating means 10 and the storage device 3 described above.

3A and 3B are cross-sectional views showing a configuration example and an enlarged example of a fingertip portion such as the tactile detection glove 1L.
In FIG. 3A, the tactile detection glove 1L includes a force detection sensor 51 and an acceleration sensor 52 at each of the fingertip portions that are most commonly used when an operator operates an object such as a switch or a keyboard. The force detection sensor 51 detects a contact force related to the contact of the operator's hand (finger) 30a when operating the object and outputs a tactile detection signal (contact force) SL. The acceleration sensor 52 detects an acceleration related to the movement of the operator's hand and outputs a tactile detection signal (acceleration) SL.

  3B shows a configuration example of a cross section of a fingertip portion such as the tactile detection globe 1L. The glove part 53 shown to FIG. 3B is comprised from a soft material. Cotton, vinyl, rubber, tanned leather, etc. are used for the glove material. In the glove part 53, a force detection sensor 51 is provided at a portion corresponding to the belly of each fingertip of the operator, and an acceleration sensor 52 is provided at a portion corresponding to the back of the operator.

  Sheet sensors are used for the sensors 51 and 52 for force detection and acceleration, respectively. As the sheet-like sensor, a pressure-sensitive ink printed on a flexible sheet is used. The pressure-sensitive ink has a characteristic that the electric resistance value changes according to the applied force. The glove material inside the force detection sensor 51 is provided with a backup member 54 to back up the force received by the force detection sensor 51. A hard resin member or the like is used for the backup member 54. In order not to impair the flexibility of the force detection sensor 51, the hard resin member is divided into several parts and used as small pieces.

  A silicon sheet 55 is provided outside the force detection sensor 51 so as to protect the force detection sensor 51. The silicon sheet 55 has a softness close to the skin of a human fingertip. The force detection sensor 51 is disposed near the depth where the human tactile receptor is located. For this reason, the thickness of the silicon sheet 55 is about 0.3 mm to 0.5 mm.

  FIG. 4 is a diagram illustrating a configuration example at the time of data acquisition by the tactile sense globe 1R. In this example, when the operator 30 wears the tactile detection glove 1 shown in FIG. 4 and actually performs a shutter pressing operation with the single-lens reflex camera 300 or the like, the shutter switch 301 and the relative generated between the fingertips of the operator 30. For example, the resistance value of the pressure-sensitive ink changes depending on the force. This change in resistance value is embodied in the tactile sense signal SR. The tactile detection signal SR is input to the information creating unit 10 and A / D converted into digital tactile detection data DR in the information creating unit 10.

  As described above, when the operator 30 performs the shutter pressing operation, the touch detection data DR such as contact force and acceleration can be obtained simultaneously with the pressing operation without hindering the pressing operation by the finger 30a. In this example, an actual tactile detection signal SR such as a shutter pressing force is obtained from the tactile detection globe 1R. Further, the tactile detection globe 1R can simultaneously acquire the tactile detection signals SR of the five fingers 30a in the case of a device operated with the entire hand.

  Next, a tactile information creation method according to the present invention will be described. FIG. 5 is a diagram illustrating a waveform example of the tactile detection signal SR obtained when the shutter is operated. In FIG. 5, the vertical axis represents the amplitude indicating acceleration (force), and the horizontal axis represents time t.

  In this example, in the measurement period t1, a composite waveform is formed by combining waveform elements having typical frequencies n1 and n2 at the time of shutter operation and typical amplitudes a1 and a2. In the measurement period t2, a composite waveform is formed by combining a waveform element having a frequency n1 and an amplitude a1 and a waveform element having a frequency n2 and an amplitude a2. In the measurement period t3, a combined waveform is formed by combining the waveform element having the vibration frequency n1 and the amplitude a1 and the waveform element having the vibration frequency n2 and the amplitude a2. The tactile sense detection signal SR is A / D converted by the A / D converter 5 shown in FIG. 2 to become tactile sense data DR. As specific tactile sense detection data DR, for example, a typical frequency n1 at the time of shutter operation is 1 kHz, and a frequency n2 is 1.5 kHz.

  In the data processing unit 6 described above, waveform processing as shown in FIGS. 6 to 10 is performed after removing noise included in the tactile sense detection data DR. That is, the tactile detection data DR output from the A / D conversion unit 5 has a frequency f and a frequency n and a frequency range of about 50 Hz to 500 Hz that is easily perceived by humans while retaining the characteristics of the tactile detection data DR. The amplitude a is replaced with the frequency f, the amplitude A, and the number N.

  Note that although the data actually obtained is force detection data, the vertical axis of the graph shown in FIG. 5 is acceleration. This is because acceleration and force are proportional if the mass of the object moved by the acceleration is constant, and the data used after data processing is a relative value, not an absolute value of the amplitude a of the vibration waveform. In the vibration pattern data DP0 for presenting tactile sensation after data processing, the result is the same whether acceleration is used or force is used.

  6A to 6C are diagrams illustrating an example of decomposition of the combined waveform and an example of extraction of the waveform elements E11 and E12 during the measurement period t1. The composite waveform shown in FIG. 6A is obtained by separating the waveform of the measurement period t1 from the measurement periods t1 to t3 based on the tactile detection data DR shown in FIG. For example, the separation unit 61 inputs the tactile detection data DR directly from the A / D conversion unit 5 or from the storage device 3, detects a waveform that repeatedly appears based on the separation control signal S13, and uses this repeated waveform as a reference. Separate (decompose) the lump of synthesized waveforms. The composite waveform in the measurement period t1 is a set of waveform elements with the frequency n1 = 1 kHz and n2 = 1.5 kHz measured between the waveform element with the amplitude a2 and the waveform element with the amplitude a2.

  The extraction unit 62 divides the combined waveform of the measurement period t1 divided into the measurement period t1, and based on the extraction control signal S14, the waveform elements E11 and E12 such as the frequency n1 and the amplitude a1, the frequency n2 and the amplitude a2, and the like. Is made to extract. In this extraction process, the waveform elements having the same amplitude or characteristic amplitudes a1 and a2 and their frequencies n1 and n2 are individually divided in the other measurement periods t2 and t3.

  FIG. 6B is a diagram illustrating an example of waveform elements having a frequency n1 and an amplitude a1. A waveform element E11 shown in FIG. 6B is a waveform example obtained by extracting and separating the waveform element having the frequency n1 and the amplitude a1 from the combined waveform in the measurement period t1. FIG. 6C is a diagram illustrating an example of waveform elements having a frequency n2 and an amplitude a2. A waveform element E12 illustrated in FIG. 6C is an example of a waveform obtained by extracting and separating the waveform elements having the frequency n2 and the amplitude a2 from the combined waveform in the measurement period t1. The reason why the waveform elements E11 and E12 are extracted in this way is to convert the waveform elements E11 and E12 into a waveform pattern for presenting a tactile sensation.

  7A and 7B are diagrams showing an example of conversion from the waveform element E11 to the waveform pattern P11. In this example, in the relationship between the frequency n and the frequency f, the frequency f is replaced with a frequency range of 50 Hz to 500 Hz while maintaining a ratio of n1: n2 = 1 kHz: 1.5 kHz. For example, the frequency n is replaced with a frequency ratio, f1: f2 = 200 Hz: 300 Hz. The amplitude A is converted by a1: a2 = A1: A2.

  The waveform element E11 having the amplitude a1 and the vibration frequency n1 shown in FIG. 7A is converted into the waveform pattern P11 having the frequency f1 = 200 Hz, the amplitude A1, and the vibration frequency N shown in FIG. 7B. Specifically, the waveform pattern of the frequency f1 = 200 Hz and the number of vibrations N = 1 suitable for the human being to sense the waveform element having the amplitude a1 and the vibration frequency n1 based on the element conversion control signal S15. Replacement with P11 is made. The absolute value of the amplitude A1 may be determined based on the characteristics of an electronic device with a tactile input function (tactile presentation device).

8A and 8B are diagrams showing an example of conversion from the waveform element E12 to the waveform pattern P12.
In this example, the waveform element E12 having the amplitude a2 and the vibration frequency n2 shown in FIG. 8A is converted into the waveform pattern P12 having the frequency f2, the amplitude A2 and the vibration frequency N shown in FIG. 8B. Specifically, the waveform pattern of the frequency f2 = 300 Hz and the number of vibrations N = 3 suitable for humans to detect the waveform element having the amplitude a2 and the frequency n2 based on the element conversion control signal S15. It is made to replace with P12. The absolute value of the amplitude A2 may be determined by the characteristics of the tactile presentation device in the same manner as the waveform element E11.

  FIGS. 9A and 9B are diagrams illustrating a synthesis example of the waveform patterns P11 and P12. In this example, the waveform pattern P11 and the waveform pattern P12 shown in FIG. 9A are combined to generate a combined waveform pattern P1 for the tactile sense presentation period T1 shown in FIG. 9B.

  The combined waveform pattern P1 is a combination of a waveform pattern P12 having an amplitude A2, a frequency f2 = 300 Hz, and a vibration frequency N = 1 and a waveform pattern P11 having an amplitude A1, a frequency f1 = 200 Hz, and the vibration frequency N = 3. When the waveform patterns P11 and P12 are combined, the waveform pattern data of the tactile sense presentation period T1 is configured. The tactile sense presentation period T1 corresponds to the measurement period t1. The other measurement period t2 is replaced with a tactile sense presentation period T2 (= t2), and the measurement period t3 is replaced with a tactile sense presentation period T3 (= t3). In this way, the data processing unit 6 performs waveform processing.

  FIG. 10 is a diagram illustrating an example of a vibration waveform pattern for presenting a tactile sensation during a shutter operation in a digital camera or the like. In FIG. 10, the vertical axis represents an amplitude A that simulates acceleration (force), and the horizontal axis represents time t.

  In this example, the vibration waveform pattern P0 for presenting the tactile sense is a combination of the composite waveform pattern P1 for the tactile sense presentation period T1, the composite waveform pattern P2 for the tactile sense presentation period T2, and the composite waveform pattern P3 for the tactile sense presentation period T3. Composed. The tactile sense presentation period T1 corresponds to the measurement period t1, the tactile sense presentation period T2 corresponds to the measurement period t2, and the tactile sense presentation period T3 corresponds to the measurement period t3.

  The combined waveform pattern P1 is embodied by waveform pattern data DP1 output in the tactile sense presentation period T1. The waveform pattern data DP1 is configured by combining data forming a waveform pattern P11 having a frequency f1, an amplitude A1, and the number of vibrations N = 3 with data forming a waveform pattern P12 having a frequency f2 and an amplitude A2.

  The synthesized waveform pattern P2 is embodied by waveform pattern data DP2 output during the tactile sense presentation period T2. The waveform pattern data DP2 is configured by combining a waveform pattern P21 having a frequency f1, an amplitude A1, and a vibration frequency N = 2 and a waveform pattern P22 having a frequency f2, an amplitude A2, and a vibration frequency N = 1.

  The combined waveform pattern P3 is waveform pattern data DP3 output during the tactile sense presentation period T3. The waveform pattern data DP3 is configured by combining a waveform pattern P31 having a frequency f1, an amplitude A1, and a vibration frequency N = 1, and a waveform pattern P32 having a frequency f2, an amplitude A2, and a vibration frequency N = 1. The vibration waveform pattern P0 for presenting tactile sensation is embodied by vibration pattern data DP0 = DP1 + DP2 + DP3 obtained by combining the combined waveform pattern data DP1, DP2, DP3.

  As described above, the synthesizing unit 64 synthesizes a plurality of synthesized waveform pattern data DPi (i = 1, 2, 3,...) After conversion based on the synthesis control signal S16 to generate vibration pattern data DP0 for tactile presentation. To construct. The vibration pattern data DP0 for presenting tactile sensation constructed here constitutes tactile information and is stored (saved) in the storage device 3 in association with an operation target object item such as “shutter press”. Of course, the present invention is not limited to this, and the vibration pattern data (signal) DP0 processed for tactile presentation by the data processing unit 6 is sent to the external device via the I / O port 11. The external device includes a tactile sense presentation device or an external recording device.

  FIG. 11 is a flowchart illustrating an example of processing in the haptic information creation apparatus 100. In this embodiment, it is assumed that tactile information for reproducing the tactile sensation given to the finger 30a of the right hand of the operator 30 is created. For example, a case where a tactile sensation obtained by operating a shutter switch of an actual single-lens reflex camera 300 is detected, and tactile information at the time of the shutter operation is created based on the tactile sense obtained from the single-lens reflex camera 300 detected here. To

  When creating tactile information in this example, vibration pattern data DP0 having a frequency of 50 Hz to 500 Hz suitable for human sensing is created based on the contact force detection signal and acceleration detection signal obtained by the tactile detection process. . Further, when creating the tactile information, the vibration pattern data DP0 is created while maintaining the characteristics of the rate of change of the frequency that changes along the time axis included in the acceleration detection signal. Furthermore, it is assumed that when creating the tactile information, the vibration pattern data DP0 is created while maintaining the characteristics of the temporal change rate of the amplitude of the acceleration detection signal.

  Under these processing conditions, the tactile detection signal SR is acquired in step ST1 of the flowchart shown in FIG. In this example, the tactile detection globe 1 is attached to the right hand of the operator 30 and the shutter switch of the single-lens reflex camera 300 is operated. The tactile sense glove 1 is provided with a force detection sensor 51 and an acceleration sensor 52 at portions corresponding to the fingertips of the operator 30.

  At this time, in the force detection sensor 51 on the index finger 30a where the operator 30 is pressing the shutter switch, the resistance value changes according to the force pressing the shutter switch. A known voltage is constantly applied to each sensor, and a change in resistance value is converted into a change in voltage by a bridge circuit or the like.

  The force detection sensor 51 detects a contact force related to the contact of the hand of the operator 30 at the time of the shutter operation to obtain a tactile detection signal (contact force) SR, and the acceleration sensor 52 moves the hand of the operator 30. The tactile detection signal (acceleration) SR is acquired by detecting the acceleration related to the. In this way, contact force and acceleration data can be obtained simultaneously with the shutter pressing operation without interfering with the shutter operation.

  Next, the process proceeds to step ST2, and the A / D converter 5 operates so that the tactile detection signal SR such as contact force and acceleration is converted from analog to digital and digital tactile detection data DR is output. The tactile sense detection data DR is temporarily stored in the storage device 3 in step ST3.

  Thereafter, in step ST4, the CPU 15 accepts a request to execute waveform processing. For this request, the operator 30 instructs the CPU 15 through the operation unit 12. At this time, the waveform processing execution request is notified from the operation unit 12 to the CPU 15 via the operation data D3. When waveform processing is performed, the process proceeds to step ST5. In this example, waveform analysis processing is performed in steps ST5 to ST7. For example, the tactile detection data DR after A / D conversion is read from the storage device 3 in step ST5.

  In step ST6, the separation unit 61 inputs the tactile detection data DR from the storage device 3, detects a waveform that repeatedly appears based on the separation control signal S13, and generates a combined waveform for each block based on the repeated waveform. Separate (disassemble). For example, as illustrated in FIG. 6A, the combined waveform of the measurement period t1 is separated from the measurement periods t1 to t3 based on the tactile detection data DR illustrated in FIG. The composite waveform in the measurement period t1 is configured by aggregating the waveform elements with the frequency n1 = 1 kHz and n2 = 1.5 kHz measured between the waveform element with the amplitude a2 and the waveform element with the amplitude a2.

  Next, the process proceeds to step ST7, where the extraction unit 62 determines the frequency n1 and the amplitude a1, the frequency n2 and the amplitude a2, and the like based on the extraction control signal S14. Waveform elements E11 and E12 are extracted. The waveform element E11 is separated by extracting the waveform of the vibration frequency n1 and the amplitude a1 from the combined waveform in the measurement period t1 (see FIG. 6B). The waveform element E12 is separated by extracting the waveform of the frequency n2 and the amplitude a2 from the combined waveform of the measurement period t2 (see FIG. 6C). In this extraction process, waveform elements having the same amplitudes a1 and a2 and vibration frequencies n1 and n2 are also individually divided in the other measurement periods t2 and t3. The extraction control signal S14 is output from the CPU 15 to the extraction unit 62. The reason why the waveform elements E11 and E12 are extracted in this way is to convert the waveform elements E11 and E12 into a waveform pattern for presenting a tactile sensation.

  After that, in step ST8, the conversion unit 63 uses a frequency f = 50 Hz to 500 Hz suitable for human detection based on the element conversion control signal S15 for the individually divided waveform elements of the same amplitude a and frequency n. It is made to replace with a waveform pattern. For example, the waveform having the frequency f1 = 200 Hz, the amplitude A1, and the number of vibrations N = 1 suitable for human detection based on the element conversion control signal S15, based on the element conversion control signal S15, as shown in FIG. 7A. The pattern P11 is converted (see FIG. 7B).

  Further, the waveform element E12 having the amplitude a2 and the vibration frequency n2 shown in FIG. 8A is converted into the waveform pattern P12 having the frequency f2, the amplitude A2, and the vibration frequency N shown in FIG. 8B. Based on the element conversion control signal S15, the conversion unit 63 replaces the waveform element having the amplitude a2 and the vibration frequency n2 with a waveform pattern P12 having a frequency f2 = 300 Hz suitable for human detection and a vibration frequency N = 3. Made. The absolute values of the amplitudes A1 and A2 are determined in the waveform elements E11 and E12 according to the characteristics of the electronic device with a tactile input function (tactile presentation device). The element conversion control signal S15 is output from the CPU 15 to the conversion unit 63.

  Then, the process proceeds to step ST9, where the synthesizing unit 64, based on the synthesizing control signal S16, the waveform pattern P11 having the amplitude A1, the frequency f1 = 200 Hz, and the vibration frequency N = 3, the amplitude A2, and the frequency f2 shown in FIG. = 300 Hz and the number of vibrations N = 1 are combined with the waveform pattern P12 to generate a combined waveform pattern P1 of the tactile sense presentation period T1 shown in FIG. 9B. Further, the combining unit 64 combines the combined waveform pattern P1 of the tactile presentation period T1, the combined waveform pattern P2 of the tactile presentation period T2, and the combined waveform pattern P3 of the tactile presentation period T3 shown in FIG. The vibration waveform pattern P0 is created.

  The vibration waveform pattern P0 for presenting tactile sensation is embodied by vibration pattern data DP0 = DP1 + DP2 + DP3 obtained by combining the combined waveform pattern data DP1, DP2, DP3. The vibration pattern data DP0 can be obtained by such a data processing procedure. The vibration pattern data DP0 is a control signal for artificially creating a sense when the operator 30 operates an actual shutter switch by the tactile sense presentation device.

  The synthesis control signal S16 is output from the CPU 15 to the synthesis unit 64. The constructed vibration pattern data DP0 giving a tactile sensation is stored (saved) in the storage device 3 in association with the operation target object item in step ST10. The vibration pattern data DP0 for presenting tactile sense constructed here constitutes tactile information. In this example, it is stored in the storage device 3 in association with an operation target object item such as “shutter press”. Of course, the present invention is not limited to this, and vibration pattern data DP0 (signal) DP0 processed for tactile presentation by the data processing unit 6 is sent to an external device via the I / O port 11. The external device includes a tactile sense presentation device or an external recording device.

  Thereafter, the process proceeds to step ST11, and the CPU 15 determines whether or not to finish the tactile information creation process. For example, the termination determination is made based on the detection of the power-off information of the CPU 15. When the power-off information is not detected, the process proceeds to step ST12, and it is determined whether all the data creation processing for the target object is completed. The judgment at this time is an operator. If all the data creation processing of the target object has not been completed, the process returns to step ST4 to accept the waveform processing processing and repeat the above-described processing.

  When all the data creation processing of the target object is completed in step ST12, the process returns to step ST1 and repeats the above-described processing to acquire tactile detection data of a new target object (in this example, an object other than the shutter operation). Is made. If power-off information is detected in step ST11, the tactile information creation process is terminated.

  As described above, according to the tactile information creating apparatus and the tactile information creating method according to the embodiment of the present invention, the vibration pattern data DP0 for reproducing the tactile sensation given to the finger (hand) 30a of the operator 30 is created. In addition, the information creating means 10 generates the vibration pattern data DP0 by processing the tactile detection signal SR such as contact force and acceleration output from the tactile detection globe 1R and the like.

  Therefore, it is possible to create vibration pattern data DP0 that can present to the finger (hand) 30a of the operator 30 almost the same tactile sensation as when the object such as the single-lens reflex camera 300 is actually operated. As a result, when the digital camera is operated, a tactile sensation equivalent to that operated by the single-lens reflex camera 300 based on the vibration pattern data DP0 can be presented in a pseudo manner on the finger or the like of the operator 30.

  In addition, the data processing unit 6 is controlled by the CPU 15 to create the vibration pattern data DP0 while maintaining the characteristics of the change rate of the frequency n that changes on the time axis included in the tactile detection signal (contact force) SR. The Further, the CPU 15 controls the data processing unit 6 so as to create the vibration pattern data DP0 while maintaining the characteristics of the temporal change rate of the amplitude of the tactile detection signal (acceleration) SR. Therefore, a certain level of data processing can be efficiently performed without depending on the subjectivity (sense) of the creator's processing operation.

  In the case of an electronic device operated with a finger 30a, when the operator 30 operates an input device such as a switch or a keyboard, a tactile sensation (operation feeling) fed back from the input device is given to the natural nature of the operator 30. The touch detection data DR and DL of the five fingers 30a and the ten fingers 30a with both hands can be obtained at the same time without impairing the input operation. The vibration pattern data DP0 created in this way can be used for tactile presentation of the keyboard displayed on the touch panel.

FIG. 12 is a perspective view showing a configuration example of the digital camera 200 with a tactile input function.
In this example, the digital camera 200 includes display means for realizing a tactile input function, and an actuator such as a motor or a piezoelectric element for generating a tactile sense. By using the vibration pattern data DP0 created by the tactile information creation device 100 according to the present invention as a control signal (command value) for these actuators, a predetermined tactile sensation (operation feeling) is presented to the operator in a pseudo manner. It is a thing.

  A digital camera 200 shown in FIG. 12 has a camera body 20. The camera body 20 includes a housing 22. The housing 22 is assembled by abutting the openings of the substantially box-shaped front case 21A and the rear case 21B with an impact absorbing material 23 made of a substantially square rubber or the like sandwiched therebetween.

  An input detection means 24 with a tactile function is provided on the upper surface plate constituting the housing 22. The input detection means 24 has an input detection surface PR, for example, an icon 28 for a shutter button is displayed. This icon 28 is operated when the shutter is operated. The operations performed on the input detection surface PR include an erase button operation, a power button operation, a standard mode or snap mode switching operation, etc. in addition to a shutter button operation. As the input detection means 24, a rectangular electrostatic input sheet is used.

  Actuators 25a and 25b constituting the vibration means are provided at predetermined intervals on the inner surface of the front case 21A along the longitudinal direction of the input detection means 24, and input detection is performed based on a predetermined vibration pattern. It is made to vibrate the surface. Similarly, on the inner surface of the rear case 21B, along the longitudinal direction of the input detection means 24, actuators 25c and 25d are provided at a predetermined interval, and the input detection surface PR is set based on a predetermined vibration pattern. It is made to vibrate. In this example, the actuator 25a and the actuator 25c face each other, and the actuator 25b and the actuator 25d face each other. This is to strengthen the vibration.

  In addition, a lens 26 shown in FIG. 12 is attached to the front case 21A, and has a zoom function so that an image is formed during subject photographing. In addition, an external interface terminal 39 is provided at the right corner of the front case 21A so that it can be connected to an external device to exchange information.

  FIG. 13 is a perspective view illustrating a configuration example of the back surface of the camera body 20. The rear case 21B shown in FIG. 13 is provided with a display means 29, which displays a display screen based on information input by the input detection means 24. The display means 29 performs functions such as a viewfinder in addition to the monitor function. As the display means 29, a liquid crystal display (LCD) having a resolution of about 640 pixels × 480 pixels is used.

  FIG. 14A is a cross-sectional view of the camera body 20 as viewed from the bottom. When the camera body 20 shown in FIG. 14A is viewed from the bottom, in addition to the lens 26 and the display means 29, a board mounting component 27, a battery 28, and the like are housed inside the housing 22. FIG. 14B is a cross-sectional view of the camera body 20 as viewed from above. When the camera body 20 shown in FIG. 14B is viewed from above, an input detection unit 24 and actuators 25 a to 25 f are mounted inside the housing 22. The input detection unit 24 illustrated in FIG. 14B is configured by a capacitance input sheet. One capacitance input sheet is formed of a substantially rectangular sheet, and the above-described plurality of functions of each mode button are operated by pressing a plurality of predetermined portions of one capacitance input sheet. Is done.

  In this example, actuators 25e and 25f are provided below the left and right sides of the input detection means 24 in addition to the actuators 25a to 25d provided on the inner surfaces of the front case 21A and the rear case 21B, and based on a predetermined vibration pattern. For example, the input detection surface PR is vibrated so that the vibration moves in the pressing operation direction. Each actuator 25a-25f is comprised from a piezoelectric sheet or a piezoelectric element.

  Next, a digital camera 200 with a tactile function according to the present invention and a tactile feedback input method in the camera 200 will be described. FIG. 15 is a block diagram showing an internal configuration example of the digital camera 200, and shows a block of a main part of each function constituted by the board mounting component 27 and the like in the housing shown in FIGS. In FIG. 15, parts corresponding to those in FIG.

  A digital camera 200 shown in FIG. 15 includes an input detection unit 24, a display unit 29, an A / D driver 31, a CPU 32, a power supply unit 33, a camera 34, other devices 35, a speaker 36, a vibration unit 40, and an EEPROM. . The input detection means 24 has an input detection surface PR as shown in FIG. 13 and the like, and detects the contact position of the operator's finger 30a as the operation body. With respect to the input detection means 24, the capacitance type input device as the capacitance sheet has been described with reference to FIG. 13, but the present invention is not limited to this, and any device can be used as long as it can distinguish between the function of cursoring and selection. .

  For example, the input detection unit 24 may be an input device such as a resistive film method, a surface acoustic wave method (AW), an optical method, and a multi-stage tact switch. Preferably, an input device having a configuration in which position information and force information are given to the CPU 32 may be used. The input detection means 24 described above receives at least position information S1 and force information S2 (pressing force) as an input amount via the operator's finger 30a.

  The display unit 29 is configured to display a display screen based on the information input by the input detection unit 24. The display means 29 performs functions such as a viewfinder in addition to the monitor function. For example, the display means 29 displays icons such as zoom-in, zoom-out, playback / fast-forward mode, and volume (Vol) adjustment mode based on control information (command D) from the CPU 32.

  An A / D driver 31 is connected to the input detection means 24, and the position information S1 and the input amount S2 output from the input detection means 24 are input to perform analog / digital conversion. For example, the A / D driver 31 converts an analog signal composed of the position information S1 and the input amount S2 into digital data in order to distinguish between the cursoring and the selection function. At the same time, the A / D driver 31 performs calculation to detect whether the input is cursoring input or selection information, and supplies the CPU 32 with data D31, position data D11, or input amount data D12 including a flag indicating whether the cursoring is selected. These calculations may be performed in the CPU 32.

  A CPU 32 is connected to the A / D driver 31 and receives an input signal from the A / D driver 31 to send a command D to the power supply unit 33, the camera unit 34, the other device 35, the display means 29, the speaker 36, and the actuator drive. To the device of the unit 37. For example, the CPU 32 has a function (algorithm) for processing a sine waveform generated by the actuator drive circuit 37 using the pressing position and pressing force of the operator 30 as parameters in the same vibration mode. An EEPROM is connected to the CPU 32, and vibration pattern data DP0 created by the tactile information creation device 100 according to the present invention is stored in association with an operation target object item such as “shutter press”.

  The CPU 32 reads the vibration pattern data DP0 based on the pressed position and the pressed force detected by the input detecting means 24 from an EEPROM or the like. For example, when the operator's finger 30a comes into contact with the shutter button on the input detection surface and detects a pressing force of a certain level or more at that position, the CPU 32 senses almost the same sense of touching the shutter switch of the single-lens reflex camera 300. Is pseudo-presented on the operator's finger or the like.

  The vibration means 40 includes an actuator drive circuit 37 and actuators 25a to 25f, and vibrates the input detection surface so that the housing 22 is shaken based on the vibration pattern data DP0 read by the CPU 32. An actuator drive circuit 37 is connected to the CPU 32 described above, and vibration control signals Sa to Sf are generated according to a command D from the CPU 32, and vibration control signals Sa are supplied to the plurality of actuators 25a, 25b, 25c, 25d, 26e, and 26f. ~ Sf is supplied. The vibration control signals Sa to Sf have, for example, output waveforms W1 to W3. This is because the six actuators 25a to 25f are driven.

  Further, a camera 34 is connected to the CPU 32 so that a subject is photographed through the lens 26 described above based on the command D. As the camera 34, an imaging device (CCD device) (not shown) is used, and shooting data obtained by subject shooting is output.

  Other devices 35 include a storage device, an external terminal, and the like. For example, the storage device stores shooting data based on a command D from the CPU 32 and reads out the shooting data. The external terminal includes the external interface terminal 39 shown in FIG. 12, and outputs a command D from the CPU 32 to an external device such as a printer to execute a printer mode (not shown). The speaker 36 emits an icon confirmation sound, a device handling announcement sound, and the like based on a command D from the CPU 32. The icon confirmation sound may include a single-lens reflex shutter imitation sound “Gasha”.

  The power supply unit 33 is connected to the battery 28 described above, the input detection means 24, the display means 29, the A / D driver 31, the CPU 32, the camera 34, other devices (storage device, external terminal, etc.) 35, and the vibration means 40. In addition, power is supplied to the EEPROM and the like.

  FIG. 16 is a perspective view showing an example of a shutter operation in the input detection unit 24. On the input operation surface PR shown in FIG. 16, the shutter icon (hidden by the operator's finger 30a) 28 is touched in the pressing direction indicated by the white arrow. When the digital camera 200 is configured in this way, vibration can be generated with a vibration waveform pattern (amplitude n, frequency f, and vibration frequency N) corresponding to the pressing position and pressing force of the operator's finger 30a during the shutter operation. . The operator can feel the vibration as a tactile sensation of the single-lens reflex shutter switch when the finger 30a receives the vibration. Further, if the pseudo sound of “Gasha” is also emitted from the speaker 36, the “shutter release” function can be improved by hearing with the operator's ear.

  The present invention is extremely suitable when applied to creation of tactile information stored in advance in an information processing apparatus with a tactile input function, a mobile phone, an information portable terminal device, or the like.

It is a figure which shows the example of an external appearance of the tactile information preparation apparatus 100 using the tactile sense glove as an Example which concerns on this invention. It is a block diagram which shows the structural example of the tactile sense information production apparatus 100 containing the tactile sense detection gloves 1R and 1L. (A) And (B) is sectional drawing which each shows the example of a structure of fingertip parts, such as a tactile sense glove 1L, and the example of an expansion. It is a figure which shows the structural example at the time of the data acquisition by the tactile sense glove 1R. It is a figure which shows the example of a waveform of the tactile sense signal SR obtained at the time of shutter operation etc. (A)-(C) is a figure which shows the example of decomposition | disassembly of the synthetic | combination waveform of measurement period t1, and the extraction example of the waveform elements E11 and E12. (A) And (B) is a figure which shows the example of conversion from the waveform element E11 to the waveform pattern P11. (A) And (B) is a figure which shows the example of conversion from the waveform element E12 to the waveform pattern P12. (A) And (B) is a figure which shows the example of a synthesis | combination of the waveform patterns P11 and P12. It is a figure which shows the vibration waveform pattern example for tactile presentation at the time of shutter operation in a digital camera etc. FIG. 5 is a flowchart illustrating a processing example in the tactile information creation device 100. It is a perspective view which shows the structural example of the digital camera 200 with a tactile sense input function. 2 is a perspective view illustrating a configuration example of a back surface of a camera body 20. FIG. (A) And (B) is sectional drawing which shows the structural example which looked at the camera main body 20 from the bottom face and the upper surface. 2 is a block diagram illustrating an internal configuration example of a digital camera 200. FIG. 5 is a perspective view showing an example of a shutter operation in the input detection unit 24. FIG.

Explanation of symbols

1R, 1L ... tactile detection glove (tactile detection means), 3 ... storage device, input selection unit, 5 ... A / D conversion unit, 6 ... data processing unit, 10 ... information creation Means 7 ... ROM 8 ... RAM 9 ... Waveform pattern storage unit 11 ... I / O port 12 ... Operating unit 13 ... Monitor 15,32 ... CPU (control means), 25a to 25d ... actuator (vibration means), 100 ... tactile information creation device, 200 ... digital camera

Claims (10)

An apparatus for creating tactile information for reproducing a tactile sensation given to an operating body,
Tactile detection means for detecting a tactile sensation obtained when an actual object is operated and outputting a tactile detection signal;
A tactile information creating apparatus comprising: information creating means for processing the tactile detection signal output from the tactile sense detecting means to create the tactile information. The tactile detection means includes
A tactile detection glove that can be worn on the operator's hand is used,
The tactile detection glove is
A force detection sensor and an acceleration sensor are respectively provided in portions corresponding to the fingertips of the operator,
The force detection sensor is
Output a tactile detection signal related to the contact force of the operator's hand when operating the object,
The acceleration sensor is
The tactile information creating apparatus according to claim 1, wherein a tactile sense detection signal relating to the acceleration of the movement of the operator's hand is output. The information creating means
2. The tactile information generating apparatus according to claim 1, wherein vibration pattern data having a frequency of 50 Hz to 500 Hz suitable for human sensing is generated based on a tactile detection signal output from the tactile detection means. . The information creating means
4. The tactile information creating apparatus according to claim 3, wherein the vibration pattern data is created while maintaining a characteristic of a rate of change of a frequency that changes along a time axis included in the tactile sense detection signal. The information creating means
4. The tactile information creation device according to claim 3, wherein the vibration pattern data is created while maintaining the characteristics of the temporal change rate of the amplitude of the tactile detection signal. A method for creating tactile information for reproducing a tactile sensation given to an operating body,
Detecting a tactile sensation obtained by manipulating an actual object;
And a step of creating tactile information at the time of operating the object based on the detected tactile sense from the object. When detecting the tactile sensation,
A tactile detection glove that can be worn on the operator's hand is used,
The tactile detection glove includes
A force detection sensor and an acceleration sensor are respectively provided in portions corresponding to the fingertips of the operator,
The force detection sensor;
Obtaining a tactile detection signal related to the contact force of the operator's hand when operating an object,
The acceleration sensor;
The tactile information generation method according to claim 6, wherein a tactile detection signal related to the acceleration of the movement of the operator's hand is acquired. When creating the haptic information,
7. The tactile information creation method according to claim 6, wherein vibration pattern data having a frequency of not less than 50 Hz and not more than 500 Hz suitable for human sensing is created based on a tactile detection signal obtained by the tactile sense detection step. When creating the haptic information,
9. The tactile information creation method according to claim 8, wherein the vibration pattern data is created while maintaining a characteristic of a rate of change of a frequency that changes along a time axis included in the tactile detection signal. When creating the haptic information,
The tactile information creation method according to claim 8, wherein the vibration pattern data is created while maintaining the characteristic of the temporal change rate of the amplitude of the tactile detection signal.

Images