JP7321409B2 - Manipulator, tactile control device, and tactile control method - Google Patents

Description

The present disclosure relates to an operator, a tactile sensation control device for the operator, and a tactile sensation control method for the operator.

2. Description of the Related Art Conventionally, when a user rotates or presses an operation unit to perform some kind of operation, a frictional force (hereinafter referred to as “electrostatic frictional force”) generated by using electrostatic force to attract each other causes a tactile sensation. A technique is known that gives feedback to the user during operation by generating an effect. For example, U.S. Pat. No. 5,300,003 discloses a haptic output device that includes an array of electrodes disposed on a substrate and a layer of dielectric material disposed over the array of electrodes, just below a rotating knob on the top surface of the housing. A technique is disclosed that provides a tactile effect to the user by providing an electrostatic adhesion force between the upper surface and the rotary knob.

JP 2017-168104 A

In the prior art disclosed in Patent Document 1, the resulting electrostatic frictional force varies depending on the state of the surface, such as when the surface on which the electrostatic frictional force is generated is wet or foreign matter is attached. However, there is a problem that the haptic effect cannot be stably given to the user.

The present disclosure has been made in order to solve the above-described problems, and an object thereof is to provide an operator capable of stably giving a haptic effect to a user.

The manipulator according to the present disclosure includes a fixed portion having a shaft, an operating portion attached to the shaft and rotatable around the shaft, an operating portion attached to the shaft and capable of being pushed in the axial direction, or an operating portion attached to the shaft and rotating the shaft. a manipulator that is rotatable about the center and that can be pushed in the axial direction, the manipulator having a plurality of electrodes provided on the outer peripheral surface of the shaft and covered with a dielectric layer; provided on a surface facing the shaft and provided with a plurality of electrodes and conductors facing each other when the relative position between the operating portion and the shaft is at a preset relative position; It is characterized in that a voltage can be applied to the electrodes.

According to the present disclosure, it is possible to stably provide a haptic effect to the user.

1A and 1B are diagrams for explaining a configuration example of the manipulator according to the first embodiment, FIG. 1A is a top view of the manipulator, and FIG. be. FIG. 4 is a diagram for explaining a detailed configuration example of an electrode portion included in the manipulator according to Embodiment 1; 1 is a diagram showing a configuration example of a tactile sensation control device according to Embodiment 1; FIG. 4 is a flowchart for explaining the operation of the tactile sensation control device according to Embodiment 1; FIG. 5 is a flowchart for explaining an example of detailed operations of steps ST3 and ST4 in FIG. 4; FIG. 6A and 6B are diagrams for explaining a configuration example of an operator in which a plurality of electrodes and a conductive elastic body are provided so as to face each other inside an axis of a fixed portion according to Embodiment 1. FIG. be. 7A and 7B are configuration examples of the operator in which the electrode part and the conductive elastic body are provided so as to face each other on the outside of the shaft of the fixed part and also face each other on the inside of the shaft in the first embodiment. It is a figure for demonstrating about. FIG. 4 is a diagram showing an example of an electrode portion of an operator having a configuration including a plurality of electrodes for rotation and a plurality of electrodes for pushing in Embodiment 1; In Embodiment 1, the shape or arrangement of the plurality of pressing electrodes and the shape and arrangement of the conductive elastic bodies are such that the area facing the conductive elastic bodies increases toward the direction in which the operating portion is pushed. 10A and 10B are diagrams showing a configuration example of an operation element capable of presenting a tactile sensation in which the more the operation part is pushed, the heavier the operation part becomes; In Embodiment 1, the shape or arrangement of the plurality of pressing electrodes and the shape and arrangement of the conductive elastic bodies are such that the area facing the conductive elastic bodies increases toward the direction in which the operating portion is pushed. 10A and 10B are other diagrams showing a configuration example of an operation element capable of presenting a tactile sensation in which the operation part becomes heavier as the operation part is pushed down; FIG. In Embodiment 1, the arrangement or shape of the plurality of electrodes and the shape and arrangement of the conductive elastic body are such that the area facing the plurality of electrodes increases as the operation section is rotated, so that the operation section can be rotated. FIG. 10 is a diagram showing a configuration example of an operator capable of presenting a tactile sensation in which the operation part becomes heavier as it is pressed; In Embodiment 1, the arrangement or shape of the plurality of electrodes and the shape and arrangement of the conductive elastic body are such that the area facing the plurality of electrodes increases as the operation section is rotated, so that the operation section can be rotated. FIG. 11 is another diagram showing a configuration example of an operation element capable of presenting a tactile sensation in which the operation part becomes heavier as it is pressed. 13A, 13B, and 13C show, in Embodiment 1, when the tactile control unit is at a rotational position where the operation unit presents a tactile sensation, the tactile waveform selector controls the tactile sensation at that rotational position. FIG. 10 is a diagram for explaining an image of a tactile sensation presented by the manipulator as a result of outputting a selection instruction to select a tactile presentation waveform for rotation for presenting a . 14A and 14B are diagrams showing an example of the hardware configuration of the tactile sensation control device according to Embodiment 1. FIG.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.
Embodiment 1.
The operator according to Embodiment 1 is provided, for example, in an in-vehicle device installed in a vehicle.
A manipulator according to Embodiment 1 has a fixed portion having a shaft, and an operating portion attached to the shaft, rotatable about the shaft, and pushable in the axial direction.
In the first embodiment, it is assumed that the manipulator is linked with an HMI (Human Machine Interface) that is the target of the manipulation of the manipulator. For example, when a screen indicating the volume is displayed on the display device, the user, who is a passenger of the vehicle, can increase or decrease the volume by rotating the operating section of the operator. When the user rotates the operation unit to increase or decrease the volume, the display device displays the screen so that the volume increases or decreases according to the rotation operation. change.
Further, for example, when a selection button such as "YES" or "NO" is displayed on the display device, the user can press the operation unit of the operator to press the selection button. When the user presses the select button, the display device displays, for example, a screen indicating that the select button has been pressed.
In the first embodiment, the manipulator presents a tactile sensation during rotation or depression based on the control of the tactile sensation control device when the manipulation section is rotated or depressed.

First, a configuration example of the operator 100 according to Embodiment 1 will be described.
FIG. 1 is a diagram for explaining a configuration example of an operator 100 according to Embodiment 1. FIG.
1A is a top view of the manipulator 100, and FIG. 1B is a cross-sectional view taken along line AA of FIG. 1A. For convenience of explanation, FIG. 1A also shows the shaft 1a, the dielectric layer 23, and the conductive elastic body 4 provided inside the operating portion 3 of the operator 100. As shown in FIG.

The manipulator 100 includes a fixed portion 1 having a shaft 1 a and an operating portion 3 . The operation part 3 is attached to the shaft 1a, is rotatable about the shaft 1a, and can be pushed in the direction of the shaft 1a.
One end of the shaft 1a is attached to the fixed portion 1, and the operating portion 3 is attached to the other end of the shaft 1a.
In FIG. 1, the operating portion 3 is attached to one end of the shaft 1a opposite to the fixed portion 1, but this is merely an example. For example, the operating portion 3 may be attached to the side surface of the shaft 1a. It is sufficient that the operating portion 3 is attached so as not to be detached from the shaft 1a.
The operating portion 3 can be pushed toward the fixed portion 1 in the direction of the axis 1a. The shaft 1a has a hollow cylindrical shape. The shape of the shaft 1a is merely an example, and the shaft 1a may have, for example, a solid columnar shape. Further, for example, the fixed portion 1 may have a structure in which the central portion is hollow.

Further, the operator 100 includes a plurality of electrodes including a plurality of electrodes (hereinafter referred to as "first electrodes") 21 and a plurality of electrodes (hereinafter referred to as "second electrodes") 22 (see FIG. 2 to be described later). reference). In the following description, the plurality of first electrodes 21 and the plurality of second electrodes 22 are collectively referred to simply as "plurality of electrodes". A plurality of electrodes are provided on the outer peripheral surface of the shaft 1a and covered with a dielectric layer 23 (see FIG. 2 described later). In Embodiment 1, the plurality of electrodes and the dielectric layer 23 covering the plurality of electrodes are collectively referred to as "electrode section 2".

Here, FIG. 2 is a diagram for explaining a detailed configuration example of the electrode section 2 included in the manipulator 100 according to the first embodiment.
2 is a developed view of the electrode section 2. As shown in FIG. In FIG. 2 , the upper side of the figure is the upper side of the manipulator 100 .
In the electrode portion 2, a plurality of comb-shaped first electrodes 21 and a plurality of comb-shaped second electrodes 22 are provided such that the first electrodes 21 and the second electrodes 22 are alternately arranged. . The plurality of first electrodes 21 and the plurality of second electrodes 22 are covered with a dielectric layer 23, and the electrode section 2 is composed of FPC (Flexible Printed Circuits), for example.
A voltage can be applied to two electrodes (the first electrode 21 and the second electrode 22) adjacent to each other among the plurality of electrodes. Each of the first electrodes 21 and each of the second electrodes 22 is connected to a voltage generation circuit 71 that applies voltages to a plurality of electrodes via lead wires 21a and lead wires 22a, respectively. The voltage generation circuit 71 has a first voltage generation circuit 71a and a second voltage generation circuit 71b. The first voltage generation circuit 71a applies a voltage to the plurality of first electrodes 21 via the lead wirings 21a. The second voltage generation circuit 71b applies a voltage to the plurality of second electrodes 22 via the lead wirings 22a. As described above, the tactile sensation control device 101 controls the voltage application. A configuration example of the tactile sensation control device 101 will be described later.

Returning to the description of the configuration example of the operator 100 using FIG.
The manipulator 100 includes a conductive elastic body 4 . The conductive elastic body 4 is provided on the surface of the operation portion 3 facing the shaft 1a, and faces the plurality of electrodes.
In Embodiment 1, as shown in FIG. 1, the electrode portion 2 is provided over the entire circumference of the shaft 1a. The conductive elastic body 4 is also provided on the surface of the operating portion 3 facing the shaft 1a over the entire circumference of the shaft 1a so as to face the shaft 1a.
The conductive elastic body 4 rotates about the axis 1a together with the operation part 3 when the operation part 3 is rotated, and is pushed in the direction of the axis 1a together with the operation part 3 when the operation part 3 is pushed.

As described above, among the plurality of electrodes, voltage can be applied to adjacent electrodes (first electrode 21 and second electrode 22).
When a voltage is applied to a plurality of electrodes, an electrostatic force is generated between the electrodes and the conductive elastic body 4 to attract the conductive elastic body 4 to the electrodes. When the operating part 3 is rotated or pushed in a state in which electrostatic force is generated between the electrodes and the conductive elastic body 4, the electrostatic force is used as a normal force, and the tactile presentation waveform of the voltage to each electrode is generated. A frictional force distribution corresponding to is generated in the conductive elastic body 4 . This frictional force is transmitted to the operating portion 3 . Therefore, a user's finger or the like operating the operation unit 3 receives a shearing force through the operation unit 3 on the plurality of electrodes to which the voltage is applied, and can obtain a tactile sensation at that portion. In Embodiment 1, the frictional force generated by utilizing the force of pulling each other due to the electrostatic force is referred to as "electrostatic frictional force". Also, the tactile sensation presentation waveform defines the waveform of the applied voltage.
The electrostatic friction force is generated between the electrodes adjacent to each other and the conductive elastic body 4 facing each other with the dielectric layer 23 interposed therebetween according to the voltage difference applied to the electrodes adjacent to each other (the first electrode 21 and the second electrode 22). generated by the capacitance formed between The magnitude of the electrostatic frictional force varies depending on the magnitude of voltage applied to adjacent electrodes. The tactile sensation control device 101 can control the magnitude of the electrostatic friction force by controlling the voltages applied to the plurality of electrodes, thereby controlling the tactile sensation associated therewith. By providing the dielectric layer 23, the manipulator 100 can be insulated and protect the electrodes. can be generated. Since the dielectric layer 23 normally has a higher dielectric constant than air, the capacitance formed between the adjacent electrodes and the conductive elastic body 4 is increased.
The operator 100 can present a tactile sensation according to the tactile sensation presentation waveform by controlling the voltage applied to each electrode by the tactile sensation control device 101 .

In Embodiment 1, the manipulator 100 is provided with the conductive elastic body 4, but the conductor provided in the manipulator 100 does not necessarily have to be a conductor having elasticity, and does not have elasticity. It may be a conductor. The manipulator 100 may be provided with a conductor. However, as described above, in the manipulator 100, an electrostatic force is generated between the electrodes and the conductors. If air enters between the electrodes and the conductor, the electrostatic force between the electrodes and the conductor may change. As a result, the electrostatic friction force can change. Therefore, the conductor is preferably the conductive elastic body 4 having elasticity. In addition, since the conductive elastic body 4 has elasticity, it is possible to control the tactile sensation that is finally transmitted to the user's finger or the like operating the operation unit 3 by adjusting the elastic force. For this reason as well, the conductor is preferably the conductive elastic body 4 having elasticity. The conductive elastic body 4 and the dielectric layer 23 are in contact with each other.

A spring 5 is provided in the center of the fixed portion 1 of the operator 100 . The spring 5 produces a repulsive force against the pushing of the operation part 3. - 特許庁As a result, the operating portion 3 returns to its initial position after being pushed. In addition, in Embodiment 1, "the center of the fixed part 1" does not have to be strictly the center, and includes "substantially the center of the fixed part 1". In addition, in Embodiment 1, the spring 5 is provided in the center of the fixed portion 1, but this is only an example, and the spring 5 produces a repulsive force against the depression of the operation portion 3, It is sufficient that the operation portion 3 is provided at a position where the operation portion 3 can be returned to the initial position after the operation portion 3 is pushed. The number of springs 5 is also not limited to one. In addition, in Embodiment 1, the operation element 100 is provided with the spring 5, but this is only an example, and the operation element 100 is provided with an elastic body or the like that produces a repulsive force against the depression of the operation section 3. All you have to do is The operator 100 may be provided with a mechanical push switch instead of the spring 5, for example.

The manipulator 100 also includes a rotation detection circuit and a depression detection circuit 6 .
The rotation detection circuit detects rotation of the operation unit 3 . Specifically, the rotation detection circuit detects the rotational position of the operation unit 3 . In Embodiment 1, the rotation detection circuit is, for example, a rotary encoder that outputs constant electrical pulses in accordance with the rotational position of the operating portion 3, and the fixed portion 1 also serves as the rotation detection circuit.
The depression detection circuit 6 detects depression of the operating portion 3 of the manipulator 100 . Specifically, the depression detection circuit 6 detects the amount of depression of the operation unit 3 . In Embodiment 1, the pressing detection circuit 6 is, for example, a force sensor that changes its output value according to the load on the spring 5 .

As described with reference to FIGS. 1 and 2, the operator 100 includes a plurality of electrodes provided on the outer peripheral surface of the shaft 1a to which the operation unit 3 is attached and covered with the dielectric layer 23; An operator 100 is provided with a conductive elastic body 4 provided on a surface facing 1a and facing a plurality of electrodes, and a voltage can be applied to electrodes adjacent to each other among the plurality of electrodes. That is, the manipulator 100 has a structure in which an electrostatic frictional force is generated by the plurality of electrodes and the conductive elastic body 4 inside the manipulator 3 .

2. Description of the Related Art In recent years, as an operation panel including switches, touch panels have come to be used in many devices around us in place of mechanical switches, such as rotary knobs, which can only provide uniform tactile sensations. A touch panel, for example, is used as a variety of operation means because it can switch operations in conjunction with an HMI. However, unlike mechanical switches, touch panels do not have a click or tactile feedback. Therefore, the user has to visually check whether the operation is performed correctly. For example, as an operation while driving an automobile, it is not preferable for the user to be required to visually confirm the above. Against this background, there still remains a strong need for mechanical switches.
On the other hand, among conventional mechanical switches, for example, there are mechanical switches that provide a non-uniform tactile sensation, such as the mechanical switch represented by the rotary knob described in the above-mentioned Patent Document 1. be. However, the conventional mechanical switch as described in Patent Document 1, for example, the state of the surface of the surface that generates the electrostatic frictional force is wet, etc., and when the mechanical switch rotates The resulting electrostatic frictional force changes due to variations in the distance between the electrode and the mechanical switch due to distortion of the electrodes, or foreign matter adhering to the surface of the surface that generates the electrostatic frictional force. As a result, the conventional mechanical switch has a problem that it cannot provide a stable tactile effect to the user.

On the other hand, the manipulator 100 according to the first embodiment has a structure inside the manipulating portion 3 in which an electrostatic frictional force is generated, as described above. As a result, the operating element 100 can be used for a conventional mechanical switch, which is problematic when an electrostatic frictional force is generated between the rotating surface of the mechanical switch and the mounting surface of the mechanical switch. Surface conditions of the mounting surface, variation in the distance between the electrode and the mechanical switch due to distortion during rotation of the mechanical switch, or electrostatic friction due to foreign matter adhering to the mounting surface of the mechanical switch The effect on power can be removed. The manipulator 100 has a structure in which an electrostatic frictional force is generated inside the manipulator 3, so that when the manipulator 3 rotates, the manipulator 3 (more specifically, the conductive elastic body 4) and the plurality of electrodes are displaced. A stable tactile sensation can be presented without depending on the external state of the operation unit 3 when the electrostatic frictional force is generated between them.
Further, the operation element 100 generates not only the electrostatic frictional force in the rotation direction of the operation unit 3 but also the shaft 1a of the fixed unit 1 between the operation unit 3 (more specifically, the conductive elastic body 4) and the plurality of electrodes. It has a configuration that generates an electrostatic friction force parallel to the . In addition, in Embodiment 1, "parallel" does not necessarily mean to be strictly parallel, but includes substantially parallel. When the operating element 100 generates an electrostatic frictional force between the operating section 3 (more specifically, the conductive elastic body 4) and the plurality of electrodes when the operating section 3 is pushed, the manipulator 100 depends on the external state of the operating section 3. A stable tactile sensation can be presented.

Next, the tactile sensation control device 101 that controls voltages applied to the plurality of electrodes of the manipulator 100 will be described.
FIG. 3 is a diagram showing a configuration example of the tactile sensation control device 101 according to the first embodiment.
The tactile control device 101 is connected to the manipulator 100 , and the manipulator 100 and the tactile control device 101 constitute a tactile control system 102 . Note that this is merely an example, and the tactile sensation control device 101 may be mounted on the operator 100, for example. In addition, in FIG. 3, for the sake of simplification of explanation, only the plurality of electrodes (the plurality of first electrodes 21 and the plurality of second electrodes 22) are illustrated as the components included in the operator 100. As shown in FIG.
The tactile sensation control device 101 is connected to the HMI control section 9 . The HMI control unit 9 performs control to change the state of the HMI. The HMI control unit 9 outputs information about the current HMI state (hereinafter referred to as “HMI control information”) to the tactile sensation control device 101 .

The tactile sensation control device 101 includes a rotation detection section 11 , a pressing detection section 61 , a voltage generation circuit 71 , a tactile waveform selection section 72 , and a tactile sensation control section 8 .

The rotation detection section 11 detects rotation of the operation section 3 of the operator 100 . Specifically, the rotation detection unit 11 detects the rotation of the operation unit 3 by acquiring information about the rotation of the operation unit 3 detected by the rotation detection circuit from the rotation detection circuit.
The rotation detection unit 11 outputs information about the detected rotation of the operation unit 3 (hereinafter referred to as “rotation information”) to the tactile sensation control unit 8 . The rotation information includes information regarding the rotation position of the operation unit 3 .
The rotation detector 11 also outputs rotation information to the HMI controller 9 . The HMI control unit 9 changes the state of the HMI based on the rotation information. Based on the rotation information, the HMI control unit 9 displays a screen showing the volume so that the volume increases according to, for example, the rotational position of the operation unit 3 of the operator 100 .

The pressing detection unit 61 detects pressing of the operation unit 3 . Specifically, the pressing detection unit 61 detects the pressing of the operation unit 3 by acquiring information regarding the pressing of the operation unit 3 detected by the pressing detection circuit 6 from the pressing detection circuit 6 .
The pressing detection unit 61 outputs information regarding the detected pressing of the operation unit 3 (hereinafter referred to as “pressing information”) to the tactile sensation control unit 8 . The pressing information includes information about the amount of pressing of the operation unit 3 .
The pressing detection unit 61 also outputs the pressing information to the HMI control unit 9 . The HMI control unit 9 changes the state of the HMI based on the pressing information. Based on the pressing information, for example, the HMI control unit 9 displays a screen indicating that the operation button has been pressed in response to pressing of the operation unit 3 of the operator 100 .

The tactile sensation control section 8 outputs to the tactile sensation waveform selection section 72 an instruction to select a tactile presentation waveform of a voltage corresponding to the tactile sensation when the operation section 3 is rotated or the tactile sensation when the operation section 3 is pressed.
Specifically, based on the rotation information output from the rotation detection unit 11, the pressing information output from the pressing detection unit 61, and the HMI control information output from the HMI control unit 9, the tactile sensation control unit 8 A tactile sensation corresponding to the state of the HMI, the rotating state of the operation unit 3, or the pressing state of the operation unit 3 is determined. Then, based on the determined tactile sensation, the tactile sensation control unit 8 instructs the tactile sensation waveform selection unit 72 to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated or An instruction for selecting a tactile presentation waveform corresponding to the tactile sensation is output.

An example of a method for outputting a selection instruction by the tactile sensation control unit 8 will be described.
For example, the tactile sensation control unit 8 determines whether the HMI is in a state in which a rotating motion is valid or a pressing motion is in a valid state. Determines the haptic to present based on whether it is being pressed. Then, the tactile sensation control unit 8 outputs an instruction to select a tactile sensation presentation waveform corresponding to the determined tactile sensation.

Based on the HMI control information output from the HMI control unit 9, the tactile sensation control unit 8 determines whether the rotation operation is valid or the pressing operation is valid as the HMI state.
Here, "the state in which the rotation operation is valid as the state of the HMI" means that the state of the HMI is a state in which the operation unit 3 can be operated by rotating it. For example, when the display device (not shown) displays the volume state in the volume adjustment performed by rotating the operation unit 3, it is "a state in which the rotation operation is valid as the state of the HMI". On the other hand, for example, if the display device is preparing to display the volume state, the volume state has not yet been displayed, so the "rotational operation is not valid as the HMI state".
The “state in which the pressing operation is effective as the state of the HMI” means that the state of the HMI is a state in which the operation unit 3 can be operated by being pressed. For example, when a selection button of "YES" or "NO" which is executed by pressing the operation unit 3 is displayed on the display device, it means "a state in which the pressing operation is valid as the state of the HMI". On the other hand, for example, if the display device is preparing to display the selection button, the push button is not displayed yet, so the state is not "the state in which the push operation is valid as the state of the HMI".

Further, based on the rotation information output from the rotation detection unit 11, the tactile sensation control unit 8 determines whether the operation unit 3 is rotating. Note that the operation unit 3 is rotating means that the operation unit 3 is being rotated. The tactile sensation control section 8 may determine whether or not the operating section 3 is rotating based on whether or not the position of the operating section 3 has changed, for example, based on the rotation information.
Further, based on the pressing information output from the pressing detection unit 61, the tactile sensation control unit 8 determines whether or not the operation unit 3 is being pressed. It should be noted that the state that the operation unit 3 is being pushed means that the operation unit 3 is being pushed. The tactile sensation control unit 8 may determine whether or not the operation unit 3 is being pressed, based on the pressing information, for example, based on whether the amount of pressing of the operation unit 3 has changed.

An example of a method for outputting a selection instruction by the tactile sensation control unit 8 will be described in more detail below by classifying cases according to the state of the HMI.

<Case (1)>
When the rotation operation is valid as the HMI state, and the pressing operation is valid as the HMI state. Regardless of whether or not the operation unit 3 is rotating, it is determined to present a tactile sensation during rotation, and a tactile sensation corresponding to the tactile sensation during rotation of the operation unit 3 is provided to the tactile waveform selection unit 72. Outputs an instruction to select a presentation waveform.
The tactile sensation control unit 8 decides to present the tactile sensation when the operation unit 3 is pressed when the operation unit 3 is not rotating and when the operation unit 3 is being pressed. output an instruction to select a tactile presentation waveform corresponding to the tactile sensation of
The tactile sensation control section 8 determines not to present the tactile sensation and does not output a selection instruction to the tactile waveform selection section 72 when the operation section 3 is neither rotating nor pressed.

When both the rotating operation and the pressing operation are valid as the state of the HMI, the operation unit 3 can be rotated and pressed.
Therefore, the tactile sensation control unit 8 determines whether the operation unit 3 is being rotated or pressed, and based on the determination result, presents the tactile sensation when the operation unit 3 is rotated or pushes the operation unit 3. Determines whether to present the tactile sensation of time. In the first embodiment, at this time, the tactile sensation control unit 8, for example, preferentially presents the tactile sensation when the operation unit 3 is rotated. That is, the tactile sensation control section 8 preferentially outputs to the tactile sensation waveform selection section 72 an instruction to select a tactile presentation waveform corresponding to the tactile sensation during rotation of the operation section 3 .
Note that this is merely an example, and for example, the tactile sensation control unit 8 may preferentially present the tactile sensation when the operation unit 3 is pressed.
For example, the tactile control unit 8 may change which of the tactile sensation when rotating the operating unit 3 and the tactile feeling when pressing the operating unit 3 is prioritized depending on the state or application of the HMI. For example, when an operation button for turning on audio, which is executed by pressing the operation unit 3 , and a screen showing a volume to be adjusted by rotating the operation unit 3 are displayed, the tactile control unit 8 determines whether or not the operation unit 3 is being pushed, prior to determining whether or not the operation unit 3 is rotating, and determines to present the tactile sensation when the operation unit 3 is being pushed if it is being pushed. good too.

<Case (2)>
When the rotating operation is valid as the HMI state, and the pressing operation is not valid as the HMI state. If so, it decides to present the tactile sensation during rotation, and outputs an instruction to the tactile sensation waveform selection unit 72 to select a tactile sensation presentation waveform corresponding to the tactile sensation during rotation of the operation unit 3 .
If the operation unit 3 is not rotating, the tactile control unit 8 determines not to present the tactile sensation, and does not output a selection instruction to the tactile waveform selection unit 72 .
If the HMI state is a state in which the rotation operation is valid and the HMI state is not a state in which the pressing operation is valid, the tactile sensation control unit 8 does not need to consider that the operation unit 3 is pressed. .
Therefore, the tactile sensation control unit 8 outputs an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation during rotation of the operating unit 3 when the operating unit 3 is rotating.

<Case (3)>
When the state of the HMI is not a state in which the rotation operation is valid and the state of the HMI is a state in which the pressing operation is valid. If so, it decides to present the tactile sensation when pressed, and outputs an instruction to the tactile waveform selection section 72 to select a tactile presentation waveform corresponding to the tactile sensation when the operation section 3 is pressed.
The tactile sensation control section 8 determines not to present the tactile sensation and does not output a selection instruction to the tactile waveform selection section 72 unless the operation section 3 is being pressed.
If the state of the HMI is not a state in which the rotating motion is valid and the state of the HMI is a state in which the pressing motion is valid, the tactile sensation control unit 8 does not need to consider that the operation unit 3 is rotated. .
Therefore, the tactile sensation control unit 8 outputs an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operating unit 3 is being pushed, when the operating unit 3 is being pushed.

<Case (4)>
When the state of the HMI is neither a state in which the rotation operation is valid nor a state in which the pressing operation is valid. output a selection instruction for the tactile presentation waveform that maximizes .
In the first embodiment, the tactile sensation control unit 8 outputs an instruction to select the tactile sensation presentation waveform that maximizes the electrostatic friction force, but this is merely an example. The tactile sensation control section 8 only needs to output an instruction to select a tactile presentation waveform that generates an electrostatic frictional force that makes it difficult to rotate and press the operation section 3 .

The tactile sensation waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction output from the tactile sensation control unit 8, and outputs a voltage application instruction for the selected tactile sensation presentation waveform.
Specifically, the tactile sensation waveform selection unit 72 selects a tactile sensation presentation waveform for when the operation unit 3 is rotated according to the tactile sensation when the operation unit 3 is rotated, or , selects a tactile presentation waveform for pressing the operation unit 3 according to the tactile sensation when the operation unit 3 is pressed. Note that the tactile presentation waveform for rotating the operation unit 3 and the tactile presentation waveform for pressing the operation unit 3 are set in advance and stored in the tactile waveform selection unit 72 . The tactile sensation presentation waveform for rotating the operation unit 3 and the tactile sensation presentation waveform for pressing the operation unit 3 may be the same waveform, or may be different waveforms.
Then, the tactile sensation waveform selection section 72 outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform to the voltage generation circuit 71 .
More specifically, the tactile waveform selection unit 72 outputs to the first voltage generation circuit 71a of the voltage generation circuit 71 a voltage application instruction in the tactile presentation waveform of the voltage to be applied to each first electrode 21, A voltage application instruction is output to the second voltage generation circuit 71 b of the voltage generation circuit 71 in the tactile presentation waveform of the voltage to be applied to each second electrode 22 . In FIG. 3, illustration of the first voltage generation circuit 71a and the second voltage generation circuit 71b is omitted.

Based on the application instruction output from the tactile waveform selector 72 , the voltage generation circuit 71 applies voltages in the tactile presentation waveform selected by the tactile waveform selector 72 to the plurality of electrodes.
More specifically, the first voltage generation circuit 71 a applies a voltage of the tactile sensation presentation waveform selected by the tactile sensation waveform selection section 72 to each first electrode 21 . The second voltage generation circuit 71b applies a voltage of the tactile sensation presentation waveform selected by the tactile sensation waveform selection unit 72 to each second electrode 22 .
The voltage signal of the voltage applied to each first electrode 21 and the voltage signal of the voltage applied to each second electrode 22 are combined to generate an amplitude modulated signal. In a region where electrostatic capacitance is formed between the electrodes and the conductive elastic body 4, charging and discharging are repeated according to the amplitude modulation signal.
Here, as shown in FIG. 3, the voltage generation circuit 71 is assumed to be provided in the tactile sensation control device 101, but this is only an example. The voltage generating circuit 71 may be provided outside the tactile control device 101 and connected to the tactile control device 101 outside the tactile control device 101 .

The operation of the tactile sensation control device 101 according to Embodiment 1 will be described.
FIG. 4 is a flowchart for explaining the operation of the tactile sensation control device 101 according to the first embodiment.

The rotation detection unit 11 detects rotation of the operation unit 3 (step ST1).
The rotation detection unit 11 outputs rotation information to the tactile sensation control unit 8 . The rotation detector 11 also outputs rotation information to the HMI controller 9 .

The pressing detection unit 61 detects pressing of the operation unit 3 (step ST2).
The pressing detection unit 61 outputs pressing information to the tactile sensation control unit 8 . The pressing detection unit 61 also outputs the pressing information to the HMI control unit 9 .

The tactile sensation control unit 8 outputs an instruction to the tactile sensation waveform selection unit 72 to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated or the tactile sensation when the operation unit 3 is pressed (step ST3).

The tactile sensation waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction output from the tactile sensation control unit 8 . Then, the tactile sensation waveform selection unit 72 outputs an instruction to apply voltage with the selected tactile sensation presentation waveform to the voltage generation circuit 71 (step ST4). Based on the application instruction output from the tactile waveform selector 72 , the voltage generation circuit 71 applies voltages in the tactile presentation waveform selected by the tactile waveform selector 72 to the plurality of electrodes.

In the flowchart shown in FIG. 4, the tactile sensation control device 101 is assumed to process steps ST1 and ST2 in that order. However, the order of processing steps ST1 and ST2 is not limited to this. The order of the processing in step ST1 and the processing in step ST2 may be reversed, or the processing in step ST1 and the processing in step ST2 may be performed in parallel.

FIG. 5 is a flowchart for explaining an example of detailed operations of steps ST3 and ST4 in FIG.

Based on the HMI control information output from the HMI control unit 9, the tactile sensation control unit 8 determines whether or not the rotation operation is valid as the HMI state (step ST31).
In step ST31, when it is determined that the rotation operation is valid as the state of the HMI (“YES” in step ST31), the tactile sensation control unit 8 controls the HMI control information output from the HMI control unit 9. , whether or not the pressing operation is valid as the state of the HMI (step ST32).

In step ST32, when it is determined that the pressing operation is valid as the state of the HMI ("YES" in step ST32), the tactile sensation control section 8, based on the rotation information output from the rotation detection section 11, It is determined whether or not the operation unit 3 is rotating (step ST33).

When it is determined in step ST33 that the operation unit 3 is rotating (“YES” in step ST33), the tactile sensation control unit 8 instructs the tactile sensation waveform selection unit 72 to provide the tactile sensation generated when the operation unit 3 rotates. output a selection instruction for a tactile presentation waveform of a voltage corresponding to the voltage.
The tactile sensation waveform selection unit 72 selects a tactile sensation presentation waveform corresponding to the tactile sensation during rotation based on the selection instruction output from the tactile sensation control unit 8 (step ST34).
Then, the tactile sense waveform selection section 72 outputs to the voltage generating circuit 71 an instruction to apply a voltage with a tactile sense presenting waveform corresponding to the tactile sense during rotation. The voltage generation circuit 71 applies voltages in the tactile presentation waveform selected by the tactile waveform selection unit 72 to the plurality of electrodes.

If it is determined in step ST33 that the operation unit 3 is not rotating (“NO” in step ST33), the tactile sensation control unit 8 controls the operation unit 3 to rotate based on the pressing information output from the pressing detection unit 61. It is determined whether or not it is being pushed (step ST35).

If it is determined in step ST35 that the operation unit 3 is being pushed (“YES” in step ST35), the tactile sensation control unit 8 instructs the tactile sensation waveform selection unit 72 to provide the tactile sensation when the operation unit 3 is pushed. output an instruction to select a tactile presentation waveform according to the
Based on the selection instruction output from the tactile sensation control unit 8, the tactile sensation waveform selection unit 72 selects a tactile sensation presentation waveform corresponding to the tactile sensation at the time of pressing (step ST36).
Then, the tactile sensation waveform selection unit 72 outputs to the voltage generation circuit 71 an instruction to apply a voltage with a tactile sensation presentation waveform corresponding to the tactile sensation at the time of pressing. The voltage generation circuit 71 applies voltages in the tactile presentation waveform selected by the tactile waveform selection unit 72 to the plurality of electrodes.

If it is determined in step ST35 that the operation unit 3 is not being pressed (“NO” in step ST35), the tactile waveform selection unit 72 does not output a selection instruction. That is, the tactile sensation waveform selection section 72 does not select the tactile sensation presentation waveform (step ST37). The voltage generation circuit 71 does not apply voltage to the multiple electrodes.

If it is determined in step ST32 that the pressing operation is not valid as the state of the HMI ("NO" in step ST32), the tactile sensation control section 8, based on the rotation information output from the rotation detection section 11, It is determined whether or not the operation unit 3 is rotating (step ST38).

If it is determined in step ST38 that the operation unit 3 is rotating (“YES” in step ST38), the tactile sensation control unit 8 instructs the tactile sensation waveform selection unit 72 to provide the tactile sensation generated when the operation unit 3 rotates. output an instruction to select a tactile presentation waveform according to the
Based on the selection instruction output from the tactile sensation control unit 8, the tactile sensation waveform selection unit 72 selects a tactile sensation presentation waveform corresponding to the tactile sensation during rotation (step ST39).
Then, the tactile sense waveform selection section 72 outputs to the voltage generating circuit 71 an instruction to apply a voltage with a tactile sense presenting waveform corresponding to the tactile sense during rotation. The voltage generation circuit 71 applies voltages in the tactile presentation waveform selected by the tactile waveform selection unit 72 to the plurality of electrodes.

If it is determined in step ST38 that the operation unit 3 is not rotating (“NO” in step ST38), the tactile waveform selection unit 72 does not output a selection instruction. That is, the tactile sensation waveform selection section 72 does not select the tactile sensation presentation waveform (step ST40). The voltage generation circuit 71 does not apply voltage to the multiple electrodes.

In step ST31, if it is not determined that the rotation operation is valid as the state of the HMI (“NO” in step ST31), that is, if the rotation operation is not valid as the state of the HMI, the tactile sensation Based on the HMI control information output from the HMI control unit 9, the control unit 8 determines whether or not the pressing operation is valid as the state of the HMI (step ST41).

In step ST41, when it is determined that the pressing operation is valid as the state of the HMI (“YES” in step ST41), the tactile sensation control section 8, based on the pressing information output from the pressing detection section 61, It is determined whether or not the operation unit 3 is being pushed (step ST42).
The specific operations of the tactile controller 8, the tactile waveform selector 72, and the voltage generation circuit 71 in steps ST42 to ST44 are the same as those of the tactile controller 8 and tactile waveform selection in steps ST35 to ST37, respectively. Since the specific operations are the same as those of the unit 72 and the voltage generation circuit 71, redundant description will be omitted.

When it is determined in step ST41 that the pressing operation is not valid as the state of the HMI (“NO” in step ST41), the tactile sensation control section 8 instructs the tactile waveform selection section 72 to generate an electrostatic friction force Outputs a selection instruction for the tactile presentation waveform that maximizes .
The tactile sensation waveform selection unit 72 selects a tactile sensation presentation waveform that maximizes the electrostatic frictional force for the voltage generation circuit 71 . Then, the tactile waveform selection unit 72 outputs an instruction to the voltage generation circuit 71 to apply a voltage with a tactile presentation waveform that maximizes the electrostatic frictional force (step ST45). The voltage generation circuit 71 applies voltages in the tactile presentation waveform selected by the tactile waveform selection unit 72 to the plurality of electrodes.

As described above, the tactile sensation control device 101 according to the first embodiment instructs selection of a tactile sensation presentation waveform corresponding to the tactile sensation when the operating portion 3 of the manipulator 100 is rotated or the tactile sensation when the operating portion 3 is pressed. When the tactile sensation presentation waveform for rotation or the tactile sensation presentation waveform for pressing is selected based on the selection instruction, an application instruction for applying the voltage of the selected tactile presentation waveform is output. As a result, the tactile sensation control device 101 can switch between the tactile sensation when the operating portion 3 of the manipulator 100 is rotated and the tactile sensation when the operating portion 3 is pressed.
The tactile sensation control device 101 can cause the manipulator 100 to present a tactile sensation corresponding to the tactile sensation presenting waveform by controlling the voltages applied to the plurality of electrodes. That is, the tactile sensation control device 101 can cause the operator 100 to present a tactile sensation when the operating portion 3 is rotated or a tactile sensation when the operating portion 3 is pressed. The manipulator 100 can present a tactile sensation when the operation portion 3 is rotated or a tactile sensation when the operation portion 3 is pushed.

Further, the tactile sensation control device 101 according to the first embodiment outputs an instruction to select a tactile sensation presentation waveform according to the state of the HMI to be subjected to the rotation operation of the operation unit 3 or the pressing operation of the operation unit 3. An application instruction for applying a voltage with a tactile presentation waveform selected based on the selection instruction is output. Thus, the tactile sensation control device 101 can cause the manipulator 100 to present a tactile sensation linked to the HMI. The manipulator 100 can present a tactile sensation linked to the HMI.

In addition, although the rotary encoder is mentioned as an example of the rotation detection circuit in the first embodiment, this is only an example. The rotation detection circuit may be an electrical rotation detection circuit based on capacitance detection, or may be a rotation detection circuit that optically detects rotation.

In addition, in Embodiment 1 described above, the plurality of electrodes and the conductive elastic body 4 are provided so as to face each other outside the shaft 1a of the fixed portion 1, but this is merely an example.
For example, as shown in FIGS. 6A and 6B, the plurality of electrodes and the conductive elastic body 4 may be provided such that the plurality of electrodes and the conductive elastic body 4 face each other inside the shaft 1a of the fixed part 1. . In this case, the electrode portion 2 is provided on the inner peripheral surface of the shaft 1a. Further, in this case, the shaft 1a is, for example, hollow cylindrical.
6A is a top view of the manipulator 100, and FIG. 6B is a cross-sectional view taken along line A'-A' of FIG. 6A. For convenience of explanation, FIG. 6A also shows the shaft 1a, the dielectric layer 23, and the conductive elastic body 4 provided inside the operating portion 3 of the operator 100. As shown in FIG. Although FIGS. 6A and 6B only show the electrode portion 2, the detailed configuration of the electrode portion 2 is as described with reference to FIG.

Further, in the first embodiment described above, for example, as shown in FIGS. 7A and 7B, the electrode portion 2 and the conductive elastic body 4 are arranged so that the electrode portion 2 and the conductive elastic body 4 are located outside the axis 1a of the fixed portion 1. may be provided so as to face each other on the inner side of the shaft 1a.
7A is a top view of the manipulator 100, and FIG. 7B is a cross-sectional view taken along line A''-A'' of FIG. 7A. For convenience of explanation, FIG. 7A also shows the shaft 1a, the dielectric layer 23, and the conductive elastic body 4 provided inside the operation portion 3 of the operation element 100. As shown in FIG. 7A and 7B show only the electrode portion 2, but the detailed configuration of the electrode portion 2 is as described with reference to FIG.

Further, in the first embodiment described above, the force sensor is used as an example of the pressing detection circuit 6, but this is merely an example. The push detection circuit 6 may be, for example, an electrical or optical proximity sensor.

In Embodiment 1 described above, the tactile sensation control unit 8 of the tactile sensation control device 101 calculates the amount of change in the rotational direction of the operation unit 3 or the rotation speed based on the rotation information, and calculates the rotational speed of the operation unit 3 based on the pressing information. Calculate the amount of change in the pressing direction or the pressing speed of the position of the operation unit 3, and compare the amount of change in the rotation direction or the rotation speed of the position of the operation unit 3 with the amount of change in the pressing direction or the pressing speed of the position of the operation unit 3, Which of the tactile presentation waveform selection instruction according to the tactile sensation when the operation section 3 is rotated and the tactile presentation waveform selection instruction according to the tactile sensation when the operation section 3 is pressed is output to the tactile sensation waveform selection section 72 . may be determined.
To give a specific example, for example, when the operation unit 3 is also being pushed while being rotated, the tactile sensation control unit 8 determines the amount of change in the rotation of the operation unit 3 and the amount of change in the amount of push of the operation unit 3. The amount of change in rotation of the operation unit 3 and the amount of change in pressing of the operation unit 3 thus calculated are compared. When the amount of change in the rotation of the operation unit 3 is greater than the amount of change in the pressing of the operation unit 3, the tactile sensation control unit 8 outputs an instruction to select a tactile sensation presentation waveform according to the tactile sensation during rotation of the operation unit 3, If the amount of change in pressing of the operation unit 3 is larger than the amount of change in rotation of the operation unit 3, an instruction to select a tactile presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed is output.

Further, in Embodiment 1 described above, for example, if the speed of rotation of the operation unit 3 is equal to or higher than a preset threshold value (hereinafter referred to as "rotational speed determination threshold value"), the tactile sensation control unit 8 controls the operation unit outputting an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation during rotation of 3, the rotation speed of the operation unit 3 being less than the rotation speed determination threshold value, and the pressing speed of the operation unit 3 being a preset threshold value; (hereinafter referred to as "pressing speed determination threshold value"), the selection instruction may be switched and output so as to output the selection instruction of the tactile presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed.

Further, in the first embodiment described above, in the tactile sensation control device 101, the tactile sensation control unit 8 instructs the selection of the tactile sensation presentation waveform according to the tactile sensation when the operation unit 3 is rotated and the tactile sensation when the operation unit 3 is pressed. However, this is only an example. For example, the tactile sensation control unit 8 determines the specific gravity based on the rotation information and the pressing information, and provides the tactile sensation waveform selection unit 72 with a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated and the tactile sensation presentation waveform of the operation unit 3. A selection instruction may be output to select a waveform obtained by synthesizing tactile presentation waveforms corresponding to the tactile sensation at the time of pressing. Based on the selection instruction output from the tactile sensation control unit 8, the tactile sensation waveform selection unit 72 selects a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated and a tactile sensation presentation waveform according to the tactile sensation when the operation unit 3 is pressed. The synthesized waveform is selected as the haptic presentation waveform.

Further, in Embodiment 1 described above, the operator 100 is configured to be able to present a tactile sensation when the operation unit 3 is rotated and a tactile sensation when the operation unit 3 is pressed using a plurality of common electrodes. In other words, the manipulator 100 has a structure in which a plurality of electrodes and the conductive elastic body 4 are opposed to each other and the electrostatic frictional force is generated in one portion. However, this is only an example. The manipulator 100 may have a configuration in which a plurality of electrodes and the conductive elastic body 4 are opposed to each other and the portions where the electrostatic frictional force is generated are separated into two or more.
Specifically, for example, the manipulator 100 includes a plurality of electrodes (hereinafter referred to as “rotating electrodes”) used for presenting a tactile sensation when the operating section 3 is rotated, and a tactile sensation when the operating section 3 is pressed. A plurality of electrodes (hereinafter referred to as "pressing electrodes") used for presenting the force may be provided.
FIG. 8 is a diagram showing an example of the electrode section 200 of the manipulator 100 configured to include a plurality of rotating electrodes and a plurality of pushing electrodes in the first embodiment.
The multiple electrodes for rotation include multiple electrodes (hereinafter referred to as “first electrodes for rotation”) 201 and multiple electrodes (hereinafter referred to as “second electrodes for rotation”) 202 . The multiple pressing electrodes include multiple electrodes (hereinafter referred to as “first pressing electrodes”) 211 and multiple electrodes (hereinafter referred to as “second pressing electrodes”) 212 . Note that FIG. 8 is a developed view of the electrode section 200 . In FIG. 8 , the upper side of the drawing is the upper side of the operator 100 . In the following description, the plurality of first electrodes for rotation 201 and the plurality of second electrodes for rotation 202 are collectively referred to as a plurality of electrodes for rotation. Further, the plurality of first pushing electrodes 211 and the plurality of second pushing electrodes 212 are collectively referred to as a plurality of pushing electrodes.

In the electrode portion 200, a plurality of comb-shaped first electrodes 201 for rotation and a plurality of comb-shaped second electrodes 202 for rotation are alternately arranged. prepared to be In the electrode portion 200, the plurality of comb-shaped first pushing electrodes 211 and the plurality of comb-shaped second pushing electrodes 212 are arranged alternately. provided to be placed in the The multiple rotating electrodes and multiple pushing electrodes are covered with a dielectric layer 230 . The plurality of rotating electrodes are provided closer to the upper surface of the manipulator 100 than the plurality of pressing electrodes.
Each rotating electrode and each pressing electrode are connected to the voltage generation circuit 701 via lead wires 2011, 2021 and lead wires 2111, 2121, respectively. The voltage generation circuit 701 has a third voltage generation circuit 701a, a fourth voltage generation circuit 701b, a fifth voltage generation circuit 701c, and a sixth voltage generation circuit 701d. The third voltage generation circuit 701 a applies voltage to the multiple first electrodes 201 for rotation. The fourth voltage generation circuit 701b applies a voltage to the multiple second electrodes 202 for rotation. The fifth voltage generation circuit 701c applies voltage to the plurality of first electrodes 211 for pressing. The sixth voltage generation circuit 701 d applies voltage to the multiple second electrodes 212 for pressing.

In this case, in the tactile sensation control device 101 , for example, when the tactile sensation control unit 8 outputs an instruction to select a tactile presentation waveform corresponding to the tactile sensation during rotation, the tactile sensation waveform selection unit 72 selects the tactile sensation during rotation of the operation unit 3 . is selected, and an instruction to apply a voltage with the selected tactile sensation presentation waveform to a plurality of electrodes for rotation is output. Further, for example, when the tactile sensation control unit 8 outputs an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed, the tactile sensation waveform selection unit 72 selects the tactile sensation that gives the tactile sensation when the operation unit 3 is pressed. A presentation waveform is selected, and an instruction to apply voltages with the selected tactile sensation presentation waveform to a plurality of pressing electrodes is output.
The tactile waveform selection unit 72 outputs to the voltage generation circuit 701 an instruction to apply a voltage with the tactile sensation presentation waveform to the plurality of electrodes for rotation, and applies a voltage with the tactile presentation waveform to the plurality of pressing electrodes. The output of instructions can be performed independently. In other words, the tactile waveform selection unit 72 instructs the voltage generation circuit 701 to apply the voltage with the tactile sensation presentation waveform to the plurality of electrodes for rotation and apply the voltage with the tactile presentation waveform to the plurality of pressing electrodes. Instructions can be output at the same time.
In this manner, the manipulator 100 includes a plurality of rotation electrodes used to present a tactile sensation when the operation portion 3 is rotated and a plurality of depression electrodes used to present a tactile sensation when the operation portion 3 is pushed. By providing the electrodes, the tactile sensation control device 101 can cause the operator 100 to simultaneously present tactile sensations corresponding to the rotation operation and the pressing operation of the operation unit 3 .
The manipulator 100 includes a plurality of rotating electrodes used to present a tactile sensation when the operating portion 3 is rotated and a plurality of pressing electrodes used to present a tactile sensation when the operating portion 3 is pressed. By providing it, it is possible to simultaneously present the tactile sensation corresponding to the rotation operation and the pressing operation of the operation unit 3 .

Further, in Embodiment 1 described above, the tactile sensation control device 101 controls the applied voltage to present various tactile sensations to the operator 100 when the operation unit 3 is rotated or when the operation unit 3 is pressed. can be made
For example, the tactile sensation control device 101 can present a tactile sensation in which the operation portion 3 of the operator 100 becomes heavier as the operation portion 3 is rotated. Specifically, in the tactile sensation control device 101, when the tactile sensation control unit 8 detects that the operation unit 3 is being rotated, the tactile sensation control unit 8 instructs the tactile sensation waveform selection unit 72 to determine the duration of the rotation of the operation unit 3. It outputs an instruction to select a tactile sensation presenting waveform that presents a tactile sensation that becomes heavy according to the Based on the selection instruction output from the tactile sensation control unit 8, the tactile sensation waveform selection unit 72 selects a tactile presentation waveform that presents a tactile sensation that increases in proportion to the duration of rotation of the operation unit 3. The tactile sensation waveform selection unit 72 stores various patterns of tactile sensation presentation waveforms for rotation.
In this way, for example, by enabling the output of the selection instruction of the tactile sensation presentation waveform corresponding to the amount of rotation of the operation unit 3, the tactile sensation control device 101 can provide the operator 100 with the selection instruction according to the amount of rotation of the operation unit 3. A tactile sensation can be presented, or torque control can be performed according to the amount of rotation of the operation unit 3 .

Further, for example, the tactile sensation control unit 8 can present a tactile sensation that the operation portion 3 of the operation element 100 becomes heavier as the operation portion 3 is pressed. Specifically, in the tactile sensation control device 101, when the tactile sensation control unit 8 detects that the operation unit 3 is being pushed, the tactile sensation control unit 8 instructs the tactile sensation waveform selection unit 72 to A selection instruction for a tactile presentation waveform that presents a tactile sensation that increases accordingly is output. Based on the selection instruction output from the tactile sensation control unit 8, the tactile sensation waveform selection unit 72 selects a tactile sensation presenting waveform that presents a tactile sensation that becomes heavier according to the duration of the depression of the operation unit 3. The tactile sensation waveform selection unit 72 stores various patterns of tactile sensation presentation waveforms for pressing.
Thus, for example, by making it possible to output an instruction to select a tactile sensation presentation waveform according to the amount of depression of the operation unit 3, the tactile sensation control device 101 can cause the operator 100 to It is possible to present a tactile sensation or control the weight of the operation unit 3 .

Not limited to the above-described method, for example, the configuration of the operation element 100 may be configured such that the area where the plurality of electrodes and the conductive elastic body 4 face each other is changed according to the amount of rotation of the operation unit 3 or the amount of depression of the operation unit 3. By doing so, the manipulator 100 can also present various tactile sensations. For example, when the plurality of electrodes includes a plurality of electrodes for rotation and a plurality of electrodes for pushing (for example, see FIG. 8), the configuration of the manipulator 100 can be changed depending on the amount of rotation of the operation section 3 or the amount of rotation of the operation section 3. By changing the area where the plurality of rotating electrodes and the conductive elastic body 4 face each other or the area where the plurality of pushing electrodes and the conductive elastic body 4 face each other, according to the amount of pushing, the operation Child 100 may also be able to present various tactile sensations.
Specifically, for example, the manipulator 100 has a configuration that changes the area where the plurality of electrodes and the conductive elastic body 4 face each other. It is also possible to present a tactile sensation in which the torque or the weight of pressing changes.

Some specific examples will be described below.
9 and 10 show the shape of the plurality of pressing electrodes and the shape and arrangement of the conductive elastic body 4 in the first embodiment described above. A configuration example of an operation element 100 that can present a tactile sensation in which the operation unit 3 becomes heavier as the operation unit 3 is pushed in by adopting a shape or arrangement in which the area facing the conductive elastic body 4 becomes large. FIG. 4 is a diagram showing; The manipulator 100 shown in FIGS. 9 and 10 differs from the manipulator 100 including the electrode section 200 described in the first embodiment with reference to FIG. 4 is changed in shape or arrangement.
FIG. 9 is a cross-sectional view of the manipulator 100 viewed from the side, and FIG. 10 shows a plurality of rotating electrodes (a plurality of first rotating electrodes 201 and A plurality of second electrodes for rotation 202) and a conductive elastic body 4 for rotation (hereinafter referred to as "conductive elastic body 401 for rotation") are facing each other, and a plurality of electrodes for pushing (a plurality of first electrodes for pushing) 211a and a plurality of second pushing electrodes 212a) and a pushing conductive elastic body (hereinafter referred to as "pushing conductive elastic body 411").
FIG. 10A shows an image of a state in which the plurality of electrodes for rotation and the conductive elastic body for rotation face each other before the operation unit 3 is pushed, and a state in which the plurality of electrodes for pushing and the conductive elastic body for pushing 411 face each other. FIG. 10B is an image of a state in which the plurality of electrodes for rotation and the conductive elastic body for rotation 401 face each other after the operation unit 3 is pressed, and a state in which the plurality of electrodes for pressing and the conductive elastic body for compression 411 face each other. is shown. Note that FIG. 9 is a cross-sectional view of the manipulator 100 before the manipulator 3 is pushed.
As shown in FIGS. 9 and 10, in the first embodiment, the operator 100 can have the conductive elastic body 4 divided into a rotating conductive elastic body 401 and a pressing conductive elastic body 411 .
10A and 10B, illustration of the voltage generation circuits 71 and 701 is omitted.

For example, as shown in FIGS. 9 and 10, the manipulator 100 is provided with a plurality of push-in electrodes having a triangular shape whose base is on the fixed part 1 (not shown in FIGS. 9 and 10) side. . In addition, the manipulator 100 does not face the plurality of pushing electrodes when the operation portion 3 is not pushed (see FIGS. 9 and 10A), and does not face the plurality of pushing electrodes when the operation portion 3 is pushed. A pressing conductive elastic body 411 is provided at the opposing position.
Thus, the manipulator 100 can be configured such that the more the operation portion 3 is pushed, the larger the area where the plurality of pushing electrodes and the pushing conductive elastic body 411 face each other.
The larger the area where the plurality of pressing electrodes and the pressing conductive elastic bodies 411 face each other, the greater the difference between the plurality of pressing electrodes and the pressing conductive elastic bodies 411 when a voltage is applied to the plurality of pressing electrodes. The generated electrostatic force increases. The greater the electrostatic force, the greater the frictional force when the operation unit 3 is pushed while the electrostatic force is generated. That is, the electrostatic frictional force increases as the area where the plurality of pressing electrodes and the pressing conductive elastic body 411 face each other increases.
The operation element 100 is configured such that the area of the portion where the plurality of pressing electrodes and the pressing conductive elastic body 411 face each other changes according to the amount of pressing of the operation unit 3 . It is possible to present a tactile sensation in which the operation unit 3 becomes heavier as it is pressed.

Here, the manipulator 100 changes the shape of the plurality of depressing electrodes and the shape and arrangement of the conductive elastic body 4 as shown in FIG. Accordingly, the area of the portion where the plurality of pressing electrodes and the pressing conductive elastic body 411 face each other is changed. However, this is only an example. For example, by changing the arrangement of the plurality of pressing electrodes without changing the shape and arrangement of the conductive elastic body 4, the manipulator 100 changes the area of the portion where the plurality of pressing electrodes and the conductive elastic body 4 face each other. may change.

Further, as described above, in the manipulator 100 shown in FIGS. 9 and 10 , the conductive elastic body 4 (the pushing conductive elastic body 411) and the plurality of electrodes (the plurality of pushing electrodes) They do not face each other when there is none, and face each other when the operation part 3 is pushed. Thus, the conductive elastic body 4 and the plurality of electrodes do not always have to face each other. In Embodiment 1, the conductive elastic body 4 and the plurality of electrodes may face each other when the relative position between the operating portion 3 and the shaft 1a is set in advance. In the manipulator 100 shown in FIGS. 9 and 10, the preset relative position between the manipulator 3 and the shaft 1a, where the conductive elastic body 4 and the plurality of electrodes face each other, is when the manipulator 3 is pushed. It refers to the relative position between the operating portion 3 and the shaft 1a in the state.
In FIGS. 9 and 10, as an example, the pressing conductive elastic body 411 and the plurality of pressing electrodes are not opposed to each other when the operation portion 3 is not pressed, but this is only an example. do not have. For example, the pushing conductive elastic body 411 and the plurality of pushing electrodes may face each other in a certain area in a state where the operation portion 3 is not pushed. This is not limited to the relationship between the pushing conductive elastic body 411 and the plurality of pushing electrodes. For example, with respect to the rotating conductive elastic body 401 and the plurality of rotating electrodes, the rotating conductive elastic body 401 and the plurality of rotating electrodes do not have to face each other when the operation unit 3 is not rotated. 3, the conductive elastic body 401 for rotation and the electrode for rotation may face each other in a certain area.

9 and 10, the shape of the plurality of electrodes for rotation and the shape of the conductive elastic body 401 for rotation are different from those of the plurality of electrodes for rotation when the operation unit 3 rotates. The shape is such that the area facing the conductive elastic body 401 for rotation does not change.

11 and 12 show the arrangement of the plurality of electrodes and the shape and arrangement of the conductive elastic body 4 in the first embodiment described above. FIG. 10 is a diagram showing a configuration example of an operation element 100 capable of presenting a tactile sensation in which the more the operation unit 3 is rotated, the heavier the operation unit 3 becomes by arranging or shaping the operation unit 3 so as to increase the area to be touched.

11 is a top view of the manipulator 100, and FIG. 12 is a diagram showing an image of a state in which the plurality of electrodes and the conductive elastic body 402 face each other when the manipulator 3 is not rotating and when it is rotating. be. For convenience of explanation, FIG. 11 also shows the shaft 1a, the dielectric layer 23, and the conductive elastic body 402 provided inside the operating portion 3 of the operator 100. As shown in FIG.
FIG. 12A shows an image of a state in which a plurality of electrodes and a conductive elastic body 402 face each other when the operating section 3 is not rotating, and FIG. An image of a state facing the elastic body 402 is shown. Note that the operator 100 shown in FIG. 11 is the operator 100 in a state where the operation unit 3 is not rotated.
The manipulator 100 shown in FIGS. 11 and 12 is obtained by changing the arrangement of the plurality of electrodes and the shape and arrangement of the conductive elastic body 4 from the manipulator 100 described with reference to FIG. 1 in the first embodiment. there is However, as indicated by the arrow in FIG. 11, the operator 100 is assumed here to be rotatable up to 180 degrees in the right direction. Here, for example, a mark portion 3a serving as a guide for rotation is provided on the upper surface of the operation portion 3 of the manipulator 100, and the mark portion 3a rotates 180° from the initial position.

For example, as shown in FIGS. 11 and 12, in the operator 100, the plurality of electrodes and the conductive elastic body 4 are provided so as not to face each other when the operation portion 3 is not rotated. For example, as shown in FIG. 12, the bottom side of the operation element 100 faces the fixed portion 1 (not shown in FIGS. 11 and 12), and as the operation portion 3 rotates, the area facing the electrodes increases. The conductive elastic body 4 having the shape of an increasing right-angled triangle is provided.

When the operation part 3 is rotated, the area where the plurality of electrodes and the conductive elastic body 4 face each other gradually increases according to the rotation (see FIGS. 12A and 12B).
Accordingly, the more the operating portion 3 is rotated, the greater the electrostatic force generated between the plurality of electrodes and the conductive elastic body 4 . The greater the electrostatic force, the greater the frictional force when the operation unit 3 is pushed while the electrostatic force is generated. That is, the more the operation unit 3 is rotated, the greater the electrostatic frictional force.
Since the area of the portion where the plurality of electrodes and the conductive elastic body 4 face each other changes according to the amount of rotation of the operation portion 3, the operation element 100 can be rotated as the operation portion 3 is rotated. It is possible to present a tactile sensation in which the operation unit 3 becomes heavier as the operation unit 3 increases.

11 and 12, the conductive elastic body 4 is assumed to have the shape of a right-angled triangle, but this shape is merely an example. The conductive elastic body 4 may have a shape other than the shape of a right triangle.
For example, the conductive elastic body 4 may be divided into a plurality of pieces. That is, the conductive elastic body 4 may be provided so that there are regions facing the plurality of electrodes and regions not facing the electrodes. Since there is a region where the conductive elastic body 4 does not face the plurality of electrodes, the operator 100 can create a region where the tactile sensation of the user's finger or the like operating the operation unit 3 does not change.
11 and 12, the operation element 100 can rotate the operation unit 3 by changing the arrangement of the plurality of electrodes and the shape and arrangement of the conductive elastic body 4. The area of the portion where the plurality of electrodes and the conductive elastic body 4 face each other is changed according to the amount. However, this is only an example. By changing the shape of the plurality of electrodes without changing the shape and arrangement of the conductive elastic body 4, for example, the operator 100 can change the area of the portion where the plurality of electrodes and the conductive elastic body 4 face each other. can be
In addition, in the configuration example of the operator 100 shown using FIGS. 11 and 12, the plurality of electrodes in the operator 100 are provided only on the half circumference of the shaft 1a, but this is only an example. . For example, in the manipulator 100 shown in FIGS. 11 and 12, a plurality of electrodes may be provided over the entire circumference of the shaft 1a.

11 and 12, the preset relative position between the operating portion 3 and the shaft 1a, in which the conductive elastic body 4 and the plurality of electrodes face each other, It refers to the relative position between the operating portion 3 and the shaft 1a in the closed state.

As described above, in the above-described first embodiment, for example, the configuration of the operator 100 is changed according to the amount of rotation of the operation unit 3 or the amount of depression of the operation unit 3 so that the plurality of electrodes and the conductive elastic body 4 face each other. is changed, the manipulator 100 can present various tactile sensations.
In addition, the operator 100 may linearly control the weight of rotation of the operation unit 3 or the weight of push of the operation unit 3, or may control the weight of the operation unit 3 when the amount of rotation or the amount of push exceeds a certain amount. It is possible to control whether or not to increase the size in some cases by the area where the plurality of electrodes and the conductive elastic body 4 face each other. Therefore, the tactile sensation control device 101 can control the intensity of the tactile sensation of the operator 100 while reducing the number of patterns of the tactile sensation presentation waveform of the voltage applied to the operator 100 .

Further, in the tactile sensation control device 101 according to the first embodiment described above, the tactile sensation control unit 8 causes the tactile sensation waveform selection unit 72 to generate a tactile sensation corresponding to the rotational position of the operation unit 3 based on the rotation information. It is also possible to output a presentation waveform selection instruction. Note that the rotation information includes information about the rotation position of the operation unit 3 . Based on the rotation information, the tactile sensation control section 8 can grasp the rotational position to which the operation section 3 is currently rotated.
For example, when the operation unit 3 is at a rotational position for presenting a tactile sensation, the tactile sensation control unit 8 causes the tactile sensation waveform selection unit 72 to select a tactile sensation presentation waveform for rotation for presenting a tactile sensation at that rotational position. output a selection instruction to

Here, FIGS. 13A, 13B, and 13C show the tactile sensation waveform selector 72 in the first embodiment described above when the tactile sensation control unit 8 is at the rotation position where the operation unit 3 presents the tactile sensation. On the other hand, it is a diagram for explaining an image of a tactile sensation presented by the manipulator 100 as a result of outputting a selection instruction to select a tactile presentation waveform for rotation for presenting a tactile sensation at that rotational position.

For example, it is assumed that a screen indicating a volume that can be adjusted in 13 levels is displayed on a display device as an HMI that is an object of operation of the manipulator 100 . In the tactile sensation control device 101, the tactile sensation control unit 8 detects, based on the HMI control information, that the current state of the display device is a state in which the rotation operation of the operation unit 3 is valid for volume adjustment in 13 steps. . Further, the tactile sensation control unit 8 detects that the operation unit 3 has been rotated and to what position it has been rotated, based on the rotation information. When the tactile sensation control unit 8 detects that the operation unit 3 has been rotated to the rotational position indicating the 13 levels of volume, the tactile sensation control unit 8 instructs the tactile waveform selection unit 72 to provide the tactile sensation at the rotational position indicating the 13 levels of volume. A selection instruction is output to select a tactile presentation waveform for rotation to be presented. The tactile sensation waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply the voltage of the selected tactile sensation presentation waveform. As a result, the tactile sensation control device 101 can cause the operator 100 to present a vibration sensation as a tactile sensation when the operation unit 3 is positioned at the rotational position indicating the 13 levels of volume (see 1301 in FIG. 13A). .

Also, for example, in the manipulator 100, it is assumed that the manipulator 3 rotates only up to a certain angle. In the tactile sense control device 101, when the tactile sense control unit 8 detects that the operation unit 3 has been rotated based on the rotation information and that the operation unit 3 has been rotated to a position where it cannot be rotated further, the tactile sense waveform selection unit 72, a selection instruction is output to select a tactile sensation presentation waveform for rotation that maximizes the electrostatic friction force at that position. The tactile sensation waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply the voltage of the selected tactile sensation presentation waveform. As a result, the tactile sensation control device 101 can cause the manipulator 100 to present a sense of stoppage of suction as a tactile sensation when the operation unit 3 is rotated to a position where it cannot be rotated any more (see 1302 in FIG. 13B).

Further, for example, it is assumed that an operation mode switching screen is displayed on a display device as an HMI to be operated by the operator 100 . The operation mode is switched by rotating the operation unit 3 to a set position. In the tactile sensation control device 101, the tactile sensation control unit 8 detects, based on the HMI control information, that the current HMI state is a state in which the rotation operation of the operation unit 3 is valid for switching the operation mode.
Further, when the tactile sensation control unit 8 detects that the operation unit 3 has been rotated based on the rotation information and that it has been rotated to a rotation position at which the operation mode can be switched, the tactile sensation control unit 8 instructs the tactile waveform selection unit 72 to A selection instruction is output to select a tactile sensation presentation waveform for rotation that presents a tactile sensation for a certain period of time. The tactile sensation waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply the voltage of the selected tactile sensation presentation waveform. As a result, the tactile sensation control device 101 can cause the operator 100 to present a crossing sensation as a tactile sensation when the operation unit 3 is positioned at the rotational position where the operation mode can be switched (see 1303 in FIG. 13C). .

In this manner, by enabling the output of the selection instruction of the tactile presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operation unit 3 , the tactile sensation control device 101 can output the rotational position of the operation unit 3 to the operator 100 . It is possible to present a tactile sensation corresponding to the position of the operation unit 3 or to perform torque control according to the rotational position of the operation unit 3 .

Further, for example, in the tactile sensation control device 101, the tactile sensation control unit 8 instructs the tactile sensation waveform selection unit 72 to select a tactile sensation presentation waveform according to the tactile sensation corresponding to the amount of depression of the operation unit 3 based on the pressing information. It can also be output. The pressing information includes information about the amount of pressing of the operation unit 3 . Based on the pressing information, the tactile sensation control unit 8 can grasp the amount of pressing, which is how much the operation unit 3 is currently pressed.
For example, when the pressing amount of the operation unit 3 is a pressing amount for presenting a tactile sensation, the tactile sensation control unit 8 causes the tactile waveform selecting unit 72 to present a pressing tactile sensation for presenting a tactile sensation at that pressing amount. It is also possible to output a selection instruction to select a waveform.

Further, in the manipulator 100 according to Embodiment 1 described above, the manipulator 3 is rotatable about the shaft 1a and can be pushed in the direction of the shaft 1a, but this is merely an example.
The operation unit 3 may have either a rotating function capable of rotating around the axis 1a or a pushing function capable of pushing in the direction of the axis 1a.
That is, the operator 100 includes a fixed portion 1 having a shaft 1a, an operating portion 3 attached to the shaft 1a and rotatable around the shaft 1a, an operating portion 3 attached to the shaft 1a and capable of being pushed in the direction of the shaft 1a, or , and an operating portion 3 that is attached to the shaft 1a, is rotatable about the shaft 1a, and can be pushed in the direction of the shaft 1a.

When the manipulator 100 is a manipulator 100 having a fixed portion 1 having a shaft 1a and an operating portion 3 attached to the shaft 1a and rotatable around the shaft 1a, the manipulator 100 includes a depression detection circuit 6. No configuration and can. Further, the tactile sensation control device 101 can be configured without the pressing detection unit 61 .
Further, when the manipulator 100 is the manipulator 100 having the fixed portion 1 having the shaft 1a and the manipulator 3 attached to the shaft 1a and capable of being pushed in the direction of the shaft 1a, the manipulator 100 includes a rotation detection circuit. No configuration and can. Further, the tactile sensation control device 101 can be configured without the rotation detection unit 11 .

Further, for example, regardless of whether the manipulator 100 has the rotation function or the push function, the manipulator 100 may be configured without the rotation detection circuit and the push detection circuit 6 . In this case, the tactile sensation control device 101 does not necessarily include the rotation detection unit 11 and the depression detection unit 61 . For example, in the tactile control device 101, when the tactile control device 101 is powered on, the tactile control unit 8 selects a tactile presentation waveform for rotation or a tactile presentation waveform for pressing for the tactile waveform selection unit 72. output a selection instruction to When the manipulator 100 has both a rotation function and a pressing function, the tactile sensation control unit 8 selects a tactile sensation presentation waveform for rotation or presents a tactile sensation for pressing according to an appropriate preset condition, for example. It is only necessary to decide whether to allow the waveform to be selected.
In this case, the processing of steps ST1 and ST2 can be omitted from the operation of the tactile sensation control device 101 described using the flowchart of FIG.

Further, in the first embodiment described above, the operator 100 is linked with an HMI (Human Machine Interface), but this is merely an example. The manipulator 100 does not necessarily have to work with the HMI.

Further, in Embodiment 1 described above, the operation portion 3 of the operation element 100 has a cylindrical shape, but this is merely an example. The operation part 3 can be made into an appropriate shape. The operating part 3 is attached to the shaft 1a of the fixed part 1 of the operator 100, and is rotatable around the shaft 1a or can be pushed in the direction of the shaft 1a. A surface of the portion 3 facing the shaft 1a faces a plurality of electrodes provided on the surface of the shaft 1a when the relative position between the operation portion 3 and the shaft 1a is set in advance. It is sufficient that the operating portion 3 has an elastic body. For example, the operation portion 3 may have a hollow shape. For example, the fixed part 1 and the operation part 3 may have hollow structures, and the operation element 100 may have a donut shape.

Further, in Embodiment 1 described above, the plurality of electrodes includes, for example, the plurality of first electrodes 21 and the plurality of second electrodes 22 as shown in FIG. 2, but this is merely an example. do not have. At least two electrodes should be provided. It is sufficient that voltage can be applied to at least two electrodes adjacent to each other in the operator 100 .

Further, in the first embodiment described above, the voltage generation circuit 71 has the first voltage generation circuit 71a and the second voltage generation circuit 71b, for example, as shown in FIG. is just an example. The voltage generation circuit 71 may have either the first voltage generation circuit 71a or the second voltage generation circuit 71b. A plurality of electrodes that are not connected to the voltage generating circuit 71 are connected to GND via lead wiring.

Further, in the first embodiment described above, it is assumed that the operator 100 is provided, for example, in an in-vehicle device installed in a vehicle, but this is merely an example. The manipulator 100 can be any suitable manipulator 100 that is rotatable, depressible, or rotatable and depressible.

14A and 14B are diagrams showing an example of the hardware configuration of the tactile sensation control device 101 according to Embodiment 1. FIG.
In Embodiment 1, the processing circuit 1401 implements the functions of the rotation detection unit 11 , the pressing detection unit 61 , the tactile sensation control unit 8 , and the tactile waveform selection unit 72 . That is, the tactile sensation control device 101 includes a processing circuit 1401 for controlling the magnitude of the electrostatic frictional force by controlling the voltages applied to the plurality of electrodes, thereby controlling the tactile sensation associated therewith.
The processing circuit 1401 may be dedicated hardware as shown in FIG. 14A or a processor 1404 executing a program stored in memory as shown in FIG. 14B.

If the processing circuit 1401 is dedicated hardware, the processing circuit 1401 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

When the processing circuit is the processor 1404, the functions of the rotation detection unit 11, the depression detection unit 61, the tactile sensation control unit 8, and the tactile waveform selection unit 72 are realized by software, firmware, or a combination of software and firmware. be. Software or firmware is written as a program and stored in memory 1405 . The processor 1404 reads and executes the programs stored in the memory 1405 to perform the functions of the rotation detection unit 11 , the depression detection unit 61 , the tactile sensation control unit 8 , and the tactile waveform selection unit 72 . That is, the tactile sensation control device 101 includes a memory 1405 for storing a program that, when executed by the processor 1404, results in the execution of steps ST1 to ST4 in FIG. 4 described above. It can also be said that the program stored in the memory 1405 causes the computer to execute the procedures or methods of the processing of the rotation detection unit 11, the pressing detection unit 61, the tactile sensation control unit 8, and the tactile waveform selection unit 72. . Here, the memory 1405 is a non-volatile memory such as RAM, ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory). volatile or volatile Semiconductor memories, magnetic discs, flexible discs, optical discs, compact discs, mini discs, DVDs (Digital Versatile Discs), and the like are applicable.

It should be noted that the functions of the rotation detection unit 11, the pressing detection unit 61, the tactile sensation control unit 8, and the tactile waveform selection unit 72 are partly realized by dedicated hardware and partly by software or firmware. can be For example, the functions of the rotation detection unit 11 and the pressing detection unit 61 are realized by the processing circuit 1401 as dedicated hardware, and the tactile sensation control unit 8 and the tactile waveform selection unit 72 are stored in the memory 1405 by the processor 1404. It is possible to realize the function by reading and executing the stored program.
The tactile sensation control device 101 also includes a voltage generation circuit 71 .
The tactile sensation control device 101 also includes devices such as the operator 100 or the HMI control unit 9, and an input interface device 1402 and an output interface device 1403 that perform wired or wireless communication.

In Embodiment 1 described above, the tactile sensation control device 101 may be mounted on the operator 100 or may be provided on a server. Further, part of the rotation detection unit 11 , the depression detection unit 61 , the tactile sensation control unit 8 , and the tactile waveform selection unit 72 may be provided in the server, and the rest may be provided in the operator 100 .

As described above, the manipulator 100 according to the first embodiment includes the fixed portion 1 having the shaft 1a, the operating portion 3 attached to the shaft 1a and rotatable about the shaft 1a, and the shaft 1a attached to the shaft 1a. or an operation part 3 attached to the shaft 1a and rotatable about the shaft and pushable in the direction of the shaft 1a, wherein the A plurality of electrodes provided on the outer peripheral surface and covered with a dielectric layer 23, and a relative position provided on a surface of the operating portion 3 facing the shaft 1a and having a predetermined relative position between the operating portion 3 and the shaft 1a. In the case of 1, an elastic body (conductive elastic body 4) facing a plurality of electrodes is provided, and a voltage can be applied to two adjacent electrodes among the plurality of electrodes.
Accordingly, the manipulator 100 can stably present a tactile sensation. As a result, the manipulator 100 can provide a stable haptic effect to the user.

Further, the tactile sensation control device 101 according to Embodiment 1 includes a fixed portion 1 having a shaft 1a, an operation portion 3 attached to the shaft 1a and rotatable about the shaft 1a, and an operation portion 3 attached to the shaft 1a and pushed in the direction of the shaft 1a. or the operation part 3 attached to the shaft 1a and rotatable around the axis and pushable in the direction of the axis 1a. A tactile sensation control device 101 for controlling a tactile sensation or a tactile sensation when the operation unit 3 is pressed, and a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated or the tactile sensation when the operation unit 3 is pressed. and a tactile waveform selector 72 that selects a tactile presentation waveform based on the selection instruction output from the tactile sensation control section 8 and outputs a voltage application instruction for the selected tactile presentation waveform. and
Accordingly, the tactile sensation control device 101 can cause the manipulator 100 to present a stable tactile sensation. As a result, the tactile control device 101 can stably provide the user with a tactile effect to the manipulator 100 .

It should be noted that any component of the embodiment can be modified, or any component of the embodiment can be omitted.

The manipulator according to the present disclosure can stably give a haptic effect to the user.

REFERENCE SIGNS LIST 100 operator 1 fixed part 1a shaft 2 electrode part 21 first electrode 22 second electrode 23 230 dielectric layer 3 operating part 4 402 conductive elastic body 401 conductive elastic body for rotation, 411 pressing conductive elastic body 5 spring 6 pressing detection circuit 101 touch control device 11 rotation detection unit 61 pressing detection unit 8 touch control unit 72 touch waveform selection unit 71, 701 voltage generation circuit 71a 1 voltage generation circuit 71b second voltage generation circuit 701a third voltage generation circuit 701b fourth voltage generation circuit 701c fifth voltage generation circuit 701d sixth voltage generation circuit 9 HMI control section 201 first rotation for rotation Electrode 202 second electrode for rotation 211, 211a first electrode for pushing 212, 212a second electrode for pushing 21a, 22a, 2011, 2021, 2111, 2121 extraction wiring 102 touch control system 1401 processing circuit, 1402 input interface device, 1403 output interface device, 1404 processor, 1405 memory.

Claims (19)

a fixed portion having a shaft; an operating portion attached to the shaft and rotatable around the shaft; the operating portion attached to the shaft and capable of being pushed in the axial direction; or attached to the shaft and centering on the shaft and the operating portion that is rotatable and pushable in the axial direction,
a plurality of electrodes provided on the outer peripheral surface of the shaft and covered with a dielectric layer;
a conductor provided on a surface of the operation portion facing the shaft and facing the plurality of electrodes when the relative position between the operation portion and the shaft is at a preset relative position;
An operator, wherein a voltage can be applied to two electrodes adjacent to each other among the plurality of electrodes. The operation unit is attached to the shaft, is rotatable about the shaft, and is pushable in the axial direction,
The plurality of electrodes include a plurality of rotation electrodes to which the voltage can be applied when the operation portion is rotated, and a plurality of depression electrodes to which the voltage can be applied when the operation portion is depressed. The operator according to claim 1. 2. The operator according to claim 1, wherein the area of the portion where the plurality of electrodes and the conductor face each other changes according to the amount of rotation of the operation part or the amount of depression of the operation part. a fixed portion having a shaft; an operating portion attached to the shaft and rotatable around the shaft; the operating portion attached to the shaft and capable of being pushed in the axial direction; or attached to the shaft and centering on the shaft and the operating portion that is rotatable and pushable in the axial direction,
a plurality of electrodes provided on the outer peripheral surface of the shaft and covered with a dielectric layer;
a conductor provided on a surface of the operation portion facing the shaft and facing the plurality of electrodes when the relative position between the operation portion and the shaft is at a preset relative position;
a tactile sensation control unit that outputs an instruction to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit is rotated or the tactile sensation when the operation unit is pressed;
a tactile sense waveform selection unit that selects the tactile sense presentation waveform based on the selection instruction output from the tactile sense control unit and outputs an instruction to apply the voltage in the selected tactile sense presentation waveform;
and a voltage generation circuit that applies the voltage in the tactile sense presentation waveform to the plurality of electrodes based on the application instruction output from the tactile sense waveform selector. A tactile sensation control device for controlling the tactile sensation when rotating the operating portion of the operating element according to claim 1 or the tactile sensation when pressing the operating portion,
a tactile sensation control unit that outputs an instruction to select a tactile sensation presentation waveform of the voltage according to the tactile sensation when the operation unit is rotated or the tactile sensation when the operation unit is pressed;
A tactile sense control device comprising: a tactile sense waveform selector that selects the tactile sense presentation waveform based on the selection instruction output from the tactile sense control unit and outputs an instruction to apply the voltage in the selected tactile sense presentation waveform. the operation unit is attached to the shaft and rotatable about the shaft;
A rotation detection unit that detects rotation of the operation unit,
The tactile sensation control unit instructs the tactile sensation waveform selection unit to select the tactile sensation presentation waveform corresponding to the tactile sensation during rotation of the operation unit based on the rotation information regarding the rotation detected by the rotation detection unit. 6. The tactile sensation control device according to claim 5, wherein the tactile sensation control device outputs . the rotation information includes information about the rotation position of the operation unit;
The tactile sensation control section outputs the selection instruction of the tactile presentation waveform according to the tactile sensation corresponding to the rotational position of the operation section to the tactile sensation waveform selection section based on the rotation information. 7. The tactile sensation control device according to claim 6. 8. The tactile sense control device according to claim 6, wherein the tactile sense control unit outputs the instruction to select the tactile sense presentation waveform according to the state of the HMI to be rotated by the operation unit. . The operation part is attached to the shaft and can be pushed in the axial direction,
A depression detection unit that detects depression of the operation unit,
The tactile sensation control unit instructs the tactile sensation waveform selection unit to generate the tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit is pushed, based on the pressing information regarding the pressing of the operation unit detected by the pressing detection unit. 6. The tactile sensation control device according to claim 5, wherein a selection instruction is output. The pressing information includes information about the amount of pressing of the operation unit,
The tactile sensation control section outputs the selection instruction of the tactile presentation waveform according to the tactile sensation corresponding to the amount of depression of the operation section to the tactile sensation waveform selection section based on the pressing information. 10. The tactile sensation control device according to claim 9. 11. The tactile sense control device according to claim 9, wherein the tactile sense control unit outputs the selection instruction of the tactile sense presentation waveform according to the state of the HMI to be pressed by the operation unit. . The operation unit is attached to the shaft, is rotatable about the shaft, and is pushable in the axial direction,
a rotation detection unit that detects rotation of the operation unit;
A push detection unit that detects push of the operation unit,
The tactile sensation control unit instructs the tactile sensation waveform selection unit to provide the tactile sensation presentation waveform corresponding to the tactile sensation during rotation of the operation unit based on rotation information regarding the rotation of the operation unit detected by the rotation detection unit. or the selection instruction of the tactile presentation waveform corresponding to the tactile sensation when the operation unit is pressed, based on the pressing information regarding the pressing of the operation unit detected by the pressing detection unit. 6. The tactile sensation control device according to claim 5. the rotation information includes information about the rotation position of the operation unit;
The pressing information includes information about the amount of pressing of the operation unit,
The tactile sensation control unit instructs the tactile sensation waveform selection unit to select the tactile sensation presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operation unit based on the rotation information, or the pressing information. 13. The tactile sensation control device according to claim 12, wherein the selection instruction of the tactile sensation presentation waveform corresponding to the tactile sensation corresponding to the amount of pressing of the operation unit is output. The tactile sensation control unit calculates the amount of change in the position of the operation unit in the direction of rotation or the rotation speed of the operation unit based on the rotation information, and calculates the amount of change in the direction of pressing the position of the operation unit based on the information on pressing. A pressing speed of the operating portion is calculated, the amount of change in the direction of rotation or the rotation speed is compared with the amount of change in the direction of pressing or the speed of pressing, and the tactile waveform selection portion is provided with the speed of the operation portion. determining which of the selection instruction of the tactile presentation waveform corresponding to the tactile sensation during rotation and the selection instruction of the tactile presentation waveform corresponding to the tactile sensation when the operation unit is pressed is output. 13. The tactile sensation control device according to claim 12. The tactile sensation control unit calculates the amount of change in the position of the operation unit in the direction of rotation or the rotation speed of the operation unit based on the rotation information, and calculates the amount of change in the direction of pressing the position of the operation unit based on the information on pressing. A pressing speed of the operating portion is calculated, the amount of change in the direction of rotation or the rotation speed is compared with the amount of change in the direction of pressing or the speed of pressing, and the tactile waveform selection portion is provided with the speed of the operation portion. Selecting which of the selection instruction of the tactile presentation waveform corresponding to the tactile sensation corresponding to the rotational position and the selection instruction of the tactile presentation waveform corresponding to the tactile sensation corresponding to the amount of pressing of the operation unit is output. 14. The tactile sensation control device according to claim 13, characterized in that: The tactile sensation control unit outputs the selection instruction of the tactile sensation presentation waveform according to the state of the HMI targeted for the rotation operation of the operation unit or the state of the HMI targeted for the pressing operation of the operation unit. 14. The tactile sensation control device according to claim 12 or 13, characterized in that: The operation unit is attached to the shaft, is rotatable about the shaft, and is pushable in the axial direction,
The plurality of electrodes includes a plurality of rotation electrodes to which the voltage can be applied when the operation portion is rotated, and a plurality of depression electrodes to which the voltage can be applied when the operation portion is depressed,
The tactile waveform selection unit provides the tactile sensation of rotation of the operation unit when the tactile sensation control unit outputs the selection instruction of the tactile presentation waveform corresponding to the tactile sensation of rotation of the operation unit. A tactile sensation presenting waveform is selected, an instruction to apply the voltage with the selected tactile sensation presenting waveform to the plurality of electrodes for rotation is output, and the tactile sensation control unit responds to the tactile sensation when the operation unit is pressed. When the selection instruction of the tactile presentation waveform is output, the tactile presentation waveform that gives the tactile sensation when the operation unit is pressed is selected, and the selected tactile presentation waveform is applied to the plurality of pressing electrodes. 13. The tactile sensation control device according to claim 12, wherein the application instruction for the voltage of is output. 6. The tactile sensation control device according to claim 5, wherein the area of the portion where the plurality of electrodes and the conductor face each other changes according to the amount of rotation of the operation portion or the amount of pressing of the operation portion. . A tactile sensation control method for controlling the tactile sensation when rotating the operating portion of the operating element according to claim 1 or the tactile sensation when pressing the operating portion,
a tactile sensation control unit outputting an instruction to select a tactile sensation presentation waveform of the voltage according to the tactile sensation when the operation unit is rotated or the tactile sensation when the operation unit is pressed;
a tactile sense waveform selection unit that selects the tactile sense presentation waveform based on the selection instruction output from the tactile sense control unit, and outputs an instruction to apply the voltage in the selected tactile sense presentation waveform. Method.

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