JP7438677B2 - Tactile presentation device - Google Patents

Description

The present disclosure relates to a technique for presenting a tactile sensation to a human body using electrostatic force.

The background technology of the present disclosure is a technology that presents a tactile sensation to a human body using electrostatic force. For example, Patent Document 1 discloses a technique for presenting a tactile sensation by applying a differential voltage to a group of electrodes. Specifically, Patent Document 1 presents a tactile sensation by applying a differential voltage to the + side electrode and the - side electrode to cause capacitive coupling between the + side electrode and the - side electrode and the fingertip.

US Patent Application Publication No. 2013/0063381

A technology is desired that can change the intensity of the tactile sensation given to the user when using a tactile presentation device.

A tactile presentation device according to one aspect of the present disclosure includes a panel including a tactile presentation area including a plurality of electrodes, and a control unit that controls the panel. The control unit simultaneously applies a first trigonometric series signal and a second trigonometric series signal including one or more frequency component terms to a first area in the tactile sense presentation area. The first trigonometric series signal and the second trigonometric series signal are applied to different electrodes within the first region. The first trigonometric series signal and the second trigonometric series signal have the same frequency component terms and different phases. The control unit provides a reference signal having a smaller coefficient of each frequency component term than the first trigonometric series signal and the second trigonometric series signal to an area adjacent to the first area.

According to one aspect of the present disclosure, the tactile intensity that the tactile presentation device provides to the user can be changed.

A configuration example of a tactile presentation device is schematically shown. An example of the layout of electrodes on a tactile presentation panel is shown. An example of the layout of electrodes on a tactile presentation panel is shown. An example of the layout of electrodes on a tactile presentation panel is shown. Fig. 3 shows an example of some of the electrodes of the tactile presentation panel and the signals given to them. 2 schematically shows a cross section of a partial configuration of a tactile presentation panel and a relationship with a finger touching the tactile presentation panel. A method is shown in which signals are given to electrodes so that only target areas (specific electrodes) of a tactile sensation presentation panel present tactile sensations. In the example of the pattern of signals given to the plurality of electrodes in FIG. 5, a cross section of a part of the tactile presentation panel and the relationship with a finger touching the tactile presentation panel are schematically shown. An example of a signal that a control unit gives to an electrode in an area where a tactile sensation presentation panel can present a tactile sensation is shown. An example of a signal that a control unit gives to an electrode in an area where a tactile sensation presentation panel can present a tactile sensation is shown. 2 schematically shows a cross section of a partial configuration of a tactile presentation panel and a relationship with a finger touching the tactile presentation panel. Shows changes in two signals. 2 schematically shows a cross section of a partial configuration of the tactile presentation panel and its relationship with other fingers touching the tactile presentation panel. An example of the relationship between a target area and a finger is shown. An example of a signal that a control unit gives to an electrode in an area where a tactile sensation presentation panel can present a tactile sensation is shown. An example of a target area presenting an image and a tactile sensation displayed on a display device is shown. An example of a signal pattern in a target area is shown. An example of a signal pattern in a target area is shown. An example of a signal pattern in a target area is shown. An example of a signal pattern in a target area is shown. An example of a signal pattern in a target area is shown. An example of a signal pattern in a target area is shown. An example of the configuration of an electrode drive circuit is shown. An example of the configuration of an electrode drive circuit is shown. An example of the configuration of an electrode drive circuit is shown. Another example of the circuit configuration of the electrode drive circuit is shown. 3 shows periods of different states of the tactile presentation device. The state of the electrode drive circuit during the tactile presentation period is shown. The state of the electrode drive circuit during the discharge period is shown. The state of the electrode drive circuit during the sensor period is shown. A subjective evaluation of the relationship between the phase difference of a pair of sinusoidal signals and the lowest voltage amplitude (detection threshold) that could provide a tactile sensation is shown.

Embodiments of the present disclosure will be described below with reference to the accompanying drawings. It should be noted that this embodiment is only an example for realizing the features of the present disclosure, and does not limit the technical scope of the present disclosure. In each figure, common components are given the same reference numerals.

The tactile presentation device disclosed below applies sinusoidal signals of the same frequency and different phases to adjacent electrodes of a tactile presentation panel. This provides a tactile sensation to the user who rubs the surface of the tactile presentation device with a rubbing object such as a finger or touch pen. Furthermore, the tactile presentation device changes the phase difference of the sinusoidal signal. Thereby, the tactile intensity given to the user can be changed.

<Configuration of tactile presentation device>
FIG. 1 schematically shows a configuration example of a tactile presentation device. The tactile presentation device 100 includes a tactile presentation panel 105, an electrode drive circuit 106, and a control section 107. The tactile presentation panel 105 includes a support substrate 101, a plurality of wiring lines 151, and a plurality of electrodes (not shown) arranged on the support substrate 101. In FIG. 1, only one wire is designated, by way of example, at 151. The surface of the tactile presentation panel 105 is covered with an insulating film.

Tactile presentation panel 105 can be used in conjunction with a visual display. For example, the support substrate 101 is made of glass or resin, and the electrodes are made of ITO (Indium Tin Oxide). The tactile presentation device 100 presents a tactile sensation corresponding to an image displayed on a visual display. The tactile presentation device 100 may also be in a form that is not combined with a visual display. For example, the tactile sensation presentation device 100 may be a tablet device that presents a tactile sensation without displaying an image.

The wiring 151 is connected to the electrode drive circuit 106. Wiring 151 transmits a signal to an electrode that presents a tactile sensation. In the example of FIG. 1, the wiring 151 extends along the Y axis and is arranged along the X axis. The layout of the wiring 151 depends on the design. For example, instead of or in addition to the wiring 151, the tactile presentation device 100 may include wiring extending along the X-axis and arranged along the Y-axis.

The electrode drive circuit 106 applies a specific voltage signal to the wiring 151. Electrode drive circuit 106 is connected to control section 107 via a control signal line. The control unit 107 controls the electrode drive circuit 106 based on information about the target area where the tactile sensation is to be presented.

The control unit 107 includes, for example, a processor, memory, storage, and an interface with the outside. These components are interconnected by internal wiring. A processor implements a predetermined function by operating according to a program stored in a memory. Programs executed by the processor and data referenced are loaded into memory from storage, for example. In addition to or in place of the processor, the control unit 107 may be configured to include a logic circuit that implements a predetermined function. With this configuration, the tactile sensation presentation device 100 can present a tactile sensation in the selected target area.

An example of the layout of electrodes and wiring of the tactile presentation panel 105 will be described below. These are just examples, and the combination of wiring arrangement and electrode arrangement can be optimally combined depending on the design. FIG. 2A shows an example of the layout of electrodes and wiring of the tactile presentation panel 105. In FIG. 2A, one electrode and wire is designated by example at 155 and 151. Electrode 155 is square. The electrodes 155 are spaced apart from each other, and different wirings 151 from the electrode drive circuit 106 are connected to each electrode.

The electrode 155 and the wiring 151 are formed in different layers, and the wiring 151 and the electrode are connected through a contact hole. The control unit 107 can control each electrode 155 individually. That is, the control unit 107 can give different signals (potentials) to all the electrodes 155. The electrode 155 is, for example, a transparent electrode made of ITO.

The shape of the electrode 155 is arbitrary and may be different from a square. Further, a part of the electrode 155 may have a different shape from the other part. In the layout example of FIG. 2A, the electrodes 155 are arranged in a matrix along the X and Y axes. The layout of the electrodes 155 is arbitrary and may differ from the matrix layout.

FIG. 2B shows another example layout of the electrodes and wiring of the tactile presentation panel 105. FIG. 2B shows some of the electrodes and wiring. In the example of FIG. 2B, one electrode and wire is designated by example at 155 and 151. Electrode 155 is square. The electrodes 155 are arranged in a matrix. The wiring 151 and the electrode 155 are formed of, for example, ITO in the same layer. Electrodes 155 arranged along the Y axis are connected to one wiring 151. The electrodes 155 are spaced apart in the direction along the X-axis.

Each wiring 151 connects the end electrode 155 of the electrodes 155 arranged along the Y axis and the pin of the electrode drive circuit 106, and also connects adjacent electrodes 155. A part of each wiring 151 and a part of each electrode 155 are shared. Electrodes 155 along the Y axis are given the same signal. This configuration can reduce the number of channels that drive the electrode 155.

FIG. 2C shows another example layout of the electrodes and wiring of the tactile presentation panel 105. This configuration can reduce the number of channels that drive the electrode 155. FIG. 2C shows some of the electrodes and wiring. The tactile presentation panel 105 includes a plurality of wires 151H extending along the X-axis and a plurality of wires 151V extending along the Y-axis. One wiring extending along the X-axis is designated by the symbol 151H, and one wiring extending along the Y-axis is designated by the symbol 151V, by way of example.

The tactile presentation panel 105 includes a plurality of electrodes 155H connected to each wiring 151H and arranged along the X axis. The tactile presentation panel 105 includes a plurality of electrodes 155V connected to each wiring 151V and arranged along the Y axis. Electrodes connected to different wirings are spaced apart from each other. One electrode connected to the wiring 151H is designated by the symbol 155H, and one electrode connected to the wiring 151V is designated by the symbol 155V, by way of example. The wiring 151H and the electrode 155H are formed of, for example, ITO in the same layer. The wiring 151V and the electrode 155V are formed of, for example, ITO in the same layer. Note that the wiring 151H and the wiring 151V intersect with each other with an insulating film interposed therebetween, so that electrical insulation between them is maintained.

The electrodes 155H and 155V are diamond-shaped when viewed along the X-axis or the Y-axis. The layout of the electrodes 155H and 155V is a delta arrangement. Electrodes 155V are arranged between adjacent electrodes 155H, and electrodes 155H are arranged between adjacent electrodes 155V. Further, an electrode 155V is arranged between adjacent wirings 151H, and an electrode 155H is arranged between adjacent wirings 151V.

Each wiring 151H connects the end electrode 155H of the electrodes 155H arranged along the X-axis to a pin of the electrode drive circuit 106, and also connects adjacent electrodes 155H. A part of each wiring 151H and a part of each electrode 155H are shared. The same signal is given to the electrode 155H connected to the wiring 151H.

Each wiring 151V connects the end electrode 155V of the electrodes 155V arranged along the Y axis and a pin of the electrode drive circuit 106, and also connects adjacent electrodes 155V. A part of each wiring 151V and a part of each electrode 155V are shared. The same signal is given to the electrode 155V connected to the wiring 151V.

<Signal given to electrode>
FIG. 3 shows an example of some of the electrodes 155 of the tactile presentation panel 105 and the signals being applied to them. In the following, unless otherwise specified, the tactile presentation panel 105 has the electrode and wiring layout shown in FIG. 2A. In FIG. 3, a signal P1 is applied to each electrode 155P1, and a signal P2 is applied to each electrode 155P2. Signals P1 and P2 are applied simultaneously. In FIG. 3, as an example, only one electrode to which signal P1 is applied is indicated by reference numeral 155P1, and only one electrode to which signal P2 is applied is indicated by reference numeral 155P2.

Signals P1 and P2 are sinusoids, have the same frequency and amplitude, and different phases. For example, the signal P1 is represented by Asin(ωt), and the signal P2 is represented by Asin(ωt+φ). The amplitudes may be different. However, from the viewpoint of ease of signal generation, it is desirable that the amplitudes be the same. In the example of FIG. 3, the electrode 155P1 to which the signal P1 is applied and the electrode 155P2 to which the signal P2 is applied form a checkered pattern. That is, the electrodes adjacent to the electrode 155P1 in the vertical and horizontal directions are the electrodes 155P2, and the electrodes adjacent to the electrodes 155P2 in the vertical and horizontal directions are the electrodes 155P1. Here, the up-down direction is a direction along the Y-axis, and the left-right direction is a direction along the X-axis.

FIG. 4 schematically shows a cross section of a part of the tactile presentation panel 105 and its relationship with a finger 300 that touches the tactile presentation panel 105. The finger 300 is an example of an abrasive object that rubs the surface of the tactile presentation panel 105. The front surfaces of the electrode 155P1 and the electrode 155P2 are covered with an insulating film 156. An insulating film 156 exists between the finger 300 and the electrodes 155P1 and 155P2. Here, the surface on which the abrasive object rubs the tactile presentation panel 105 is called the front surface, and the opposite surface is called the rear surface.

The contact surface between the finger 300 and the insulating film 156 faces the electrode 155P1 and the electrode 155P2. The finger 300 is capacitively coupled to the electrode 155P1 and the electrode 155P2 via the insulating film 156. A tactile sensation is produced during rubbing due to the vibrating electrostatic force between the finger 300 and the electrode 155P1 and the vibrating electrostatic force between the finger 300 and the electrode 155P2. By changing the phase difference φ between the signal P1 and the signal P2, the intensity of the tactile sensation can be changed.

FIG. 5 shows a method of applying signals to the electrodes so that only the target area (specific electrode) of the tactile sensation presentation panel 105 presents a tactile sensation. In FIG. 5, a part of the target area 501 (specific electrodes) of the entire area in which the tactile presentation panel 105 can provide a tactile sense provides a tactile sense, and the surrounding area (electrodes) does not provide a tactile sense.

The control unit 107 gives a signal P1 and a signal P2 to the electrodes 155P1 and 155P2 in the target region 501, respectively. Similar to the example described with reference to FIG. 3, the electrodes 155P1 and 155P2 form a checkered pattern. The control unit 107 provides a reference signal to the electrodes 155C around the target region 501. The reference signal P0 is an alternating current signal or a constant potential having a smaller amplitude than the signals P1 and P2. The amplitude of a constant potential is zero. The reference signal is, for example, a ground potential. Note that in FIG. 5, only one electrode around the target region 501 is indicated by the reference numeral 155C, as an example.

Further, the reference signal may be a reference AC signal in a sensor circuit, which will be described later. The amplitude of the reference AC signal is desirably smaller than the amplitude of the tactile signal. Specifically, an amplitude of 20V or less is desirable.

FIG. 6 schematically shows a cross section of a part of the tactile presentation panel 105 and the relationship with a finger 300 touching the tactile presentation panel 105 in the pattern example of the signals P0, P1, and P2 applied to the plurality of electrodes in FIG. . The user rubs the finger 300 on the target area 501 from outside the target area 501 . That is, the finger 300 moves from a region facing the electrode 155C to which the signal P0 is applied to a region facing the electrodes 155P1 and 155P2 to which the signals P1 and P2 are applied.

In the example of FIG. 6, the finger 300 faces the electrode 155C and the electrode 155P2 on the boundary of the target region 501, and is capacitively coupled to these. Depending on the position, the finger 300 faces the electrode 155C and the electrode 155P1 on the boundary of the target region 501, and is capacitively coupled thereto. Due to the capacitive coupling between the finger 300 and the electrode 155C to which the reference signal is applied, the tactile sensation at the boundary of the target area 501 becomes clearer. Further, since a reference signal is applied to the electrode 155C, even if there is an unintentional erroneous touch by another finger outside the target area 501, no tactile sensation will be provided.

7 and 8 show examples of signals that the control unit 107 gives to the electrodes 155 in a region where the tactile presentation panel 105 can present a tactile sensation (tactile presentation region). In the example of FIG. 7, sinusoidal signals P1 and P2 having different phases are applied to one target region 501. The finger 300R can feel the texture in the target area 501. The patterns of signals P1 and P2 in target region 501 are similar to those in FIG. 3.

As shown in FIG. 8, a reference signal P0 having a constant potential is applied to a region outside the target region 501. The finger 300L is touching an area 502 outside the target area 501. Since the reference signal P0 having a constant potential is applied to the electrode 155C in the region 502, the finger 300L does not feel the texture.

In the examples of FIGS. 7 and 8, the phase difference (Φ) between the sine wave signals P1 and P2 can be 180 degrees. FIG. 9A schematically shows a cross section of a part of the tactile presentation panel and its relationship with a finger touching the tactile presentation panel. FIG. 9B shows the changes in signals P1 and P2. FIG. 9C schematically shows a cross section of a part of the tactile presentation panel and its relationship with other fingers touching the tactile presentation panel.

As shown in FIGS. 9A to 9C, since the average potential of the signal P1 and the signal P2 is always approximately constant, the finger 300R touching the target area 501 is not affected by potential fluctuations from the target area 501. I almost never get it. Therefore, even if the finger 300R and the finger 300L are of the same person, the finger 300L is hardly affected by the potential fluctuation of the finger 300R, so the difference in texture between the target area 501 and the area 502 outside the target area can be clearly seen. can be sensed.

Further, current flows from the finger touching the target area 501 into the human body. The amount of current flowing into the human body varies depending on the phase difference (Φ) between the sine wave signals P1 and P2. For example, when the phase difference (Φ) is 0 degrees, a current flows from the electrode into the human body with a certain capacitance, and the person feels numbness. On the other hand, when the phase difference (Φ) is 180 degrees, for example, a current flows between P1 and P2, so almost no current flows inside the human body. Therefore, when the phase difference is 180 degrees, people do not feel numbness and can therefore feel a stronger texture.

The tactile presentation panel 105 can present a plurality of spatially separated target areas 501. FIG. 10 shows an example of the relationship between the target area 501 and a finger. Sinusoidal signals P1 and P2 are applied to the plurality of target regions 501, respectively. The finger 300R1 and the finger 300L touching the target area 501 can feel the texture, and the finger 300R2 touching the area 502 outside the target area cannot feel the texture. The patterns of signals P1 and P2 in target region 501 are similar to those in FIG. 3.

FIG. 11 shows an example of a signal that the control unit 107 gives to the electrodes 155 in a region where the tactile sensation presentation panel 105 can present a tactile sensation. The control unit 107 provides signal pairs for presenting a tactile sensation to the fingers 300R and 300L to the electrodes 155 in the target region 501 and the target region 503, respectively. The target area 501 and the target area 503 are separated and do not overlap at all. The reference signal P0 is applied to the electrodes 155 in areas outside the target area 501 and the target area 503.

Specifically, the control unit 107 provides a signal pair consisting of a sine wave signal P1 and a sine wave signal P2 to the electrode 155 in the target region 501. The signal P1 and the signal P2 have the same frequency ω1 and different phases (phase difference φ1). The arrangement of the electrodes to which the signal P1 and the signal P2 are applied is, for example, similar to the arrangement described with reference to FIG.

The control unit 107 provides a signal pair consisting of a sine wave signal P3 and a sine wave signal P4 to the electrode 155 in the target region 503. Signal P3 and signal P4 have the same frequency ω2 and different phases (phase difference φ2). The arrangement of the electrodes to which signals P3 and P4 are applied is, for example, similar to the arrangement described with reference to FIG.

The frequency ω2 of the signals P3 and P4 is the same as or different from the frequency ω1 of the signals P1 and P2. The fact that the frequencies of the signals P1 to P4 are the same makes it easier to control the tactile presentation panel 105. The phase difference φ2 between the signals P3 and P4 is different from the phase difference φ1 between the signals P1 and P2. The different phase differences allow target regions 501 and 503 to present different intensities of tactile sensation.

In areas other than the target areas 501 and 503, a reference signal P0 with a constant potential is applied to the electrode 155. Therefore, as described above, the tactile sensation at the boundary between the target areas 501 and 503 becomes clear. Further, even if there is an unintentional erroneous touch by another finger outside the target areas 501 and 503, no tactile sensation is given.

In the example of FIG. 11, a pair of sinusoidal signals having different phase differences is applied to separated target regions 501 and 503 (no electrodes in common) within the same period. This allows the user to experience tactile sensations of different intensities in the target areas 501 and 503.

In another example, the control unit 107 may apply a pair of sinusoidal signals having different phase differences to the same area or two areas that partially overlap in separated periods (periods without overlap). For example, the control unit 107 applies signals P1 and P2 to the electrodes of the target area 501 in a first period, and applies signals P3 and P4 to the electrodes of the target area 501 in a second period following the first period.

By changing the area (electrode) to which the sine wave signal pair is applied, the control unit 107 can change the position and shape of the target area where the tactile sensation is actually presented. For example, the control unit 107 may continuously move the target area like a moving image.

FIG. 12 shows an example of an image displayed on a display device and a target area presenting a tactile sensation. The image 701 moves over the display area 710 of the display device over time. As the image 701 moves, the target area 711 presenting the tactile sensation also moves. Specifically, the target area for presenting the tactile sensation moves from area 711 to area 713 via area 712. The image 701 extends from an area 711 through an area 712 to an area 713.

Waveform diagram 720 shows the signal applied to the electrodes in region 715. The control unit 107 applies the signal P1 and the signal P2 to the electrodes in the region 715 during the period 722. The phase difference between the signal P1 and the signal P2 is, for example, 180°. The control unit 107 applies a reference signal to the electrodes in the region 715 during the period 722 . The control unit 107 applies the signal P1 and the signal P2 to the electrodes in the region 715 during the period 723.

At the end of period 721, a predetermined potential is accumulated on the electrode in region 715. However, since the reference signal is applied to the electrode in the region 715 during the period 721, the signal during the period 723 is not affected by the potential accumulated during the period 721. As mentioned above, the reference signal may be a constant potential or a low voltage oscillating potential on the order of a factor of 100 compared to the tactile signal amplitude. The frequency of the tactile signal is, for example, several tens to hundreds of Hz below the neural vibration detection threshold.

The tactile signal may be not only a single sinusoidal signal but also a trigonometric signal containing multiple frequency components. The frequency identity of the tactile signals of mutually adjacent electrodes means that the other trigonometric series signal has exactly the same frequency component terms as the plurality of terms that one trigonometric series signal has. Furthermore, the sameness of amplitude means that the coefficients of the same frequency component terms of the trigonometric series signals are the same. The present disclosure also includes tactile signals such as square wave signals, triangular wave signals, and other trigonometric signals.

In the following, some examples of patterns of the signals P1 and P2 (electrodes that provide) in the target area that provides a tactile sensation will be described. FIG. 13 shows an example pattern of signals P1 and P2 in the target area. The same signal P1 or P2 is applied to an electrode unit consisting of four electrodes adjacent to each other in the vertical and horizontal directions.

The electrode unit that is vertically and horizontally adjacent to the electrode unit that is made up of the electrode 155P1 that is given the signal P1 is the electrode unit that is made up of the electrode 155P2 that is given the signal P2. In other words, a plurality of electrode units to which signals P1 and P2 are applied form a checkered pattern.

The region 350 with which the abrasive material contacts includes an electrode 155P1 to which a signal P1 is applied and an electrode 155P2 to which a signal P2 is applied. In other words, the rubbing object is capacitively coupled to the electrode 155P1 and the electrode 155P2 at the same time, and can receive the vibrating electrostatic force from the electrode 155P1 and the electrode 155P2 at the same time.

The control unit 107 may change the pattern of the signals P1 and P2 given to the target area depending on the contact area of the abrasive object. For example, the control unit 107 provides signals P1 and P2 in the pattern shown in FIG. 3 when the contact area of the abrasive object is narrow, and provides signals P1 and P2 in the pattern shown in FIG. 13 when the contact area of the abrasive object is wide. .

The number of electrodes to which the same signal is applied making up the electrode unit can be arbitrarily set depending on the contact area of the abrasive object. For example, the electrode unit may be composed of 3×3 electrodes. In either configuration, the region of interest that provides a tactile sensation includes adjacent electrodes that are provided with signals that are out of phase.

FIG. 14 shows another example pattern of the signals P1 and P2 in the target area. The same signal is applied to each row of electrodes arranged along the Y axis. Different signals are applied to adjacent electrode rows along the X-axis.

Specifically, there is an electrode row composed of electrodes 155P1 arranged along the Y-axis to which a signal P1 is applied, and an electrode row 155P2 arranged along the Y-axis to which a signal P2 is applied. The electrode rows are arranged alternately along the X-axis. The same signal is applied to electrodes adjacent to each other along the Y axis, but signals P1 and P2 having different phases are applied to electrodes adjacent to each other along the X axis.

The contact region 350 of the abrasive material has a longer length along the X-axis than along the Y-axis, and its movement direction 351 is along the Y-axis. Contact area 350 includes electrode 155P1 and electrode 155P2 at any position. In other words, the rubbing object is capacitively coupled to the electrode 155P1 and the electrode 155P2 at the same time, and can receive the vibrating electrostatic force from the electrode 155P1 and the electrode 155P2 at the same time.

FIG. 15 shows an example pattern of signals P1 and P2 in the target area. The same signal is applied to each row of electrodes arranged along the X-axis. Adjacent electrode rows along the Y-axis are given different signals.

Specifically, there is an electrode row composed of electrodes 155P1 arranged along the X-axis to which the signal P1 is applied, and an electrode row composed of electrodes 155P2 arranged along the X-axis to which the signal P2 is applied. The electrode rows are arranged alternately along the Y axis. The same signal is applied to adjacent electrodes along the X-axis, but signals P1 and P2 having different phases are applied to adjacent electrodes along the Y-axis.

The contact area 350 of the abrasive material has a longer length along the Y-axis than along the X-axis, and its movement direction 351 is along the X-axis. Contact area 350 includes electrode 155P1 and electrode 155P2 at any position. In other words, the rubbing object is capacitively coupled to the electrode 155P1 and the electrode 155P2 at the same time, and can simultaneously receive the vibrating electrostatic force from the electrode 155P1 and the electrode 155P2.

The stripe pattern shown in FIGS. 14 and 15 allows easier control of the potential of the electrode 155. In this way, an appropriate pattern can be selected depending on the moving direction of the rubbing object, the contact area, etc. Note that in the example of FIG. 14, the same signal may be applied to two or more consecutive columns, and in the example of FIG. 15, the same signal may be applied to two or more consecutive rows.

FIG. 16 shows an example pattern of signals P1 and P2 in the target area. The tactile presentation panel 105 has the electrode and wiring layout shown in FIG. 2C. A signal P1 is applied to the wiring 151H and the electrodes connected thereto. A signal P2 is applied to the wiring 151V and the electrodes connected thereto. The electrode 155P1 to which the signal P1 is applied and the electrode 155P2 to which the signal P2 is applied form a checkered pattern.

FIG. 17 shows an example pattern of signals P1 and P2 in the target area. The tactile presentation panel 105 has the electrode and wiring layout shown in FIG. 2C. Signals P1 and P2 are alternately applied to the wiring 151H and the electrodes connected thereto. Further, the signal P1 and the signal P2 are alternately applied to the wiring 151V and the electrodes connected thereto.

An electrode unit made up of four adjacent electrodes 155P1 to which signal P1 is applied and an electrode unit made up of four adjacent electrodes 155P2 to which signal P2 is applied form a checkered pattern. Compared to the pattern in FIG. 16, the pitch of the checkered pattern is larger.

FIG. 18 shows an example pattern of signals P1 and P2 in the target area. The tactile presentation panel 105 has the electrode and wiring layout shown in FIG. 2B. Signals P1 and P2 are alternately applied to the wiring 151 and the electrodes connected thereto. The patterns of signals P1 and P2 are similar to the pattern shown in FIG.

As described above, the signal pattern can be changed depending on the wiring and electrode layout and the signal from the electrode drive circuit.

<Electrode drive circuit>
An example of the circuit configuration of the electrode drive circuit 106 will be described below. The electrode drive circuit 106 includes a changeover switch between the wiring line and the signal supply section. The signal supply section includes a reference potential supply section and a tactile signal supply section. The tactile signal supply unit supplies signal P1 or signal P2.

FIG. 19 shows an example of the circuit configuration of the electrode drive circuit 106. Electrode drive circuit 106 includes a circuit 810 for providing signal P1 and a circuit 820 for providing signal P2. A circuit 810 or a circuit 820 is connected to each wiring. That is, each electrode is given only one of the signal P1 or the signal P2 for tactile presentation. Thereby, the configuration of the electrode drive circuit 106 can be simplified.

Circuit 810 includes switches 811 and 812. Switch 811 connects electrode 155 and ground. Switch 812 connects electrode 155 and signal source 813 of signal P1. The control unit 107 controls the switches 811 and 812 to provide the electrode 155 with a ground potential (reference signal) or a signal P1 for tactile presentation.

Circuit 820 includes switches 821 and 822. Switch 821 connects electrode 155 and base ground. Switch 822 connects electrode 155 and signal source 823 of signal P2. The control unit 107 controls the switches 821 and 822 to provide the electrode 155 with a ground potential (reference signal) or a signal P2 for tactile presentation.

FIG. 20 shows another example of the circuit configuration of the electrode drive circuit 106. Electrode drive circuit 106 includes a circuit 830 for providing a selection signal from signal P1, signal P2, and a reference signal. A circuit 830 is connected to each wire.

Circuit 830 includes switches 831, 832 and 833. Switch 831 connects electrode 155 and base ground. Switch 832 connects electrode 155 and signal source 834 of signal P1. Switch 833 connects electrode 155 and signal source 835 of signal P2. The control unit 107 controls the switches 831, 832, and 833 to provide the electrode 155 with the ground potential (reference signal), the signal P1, or the signal P2. With this configuration, various patterns of signals P1 and P2 can be realized.

FIG. 21 shows another example of the circuit configuration of the electrode drive circuit 106. The electrode drive circuit 106 provides a selection signal from the signal P1, the signal P2, and the reference signal, and includes a circuit 840 for realizing a sensor function. A circuit 840 is connected to each wiring.

Circuit 840 includes switches 841, 842, 843 and 844. Switch 841 connects electrode 155 and base ground. Switch 842 connects electrode 155 and signal source 845 of signal P1. Switch 843 connects electrode 155 and signal source 846 of signal P2. Switch 844 connects electrode 155 and a sensor (not shown).

The control unit 107 controls the switches 841, 842, 843, and 844 to give the ground potential (reference signal), signal P1, or signal P2 to the electrode 155, or to send the signal from the electrode 155 to the sensor. give. This configuration allows the electrode to have not only a tactile presentation function but also a sensor function.

FIG. 22 shows another example of the circuit configuration of the electrode drive circuit 106. The electrode drive circuit 106 provides a selection signal from the signal P1, the signal P2, and the reference signal, and includes a circuit 850 for realizing a sensor function. A circuit 850 is connected to each wiring.

Circuit 850 includes switches 851, 852, 853 and 854. Switch 851 connects electrode 155 and reference signal 857. Switch 852 connects electrode 155 and signal source 855 of signal P1. Switch 853 connects electrode 155 to phase shifter 856, which is connected to signal source 855 of P1. Switch 854 connects electrode 155 and a sensor (not shown). The reference signal 857 may be, for example, a signal equivalent to the reference AC signal of the sensor circuit. Phase shifter 856 generates signal P2 having a different phase from signal P1. If the phase difference between the signal P1 and the signal P2 is 180 degrees, the phase shifter 856 may be an inverting circuit, for example.

An example of providing a sensor function to a tactile presentation device will be described with reference to FIGS. 23A to 23D. FIG. 23A shows periods of different states of the haptic presentation device 100. 23B to 23D each show the state of the electrode drive circuit during different state periods. The tactile presentation device 100 indicates a tactile presentation period 231, a discharge period 232, and a sensor period 233 by sequentially switching the switches connected to the electrodes 155.

During the tactile presentation period 231, the electrode 155 is connected to the signal P1 by switch S2. During the discharge period 232, the electrode 155 is connected to the reference potential P0 by the switch S1. During sensor period 233, electrode 155 is connected to the sensor circuit by switch S3. The reference potential P0 may be, for example, a reference potential power source, a ground, or an AC power source.

With this configuration, the voltage accumulated in the electrode 155 during the tactile presentation period 231 is discharged during the discharge period 232, so the sensor circuit is not affected by the electrode voltage during the sensor period 233, and stable sensor detection is possible. .

<Relationship between phase difference and tactile intensity>
The relationship between phase difference and tactile intensity will be explained below. In the following, it is assumed that the abrasive object is a finger. As described above, the control unit 107 inputs two sine wave signals having mutually different phases and the same frequency to two mutually adjacent electrodes arranged on the panel. However, since the tactile presentation device 100 and the user are electrically independent systems, the user's body potential (finger potential) changes depending on the user's state (including the surrounding environment).

For example, when the body is grounded, the potential of the finger is the ground potential. On the other hand, when the body is not grounded, the potential of the finger is the average of the two signals P1 and P2 ((P1+P2)/2). Therefore, the electrostatic force (tactile intensity) generated between the finger and the electrode of the tactile presentation device 100 changes depending on the state of the user. Therefore, it is desirable for the tactile presentation device 100 to reduce changes in electrostatic force (tactile intensity) depending on the state of the user.

The tactile presentation device 100 of the present disclosure reduces changes in electrostatic force (tactile intensity) caused by the state of the user by including the phase difference between the two sine wave signals within a specific range. This will be explained in detail below.

FIG. 24 shows a subjective evaluation of the relationship between the phase difference of the sinusoidal signal pair and the lowest voltage amplitude (detection threshold) that could provide a tactile sensation. In the graph of FIG. 24, the horizontal axis shows the phase difference (angle) of the sinusoidal signal pair, and the vertical axis shows the voltage (detection threshold) at which texture is felt. White circles indicate evaluation results in a state where the body is in contact with the ground, and black circles indicate evaluation results in a state where the body is not in contact with the ground. The detection threshold of phase difference every 10 degrees was evaluated.

As described with reference to FIG. 3, the tactile presentation device used in the evaluation inputs two signals with different phase differences to two electrode groups arranged in a checkered pattern. The frequency of the input signal was 150Hz.

As can be understood from the graph of FIG. 24, the difference between the detection threshold in the body-grounded state and the detection threshold in the body-not-grounded state changes significantly depending on the phase difference. In the graph of FIG. 24, in a range 401 of a phase difference of 40 to 60 degrees, the difference between the detection threshold in the body-grounded state and the detection threshold in the body-not-grounded state is small. Further, in a range 402 of phase difference 110 to 180 degrees, the difference between the detection threshold in the body-grounded state and the detection threshold in the body-not-grounded state is small.

Here, the detection threshold and the tactile intensity have a relationship such that when the voltage amplitude for tactile presentation is the same, the lower the detection threshold, the stronger the tactile intensity, and the higher the detection threshold, the weaker the tactile intensity. According to FIG. 24, in ranges 401 and 402, the difference in the detection threshold between the body contact state and the body non-contact state is small, so the tactile sense intensity is approximately the same regardless of whether the body is in contact with the ground or not. was able to present. Furthermore, the detection threshold for the range 401 is higher than the detection threshold for the range 402. In the tactile presentation device, the tactile intensity changes depending on the phase difference, and the tactile intensity in range 401 was smaller than the tactile intensity in range 402.

If the tactile presentation device and the rubbing object are electrically independent systems, it will be relatively easy to apply it to various devices. However, since the potential of the abrasive object varies depending on the surrounding environment and the electrode potential near the abrasive object, it is difficult to stably present a constant tactile intensity (electrostatic force). From the evaluation in FIG. 24, by setting the phase difference of the sinusoidal signal pair in range 401 and range 402, a constant tactile intensity can be stably presented.

A difference in tactile intensity exists between the phase difference ranges 401 and 402. Specifically, the tactile intensity in the phase difference range 401 is weaker than the tactile intensity in the phase difference range 402. When using sine wave signal pairs with different phase differences in separate regions or periods, the tactile presentation device 100 selects the phase difference of one sine wave signal pair from one phase difference range, and selects the phase difference of one sine wave signal pair from one phase difference range, and may be selected from the other phase difference range. Thereby, the difference in tactile intensity can be increased. The tactile presentation device 100 may select the phase difference between both pairs of sine wave signals from one phase difference range.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. Those skilled in the art can easily change, add, or convert each element of the embodiments described above within the scope of the present invention. It is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment.

Reference Signs List 100 tactile presentation device, 101 support substrate, 105 tactile presentation panel, 106 electrode drive circuit, 107 control unit, 151 Contact area, 351, 352 Movement direction, 401, 402, 451, 452, 631, 632, 635, 636 Phase difference range, 421 Electrostatic force amplitude in body grounded state, 422 Electrostatic force amplitude in body not grounded state, 441 Different positions Normalized absolute value of difference in detection threshold between body grounding state and body non-grounding state in phase difference, 442 Electrostatic force amplitude difference, 454 Tactile difference non-detection range, 501, 502, 503 Tactile presentation target area, 601 Static electricity Change in the average value of the force amplitude, 602 Change in the variation width of the electrostatic force amplitude, 603 Change in the variation width of the electrostatic force amplitude and the ratio of the variation width of the electrostatic force amplitude to the average value of the electrostatic force amplitude, Cb Human body capacitance, Cp1, Cp2 capacitance, EP1, EP2 electrode, P0 reference signal, P1-P4 sine wave signal

Claims (13)

a panel including a tactile presentation area including a plurality of electrodes;
a control unit that controls the panel;
including;
The control unit simultaneously applies a first trigonometric series signal and a second trigonometric series signal including one or more frequency component terms to a first region in the tactile sense presentation region,
The first trigonometric series signal and the second trigonometric series signal are applied to different electrodes in the first region,
the first trigonometric series signal and the second trigonometric series signal have the same frequency component terms and different phases;
The first trigonometric series signal and the second trigonometric series signal are both voltage signals whose absolute values are not zero at a predetermined time,
The signal given to the first region is composed of the first trigonometric series signal and the second trigonometric series signal,
The control unit applies a constant potential reference signal to all electrodes in an area adjacent to the first area.
Tactile presentation device. The tactile presentation device according to claim 1,
The tactile presentation area includes a plurality of the first areas spatially separated within the same period,
The control unit simultaneously provides the first trigonometric series signal and the second trigonometric series signal to the plurality of first regions,
Tactile presentation device. The tactile presentation device according to claim 1,
the phase difference between the different phases is 180 degrees;
Tactile presentation device. The tactile presentation device according to claim 1,
the circuit for supplying the first trigonometric series signal and the second trigonometric series signal includes a phase shifter or an inverting circuit;
Tactile presentation device. The tactile presentation device according to claim 1,
The first trigonometric series signal is a first sine wave signal, and the second trigonometric series signal is a second sine wave signal.
Tactile presentation device. The tactile presentation device according to claim 5,
The tactile presentation area includes a plurality of the first areas spatially separated within the same period,
The control unit simultaneously applies the first sine wave signal and the second sine wave signal to the plurality of first regions,
Tactile presentation device. The tactile presentation device according to claim 5,
the phase difference between the different phases is 180 degrees;
Tactile presentation device. The tactile presentation device according to claim 5,
a circuit for supplying the first sine wave signal and the second sine wave signal includes a phase shifter or an inverting circuit;
Tactile presentation device. The tactile presentation device according to claim 5,
A third sine wave signal and a fourth sine wave signal are simultaneously applied to a second area in the tactile sense presentation area, and the third sine wave signal and the fourth sine wave signal are applied to different electrodes in the second area. given,
the third sine wave signal and the fourth sine wave signal have the same frequency and different phases;
The third sine wave signal and the fourth sine wave signal are voltage signals whose absolute values are not zero at a predetermined time,
The phase difference between the first sine wave signal and the second sine wave signal is different from the phase difference between the third sine wave signal and the fourth sine wave signal,
Tactile presentation device. The tactile presentation device according to claim 9,
The first region and the second region are separate regions,
Tactile presentation device. The tactile presentation device according to claim 9,
At least a portion of the second region is included in the first region,
The control unit provides the third sine wave signal and the fourth sine wave signal to the second region in a different period from the first sine wave signal and the second sine wave signal,
Tactile presentation device. The tactile presentation device according to claim 9,
the first sine wave signal, the second sine wave signal, the third sine wave signal and the fourth sine wave signal have the same amplitude;
Tactile presentation device. The tactile presentation device according to claim 9,
The phase difference between the first sine wave signal and the second sine wave signal is within a first range,
The phase difference between the third sine wave signal and the fourth sine wave signal is within a second range separated from the first range,
The first range is from 40 degrees to 60 degrees,
The second range is from 110 degrees to 180 degrees.
Tactile presentation device.

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