JPH0890472A - Tactile sense transmitting device - Google Patents

Abstract

PURPOSE: To miniaturize the tactile sense transmitting device by making a simulated tactile sense transmitting member perform a motion in accordance with a degree of hardness, softness, etc., of an object, and touching the simulated tactile sense transmitting member by a user, so as to simulatively obtain from its movement a contact feeling of the object. CONSTITUTION: When AC voltage is applied across electrodes 1a, 1b of constituting an electrostatic actuator 1ab, the drive electrode 1b comes into contact and separate relating to the fixed electrode 1a, to generate vibration in a simulated tactile sense transmitting member 1f. Resistance of an object into contact with the simulated tactile sense transmitting member 1f, that is, the skin of a man serves as mechanical impedance. Since the skin of the man is pressed against a protecting member 1h, the simulated tactile sense transmitting member 1f passes through a hole of the protecting member 1h, to come into contact with the skin. Thus, a dynamic or static simulated tactile sense, based on vibrating a simulative tactile sense transmitting device, is directly transmitted to an operator of mounting a tactile sense transmitting unit.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tactile transmission device for transmitting contact information to a human tactile organ when manipulating an object that cannot be touched directly.

[0002]

2. Description of the Related Art Conventionally, a device for indirectly operating a fine object that cannot be directly touched and a device for performing work in an extreme environment are known. Such a device is provided with an operation unit operated by an operator and an operation unit in which a manipulator or the like directly operates on an object by operating the operation unit.

FIG. 16 schematically shows the entire structure of a microscope provided with a micromanipulator.
As shown in FIGS. 16A and 16B, this microscope has
Microscope body 16a and microscopic cells 16b (microscopic object) such as a fertilized egg provided on the microscope body 16a
Is provided with a pipette 16c for suction-fixing at a predetermined position, and a needle 16d capable of injecting a reagent or a gene having different genetic information into the cells 16b suction-fixed by the pipette 16c. . Also,
The microscope body 16a is provided with a pipette joystick 16f and a needle joystick 16e that can operate the pipette 16c and the needle 16d while observing with a microscope (conventional example 1).

According to this structure, the joystick 16f for pipette and the joystick 16e for needle insertion are used.
Is operated, a predetermined cell micromanipulation such as cutting and injection is performed on the cells 16b sucked and fixed by the pipette 16c through the puncture needle 16e (specifically, measurement and control; Vol. 23, No.9 P32-38 Micromanipulation of cells; see Kano).

FIG. 17 schematically shows the structure of a robot manipulator system. As shown in FIG. 17, the manipulator system includes a master arm 17f capable of setting the operator's arm, a slave arm 17c operable in response to the operator's arm movement, and a signal indicating the operator's arm movement. It is provided with a first computer 17h that converts and outputs it, and a second computer 17i that operates the slave arm 17c based on a signal output from the first computer 17h (conventional example 2).

The master arm 17f holds a plurality of joints 17d having sensors (not shown) built therein and an operator's arm to hold the movements of the arms into a plurality of indirect parts 17d.
A fixing member 17g for transmitting to the body and a treatment portion 17e which is provided on the free end side of the plurality of indirect portions 17d and moves in response to and following the movement of the arm are provided.

In the first computer 17h, the movement of the arm detected by the sensor (that is, the plurality of indirect parts 1)
The master arm control unit 17j and the operating environment simulator 17m that perform predetermined signal processing on the operation signal corresponding to the movement 7d) are built in.

The second computer 17i incorporates a slave arm control unit 17k and a task environment simulator 17n for performing a predetermined signal processing on the signal output from the first computer 17h.

The slave arm 17c has a plurality of indirect portions 17a in which sensors (not shown) are incorporated, and a treatment portion 17b fixed to the free ends of the plurality of indirect portions 17a.
And the plurality of indirect sections 17a are operated by the treatment section 1 according to a signal output from the second computer 17i.
7b is moved in the direction of a predetermined target M, and the target M
It is configured so that a predetermined treatment can be applied to the.

According to this structure, the operator holds the arm on the master arm 17f and arbitrarily moves the arm, so that the operating state is detected by the sensor. Based on the operation signal detected at this time, the first and second computers 17h and 17i drive the slave arm 17c. That is, the operation of the operator is the master arm 17f.
Will be reproduced by the slave arm 17c via.

At this time, when the treatment portion 17b moved by the slave arm 17c receives an external force from the object M, the external force directly acts on the operator's arm via the slave arm 17c and the master arm 17f. Works.

[0012] A series of such manipulator systems has been announced at present including a robot manipulator system. (For details, see Institute of Mechanical Engineering, Vol.46 (1992), No.2 P170-182 Impedance Controlled Master-Slave System-Basic Principle and Application to Transmission Delay: See Tachi and Sakaki) Reference numeral 18 schematically shows the structure of a grasping forceps 18a which is a medical treatment tool.

As shown in FIGS. 18 (A) and 18 (B), the grasping forceps 18a is provided at an insertion portion 18b to be inserted into the body cavity through, for example, a trocar, and at the tip of the insertion portion 18b. The forceps portion 18c and the operation portion 18d provided at the base end portion of the insertion portion 18b are provided (conventional example 3).

The forceps portion 18c is provided with a pair of forceps members 18e and 18f which are rotatably supported with respect to each other. Further, the operation portion 18d includes a pair of forceps members 18e,
A fixed operation handle 18g fixed to the base end portion of the insertion portion 18b and a movable operation handle 18h rotatably provided with respect to the fixed operation handle 18g are provided so as to open and close 18f. .

According to this structure, the movable operation handle 18h is rotated to slide the operation shaft (not shown) in the insertion portion 18b in the front-rear direction.
A pair of forceps members 18 via a link mechanism (not shown)
e and 18f are opened and closed.

By the way, the above-mentioned conventional example has the following problems. In the microscope of Conventional Example 1 (see FIG. 16), although the operation of the operation system such as the pipette 16c and the needle 16d is three-dimensional, the observation image of the microscope is a two-dimensional image and the depth information is the focus of the image. It can be obtained only by information. Therefore, there arises a problem that it is difficult to accurately determine the information as to whether or not these operation systems are accurately in contact with the minute object from the observed image. That is,
Accurate contact of the motion system with the fine object requires a certain amount of skill, and therefore, there arises a problem that the observation efficiency and the processing efficiency decrease.

Furthermore, research subjects in the medical and biotechnology fields are
From cells to intracellular substances, they are changing into smaller objects. Therefore, the observation and operation part of the object tends to be further miniaturized, and accordingly, the operation of the manipulator is required to be more sophisticated and accurate.

Further, in the manipulator system of Conventional Example 2 (see FIG. 17), it is difficult to express information such as hardness and softness of the object M in the master, so that, for example, an ordinary person grips the object. It is not possible to recreate the subtle touch of feeling. Reproduction of rough operating conditions such as conveyance of an object can be adequately dealt with by the system of Conventional Example 2, but in the technical field of micromanipulators, etc., where precise and minute operations and judgments are required, it is based on resistance indication. It is not enough to improve the operability and accurately recognize the grasped object.

Further, in Conventional Example 3 (see FIG. 18),
Since a delicate operation feeling cannot be obtained due to the mechanism of the grasping forceps 18a, even a skilled operator can check the opening / closing degree of the pair of forceps members 18e and 18f, grasping and detaching the tissue while observing the observation image of the laparoscope. Very careful and accurate operation such as confirmation is required. Therefore, there is a problem that the treatment efficiency is reduced.

Also, the endoscope inserted into the body cavity has the same problem as the forceps. That is, as shown in FIG. 19, the current endoscope 19 that performs an insertion operation by relying only on image information observed through the distal end portion, resistance at the time of insertion, and the like.
Then, it is currently difficult to operate and insert the endoscope 19 while predicting the pain caused by the outer wall of the endoscope 19 pressing the organ inner wall S of the patient. Further, with the current device configuration of the endoscope 19, it is impossible to obtain, as the operation information, the correlation between the compression level of how much pressure the patient feels and how much pressure the patient feels. Is.

As described above, in the configurations of Conventional Examples 1 to 3, under what conditions the manipulator is in contact with the object or the tissue at the time of operation, or how much force the object is grasping. It was not possible to confirm the contact state or the grasped state and to obtain various contact information such as the surface roughness and the surface temperature of the object.

That is, in Conventional Examples 1 to 3, various kinds of tactile information such as tactile information and grasping state of the object, surface roughness and surface temperature of the object are fed back to the operator (operator). Therefore, it is impossible to perform a delicate and accurate operation based on human sense of touch.

Therefore, in order to solve such a problem,
The present applicant has proposed a new tactile transmission device in Japanese Patent Application No. 5-007196. This tactile transmission device is shown in FIG.
As shown in 0, a pedestal 20a, a magnet 20c provided on the pedestal 20a, a coil 20b provided in the magnet 20c, a stopper 20d for supporting the coil 20b, and a coil 20b provided on the coil 20b. Tactile presentation unit 20
and an electro-mechanical transducing transducer is provided.

According to such a configuration, the voice coil constituted by the coil 20b and the magnet 20c is controlled to drive the tactile sense presenting unit 20e at a frequency according to human perception, so that the tactile sense presenting unit 20e is displayed. Information such as the hardness and softness of the object is transmitted to the fingertips of the operator placed on the. Furthermore, by changing the amount of current flowing through the voice coil to change the holding force of the tactile sense providing unit 20e, when a force for crushing or crushing the object is applied, the object repels. The force is transmitted to the operator's fingertip.

According to such a tactile transmission device, the operator is provided with the sense information as if he / she was actually directly manipulating the object with his / her own hand. For this reason, it is possible to eliminate the divergence of the operation, which is a problem at present, and to improve the function of the apparatus and ensure high-precision operability.

As a tactile transmission device (tactile display) for visually impaired persons, not to mention a Braille display for transmitting character information, still images such as photographs and pictures and moving images of television are arranged on the surface. A tactile transmission device (tactile display) that is converted into a concavo-convex pattern of a large number of tactile pins and feels it by the tactile sense of the skin has been studied.
(For details, see JOURNAL OF THE AUDIO ENGINEERING SOCIE
TY: Volume 19, number5 (May 1971) pp427-429: Pau
(See Bach-y-Rita et al.) However, although the tactile pin itself is thin, the size of the actuator that drives it is large, so if these devices are arranged in an array, the size of these devices will increase. I have no choice. Further, since it has a large number of tactile pins, it has many drawbacks such as high price, and there is a demand for a low-priced unit in which the tactile pins and the actuator are integrated.

Further, recently, a semiconductor manufacturing technique called a micromachine is used to form 1 on a Si wafer.
The electrostatic actuator, which has been proposed in the research of mechanical systems of mm or less, has been confirmed to operate, but because it is configured on a two-dimensional plane, it extracts a force in a direction perpendicular to the structure. Things are basically not considered.
Therefore, it is regarded as a promising power source for a micromachine system, but there are very few concretely proposed driving means in the system.

[0028]

The above-mentioned tactile transmission device realizes the grasp of the contact state with the object. But,
Although it is originally desired that such a device be installed at an operation site to be operated, it is desirable that the device be as small as possible in order to be installed at the operation site. Although the tactile transmission device can be downsized, the unit using the semiconductor manufacturing technology can be downsized. Also,
Since it can be manufactured in large quantities at one time, the number of units can be significantly reduced. An object of the present invention is to provide a haptic transmission device including a very small haptic transmission unit manufactured by semiconductor manufacturing technology.

[0029]

The present invention is a tactile transmission device comprising signal processing means and tactile transmission means, wherein the tactile transmission means includes at least one tactile transmission unit, and the tactile transmission unit is a pseudo tactile transmission. It includes a member, a driving unit that drives the pseudo tactile sense transmitting member in response to a signal from the signal processing unit, and a protection member that limits the force applied to the pseudo tactile sense transmitting member.

[0030]

The pseudo tactile transfer member performs, for example, a motion according to the hardness, softness, or viscoelasticity of the object, and the user obtains a tactile sensation on the object from the movement of the pseudo tactile transfer member. Pseudo-tactile means a sensation in which the degree of hardness, softness, viscoelasticity, or the like, which is originally obtained as a tactile sensation, is alternatively expressed as a vibration or a pressing sensation. By touching the pseudo tactile transfer member, the operator obtains the contact state with respect to the object as a pseudo tactile sense, not a real tactile sense.

Alternatively, the tactile transfer units are arranged in a matrix, and the pseudo tactile transfer member performs a movement corresponding to a character or an image, and the user can detect the movement of the plurality of pseudo tactile transfer members by the tactile sensation of the skin. Get information on characters and images.

[0032]

Embodiments of the present invention will now be described with reference to the drawings. As a first embodiment, a haptic transmission unit according to the present invention will be described with reference to FIGS. 1 to 4.

As shown in FIG. 1, the tactile transmission unit is provided with two electrostatic actuators 1ab. The electrostatic actuator has a fixed electrode 1a and a drive electrode 1b, the fixed electrode 1a is fixed to a substrate 1j, and the drive electrode 1b is movably provided on the substrate 1j by a support member 1c. As shown in FIG. 2, these electrodes 1a and 1b are both in the shape of comb teeth, and are arranged so that the comb teeth of one electrode are inserted between the comb teeth of the other electrode. Has been done. When a voltage is applied between the two electrodes 1a and 1b, the electrostatic actuator 1ab having such a structure moves so that the drive electrode 1b is drawn into the fixed electrode 1a.

As can be seen from FIG. 1 again, the elastic member 1d has a V shape, and both ends 1i thereof are fixed to the two drive electrodes 1b, whereby the elastic member 1d is formed.
Are supported by the drive electrode 1b. Elastic member 1d
A rod-shaped pseudo tactile transmission member 1f is fixed to the valley portion of the so as to be substantially perpendicular to the substrate 1j. Further, a vibration blocking member 1g for damping the transmitted vibration is provided on the slope of the elastic member 1d. A protective member 1h is attached to the substrate 1j at a predetermined distance so that the tip of the pseudo tactile transfer member 1f passes through a hole formed in the protective member 1h.

When a voltage is applied between the two electrodes 1a and 1b forming the electrostatic actuator 1ab, the drive electrode 1b moves toward the fixed electrode 1a as described above. That is, the two drive electrodes 1b move in directions away from each other. As a result, as shown in FIG. 3, both ends 1i of the V-shaped elastic member 1d are opened, and the pseudo tactile transfer member 1f rises. As can be easily understood from the figure, the moving direction of the pseudo tactile transfer member 1f is perpendicular to the moving direction of the drive electrode 1b.

Therefore, the electrostatic actuator 1a
When an AC voltage is applied between the electrodes 1a and 1b of b, the movement of the pseudo tactile transfer member 1f becomes vibration. Pseudo-tactile member 1
The resistance of the object that f touches, that is, the human skin, becomes the mechanical impedance. The human skin is pressed against the protective member 1h as shown in FIG. 4, for example. Since the pseudo tactile transfer member 1f comes into contact with the skin through the hole of the protective member 1h, even if the pressing force against the protective member 1h changes, the resistance of the skin that closes the hole and that the pseudo tactile transfer member touches is almost the same. It does not change. As a result, the skin does not push the pseudo tactile sense transmitting member 1f more than necessary, and the mechanical impedance can be predicted from the beginning and the optimal configuration can be achieved.

As a pseudo tactile transmission method, for example,
The change in the contact force with respect to the object presents the tactile sensation detected by the tactile information signal detection means as a frequency change of vibration via the pseudo tactile transfer member, and the change in the pressing force with respect to the object is measured in advance. Based on the mechanical characteristics of the object and the contact force detected by the tactile information signal detection means, the signal processing means calculates the deformed state of the object, that is, the feeling of pressing, and the calculated data is transmitted via the pseudo tactile transfer member. There is a method of presenting it as a vibration offset change. Further, when transmitting a pseudo tactile sensation as vibration, a thin film elastic member 1d
Has a specific natural vibration, and in order to change the vibration in a wide range, it is necessary to optimize this natural vibration, and this optimization is achieved by the vibration isolation member 1g.

According to the present embodiment, it is possible to directly transmit a dynamic pseudo tactile sense or a static pseudo tactile sense based on the vibration of the pseudo tactile sense transmitting device to the operator wearing the tactile sense transmitting unit.

As a second embodiment, another elastic member in place of the V-shaped elastic member shown in FIG. 1 will be described with reference to FIG. The elastic member 5d has a U-shape, and is made of a plate having an appropriate thickness, which is much smaller than the width. Similar to the first embodiment, the elastic member 5d has a pseudo tactile transfer member 5f at its lower end.
Is fixed, and a vibration isolation member 5g is provided at an intermediate portion between both ends and a lower end.

According to the elastic member 5d of this embodiment, as in the first embodiment, the movement of the drive electrode parallel to the substrate is converted into the movement of the pseudo tactile sense transmission member perpendicular to the substrate. The elastic member 5d of this embodiment can also be applied to the tactile transmission units of the third and fourth embodiments described later.

As a third embodiment, another tactile transfer unit having a structure different from that of the tactile transfer unit shown in FIG. 1 will be described with reference to FIG. In the figure, members equivalent to the members described in the first embodiment are indicated by the same reference numerals in the reference numerals.

As shown in FIG. 6, the tactile transmission unit of this embodiment has one electrostatic actuator 6ab. This electrostatic actuator 6ab is the same as the electrostatic actuator in the first embodiment, and the substrate 6j
A fixed electrode 6a fixed to the drive electrode 6b and a drive electrode 6b movably supported by a support member 6c.
Both a and 6b are shaped like comb teeth, and are arranged such that the comb teeth of one electrode are located between the comb teeth of the other electrode. The elastic member 6d has a V-shape as in the first embodiment, one end of which is fixed to the drive electrode 6b, and the other end of which is fixed to the substrate 6j.

Since the tactile transmission unit of this embodiment has only one electrostatic actuator, the stroke of the pseudo tactile transmission unit 6f is smaller than that of the first embodiment, but the entire unit is small.

As a fourth embodiment, another tactile transfer unit having a structure different from that of the tactile transfer unit shown in FIG. 1 will be described with reference to FIG. In the figure, members equivalent to the members described in the first embodiment are indicated by the same reference numerals in the reference numerals.

As shown in FIG. 7, the tactile transmission unit of this embodiment has two electrostatic actuators 7ab. Each electrostatic actuator 7ab has a rectangular fixed electrode 7a fixed to a substrate 7j and a rectangular drive electrode 7b movably supported by a support member 7c. These electrodes 7a and 7b are viewed from above. They are arranged in different steps so that when they do, they overlap.

In this electrostatic actuator 7ab,
When a voltage is applied between the electrodes 7a and 7b, electrostatic attraction works between the electrodes, and the drive electrode 7b moves to the fixed electrode 7a side. That is, the two drive electrodes 7b move in directions away from each other. As a result, the same movement of the pseudo tactile transfer member 7f as in the first embodiment can be obtained.

As a fifth embodiment, a tactile sense transmitting means including a tactile sense transmitting unit and a ring-shaped wearing tool for holding the same will be described with reference to FIG. As shown in FIG. 8, the tactile transmission unit of the first embodiment (FIG. 1) or the third embodiment (FIG. 6) or the fourth embodiment (FIG. 7) is provided at the center of the inside of the ring-shaped wearing device 8b. 8a is attached. The ring-shaped wearing device 8b is fitted on the operator's finger, whereby the tactile transfer unit 8a is held in a state where the pseudo tactile transfer member is in contact with the operator's skin.

Since the wearing tool of this embodiment is a ring type, the operator can release the entire palm and all fingers.
As a result, the contact state with respect to the object is transmitted to the operator as a pseudo tactile sensation without impairing the operability of other devices. In addition, since the ring-shaped wearing device 8b is not a completely closed ring but has a partly lacking shape, it is possible to cope with a personal difference in the thickness of the finger and to have appropriate elasticity. As a result, the pseudo tactile transfer member of the tactile transfer unit can be surely brought into contact with the operator's skin.

As a sixth embodiment, an overall structure when the tactile transmission unit of the above embodiment is used will be described with reference to FIG. In the figure, the haptic transmission unit is drawn as the haptic transmission means described in the fifth embodiment.

As shown in FIG. 9, the tactile sense transmitting means 9c is connected to the signal processing means 9b for processing the contact state signal from the tactile sense signal detecting means 9a. Human vibration perception requires an amplitude to perceive as the vibration frequency is lower, and naturally there is a limit, but it can be perceived with a smaller amplitude as the frequency becomes higher. It is generally known that humans can recognize vibrations from DC to about 1 kHz, and among them, there are frequencies that are most easily recognized.

The signal processing means 9b is a tactile signal detecting means 9a.
The output signal is adjusted in vibration amplitude and vibration frequency in consideration of human perception characteristics, converted into a signal for driving the haptic transmission unit of the haptic transmission means 9c, and an optimal drive signal is generated.

Further, it has the mechanical characteristics of the object measured in advance as data, and calculates the deformation amount of the object at the time of contact from the contact force output from the tactile signal detecting means 9a and this data, and calculates the deformation amount. A signal is output to the tactile sense transmitting means 9c having a display function.

As a seventh embodiment, a tactile sense transmitting means provided with a plurality of tactile sense transmitting units and a ring-shaped wearing tool for holding them will be described with reference to FIG. As shown in FIG. 10, the haptic transmission means of this embodiment has a ring-shaped wearing device 10d, and three tactile transmission units 10a, 10b, and 10c are attached to the inside of the ring-shaped wearing device 10d with a predetermined interval. . Contact transmission units 10a, 10b and 10c
Are described in the first embodiment (FIG. 1), the third embodiment (FIG. 6) or the fourth embodiment (FIG. 7). The mounting tool 10d is the same as that shown in the fifth embodiment (FIG. 8).

When two tactile transmission units separated by a certain distance are driven at the same time with the same energy (stimulation intensity, vibration frequency, etc.) to be transmitted, stimulation is performed from the respective positions of the two tactile transmission units. I feel. However, if the energies transmitted by the two haptic transmission units are changed from each other, it is recognized that the stimulus is transmitted at a position different from the original movement position of each unit. This phenomenon is known as "phantom sensation" or "apparent movement."

The tactile transfer means of this embodiment can carry out tactile transfer using this "phantom sensation" or "apparent motion". For example, the haptic transmission unit 10
When a and 10b are driven by the same force (same amplitude, same frequency), the operator wearing this tactile transmission means
The force transmission unit does not perceive from two points 10a and 10b, but perceives that the force is transmitted at an intermediate position between 10a and 10b. In addition, the tactile transmission units 10a and 10b
When the ratio of the transmission energies of 2 is 1: 1, the transmission position is 2/3 of the distance between the haptic transmission unit 10a and 10a-10b.
Is perceived as being transmitted at the position. This is called "phantom sensation".

In the present embodiment, by accurately controlling the driving of a limited number of tactile transmission units, the transmission site of the stimulus transmitted as pseudo tactile information can be widely distributed regardless of the actual position of the tactile transmission unit. If the driving stimulus to be transmitted is driven so as to shift to the adjacent tactile transmission unit temporally, it will be as if the stimulation sequentially moves from the position 10a to the position 10b. It becomes possible to convey sensations and realize a sense of movement. This is called the "apparent movement."

The method of pseudo tactile transmission of a single tactile transmission means is, for example, that the change of the contact force with the target surface output from the tactile information signal detection means is changed by the frequency change of the vibration of the tactile transmission means of this embodiment. In addition, if the vibration position due to the offset change can be varied like the tactile transmission unit of the first embodiment, the mechanical characteristics measured in advance and the contact force output from the tactile information signal detection means are also included. It is also possible to calculate the deformation of the object in the signal processing means and to show it by the change in offset of vibration.

Since the tactile sense transmitting means of the present embodiment has a ring shape, the fingertips necessary for normal equipment operation are released as in the fifth embodiment, so that the tactile sense is maintained without deteriorating the operability. Can be transmitted.

As an eighth embodiment, a tactile sense transmitting means provided with a tactile sense transmitting unit and a bracelet type wearing tool for holding the same will be described with reference to FIG. As shown in FIG. 11, the haptic transmission means of this embodiment has a haptic transmission unit 11a and a bracelet-type wearing device. The haptic transmission unit 11a is the one described in the first embodiment (FIG. 1), the third embodiment (FIG. 6) or the fourth embodiment (FIG. 7). The bracelet-type wearing device has a holding member 11b for holding the tactile transmission unit 11a and a belt 11c for fixing the holding member 11b to the wrist of the operator.

The mounting tool is mounted by winding and fastening the belt 11c around the wrist of the operator. Belt 11c
Can cope with individual differences in the thickness of the wrist of the operator, so that the tactile transmission unit is always held with its pseudo tactile transmission member in contact with the skin of the human body for any operator.

In this embodiment, since the wearing tool is a bracelet type, the operator can release the palm and all fingers. As a result,
The contact situation with respect to the object is transmitted to the operator as a pseudo tactile sensation without impairing the operability of other devices.

As a ninth embodiment, a tactile sense transmitting means provided with a plurality of tactile sense transmitting units and a bracelet type wearing tool for holding them will be described with reference to FIG. Figure 1
As shown in FIG. 2, the tactile transmission unit of this embodiment has three tactile transmission units 12a, 12b, and 12c, a holding member 12d for holding these units, and a wearing tool including a belt 12e.

The tactile transmission means of this embodiment is mounted by winding and stopping the belt 12e around the wrist, and the three tactile transmission units 12a, 12b and 12c are held with their pseudo tactile transmission members in contact with the skin. .

The tactile transmission means of this embodiment is provided with three tactile transmission units, and similar to the seventh embodiment, tactile transmission using "phantom sensation" or "apparent motion" can be performed.

As a tenth embodiment, a tactile transfer unit array in which a plurality of tactile transfer units are arranged in a matrix will be described with reference to FIG. As shown in FIG. 13, the tactile transfer unit array has a plurality of tactile transfer parts 13a arranged in a matrix.
Each tactile transfer section 13a has a pseudo tactile transfer member 13b that moves vertically to the substrate 13d. The protective plate member 13c has a hole through which the pseudo tactile transfer member 13b of each tactile transfer portion 13a passes, and is supported at a predetermined distance from the substrate 13d. As a result, the tactile transmission units of the first embodiment (FIG. 1), the third embodiment (FIG. 6) or the fourth embodiment (FIG. 7) are arranged in a matrix.

The tactile transfer unit array of this embodiment can express Braille by driving each tactile transfer unit independently corresponding to each point of the Braille character. Such a tactile transfer unit array can be easily and compactly and thinly manufactured by using the semiconductor manufacturing technology. Moreover, since it can be mass-produced, it can be supplied at low cost.

As an eleventh embodiment, a tactile sense transmitting means provided with a tactile sense transmitting unit array and a bracelet type wearing tool for holding the same will be described with reference to FIG. Figure 1
As shown in FIG. 4, the tactile transfer unit of this embodiment has a tactile transfer unit array 14a and a bracelet-type wearing device. The tactile transmission unit 14a is the tenth embodiment (FIG. 13).
It was explained in. The bracelet-type wearing device has a holding member 14b for holding the tactile transmission unit array 14a and a belt 14c for fixing the holding member 14b to the user's wrist.

Usually, a visually impaired person recognizes character information by actively tracing a Braille print with his fingertip. However, during this work, I use my fingertips and cannot do any other work. In a simple example, a healthy person can hold a coffee cup in one hand and carry it in his mouth while reading, but in the case of a visually impaired person, a person who scans Braille once should be used. It is necessary to take a rest and hold the cup again.

By using the tactile transmission means of this embodiment, the visually impaired person can passively obtain information. In other words, the user wears the bracelet-type tactile transmission means on his / her wrist, and can use both hands freely when obtaining information. Therefore, a visually impaired person who wears this can recognize the information presented by the tactile transmission means as a tactile sensation felt on the wrist without the need to scan Braille with his / her fingertips. Even in this case, it becomes possible to perform another operation while reading a book, as in a normal person.

As the twelfth embodiment, FIG. 15 shows the overall structure when the tactile transmission means of the eleventh embodiment is used.
Will be described with reference to. As shown in FIG. 15, the tactile sense transmitting means 15c is connected to a signal processing means 9b for processing a signal from the two-dimensional image detecting means 15a.

The signal processing means 15b drives the binary signal of the character or image detected by the two-dimensional image detecting means 15a in the tactile transfer unit array of the tactile transfer means 15c in a form corresponding to the character or image. The signal is converted into a signal for the purpose of adjustment, and the vibration amplitude and vibration frequency are adjusted and output according to the characteristics of human vibration perception.

Although the embodiments have been described above, the present invention is not limited to the above embodiments, and various modifications and applications are possible within the scope of the gist of the present invention. Here, the summary of the present invention is summarized as follows.

1. (Particularly corresponding to the first embodiment, the third embodiment and the fourth embodiment) (Structure) A tactile transmission device comprising signal processing means and tactile transmission means, wherein the tactile transmission means is at least one tactile transmission. The tactile transmission unit includes a unit, and the tactile transmission unit includes a pseudo tactile transmission member, a driving unit that drives the pseudo tactile transmission member according to a signal from the signal processing unit, and a protection member that limits the force applied to the pseudo tactile transmission member. And tactile transmission device. (Operation) In the tactile transfer unit, the pseudo tactile transfer member moves or vibrates, for example, in response to a signal from the signal processing means. (Effect) The user perceives the movement of the pseudo tactile transfer member by touching the tactile transfer unit with a fingertip.

2. (Particularly corresponding to the first embodiment, the third embodiment, and the fourth embodiment) (Structure) In the preceding paragraph 1, the driving means is at least one electrostatic actuator manufactured using semiconductor technology, The elastic actuator has a bent plate-shaped or curved plate-shaped elastic member, and the electrostatic actuator has a fixed electrode and a drive electrode movable in parallel with the fixed electrode. At least one end of the elastic member is fixed to the drive electrode. The tactile transmission device in which the pseudo tactile transmission member is attached to the elastic member. (Operation) The elastic member has a side surface shape of, for example, a V shape or a U shape, and when the drive electrode moves, the central portion moves in a direction perpendicular to the surface of the drive electrode accordingly.
Therefore, the pseudo tactile transfer member moves along the direction perpendicular to the drive electrode. That is, the movement of the drive electrode is converted into the movement in the direction orthogonal to the movement direction. (Effect) Since the electrostatic actuator is manufactured using semiconductor technology, a very small tactile transmission unit can be obtained.

3. (Especially described in the first to fourth embodiments) (Structure) In the above-mentioned item 2, the tactile transmission device in which the drive means has a vibration isolation member attached to the elastic member. (Operation) The vibration isolation member isolates unnecessary vibration transmitted to the pseudo tactile sense transmission member when the vibration isolation member is not present. (Effect) Since unnecessary vibration is removed by the vibration blocking member, efficient motion transmission is achieved.

4. (Particularly corresponding to the first and fourth embodiments) (Structure) In the above item 2 or 3, the driving means has two electrostatic actuators, and both ends of the elastic member are fixed to the driving electrode. The tactile transmission device. (Operation) The drive electrodes of the two electrostatic actuators move toward and away from each other. (Effect) As a result, the stroke of movement of the pseudo tactile transfer member becomes longer than in the case where there is one electrostatic actuator.

5. (Particularly corresponds to the fifth and eighth embodiments as a representative) (Structure) In the preceding paragraphs 1 to 4, the tactile transmission means holds the tactile transmission unit in contact with the skin of the user. A tactile transmission device further having a wearing tool. (Function) The wearing device can be similar to a ring or a bracelet, for example, and the user can hold the tactile transmission unit in contact with the skin by putting the wearing device on the finger or the wrist. To be done. The user perceives the movement of the pseudo tactile transmission member through the tactile sensation on the skin. (Effect) The user can use both hands freely even when perceiving the movement of the pseudo tactile transfer member.

6. (Particularly corresponding to the sixth embodiment) (Structure) In the preceding paragraphs 1 to 5, the signal processing means is connected to the contact information signal detecting means provided at a predetermined position, and A tactile transmission device that outputs a signal according to a detected contact state. (Operation) The pseudo tactile transmission member performs a motion according to the hardness, softness, and viscoelasticity of the object. The user obtains a tactile sensation to the object as a pseudo tactile sensation from the movement of the pseudo tactile transmission member. (Effect) In a device that indirectly touches an object through a machine piece or the like, a feeling of dissociation is eliminated, operability of the device is improved, and accurate operation can be performed.

7. (Particularly corresponding to the seventh embodiment and the ninth embodiment) (Structure) In the preceding paragraph 5, the tactile transfer means has a plurality of tactile transfer units, and the signal processing means outputs different signals to the respective tactile transfer units. A haptic transmission device that can be supplied. (Operation) Each haptic transmission unit is driven independently. (Effect) "phantom sensation" and "apparent movement"
A tactile transmission device utilizing is obtained.

8. (Corresponding to the tenth to twelfth embodiments) (Structure) In the above item 5, the tactile transfer means has a plurality of tactile transfer units arranged in a matrix, that is, a tactile transfer unit array, and performs signal processing. The means is connected to the two-dimensional image detection means, and outputs a signal for driving each tactile transmission unit according to the two-dimensional image detected by the two-dimensional image detection means. (Operation) The pseudo tactile transfer member of each tactile transfer unit moves independently, for example, dynamically or statically, corresponding to a two-dimensional image such as a character or an image detected by the two-dimensional image detecting means. The user obtains information of characters and images by capturing the movements of the plurality of pseudo tactile transfer members with the tactile sensation of the skin. (Effect) A small-sized and low-priced information display device of characters and images for visually impaired persons can be obtained.

[0081]

According to the present invention, a tactile transmission device having a very small tactile transmission unit manufactured by semiconductor manufacturing technology can be obtained.

[Brief description of drawings]

FIG. 1 is a perspective view showing a configuration of a haptic transmission unit according to the present invention as a first embodiment.

FIG. 2 is a diagram showing a shape of an electrode of the electrostatic actuator shown in FIG.

FIG. 3 is a view for explaining the movement of the pseudo tactile transfer member of FIG.

FIG. 4 is a diagram showing a usage state of the haptic transmission unit of FIG.

FIG. 5 is a view showing another elastic member, which replaces the V-shaped elastic member of FIG. 1, as a second embodiment.

FIG. 6 is a diagram showing, as a third embodiment, the configuration of another haptic transmission unit having a different configuration from the haptic transmission unit shown in FIG. 1.

FIG. 7 is a diagram showing, as a fourth embodiment, the structure of another tactile transfer unit having a different structure from that of the tactile transfer unit shown in FIG. 1.

FIG. 8 is a diagram showing a configuration of a tactile sense transmitting means including a tactile sense transmitting unit and a ring-shaped wearing tool holding the same as a fifth example.

FIG. 9 is a diagram showing an overall configuration when using the tactile transmission unit of the above-mentioned embodiment as a sixth embodiment.

FIG. 10 is a diagram showing a structure of a tactile sense transmission means including a plurality of tactile sense transmission units and a ring-type wearing device holding the same as a seventh embodiment.

FIG. 11 is a diagram showing a configuration of a tactile sense transmitting unit including a tactile sense transmitting unit and a bracelet-type wearing device holding the same according to an eighth embodiment.

FIG. 12 is a diagram showing a configuration of a tactile sense transmitting unit including a plurality of tactile sense transmitting units and a bracelet-type wearing device that holds the units as a ninth example.

FIG. 13 is a diagram showing a configuration of a tactile transfer unit array in which a plurality of tactile transfer units are arranged in a matrix as a tenth embodiment.

FIG. 14 is a diagram showing a configuration of a tactile sense transmitting means including a tactile sense transmitting unit array and a bracelet-type wearing tool holding the same according to an eleventh embodiment.

FIG. 15 is a diagram showing an overall configuration when using the tactile transmission means of the eleventh embodiment as a twelfth embodiment.

FIG. 16 is a diagram schematically showing an overall configuration of a microscope provided with a micromanipulator as Conventional Example 1.

FIG. 17 is a diagram schematically showing a configuration of a robot manipulator system as Conventional Example 2.

FIG. 18 is a diagram schematically showing a configuration of a grasping forceps 18a that is a medical treatment tool as Conventional Example 3.

FIG. 19 is a diagram showing a state of an endoscope inserted into a body cavity.

FIG. 20 is a diagram showing a configuration of a haptic transmission device proposed by the present applicant in Japanese Patent Application No. 5-007196.

[Explanation of symbols]

1ab ... electrostatic actuator, 1d ... elastic member, 1
f ... Pseudo tactile transmission member, 1h ... Protective member.

Claims (3)

[Claims] 1. A tactile transmission device comprising a signal processing means and a tactile transmission means, the tactile transmission means including at least one tactile transmission unit, the tactile transmission unit comprising a pseudo tactile transmission member and a signal processing means. A tactile sense transmitting device comprising: a driving unit that drives the pseudo tactile sense transmitting member according to a signal; and a protection member that limits a force applied to the pseudo tactile sense transmitting member. 2. The electrostatic drive unit according to claim 1, wherein the drive unit has two electrostatic actuators manufactured by using semiconductor technology and a bent plate-shaped or curved plate-shaped elastic member. The actuator has a fixed electrode and a drive electrode capable of moving in parallel with the fixed electrode, both ends of the elastic member are fixed to the drive electrode, and the pseudo tactile transfer member is attached to the elastic member. Tactile transmission device. 3. The tactile transfer means according to claim 1, wherein the tactile transfer means has a plurality of tactile transfer units, that is, an array of tactile transfer units, and the signal processing means is connected to the two-dimensional image detecting means. A tactile transmission device characterized by outputting a signal for driving each tactile transmission unit in accordance with a two-dimensional image detected by a two-dimensional image detecting means.