KR20070066931A - Tactile display device with vibrotactile & thermal feedback - Google Patents

Abstract

A tactile display device for simultaneously transferring tactile and thermal feedback is provided to enable a user to easily feel properties and texture of an object material by quantitatively generating surface texture, material properties, and thermo physical properties of the object. A thermal and vibration feedback transferring part enables the user to feel the surface texture, the material properties, and the thermophysical properties of a virtual object. The thermal feedback transferring part includes a thermoelectric device(111) transferring or removing heat from a touched finger according to data received from the control board, a temperature sensor(113) detecting temperature of the thermoelectric device, and a cooling jacket(114) removing the heat generated from the thermoelectric device. The vibration feedback transferring part includes a vibration motor(121), an eccentric rotor(123) generating a vibration frequency/amplitude by combining with a shaft of the vibration motor, and a motor frame(122) fixing the vibration motor and transferring vibration to the finger.

Description

Tactile display device with vibrotactile & thermal feedback

1 is a perspective view of a tactile display device which simultaneously delivers a tactile feeling and a sense of warmth according to an embodiment of the present invention;

Figure 2 is a perspective view showing the configuration of the cooling and warm feeling delivery means shown in Figure 1,

Figure 3a is a perspective view showing the configuration of the vibration transmission means shown in Figure 1,

3B is an exploded perspective view illustrating a state in which the vibration transmission unit illustrated in FIG. 3A is disassembled but an eccentricity adjustment weight is added thereto;

FIG. 4 is a schematic diagram illustrating an example of transmitting a touch to a finger by interlocking a tactile display device and a computer mouse shown in FIG. 1;

FIG. 5 is a schematic diagram illustrating a state in which a finger is attached to a tactile display device shown in FIG. 1 and worn on a finger; FIG.

FIG. 6 is a conceptual diagram illustrating a method of implementing a tactile feeling when a person rubs a continuous pattern with a fingertip by using a tactile display device according to this embodiment having four small vibration motors having different eccentricity.

  ♠ Explanation of symbols on the main parts of the drawing ♠

100: tactile display device 110: cold and hot feeling delivery means

111: thermoelectric element 112: fixed part

113: temperature sensor 114: cooling jacket

120: vibration transmission means 121: small vibration motor

122: motor frame 123: eccentric oscillator

124: eccentricity adjustment weight

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tactile display device that simultaneously delivers a tactile sense of touch and coolness. The present invention relates to a tactile display device that allows a user to feel.

There is a need for a tactile transmission device that conveys the surface properties of a virtual object on a game or computer, such as shape and firmness, surface properties such as material or roughness, and small shapes such as textures and patterns of surfaces.

In particular, there is a need for a user-friendly computer tactile transmission device. In addition, the tactile transmission device should be easy to be combined with the reverse transmission device that can transmit the force to feel a large bend or the like of the object. Furthermore, it should be designed to be as small as possible at the same time without interfering with the finger movement as much as possible to the end of the finger. Such a tactile transmission device not only touches an object directly, but also allows a user to feel an object in a distant or virtual position, which is not only awkward for the user, but also causes fatigue when used for a long time. Therefore, the tactile transmission device for a computer should be able to be used with a device that is not only user friendly, but also less fatigued, such as a mouse.

In addition, there is a need for a tactile transmission device capable of simultaneously transmitting the surface texture of the object and the texture of the object. Important factors in feeling a virtual object are the shape, surface properties, and texture of the object. In order to feel the surface shape of the object, positional information and small force must be transmitted, and texture information such as roughness and small pattern must be transmitted to feel the surface property, and when skin and an object come in contact to feel the texture The sense of warmth of the object should be conveyed. When contacted with an object at room temperature, the temperature of the finger is generally higher than the temperature of the object, and heat transfer occurs due to the temperature difference when the finger touches the surface of the object. Because the physical and physical properties of each object are different, the amount and speed of heat lost by temperature difference, specific heat, and thermal conductivity vary from object to object, and humans can infer object materials through this. Therefore, it is necessary to implement a tactile display device capable of simultaneously delivering a tactile and cold feeling to a finger.

In addition, it should be possible to implement various surface properties. When a person recognizes the pattern or material of an object's surface, he obtains it by using a pressure distribution, a small bend depth, a change in vibration, and a change in temperature. Therefore, the device for transferring various surface properties should be able to control or simulate all of the mentioned physical quantities quantitatively.

Therefore, it should be easily combined with a mouse, which is an input device for a computer, and can be used naturally. Since a mouse uses an arm, a wrist, an index finger, and a middle finger, it is necessary to implement a tactile display device that can transmit a touch to a thumb or a ring finger without interfering with the movement of the arm and wrist.

Accordingly, an object of the present invention is to provide a tactile display device that simultaneously delivers a tactile and cold feeling so that a user can easily feel by quantitatively generating the surface texture of an object, the texture of the object, and the thermal physical properties of the object.

The present invention includes a plurality of vibration transmitting means and a cold and warm feeling transmitting means configured to be coupled to the user to feel the surface texture, texture and thermal physical properties of the virtual object provided through the control board, the cold and warm feeling transmitting means is controlled Including a cold or hot feeling transmission unit for transferring heat to or taking heat to the finger in contact with the data provided from the board, a temperature sensor for sensing the temperature of the cold and hot feeling transmission unit, and a cooling unit for absorbing and cooling the heat generated from the cold and hot feeling transmission unit; The vibration transmission means includes a vibration motor, an eccentric vibrator coupled to the axis of the vibration motor to generate the frequency and amplitude of the vibration, and a motor frame for transmitting the vibration to the finger that fixes and contacts the vibration motor. .

The plurality of vibration transmitting means of the present invention can be configured to generate different magnitudes of frequencies and amplitudes, which can be adjusted by varying the size of the eccentric oscillator or vibration motor. At this time, the eccentric vibrator may change the size by using the eccentricity adjustment weight of various sizes that are sequentially inserted around the eccentric vibrator.

The present invention can realize the feeling of rubbing a finger by simultaneously driving or differentially driving each vibration motor of the plurality of vibration transmission means. In addition, the cold feeling transfer unit of the present invention may be composed of one or more thermoelectric elements (peltier element) arranged in a flat or curved surface on the upper portion of the cooling unit.

According to the present invention, each motor frame of the plurality of vibration transmitting means is fixed to the cooling unit, respectively, and fixedly coupled to the cooling and feeling transmitting means. In addition, the present invention connects and integrates each motor frame of the plurality of vibration transmission means with each other, and by coupling the integrated plurality of vibration transmission means to one side of the cold feeling transmission means, the touch and cold feeling at different points of the finger Each can be configured to feel.

In addition, the cooling unit of the present invention can be configured by any one of the water-cooled cooling jacket, cooling fins or air-cooled fan attachment method.

In the following, with reference to the accompanying drawings, a preferred embodiment of the tactile display device for simultaneously delivering the tactile and cold sense according to the present invention will be described in detail.

1 is a perspective view of a tactile display device which simultaneously delivers a tactile feeling and a cold feeling according to an embodiment of the present invention, FIG. 2 is a perspective view showing a configuration relationship of the cold and warm feeling transmitting means shown in FIG. 1, and FIG. 1 is a perspective view showing the configuration of the vibration transmission means shown in Figure 1, Figure 3b is an exploded perspective view of a state in which the vibration transmission means shown in Figure 3a, but with the addition of an eccentricity adjustment weight.

As shown in FIG. 1, the tactile display device 100 according to the present embodiment includes a cool and warm feeling transmitting means 110 and a plurality of vibration transmitting means 120, and the surface texture of the object, the texture of the object, and the object. Quantitatively generate the thermal physical properties of the user to feel through the fingers. At this time, data on the surface texture, texture, and thermal physical properties of the object are programmed through the computer's built-in control board to analyze this information. Therefore, the tactile display device 100 of this embodiment is connected to the control board by wire.

As shown in Figure 1 and 2, the cold and warm feeling transmitting means 110 to support the motor frame (to be described later) in which vibration stimulation of the skin occurs, and at the same time to transfer the heat or heat to the finger to transfer the cold feeling of the object Play a role. The cool and warm feeling transmitting means 110 includes a thermoelectric element 111 which is a kind of heat pump that absorbs heat on one side and emits heat on the other side when current flows. The thermoelectric element 111 serves as a cold and hot feeling transmitting unit for transmitting a cold and hot feeling in contact with the finger.

In addition, the cold and warm feeling transmitting means 110 is a thermoelectric element 111 is mounted on the upper portion and the fixing portion 112 of the metal material that can be fixed to the motor frame for supporting a plurality of small vibration motor, and for the temperature sensing The temperature sensor 113 and the cooling jacket 114 constituting a cooling unit for absorbing and cooling the heat generated by the thermoelectric element 111 effectively. Here, the cooling jacket 114 may be configured as a water cooling type, but may be configured as a cooling fin form or an air cooling fan attachment type.

In addition, the cold and warm feeling transmitting means 110 is a thermoelectric element 111 as shown in Figures 1 and 2 constitute a cold or hot feeling transmitting portion narrow contact area, or by arranging several thermoelectric elements the contact area of the fingers A wide sense of warmth and transmission can be configured. Furthermore, by configuring the cold and hot feeling transmitting unit in a flat or curved shape, it is possible to change the part of the finger that feels the touch and cold. At this time, the cold feeling transmission unit is formed on the upper portion of the fixing portion 112, but if the fixing portion 112 is not configured separately, it may be formed on the upper portion of the cooling portion.

The sense of warmth-transmitting means 110 configured as described above may transfer heat to or take away heat by directly touching the thermoelectric element 111. Since the physical physical properties of the object when the object is actually at room temperature are different from each other, Not only can you simulate temperature changes between objects, but it can also represent cold or hot objects, not objects at room temperature.

As shown in Figure 1, 3a and 3b, the vibration transmission means 120 serves to transmit vibration to the finger, the small vibration motor 121, the vibration of the small vibration motor 121 fingers It is composed of a motor frame 122 and the eccentric vibrator 123 is designed to generate the frequency and magnitude of the vibration is coupled to the shaft of the small vibration motor 121 is designed to effectively transmit to. The eccentric vibrator 123 may be manufactured in various sizes so that the frequency range and amplitude range of each of the eccentric vibrators may be determined. For example, the eccentric vibrator 123 may be further provided with an eccentricity adjustment weight 124 of various sizes to form a variety of sizes as it is inserted into the sequential insertion around. In addition, the frequency range and amplitude can be adjusted by changing the size of the vibration motor.

Until now, there have been many attempts to realize a tactile touch using a micro vibration motor, but there is a limit to creating a real touch because of the characteristics of a conventional micro vibration motor that can generate only a limited size and frequency of vibration. Thus, in this embodiment, the eccentric rate adjustment weight can be additionally mounted on the eccentric vibrator attached to the existing ultra-small vibration motor, but the eccentricity rate adjustment weight is made of various materials from metal to plastic to produce a wider range of vibration. It is designed to produce magnitude and frequency.

In addition, in this embodiment, by combining the vibrations of two or more small vibration motors having different eccentricity magnitude, to generate a new size of vibration and frequency to generate various kinds of vibrations, it is possible to realize using a small vibration motor It can be configured to implement tactile feeling. That is, two or more small vibration motors can be simultaneously driven or differentially driven to realize the feeling of rubbing a finger.

The vibration transmitting means 120 configured as described above may be installed at various places of the fixing part 112 of the cooling feeling transmitting means 110 as shown in FIG. 1. However, when the fixing unit 112 is not configured, the vibration transmitting unit 120 may be installed at various places of the cooling unit. At this time, each eccentric vibrator 123 may have a different frequency and amplitude. Accordingly, the tactile display device 100 according to this embodiment may be combined with various frequencies and amplitudes, and may generate a bending torque through sequential vibrations to feel the rubbing skin. That is, the tactile display device 100 according to the present embodiment senses the warmth and warmth of the object through the thermoelectric element 111 of the cold and warm feeling transmitting means 110 and the vibration of the object through the eccentric vibrator 123 of the vibration transmitting means 120. It is felt by the user's finger. At this time, the touch and cold feeling are felt at the same point of the finger in contact with the thermoelectric element 111.

At this time, when the vibration transmission means 120 each having an eccentric vibrator 123 having different frequencies and amplitudes is installed, not only various waveforms can be combined but also the shape in the vertical direction according to the amplitude. You can also simulate It can also supply vibration, an important stimulus related to touch, with precisely calculated amplitude and frequency.

In addition, the tactile display 100 according to the present embodiment can express the thermophysical characteristics of an object through temperature change. Therefore, this method can implement pressure stimulation, vibrotctile stimulus, rubbing feeling, and temperature variation, which are important factors for a person to feel surface properties.

In addition, the tactile display 100 according to the present embodiment connects and integrates each motor frame 122 of the plurality of vibration transmitting means 120 with each other, and the plurality of integrated vibration transmitting means 120 transmits the cold and warm feeling. One side of the 110 can be configured to combine the plane. That is, the finger is configured to simultaneously contact a portion of the motor frame 122 and the thermoelectric element 111 integrated therein. Therefore, the finger point which feels a touch and a cool feeling can be changed.

FIG. 4 is a schematic diagram illustrating an example of transmitting a touch to a finger through interlocking of a tactile display device shown in FIG. 1 and a computer mouse.

As shown in FIG. 4, the tactile display device 100 according to this embodiment is a surface of a virtual object on the skin of an end portion of a user's finger 230, which holds a computer mouse 220 with a hand 210. It is configured to convey properties. That is, the tactile display device 100 according to the present embodiment has the configuration as described above, and is attached to the end of the finger 230 to transmit the surface texture of the object, the texture of the object, and the thermophysical properties of the object. do.

Therefore, the surface property information of the virtual object on the screen obtained through the computer mouse 220 is displayed while the user moves the computer mouse 220 with the hand 210, and the data on the surface texture, texture and thermal physical properties of the object. Programmed to be analyzed to be delivered to the tactile display device 100 according to this embodiment through a control board built into the computer, it is delivered to the end of the user's finger 230. At this time, the surface properties are transmitted by the vibration transmission means 120, the small shape of the surface, pattern, various frequency information is transmitted, the cold and hot feeling of the object is transmitted by the cold and warm feeling transmission means (110). In addition, the control board models, calculates, and controls the heat absorbed or released from the finger by the thermal conductivity and the non-thermal difference of the object through the cold-sensing transmission means 110, and transmits the resulting temperature change to the user's finger 230. In addition, the user may determine which object is the virtual object currently in contact. In addition, the user can not only find out the shape information of the virtual object from the touch information transmitted through the finger even while using a general mouse, but also receive the surface quality information of the virtual object through the skin of the finger 230. Can be entered. In particular, since the tactile display device 100 of the present embodiment is capable of very quantitative control, a fine height difference, a pattern, or a material of an object may be simulated.

In addition, the tactile display 100 according to the present embodiment may transmit a tactile and cold feeling to a finger through interlocking with a touch pad or a touch fan constituting a pointing device in addition to a computer mouse. Furthermore, the haptic display device 100 of this embodiment may be incorporated in a structure that requires the transfer of haptic and cold feeling regardless of the pointing device. In addition, a plurality of tactile display devices 100 according to the present embodiment may be contacted with a plurality of fingers, respectively, to feel the feel of the object and a sense of warmth.

FIG. 5 is a schematic diagram illustrating a state in which a force transmitting device is coupled to a tactile display device shown in FIG. 1 and worn on a finger; FIG. As shown in Figure 5, by combining a general force transmission device 300 to the tactile display device 100 according to this embodiment, but designed and configured in a structure that does not interfere with the movement of the finger, the touch and cold temperature at the end of the finger The senses can be transmitted at the same time and the sense of force on the back of the finger or the hand.

FIG. 6 is a conceptual diagram illustrating a method of implementing a tactile feel when a person rubs a continuous pattern with a fingertip using a tactile display device according to this embodiment having four small vibration motors having different eccentricity.

In this embodiment, the concept of tapping and stroking is used as follows to realize a tactile feel similar to the following, but each small vibration motor is driven according to this algorithm. Here, tapping means that the finger hits the object for a short time, and stroking means that the finger slips over the surface of the object.

Human skin has viscoelastic properties, so when a certain stimulus comes in, the stimulus gradually decreases over time. Therefore, in this embodiment, the vibration stimulus applied through the small vibration motor is given in the form of a sine wave which gradually decreases.

When a fingertip passes over a pattern, it gives a different feeling depending on where the fingertip is located, which is divided into three stages: Initial, Middle, and Following. The stimulation embodies realistic touch.

1.Initial Tapping

When the fingertip meets the pattern for the first time, the small vibration motor with the largest eccentricity in the direction of travel is operated at high power to give information on the direction of travel, and the strong vibration of the large displacement gives the fingertip a short time for a specific pattern. Gave a feeling of sudden bump.

2. Middle Tapping

When the finger rises above the pattern, the stroking occurs as the user slides on the pattern with a certain speed and slides with a certain force. This stroking is divided into three stages.

(One). Initial Stroking

When the fingertips pass over the pattern, the skin is stretched the most in the direction of travel, so under this effect pressure is applied to the fingertips. Therefore, in order to give the information of the direction of the direction and the pressure applied to the middle of the vibration stimulation on one side of the fingertip of the direction of travel.

(2). Middle Stroking

When the fingertips pass over the pattern, the person presses with a certain force, so that the middle of the fingertip is under the greatest pressure. So the strong vibrational stimulus delivered the pressure information.

(3). Following Stroking

On the other side of the direction of progression rather the skin is crowded, giving a sense of vibration only gave a very small sized stimulation.

3. Following tapping

When the pattern is almost passed, the small vibration motor with the smallest eccentricity on the opposite side of the direction of operation is operated with weak power, giving information about the direction that the pattern has just passed, and giving a weak vibration of a small displacement. It gave me the feeling of going down.

The present invention can easily feel information about the virtual object through the surface texture of the object, the texture of the object and the thermal physical properties of the object transmitted through the user's finger when interacting with the virtual object.

For example, when surfing the Internet using the tactile display device of the present invention, the user can not only feel the shape and surface quality of an object online through the user's finger but also feel the information of the sense of warmth and temperature of the object. have. In addition, when using an online shopping mall, you may feel a touch on clothing or other products.

In addition, when designing using a computer, it is possible to check the tolerances while feeling the assembling state of each part by touch, and when playing various computer games, it is possible to feel the physical phenomenon occurring in the virtual environment and to feel the information or the sense of warmth. Through it can be very useful, such as feel through the user's fingers.

Although the technical details of the tactile display device according to the present invention have been described together with the accompanying drawings, the present invention has been described by way of example and is not intended to limit the present invention.

In addition, it is obvious that any person skilled in the art can make various modifications and imitations within the scope of the appended claims without departing from the scope of the technical idea of the present invention.

Claims (9)

It includes a plurality of vibration transmission means and a sense of warm and cold transmission means configured to combine the user feels the surface texture, texture and thermal physical properties of the virtual object provided through the control board through the fingers, The cold and hot feeling transmitting means is a cold or hot feeling transmitting unit for transmitting or taking heat to the finger in contact with the data provided from the control board, a temperature sensor for sensing the temperature of the cold and hot feeling transmitting unit, and the cold and hot feeling transmitting unit It includes a cooling unit for absorbing and cooling the heat, The vibration transmission means includes a vibration motor, an eccentric vibrator coupled to the axis of the vibration motor to generate the frequency and amplitude of the vibration, and a motor frame for transmitting vibration to the finger that fixes and contacts the vibration motor. A tactile display device that delivers a sense of touch and a sense of warmth simultaneously. The method according to claim 1, And the plurality of vibration transmitting means are configured to generate frequencies and amplitudes of different magnitudes. The method according to claim 2, Frequency and amplitude of the plurality of vibration transmission means is a tactile display device that delivers a sense of touch and cold at the same time, characterized in that by adjusting the size of the eccentric vibrator or the vibration motor. The method according to claim 3, The eccentric vibrator is a tactile display device that delivers a sense of touch and cold at the same time, characterized in that for changing the size by using the eccentricity rate adjustment weight of several sizes that are sequentially inserted around the circumference. The method according to any one of claims 2 to 4, And a tactile display device that simultaneously delivers a tactile feeling of feeling of cold and warmth by simultaneously driving or differentially driving the respective vibration motors of the plurality of vibration transmitting means. The method according to claim 1, The haptic display unit for transmitting the tactile and cold sense at the same time, characterized in that consisting of one or more thermoelectric elements (peltier element) arranged in a flat or curved surface on the cooling unit. The method according to claim 1, Each of the plurality of vibration transmission means is fixed to each of the motor frame is fixed to the cooling means transmitting means, respectively, so that the touch and cold feeling, characterized in that configured to feel the touch and cold feeling at the same point of the finger Tactile display device to deliver at the same time. The method according to claim 1, The plurality of vibration transmitting means connects and integrates each motor frame with each other, and by coupling the integrated plurality of vibration transmitting means to one side of the cold feeling transmitting means in a flat manner, the touch and cold feelings are felt at different points of the fingers, respectively. Tactile display device that delivers a sense of touch and cold at the same time, characterized in that configured to. The method according to claim 1, The cooling unit is a tactile display device that delivers a sense of touch and cold at the same time, characterized in that configured in any one of the water cooling cooling jacket, cooling fins or air-cooled fan attachment method.

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