WO2017069126A1

WO2017069126A1 - Operation device

Info

Publication number: WO2017069126A1
Application number: PCT/JP2016/080874
Authority: WO
Inventors: 竹内　修一
Original assignee: 株式会社東海理化電機製作所
Priority date: 2015-10-23
Filing date: 2016-10-18
Publication date: 2017-04-27
Also published as: JP2017083971A

Abstract

Provided is an operation device with which a method for distinguishing an arbitrarily defined region of a three-dimensional object (polyhedron) can be implemented using a simple configuration. The operation device has: an operation knob 10 serving as an operation unit having multiple operation surfaces defined by the polyhedron; a triaxial driving unit 20 for causing the operation knob 10 to ultrasonically vibrate in the directions of a vertical axis (Z-axis) and two horizontal axes (X-axis, Y-axis), respectively; and a control unit 30 for controlling each driving unit of the triaxial driving unit 20 to vibrate with a predetermined amplitude and phase. The control unit 30 is configured so as to control each of the driving units to vibrate with the predetermined amplitude and phase, thereby causing a squeeze film to be formed on the surface of a specific operation surface of the operation knob 10.

Description

Operating device

The present invention relates to an operating device.

When a finger is touched on the operation surface of a fixed operation object or an operation object with a limited moving range, and the finger is moved along the operation surface, the operation surface moves following the movement of the finger. An input device that can make the user feel like this is known (for example, see Patent Document 1).

The operating device of Patent Document 1 is supported so that an operating body having a hemispherical operating surface can be tilted by a slight angle. A continuous vibration whose amplitude is directed up and down is given to the operating body by the vibration device. When a finger touches the operation surface, an amplitude component directed to the tangent line is generated at the contact portion of the finger due to continuous vibration, so that when the finger is moved, the operation surface rotates as if following the movement of the finger. It is said that the vibration surface of the surface of the input device can be changed.

In addition, an input device is known that can form a region that gives a tactile sensation different from other regions at an arbitrary position on the detection surface (see, for example, Patent Document 2). The input device includes a detection unit that detects contact with the detection surface, and a vibration generation unit that generates a region having a friction coefficient different from that of another region on the detection surface by vibrating the detection unit in a normal direction of the detection surface. . This input device forms a squeeze film area and a squeeze film-free area on the detection surface by ultrasonically vibrating the detection unit, so the home position can be formed at an arbitrary position on the detection surface. It is supposed to be possible.

JP 2013-89117 A JP 2012-243189 A

The operation device of Patent Document 1 does not give a distinction method based on the feeling of a specific operation surface of a three-dimensional object, and in particular, does not use a change in surface friction force due to generation of a squeeze film. Moreover, although the operating device of patent document 2 utilizes the change of the surface frictional force by the production | generation of a squeeze film | membrane on a detection surface, it does not give the distinction method by the touch of the specific operation surface of a solid object.

An object of the present invention is to provide an operating device that enables a method for distinguishing an arbitrary region of a three-dimensional object (polyhedron) with a simple configuration.

[1] An operation device according to an embodiment of the present invention includes an operation unit having a plurality of operation surfaces formed of a polyhedron, and a vertical axis (Z axis) and two horizontal axes (X axis, Y axis) on the operation unit. A three-axis drive unit that ultrasonically vibrates in each direction, and a control unit that drives and controls each drive unit of the three-axis drive unit with a predetermined amplitude and phase, and the control unit controls each drive unit By performing drive control with a predetermined amplitude and phase, a squeeze film is generated on the surface of a specific operation surface of the operation unit.

[2] In the operation device according to [1], the operation unit includes a first surface orthogonal to the Z axis, a second surface that is an inclined surface intersecting the X axis at a predetermined angle, and a third surface. It may be a pentahedron having a fourth surface and a fifth surface which are inclined surfaces intersecting the Y axis at a predetermined angle.

[3] In the operating device according to [1] or [2], the three-axis driving unit may be stacked and disposed below the operating unit.
[4] In the operating device according to [3], the triaxial drive unit may include a multilayer piezoelectric element.
[5] In the operating device according to [4], the multilayer piezoelectric element can be vibrated in a sinusoidal shape in an ultrasonic frequency band.
[6] In the operating device according to [1], the operation surface includes an operation surface inclined with respect to the Z axis, and the squeeze film is formed on the inclined operation surface on the inclined operation surface. It can be generated by a waveform that oscillates in an orthogonal direction.

According to an embodiment of the present invention, it is possible to provide an operating device that enables a method for distinguishing an arbitrary region of a three-dimensional object (polyhedron) with a simple configuration.

FIG. 1 is an explanatory diagram illustrating an appearance and an overall configuration of an operating device (an operating knob as a three-dimensional object) according to the first embodiment of the present invention. 2 shows the operating device according to the first embodiment of the present invention, where (a) is a cross-sectional view taken along the line AA in FIG. 1, and (b) is a view taken along arrow B in FIG. FIG. FIG. 3 shows the operating device according to the first embodiment of the present invention, in which (a) is a cross-sectional view showing a specific operating surface of the operating knob and its vibration direction, and (b) is a vibration in the Z direction. (C) is a waveform diagram of an excitation signal for applying vibration in the X direction, and (d) is a waveform diagram of the Z direction on the operation surface S1. It is a figure which shows the synthesis | combination of an amplitude and the amplitude of a X direction. FIG. 4 is a side view schematically showing a vibration direction on a specific operation surface of the operation knob and a squeeze film generated on the surface. FIG. 5 shows an operating device according to the second embodiment of the present invention, in which (a) is a cross-sectional view showing a specific operating surface of the operating knob and its vibration direction, and (b) is a vibration in the Z direction. (C) is a waveform diagram of an excitation signal for applying vibration in the X direction, and (d) is a waveform diagram of the Z direction on the operation surface S1. It is a figure which shows the synthesis | combination of an amplitude and the amplitude of a X direction. FIG. 6 shows an operating device according to a third embodiment of the present invention, in which (a) is a cross-sectional view showing a specific operating surface of the operating knob and its vibration direction, and (b) is a vibration in the Z direction. FIG. 4C is a waveform diagram of an excitation signal for applying vibration in the X direction, and FIG. 4D is a waveform diagram for applying vibration in the Y direction. is a waveform diagram of the excitation signal, (e) is a diagram showing the synthesis of the amplitude of the amplitude and phi ₄₅ direction of the Z direction on the operation surface S3. FIG. 7 is an explanatory diagram showing the overall configuration of the operating device according to the fourth embodiment of the present invention. FIG. 8 is a flowchart showing the operation of the controller device according to the fourth embodiment.

(First embodiment)
FIG. 1 is an explanatory diagram illustrating an appearance and an overall configuration of an operating device (an operating knob as a three-dimensional object) according to the first embodiment of the present invention. The operation device 1 according to the first embodiment of the present invention includes an operation knob 10 as an operation unit having a plurality of operation surfaces formed of a polyhedron, and a vertical axis (Z axis) and two horizontal axes ( A three-axis drive unit 20 that ultrasonically vibrates in the X-axis and Y-axis directions, and a control unit 30 that drives and controls each drive unit of the three-axis drive unit 20 with a predetermined amplitude and phase. Reference numeral 30 is configured to generate a squeeze film on the surface of a specific operation surface of the operation knob 10 by controlling the driving of each drive unit with a predetermined amplitude and phase.

(Operation knob 10)
2 shows the operating device according to the first embodiment of the present invention, where (a) is a cross-sectional view taken along the line AA in FIG. 1, and (b) is a view taken along arrow B in FIG. FIG. As shown in FIGS. 1 and 2B, the operation knob 10 is a three-dimensional object having a plurality of operation surfaces S1, S2, S3, and S4 made of a polyhedron, and is a quadrangular frustum. The operation knob 10 is made of, for example, a material such as resin or metal, and a triaxial drive unit 20 described later is attached to the lower portion 10a.

As shown in FIGS. 1, 2 (a), and 2 (b), X, Y, and Z coordinates are defined on the operation knob 10. A surface perpendicular to the normal line in the Z direction is set as S0, operation surfaces inclined in the X direction are set as S1 and S2, and operation surfaces inclined in the Y direction are set as S3 and S4. These operation surfaces are respectively driven and vibrated by a triaxial drive unit 20 described later.

The operation knob 10 is touched and pressed by the operator with a fingertip or the like. As shown in FIG. 2A, for example, it is mounted on the substrate 40 via a triaxial drive unit 20 and a pressing switch unit 25 attached to the lower part 10 a of the operation knob 10. A bezel 60 and the like are disposed around the operation knob 10. The operator can touch or press the operation surfaces S0, S1, S2, S3, and S4 of the operation knob 10.

(3-axis drive unit 20)
The triaxial drive unit 20 is disposed in the lower portion 10a of the operation knob 10 as shown in FIGS. The triaxial drive unit 20 includes a Z vibrator 21 for applying vibration in the Z direction, an X vibrator 22 for applying vibration in the X direction, and a Y vibrator 23 for applying vibration in the Y direction. Are laminated.

Each vibrator (Z vibrator 21, X vibrator 22, Y vibrator 23) is, for example, a multilayer piezoelectric element. For example, the piezoelectric element expands and contracts by a supplied voltage. This expansion / contraction causes vibration.

Examples of the material of the piezoelectric element include lithium niobate, barium titanate, lead titanate, lead zirconate titanate (PZT), lead metaniobate, polyvinylidene fluoride (PVDF), polylactic acid, and the like.

In addition, as a structure of the piezoelectric element, for example, a single-layer bimorph type in which a film formed using the above material is formed on both surfaces of the metal plate, and formed using the above material on one surface of the metal plate. Single layer unimorph type on which the formed film is formed, laminated unimorph type formed by laminating the film formed using the above material on one side of the metal plate, the above material on both sides of the metal plate A laminated bimorph type piezoelectric element or the like formed by laminating films formed using the above can be used.

Each of the vibrators (Z vibrator 21, X vibrator 22, Y vibrator 23) is applied with a voltage from the control unit 30 via a driver circuit and is driven at a predetermined frequency fn, and each direction (Z Direction, X direction, Y direction). The predetermined frequency fn is set to the frequency of the ultrasonic band. The ultrasonic wave is an elastic vibration wave (sound wave) having a high frequency that cannot be heard by the human ear and higher than the audible range, and has a frequency band of about 20 kHz to 40 kHz, for example.

(Control unit 30)
The control unit 30 controls driving of each vibrator (Z vibrator 21, X vibrator 22, Y vibrator 23) as a drive unit with a predetermined amplitude and phase. The control unit 30 includes, for example, a CPU (Central Processing Unit) that performs predetermined calculation, processing execution, and the like according to a stored program, a RAM (Random Access Memory) that is a semiconductor memory, a ROM (Read Only Memory), and the like. This is a microcomputer. In this ROM, for example, a program for operating the control unit 30 and various parameters are stored. The control unit 30 has a means for generating a clock signal therein, and operates based on this clock signal. In addition, the control unit 30 includes a reference signal generation unit that generates ultrasonic vibration of about 20 kHz to 40 kHz, for example.

The control unit 30 applies a predetermined voltage at a predetermined phase to a predetermined vibrator (Z vibrator 21, X vibrator 22, Y vibrator 23) by a predetermined program, an external command, or the like. be able to. Thereby, it is possible to drive and control predetermined vibrators (Z vibrator 21, X vibrator 22, Y vibrator 23) with a predetermined amplitude and phase. As a result, the specific operation surfaces S0, S1, S2, S3, and S4 can be ultrasonically vibrated in the vertical direction of each operation surface.

FIG. 3 shows the operating device according to the first embodiment of the present invention, in which (a) is a cross-sectional view showing a specific operating surface of the operating knob and its vibration direction, and (b) is a vibration in the Z direction. FIG. 4C is a waveform diagram of an excitation signal for applying vibration in the X direction.

In the first embodiment, as shown in FIG. 3A, the operation surfaces S1 and S2 are each formed as a surface inclined by 45 ° with respect to the X axis, and the operation surface S1 or S2 is a normal line of each surface. It vibrates in the direction H1 or H2. That is, the Z vibrator 21 and the X vibrator 22 shown in FIG. 3A are vibrated in a direction as described above by vibrating with a predetermined amplitude in a predetermined phase relationship.

As shown in FIG. 3B, the Z vibrator 21 is vibrated sinusoidally with an amplitude of 1, for example. Further, as shown in FIG. 3C, the X vibrator 22 is vibrated in a sinusoidal shape with an amplitude of 1 in the same phase as the Z vibrator 21, for example, as a vibration waveform during S1 squeeze driving. Note that the Y vibrator 23 is not driven. When the control unit 30 drives the triaxial drive unit 20 in this way, as shown in FIG. 3 (d), it is inclined by 45 ° with respect to the X axis by combining the amplitude in the Z direction and the amplitude in the X direction. Will vibrate in the H1 direction orthogonal to the operated operation surface S1.

Further, when the operation surface S2 shown in FIG. 3A is S2 squeezed, for example, as shown in FIG. 3C, the vibration waveform at the time of S2 squeeze drive has a phase opposite to that of the Z vibrator 21, Vibrates in a sinusoidal shape with an amplitude of 1. By such driving, the vibration in the H2 direction orthogonal to the operation surface S2 inclined by 45 ° with respect to the X axis is obtained by combining the amplitude in the Z direction and the amplitude in the X direction.

In the case where the operation surface S3 or S4 shown in FIG. 2B is vibrated in the normal direction of each surface, the Y vibrator 23 is driven instead of driving the X vibrator 22 described above. Similar vibrations can be generated.

FIG. 4 is a side view schematically showing a vibration direction on a specific operation surface of the operation knob and a squeeze film generated on the surface. When driving with the vibration waveform at the time of the S1 squeeze driving in FIGS. 3A and 3B described above, the ultrasonic vibration is generated in the H1 direction orthogonal to the operation surface S1 shown in FIG.

When the operation surface S1 vibrates at a high frequency in the H1 direction, a squeeze film 100 that is an air film is formed between the operation surface S1 and the fingertip, and a squeeze effect is generated. For example, as shown in FIG. 4, the squeeze effect is based on the ultrasonic vibration of the operation surface S1, and the operation surface S1 applies a force to the air layer in the direction of the normal H1 so that the law on the operation surface S1. This is an effect of increasing the pressure in the direction of the line H1 and forming the squeeze film 100 as an air film between the finger 200 and the operation surface S1. By this squeeze film 100, the finger 200 and the operation surface S1 are substantially in non-contact, the apparent friction is reduced, and finger sliding is improved.

Due to the decrease in the frictional force, the touch feeling with a finger is different from other operation surfaces, so that it is possible to distinguish a specific operation surface of the three-dimensional object from the other operation surfaces.

(Second Embodiment)
The second embodiment is a case where the operation surfaces S1 and S2 are each formed as a surface inclined by 60 ° with respect to the Z axis, and the other configurations are the same as those of the first embodiment.

FIG. 5 shows an operating device according to the second embodiment of the present invention, in which (a) is a cross-sectional view showing a specific operating surface of the operating knob and its vibration direction, and (b) is a vibration in the Z direction. (C) is a waveform diagram of an excitation signal for applying vibration in the X direction, and (d) is a waveform diagram of the Z direction on the operation surface S1. It is a figure which shows the synthesis | combination of an amplitude and the amplitude of a X direction.

In the second embodiment, as shown in FIG. 5A, the operation surfaces S1 and S2 are each formed as a surface inclined by 60 ° with respect to the Z axis, and the operation surface S1 or S2 is a normal line of each surface. It vibrates in the direction H1 or H2. That is, the Z vibrator 21 and the X vibrator 22 shown in FIG. 5A are vibrated in a direction as described above by vibrating with a predetermined amplitude in a predetermined phase relationship.

As shown in FIG. 5B, the Z vibrator 21 is vibrated sinusoidally with an amplitude of 1, for example. Further, as shown in FIG. 5C, the X vibrator 22 is vibrated in a sinusoidal shape with an amplitude of 1 / √3 in the same phase as the Z vibrator 21 as a vibration waveform at the time of S1 squeeze driving, for example. The Note that the Y vibrator 23 is not driven. When the control unit 30 drives the triaxial drive unit 20 in this way, as shown in FIG. 5 (d), it is tilted by 60 ° with respect to the Z axis by combining the amplitude in the Z direction and the amplitude in the X direction. Will vibrate in the H1 direction orthogonal to the operated operation surface S1.

Further, when the operation surface S2 shown in FIG. 5A is S2 squeezed, for example, as shown in FIG. 5C, the vibration waveform at the time of S2 squeeze drive has a phase opposite to that of the Z vibrator 21, Vibrates sinusoidally with an amplitude of 1 / √3. By such driving, the vibration in the H2 direction orthogonal to the operation surface S2 inclined by 60 ° with respect to the Z axis is obtained by combining the amplitude in the Z direction and the amplitude in the X direction.

(Third embodiment)
The third embodiment shows a case where the operation knob is an octagonal pyramid.

FIG. 6 shows an operating device according to a third embodiment of the present invention, in which (a) is a cross-sectional view showing a specific operating surface of the operating knob and its vibration direction, and (b) is a vibration in the Z direction. FIG. 4C is a waveform diagram of an excitation signal for applying vibration in the X direction, and FIG. 4D is a waveform diagram for applying vibration in the Y direction. is a waveform diagram of the excitation signal, (e) is a diagram showing the synthesis of the amplitude of the amplitude and phi ₄₅ direction of the Z direction on the operation surface S3.

As shown to Fig.6 (a), the operation knob 11 is made into the shape of an octagonal frustum. A case where the operation surfaces S5 and S6 shown in FIG. 6A are vibrated in such a shape will be described.
Further, as shown in FIG. 6 (a), a case where the operation surface S5, S6, respectively, is formed as a 45 ° inclined surface against phi ₄₅ axes, other configurations are first and second embodiment of the It is the same as the form.

As shown in FIG. 6B, the Z vibrator 21 is vibrated in a sinusoidal shape with an amplitude of 1, for example. Further, as shown in FIG. 6C, the X vibrator 22 is vibrated in a sinusoidal shape with an amplitude of 1 / √2 in the same phase as the Z vibrator 21 as a vibration waveform at the time of S5 squeeze driving, for example. The Similarly, as shown in FIG. 6D, the Y vibrator 23 vibrates in a sinusoidal shape with an amplitude of 1 / √2 in the same phase as the X vibrator 22 as a vibration waveform at the time of S5 squeeze driving, for example. Is done. The control unit 30 is 3-axis drive unit 20, in this way be driven, as shown in FIG. 6 (e), the synthesis of the amplitudes of the phi ₄₅ direction of the Z-direction, relative to the phi ₄₅ Axis 45 The vibration occurs in the H5 direction orthogonal to the inclined operation surface S5. The amplitude of phi ₄₅ axially in FIG. 6 (e) is the synthesis of the amplitude of the X direction 1 / √2 and Y-direction amplitude 1 / √2.

Further, when the operation surface S6 shown in FIG. 6A is driven by S6 squeeze, as shown in FIG. 6C, for example, as the vibration waveform at the time of S6 squeeze drive, the X vibrator 22 is a Z vibrator. Excited in a sinusoidal shape with an amplitude of 1 / √2 in the opposite phase to 21. Similarly, as shown in FIG. 6D, for example, as a vibration waveform at the time of S6 squeeze driving, the Y vibrator 23 has a phase opposite to that of the Z vibrator 21 and is excited in a sinusoidal shape with an amplitude of 1 / √2. To do. Thus, the operating surface S6 inclined by 45 ° with respect to phi ₄₅ axis can vibrate in H6 direction perpendicular thereto.

(Fourth embodiment)
FIG. 7 is an explanatory diagram showing the overall configuration of the operating device according to the fourth embodiment of the present invention. FIG. 8 is a flowchart showing the operation of the operating device according to the fourth embodiment.

In the fourth embodiment, the operation knob 12 having a quadrangular pyramid is used, and the operation knob 12 is displayed on the display unit 50. On the display unit 50, each operation surface of the operation knob 12 is displayed, and a specific operation surface for distinguishing from the other operation surfaces is displayed in a different color, for example, gray color, hatching, or the like. In addition, the contents of a specific operation surface can be displayed on the operation surface S0.

In the operation knob 12 according to the fourth embodiment, capacitive touch sensors are provided on the operation surfaces Sa, Sb, Sc, and Sd, respectively. Since the touch switch signal Ts by the touch sensor is output to the control unit 30, it is possible to detect which operation surface Sa, Sb, Sc, Sd is touched.

The configuration of the operation knob 12 other than the touch sensor is the same as that described in the first embodiment. As shown in FIG. 7, each vibrator is driven by the vibrator drive signal Vs to control the triaxial drive unit 20. Further, the push switch unit 25 outputs an enter signal Es when the operation knob 12 is pushed and pushed. Thereby, it is possible to detect that the touch-operated operation surface has been pressed and pressed.

(Operation of Fourth Embodiment)
This will be described with reference to the flowchart shown in FIG. In the fourth embodiment, the operation surface Sd shown in FIG. 7 is a specific operation surface. The operation surface Sd is displayed in gray (hatched) on the display unit 50, and a squeeze film is generated on the surface of the operation surface Sd to distinguish it from other operation surfaces.

The control unit 30 displays the operation surface Sd of the operation knob 12 as a specific operation surface for distinguishing. As shown in FIG. 7, for example, the operation surface Sd is displayed on the display unit 50 in a gray color (hatching) (Step 1). In addition, it is possible to display on the display unit 50 the contents of processing executed when the operation surface Sd is touched and entered.

Next, as shown in FIG. 7, the control unit 30 drives a predetermined transducer of the triaxial drive unit 20 with a predetermined amplitude and phase using the transducer drive signal Vs (Step 2). As shown in the first or second embodiment, the operation surface Sd can be ultrasonically vibrated by driving the Z vibrator and the Y vibrator. Thereby, a squeeze film is formed on the surface of the operation surface Sd.

The control unit 30 determines whether or not the operation surface Sd is touched (Step 3). The control unit 30 can determine which operation surface Sa, Sb, Sc, Sd is touched by the input touch switch signal Ts. If the operation surface Sd is touched, the process proceeds to Step 4. If the operation surface Sd is not touched, Step 3 is repeatedly executed.

The control unit 30 determines whether or not the push switch unit 25 is turned on (Step 4). The control unit 30 can determine whether or not the pressing switch unit 25 is turned on based on an enter signal Es output when the operation knob 12 is pressed and pressed. When the pressing switch unit 25 is turned on, the process proceeds to Step 5, and when the pressing switch unit 25 is not turned on, the process returns to Step 3 and is repeatedly executed.

The control unit 30 determines that the operation surface Sd has been pressed, and can execute the menu assigned to the operation surface Sd (Step 5).

A series of processing execution operations is terminated by the flow shown above.

(Effect of embodiment)
The present embodiment has the following effects.
(1) The operation unit of the operation device according to the present embodiment has a plurality of operation surfaces composed of polyhedrons, and with respect to a predetermined vibrator (Z vibrator, X vibrator, Y vibrator), By applying a predetermined voltage at a predetermined phase, a specific operation surface can be ultrasonically vibrated in a direction perpendicular to the operation surface. As a result, a squeeze film, which is a film of air, can be formed between the operation surface and the fingertip, the finger and the operation surface become substantially non-contact, the apparent friction is reduced, and finger sliding is improved. It has the effect. It becomes possible to distinguish from other surfaces from the difference in frictional force on the surface.
Therefore, it is possible to provide an operating device that enables a method for distinguishing an arbitrary region of a three-dimensional object (polyhedron) with a simple configuration.
(2) As shown in the first to third embodiments, each vibrator (Z vibrator 21, X vibrator 22, Y vibrator 23) that is a drive unit is driven and controlled with a predetermined amplitude and phase. Thus, it is possible to vibrate the operation surface in any direction of the X direction, the Y direction, and the Z direction. That is, the operation surface in a specific direction can be vibrated by a combination of the amplitude and phase of the vibrators driven by the Z vibrator 21, the X vibrator 22 and the Y vibrator 23. As a result, even with a configuration other than the polyhedron shown in the first to third embodiments, any operation surface can be vibrated by the same control method.
(3) According to the fourth embodiment, each operation surface of the operation knob is displayed on the display unit, and a specific operation surface for distinguishing from the other operation surface is different from other colors, for example, Displayed in gray or hatched. Further, the contents of a specific operation surface can be displayed. As a result, the contents of the operation can be confirmed while looking at the display unit. However, the operator can know that a specific operation surface is selected simply by touching the operation knob without looking at the display unit.
(4) Further, since the operation surface being selected needs to be operated relatively carefully because the frictional force of the surface decreases and it becomes difficult to operate, it leads to prevention of erroneous operation.
(5) Further, each operation surface of the operation knob can be driven by three piezoelectric elements, and it is not necessary to incorporate a vibrator on each surface to be distinguished, which is advantageous in terms of cost.

As mentioned above, although some embodiment and modification of this invention were demonstrated, these embodiment and modification are only examples, and do not limit the invention which concerns on a claim. These novel embodiments and modifications can be implemented in various other forms, and various omissions, replacements, changes, and the like can be made without departing from the scope of the present invention. . In addition, not all the combinations of features described in these embodiments and modifications are essential to the means for solving the problems of the invention. Furthermore, these embodiments and modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

1 operating device,
10, 11, 12 Operation knob 20 Triaxial drive unit 21 Z vibrator 22 X vibrator 23 Y vibrator 30 Control unit 100 Squeeze film

Claims

An operation unit having a plurality of operation surfaces formed of a polyhedron;
A three-axis drive unit that causes the operation unit to vibrate ultrasonically in the directions of the vertical axis (Z axis) and the horizontal two axes (X axis, Y axis),
A control unit that drives and controls each driving unit of the three-axis driving unit with a predetermined amplitude and phase;
The control unit is an operation device that generates a squeeze film on a surface of a specific operation surface of the operation unit by controlling the drive of each of the drive units with a predetermined amplitude and phase.
The operation unit is a first surface orthogonal to the Z axis, a second surface that is an inclined surface that intersects the X axis at a predetermined angle, a third surface, and an inclined surface that intersects the Y axis at a predetermined angle. The operating device according to claim 1, wherein the operating device is a pentahedron having a fourth surface and a fifth surface.
The operating device according to claim 1, wherein the three-axis driving unit is disposed to be stacked below the operating unit.
The operating device according to claim 3, wherein the triaxial driving unit includes a stacked piezoelectric element.
The operating device according to claim 4, wherein the laminated piezoelectric element is vibrated in a sinusoidal shape in an ultrasonic frequency band.
The operation surface includes an operation surface inclined with respect to the Z axis,
2. The operating device according to claim 1, wherein the squeeze film is generated by a waveform that vibrates in a direction orthogonal to the inclined operation surface on the inclined operation surface.