WO2018151039A1 - Tactile sensation presenting device - Google Patents

Tactile sensation presenting device Download PDF

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Publication number
WO2018151039A1
WO2018151039A1 PCT/JP2018/004584 JP2018004584W WO2018151039A1 WO 2018151039 A1 WO2018151039 A1 WO 2018151039A1 JP 2018004584 W JP2018004584 W JP 2018004584W WO 2018151039 A1 WO2018151039 A1 WO 2018151039A1
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WO
WIPO (PCT)
Prior art keywords
load
actuator
region
operation surface
presentation device
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PCT/JP2018/004584
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French (fr)
Japanese (ja)
Inventor
泰弘 小野
誠也 村瀬
治彦 橋本
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株式会社東海理化電機製作所
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Publication of WO2018151039A1 publication Critical patent/WO2018151039A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means

Definitions

  • the present invention relates to a tactile sense presentation device.
  • a tactile transmission device comprising: an input unit; a plurality of vibration units provided in the input unit; and a control unit that vibrates a part of the plurality of vibration units according to the pressed input position. It is known (for example, refer to Patent Document 1).
  • This tactile sensation transmission device uses a piezoelectric element as a vibration part, and is configured to detect a load applied to the input part by the piezoelectric element.
  • the haptic transmission device disclosed in Patent Document 1 detects a load and presents vibrations using a plurality of piezoelectric elements. Therefore, if the piezoelectric element is made smaller in order to reduce the size, the load detection accuracy decreases or vibrations occur. May not be able to provide sufficient tactile feedback.
  • An object of the present invention is to provide a haptic presentation device capable of presenting sufficient haptic feedback while suppressing a decrease in load detection accuracy even if the size is reduced.
  • a tactile sensation presentation apparatus includes a detection unit that detects a position of an operation finger that is in contact with an operation surface, an actuator that detects a load applied to the operation surface and vibrates the operation surface, and an operation surface.
  • a load threshold determined for each region based on a load detected by adding a reference load to each of a plurality of defined regions, and a drive signal for each region for driving the actuator.
  • a control unit that determines an operation based on a load threshold value of the region in which the detection is detected and drives the actuator with a drive signal corresponding to the region to present tactile feedback.
  • a tactile sensation presentation apparatus capable of presenting sufficient tactile feedback while suppressing a decrease in load detection accuracy even if the apparatus is downsized.
  • FIG. 1A is a top view showing a tactile sensation presentation apparatus according to an embodiment.
  • 1B is a cross-sectional view of the cross section taken along line I (b) -I (b) in FIG. 1A as viewed from the direction of the arrow.
  • FIG. 2A is an explanatory diagram illustrating an actuator of the tactile sense presentation device according to the embodiment.
  • FIG. 2B is a block diagram illustrating the tactile sense presentation device.
  • FIG. 2C is an explanatory diagram illustrating a database included in the tactile sense presentation device.
  • FIG. 3 is a flowchart showing the operation of the tactile sense presentation device according to the embodiment.
  • a tactile sensation presentation apparatus is defined by a detection unit that detects the position of an operation finger that touches the operation surface, an actuator that detects a load applied to the operation surface and vibrates the operation surface, and the operation surface. It has a load threshold determined for each area based on the load detected by adding a reference load to each of the multiple areas, and a drive signal for each area for driving the actuator, and is detected by the operating finger.
  • a control unit that determines an operation based on the load threshold value of the region, and drives the actuator with a drive signal corresponding to the region to present tactile feedback.
  • This tactile sensation presentation apparatus performs load detection and vibration presentation by a single actuator, and sets a load threshold for each region and suppresses position variation in order to suppress variation in load detection due to a difference in position where an operation is detected. In order to suppress variation in tactile feedback due to the difference between the two, a drive signal is determined for each region. Therefore, this tactile sensation presentation apparatus can present sufficient tactile feedback while suppressing a decrease in load detection accuracy even when the tactile sensation presentation apparatus is downsized.
  • FIG. 1A is a top view showing a tactile sensation presentation apparatus according to an embodiment
  • FIG. 1B is a cross-sectional view taken along line I (b) -I (b) in FIG.
  • 2A is an explanatory diagram illustrating an actuator of the haptic presentation device according to the embodiment
  • FIG. 2B is a block diagram illustrating the haptic presentation device
  • FIG. 2C is an explanatory diagram illustrating a database included in the haptic presentation device. is there. Note that, in each drawing according to the embodiment described below, the ratio between figures may be different from the actual ratio.
  • main signals and information flows are indicated by arrows.
  • the tactile sense presentation device 1 is arranged, for example, on the steering of a vehicle, and is configured to operate an electronic device mounted on the vehicle.
  • the tactile sense presentation device 1 is a small operation device that is operated by an operation finger such as a thumb while holding a steering wheel.
  • positioning of the tactile sense presentation apparatus 1 is not limited to this, For example, you may arrange
  • the tactile sensation presentation apparatus 1 is configured to detect a load applied to the operation unit 2 and present tactile feedback by vibration. However, even if the operator performs a push operation on the operation unit with the same load, the voltage output by the actuator differs depending on the region, and the sensation felt by the operator's finger differs even when tactile feedback is presented in the same manner.
  • the tactile sensation presentation apparatus 1 suppresses the variation in the load detection and the variation in the sense of feeling tactile feedback.
  • the tactile sense presentation device 1 is added to the operation surface 200 and the touch sensor 3 as a detection unit that detects the position of the operation finger in contact with the operation surface 200.
  • the actuator 4 that detects the generated load and vibrates the operation surface 200, and a load determined for each region based on the load detected by adding a reference load to each of the plurality of regions defined on the operation surface 200. It has a threshold and a drive signal S3 for each area for driving the actuator 4, and determines the operation based on the load threshold value of the area where the operation finger is detected, and by the drive signal S3 corresponding to the area
  • a control unit 8 that drives the actuator 4 to present tactile feedback.
  • the operation surface 200 is, for example, the surface of the operation unit 2 shown in FIGS. 1A and 1B.
  • the operation surface 200 is defined by a central region (central region 27) and a plurality of regions (upper region 23 to right region 26) located across the central region.
  • the definition of the area of the operation surface 200 is not limited to this, and can be arbitrarily set according to the specification of the tactile sense presentation device 1.
  • the tactile presentation device 1 can instruct the movement of the cursor displayed on the display device, for example, the operator moves the cursor upward by pressing the upper area 23, and moves the cursor downward by pressing the lower area 24. It is possible to move in the left direction by pushing the direction and the left region 25, and in the right direction by pushing the right region 26. For example, when the operator presses the central area 27 while selecting a desired icon or the like with the cursor, execution of the function of the selected icon is determined.
  • the tactile sense presenting apparatus 1 presents tactile feedback imitating a click feeling when a button is pushed.
  • the tactile feedback is not limited to this, and may be a tactile sense indicating that an operation has been accepted.
  • the operation unit 2 includes, for example, a touch sensor 3 and a base unit 20. Moreover, the operation part 2 has the presser 5 between the actuators 4, as shown to FIG. 1B, for example.
  • the load applied to the operation unit 2 acts on the actuator 4 via the pusher 5.
  • the vibration generated by the actuator 4 is transmitted to the operation unit 2 via the pusher 5.
  • the touch sensor 3 is bonded to the base 20.
  • the base 20 is formed in a disk shape using a resin, and the operation surface 200 which is the surface thereof is formed with arrows and characters in the vertical and horizontal directions by printing, laser, or the like. Yes.
  • the base 20 is formed of a transparent resin in which a light-blocking region that blocks light and a light-transmitting region that transmits light are formed on the surface, and a substrate having a light emitting unit is disposed between the touch sensor 3 May be.
  • the transmissive area is illuminated.
  • the operation unit 2 is not limited to a circular shape or a symmetric shape in a top view, and may have another shape.
  • the touch sensor 3 includes a substrate 30 and an electrode unit 31.
  • the touch sensor 3 has a disk shape according to the shape of the operation unit 2.
  • the substrate 30 is, for example, a rigid substrate.
  • the electrode portion 31 of the touch sensor 3 is attached to the front surface 30a side of the substrate 30, and the presser 5 is attached to the back surface 30b side.
  • the touch sensor 3 is, for example, a capacitive touch sensor.
  • the touch sensor 3 is configured to output a detection signal S1 for determining whether at least one of the upper region 23 to the central region 27 defined on the operation surface 200 is in contact with the operation finger. Yes.
  • the electrode unit 31 of the touch sensor 3 includes, for example, detection electrodes having shapes corresponding to the shapes of the upper region 23 to the central region 27.
  • the touch sensor 3 is configured to output a detection signal S1, which is a capacitance signal detected for each region, to the control unit 8.
  • the touch sensor 3 includes a plurality of drive electrodes and a plurality of detection electrodes that intersect and are insulated from the drive electrodes, and the capacitance detected by all combinations of the drive electrodes and the detection electrodes. it may be configured to output to the control unit 8 as a detection signal S 1.
  • the control unit 8 is, for example, determines an area from coordinates the operation finger is detected in the coordinate system set on the operating face 200 on the basis of the detection signal S 1.
  • the upper area 23 is an area surrounded by a dotted line around an upward arrow on the paper surface of FIG. 1A.
  • the lower region 24 is a region surrounded by a dotted line around a downward arrow.
  • the left region 25 is a region surrounded by a dotted line around the left-pointing arrow.
  • the right area 26 is an area surrounded by a dotted line around a right-pointing arrow.
  • the central area 27 is an area surrounded by a dotted circle at the center of the operation unit 2.
  • a circle surrounded by dotted lines having a wider interval than the other dotted lines indicates the outer shape of the actuator 4.
  • the above-described pusher 5 is formed in a cylindrical shape with, for example, resin, and transmits the load of the operation unit 2 to the actuator 4.
  • the presser 5 is configured such that a surface in contact with a piezoelectric element 40 described later is smaller than the surface of the piezoelectric element 40.
  • the pusher 5 may have a hemispherical end portion in contact with the actuator 4.
  • the actuator 4 is a unimorph type piezoelectric actuator provided with a piezoelectric element 40 and a metal shim 41 as shown in FIG. 1B, for example.
  • the actuator 4 may be, for example, a bimorph type piezoelectric actuator in which two piezoelectric elements are provided on both surfaces of the metal shim 41. In this case, the load is detected by the piezoelectric element in contact with the pusher 5, and only the back side piezoelectric element or both piezoelectric elements vibrate.
  • the actuator 4 is attached to an attachment portion 14 formed on the support portion 10.
  • the attachment portion 14 has a shape into which the metal shim 41 of the actuator 4 is fitted.
  • the mounting portion 14 is formed with a recess 12 that allows the actuator 4 to bend due to the load applied to the operation surface 200 and the vibration applied to the operation surface 200.
  • the recess 12 is formed on the bottom surface of the mounting portion 14.
  • the piezoelectric element 40 has, for example, a disk shape, and is configured by sandwiching a piezoelectric body between an upper electrode and a lower electrode.
  • Examples of the material of the piezoelectric body include lithium niobate, barium titanate, lead titanate, lead zirconate titanate (PZT), lead metaniobate, and polyvinylidene fluoride (PVDF).
  • the piezoelectric body is, for example, a laminated piezoelectric body formed by laminating films formed using these materials.
  • the piezoelectric body is configured to be polarized in the thickness direction so that the piezoelectric constant is d33, and the output is increased with respect to deformation in the thickness direction.
  • the upper electrode is electrically connected to the control unit 8 through wiring.
  • the lower electrode is electrically connected to the control unit 8 through the metal shim 41 and wiring.
  • the metal shim 41 has a disk shape with a radius larger than that of the piezoelectric element 40.
  • the metal shim 41 is formed of, for example, conductive phosphor bronze or stainless steel.
  • the actuator 4 when a load is applied to the operation surface 200, the load is applied to the piezoelectric element 40 by the pusher 5 via the operation unit 2 and the piezoelectric element 40 is deformed.
  • the piezoelectric element 40 outputs a voltage corresponding to this deformation. Further, when a voltage is applied between the upper electrode and the lower electrode, the piezoelectric element 40 is deformed according to the voltage.
  • Actuator 4 a voltage output according to the load and output to the control unit 8 as a load signal S 2, oscillates together with the metal shim 41 is deformed in accordance with a voltage based on the driving signal S 3 output from the control unit 8 It is configured as follows.
  • the control unit 8 includes, for example, a CPU (Central Processing Unit) that performs operations and processes on acquired data according to a stored program, a RAM (Random Access Memory) that is a semiconductor memory, a ROM (Read Only Memory), and the like. Microcomputer.
  • ROM Random Access Memory
  • a program for operating the control unit 8 and a database 80 are stored.
  • the RAM is used as a storage area for temporarily storing calculation results and the like.
  • the control unit 8 has a means for generating a clock signal therein, and operates based on the clock signal.
  • the control unit 8 is configured to convert the load the load signals S 2 output from the actuator 4.
  • Database 80 for example, as shown in FIG. 2C, the load threshold and the driving waveform of each area, and a touch threshold Th 10.
  • the load threshold Th 1 to the load threshold Th 5 are thresholds determined based on the load detected by the actuator 4 as a result of adding a reference load for each region. Specifically, the load threshold Th 1 of the upper region 23 is determined based on the load detected when the reference load is added to the upper region 23. Similarly, the load threshold Th 2 to the load threshold Th 5 of the lower region 24 to the central region 27 are determined based on the load detected when the reference load is applied to each of the lower region 24 to the central region 27. It is done.
  • the drive waveforms Wa 1 to Wa 5 are information regarding the drive signal S 3 for each region.
  • the drive waveform Wa 1 is a waveform determined so that the operator can fully recognize the haptic feedback by changing the amplitude, the frequency, and the like based on the haptic feedback generated by the drive signal S 3 having the reference waveform. is there.
  • the driving waveforms Wa 2 to Wa 5 are each changed in amplitude, frequency, etc. based on the haptic feedback generated by the driving signal S 3 having the reference waveform, so that the operator can fully recognize the haptic feedback. It is a waveform determined so as to be able to.
  • control unit 8 may store the driving signal S 3 of each area in the database 80.
  • the control unit 8 may store the drive waveform or drive signal for each region as a function in the database 80.
  • the touch threshold Th 10 is a threshold for determining contact with the touch sensor 3.
  • Control unit 8 determines a region where the touch threshold Th 10 or more electrostatic capacitance is detected on the basis of the detection signals S 1 to be input.
  • Control unit 8 determines by comparing the touch threshold value Th 10 read from the capacitance and the database 80 for each area based on the detection signal S 1 is operated finger touches area. Next, the control unit 8, when the region is determined and compared to the load based on the load signal S 2 reads the load threshold value corresponding to the region from the database 80. The control unit 8, the load is greater than or equal to the load threshold, when the push operation on the region is determined, in order to generate haptic feedback, the drive signal S 3 reads a driving waveform of the area from the database 80 Generate and drive the actuator 4 to present tactile feedback.
  • Control unit 8 outputs in electronic devices connected generated by the operation information S 4 including the region information push operation is performed based on the determination result.
  • the control unit 8 of the tactile sensation presentation device 1 compares the capacitance for each region based on the detection signal S 1 acquired from the touch sensor 3 with the touch threshold Th 10 read from the database 80, and the operation finger Monitor for contact.
  • Step 1 When “Yes” in Step 1 is established, that is, when the touch of the operating finger is detected (Step 1: Yes), the control unit 8 reads the load threshold value of the region where the touch is detected from the database 80 and reads the load signal. compared to the load based on S 2, it monitors whether or not the push operation is performed (Step2).
  • the control unit 8 reads the drive waveform of the area where contact is detected from the database 80 and generates the drive signal S3. It outputs to the actuator 4 and presents tactile feedback (Step 4).
  • step 3 the control unit 8 ends the process when the push operation is not determined (Step 3: No) and the operation is not continued, that is, the contact of the operation finger is not detected (Step 5: No). To do. Further, in step 5, when the contact of the operation finger is continuously detected (Step 5: Yes), the control unit 8 advances the process to step 3 and determines the push operation.
  • the tactile sensation presentation apparatus 1 Even if the tactile sensation presentation apparatus 1 according to the present embodiment is miniaturized, it can present sufficient tactile feedback while suppressing a decrease in load detection accuracy.
  • the tactile sensation presentation device 1 performs load detection and vibration presentation by a single actuator 4, and loads each region in order to suppress variation in load detection due to a difference in position where an operation is detected. A drive signal is determined for each region in order to determine a threshold value and to suppress variation in tactile feedback due to a difference in position. Since the upper region 23 to the right region 26 of the present embodiment are located symmetrically with respect to the central region 27, ideally, the load detected by the actuator 4 and the vibration feedback to be presented are the same in each region. Actually different.
  • the tactile sensation presentation apparatus 1 can be easily downsized because there is one actuator 4. Therefore, the tactile sense presentation device 1 can present sufficient tactile feedback while suppressing a decrease in load detection accuracy even when the tactile sense presentation device 1 is downsized.

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  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
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  • General Physics & Mathematics (AREA)
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Abstract

This tactile sensation presenting device 1 is provided with, for example: a touch sensor 3 as a detection unit that detects the position of a manipulating finger touching a manipulation surface 200; an actuator 4 that detects a load applied to the manipulation surface 200 and vibrates the manipulation surface 200; and a control unit 8 that is provided with load thresholds which have been determined for each of a plurality of regions defined on the manipulating surface 200 on the basis of a load detected by adding a reference load to each region, and a drive signal S3 for each region for driving the actuator 4, and that determines a manipulation on the basis of the load threshold of the region in which the manipulating finger was detected while presenting tactile feedback by driving the actuator 4 using the drive signal S3 corresponding to said region.

Description

触覚呈示装置Tactile presentation device 関連出願の相互参照Cross-reference of related applications
本出願は、２０１７年２月１４日に出願された日本国特許出願２０１７－０２４６７２号の優先権を主張するものであり、日本国特許出願２０１７－０２４６７２号の全内容を本出願に参照により援用する。 This application claims the priority of Japanese Patent Application No. 2017-024672 filed on Feb. 14, 2017, the entire contents of Japanese Patent Application No. 2017-024672 incorporated herein by reference. To do.
本発明は、触覚呈示装置に関する。 The present invention relates to a tactile sense presentation device.
入力部と、入力部に設けられた複数の振動部と、押圧された入力位置に応じて、複数の振動部のうち一部の振動部を振動させる制御部と、を備えた触覚伝達装置が知られている（例えば、特許文献１参照。）。 A tactile transmission device comprising: an input unit; a plurality of vibration units provided in the input unit; and a control unit that vibrates a part of the plurality of vibration units according to the pressed input position. It is known (for example, refer to Patent Document 1).
この触覚伝達装置は、振動部として圧電素子を使用し、またこの圧電素子によって入力部に付加された荷重を検出するように構成されている。 This tactile sensation transmission device uses a piezoelectric element as a vibration part, and is configured to detect a load applied to the input part by the piezoelectric element.
特開２０１１－９０６１５号公報JP 2011-90615 A
特許文献１に開示された触覚伝達装置は、複数の圧電素子によって荷重の検出と振動の呈示を行なっているので、小型化するために圧電素子を小さくした場合、荷重の検出精度の低下や振動による十分な触覚フィードバックの呈示を行うことができない可能性がある。 The haptic transmission device disclosed in Patent Document 1 detects a load and presents vibrations using a plurality of piezoelectric elements. Therefore, if the piezoelectric element is made smaller in order to reduce the size, the load detection accuracy decreases or vibrations occur. May not be able to provide sufficient tactile feedback.
本発明の目的は、小型化されても荷重の検出精度の低下を抑制しつつ十分な触覚フィードバックを呈示することができる触覚呈示装置を提供することにある。 An object of the present invention is to provide a haptic presentation device capable of presenting sufficient haptic feedback while suppressing a decrease in load detection accuracy even if the size is reduced.
本発明の一実施形態による触覚呈示装置は、操作面に接触した操作指の位置を検出する検出部と、操作面に付加された荷重を検出すると共に操作面を振動させるアクチュエータと、操作面に規定された複数の領域ごとに基準荷重を付加して検出された荷重に基づいて領域ごとに定められた荷重しきい値、及びアクチュエータを駆動するための領域ごとの駆動信号を有し、操作指が検出された領域の荷重しきい値に基づいて操作を判定すると共に当該領域に対応する駆動信号によってアクチュエータを駆動して触覚フィードバックを呈示する制御部と、を有する。 A tactile sensation presentation apparatus according to an embodiment of the present invention includes a detection unit that detects a position of an operation finger that is in contact with an operation surface, an actuator that detects a load applied to the operation surface and vibrates the operation surface, and an operation surface. A load threshold determined for each region based on a load detected by adding a reference load to each of a plurality of defined regions, and a drive signal for each region for driving the actuator. And a control unit that determines an operation based on a load threshold value of the region in which the detection is detected and drives the actuator with a drive signal corresponding to the region to present tactile feedback.
本発明の一実施形態によれば、小型化されても荷重の検出精度の低下を抑制しつつ十分な触覚フィードバックを呈示することが可能な触覚呈示装置を提供することができる。 According to an embodiment of the present invention, it is possible to provide a tactile sensation presentation apparatus capable of presenting sufficient tactile feedback while suppressing a decrease in load detection accuracy even if the apparatus is downsized.
図１Ａは、実施の形態に係る触覚呈示装置を示す上面図である。FIG. 1A is a top view showing a tactile sensation presentation apparatus according to an embodiment. 図１Ｂは、図１ＡのI（ｂ）-I（ｂ）線で切断した断面を矢印方向から見た断面図である。1B is a cross-sectional view of the cross section taken along line I (b) -I (b) in FIG. 1A as viewed from the direction of the arrow. 図２Ａは、実施の形態に係る触覚呈示装置のアクチュエータを示す説明図である。FIG. 2A is an explanatory diagram illustrating an actuator of the tactile sense presentation device according to the embodiment. 図２Ｂは、触覚呈示装置を示すブロック図である。FIG. 2B is a block diagram illustrating the tactile sense presentation device. 図２Ｃは、触覚呈示装置が有するデータベースを示す説明図である。FIG. 2C is an explanatory diagram illustrating a database included in the tactile sense presentation device. 図３は、実施の形態に係る触覚呈示装置の動作を示すフローチャートである。FIG. 3 is a flowchart showing the operation of the tactile sense presentation device according to the embodiment.
（実施の形態の要約）
実施の形態に係る触覚呈示装置は、操作面に接触した操作指の位置を検出する検出部と、操作面に付加された荷重を検出すると共に操作面を振動させるアクチュエータと、操作面に規定された複数の領域ごとに基準荷重を付加して検出された荷重に基づいて領域ごとに定められた荷重しきい値、及びアクチュエータを駆動するための領域ごとの駆動信号を有し、操作指が検出された領域の荷重しきい値に基づいて操作を判定すると共に当該領域に対応する駆動信号によってアクチュエータを駆動して触覚フィードバックを呈示する制御部と、を有する。 (Summary of embodiment)
A tactile sensation presentation apparatus according to an embodiment is defined by a detection unit that detects the position of an operation finger that touches the operation surface, an actuator that detects a load applied to the operation surface and vibrates the operation surface, and the operation surface. It has a load threshold determined for each area based on the load detected by adding a reference load to each of the multiple areas, and a drive signal for each area for driving the actuator, and is detected by the operating finger. A control unit that determines an operation based on the load threshold value of the region, and drives the actuator with a drive signal corresponding to the region to present tactile feedback.
この触覚呈示装置は、荷重の検出と振動の呈示を１つのアクチュエータによって行い、また操作が検出された位置の違いによる荷重検出のばらつきを抑制するために領域ごとに荷重しきい値を定めると共に位置の違いによる触覚フィードバックのばらつきを抑制するために領域ごとに駆動信号を定めている。従ってこの触覚呈示装置は、この構成を採用しない場合と比べて、小型化されても荷重の検出精度の低下を抑制しつつ十分な触覚フィードバックを呈示することができる。 This tactile sensation presentation apparatus performs load detection and vibration presentation by a single actuator, and sets a load threshold for each region and suppresses position variation in order to suppress variation in load detection due to a difference in position where an operation is detected. In order to suppress variation in tactile feedback due to the difference between the two, a drive signal is determined for each region. Therefore, this tactile sensation presentation apparatus can present sufficient tactile feedback while suppressing a decrease in load detection accuracy even when the tactile sensation presentation apparatus is downsized.
[実施の形態]
（触覚呈示装置１の概要）
図１Ａは、実施の形態に係る触覚呈示装置を示す上面図であり、図１Ｂは、図１ＡのI（ｂ）-I（ｂ）線で切断した断面を矢印方向から見た断面図である。図２Ａは、実施の形態に係る触覚呈示装置のアクチュエータを示す説明図であり、図２Ｂは、触覚呈示装置を示すブロック図であり、図２Ｃは、触覚呈示装置が有するデータベースを示す説明図である。なお、以下に記載する実施の形態に係る各図において、図形間の比率は、実際の比率とは異なる場合がある。また図２Ｂでは、主な信号や情報の流れを矢印で示している。 [Embodiment]
(Outline of the tactile presentation device 1)
1A is a top view showing a tactile sensation presentation apparatus according to an embodiment, and FIG. 1B is a cross-sectional view taken along line I (b) -I (b) in FIG. . 2A is an explanatory diagram illustrating an actuator of the haptic presentation device according to the embodiment, FIG. 2B is a block diagram illustrating the haptic presentation device, and FIG. 2C is an explanatory diagram illustrating a database included in the haptic presentation device. is there. Note that, in each drawing according to the embodiment described below, the ratio between figures may be different from the actual ratio. In FIG. 2B, main signals and information flows are indicated by arrows.
この触覚呈示装置１は、例えば、車両のステアリングに配置され、車両に搭載された電子機器を操作するように構成されている。また触覚呈示装置１は、例えば、ステアリングを把持した状態で親指などの操作指によって操作される小型の操作装置である。なお触覚呈示装置１の配置は、これに限定されず、例えば、電子機器の操作部として、当該電子機器の表示部などの近くに配置されても良い。 The tactile sense presentation device 1 is arranged, for example, on the steering of a vehicle, and is configured to operate an electronic device mounted on the vehicle. The tactile sense presentation device 1 is a small operation device that is operated by an operation finger such as a thumb while holding a steering wheel. In addition, arrangement | positioning of the tactile sense presentation apparatus 1 is not limited to this, For example, you may arrange | position near the display part of the said electronic device, etc. as an operation part of an electronic device.
また触覚呈示装置１は、操作部２に付加された荷重を検出すると共に振動による触覚フィードバックを呈示するように構成されている。しかし操作者が同じ荷重で操作部に対してプッシュ操作を行っても領域によってアクチュエータが出力する電圧が異なり、また同じように触覚フィードバックが呈示されても操作者が操作指で感じる感覚が異なる。触覚呈示装置１は、この荷重検出のばらつきと触覚フィードバックを感じる感覚のばらつきを抑制するものである。 The tactile sensation presentation apparatus 1 is configured to detect a load applied to the operation unit 2 and present tactile feedback by vibration. However, even if the operator performs a push operation on the operation unit with the same load, the voltage output by the actuator differs depending on the region, and the sensation felt by the operator's finger differs even when tactile feedback is presented in the same manner. The tactile sensation presentation apparatus 1 suppresses the variation in the load detection and the variation in the sense of feeling tactile feedback.
具体的には、触覚呈示装置１は、例えば、図１Ａ～図２Ｂに示すように、操作面２００に接触した操作指の位置を検出する検出部としてのタッチセンサ３と、操作面２００に付加された荷重を検出すると共に操作面２００を振動させるアクチュエータ４と、操作面２００に規定された複数の領域ごとに基準荷重を付加して検出された荷重に基づいて領域ごとに定められた荷重しきい値、及びアクチュエータ４を駆動するための領域ごとの駆動信号Ｓ３を有し、操作指が検出された領域の荷重しきい値に基づいて操作を判定すると共に当該領域に対応する駆動信号Ｓ３によってアクチュエータ４を駆動して触覚フィードバックを呈示する制御部８と、を有する。 Specifically, for example, as shown in FIGS. 1A to 2B, the tactile sense presentation device 1 is added to the operation surface 200 and the touch sensor 3 as a detection unit that detects the position of the operation finger in contact with the operation surface 200. The actuator 4 that detects the generated load and vibrates the operation surface 200, and a load determined for each region based on the load detected by adding a reference load to each of the plurality of regions defined on the operation surface 200. It has a threshold and a drive signal S3 for each area for driving the actuator 4, and determines the operation based on the load threshold value of the area where the operation finger is detected, and by the drive signal S3 corresponding to the area And a control unit 8 that drives the actuator 4 to present tactile feedback.
この操作面２００は、例えば、図１Ａ及び図１Ｂに示す操作部２の表面である。そして操作面２００は、一例として、中央の領域（中央領域２７）、及び中央の領域を挟んで位置する複数の領域（上領域２３～右領域２６）に規定されている。なお操作面２００の領域の規定は、これに限定されず、触覚呈示装置１の仕様に応じて任意に設定することが可能である。 The operation surface 200 is, for example, the surface of the operation unit 2 shown in FIGS. 1A and 1B. For example, the operation surface 200 is defined by a central region (central region 27) and a plurality of regions (upper region 23 to right region 26) located across the central region. The definition of the area of the operation surface 200 is not limited to this, and can be arbitrarily set according to the specification of the tactile sense presentation device 1.
ここで触覚呈示装置１が表示装置に表示されたカーソルの移動を指示できる場合、操作者は、例えば、上領域２３を押すことでカーソルを上方向に移動させ、下領域２４を押すことで下方向、左領域２５を押すことで左方向、右領域２６を押すことで右方向に移動させることができる。そして例えば、操作者が所望のアイコンなどをカーソルで選択した状態で中央領域２７を押すと、選択されたアイコンの機能の実行が決定される。 Here, when the tactile presentation device 1 can instruct the movement of the cursor displayed on the display device, for example, the operator moves the cursor upward by pressing the upper area 23, and moves the cursor downward by pressing the lower area 24. It is possible to move in the left direction by pushing the direction and the left region 25, and in the right direction by pushing the right region 26. For example, when the operator presses the central area 27 while selecting a desired icon or the like with the cursor, execution of the function of the selected icon is determined.
触覚呈示装置１は、一例として、領域に対してプッシュ操作が判定された場合、ボタンを押し込んだ際のクリック感などを模した触覚フィードバックを呈示する。なお触覚フィードバックは、これに限定されず、操作を受け付けたことを示す触覚などであっても良い。 As an example, when a push operation is determined for a region, the tactile sense presenting apparatus 1 presents tactile feedback imitating a click feeling when a button is pushed. The tactile feedback is not limited to this, and may be a tactile sense indicating that an operation has been accepted.
（操作部２の構成）
操作部２は、例えば、タッチセンサ３と、基部２０と、を有する。また操作部２は、例えば、図１Ｂに示すように、アクチュエータ４との間に押子５を有している。操作部２に付加された荷重は、押子５を介してアクチュエータ４に作用する。またアクチュエータ４が生成した振動は、押子５を介して操作部２に伝達される。 (Configuration of operation unit 2)
The operation unit 2 includes, for example, a touch sensor 3 and a base unit 20. Moreover, the operation part 2 has the presser 5 between the actuators 4, as shown to FIG. 1B, for example. The load applied to the operation unit 2 acts on the actuator 4 via the pusher 5. The vibration generated by the actuator 4 is transmitted to the operation unit 2 via the pusher 5.
タッチセンサ３は、基部２０に貼り合わされている。この基部２０は、例えば、図１Ａに示すように、樹脂を用いて円板形状に形成され、その表面である操作面２００には印刷やレーザなどによって上下左右方向の矢印や文字が形成されている。 The touch sensor 3 is bonded to the base 20. For example, as shown in FIG. 1A, the base 20 is formed in a disk shape using a resin, and the operation surface 200 which is the surface thereof is formed with arrows and characters in the vertical and horizontal directions by printing, laser, or the like. Yes.
なお変形例として基部２０は、例えば、光を遮光する遮光領域と光を透過する透過領域が表面に形成された透明な樹脂で形成され、タッチセンサ３との間に発光部を有する基板が配置されても良い。この場合、発光部からの光が基部２０内部を伝達して透過領域から出射するので、透過領域が照明される。 As a modification, for example, the base 20 is formed of a transparent resin in which a light-blocking region that blocks light and a light-transmitting region that transmits light are formed on the surface, and a substrate having a light emitting unit is disposed between the touch sensor 3 May be. In this case, since the light from the light emitting part is transmitted through the base 20 and emitted from the transmissive area, the transmissive area is illuminated.
また変形例として操作部２は、上面視において円形や対称な形状に限定されず、他の形状であっても良い。 As a modification, the operation unit 2 is not limited to a circular shape or a symmetric shape in a top view, and may have another shape.
（タッチセンサ３の構成）
タッチセンサ３は、例えば、図１Ｂに示すように、基板３０と、電極部３１と、を有する。タッチセンサ３は、操作部２の形状に応じて円板形状を有している。基板３０は、例えば、リジット基板である。この基板３０の表面３０ａ側には、タッチセンサ３の電極部３１が取り付けられ、裏面３０ｂ側には、押子５が取り付けられている。 (Configuration of touch sensor 3)
For example, as shown in FIG. 1B, the touch sensor 3 includes a substrate 30 and an electrode unit 31. The touch sensor 3 has a disk shape according to the shape of the operation unit 2. The substrate 30 is, for example, a rigid substrate. The electrode portion 31 of the touch sensor 3 is attached to the front surface 30a side of the substrate 30, and the presser 5 is attached to the back surface 30b side.
このタッチセンサ３は、例えば、静電容量方式のタッチセンサである。そしてタッチセンサ３は、少なくとも操作面２００に規定された上領域２３～中央領域２７のいずれの領域に操作指が接触しているのかを判定するための検出信号Ｓ１を出力するように構成されている。 The touch sensor 3 is, for example, a capacitive touch sensor. The touch sensor 3 is configured to output a detection signal S1 for determining whether at least one of the upper region 23 to the central region 27 defined on the operation surface 200 is in contact with the operation finger. Yes.
タッチセンサ３の電極部３１は、例えば、上領域２３～中央領域２７の形状に応じた形状の検出電極を有している。そしてタッチセンサ３は、領域ごとに検出した静電容量の信号である検出信号Ｓ１を制御部８に出力するように構成されている。 The electrode unit 31 of the touch sensor 3 includes, for example, detection electrodes having shapes corresponding to the shapes of the upper region 23 to the central region 27. The touch sensor 3 is configured to output a detection signal S1, which is a capacitance signal detected for each region, to the control unit 8.
なお変形例としてタッチセンサ３は、複数の駆動電極と、駆動電極と絶縁されて交差する複数の検出電極と、を有し、駆動電極と検出電極の全ての組み合わせで検出された静電容量を検出信号Ｓ１として制御部８に出力するように構成されても良い。そして制御部８は、例えば、検出信号Ｓ１に基づいて操作面２００に設定された座標系における操作指が検出された座標から領域を判定する。 As a modification, the touch sensor 3 includes a plurality of drive electrodes and a plurality of detection electrodes that intersect and are insulated from the drive electrodes, and the capacitance detected by all combinations of the drive electrodes and the detection electrodes. it may be configured to output to the control unit 8 as a detection signal S 1. The control unit 8 is, for example, determines an area from coordinates the operation finger is detected in the coordinate system set on the operating face 200 on the basis of the detection signal S 1.
この上領域２３は、図１Ａの紙面において上向きの矢印の周囲の点線で囲まれた領域である。また下領域２４は、下向きの矢印の周囲の点線で囲まれた領域である。また左領域２５は、左向きの矢印の周囲の点線で囲まれた領域である。また右領域２６は、右向きの矢印の周囲の点線で囲まれた領域である。そして中央領域２７は、操作部２の中心の点線の円で囲まれた領域である。なお他の点線よりも間隔の広い点線で囲まれた円は、アクチュエータ４の外形を示している。 The upper area 23 is an area surrounded by a dotted line around an upward arrow on the paper surface of FIG. 1A. The lower region 24 is a region surrounded by a dotted line around a downward arrow. The left region 25 is a region surrounded by a dotted line around the left-pointing arrow. The right area 26 is an area surrounded by a dotted line around a right-pointing arrow. The central area 27 is an area surrounded by a dotted circle at the center of the operation unit 2. A circle surrounded by dotted lines having a wider interval than the other dotted lines indicates the outer shape of the actuator 4.
上述の押子５は、例えば、樹脂によって円柱形状に形成され、操作部２の荷重をアクチュエータ４に伝達するものである。この押子５は、例えば、図１Ｂに示すように、後述する圧電素子４０と接触する面が圧電素子４０の表面よりも小さくなるようにされている。なお押子５は、アクチュエータ４と接触する端部が半球形状となっていても良い。 The above-described pusher 5 is formed in a cylindrical shape with, for example, resin, and transmits the load of the operation unit 2 to the actuator 4. For example, as shown in FIG. 1B, the presser 5 is configured such that a surface in contact with a piezoelectric element 40 described later is smaller than the surface of the piezoelectric element 40. Note that the pusher 5 may have a hemispherical end portion in contact with the actuator 4.
（アクチュエータ４の構成）
アクチュエータ４は、例えば、図１Ｂに示すように、圧電素子４０と、金属シム４１と、を備えたユニモルフ型の圧電アクチュエータである。 (Configuration of actuator 4)
The actuator 4 is a unimorph type piezoelectric actuator provided with a piezoelectric element 40 and a metal shim 41 as shown in FIG. 1B, for example.
なお変形例としてアクチュエータ４は、例えば、２枚の圧電素子を金属シム４１の両面に設けたバイモルフ型圧電アクチュエータであっても良い。この場合、押子５と接触する圧電素子によって荷重を検出し、裏側の圧電素子のみ、又は双方の圧電素子が振動するように構成される。 As a modification, the actuator 4 may be, for example, a bimorph type piezoelectric actuator in which two piezoelectric elements are provided on both surfaces of the metal shim 41. In this case, the load is detected by the piezoelectric element in contact with the pusher 5, and only the back side piezoelectric element or both piezoelectric elements vibrate.
このアクチュエータ４は、例えば、図１Ｂに示すように、支持部１０に形成された取付部１４に取り付けられている。この取付部１４は、アクチュエータ４の金属シム４１が嵌り込む形状を有している。そして取付部１４には、操作面２００に付加された荷重、及び操作面２００に付加する振動によるアクチュエータ４の撓みを許容する凹部１２が形成されている。この凹部１２は、取付部１４の底面に形成されている。 For example, as shown in FIG. 1B, the actuator 4 is attached to an attachment portion 14 formed on the support portion 10. The attachment portion 14 has a shape into which the metal shim 41 of the actuator 4 is fitted. The mounting portion 14 is formed with a recess 12 that allows the actuator 4 to bend due to the load applied to the operation surface 200 and the vibration applied to the operation surface 200. The recess 12 is formed on the bottom surface of the mounting portion 14.
圧電素子４０は、例えば、円板形状を有し、圧電体を上部電極と下部電極で挟んで構成されている。この圧電体の材料としては、例えば、ニオブ酸リチウム、チタン酸バリウム、チタン酸鉛、チタン酸ジルコン酸鉛（ＰＺＴ）、メタニオブ酸鉛、ポリフッ化ビニリデン（ＰＶＤＦ）などが用いられる。圧電体は、例えば、これらの材料を用いて形成された膜を積層して形成された積層型の圧電体である。なお圧電体は、圧電定数がｄ３３となるように厚み方向に分極し、厚み方向の変形に対して出力が大きくなるように構成されている。 The piezoelectric element 40 has, for example, a disk shape, and is configured by sandwiching a piezoelectric body between an upper electrode and a lower electrode. Examples of the material of the piezoelectric body include lithium niobate, barium titanate, lead titanate, lead zirconate titanate (PZT), lead metaniobate, and polyvinylidene fluoride (PVDF). The piezoelectric body is, for example, a laminated piezoelectric body formed by laminating films formed using these materials. The piezoelectric body is configured to be polarized in the thickness direction so that the piezoelectric constant is d33, and the output is increased with respect to deformation in the thickness direction.
上部電極は、配線を介して制御部８と電気的に接続されている。また下部電極は、金属シム４１及び配線を介して制御部８と電気的に接続されている。 The upper electrode is electrically connected to the control unit 8 through wiring. The lower electrode is electrically connected to the control unit 8 through the metal shim 41 and wiring.
金属シム４１は、例えば、図２Ａに示すように、圧電素子４０よりも半径が大きい円板形状を有している。この金属シム４１は、例えば、導電性を有するリン青銅やステンレスなどによって形成されている。 For example, as shown in FIG. 2A, the metal shim 41 has a disk shape with a radius larger than that of the piezoelectric element 40. The metal shim 41 is formed of, for example, conductive phosphor bronze or stainless steel.
アクチュエータ４は、操作面２００に荷重が付加されると、操作部２を介して押子５によって圧電素子４０に荷重が付加され圧電素子４０が変形する。圧電素子４０は、この変形に応じた電圧を出力する。また圧電素子４０は、上部電極及び下部電極の間に電圧が印加されるとこの電圧に応じて変形する。アクチュエータ４は、荷重に応じて出力した電圧を荷重信号Ｓ２として制御部８に出力し、制御部８から出力された駆動信号Ｓ３に基づく電圧に応じて変形して金属シム４１と共に振動するように構成されている。 In the actuator 4, when a load is applied to the operation surface 200, the load is applied to the piezoelectric element 40 by the pusher 5 via the operation unit 2 and the piezoelectric element 40 is deformed. The piezoelectric element 40 outputs a voltage corresponding to this deformation. Further, when a voltage is applied between the upper electrode and the lower electrode, the piezoelectric element 40 is deformed according to the voltage. Actuator 4, a voltage output according to the load and output to the control unit 8 as a load signal S 2, oscillates together with the metal shim 41 is deformed in accordance with a voltage based on the driving signal S 3 output from the control unit 8 It is configured as follows.
（制御部８の構成）
制御部８は、例えば、記憶されたプログラムに従って、取得したデータに演算、加工などを行うＣＰＵ（Central Processing Unit）、半導体メモリであるＲＡＭ（Random Access Memory）及びＲＯＭ（Read Only Memory）などから構成されるマイクロコンピュータである。このＲＯＭには、例えば、制御部８が動作するためのプログラムと、データベース８０と、が格納されている。ＲＡＭは、例えば、一時的に演算結果などを格納する記憶領域として用いられる。また制御部８は、その内部にクロック信号を生成する手段を有し、このクロック信号に基づいて動作を行う。 (Configuration of control unit 8)
The control unit 8 includes, for example, a CPU (Central Processing Unit) that performs operations and processes on acquired data according to a stored program, a RAM (Random Access Memory) that is a semiconductor memory, a ROM (Read Only Memory), and the like. Microcomputer. In the ROM, for example, a program for operating the control unit 8 and a database 80 are stored. For example, the RAM is used as a storage area for temporarily storing calculation results and the like. The control unit 8 has a means for generating a clock signal therein, and operates based on the clock signal.
この制御部８は、アクチュエータ４から出力された荷重信号Ｓ２を荷重に変換するように構成されている。 The control unit 8 is configured to convert the load the load signals S 2 output from the actuator 4.
データベース８０は、例えば、図２Ｃに示すように、領域ごとの荷重しきい値及び駆動波形と、タッチしきい値Ｔｈ１０を有している。 Database 80, for example, as shown in FIG. 2C, the load threshold and the driving waveform of each area, and a touch threshold Th 10.
荷重しきい値Ｔｈ１～荷重しきい値Ｔｈ５は、領域ごとに基準荷重を付加し、その結果アクチュエータ４が検出した荷重に基づいて定められたしきい値である。具体的には、上領域２３の荷重しきい値Ｔｈ１は、上領域２３に基準荷重を付加した際に検出された荷重に基づいて定められる。同様に、下領域２４～中央領域２７の荷重しきい値Ｔｈ２～荷重しきい値Ｔｈ５は、下領域２４～中央領域２７ごとに基準荷重を付加した際に検出された荷重に基づいて定められる。 The load threshold Th 1 to the load threshold Th 5 are thresholds determined based on the load detected by the actuator 4 as a result of adding a reference load for each region. Specifically, the load threshold Th 1 of the upper region 23 is determined based on the load detected when the reference load is added to the upper region 23. Similarly, the load threshold Th 2 to the load threshold Th 5 of the lower region 24 to the central region 27 are determined based on the load detected when the reference load is applied to each of the lower region 24 to the central region 27. It is done.
駆動波形Ｗａ１～駆動波形Ｗａ５は、領域ごとの駆動信号Ｓ３に関する情報である。この駆動波形Ｗａ１は、基準波形を有する駆動信号Ｓ３によって生成された触覚フィードバックに基づいて振幅や振動数などを変更し、操作者が十分に触覚フィードバックを認知できるように定められた波形である。同様に、駆動波形Ｗａ２～駆動波形Ｗａ５は、基準波形を有する駆動信号Ｓ３によって生成された触覚フィードバックに基づいて振幅や振動数などをそれぞれ変更し、操作者が十分に触覚フィードバックを認知できるように定められた波形である。 The drive waveforms Wa 1 to Wa 5 are information regarding the drive signal S 3 for each region. The drive waveform Wa 1 is a waveform determined so that the operator can fully recognize the haptic feedback by changing the amplitude, the frequency, and the like based on the haptic feedback generated by the drive signal S 3 having the reference waveform. is there. Similarly, the driving waveforms Wa 2 to Wa 5 are each changed in amplitude, frequency, etc. based on the haptic feedback generated by the driving signal S 3 having the reference waveform, so that the operator can fully recognize the haptic feedback. It is a waveform determined so as to be able to.
なお変形例として制御部８は、領域ごとの駆動信号Ｓ３をデータベース８０に格納していても良い。また制御部８は、領域ごとの駆動波形又は駆動信号を関数としてデータベース８０に格納していても良い。 Note the control unit 8 as a modified example, it may store the driving signal S 3 of each area in the database 80. The control unit 8 may store the drive waveform or drive signal for each region as a function in the database 80.
タッチしきい値Ｔｈ１０は、タッチセンサ３に対する接触を判定するためのしきい値である。制御部８は、入力する検出信号Ｓ１に基づいてタッチしきい値Ｔｈ１０以上の静電容量が検出された領域を判定する。 The touch threshold Th 10 is a threshold for determining contact with the touch sensor 3. Control unit 8 determines a region where the touch threshold Th 10 or more electrostatic capacitance is detected on the basis of the detection signals S 1 to be input.
制御部８は、検出信号Ｓ１に基づく領域ごとの静電容量とデータベース８０から読み出したタッチしきい値Ｔｈ１０とを比較して操作指が接触した領域を判定する。次に制御部８は、領域が判定されると、当該領域に対応する荷重しきい値をデータベース８０から読み出して荷重信号Ｓ２に基づく荷重と比較する。そして制御部８は、荷重が荷重しきい値以上であり、当該領域に対するプッシュ操作が判定された場合、触覚フィードバックを生成するため、当該領域の駆動波形をデータベース８０から読み出して駆動信号Ｓ３を生成してアクチュエータ４を駆動し、触覚フィードバックを呈示する。 Control unit 8 determines by comparing the touch threshold value Th 10 read from the capacitance and the database 80 for each area based on the detection signal S 1 is operated finger touches area. Next, the control unit 8, when the region is determined and compared to the load based on the load signal S 2 reads the load threshold value corresponding to the region from the database 80. The control unit 8, the load is greater than or equal to the load threshold, when the push operation on the region is determined, in order to generate haptic feedback, the drive signal S 3 reads a driving waveform of the area from the database 80 Generate and drive the actuator 4 to present tactile feedback.
制御部８は、判定結果に基づいてプッシュ操作がなされた領域の情報などを含む操作情報Ｓ４を生成して接続されている電子機器に出力する。 Control unit 8 outputs in electronic devices connected generated by the operation information S 4 including the region information push operation is performed based on the determination result.
以下に本実施の形態の触覚呈示装置１の動作について図３のフローチャートに従って説明する。 Hereinafter, the operation of the tactile sense presentation device 1 according to the present embodiment will be described with reference to the flowchart of FIG.
（動作）
触覚呈示装置１の制御部８は、タッチセンサ３から取得した検出信号Ｓ１に基づく領域ごとの静電容量と、データベース８０から読み出したタッチしきい値Ｔｈ１０と、を比較して操作指が接触するか否かを監視する。 (Operation)
The control unit 8 of the tactile sensation presentation device 1 compares the capacitance for each region based on the detection signal S 1 acquired from the touch sensor 3 with the touch threshold Th 10 read from the database 80, and the operation finger Monitor for contact.
制御部８は、ステップ１の「Ｙｅｓ」が成立する、つまり操作指の接触が検出されると（Ｓｔｅｐ１：Ｙｅｓ）、接触が検出された領域の荷重しきい値をデータベース８０から読み出して荷重信号Ｓ２に基づく荷重と比較し、プッシュ操作が行われるか否かを監視する（Ｓｔｅｐ２）。 When “Yes” in Step 1 is established, that is, when the touch of the operating finger is detected (Step 1: Yes), the control unit 8 reads the load threshold value of the region where the touch is detected from the database 80 and reads the load signal. compared to the load based on S 2, it monitors whether or not the push operation is performed (Step2).
制御部８は、荷重が荷重しきい値以上であってプッシュ操作が判定された場合（Ｓｔｅｐ３：Ｙｅｓ）、データベース８０から接触が検出された領域の駆動波形を読み出して駆動信号Ｓ３を生成し、アクチュエータ４に出力し、触覚フィードバックを呈示する（Ｓｔｅｐ４）。 When the load is equal to or greater than the load threshold value and the push operation is determined (Step 3: Yes), the control unit 8 reads the drive waveform of the area where contact is detected from the database 80 and generates the drive signal S3. It outputs to the actuator 4 and presents tactile feedback (Step 4).
ここでステップ３において制御部８は、プッシュ操作が判定されず（Ｓｔｅｐ３：Ｎｏ）、また操作が継続していない、つまり操作指の接触が検出されなくなった場合（Ｓｔｅｐ５：Ｎｏ）、処理を終了する。またステップ５において制御部８は、操作指の接触が継続して検出されている場合（Ｓｔｅｐ５：Ｙｅｓ）、ステップ３に処理を進めてプッシュ操作の判定を行う。 Here, in step 3, the control unit 8 ends the process when the push operation is not determined (Step 3: No) and the operation is not continued, that is, the contact of the operation finger is not detected (Step 5: No). To do. Further, in step 5, when the contact of the operation finger is continuously detected (Step 5: Yes), the control unit 8 advances the process to step 3 and determines the push operation.
（実施の形態の効果）
本実施の形態に係る触覚呈示装置１は、小型化されても荷重の検出精度の低下を抑制しつつ十分な触覚フィードバックを呈示することができる。具体的には、触覚呈示装置１は、荷重の検出と振動の呈示を１つのアクチュエータ４によって行い、また操作が検出された位置の違いによる荷重検出のばらつきを抑制するために領域ごとに荷重しきい値を定めると共に位置の違いによる触覚フィードバックのばらつきを抑制するために領域ごとに駆動信号を定めている。本実施の形態の上領域２３～右領域２６は、中央領域２７を挟んで対称に位置するので、理想的には、アクチュエータ４が検出する荷重や呈示する振動フィードバックは各領域で同じになるが、実際は異なる。また触覚呈示装置１は、アクチュエータ４が１つなので小型化が容易である。従って触覚呈示装置１は、この構成を採用しない場合と比べて、小型化されても荷重の検出精度の低下を抑制しつつ十分な触覚フィードバックを呈示することができる。 (Effect of embodiment)
Even if the tactile sensation presentation apparatus 1 according to the present embodiment is miniaturized, it can present sufficient tactile feedback while suppressing a decrease in load detection accuracy. Specifically, the tactile sensation presentation device 1 performs load detection and vibration presentation by a single actuator 4, and loads each region in order to suppress variation in load detection due to a difference in position where an operation is detected. A drive signal is determined for each region in order to determine a threshold value and to suppress variation in tactile feedback due to a difference in position. Since the upper region 23 to the right region 26 of the present embodiment are located symmetrically with respect to the central region 27, ideally, the load detected by the actuator 4 and the vibration feedback to be presented are the same in each region. Actually different. In addition, the tactile sensation presentation apparatus 1 can be easily downsized because there is one actuator 4. Therefore, the tactile sense presentation device 1 can present sufficient tactile feedback while suppressing a decrease in load detection accuracy even when the tactile sense presentation device 1 is downsized.
以上、本発明のいくつかの実施の形態及び変形例を説明したが、これらの実施の形態及び変形例は、一例に過ぎず、請求の範囲に係る発明を限定するものではない。これら新規な実施の形態及び変形例は、その他の様々な形態で実施されることが可能であり、本発明の要旨を逸脱しない範囲で、種々の省略、置き換え、変更などを行うことができる。また、これら実施の形態及び変形例の中で説明した特徴の組合せの全てが発明の課題を解決するための手段に必須であるとは限らない。さらに、これら実施の形態及び変形例は、発明の範囲及び要旨に含まれると共に、請求の範囲に記載された発明とその均等の範囲に含まれる。 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 based 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 combinations of features described in these embodiments and modifications are necessarily essential to the means for solving the problems of the invention. Further, 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 触覚呈示装置
２ 操作部
３ タッチセンサ
４ アクチュエータ
５ 押子
８ 制御部
１０ 支持部
１２ 凹部
２３ 上領域
２４ 下領域
２５ 左領域
２６ 右領域
２７ 中央領域
３０ 基板
２００ 操作面 DESCRIPTION OF SYMBOLS 1 Tactile sense presentation apparatus 2 Operation part 3 Touch sensor 4 Actuator 5 Pusher 8 Control part 10 Support part 12 Recess 23 Upper area 24 Lower area 25 Left area 26 Right area 27 Central area 30 Substrate 200 Operation surface

Claims (7)

  1. 操作面に接触した操作指の位置を検出する検出部と、
    前記操作面に付加された荷重を検出すると共に前記操作面を振動させるアクチュエータと、
    前記操作面に規定された複数の領域ごとに基準荷重を付加して検出された荷重に基づいて領域ごとに定められた荷重しきい値、及び前記アクチュエータを駆動するための領域ごとの駆動信号を有し、操作指が検出された領域の荷重しきい値に基づいて操作を判定すると共に当該領域に対応する駆動信号によって前記アクチュエータを駆動して触覚フィードバックを呈示する制御部と、
    を備えた触覚呈示装置。     A detection unit for detecting the position of the operation finger that has touched the operation surface;
    An actuator that detects a load applied to the operation surface and vibrates the operation surface;
    A load threshold value determined for each region based on a load detected by adding a reference load to each of the plurality of regions defined on the operation surface, and a drive signal for each region for driving the actuator. A control unit that determines an operation based on a load threshold value of a region in which an operation finger is detected and drives the actuator by a drive signal corresponding to the region to present tactile feedback;
    A tactile presentation device.
  2. 前記アクチュエータは、支持部によって支持され、
    前記支持部は、前記操作面に付加された荷重、及び前記操作面に付加する振動による前記アクチュエータの撓みを許容する凹部を有する、
    請求項１に記載の触覚呈示装置。     The actuator is supported by a support;
    The support portion includes a recess that allows the actuator to bend due to a load applied to the operation surface and vibration applied to the operation surface.
    The tactile sense presentation device according to claim 1.
  3. 前記操作面は、中央の領域、及び前記中央の領域を挟んで位置する複数の領域に規定される、
    請求項１又は２に記載の触覚呈示装置。     The operation surface is defined in a central region and a plurality of regions located across the central region.
    The tactile sense presentation device according to claim 1 or 2.
  4. 前記操作面は、操作部の表面であり、
    前記操作部は、前記アクチュエータとの間に介在される押子を裏面に有し、
    前記操作部に荷重が付加されると、当該荷重が前記押子を介して前記アクチュエータに作用し、前記アクチュエータにより振動が生成されると、当該振動が前記押子を介して前記操作面に伝達される、
    請求項１乃至３のいずれか１項に記載の触覚呈示装置。     The operation surface is a surface of the operation unit,
    The operation part has a pusher interposed between the actuator and the actuator on the back surface,
    When a load is applied to the operation portion, the load acts on the actuator via the pusher, and when the actuator generates vibration, the vibration is transmitted to the operation surface via the pusher. To be
    The tactile sense presentation device according to any one of claims 1 to 3.
  5. 前記検出部は、前記操作面に接触した、前記操作面の前記複数の領域に応じた静電容量の検出信号を出力するタッチセンサを含む、
    請求項１乃至４のいずれか１項に記載の触覚呈示装置。     The detection unit includes a touch sensor that outputs a detection signal of capacitance according to the plurality of regions of the operation surface that is in contact with the operation surface.
    The tactile sense presentation device according to any one of claims 1 to 4.
  6. 前記制御部は、前記タッチセンサに対する接触を判定するためのタッチしきい値を有し、前記タッチセンサから取得した検出信号に基づいて前記タッチしきい値以上の静電容量が検出された領域を判定する、
    請求項５に記載の触覚呈示装置。     The control unit has a touch threshold for determining contact with the touch sensor, and an area in which a capacitance equal to or greater than the touch threshold is detected based on a detection signal acquired from the touch sensor. judge,
    The tactile sense presentation device according to claim 5.
  7. 前記タッチセンサは、前記操作面の形状に応じた形状を有する、リジット基板及びその前記操作面側の面に設けられた電極部を有する、
    請求項５又は６に記載の触覚呈示装置。
          The touch sensor has a shape corresponding to the shape of the operation surface, and includes a rigid substrate and an electrode portion provided on the operation surface side surface.
    The tactile sense presentation device according to claim 5 or 6.
PCT/JP2018/004584 2017-02-14 2018-02-09 Tactile sensation presenting device WO2018151039A1 (en)

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