JP2000056899A - Inner force sense indication device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To give real feeling as if an object is operated to a user by controlling the fluid resistance of electric viscous fluid, which is generated by the movement of an object in an outer member incorporating tubes filled with electric viscous fluid. SOLUTION: An outer member 2 into which the hand of a user is inserted is formed on a soft material and a plurality of tubes 6 filled with electric viscous fluid 5 are incorporated. The respective tubes 6 are closely closed at finger tip side end parts 6A and opposite side end parts 6b are connected to a storage tank 8. When the user inserts a wrist 14 into the outer member 2 and flexes the finger tip 15, the tubes 6 fitted to the outer member 2 are bent, the inner volume changes and the fluid 5 flows. When an electric field generation means 9 interrupts the flow of the fluid 5, the movement of the fluid 5 is restricted and the flexing movement of the finer tip 15, which changes the inner volume of the tube, is prevented. Thus, the intensity of an electric field on the electric viscous fluid 5 is changed and therefore various feelings can be given to the finger tip 15 of the user.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a novel force sense presentation device. More specifically, the present invention relates to a technique for providing a force sense presentation device that is small, lightweight, inexpensive, has few failures, and is not likely to damage a user due to runaway or the like.

[0002]

2. Description of the Related Art In a virtual world constructed as data on a computer, there is a virtual object operation system that can sense and operate a virtual object as if it were a real object.

[0003] By converting a three-dimensional position in a real space into three-dimensional coordinates of a displayed image (virtual space) using a technique such as computer graphics, a virtual hand of a user displayed in the image is converted. Correspondence between a position in the virtual space and a position in the real space can be taken, thereby enabling the user to operate the virtual object.

[0004] However, only by that, the user only visually feels that he is operating the virtual object, and cannot obtain a feeling as if he touched or grasped the virtual object.

[0005] In view of the above, in the virtual world, there have been proposed some force sense presentation devices for transmitting the above-mentioned senses to the user.

Conventionally, for example, a wire having one end fixed to a ring-shaped member fixed by using a band or the like between the joints of the fingers even if it is not glove type or a glove type is connected to a pulley or the like. A method of applying a force to each joint of a finger by winding the other end of each wire with a motor (see JP-A-6-324622), Some use an air cylinder instead of combining, and others use a vibrator.

[0007]

In a method of combining a wire and a motor or a method of using an air cylinder, a device to be mounted on a finger is not only bulky but also heavy, which is a factor that hinders free movement of a finger. In addition, it is difficult to use for a long time due to fatigue of the arms and hands. In the method using a vibrator, a so-called tactile sensation of touching a virtual object can be obtained to some extent, but a reaction force from the virtual object, that is, a force sense cannot be obtained.

Further, in these methods, since an external force is applied to the finger, if the applied force is too strong even during normal operation, or if an extremely strong force is applied due to abnormality (runaway) of the control device, etc. May cause damage to fingers.
Even if a safety device such as a limiter is provided to avoid this, it is difficult to guarantee 100% reliability of the limiter. It can also be avoided by using a motor with a small maximum torque, but in this case, the force of the user exceeds the torque of the motor, and often the original function of presenting a force sense cannot be performed. It can happen.

In order to solve the above problems,
A device that provides a reaction force to the operator by arranging a tube filled with a liquid instead of a wire around the finger and adjusting the flow resistance of the liquid may be considered. Since a mechanical solenoid valve is used as a means for adjusting the resistance, there is a possibility that a failure occurs in the solenoid valve, and the solenoid valve is large and heavy, which is burdensome to the operator. There is a problem that the shortcomings have not been overcome.

It is therefore an object of the present invention to provide a force sense presentation device which is small, lightweight, inexpensive, has few failures, and is not likely to damage a user due to runaway or the like.

[0011]

According to the present invention, there is provided a force sense presenting apparatus comprising:
In order to solve the above-mentioned problem, an outer shell member formed of a flexible material, a tube incorporated in the outer shell member and filled with an electrorheological fluid therein, and a tube generated by movement of an object in the outer shell member And control means for controlling the flow resistance of the electrorheological fluid.

Therefore, in the force sense presentation device of the present invention,
A desired reaction force can be generated by changing the flow resistance of the electrorheological fluid, and the means for changing the flow resistance of the electrorheological fluid can be made small and lightweight.

[0013]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a force sense presentation device according to an embodiment of the present invention. In addition,
The illustrated force sense presentation device is one in which the present invention is applied to a force sense presentation device for giving a force sense to a finger when a virtual object is operated by the finger.

The force sense presentation device 1 has an outer shell member 2 into which a user's hand can be inserted.

The outer shell member 2 is formed of a flexible material in a glove shape. The outer shell member 2 has a predetermined number of finger portions 3, 3,.
.. And the palm portion 4 so as to cover the fingers and palm of the operator up to the wrist. The outer shell member 2 incorporates a plurality of tubes 6, 6,... Filled with electrorheological fluids 5, 5,.

The outer shell members are arranged so that the tubes 6, 6,... Are positioned along the finger portions 3 on the back side (outside) and the abdomen side (inside) of the fingers of the user inserted into the finger portions 3. 2 is incorporated. Each of the tubes 6, 6,... Is hermetically sealed by the end portions 6a, 6a,... On the fingertip side of the finger portion 3, and the opposite end portions 6b, 6b,. And is connected to the storage tank 8. The storage tank 8 stores the electrorheological fluids 5, 5,... According to the state of the internal volume of the tubes 6, 6,.
..., or the electrorheological fluids 5, 5, ... returned from the tubes 6, 6, ... are stored. The storage tank 8 is, for example, mounted on the arm of the operator, but may be appropriately arranged such that the storage tank 8 is not mounted on the operator but is set aside.

Although these tubes 6 are formed of a flexible material, their tubes need to have a volume that does not significantly change due to the pressure received from the electrorheological fluid 5 enclosed therein.

The electrorheological fluid 5 is a solid fine particle which is electrically polarized by applying an electric field to an electrically insulating liquid, for example, silicone oil, hydrocarbon mineral oil, halogenated hydrocarbon, etc., for example, cellulose, silica, zeolite, etc. Are dispersed and suspended, and have a property that the viscosity of the fluid changes when an electric field is applied.

An electric field generating means 9 is provided near the wrist 7. The electric field generating means 9 includes a pair of electrodes 10, 11 arranged with the tube 6 interposed therebetween, and these electrodes 10, 11.
And a control device 12 for controlling the voltage applied to the control device. An electric field is generated between the electrodes 10 and 11 by the voltage applied to the electrodes 10 and 11 by the control device 12 and the electrorheological fluid 5 is generated.
Of the electrorheological fluid 5 in the tube 6 changes.

Thus, the user inserts his / her hand 13 to the wrist 14 into the outer shell member 2 for use. At this time, the fingers 15, 15,... Of the user are inserted into the finger portions 3, 3,. When the user bends / extends the finger 15, the outer shell member 2 and the tubes 6, 6,... Attached thereto are bent, and the inner volume of the tubes 6, 6,. The electrorheological fluids 5, 5,... Filled in the tubes 6, 6,.

Since the ends 6a, 6a,... Of the fingertips of the tubes 6, 6,... Are closed, the electrorheological fluids 5, 5,. I do.
When the flow of the electrorheological fluids 5, 5,... Is prevented by the electric field generating means 9, 9,. Are limited, the changes in the internal volumes of the tubes 6, 6,... Are also restricted, and the fingers 15, 1
The bending movement of 5,. For example, if the flow of the electrorheological fluids 5, 5, ... is completely stopped, the user cannot bend the fingers 15, 15, ..., and the electrorheological fluids 5, 5, ...・ ・
When it is difficult for the user to flow, the user can use fingers 15, 15,.
Requires a certain amount of force for bending and stretching movements.

The fluidity of the electrorheological fluids 5, 5,... Is adjusted by changing the strength of the electric field applied to the electrorheological fluids 5, 5,.
This is done by changing the magnitude of the voltage applied to.
As described above, an electric field is generated by applying a voltage to the electrodes 10 and 11. If the applied voltage is increased, the generated electric field becomes stronger and the electrorheological fluid 5,
Are difficult to flow, and conversely, if the applied voltage is reduced, the generated electric field is weakened, and the electrorheological fluid 5,
.. Can flow without receiving much resistance.

As described above, when the user grasps a rigid or non-rigid object in the virtual space,
In the electric field generating means 9, the flow resistance of the electrorheological fluids 5, 5, ... in the tubes 6, 6, ... is changed by adjusting the voltage applied to the electrodes 10, 11,
The degree of hardness felt by the fingers 15, 15,... Of the user can be changed. Therefore, various feelings can be given to the user's finger.

In the force sense presentation device 1 described above, an actual reaction force can be given to the user instead of giving a pseudo force using vibration. Can be realized.

In addition, the actual reaction force is presented not in a forcible manner using a wire or the like, but in a form that hinders the user's operation. There is no danger of giving. Therefore, there is no need to provide a limiter for avoiding such danger, and the apparatus can be made compact and lightweight.

Furthermore, since there is no need to use a mechanical mechanism for controlling the fluidity of the electrorheological fluid, there are few failures,
Further, since the electrorheological fluid in the tube itself can play a role in adjusting the flow rate, the means for adjusting the flow rate of the electrorheological fluid can be reduced in size and weight, and the burden on the user can be reduced.

In the above-described embodiment, the outer shell member has a form covering the user's hand up to the wrist. However, depending on the purpose of use, only a part of the hand such as a finger or a palm is used. It may be one that covers, or conversely, one that covers the arm side more widely than the wrist.

Further, the tubes may not be arranged on both the dorsal side and the ventral side of the finger, but may be arranged on the dorsal side or the ventral side, or a plurality of tubes may be provided for one finger. May be arranged. Further, the tube may be arranged at a portion other than the finger. Further, the cross-sectional shape of the tube is not limited to a circle, but may be another shape.

The storage tank may or may not be attached to the user. Also, the connection between each tube and the storage tank is not made separately,
On the way, some tubes may be put together or all tubes may be put together into a single tube and connected to the storage tank.

The number of electrodes provided across the tube is not limited to one for one tube, and a plurality of pairs of electrodes may be provided. In such a case, the electrodes 10 and 11 are not paired with each other, but as shown in FIG.
, And all these electrodes 16, 16,...
It is good also as a structure using the electrode 17 which becomes a pair with respect to.

As means for controlling the fluidity of the electrorheological fluid, means other than the electric field generating means, for example, an electromagnetic valve may be used in combination. In such a case, the control means other than the electric field generating means is used auxiliary.

In short, the shape or structure of each part shown in the above embodiment is only an example of the embodiment to be carried out when carrying out the present invention, and the technical scope of the present invention is not limited thereto. Should not be interpreted restrictively.

[0033]

As is apparent from the above description, the force sense presenting device of the present invention includes an outer shell member formed of a flexible material, and an inner member which is incorporated in the outer shell member and filled with an electrorheological fluid. And a control means for controlling the flow resistance of the electrorheological fluid caused by the movement of the object in the outer shell member.

Therefore, in the force sense presentation device of the present invention,
Instead of giving a pseudo force using vibration, an actual reaction force can be given to the user, so that the user can get a feeling as if he / she actually operated the object. Moreover, the actual reaction force is presented not in a forced manner using a wire or the like, but in a form that hinders the user's operation. There is no danger of it. Therefore, there is no need to provide a limiter for avoiding such danger, and the apparatus can be made compact and lightweight.

Further, since there is no need to use a mechanical mechanism for controlling the fluidity of the electrorheological fluid, there are few failures,
Further, since the electrorheological fluid in the tube itself can play a role in adjusting the flow rate, the means for adjusting the flow rate of the electrorheological fluid can be reduced in size and weight, and the burden on the user can be reduced.

According to the second aspect of the present invention, since the control means is an electric field generating means for applying an electric field to the electrorheological fluid, power consumption can be reduced and running cost can be reduced. And

According to the third aspect of the present invention, since the flow resistance controlling means other than the electric field generating means is used in addition to the electric field generating means, it is possible to present a finer sense of force. It is possible.

According to the invention described in claims 4 to 6, since the outer shell member is of a glove type, a preferred device is provided as a force sense presentation device when operating a virtual object with fingers. can do.

[Brief description of the drawings]

FIG. 1 shows an embodiment of a force sense presentation device of the present invention, and FIG. 1 schematically shows the entire configuration.

FIG. 2 is an enlarged cross-sectional view showing a distal end portion of a finger portion of an outer shell member.

FIG. 3 is a plan view of an outer shell member.

FIG. 4 is a cross-sectional view showing an electrode portion of the electric field generating means.

FIG. 5 is a sectional view taken along line VV in FIG. 4;

FIG. 6 is a cross-sectional view showing a modification of the electrode unit.

[Explanation of symbols]

1: Force sense presentation device, 2: Outer shell member, 5: Electrorheological fluid,
6 ... tube, 9 ... electric field generating means (control means)

Claims (6)

[Claims] 1. An outer shell member formed of a flexible material, a tube incorporated in the outer shell member and filled with an electrorheological fluid, and the electrorheological fluid generated by movement of an object in the outer shell member And a control unit for controlling the flow resistance of the force sense. 2. The force sense presentation device according to claim 1, wherein the control means is an electric field generating means for applying an electric field to the electrorheological fluid. 3. The force sense presentation device according to claim 2, wherein a flow resistance control means other than the electric field generation means is used in combination with the control means. 4. The haptic device according to claim 1, wherein the outer shell member has a glove shape. 5. The haptic device according to claim 2, wherein the outer shell member has a glove shape. 6. The haptic device according to claim 3, wherein the outer shell member has a glove shape.