JP2001075705A - Device and method for indicating direction by utilizing sense of touch - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a user to easily, quickly and highly accurately understand a direction or a position in a wide range around the user by utilizing user's sense of touch without restricting user's eyes, ears and hands. SOLUTION: The direction indication device is constituted of one or more sense-of-touch indication parts 101a to 101n, a direction input part 102, a position detection part 103, and a control part 104. The control part 104 determines a body surface of a user corresponding to a direction to be indicated on the basis of a direction indicated by the input part 102 to indicate it to the user and arrangement information in space such as the position or posture of the device itself detected by the detection part 103 and a sense-of-touch indication part 101 indicates a touch impulse to the body surface position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a human interface device using a tactile sensation and a human interface system.

[0002]

2. Description of the Related Art In recent years, computer technology, network technology,
And the development of communication technology, etc., in various places,
A location information service using these technologies has become available.For example, car navigation systems using position detection technology by satellite communication, navigation systems for ships and aircraft, and small navigation systems that can be carried by users have become widespread. It is getting.

[0003] In such a system, a user is presented with a correct traveling direction or a driving direction, a direction of approaching a dangerous object, a direction to which attention should be paid in an emergency, or a target object. There is a need for a technique for accurately displaying the direction and position in the real space, such as indicating the direction.

[0004] In addition, the above-described direction presentation technology is often required in a moving environment such as a vehicle. Therefore, a technology that can quickly and accurately convey the direction and position is desired. It is rare.

[0005] Furthermore, it is often used in public places such as outdoors or inside buildings where other people are present, and there is a need for a technology capable of quietly presenting directions and positions.

Conventionally, in order to present a direction to a user, for example, a direction such as an arrow is displayed on a screen of a visual information output device such as a CRT (character display) or an LCD (liquid crystal display). A method of presenting a sign representing a position or presenting a word representing a direction or a position has been adopted.

[0007] Conventionally, in order to present a direction to a user, a method of using a voice output expressing a direction or position such as "right" is used.

Further, with the recent improvement in computer processing technology and miniaturization, devices of the form of wearable computing in which a computer is worn on the body and used are beginning to appear.

In such a wearable computer, image information is presented using an HMD (Head Mounted Display) which presents the image information in front of the user, for example, when the user wears it on the head. For example, on such a head-mounted image display, a symbol indicating a direction or position such as an arrow is displayed, or character information indicating a direction or position is presented, A method of indicating a direction or a position using image information may be used.

[0010] Alternatively, a method of indicating a direction and a position by using a three-dimensional sound field technique to localize a position and a direction in a sound image in space has been studied.

[0011]

However, the above-mentioned conventional system has the following problems.

First, in the conventional method of presenting the direction and position to the user by displaying symbols and words indicating the direction and position on the screen, it is necessary to prepare a display unit. there were.

Second, in the conventional method of presenting the direction and position to the user by displaying symbols and words indicating the direction and position on the screen, it is necessary to prepare a display unit. There was a problem that the size became large.

Third, in the conventional method of presenting the direction and position to the user by displaying symbols and words indicating the direction and position on the screen, the display unit is positioned at a position where the user can see it. Because of the necessity of the arrangement, there is a problem that the physical arrangement of the components of the device is restricted, and the wiring between the components of the device is restricted.

Fourth, in the conventional method of presenting the direction and position to the user by displaying symbols and words indicating the direction and position on the screen, the display unit is positioned at a position where the user can see it. Due to the necessity of the arrangement, the physical arrangement of the components of the apparatus is limited, and there is a problem that the components of the apparatus cannot be freely arranged.

Fifth, in the conventional method of presenting the direction and position to the user by displaying symbols and words indicating the direction and position on the screen, the direction and position are indicated using visual information. Therefore, there is a problem that the user needs to look at the screen as the display unit, which restricts the user's line of sight.

Sixth, since the size of the screen serving as the display unit is limited, the directions that can be expressed are limited, and there is a problem that only a narrow range of directions can be presented.

Seventh, since the correspondence between the positions of symbols and the like on the screen and the directions to be presented in the real world is arbitrary, the user can understand the directions to be actually presented. There was a problem that it was difficult.

Eighth, there is an arbitrary positional relationship with the direction of the real world to be actually presented, and generally the directions do not coincide with each other, so that the direction cannot be accurately presented. There was a point.

Ninth, since the positional relationship with the direction of the real world to be actually presented is arbitrary and generally does not match, the user can read the presented direction with high accuracy. There was a problem that it was difficult to understand.

Tenth, there is a problem that it is not suitable for a wearable computer because a display unit must be prepared.

Eleventh, there is a problem in that it is necessary to see the display with the eyes, so that it cannot be used for visually impaired persons such as the blind and the visually impaired.

Twelfth, there is a problem that it is difficult to present a three-dimensional direction because the information shown on the display unit is a two-dimensional display.

Thirteenth, since the information shown on the display unit is a two-dimensional display, there is a problem that it is difficult for a user to read a three-dimensional direction.

Fourteenthly, in a wearable computer, image information is presented using an HMD (head mounted display) which presents the image information in front of the user, for example, when the user wears it on the head. In the conventional method, there is a problem that it is difficult to match a position of a symbol or the like displayed on the HMD with a direction intended to be presented from a user's eyes, and accuracy of the direction presentation is poor.

Fifteenth, there has been a problem that the HMD obstructs the user's view, for example, making it difficult to understand the surroundings.

Sixteenth, since the direction in which the user can present at a time without moving the head on the HMD is limited to the range of the user's field of view at the maximum, the range of the direction in which the user can present is narrow. There was a point.

Seventeenth, in the conventional method of indicating a direction by a speech language using a word indicating a direction, for example, it is difficult to express a complicated direction or a delicate direction by words, so that a fine direction is indicated. There was a problem that was not possible.

Eighteenth, there is a problem that the speech language takes a certain amount of time to utter and that it is not possible to understand the contents until most of the contents of the utterance have been completed, so that it takes time to present directions. Was.

Nineteenth, the speech language has a problem that it is almost impossible to express a direction changing at a high speed.

Twentiethly, there is a problem that it is very difficult to simultaneously understand a plurality of speech languages, so that it is impossible to simultaneously present a plurality of directions.

Twenty-first, since a sound signal including voice propagates to the space around the user, the presentation method using voice is noisy for anyone other than the user and goes against social etiquette. There was a problem.

[0033] Twenty-second, there is a problem that when there is noise in the use environment, the presentation of the method by voice may be difficult or inaudible to the user.

Twenty-third, there is a problem that a method using voice cannot be used by a hearing-impaired person.

Twenty-fourth, in the conventional method of indicating a direction by sound image localization, a direction that can be accurately identified is limited to, for example, a forward direction in a horizontal plane due to human auditory characteristics. There was a problem that the possible directions were narrow.

Twenty-fifth, in the conventional method of indicating a direction by sound image localization, the presented direction is used by, for example, an acoustic parameter called a head-related transfer function that differs for each user. There is a problem that it is very difficult for people to recognize.

Twenty-sixth, there is a problem that it is difficult to present a direction with high accuracy for the same reason.

Twenty-seventh, it is very difficult to listen to a plurality of sound signals at the same time and to recognize the localization of each sound image, so that it is difficult to simultaneously present a plurality of directions.

Twenty-eighth, since it takes a certain amount of time to understand the contents of sound signals and sound image localization, it is difficult to present or read directions that change at a high speed. There was a point.

Twenty-ninth, the method using sound image localization also has a problem that a hearing-impaired person cannot use it.

(Object of the Invention) The present invention has been made in view of such circumstances, and has the following objects.

First, an object is to allow a user to easily understand the presented position and direction.

Second, it is an object of the present invention to make it easy to understand the correspondence between the information presented to the user and the directions and positions in the real space.

Third, it is an object of the present invention to enable a user to quickly read the presented position and direction.

Fourth, it is an object of the present invention that a user can easily read a position and a direction which change at a high speed in time.

Fifth, including the vertical direction, the front and rear, etc.
It is an object of the present invention to be able to present dimensional directions and positions with high accuracy, and to allow a user to easily read presented information.

Sixth, it is an object of the present invention to be able to simultaneously present a plurality of positions and directions to a user, and to allow the user to easily read them.

Seventh, it is an object of the present invention to have a wide range of directions and positions that can be expressed and can be identified by a user.

Eighth, it is an object to prevent the generation of noise that causes noise to the surroundings.

Ninth, it is an object of the present invention to be able to use without any trouble even in a situation where there is noise in the surrounding environment.

Tenth, the object is to be able to be used eye-free without restraining the user's eyes.

Eleventh, the object is to be able to use the earphones free without restraining the user's ears.

A twelfth object is to enable hands-free use without restraining the user's hand.

A thirteenth object is to eliminate the need for a visual information display device for a user to confirm visual information.

Fourteenth, it is an object of the present invention to eliminate the need for an auditory information display device for a user to confirm auditory information.

Fifteenth, the object of the present invention is to be suitable for a wearable computer system to be worn on the user's body.

[0057]

According to a first aspect of the present invention, there is provided a direction presenting apparatus for presenting a predetermined direction to a user, a stimulus presenting means for applying a tactile stimulus to at least one portion of the body surface of the user, Direction instructing means for instructing a presentation direction which is a direction to be presented to the user; and a presentation direction instructed by the direction instructing means corresponding to a spatial position in a body surface in contact with the stimulus presenting means. Control means for giving a tactile stimulus to the stimulus-corresponding part by the stimulus presentation means, thereby informing the user of the presentation direction,
This is a direction presenting device using a tactile sensation.

According to a second aspect of the present invention, the stimulus presenting means includes:
When covering at least a part of the body surface of the user,
The control means provides a tactile stimulus to the stimulus-corresponding point by the stimulus-presenting means such that a presentation direction instructed by the direction instruction means and a normal direction of the stimulus-corresponding point substantially match. A direction presentation device using tactile sense according to claim 1.

Here, “substantially coincide with” includes a position where the presentable direction is closest to the normal direction, and also includes a position which is closest within a predetermined range.

According to a third aspect of the present invention, the stimulus presenting means comprises:
When at least a part of the body surface of the user is covered, the control unit determines that the presentation direction indicated by the direction indicating unit substantially coincides with the direction opposite to the normal direction of the stimulus-corresponding portion. The haptic direction presenting apparatus according to claim 1, wherein the stimulus presenting means gives the haptic stimulus to the stimulus-corresponding portion.

Here, "substantially coincide with" includes a position where the direction in which the image can be presented and the normal direction are the closest, or a position which is the closest in a predetermined range.

According to a fourth aspect of the present invention, there is provided a position detecting means for detecting the location information of the stimulus presenting means in the space, which comprises the position or posture of the stimulus presenting means. 2. The direction presentation device using tactile sensation according to claim 1, wherein the stimulus-corresponding portion is determined based on the arrangement information detected by the position detection means.

According to a fifth aspect of the present invention, there is provided a plurality of direction presenting devices according to the first aspect, wherein one direction presenting device among the plurality of direction presenting devices presents the direction of another direction presenting device, Alternatively, there is provided a direction presentation system utilizing tactile sensation, wherein the plurality of direction presentation devices present the directions to each other.

According to a sixth aspect of the present invention, there is provided a direction presenting method for presenting a predetermined direction to the user using a stimulus presenting means for applying a tactile stimulus to at least one portion of the body surface of the user. A direction instructing a presentation direction which is a direction to be presented to the stimulus presenting unit, and a presentation direction designated by the direction instructing step corresponds to a spatial position in a body surface in contact with the stimulus presentation means. A control step of giving a tactile stimulus to the stimulus-corresponding portion by the stimulus presentation means, thereby informing the user of the presentation direction, thereby providing a direction using the tactile sensation.

According to a seventh aspect of the present invention, there is provided a program for realizing a direction presenting method for presenting a predetermined direction to a user using a stimulus presenting means for applying a tactile stimulus to at least one portion of the body surface of the user. A recording medium, wherein a direction instruction function for indicating a presentation direction that is a direction to be presented to the user, and a presentation direction indicated by the direction instruction function in a body surface in contact with the stimulus presentation means And a control function of giving a tactile stimulus to the stimulus corresponding portion corresponding to the spatial position by the stimulus presenting means, thereby informing the user of the presentation direction, thereby recording a program. It is a recording medium of a direction presentation method using a tactile sensation.

The invention of claims 1, 6, and 7 will be described.

For example, when it is desired to present the user in the right direction when viewed from the front of the user, the stimulus presenting means worn by the user causes the stimulus presenting means to contact the user within the contact surface between the stimulus presenting means and the user. A desired direction is presented to the user by applying a tactile stimulus to a body surface corresponding to the right side of the body or a body surface close to the right side.

The second aspect of the present invention will be described.

For example, when the user wants to present a direction in a horizontal plane 30 degrees to the left as viewed from the front of the user, the user wears stimulus presentation means so as to cover a part of the body like a bracelet. Suppose

In this state, in the contact surface between the stimulus presenting means and the user, the body normal direction of the corresponding body surface substantially coincides with or is close to the direction in the horizontal plane 30 degrees to the left as viewed from the front of the user. The desired direction is presented to the user by presenting the tactile stimulus in the same direction as the normal direction to the surface.

The third aspect of the present invention will be described.

For example, when it is desired to present the user in the left direction as viewed from the front of the user, the user holds (wraps around) the stimulus presenting means formed in a cylindrical wand shape with his hand. And

In this state, when the user is presented with a direction of 90 degrees to the left as viewed from the front of the body, the user is faced with the front of the user in the stimulus presenting means of the part held by the user. By showing the tactile stimulus in the direction 90 degrees to the left, in the direction opposite to the normal direction, to the user's body surface corresponding to (confronting) a part that almost matches or is close to the normal direction , The desired direction is presented to the user.

The invention of claim 4 will be described.

For example, the position or posture of the stimulus presenting means in the space is detected by a magnetic sensor or an acceleration sensor, and the position at which the tactile stimulus is presented to the user is determined using the information.

As a result, the user moves, the user changes his posture, the user moves a part of the body,
Even when the user moves the stimulus presenting means or changes the wearing state of the stimulus presenting means, the desired direction is correctly presented to the user.

The invention of claim 5 will be described.

For example, when two users each own one of the present apparatuses and try to meet each other, depending on the direction presented by each of the present apparatuses held by each user, each of the other users has a partner. Knowing where you are,
It is possible to meet efficiently.

[0079]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a direction presenting apparatus using a tactile sense according to an embodiment of the present invention.

FIG. 1 shows an example of the configuration of the present apparatus according to one embodiment of the present invention. The present apparatus comprises at least one or more tactile presentation sections 101a to 101n, a direction input section 102, a position detection section 103, It comprises a control unit 104.

1. 1. Tactile Presentation Unit In FIG. 1, the tactile presentation units 101a to 101n are tactile presentation devices that present a tactile stimulus to the body surface of the user's body in accordance with an instruction from the control unit 104. Here, the position of the body surface to which the tactile stimulus is applied is referred to as a “stimulus-corresponding point”.

A. Example of Implementation For the haptic presentation units 101a to 101n, for example, a haptic device described in Section 3.1 of Fujiwara, "Development of Artificial Reality" (Corona Publishing Co., Ltd., 1994) is used. To achieve.

An example of the implementation will be described.

(1) Realization Example 1 A tactile stimulus is given to a user by applying a mechanical force to a handle or a stick portion held by the user with an arm or a wire driven by a motor or the like. ing.

(2) Realization Example 2 A small balloon made of rubber or the like is arranged at a position in contact with the skin surface such as a user's fingertip.

Then, the air pressure inside the balloon is changed by using a mechanical pump, or by a heating / heat absorbing element such as a heater or a Peltier element. Also, the air pressure in the balloon is changed by releasing or storing hydrogen by applying heat or cooling to the hydrogen storage alloy (MH). Thereby, the hardness and shape of the balloon surface are changed, and a tactile stimulus is given to the user.

(3) Realization Example 3 A tactile stimulus is given to a user using an actuator using a shape memory alloy.

(4) Realization Example 4 A heating / heat absorbing element such as a heater or a Peltier element is disposed at a position in contact with the skin surface such as a user's fingertip, and heat is applied or cooled to provide the user with heat. Give tactile stimulation.

(5) Realization Example 5 A user is given a tactile stimulus by applying a fluid such as air toward a skin surface such as a fingertip of the user.

(6) Realization Example 6 A tactile stimulus is given to a user by giving an electrical stimulus to the skin surface of the user.

B. Arrangement Example FIGS. 2A to 2D show examples of arrangement of the tactile sense presentation units 101a to 101n.

(1) Arrangement Example 1 FIG. 2A shows an arrangement inside the circumference.

That is, at least one or more tactile sensation providing units are arranged inwardly inside the thin tubular tubular device.

The present device configured using this shape can be used as follows.

In the first example, the head is worn on the head like a beeper.

In the second example, the neck is attached like a collar.

In the third example, the garment is attached to the clothing like a belt.

In the fourth example, the user wears the finger like a ring.

In the fifth example, the user wears his / her wrist like a wristwatch.

In the sixth example, the upper arm is attached like an armband.

In the seventh example, the user wears the ankle like an anklet.

FIG. 6 is a cross-sectional view showing a state where the present device in the form of a bracelet is attached to an arm. A white arrow indicates a normal direction, a solid arrow indicates a presentation direction, and a zigzag arrow indicates a tactile sense. The direction of stimulation is shown.

As shown in FIG. 6, in the case of this arrangement example, the tactile sensation providing unit sets the stimulus response unit so that the presentation direction described later coincides with the normal direction of the body surface at the stimulus corresponding location. Apply tactile stimulation to the area. In this way, by making the direction coincide with the normal direction, the user can reliably recognize the tactile sensation.

(2) Arrangement Example 2 FIG. 2B shows an arrangement inside a spherical surface.

That is, at least one or more tactile sensation providing units are arranged inwardly inside the apparatus having the shape of a hollow hemispherical back surface.

The present device configured using this shape can be used by being mounted on the head like a helmet or a hat, or by being mounted on a finger like a finger cot.

As shown in FIG. 6, in the case of this arrangement example, the tactile sensation presentation unit makes the stimulus presentation so that the presentation direction described later coincides with the normal direction of the body surface at the stimulus correspondence location. Apply tactile stimulation to the area. In this way, by making the direction coincide with the normal direction, the user can reliably recognize the tactile sensation.

(3) Arrangement Example 3 FIG. 2C shows an arrangement outside the cylinder.

That is, at least one or more tactile sensation presentation units are arranged outwardly on the outside of the side surface of the cylindrical device.

The present device constructed using this shape has a cane,
Car or bicycle steering wheel, boat oar or rudder, or
It can be used by incorporating it into a joystick or the like.

FIG. 7 is a cross-sectional view of a state in which the present device in the form of a stick is grasped by hand. White arrows indicate the normal direction, solid arrows indicate the presentation direction, and zigzag arrows indicate the present direction. The tactile stimulation direction is shown.

As shown in FIG. 7, in the case of this arrangement example, the haptic sense is set so that the presentation direction described later and the direction opposite to the normal direction of the body surface at the stimulus-corresponding location coincide. A tactile stimulus is given to the stimulus-corresponding portion by the presentation unit. Thus, by matching the direction opposite to the normal direction, the user can surely recognize the tactile stimulus.

(4) Arrangement Example 4 FIG. 2D shows an arrangement outside the spherical surface.

That is, at least one or more tactile sensation presentation units are arranged outwardly outside the ball-shaped device such as a spherical surface.

The present device constituted by using this shape has a cane,
It can be used by incorporating it into a steering wheel, boat oar or rudder, joystick, control bar, etc.

As shown in FIG. 7, in the case of this arrangement example, the haptic sense is set so that the presentation direction described later and the direction opposite to the normal direction of the body surface at the stimulus-corresponding location coincide. A tactile stimulus is given to the stimulus-corresponding portion by the presentation unit. Thus, by matching the direction opposite to the normal direction, the user can surely recognize the tactile stimulus.

(5) Other Arrangement Examples In the above description, for simplicity, a simple geometric shape such as a sphere or a circle is shown as an example, but FIG. 2 shows the tactile presentation units 101a to 101n.
It shows an example of the arrangement of the tactile sense presentation unit 101a
The arrangement of ~ n is not limited to the example shown here, but may be a more complicated shape.

[0118] 2. 1. Direction Input Unit In FIG. 1, a direction input unit 102 includes “presentation direction information” that is information relating to a direction to be presented to the user to the apparatus, and “presentation information” which is information relating to a position to be presented to the user. The control unit 104 receives a control command including “position information” and notifies the control unit 104 of the content.

Thereafter, the presentation direction information and the presentation position information are
With the center of gravity of the user as the origin, the front direction of the user is the positive direction of the X axis, the right direction of the user is the positive direction of the Y axis, and the upper part of the user is Z.
It is expressed as a vector in a coordinate system that is set to the positive axis direction.

[0120] 3. In FIG. 1, a position detection unit 103 includes, for example, a magnetic sensor, a direction sensor, a gyro, an optical sensor, a radio wave receiver, a GPS, or a mechanical encoder in accordance with an instruction from the control unit 104. For example, the spatial position and orientation of the device are detected, and “device position information” that is information indicating the position of the device and “device orientation information” that indicates the front direction of the device.
Are represented and output as vectors in the same coordinate system as the above-described presentation direction information and presentation position information.

4. Control Unit In FIG. 1, the control unit 104 operates in accordance with the following processing procedure A based on at least one of presentation direction information, presentation position information, device position information, and device posture information.

Thus, the operation of the tactile sensation providing units 101a to 101n is controlled to appropriately present the haptic stimulus to the user, and the information on the desired direction and position is presented to the user.

FIG. 3 is a flowchart showing the flow of the processing procedure A.

<Processing Procedure A> Step A1 When a control command including the presentation direction information D including the direction vector Vd to be presented to the user is input from the direction input unit 102, the process proceeds to step A4.

Step A2 When a control command including the presentation position information L including the vector V1 indicating the position to be presented to the user is input from the direction input unit 102, the process proceeds to step A8.

Step A3 The flow advances to step A1.

Step A4: The position detection unit 103 is instructed to detect the posture of the apparatus.

Step A5: From the position detecting unit 103, the vector Vp indicating the attitude of the apparatus is obtained.
Is sent to the control unit 104.

Step A6 The control unit 104 calculates the vector Vx = vector Vd−vector Vp with reference to the presentation direction information D and the apparatus attitude information P.

Step A7 The flow advances to step A11.

Step A8: The position detection unit 103 is instructed to detect the posture and position of the apparatus.

Step A9: From the position detecting unit 103, the vector Vp indicating the attitude of the apparatus is obtained.
And the apparatus position information Q including the vector Vq indicating the position of the present apparatus are sent to the control unit 104.

Step A10 The control unit 104 calculates the vector Vx = vector Vl−vector Vp−vector Vq with reference to the presentation position information L, apparatus posture information P, and apparatus position information Q.

Step A11: A tactile presentation section that provides a user with a tactile stimulus in the direction of the vector Vx from the tactile presentation sections 101a to 101n in front of the apparatus.
Look for 101x (a <= x <= n).

Step A12 A tactile stimulus is given to the user by the tactile presentation section 101x.

Step A13: The process proceeds to step A1.

The above is the configuration and functions of the present apparatus.

[0138] 5. Next, the processing described above will be described in more detail with reference to the drawings.

Here, it is assumed that the user wears the bracelet-shaped device on his right wrist.

In addition, inside the present apparatus, it is assumed that a tactile sensation presentation device is provided on the contacting user's body with a tactile stimulus due to vibration.

Further, the present apparatus is controlled by an external application, and is used to present a position and a direction expressed as a vector from the position of the center of gravity of the user's body to the user.

FIG. 4 is a schematic diagram for explaining the operation status of the present apparatus.

A. Contents of Definition The following contents are defined in FIG.

(1) Ux, Uy, and Uz are the X-axis when the center of gravity of the user is the origin, the front of the user is the positive direction of the X-axis, the right direction is the positive direction of the Y-axis, and the upward direction is the positive direction of the Z-axis. Axis, and Y
Axis and the Z axis. In the future, this coordinate system will be referred to as a user coordinate system, and will be used as a future reference for position and direction.

(2) M is the present apparatus, U is a user who uses the present apparatus, Ha and Hb indicate directions to be presented to the user, and Oc indicates a position to the user. It should be an object.

(3) The vector P indicates the position of the apparatus in the user coordinate system, and the vector Q indicates the direction of the front position which is the direction reference of the apparatus in the user coordinate system. It is.

(4) The vectors Da and Db indicate the presentation directions Ha and Hb, respectively, in the user coordinate system.

(5) The positions of the vector Lc and the object Oc are shown in the user coordinate system.

(6) The upper right figure is an enlarged view of the device and the arm of the user wearing the device. Where 101xa, 101x
b and 101xc are the presentation direction Ha and the presentation direction H, respectively.
b and tactile presentation devices that operate when presenting the object Oc to the user.

B. Content of Processing Shown in Time Series (t0) First, it is assumed that it is determined that the direction Ha is presented to the user by an application or the like outside the apparatus.

(T1) As a result, a control command including presentation direction information including the vector Da indicating the direction Ha is input from the presentation direction input unit 102 to the present apparatus.

(T2) By step A1 of the processing procedure A,
The process proceeds to step A4, where the position of the apparatus is detected according to an instruction from the control unit 104. At step A5, the apparatus attitude information including the attitude vector Pt2 of the apparatus at this time is stored in the control unit 10.
Brought to 4.

(T3) By the step A6, Va = Da−
Pt2 is calculated.

(T4) In step A11, the tactile presentation unit 10 located at a position corresponding to the Va direction when viewed from the front of the apparatus.
1xa is selected, and in step A12, the tactile stimulus is presented to the user from the tactile presentation unit 101xa.

By the above processing, the desired direction Ha is presented to the user by tactile irrespective of the posture (orientation) of the apparatus.

Subsequently, it is assumed that an application outside the present apparatus has decided to present the user with a direction Hb different from the direction Ha.

(T5) As a result, a control command including presentation direction information including the vector Db representing the direction Hb is input from the presentation direction input unit 102 to the present apparatus.

(T6) Vb = Db-Pt6 is calculated by the same processing as in (t2) to (t3) described above.

(T7) In step A11, the tactile presentation unit 10 located at a position corresponding to the Vb direction when viewed from the front of the apparatus.
1xb is selected, and a tactile stimulus is presented to the user from the tactile presentation unit 101xb in step A12.

By the above processing, the desired direction Hb is presented to the user by tactile sensation.

Since the vector indicating the direction is relative, the user may change the direction,
Alternatively, even if the position or posture of the apparatus in the space is changed by moving the right wrist, which is the mounting section of the apparatus, a desired direction can be correctly presented by the same processing as described above.

Next, it is assumed that an application outside the present apparatus determines to present the position of the object Oc to the user.

(T8) As a result, the control command including the presentation position information including the vector Lc representing the position of the object Oc is
It is input from the presentation direction input unit 102 to the present device.

(T9) The process proceeds to step A8 according to steps A1 to A2 of the processing procedure A, and the position detection processing and the posture detection processing of the apparatus are performed according to the instruction of the control unit 104.
In A9, the apparatus posture information including the posture vector Pt9 of the present apparatus at this time and the apparatus position information including the position vector Qt9 of the present apparatus at this time are provided to the control unit 104.

(T10) By step A10, Vc = Lc
-Pt9-Qt9 is calculated.

(T11) By the same processing as in the above (t7), at step A11, when viewed from the front of the apparatus, Lc
The tactile presentation unit 101xc at the position corresponding to the direction is selected, and a tactile stimulus is presented from the tactile presentation unit 101xc to the user in step A12.

By the above processing, a desired position is presented to the user by touch.

Note that the above processing is performed in consideration of the user's orientation, the position and orientation of the apparatus, and therefore, it is possible to correctly present the position even if the user changes the orientation or orientation. I can do it.

Further, by presenting while sequentially updating the position of the object to be presented or the direction of the object to be presented, the moving object and the direction can be correctly presented even when the user is moving or changing his / her posture. I can do it.

Further, a plurality of positions and directions can be presented at the same time.

6. Effects of the embodiment According to the present device thus configured, the following effects are obtained.

First, the user can easily understand the presented position and direction.

Second, the user can easily correlate the direction and position in the real space from the presented information.

Third, the user can quickly read the presented position and direction.

Fourth, the user can easily read the position and direction that change at a high speed in time.

Fifth, it includes the vertical direction and the front and rear directions.
The user can easily see the dimensional direction and position.

Sixth, the user can read a plurality of positions and directions at the same time.

Seventh, the range of directions and positions that can be expressed and that can be identified by the user can be widened.

Eighth, it is possible to present a direction without generating noise that causes noise to the surroundings.

Ninth, even in a situation where there is noise in the surrounding environment, the direction can be presented without any trouble.

Tenth, a visual information display device for the user to confirm visual information is unnecessary, and the direction and position can be presented in an eye-free manner without restraining the user's eyes.

Eleventh, an auditory information display device for the user to confirm the auditory information is unnecessary, and the direction and position can be presented to the ear-free without restraining the user's ear.

Twelfth, directions and positions can be presented hands-free without restraining the user's hand.

[0184] Thirteenth, it is possible to provide a direction and a position method suitable for a wearable computer system to be used by being worn on a body by a user.

The effects of the present apparatus and the present method are not limited to the examples described above.

7. Modification Example (1) Modification Example 1 In the above-described embodiment, the tactile sensation is given to the user by the physical stimulus given by contacting the user's body.
Other methods, such as wind, or electrical stimulation, or thermal stimulation, may be used to provide stimulation remotely without contacting the user's body.

(2) Modification Example 2 This device is not realized as an integrated device, but is constituted by a part to be worn on the body and a control unit, and both are operated by being connected by, for example, wireless communication. May be.

(3) Third Modification In the above embodiment, the body surface corresponding to the direction to be presented is stimulated, but the body surface close to the direction to be presented may be stimulated.

(4) Modification 4 The user may move the body and give a stimulus when the direction to be presented matches the direction of the output unit of the tactile sense presentation device.

(5) Modification 5 A direction and a position may be presented by appropriately combining a sound signal, a three-dimensional sound field, an image, a symbol, a three-dimensional CG, a voice, a language, and the like.

(6) Sixth Modification Since the present device uses the tactile sense, it can be used anywhere in the body, and various realizations are possible.

For example, a tactile sensation may be presented on a head, a neck, or the like, for example, in the form of a hat, a helmet, a hair band, or a collar.

(7) Modification 7 A bracelet or a wristwatch may be used to present a tactile sensation to, for example, an arm.

(8) Modification 8 A tactile sensation may be presented to a finger or the like by forming a ring shape.

(9) Modification 9 A tactile sensation may be presented to an anklet or a shoe, for example, on a foot or the like.

(10) Modification 10 A tactile sensation may be presented, for example, on a palm or the like by forming it into a form that can be grasped with a hand, for example, like a walking stick.

8. Application Examples The present invention can have various applications.

(1) Application Example 1 In conjunction with a sensor or radar device for monitoring the periphery,
The direction and position of an obstacle, a target, or the like can be presented to the pilot by using the helmet-type device.

(2) Application Example 2 The present invention can be applied to a welfare device which is configured in the form of a cane and presents the direction and position of an obstacle or a destination to an elderly person or a handicapped person.

(3) Application Example 3 As a navigation device carried by a user, it can be used for a mountain climbing guide, a route guide, and the like.

(4) Application Example 4 The device according to the present invention is realized by using a soft material such as rubber, for example, so as to be more closely attached to the body of the user, or to have the shape of the body of the user. It is also possible to configure so as to follow the change.

(5) Application Example 5 The present invention can be used by incorporating it into an existing tool such as a hat, a helmet, a wristwatch, and shoes.

(6) Application Example 6 GPS (Position Information System Using Satellite) and PHS (Pers
(onal Handy Phone System) and communication technology, for example, to acquire the location information of the other party and use it as a device that presents the position and direction of another person such as a child or elderly person Is also possible.

(7) Application Example 7 In the above-described embodiment, the direction and the position are presented by tactile presentation on the body surface of the user. However, the present device is placed in the oral cavity, for example. , It is also possible to use.

(8) Application Example 8 When two users each own one of the present apparatuses and use the waiting, depending on the direction presented by each of the present apparatuses that each user has. By knowing the direction in which each is located, it becomes possible to meet each other efficiently.

9. Example of Implementation of Recording Medium In the above-described embodiment, an example in which the present invention is implemented as an apparatus has been described. However, the processing procedure and flowchart shown in the above-described specific example are described as a program, implemented, and Similar functions and effects can be obtained by executing the same on a computer system.

As shown in the example of the internal configuration of the general-purpose computer in FIG. 5, the following is provided in the general-purpose computer including the CPU unit 501, the memory unit 502, the mass storage unit 503, and the communication interface unit 504.

That is, the input interface unit 505a
505n, input device units 506a to 506n, output interface units 507a to 507m, and output device units 508a to 508m.

Then, a control command including presentation position information or presentation direction information is received from an external application through the communication interface unit 504.

[0210] It is also possible to receive control commands including presentation position information or presentation direction information through the input interface unit 505 and the input device unit 506.

The memory unit 502 and the substitute storage unit 50
3 and receives presentation position information or presentation direction information from an application program operated by the CPU unit 501.

[0212] Under the software control of the CPU 501, the above-described operation can be realized by using a prepared tactile presentation device as the output device units 508a to 508m.

In other words, the method described in the above-described embodiment can be implemented as a program that can be executed by a computer, such as a magnetic disk (floppy disk, hard disk, etc.), an optical disk (CD-ROM, DVD, etc.), a semiconductor memory, or the like. If a program is read into a computer using a medium and executed by the CPU 501, the multi-modal interface device of the present invention can be realized.

[0214]

As described above, according to the present invention,
It can be easily understood by the user, easily associated with the position in the real space, the user can quickly read the direction and position, the position and direction changing at a fast speed can be presented, and the three-dimensional Direction and position can also be presented, multiple positions and directions can be presented simultaneously, the range that can be presented is wide, presentation accuracy is high, noise is not generated, and it can be used without difficulty even in the presence of noise, etc. It can be applied to wearable computer systems without restraining eyes, ears and hands, can be used for handicapped people (barrier-free), can display directions and positions, and has a great practical effect. Can be

[Brief description of the drawings]

FIG. 1 is a configuration example of a tactile interface device.

FIG. 2 is an example of an arrangement of tactile presentation units 101a to 101n.

FIG. 3 is a flowchart illustrating a flow of a processing procedure A;

FIG. 4 is a schematic diagram illustrating an operation state of the present apparatus.

FIG. 5 is an example of an internal configuration of a general-purpose computer.

FIG. 6 is a cross-sectional view of an arrangement example of the present apparatus.

FIG. 7 is a sectional view of another arrangement example of the present apparatus.

[Description of sign]

 101a-n Tactile presentation unit 102 Direction input unit 103 Position detection unit 104 Control unit 201a-d Tactile presentation device 203a-d Position detection device U User Ux User coordinate x-axis vector Uy User coordinate y-axis vector Uz User coordinate z-axis vector M This device Ha, b Presentation target direction Oc Presentation target P Device position vector Q Device orientation vector Da, b Presentation target direction vector Lc Presentation target vector 101xa to xc Tactile presentation device 501 CPU 502 Memory 503 Large capacity storage 504 Communication interface 505a-n Input interface 506a-n Input device 507a-m Output interface 508a-m Output device

Claims (7)

[Claims] 1. A direction presenting apparatus for presenting a predetermined direction to a user, a stimulus presenting means for applying a tactile stimulus to at least one portion of the body surface of the user, and a presentation indicating a direction to be presented to the user. Direction instructing means for instructing a direction, and stimulus presentation to a stimulus-corresponding portion in a body surface in contact with the stimulus presenting means, the stimulus-corresponding location corresponding to the presentation direction designated by the direction instructing means Control means for giving a tactile stimulus by means, thereby informing the user of the presenting direction, and a direction presenting device utilizing tactile sensation. 2. When the stimulus presenting means covers at least a part of the body surface of the user, the control means comprises: a presenting direction designated by the direction indicating means; 2. The direction presentation device using tactile sensation according to claim 1, wherein the stimulus presentation means applies a tactile stimulus to the stimulus-corresponding portion so that the directions substantially coincide with each other. 3. When the stimulus presenting means is covered by at least a part of the body surface of the user, the control means comprises: a presenting direction designated by the direction indicating means; So that the direction opposite to the line direction almost matches,
2. The direction presentation device using tactile sensation according to claim 1, wherein the stimulus presentation means gives a tactile stimulus to the stimulus-corresponding portion. 4. The apparatus according to claim 1, further comprising: a position detecting unit configured to detect a position of the stimulus presenting unit in a space, such as a position or a posture of the stimulus presenting unit, wherein the control unit detects the stimulus presenting unit. The direction presenting device using tactile sensation according to claim 1, wherein the stimulus-corresponding portion is determined based on the arranged information. 5. A plurality of direction presenting devices according to claim 1, wherein one direction presenting device among the plurality of direction presenting devices presents the direction of another direction presenting device, or A direction presentation system using tactile sensation, wherein direction presentation devices present directions to each other. 6. A direction presenting method for presenting a predetermined direction to a user by using a stimulus presenting means for applying a tactile stimulus to at least one portion of a body surface of the user, wherein the direction to be presented to the user is provided. A direction instructing step of instructing a presentation direction, and in a body surface in contact with the stimulus presenting means, to a stimulus corresponding portion in which the presentation direction and the spatial position instructed by the direction instructing step correspond to each other. A control step of giving a tactile stimulus by the stimulus presentation means, thereby informing the user of the presentation direction, thereby providing a direction using the tactile sensation. 7. A recording medium storing a program for realizing a direction presenting method for presenting a predetermined direction to a user by using a stimulus presenting means for applying a tactile stimulus to at least one portion of the body surface of the user. A direction designating function for designating a presentation direction that is a direction to be presented to the user; and a presentation direction and a spatial position designated by the direction designating function in a body surface in contact with the stimulus presentation means. A tactile stimulus is given to the corresponding stimulus corresponding portion by the stimulus presenting means, whereby a control function for notifying the user of the presentation direction is recorded. Recording medium of direction presentation method.