JP2004029999A - Tactile force display hand and its manufacturing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a small-sized and light-weight tactile force display hand capable of presenting accurate tactile force and provided with the concrete constitution of a practical level including the easiness of manufacture, and its manufacturing method. <P>SOLUTION: A plurality of bone members 1 are connected by a connecting member 2 and made freely movable at the part of the connecting member and an elastic expansion / contraction body 3 is fixed to the bone member 1 over the connecting member 2. As the elastic expansion / contraction body 3, an air pressure actuator to be extended in a length direction by the impression of an air pressure for instance is used. A plurality of the air pressure actuators are connected to an air pressure controller 11 respectively by a plurality of air pressure introducing routes 10 such as tubes and driven by controlling the air pressure. A fingerstall 5 is connected to the bone member 1, a finger is fitted to the fingerstall 5, the tactile force display hand is fixed to the back of a hand by the fixture 6 of the hand similarly connected to the bone member 1 and it is mounted. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a haptic display used as a virtual reality presentation device and a method of manufacturing the same, and more particularly, to a haptic display hand worn on a hand and a method of manufacturing the same.
[0002]
[Prior art]
A virtual object constructed from digital data inside the computer is displayed as an image, and the operator operates a virtual reality (virtual reality) presentation device that makes the virtual object feel as if it actually exists, and an operating robot at a remote location However, various tactile and force sensation presentation devices have been proposed as a presentation device that allows an operator to operate the operation target at a remote location while feeling as if the operation target is at hand. .
[0003]
As an example of such a haptic presentation device, there is a device in which a plurality of wires are put on a finger, the wires are connected to a frame formed in a space, and the tension of the wires is controlled to give a haptic force to the finger. Such a device is inevitably large, and a small and light tactile / force sense presentation device is desired for easy use.
[0004]
As an example of a glove type force tactile presentation device, US Pat. No. 5,184,319 (Feb. 2, 1990) discloses a force tactile presentation device by driving a wire arranged along the surface of a glove. This device is commercially available under the registered trademark CyberGrasp, but is expensive because of the assembly of many parts, and its use is limited to military and industrial uses.
[0005]
Due to the high performance and low cost of PCs due to the improvement of the information processing performance of CPUs, PCs have become widespread in society, and ordinary users can use simple and inexpensive force / tactile presentation devices for intuitive and intuitive operation. It is desired to spread a man-machine interface that can operate a PC with a PC.
[0006]
US Pat. No. 6,239,784 B1 (May. 29, 2001) shows an example of a glove-type tactile presentation device. A glove type in which a ring member is connected to a fingertip by deforming a membrane provided at the tip of the ring member by air pressure. An apparatus for providing tactile sensation is disclosed. Although this device has a simpler configuration than the above-described glove-type force / tactile presentation device, it merely touches the membrane to the fingertip and cannot present an accurate force sensation.
[0007]
In the conventional examples of these force-tactile presentation devices, the force-tactile display according to the present invention is driven by a connection structure composed of a plurality of aggregates and can accurately present force, and can be manufactured simply and inexpensively with a simple structure. No display hand is disclosed.
[0008]
[Problems to be solved by the invention]
As described above, in order to further popularize the virtual reality presentation device, it is necessary to secure a basic performance capable of presenting an accurate force tactile sense and to realize a force tactile presentation device that can be manufactured at a low cost with a simple configuration. This is an important issue. In order to obtain good operability, the device needs to be small and lightweight.
[0009]
An object of the present invention is to solve the above-described problems and provide a virtual reality presentation device that is desired to be widely used, capable of presenting accurate force / tactile sensation, and having a practical-level concrete configuration including ease of manufacture. And a method of manufacturing the same.
[0010]
[Means for Solving the Problems]
The force-tactile display hand according to the present invention movably connects a plurality of aggregates with a connecting portion, and includes an elastic expansion / contraction body fixed between the plurality of aggregates over the connecting portion. And a finger sack or glove engaged with at least a part of a hand including at least a finger or a palm or a back of a hand, and a part of the hand is simulated by expanding or contracting the elastic expansion and contraction body. It gives a natural power.
[0011]
BEST MODE FOR CARRYING OUT THE INVENTION
The haptic display hand according to claim 1 of the present invention includes a plurality of aggregates movably connected by a connecting portion and an elastic expansion / contraction body fixed across the connecting portion and between the plurality of aggregates. Further comprising a finger sack or glove coupled to the aggregate and engaged with at least a part of a hand including a finger or a palm or a back of the hand, and expanding or contracting the elastic expansion and contraction body to thereby increase the Gives pseudo power to some.
[0012]
Further, the force-tactile display hand according to the present invention arranges a plurality of aggregates in a row, connects the ends of the aggregates movably with a connecting portion, and straddles the plurality of bones across the connecting portion. A finger sack or glove coupled to the aggregate and engaged with at least a part of a hand including at least a finger or a palm or a back of a hand, comprising an elastic expansion / contraction body fixed between the members; By expanding or contracting the expansion / contraction body in the row direction, a pseudo force is applied to a part of the hand, thereby achieving the above object.
[0013]
The pseudo force may give a reaction force that comes into contact with an object created in the virtual space when the object attempts to make a pseudo contact with the object.
[0014]
In addition, the pseudo force is a reaction force that touches a remote operation target by a signal generated based on information that has touched the remote operation target as a result of operating the remote operation target. May be given.
[0015]
Also, the pseudo force, as a result of being operated by the communication partner, by a signal created based on the information that has contacted the operation target, to give a reaction force to contact the target, or A reaction force may be given such that the object is touched as if it were his / her own hand.
[0016]
The force-tactile display hand according to the present invention further comprises an aggregate layer in which a plurality of aggregates are arranged substantially in a plane, and an elastic expansion / contraction body is formed on one side or both sides of the aggregate layer. The above-mentioned object is achieved more effectively by mainly configuring a flat-type drive mechanism composed of an aggregate and an elastic expansion / contraction body.
[0017]
In the force-tactile display hand according to the present invention, the degree of freedom of the connecting part movably connected is substantially only the rotational degree of freedom, and at least the degree of freedom of the connecting part close to the fingertip follows the movement of the finger. By being restricted to one degree of freedom, the above object is achieved more effectively.
[0018]
The connecting portion that restricts the above-described degree of freedom only to the rotational degree of freedom may constitute an elastic hinge made of a thin plate spring.
[0019]
The connecting member that restricts the above-mentioned degree of freedom to only the rotational degree of freedom may constitute an elastic hinge made by elasticity of the aggregate itself by narrowing a part of the aggregate.
[0020]
The haptic display hand according to the present invention further drives a signal wire for connecting a sensor such as a deformation amount sensor of a connecting portion or a force sensor for controlling a haptic amount, and electrically drives an elastic expansion / contraction body. In such a case, the above object can be achieved more effectively by arranging a flexible wiring board provided with wiring such as drive wiring as necessary in a layer near the bent portion of the connecting portion.
[0021]
The flexible wiring board may also serve as an elastic hinge made of a thin plate spring.
[0022]
The force-tactile display hand according to the present invention further comprises a finger sack or glove made of an aggregate or a rigid material close to the aggregate. It is also possible to apply a pseudo force due to the expansion of the object.
[0023]
The force-tactile display hand according to the present invention further comprises a finger sack or glove made of an aggregate or a rigid material close to the aggregate, and a tactile sensor such as a pressure sensor or a friction sensor on the outer surface of the finger sack or glove. May be provided.
[0024]
The force-tactile display hand according to the present invention includes a deformation amount sensor of a connection portion disposed near the connection member, and is disposed on a fixing portion of the aggregate or the hand or the forearm, such as an ultrasonic type or an imaging type. The above-mentioned object is achieved more effectively by providing the hand position detection sensor as required.
[0025]
In the force-tactile display hand according to the present invention, the means for expanding or contracting the elastic expansion / contraction body may be a means for driving by applying air pressure to the rubber elastic body, a means for driving by heating and cooling the shape memory material, or a polymer. The above object can be achieved more effectively by adopting the means for driving by applying the electric field.
[0026]
The method of manufacturing the haptic display hand according to the present invention includes, at least, a process of collectively forming an aggregate layer in which a plurality of aggregates are arranged substantially in a plane, and forming an elastic expansion / contraction body layer by using the aggregate layer. The object is achieved by including a process of connecting to adjacent surfaces.
[0027]
(Embodiment 1)
FIG. 1 shows a sectional view of a haptic display hand according to Embodiment 1 of the present invention. The haptic display hand shown in FIG. 1 is of a finger-sack type and is fixed at the back of the hand. FIG. 2 shows a cross-sectional view of the tip of the probe-type force-tactile display hand according to the first embodiment.
[0028]
In FIG. 1, a plurality of aggregates 1 are connected by a connecting member 2 so as to be movable at the connecting portion, and the elastic expansion / contraction body 3 is fixed to the aggregate 1 with a fixing portion 4 across the connecting portion. As the aggregate 1, a rigid but lightweight plastic flat plate is used, and the connecting member has a single axis of freedom of rotation as a hinge mechanism. As the elastic expansion and contraction body 3, a pneumatic actuator made of rubber having an outer diameter substantially similar to a flat plate shape and extending in the length direction by applying air pressure is used. The plurality of pneumatic actuators are individually connected to the pneumatic controller 11 by the pneumatic introduction path 10 including a plurality of tubes, and are driven by controlling the pneumatic pressure.
[0029]
The finger sack 5 is connected to the aggregate 1. The finger is inserted into the finger sack 5, and the haptic display hand is fixed to the back of the hand by fixing the haptic display hand to the back of the hand by the hand fixture 6 also connected to the aggregate 1. . Although not shown, other fingers are similarly worn. In particular, the bending direction of the joint of the thumb intersects with that of the other four fingers, and the driving mechanism is arranged along the direction.
[0030]
Here, in order to clarify the difference from the previously reported force tactile sensation presentation device described in the section of the related art, a relationship between a force acting on a finger as a force sense to be presented and a reaction force thereof will be described.
[0031]
FIG. 11 is an explanatory diagram showing one conventional example of a haptic presentation device. This force-tactile presentation device puts a finger sack 102 suspended by a wire 101 on a finger, connects the wire 101 to a tension control actuator 105 attached to a frame 103 formed in a space by a connection portion 104, and reduces the tension of the wire. By controlling, a force sense is given to the finger. The force 106 presented to the finger as a haptic force, which the finger receives from the wire, balances and is supported by the reaction force 107 at the connecting portion 104 of the frame. By arranging a plurality of wires in a desired direction, the force-tactile sense presentation device can reliably support a reaction force of a force applied to a finger as a force sense with a frame, so that an accurate force sense can be presented. However, as described above, there is a disadvantage that it must be large as a whole.
[0032]
FIG. 12 shows an example of a force / tactile presentation device which drives a wire arranged along the surface of a glove and is described as a second conventional example in the section of the prior art. A force applicator 120 for a fingertip put on a finger is arranged along a glove 121, and is connected to a wire 123 and a wire 124 guided by a guide 122 arranged at a key point, and the other end is a wristband. It is connected to an end 126 attached to 125. The wire is then tied to a wire drive 128 through the interior of the incompressible tube 127 and driven traction. In this force-tactile presentation device, since the angle of the wire changes at the position of the guide 122, a component force of the wire tension is generated at this portion, and the reaction force 129 is supported by hand. The wrist band also supports the reaction force 130, which balances with the component of the wire tension at the end 126, with the wrist of the hand.
[0033]
FIG. 13 shows a glove type in which a ring member is connected, which is described as a third conventional example in the section of the prior art, and is a device that presents a tactile sensation to a fingertip by deforming a membrane provided at the tip of the ring member by air pressure. is there. A pressure is applied to a pneumatic membrane 141 provided on a ring member 140 fitted on a finger through a hollow passage for applying air pressure embedded in an elastic rib member 142 to deflect the membrane 141. The tactile sensation is presented by letting the user touch this. The rim member 142 has a means 143 for surrounding the palm, and is attached to the hand at this portion. The rim member 142 needs to have appropriate elasticity to give a degree of freedom to bend the finger, but in a natural position where the rim is not bent, the force 144 applied to the fingertip by this membrane is used as a reaction force 145 that balances the force. It will be supported by fingers. Further, as the finger is bent to bend the rim member, a force is applied to the fingertip from the membrane portion, and the force increases as the flexure increases, so it can be said that it does not have a function of providing an accurate force sense.
[0034]
In the haptic display hand of the present invention shown in FIG. 1 with respect to these conventional examples, a reaction force that balances with a force 7 applied to a finger as a force sense to be presented is transmitted as a moment force 9 around the connecting member 2. Since the moment force 8 is supported only at the position of the hand fixture 6, no force other than the force sense presented at the finger portion acts, and an accurate force tactile sense can be presented.
[0035]
In the embodiment shown in FIG. 1, a plurality of aggregates 1 are arranged in a row along the joint structure of the skeleton of the finger, so that a rational structure having good affinity with the skeleton structure of the hand can be obtained. The plurality of aggregates 1 are arranged in a plane on the same layer, and the elastic expansion / contraction body 3 is also formed adjacent to one side of this layer. Because of the thin drive mechanism, it is a small and lightweight force-tactile presentation device.
[0036]
Also, in manufacturing, an aggregate layer in which a plurality of aggregates 1 are arranged in a substantially planar manner can be collectively formed, and the elastic expansion / contraction body 3 can be connected to an adjacent surface of the aggregate layer. Can be manufactured by a manufacturing method excellent in mass batch productivity, and an inexpensive device can be provided.
[0037]
Even if many aggregates are separated, they are located in the same aggregate layer, so they are arranged in a plane structure and connected by dummy connection parts, and the elastic expansion and contraction body is placed on the adjacent surface. After the connection, the dummy connection portion can be used for separation.
[0038]
Further, in this embodiment, at least the degree of freedom of the connecting member close to the fingertip is restricted to one degree of freedom accompanying the movement of the finger. The connecting member on the side of the fixture 6 of the hand may be simply structured to be similarly restricted to one degree of freedom. However, as described later in the second embodiment, the degree of freedom around the multi-axis is increased. Thus, a function of presenting a force sense to the fingertip from more directions can be provided.
[0039]
FIG. 2 shows an example of a specific configuration of the first embodiment, in which a finger is engaged with a glove type, and a connecting member is a thin leaf spring. In FIG. 2, a plurality of aggregates 1 are connected by a thin leaf spring 12 so that a connecting portion 2A has an elastic hinge structure, and an elastic expansion / contraction body 3 composed of the above-described pneumatic actuator spans the connecting portion 2A. 1 is fixed at a portion 4. In order to ensure the fixation of the inflating elastic expansion and contraction body 3, the flat plate-like aggregate 1 is provided with a recess for accommodating them. The glove 13 is connected to the aggregate 1 and attached to a finger. In the case where the actuator is arranged on only one side of the aggregate layer and the function of giving a sense of force only from the side of the finger is limited, the glove may be formed of a flexible member made of fiber. A locally distributed force sense 14 can be applied to a portion of the glove that is in contact with the finger. The elastic hinge has one degree of freedom of rotation along a finger joint.
[0040]
The force-tactile display hand shown in FIG. 3 is of the type in which the display hand is fixed to the back of the hand in FIG. 1, but is fixed at the tip of the forearm. A finger is placed on the finger sack 5, a palm glove 13A is attached to the palm, and the force-tactile display hand is fixed to the tip of the forearm by the hand fixture 6A connected to the aggregate 1, Installing. In this case, the force sense 7A can be presented to the palm, and a more realistic force sense can be presented.
[0041]
(Embodiment 2)
Next, another embodiment utilizing the advantage of the configuration in which the degree of freedom of rotation of the fingertip is only one axis will be described below. FIG. 4A shows a structure in which the aggregate 1 is connected by a thin leaf spring 12 and the connecting portion 2A has an elastic hinge structure as in the case of FIG. The finger sack 5 is made of the aggregate 1 or a rigid material close to the aggregate, and is provided with a pneumatic actuator 18 which is inflated by air pressure on the inner side surface. The X axis represents the row direction of the aggregate, the Y axis represents the rotation axis of the elastic hinge, and the Z axis represents the normal direction of the surface forming the aggregate layer. FIG. 4B is a cross-sectional view of a portion where a finger is attached to the finger cot portion. Since this mechanism has a structure that can rotate only around the Y axis, the reaction force that accompanies the force 7B received by the finger as a force sense on the side surface of the finger is received as a moment force 15 at the root of the aggregate 1. Therefore, it is possible to perform accurate tactile force presentation on the side of the finger.
[0042]
In FIG. 4C, a tactile sensor 17 such as a pressure sensor or a friction sensor is provided in an artificial skin 16 using a soft material such as skin, in front of a finger sack 5 made of a highly rigid material. Things. This sensor can detect a signal that has touched an object independently of the drive for presenting a haptic display with this haptic display hand attached, so use this signal for mutual information communication of haptics. Can be.
[0043]
FIG. 4D shows an example in which a part of the aggregate 1 is narrowed, and an elastic hinge 1A having the narrowed part as a rotation axis is configured. For example, a plastic such as polyethylene having an appropriate plate thickness has a high rigidity required as an aggregate, and can constitute a hinge which can be bent at an appropriately narrowed portion. In this case, since the elastic hinge 1A serves as a connecting portion and does not require another connecting member, the structure is simple and the aggregate is integrated in advance, so that it is suitable for integrating other layer members.
[0044]
While the embodiment of FIG. 4 (a) provides a force tactile sense to the side of the fingertip, FIGS. 5 (a) and (b) provide a force tactile sense from the front of the fingertip. . A pneumatic actuator 18 which is inflated by air pressure is provided on the side wall 5B on the tip end side of the finger sack 5, and a force tactile sensation is given to the tip of the fingertip by inflating the pneumatic actuator. Most of the force 7C received by the finger is balanced and supported by the reaction force 20 by the skeleton 1 on the root side. Since these two forces have a height difference in the Z-axis direction, a slight moment force is generated around the Y-axis, but can be supported by applying a slight moment force to the connecting portion.
[0045]
6 (a), 6 (b) and 6 (c) show a drive mechanism in which two or three axes of freedom of rotation are planarly formed by an elastic hinge configuration using a thin plate spring. The connecting portion of the aggregate 1 is formed into a shape which becomes a butt portion 1B whose width is gradually reduced, and is connected by a rubber thin plate spring 21 having appropriate rigidity. With this configuration, a universal joint mechanism that can rotate around the X, Y, and Z axes is provided. When a material having a sufficiently high rigidity of the thin plate spring is selected, the in-plane rigidity of the thin plate spring is greater than its bending rigidity and torsional rigidity, so that the freedom of rotation of the Z axis can be restricted. As shown in FIGS. 6B and 6C, a plurality of elastic expansion / contraction bodies 22 are arranged, and can be driven in any direction by driving them against each other.
[0046]
FIGS. 7A and 7B are perspective views showing a part of a haptic display hand using the mechanism shown in FIG. Two aggregate rows are joined at the root by an aggregate 1C. By using the universal mechanism for a part of the root of the finger, a force can be applied to the fingertip from all directions, so that the haptic presentation can be diversified. In order to apply a slightly large force 7D to the side surface of the finger, an elastic expansion and compression body 23 is provided at the root between the aggregate rows, and by expanding this, a large force can be efficiently applied.
[0047]
(Embodiment 3)
FIGS. 8A and 8B are a plan view and a cross-sectional view of a driving mechanism of a haptic display hand according to Embodiment 3 of the present invention. FIG. 9 is a cross-sectional view of the tip portion of a finger sack type force-tactile display hand using the same drive mechanism. 10 (a) and 10 (b) show a cross-sectional view and a plan view of a driving mechanism of an antagonistic drive type tactile display hand. Each drive mechanism is of a type driven by a shape memory alloy.
[0048]
In FIG. 8, by connecting a plurality of flat aggregates 1 with a flexible wiring board 30, an elastic hinge 30A is formed utilizing the elasticity of the flexible board. The flexible wiring board 30 is provided with a deformation amount sensor 32 of an elastic hinge portion connected by the wiring 31 and has a function of detecting the attitude of the driving mechanism. The shape memory alloy wire or the coil 33 is fixed to the aggregate 1 with the fixing portion 4 over the elastic hinge portion 30A of the flexible board as the connecting portion. The shape memory alloy wire or coil 33A is fixed to the fingertip-side aggregate by a fixing portion 4A, and further fixed to another aggregate through a hook portion 34A provided on another aggregate. A shape memory alloy wire or a coil 33B is fixed to the second aggregate from the fingertip side by a fixing portion 4B, and further fixed to another aggregate through a hook portion 34B provided on another aggregate. The drive mechanism is driven by energizing and heating the shape memory alloy wires (or coils) 33A and 33B independently by power supplies 35A and 35B. The shape memory alloy is subjected to a shape memory treatment so that it shrinks when the temperature rises and exceeds the martensitic transformation temperature.
[0049]
As shown in FIG. 9, in the finger sack type force-tactile display hand incorporating the flat-type driving device, the fingertip receives the force tactile force to be presented, similarly to the inflatable pneumatic force-tactile display hand described above. Since the reaction force of the force 36 is supported as the moment force 37 at the root of the drive mechanism, an accurate force tactile sensation can be presented.
[0050]
The components of the driving mechanism of the antagonistic driving type shown in FIG. 10 are the same as those in FIG. This drive mechanism has shape memory alloy wires 33C and 33D as drive sources attached to both sides thereof with an aggregate layer interposed therebetween, and can be driven in both forward and reverse directions by antagonizing the drive of both.
[0051]
Some pneumatic actuators are of a type that contracts in the longitudinal direction by applying pneumatic pressure.
[0052]
The MacKeen type actuator is a rubber tube covered with a cylindrical net, and expands in the radial direction by applying air pressure. The net is pulled by the expansion and contracts in the longitudinal direction. When a pneumatic actuator having such a function is used as a drive source, a similar drive mechanism may be configured by replacing the shape memory alloy wire or coil with a pneumatic actuator having this function in FIG. it can.
[0053]
Also, various polymer materials that can be electrically driven have been researched and developed as artificial muscle actuators. For example, an actuator having a multilayer structure in which a flexible electrode is provided on a sheet-shaped dielectric polymer, a gel electrostriction type, a gel ion drive type, and the like have been proposed. When these are used as a drive source, the drive mechanism of the present invention can be configured as shown in FIG. 1 for an inflatable type, and configured as shown in FIG. 8 for a contracted type. . Since such an artificial muscle actuator is mainly composed of a polymer material, the material itself is lightweight, has high compliance, is safe, and has excellent affinity with humans as a wearable device.
[0054]
The haptic display hand according to the present embodiment includes the deformation sensor 32 for the connection member disposed near the connection member. In addition, the position and orientation of the force-haptic display hand in the space is detected by providing an ultrasonic or imaging type hand position detection sensor arranged on the fixed part of the aggregate to the hand or forearm. Therefore, the relative position of the virtual hand can be similarly displayed with respect to the object created in the virtual space, and this can be used as data input.
[0055]
In addition to this data input function, as a pseudo force presented by the haptic display hand of the present invention, the haptic display hand comes into contact with an object created in a virtual space when the object attempts to simulate contact with the object. By giving such a reaction force, the operation of the PC can be operated with more physical feeling. A graphical user interface (GUI) for operating a file displayed on a desktop on a screen with a mouse is widely used at present. Thus, it is possible to provide a more universal operation feeling that is more intuitive and therefore requires less skill.
[0056]
There is a need for a technology that can remotely and dexterously operate a robot hand, such as operating a civil engineering machine in a dangerous place such as a disaster area. As a simulated force presented by the haptic display hand of the present invention, as a result of operating a remote operation target, a signal generated based on information contacted with the remote target causes a signal to be applied to the remote target. By giving a contact reaction force, it is possible to operate a remote object with a physical feeling as if the object in front is being handled, and as a result, more reliable operation is possible.
[0057]
Furthermore, the tactile sensation or force sense of a human hand has a different kind of sensation that cannot be conveyed by video and audio alone in communication between people. As a simulated force presented by the haptic display hand of the present invention, a signal generated based on information on contact with an operation target as a result of being operated by a communication partner as a result of operation by a communication partner, such as contact with the target object. Empower the senses of the human being and give them a more intimate mutual information communication by giving them strength or giving them a reaction force that makes the object touch as if it were their own hand. It becomes possible.
[0058]
【The invention's effect】
As described above, according to the present invention, as a virtual reality presentation device that is desired to spread, it is possible to present accurate force and tactile sensation, and it is compact and lightweight, and has a practical configuration including practical easiness. A remarkable effect of being able to provide a force tactile display hand provided with a method and a method for manufacturing the same is obtained.
[Brief description of the drawings]
FIG. 1 is a cross-sectional view of a back-of-a-hand type tactile display hand according to a first embodiment of the present invention.
FIG. 2 is a sectional view showing a part of the haptic display hand according to Embodiment 1 of the present invention;
FIG. 3 is a cross-sectional view of a forearm-mounted force-tactile display hand according to Embodiment 1 of the present invention.
FIG. 4A is a perspective view of a driving mechanism according to a second embodiment of the present invention.
(B) Cross-sectional view of drive mechanism according to Embodiment 2 of the present invention
(C) Cross-sectional view of drive mechanism according to Embodiment 2 of the present invention
(D) Drawing of an elastic hinge in Embodiment 2 of the present invention
FIG. 5A is a perspective view of a drive mechanism showing another embodiment according to the second embodiment of the present invention.
(B) Cross-sectional view of a drive mechanism showing another embodiment according to the second embodiment of the present invention.
FIG. 6A is a perspective view of a multi-axis rotation drive mechanism according to a second embodiment of the present invention.
(B) A perspective view of a multi-axis rotation drive mechanism according to Embodiment 2 of the present invention.
(C) Cross-sectional view of a multi-axis rotation drive mechanism according to Embodiment 2 of the present invention.
FIG. 7A is a perspective view illustrating a part of a haptic display hand according to a second embodiment of the present invention.
(B) Sectional view showing a part of the haptic display hand according to Embodiment 2 of the present invention.
FIG. 8 (a) is a plan view of a driving mechanism of a haptic display hand according to Embodiment 3 of the present invention.
(B) Cross-sectional view of drive mechanism of haptic display hand according to Embodiment 3 of the present invention
FIG. 9 is a sectional view showing a part of a haptic display hand according to Embodiment 3 of the present invention.
FIG. 10 (a) is a plan view of a drive mechanism showing another form of the haptic display hand according to Embodiment 3 of the present invention.
(B) Cross section of drive mechanism showing another form of haptic display hand according to Embodiment 3 of the present invention
FIG. 11 is an explanatory view showing a first conventional example of a haptic presentation device.
FIG. 12 is an explanatory view showing a second conventional example of a haptic presentation device.
FIG. 13 is an explanatory view showing a third conventional example of a haptic presentation device.
[Explanation of symbols]
1 aggregate
2 Connecting members
2A connection
3 Elastic expansion and contraction body
4 Fixed part
5 finger cots
6,6A Hand fixture
7,7A, 7B, 7C, 7D Force to become a haptic
8 Moment force
9 Moment force
10 Air pressure introduction route
11 Pneumatic controller
12 Thin leaf spring
13,13A Glove
14 Distributed force to become haptic
16 Artificial skin
17 Tactile sensor
18 Pneumatic actuator
21 Thin leaf spring
22 Multiple elastic expansion and contraction bodies
23 Elastic expansion body
30 Flexible Wiring Board
31 Wiring
32 Deformation sensor
33 Shape memory alloy wire or coil
34 Hook
35 Power

Claims (16)

A plurality of aggregates are movably connected by a connecting portion, and an elastic expansion / contraction body fixed between the plurality of aggregates over the connecting portion is connected to the aggregates, and at least a finger or a palm is connected. Or a finger sack or glove engaged with a part of the hand including the back of the hand, wherein a pseudo force is applied to the part of the hand by expanding or contracting the elastic expansion / contraction body. Haptic display hand. A plurality of aggregates are arranged in a row, and end portions of the aggregates are movably connected to each other by connecting portions, and an elastic expansion / contraction body is provided across the connecting portions and fixed between the plurality of aggregates. A finger sack or glove coupled to the aggregate and engaged with at least a part of a hand including a finger or a palm or a back of the hand, wherein the elastic expansion and contraction body expands or contracts in the row direction. A haptic display hand, characterized in that a pseudo force is applied to a part of the hand by causing the hand to touch. 3. The haptic force according to claim 1, wherein the pseudo force gives a reaction force such as to contact the object created in the virtual space when the artificial force tries to contact the object. Display hand. A simulated force is a signal that is generated based on information that has touched a remote object as a result of manipulating the remote control object and giving a reaction force that touches the remote object. A haptic display hand according to claim 1 or 2. As a result of being operated by a communication partner, the artificial force gives a reaction force that makes contact with the operation target by a signal generated based on the information that has contacted the operation target, or the target object is subjected to 3. The force-tactile display hand according to claim 1, wherein the force-tactile display hand applies a reaction force as if it were touched by the user's own hand. A plurality of aggregates form an aggregate layer substantially arranged in a plane, and the elastic expansion / contraction body is formed on one side or both sides of the aggregate layer. The haptic display hand according to claim 1, wherein the haptic display hand is mainly configured by the driving mechanism of (1). The connecting part movably connected has almost only the degree of freedom of rotation, and at least the degree of freedom of the connecting part close to the fingertip is restricted to one degree of freedom accompanying the movement of the finger. A haptic display hand according to claim 6. 8. The force-tactile display hand according to claim 7, wherein the connecting portion that restricts the degree of freedom only to the rotational degree of freedom forms an elastic hinge made of a thin plate spring. 8. The force according to claim 7, wherein the connecting portion that restricts the degree of freedom only to the rotational degree of freedom forms an elastic hinge made by elasticity of the aggregate itself by narrowing a part of the aggregate. Tactile display hand. Flexible wiring board with wiring such as signal wiring to connect sensors such as deformation sensor of connection part, force sensor to control force sense, and drive wiring to electrically drive elastic expansion and contraction body 7. The haptic display hand according to claim 6, wherein the haptic display hand is arranged near the bent portion of the connecting portion. 7. The haptic display hand according to claim 6, wherein the flexible wiring board also serves as an elastic hinge made of a thin plate spring. The finger sack or glove is made of an aggregate or a rigid material close to the aggregate, and applies a pseudo force due to the expansion of the elastic expansion and contraction body to the part of the hand from the inner surface of the finger sack or the glove. 7. The haptic display hand according to claim 6, wherein: 7. The finger sack or glove is made of an aggregate or a material close to the aggregate, and a tactile sensor such as a pressure sensor or a friction sensor is provided on an outer surface of the finger sack or the glove. Force tactile display hand. Equipped with a deformation amount sensor of the connection part arranged near the connection member, a hand position detection sensor such as an ultrasonic type or an imaging type arranged on the fixed part attached to the hand or forearm of the aggregate as necessary The haptic display hand according to claim 1, further comprising: The means for expanding or contracting the elastic expansion / contraction body is a means for driving the rubber elastic body by applying air pressure, a means for driving the shape memory material by heating / cooling, or a means for driving the polymer by applying an electric field to the polymer. The haptic display hand according to claim 1 or 2, wherein: At least, the method includes a process of collectively forming an aggregate layer in which a plurality of aggregates are arranged substantially in a plane, and a process of connecting an elastic expansion / contraction body layer to an adjacent surface of the aggregate layer. A method for manufacturing a haptic display hand.

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