JP2004157749A - Tactile sense presentation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To propose a tactile sense presentation device which can present the surface shape and the surface property of an object as tactile information. <P>SOLUTION: The tactile sense presentation device 1 has a tactile sense unit 2 slidable on a plane. A tactile sense presentation face 21A of the tactile sense unit 2 is defined with a retaining plate 22A retaining a plurality of swivel pins 60 capable of swiveling vertically. Each swivel pin 60 can move vertically and can vibrate horizontally by a driving pin 65 driven vertically with a driving part 66 such as a voice coil coupled to a lower end thereof. By adjusting the amount of rise of each swivel pin 60, the surface shape of the object can be presented as tactile information. By vibrating each swivel pin 60 in a sliding direction at a predetermined frequency and with a predetermined amplitude, the surface property of the object can be presented as the tactile information analogous to feeling obtained when tracing the surface of the object with a fingertip. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a tactile sensation providing device that outputs a surface shape and a surface property of a perceived object, for example, a virtual object, as tactile information.
[0002]
[Prior art]
As a tactile presentation device capable of outputting the surface shape of an object as tactile information, as shown in FIG. 4, a plurality of vertical pins 101 functioning as tactile elements are arranged in a matrix on a tactile presentation surface 100, and A configuration is known in which each of the vertical pins 101 is moved or vibrated in a vertical direction by a driving mechanism 102 such as a voice coil.
[0003]
It is also known that the surface property of a perceived object, for example, a feel such as surface roughness is perceived by tracing the surface of the object with a fingertip. A tactile sensation providing device for presenting a tactile sensation similar to a tactile sensation obtained by tracing a fingertip is disclosed in, for example, the following patent document. In this patent document, a mechanical stimulus is applied to a fingertip by horizontally vibrating a diaphragm arranged horizontally.
[0004]
[Patent Document 1]
JP-A-9-90867
[Problems to be solved by the invention]
Here, even in a tactile sense presentation device using a plurality of pins as tactile elements as shown in FIG. 4, if a tactile sense obtained by tracing a fingertip can be presented, the surface properties (surface roughness etc.) of the target object are recognized. It is desirable because it can be done.
[0006]
In view of the above, an object of the present invention is to provide a tactile presentation device having a configuration in which a plurality of contacts are vertically movably arranged on a tactile presentation surface, so that the surface shape and surface properties of an object can be presented. It is in.
[0007]
[Means for Solving the Problems]
In order to solve the above problems, the present invention provides a tactile presentation device that outputs the surface shape and surface properties of an object as tactile information,
At least one haptic unit comprising a haptic presentation surface and slidable in a direction parallel to the haptic presentation surface,
Detecting means for detecting the sliding direction of the haptic unit;
A plurality of tactile elements arranged on the tactile sense presentation surface,
Vibrating means for vibrating the haptic element in a sliding direction of the haptic unit,
Moving means for moving the haptic element in a direction perpendicular to the haptic sense presentation surface,
Drive control means for driving and controlling the vibration means and the movement means,
The drive control means, at the time of sliding of the tactile unit, by the vibration means, at a frequency according to the surface roughness of the object, and / or at an amplitude according to the size of the irregularities on the surface of the object, It is characterized in that the tactile element is vibrated.
[0008]
In order to represent the shape of the object by the haptic element, the drive control means controls the moving means so that the surface shape corresponding to the surface shape of the object is defined by the tip of the haptic element. The haptics can be moved.
[0009]
Here, the vibrating means includes a holding member that holds the haptic element in a state movable in a direction perpendicular to the haptic sense presentation surface, a vibrator oscillating in a direction perpendicular to the haptic sense presentation surface, And a transmission mechanism that converts the vibration of the vibrator into vibration in a direction parallel to the tactile sense presentation surface and transmits the vibration to the holding member.
[0010]
In this case, a first and second vibrator may be provided as the vibrator, and the transmission mechanism may be a cam mechanism. The cam mechanism is formed on first and second inclined cam surfaces formed on the distal end surfaces of the first and second vibrators and on the holding member having a shape complementary to the inclined cam surfaces. And the first and second inclined cam follower surfaces.
[0011]
Since the vibrating means having this configuration can be arranged below the tactile sensation presentation surface in the same manner as the moving means, an increase in the width of the tactile unit can be suppressed. Therefore, a tactile sensation presentation device including a plurality of tactile units can be configured to be small and compact.
[0012]
When an electromechanical transducer such as a piezo element that vibrates in a direction perpendicular to the longitudinal direction is used as the vibrating means, an increase in the width of the tactile unit can be similarly suppressed.
[0013]
It is preferable that a part of the moving means for moving the haptic element is formed of a flexible member, whereby movement in the vertical direction is prevented even by vibration of the haptic unit in the sliding direction. I can't.
[0014]
In addition, a turning pin that can turn around one end in a direction perpendicular to the tactile sense presentation surface can be used as the tactile element. In this case, a configuration having a common drive pin capable of pushing up each turning pin in a direction perpendicular to the tactile sense presentation surface can be used as the vibration means and the moving means. By appropriately setting the contact surface shape between the pivot pin and the drive pin, the drive pin is moved to push up the pivot pin from the tactile sense presentation surface, and the drive pin is vibrated in the same direction. The pin may vibrate in a direction along the tactile presentation surface.
[0015]
According to this configuration, since the moving means and the vibration means can be realized by a single means, it is advantageous for downsizing and downsizing of the tactile sense presentation device.
[0016]
Next, the tactile unit is equipped with information reading means for reading the surface shape and surface properties of the object, and the drive control means controls the surface shape and surface of the object read by the information reading means. The drive of the contact may be controlled based on properties.
[0017]
According to this configuration, the reading unit for reading the object and the tactile unit are easier to handle as compared with a case in which the tactile unit is a separate unit, and surface information of an arbitrary object can be presented as tactile information.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of a tactile sense presentation device to which the present invention is applied will be described with reference to the drawings.
[0019]
FIG. 1A is a schematic configuration diagram illustrating a tactile sense presentation device according to the present embodiment. Referring to FIG. 1, a tactile sense presentation device 1 includes at least one tactile unit 2 that allows an operator to slide on a plane while putting a fingertip P thereon, and a drive for driving and controlling the tactile unit 2. And a control unit 5. Of course, the tactile unit 2 and the drive control unit 5 can be configured as a single unit.
[0020]
The tactile unit 2 has a rectangular parallelepiped shape as a whole as shown by imaginary lines in the figure, and is slidable back and forth and left and right on a plane. A rectangular tactile presentation surface 21 is formed on the upper surface of the tactile unit 2, and the tactile presentation surface 21 is defined by the upper surface of a rectangular holding plate 22 having a flat upper surface. A large number of pin holes 23 are formed in a matrix on the holding plate 22, and a vertical pin 24 that functions as a tactile element while penetrating through each pin hole 23 and movable in a direction perpendicular to the tactile sense presentation surface 21 is provided. Are located.
[0021]
Each vertical pin 24 is vertically movable by a pin moving mechanism 30. The pin moving mechanism 30 includes a driving unit 31 formed of a voice coil or the like connected to the lower end of each of the vertical pins 24, and the vertical pin 24 has its tip 24 a aligned with the tactile sense presentation surface 21 by the driving unit 31. It can be moved from the retracted position to a projecting position projecting upward by a predetermined amount, and can be held at a predetermined height position therebetween.
[0022]
In addition, since each of the vertical pins 24 has flexibility, even if it receives horizontal vibration, it does not hinder vertical movement.
[0023]
Next, the holding plate 22 is held in a state capable of vibrating in the horizontal direction, and can be vibrated back and forth (Y direction in the drawing) and left and right (X direction in the drawing) by the pin vibration mechanism 33. The pin vibrating mechanism 33 includes two vibrating pins 34 and 35 disposed below the holding plate 22 and driving units 36 and 37 including a voice coil and the like for vibrating the vibrating pins 34 and 35 in the vertical direction. And a transmission mechanism 38 that converts vertical vibrations of the vibrating pins 34 and 35 into vibrations in a direction parallel to the tactile sense presentation surface 21 and transmits the vibrations to the holding plate 22.
[0024]
The transmission mechanism 38 includes a cam mechanism. That is, the inclined cam surface 41 formed at the tip of the vibrating pin 34 and inclined at an angle of 45 degrees in the Y direction, and the back surface of the holding plate 22 having a shape complementary to the inclined cam surface 41 are formed. An inclined cam follower surface 42 is provided, and the holding plate 22 horizontally vibrates in the Y direction due to the vertical vibration of the vibration pin 34. An inclined cam surface 43 formed at the tip of the vibration pin 35 and inclined at 45 degrees in the X direction, and an inclined cam follower surface formed on the back surface of the holding plate 22 having a shape complementary to the inclined cam surface 43. The holding plate 22 horizontally vibrates in the X direction due to the vertical vibration of the vibration pin 35.
[0025]
In addition, as the pin vibration mechanism 33, an electromechanical conversion element 91 such as a piezo element as shown in FIG. 1B can be used instead of the voice coil and the cam mechanism. Since such an electromechanical transducer 91 is displaced in a direction orthogonal to the longitudinal direction, if the holding plate 22 is supported by the electromechanical transducer 91 as shown in the figure, these electromechanical transducers 91 can be displaced. By driving, the holding plate 22 can be vibrated in the X and Y directions.
[0026]
Next, a sensor 25 for detecting the sliding direction of the tactile unit 2 is attached to the tactile unit 2 having this configuration.
[0027]
On the other hand, the drive control unit 5 includes a drive control unit 51 that drives and controls the drive unit 31 of the pin moving mechanism 30 and the drive units 36 and 37 of the pin vibration mechanism 33, and an object to be displayed on the tactile sense presentation surface 22. An information output unit 52 that outputs information on the surface shape and surface properties, and a detection unit 53 that detects the position and the sliding direction of the tactile unit 2 based on a signal from the sensor 25 are provided.
[0028]
The information output unit 52 outputs to the drive control unit 51 information on the surface shape of the object corresponding to the position of the tactile unit 2 detected by the detection unit 53. In addition, based on the sliding direction of the haptic unit detected by the detection unit 53, information on the surface properties of the target corresponding to the position of the haptic unit 2 is output to the drive control unit 51. The drive control unit 51 controls the drive of the drive unit 31 of the pin moving mechanism 30 and the drive units 36 and 37 of the pin vibration mechanism 33 based on the supplied information.
[0029]
That is, the drive control unit 51 drives the pin moving mechanism 30 based on the supplied information on the surface shape so that the tip 24a of each vertical pin 24 defines the surface shape corresponding to the surface shape of the target object. The unit 31 is controlled. As a result, when the fingertip P or the like is applied to the tactile presentation surface 21, the surface shape of the target object can be recognized by the tactile sense.
[0030]
In addition, when the tactile unit 2 slides, the drive control unit 51 controls the protrusion amount of each vertical pin 24 by the pin moving mechanism 30 to present the surface shape and controls the drive units 36 and 37 of the pin vibration mechanism 33. Then, the vertical pin 24 is vibrated in the sliding direction at a frequency corresponding to the surface roughness of the object. The rougher the surface, the lower the frequency, and the finer the surface, the higher the frequency. Further, the vertical pin 24 is vibrated with an amplitude corresponding to the size (depth) of the unevenness on the surface of the target object. That is, the larger the unevenness, the larger the vibration, and the smaller the unevenness, the smaller the vibration.
[0031]
As a result, a feeling similar to the feeling obtained when actually tracing the surface of the object with the fingertip can be obtained from the fingertip placed on the tactile sense presentation surface 21. Thereby, it is possible to recognize the surface properties of the object, for example, the surface roughness, the degree of unevenness, and the like.
[0032]
As described above, in the tactile sense presentation device 1 according to the present embodiment, the vertical pin as the tactile element is vibrated in the sliding direction of the tactile unit 2, that is, the moving direction of the fingertip P placed here. Therefore, the surface shape and the surface shape of the object can be recognized by touch. In addition, since the same mechanism as the moving mechanism 30 of the vertical pin 24 is employed as the vibration mechanism 33 of the vertical pin 24, the pin moving mechanism 30 and the pin vibration mechanism 33 may be incorporated on the back side of the tactile sense presentation surface 21. it can. Accordingly, an increase in the dimension of the tactile unit 2 in the width direction can be suppressed, so that a tactile presentation device including a plurality of tactile units corresponding to each finger can be configured compactly.
[0033]
(Another example of a tactile element and its movement / vibration mechanism)
Here, as the tactile element and its moving / vibrating mechanism, those having the configuration shown in FIG. 2 can be employed. In this figure, only a pivot pin as one tactile element and a main part of its movement / vibration mechanism are shown. The turning pins 60 are arranged on the surface of the holding plate 22A that defines the tactile sense presentation surface 21A. Each of the pivot pins 60 is vertically pivotable about a horizontal pin 62 having one end 60a attached to the holding plate 22A. One side in the turning direction of the turning pin 60 is a flat side surface 60b, and the turning pin 60 is moved so that the side 60b is flush with the tactile sense presentation surface 21A by a spring member (not shown) such as a coil spring. Is held in the falling posture 60A.
[0034]
A drive pin 65 is disposed vertically below the turning pin 60 in the falling posture 60A, and a drive unit 66 including a voice coil is connected to a lower end of the drive pin 65. The hemispherical tip surface 65a of the drive pin 65 is always in contact with the side surface 60c of the pivot pin 60 opposite to the side surface 63. The side surface 60c has the following contour. In the state of the falling posture 60A, the side surface portion in contact with the tip 65a of the drive pin 65 is a flat surface portion 60d parallel to the side surface 60b. A substantially semicircular convex curved surface portion 60e is continuous with the tip side of the flat surface portion 60d.
[0035]
As shown in FIG. 2B, even when the turning pin 60 is raised from the falling posture 60A to the vertical standing posture 60B, the tip 65a of the driving pin 65 is positioned obliquely below the convex curved surface portion 60e. It comes into contact.
[0036]
Therefore, when the drive pin 65 is projected upward from the retracted position shown in FIG. 2A, the drive pin 65 causes the turning pin 60 to gradually rise from the falling posture 60A, thereby achieving the vertical standing posture 60B. . When the drive pin 65 is vibrated up and down in a state where the tip 65a is in contact with the convex curved surface portion 60e of the swivel pin 60, the swivel pin 60 vibrates up and down and left and right. As shown in FIG. 2B, when the turning pin 60 is in the upright posture, the turning pin 60 vibrates substantially in the left-right direction.
[0037]
When the swing pin 60 having this shape is used, the swing pin 60 can be moved up and down and the swing pin 60 can be vibrated right and left by the single driving unit 66. Therefore, the tactile presentation device capable of presenting the surface shape and surface properties of the object can be configured to be small and compact.
[0038]
(Other embodiments)
The tactile sense presentation device 1 is configured to detect the position and the sliding direction of the tactile unit 2 and output the shape and properties of the surface portion of the object. Alternatively, an image reading unit such as a CCD camera may be mounted on the tactile unit so that the surface shape and surface properties of the object can be presented as tactile information while moving the surface of the object. it can.
[0039]
FIG. 3 is a configuration diagram showing a tactile presentation device in which the information reading unit and the tactile presentation unit are configured as a single unit. As shown in this figure, a tactile sense presentation device 70 includes an information reading unit 72 such as a CCD camera, an illumination light source 73 for illuminating a reading area of the information reading unit 72, and an information reading unit 72 inside a device case 71. The tactile sensation providing unit 74 capable of presenting the surface information of the object 90 read by the tactile information as tactile information, a control unit 75 that controls the driving of the tactile sensation providing unit 74, and a battery power supply 76 are mounted.
[0040]
The tactile presentation section 74 includes a tactile presentation surface 77, a plurality of tactile elements 78 arranged here, a moving mechanism 79 that moves the tactile element 78 up and down, and a tactile element 78 in the sliding direction of the tactile presentation device 70. And a vibration mechanism 80 for vibrating. The tactile sense presentation surface 77, the tactile sense element 78, the moving mechanism 79, and the vibration mechanism 80 can have the same configuration as the corresponding parts in the above-described tactile sense presenting device 1.
[0041]
Since the tactile sense presentation device 70 has the information reading unit 72 and the tactile sense presenting unit 74 integrated with each other, there is an advantage that the tactile sense presentation device 70 is easy to operate as compared with a case where these are separately arranged. Also, there is an advantage that the surface shape and properties of an arbitrary object can be read and presented as tactile information.
[0042]
【The invention's effect】
As described above, in the tactile sense presentation device of the present invention, the surface shape of the target object can be presented by moving the tactile element by the moving mechanism and projecting the tactile element from the tactile sense presentation surface. Further, by vibrating the haptic element in the sliding direction of the haptic unit of the haptic device by the vibration mechanism, that is, in the tracing direction of the fingertip of the operator, the surface properties of the object can be presented.
[0043]
Furthermore, when the same driving mechanism as the moving mechanism is used as the vibration mechanism, both mechanisms can be arranged below the tactile sensation presentation surface, so that an increase in the width of the tactile unit can be suppressed. The tactile sensation presentation device provided with the tactile unit can be configured to be small and compact.
[0044]
Furthermore, when a pivot pin is employed as a contact and the vertical movement and vibration of the pivot pin are realized by a single drive mechanism, a tactile presentation device capable of presenting the surface shape and surface properties of an object is reduced in size. And can be realized compactly.
[0045]
In addition, in the case of employing a configuration in which the tactile presentation unit and the information reading unit are integrated, a tactile presentation device that is easy to handle and can present the surface shape and properties of any object as tactile information is provided. realizable.
[Brief description of the drawings]
FIG. 1A is a schematic configuration diagram illustrating a main part of a tactile sense presentation device to which the present invention is applied, and FIG. 1B is an explanatory diagram illustrating another example of the vibration mechanism.
FIG. 2 is an explanatory diagram showing an example in which a turning pin is used as a tactile element.
FIG. 3 is an explanatory diagram showing another embodiment of the tactile sense presentation device to which the present invention is applied.
FIG. 4 is an explanatory diagram illustrating a general configuration of a tactile sense presentation device.
[Explanation of symbols]
REFERENCE SIGNS LIST 1 tactile sense presentation device 2 tactile sense unit 5 drive control unit 21, 21 A tactile sense presentation surface 22, 22 A holding plate 23 pin hole 24 vertical pin 25 sensor 30 pin moving mechanism 31 drive unit 33 pin vibration mechanism 34, 35 vibrating pin 36, 37 drive Unit 38 Transmission mechanism 41, 43 Inclined cam surface 42, 44 Inclined cam follower surface 51 Drive control unit 52 Information output unit 53 Detecting unit 60 Rotating pin 60A Falling posture 60B Standing posture 60a One end 60c Side surface 60d Flat surface portion 60e Convex curved surface portion 62 Horizontal pin 65 Drive pin 65a Tip 66 Drive unit 70 Tactile presentation device 72 Information reading unit 73 Illumination light source 74 Tactile presentation unit 75 Drive control unit 76 Battery 77 Tactile presentation surface 78 Tactile element 79 Moving mechanism 80 Vibration mechanism 90 Object 91 Electric machine Conversion element

Claims (10)

In a tactile presentation device that outputs the surface shape and surface properties of an object as tactile information,
At least one haptic unit comprising a haptic presentation surface and slidable in a direction parallel to the haptic presentation surface,
Detecting means for detecting the sliding direction of the haptic unit;
A plurality of tactile elements arranged on the tactile sense presentation surface,
Vibrating means for vibrating the haptic element in a sliding direction of the haptic unit,
Moving means for moving the haptic element in a direction perpendicular to the haptic sense presentation surface,
Drive control means for driving and controlling the vibration means and the movement means,
The tactile sensation providing device, wherein the drive control means causes the vibrating means to vibrate the haptic element at a frequency corresponding to a surface roughness of the object when the haptic unit slides. In claim 1,
The tactile sensation providing device, wherein the drive control means causes the vibrating means to vibrate the haptic element with an amplitude corresponding to the size of irregularities on the surface of the object when the haptic unit slides. In claim 1 or 2,
The tactile sensation presentation device, wherein the drive control means moves each haptic element by the moving means so that a surface shape corresponding to a surface shape of the object is defined by a tip portion of the haptic element. In claim 1, 2 or 3,
The vibrating means includes: a holding member that holds the haptic element in a state movable in a direction perpendicular to the haptic sense presentation surface; a vibrator oscillating in a direction perpendicular to the haptic sense presentation surface; A transmission mechanism for converting vibration into vibration in a direction parallel to the tactile presentation surface and transmitting the vibration to the holding member. In claim 4,
First and second vibrators are provided as the vibrator,
The transmission mechanism is a cam mechanism, and has first and second inclined cam surfaces formed on the tip surfaces of the first and second vibrators, and shapes complementary to these inclined cam surfaces. A tactile sensation providing device, comprising: first and second inclined cam follower surfaces formed on the holding member. In claim 1, 2 or 3,
The vibrating means is orthogonal to a longitudinal direction of a holding member that holds the haptic element so as to be movable in a direction perpendicular to the tactile presentation surface, and at least one piezo element connected to the holding member. A tactile presentation device characterized by being an electromechanical transducer that vibrates in a direction. 4. The moving device according to claim 1, wherein the moving unit is formed of a flexible member that can be displaced on the side of the haptic element so as to correspond to vibration of the haptic element in a sliding direction. 5. Tactile presentation device. In claim 1, 2 or 3,
The haptic element is a pivot pin that can be pivoted about one end in a direction perpendicular to the tactile sensation presentation surface,
The vibrating means and the moving means include a common drive pin capable of pushing up each pivot pin in a direction perpendicular to the tactile sense presentation surface,
When the drive pin is moved to vibrate the drive pin in the same direction while pushing up the swivel pin from the tactile sense presentation surface, the swivel pin vibrates in a direction along the tactile sense presentation surface. Tactile presentation device. In any one of claims 1 to 8,
The tactile unit has information reading means for reading the surface shape and surface properties of the object,
The tactile sensation providing device, wherein the drive control means drives and controls the contact based on a surface shape and a surface property of the object read by the information reading means. In claim 9,
9. A tactile sensation providing device, wherein the reading means is located substantially directly below the tactile unit according to any one of claims 1 to 8.

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