JP2004278733A - Feeling presenting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a feeling presenting device that quantitatively evaluates and models an operation state in operating an operation object using physical quantities such as force, torque, acceleration, or a position and reproduces an operation feeling similar to actual handling feeling of the operation object. <P>SOLUTION: When a person grips an operation portion 5 and moves and operates it, the feeling presenting device 1 detects an operating force to the operation portion 5 with an axial force sensor 6, detects acceleration of movement of the operation portion 5 with an acceleration sensor 7 when the operation portion 5 is moved and operated, and detects a position of the operation portion 5 with a position detecting head 8 of a linear encoder 9. A computer for control makes the operation portion 5 drive a driving motor 10 based on an operation content of the operation portion 5, and makes the operation portion 5 generate operation feeling corresponding to a moving operation of the operation portion 5 via a transmission belt 4 suspended between a driving roller 2 and a driven roller 3. Therefore, without preparing a prototype, an operator can feel the operation feeling similar to the actual operation object through the operation portion 5. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

また、イナーシャ−（慣性）のモデル式は、次式２を用いる。
【００８０】
【数２】

さらに、バネのモデル式は、次式３を用いる。
【００８１】
【数３】

すなわち、図３に示すように、感覚提示装置１は、操作者が操作部５の把持部５ａを持って操作、例えば、給紙トレイを閉じる方向へ移動させる操作を行うと（ステップＳ１０１）、操作者が操作部５を持っている状態の力、例えば、どの方向に力が加わっているかを６軸力覚センサ６で検出して（ステップＳ１０２）、力覚センサレシーバボード３３で６軸力情報として制御用コンピュータ（図３では、ＰＣと記載）３２に取り込む（ステップＳ１０３）。また、感覚提示装置１は、トレイの位置に相当する操作部５の位置をリニアエンコーダ９と位置検出ヘッド８で検出して（ステップＳ１０４）、エンコーダボード３５で位置情報として制御用コンピュータ３２に取り込み（ステップＳ１０５）、さらに、動作状態の加速度を加速度センサ７で検出して（ステップＳ１０６）、ＡＤ／ＤＡ変換ボード３４で加速度情報として制御用コンピュータ３２に取り込む（ステップＳ１０７）。
【００８２】
次に、制御用コンピュータ３２は、上記検出した力、位置及び加速度の情報に基づいて駆動モータ１０に発生させるトルクをモデルから演算する（ステップＳ１０８）。この場合、制御用コンピュータ３２には、操作部５の把持部５ａの位置の情報に応じた給紙トレイの物理モデルとパラメータが設定されており、制御用コンピュータ３２は、その位置が、例えば、トレイ動作の中間地点であると、トレイの中間地点での粘性、摩擦等のモデルによりモータトルクを演算する。また、制御用コンピュータ３２は、トレイが閉じる箇所の場合には、そのラッチ部分のモデルと衝突のモデルによりモータトルクを演算する。
【００８３】
そして、制御用コンピュータ３２は、演算結果から求まったトルクを発生する電圧指令をＡＤ／ＤＡ変換ボード３４からモータドライバ３１に出力し（ステップＳ１０９）、モータドライバ３１が増幅した電流値を駆動モータ２０に流して、駆動モータ１０を駆動する（ステップＳ１１０）。
【００８４】
このように、本実施の形態の感覚提示装置１は、人が力を加えて任意の速度で操作可能で、所定方向に移動可能な操作部５が移動操作されると、当該移動操作に対応する操作感を操作部５に発生させるに際して、操作部５への操作力を６軸力覚センサ６で検出し、操作部５が移動操作されたときの操作部５の移動の加速度を加速度センサ７で検出し、操作部５の位置をリニアエンコーダ９の位置検出ヘッド８で検出して、制御用コンピュータ３２が、操作部５に伝達手段を介して連結されて伝達手段を介して操作部５に操作感を発生させる駆動モータ１０を、操作部５の操作内容に基づいて駆動させて、操作部５の移動操作に対応する操作感を伝達手段を介して操作部５に発生させている。
【００８５】
したがって、試作品を作成することなく、操作者が実際の操作対象物と同様の力や感触等の操作感を操作部５を通して感じることができるようにして、評価できるようにすることができ、試作にかかるコスト、期間、原料を削減することができる。
【００８６】
また、本実施の形態の感覚提示装置１は、操作部５を、所定の一方向にスライド動作可能に配置し、制御用コンピュータ３２が、６軸力覚センサ６、加速度センサ７及び位置検出ヘッド８の検出結果に基づいて、駆動モータ１０に、操作部５のスライド動作の当該スライド動作位置、スライド動作力及びスライド加速度に応じた操作感を伝達手段を介して操作部５に発生させている。
【００８７】
したがって、直線動作する操作対象物を動作させたときの力や感触等の操作感を操作部５を通して感じることができるようにして、評価できるようにすることができ、スライド動作する操作対象物の試作にかかるコスト、期間、原料を削減することができる。
【００８８】
図３及び図４は、本発明の感覚提示装置の第２の実施の形態を示す図であり、本実施の形態は、請求項３から請求項５に対応するものである。
【００８９】
なお、本実施の形態は、上記第１の実施の形態の感覚提示装置１と同様の感覚提示装置に適用したものであり、本実施の形態の説明においては、上記第１の実施の形態の感覚提示装置１と同様の構成部分については、同一の符号を付して、その詳細な説明を省略する。
【００９０】
本実施の形態は、衝突感等の加速度の大きい急停止動作及び高速動作と高推進力動作の感覚を実現するものであり、図３において、本実施の形態の感覚提示装置４０は、上記第１の実施の形態の感覚提示装置１と同様の駆動ローラ２、従動ローラ３、伝達ベルト４、操作部５、６軸力覚センサ６、加速度センサ７、位置検出ヘッド８、リニアエンコーダ９及び駆動モータ１０等を備えているとともに、衝突再現機構部４１等を備えている。
【００９１】
衝突再現機構部（急変再現手段）４１は、伝達ベルト４の下側であって、駆動ローラ２と従動ローラ３の略中間付近に配設されており、図４に示すように、略コの字型をした圧電アクチュエータが用いられている。衝突再現機構部４１は、当該コの字型の開いた狭持先端部が伝達ベルト４を挟む状態で配設されており、当該狭持先端部には、それぞれ積層圧電素子４２が配設されている。
【００９２】
衝突再現機構部４１は、積層圧電素子４２に通電されると、伝達ベルト４を挟み込み、通電が解除されると、伝達ベルト４の挟み込みを開放する。
【００９３】
そして、感覚提示装置４０は、制御用コンピュータ３２が、衝突再現機構部４１の動作を制御して、衝突感等の加速度の大きい急停止動作及び高速動作と高推進力動作の感覚を実現する。
【００９４】
すなわち、制御用コンピュータ３２は、衝突感を実現する場合、駆動モータ１０を停止制動させるとともに、衝突再現機構部４１の積層圧電素子４２に通電して、衝突再現機構部４１の狭持先端部で伝達ベルト４を狭持させて、伝達ベルト４の移動を急停止させ、衝突感をリアルに再現する。
【００９５】
また、制御用コンピュータ３２は、高速動作や高推進力動作を実現する場合、操作部５が操作される前に、積層圧電素子４２に通電して衝突再現機構部４１で伝達ベルト４を挟み込み、操作部５が操作されると、駆動モータ１０へ通電するとともに、所定のタイミング遅らせて積層圧電素子４２への通電を解除して衝突再現機構部４１による伝達ベルト４の挟み込みを開放して、伝達ベルト４を急激に移動させ、高速動作と高推進動作をリアルに再現する。
【００９６】
なお、衝突再現機構部としては、上記図３または図４に示した圧電素子を利用したものだけでなく、例えば、図５及び図６に示す感覚提示装置５０のように、エアシリンダを用いた圧空アクチュエータ５１を利用したものであってもよい。
【００９７】
すなわち、図５及び図６に示すように、略コの字型の圧空アクチュエータ５１の当該コの字型の開いた狭持先端部に、それぞれエアシリンダ狭持部５２が配設されており、このエアシリンダ狭持部５２が、伝達ベルト４を挟む状態で配設されている。
【００９８】
この場合も、制御用コンピュータ３２が、当該エアシリンダ狭持部５２のエアシリンダへの圧空の導入と排出を制御することで、エアシリンダ狭持部５２が伝達ベルト４の狭持と開放を行い、衝突感等の加速度の大きい急停止動作及び高速動作と高推進力動作の感覚を実現する。
【００９９】
このように、本実施の形態の感覚提示装置４０及び感覚提示装置５０は、伝達機構１１を、駆動モータ１０の発生する力に応じて可動して当該力を操作部５に伝達する伝達ベルト４である伝達ベルト４を備えたものとし、伝達ベルト４を狭持する狭持動作と当該可動部の狭持を開放する開放動作とを行って、操作部５に作用する力に急激な変動を発生させる衝突再現機構４１、圧空アクチュエータ５１を設け、制御用コンピュータ３２が、衝突再現機構４１、圧空アクチュエータ５１の動作を制御して、操作部５に急激な力の変動を発生させている。
【０１００】
したがって、駆動モータ１０で発生するトルク以上の衝突時の加速度を衝突再現機構４１、圧空アクチュエータ５１で表現することができ、より一層実際の操作感を感じることができる。
【０１０１】
また、本実施の形態の感覚提示装置４０は、衝突再現機構部を、圧電素子の動作によって伝達ベルト４の狭持動作と開放動作を行う圧電アクチュエータとしている。
【０１０２】
したがって、簡単な構成で、駆動モータ１０で発生するトルク以上の衝突時の加速度を表現することができ、安価により一層実際の操作感を感じることができる。
【０１０３】
さらに、本実施の形態の感覚提示装置５０は、衝突再現機構部を、エアシリンダ内の空気の動作によって伝達ベルト４の狭持動作と開放動作を行う圧空アクチュエータ５１としている。
【０１０４】
したがって、簡単な構成で、駆動モータ１０で発生するトルク以上の衝突時の加速度を表現することができ、安価により一層実際の操作感を感じることができる。
【０１０５】
図７及び図８は、本発明の感覚提示装置の第３の実施の形態を示す図であり、本実施の形態は、請求項６から請求項８に対応するものである。
【０１０６】
なお、本実施の形態は、上記第１の実施の形態の感覚提示装置１と同様の感覚提示装置に適用したものであり、本実施の形態の説明においては、上記第１の実施の形態の感覚提示装置１と同様の構成部分については、同一の符号を付して、その詳細な説明を省略するとともに、図示しない部分についても、必要に応じて、第１の実施の形態の感覚提示装置１で用いた符号を、そのまま用いて説明する。
【０１０７】
本実施の形態は、操作方向に力を加えて、操作者がその動作を行う際に操作部分の重量等の慣性を再現する。
【０１０８】
すなわち、図７に示すように、本実施の形態の感覚提示装置６０は、慣性再現機構部（慣性発生手段）６１を備えており、慣性再現機構部６１は、伝達ベルト４の上下面を挟む形状に形成されたアーム部６２と、アーム部６２の伝達ベルト４を挟む上下端部のそれぞれに伝達ベルト４の移動方向（スライド方向）に所定長さにわたって延在して設けられているスライド方向推力発生アクチュエータ部（狭持位置可変アクチュエータ）６３と、当該スライド方向推力発生アクチュエータ部６３のスライド方向両端部にそれぞれ伝達ベルト４を挟む方向に設けられている挟み込みアクチュエータ部（狭持圧電アクチュエータ）６４と、を備えている。
【０１０９】
スライド方向推力発生アクチュエータ部６３としては、例えば、積層圧電素子を用いた圧電アクチュエータが用いられており、スライド方向推力発生アクチュエータ部６３は、制御用コンピュータ３２により通電と通電解除の制御が行われることで、図７にスライド方向の両矢印で示すように、伸縮して、挟み込みアクチュエータ部６４をスライド方向に移動させる。
【０１１０】
挟み込みアクチュエータ部６４としては、例えば、積層圧電素子を用いた圧電アクチュエータが用いられており、挟み込みアクチュエータ部６４は、制御用コンピュータ３２により通電と通電解除の制御が行われることで、図７に上下方向の両矢印で示すように、伸縮して、伝達ベルト４を挟み込み、また、挟み込みを開放する。
【０１１１】
そして、感覚提示装置６０は、制御用コンピュータ３２が、慣性再現機構部６１の動作を制御して、操作方向に力を加えて、操作者がその動作を行う際に、駆動モータ１０のゲインを上げることなく、操作部分の重量等の慣性を再現する。
【０１１２】
すなわち、制御用コンピュータ３２は、操作部５が操作された際に、操作部分の重量等の慣性を付与させるために、駆動モータ１０を駆動するとともに、当該駆動モータ１０のゲインを上げることなく、まず、挟み込みアクチュエータ部６４を駆動させて挟み込みアクチュエータ部６４により伝達ベルト４を挟み込ませ、次に、スライド方向推力発生アクチュエータ部６３を駆動させてスライド方向推力発生アクチュエータ部６３によりスライド方向に挟み込みアクチュエータ部６４を移動させることで、伝達ベルト４にスライド方向の推力を発生させる。そして、制御用コンピュータ３２は、スライド方向推力発生アクチュエータ部６３への通電と通電の解除を繰り返し行うことで、操作部５の操作方向と同じ方向に推力を発生させて、駆動モータ１０のゲインを上げることなく、駆動モータ１０のみで慣性を再現する場合以上の慣性の再現を、安定的に再現する。
【０１１３】
なお、慣性再現機構部としては、上記圧電アクチュエータを用いたものに限るものではなく、上記図５及び図６で示したようなエアシリンダを用いた圧空アクチュエータを利用したものであってもよいし、図８に示すように、圧縮開放ローラを用いたものであってもよい。
【０１１４】
すなわち、図８に示すように、慣性再現機構部７１は、伝達ベルト４の側方に伝達ベルト４と直交する方向に配置された支柱７２に、ローラ狭持機構としての駆動ローラ圧縮アーム７３と従動ローラ圧縮アーム７４が、伝達ベルト４を挟んで上下位置に取り付けられており、駆動ローラ圧縮アーム７３に、駆動ローラ７５が取り付けられ、従動ローラ圧縮アーム７４に、従動ローラ７６が取り付けられている。
【０１１５】
そして、駆動ローラ７５と従動ローラ７６は、制御用コンピュータ３２の制御下で、駆動ローラ圧縮アーム７３と従動ローラ圧縮アーム７４が伝達ベルト４を挟み込む方向に回動して、伝達ベルト４を挟み込み、伝達ベルト４を挟み込んだ状態で、駆動ローラ７５が制御用コンピュータ３２の制御下で回転駆動されることで、伝達ベルト４に推力を発生させる。このとき、従動ローラ７６は、伝達ベルト４の移動に伴って、従動回転する。
【０１１６】
したがって、制御用コンピュータ３２が、駆動ローラ圧縮アーム７３と従動ローラ圧縮ローラ７４へ通電して、駆動ローラ７５と従動ローラ７６で伝達ベルト４を挟み込んだ状態で、駆動ローラ７５の回転と回転停止を繰り返し行うことで、操作部５の操作方向と同じ方向に推力を発生させて、駆動モータ１０のゲインを上げることなく、駆動モータ１０のみで慣性を再現する場合以上の慣性の再現を、安定的に行う。
【０１１７】
このように、本実施の形態の感覚提示装置６０、７０は、伝達ベルト４に作用して操作部５の移動方向に力を加える慣性再現機構部６１、７１を設け、制御用コンピュータ３２が、慣性再現機構部６１、７１の動作を制御して、操作部５に慣性を発生させている。
【０１１８】
したがって、駆動モータ１０の制御ゲインを最適ゲインに設定して安定して力を発生させることができるとともに、伝達ベルト４に作用して操作部５が動作している方向に力を加えることで、安定動作を確保しつつ表現したい慣性を適切に表現することができ、安定してより一層実際の操作感を感じることができる。
【０１１９】
また、本実施の形態の感覚提示装置６０は、慣性再現機構部６１を、圧電素子の動作によって伝達ベルト４を狭持する狭持動作と伝達ベルト４の狭持を開放する開放動作を行う挟み込みアクチュエータ部６４と、当該挟み込みアクチュエータ部６４が取り付けられて当該挟み込みアクチュエータ部６４による伝達ベルト４の狭持位置を当該伝達ベルト４の移動方向に順次変化させるスライド方向推力発生アクチュエータ部６３と、を備えたものとし、制御用コンピュータ３２が、当該挟み込みアクチュエータ部６４とスライド方向推力発生アクチュエータ部６３の動作を制御して、操作部５に慣性を発生させている。
【０１２０】
したがって、駆動モータ１０の制御ゲインを最適ゲインに設定して安定して力を発生させることができるとともに、伝達ベルト４に作用して操作部５が動作している方向に力を加えることで、安定動作を確保しつつ表現したい慣性をより一層適切に表現することができ、安定してより一層実際の操作感を感じることができる。
【０１２１】
さらに、本実施の形態の感覚提示装置７０は、慣性再現機構部７１を、任意の速度で回転駆動と停止が可能な駆動ローラ７５と、駆動ローラ７５に対向して配設されて駆動ローラ７５との間に伝達ベルト４を狭持可能な従動ローラ７６と、駆動ローラ７５と従動ローラ７６による伝達ベルト４の狭持と狭持の開放を行う駆動ローラ圧縮アーム７３と従動ローラ圧縮アーム７４と、を備えたものとし、制御用コンピュータ３２が、駆動ローラ圧縮アーム７３と従動ローラ圧縮アーム７４による伝達ベルト４の狭持と狭持の開放及び駆動ローラ７５の回転動作を制御して、操作部５に慣性を発生させている。
【０１２２】
したがって、駆動モータ１０の制御ゲインを最適ゲインに設定して安定して力を発生させることができるとともに、伝達ベルト４に作用して操作部５が動作している方向に力を加えることで、安定動作を確保しつつ表現したい慣性をより一層適切に表現することができ、安定してより一層実際の操作感を感じることができる。
【０１２３】
図９及び図１０は、本発明の感覚提示装置の第４の実施の形態を示す図であり、本実施の形態は、請求項９から請求項１１に対応するものである。
【０１２４】
なお、本実施の形態は、上記第１の実施の形態の感覚提示装置１と同様の感覚提示装置に適用したものであり、本実施の形態の説明においては、上記第１の実施の形態の感覚提示装置１と同様の構成部分については、同一の符号を付して、その詳細な説明を省略するとともに、図示しない部分についても、必要に応じて、第１の実施の形態の感覚提示装置１で用いた符号を、そのまま用いて説明する。
【０１２５】
本実施の形態は、操作方向に力を加えて、操作者がその動作を行う際に操作部分の重量等の慣性を再現する。
【０１２６】
すなわち、図９及び図１０に示すように、本実施の形態の感覚提示装置８０は、駆動ローラ２の駆動軸２ａが駆動モータ１０とは反対方向に所定量突出して形成されており、この突出する駆動軸２ａ部分に、慣性再現機構部（慣性発生手段）８１が配設されている。慣性再現機構部８１は、駆動軸２ａを所定方向、図９及び図１０では上下方向から挟む形状に形成されたアーム部８２と、アーム部８２の駆動軸２ａを挟む上下端部のそれぞれに設けられている狭持部８３と、を備えている。
【０１２７】
狭持部８３としては、例えば、積層圧電素子を利用した圧電アクチュエータが用いられており、通電されることで、伸張して駆動ローラ２の駆動軸２ａを挟み込む。
【０１２８】
そして、感覚提示装置８０は、制御用コンピュータ３２が、慣性再現機構部８１の動作を制御して、スライド動作方向の力を発生させて、慣性を実現する。
【０１２９】
すなわち、制御用コンピュータ３２は、慣性感を実現する場合、駆動モータ１０を回転駆動させるとともに、慣性再現機構部８１の狭持部８３の積層圧電素子に通電して、慣性再現機構部８１の狭持先端部の狭持部８３で駆動ローラ２の駆動軸２ａを狭持させる。
【０１３０】
このとき、狭持部８３は、駆動軸２ａに対して擦るような動作を行って、駆動モータ１０の駆動力に加え、回転力を合わせるように力を発生させて、慣性を再現する。
【０１３１】
なお、慣性再現機構部としては、上記図９及び図１０に示した圧電素子を利用した圧電アクチュエータに限るものではなく、例えば、図１１に示すように、電気粘性流体アクチュエータ８５を用いてもよい。
【０１３２】
すなわち、電気粘性流体アクチュエータ８５を駆動ローラ２の駆動軸２ａに取り付け、制御用コンピュータ３２の制御下で、電気粘性流体アクチュエータ８５の動作を叙述のように制御することで、駆動ローラ２の駆動軸２ａに対して、直接力を加え、駆動モータ１０の駆動力に加え、回転力を合わせるように力を発生させて、慣性を再現する。
【０１３３】
このように、本実施の形態の感覚提示装置８０は、駆動ローラ２の駆動軸２ａが駆動モータ１０とは反対方向に所定量突出して形成されていて、この突出する駆動軸２ａ部分に、慣性再現機構部８１が配設されており、制御用コンピュータ３２が、慣性再現機構部８１の動作を制御して、操作部５に慣性を発生させている。
【０１３４】
したがって、駆動モータ１０の制御ゲインを最適ゲインに設定して安定して力を発生させることができるとともに、伝達ベルト４に作用して操作部５が動作している方向に力を加えることで、安定動作を確保しつつ表現したい慣性をより一層適切に表現することができ、安定してより一層実際の操作感を感じることができる。
【０１３５】
また、本実施の形態の感覚提示装置８０は、慣性再現機構部８１を、通電により駆動軸２ａに力を付与する力付与動作と当該力を解除する付与力解除動作を行う圧電アクチュエータを用いている。
【０１３６】
したがって、簡単な構成で、安定動作を確保しつつ表現したい慣性を適切に表現することができ、安価にかつ安定してより一層実際の操作感を感じることができる。
【０１３７】
さらに、本実施の形態の感覚提示装置８０は、慣性再現機構部８１を、通電により粘性が変化して駆動軸２ａに力を付与する力付与動作と当該力を解除する付与力解除動作を行う電気粘性流体アクチュエータを用いている。
【０１３８】
したがって、簡単な構成で、安定動作を確保しつつ表現したい慣性を適切に表現することができ、安価にかつ安定してより一層実際の操作感を感じることができる。
【０１３９】
図１２から図１５は、本発明の感覚提示装置の第５の実施の形態を示す図であり、本実施の形態は、請求項１２から請求項１５に対応するものである。
【０１４０】
なお、本実施の形態は、上記第１の実施の形態の感覚提示装置１と同様の感覚提示装置に適用したものであり、本実施の形態の説明においては、上記第１の実施の形態の感覚提示装置１と同様の構成部分については、同一の符号を付して、その詳細な説明を省略するとともに、図示しない部分についても、必要に応じて、第１の実施の形態の感覚提示装置１で用いた符号を、そのまま用いて説明する。
【０１４１】
本実施の形態は、伝達ベルト４を操作部５の操作方向と直交する方向に移動させて、凹凸感等を再現する。
【０１４２】
すなわち、図１２において、感覚提示装置９０は、操作部５を両矢印Ａで示すスライド方向に動作させたときに、当該操作部５の動作位置、加速度及び力を測定してその値を元に、制御用コンピュータ３２が、感覚提示対象の物体のモデルにその位置情報、加速度情報、力情報を入力し、その物体モデルに合致するテクスチャモデルを位置や加速度に応じて、図１２に両矢印Ｂで示すスライド方向と直交する方向、すなわち、上下方向に、伝達機構である伝達ベルト４を、図示しない凹凸感再現機構で運動させて、当該伝達ベルト４の上下運動を操作部５に伝達して、凹凸等を再現する。
【０１４３】
凹凸感再現機構（直交方向移動力発生手段）としては、具体的には、例えば、図１３に示すように、カム機構９１、９２を用いることができる。
【０１４４】
すなわち、感覚提示装置９０は、駆動ローラ２の駆動軸２ａ及び従動ローラ３の従動軸３ａが所定量突出して形成されており、この突出した駆動軸２ａと従動軸３ａに当接する状態でカム機構９１、９２が配設されている。
【０１４５】
カム機構９１、９２は、図１３に両矢印Ｃで示すように回転することで、各カム機構９１、９２の当接する駆動軸２ａと従動軸３ａを図１２に両矢印Ｂで示した上下方向に移動させる。
【０１４６】
そして、制御用コンピュータ３２は、上述のように、操作部５が両矢印Ａで示すスライド方向に動作されると、当該操作部５の動作位置、加速度及び力を測定してその値を元に、感覚提示対象物のモデルにその位置情報、加速度情報、力情報を入力し、その物体モデルに合致するテクスチャモデルを位置や加速度に応じて、カム機構９１、９２を同期して回転させ、駆動軸２ａと従動軸３ａを、同時にかつ同期して上下方向に移動させて伝達機構である伝達ベルト４を上下方向に移動させ、当該伝達ベルト４の上下運動を操作部５に伝達して、凹凸等を再現する。
【０１４７】
なお、上記図１３では、凹凸感再現機構（直交方向移動力発生手段）として、カム機構９１、９２を用いているが、凹凸感再現機構としては、カム機構に限るものではなく、例えば、図１４に示すように、圧電アクチュエータ９４、９５を用いてもよい。
【０１４８】
すなわち、図１４では、圧電アクチュエータ９４、９５が、突出した駆動軸２ａと従動軸３ａに当接する状態で配設されており、圧電アクチュエータ９４、９５としては、ＰＺＴ（チタン酸ジルコン酸鉛）等の圧電素子が用いられている。
【０１４９】
圧電アクチュエータ９４、９５は、通電されることで、駆動軸２ａ及び従動軸３ａ方向に伸張して、図１４に破線で示すように、駆動軸２ａ及び従動軸３ａを上方向に移動させ、通電が解除されることで元の長さに戻って、図１５に実線で示すように、元の位置に駆動軸２ａ及び従動軸３ａを戻す。
【０１５０】
この場合にも、制御用コンピュータ３２は、操作部５が図１２に両矢印Ａで示すスライド方向に動作されると、当該操作部５の動作位置、加速度及び力を測定してその値を元に、感覚提示対象の物体のモデルにその位置情報、加速度情報、力情報を入力し、その物体モデルに合致するテクスチャモデルを位置や加速度に応じて、圧電アクチュエータ９４、９５を同期して駆動させ、駆動軸２ａと従動軸３ａを、同時にかつ同期して上下方向に移動させて伝達機構である伝達ベルト４を上下方向に移動させ、当該伝達ベルト４の上下運動を操作部５に伝達して、凹凸等を再現する。
【０１５１】
また、凹凸感再現機構（直交方向移動力発生手段）としては、図１５に示すように、リニアモータアクチュエータ９６、９７を用いてもよい。
【０１５２】
すなわち、図１５では、リニアモータアクチュエータ９６、９７は、その駆動アーム９６ａ、９７ａが突出した駆動軸２ａと従動軸３ａに固定されており、通電が制御されることで、駆動アーム９６ａ、９７ａを上下方向に移動させて、駆動軸２ａと従動軸３ａを介して伝達ベルト４を上下運動させる。
【０１５３】
この場合にも、制御用コンピュータ３２は、操作部５が図１２に両矢印Ａで示すスライド方向に動作されると、当該操作部５の動作位置、加速度及び力を測定してその値を元に、感覚提示対象の物体のモデルにその位置情報、加速度情報、力情報を入力し、その物体モデルに合致するテクスチャモデルを位置や加速度に応じて、リニアモータアクチュエータ９６、９７を同期して駆動させ、駆動アーム９６ａ、９７ａを同時にかつ同期して上下動させて、駆動軸２ａと従動軸３ａを、同時にかつ同期して上下方向に移動させて伝達機構である伝達ベルト４を上下方向に移動させ、当該伝達ベルト４の上下運動を操作部５に伝達して、凹凸等を再現する。
【０１５４】
このように、本実施の形態の感覚提示装置９０は、伝達ベルト４に作用して操作部の移動方向と直交する方向に移動させる凹凸感再現機構を備えたものとし、制御用コンピュータ３２が、当該凹凸感再現機構の動作を制御して、操作部５に凹凸等の感覚を発生させている。
【０１５５】
したがって、駆動モータ１０で表現できない領域のテクスチャ表現を行うことができ、より一層実際の操作感を感じることができる。
【０１５６】
また、本実施の形態の感覚提示装置９０は、凹凸感再現機構を、回転動作を直線動作に変換して操作部５の移動方向と直交する方向に伝達ベルト４を移動させるカム機構としている。
【０１５７】
したがって、高速に伝達ベルト４を移動動作させて、駆動モータ１０で表現できない領域のテクスチャ表現をより適切に行うことができ、より一層実際の操作感を感じることができる。
【０１５８】
さらに、本実施の形態の感覚提示装置９０は、凹凸感再現機構を、通電により操作部５の移動方向と直交する方向に伝達ベルト４を動作させる圧電アクチュエータ９４、９５としている。
【０１５９】
したがって、より一層高速に伝達ベルト４を移動動作させて、駆動モータ１０で表現できない領域のテクスチャ表現をより一層適切に行うことができ、より一層実際の操作感を感じることができる。
【０１６０】
また、本実施の形態の感覚提示装置９０は、凹凸感再現機構を、通電により操作部５の移動方向と直交する方向に伝達ベルト４を動作させるリニアモータアクチュエータ９６、９７としている。
【０１６１】
したがって、高速に伝達ベルト４を移動動作させて、駆動モータ１０で表現できない領域のテクスチャ表現をより適切に行うことができ、より一層実際の操作感を感じることができる。
【０１６２】
以上、本発明者によってなされた発明を好適な実施の形態に基づき具体的に説明したが、本発明は上記のものに限定されるものではなく、その要旨を逸脱しない範囲で種々変更可能であることはいうまでもない。
【０１６３】
【発明の効果】
請求項１記載の発明の感覚提示装置によれば、人が力を加えて任意の速度で操作可能で、所定方向に移動可能な操作手段が移動操作されると、当該移動操作に対応する操作感を当該操作手段に発生させるに際して、当該操作手段への操作力を力検出手段で検出し、当該操作手段が移動操作されたときの当該操作手段の移動の加速度を加速度検出手段で検出し、当該操作手段の位置を位置検出手段で検出して、制御手段が、操作手段に伝達手段を介して連結されて当該伝達手段を介して当該操作手段に操作感を発生させる力発生手段を、当該操作手段の操作内容に基づいて駆動させて、当該操作手段の移動操作に対応する操作感を伝達手段を介して操作手段に発生させるので、試作品を作成することなく、操作者が実際の操作対象物と同様の力や感触等の操作感を操作手段を通して感じることができるようにして、評価できるようにすることができ、試作にかかるコスト、期間、原料を削減することができる。
【０１６４】
請求項２記載の発明の感覚提示装置によれば、操作手段を、所定の一方向にスライド動作可能に配置し、制御手段が、力検出手段、加速度検出手段及び位置検出手段の検出結果に基づいて、力発生手段に、操作手段のスライド動作の当該スライド動作位置、スライド動作力及びスライド加速度に応じた操作感を伝達手段を介して操作手段に発生させるので、直線動作する操作対象物を動作させたときの力や感触等の操作感を操作手段を通して感じることができるようにして、評価できるようにすることができ、スライド動作する操作対象物の試作にかかるコスト、期間、原料を削減することができる。
【０１６５】
請求項３記載の発明の感覚提示装置によれば、伝達手段を、力発生手段の発生する力に応じて可動して当該力を操作手段に伝達する可動部を備えたものとし、当該伝達手段の可動部を狭持する狭持動作と当該可動部の狭持を開放する開放動作とを行って、操作手段に作用する力に急激な変動を発生させる急変再現手段を設け、制御手段が、当該急変再現手段の動作を制御して、操作手段に急激な力の変動を発生させるので、力発生手段で発生するトルク以上の衝突時の加速度を急変再現手段で表現することができ、より一層実際の操作感を感じることができる。
【０１６６】
請求項４記載の発明の感覚提示装置によれば、急変再現手段を、圧電素子の動作によって伝達手段の可動部の狭持動作と開放動作を行う圧電アクチュエータとしているので、簡単な構成で、力発生手段で発生するトルク以上の衝突時の加速度を表現することができ、安価により一層実際の操作感を感じることができる。
【０１６７】
請求項５記載の発明の感覚提示装置によれば、急変再現手段を、エアシリンダ内の空気の動作によって伝達手段の可動部の狭持動作と開放動作を行う圧空アクチュエータとしているので、簡単な構成で、力発生手段で発生するトルク以上の衝突時の加速度を表現することができ、安価により一層実際の操作感を感じることができる。
【０１６８】
請求項６記載の発明の感覚提示装置によれば、伝達手段を、力発生手段の発生する力に応じて可動して当該力を操作手段に伝達する可動部を備えたものとし、当該伝達手段の可動部に作用して操作手段の移動方向に力を加える慣性発生手段を設け、制御手段が、当該慣性発生手段の動作を制御して、操作手段に慣性を発生させるので、力発生手段の制御ゲインを最適ゲインに設定して安定して力を発生させることができるとともに、伝達手段の可動部に作用して操作手段が動作している方向に力を加えることで、安定動作を確保しつつ表現したい慣性を適切に表現することができ、安定してより一層実際の操作感を感じることができる。
【０１６９】
請求項７記載の発明の感覚提示装置によれば、慣性発生手段を、圧電素子の動作によって伝達手段の可動部を狭持する狭持動作と当該可動部の狭持を開放する開放動作を行う狭持圧電アクチュエータと、当該狭持圧電アクチュエータが取り付けられて当該狭持圧電アクチュエータによる可動部の狭持位置を当該可動部の移動方向に順次変化させる狭持位置可変アクチュエータと、を備えたものとし、制御手段が、当該狭持圧電アクチュエータと当該狭持位置可変アクチュエータの動作を制御して、操作手段に慣性を発生させるので、力発生手段の制御ゲインを最適ゲインに設定して安定して力を発生させることができるとともに、伝達手段の可動部に作用して操作手段が動作している方向に力を加えることで、安定動作を確保しつつ表現したい慣性をより一層適切に表現することができ、安定してより一層実際の操作感を感じることができる。
【０１７０】
請求項８記載の発明の感覚提示装置によれば、慣性発生手段を、任意の速度で回転駆動と停止が可能な駆動ローラと、当該駆動ローラに対向して配設されて当該駆動ローラとの間に伝達手段の可動部を狭持可能な従動ローラと、当該駆動ローラと当該従動ローラによる可動部の狭持と狭持の開放を行うローラ狭持機構と、を備えたものとし、制御手段が、当該ローラ狭持機構による可動部の狭持と狭持の開放及び駆動ローラの回転動作を制御して、操作手段に慣性を発生させるので、力発生手段の制御ゲインを最適ゲインに設定して安定して力を発生させることができるとともに、伝達手段の可動部に作用して操作手段が動作している方向に力を加えることで、安定動作を確保しつつ表現したい慣性をより一層適切に表現することができ、安定してより一層実際の操作感を感じることができる。
【０１７１】
請求項９記載の発明の感覚提示装置によれば、力発生手段を、伝達手段に発生した力を出力する出力軸を備えたものとし、慣性発生手段を、当該力発生手段の当該出力軸部分に力を付与する力付与動作と当該力を解除する付与力解除動作を行う力付与手段を備えたものとし、制御手段が、当該力付与手段の動作を制御して、操作手段に慣性を発生させるので、力発生手段の制御ゲインを最適ゲインに設定して安定して力を発生させることができるとともに、伝達手段の可動部に作用して操作手段が動作している方向に力を加えることで、安定動作を確保しつつ表現したい慣性をより一層適切に表現することができ、安定してより一層実際の操作感を感じることができる。
【０１７２】
請求項１０記載の発明の感覚提示装置によれば、力付与手段を、通電により出力軸部分に力を付与する力付与動作と当該力を解除する付与力解除動作を行う圧電アクチュエータとしているので、簡単な構成で、安定動作を確保しつつ表現したい慣性を適切に表現することができ、安価にかつ安定してより一層実際の操作感を感じることができる。
【０１７３】
請求項１１記載の発明の感覚提示装置によれば、力付与手段を、通電により粘性が変化して出力軸部分に力を付与する力付与動作と当該力を解除する付与力解除動作を行う電気粘性流体アクチュエータとしているので、簡単な構成で、安定動作を確保しつつ表現したい慣性を適切に表現することができ、安価にかつ安定してより一層実際の操作感を感じることができる。
【０１７４】
請求項１２記載の発明の感覚提示装置によれば、伝達手段を、力発生手段の発生する力に応じて可動して当該力を操作手段に伝達する可動部を備えたものとし、当該伝達手段の可動部に作用して操作手段の移動方向と直交する方向に移動させる直交方向移動力発生手段を備えたものとし、制御手段が、当該直交方向移動力発生手段の動作を制御して、操作手段に凹凸等の感覚を発生させるので、力発生手段で表現できない領域のテクスチャ表現を行うことができ、より一層実際の操作感を感じることができる。
【０１７５】
請求項１３記載の発明の感覚提示装置によれば、直交方向移動力発生手段を、回転動作を直線動作に変換して操作手段の移動方向と直交する方向に伝達手段の可動部を移動させるカム機構としているので、高速に可動部を移動動作させて、力発生手段で表現できない領域のテクスチャ表現をより適切に行うことができ、より一層実際の操作感を感じることができる。
【０１７６】
請求項１４記載の発明の感覚提示装置によれば、直交方向移動力発生手段を、通電により操作手段の移動方向と直交する方向に伝達手段の可動部を動作させる圧電アクチュエータとしているので、より一層高速に可動部を移動動作させて、力発生手段で表現できない領域のテクスチャ表現をより一層適切に行うことができ、より一層実際の操作感を感じることができる。
【０１７７】
請求項１５記載の発明の感覚提示装置によれば、直交方向移動力発生手段を、通電により操作手段の移動方向と直交する方向に伝達手段の可動部を動作させるリニアモータを用いたリニアモータアクチュエータとしているので、高速に可動部を移動動作させて、力発生手段で表現できない領域のテクスチャ表現をより適切に行うことができ、より一層実際の操作感を感じることができる。
【図面の簡単な説明】
【図１】本発明の感覚提示装置の第１の実施の形態を適用した感覚提示装置の要部斜視図。
【図２】図１の感覚提示装置の要部ブロック構成図。
【図３】図１の感覚提示装置による感覚提示処理を示すフローチャート。
【図４】本発明の感覚提示装置の第２の実施の形態を適用した感覚提示装置の要部斜視図。
【図５】図４の感覚提示装置の衝突再現機構部部分の拡大斜視図。
【図６】図４の感覚提示装置の他の例の感覚提示装置の要部斜視図。
【図７】図６の圧空アクチュエータ部分の拡大斜視図。
【図８】本発明の感覚提示装置の第３の実施の形態を適用した感覚提示装置の慣性再現機構部部分の拡大斜視図。
【図９】図８の慣性再現機構部の他の例の拡大斜視図。
【図１０】本発明の感覚提示装置の第４の実施の形態を適用した感覚提示装置の要部斜視図。
【図１１】図１０の感覚提示装置の慣性再現機構部部分の拡大斜視図。
【図１２】図１０の慣性提示装置の慣性再現機構部部分の他の例の拡大斜視図。
【図１３】本発明の感覚提示装置の第５の実施の形態を適用した感覚提示装置の要部斜視図。
【図１４】図１３の感覚提示装置の凹凸感再現機構としてカム機構を用いた感覚提示装置の要部斜視図。
【図１５】図１３の感覚提示装置の凹凸感再現機構として圧電アクチュエータを用いた感覚提示装置の要部斜視図。
【図１６】図１３の感覚提示装置の凹凸感再現機構としてリニアモータを用いた感覚提示装置の要部斜視図。
【符号の説明】
１ 感覚提示装置
２ 駆動ローラ
２ａ 駆動軸
３ 従動ローラ
３ａ 従動軸
４ 伝達ベルト
５ 操作部
５ａ 把持部
６ ６軸力覚センサ
７ 加速度センサ
８ 位置検出ヘッド
９ リニアエンコーダ
１０ 駆動モータ
２０ 本体部
３０ 制御部
３１ モータドライバ
３２ 制御用コンピュータ
３３ 力覚センサレシーバボード
３４ ＡＤ／ＤＡ変換ボード
３５ エンコーダボード
４０ 感覚提示装置
４１ 衝突再現機構部
４２ 積層圧電素子
５０ 感覚提示装置
５１ 圧空アクチュエータ
５２ エアシリンダ狭持部
６０ 感覚提示装置
６１ 慣性再現機構部
６２ アーム部
６３ スライド方向推力発生部
６４ 挟み込み部
７１ 慣性再現機構部
７２ 支柱
７３ 駆動ローラ圧縮アーム
７４ 従動ローラ圧縮アーム
７５ 駆動ローラ
７６ 従動ローラ
８０ 感覚提示装置
８１ 慣性再現機構部
８２ アーム部
８３ 狭持部
８５ 電気粘性流体アクチュエータ
９０ 感覚提示装置
９１、９２ カム機構
９４、９５ 圧電アクチュエータ
９６、９７ リニアモータアクチュエータ
９６ａ、９７ａ 駆動アーム[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a sensation presentation device, and more particularly, to a physical quantity such as force, torque, acceleration, or position when a person performs an operation or the like on an operation target such as a device having a car or a door. The present invention relates to a sensation presentation device that quantitatively evaluates and models the same, and reproduces and presents the same operational feeling as handling the operation target.
[0002]
[Prior art]
[Patent Document 1]
JP 2001-165268 A
Conventionally, in machine manufacturing, a prototype is created based on a designed machine configuration, and operation check and operation confirmation are performed using the created prototype. There is a prototype-less manufacturing method that develops a device that reproduces the same movement as above and that reproduces the sensations such as the tactile sensation, the tactile sensation, and the force sensation, and that uses virtual reality technology that does not produce a prototype.
[0003]
As a conventional technology using this technology, for example, a film to which a wire member is connected, comprising a power roller and a compression roller for sandwiching the film, when moving the film, when the film is powered roller by the compression roller By providing a transmission mechanism for transmitting power by pressing against a wire, a wire drive device that conveys the film to which the wire member is connected by the power roller and the compression roller, and simplifies the drive mechanism of the wire member, and using the same. A haptic presentation device has been proposed (see Patent Document 1).
[0004]
That is, conventionally, the operability when a person performs an operation, a work, an operation, or the like on an operation target of a device such as a car or a door is quantitatively evaluated by physical quantities such as force, torque, acceleration, and position. There is a technical field of "haptics" (related to tactile sensation) (haptics: tactile science), that is, a technical field in which a sensation, a tactile sensation, and a force sensation when a person performs some action are quantitatively evaluated. Such devices and devices that reproduce the sensations and feelings received by a person are collectively referred to as a haptic interface or haptic device.
[0005]
As a force sense in this case, for example, a collision feeling which is a feeling felt by a reaction force bouncing when the door is closed with a vigor, a click feeling which is a feeling that can be recognized as pressing the shutter when pressing the shutter of the camera, a floor feeling. There is a sense of resistance (friction), which is a sense of resistance to movement due to the sense of weight felt when a person pushes and slides a placed cardboard or the like.
[0006]
In the manufacturing method without prototype, conventionally, an output is generated by an electric motor such as a motor to reproduce the operation of the designed mechanism.
[0007]
[Problems to be solved by the invention]
However, in such a conventional manufacturing method without a prototype, since an output is generated by an electric motor such as a motor and the operation of the designed mechanism is reproduced in the related art, there are the following problems.
[0008]
That is, it is difficult to reproduce a phenomenon with a large acceleration, such as a sense of collision, only by the output from the motor. In this case, even if an attempt is made to express a sense of collision by increasing the control gain of the motor to the limit, vibration occurs and control becomes unstable.
[0009]
In addition to the control of only the motor, there has conventionally been a mechanical lock system using a pin or the like. In this mechanical lock system, it is possible to reproduce a sense of collision at a fixed place. However, when trying to reproduce various designs, it is highly likely that the place where the sense of collision is desired differs for each design. In the mechanical lock method, it is very difficult to change the lock position. In this case, it is considered that if the torque of a force generating device such as a motor is increased, the acceleration at the time of a collision can be expressed. However, to increase the torque, the motor itself becomes large, and the inertia of the motor increases. Therefore, it is difficult to reduce the backdrivability necessary to reproduce the operation of the mechanism.
[0010]
Furthermore, it is difficult to express the same inertia of a mechanism that performs the same operation as an actual mechanism using an output generating device using a motor. In particular, in order to express the inertia of a heavy object, it is necessary to operate the motor with a gain different from the optimal gain for operating the motor, and depending on the gain setting, an unstable state such as oscillation may occur.
[0011]
Similarly, regarding the texture such as friction, unevenness, or roughness at the contact portion between the operating part and the support mechanism due to the difference in the material and mass of the mechanism and the material of the support mechanism when performing the operation, etc. The higher the speed of the moving object performing the fineness and operation, the more difficult it is to generate a force with a driving device such as a motor.
[0012]
Therefore, the present invention detects the operation content of the operation means, generates a force corresponding to the operation content, transmits the force to the operation means via the transmission means, and generates an operation feeling in the operation means. The purpose of this is to provide a sensory presentation device that can express and evaluate the real thing in a virtual world without making a prototype, and can reduce the cost, period, and raw materials required for the prototype. I have.
[0013]
Specifically, according to the first aspect of the present invention, when a human being can operate at an arbitrary speed by applying force and is moved in a predetermined direction, an operation feeling corresponding to the moving operation is performed. When the operation means is generated, the operation force on the operation means is detected by the force detection means, and the acceleration of the movement of the operation means when the operation means is moved is detected by the acceleration detection means. The position of the operating means is detected by the position detecting means, and the control means is connected to the operating means via the transmitting means, and controls the force generating means to generate an operability in the operating means via the transmitting means. By driving the operation means based on the operation contents of the means and generating an operation feeling corresponding to the moving operation of the operation means on the operation means via the transmission means, the operator can perform the actual operation without creating a prototype. The same force as the object And be able to feel the operation feeling such as a touch through operating means, to allow evaluation, and its object is to provide cost of trial period, the sensation presentation device capable of reducing the raw material.
[0014]
According to a second aspect of the present invention, the operating means is disposed so as to be slidable in one predetermined direction, and the control means controls the force generating means based on the detection results of the force detecting means, the acceleration detecting means and the position detecting means. , By operating the operating means via the transmitting means, the operating feeling corresponding to the sliding operation position, the sliding operating force, and the sliding acceleration of the sliding operation of the operating means, thereby operating the linearly moving operation object. The present invention provides a sensation presentation device capable of allowing the user to feel and evaluate the operation feeling such as touch and feel through operation means, and reducing the cost, period, and raw materials required for trial production of an operation object that slides. It is aimed at.
[0015]
According to a third aspect of the present invention, the transmission means includes a movable portion which is movable in accordance with the force generated by the force generation means and transmits the force to the operation means, and the movable portion of the transmission means is pinched. A sudden change reproducing means for performing a sudden change in the force acting on the operating means by performing a narrowing operation to perform the opening and closing operations to release the narrowing of the movable portion, and the control means operates the sudden change reproducing means. Control to generate abrupt force fluctuations in the operating means, so that the acceleration at the time of collision exceeding the torque generated by the force generating means is expressed by the sudden change reproducing means, so that the actual operational feeling can be further felt. It is an object of the present invention to provide a sensation presentation device that can perform the sensation.
[0016]
According to the fourth aspect of the present invention, the sudden change reproducing means is a piezoelectric actuator which performs a holding operation and an opening operation of the movable portion of the transmitting means by the operation of the piezoelectric element, and is generated by the force generating means with a simple configuration. It is an object of the present invention to provide a sensation presentation device that expresses an acceleration at the time of a collision equal to or more than a torque and that allows the user to feel the actual operation feeling at a lower cost.
[0017]
According to a fifth aspect of the present invention, the sudden change reproducing means is a pneumatic actuator which performs a holding operation and an opening operation of the movable portion of the transmission means by the operation of air in the air cylinder, so that the force generating means has a simple configuration. It is an object of the present invention to provide a sensation presentation device that expresses an acceleration at the time of a collision equal to or higher than the torque generated by the sensation, and that allows the user to feel the actual operation feeling at a low cost.
[0018]
According to a sixth aspect of the present invention, the transmission means includes a movable part which is movable in accordance with the force generated by the force generation means and transmits the force to the operation means, and acts on the movable part of the transmission means. An inertia generating means for applying a force in the moving direction of the operating means, and a control means for controlling an operation of the inertial generating means to generate an inertia in the operating means, thereby adjusting a control gain of the force generating means to an optimum gain. In addition to stably generating force, it acts on the movable part of the transmission means and applies force in the direction in which the operating means is operating, so that the inertia that you want to express while ensuring stable operation is appropriately expressed It is another object of the present invention to provide a sensation presentation device that can more stably feel the actual operation feeling.
[0019]
The invention according to claim 7, wherein the inertial generating means performs a holding operation of holding the movable portion of the transmitting means by an operation of the piezoelectric element and a holding piezoelectric actuator performing an opening operation of opening the holding of the movable portion, A holding position variable actuator that is attached with the holding piezoelectric actuator and sequentially changes a holding position of the movable unit by the holding piezoelectric actuator in a moving direction of the movable unit; and By controlling the operation of the holding piezoelectric actuator and the holding position variable actuator to generate inertia in the operation means, the control gain of the force generation means is set to the optimum gain and the force is generated stably, By acting on the movable part of the transmission means and applying force in the direction in which the operating means is operating, the inertia that you want to express while ensuring stable operation is more appropriately expressed , It has been an object of the present invention to provide a sense presentation device that can be stable and feel more actual operational feeling.
[0020]
In the invention according to claim 8, the inertia generating means is provided with a driving roller capable of rotating and stopping at an arbitrary speed, and a movable transmission means disposed between the driving roller and the driving roller. A driven roller capable of pinching the movable portion, and a roller pinching mechanism for pinching the movable portion and opening the pinch by the driven roller and the driven roller. By controlling the holding of the movable part by the mechanism, the opening of the holding, and the rotation of the drive roller to generate inertia in the operating means, the control gain of the force generating means is set to the optimum gain and the force is stably set. And applying force in the direction in which the operating means is operating by acting on the movable part of the transmission means, thereby more appropriately expressing the inertia desired to be expressed while ensuring stable operation, and stably Feel the actual operation feeling It is an object of the present invention to provide a sense presentation device that can be.
[0021]
According to a ninth aspect of the present invention, the force generating means includes an output shaft for outputting the force generated in the transmission means, and the inertial generating means is provided with a force for applying a force to the output shaft portion of the force generating means. A force applying means for performing an applying operation and an applying force canceling operation for canceling the force is provided, and the control means controls the operation of the force applying means to generate inertia in the operating means, thereby generating a force. By setting the control gain of the means to the optimum gain and generating a stable force, and by acting on the movable part of the transmission means and applying a force in the direction in which the operating means is operating, the stable operation is ensured. It is an object of the present invention to provide a sensation presentation device that can more appropriately express the inertia to be expressed and can more stably feel the actual operation feeling.
[0022]
The invention according to claim 10 is a simple configuration in which the force applying means is a piezoelectric actuator that performs a force applying operation of applying a force to an output shaft portion by energization and a applying force canceling operation of canceling the force. It is an object of the present invention to provide a sensation presentation device that can appropriately express inertia to be expressed while ensuring stable operation, and that can inexpensively, stably, and more realize an actual operation feeling.
[0023]
According to an eleventh aspect of the present invention, the force applying means is an electrorheological fluid actuator that performs a force applying operation for applying a force to an output shaft portion by changing a viscosity by energizing and an applying force canceling operation for canceling the force. Accordingly, it is an object of the present invention to provide a sensation presentation device that can appropriately express inertia to be expressed while ensuring stable operation with a simple configuration, and that can more stably feel the actual operation feeling at a low cost. .
[0024]
According to a twelfth aspect of the present invention, the transmission means includes a movable part which is movable in accordance with the force generated by the force generation means and transmits the force to the operation means, and acts on the movable part of the transmission means. The moving means in the direction perpendicular to the moving direction of the operating means. The controlling means controls the operation of the moving means in the orthogonal direction so that the operating means has a sense of unevenness or the like. It is an object of the present invention to provide a sensation presentation device that can perform texture expression of an area that cannot be expressed by the force generating means by generating the sensation, and can further feel the actual operation feeling.
[0025]
According to a thirteenth aspect of the present invention, the orthogonal direction moving force generating means is a cam mechanism that converts a rotating operation into a linear operation and moves the movable part of the transmitting means in a direction orthogonal to the moving direction of the operating means. It is an object of the present invention to provide a sensation presentation device that moves a movable portion at a high speed to more appropriately perform texture expression in an area that cannot be represented by a force generating unit, and that allows a user to feel the actual operation feeling even more.
[0026]
According to a fourteenth aspect of the present invention, the orthogonal direction moving force generating means is a piezoelectric actuator that operates the movable part of the transmission means in a direction orthogonal to the moving direction of the operating means by energization, so that the movable part can be further accelerated. It is an object of the present invention to provide a sensation presentation device that can perform a movement operation to more appropriately perform texture expression in an area that cannot be expressed by a force generation unit, and can further sense an actual operation feeling.
[0027]
According to a fifteenth aspect of the present invention, the orthogonal direction moving force generating means is a linear motor actuator using a linear motor that operates the movable part of the transmitting means in a direction orthogonal to the moving direction of the operating means by energizing, thereby increasing the speed. It is an object of the present invention to provide a sensation presentation device that can more appropriately perform texture expression in an area that cannot be expressed by a force generation unit by moving a movable unit to perform a movement operation.
[0028]
[Means for Solving the Problems]
In the sensation presentation device according to the first aspect of the present invention, the operation means that can be operated by a person at an arbitrary speed by applying a force is arranged so as to be movable in a predetermined direction, and when the operation means is moved, the movement is performed. What is claimed is: 1. A sensation presentation device that causes an operation feeling corresponding to an operation to be generated by the operation means, wherein force detection means for detecting an operation force on the operation means, and movement of the operation means when the operation means is moved Acceleration detecting means for detecting the acceleration of the operating means, position detecting means for detecting the position of the operating means, and a transmitting means connected to the operating means to generate an operational feeling in the operating means via the transmitting means. When the force generation means and the operation means are moved, the force generation means is driven based on the detection results of the force detection means, the acceleration detection means and the position detection means, and the movement operation of the operation means is performed. Correspondence That a control means for generating said operation means the operation feeling through said transmission means, due to the provision of the, have achieved the above objects.
[0029]
According to the above configuration, when the operating means that can be operated at an arbitrary speed by applying a force by a human and is movable in a predetermined direction is moved, an operation feeling corresponding to the moving operation is generated in the operating means. At this time, the operating force on the operating means is detected by the force detecting means, the acceleration of the movement of the operating means when the operating means is moved is detected by the acceleration detecting means, and the position of the operating means is detected. Means for detecting, by the control means, a force generating means coupled to the operating means via the transmitting means to generate an operational feeling in the operating means via the transmitting means based on the operation content of the operating means When driven, an operation feeling corresponding to the moving operation of the operation means is generated in the operation means via the transmission means, so that the operator can use the same force and feeling as the actual operation target without creating a prototype. Operation feeling As can feel through, it is possible to allow evaluation, it is possible to reduce cost of trial period, the raw material.
[0030]
In this case, for example, as described in claim 2, in the sensation presentation device, the operation means is disposed so as to be slidable in a predetermined one direction, and the control means includes the force detection means, Based on the detection results of the acceleration detecting means and the position detecting means, the force generating means transmits, via the transmitting means, an operational feeling corresponding to the sliding operation position, the sliding operating force, and the sliding acceleration of the sliding operation of the operating means. May be generated by the operation means.
[0031]
According to the above configuration, the operation means is disposed so as to be slidable in one predetermined direction, and the control means performs an operation on the force generation means based on the detection results of the force detection means, the acceleration detection means and the position detection means. Since the operating means generates an operational feeling according to the sliding operation position, the sliding operating force and the sliding acceleration of the sliding operation of the means via the transmitting means, the force and the feeling when operating the linearly operated operation object, etc. The user can feel the operation feeling through the operation means to be able to evaluate the operation feeling, and it is possible to reduce the cost, the period, and the raw material required for the trial production of the operation object that slides.
[0032]
In addition, for example, as described in claim 3, the transmission unit includes a movable unit that is movable according to the force generated by the force generation unit and transmits the force to the operation unit, Is a sudden change reproducing means for performing a holding operation of holding the movable portion of the transmission means and an opening operation of opening the holding of the movable portion to generate a sudden change in the force acting on the operating means. The control means may control the operation of the sudden change reproducing means so as to cause the operation means to generate a sudden change in force.
[0033]
According to the above configuration, the transmission unit includes a movable unit that is movable in accordance with the force generated by the force generation unit and transmits the force to the operation unit. A sudden change reproducing means for performing a holding operation and an opening operation for releasing the holding of the movable part to generate a sudden change in the force acting on the operating means, and the control means controls the operation of the sudden change reproducing means. Then, a sudden change in force is generated in the operating means, so that the acceleration at the time of collision exceeding the torque generated by the force generating means can be expressed by the sudden change reproducing means, and the actual operational feeling can be further felt. it can.
[0034]
Further, for example, as set forth in claim 4, the sudden change reproducing unit may be a piezoelectric actuator that performs a holding operation and an opening operation of the movable portion of the transmission unit by an operation of a piezoelectric element.
[0035]
According to the above configuration, the sudden change reproduction unit is a piezoelectric actuator that performs the holding operation and the opening operation of the movable portion of the transmission unit by the operation of the piezoelectric element. The acceleration at the time of the collision can be expressed, and the actual operational feeling can be felt more inexpensively.
[0036]
Further, for example, as set forth in claim 5, the sudden change reproducing means may be a pneumatic actuator which performs a holding operation and an opening operation of the movable portion of the transmission means by an operation of air in an air cylinder. .
[0037]
According to the above configuration, the sudden change reproducing unit is a pneumatic actuator that performs the holding operation and the opening operation of the movable portion of the transmission unit by the operation of the air in the air cylinder. Acceleration at the time of collision exceeding the torque can be expressed, and the actual operation feeling can be further felt at a low cost.
[0038]
Further, for example, as described in claim 6, the transmission means includes a movable portion that is movable in accordance with the force generated by the force generation means and transmits the force to the operation means, Comprises inertia generating means for acting on the movable portion of the transmission means to apply a force in the direction of movement of the operating means, wherein the control means controls the operation of the inertial generating means to provide inertia to the operating means. It may be generated.
[0039]
According to the above configuration, the transmission unit is provided with a movable unit that is movable in accordance with the force generated by the force generation unit and transmits the force to the operation unit, and operates by operating on the movable unit of the transmission unit. Inertial generating means for applying a force in the moving direction of the means is provided, and the control means controls the operation of the inertial generating means to generate inertia in the operating means, so that the control gain of the force generating means is set to an optimum gain. In addition to being able to generate a stable and stable force, it acts on the movable part of the transmission means and applies force in the direction in which the operating means is operating, so that the inertia that you want to express while ensuring stable operation is appropriately expressed It is possible to more stably feel the actual operation feeling.
[0040]
Further, for example, as set forth in claim 7, the inertia generating means includes a nipping operation for nipping the movable part of the transmission means by an operation of a piezoelectric element and an opening operation for releasing the nipping of the movable part. And a variable holding position actuator that is attached to the holding piezoelectric actuator and sequentially changes the holding position of the movable portion by the holding piezoelectric actuator in the moving direction of the movable portion. The control means may control the operation of the holding piezoelectric actuator and the holding position variable actuator to generate inertia in the operation means.
[0041]
According to the above configuration, the inertial generating means includes a holding piezoelectric actuator that performs a holding operation for holding the movable portion of the transmission unit by the operation of the piezoelectric element and an opening operation for opening the holding of the movable portion, A holding position variable actuator, to which the holding piezoelectric actuator is attached, and which sequentially changes a holding position of the movable portion by the holding piezoelectric actuator in a moving direction of the movable portion. Since the operation of the piezoelectric actuator and the holding position variable actuator is controlled to generate inertia in the operation means, the control gain of the force generation means can be set to the optimum gain and the force can be generated stably. By acting on the movable part of the transmission means and applying a force in the direction in which the operating means is operating, the inertia desired to be expressed while ensuring stable operation is more appropriately expressed. It can be, you can feel the more actual operational feeling more stable.
[0042]
Further, for example, as set forth in claim 8, the inertia generating means includes a driving roller capable of rotating and stopping at an arbitrary speed, and a driving roller disposed opposite to the driving roller and provided with the driving roller. A driven roller capable of holding the movable portion of the transmission means therebetween, and a roller holding mechanism for holding and opening the held portion by the drive roller and the driven roller. The means may control the holding of the movable portion by the roller holding mechanism and the release of the holding and the rotation operation of the drive roller to generate inertia in the operating means.
[0043]
According to the above configuration, the inertia generating means is provided with a drive roller that can be rotationally driven and stopped at an arbitrary speed, and a movable portion of the transmission means disposed between the drive roller and the drive roller, which is disposed to face the drive roller. A driven roller, and a roller holding mechanism for holding and opening the movable portion by the driving roller and the driven roller. Since the holding of the movable portion and the opening of the holding and the rotation of the drive roller are controlled to generate inertia in the operating means, the control gain of the force generating means is set to the optimum gain to stably generate the force. By applying a force in the direction in which the operating means is operating by acting on the movable part of the transmission means, the inertia desired to be expressed while ensuring stable operation can be more appropriately expressed, and And more actual operation You can feel.
[0044]
Further, for example, as described in claim 9, the force generating means includes an output shaft for outputting the generated force to the transmission means, and the inertia generating means includes an output shaft portion of the force generating means. And a force applying unit for performing a force applying operation for applying a force to the device and a force canceling operation for canceling the force. The control unit controls the operation of the force applying unit to generate inertia in the operation unit. It may be something.
[0045]
According to the above configuration, the force generating means includes an output shaft for outputting the force generated in the transmission means, and the inertial generating means applies a force to the output shaft portion of the force generating means. And a force applying means for performing an applying force canceling operation for canceling the force. The control means controls the operation of the force applying means to generate inertia in the operating means. A stable force can be generated by setting the gain to the optimum gain, and a stable operation is ensured by applying a force in the direction in which the operating means is operating by acting on the movable part of the transmission means. The inertia to be expressed can be more appropriately expressed, and the actual operation feeling can be more stably felt.
[0046]
Further, for example, as described in claim 10, the force applying means is a piezoelectric actuator that performs a force applying operation for applying a force to the output shaft portion by energization and an applying force canceling operation for canceling the force. Is also good.
[0047]
According to the configuration described above, the force applying means is a piezoelectric actuator that performs a force applying operation of applying a force to the output shaft portion by energization and a piezoelectric force canceling operation of canceling the force. The inertia desired to be expressed can be appropriately expressed while securing, and the actual operation feeling can be felt more stably at low cost.
[0048]
Further, for example, as described in claim 11, the force applying means performs a force applying operation of applying a force to the output shaft portion due to a change in viscosity due to energization and an applying force canceling operation of canceling the force. An electrorheological fluid actuator may be used.
[0049]
According to the above configuration, the force applying means is an electrorheological fluid actuator that performs a force applying operation of applying a force to the output shaft portion by changing the viscosity by energization and an applying force canceling operation of canceling the force. With such a configuration, the inertia desired to be expressed can be appropriately expressed while ensuring stable operation, and the actual operation feeling can be felt more stably at low cost.
[0050]
Further, for example, as described in claim 12, the transmission means includes a movable portion that is movable in accordance with the force generated by the force generation means and transmits the force to the operation means, Comprises orthogonal movement force generating means for acting on a movable portion of the transmission means to move in a direction orthogonal to the movement direction of the operation means, wherein the control means controls the operation of the orthogonal movement force generation means. Then, the operation means may generate a feeling of unevenness or the like.
[0051]
According to the above configuration, the transmission unit is provided with a movable unit that is movable in accordance with the force generated by the force generation unit and transmits the force to the operation unit, and operates by operating on the movable unit of the transmission unit. It is provided with orthogonal direction moving force generating means for moving in a direction orthogonal to the moving direction of the means, and the control means controls the operation of the orthogonal direction moving force generating means to generate a feeling of unevenness or the like on the operating means. Therefore, it is possible to express a texture in an area that cannot be expressed by the force generating means, so that an actual operation feeling can be further felt.
[0052]
Further, for example, as described in claim 13, the orthogonal direction moving force generating means converts a rotating operation into a linear operation and moves the movable portion of the transmitting means in a direction orthogonal to the moving direction of the operating means. It may be a cam mechanism that causes the cam mechanism.
[0053]
According to the above configuration, the orthogonal moving force generating means is a cam mechanism that converts the rotating operation into a linear operation and moves the movable portion of the transmitting means in a direction orthogonal to the moving direction of the operating means. By moving the unit, the texture expression of the area that cannot be expressed by the force generating means can be performed more appropriately, and the actual operation feeling can be further felt.
[0054]
Furthermore, for example, as described in claim 14, the orthogonal direction moving force generating means may be a piezoelectric actuator that operates the movable portion of the transmission means in a direction orthogonal to the movement direction of the operation means by energization. Good.
[0055]
According to the above configuration, since the orthogonal direction moving force generating means is a piezoelectric actuator that operates the movable part of the transmission means in a direction orthogonal to the moving direction of the operating means by energizing, the moving part is moved at a higher speed. Thus, the texture expression of the area that cannot be expressed by the force generating means can be performed more appropriately, and the actual operation feeling can be further felt.
[0056]
Further, for example, as described in claim 15, the orthogonal direction moving force generating means is a linear motor using a linear motor that operates a movable portion of the transmission means in a direction orthogonal to a moving direction of the operation means by energization. It may be a motor actuator.
[0057]
According to the above configuration, the orthogonal movement force generating means is a linear motor actuator using a linear motor that operates the movable part of the transmission means in a direction orthogonal to the movement direction of the operation means by energization. Can be moved to perform the texture expression of the area that cannot be expressed by the force generating means more appropriately, and the actual operation feeling can be further felt.
[0058]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments described below are preferred embodiments of the present invention, and therefore, various technically preferred limitations are added. However, the scope of the present invention is not limited to the following description. The embodiments are not limited to these embodiments unless otherwise specified.
[0059]
FIGS. 1 to 3 are diagrams showing a first embodiment of a sensation presentation device according to the present invention, and this embodiment corresponds to claims 1 and 2. FIG.
[0060]
FIG. 1 is a perspective view of a sensation presentation device 1 to which the first embodiment of the sensation presentation device of the present invention is applied.
[0061]
In FIG. 1, in a sensation presentation device 1, a transmission belt 4 is stretched between a driving roller 2 and a driven roller 3, and the transmission belt 4 moves in the direction of the driving roller 2 and the driven roller 3, The driving roller 2 and the driven roller 3 rotate.
[0062]
An operation unit (operation means) 5 as an operation target operated by the operator is fixed to the transmission belt 4 above the transmission belt 4, and the operation unit 5 is a driving roller indicated by a double arrow in FIG. 2 and the driven roller 3 (hereinafter, referred to as a sliding direction).
[0063]
The operation unit 5 includes a six-axis force sensor (force detection unit) 6 that detects a force acting on the operation unit 5 when the operation unit 5 is operated in the slide direction, and the operation unit 5 is operated in the slide direction. An acceleration sensor (acceleration detecting means) 7 for detecting the acceleration when the vehicle is running, and a position detecting head 8 are attached, and a gripping portion 5a for gripping the operating portion 5 when a person operates is formed. I have. In the vicinity of the transmission belt 4, a linear encoder 9 is disposed in the longitudinal direction of the transmission belt 4, that is, in the sliding direction, in parallel with the transmission belt 4 at least over the moving range of the operation unit 5. Performs position detection of the operation unit 5 based on the linear encoder 9. The linear encoder 9 and the position detecting head 8 function as position detecting means as a whole.
[0064]
An output shaft of a drive motor (force generating means) 10 is connected to a drive shaft 2 a of the drive roller 2. The drive motor 10 generates a torque corresponding to an operation state when the operation unit 5 is operated. The transmission belt 4 and the driven roller 3 rotate and are fixed to the transmission belt 4 by the rotation of the driving roller 2 and the rotation of the driving roller 2. The force generated by the drive motor 10 is transmitted to the operating unit 5 that is operating. Therefore, the driving roller 2, the driven roller 3, and the transmission belt (movable part) 4 function as a transmission mechanism (transmission means) 11 as a whole.
[0065]
The sensation presentation device 1 has a block configuration as shown in FIG. 2 and includes a main body 20 and a controller 30. The main body 20 includes the drive motor 10, the six-axis force sensor 6, the acceleration It includes a sensor 7, a linear encoder 9, a position detection head 8 not shown in FIG. 2, and the like.
[0066]
The control unit 30 includes a motor driver 31, a control computer 32, and the like. The control computer (control means) 32 includes a force sensor receiver board 33, an AD / DA conversion board 34, an encoder board 35, and the like. The force sensor receiver board 33 receives a force signal from the six-axis force sensor 6 when the operation unit 5 detected by the six-axis force sensor 6 is operated. The converted force signal is converted into a signal that can be processed by the control computer 32.
[0067]
An acceleration signal when the operation unit 5 is operated in the sliding direction is input as an analog signal from the acceleration sensor 7 to the AD / DA conversion board 34, and the AD / DA conversion board 34 converts the input analog acceleration signal into an analog signal. In addition to converting the digital signal into a digital signal that can be processed by the control computer 32, the control computer 32 converts a digital drive signal for controlling the drive motor 20 into an analog signal and outputs it to the motor driver 31.
[0068]
The encoder board 35 receives a position detection signal from the position detection head 8 of the linear encoder 9 and a drive signal of the motor driver 31, and converts the position detection signal and the drive signal into signals that can be processed by the control computer 32.
[0069]
The control computer 32 determines the operation state of the operation unit 5 based on the force signal from the six-axis force sensor 6, the acceleration signal from the acceleration sensor 7, and the position detection signal from the position detection sensor 8 of the linear encoder 9. The drive signal is output to the motor driver 31 to determine the operation feeling such as a force or a feel according to the operation state, and the motor driver 31 drives the drive motor 10 based on the drive signal, and The operation unit 5 is provided to the operation unit 5 through the transmission belt 2 and the transmission belt 4 to give an operator who operates the operation unit 5 an operation feeling such as a force or a feeling corresponding to the operation.
[0070]
That is, when the operator holds the operation unit 5 and moves the operation unit 5 in the double arrow direction (slide direction) in FIG. 1, the control computer 32 responds to the position of the design object whose operation is desired to be reproduced, the applied force, and the acceleration. The torque of the drive motor 10 is controlled so as to express a sense of friction, for example, friction, viscosity, collision, and the like.
[0071]
Next, the operation of the present embodiment will be described. The sensation presentation device 1 is provided with an operation unit 5 corresponding to a handle that can be operated by a person, a knob of a door, a joystick-shaped object that can be grasped, and the like. By moving the unit 5 in the sliding direction, an operational feeling such as a force or a feeling according to the operation is transmitted. For example, when expressing the operation of a door, the sensation presentation device 1 has an operation unit 5 that is a part to be operated in a door knob shape, and a person grasps the operation unit 5 corresponding to the door knob and performs the same operation as opening and closing. When it is moved to the same position, the same feeling as a real door and the impact force when closing it are reproduced as force information.
[0072]
In the following description, it is assumed that the actual operation of the sensation presentation device 1 is an operation of pulling out a tray or a paper feed tray of a copier, and in particular, an operation of pulling out a paper feed tray of a copier. I do.
[0073]
When the operator holds the grip 5a of the operation unit 5 as the paper feed tray of the copier and slides it in the direction of the double arrow (slide direction) in FIG. 1, the sensation presentation device 1 actually slides the paper feed tray. When this operation is performed, the operation sensation similar to the operation sensation felt by the operator due to the steel belt, the wire mechanism, the ball screw, the ball spline, and the like contributing to the sliding operation of the paper feed tray of the copier, the driving roller 2, the driven roller 3, The motor torque of the drive motor 10 is controlled so as to be applied to the operation unit 5 via the transmission belt 4. The sensation presentation device 1 changes the force of the motor torque generated in the drive motor 10 by controlling the value of the current supplied to the drive motor 10 via the motor driver 31 by the control computer 32. Changes the motor torque according to the position.
[0074]
For example, when the operation unit 5 is a paper feed tray, the control computer 32
{Circle around (1)} When the paper feed tray is pulled out, the sense of collision when the paper feed tray is pulled out is expressed as a collision force by a model that collides against a wall. Therefore, the control computer 32 stores the location where the collision of the paper feed tray occurs as position information, obtains the position information of the operation unit 5 as the paper feed tray from the encoder information attached to the drive motor 10, and obtains the collision information. Is generated, the motor torque is controlled such that a reaction force corresponding to the speed during operation is generated.
{Circle around (2)} The control computer 32 uses the parameters of the location, speed, and acceleration at which the operation unit 5 is operating in order to express the unevenness and the rough feel felt by human hands during the operation of sliding the paper feed tray. A model formula is created and controlled so that the feeling expressed based on the parameters can be expressed by the strength of the motor torque of the drive motor 10.
{Circle around (3)} When the paper feed tray is set, the control computer 32 uses a motor control model that expresses the click feeling transmitted to a person when the latch mechanism is actuated. Stand up and control.
[0075]
Then, in order to perform control for generating such a force, the control computer 32 stores a physical model formula in an internal memory in advance, and adjusts the model parameters to adjust the motor torque of the drive motor 10. Control.
[0076]
Therefore, the sensation presentation device 1 actually measures physical data such as the position, speed, acceleration, and force (force transmitted by a person holding a handle portion or the like) of a real object such as a drawer or a paper feed tray to be operated. Then, the identified parameters are stored in the internal memory, and control is performed using these parameters.
[0077]
As the physical model formula, for example, the following known formula can be used.
[0078]
The following equation 1 is used as a model equation for friction.
[0079]
(Equation 1)

The following equation 2 is used as a model equation of inertia (inertia).
[0080]
(Equation 2)

Further, the following formula 3 is used as a model formula of the spring.
[0081]
[Equation 3]

That is, as shown in FIG. 3, when the operator performs an operation while holding the grip 5 a of the operation unit 5, for example, an operation of moving the paper feed tray in the closing direction (step S <b> 101), the sensation presentation apparatus 1 performs the operation. The six-axis force sensor 6 detects a force in a state where the operator holds the operation unit 5, for example, in which direction the force is applied (step S <b> 102). The information is taken into the control computer (described as PC in FIG. 3) 32 as information (step S103). In addition, the sensation presentation device 1 detects the position of the operation unit 5 corresponding to the position of the tray with the linear encoder 9 and the position detection head 8 (step S104), and takes it into the control computer 32 as position information by the encoder board 35. (Step S105) Further, the acceleration in the operating state is detected by the acceleration sensor 7 (Step S106), and is taken into the control computer 32 as acceleration information by the AD / DA conversion board 34 (Step S107).
[0082]
Next, the control computer 32 calculates a torque to be generated in the drive motor 10 from the model based on the information on the detected force, position, and acceleration (step S108). In this case, in the control computer 32, a physical model and parameters of the paper feed tray according to the information on the position of the grip 5a of the operation unit 5 are set. If it is a middle point of the tray operation, the motor torque is calculated using a model such as viscosity and friction at the middle point of the tray. When the tray is closed, the control computer 32 calculates the motor torque based on the model of the latch portion and the model of the collision.
[0083]
Then, the control computer 32 outputs a voltage command for generating torque obtained from the calculation result from the AD / DA conversion board 34 to the motor driver 31 (step S109), and outputs the current value amplified by the motor driver 31 to the drive motor 20. To drive the drive motor 10 (step S110).
[0084]
As described above, the sensation presentation device 1 according to the present embodiment responds to the movement operation when the operation unit 5 that can be operated at an arbitrary speed by applying a force by a human and is movable in a predetermined direction is moved. When the operation unit 5 generates a sense of operation to be performed, an operation force applied to the operation unit 5 is detected by a six-axis force sensor 6, and the acceleration of the movement of the operation unit 5 when the operation unit 5 is moved is determined by an acceleration sensor. 7, the position of the operation unit 5 is detected by the position detection head 8 of the linear encoder 9, and the control computer 32 is connected to the operation unit 5 via transmission means, and is connected to the operation unit 5 via transmission means. The drive motor 10 that generates an operation feeling is driven based on the operation content of the operation section 5 to generate an operation feeling corresponding to the moving operation of the operation section 5 through the transmission section.
[0085]
Therefore, it is possible to allow the operator to feel the same operational feeling as the actual operation target, such as force and feel, through the operation unit 5 without creating a prototype, so that evaluation can be performed. The cost, period, and raw materials required for prototype production can be reduced.
[0086]
In the sensation presentation device 1 according to the present embodiment, the operation unit 5 is disposed so as to be slidable in one predetermined direction, and the control computer 32 includes the six-axis force sensor 6, the acceleration sensor 7, and the position detection head. On the basis of the detection result of step 8, the drive motor 10 causes the operation unit 5 to generate an operation feeling corresponding to the slide operation position, the slide operation force, and the slide acceleration of the slide operation of the operation unit 5 via the transmission unit. .
[0087]
Therefore, an operation feeling such as a force or a touch when the operation object that moves linearly is operated can be felt through the operation unit 5 so that the operation object can be evaluated, and the operation object that slides can be evaluated. The cost, period, and raw materials required for prototype production can be reduced.
[0088]
FIGS. 3 and 4 are diagrams showing a second embodiment of the sensation presentation apparatus according to the present invention, and this embodiment corresponds to claims 3 to 5.
[0089]
Note that the present embodiment is applied to a sensation presentation device similar to the sensation presentation device 1 of the first embodiment, and in the description of the present embodiment, the sensation presentation device of the first embodiment will be described. The same components as those of the sensation presentation device 1 are denoted by the same reference numerals, and detailed description thereof will be omitted.
[0090]
This embodiment realizes a sense of a sudden stop operation having a large acceleration such as a sense of collision and a high-speed operation and a high propulsion operation. In FIG. 3, the sensation presentation device 40 of the present embodiment Drive roller 2, driven roller 3, transmission belt 4, operation unit 5, 6-axis force sensor 6, acceleration sensor 7, position detection head 8, linear encoder 9, and drive similar to sensory presentation device 1 according to the first embodiment It has a motor 10 and the like, and also has a collision reproducing mechanism 41 and the like.
[0091]
The collision reproducing mechanism (rapid change reproducing means) 41 is disposed below the transmission belt 4 and substantially in the middle of the driving roller 2 and the driven roller 3, and as shown in FIG. A letter-shaped piezoelectric actuator is used. The collision reproducing mechanism unit 41 is provided with the U-shaped open holding tip sandwiching the transmission belt 4, and a laminated piezoelectric element 42 is provided at the holding tip, respectively. ing.
[0092]
The collision reproducing mechanism 41 sandwiches the transmission belt 4 when the multilayer piezoelectric element 42 is energized, and releases the sandwiching of the transmission belt 4 when the energization is released.
[0093]
Then, in the sensation presentation device 40, the control computer 32 controls the operation of the collision reproduction mechanism unit 41 to realize a sense of a sudden stop operation with a large acceleration such as a sense of collision and a high-speed operation and a high propulsion operation.
[0094]
That is, the control computer 32 stops and brakes the drive motor 10 and supplies electricity to the laminated piezoelectric element 42 of the collision reproducing mechanism 41 to realize the collision feeling at the holding tip of the collision reproducing mechanism 41. The movement of the transmission belt 4 is suddenly stopped by holding the transmission belt 4 so that a sense of collision is realistically reproduced.
[0095]
Further, when realizing a high-speed operation or a high thrust operation, the control computer 32 energizes the laminated piezoelectric element 42 before operating the operation unit 5, sandwiches the transmission belt 4 with the collision reproduction mechanism unit 41, When the operation unit 5 is operated, the drive motor 10 is energized, and the energization of the laminated piezoelectric element 42 is canceled at a predetermined timing to release the sandwiching of the transmission belt 4 by the collision reproduction mechanism unit 41 and the transmission is performed. The belt 4 is rapidly moved to reproduce the high-speed operation and the high propulsion operation realistically.
[0096]
In addition, as the collision reproducing mechanism, not only the one using the piezoelectric element shown in FIG. 3 or FIG. 4 but also, for example, an air cylinder is used like the sensation presentation device 50 shown in FIG. 5 and FIG. The actuator using the compressed air actuator 51 may be used.
[0097]
That is, as shown in FIGS. 5 and 6, the air cylinder holding portions 52 are disposed at the respective U-shaped open holding tips of the substantially U-shaped compressed air actuators 51. The air cylinder holding portion 52 is provided so as to sandwich the transmission belt 4.
[0098]
Also in this case, the control computer 32 controls the introduction and discharge of the compressed air to the air cylinder of the air cylinder holding section 52 so that the air cylinder holding section 52 holds and releases the transmission belt 4. It realizes a sense of a sudden stop operation with a large acceleration such as a sense of collision, a high-speed operation and a high thrust operation.
[0099]
As described above, the sensation presentation device 40 and the sensation presentation device 50 of the present embodiment move the transmission mechanism 11 in response to the force generated by the drive motor 10 and transmit the transmission belt 4 to the operation unit 5. The transmission belt 4 is provided, and the holding operation for holding the transmission belt 4 and the opening operation for releasing the holding of the movable portion are performed, so that a sudden change in the force acting on the operation unit 5 is generated. The collision reproducing mechanism 41 and the compressed air actuator 51 to be generated are provided, and the control computer 32 controls the operations of the collision reproduced mechanism 41 and the compressed air actuator 51 to cause the operation unit 5 to generate a sudden change in force.
[0100]
Therefore, the acceleration at the time of collision exceeding the torque generated by the drive motor 10 can be expressed by the collision reproducing mechanism 41 and the pneumatic actuator 51, so that an actual operation feeling can be further felt.
[0101]
Further, in the sensation presentation device 40 of the present embodiment, the collision reproduction mechanism unit is a piezoelectric actuator that performs the holding operation and the opening operation of the transmission belt 4 by the operation of the piezoelectric element.
[0102]
Therefore, with a simple configuration, the acceleration at the time of collision exceeding the torque generated by the drive motor 10 can be expressed, and the actual operation feeling can be felt at a lower cost.
[0103]
Further, in the sensation presentation device 50 of the present embodiment, the collision reproducing mechanism is a pneumatic actuator 51 that performs the holding operation and the opening operation of the transmission belt 4 by the operation of air in the air cylinder.
[0104]
Therefore, with a simple configuration, the acceleration at the time of collision exceeding the torque generated by the drive motor 10 can be expressed, and the actual operation feeling can be felt at a lower cost.
[0105]
FIGS. 7 and 8 are diagrams showing a third embodiment of the sensation presentation device according to the present invention. This embodiment corresponds to claims 6 to 8.
[0106]
Note that the present embodiment is applied to a sensation presentation device similar to the sensation presentation device 1 of the first embodiment, and in the description of the present embodiment, the sensation presentation device of the first embodiment will be described. The same components as those of the sensation presentation apparatus 1 are denoted by the same reference numerals, and the detailed description thereof will be omitted. The description will be made by using the reference numerals used in 1 as they are.
[0107]
In the present embodiment, a force is applied in the operation direction to reproduce the inertia such as the weight of the operation portion when the operator performs the operation.
[0108]
That is, as shown in FIG. 7, the sensation presentation device 60 of the present embodiment includes an inertia reproducing mechanism (inertia generating means) 61, and the inertial reproducing mechanism 61 sandwiches the upper and lower surfaces of the transmission belt 4. An arm portion 62 formed in a shape, and a sliding direction extending over a predetermined length in a moving direction (sliding direction) of the transmission belt 4 at each of upper and lower ends of the arm portion 62 that sandwich the transmission belt 4. Thrust generating actuator section (variable holding position actuator) 63, and sandwiching actuator sections (holding piezoelectric actuator) 64 provided at both ends in the sliding direction of the sliding direction thrust generating actuator section 63 so as to sandwich transmission belt 4. And
[0109]
As the sliding direction thrust generating actuator unit 63, for example, a piezoelectric actuator using a laminated piezoelectric element is used, and energization and de-energization of the sliding direction thrust generating actuator unit 63 are controlled by the control computer 32. Then, as shown by a double-headed arrow in the sliding direction in FIG. 7, the pinching actuator 64 is moved in the sliding direction by expanding and contracting.
[0110]
As the sandwiching actuator section 64, for example, a piezoelectric actuator using a laminated piezoelectric element is used, and the energizing and de-energizing control of the sandwiching actuator section 64 is performed by the control computer 32, and as shown in FIG. As shown by the double-headed arrow in the direction, the transmission belt 4 is expanded and contracted, and the entrapment is released.
[0111]
Then, the sensation presentation device 60 allows the control computer 32 to control the operation of the inertial reproduction mechanism 61 to apply a force in the operation direction, and to increase the gain of the drive motor 10 when the operator performs the operation. Reproduce the inertia such as the weight of the operation part without raising.
[0112]
That is, when the operation unit 5 is operated, the control computer 32 drives the drive motor 10 in order to impart inertia such as the weight of the operation part, and without increasing the gain of the drive motor 10, First, the pinching actuator section 64 is driven to pinch the transmission belt 4 by the pinching actuator section 64, and then the sliding direction thrust generating actuator section 63 is driven to pinch the sliding belt by the sliding direction thrust generating actuator section 63 in the sliding direction. The thrust in the sliding direction is generated on the transmission belt 4 by moving the transmission belt 64. The control computer 32 generates a thrust in the same direction as the operation direction of the operation unit 5 by repeatedly energizing and de-energizing the slide direction thrust generating actuator unit 63, thereby increasing the gain of the drive motor 10. Without raising, the reproduction of inertia is more stably reproduced than when the inertia is reproduced only by the drive motor 10.
[0113]
The inertia reproducing mechanism is not limited to the one using the piezoelectric actuator, but may be one using a pneumatic actuator using an air cylinder as shown in FIGS. 5 and 6. As shown in FIG. 8, a compression release roller may be used.
[0114]
That is, as shown in FIG. 8, the inertia reproduction mechanism unit 71 includes a driving roller compression arm 73 as a roller holding mechanism on a column 72 arranged on the side of the transmission belt 4 in a direction orthogonal to the transmission belt 4. A driven roller compression arm 74 is mounted vertically above and below the transmission belt 4, a drive roller 75 is mounted on the drive roller compression arm 73, and a driven roller 76 is mounted on the driven roller compression arm 74. .
[0115]
Then, under the control of the control computer 32, the drive roller 75 and the driven roller 76 rotate in the direction in which the drive roller compression arm 73 and the driven roller compression arm 74 pinch the transmission belt 4, and pinch the transmission belt 4, The drive roller 75 is rotated under the control of the control computer 32 with the transmission belt 4 sandwiched therebetween, thereby generating a thrust on the transmission belt 4. At this time, the driven roller 76 rotates following the movement of the transmission belt 4.
[0116]
Accordingly, the control computer 32 supplies power to the driving roller compression arm 73 and the driven roller compression roller 74 to stop the rotation and the rotation of the driving roller 75 in a state where the transmission belt 4 is sandwiched between the driving roller 75 and the driven roller 76. By repeating the operation, a thrust is generated in the same direction as the operation direction of the operation unit 5, and the inertia can be reproduced more stably than when the inertia is reproduced only by the drive motor 10 without increasing the gain of the drive motor 10. To do.
[0117]
As described above, the sensation presentation devices 60 and 70 according to the present embodiment are provided with the inertia reproduction mechanism units 61 and 71 that act on the transmission belt 4 and apply a force in the moving direction of the operation unit 5. The operation of the inertia reproduction mechanism units 61 and 71 is controlled to generate inertia in the operation unit 5.
[0118]
Therefore, by setting the control gain of the drive motor 10 to the optimum gain, it is possible to generate a force stably, and by applying a force in the direction in which the operating unit 5 is operating by acting on the transmission belt 4, The inertia desired to be expressed can be appropriately expressed while ensuring stable operation, and the actual operation feeling can be more stably felt.
[0119]
In addition, the sensation presentation device 60 of the present embodiment holds the inertia reproduction mechanism unit 61 in such a manner that the inertial reproduction mechanism 61 performs a holding operation for holding the transmission belt 4 by the operation of the piezoelectric element and an opening operation for releasing the holding of the transmission belt 4. An actuator section 64; and a sliding direction thrust generating actuator section 63 to which the sandwiching actuator section 64 is attached and which sequentially changes the holding position of the transmission belt 4 by the sandwiching actuator section 64 in the moving direction of the transmission belt 4. The control computer 32 controls the operations of the sandwiching actuator unit 64 and the sliding direction thrust generating actuator unit 63 to generate inertia in the operation unit 5.
[0120]
Therefore, by setting the control gain of the drive motor 10 to the optimum gain, it is possible to generate a force stably, and by applying a force in the direction in which the operating unit 5 is operating by acting on the transmission belt 4, The inertia to be expressed can be more appropriately expressed while ensuring stable operation, and the actual operation feeling can be more stably felt.
[0121]
Further, the sensation presentation device 70 of the present embodiment includes a drive roller 75 capable of rotating and stopping the inertial reproduction mechanism 71 at an arbitrary speed, and a drive roller 75 disposed opposite to the drive roller 75. And a driven roller compression arm 73 and a driven roller compression arm 74 for holding the transmission belt 4 by the driving roller 75 and the driven roller 76 and opening the holding. The control computer 32 controls the driving roller compression arm 73 and the driven roller compression arm 74 to squeeze and release the transmission belt 4, and to control the operation of the drive unit 75. 5, causing inertia.
[0122]
Therefore, by setting the control gain of the drive motor 10 to the optimum gain, it is possible to generate a force stably, and by applying a force in the direction in which the operating unit 5 is operating by acting on the transmission belt 4, The inertia to be expressed can be more appropriately expressed while ensuring stable operation, and the actual operation feeling can be more stably felt.
[0123]
9 and 10 are diagrams showing a fourth embodiment of the sensation presentation device according to the present invention, and this embodiment corresponds to claims 9 to 11.
[0124]
Note that the present embodiment is applied to a sensation presentation device similar to the sensation presentation device 1 of the first embodiment, and in the description of the present embodiment, the sensation presentation device of the first embodiment will be described. The same components as those of the sensation presentation apparatus 1 are denoted by the same reference numerals, and the detailed description thereof will be omitted. The description will be made by using the reference numerals used in 1 as they are.
[0125]
In the present embodiment, a force is applied in the operation direction to reproduce the inertia such as the weight of the operation portion when the operator performs the operation.
[0126]
That is, as shown in FIGS. 9 and 10, in the sensation presentation device 80 of the present embodiment, the drive shaft 2 a of the drive roller 2 is formed to project by a predetermined amount in the direction opposite to the drive motor 10. An inertia reproduction mechanism (inertia generating means) 81 is disposed in the drive shaft 2a. The inertia reproduction mechanism section 81 is provided in each of an arm section 82 formed so as to sandwich the drive shaft 2a from a predetermined direction, in FIGS. 9 and 10, from above and below, and upper and lower ends of the arm section 82 sandwiching the drive shaft 2a. And a holding portion 83 that is provided.
[0127]
As the holding section 83, for example, a piezoelectric actuator using a laminated piezoelectric element is used, and when energized, expands to sandwich the drive shaft 2a of the drive roller 2.
[0128]
Then, in the sensation presentation device 80, the control computer 32 controls the operation of the inertial reproduction mechanism 81 to generate a force in the sliding operation direction, thereby realizing the inertia.
[0129]
That is, when realizing the feeling of inertia, the control computer 32 drives the drive motor 10 to rotate, and at the same time, energizes the laminated piezoelectric elements of the holding portion 83 of the inertial reproduction mechanism section 81, thereby causing the inertial reproduction mechanism section 81 to narrow. The drive shaft 2a of the drive roller 2 is held by the holding portion 83 at the holding tip.
[0130]
At this time, the holding portion 83 performs an operation of rubbing against the drive shaft 2a, and generates a force to match the rotational force in addition to the drive force of the drive motor 10, thereby reproducing inertia.
[0131]
The inertial reproduction mechanism is not limited to the piezoelectric actuator using the piezoelectric element shown in FIGS. 9 and 10, but may be an electrorheological fluid actuator 85 as shown in FIG. 11, for example. .
[0132]
That is, by attaching the electrorheological fluid actuator 85 to the drive shaft 2a of the drive roller 2 and controlling the operation of the electrorheological fluid actuator 85 as described above under the control of the control computer 32, the drive shaft of the drive roller 2 is controlled. A force is directly applied to 2a, and in addition to the driving force of the driving motor 10, a force is generated to match the rotational force, thereby reproducing inertia.
[0133]
As described above, in the sensation presentation device 80 of the present embodiment, the drive shaft 2a of the drive roller 2 is formed so as to project by a predetermined amount in the direction opposite to the drive motor 10, and the projecting drive shaft 2a has an inertia A reproduction mechanism 81 is provided, and the control computer 32 controls the operation of the inertia reproduction mechanism 81 to generate inertia in the operation unit 5.
[0134]
Therefore, by setting the control gain of the drive motor 10 to the optimum gain, it is possible to generate a force stably, and by applying a force in the direction in which the operating unit 5 is operating by acting on the transmission belt 4, The inertia to be expressed can be more appropriately expressed while ensuring stable operation, and the actual operation feeling can be more stably felt.
[0135]
In addition, the sensation presentation device 80 of the present embodiment uses the piezoelectric actuator that performs the force applying operation for applying a force to the drive shaft 2a by energization and the force canceling operation for canceling the force to the inertia reproducing mechanism 81. I have.
[0136]
Therefore, with a simple configuration, the inertia to be expressed can be appropriately expressed while ensuring stable operation, and the actual operation feeling can be felt more stably at low cost.
[0137]
Further, the sensation presentation device 80 according to the present embodiment causes the inertial reproduction mechanism unit 81 to perform a force applying operation of applying a force to the drive shaft 2a due to a change in viscosity due to energization and an applying force canceling operation of canceling the force. An electrorheological fluid actuator is used.
[0138]
Therefore, with a simple configuration, the inertia to be expressed can be appropriately expressed while ensuring stable operation, and the actual operation feeling can be felt more stably at low cost.
[0139]
FIGS. 12 to 15 are diagrams showing a fifth embodiment of the sensation presentation apparatus according to the present invention, and this embodiment corresponds to claims 12 to 15.
[0140]
Note that the present embodiment is applied to a sensation presentation device similar to the sensation presentation device 1 of the first embodiment, and in the description of the present embodiment, the sensation presentation device of the first embodiment will be described. The same components as those of the sensation presentation apparatus 1 are denoted by the same reference numerals, and the detailed description thereof will be omitted. The description will be made by using the reference numerals used in 1 as they are.
[0141]
In the present embodiment, the transmission belt 4 is moved in a direction orthogonal to the operation direction of the operation unit 5 to reproduce a feeling of unevenness or the like.
[0142]
That is, in FIG. 12, when the operation unit 5 is operated in the sliding direction indicated by the double-headed arrow A in FIG. 12, the sensation presentation device 90 measures the operation position, acceleration, and force of the operation unit 5 and based on the values. 12, the control computer 32 inputs the position information, acceleration information, and force information to the model of the object whose sensation is to be presented, and generates a texture model that matches the object model according to the position and the acceleration in FIG. The transmission belt 4 as a transmission mechanism is moved by an unevenness reproduction mechanism (not shown) in a direction orthogonal to the sliding direction indicated by, that is, in the vertical direction, and the vertical movement of the transmission belt 4 is transmitted to the operation unit 5. , To reproduce irregularities.
[0143]
As the unevenness reproducing mechanism (orthogonal direction moving force generating means), specifically, for example, as shown in FIG. 13, cam mechanisms 91 and 92 can be used.
[0144]
That is, in the sensation presentation device 90, the drive shaft 2a of the drive roller 2 and the driven shaft 3a of the driven roller 3 are formed so as to protrude by a predetermined amount, and the cam mechanism is brought into contact with the protruded drive shaft 2a and the driven shaft 3a. 91 and 92 are provided.
[0145]
The cam mechanisms 91 and 92 rotate as shown by a double-headed arrow C in FIG. 13 so that the driving shaft 2a and the driven shaft 3a that come into contact with each cam mechanism 91 and 92 are moved up and down as shown by a double-headed arrow B in FIG. Move to
[0146]
Then, as described above, when the operation unit 5 is operated in the sliding direction indicated by the double-headed arrow A, the control computer 32 measures the operation position, acceleration, and force of the operation unit 5 and based on the measured values. The position information, acceleration information, and force information are input to the model of the sensation presentation target object, and the cam mechanisms 91 and 92 are synchronously rotated according to the position and acceleration of the texture model that matches the object model, and the drive is performed. The shaft 2a and the driven shaft 3a are simultaneously and synchronously moved in the vertical direction to move the transmission belt 4 as a transmission mechanism in the vertical direction. Etc. are reproduced.
[0147]
In FIG. 13, the cam mechanisms 91 and 92 are used as the unevenness reproducing mechanism (orthogonal direction moving force generating means). However, the unevenness reproducing mechanism is not limited to the cam mechanism. As shown in FIG. 14, piezoelectric actuators 94 and 95 may be used.
[0148]
That is, in FIG. 14, the piezoelectric actuators 94 and 95 are disposed in a state of contacting the protruding drive shaft 2a and the driven shaft 3a, and the piezoelectric actuators 94 and 95 are PZT (lead zirconate titanate) or the like. Are used.
[0149]
When the piezoelectric actuators 94 and 95 are energized, they extend in the direction of the drive shaft 2a and the driven shaft 3a, and move the drive shaft 2a and the driven shaft 3a upward as indicated by the broken line in FIG. Is returned to the original length, and the drive shaft 2a and the driven shaft 3a are returned to the original positions as shown by the solid lines in FIG.
[0150]
In this case as well, when the operation unit 5 is operated in the sliding direction indicated by the double-headed arrow A in FIG. 12, the control computer 32 measures the operation position, acceleration, and force of the operation unit 5 and based on the measured values. Then, the position information, acceleration information, and force information are input to the model of the object whose sensation is to be presented, and the piezoelectric actuators 94 and 95 are synchronously driven according to the position and the acceleration of the texture model that matches the object model. The drive shaft 2a and the driven shaft 3a are simultaneously and synchronously moved in the vertical direction to move the transmission belt 4 as a transmission mechanism in the vertical direction, and transmit the vertical movement of the transmission belt 4 to the operation unit 5. , To reproduce irregularities.
[0151]
As the unevenness reproducing mechanism (orthogonal direction moving force generating means), linear motor actuators 96 and 97 may be used as shown in FIG.
[0152]
That is, in FIG. 15, the linear motor actuators 96 and 97 are fixed to the drive shaft 2a and the driven shaft 3a from which the drive arms 96a and 97a protrude, and the drive arms 96a and 97a are controlled by controlling the energization. The transmission belt 4 is moved up and down to move up and down via the drive shaft 2a and the driven shaft 3a.
[0153]
In this case as well, when the operation unit 5 is operated in the sliding direction indicated by the double-headed arrow A in FIG. 12, the control computer 32 measures the operation position, acceleration, and force of the operation unit 5 and based on the measured values. Then, the position information, acceleration information, and force information are input to the model of the object whose sense is to be presented, and the linear motor actuators 96 and 97 are driven in synchronization with the texture model that matches the object model according to the position and acceleration. Then, the drive arms 96a and 97a are moved up and down simultaneously and synchronously, and the drive shaft 2a and the driven shaft 3a are moved up and down simultaneously and synchronously to move the transmission belt 4 as a transmission mechanism in the up and down direction. Then, the up-and-down movement of the transmission belt 4 is transmitted to the operation unit 5 to reproduce irregularities and the like.
[0154]
As described above, the sensation presentation device 90 according to the present embodiment includes the unevenness reproduction mechanism that acts on the transmission belt 4 and moves the operation unit in a direction orthogonal to the moving direction of the operation unit. The operation of the unevenness reproduction mechanism is controlled to generate a feeling of unevenness or the like on the operation unit 5.
[0155]
Therefore, texture expression of an area that cannot be expressed by the drive motor 10 can be performed, and a more actual operation feeling can be felt.
[0156]
In addition, in the sensation presentation device 90 of the present embodiment, the unevenness reproduction mechanism is a cam mechanism that converts the rotation operation into a linear operation and moves the transmission belt 4 in a direction orthogonal to the movement direction of the operation unit 5.
[0157]
Therefore, by moving the transmission belt 4 at a high speed, the texture expression in the area that cannot be expressed by the drive motor 10 can be performed more appropriately, and the actual operation feeling can be further felt.
[0158]
Further, the sensation presentation device 90 according to the present embodiment uses the piezoelectric actuators 94 and 95 for operating the transmission belt 4 in a direction orthogonal to the moving direction of the operation unit 5 by energizing the unevenness reproduction mechanism.
[0159]
Therefore, by moving the transmission belt 4 at a higher speed, the texture expression in the area that cannot be expressed by the drive motor 10 can be performed more appropriately, and the actual operation feeling can be further felt.
[0160]
Further, in the sensation presentation device 90 of the present embodiment, the unevenness reproduction mechanism is the linear motor actuators 96 and 97 that operate the transmission belt 4 in a direction orthogonal to the moving direction of the operation unit 5 by energization.
[0161]
Therefore, by moving the transmission belt 4 at a high speed, the texture expression in the area that cannot be expressed by the drive motor 10 can be performed more appropriately, and the actual operation feeling can be further felt.
[0162]
As described above, the invention made by the present inventor has been specifically described based on the preferred embodiments. However, the present invention is not limited to the above, and can be variously modified without departing from the gist thereof. Needless to say.
[0163]
【The invention's effect】
According to the sensory presentation device of the first aspect of the present invention, when the operation means that can be operated at an arbitrary speed by applying a force by a person and is movable in a predetermined direction is moved, an operation corresponding to the movement operation is performed. When generating a feeling in the operation means, the operation force on the operation means is detected by the force detection means, and the acceleration of the movement of the operation means when the operation means is moved is detected by the acceleration detection means, The position of the operating means is detected by the position detecting means, and the control means is connected to the operating means via the transmitting means, and the force generating means for generating an operational feeling in the operating means via the transmitting means, The operating means is driven based on the operation contents of the operating means, and an operating feeling corresponding to the moving operation of the operating means is generated in the operating means via the transmitting means, so that the operator can perform the actual operation without creating a prototype. Force similar to the object And be able to feel the operation feeling such as a feeling through operating means, can allow evaluation, it is possible to reduce cost of trial period, the raw material.
[0164]
According to the sensory presentation device of the second aspect of the present invention, the operation means is arranged so as to be slidable in one predetermined direction, and the control means is configured to perform the operation based on the detection results of the force detection means, the acceleration detection means and the position detection means. Then, the force generating means causes the operating means to generate an operational feeling according to the sliding operation position, the sliding operating force, and the sliding acceleration of the sliding operation of the operating means via the transmitting means, so that the operation target that moves linearly is operated. The operation feeling such as the force and feel when the operation is performed can be felt through the operation means, so that the operation can be evaluated, and the cost, period, and raw materials required for the trial production of the operation object that slides can be reduced. be able to.
[0165]
According to the sensation presentation device of the third aspect of the present invention, the transmission unit includes a movable unit that is movable in accordance with the force generated by the force generation unit and transmits the force to the operation unit. Performing a narrowing operation for nipping the movable part and an opening operation for releasing the navigating of the movable part, and providing a sudden change reproducing means for generating a sudden change in the force acting on the operating means, and the control means, Since the operation of the sudden change reproducing means is controlled to cause a sudden change in force in the operating means, the acceleration at the time of collision exceeding the torque generated by the force generating means can be expressed by the sudden change reproducing means, and furthermore. You can feel the actual operation feeling.
[0166]
According to the sensory presentation device of the fourth aspect of the present invention, since the sudden change reproducing means is a piezoelectric actuator that performs the holding operation and the opening operation of the movable portion of the transmitting means by the operation of the piezoelectric element, the force can be reduced with a simple configuration. Acceleration at the time of a collision equal to or higher than the torque generated by the generating means can be expressed, and the actual operation feeling can be felt more inexpensively.
[0167]
According to the sensation presentation device of the fifth aspect of the present invention, the sudden change reproducing means is a pneumatic actuator that performs the holding operation and the opening operation of the movable portion of the transmission means by the operation of the air in the air cylinder, so that the simple configuration is provided. Thus, the acceleration at the time of collision exceeding the torque generated by the force generating means can be expressed, and the actual operation feeling can be felt more inexpensively.
[0168]
According to the sensation presentation device of the invention described in claim 6, the transmission means includes a movable portion which is movable in accordance with the force generated by the force generation means and transmits the force to the operation means. Inertia generating means for acting on the movable portion of the operating means to apply a force in the moving direction of the operating means is provided, and the control means controls the operation of the inertial generating means to generate inertia in the operating means. By setting the control gain to the optimum gain, it is possible to stably generate a force, and by applying a force in the direction in which the operating means is operating by acting on the movable part of the transmission means, a stable operation is ensured. In addition, the inertia to be expressed can be appropriately expressed, and the actual operation feeling can be more stably felt.
[0169]
According to the sensation presentation device according to the seventh aspect of the present invention, the inertia generating means performs the holding operation of holding the movable part of the transmission means by the operation of the piezoelectric element and the opening operation of opening the holding of the movable part. A holding piezoelectric actuator, and a holding position variable actuator to which the holding piezoelectric actuator is attached and which sequentially changes the holding position of the movable portion by the holding piezoelectric actuator in the moving direction of the movable portion. Since the control means controls the operation of the holding piezoelectric actuator and the holding position variable actuator to generate inertia in the operation means, the control gain of the force generation means is set to an optimum gain and the force is stably set. Can be generated, and by acting on the movable part of the transmission means and applying force in the direction in which the operation means is operating, the expression is achieved while ensuring stable operation. It is possible to more adequately represent the inertia, you can feel the more actual operational feeling more stable.
[0170]
According to the sensation presentation device of the invention described in claim 8, the inertia generating means includes a drive roller that can be rotationally driven and stopped at an arbitrary speed, and a drive roller that is disposed to face the drive roller and is connected to the drive roller. A driven roller capable of holding the movable portion of the transmission means therebetween, and a roller holding mechanism for holding and opening the held portion by the drive roller and the driven roller; However, since the roller holding mechanism controls the holding and opening of the movable portion by the roller holding mechanism and the rotation of the drive roller to generate inertia in the operating means, the control gain of the force generating means is set to an optimum gain. Force can be generated stably, and by applying a force in the direction in which the operating means is operating by acting on the movable part of the transmission means, the inertia that you want to express while ensuring stable operation is more appropriate Can be expressed as cheap You can feel the more actual operational feeling more and.
[0171]
According to the sensation presentation device of the ninth aspect, the force generating means includes an output shaft for outputting the force generated in the transmitting means, and the inertia generating means is provided on the output shaft portion of the force generating means. And a force applying unit for performing a force applying operation for applying a force to the vehicle and a force canceling operation for canceling the force. The control unit controls the operation of the force applying unit to generate inertia in the operation unit. Therefore, it is possible to stably generate a force by setting the control gain of the force generating means to the optimum gain, and to apply a force in a direction in which the operating means is operating by acting on the movable part of the transmission means. Thus, it is possible to more appropriately express the inertia desired to be expressed while securing stable operation, and to more stably feel the actual operation feeling.
[0172]
According to the sensation presentation device of the tenth aspect of the present invention, since the force applying means is a piezoelectric actuator that performs a force applying operation of applying a force to the output shaft portion by energization and an applying force canceling operation of canceling the force, With a simple configuration, the inertia to be expressed can be appropriately expressed while ensuring stable operation, and the actual operation feeling can be felt more stably at low cost.
[0173]
According to the sensation presentation device of the eleventh aspect of the present invention, the force applying means performs an electric force applying operation for applying a force to the output shaft portion by changing the viscosity by energization and an applying force canceling operation for canceling the force. Since the viscous fluid actuator is used, the inertia desired to be expressed can be appropriately expressed with a simple configuration while ensuring stable operation, and the actual operation feeling can be felt more stably at low cost.
[0174]
According to the sensation presentation device of the twelfth aspect of the present invention, the transmission means includes a movable portion which is movable in accordance with the force generated by the force generation means and transmits the force to the operation means. Orthogonal moving force generating means for acting on the movable part of the operating means and moving the operating means in a direction orthogonal to the moving direction of the operating means, wherein the control means controls the operation of the orthogonal moving force generating means, and Since the sensation of unevenness or the like is generated by the means, it is possible to express a texture in an area that cannot be expressed by the force generating means, and it is possible to further feel the actual operation feeling.
[0175]
According to the sensation presentation apparatus of the present invention, the orthogonal direction moving force generating means converts the rotational motion into a linear motion and moves the movable portion of the transmitting means in a direction orthogonal to the moving direction of the operating means. Because of the mechanism, the movable portion can be moved at a high speed to more appropriately perform texture expression in an area that cannot be expressed by the force generating means, so that an actual operation feeling can be further felt.
[0176]
According to the sensation presentation apparatus according to the fourteenth aspect of the present invention, the orthogonal direction moving force generating means is a piezoelectric actuator that operates the movable portion of the transmitting means in a direction orthogonal to the moving direction of the operating means by energizing. By moving the movable portion at a high speed, texture expression of an area that cannot be expressed by the force generating means can be performed more appropriately, and a more actual operation feeling can be felt.
[0177]
According to the sensation presentation device of the present invention, a linear motor actuator using a linear motor that operates a movable portion of a transmission means in a direction orthogonal to a movement direction of an operation means by energizing the orthogonal movement force generation means. Therefore, the movable portion can be moved at a high speed, and the texture expression of the area that cannot be expressed by the force generating means can be performed more appropriately, so that the actual operation feeling can be further felt.
[Brief description of the drawings]
FIG. 1 is a perspective view of a main part of a sense presentation device to which a first embodiment of a sense presentation device according to the present invention is applied.
FIG. 2 is a block diagram of a main part of the sensory presentation device of FIG. 1;
FIG. 3 is a flowchart showing a sensation presentation process by the sensation presentation device of FIG. 1;
FIG. 4 is a perspective view of a main part of a sensation presentation device to which a second embodiment of the sensation presentation device of the present invention is applied.
FIG. 5 is an enlarged perspective view of a collision reproducing mechanism of the sensory presentation device of FIG. 4;
FIG. 6 is a perspective view of a main part of another example of the sensation presentation device of FIG. 4;
FIG. 7 is an enlarged perspective view of the compressed air actuator part of FIG. 6;
FIG. 8 is an enlarged perspective view of an inertial reproduction mechanism section of a sensation presentation device to which a third embodiment of the sensation presentation device of the present invention is applied.
FIG. 9 is an enlarged perspective view of another example of the inertial reproduction mechanism shown in FIG. 8;
FIG. 10 is a perspective view of a main part of a sense presenting device to which a fourth embodiment of the sense presenting device of the present invention is applied.
FIG. 11 is an enlarged perspective view of an inertial reproduction mechanism of the sensory presentation device of FIG. 10;
FIG. 12 is an enlarged perspective view of another example of the inertial reproduction mechanism section of the inertial presentation device of FIG. 10;
FIG. 13 is a perspective view of a main part of a sense presentation device to which a fifth embodiment of the sense presentation device of the present invention is applied.
FIG. 14 is a perspective view of a main part of the sensation presentation device using a cam mechanism as the unevenness reproduction mechanism of the sensation presentation device of FIG. 13;
FIG. 15 is a perspective view of a main part of a sensation presentation device using a piezoelectric actuator as the unevenness reproduction mechanism of the sensation presentation device of FIG. 13;
FIG. 16 is a perspective view of a main part of a sensation presentation device using a linear motor as the unevenness reproduction mechanism of the sensation presentation device of FIG. 13;
[Explanation of symbols]
1 Sense presentation device
2 Drive roller
2a Drive shaft
3 driven rollers
3a driven shaft
4 Transmission belt
5 Operation section
5a gripper
6 6-axis force sensor
7 acceleration sensor
8 Position detection head
9 Linear encoder
10 Drive motor
20 Body
30 control unit
31 Motor driver
32 Control computer
33 Force sensor receiver board
34 AD / DA conversion board
35 Encoder board
40 Sensory presentation device
41 Collision Reproduction Mechanism
42 Multilayer piezoelectric element
50 Sensory presentation device
51 Pneumatic actuator
52 Air cylinder holding part
60 Sensory presentation device
61 Inertial Reproduction Mechanism
62 arm
63 Slide direction thrust generator
64 sandwiching part
71 Inertial Reproduction Mechanism
72 prop
73 Drive roller compression arm
74 driven roller compression arm
75 drive roller
76 driven roller
80 Sensory presentation device
81 Inertial Reproduction Mechanism
82 arm
83 Narrow part
85 Electro-rheological fluid actuator
90 Sensory presentation device
91, 92 Cam mechanism
94,95 Piezoelectric actuator
96, 97 linear motor actuator
96a, 97a drive arm

Claims (15)

An operating means that can be operated at an arbitrary speed by applying a force by a person is arranged so as to be movable in a predetermined direction, and when the operating means is operated to move, an operation feeling corresponding to the moving operation is generated on the operating means. A sensation presentation device for causing the operation means to detect an operation force applied to the operation means; an acceleration detection means for detecting an acceleration of movement of the operation means when the operation means is moved; A position detecting means for detecting a position of the means, a force generating means connected to the operating means via a transmitting means to generate an operational feeling in the operating means via the transmitting means, and a moving operation of the operating means. Then, the force generation unit is driven based on the detection results of the force detection unit, the acceleration detection unit, and the position detection unit, and an operation feeling corresponding to a moving operation of the operation unit is transmitted through the transmission unit. Sensation presentation apparatus characterized by comprising a control means for generating the work unit. In the sensation presentation device, the operation means is arranged so as to be slidable in one predetermined direction, and the control means is configured to perform a sliding operation based on detection results of the force detection means, the acceleration detection means, and the position detection means. The force generating means generates an operational feeling according to the slide operation position, the slide operation force, and the slide acceleration of the slide operation of the operation means via the transmission means. The sensory presentation device according to 1. The transmission unit includes a movable unit that is movable in accordance with the force generated by the force generation unit and transmits the force to the operation unit, and the sensation presentation device includes a movable unit that holds the movable unit of the transmission unit. A sudden change reproducing means for performing a holding operation and an opening operation for releasing the holding of the movable part to generate a sudden change in the force acting on the operating means, wherein the control means operates the sudden change reproducing means. The sensory presentation device according to claim 1 or 2, wherein a sharp change in force is generated in the operation means by controlling the operation means. 4. The sensation presentation device according to claim 3, wherein the sudden change reproduction unit is a piezoelectric actuator that performs a holding operation and an opening operation of the movable unit of the transmission unit by an operation of a piezoelectric element. 4. The sensation presentation device according to claim 3, wherein the sudden change reproducing unit is a compressed air actuator that performs a holding operation and an opening operation of the movable unit of the transmission unit by an operation of air in an air cylinder. The transmission unit includes a movable unit that is movable in accordance with the force generated by the force generation unit and transmits the force to the operation unit, and the sensation presentation device acts on the movable unit of the transmission unit to transmit the force. The apparatus according to claim 1, further comprising inertia generating means for applying a force in a moving direction of the operating means, wherein the control means controls the operation of the inertial generating means to generate inertia in the operating means. 5. The sensory presentation device according to any one of 5. The inertial generating means includes a holding piezoelectric actuator that performs a holding operation of holding the movable portion of the transmission unit by an operation of a piezoelectric element and an opening operation of opening and holding the movable portion, and the holding piezoelectric actuator. Is attached, the holding position variable actuator that sequentially changes the holding position of the movable portion by the holding piezoelectric actuator in the moving direction of the movable portion, and the control unit includes the holding piezoelectric actuator and the holding device. 7. The sensation presentation device according to claim 6, wherein the operation of the variable holding position actuator is controlled to generate inertia in the operation unit. The inertia generating means is capable of holding the movable portion of the transmission means between a driving roller that can be rotationally driven and stopped at an arbitrary speed, and a driving roller that is disposed to face the driving roller and that is driven by the driving roller. A driven roller, and a roller holding mechanism for holding and releasing the holding of the movable portion by the drive roller and the driven roller, wherein the control means controls the movable portion by the roller holding mechanism. 7. The sensation presentation device according to claim 6, wherein an inertia is generated in the operation unit by controlling the holding and opening of the holding and the rotating operation of the driving roller. The force generating means includes an output shaft for outputting the generated force to the transmission means, and the inertia generating means cancels the force applying operation for applying a force to the output shaft portion of the force generating means. 7. The sensation presentation device according to claim 6, further comprising a force applying unit that performs an applying force canceling operation, wherein the control unit controls an operation of the force applying unit to generate inertia in the operation unit. . 10. The sensation presentation device according to claim 9, wherein the force applying unit is a piezoelectric actuator that performs a force applying operation of applying a force to the output shaft portion by energization and a applying force canceling operation of canceling the force. The said force giving means is an electrorheological fluid actuator which performs a force giving operation of giving a force to the output shaft portion by changing the viscosity by energization, and a giving force canceling operation of canceling the force. 9. The sensory presentation device according to item 9. The transmission unit includes a movable unit that is movable in accordance with the force generated by the force generation unit and transmits the force to the operation unit, and the sensation presentation device acts on the movable unit of the transmission unit to transmit the force. An orthogonal moving force generating means for moving the operating means in a direction orthogonal to the moving direction, wherein the control means controls the operation of the orthogonal moving force generating means to generate a sense of unevenness or the like in the operating means; The sensation presentation device according to any one of claims 1 to 11, wherein the sensation presentation device is configured to: 13. The apparatus according to claim 12, wherein the orthogonal moving force generating means is a cam mechanism for converting a rotating operation into a linear operation and moving a movable portion of the transmitting means in a direction orthogonal to a moving direction of the operating means. A sensory presentation device as described. 13. The sensation presentation device according to claim 12, wherein the orthogonal movement force generating means is a piezoelectric actuator that operates a movable portion of the transmission means in a direction orthogonal to a movement direction of the operation means when energized. 13. The linear motor actuator as claimed in claim 12, wherein the orthogonal direction moving force generating means is a linear motor actuator using a linear motor that operates a movable portion of the transmission means in a direction orthogonal to a moving direction of the operation means when energized. Sensory presentation device.

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