JP2005004580A - Inner force exhibition method and device using spout - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inner force exhibition method and device, allowing increase of an inner force exhibition range, allowing improvement of expressive power such that a three-dimensional object, an object having an uneven face or the like can be exhibited by an inner force, allowing inner force exhibition to a plurality of operators or allowing a plurality of inner force exhibitions to one operator, and allowing interlocking with movement of an object in a virtual space. <P>SOLUTION: By spouting air 3 from a plurality of spouts 201 to display an image applied to an accepter 1, the inner force is exhibited to an operator 4 touching the accepter 1. At that time, by controlling the plurality of spouts 201 according to a position or a direction of the accepter 1, the expressive power of the inner force exhibition is improved. By displaying an image of that state on an image display device, the inner force can be virtually exhibited. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a force sense presentation method and apparatus for presenting a force sense using a jet of gas or liquid.
[0002]
[Prior art]
As a method for presenting a force sense in a virtual space, there is an apparatus using wind pressure (Patent Document 1). In this force sense presentation device, a force sense can be presented to the operator by applying wind pressure to an object that receives a light and simple structure of wind prepared on the operator's body or grasped object. Because the force is applied by air, the operator generates force because it is not necessary to wear a device that presents a sense of force or to have or install an arm or wire connected to an installation device for transmitting force. It does not need to be physically connected to the ejection device and does not hinder movement. As a result, the operator can freely move the body such as the hand without being physically restricted by the apparatus. Further, the operator is safe without applying excessive force. Moreover, since air is transparent, it does not disturb the video display.
[0003]
[Patent Document 1] Japanese Patent Laid-Open No. 2001-22499
[Problems to be solved by the invention]
However, the above-described conventional device for presenting a sense of force by wind pressure has realized the basic principle.
[0004]
It is an object of the present invention to expand the haptic presentation range, enhance the expressive power so that a three-dimensional object, an object having an uneven surface, etc. can be hapticly presented, and further present a plurality of haptic presentations to one operator. It is an object of the present invention to provide a force sense presentation method and apparatus that can perform a sense of force, present a force sense to a plurality of operators, or interlock with movement of an object in a virtual space.
[0005]
[Means for Solving the Problems]
The invention according to claim 1 is a force sense presentation method in which a force sense is presented to a receptor by ejecting a plurality of gases or liquids to the receptor and depending on the position or orientation of the receptor. A force sense presentation method characterized by controlling a plurality of jets.
[0006]
According to a second aspect of the present invention, in the haptic presentation method according to the first aspect, the haptic presentation method is characterized in that a virtual object is represented on a virtual space display unit in accordance with the position or orientation of the receptor.
[0007]
The invention according to claim 3 is the force sense presentation method according to claim 2, wherein the virtual object or another virtual object in the virtual space has a position, direction, shape, size, color, or the like. The force sense presentation method is characterized in that the ejection is controlled.
[0008]
The invention according to claim 4 is the force sense presentation method according to claim 1, wherein the posture or shape of the receptor is changed according to the orientation or position of the receptor. It was.
[0009]
According to a fifth aspect of the present invention, in the force sense presentation method according to the second or third aspect, the virtual object or the other virtual object has a position, a direction, a shape, a size, a color, etc. A force sense presentation method is characterized in that the posture or shape of the receptor is changed.
[0010]
The invention according to claim 6 is the force sense presentation method according to claim 1 or 4, wherein the amount, position, and direction of the ejection are determined according to at least one of the position, orientation, posture, and shape of the receptor. The force sense presentation method is characterized in that at least one of them is changed.
[0011]
The invention according to claim 7 is the force sense presentation method according to claim 2, 3 or 5, according to the position, direction, shape, size, color, etc. of the virtual object or the other virtual object. The force presentation method is characterized in that at least one of the amount, position and direction of the ejection is changed.
[0012]
According to an eighth aspect of the present invention, there is provided jet means having one or two or more jet outlets capable of manipulating the jet quantity of gas or liquid, and pressure applied by the gas or liquid jetted from the jet outlet of the jet means. One or more receptors presenting a sense of sensation, a receptor measuring means for measuring the position or orientation of the receptor, and a spout of the ejection means according to the measured position or orientation of the previous receptor. And a jet control means for controlling the jet of the gas or liquid.
[0013]
The invention according to claim 9 is the force sense presentation device according to claim 8, further comprising virtual space display means for expressing a virtual object in a virtual space, wherein the position of the receptor measured by the receptor measurement means or The haptic device is provided with a virtual space system that represents the virtual object in the virtual space according to a direction.
[0014]
According to a tenth aspect of the present invention, in the haptic device according to the ninth aspect of the invention, the ejection control means is arranged such that the position, direction, shape, size, and color of the virtual object or another virtual object in the virtual space. The haptic device is characterized in that the ejection from the ejection port of the ejection means is controlled in accordance with the state.
[0015]
The invention according to claim 11 is the force sense presentation device according to claim 8, further comprising a receptor control unit that changes the posture or shape of the receptor according to the position or orientation of the receptor. It was set as the force display apparatus characterized.
[0016]
According to a twelfth aspect of the present invention, in the haptic device according to the ninth or tenth aspect, the virtual object or the other virtual object has a position, direction, shape, size, color, or the like depending on the state. The haptic device is provided with a receptor control unit that changes the posture or shape of the receptor.
[0017]
The invention according to claim 13 is the force sense presentation device according to claim 8 or 11, wherein the ejection means is operable to change the position or direction of the ejection position by changing the position or direction of the ejection port, The ejection control means controls at least one of the amount, position, and direction of the ejection according to at least one of the position, orientation, posture, and shape of the receptor measured by the receptor measurement means. A force sense presentation device characterized by
[0018]
According to a fourteenth aspect of the present invention, in the force sense presentation device according to the ninth, tenth or twelfth aspect, the front ejection means can operate the ejection position or direction by changing the position or direction of the ejection port. The ejection control means controls at least one of the amount, position and direction of the ejection according to the state of the virtual object or the other virtual object, such as the position, direction, shape, size, color, etc. A force sense presentation device characterized by
[0019]
DETAILED DESCRIPTION OF THE INVENTION
[First embodiment]
FIG. 1 is a configuration diagram of a force sense presentation device according to a first embodiment of the present invention, FIG. 2 is an explanatory diagram of an operator 4, a receptor 1, and a jetting means 2, and FIG. 3 is a flowchart of force sense presentation processing. .
[0020]
The receptor 1 receives a gas or liquid such as air 3 ejected from the ejection port 201 of the ejection means 2 and presents a sense of force. The operator 4 receives a sense of force by grasping or attaching the receptor 1 to the body, or by using clothes already provided for the operator as the receptor 1. The receiver 1 is configured to receive the air 3 or the like ejected from the ejection port 201 of the ejection means 2, and the operator 4 holds or attaches it to present a sense of force in the received ejection direction.
[0021]
In addition, when the receiver 1 is attached to the tip of a certain length of rod and the operator 4 grips or attaches the opposite side of the rod, the force received by the ejection is amplified, or the rod is gripped or A sense of force is presented to the operator 4 as a rotational force with the attachment position as a fulcrum. In this case, the feeling given to the user can be changed by changing the stick to a material that can be easily bent or a hard material that does not.
[0022]
In addition, the manner in which the force is applied to the operator 4 can be changed by attaching the plurality of receptors 1 to the object that the operator 4 holds or attaches and controlling the ejection to each of the receptors 1. For example, as shown to Fig.4 (a)-(d), it is a case where the some receptor 1 receives blowing air, and shows the resultant force to the operator 4 as force. The force to be presented is controlled by changing the distance or angle at which the plurality of receptors 1 are arranged to the position where the operator 4 is given force, and controlling the amount of ejection to each of the receptors 1. be able to.
[0023]
4A shows a case where the central receptor 1 among the four receptors 1 presents a force sense to the operator 4, and FIG. 4B shows a case where the central part connecting the three receptors 1 is operated. When force is presented to the person 4, FIG. 4 (c) is a case where force is presented to the operator 4 via the rod-like body 101 in contact with all of the four receptors 1 arranged in a line. The case where one end of the rod-like body 102 is pressed against the central one of the four receptors 1 and the haptic sense is presented to the operator 4 at the other end of the rod-like body 102 is shown.
[0024]
The shape of the receiving surface that receives the wind of the receiver 1 may be a mere flat surface, but it is preferable that the receiving surface be a concave surface that can efficiently receive the force due to the ejection and is difficult to receive the rotational force.
[0025]
The receptor measuring means 5 detects one or both of the position and orientation of the receptor 1. As this receptor measuring means 5, there are a magnetic sensor, a detecting means using ultrasonic waves or infrared rays, a detecting means using image analysis by marking, and the like.
[0026]
The ejection means 2 is configured such that a gas or liquid such as air 3 is ejected and the ejection amount can be manipulated. Hereinafter, a case where air 3 is particularly ejected will be described as an example. Specific air ejection sources constituting the ejection means 2 include a fan, an air pump, an air compressor, and the like. As a structure of the ejection means 2, when one ejection port 201 for ejecting air is provided for one air ejection source that generates such air, or for one air ejection source, There are some which are branched into a plurality of spouts 201.
[0027]
Regarding the operation of the air ejection amount, in addition to controlling the ejection amount itself and controlling the pressure, there are cases where the amount is changed by restricting the ejection path, and the ejection quantity is made zero by a valve that opens and closes the ejection path. Or there is a combination of them.
[0028]
FIG. 5 is a diagram illustrating a configuration example of the ejection unit 2, in which the air from the air ejection source 202 using an air compressor is branched by the branch device 203 and ejected to the plurality of ejection ports 201. A plurality of valves 204 for opening and closing the ejection path are provided in the middle of branching, and ON / OFF of each valve 204 can be operated. In the case of this structure, the branch device 203 and the plurality of valves 204 can easily correspond to the plurality of ejection ports 201 without increasing the number of air ejection sources 202. As described above, as the operation of the ejection amount when branching from one air ejection source 202 to a plurality of ejection ports 201, the operation is performed before branching and when the individual ejection ports 201 are operated after branching. There are cases.
[0029]
Regarding the operation of other ejection amounts, there are the following methods. There may be a case where the entire amount to be ejected is manipulated by preparing a plurality of ejection ports 201 having a constant ejection amount and changing the number of the ejection ports 201 ejected simultaneously. In addition, there are cases where several types of ejection ports having different ejection amounts are prepared, and a plurality of them are attached within a certain range, and when the ejection is performed, the total amount of ejection is controlled by combining the ejections of the several types of ejection amounts.
[0030]
As a method of preparing a plurality of jet outlets of the latter different jetting amounts, as shown in FIG. 6 (a), a plurality of air jet sources 202A, 202B, 202C having different jet pressures are prepared, and each of them is provided with a separate jet. There is a method of connecting the outlet 201 and arranging the outlets 201 having different ejection amounts in a certain range. Further, as shown in FIG. 6B, a plurality of air ejection sources 202 having the same ejection pressure are branched into different numbers and connected to the ejection port 201, or the length of the pipe to the ejection port 201 is increased. There is a method in which the jet outlets 201 having different jetting amounts are interwoven and arranged in a certain range by varying the thickness and the diameter of the jet nozzle 201.
[0031]
The ejection control unit 6 determines the amount of air ejected from the ejection port 201 based on the position or ejection direction of one or more ejection ports 201 according to the position or orientation of the receptor 1 measured by the receptor measurement unit 5. Control. For example, as shown in FIG. 2, in the case of the jetting means 2 in which the upward jetting nozzles 201 are arranged at regular intervals on the plane, the receptor 1 moves on the plane where the jetting nozzles 201 are arranged, The ejection amount of the ejection port 201 directly under and around the receptor 1 is controlled along the position of the receptor 1 with respect to the surface of the outlet 201.
[0032]
Thus, since the ejection control means 6 of the present embodiment controls the ejection amount according to the position or orientation of the receptor 1, the ejection control means 6 is an ejection means 2 in which the ejection openings 201 are arranged at equal intervals. In addition, force sense can be presented with a resolution smaller than the interval between the ejection ports 201. That is, the resolution of the force sense presentation is not the interval between the ejection ports 201 but the resolution of the position measurement of the receptor 1. However, at this time, it is necessary to receive the eruption wherever the receptor 1 is located. For example, by setting the size of the receiver 1 so as to largely cover the upper part of the jet outlet 201, the range in which the air ejected from one jet outlet 201 can be received is widened. Even if the receptor 1 is positioned around the jet nozzle 201, the jet from the specific jet nozzle 201 can be received.
[0033]
When the operation method of the ejection means 2 takes the form as shown in FIG. 5 (by control of the valve 204), the corresponding valve of the ejection port 201 is ejected from the ejection port 201 directly under or near the receptor 1. Opening can control ejection. It can also be controlled according to the height from the ejection surface. Similarly, when the receptor 1 moves to another position or height, the ejection of the ejection means 2 immediately below or around the receptor 1 can be controlled.
[0034]
At the same time, the number of the jets 201 for jetting air may be two or more when the jet nozzles 201 just below or around the receiver 1 and a plurality of jets 201 around it are combined. The spout 201 corresponding to a position that cannot be received by the receiver 1 is not received by the receiver 1 even if air is spouted and is not presented to the operator 4, so that there is no problem even if it is ejected. Therefore, for simplification, air may be ejected from all the ejection ports 201 during ejection.
[0035]
As other forms of the ejection control means 6, when changing the ejection amount from one ejection port 201 according to the position or orientation of the receptor 1, or changing the number of ejection ports 201 to be ejected It is possible to make it. For the latter, for example, in the case where the jetting means 2 is provided with a plurality of jetting ports 201 having different jetting amounts as shown in FIGS. 6A and 6B, the jetting means 2 is arranged around the receiver 1. Further, the amount of ejection is controlled by combining some of the plurality of ejection ports 201. As shown in FIG. 2, in the case of the ejection means 2 taking the form in which the upwardly directed ejection ports 201 are arranged on the plane at regular intervals, the height of the receptor 1 relative to the ejection port 201 and the orientation of the receptor 1 Accordingly, since the force received by the receptor 1 due to the ejection from one ejection port 201 changes, control is performed so that the force does not change.
[0036]
In addition, when the jet nozzle 201 has a configuration other than that shown in FIGS. 2 and 6 and is arranged in a three-dimensional manner or when jetted in various directions, the receptor measuring means 5 According to the measured position or orientation of the receptor 1, the ejection is controlled based on the position of the ejection port 201 and the direction of ejection.
[0037]
Further, when controlling the ejection, the position or orientation of the next receptor is pre-read based on the current position or orientation information of the receptor 1, and the ejection is controlled according to the position or orientation of the pre-read receptor 1. By doing so, the delay of the ejection control can be compensated. Moreover, even if the receptor 1 moves, the presentation at the time of switching of a spout is carried out by ejecting simultaneously from the several spout 201 of the periphery where the receptor 1 is located, or spouting the prefetched next spout 201 simultaneously. The change in force can be made relatively small. At this time, it is considered that the force to be received fluctuates as in the case where the initial force of the ejection is large, such as when switching, or when a plurality of ejections are received at the same time, so the ejection amount from the ejection port 201 received by the receptor 1 It may be preferable to control
[0038]
In addition, by incorporating a plurality of receptors 1 and controlling a plurality of spouts 201, a plurality of force senses can be presented to a single operator or a force sense can be presented to a plurality of operators. It becomes.
[0039]
Moreover, since a control process of the ejection amount of each ejection port 201 can be performed independently according to the position of each receptor 1, the present embodiment can easily increase the number of receptors 1 and ejection ports 201. Can do. For example, there is a method in which a jettable area of a certain jet outlet 201 is determined, and it is checked whether or not there is a receptor 1 to be jetted in the area. In the case of such an ejection, the ejection possible area of each ejection outlet 201 is up to a certain height above the ejection outlet 201, and depending on whether or not there is a receptor 1 to be ejected from the ejection outlet 201, To control the eruption. Of course, it is also possible to set an area by using a collection of a plurality of jets 201 as one jet. However, it is necessary to control so that there is no receptor 1 that should not be ejected in the same area as the receptor 1 to be ejected. Even if a plurality of jet outlets 201 that perform such processing are prepared, each jet can be processed independently, so that the number of jetting locations can be easily increased. Further, in this ejection method, it is not necessary to distinguish each of the receptors 1 from the ejection port 201, and it is only necessary to check whether any receptor 1 should be ejected. Therefore, the number of receptors 1 can be increased easily. Can do. Of course, the processing is not considered based on the respective jet outlets 201 as described above, but conversely, whether or not each of the receptors 1 should be ejected in accordance with the position of each of the receptors 1 as a reference. May control the ejection by calculating from which ejection port 201.
[0040]
In this way, by incorporating a plurality of receptors 1 and controlling a plurality of jets 201, a plurality of haptics can be presented to one operator for both hands, etc. Force display is possible. Further, the plurality of jet nozzles 201 can also be continuously expanded and arranged in a certain range, for example, when the configuration shown in FIG. 2 is expanded to a wide range, or can be discretely arranged in a wide space. At this time, in this embodiment, since the receptor 1 has a feature that it is not connected to the installation device by a line or the like, the user who receives a sense of force by the ejection can move in a wide range while holding the receptor 1, Even if you move, you won't get tangled with other people.
[0041]
[Second Embodiment]
FIG. 7 is a block diagram of the haptic device according to the second embodiment of the present invention, and FIG. 8 is a flowchart of haptic processing. The virtual space system 7 includes a virtual space display device that represents a virtual object in the virtual space, and represents the virtual object in the virtual space according to the position or orientation of the receptor 1 measured by the receptor measuring means 5. .
[0042]
For example, the position information and orientation information of the receptor 1 measured by the receptor measurement means 5 are used to change the position and direction of an object in the virtual space, or the shape, size, color, etc. of the object. The state of is changed and expressed. Or, according to the position, direction, and state of the virtual object, those of other objects are changed. As a virtual space display device, it is possible to project on a standard-sized or life-size display, HMD, etc., or use a projection by a projector, and monocular or multi-view (stereoscopic) can also be used.
[0043]
[Third embodiment]
FIG. 9 is a configuration diagram of a force sense presentation device according to a third embodiment of the present invention, FIG. 10 is a flowchart of force sense presentation processing, and FIG. 11 is an explanatory diagram of a virtual space system. Here, the ejection amount of the ejection port 201 is controlled by the ejection control means 6 in accordance with the position, direction, shape, size, color, and the like of the virtual object in the virtual space using the virtual space system 7. For example, when an object in the virtual space comes into contact, the ejection is controlled by the direction or strength of the contact. Also, the ejection timing relative to the visual contact timing can be controlled.
[0044]
Next, a method for expressing a virtual object in the virtual space by a touch feeling will be described. 11 (a) and 11 (b) show the relationship between the virtual object in the virtual space in the case of the jetting means 2 in which the upward jetting ports 201 are arranged on the plane at regular intervals as shown in FIG. It is about the method of expressing a touch sensation. FIG. 11A shows the state in the virtual space, and FIG. 11B shows the actual state.
[0045]
When the virtual object 8 contacts the virtual object 9 in the virtual space system in which the virtual object 8 in FIG. 11A is linked according to the position or orientation of the actual receptor 1 in FIG. Air is ejected to the receptor 1 at that position by the ejection means 2 (S-1). As a result, a force sense is transmitted to the operator 4 holding the receptor 1, and the force sense is presented as a sense of contact with the object 9, and the force sense that the surface of the object 9 exists at that position. Present. While the virtual objects 8 and 9 are in contact with each other, air is blown out to force the operator to keep touching. When the receptor 1 moves and the force sense is presented while the virtual object 8 moves along the surface of the virtual object 9, the surface of the virtual object 9 exists along the movement of the virtual object 8. Force sense is presented by touch.
[0046]
When the receptor 1 moves or when the virtual objects 8 and 9 stop contacting in the virtual space due to the movement of the virtual object 9 in the virtual space, the ejection to the actual receptor 1 stops (S-2). ). As a result, a force sense is given by the sense of contact that the virtual objects 8 and 9 are not in contact with each other, and the virtual object 9 does not exist where the virtual object 8 currently exists.
[0047]
An expression of an inclined surface by a touch feeling when a part of the virtual object 9 is an inclined surface will be described. In (S-1), the virtual objects 8 and 9 come into contact with each other, whereby force due to the ejection of air is hapticly presented to the operator 4, but when the receptor 1 is further moved horizontally, the virtual object 8 is moved in the virtual space. 9 will not touch. Thereby, the ejection of air is stopped (S-3). Further, in order to come into contact with the virtual object 9, the position of the virtual object 8 in the virtual space is lowered by lowering the receptor 1, and comes into contact with the virtual object 9 again to start ejection (S-4). In this way, by moving the receptor 1 along the inclined surface and ejecting air, the fact that the surface of the object 9 is inclined is presented to the operator and expressed.
[0048]
[Fourth embodiment]
FIG. 12 is a block diagram of a force sense presentation device according to a fourth embodiment of the present invention, and FIG. 13 is a flowchart of force sense presentation processing. According to the position or orientation of the receptor 1 measured by the receptor measuring means 5 by providing the receptor control unit 10, or the position, direction, shape, and size of the virtual object in the virtual space using the virtual space system. The posture and shape of the receptor 1 are changed according to the state such as color and color. As shown in FIG. 2, in the case of the ejection means 2 in which a plurality of upward ejection nozzles 201 are arranged at a constant interval on the plane, the case where the orientation of the receptor 1 is downward and the case where it is tilted, The amount of air that is ejected is different, and the force that is presented is different. Therefore, control is performed so that the orientation of the receptor 1 is always downward according to the measurement result of the receptor measurement means 5 and the position, direction, shape, size, color, and the like of the virtual object. For example, it is mechanically controlled, or is turned downward with a weight or a magnet.
[0049]
In addition, the size and shape of the receptor 1 may be changed to control the amount of air received. Specifically, as shown in FIG. 14, a plurality of blades 103 that can rotate or change the angle are provided on the side surface of the receiver 1, and the blades 103 are rotated or the angle thereof is changed. By making 1 easy to receive or escape air, it is possible to control the amount of air that is received. Further, the direction of the force to be presented can be controlled by changing the direction of the receptor 1 with respect to the ejection direction.
[0050]
[Fifth embodiment]
FIG. 15 is a flowchart of a force sense presentation process according to the fifth embodiment of the present invention. By changing the position of the jet outlet 201 or the jet direction, the air jet position and jet direction can be operated. In the present embodiment, the ejection control means 6 is responsive to the position or orientation of the receptor 1 measured by the receptor measurement means 5 or the position, direction, shape, size, color, etc. of the virtual object in the virtual space. The ejection amount, ejection position, or ejection direction of the ejection port 201 of the ejection means 2 is controlled according to the state or according to the posture and shape of the receptor 1.
[0051]
As a method of changing the position and direction of the ejection port 201 of the ejection means 2, for example, when the ejection port 201 itself is moved or rotated to each of the plurality of ejection ports 201 as shown in FIG. In some cases, possible nozzles 205 are individually provided to control the respective directions individually. Also, as shown in FIG. 16B, by moving a slider 206 provided with openings corresponding to a plurality of jet ports 201 in a specific range, the jet ports of only a specific group of jet ports 201 are made effective. There is a method of moving the jet nozzle 201 substantially by making it. Alternatively, there is a method in which some or all of the ejection ports 201 are collectively changed to change the ejection direction. Further, as shown in FIG. 16C, a spherical or hemispherical nozzle 207 is provided at the tip of the cylindrical outlet 201 and rotated to change the position of the nozzle port 208, or FIG. As shown in FIG. 5, the nozzle 209 having a plurality of nozzle ports 208 may be provided to control the ejection direction so that only the nozzle ports 208 in the direction in which ejection is desired are opened.
[0052]
【The invention's effect】
From the above, according to the present invention, since the force sense is given by the ejection of gas or liquid, the operator does not need to be physically connected to the ejection device that generates the force, and the arm or the wire that transmits the installation or the force is transmitted. Can move a body such as a hand freely without being hindered by movement, that is, without being physically restrained by the device. Therefore, the operator is safe without applying excessive force. When using air, it is transparent and does not interfere with video display.
[0053]
In addition, it is possible not only to expand the force sense display range by controlling the ejection of multiple ejection ports, but also to control the amount, position, and direction of ejection according to the position, orientation, posture, shape, etc. of the receptor. By doing so, it is possible to force-present a three-dimensional object, an object having an uneven surface, and the like, and it is possible to enhance the expressive power.
[0054]
In addition, by preparing a plurality of receptors along with a plurality of jet outlets, the jet of each jet outlet is controlled according to the state of one or more receivers, and a plurality of It is possible to present haptics and present haptics to multiple operators.
[0055]
In addition, by controlling the ejection of each ejection outlet according to the position of the receptor, even if the ejection means has ejection outlets arranged at equal intervals, the receptor is ejected at an arbitrary position within the force sense presentation range. If it is comprised so that it can receive, the thing smaller than the space | interval of a jet nozzle can be force-presented. That is, the resolution of force sense presentation can be made dependent on the resolution of the position measurement of the receptor, not on the interval between the spouts.
[0056]
In addition to air, other gases and liquids are also subject to ejection control, so that the expressive power can be further enhanced.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a force sense presentation device according to a first embodiment of the present invention.
FIG. 2 is an explanatory diagram of an operator, a receptor, and an ejection unit of the force sense presentation device according to the first embodiment.
FIG. 3 is a flowchart of force sense presentation processing according to the first embodiment;
FIG. 4 is an explanatory diagram of a mechanism for controlling a force sense presented by the force sense presenting device according to the first embodiment;
FIG. 5 is an explanatory diagram of a mechanism for ejecting air from a plurality of ejection ports of the force sense presentation device according to the first embodiment;
FIGS. 6A and 6B are explanatory diagrams of ejection means in the haptic device according to the first embodiment. FIGS.
FIG. 7 is a configuration diagram of a force sense presentation device according to a second embodiment of the present invention.
FIG. 8 is a flowchart of force sense presentation processing according to the second embodiment;
FIG. 9 is a configuration diagram of a force sense presentation device according to a third embodiment of the present invention.
FIG. 10 is a flowchart of a force sense presentation process according to the third embodiment.
FIG. 11 is an explanatory diagram of a virtual space system in the haptic device according to the third embodiment.
FIG. 12 is a configuration diagram of a force sense presentation device according to a fourth embodiment of the present invention.
FIG. 13 is a flowchart of force sense presentation processing according to the fourth embodiment;
FIGS. 14A and 14B are explanatory views of a receptor controlled by a receptor control unit in the haptic device according to the fourth embodiment.
FIG. 15 is a flowchart of force sense presentation processing according to the fifth embodiment of the present invention.
FIGS. 16A to 16D are explanatory views for changing the position of the ejection means and the ejection direction in the haptic device of the fifth embodiment.
[Explanation of symbols]
1: Receptor, 101, 102: Rod, 103: Blade
2: jetting means, 201: jet outlet, 202: air jet source, 203: branching device, 204: valve, 205: nozzle, 206: slider, 207: nozzle, 208: nozzle port, 209: nozzle
3: Blowing air
4: Operator
5: Receptor measurement means
6: Ejection control means
7: Virtual space system
8: Virtual object
9: Virtual object
10: Receptor control unit

Claims (14)

A force sense presentation method for presenting force sense to a receptor by ejecting a plurality of gases or liquids to the receptor, wherein the plurality of ejections are controlled according to the position or orientation of the receptor. A haptic presentation method as a feature. The force sense presentation method according to claim 1,
A force sense presentation method characterized by expressing a virtual object on a virtual space display means according to the position or orientation of the receptor. The force sense presentation method according to claim 2,
A force sense presentation method, wherein the ejection is controlled in accordance with a state of the virtual object or another virtual object in the virtual space, such as a position, a direction, a shape, a size, and a color. The force sense presentation method according to claim 1,
A force sense presentation method, wherein the posture or shape of the receptor is changed in accordance with the orientation or position of the receptor. In the force sense presentation method according to claim 2 or 3,
A force sense presentation method, wherein the posture or shape of the receptor is changed in accordance with the position, direction, shape, size, color, or the like of the virtual object or another virtual object. In the force sense presentation method according to claim 1 or 4,
A force sense presentation method, wherein at least one of the amount, position, and direction of the ejection is changed according to at least one of the position, orientation, posture, and shape of the receptor. In the force sense presentation method according to claim 2, 3 or 5,
Haptic presentation characterized by changing at least one of the amount, position, and direction of the ejection according to the position, direction, shape, size, color, etc. of the virtual object or the other virtual object Method. Jetting means having one or more jetting ports capable of operating the jetting amount of gas or liquid;
One or more receptors presenting a sense of force under pressure by the gas or liquid ejected from the ejection port of the ejection means;
A receptor measuring means for measuring the position or orientation of the receptor;
An ejection control means for controlling ejection of the gas or liquid from the ejection port of the ejection means according to the measured position or orientation of the front receptor;
A force sense presentation device characterized by comprising: The force sense presentation device according to claim 8,
Virtual space display means for representing a virtual object in a virtual space, and a virtual space system for representing the virtual object in the virtual space according to the position or orientation of the receptor measured by the receptor measurement means. A haptic device characterized by that. The haptic device according to claim 9, wherein
The ejection control means controls the ejection from the ejection port of the ejection means according to the state of the virtual object or another virtual object in the virtual space, such as the position, direction, shape, size, color, etc. A haptic device characterized by the above. The force sense presentation device according to claim 8,
A force sense presentation device comprising: a receptor control unit that changes a posture or a shape of the receptor according to a position or orientation of the receptor. In the force sense presentation device according to claim 9 or 10,
A force comprising a receptor control unit that changes the posture or shape of the receptor according to the position, direction, shape, size, color, or the like of the virtual object or the other virtual object. Sense presentation device. In the force sense presentation device according to claim 8 or 11,
The ejection means is operable to change the position or direction of the ejection position by changing the position or direction of the ejection port,
The ejection control means controls at least one of the amount, position, and direction of the ejection according to at least one of the position, orientation, posture, and shape of the receptor measured by the receptor measurement means. A haptic device characterized by the above. The force sense presentation device according to claim 9, 10 or 12,
The pre-ejecting means can operate the position or direction of the ejection by changing the position or direction of the ejection port,
The ejection control means controls at least one of the amount, position, and direction of the ejection according to a state such as a position, direction, shape, size, and color of the virtual object or the other virtual object. A haptic device that is characterized.

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