JP2006224691A - Cutaneous sensation operation support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a cutaneous sensation operation support system to be used as a meter in such a state that a visual load of an aircraft pilot is abnormally increased. <P>SOLUTION: An information presenting surface 2 structured of pin array of working pins 1 is arranged near a control stick S, and information is transmitted to the pilot through cutaneous sensation of a thumb of the pilot. A working pin control device 3 properly controls working range, working time and working frequency of the pin array, and generates working range flowing or staying operation corresponding to the flight information and the operation information in the information presenting surface 2, and this operation is transmitted to the pilot through the cutaneous sensation. Working frequency of the working pin 1 is usually controlled near 30 [Hz] in consideration of sensitivity characteristic of a tactile sensation receiver. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a skin sensation operation support device, and more particularly to a skin sensation operation support device that can be used as an instrument in a situation where the visual load of an aircraft operator abnormally increases.

When maneuvering an aircraft, all information necessary for flight, such as altitude and speed, and safety-related information, such as monitoring of the surrounding airspace, are obtained visually, so the visual burden on the operator is high. Therefore, when the aircraft falls into an unusual state, for example, when performing a specific task such as hovering, when encountering bad weather or aircraft failure, or when the conditions overlap, such information It may be difficult to obtain the sight by vision, and it may be difficult to perform a safe flight.
Conventionally, there has been considered a means for conveying necessary information to the operator by voice or vibration sensation for such a problem. However, with regard to information presentation via voice, wireless communications such as control towers are still carried out by voice, and it is desirable to minimize the information presentation via voice in order to facilitate such communications. it is conceivable that.
In addition, regarding information presentation via vibration, a method of transmitting in the form of a vibration pattern using a large number of vibrators arranged in clothes has been devised and disclosed (for example, see Non-Patent Document 1). ), There is a risk that restraint feeling and pressure feeling caused by bringing a large number of vibrators into close contact with the body may hinder the operation of the aircraft.
By the way, information presenting means for human skin sensations such as vibration sensations are completely different from the senses such as sight and hearing that have been used as information presenting means in the past. Therefore, it can be an effective solution to the above problem.
With the recent development of sensory presentation technology, the method of presenting artificial sensations to humans has made dramatic progress. In particular, recently, the progress of the presentation technique to the tactile sense, which is a sensation obtained when touching an object, is remarkable. In general, tactile sensation can be divided into force sense relating to the outline and weight of an object and skin sensation relating to unevenness and vibration of the object surface. As a device for presenting skin sensation, as described above, specializing in vibration sensation and presenting information using a number of vibrators, especially focusing on fingertips, directly stimulating sensory receptors on fingertips by electrical stimulation What to do, a method of creating and presenting an arbitrary shape by controlling the unevenness of a large number of pins, generating a specific physical vibration on the fingertip skin surface, and the texture of the object surface (smooth, rough The method of presenting is being studied.

  In addition, human receptors involved in the formation of tactile sensations such as skin sensations are distributed in the skin (epithelium, dermis) and subcutaneous tissue. When an object touches the skin surface, for example, when mechanical stimulation is applied, the skin and subcutaneous The tissue is distorted or deformed, against which several types of receptors are stimulated. These receptors detect the intensity of mechanical stimulation and the speed of movement, and send encoded sensory information to the center. Humans can recognize the size, shape, texture and movement of objects based on their combined sensory information. By the way, the Meissner body, Merkel cell, Patini body and Ruffiny end are mainly known as human receptors. These receptors are categorized from the viewpoint of the correspondence between stimulus and response. The tactile receptors are mainly Meissner bodies, the baroreceptors and the low-frequency vibration receptors are Merkel cells, the vibration receptors are Patini bodies, and the cold and cold receptors are Classified as Ruffiny's end. Furthermore, these receptors are classified in terms of rapid adaptation (Rapid Adapting; RA) or slow adapting (Slowly Adapting; SA) and narrow (I) or wide (II) receptive fields. Fast adaptation and narrow receptive field (RAI), fast adaptation and wide receptive field (RAII), slow adaptation and narrow receptive field (SAI) and slow adaptation and wide receptive field (SAII) Meissner body belongs to RAI, Patini body belongs to RAII, Merkel cell belongs to SAI, and Ruffiny terminal belongs to SAII. Further, it is known that the distribution density of these receptors is higher at the fingertips than at the abdomen and back. Therefore, the resolution of information is higher in the skin sensation of the fingertip than in the skin sensation of the abdomen and back. A braille display device capable of presenting braille with the same tactile sensation as when reading braille while projecting a pin and tracing a braille string with an arbitrary speed using a characteristic of skin sensation is known. (For example, see Patent Document 1.)

JP 2004-184691 A McGrath, B.J.; Estrade, A.; Braithwaite, M.G.; A.K.; Rupert, A.H.; Tactile Situation Awareness System Flight Demonstration, USAARL Report No.2004-10

In the method of transmitting information in the form of vibration patterns using the many vibrators arranged in the clothes described above, information is given to the operator by applying a vibration load to the upper body skin such as the back and abdomen. Presents.
However, the distribution density of the receptors on the back and abdomen is low, the resolution of information is poor, and the sense of restraint and pressure resulting from the fact that many vibrators are in close contact with the body disturbs the aircraft's operating environment. There is a point.
On the other hand, in the braille display device described above, information is presented to the user by the sense of touch of the fingertip when the pin is traced. That is, at the moment of tracing, the receptor at the fingertip reacts to the movement of the pin and tactile information is presented to the user. That is, tactile information is transmitted while the pin and the fingertip are in contact with each other for a short time, and target information is resolved on the user side based on the tactile information.
However, in the braille display device, information is transmitted as a skin sensation by changing the protrusion amount, vibration amplitude, vibration intensity, or the like of the pin, and the action time or action frequency of the pin is not considered. Therefore, the braille display device is effective when the pin and the fingertip are in contact with each other for a short time, but in an aircraft operating environment where the pin and the fingertip may be fixed for a long time while holding the control stick. The reality is that it has not yet been used to reduce the visual load on the pilot.
Therefore, the problem to be solved by the present invention has been made in view of the above-mentioned problems of the prior art, and is used as a meter in a situation where the visual load of an aircraft operator is abnormally increased. An object is to provide a skin sensory maneuvering support apparatus capable of performing the above.

In order to achieve the above object, according to a first aspect of the present invention, there is provided a working medium that imparts a mechanical action or an electromagnetic action to the skin, and a working medium control means that controls the operation of the working medium. It consists of a collection of objects and is arranged in the vicinity of the control stick, and information is presented to the pilot as a skin sensation of the whole or part of the pilot's hand.
In the skin sensation steering support device according to the first aspect of the invention, since the working medium is composed of a collection of protrusions and is controlled by the working medium control means, various movements of the working medium that are easily recognized by the operator as skin sensations are formed. It becomes possible to do. Furthermore, since the aggregate of protrusions is disposed in the vicinity of the control stick, the operator can preferably obtain flight information via the skin sensation without disturbing the control environment. In particular, it is possible to accurately convey flight information to the pilot even under the situation where it is difficult to separate the hand from the control stick and the visual load is extremely increased, and the operation direction, the operation amount, or the flight of the control stick. It becomes easy to make the information correspond to the movement of the working medium, and the operator can immediately reflect it in the operation. In addition, the resolution of information is higher than that of the abdomen and back because information is transmitted to the operator through all or part of the hand with a high distribution density of tactile receptors in the human body, such as the skin sensation of the fingertips. . As a result, the driver is relieved from the sense of restraint and pressure because the visual load is reduced and the operator does not need to wear an actuator such as a vibrator. In addition, the apparatus can be small and light, and is easy to use.

In the second invention, the working medium control means controls the working area, working frequency and working time of the working medium.
In the skin sensation steering assistance device of the second aspect of the invention, by controlling the action area, action frequency and action time of the action medium, it is possible to realize the action of the action medium adapted to the sensitivity characteristics of the tactile receptor. . Thereby, information is suitably transmitted to the operator via the skin sensation, and the visual load on the operator can be reduced.

In the third invention, the working medium control means controls the working frequency of the working medium to be around 30 Hz.
The above-mentioned receptors for skin sensation, the Pacini body and the Meissner body, react quickly at the moment of contact with something, but do not immediately generate sensory information, that is, when they are continuously stimulated. In particular, the Patini body reacts most sensitively to vibration of about 200 [Hz], while the Meissner body reacts most sensitive to vibration of about 30 [Hz]. The threshold of sensation itself is lower in the Pachiny body and reacts sensitively. However, when these are used as aircraft instruments, even if the fingertip is kept in contact with the control stick for a long time, the characteristics of the receptor with a gradual increase in threshold while touching are also present. It is necessary to consider. By the way, the Merkel cell described above has a characteristic that the threshold value rises slowly and causes a continuous reaction, and in particular, a characteristic that reacts more sensitively to a low-frequency vibration (about 10-30 [Hz]) than a high-frequency vibration. Have
Therefore, in the skin sensation steering support device according to the third aspect of the invention, so that the operator can clearly identify the skin sensation in any case where the working medium acts on the fingertip for a short time or acts for a long time. The working frequency of the working medium is controlled by the working medium control means to a frequency in the vicinity of 30 [Hz], which is the frequency at which the Meissner body reacts sensitively. At the same time, since this frequency band is a frequency at which Merkel cells respond sensitively, not only the moment when the working medium touches the skin of the fingertip, but also the skin sensation during the contact continues to be generated for a relatively long time. As a result, even if the working medium is kept in contact with the skin for a long time, it is considered that the operator can read information without dulling the skin sensation of the operator. As a result, the skin sensation operation support device according to the present invention can be used as an instrument in an aircraft operation environment to reduce the visual load on the operator.

According to a fourth aspect of the present invention, there is provided means for presenting to the operator a skin sensation corresponding to the flight information of the working area or the motion of the stagnation by the working medium with the flight information of the aircraft and the operation information of the pilot. .
In the skin sensation maneuvering assistance device of the fourth invention, for example, when the current flight path is above the target path and it is necessary to lower the nose by tilting the control stick forward, Thus, it presents a skin sensation in the direction in which the flow of the action area due to the action medium flows from the front to the back. Thus, the pilot can correct the flight path of the aircraft by pushing the control stick forward. On the other hand, when the current flight route is below the target route and it is necessary to raise the nose by tilting the control stick later, the skin sensation in which the action area due to the action medium crawls towards the pilot. Present. As a result, the operator can correct the flight path of the aircraft by defeating the control stick later. In this way, by making the flow of the action area or the stagnation movement by the action medium correspond to the flight information of the aircraft and the operation information of the pilot, flight information and its error important for safe flight to the pilot. It is possible to suitably instruct the direction of the operation for eliminating the problem.

  According to the skin sensation maneuvering support apparatus of the present invention, the action medium is composed of a collection of protrusions and is controlled by the action medium control means. It becomes possible. Furthermore, since the aggregate of protrusions is disposed in the vicinity of the control stick, the operator can preferably obtain flight information via the skin sensation without disturbing the control environment. In particular, the operation direction, operation amount, or flight information of the control stick can be easily made to correspond to the movement of the working medium, and the pilot can be immediately reflected in the control, contributing to safe navigation of the aircraft. In addition, information is transmitted to the operator through all or part of the hand with a high density of tactile receptors in the human body, such as the skin sensation of the fingertips, so the resolution of information is higher than that of the abdomen and back. The pilot is relieved from the visual load. Further, since the movement of the working medium is controlled by the working medium control means so as to conform to the sensitivity characteristic of the tactile receptor, the operator can preferably recognize the information through the skin sensation. In particular, the working frequency of the working medium is maintained at around 30 Hz where sensitively Meissner bodies and Merkel cells with high persistence in the skin receptor react sensitively. As a result, even if the working medium is kept in contact with the skin for a long time, the operator can read information without dulling the skin sensation of the operator. Furthermore, the skin sensation operation support apparatus of the present invention is small and lightweight, and is easy to attach to the control stick and simple to use.

  Hereinafter, the present invention will be described in more detail with reference to embodiments shown in the drawings.

FIG. 1 is a configuration explanatory view showing a skin sensation display device 100 which is an application example of the skin sensation steering support device of the present invention to an aircraft.
The skin sensation display device 100 includes a working pin 1 as a working medium that gives mechanical stimulation, for example, unevenness and vibration, to the skin of the thumb T, the working pins 1 are arranged in a pin array, and each working pin 1 is out of plane. The information presenting surface 2 for displaying the skin sensation to the operator by vibrating such as projecting into or into the surface, and the working pin as working medium control means for controlling the working area, working frequency and working time of the working pin 1 An error angle that is an angle formed by the control device 3 and a reference vector formed by connecting the current aircraft speed vector, the current aircraft position, and the future planned aircraft position is calculated, or the time change rate of the error angle is calculated. The flight path error calculation device 4 is configured to be configured. For convenience of explanation, the action pin control device 3 or the flight path error calculation device 4 is drawn separately from the skin sensation display device 100, but may be incorporated in the device.

  As shown in FIG. 2, the action area of the action pin 1 is a rectangular area of the whole or a part of the pin array that vibrates and stimulates the operator's skin. The action frequency of the action pin 1 is the number of times that the action pin 1 per unit time acts on the operator's skin. The action time is an operation time of a drive device (not shown) for the action pin 1, and since the action pin 1 vibrates as described above, the action pin 1 is intermittent during the action time. Acts on the pilot's skin. The action direction is the direction of the flow generated by moving the action region. FIG. 2 shows the direction of flow from the base side of the thumb to the fingertip side.

  The action pin 1 is, for example, a pin having a hemispherical tip and a cylindrical body, and protrudes from the information presentation surface 2 to push the skin surface of the operator's thumb T, and deformation of the skin caused by the pushing. Alternatively, the stress generated by elastic vibration stimulates the receptors at the lower part of the skin surface, and sensory information characterized by the action area of the action pin 1 and the frequency of the action pin 1 is sent to the center by these receptors. The pilot can recognize various flight information based on the sensory information by associating the sensory information with the flight information in advance. The drive device for the action pin 1 is not shown, but is a piezo actuator or the like, for example. The action pin 1 is lowered into the information presentation surface 2 when it does not act on the operator's skin.

  The working frequency of the working pin 1 is controlled by the working pin control device 3 in the vicinity of 30 [Hz]. This frequency band has sensitivity characteristics that are highly adaptable and have low response persistence among skin receptors, so-called RAI's Meissner body, and sensitivity characteristics that are poorly adaptable and have high response persistence. This is the frequency at which the so-called SAI Merkel cells respond sensitively. As a result, even when the action pin 1 acts on the operator's skin for a short time or when the action pin 1 acts on the skin for a long time, the operator's skin sensation does not become dull and the operator can It becomes possible to recognize information appropriately. As a result, when performing specific tasks such as take-off and landing and hovering, flight conditions such as bad weather and aircraft failure, or a driver that overlaps those conditions, concentrates on the operation and obtains flight information from the instrument and surrounding conditions Even if it is difficult, the operator can obtain flight information suitably.

  As shown in FIG. 2, 2 (vertical) × 4 (horizontal) = 8 cells are combined in the vertical direction on the information presentation surface 2 so that 6 (vertical) × 4 (horizontal) = 24. A pin array of the working pins 1 is formed. As an example of dimensions, the outer diameter of the working pin 1 is 1.3 mm, the pitch between the working pins in the cell is 2.4 mm, and the pitch between the cells is 4.0 mm. Therefore, this pin array is enveloped by a rectangular area of 17 mm (= 1.7 cm) long × 8 mm (= 0.8 cm) wide, which is smaller than the tip of the adult thumb. Thereby, the operator can touch the information presentation surface 2 while holding the control stick S, and the operating environment is not disturbed. Further, in this embodiment, it is attached to the trunk of the control stick S, but it may be the head of the control stick S. Thus, since the information presentation surface 2 is small and lightweight, it has an advantage of increasing the degree of freedom when it is attached to the control stick S. In addition, since it is small and light, there is no sense of restraint or use.

FIG. 2 is an explanatory diagram showing a correspondence example between the flow of the action area and the flight information. In addition, the action pin 1 which is a black circle shows a state of protruding and acting on the operator, and the action pin 1 which is a white circle is lowered into the information presentation surface 2 and is not acting on the operator. Indicates the state. The operating frequency of the working pin 1 is 30 [Hz].
First, the lower right 2 × 2 action region 11 is projected for 200 [ms]. Incidentally, during this time, the action pin 1 has acted on the operator's skin 6 times (= action time 200 [ms] × operation frequency 30 [1 / s] ÷ 1000) times. Thereafter, the working area 11 is paused for 260 [ms].
Thereafter, the same action area 11 is projected again for 160 [ms]. Incidentally, during this time, the action pin 1 has acted on the pilot 5 times (≈action time 160 [ms] × operation frequency 30 [1 / s] ÷ 1000) times. Thereafter, it is paused for 130 [ms].
Next, the middle right 1 × 2 working region 12 is projected for 150 [ms]. Incidentally, during this time, the action pin 1 has acted on the pilot 5 times (≈action time 150 [ms] × operation frequency 30 [1 / s] ÷ 1000) times. Thereafter, it is paused for 130 [ms]. In this way, the operation of moving the action region 12 by one in the vertical direction to protrude for 150 [ms] and then pausing for 130 [ms] until the upper end of the information display surface 2 is reached. repeat. After reaching the upper end, the upper right 1 × 2 working area 15 is projected for 150 [ms]. And after making it rest for 200 [ms], it returns to an initial state and repeats the said operation with respect to the action | operation pin 1 again. By performing such an operation, it is possible to express the flow of the action area called virtual motion on the information presentation surface 2. In this case, the flow of the action area is expressed from the root side of the thumb to the fingertip side of the thumb, but by performing the reverse operation, the flow of the action area can be expressed from the fingertip side of the thumb to the root side. it can. If the current flight path is above the target path and it is necessary to lower the nose by tilting the control stick forward, the skin in the direction of flowing from the front to the back described above is directed to the pilot. The sensation is presented, and the pilot corrects the flight path of the aircraft by tilting the control stick forward based on the skin sensation. As described above, since the flight path can be easily corrected by associating the flow direction of the action area with the flight information and the operation information, the pilot obtains the flight information and the operation information through the skin sensation without looking at the instrument. This makes it possible to correct the flight path.

  Further, when the moving speed of the action area in this case, that is, the flow velocity is obtained, the distance moved by the action pin 1 is 2.4 × 3 + 4.0 × 2 = 15.2 mm, and the action area reaches the upper end. Since the time required for this is 200 + 260 + 160 + 150 × 3 + 130 × 4 = 1590 ms, the flow speed is 15.2 mm ÷ 1590 ms = 9.6 [mm / s]. In this way, by making the flow speed correspond to the flight information and the operation information, the operator can recognize the flight information and the operation information through the skin sensation.

  FIG. 3 is an explanatory diagram illustrating a flight path correction method using the skin sensation display device 100.

First, as shown in FIG. 4, the flight path error calculation device 4 creates a target path _RT connecting the current position and the target position from the information regarding the current position P of the onboard electronic system K and the information regarding the target position _PT. To do.
Next, the flight path error calculation device 4 acquires the current flight path R from the speed information of the air data sensor of the onboard electronic system K.
Next, an angle formed by the target route _RT and the current flight route R is calculated as an error angle Δθ.

  Then, this error angle information is transferred to the action pin control device 3, and the action pin control device 3 moves the action pin 1 to the information display surface if the error angle Δθ is within a certain angle range, for example, ± 1.3 °. However, if the error angle Δθ exceeds ± 1.3 °, the action pin control device 3 does not appear on the information display surface 2 as described above. The flow of the action region is presented on the operator's thumb T as a skin sensation. In this case, when the direction of flow is from the base side of the thumb T to the fingertip side, the flight path is shown to be above the target path, for example, the target altitude h, and the control stick S is tilted forward to Shows that the neck needs to be lowered. On the other hand, when the direction of the flow is from the fingertip side to the base side of the thumb, it indicates that the flight path is below the target path, for example, the target altitude h, and the control stick S is moved backward to raise the nose. Presenting the need. As a result, the operator can perform an operation for eliminating the error in the flight path without looking at the instrument.

  Further, the action pin control device 3 changes the flow speed for each error angle of, for example, ± 1.3 °, ± 2.6 °, and ± 6.5 ° by changing the flow speed of the action region. It can also be presented on the operator's thumb T as a skin sensation on the information presentation surface 2. In this way, information related to the magnitude of the error angle Δθ can be presented as a skin sensation in addition to the binarized information about the target route and information related to the direction of operation of the control stick S to the operator. It becomes.

  On the other hand, the action pin control device 3 presents the stagnation position of the action area on the operator's thumb T as a skin sensation instead of the skin sensation of the action area flow, and the operator corrects the error angle of the flight path. Is also possible. In this case, when the rubbing direction is at the base of the thumb, it is shown that the flight path is below the target path, and that it is necessary to tilt the control stick S later to raise the nose. ing. On the other hand, if the direction of rubbing is on the fingertip side of the thumb, it indicates that the flight path is above the target path and that it is necessary to lower the nose by tilting the control stick S forward ing.

  It is also possible to present the difference in the time change rate of the error angle Δθ in order to correct the error angle Δθ within a certain time by changing the stagnation frequency of the action region. For example, the flight path error calculation device 4 calculates the reference time change rate of the reference error from the path angle error. Next, the flight path error calculation device 4 calculates the difference in the time change rate of the current error angle with respect to the reference time change rate. Then, the difference in time change rate of the current error angle with respect to the reference time change rate is transferred to the action pin control device 3, and the action pin control device 3 calculates the difference in time change rate of the error angle in the stagnation of the action region. By making it correspond to the frequency, the difference of the time change rate of the error angle can be presented to the operator as a skin sensation. In this case, the frequency of the working pin 1 is not limited to the vicinity of 30 [Hz], but a frequency band of, for example, 10 to 30 [Hz] or 200 [Hz] is used. When there is no difference in the time variation rate of the current error angle with respect to the time variation rate of the reference error angle, the action pin control device 3 does not vibrate the stagnation of the action region at all, but a difference occurs. The action pin control device 3 gradually increases the vibration frequency of the stagnation in the action area in response to the increase in the difference.

  As described above, by changing the stagnation position and frequency of the action region, it is possible to present to the operator the difference in the time change rate of the error angle in addition to the path angle as a skin sensation. Based on this skin sensation, the operator can perform an operation to eliminate the flight path error within a certain time without looking at the instrument.

  According to the skin sensation display device 100, since the information presentation surface 2 is composed of a pin array of action pins 1, the operator can easily recognize the movement of the action region as a skin sensation and the action pin control device 3 allows the operator to recognize the movement. The movement of the action area characterized by the action frequency and action time is generated. Furthermore, since the information presentation surface 2 is disposed in the vicinity of the control stick, the operator can preferably obtain flight information via the skin sensation without disturbing the control environment. In particular, it is possible to accurately convey flight information to the operator even under the situation where it is difficult to separate the hand from the control stick and the visual load is extremely increased, and the operation direction or operation amount of the control stick can be affected. It is easy to adapt to the movement of the area, for example, the direction and speed of the flow of the working area and the position and vibration frequency of the stagnation of the working area, and the pilot can be immediately reflected in the maneuvering for safe navigation of the aircraft Can contribute. In addition, because the information is transmitted to the operator through the skin sensation of the fingertip, where the distribution density of tactile receptors is high in the human body, the resolution of the information is higher than that of the abdomen and back, and the operator is more suitable for visual load. To be reduced. Further, since the movement of the action pin 1 is controlled by the action pin control device 3 so as to match the sensitivity characteristic of the tactile receptor, the operator can preferably recognize the information through the skin sensation. In particular, the working frequency of the working region is maintained at around 30 Hz where sensitive Meissner bodies and Merkel cells with long-lasting response are sensitively reacted in the skin receptors. As a result, even if the action region continues to contact the skin for a long time, the operator can read information without dulling the skin sensation of the operator. Furthermore, the skin sensation display device 100 of the present invention is small and lightweight, and is easy to attach to the control stick and simple to use.

  In the skin sensation display device 100 according to the first embodiment, the information presentation surface 2 is disposed in the vicinity of the control stick, but the information presentation surface is disposed on the inside or outside of the glove and all or a part thereof. It is good also as a structure by which information is shown through not only a fingertip but the skin sensation of the whole hand.

  Further, in the skin sensation display device 100 of the first embodiment, the action pin 1 is configured to apply mechanical stimulation to the operator's skin by vibrating. However, an electrical stimulus, for example, an impulse voltage is applied to the operator by the action pin 1. It is good also as a structure applied to.

  The skin sensation maneuvering support device of the present invention is preferably applied as an instrument for presenting information to a vehicle operator such as an aircraft, a ship, a railway vehicle, and an automobile, or a device for assisting the operation of these operators. Can do.

It is explanatory drawing which shows the skin sensation display apparatus which is an application example with respect to the aircraft of the skin sensation steering assistance apparatus which is this invention. It is explanatory drawing which shows the example of a response | compatibility with the flow of an action area | region, and flight information. It is composition explanatory drawing explaining the correction method of a flight path using a skin sense display apparatus. It is explanatory drawing which shows the error of the flight path | route of an aircraft.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Action pin 2 Information presentation surface 3 Action pin control apparatus 4 Path angle error calculation apparatus 100 Skin sensation display apparatus

Claims (4)

  A working medium that applies a mechanical action or an electromagnetic action to the skin; and a working medium control means that controls the operation of the working medium. The working medium is composed of a collection of protrusions and is arranged in the vicinity of the control stick. A skin sensation maneuvering support apparatus, characterized in that information is presented to the operator as a skin sensation of the whole or part of the operator's hand.   The skin sensation steering support device according to claim 1, wherein the action medium control means controls an action area, an action frequency, and an action time of the action medium.   The skin sensation maneuvering support device according to claim 2, wherein the working medium control means controls the working frequency of the working medium to be around 30 Hz.   4. The apparatus according to any one of claims 1 to 3, further comprising means for presenting to the operator as a skin sensation the movement or stagnation of the action area by the action medium in correspondence with flight information of the aircraft and operation information of the operator. The skin sensation maneuvering support device described.

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