JP2006250799A - Tactile perception type route guidance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a tactile perception type route guidance system capable of making users to easily and reliably reach destinations by route guidance by tactile perception. <P>SOLUTION: In the route guidance system for providing guidance on a route to a destination on the basis of position information of the destination, a guide surface 14 in contact with part of a body of a passing person is provided with a plurality of contacts 16 arranged according to a plurality of required bearings along a horizontal plane and an operating part 2 having a function for inputting data such as at least a destination. Through stimuli applied to the surface of the body of the passing person from a contact corresponding to a bearing to the destination, it is possible for the passing person to sense the bearing. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a tactile route guidance device, more specifically, a tactile route guidance device capable of widely guiding a route regardless of whether it is a pedestrian or a driver of various vehicles. About. In the present specification, “walking” refers to walking and running.

  Conventionally, as a means for guiding a route, for example, a car navigation device using a GPS (Global Positioning System), which guides by a guidance screen or voice is known (Patent Document 1 and Patent Document 2). .

  However, visual guidance is dangerous if attention is paid to the guidance screen while driving, and voice guidance is difficult to use for elderly people with hearing impairments or persons with hearing impairments. The sound is so loud that I can't hear the guidance sound well.

  Furthermore, in recent years, there has been a demand for a device that can be easily carried by pedestrians, bicycle users, and wheelchair users, and that provides high-quality navigation in a specific area.

  On the other hand, a technique has been proposed in which a map is displayed on the screen of a communication terminal such as a mobile phone or a wristwatch having a GPS function, and the route to the destination is displayed (Patent Document 3).

  There is also a navigation system in which a tactile actuator worn by a user vibrates and issues a warning when the user deviates from the correct route (Patent Document 4).

Furthermore, although it is not a navigation system, information is input / output through a terminal attached to a user's shoes or clothes (Patent Document 5 and Patent Document 6).
JP 2003-207345 A JP 2003-004465 A JP 2002-039783 A JP 2002-267482 A JP-A-6-14803 JP 2000-357025 A JP-A-2005-005962

  In the device of Patent Document 3, there is an inconvenience that the geographical information must be visually confirmed. In the device of Patent Document 4, it is possible to go in any direction even if the tactile means knows that it has deviated from the correct route. This is not easy to understand by tactile sensation, but it is troublesome because it is necessary to confirm the correct direction. Furthermore, the devices of Patent Literature 5 and Patent Literature 6 do not disclose the extraction of geographic information from a body terminal.

  A first object of the present invention is to provide a tactile route guidance device that can easily and reliably reach a destination by tactile route guidance.

  In addition, in route guidance to users such as pedestrians and wheelchairs, it is necessary to meticulously deal with the local geographical environment by passing through a small alley or avoiding unevenness on the road surface. In order to respond to such a request, the applicant accurately records the route information of another user who has reached the destination using short-range wireless communication and an inertial sensor, and downloads and traces this route information. Has proposed a route information system that can be used (Japanese Patent Application 2005-069267). In such a system, it is possible to provide route information with an accuracy of about 1 to 2 m depending on how to set the base point of wireless communication.

  The second object of the present invention relates to a tactile route guidance device capable of appropriately transmitting the high-precision route information thus provided to a user within a necessary range.

  The first means is a route guidance device that guides the route to the destination based on the location information of the destination, the guide surface 14 in contact with a part of the body of the passerby in a plurality of required orientations along the ground plane. A plurality of tactile elements 16 arranged correspondingly and an operation unit 2 having at least a data input function such as a destination are provided, and the direction of the direction is determined by a stimulus given to the body of the passerby by the tactile element of the direction to the destination. It is configured so that it can be perceived.

  The “tactile element” refers to a protrusion that can notify the direction by tactile sense, and can be formed as a vibrator or a pressing element using a vibrator. For example, it can be provided so that it can be attached to the limbs, head, torso or the like.

  The “operation unit” is used to input a destination in addition to turning on / off the entire apparatus. Furthermore, when configuring your route information to be able to be transmitted to other users, you can perform the operation for transmission, and if necessary, specify one point on the route (marking) and comment on the point Can also be created. The operation part may be provided integrally with the guide part provided with the tactile element, or may be formed separately.

  The “part of the body” refers to a part having a size that allows the user to determine the direction, such as the sole, the palm, the circumference of the head, and the waist.

  The “direction to reach the destination” is not limited to the linear direction to the destination, but includes the direction of the shortest path.

  “Passers-by” includes not only pedestrians and wheelchair users but also users of automatic vehicles such as bicycles and motorcycles. As a means for measuring the positions of these passers-by, a position display system and an inertia system using a short-range communication unit can be used in addition to GPS.

  The second means includes the first means, and is provided with the guide portion 10 including the inertial sensor 18 and the guide surface 14 separately from the operation portion 2.

  The operation unit and the guide unit can be connected by wire or wireless. In addition, a visual guidance system can be used in an auxiliary manner at the operation unit.

  The third means has the first means or the second means, and records the route to the destination in the storage means, and when going to the same destination, the same route is based on this record. It is configured to be able to guide.

  The fourth means includes any one of the first to third means, and measures the current position and the traveling speed of the passer-by based on the current location information received from the outside. A provisional target point on the route after a certain time is specified from the speed information, and the orientation of the provisional target point can be touched via the guide surface.

  This means transmits route information recorded with relatively high precision to a walking person or the like with appropriate accuracy. For example, if a crack that is hard to understand at first glance is formed on the road surface, a pedestrian can bypass the crack sufficiently even if he turns right before it, but a runner who is jogging will be able to make a turn at the same place, Since it is attached, it may not bend and may be caught in a crack. Therefore, it is not always necessary to precisely follow the path of the predecessor.

  More specifically, a circle proportional to the travel speed of the passer may be drawn around the current position of the passer and the intersection of this circle and the path of the predecessor may be used as a temporary target point.

  In this means, the current location information can be transmitted from an external position marker (IC tag or the like) arranged on the route, or transmitted from a storage device of a server facility connected by an electric communication line such as the Internet. You can also

 The invention according to the fifth means includes any one of the first means to the fourth means, and the tactile element 16 operates near a branch point of a path through which a passer-by passes to reach a destination. The route can be shown.

  Since it is cumbersome to operate the tactile element along the entire length of the path, it is configured to operate only near the branch point.

  The invention according to a sixth means includes any one of the second means to the fifth means, and the guide portion 10 is formed as a part of an accessory worn by a passerby, The guide surface 14 is configured so that it can be mounted in a state where the orientation of the guide surface 14 is fixed to a part of the body of the passerby.

  “Accessories” include band-type items (hairbands, waist belts, etc.) that surround parts of the body such as the heads and trunks of passers-by, and clothing types such as hats, helmets, and vests.

  The seventh means includes the sixth means, and the guide portion 10 is formed as a shoe, and the inner surface of the shoe is a guide surface 14.

A normal shoe is made up of the sole (generally consisting of a sole, insole and insole) and the upper,
The upper surface of the shoe bottom portion may be used as a guide surface, and the inner surfaces of the left and right side skin portions and the front skin portion of the upper may be used as guide surfaces.

  The eighth means includes any one of the second means to the fifth means, and the guide portion 10 is formed as a grip portion of a portable item such as a cane or a mobile phone, and the grip surface is guided. It is surface 14.

    The grip portion of the portable article corresponds to a grip of a cane, a grip such as a travel bag, an outer surface portion of a mobile phone, and the like.

  The ninth means has the eighth means, and the grip part forming the guide part 10 is long in one direction as viewed from above, and the short side surfaces 48, 48 are fitted to the palm. It is configured to grip, and when the user replaces both ends in the longitudinal direction of the grip part and grips it again, the direction of the acceleration data input from the inertial sensor 18 is reversed, so that the grip part is changed. Control means 22 for sensing is provided, and data processing is performed to restore the direction of acceleration data measured after the change of position by reverse rotation.

  This means is for preventing an error in the measurement data caused by rotation of the coordinates of the inertial sensor due to the change of the grip portion. As a preventive measure, the grip part is long in one direction when viewed from above, the rotation angle by changing the grip is 180 degrees, and when it is determined that the hand is changed, the direction of the subsequent acceleration data is coordinated It may be rotated 180 degrees again by conversion or the like and restored.

The invention according to the first means has the following effects.
○ Because the direction of the route can be perceived through tactile sense, there is no need to look at the guidance screen, etc., and you can pass while paying close attention to the surroundings.
○ Since no voice guidance is required, it can be used without difficulty even for users who are far away.

   According to the second aspect of the invention, since the operation unit 2 and the guide unit 10 are separated, it is easy to operate the operation unit 2.

  According to the third aspect of the invention, since it is possible to guide the same route when going to the same destination based on the record of the storage means, it is possible to forget the route and get lost. None, and even users with poor eyes can travel safely.

  According to the fourth aspect of the invention, since the temporary target point on the route is determined by the current position and the traveling speed of the passerby, the route information can be provided accurately with the required accuracy.

According to the fifth aspect of the invention, since the tactile element 16 is configured to operate near the branch point of the road that the passer-by passes, the tactile element operates on a route portion other than the branch point, which is troublesome. According to the invention relating to the sixth means, the guide part 10 is formed as a part of the accessories worn by the passerby, and the orientation of the guide surface 14 with respect to a part of the passer's body. Since it is configured to be able to be worn in a fixed state, the route information can be accurately measured by the inertial sensor 18 oriented in a certain direction with respect to the body.

  According to the seventh aspect of the invention, since the guide portion 10 is formed as a shoe, the direction can be shown through the sole of the foot parallel to the ground, the back of the foot, and the side of the foot. Easy to touch.

  According to the eighth aspect of the invention, the guide portion 10 is formed as a grip portion for portable items such as a cane and a mobile phone, and the grip surface is the guide surface 14, so the scope of application of the present invention is wide. Become.

  According to the ninth aspect of the invention, it is possible to apply appropriate correction so as not to cause a measurement error due to the change of the guide part which is the grip part of the cane.

  1 to 6 show a route guidance apparatus according to a first embodiment of the present invention.

  This route guidance device is composed of an operation unit 2 and a guidance unit 10.

  The operation unit 2 includes an operation button 4, an operation screen 6, and an antenna 8. As the operation button 4, it is preferable to provide a character input button, an arrow-type selection button, a type of button that operates an icon on the operation screen by operating the tactile surface with a finger, and the like. The user can input the destination by operating these operation buttons while watching. In addition, it is possible to transmit the route information to the outside through the antenna 8, and to receive the map information from the outside as is conventionally known, and to display the current location on the operation screen 6 on the operation screen 6 for assistance. You may comprise so that a typical guidance function may be fulfilled. In addition, this operation unit may be used as a function of a conventional mobile phone.

  In this embodiment, the guide unit 10 is formed as a shoe. Specifically, the power source 12 is provided at the rear portion of the shoe sole 30, that is, the heel-corresponding portion, and the upper surface of the first half of the shoe sole 30 corresponds to the left and right sides of the guide surface 14 from the left to the right. The tactile elements 16L and 16R and the front side 16F are provided in the middle part in the left-right direction, and an inertial sensor 18 is attached to the front part of the shoe sole. Furthermore, the short-range wireless communication device 20 and the control means 22 are installed in the first and second connection bands 38 and 40 that detachably connect the left and right skin portions 34 and 34 of the upper 32, respectively. However, the arrangement of the battery 12, the tactile sensor 16, the inertial sensor 18, the short-range wireless communication device 20, and the control means 22 can be changed as appropriate. For example, the left corresponding tactile element 16L may be attached to the inner surface of the left skin part 34, the right corresponding tactile element 16R may be attached to the inner surface of the right skin part 34, and the front corresponding tactile element 16F may be attached to the inner surface of the front skin part 36.

  As the battery 12, for example, a conventionally known vibration power generator can be used.

  The tactile element 16 is interlocked with the inertial sensor 18, and is configured to indicate the direction of the route on the basis of the front direction of the pedestrian. That is, when the direction to be advanced is left, first, the left corresponding tactile element 16L is activated. When the user turns the body to the left in response to this stimulus, the front corresponding tactile element 16F corresponds. In addition to the front and left and right directions, the tactile element can be provided on the heel side correspondingly, but it is not necessary to normally walk or run backwards. Although a tactile sensor corresponding to the left diagonal front or right diagonal front can be provided, for normal walking and running, it is sufficient to provide a tactile sensor corresponding to the front, left, and right. When the direction of the route is in the middle of these three directions, a tactile element that is closest to the direction of the route among these three members may be operated as will be described later.

  The inertial sensor 18 is configured to measure the acceleration of the shoe and output the trajectory of the shoe to the control means 22.

  The short-range wireless communication device 20 measures relative coordinates from an external reference point by a three-point positioning method using a short-range communication technology of about 10 m or less such as Bluetooth or Zigbee as conventionally known. (See Patent Document 7). Various methods have been known as positioning methods. For example, as an external reference point, a pair of transmitters that accurately measure the coordinates are provided, and radio waves transmitted from the short-range wireless communication device 20 are transmitted. Each transmitter that has received it immediately sends a reply radio wave, determines the distance from the time that the radio wave travels between the short-range wireless communication device 20 and each transmitter, and determines the distance between each transmitter and each transmitter. The relative coordinates of the short-range wireless communication device can be determined from the distance of

  The control means 22 determines the coordinates and the traveling direction of the short-range wireless communication device from the output from the short-range wireless communication device 20, and converts the coordinate data into the route information received from the outside via the operation unit 2. Again, the direction of the path direction as seen from the traveling direction is determined, and the tactile element 16 corresponding to the direction is operated.

  5 and 6 show a procedure for determining a direction to travel along the route.

In FIG. 5, S _a represents the route of the preceding user A, and a ₁ , a ₂ ... Are points of A on the route for each time at a certain interval. This route is stored in an external information providing system connected to the Internet, and is downloaded via the operation unit 2. The procedure for recording this route will be described separately.

The previous user's path is bent as shown, bypassing the crack 44 on the road surface. If you follow this route by walking, you can follow the route as it is, but when you follow the route, it is smoother to take a more gentle route. Therefore, the concept of a temporary target setting circle and a temporary target point is used for path correction.
(1) Setting of temporary target setting circle In FIG. 5, b ₁ , b ₂ ... Are points of user B at regular intervals, and circles centering on b ₁ and b ₂ are temporary target setting. Yen. A temporary target setting circle is a point (actually a sphere) used to set a temporary target point, that is, a point that is temporarily set as a direction approaching the destination when moving by walking or running. . The radius of the temporary target setting circle is proportional to the moving speed of the user B at the center. For example, if the arrival time to the temporary target point is set to 2 seconds, the radius within the temporary target setting is 2 m when traveling at 1 m / s. Similarly, when running at 5 m / s, the radius is 10 m.

In the illustrated example, the interval between the first points b ₁ , b ₂ , and b ₃ of the user B is wider than the points a ₁ , a ₂ ... Of the user A, and the user B has a higher speed than the user A. It is assumed that the crack 44 is approaching. The tentative target setting circle becoming smaller near the crack 44 means that B is slowing down.
(2) When the searchers B tentative target point takes as an example the case you are in point b _3, point user A a _1, a ₂ ... among the tentative target set circle C _T around the point b ₃ in the outside, the one closest to b ₃ in the traveling direction of the path as the temporary target point O _T. In the illustrated example, a ₇ is a temporary target point.
(3) Calculation of Direction Next, in the relationship between the current position / current direction of the user B and the temporary target point, as shown in FIG. 7, a relative horizontal angle when they are projected onto the horizontal plane is calculated. In this case, the traveling direction is 0, and when viewed from above, the counterclockwise direction is positive and the clockwise direction is negative.
(4) Control of the tactile element based on the calculated angle The horizontal angle φ calculated as described above is classified into four types according to the size, and is associated with the operation of the tactile element as follows. Also, when it reaches the destination, it operates as follows.

ここで、αは「直進」が指示される角度範囲を設定するパラメータである。

Here, α is a parameter for setting an angle range in which “straight ahead” is instructed.

  According to the above configuration, the correct orientation is given by the tactile sensor 16 when the route information input from the operation unit 2 and the position information measured from an external position sign or the like are to be reached along the route. Presented and based on this, the route can be traced correctly. Further, when the user goes to a certain destination, the route can be stored in the storage means of the guide unit 10, and the destination can be reached along the route information stored when the destination is visited next time.

  Hereinafter, other embodiments of the present invention will be described. In these embodiments, the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  FIGS. 7 and 8 show a guide 10 configured as a hat as a second embodiment of the present invention. This hat is formed of a cap portion 54 and a collar portion 56, and the inner surface of the lower half of the cap portion is used as a guide surface 14, and a plurality of tactile elements 16 are attached to this surface. The outer surface is a power source 12 formed of solar cells. Furthermore, an inertial sensor 18 is provided in part of the cap. Further, the brim part 56 is provided with the short-range wireless communication device 20 and the control means 22. Since the head is wider than the sole of the foot and it is expected that a finer orientation can be identified, in this embodiment, in addition to the tactile elements 16F, 16R, and 16L corresponding to the front, right, and left directions, Tactile elements 16Fr and 16Fl corresponding to the diagonally right front and diagonally left front are respectively attached. On the other hand, it is considered that the positioning error by the inertial sensor 18 is large due to the action such as shaking the head to prevent wearing on the head. In order to avoid this, it is desirable to attach the inertial sensor 18 to the top of the cap 54 with relatively little movement as shown in the figure.

  9 to 11 show a third embodiment of the present invention. In this embodiment, the guide portion 10 is formed as a grip portion of a cane, and the grip portion is formed into an oblong shape that is long in the front and rear direction as shown in FIG. It is provided so that the palm can be fitted and gripped, and tactile elements 16L and 16R corresponding to the left and right direction are attached to the upper part of both sides, and a tactile element 16F corresponding to the front is provided in the lower half of the grip part. is doing.

  In such a grip part type guide part 10, when the user changes the front and rear end parts 50F and 50B so that the front and rear ends 50F and 50B are changed back and forth, the guide part 10 is used as a reference at the point D where the hand is changed as shown in FIG. In the coordinate system, the direction of the acceleration measured by the inertial sensor 18 is rotated by 180 degrees, and there is a possibility that the direction is opposite as shown in FIG. Therefore, in order to avoid this, in the present embodiment, the control is performed when the direction of the acceleration data measured by the inertial sensor is opposite to the acceleration data measured within a predetermined time over a predetermined time. The means 22 recognizes that a hand-over has been performed and corrects the measured acceleration data by rotating the direction of the half-turn so that the route information by the corrected acceleration overlaps the line drawn with a two-dot chain line in FIG. Provided.

  12 and 13 show a fourth embodiment of the present invention. In this embodiment, the grip-type guide device of the third embodiment is applied to a grip of a bag. That is, tactile elements 16L and 16R corresponding to the left and right directions are attached to both lateral sides of the horizontal bar portion of the clip, and further, tactile elements 16F corresponding to the front are attached to the upper surface of the horizontal bar portion. In this embodiment, for example, when visiting a hotel on an unknown land of a travel destination, the route of the previous visitor can be traced. Furthermore, even if he gets lost in an unguided town, he can return to the original place by following his route recorded by the inertial sensor 18.

  As a premise for presenting the route, it is necessary to accurately measure the position of the apparatus. This is performed, for example, according to the already-mentioned patent application 2005-069267 by the present applicant as follows.

This system is formed by a position marker 62, a tactile route guidance device 1 and a relay device 68 as shown in FIG. The position indicator 62 is formed of at least a pair of transmitters 64 for near field communication, and a plurality of the position marker 62 are installed along the indoor or outdoor passage as shown in FIG. In addition, the tactile route guidance device 1 is connected to each other via a telecommunication line N such as the Internet and to a relay device 68 such as a server facility as a system terminal. Then, as shown in FIG. 15, when a user walks along a traffic path, when the user passes by a certain position marker 62, three-point measurement is performed between the position marker 62 and the tactile route guidance device 1. By applying the method, the position P ₁ of the user is accurately measured. Next, the path from this position to the next position marker is determined by an inertial sensor. Further, if there is a road surface irregularity at the midway point P ₂ of this route, the coordinates can be marked to alert the subsequent user. The route information including such marking information is accumulated in the relay device 68 through the telecommunication line N, and is supplied for other users heading to the same destination to follow the route.

  In the above configuration, the route data and the marking data are stored as discrete point data arranged at a very fine pitch as shown in the following table.

同表中Sign-aは相対座標Xn,Yn,Znの基準となる位置標識機の名称である。又、時間は100分の１秒の単位まで表示している。

In the table, Sign-a is the name of the position marker that serves as a reference for the relative coordinates Xn, Yn, and Zn. The time is displayed in units of 1 / 100th of a second.

  The absolute coordinates of each position marker are stored in the server's Sign table. In addition, “Q” in the table is marking information, and when this element is 0, it means that the route is not marked. The meaning of the mark “Q” (for example, the content of a warning such as “with unevenness”) is stored in the mark table of the server.

  Thus, the combination of the short-range wireless technology and the inertial sensor can provide precise and accurate route information to the tactile route guidance device of the present invention. It is not always necessary to use this system. For example, even a route guidance system such as a conventional car navigation system with a GPS function can obtain rough information on the route, and based on this, The invention can be implemented.

1 is an overall configuration example of an apparatus according to a first embodiment of the present invention. It is a front view of the operation part of the apparatus of FIG. It is a disassembled perspective view of the guide part of the apparatus of FIG. It is a top view at the time of decomposition | disassembly of the guide part of FIG. It is action | operation explanatory drawing of the apparatus of FIG. It is another effect | action explanatory drawing of the apparatus of FIG. It is a perspective view of the guide part of 2nd Embodiment of this invention. It is a top view of the guide part of FIG. It is a perspective view of the guide part of 2nd Embodiment of this invention. It is a top view of the guide part of FIG. FIG. 10 is an operation explanatory diagram of the guide unit of FIG. 9. It is a side view of the guide part of 3rd Embodiment of this invention. FIG. 13 is a plan view of the guide unit of FIG. It is a structural example of the Example of this invention. 15 is a usage example of the embodiment of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Tactile type route guidance apparatus 2 ... Operation part 4 ... Operation button 6 ... Operation screen 8 ... Antenna 10 ... Guide part 12 ... Power supply 14 ... Guide surface 16 ... Tactile
18 ... Inertial sensor 20 ... Short-range wireless communication device 22 ... Control means
30 ... Shoe sole 32 ... Skin 34 ... Side skin 36 ... Front skin 38 ... First connection band
40 ... Second connection band 44 ... Crack 48 ... Both sides of grip
50F, 50B ... Both front and rear ends 54 ... Cap 56 ... Buttocks
62 ... Position marker 64 ... Transmitter 68 ... Relay device O _T ... Temporary target point circle C _T ... Temporary target setting circle

Claims (9)

  In the route guidance device that guides the route to the destination based on the position information of the destination, the guide surface 14 that is in contact with a part of the body of the passerby is arranged corresponding to a plurality of required directions along the ground plane. Provided with a plurality of tactile sensors 16 and an operation unit 2 having at least a data input function such as a destination so that the direction can be perceived by the stimulus given to the passerby's body by the tactile sensor of the direction to the destination A tactile route guidance device, characterized in that it is configured as follows.   2. A tactile route guidance device according to claim 1, wherein a guide unit including an inertial sensor and the guide surface is provided separately from the operation unit.   The route to the destination is recorded in the storage means, and the same route can be guided based on this record when going to the same destination. 2. A tactile route guidance system according to 2.   Based on the current location information received from the outside, the current position of the passerby and the traveling speed are measured, and the temporary target point on the route after a certain time is specified from the position information and the speed information. The tactile route guidance device according to any one of claims 1 to 3, wherein the direction of the touch can be palpated through the guide surface (14).   5. The tactile sensor 16 is configured to be able to operate near a branch point of a path through which a passer-by passes to reach a destination, according to any one of claims 1 to 4. Tactile route guidance device.   The guide unit 10 is formed as a part of the accessories worn by the passerby, and is configured to be mountable in a state in which the direction of the guide surface 14 is fixed with respect to a part of the passer's body. The tactile route guidance device according to any one of claims 2 to 5, wherein   7. The tactile route guidance device according to claim 6, wherein the guide portion is formed as a shoe, and the inner surface of the shoe is a guide surface.   6. The touch according to any one of claims 2 to 5, wherein the guide portion 10 is formed as a grip portion of a portable article such as a cane or a mobile phone, and the grip surface is a guide surface 14. Intelligent route guidance device. The grip part forming the guide part 10 is long in one direction when viewed from above, and is configured to grip the side surfaces 48, 48 of the short direction so as to fit the palm of the hand, and the user can grasp the length of the grip part. Acceleration data measured after a change of position is provided by controlling means 22 that senses the change of the grip part by reversing the direction of the acceleration data input from the inertial sensor 18 when both ends of the direction are replaced and re-gripped. 9. A tactile route guidance apparatus according to claim 8, wherein data processing is performed to restore the direction of the original by reverse rotation.

Images