JP2007026297A - Vibration controller, temperature controller and movement controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To more properly transmit a tactile sense of an object displayed on a screen. <P>SOLUTION: When a cursor moves on an object image, a vibration control part 213 imparts vibration according to surface state information of an actual object position corresponding to an image position on the object image indicated by the cursor to an elastic member 222 on the basis of the surface state information corresponding to the object image. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vibration control device, a temperature control device, and a movement control device.

  In recent years, there has been proposed an information input / output device that gives a displacement to an operation unit according to the color shade of an image based on the shade of the color of an image displayed at a position indicated by a cursor on a screen (for example, a patent) Reference 1). As a result, the operation unit (for example, a joystick part that can be swung in multiple directions) is displaced according to the color density of the image displayed at the cursor position, so that the operator is displayed on the screen. The tactile sensation of the object can be grasped.

  By the way, in recent years, buying and selling of goods is frequently performed through the Internet. A purchase applicant who wishes to purchase a product through the Internet searches for a desired product image and adjusts the brightness of the product image to make it easier to grasp the texture of the product corresponding to the image. The image is displayed clearly.

  However, since the purchase applicant can only clearly display the product image displayed through the Internet, the product corresponding to the product image can be visually grasped, but the product is tactilely detected. I couldn't figure it out. For this reason, the purchase applicant cannot grasp the tactile sensation of the desired product and cannot purchase the product with peace of mind.

On the other hand, if the information input / output device transmits the tactile sensation of the product corresponding to the product image to the purchase requester, the purchase requester seems to be able to purchase the product with peace of mind.
JP 2003-99177 A

  However, the information input / output device does not transmit the “surface roughness”, the “hardness” of the product, or the “surface temperature” of the product corresponding to the product image to the operation unit. The detailed “tactile sensation” could not be transmitted to the purchase applicant, and the purchase applicant could not be made to purchase the product with peace of mind.

  Therefore, the present invention has been made in view of the above points, and provides a vibration control device, a temperature control device, and a movement control device that can more appropriately transmit a tactile sensation of an object displayed on a screen. For the purpose.

  In order to solve the above problems, the present invention provides an operation unit for moving a cursor pointing to an object image displayed on a screen, an image position on the object image pointed to by the cursor, and an actual object on the actual object corresponding to the image position. A storage unit that stores surface property information composed of surface state information indicating the surface state of the position for each object image, and surface property information corresponding to the object image when the cursor is moving on the object image And a vibration control unit that applies vibration to the operation unit according to the surface state information of the actual position corresponding to the image position on the object image indicated by the cursor.

  According to such a feature of the present invention, since the vibration according to the surface state of the real object is output by moving the cursor on the object image, the operator can also turn the real object into the real object via the operation unit. A sense of touching can be obtained, and for example, products such as clothes suitable for one's skin can be appropriately purchased from many product groups sold through the Internet.

  In the above invention, the surface state information may include information that is an amplitude of a pulse signal determined according to the surface roughness of the real object.

  The present invention includes an operation unit that moves a cursor that points to an object image displayed on the screen. The operation unit includes a temperature element, and the object image is based on the position of the cursor on the object image. And a temperature control unit that heats or cools the temperature element at a pseudo surface temperature corresponding to the surface temperature of the real object corresponding to.

  According to such a feature of the present invention, since the cursor moves on the object image, the temperature element is heated / cooled at a temperature (element temperature Tp) corresponding to the actual object surface temperature corresponding to the object image. The operator can confirm the surface temperature of the real object corresponding to the object image in a pseudo manner.

  In the above invention, the temperature control unit is the finger surface temperature that is the surface temperature of the finger before the operator's finger touches the operation unit, and the surface temperature of the real object that corresponds to the object image where the cursor is located. The real object surface temperature may be acquired, and the pseudo surface temperature may be calculated based on the finger surface temperature and the real object surface temperature.

  In the above invention, the temperature control unit measures the surface temperature of the operation unit after the operator's finger touches the operation unit, and heats or cools the temperature element until the measured surface temperature reaches the actual object surface temperature. May be.

  The present invention includes an operation unit that moves a cursor that points to an object image displayed on a screen, a value of a force by which a real object corresponding to the object image is pressed, and a displacement amount of the real object corresponding to the force value. A storage unit that stores the configured displacement amount characteristic information for each object image, and when the cursor is positioned on the object image, the operation unit is pressed based on the displacement amount characteristic information corresponding to the object image. And a movement control unit that moves the operation unit by the amount of displacement corresponding to the force value.

  According to such a feature of the present invention, since the position of the operation unit is displaced according to the force with which the operation unit is pressed, the operator presses the operation unit to move the real object corresponding to the object image. The hardness can be confirmed in a pseudo manner.

  In the above invention, the operation unit includes a pedestal portion and a rod-shaped operation body that is erected from the pedestal portion and can be swung in multiple directions in order to move the cursor. And a pressure sensor for measuring the force pressed from one end side of the operating body, and along the longitudinal direction of the operating body by a displacement corresponding to the value of the force measured by the pressure sensor. You may provide the operation body moving part which moves an operation body.

  In the above invention, the pedestal portion includes a female screw hole penetrating along the longitudinal direction of the operation body, the operation body moving portion includes a motor having a drive shaft, and the drive shaft meshes with the female screw hole. A matching male screw portion is formed along the longitudinal direction of the drive shaft, and the operating body moving portion rotates the drive shaft at a rotational speed corresponding to the amount of displacement, thereby operating the operating body along the longitudinal direction of the operating body. May be moved.

  In the above invention, the operating body moving unit may be constituted by a linear actuator.

  In the above invention, the operation unit includes a rod-shaped operation body that can be swung in multiple directions to move the cursor, and the movement control unit is provided at a position that bisects the operation body. The operating body is provided with a pressure sensor that measures a force pressed from one end side, and an operating body moving section that moves the operating section in the longitudinal direction of the operating body by a displacement corresponding to the force measured by the pressure sensor. The portion includes a motor and a gear that transmits the power of the motor, and the gear is in contact with the other end side of the operating body that moves the operating body along the longitudinal direction when the gear is rotated. The moving unit may rotate the gear at a rotation speed corresponding to the displacement amount.

  Note that the operation unit may move the cursor by detecting the movement of the fingertip of the hand.

  According to the feature of the present invention, the tactile sensation of the object displayed on the screen can be transmitted more clearly.

[First Embodiment]
(Configuration of vibration control device)
Here, an example in which the vibration control device 200 of the present invention is applied to the mobile communication terminal 1 will be described. FIG. 1 is a diagram illustrating an appearance of a mobile communication terminal 1 according to the present embodiment. FIG. 2 is a diagram showing an internal structure of the mobile communication terminal 1 in the present embodiment.

  As shown in FIGS. 1 and 2, the mobile communication terminal 1 includes a communication unit 101, a display unit 102, an audio output unit 103, a sound collection unit 104, a power supply unit 105, a main body control unit 106, and a RAM 107. A ROM 108, a key 109, and a vibration control device 200.

  The communication unit 101 transmits and receives information between the mobile communication terminal 1 and another device. The display unit 102 displays predetermined information such as characters, symbols, numbers, images, and a cursor 102A. The voice output unit 103 outputs a voice of a user of another mobile communication terminal (not shown). The sound collection unit 104 acquires the voice of the user of the mobile communication terminal 1.

  The power supply unit 105 supplies power to the mobile communication terminal 1. The main body control unit 106 controls the entire mobile communication terminal 1. The RAM 107 temporarily stores information processed by the main body control unit 106. The ROM 108 stores a program for operating the mobile communication terminal 1. The key 109 accepts any input of the predetermined information.

  The vibration control device 200 determines the surface state of the real object corresponding to the object image based on the cursor 102A being positioned on the object image corresponding to the real object such as a commodity sold or sold via the Internet. This is transmitted to the operator of the mobile communication terminal 1.

  In the present embodiment, the vibration control device 200 will be described as transmitting vibration according to the “surface roughness” of the real object corresponding to the object image to the operation mechanism 220.

  FIG. 3A is a diagram showing an internal structure of the vibration control device 200 in the present embodiment. FIGS. 3B and 3C are diagrams showing a specific configuration of the operation mechanism 220 in the present embodiment.

  As shown in FIG. 3A, the vibration control device 200 includes a casing 210, a strain detection unit 211, an information storage unit 212, a vibration control unit 213, a vibration output unit 214, and an operation mechanism 220. I have. The vibration control unit 213 and the vibration output unit 214 constitute a vibration control unit.

  The housing 210 accommodates each part constituting the vibration control device 200. The strain detection unit 211 is provided on a side surface of the elastic member 222 described later, and detects the tilting direction of the elastic member 222. The strain detection unit 211 is configured by, for example, a strain gauge. When the strain detector 211 detects the tilt direction of the elastic member 222, the mobile communication terminal 1 moves the cursor 102A toward the detected tilt direction.

  The information storage unit 212 is a surface composed of an image position (here, a coordinate position) on the object image indicated by the cursor 102A and surface state information indicating the surface state of the actual position on the actual object corresponding to the image position. Characteristic information is stored for each object image.

  In the present embodiment, the image position on the object image and the actual position on the real object have a correspondence relationship. For example, there is a case where the image position on the object image and the actual position on the real object have a one-to-one correspondence. Alternatively, there is a case where either of the image position on the object image and the actual position on the real object is enlarged or reduced so that the positions of the two have a one-to-one correspondence.

  Here, FIG. 4 is a diagram illustrating the position of the cursor 102A on the first object image 102B (here, an image of a piece of cloth) displayed on the screen. FIG. 5 is a diagram showing the surface characteristic information stored in the information storage unit 212.

  As shown in FIG. 4, the cursor 102A and the first object image 102B are located on the xy plane on the screen. As shown in FIGS. 4 and 5, the surface characteristic information corresponds to the image position (xn, yn) {n = 0, 1,..., A,...} Of the cursor 102A and the image position (xn, yn). And surface state information indicating the surface state of the actual position on the actual object.

  The surface state information in the present embodiment includes information that is the amplitude of a pulse signal determined according to the surface roughness of the real object. For example, when the surface state of the actual position corresponding to the image position (xA, yA) of the cursor 102A is convex (for example, a portion where cloth fibers are present; see a hatched portion in FIG. 8 described later) The surface state information A indicating the surface state is information that instructs the vibration output unit 214 to output the pulse signal A corresponding to the convex shape.

  Based on the fact that the cursor 102A is moving on the object image, the vibration control unit 213 acquires surface characteristic information corresponding to the object image from the information storage unit 212, and based on the acquired surface characteristic information, the cursor The vibration according to the surface state information of the real position of the real object corresponding to the position of 102A is transmitted to the operation mechanism 220.

  The vibration output unit 214 outputs vibration according to the pulse signal output from the vibration control unit 213. The vibration output unit 214 is configured by, for example, a piezo element, a vibrator, or a solenoid. In addition, it is preferable that the vibration output unit 214 is configured to be able to output a frequency of 10,000 Hz or more.

  The operation mechanism 220 moves the cursor 102 </ b> A that points to the object image displayed on the screen, and includes a crown portion 221 and an elastic member 222. Note that the operation mechanism 200 constitutes an operation unit. In the present embodiment, the operation mechanism 220 will be described as moving the cursor by detecting the movement of the fingertip of the hand.

  As shown in FIGS. 3B and 3C, the crown 221 is a member on which the operator's finger is placed.

  In the elastic member 222, one end 222 </ b> A of the elastic member 222 is joined to a substantially central portion of the bottom surface of the top portion 221, and the other end 222 </ b> B of the elastic member 222 is joined to the bottom surface of the housing 210. The elastic member 222 is formed in a rod shape, and stands upright so that it can swing in multiple directions in order to move the cursor 102A. Note that the top 221 and the elastic member 222 constitute an operating body.

  Here, when the top 221 is pushed in the horizontal direction with respect to the longitudinal direction of the elastic member 222 by the operator's finger, the elastic member 222 tilts with the other end 222B as a fulcrum. When the tilt direction of the elastic member 222 is detected by the strain detector 211, the cursor 102A displayed on the screen moves in the same direction as the tilt direction.

  In addition, since the elastic output unit 214 includes the vibration output unit 214, the vibration is transmitted to the operator's finger through the elastic member 222 and the top of the head 221 when the vibration output unit 214 vibrates.

(Operation of vibration control device)
Next, the operation of the vibration control device 200 will be described. In the present embodiment, an example in which the vibration control device 200 is applied to the mobile communication terminal 1 is described, but here, the operation of the mobile communication terminal 1 that is common to the conventional operation is omitted, and the mobile phone is different from the conventional one. Only the operation of the vibration control device 200 in the communication terminal 1 will be described in detail.

  FIG. 6 is a diagram illustrating the operation of the vibration control device 200 according to the present embodiment. As shown in FIG. 6, in step 101, the vibration control apparatus 200 specifies the image position of the cursor 102A displayed on the screen. For example, as illustrated in FIG. 7, the vibration control device 200 specifies the image position (xA ′, yA ′) of the cursor 102 </ b> A after the object image 102 </ b> B is displayed.

  In step 103, the vibration control apparatus 200 determines the surface characteristic information corresponding to the object image 102B (see FIG. 5) based on the fact that the image position (xA ′, yA ′) of the cursor 102A is located on the object image 102B. ) Is acquired from the information storage unit 212, and surface state information corresponding to the image position (xA ′, yA ′) is acquired based on the acquired surface characteristic information.

  In step 105, the vibration control device 200 outputs a pulse signal corresponding to the acquired surface state information to the vibration output unit 214. The vibration output unit 214 outputs vibration according to the output pulse signal.

  As shown in FIG. 7, for example, when the cursor 102 </ b> A is moving on the object image 102 </ b> B from A <b> 1 to A <b> 1 ′, the vibration control device 200 performs the processing from step 101 to step 105 described above. Repeated many times, surface state information corresponding to the image position of the cursor 102A is sequentially acquired, and vibrations corresponding to the surface state information are sequentially output.

  Next, a specific description will be given until the vibration control device 200 vibrates the vibration output unit 214 when the cursor 102A is moving on the object image 102B that is an image of a piece of cloth.

(1) When the surface state of the real object corresponding to the object image 102B is “rougher than normal” (see FIG. 8A)
For example, when the cursor 102A moves from the image position A1 toward the image position A1 ′ and the cursor 102A is positioned on the fabric fiber (the hatched portion in FIG. 8A), the vibration control device 200 is One pulse signal is output to the vibration output unit 214, and the vibration output unit 214 is vibrated only once. Similarly, when the cursor 102A is positioned in the next fiber shape (the hatched portion in FIG. 8A), the vibration control device 200 outputs one pulse signal to the vibration output unit 214 to output the vibration. The part 214 is vibrated only once.

  As a result, the vibration output unit 214 vibrates at a predetermined frequency as the cursor 102A sequentially moves on the fabric fibers on the screen. For this reason, the operator can pseudo-check that the surface state of the cloth corresponding to the object image 102B is “rough” through the vibration output unit 214 that is vibrated at the predetermined frequency.

(2) When the surface state of the real object corresponding to the object image 102B is “normal” (see FIG. 8B)
In this case, since the interval on the fabric fiber (hatched portion) shown in FIG. 8B is shorter than the interval shown in FIG. 8A, one pulse signal is sequentially output to the vibration output unit 214. The timing is faster than the above (1), and the vibration output unit 214 vibrates at a higher frequency than the above (1). Thus, the operator can pseudo-confirm the sense that the surface state of the cloth corresponding to the object image 102B is “normal”, not the sense that it is “coarse”.

(3) When the surface state of the real object corresponding to the object image 102B is “finer than normal” (see FIG. 8C)
In this case, since the interval on the fabric fiber (hatched portion) shown in FIG. 8C is shorter than the interval shown in FIG. 8B, one pulse signal is sequentially output to the vibration output unit 214. The timing is faster than the above (2), and the vibration output unit 214 vibrates at a higher frequency than the above (2). As a result, the vibration output unit 214 vibrates more finely, so that the operator can pseudo-check that the cloth surface state corresponding to the object image 102B is “finer than usual”.

  According to the feature of this embodiment, since the cursor 102A moves on the object image (for example, on the image showing the cloth), vibration corresponding to the surface state of the real object is output. The operator of the terminal 1 can obtain a feeling that a person is touching a real object through the operation mechanism 220. For example, clothes suitable for his / her skin from many product groups sold via the Internet. Can be purchased appropriately.

[Second Embodiment]
The vibration control device 200 according to the first embodiment transmits vibrations according to the surface state (for example, surface roughness) of the real object corresponding to the object image to the operation mechanism 220, but the temperature control device according to the second embodiment. 300 is different in that the temperature element 314 is heated or cooled at a temperature corresponding to the surface temperature of the real object corresponding to the object image. Since the configuration other than the temperature control device 300 is the same as the configuration in the first embodiment, a detailed description is omitted.

(Configuration of temperature controller)
Fig.9 (a) is a figure which shows the external appearance of the temperature control apparatus 300 in this embodiment. FIG. 9B is a diagram showing a specific configuration of the operation mechanism 320 in the present embodiment.

  As shown in FIG. 9A, the temperature control device 300 includes a housing 310, a strain detection unit 311, an information storage unit 312, a temperature control unit 313, a temperature element 314, and an operation mechanism 320. ing. In addition, the detailed description about the part which is a name common to 1st Embodiment and does not require further description is abbreviate | omitted.

  Based on the position of the cursor 102A on the object image, the temperature control unit 313 uses a pseudo surface temperature (for example, Tp, To, etc.) corresponding to the surface temperature of the real object corresponding to the object image. 314 is heated or cooled.

  For example, the temperature control unit 313 displays the surface temperature of the finger before the operator's finger touches the operation mechanism 320 (finger surface temperature Tf described later) and the real object corresponding to the object image on which the cursor 102A is positioned. Based on the surface temperature (actual object surface temperature To described later), an element temperature Tp that is the temperature of the temperature element 314 is calculated, and the operation mechanism 320 is heated or cooled at the element temperature Tp.

  The temperature element 314 outputs a temperature (Tp, To, etc. described later) according to a command from the temperature control unit 313. The temperature element 314 is configured by, for example, a Peltier element. The temperature element 314 is provided on the top of the crown 321 (see FIG. 9C).

  Here, when a person's finger touches a real object, the person feeling “warm” or “cold” is known as “contact cold / warm feeling”. In the present embodiment, the temperature control device 300 heats or cools the operation mechanism 320, so that the temperature control device 300 can make a “contact cold / warm feeling” when a person touches a real object in a pseudo manner. .

  FIG. 10 shows a finger surface temperature Tf, which is the surface temperature of the finger before the human finger touches the real object, and a real object surface temperature, which is the surface temperature of the real object before the human finger touches the real object. It is a figure which shows the relationship between To and the perceived surface temperature Ts which is a temperature which a person can perceive "cool feeling of contact" after a human finger touches a real object.

  As shown in FIG. 10, an example in which the finger surface temperature Tf is higher than the real object surface temperature To is shown. When a human finger touches a real object, the finger surface temperature Tf and the real object surface temperature To change to the perceived surface temperature Ts.

If the thermal conductivity, density and specific heat of the finger are kf, ρf and cf, respectively, and the thermal conductivity, density and specific heat of the real object are ko, ρo and co, respectively, the perceived surface temperature Ts can be expressed by the following equation. it can.

In order to reproduce the perceived surface temperature Ts by the temperature element 314, assuming that the element temperature which is the temperature of the temperature element 314 is Tp, the perceived surface temperature Ts can also be expressed by the following equation.

  From the above formula 2, the element temperature Tp can be expressed by the following formula.

  Note that kf, ρf, cf, and Tf may be acquired from the operator of the mobile communication terminal 1 or may be stored in advance. Although ko, ρo, co, and To are stored in advance for each object image, it is needless to say that the present invention is not limited to this.

  The temperature control unit 313 calculates the element temperature Tp of the temperature element 314 based on the relationship between the finger surface temperature Tf and the actual object surface temperature To in Equation 3 above, and heats or cools the temperature element 314 with the element temperature Tp. Thus, when the operator's finger touches the temperature element 314, the operator can pseudo-check the “contact cool / warm feeling” of the real object corresponding to the object image.

(Operation of temperature controller)
Next, the operation of the temperature control device 300 will be described. FIG. 11 is a diagram illustrating an operation of the temperature control device 300 according to the present embodiment. As shown in FIG. 11, in step 201, the temperature control device 300 specifies the image position of the cursor 102A after the object image is displayed.

  In step 203, based on the fact that the specified image position is located on the object image, the temperature control device 300 displays the real object surface temperature To and the finger surface temperature Tf corresponding to the object image as the information storage unit 312. And the element temperature Tp is calculated using the above Equation 3.

  In step 205, the temperature control device 300 outputs the element temperature Tp via the temperature element 314.

  According to such a feature of the present embodiment, when the cursor 102A moves on the object image, the temperature controller 300 causes the temperature (here, the element temperature Tp) corresponding to the real object surface temperature To corresponding to the object image. ) Is output, the operator can virtually check the “contact cold / warm feeling” of the real object corresponding to the object image.

  In the present embodiment, the temperature control device 300 calculates the element temperature Tp using the above Equation 3 and outputs the element temperature Tp via the temperature element 314. Absent. Here, FIG. 12 is a diagram illustrating a temperature table including object images and corresponding element temperatures. This temperature table is stored in the information storage unit 312.

  Specifically, the temperature control device 300 refers to the temperature table shown in FIG. 12 without using Equation 3 above, acquires the element temperature Tp corresponding to the object image where the cursor 102A is located, and the temperature element 300 The element temperature Tp may be output via 314.

  Although the temperature control device 300 outputs the element temperature Tp via the temperature element 314, the temperature control device 300 may output the actual object surface temperature To to the temperature element 314 without being limited thereto.

  The temperature control device 300 measures the surface temperature of the top portion 314 after the operator's finger touches the top portion 314 (the operation mechanism 320) until the measured surface temperature becomes the real object surface temperature To. Further, temperature control (control for heating or cooling) may be performed on the temperature element 314. In this case, the surface temperature of the parietal portion 314 is measured by a temperature sensor (not shown) provided in the parietal portion 314.

[Third Embodiment]
The vibration control device 200 according to the first embodiment transmits vibrations according to the surface state of the real object corresponding to the object image to the top 421. The temperature control device 300 according to the second embodiment corresponds to the object image. The temperature element 314 is heated or cooled at a temperature corresponding to the surface temperature of the real object.

  On the other hand, the movement control device 400 according to the third embodiment is different in that the top 421 is moved by the amount of displacement corresponding to the value of the force with which the top 421 is pressed. Since the configuration other than the movement control device 400 is the same as the configuration in the first embodiment, a detailed description is omitted.

(Configuration of movement control device)
FIG. 13A is a diagram illustrating an appearance of the movement control device 400 according to the present embodiment. FIG. 13B is a diagram showing a specific configuration of the operation mechanism 420 in the present embodiment.

  As shown in FIG. 13A, the movement control device 400 includes a housing 410, a pressure detection unit 411, a strain detection unit 412, an information storage unit 413, a movement control unit 414, a drive unit 415, And an operation mechanism 420. In addition, the detailed description about the part which is a name common to 1st Embodiment and does not require further description is abbreviate | omitted.

  The pressure detection part 411 measures the force with which the top part 421 was pressed. The pressure detection unit 411 is configured by a pressure sensor or the like. The pressure detection part 411 is provided in the location which bisects the elastic member 422 shown in FIG.13 (b).

  The information storage unit 413 stores, for each object image, displacement amount characteristic information configured by the value of the force with which the real object corresponding to the object image is pressed and the amount of displacement of the real object corresponding to the force value. To do.

  Here, FIG. 14 is a diagram showing displacement amount characteristic information including a force Ff when the real object is pressed and a displacement amount X of the real object with respect to the force Ff. This displacement amount characteristic information is information used to reproduce the hardness of the cloth corresponding to the object image (here, the image of the hard cloth A and the image of the cloth B softer than the cloth A). It is stipulated in.

  As shown in FIG. 14, the force Ff for pressing the real object is equal to the force for pressing the crown 421. When the force value measured by the pressure detection unit 411 is P, and the area of the pressure detection unit 411 in contact with the operator's finger is S, the force Ff that presses the real object (the top 421 is pressed). Can be expressed by the following equation.

Ff = P · S Equation 4
As shown in FIG. 14, when the force pressed against the top 421 is F1 and the object image is an image of the cloth A, the movement control unit 414 determines the displacement amount of the top 421. Determine as Xa. Similarly, when the force pressed against the top 421 is F1 and the object image is an image of the cloth B, the movement control unit 414 determines the amount of displacement of the top 421 as Xb.

  When the cloth A and the cloth B are pressed with the same force F1, the movement control unit 414 is smaller than the displacement amount Xb of the image of the cloth B than the displacement amount Xa of the image of the cloth A. By changing the amount of displacement of the position of the top 421 according to the object image, the hardness of the object image can be transmitted to the operator via the top 421.

  The movement control unit 414 refers to the displacement amount characteristic information shown in FIG. 14, and when the cursor 102A is positioned on the object image, the displacement amount characteristic corresponding to the object image (for example, the image of the cloth A). Based on the information, the amount of displacement corresponding to the value of the force with which the top 421 is pressed is determined.

  The drive unit 415 is configured by a motor and includes a drive shaft 424. The drive unit 415 moves the elastic member 422 along the longitudinal direction of the elastic member 422 by rotating the drive shaft 424 by the number of rotations corresponding to the determined amount of displacement according to an instruction from the movement control unit 414. Let

  Next, the operation mechanism 420 in this embodiment will be described in detail. As illustrated in FIG. 13B, the operation mechanism 420 includes a top portion 421, an elastic member 422, a pedestal portion 423, a drive shaft 424, and a stopper 425. In addition, the detailed description about the part which is a name common to 1st Embodiment and does not require further description is abbreviate | omitted. The pressure sensor 411, the movement control unit 414, the drive unit 415, the pedestal unit 423, the drive shaft 424, and the stopper 425 constitute a movement control unit. Further, the movement control unit 414, the driving unit 415, and the driving shaft 424 constitute an operating body moving unit.

  In the elastic member 422, one end 422A of the elastic member 422 is joined to a substantially central portion of the bottom surface of the top portion 421, and the other end 422B of the elastic member 422 is joined to the pedestal portion 423. That is, the elastic member 422 is formed in a rod shape, and stands on the pedestal portion 423 so as to be swingable in multiple directions in order to move the cursor 102A. Note that the top of the head 421 and the elastic member 422 constitute an operating body.

  The pedestal portion 423 includes a female screw hole 423A penetrating along the longitudinal direction of the elastic member 423.

  The drive shaft 424 is supported by the drive unit 415 along the longitudinal direction of the elastic member 422, and a male screw portion that meshes with the screw hole 423 </ b> A is formed along the longitudinal direction of the drive shaft 424. The drive shaft 424 includes a stopper 425 that restricts the movement of the pedestal portion 423 at one end 424 </ b> A of the drive shaft 424.

  As the drive shaft 424 rotates and the threads of the male screw portion of the drive shaft 424 move sequentially in the longitudinal direction of the drive shaft 424, the pedestal portion 423 also moves in the same direction. Move.

(Operation of the movement control device)
Next, the operation of the movement control device 400 will be described. FIG. 16 is a diagram illustrating an operation of the movement control device 400 according to the present embodiment. As shown in FIG. 16, in step 301, the movement control apparatus 400 specifies the image position of the cursor 102A after the object image is displayed.

  In step 303, the movement control device 400 measures the force with which the top 421 is pressed based on the fact that the identified image position is located on the object image. Then, the movement control device 400 refers to the displacement amount characteristic information shown in FIG. 14 and acquires the displacement amount X of the crown 421 corresponding to the measured force.

  In step 305, the movement control device 400 moves the crown 421 by the acquired displacement amount X. Specifically, the movement control device 400 rotates the drive shaft 424 by the number of rotations corresponding to the acquired amount of displacement X, thereby moving the crown 421 by the amount of displacement X.

  Here, in steps 301 to 305, the movement control device 400 rotates the drive shaft 424 by the number of rotations corresponding to the pressed force as the pressing of the top 421 increases, and the top 421 is moved. Move down. Then, the movement control device 400 rotates the drive shaft 424 by the number of rotations corresponding to the pressed force as the pressure on the top 421 is weakened, and moves the top 421 upward to the original position. Let

  According to such a feature of the present embodiment, since the position of the top 421 is displaced according to the force with which the top 421 is pressed, the operator can respond to the object image by pressing the top 521. The hardness of the real object to be confirmed can be confirmed in a pseudo manner.

  Note that the displacement amount characteristic information shown in FIG. 15 may have hysteresis. In this case, the displacement of the real object is made different from the characteristic of the displacement of the real object when the pressure of the real object is strengthened and the characteristic of the displacement of the real object when the pressure of the real object is weakened. Since the amount characteristic can be approximated, the movement control device 400 can more faithfully reproduce the displacement amount of the real object corresponding to the object image.

  Note that the force Ff for pressing the real object and the displacement amount with respect thereto are shown in FIGS. 14 and 15, but are not limited to this, and may be expressed by the following formula.

Ff = a · X ^{2 (} 5) where a is a constant determined for each object image.

  In addition, it is preferable that the operation mechanism 420 is configured to be movable with the top portion 421 of about 10 mm or less. In this case, since the top portion 421 can be moved by about 10 mm or less, the movement control device 400 does not increase the size of the operation mechanism 420, and the hardness of the real object corresponding to the object image is determined by the operator. Can communicate appropriately.

(Modification 1)
In addition, although the drive part 415 in this embodiment is comprised with the motor, it is not limited to this. The drive unit 515 in this modified example may be configured by a linear actuator. Since the linear actuator is the same as the conventional configuration, a detailed description thereof is omitted here.

  Since the drive unit 515 is configured by a linear actuator, the operation mechanism 520 driven by the drive unit 515 may be configured as follows.

  FIG. 17 is a diagram illustrating an operation mechanism 520 in the present modification example. As shown in FIG. 17, the operation mechanism 520 includes a top 521, an elastic member 522, a pedestal 523, and a drive shaft 524. In addition, the detailed description about the part which is a name common to 1st Embodiment and does not require further description is abbreviate | omitted.

  The elastic member 522 is erected on the pedestal portion 523 so that the other end 524A of the elastic member 522 is joined to the pedestal portion 523 and can swing in multiple directions in order to move the cursor 102A.

  The pedestal 523 is a member that joins the other end 522 </ b> B of the elastic member 522 and the other end 524 </ b> A of the drive shaft 524. The drive shaft 524 moves the pedestal 523 along the longitudinal direction of the drive shaft 524 by the drive unit 515.

  With such a configuration of the operation mechanism 520, as the pressure on the top 521 is increased, the head 521 is also moved as the drive shaft 524 moves downward by the amount of displacement corresponding to the pressed force. Move down. On the other hand, as the pressure on the top 521 weakens, the top 521 returns to the original position as the drive shaft 424 moves upward by the amount of displacement corresponding to the pressed force.

(Modification 2)
Note that the operation mechanism 420 in the present embodiment may be configured as follows. FIG. 18A is a side view showing the operation mechanism 620 in this modification. FIG. 18B is a right side view showing the operation mechanism 620 in this modified example.

  As shown in FIGS. 18A and 18B, the operation mechanism 620 includes a top portion 621, an elastic member 622, and a rack 623. In addition, the detailed description about the part which is a name common to 1st Embodiment and does not require further description is abbreviate | omitted. Further, it is assumed that the elastic member 622 is supported by a member (not shown).

  The rack 623 is provided on the side surface of the other end 622B of the elastic member 622, and is provided at a position where it can mesh with the gear 624 of the drive shaft 616. The convex shape that can mesh with the gear 624 is elastic. The member 622 is continuously formed from the other end 622B to the one end 622A.

  The gear 624 transmits the power of the drive unit 615 to the rack 623 and is provided on the drive shaft of the drive unit 615.

  With such a configuration of the operation mechanism 620, the elastic member 622 is moved via the rack 623 as the gear 624 is rotated at a rotation speed corresponding to the pressed force as the pressure on the top 621 is increased. The head is moved downward, and the crown 621 is also moved downward. On the other hand, as the pressure on the top 621 is weakened, the elastic member 622 is moved upward along with the rotation of the gear 624 at the number of rotations corresponding to the pressed force, so that the top 621 is restored to the original position. Return to position.

  The drive unit 615, the gear 624, and the movement control unit 414 constitute an operating body moving unit that moves the elastic member 622 in the longitudinal direction by the amount of displacement corresponding to the force measured by the pressure detection unit 411.

  Note that the gear 624 may be formed of an elastic body and may be in direct contact with the other end 622B side of the elastic member 622 that moves the elastic member 622 along its longitudinal direction by rotating the gear 624. In this case, the gear 624 can directly move the elastic member 622 in the longitudinal direction without using the rack 623.

(Modification 4)
In addition, although the operation mechanism 420 in this embodiment has moved the top part 421 up and down using the drive part 415, it is not limited to this, It replaces with the drive part 415 and a magnetorheological fluid (not shown). Alternatively, an electrorheological fluid (not shown) may be used.

  Specifically, the elastic member 422 is supported along the longitudinal direction of the elastic member 422, and the other end 422B of the elastic member 422 is a magnetorheological fluid (not shown) or an electrorheological fluid (not shown). When the head is immersed, the operation mechanism 420 changes the viscosity of the magnetorheological fluid (not shown) or the electrorheological fluid (not shown) according to the force with which the top 421 is pressed.

  As a result, the viscosity of the magnetorheological fluid (not shown) or the electrorheological fluid (not shown) changes according to the force with which the top 421 is pressed, so that the operator presses the top 521. Thus, the hardness of the real object corresponding to the object image can be confirmed in a pseudo manner.

[Fourth Embodiment]
Any two or more of the vibration control device in the first embodiment, the temperature control device in the second embodiment, and the movement control device in the third embodiment may be combined. FIGS. 19A and 19B are diagrams illustrating an internal configuration of the haptic control device 700 in which the configurations of the first embodiment, the second embodiment, and the third embodiment are combined. In addition, about the combination of structures other than each structure of 1st Embodiment, 2nd Embodiment, and 3rd Embodiment, it abbreviate | omits.

  As shown in FIGS. 19A and 19B, the tactile control device 700 includes a housing 710, a pressure detection unit 711, a strain detection unit 712, an information storage unit 713, and a tactile control unit 714 (vibration control). Unit, temperature control unit, movement control unit), vibration output unit 715, drive unit 716, temperature element 717, and operation mechanism 720. The operation mechanism 720 includes a top 721, an elastic member 722, a pedestal 723, a drive shaft 724, and a stopper 725. Note that the configuration of each unit shown in FIGS. 19A and 19B is the same as that of the first to third embodiments and each modified example described above, and thus detailed description thereof is omitted.

  Here, an operation of the operation mechanism 720 when the cursor 102A is moved from A2 to A2 'will be described with reference to FIGS. In addition, the object image 102B shown to Fig.20 (a) thru | or (c) has shown the image of the cloth.

  As shown in FIG. 20A, the operation mechanism 720 leaves the state of the top 721 as it is when the cursor 102A is not positioned on the object image 102B. That is, the operation mechanism 720 does not vibrate the top 721, bring the top 721 to a predetermined temperature, or displace the position of the top 721.

  Then, as illustrated in FIG. 20B, the operation mechanism 720 determines the surface state (for example, surface roughness) of the real object corresponding to the object image 102B based on the movement of the cursor 102A on the object image 102B. The vibration according to the above is transmitted to the crown 721 (see the first embodiment). Further, since the cursor 102A is positioned on the object image 102B, the operation mechanism 720 heats or cools the top 721 at a temperature (see Equation 3) corresponding to the temperature of the real object corresponding to the object image 102B (see FIG. 3). (Refer to the second embodiment).

  Thereafter, as shown in FIG. 20C, when the top portion 721 is pressed while the cursor 102A is stopped on the object image 102B, the operation mechanism 720 causes the pressed force and the object image to be pressed. The parietal portion 721 is moved by the amount of displacement corresponding to 102B (see the third embodiment).

  Further, since the cursor 102A is still positioned on the object image 102B, the operation mechanism 720 heats or cools the top 721 at a temperature (see Equation 3) corresponding to the temperature of the real object corresponding to the object image 102B. (Refer to the second embodiment). In FIG. 20C, since the cursor 102A is stopped, the operation mechanism 720 stops the control for transmitting the vibration to the parietal portion 721.

  According to such a feature of the present embodiment, a combination of two or more of the surface state, the surface temperature, and the hardness of the real object corresponding to the object image 102B is transmitted through the parietal portion 721 in a pseudo manner. The operator can more clearly obtain a feeling that a real object corresponding to the object image 102B is touching a real object, for example, searching for a more appropriate product from a group of products sold and sold via the Internet. can do.

  Note that the tactile control device 700 (or the vibration control device, the temperature control device, and the movement control device) changes the color of the cursor 102A according to the magnitude of the pressed force when the top 721 is pressed. It may be changed. For example, when the top 721 is pressed, the tactile control device 700 darkens the color of the cursor 102A as the magnitude of the pressed force increases.

  The tactile control device 700 changes the color of the cursor 102A from white to gray when the pressed force is about 100 gf, for example. Further, the tactile control device 700 changes the color of the cursor 102A from white to black when the pressed force exceeds about 300 gf, for example.

  In this case, the color of the cursor 102 is changed by the force with which the top 721 is pressed, so that the operator can detect the real object corresponding to the object image 102 </ b> B through “sight” according to the color density of the cursor 102. The hardness of the real object corresponding to the object image 102B can be confirmed through the “tactile sense” based on the displacement amount of the position of the top 721, and a more appropriate product can be searched. be able to.

  When there is an error message, the tactile control device 700 (or the vibration control device, the temperature control device, or the movement control device) vibrates the top 721, makes the top 721 a predetermined temperature, or the top of the head. The error message may be notified by displacing the position 721 or the like.

  In this case, even when the personal computer is set to the mute mode, the error message is notified through “tactile sense” by vibration, temperature, or displacement, so that the operator confirms that the error message has been output. It can be clearly recognized. If an error message is displayed, the operator can more clearly recognize that the error message is output not only by “tactile sense” but also by “sight”.

  In each embodiment, the object image is described as a cloth image. However, the present invention is not limited to this, and may be an image of cosmetics (see FIG. 21), food, metal, or the like.

  In each embodiment, the tactile control device (or the vibration control device, the temperature control device, and the movement control device) has been described as being applied to the mobile communication terminal 1. However, the present invention is not limited to this. The present invention may be applied to a keyboard 2 and a mouse 3 of a personal computer (see the haptic control device 800 shown in FIG. 22 and the haptic control device 900 shown in FIG. 23).

  The tactile control device (or vibration control device, temperature control device, movement control device) is a device capable of executing a game (for example, a game device or a portable communication terminal having a joystick-type operation unit that can be operated with a fingertip of a hand) ) May be applied.

  As mentioned above, although an example of the present invention has been described, it is merely a specific example, and the present invention is not particularly limited, and the specific configuration and the like of each part can be appropriately changed in design. In addition, the operation and effect of each embodiment and each modification are merely a list of the most preferable operations and effects resulting from the present invention, and the operation and effect according to the present invention are described in each embodiment and each modification. It is not limited to the ones.

It is a figure which shows the external appearance of the portable communication terminal in 1st Embodiment. It is a figure which shows the internal structure of the portable communication terminal in 1st Embodiment. It is a figure which shows the vibration control apparatus in 1st Embodiment. It is a figure which shows the image of the cloth in 1st Embodiment. It is a figure which shows the displacement amount characteristic information in 1st Embodiment. It is a figure which shows operation | movement of the vibration control apparatus in 1st Embodiment. It is a figure which shows the image of the cloth in 1st Embodiment. It is a figure which shows the pulse signal which generate | occur | produces when a cursor is moving on the cloth image of 1st Embodiment, and the cursor is moving. It is a figure which shows the internal structure of the temperature control apparatus in 2nd Embodiment. It is a figure which shows the relationship between finger surface temperature Tf, real object surface temperature To, and perceived surface temperature Ts in 2nd Embodiment. It is a figure which shows operation | movement of the temperature control apparatus in 2nd Embodiment. It is a figure which shows the temperature table which comprises the object image and element temperature corresponding to it in 2nd Embodiment. It is a figure which shows the internal structure of the movement control apparatus in 3rd Embodiment. It is a figure which shows the relationship between the force by which the real object was pressed in 3rd Embodiment, and the displacement amount of the real object with respect to it. It is a figure which shows the relationship between the force by which the real object was pressed in 3rd Embodiment, and the displacement amount of the real object with respect to it. It is a figure which shows operation | movement of the movement control apparatus in 3rd Embodiment. It is a figure which shows the other example of the operation mechanism in 3rd Embodiment. It is a figure which shows the other example of the operation mechanism in 3rd Embodiment. It is a figure which shows the internal structure of the tactile-control apparatus in 4th Embodiment. It is a figure which shows a mode that the cursor is moving on the image of the cloth in 4th Embodiment. It is a figure which shows the other example of the object image in 4th Embodiment. It is a figure which shows the example in which each structure in 1st Embodiment portable thru | or 4th Embodiment was applied to the keyboard of a personal computer. It is a figure which shows the example in which each structure in 1st Example carrying thru | or 4th Embodiment was applied to the mouse | mouth.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Portable communication terminal, 101 ... Communication part, 102 ... Display part, 103 ... Audio | voice output part, 104 ... Sound collecting part, 105 ... Power supply part, 106 ... Main body control part, 107 ... RAM, 108 ... ROM, 109 ... Key , 200 ... vibration control device, 300 ... temperature control device, 400 ... movement control device, 900 ... tactile control device

Claims (13)

An operation unit for moving a cursor pointing to an object image displayed on the screen;
Storage that stores surface characteristic information for each object image including an image position on the object image indicated by the cursor and surface state information indicating a surface state of the actual position on the actual object corresponding to the image position And
When the cursor is moving on the object image, based on the surface characteristic information corresponding to the object image, the real position corresponding to the image position on the object image indicated by the cursor A vibration control apparatus comprising: a vibration control unit that applies vibration according to surface state information to the operation unit.   The vibration control apparatus according to claim 1, wherein the surface state information includes information that is an amplitude of a pulse signal determined according to a surface roughness of the real object.   The vibration control apparatus according to claim 1, wherein the operation unit moves the cursor by detecting a movement of a fingertip of a hand. An operation unit that moves a cursor indicating an object image displayed on the screen, the operation unit includes a temperature element;
A temperature control unit configured to heat or cool the temperature element at a pseudo surface temperature corresponding to the surface temperature of the real object corresponding to the object image based on the position of the cursor on the object image. A temperature control device characterized by.   The temperature control unit includes a finger surface temperature that is a surface temperature of the finger before the operator's finger touches the operation unit, and a surface temperature of the real object corresponding to the object image on which the cursor is positioned. 5. The temperature control apparatus according to claim 4, wherein a certain real object surface temperature is acquired, and the pseudo surface temperature is calculated based on the finger surface temperature and the real object surface temperature.   The temperature control unit measures the surface temperature of the operation unit after an operator's finger touches the operation unit, and heats the temperature element until the measured surface temperature becomes the real object surface temperature. The temperature control device according to claim 4, wherein cooling is performed.   The temperature control device according to claim 4, wherein the operation unit moves the cursor by detecting a movement of a fingertip of a hand. An operation unit for moving a cursor pointing to an object image displayed on the screen;
A storage unit that stores, for each object image, displacement amount characteristic information including a value of a force with which the real object corresponding to the object image is pressed and a displacement amount of the real object corresponding to the force value; ,
When the cursor is positioned on the object image, based on the displacement amount characteristic information corresponding to the object image, the displacement amount corresponding to the value of the force with which the operation unit is pressed is A movement control device comprising: a movement control unit that moves the operation unit. The operation part includes a pedestal part, and a rod-like operation body that is erected from the pedestal part and can be swung in multiple directions to move the cursor.
The movement control unit is provided at a position that bisects the operating body, and measures a force pressed from one end side of the operating body, and the force corresponding to the force value measured by the pressure sensor. The movement control device according to claim 8, further comprising an operation body moving unit that moves the operation body along a longitudinal direction of the operation body by a displacement amount. The pedestal portion includes a female screw hole penetrating along the longitudinal direction of the operation body,
The operating body moving unit includes a motor having a drive shaft, and the drive shaft is formed with a male screw portion that meshes with the female screw hole along a longitudinal direction of the drive shaft,
The operation body moving unit moves the operation body along the longitudinal direction of the operation body by rotating the drive shaft at a rotation speed corresponding to the displacement amount. The movement control device described.   The movement control device according to claim 9, wherein the operating body moving unit is configured by a linear actuator. The operation unit includes a rod-shaped operation body that can swing in multiple directions to move the cursor,
The movement control unit is provided at a position that bisects the operation body, and includes a pressure sensor that measures a force pressed from one end side of the operation body, and the displacement amount corresponding to the force measured by the pressure sensor. An operating body moving section that moves the operating section in the longitudinal direction of the operating body by an amount,
The operating body moving unit includes a motor and a gear that transmits power of the motor,
The gear is in contact with the other end of the operating body that moves the operating body along the longitudinal direction when the gear is rotated,
The movement control device according to claim 8, wherein the operating body moving unit rotates the gear at a rotation speed corresponding to the displacement amount. The movement control device according to claim 8, wherein the operation unit moves the cursor by detecting a movement of a fingertip of a hand.

Images