JP2012143054A - Pseudo force sense generator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pseudo force sense presentation device capable of presenting a curved pseudo force sense for which translation and rotation are combined.SOLUTION: A pseudo force sense generator includes a base, a rotation mechanism and a translation mechanism. The rotation mechanism includes a turning member for making a turning motion to the base, and a first action part for applying first torque to the turning member in a rotation positive direction and applying second torque in a rotation negative direction. The translation mechanism includes a moving member for making a cyclic translation motion to the turning member, and a second action part for applying first force to the moving member in a translation positive direction and applying second force in a translation negative direction. The maximum value of the absolute value of an acceleration in the translation positive direction of the moving member is larger than the maximum value of the absolute value of an acceleration in the translation negative direction. The translation mechanism is fixed to the turning member such that the translation positive direction is the direction from a rotation center of the turning member to an outer edge. A centroid-to-center distance between the centroids of the moving member and the rotation center of the turning member when the first torque is generated is shorter than a centroid-to-center distance between the centroids when second torque is generated.

Description

  The present invention relates to a pseudo force sense generating device that presents pseudo force senses in a translation direction and a rotation direction.

  Responding as an information provision modality other than audiovisual modalities, development of haptic modalities such as traction has been underway. Conventional research that gives a sense of force to human beings can be classified into two types: a grounded type that grounds the base point of force, and a non-grounded type that does not constrain the base point in space. The grounding type is a form in which the base point that supports the reaction force of the generated force sense is fixed to the outside or the human body, and the non-grounding type does not have the base point that supports the reaction force of the generated force sense to the outside or the human body. It is a form (refer nonpatent literature 1). However, the conventional haptic generation method has a problem that it is difficult to apply it to the field of portable devices such as mobile devices such as mobile phones.

  For example, in the case of a grounding type (such as SPIDER or PHANTOM) that fixes a fulcrum / power point to the outside, it is difficult to apply it to fields such as mobile devices and wearable computers that involve free movement. Further, in the ground contact type in which a fulcrum / power point is provided on a body part other than the action point, the reaction force of the haptic information presented is also applied to the human body, so it is difficult to present accurate direction information using this haptic information and the user There is also a problem that the load on is large. As a method of presenting a torque sensation as a non-grounding type, a method using a gyro effect using a gyro moment and a gimbal structure (Non-Patent Document 2), or a rotational speed of three motors arranged in three-axis orthogonal coordinates A method of controlling (Non-Patent Document 3) has been proposed, and all of them can present a rotational force in a short time. On the other hand, a method (see Non-Patent Document 4 and Patent Document 1) for perceiving a time-stable force sense without providing a fulcrum or a force point that supports the reaction force has been proposed. In this method, a link mechanism or the like is applied to the rotational power to generate accelerations having greatly different positive and negative absolute values, thereby causing a pseudo force sense to be perceived.

Japanese Patent No. 4551448

Naoyuki Tsuji, Hiroaki Yano, Kei Saito, Tetsuro Ogi, Michitaka Hirose, “Development and Evaluation of Haptic GEAR in Immersive Virtual Space”, Transactions of the Virtual Reality Society of Japan, 2000, vol. 5, no. 4, pp. 113-120 Masayuki Yoshie, Hiroaki Yano, Hiroo Iwata, “Development of a non-grounding type haptic device using gyro moment”, Research Report of Human Interface Society, 2000, vol. 13, no. 5, pp. 25-30 Tanaka Yokichi, Sakai Katsutaka, Kawano Yuka, Fukui Yukio, Yamashita Juri, Nakamura Norio, "Mobile torque display and haptic charitables of human ensemble", Proceedings of 11th international. 115-120 Tomohiro Amemiya, Hideki Ando, Taro Maeda, “Effective method of traction illusion when holding a non-ground type haptic device in the hollow”, Transactions of the Virtual Reality Society of Japan, 2006, vol. 11, no. 4, pp. 545-556

  In the methods of Non-Patent Document 2 and Non-Patent Document 3, a translational force cannot be generated only by presenting a torque sensation for a short time. In the methods of Non-Patent Document 4 and Patent Document 1, the force presentation direction can be changed by a combination of force vectors or the introduction of a turning mechanism to change the direction of thrust, and the force sense can be presented in a linear direction. There was a problem that the presentation of the rotation direction could not be realized because only the propulsive force was presented. An object of the present invention is to provide a pseudo force sense generating device capable of presenting a curved pseudo force sense combining translation and rotation.

  The pseudo force generation device of the present invention includes a base, a rotation mechanism, and a translation mechanism, and the rotation mechanism includes a rotation member and a first action unit. The translation mechanism includes a moving member and a second action unit. The rotating member performs a rotating motion with respect to the base with a rotation axis determined with respect to the base. The first action part applies a second torque to the rotating member in the direction opposite to the forward rotation direction, in addition to the rotation direction of the rotation shaft determined with respect to the base (hereinafter referred to as the forward rotation direction). In the direction (hereinafter referred to as the rotation negative direction). The moving member performs a periodic translational movement with respect to the rotating member on a straight line determined with respect to the rotating member. The second action part applies a first force to the moving member in one direction of a straight line determined with respect to the rotating member (hereinafter referred to as a translational forward direction) and a second force in a direction opposite to the translational forward direction. (Hereinafter referred to as translational negative direction). The maximum absolute value of the acceleration of the moving member in the positive translational direction is larger than the maximum absolute value of the acceleration of the moving member in the negative translational direction. The translation mechanism is fixed to the rotation member so that the translational positive direction is directed from the rotation center of the rotation member toward the outer edge of the rotation member. The distance between the center of gravity of the moving member when the first torque is applied and the center of rotation of the rotating member (hereinafter referred to as the center-of-center distance) is between the centers of the center of gravity when the second torque is applied. It becomes smaller than the distance.

  According to the pseudo force sense generating device of the present invention, it is possible to present a curved pseudo force sense that combines translation and rotation.

1 is a plan view showing the concept of a pseudo force sense generator according to Embodiment 1 of the present invention. The perspective view which shows the concept of the pseudo force sense generator which concerns on Example 1 of this invention. The figure which shows the example of control of the angular acceleration of the pseudo force sense generator which concerns on Example 1 of this invention. The figure which shows the example of the time change of the angular velocity of the pseudo force sense generator which concerns on Example 1 of this invention. The figure which shows the example of the time change of the torque of the pseudo force sense generator which concerns on Example 1 of this invention. The figure explaining the control performed when the pseudo force sense generator which concerns on Example 1 of this invention changes the pseudo force sense generation direction of a translation direction. The figure explaining the synthesis | combination of the force vector in the pseudo force sense generator which concerns on Example 1 of this invention. The block diagram which shows the structure of the system which controls the pseudo force sense generator which concerns on Example 2 of this invention. The block diagram which shows the structure of the system which controls the pseudo force sense generator which concerns on Example 2 of this invention. The figure which shows the result of the test subject test conducted about the pseudo force sense generator which concerns on Example 2 of this invention. The front view which shows the structure of the pseudo force sense generator which concerns on Example 2 of this invention. The top view which shows the structure of the pseudo force sense generator which concerns on Example 2 of this invention. The front view which shows the structure of the translation rotation mechanism of the pseudo force sense generator which concerns on Example 2 of this invention. The top view which shows the structure of the translation rotation mechanism of the pseudo force sense generator which concerns on Example 2 of this invention. The disassembled perspective view which shows the structure of the translation rotation mechanism of the pseudo force sense generator which concerns on Example 2 of this invention. The top view which shows the structure of the 2nd movable structure of the pseudo force sense generator which concerns on Example 2 of this invention. The figure which shows the operation example of the 1st, 2nd movable structure of the pseudo force sense generator which concerns on Example 2 of this invention. The figure which shows the operation example of the 1st, 2nd movable structure of the pseudo force sense generator which concerns on Example 2 of this invention. Sectional drawing which shows the structure of the acceleration generator in 4th Embodiment of patent document 1. FIG. The fragmentary sectional view which shows the structure of the winding number adjustment mechanism of the acceleration generator which concerns on 4th Embodiment of patent document 1. FIG. The fragmentary sectional view which shows the structure of the winding number adjustment mechanism of the acceleration generator which concerns on 4th Embodiment of patent document 1. FIG. The top view which shows the structure of the translation type acceleration generator which concerns on 11th Embodiment of patent document 1. FIG. The front view and fragmentary sectional view which show the structure of the translation type acceleration generator which concerns on 11th Embodiment of patent document 1. FIG. The figure which illustrates the motion of each mechanism when a rotation input shaft rotates to a W1 direction with the motor of the translation type acceleration generator which concerns on 11th Embodiment of patent document 1. FIG.

  Hereinafter, embodiments of the present invention will be described in detail. In addition, the same number is attached | subjected to the structure part which has the same function, and duplication description is abbreviate | omitted.

  First, the concept of the pseudo force sense generator according to Embodiment 1 of the present invention will be described with reference to FIGS. FIG. 1 is a plan view showing the concept of the pseudo force sense generator 10 of the present embodiment. FIG. 2 is a perspective view showing the concept of the pseudo force sense generator 10 of the present embodiment. As shown in FIGS. 1 and 2, the pseudo force generation device 10 of this embodiment includes a translation mechanism 11, a rotation mechanism 12, and a base (gripping part) 13. As the mechanism of the translation mechanism 11, the acceleration generating device described in Patent Document 1 can be used. The acceleration generators described in the fourth and eleventh embodiments among the embodiments of Patent Document 1 will be described in detail below.

[Fourth Embodiment of Patent Document 1]
This embodiment is a modification of the third embodiment in Patent Document 1, and a mechanism (spring constant variable portion) that changes at least one spring constant of a spring is provided, and the movable iron core is changed by changing the spring constant. It is the form which controls the resonance frequency of. In this embodiment, a configuration is adopted in which the spring constant is changed by changing the number of turns N of the spring. Below, it demonstrates centering around difference with 3rd Embodiment of patent document 1. FIG.

<Configuration>
FIG. 19 is a cross-sectional view illustrating a configuration of an acceleration generating device 40 according to the fourth embodiment of Patent Document 1. In FIG.

  As illustrated in FIG. 19, the acceleration generator 40 of the present embodiment includes a disk-shaped iron core 41a, 41b, a frame 42 that is formed by closing both cylindrical openings and made of an insulating material, a spring 44a, 44b, a coil 46 in which the side surface of a conducting wire such as a copper wire is covered with an insulator, a movable iron core (plunger) 47 that is a ferromagnetic material, and a winding number adjustment that can change the spring constants of the springs 44a and 44b. It has mechanisms 48a and 48b and translates the movable iron core 47 in parallel with the straight line E.

  The configuration other than the winding number adjusting mechanisms 48a and 48b is the same as that of the third embodiment. That is, the iron cores 41a and 41b, the frame 42, the springs 44a and 44b, the coil 46, the movable iron core 47, and the straight line E are respectively the iron cores 31a and 31b, the frame 32, and the springs 34a and 34b of the third embodiment. , Coil 36, movable iron core 37, and straight line D. Below, the structure of winding number adjustment mechanism 48a, 48b is demonstrated.

  20 and 21 are partial cross-sectional views for explaining a configuration example of the winding number adjusting mechanism 48a. In the following, only a configuration example of the winding number adjusting mechanism 48a is shown, but the winding number adjusting mechanism 48b has the same configuration. 20 and 21 are examples applicable when coil springs are used as the springs 44a and 44b. In the following description, it is assumed that the springs 44a and 44b are coil springs.

  FIG. 20 shows one configuration example of the winding number adjusting mechanism 48a. The winding number adjusting mechanism 48a of this example is formed by forming a helical screw groove 48ab on the inner wall of a cylindrical base portion 48aa. The screwing groove 48ab is a groove that spirally extends from one open end of the base portion 48aa to the other open end, and the spring 44a is held by the screwing groove 48ab. Thereby, an arbitrary position of the spring 44 a is fixed to the frame 42. In addition, a holding portion 42 a that rotatably holds the winding number adjusting mechanism 48 a about the straight line E is formed on the inner wall of the frame 42. The holding portion 42a in this example is two rings that circulate around the inner wall surface of the frame 42 in a ring shape, and the winding number adjusting mechanism 48a is held with a slight gap between the two rings. Thereby, the winding number adjusting mechanism 48a can rotate in the F direction around the straight line E, but does not move in the straight line E direction. When the winding number adjusting mechanism 48a having such a configuration is rotated in the F direction about the straight line E, the spring 44a held in the screw groove 48ab is sent out in parallel with the straight line E. The direction in which the spring 44a is fed out is determined by the spiral direction of the screw groove 48ab, the spiral direction of the spring 44a, and the rotational direction of the winding number adjusting mechanism 48a. Here, only the part located outside the iron core 41a side of the winding number adjusting mechanism 48a functions as an elastic body in the spring 44a. Accordingly, the length (substantial winding number N) of the spring 44a functioning as an elastic body can be adjusted by the direction of the spring 44a sent out by the winding number adjusting mechanism 48a. Can be adjusted.

  FIG. 21 shows another configuration example of the winding number adjusting mechanism 48a. The winding number adjusting mechanism 48a of this example has a base portion 48ac fixed to the inner wall of the frame 42, and a feed drive gear 48ad rotatably attached to the base portion 48ac. The feed drive gear 48ad is a gear capable of rotating and fixing in the G direction around a rotation axis perpendicular to the straight line E, and holds the spring 44a by its teeth 48ae. Thereby, an arbitrary position of the spring 44 a is fixed to the frame 42. By rotating such a feed drive gear 48ad, the spring 44a can be fed in parallel with the straight line E, and the portion (substantial number of turns N) of the spring 44a that functions as an elastic body can be adjusted. . Thereby, the substantial spring constant can be adjusted.

  Note that the spring constant increases when the substantial number of turns N of the spring is decreased. This is because the spring constant k is generally expressed by the following equation.

(K: spring constant (N / mm), P: load (N), δ: displacement (mm), G: rigidity of spring material (N / mm ² = Mpa), d: spring wire diameter (mm) , N: number of turns, D: average coil diameter (mm))

<Features of this embodiment>
In this embodiment, since the substantial spring constants of the springs 44a and 44b can be adjusted, the acceleration of the translational motion of the movable iron core 47 can also be adjusted. If the winding number adjusting mechanisms 48a and 48b can be driven by a motor or the like, the acceleration of the translational movement of the movable iron core 47 can be adjusted not only before the acceleration generator 40 is driven but also during the driving. It becomes possible. As a result, it is easy to adjust the acceleration so that pseudo-perception is most often generated.

  Although the substantial spring constants of both the springs 44a and 44b can be adjusted here, the substantial spring constant of only one of the springs 44a and 44b may be adjustable.

[Eleventh Embodiment of Patent Document 1]
Next, an eleventh embodiment of Patent Document 1 will be described.

  In this embodiment, the rotational power is converted into a translational motion in which the acceleration displacement is asymmetric in one cycle, and a pseudo force sense is generated by this translational motion. Then, two acceleration generators having such a mechanism are used, and they are arranged in mirror symmetry to constitute a pseudo force sense generator.

<Configuration of acceleration generator>
FIG. 22 is a plan view illustrating the configuration of the translational acceleration generator 201 according to the eleventh embodiment of Patent Document 1. FIG. 23A is a front view seen from the direction W0 in FIG. FIG. 23 is a partial cross-sectional view taken along 23B-23B in FIG. 23B is not a cross-sectional view but a side view.
Hereinafter, the configuration of the acceleration generator 201 of this embodiment will be described with reference to these drawings.

  As illustrated in FIGS. 22 and 23, the acceleration generator 201 of this embodiment includes a base unit 210, a motor 220 built in the base unit 210, a rotation input shaft 221 to which the rotational power of the motor 220 is transmitted, and rotation. A rotating member 230 (crank) fixed to the input shaft 221 and a portion on the rotating member 230 other than the rotating input shaft 221 are rotatably joined by a first rotating shaft 233 parallel to the rotating input shaft 221. A first link mechanism 250 and a second link mechanism 270 that is rotatably joined to a portion on the first link mechanism 250 other than the first rotation shaft 233 by a second rotation shaft 251 parallel to the first rotation shaft 233. The parts on the second link mechanism 270 other than the second rotating shaft 251 are rotatably joined by the third rotating shaft 283a parallel to the second rotating shaft 251 so that the movement range is The slide fulcrum is constituted by a slide mechanism 282 limited to the slide movement in the direction (W6 direction), a slide fulcrum base 241 whose relative position is fixed with respect to the rotation input shaft 221, and a slide fulcrum rotation shaft 243 parallel to the rotation input shaft 221. A slide fulcrum mechanism 242 that is rotatably joined to the base portion 241 and holds the first link mechanism 250 slidably in the longitudinal direction (W7 direction), and a gear that is fixed to the rotation input shaft 221 and rotates with the rotation. 291 is a main component.

  The base portion 210 in this example is a step-like hollow body in which a low step portion 211 and a high step portion 212 are configured by one step, and a plate-like tab 213 provided with a screw hole on the bottom surface thereof, 214 is configured. A through hole 212 a for passing the rotation input shaft 221 that transmits the rotational power of the motor 220 is provided at the end of the high step portion 212 of the base portion 210. A through hole (not shown) is also provided on the opposite surface (downward in FIG. 23) of the base portion 210 where the through hole 212a is provided. The motor 220 is fixedly arranged inside the high step portion 212 of the base portion 210 in a state where the rotation input shaft 221 that transmits the rotational power protrudes to the outside of the upper and lower surfaces through these through holes.

  The central portion of the disk-shaped rotating member 230 is fixed to the rotation input shaft 221 protruding from the through hole 212a to the outside of the upper surface of the base portion 210. In addition, a disk-shaped gear 291 is fixed to the rotation input shaft 221 protruding to the outside of the lower surface of the base portion 210. As a result, the rotating member 230 and the gear 291 rotate in the W1 direction by the rotational power of the rotation input shaft 221.

  An end of a columnar first link mechanism 250 is attached to the edge 232 on the rotating member 230 so as to be rotatable in the W2 direction by a first rotating shaft 233 (such as a screw). As a result, the first link mechanism 250 is rotatably joined to a portion on the rotation member 230 other than the rotation input shaft 221 by the first rotation shaft 233 parallel to the rotation input shaft 221. Note that linear grooves 252 are formed on both side surfaces of the first link mechanism 250 in the longitudinal direction.

  In addition, on the surface of the high step portion 212 of the base portion 210, there is a slide fulcrum base portion 241 in a shape in which both ends of a member having a U-shaped cross section are folded outward at right angles (this folded portion is called a tab). A relative position with respect to the rotation input shaft 221 is fixed. In the case of this example, the slide fulcrum base portion 241 is displaced from the rotation input shaft 221 toward the center side of the base portion 210 (that is, toward the low step portion 211) (more specifically, in the stationary state of FIG. 1 link mechanism 250 is screwed through a tab at a position near the tip of rotation input shaft 221 side. A slide fulcrum mechanism 242 that slidably holds the groove 252 of the first link mechanism 250 from both sides is disposed at the inner center portion of the slide fulcrum base portion 241. The slide fulcrum mechanism 242 is attached to the slide fulcrum base 421 by a slide fulcrum rotating shaft 243 (screw or the like) so as to be rotatable in the W3 direction. The position of the slide fulcrum rotation shaft 243 is closer to the center of the base portion 210 (closer to the lower step portion 211) than the first rotation shaft 233 is. As described above, the slide fulcrum mechanism 242 is joined to the slide fulcrum base portion 241 so as to be rotatable in the W3 direction by the slide fulcrum rotation shaft 243 (screw or the like) parallel to the rotation input shaft 221, and the first link mechanism 250 is connected in the longitudinal direction ( (W7 direction) is held so as to be slidable.

  A reinforcing member 260 is screwed by screws 261 and 262 to the base portion 210 side of the other end portion of the first link mechanism 250, and the end portion of the columnar second link mechanism 270 is second through the reinforcing member 260. The rotary shaft 251 is attached so as to be rotatable in the W4 direction.

  Further, a columnar rail 281 is screwed to the surface of the lower step portion 211 of the base portion 210 located on a straight line connecting the rotation input shaft 221 and the slide fulcrum rotation shaft 243 in FIG. 22 by screws 281a to 281f. Straight grooves 282a are provided on both side surfaces of the rail 281 in the longitudinal direction (W6 direction). The grooves 282a are sandwiched from both sides on the rail 281 and along the rail 281 in the W6 direction. A slide mechanism 282 that slides is disposed. A weight holding plate 283 is fixed to the surface of the slide mechanism 282 opposite to the rail 281. The weights 284 and 285 (inertial mass) are screwed to the opposite ends of the weight holding plate 283 from the base portion 210 by screws 284a, 284b, 285a and 285b, respectively. Further, the other end portion of the second link mechanism 270 is attached to the center portion of the weight holding plate 283 so as to be rotatable in the W5 direction by a third rotating shaft 283a (screw or the like). With this configuration, a portion on the second link mechanism 270 other than the second rotation shaft 251 is rotatably joined to the slide mechanism 282 by the third rotation shaft 283a parallel to the second rotation shaft 251. The movement range of the mechanism 282 is limited to a sliding motion in one direction (W6 direction) by the rail 281.

  24A and 24B are diagrams illustrating the movement of each mechanism when the rotation input shaft 221 is rotated in the W1 direction by the motor 220. FIG. As shown in these drawings, when the rotation input shaft 221 rotates in the W1 direction, the first rotation shaft 233 held by the rotation input shaft 221 also rotates in the W1 direction. Accordingly, the portion of the first link mechanism 250 held by the first rotation shaft 233 also slides with a rotational motion in the W2 direction about the first rotation shaft 233. Along with this movement, the second link mechanism 270 held by the second rotation shaft 251 portion of the first link mechanism 250 also slides with a rotational motion around the second rotation shaft 251. With this movement, the weight holding plate 283 and the slide mechanism 282 rotated and held by the third rotating shaft 283a portion of the second link mechanism 270 move in the W6 direction.

As a result, the acceleration generator 201 generates a pseudo force sense in the W6 direction based on the same principle as described above.
[End of description of Patent Document 1]

Returning to FIG. 1 and FIG. 2, the pseudo force sense generator 10 according to the first embodiment of the present invention will be described again. As described above, as the translation mechanism 11, the acceleration generator disclosed in each embodiment in Patent Document 1 can be used. The rotation mechanism 12 can generate a pseudo force sense in the rotation direction according to the following principle. As shown in FIG. 2, the rotating mechanism 12 includes a wheel 12-1, a motor 12-2, and a rotating shaft 12-3. The motor 12-2 generates a rotational force. The rotating shaft 12-3 transmits the rotational force generated by the motor 12-2 to the wheel 12-1. The base 13 has a cylindrical shape with a hole so that the rotary shaft 12-3 can be inserted through the upper end surface. The motor 12-2 exists inside the base 13 and is fixedly supported on the inner surface of the base 13. The rotational force is based on the angular momentum conservation law. Generally, when the wheel 12-1 having the moment of inertia I (kg · m ² ) is rotating at the angular velocity ω (rad / s), the torque T (N · m required) for changing the speed of the wheel 12-1 )
T = I * dω / dt (2)
Given in. dω / dt represents the time derivative of ω. When changing the speed of the wheel 12-1, it is necessary to output the torque T (N · m) required by the motor 12-2 (or brake). At this time, from the relationship of action and reaction, the base (gripping part) 13 that supports the motor 12-2 generates a torque of -T (N · m) (angular momentum conservation law). If it is fixed or gripped by a human, -T torque is transmitted to the human.

  A mechanism for generating a large pseudo force sensation in one rotation direction and generating almost no pseudo force sensation in the other rotation direction will be described below. There are two broad approaches for performing such control. One is a method of appropriately controlling the angular acceleration of the wheel 12-1. The other is a method of controlling the moment of inertia by controlling the position of the weight of the translation mechanism 11 on the wheel 12-1.

  First, a method for appropriately controlling angular acceleration will be described. With reference to FIG. 3, the example of the angular velocity control performed with respect to the wheel 12-1 of the pseudo force sense generator 10 of this invention is shown. FIG. 3 shows an example of the change in angular velocity when the horizontal axis is time t and the vertical axis is angular velocity ω and the wheel 12-1 is gradually started and suddenly stopped. The broken lines in the figure are the theoretical values of the angular velocities in the control commands for slow start, constant speed movement, and sudden stop for the pseudo force generation device 10 of the present embodiment. A solid line is an actual measured value of the angular velocity which is an actual behavior exhibited by the pseudo force sense generating device with respect to this control command. In the present embodiment, a state ω = 0 in which the wheel 12-1 is not rotating is set as an initial value and a target value. In the prior art, the mechanism corresponding to the rotation mechanism 12 rotates at a certain angular velocity other than ω = 0 (for example, Non-Patent Document 3), but in this embodiment, ω = 0 is the target value. This prevents the generation of torque in a direction other than the desired direction due to the gyro effect when the hand holding the pseudo force sense generating device 10 rotates about an axis orthogonal to the rotation direction. A torque sensation can be presented. Returning to FIG. 3, reaction torque is generated because angular acceleration is generated in the slow start (a) state and the sudden stop (b) state. At this time, if dω / dt which is angular acceleration is large, a larger reaction torque is generated. In the slow start (a), a reaction torque is generated in the direction opposite to the rotation direction, and in the sudden stop (b), a reaction torque is generated in the same direction as the rotation direction. The presenting time of the reaction torque generated in the slow start (a) is set to a value range in which the torque perception felt by the human becomes small, and at the same time the torque perception felt by the human increases in the presentation time of the reaction torque generated in the sudden stop (b). By setting the value range, it is possible to present a pseudo force sensation in the rotational direction that feels like being twisted only in the rotational direction. For example, if the counterclockwise reaction torque presentation time is to be lengthened, the wheel 12-1 may be gradually started counterclockwise, slowly accelerated, and then suddenly stopped. Further, the wheel 12-1 may be suddenly started clockwise (rapidly accelerated), slowly decelerated, and gradually stopped. On the contrary, if the counterclockwise reaction torque presentation time is to be increased, the wheel 12-1 may be gradually started clockwise, gradually accelerated, and then suddenly stopped. Further, the wheel 12-1 may be suddenly started counterclockwise (rapidly accelerated), slowly decelerated, and gradually stopped. FIG. 4 shows an example of a temporal change in angular velocity of the pseudo force sense generator 10 according to the present embodiment. FIG. 4 shows examples of changes in angular velocity when the wheel 12-1 is accelerated and decelerated in various patterns with the horizontal axis representing time (sec) and the vertical axis representing angular velocity (rad / sec, where the counterclockwise angular velocity is positive). Is shown. 4 (1) is suddenly started clockwise and is gradually stopped, FIG. 4 (2) is suddenly started counterclockwise and is slowly stopped, and FIG. 4 (3) is clockwise. 4 (4) shows a case where the vehicle is gradually started counterclockwise and suddenly stopped. As described above, in the example of FIG. 4 (1), a large pseudo force sense counterclockwise, in the example of FIG. 4 (2) a large pseudo force sense clockwise, and in the example of FIG. 4 (3) clockwise. Large pseudo force sensations, and in the example of FIG. 4D, large pseudo force sensations are perceived counterclockwise. The solid line in the figure indicates that the rotation angle of the wheel 12-1 is π, the alternate long and short dash line indicates that the rotation angle of the wheel 12-1 is π / 2, and the broken line indicates that the rotation angle of the wheel 12-1 is π / 4. Show. Thus, as the turning angle of the wheel 12-1 increases, the time required for slow start (slow stop) also increases, but the presentation time of the reaction torque generated in the sudden stop (sudden start) increases, resulting in a larger pseudo Force sense can be presented. FIG. 5 shows an example of the time variation of the reaction torque of the pseudo force generation device 10 according to the present embodiment. FIG. 5 shows changes in reaction torque when the wheel 12-1 is accelerated and decelerated in various patterns, with the horizontal axis representing time (sec) and the vertical axis representing reaction torque (Nm, where counterclockwise reaction torque is positive). An example is shown. Similar to FIG. 4, FIG. 5 (1) shows a sudden start in the clockwise direction and a slow stop, and FIG. 5 (2) shows a sudden start in the counterclockwise direction and a slow stop. 3) shows a case where the vehicle is gradually started clockwise and is suddenly stopped, and FIG. 5 (4) is a case where the vehicle is gradually started counterclockwise and suddenly stopped. The pseudo force sense is perceived to increase in the direction in which the reaction torque is generated as the reaction time of the reaction torque increases. Therefore, as shown in FIG. 5, in the example of FIG. 5 (1), a large pseudo force sense counterclockwise, and in the example of FIG. 5 (2), a large pseudo force sense clockwise, the example of FIG. 5 (3). Then, a large pseudo force sense is perceived clockwise, and a large pseudo force sense is perceived counterclockwise in the example of FIG. 5 (a) and 5 (b) are the time from the start of the wheel 12-1 to the stop when (b) controls the time from the start of the wheel 12-1 to the stop, respectively. This is a case in which is controlled longer than (a). Since (a) takes from a start to a stop in a shorter time compared to (b), a relatively large pseudo force sense is generated even during slow start (slow stop).

  Next, the moment of inertia is controlled by controlling the position of the weight of the translation mechanism 11 so that a large pseudo force sense is generated in one rotation direction, and almost no pseudo force sense is generated in the other rotation direction. Explain the mechanism for doing this. In the translation mechanism having a weight in Patent Document 1, the moment of inertia is maximized when the weight is present at a position farthest from the center of rotation. Therefore, if a large reaction torque is to be generated counterclockwise, the moment of inertia is controlled by controlling the weight near the rotation axis of the wheel 12-1 while the wheel 12-1 is starting counterclockwise. When the wheel 12-1 is stopped from rotating counterclockwise, the weight is controlled near the outer edge of the wheel 12-1 to maximize the moment of inertia. Further, while the wheel 12-1 is starting clockwise, the weight is controlled near the outer edge of the wheel 12-1 to maximize the moment of inertia, and the wheel 12-1 is prevented from rotating in the clockwise direction. During the stopping operation, the weight may be controlled near the rotation axis of the wheel 12-1 to minimize the moment of inertia. On the other hand, if a large reaction torque is to be generated in the clockwise direction, the weight is controlled near the outer edge of the wheel 12-1 while the wheel 12-1 is starting counterclockwise to maximize the moment of inertia. When the wheel 12-1 is stopping from rotating counterclockwise, the weight is controlled near the rotation axis of the wheel 12-1 to minimize the moment of inertia. Further, while the wheel 12-1 is starting clockwise, the weight is controlled near the rotation axis of the wheel 12-1 to minimize the moment of inertia, and the wheel 12-1 rotates in the clockwise direction. During the stop operation, the weight is controlled near the outer edge of the wheel 12-1 to maximize the moment of inertia. In this way, by controlling the moment of inertia by controlling the position of the weight of the translation mechanism 11, the angular acceleration is not changed (for example, the angle of slow start (a) and sudden stop (b) in FIG. 3). Even when the accelerations are equal), a pseudo force sense can be generated in a desired rotation direction. Of course, if the above-described angular velocity control and inertia moment control based on the position of the weight are simultaneously performed, a larger pseudo force sense can be presented.

  In addition, when the acceleration generator 40 in 4th Embodiment of patent document 1 is employ | adopted as the translation mechanism 11 of a present Example, control of the moment of inertia is possible by controlling the position of the movable iron core 47. FIG. The spring constant of the spring 44a is controlled by the winding number adjusting mechanisms 48a and 48b, and the position of the movable iron core 47 is controlled. More specifically, the acceleration generating device 40 is arranged such that the position of the center of gravity of the acceleration generating device 40 at the movable limit of the movable iron core 47 toward the spring 44a, for example, and the rotational axis position of the rotating mechanism 12 of this embodiment overlap. Is fixed on the rotating mechanism 12. At this time, the acceleration generator 40 must be arranged and fixed so that the position of the center of gravity at the limit of movement of the movable iron core 47 toward the spring 44b is arranged at the outer edge of the rotating mechanism 12. In the case of control to reduce the moment of inertia, the control is performed to shorten the spring 44a and lengthen the spring 44b. On the other hand, to increase the moment of inertia, the control is performed to lengthen the spring 44a and shorten the spring 44b. Just do it. In addition, when the acceleration generator 201 in the eleventh embodiment of Patent Document 1 is employed as the translation mechanism 11 of the present embodiment, the moment of inertia can be controlled by controlling the position of the weight 284. In this case, the acceleration generator 201 is fixed on the rotation mechanism 12 so that the end of the rail 281 on the gear 291 side overlaps the rotation axis center of the rotation mechanism 12 of this embodiment. At this time, the acceleration generator 201 must be arranged and fixed so that the end of the rail 281 opposite to the gear 291 is arranged at the outer edge of the rotating mechanism 12. In the case of control to reduce the moment of inertia, the weight 284 is controlled to be closest to the gear 291. On the other hand, to increase the moment of inertia, the weight 284 is controlled to be farthest from the gear 291. Can be done.

  Next, with reference to FIG. 6, a control method when the translation direction desired to be perceived in the pseudo force sense generator 10 of the present embodiment changes will be described. FIG. 6 is a diagram illustrating the control performed when the pseudo force sense generator 10 according to the present embodiment changes the pseudo force sense generation direction in the translation direction. Since the pseudo force sense generating device 10 of the present embodiment has a structure including the rotation mechanism 12 in addition to the translation mechanism 11 as described above, it is natural that the pseudo force sense in the translation direction (hereinafter, pseudo translation force sense). The rotation mechanism 12 can be used to change the orientation of the rotation mechanism. The case where the direction of the pseudo translational force sense changes is, for example, a case where the pseudo force sense presentation device 10 of the present embodiment is used for guidance in a blind person's street. For example, in order to present information that the intersection is turned east to the user (blind person) holding the pseudo force sense presentation device 10 of the present embodiment, the pseudo force sense is presented to the east side by operating the translation mechanism 11. In order to present information that the next intersection is to turn south, the rotating mechanism 12 of the pseudo force sense presentation device is operated to rotate the wheel 12-1 toward the south, and the translation mechanism 11 is operated to operate the south side. Presents a pseudo force sense. Thus, the rotation mechanism 12 can be used to change the direction of the pseudo translational force sense. Furthermore, the rotation mechanism 12 can perform the control shown in FIG. 6 regarding the rotation control of the wheel 12-1, thereby providing a guide function for predicting the direction of a new pseudo translational force sense. The present pseudo translational force sense presentation direction is indicated by a thin solid arrow. The pseudo translational force presentation direction after one hour is indicated by a thin broken line arrow. As shown in FIG. 6, when the angle formed by the present pseudo translational force sense presentation direction and the pseudo translational force sense generation direction after one hour is α (α is a real number of 180 or less, and the unit is degrees) The wheel 12-1 is controlled so as to generate a pseudo force sensation (hereinafter also referred to as a pseudo rotatory force sense) in the rotation direction of the angle α. This pseudo rotational force sense can be a guide function that makes it easy for a user holding the base (grip unit) 13 of the pseudo force sense generating device 10 to predict the pseudo translational force sense presentation direction one hour later. The user can easily generate a pseudo-translational force sense after one hour with a rotation of 180 degrees or less in the direction of the pseudo-rotational force sense that occurs when the current direction of generation of the pseudo-translational force sense changes. This is because it can be predicted. If the details of the control of the pseudo force sense generating device 10 are specifically shown, when the wheel 12-1 is rotated in the rotation direction (counterclockwise) of the angle α, the control is performed to start slowly and stop suddenly. When the control is performed by the control of the moment of inertia regardless of the control of the angular velocity, when the wheel 12-1 is rotated in the direction of rotation of the angle α (counterclockwise), the weight is applied to the wheel 12 during the starting operation. -1 is controlled near the rotation axis to minimize the moment of inertia, and during the stop operation, the weight is controlled near the outer edge of the wheel 12-1 to maximize the moment of inertia. When the wheel 12-1 is rotated in the direction opposite to the rotation direction of the angle α (the direction of the angle 360-α, clockwise), control is performed to start suddenly and gradually stop. When the control is performed by controlling the moment of inertia regardless of the control of the angular velocity, when the wheel 12-1 is rotated in the rotation direction (clockwise) of the angle 360-α, the weight is moved during the starting operation. It is sufficient to control the vicinity of the outer edge of 12-1 to maximize the moment of inertia and to control the weight near the rotation axis of the wheel 12-1 to minimize the moment of inertia during the stopping operation. In either of the two rotation directions described above, a large reaction torque is generated counterclockwise, and the user can guide the direction of generation of the pseudo translational force sense one hour later. Here, as described with reference to FIG. 4, as the turning angle of the wheel 12-1 increases, the time required for slow start (slow stop) increases. It becomes possible to present a larger pseudo force sensation. Therefore, although it is possible to guide the user in any of the rotation directions described above, it is possible to present a larger rotation pseudo force sense by rotating the wheel 12-1 in the rotation direction of 360-α. It is the best way to achieve the guide function.

  Next, the synthesis of force vectors in the pseudo force sense generator 10 of this embodiment will be described with reference to FIG. FIG. 7 is a diagram for explaining the synthesis of force vectors in the pseudo force sense generator 10 according to the present embodiment. By simultaneously presenting the rotational pseudo force sense and the translational pseudo force sense, vector synthesis as shown in FIG. 7 occurs. That is, when the torque component is decomposed into tangential force vectors, the translational force vector and the force vector obtained by decomposing the torque component in the same direction are added. On the other hand, a force vector obtained by resolving a torque component in a direction that is not the same as the force vector in the translation direction cannot be added. As a result, the pseudo force sense generator 10 of the present embodiment can present a new pseudo force sense that is pulled while twisting.

  Next, with reference to FIG. 11 and FIG. 12, an outline of the pseudo force sense generator 100 according to the second embodiment of the present invention will be described. FIG. 11 is a front view showing the configuration of the pseudo force sense generator 100 according to the present embodiment. FIG. 12 is a plan view showing a configuration of the pseudo force sense generator 100 according to the present embodiment.

As shown in FIG. 11, the pseudo force sense generation device 100 includes a gripping part 110, a mounting part 115, and a translational rotation mechanism 120. The grip part 110 has a round bar shape. By making the cross-sectional diameter perpendicular to the longitudinal direction of the grip portion 110 sufficiently smaller than the diameter of the metal plate 122a or the metal plate 123a, it is possible to clearly give a torque sensation. The mounting portion 115 has a disk shape and is provided with a circular shallow concave portion on the upper surface thereof. On the lower surface side of the mounting portion 115, the upper surface portion of the grip portion 110 is fixed so that the center axis of the disk coincides with the axis. The translational rotation mechanism 120 is circular and is mounted and fixed in a recess on the upper surface of the mounting portion 115.
FIGS. 13 and 14 show the appearance of the translational rotation mechanism 120. FIG. 13 is a front view showing the configuration of the translational rotation mechanism 120 according to the present embodiment. FIG. 14 is a plan view showing the configuration of the translational rotation mechanism 120 according to this embodiment.

  Next, the configuration of the translational rotation mechanism 120 will be described in detail with reference to FIG. FIG. 15 is an exploded perspective view showing the configuration of the translational rotation mechanism 120 according to the present embodiment. As shown in FIG. 15, the translational rotation mechanism 120 includes an upper case 121, a first movable structure 122, a second movable structure 123, and a lower case 124. The upper case 121 and the lower case 124 have a semitransparent thin cylindrical shape with one end face closed and the other end face opened. The open end surfaces of the upper case 121 and the lower case 124 are bonded together to form an integral case. The first movable structure 122 includes a circular metal plate 122a provided with a hole for weight reduction. Similarly, the second movable structure 123 includes a circular metal plate 123a provided with a hole for weight reduction. The inner diameters of the open ends of the upper case 121 and the lower case 124 are slightly larger than the outer diameters of the metal plate 122a and the metal plate 123a. Further, the outer diameters of the metal plate 122a and the metal plate 123a are equal. A hole 121a is provided at the center of the upper surface of the upper case 121, a hole 122b is provided at the center of the metal plate 122a, and a hole 123b is provided at the center of the metal plate 123a. The holes 121a, 122b, and 123b are not illustrated with bolts (not shown). By inserting the fulcrum rotating shaft 1231), the upper case 121, the metal plate 122a, and the metal plate 123a are fixed. In addition, positioning pins 123c, 123d, 123e, and 123f are provided on the metal plate 123a at equal intervals at the end of the metal plate 123a so that the surface of the metal plate 123a and the axis of the positioning pin are perpendicular to each other. The metal plate 122a is provided with positioning holes 122c, 122d, 122e, and 122f so that the first movable structure 122 and the second movable structure 123 have a positional relationship described later. The positioning pin 123c and the positioning hole 122c, positioning pin 123d and positioning hole 122d, positioning pin 123e and positioning hole 122e, positioning pin 123f and positioning hole 122f are joined. The second structure 123 is provided with a rack 123g. As shown in FIG. 13, the rack 123g is installed between the motor pinion and the pinion, and the plane that contacts the motor pinion and the pinion is made of a material having a large friction coefficient (for example, rubber), or Consists of gears. The inner diameter of the rack 123g is equal to the outer diameter of the metal plate 122a and the metal plate 123a. The ring outer surface of the rack 123g is bonded and fixed to the inner surface of the upper case. Details of the method for supporting the rack 123g and the second movable structure 123, the role of the rack 123g, and the like will be described later.

  Next, the second movable structure 123 will be described in detail with reference to FIG. FIG. 16 is a plan view showing the configuration of the second movable structure 123 according to the present embodiment. The second movable structure 123 includes a slide fulcrum rotating shaft 1231 (screws, bolts, etc.), a link mechanism 1232, a weight connecting shaft 1232b, a disk 1233 (crank), a link connecting shaft 1233a, a disk connecting shaft 1234, a weight 1235, a second Translation motor 1236, roller 1236a, first rotation motor 1237a, first motor pinion 1237aa, first motor shaft 1237ab, second rotation motor 1237b, second motor pinion 1237ba, second motor shaft 1237bb, four shaft fixing members 1238a, 1238b, 1238c, 1238d, four pinions 1238aa, 1238ba, 1238ca, 1238da, four pinion shafts 1238ab, 1238bb, 1238cb, 1238db, rail 1239a, rail 1239b. As described above, the hole 123b is provided at the center of the metal plate 123a, and the slide fulcrum rotating shaft 1231 is inserted into the hole 123b. Further, rotation amount measuring instruments 1237ac and 1237bc are provided on the opposite side of the motor pinion 1237aa across the first motor shaft 1237ab and the opposite side of the motor pinion 1237ba across the second motor shaft 1237bb, respectively. The current angle shift amount from the reference direction of the movable structure 123 is measured. In addition, instead of installing the rotation amount measuring instruments 1237ac and 1237bc so as to correspond to the motor pinion, the same function can be realized even if a configuration in which one rotation amount measuring instrument is provided at the position of the hole 121 in FIG. it can. The shaft fixing members 1238a, 1238b, 1238c, and 1238d have a rectangular parallelepiped shape, and are attached to the upper surface of the metal plate 123a so that the longitudinal direction thereof is perpendicular to the normal direction of the metal plate 123a. One end of the shaft of the pinion shafts 1238ab, 1238bb, 1238cb, 1238db is fixed to the center of the side surface of the shaft fixing member 1238a, 1238b, 1238c, 1238d far from the center of the metal plate 123a so as to be perpendicular to the side surface. . Pinions 1238aa, 1238ba, 1238ca, and 1238da are rotatably attached to the other ends of the pinion shafts 1238ab, 1238bb, 1238cb, and 1238db with the respective pinion shafts serving as rotational axes. The axial direction of the pinion shafts 1238ab, 1238bb, 1238cb, 1238db is the outside of the metal plate 123a so that the pinions 1238aa, 1238ba, 1238ca, 1238da protrude from the end of the metal plate 123a. It is fixed at a position close to the end of the metal plate 123a so as to be equal to the normal direction of the circle. The shaft fixing members 1238a, 1238b, 1238c, and 1238d are equally arranged so that the angles formed by two adjacent pinion shafts are all equal to 90 degrees. On the upper surface of the metal plate 123a, the center of the pinion shaft 1238ab and the center of the pinion shaft 1238bb are the end points, and a point that divides the circular arc that is the same as the center of the metal plate 123a (denoted as point P in the figure), A disk connecting shaft 1234 is fixed at a substantially center with respect to the center of 123a in a direction perpendicular to the surface of the metal plate 123a. A hole is formed in the center of the disk 1233, and the disk connecting shaft 1234 is inserted through the hole of the disk 1233. The disk 1233 is rotatably connected to the metal plate 123a by a disk connecting shaft 1234. The disk 1233 has four circular holes for weight reduction. In addition, the diameter of the disk 1233 shall be smaller than the radius of the metal plate 123a. On the upper surface of the disk 1233, a link connecting shaft 1233a is fixed in a direction perpendicular to the surface of the disk 1233. The link mechanism 1232 is a long plate member. A hole is formed in one end of the link mechanism 1232, and the link connecting shaft 1233 a is inserted through a hole formed in one end of the link mechanism 1232. The link mechanism 1232 is rotatably connected to the disk 1233 by a link connecting shaft 1233a. An oval hole 1232a is provided at the center of the link mechanism 1232, and a slide fulcrum rotating shaft 1231 is inserted through the oval hole 1232a. A weight connecting shaft 1232b is attached to the lower surface of the end opposite to the end where the hole of the link mechanism 1232 is formed in a direction perpendicular to the lower surface of the link mechanism 1232. The weight 1235 has a thick plate shape, and an arc-shaped hole 1235a is formed. The weight connecting shaft 1232b is inserted into the arc-shaped hole 1235a. The rail 1239a and the rail 1239b are fixed to the metal plate 123a so as to be parallel to a straight line connecting the center of the disk connecting shaft 1234 and the center of the slide fulcrum rotating shaft 1231. The rails 1239a and 1239b have a rectangular parallelepiped shape in which a guide groove is provided on one side surface in the longitudinal direction. The rail 1239a and the rail 1239b are attached to the metal plate 123a so that the side surfaces provided with the guide grooves face each other. The weight 1235 is supported by the guide grooves of the rail 1239a and the rail 1239b so as to be able to translate in a direction parallel to a straight line connecting the center of the disk connecting shaft 1234 and the center of the slide fulcrum rotation shaft 1231 with respect to the metal plate 123a. .

  The second translation motor 1236 is fixed to the upper surface of the metal plate 123a in an appropriate position and an appropriate direction so that torque can be applied to the disk 1233 as described below. A roller 1236 a is rotatably attached to the end of the rotation shaft of the second translation motor 1236. The outer surface of the roller 1236a is in contact with the end of the upper surface of the disk 1233 under a certain pressure, and a frictional force is generated between the roller 1236a and the disk 1233 by the rotation of the roller 1236a. As a result, the disk 1233 rotates. The outer surface of the roller 1236a is covered with a material (for example, rubber) having a large friction coefficient. The outer surface of the roller 1236a may be a gear instead of a surface made of a material having a large friction coefficient (for example, rubber). The second translation motor 1236 transmits power to the disk 1233 via the roller 1236a to rotate the disk 1233. As the disk 1233 rotates, the link mechanism 1232 connected to the disk 1233 rotates around the slide fulcrum rotating shaft 1231 with translation. When the link mechanism 1232 rotates around the slide fulcrum rotating shaft 1231 with translation, the weight 1235 connected to one end of the link mechanism 1232 is supported by the rails 1239a and 1239b to perform translation. The second translation motor 1236 can freely control the angular acceleration of its rotation axis, and can thereby arbitrarily control the acceleration of the translational motion of the weight 1235.

  The first rotation motor 1237a and the second rotation motor 1237b have a motor pinion 1237aa and a motor pinion 1237ba rotatably attached to the ends of the rotation shafts. The first rotation motor 1237a and the second rotation motor 1237b are arranged such that the rotation axis direction is equal to the normal direction of the outer circle of the metal plate 123a so that the motor pinion 1237aa and the motor pinion 1237ba protrude from the end of the metal plate 123a. It is being fixed to the position near the edge part of the metal plate 123a. The first rotation motor 1237a and the second rotation motor 1237b are attached in directions different by 180 degrees so that the respective rotation axis directions are parallel to each other.

  As described above, the pinions 1238aa, 1238ba, 1238ca, 1238da, and the motor pinions 1237aa, 1237ba are rotatably attached to the respective shafts so as to protrude from the metal plate 123a, and the six pinions 1238aa, 1238ba, 1238ca are mounted. , 1238da, 1237aa, 1237ba are connected to the aforementioned rack 123g. Referring to FIG. 13 again, the details of the method of connecting the six pinions 1238aa, 1238ba, 1238ca, 1238da, 1237aa, 1237ba and the rack 123g will be described. The motor pinion 1237ba is connected so as to ride on the upper surface of the ring of the rack 123g. The same applies to the motor pinion 1237aa (not shown). On the other hand, the pinion 1238ba and the pinion 1238da are connected to the lower surface of the ring of the rack 123g. The same applies to other pinions not shown. The first movable structure 122 and the second movable structure 123 are accommodated in the upper case 121 and the lower case 124 so as not to directly contact the upper case 121 and the lower case 124. As described above, the first movable structure 122 and the second movable structure 123 are supported by the rack 123g via the six pinions fixed to the metal plate 123a. As described above, since the outer surface of the rack 123g is fixed to the inner surface of the upper case, the first movable structure 122 and the second movable structure 123 are connected to the rack 123g and the upper case 121 via six pinions. And are rotatably connected. The first rotary motor 1237a and the second rotary motor 1237b rotate the motor pinion 1237aa and the motor pinion 1237ba, respectively, so that power is transmitted from each motor pinion to the rack 123g, and this power causes the first movable structure 122 and the second movable body to move. The structure 123 rotates with respect to the upper case 121. The first rotary motor 1237a and the second rotary motor 1237b can be rotated in the reverse direction, and the first movable structure 122 and the second movable structure 123 can be rotated in either the counterclockwise direction or the clockwise direction. It is.

  Next, returning to FIG. 15, the first movable structure 122 will be described. The first movable structure 122 has substantially the same configuration as the second movable structure 123. The difference between the first movable structure 122 and the second movable structure 123 is that the second movable structure 123 includes a first rotary motor 1237a, a first motor pinion 1237aa, a first motor shaft 1237ab, a second rotary motor 1237b, 2 motor pinion 1237ba, second motor shaft 1237bb, 4 shaft fixing members 1238a, 1238b, 1238c, 1238d, 4 pinion 1238aa, 1238ba, 1238ca, 1238da, 4 pinion shafts 1238ab, 1238bb, 1238cb, 1238db Are collectively referred to as a rotation mechanism), whereas these are not present in the first movable structure 122. Accordingly, the first movable structure 122 includes the link mechanism 1222, the weight connection shaft 1222b, the disk 1223, the link connection shaft 1223a, the disk connection shaft 1224, the weight 1225, the first translation motor 1226, the roller 1226a, the rail 1229a, and the rail 1229b. Provided (hereinafter collectively referred to as a first translation mechanism). The members constituting the translation mechanism of the first movable structure 122 are the members corresponding to the second movable structure 123 (link mechanism 1232, weight connection shaft 1232b, disk 1233, link connection shaft 1233a, disk connection shaft 1234, weight 1235, The second translation motor 1236, the roller 1236a, the rail 1239a, the rail 1239b, which are collectively referred to as a second translation mechanism hereinafter) are disposed in the same manner and have the same operation function, and thus the description thereof is omitted. Here, as described above, the first movable structure 122 and the second movable structure 123 have the positioning pins 123c, 123d, 123e, and 123f joined to the positioning holes 122c, 122d, 122e, and 122f, respectively. At this time, the 1st movable structure 122 and the 2nd movable structure 123 are the translation direction when the weight 1225 of the 1st movable structure 122 goes to an edge part from the center of the metal plate 122a, and the 2nd movable structure. It is assumed that the weight 1235 of 123 is joined so that the translation direction when it goes from the center of the metal plate 123a to the end portion is just opposite.

  As described above, the pseudo force generation device 100 according to the present embodiment includes two translation mechanisms (first translation mechanism and second translation mechanism), so that each translation mechanism is ± 90 ° from the direction to which it belongs. Since it is only necessary to be in charge of presenting a range of pseudo translational force senses, pseudo translational force senses in all directions can be presented only with a rotation angle of ± 90 °. Accordingly, when it is desired to quickly control the direction of presentation of the pseudo translational force sense, it is desirable to provide two or more translation mechanisms as in the pseudo force sense generation device 100 of this embodiment.

  Next, a system used for the angular velocity control of the pseudo force generation device 100 of the present embodiment will be described in detail with reference to FIGS. 8 and 9 are block diagrams showing the configuration of a system that controls the pseudo force sense generating apparatus 100 according to the present embodiment. The control unit (PC) 140 is configured by a computer or the like. The control unit (PC) 140 outputs a control signal indicating either current amplification or current attenuation to the current amplifier 150 at a predetermined cycle. The current amplifier 150 that has acquired the control signal controls the amount of current flowing through the first translation motor 1226 and the second translation motor 1236 according to the control signal. It is assumed that the first translation motor 1226 and the second translation motor 1236 can be controlled independently by the control unit (PC) 140 and the current amplifier 150. The current amplifier 150 amplifies the current when the weight 1225 (1235) translates from the center of the first (2) movable structure 122 (123) toward the outer edge, and translates from the outer edge toward the center. The pseudo translational force sensation can be presented by attenuating the current. In addition, the control unit (PC) 140 outputs a control signal indicating a current amount and energization time necessary to rotate the first rotary motor by a predetermined angle in order to present a pseudo translational force sense in a predetermined direction. To do. Here, it is assumed that the control unit (PC) 140 controls the increasing rate of the current amount so that the angular acceleration in the direction opposite to the direction in which the reaction torque is desired to increase. In addition, as described in FIG. 6, the control unit (PC) 140 can determine whether the rotation direction is counterclockwise or clockwise when generating the reaction torque, and can also control the rotation direction. Suppose that The current amplifier 160 that has acquired the control signal controls the amount of current flowing through the first rotary motor 1237a and the second rotary motor 1237b, the energization time, the increasing speed of the current amount, and the rotation direction of the motor in accordance with the control signal. The rotation amount measuring instruments 1237ac and 1237bc measure the current angle shift amount from the reference direction of the first movable structure 122 and the second movable structure 123, and output them to the control unit (PC) 140. The control unit (PC) 140 can perform feedback control.

  As shown in FIG. 9, the system that controls the pseudo force generation device 100 may include an attitude sensor 180 in addition to the configuration of FIG. The posture sensor 180 is attached so that a pseudo translational force sense can be presented in a correct direction even when the orientation of the pseudo force sense generating device 100 itself is changed due to the user twisting the wrist or the like. . Specifically, the posture sensor 180 is not rotationally controlled by the first rotation motor 1237a and the second rotation motor 1237b. For example, the posture sensor 180 measures the amount of change in direction of the upper case 121, the lower case 124, etc. The rotation amount of the pseudo force sense generator 100 rotated by twisting is measured. The posture sensor 180 outputs the measured rotation amount to the control unit (PC) 140, so that the control unit (PC) 140 can feedback-correct an error caused by the rotation of the pseudo force sense generating device 100 itself. is there.

  In the case of speed control by changing the voltage of the motor, the maximum value of the change in angular speed depends on the output torque of the motor. Therefore, a mechanical brake may be employed to present a strong stop torque. Further, if an ER brake using an ER (electrorheology) fluid whose viscosity can be controlled by the strength of voltage is used, a high response speed can be realized in the braking effect. In order to ensure the back drivability of turning, gear transmission is adopted for the turning part, and with sufficient turning performance, a rubber brake shoe is applied to the turning part to improve the stop torque. Just do it.

  As described above, the pseudo force sense generator 100 according to the present embodiment generates a large pseudo force sense in one rotation direction, and controls to hardly generate a pseudo force sense in the other rotation direction. There are two broad approaches. One is a method of appropriately controlling the angular acceleration of the first movable structure 122 and the second movable structure 123 as in the control performed by the system described with reference to FIGS. The other is a method of controlling the moment of inertia by controlling the positions of the weights 1225 and 1235 on the first movable structure 122 and the second movable structure 123. Specifically, when the direction of the pseudo translational force sense to be presented by the pseudo force sense generation device 100 of the present embodiment changes, for example, as shown in FIG. When the angle formed by the pseudo translational force sense presentation direction is an angle α (α is a real number of 180 or less), the first movable structure 122 and the second movable structure are rotated in the rotation direction of the angle α (counterclockwise). When rotating 123, during the starting operation, the weight 1225 (1235) is controlled near the rotation axis of the first movable structure 122 and the second movable structure 123 to minimize the moment of inertia (FIG. 17). During the stop operation, the weight 1225 (1235) may be controlled near the outer edges of the first movable structure 122 and the second movable structure 123 to maximize the moment of inertia (the state of FIG. 18). ). When the first movable structure 122 and the second movable structure 123 are rotated in the rotation direction (clockwise) of the angle 360-α, the weight 1225 (1235) is brought into the state of FIG. 18 during the start operation. Control is performed to maximize the moment of inertia, and during the stop operation, the weight 1225 (1235) may be controlled to the state shown in FIG. 17 to minimize the moment of inertia. In either of the two rotation directions described above, a large reaction torque is generated counterclockwise, and the user can guide the direction of generation of the pseudo translational force sense one hour later. Here, as described with reference to FIG. 4, as the turning angle of the first movable structure 122 and the second movable structure 123 increases, the time required for slow start (slow stop) increases. The presentation time of the reaction torque generated at the time of starting) is increased, and a larger pseudo force sense can be presented. Therefore, although it is possible to guide the user in any of the rotation directions described above, a larger rotation pseudo force is obtained by rotating the first movable structure 122 and the second movable structure 123 in the 360-α rotation direction. Since it is possible to present a sense of sensation, it is the best way to achieve the guide function.

  With reference to FIG. 10, a subject evaluation experiment performed using the pseudo force sense presentation device 100 of the present embodiment will be described. In the subject evaluation experiment, an evaluation experiment was conducted by 12 right-handed experiment cooperators (men and women) who did not know the purpose of the experiment. FIG. 10 is a diagram illustrating a result of a subject evaluation experiment performed on the pseudo force generation apparatus 100 according to the present embodiment. FIG. 10 shows the results with the horizontal axis being the rotation angle (deg, where counterclockwise is positive) and the vertical axis being the percentage of people who felt twisted counterclockwise. Two patterns (a) and (b) in FIG. 5 were prepared as torque presentation patterns. The graph shown by the thick solid line in FIG. 10 is the torque presentation pattern of FIG. 5 (a), and shows the percentage of subjects who felt twisted counterclockwise when suddenly decelerated from the rotation direction shown on the horizontal axis. The graph shown by the thick broken line is the torque presentation pattern of FIG. 5 (a), and shows the percentage of subjects who felt twisted counterclockwise when rapidly accelerating in the rotational direction shown on the horizontal axis. The graph indicated by the thin solid line is the torque presentation pattern of FIG. 5 (b), and shows the percentage of subjects who felt twisted counterclockwise when suddenly decelerated from the rotational direction indicated on the horizontal axis. The graph shown by the thin broken line is the torque presentation pattern of FIG. 5 (b), and shows the percentage of subjects who felt twisted counterclockwise when rapidly accelerating in the rotational direction shown on the horizontal axis. Here, human perception of torque is characterized in that (1) the time during which torque is presented is long and (2) the greater the presented torque, the greater the perception. As shown in FIG. 5, the torque presentation pattern of FIG. 5 (a) has a longer torque presentation time than the torque presentation pattern of FIG. When comparing plot points that differ only in the torque presentation pattern under the same rotation angle, the person who feels that the torque presentation pattern in FIG. 5 (a) is twisted counterclockwise and clockwise in comparison with the torque presentation pattern in FIG. 5 (b). This is the reason that the percentage of is rising. Further, as described with reference to FIG. 4, as the turning angle of the first movable structure 122 and the second movable structure 123 increases, the time required for slow start (slow stop) increases, but sudden stop (sudden start) ), The reaction time for generating the reaction torque is also increased, and a larger pseudo force sense can be presented. Therefore, the larger the absolute value of the rotation angle (deg) shown in FIG. 10, the greater the pseudo force sense is presented. For this reason, for example, the proportion of people who feel that the counterclockwise rotation is performed under the condition indicated by the thick broken line (thin broken line) at a rotation angle of −180 ° at which the absolute value increases, and the thick at the rotation angle of 180 ° at which the absolute value increases. The percentage of people who feel twisted counterclockwise under the conditions indicated by the solid line (thin solid line) is high. Therefore, when the counterclockwise control is performed, the rotation angle such that the value of the vertical axis of the graph exceeds 0.75 is used as a guide. When the control of the clockwise direction is performed, the value of the vertical axis of the graph is A rotation angle exceeding 0.25 can be used as a guide.

Claims (5)

A pseudo force sense generating device that presents a pseudo force sense in a translation direction and a rotation direction,
A base, a rotation mechanism, and a translation mechanism;
The rotation mechanism is
A rotating member that performs a rotating motion with respect to the base with a rotation axis determined with respect to the base;
A first torque is applied to the rotating member in one rotation direction (hereinafter referred to as a forward rotation direction) of a rotation shaft determined with respect to the base, and a second torque is applied in a direction opposite to the forward rotation direction (hereinafter referred to as a rotation direction). A first action part to be added to the rotation negative direction)
The translation mechanism is
A moving member that performs a periodic translational movement with respect to the rotating member on a straight line determined with respect to the rotating member;
A first force is applied to the moving member in one direction of a straight line determined with respect to the rotating member (hereinafter referred to as a translational positive direction), and a second force is applied in a direction opposite to the translational forward direction (hereinafter referred to as translation). A second action part to be added to the negative direction),
The maximum absolute value of acceleration in the translation positive direction of the moving member is greater than the maximum absolute value of acceleration in the translation negative direction of the moving member,
The translation mechanism is fixed to the rotating member so that the translation positive direction is directed from the rotation center of the rotating member toward the outer edge of the rotating member;
When the distance between the center of gravity of the moving member when the first torque is applied and the center of rotation of the rotating member (hereinafter referred to as the center-of-center distance) is applied with the second torque The pseudo force sense generator characterized by being smaller than the center-of-gravity center distance. A pseudo force sense generating device that presents a pseudo force sense in a translation direction and a rotation direction,
A base, a rotation mechanism, and a translation mechanism;
The rotation mechanism is
A rotating member that performs a rotating motion with respect to the base with a rotation axis determined with respect to the base;
A first torque is applied to the rotating member in one rotation direction (hereinafter referred to as a forward rotation direction) of a rotation shaft determined with respect to the base, and a second torque is applied in a direction opposite to the forward rotation direction (hereinafter referred to as a rotation direction). A first action part to be added to the rotation negative direction)
The translation mechanism is
A moving member that performs a periodic translational movement with respect to the rotating member on a straight line determined with respect to the rotating member;
A first force is applied to the moving member in one direction of a straight line determined with respect to the rotating member (hereinafter referred to as a translational forward direction), and a second force is applied in a direction opposite to the translational forward direction (hereinafter referred to as a translation). A second action part to be added to the negative direction),
The maximum absolute value of acceleration in the translation positive direction of the moving member is greater than the maximum absolute value of acceleration in the translation negative direction of the moving member,
The translation mechanism is fixed to the rotation member so that the translation positive direction is directed from the rotation center of the rotation member toward the outer edge of the rotation member;
The maximum absolute value of the angular acceleration of the rotating member when the first torque is applied is the absolute value of the angular acceleration of the rotating member when the second torque is applied. A pseudo force generation device characterized by being smaller than the maximum value. The pseudo force generation device according to claim 1,
The maximum absolute value of the angular acceleration of the rotating member when the first torque is applied is the absolute value of the angular acceleration of the rotating member when the second torque is applied. A pseudo force generation device characterized by being smaller than the maximum value. The pseudo force sense generator according to claim 1 or 2,
When changing the translation direction,
The rotation direction from the translation direction to the new translation direction, and the torque applied by the first action part in an angle direction smaller than 180 degrees among the angles formed by the translation direction and the new translation direction. The maximum absolute value is larger than the maximum absolute value of the torque applied by the first action portion in the direction opposite to the angle direction smaller than 180 degrees among the angles formed by the translation direction and the new translation direction. A pseudo force sensation generator characterized by being small. The pseudo force generation device according to claim 4,
The pseudo force sense generating device characterized by rotating the rotating member in a direction opposite to an angle direction smaller than 180 degrees among angles formed by the translation direction and a new translation direction.

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