JP2013033425A - Haptic system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To apply a haptic sensation to a user.SOLUTION: A haptic system is provided with multiple haptic devices 100 and 200 that are mutually separated and worn by a user U, each of the haptic devices 100 and 200 having haptic application means that applies a haptic sensation to the user U. To apply a haptic sensation in a specified direction to the user U, each of the haptic devices 100 and 200 has a haptic control section that controls the haptic application means of its own.

Description

  The present invention relates to a haptic system. In particular, the present invention relates to a force sense system that gives a force sense to a user.

  In connection with next-generation multimedia, the multimodal interface is attracting attention as an interface that uses all five senses for information presentation. In particular, an interface that presents a sense of touch such as a tactile sensation on an object or a force sense received from the object leads to a significant increase in a sense of reality, so the operability of known interfaces, perception of information, and understanding of information Can be improved.

  Conventionally, a method of guiding a person to a destination by using a haptic information presentation device is known (see, for example, Patent Document 1).

Japanese Patent No. 4002970

  In the conventional technology, in addition to visual and auditory information using a display or a voice guide, a direction to proceed using a force sense can be presented in an easily understandable manner. However, the types of haptics that can be applied with one haptic device are limited. For example, it is assumed that the direction of the body is rotated to the left with respect to the traveling direction using the haptic sense. In this case, it is not possible to distinguish whether it is a force sensation that tries to change the direction of the body or a force sensation that tries to move leftward. The object of the embodiment of the present invention is to eliminate the above-mentioned drawbacks of the prior art.

  In order to solve the above-mentioned problem, according to the first aspect of the present invention, there is provided a force sense system for giving a force sense to a user, comprising force sense giving means for giving a force sense to the user. The haptic device includes a haptic control unit that controls the haptic application means included in the own device in order to give the user a haptic sense in a predetermined direction. Any one of the haptic devices, or a non-haptic device that is a device other than the haptic device and does not include a force sensation providing device is used as a master device for controlling the other haptic devices. The haptic device other than the master device operates and operates as a slave device controlled by the master device.

  The master device has a force sense direction calculation unit that calculates the direction of each force sense viewed from the posture state of the master device with respect to the force sense to be given by each force sense imparting means, and the force of the force sense device The haptic control unit may control a haptic application unit included in the own device so as to apply a haptic sensation in a direction corresponding to the direction calculated by the haptic direction calculation unit of the master device.

  The master device and / or the slave device is based on the amount of deviation of the posture of the master device with respect to the reference posture common to the master device and the slave device and the amount of deviation of the posture of the slave device with respect to the common reference posture. The haptic direction conversion unit further converts a haptic direction as viewed from the posture state of the master device calculated by the haptic direction calculation unit into a direction as viewed from the posture state of the slave device. The control unit may control a force sense imparting unit included in the own device so as to impart a force sense in the direction after the force sense direction conversion unit has converted. The details of the reference posture and the amount of posture deviation will be described later.

  The master device and the slave device further include a posture deviation amount calculation unit that calculates a deviation amount of the posture of the own device with respect to a reference posture common to the master device and the slave device, and the haptic direction conversion unit of the master device or the slave device is Based on the posture deviation amount of the master device calculated by the posture deviation amount calculation unit of the master device and the posture deviation amount of the slave device calculated by the posture deviation amount calculation unit of the slave device, The direction of the sense of force viewed from the posture state of the master device calculated by the calculation unit may be converted to the direction viewed from the posture state of the slave device.

  The master device and / or the slave device further includes an event detection unit that detects the occurrence of an event that gives a sense of force to the user, and the event detection unit includes When the occurrence of this is detected, the direction of each force sense viewed from the posture state of the master device may be calculated for each force sense to be given by each force sense applying means.

  The above summary of the invention does not enumerate all the necessary features of the present invention, and sub-combinations of these feature groups can also be the invention.

  The present invention includes a plurality of force sense devices. For example, by giving meaning to each combination of force sense directions given individually, the user can guide the situation in the direction as well as the traveling direction. Can provide additional guidance.

It is a figure which shows an example of the utilization environment of the force sense system 1 which concerns on 1st Embodiment. 2 is a diagram illustrating an example of a configuration of a master force sense device 100. FIG. It is a figure which shows an example of a structure of the slave force sense apparatus. It is a figure which shows an example of the structure of the force sense provision interface 180,280. It is a figure which shows an example of a structure of the control part 110 of the master force sense apparatus 100. FIG. It is a figure which shows an example of a structure of the control part 210 of the slave force sense apparatus 200. It is a figure which shows an example of the operation | movement sequence of the master force sense apparatus 100 and the slave force sense apparatus 200. FIG. It is a figure which shows an example of the calibration method of the master force sense apparatus and the slave force sense apparatus. It is a figure which shows an example of the map utilized in order to navigate the user U. It is a figure which shows an example of the direction of the force sense which should be provided in the present location. 5 is a diagram illustrating an example of the inclination of the master force sense device 100 and the slave force sense device 200 with respect to a common reference posture and the direction of the force sense viewed from the posture of the master force sense device 100. FIG. It is a figure which shows an example of the direction of the force sense which should be provided in _1st intersection I1. It is a figure which shows an example of the utilization environment of the force sense system which concerns on 2nd Embodiment. 3 is a diagram illustrating an example of a configuration of a master force sense device 300. FIG. It is a figure which shows an example of a structure of the slave force sense apparatus. 3 is a diagram illustrating an example of a configuration of a control unit 310 of a master force sense device 300. FIG. It is a figure which shows an example of a structure of the control part 410 of the slave force sense apparatus 400. It is a figure which shows an example of the operation | movement sequence of the master force sense apparatus 300 and the slave force sense apparatus 400. FIG. It is a figure which shows an example of the utilization environment of the force sense system which concerns on 3rd Embodiment. It is a figure which shows an example of a structure of the master non-force sense apparatus. It is a figure which shows an example of a structure of the control part 510 of the master non-force sense apparatus 500. It is a figure which shows an example of the operation | movement sequence of the master non-force sense apparatus 500 and each slave force sense apparatus 200. FIG.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims.

<First Embodiment>
FIG. 1 shows an example of a usage environment of a haptic system 1 according to the first embodiment. The force sense system 1 gives a force sense to the user U. The sense of force is a sense of force that the object gives to the user U.

  The force sense system 1 according to the first embodiment includes a master force sense device 100 and a slave force sense device 200. The master force sense device 100 is wirelessly connected to the slave force sense device 200 using a Bluetooth (registered trademark) signal. Then, the master force sense device 100 controls the slave force sense device 200 via the communication connection.

  The master force sense device 100 is attached to the right waist RW of the user U. Then, the master force sense device 100 gives a force sense to the right waist RW. The slave force sense device 200 is attached to the left waist LW of the user U. Then, the slave force sense device 200 gives a force sense to the left waist LW.

  In the present embodiment, for the purpose of preventing the explanation from becoming complicated, a configuration in which the force sense system 1 includes one slave force sense device 200 will be described. However, the force sense system 1 includes a plurality of force sense systems 1. A slave force sense device 200 may be provided.

  FIG. 2 shows an example of the configuration of the master force sense device 100. The master force sense device 100 includes a control unit 110, a memory 130, a gyroscope 140, a GPS (Global Positioning System) receiver 150, a magnetic compass 160, an acceleration sensor 170, a force sense imparting interface 180, and a transceiver 190.

  The control unit 110 controls the memory 130, the gyroscope 140, the GPS receiver 150, the magnetic compass 160, the acceleration sensor 170, the force sense imparting interface 180, and the transceiver 190. More specifically, the control unit 110 is electrically connected to the memory 130, the gyroscope 140, the GPS receiver 150, the magnetic compass 160, the acceleration sensor 170, the force application interface 180, and the transceiver 190, respectively. . The control unit 110 receives data from the memory 130, the gyroscope 140, the GPS receiver 150, the magnetic compass 160, the acceleration sensor 170, and the transceiver 190, performs calculation and processing on the data, and stores the data in the memory. 130, the haptic interface 180, and the transceiver 190.

  The memory 130 stores data to be processed by the master force sense device 100. More specifically, the memory 130 is electrically connected to the control unit 110. The memory 130 stores data output from the control unit 110. Data stored in the memory 130 is read from the control unit 110.

  The gyroscope 140 is an instrument that measures the angle of the master force sense device 100. More specifically, the gyroscope 140 is electrically connected to the control unit 110. Then, the gyroscope 140 outputs data indicating the measured angle and angular velocity of the master force sense device 100 to the control unit 110.

  The GPS receiver 150 is a component that measures the current location of the master force sense device 100 by receiving radio waves from a plurality of GPS satellites and determining the distance from each. More specifically, the GPS receiver 150 is electrically connected to the control unit 110. Then, the GPS receiver 150 outputs data indicating the measured current location to the control unit 110.

  The magnetic compass 160 is an instrument that measures azimuth using geomagnetism. More specifically, the magnetic compass 160 is electrically connected to the control unit 110. Then, the magnetic compass 160 outputs data indicating the measured orientation to the control unit 110.

  The acceleration sensor 170 is a component for measuring the acceleration of the master force sense device 100. More specifically, the acceleration sensor 170 is electrically connected to the control unit 110. Then, the acceleration sensor 170 outputs data indicating the measured acceleration to the control unit 110.

  The force sense imparting interface 180 is a member that imparts a force sense to the right waist RW of the user U. More specifically, the haptic interface 180 is electrically connected to the control unit 110. And the force sense provision interface 180 is controlled from the control part 110, and provides a force sense with respect to the right waist RW. In addition, the force sense providing interface 180 is an example of a force sense providing unit in this embodiment, and the force sense providing unit is not limited to this.

  The transceiver 190 is a member that relays a Bluetooth signal. More specifically, the transceiver 190 is electrically connected to the control unit 110. Then, the transceiver 190 transmits the data output from the control unit 110 to the slave force sense device 200 on the Bluetooth signal. In addition, the transceiver 190 receives data transmitted from the slave force sense device 200 on the Bluetooth signal and outputs the data to the control unit 110.

  FIG. 3 shows an example of the configuration of the slave force sense device 200. The slave force sense device 200 includes a control unit 210, a memory 230, a gyroscope 240, an acceleration sensor 270, a force sense imparting interface 280, and a transceiver 290.

  The control unit 210 is one member constituting the slave force sense device 200, and is a member that controls the memory 230, the gyroscope 240, the force sense imparting interface 280, and the transceiver 290, and calculates and processes data. More specifically, the control unit 210 is electrically connected to the memory 230, the gyroscope 240, the haptic interface 280, and the transceiver 290, respectively. Then, the control unit 210 receives data from the memory 230, the gyroscope 240, and the acceleration sensor 270, performs calculation and processing, and outputs the data to the memory 230, the haptic interface 280, and the transceiver 290.

  The memory 230 is a member used to store data to be processed by the slave force sense device 200. More specifically, the memory 230 is electrically connected to the control unit 210. The memory 230 stores the data output from the control unit 210. Data stored in the memory 230 is read from the control unit 210.

  The gyroscope 240 is a member that measures the angle and angular velocity of the slave force sense device 200. More specifically, the gyroscope 240 is electrically connected to the control unit 210. Then, the gyroscope 240 outputs data indicating the measured angle and angular velocity of the slave force sense device 200 to the control unit 210.

  The acceleration sensor 270 is a component for measuring the acceleration of the slave force sense device 200. More specifically, the acceleration sensor 270 is electrically connected to the control unit 210. Then, the acceleration sensor 270 outputs data indicating the measured acceleration to the control unit 210.

  The force sense imparting interface 280 is a member that imparts a force sense to the left waist LW of the user U. More specifically, the force sense providing interface 280 is electrically connected to the control unit 210. And the force sense provision interface 280 is controlled from the control part 210, and gives a force sense with respect to the user's U left waist LW. In addition, the force sense providing interface 280 is an example of a force sense providing unit in this embodiment, and the force sense providing unit is not limited to this.

  The transceiver 290 is a member that relays a Bluetooth signal. More specifically, the transceiver 290 is electrically connected to the control unit 210. Then, the transceiver 290 transmits the data output from the control unit 210 to the master force sense device 100 on the Bluetooth signal. Further, the transceiver 290 receives data transmitted from the master force sense device 100 on the Bluetooth signal and outputs the data to the control unit 210.

FIG. 4 shows an example of the structure of the haptic interface 180, 280. The haptic interfaces 180 and 280 have the same configuration. The haptic interfaces 180 and 280 include three rotors G _x , G _y , and G _z . The haptic interfaces 180 and 280 independently control the rotation speeds ω _x , ω _y , and ω _z of the three rotors fixed to the x-axis, y-axis, and z-axis, and each rotor is generated. By combining the angular momentum, an angular momentum vector can be generated in an arbitrary direction. The haptic application interfaces 180 and 280 can generate torque in an arbitrary direction if appropriately controlled. The torque generated when the angular momentum vector L is changed is expressed as follows. The angular momentum L _i rotating around each x, y, z axis at an angular velocity ω _i is expressed as L _i = I _i ω _i (i = x, y, z), where I _i is the moment of inertia around each axis. expressed. A combined angular momentum vector composed of the angular momentum around each of these axes is expressed as L = L _x i + L _y j + L _z k where i, j, and k are basic vectors in the x, y, and z axis directions. . The torque vector τ = dL / dt at which the time differentiation of this combined angular momentum vector occurs. The force giving interfaces 180 and 280 can control the generation direction of the angular momentum vector in an arbitrary direction by changing the ratio of angular velocities ω _x : ω _y : ω _z in the x, y, and z axis directions.

  FIG. 5 shows an example of the configuration of the control unit 110 of the master force sense device 100. The control unit 110 includes an event detection unit 111, a posture deviation amount calculation unit 112, a haptic direction calculation unit 113, and a haptic control unit 114. Hereinafter, the function and operation of each component will be described.

  The event detection unit 111 detects the occurrence of an event that gives a sense of force to the user U.

  The posture deviation amount calculation unit 112 calculates a deviation amount of the posture of the master force sense device 100 with respect to a reference posture common to the master force sense device 100 and the slave force sense device 200.

  The force sense direction calculation unit 113 calculates the direction of each force sense viewed from the posture state of the master force sense device 100 for the force sense to be given by the force sense imparting interfaces 180 and 280. For example, the force sense direction calculation unit looks at the force sense to be given by the force sense giving interface 180, 280 from the posture state of the master force sense device 100 when the event detection unit 111 detects the occurrence of the event. The direction of each force sense is calculated.

  The force sense control unit 114 controls the force sense imparting interface 180 so as to impart a force sense in a predetermined direction to the right waist RW of the user U. For example, the force sense control unit 114 controls the force sense imparting interface 180 so as to impart a force sense in a predetermined direction corresponding to the direction calculated by the force sense direction calculation unit 113. For example, the predetermined direction may be a direction determined by a positional relationship between the current location and the destination.

  FIG. 6 shows an example of the configuration of the control unit 210 of the slave force sense device 200. The control unit 210 includes a posture deviation amount calculation unit 212, a force sense direction conversion unit 215, and a force sense control unit 214. Hereinafter, the function and operation of each component will be described.

  The posture deviation amount calculation unit 212 calculates a posture deviation amount of the slave force sense device 200 with respect to a reference posture common to the master force sense device 100 and the slave force sense device 200.

  The force sense direction conversion unit 215 is configured to change the amount of deviation of the posture of the master force sense device 100 with respect to the reference posture common to the master force sense device 100 and the slave force sense device 200 and the posture of the slave force sense device 200 with respect to the common reference posture. Based on the amount of deviation, the direction of the force sense viewed from the posture state of the master force sense device 100 calculated by the force sense direction calculation unit 113 of the master force sense device 100 is determined from the posture state of the slave force sense device 200. Convert to the viewing direction. For example, the haptic direction conversion unit 215 is configured such that the posture shift amount of the master force sense device 100 calculated by the posture shift amount calculation unit 112 of the master force sense device 100 and the posture shift amount calculation unit 212 of the slave force sense device 200 are calculated. Based on the calculated posture shift amount of the slave force sense device 200, the direction of the force sense viewed from the posture state of the master force sense device 100 calculated by the force sense direction calculation unit 113 of the master force sense device 100, The slave force sense device 200 is converted from the posture state to the viewed direction.

  The force sense control unit 214 controls the force sense imparting interface 280 so as to impart a force sense in a predetermined direction to the left waist LW. For example, the force sense control unit 214 controls the force sense imparting interface 280 so as to impart a force sense in a direction corresponding to the direction calculated by the force sense direction calculation unit 113 of the master force sense device 100. Further, for example, the force sense control unit 214 controls the force sense imparting interface 280 so as to impart a force sense in the direction after the force sense direction conversion unit 215 converts.

  FIG. 7 shows an example of an operation sequence of the master force sense device 100 and the slave force sense device 200. This operation flow will be described by taking as an example the case where the user U is navigated (guided) using the master force sense device 100 and the slave force sense device 200.

  When the user U starts navigation using the master force sense device 100 and the slave force sense device 200, the user U performs calibration of the master force sense device 100 and the slave force sense device 200 in advance. For example, as shown in FIG. 8, the user U calibrates the master force sense device 100 and the slave force sense device 200 with the master force sense device 100 and the slave force sense device 200 overlapped (see FIG. 8). The calibration is executed by pressing the button (not shown).

  When such an operation is performed, the control unit 110 of the master force sense device 100 stores data indicating the angle measured by the gyroscope 140 in the memory 130. The controller 110 of the master force sense device 100 uses the relative position where calibration is performed as the origin, data indicating the acceleration measured by the acceleration sensor 170, and data indicating the current position measured by the GPS receiver 150. Is stored in the memory 130. Similarly, the control unit 210 of the slave force sense device 200 stores data indicating the angle measured by the gyroscope 240 in the memory 230. In addition, the control unit 210 of the slave force sense device 200 stores data indicating the acceleration, position, and speed measured by the acceleration sensor 270 in the memory 130 with the relative position where the calibration is performed as the origin.

  FIG. 8 shows an example of a calibration method for the master force sense device 100 and the slave force sense device 200. The master force sense device 100 and the slave force sense device 200 are perfectly overlapped in the same direction. The angles stored in the memory 130 of the master force sense device 100 and the memory 230 of the slave force sense device 200 are measured in an overlapped state as shown in FIG. Therefore, the values of the X axis, the Y axis, and the Z axis indicating the angle are the same value, and the angle is a common reference posture for the master force sense device 100 and the slave force sense device 200. That is, the position information in the state in FIG. 8 is the origin (0, 0, 0), and the speed is also (0, 0, 0).

  Returning to FIG. 7, the posture deviation amount calculation unit 112 of the master force sense device 100 is common to the master force sense device 100 and the slave force sense device 200 every time the posture of the master force sense device 100 changes after calibration. A deviation amount of the posture of the master force sense device 100 with respect to the reference posture is calculated (S101). For example, the posture deviation amount calculation unit 112 includes data indicating the current posture (angle) of the master force sense device 100 measured by the gyroscope 140, the master force sense device 100 and the slave force sense stored in the memory 130. Based on data indicating a reference posture common to the apparatus 200, a deviation amount of the current posture with respect to the reference posture is calculated. The posture deviation amount calculation unit 112 calculates the current position information and speed information from the acceleration information measured by the acceleration sensor 170 and the position information and speed information stored in the memory 130.

  Similarly, the posture deviation amount calculation unit 212 of the slave force sense device 200 changes the reference force common to the master force sense device 100 and the slave force sense device 200 every time the posture of the slave force sense device 200 changes after calibration. The amount of deviation of the posture of the slave force sense device 200 is calculated (S102). Then, the posture deviation amount calculation unit 212 sends data indicating the calculated posture deviation amount of the slave force sense device 200 to the force sense direction conversion unit 215 (FIG. 6).

On the other hand, the user U starts navigation by, for example, pressing a navigation start button (not shown) of the master force sense device 100. When such an operation is performed, the event detection unit 111 of the master force sense device 100 displays the data indicating the current location of the master force sense device 100 measured by the GPS receiver 150 and the map data stored in the memory 130. Based on the above, the current location S on the map indicated by the map data is specified.
Then, when the event detection unit 111 specifies the current location S in this way, it is assumed that an event that is a trigger to give a force sense to the user U in order to indicate the traveling direction is detected (S103: Yes). ), Data indicating that is sent to the posture deviation amount calculation unit 112 and the haptic direction calculation unit 113. In addition, the event detection unit 111 sends data indicating the identified current location S to the haptic direction calculation unit 113. If no event is detected (S103′No), the process returns to step S103.

  When the posture deviation amount calculation unit 112 receives data indicating that an event has been detected from the event detection unit 111, the posture difference of the master force sense device 100 with respect to a reference posture common to the master force sense device 100 and the slave force sense device 200. The latest data indicating the amount of deviation is transmitted on the Bluetooth signal to the slave force sense device 200 via the transceiver 190 (FIG. 2) (S105).

  On the other hand, when the haptic direction calculation unit 113 of the master haptic device 100 receives data indicating that an event has been detected and data indicating the current location S from the event detection unit 111, the haptic application interfaces 180 and 280 For the force sense to be applied, the direction of each force sense is calculated from the posture state of the master force sense device 100 (S104). For example, the haptic direction calculation unit 113 measures the data indicating the current location S received from the event detection unit 111, the data indicating the current posture of the master force sensation device 100 measured by the gyroscope 140, and the magnetic compass 160. Each of the force senses to be given by the force sense imparting interfaces 180 and 280 based on the orientation direction of the master force sense device 100 and the map data stored in the memory 130 as viewed from the posture state of the master force sense device 100 The direction of force sense is calculated.

In calculating the direction of each force sense, the force sense direction calculation unit 113 first specifies the direction of each force sense on the map. FIG. 9 shows an example of a map used for navigating the user U. For example, when going to the destination G from the current position S on the map as shown in FIG. 9, the user U proceeds from the current position S to the first intersection I ₁ follows the first traveling path R _1, the first proceeds from the intersection I ₁ to the second intersection R ₂ follows the second traveling path R _2, so that it advances to the destination G from the second intersection I ₂ follows the third traveling path R ₃ of . That is, if the user U receives a force sense in the same direction as the _first traveling direction R1 on the left and right of the waist at the current location S, the user U will perceive a feeling of being pulled in the first traveling direction. FIG. 10 shows an example of the direction of force sense to be given at the current location S. The user U receives the force F1 from the master force sense device 100 and the force F2 from the slave force sense device 200, and the forces F1 and F2 are directed in the same direction as the direction R1.

Then, the force sense direction calculation unit 113 is based on the data indicating the current posture of the master force sense device 100 measured by the gyroscope 140 and the data indicating the azimuth measured by the magnetic compass 160 as described above. The direction of each force sense on the map specified in the above is calculated as a direction viewed from the posture state of the master force sense device 100. FIG. 11 shows an example of the inclination of the master force sense device 100 and the slave force sense device 200 with respect to a common reference posture, and the direction of the force sense viewed from the posture of the master force sense device 100. For example, as shown in FIG. 11, when the posture of the master force sense device 100 is inclined by an angle θ _{1 with} respect to a certain direction C in the common reference posture of the master force sense device 100 and the slave force sense device 200. The force sense direction calculation unit 113 calculates the angle θ ₃ of the force sense direction F to be applied to the tilted direction C ₁ as the force sense direction viewed from the posture state of the master force sense device 100. .

  Then, the haptic direction calculation unit 113 sends data indicating the haptic direction F1 to be applied by the haptic application interface 180 calculated as described above to the haptic control unit 114. Further, the force sense direction calculation unit 113 converts the data indicating the force sense direction F2 to be given by the force sense provision interface 280 calculated as described above to the slave force sense device 200 via the transceiver 190 as a Bluetooth signal. The data is transmitted on board (S105).

The force sense direction conversion unit 215 (FIG. 6) of the slave force sense device 200 includes data indicating the amount of misalignment of the master force sense device 100 transmitted from the master force sense device 100 on the Bluetooth signal, and force sense provision. When data indicating the force sense direction F ₂ to be applied by the interface 280 is received via the transceiver 290, the data and the posture shift amount of the slave force sense device 200 received from the posture shift amount calculation unit 212 are indicated. Based on the latest data, the direction of the force sense viewed from the posture state of the master force sense device 100 calculated by the force sense direction calculation unit 113 of the master force sense device 100 is the state of the posture of the slave force sense device 200. Is converted into the direction viewed from (S106). For example, as shown in FIG. 11, the posture of the master force sense device 100 is an angle θ that faces the direction C ₁ with respect to a certain direction C in a common reference posture of the master force sense device 100 and the slave force sense device 200. Suppose that it is tilted by _one . Further, it is assumed that the posture of the slave force sense device 200 is inclined with respect to the direction C by the angle θ _{2 in the} direction C ₂ . Then, it is assumed that the force sense direction F ₂ viewed from the posture state of the master force sense device 100 is tilted by an angle θ _{3 with} respect to the tilt direction C ₁ of the master force sense device 100. In this case, the force direction F ₂ viewed from the posture state of the slave force sense device 200 is inclined by an angle (θ ₁ −θ ₂ + θ ₃ ) with respect to the direction C _{2 in} which the slave force sense device 200 is inclined. Will be. The haptic direction conversion unit 215 converts this angle (θ ₁ −θ ₂ + θ ₃ ) as a haptic direction viewed from the posture state of the slave haptic device 200. Then, the force sense direction conversion unit 215 sends data indicating the converted force sense direction F ₂ to the force sense control unit 214. In addition, in the above description, for the purpose of preventing the description from becoming complicated, the case where each direction is viewed in plan has been described, but in actuality, it is calculated as a three-dimensional angle.

Force control unit 214 of the slave force device 200 receives the data indicating the direction F ₂ of the force to be applied from the force direction converting unit 215, in order to impart a force in that direction F _2, the force The sense giving interface 280 is controlled (S107).

On the other hand, when the force sense control unit 114 of the master force sense device 100 receives data indicating the direction F ₁ of the force sense to be applied from the force sense direction calculation unit 113, the force sense control unit 114 is to apply the force sense in the direction F ₁ . Then, the haptic interface 180 is controlled (S108).

In this way, the user U receives the force senses in the same directions F ₁ and F ₂ as the first traveling direction R ₁ on the left and right hips. As a result, the user U perceives a sense that the left and right hips are pulled in the first advancing direction R ₁ at the current location S, and can know that it is only necessary to proceed in that direction R ₁ .

Even while the user U is moving along the first traveling direction R ₁ , the event detection unit 111 of the control unit 110 of the master force sense device 100 performs the master force sense measured by the GPS receiver 150. Based on the data indicating the current location of the apparatus 100 and the map data stored in the memory 130, the current location S on the map indicated by the map data is specified. Then, when the current location of the user U reaches the _first intersection I ₁ , the event detection unit 111 detects an event that is a trigger to give a force sense to the user U in order to change the traveling direction. As data (S103: Yes), data indicating that is sent to the posture deviation amount calculation unit 112 and the haptic direction calculation unit 113. In addition, the event detection unit 111 sends data indicating the identified current location S = I ₁ to the haptic direction calculation unit 113.

  When the posture deviation amount calculation unit 112 receives data indicating that an event has been detected from the event detection unit 111, the posture difference of the master force sense device 100 with respect to a reference posture common to the master force sense device 100 and the slave force sense device 200. The latest data indicating the amount of deviation is transmitted on the Bluetooth signal to the slave force sense device 200 via the transceiver 190 (S105).

On the other hand, when the haptic direction calculation unit 113 of the master haptic device 100 receives data indicating that an event has been detected and data indicating the current location S from the event detection unit 111, the haptic application interfaces 180 and 280 For the force sense to be applied, the direction of each force sense is calculated from the posture state of the master force sense device 100 (S104). For example, if the user U receives a forward sensation on the right side of the waist and a backward sensation on the left side of the waist at the current location S = I ₁ , the user U has a sense that the user U can rotate counterclockwise. You will perceive. FIG. 12 shows an example of the direction of force sense to be applied at the first intersection I ₁ . Accordingly, in a first intersection I _1, the direction of force to be imparted by the master force device 100, as shown in FIG. 12, the forward direction F _1. Similarly, in the first intersection I _1, the direction of the force to be applied by the slave force device 200, as shown in FIG. 12, the rear direction F _2.

Thereafter, the master force sense device 100 and the slave force sense device 200 perform the processing from step S105 to step S108 described above. In this way, the user U receives a force sense in the forward direction F _{1 on} the right waist RW and a force sense in the rear direction F _{2 on} the left waist LW. As a result, the user U perceives a sense that the user U can rotate counterclockwise, and can know that it is only necessary to change the direction of the body in that direction. Note also, the force for causing changing the direction of the user U of the body, the front of the user U of the body is continued until facing second traveling direction R _2.

  As described above, the master force sense device 100 and the slave force sense device 200 can guide the user U to the destination G shown in FIG. 9 by repeating the processing from step S101 to step S108.

  According to the first embodiment, it is possible to give additional guidance to the user by giving meaning to each combination of the direction of each force sense given individually.

<Second Embodiment>
FIG. 13 shows an example of a usage environment of the haptic system 2 according to the second embodiment. The force sense system 2 according to the present embodiment includes a master force sense device 300 and a slave force sense device 400 for the user U. The usage environment of the master force sense device 300 and the slave force sense device 400 is the same as the usage environment of the master force sense device 100 and the slave force sense device 200 in the first embodiment. The detailed explanation is omitted.

  In the present embodiment, for the purpose of preventing the explanation from becoming complicated, a configuration in which the force sense system 2 includes one slave force sense device 400 will be described. The force sense system 2 includes a plurality of slave forces. A sense device 400 may be provided.

  FIG. 14 shows an example of the configuration of the master force sense device 300. The master force sense device 300 includes a control unit 310, a memory 330, a gyroscope 340, a GPS receiver 350, a magnetic compass 360, an acceleration sensor 370, a force sense imparting interface 380, and a transceiver 390. The main functions of each hardware of the master force sense device 300 are the same as the main functions of each hardware of the master force sense device 100 in the first embodiment, and detailed description thereof is omitted. To do.

  FIG. 15 shows an exemplary configuration of the slave force sense device 400. The slave force sense device 400 includes a control unit 410, a memory 430, a gyroscope 440, an acceleration sensor 470, a force sense imparting interface 480, and a transceiver 490. The main functions of each hardware of the slave force sense device 400 are the same as the main functions of each hardware of the slave force sense device 200 in the first embodiment, and thus detailed description thereof is omitted. To do.

  FIG. 16 shows an example of the configuration of the control unit 310 of the master force sense device 300. The control unit 310 includes an event detection unit 311, a posture deviation amount calculation unit 312, a force sense direction calculation unit 313, a force sense direction conversion unit 315, and a force sense control unit 314. Hereinafter, the function and operation of each component will be described. A haptic direction conversion unit 315 is newly added. However, the functions and operations of the event detection unit 311, posture deviation amount calculation unit 312, force sense direction calculation unit 313, and force sense control unit 314 are the same as those of the event detection unit 111, posture deviation amount in the first embodiment. Since it is the same as that of the calculation part 112, the force sense direction calculation part 113, and the force sense control part 114, detailed description thereof is omitted.

  The force sense direction conversion unit 315 is configured to change the amount of deviation of the posture of the master force sense device 300 with respect to the reference posture common to the master force sense device 300 and the slave force sense device 400 and the posture of the slave force sense device 400 with respect to the common reference posture. Based on the amount of deviation, the direction of the force sense viewed from the posture state of the master force sense device 300 calculated by the force sense direction calculation unit 313 is converted to the direction seen from the posture state of the slave force sense device 400. . For example, the force sense direction conversion unit 315 includes a posture shift amount of the master force sense device 300 calculated by the posture shift amount calculation unit 312 of the master force sense device 300 and a posture shift amount calculation unit 412 of the slave force sense device 400. Based on the calculated posture shift amount of the slave force sense device 400, the direction of the force sense viewed from the posture state of the master force sense device 300 calculated by the force sense direction calculation unit 313 of the master force sense device 300 is obtained. The slave force sense device 400 is converted from the posture state to the viewed direction.

  FIG. 17 shows an example of the configuration of the control unit 410 of the slave force sense device 400. The control unit 410 includes a posture deviation amount calculation unit 412 and a force sense control unit 414. The functions and operations of the posture deviation amount calculation unit 412 and the force sense control unit 414 are the same as the functions and operations of the posture deviation amount calculation unit 212 and the force sense control unit 214 in the first embodiment, respectively. Therefore, detailed description thereof is omitted. However, the control unit 410 of the slave force sense device 400 according to the second embodiment lacks the force sense direction conversion unit 215 of the control unit 210 of the slave force sense device 200 according to the first embodiment.

  FIG. 18 shows an example of an operation sequence of the master force sense device 300 and the slave force sense device 400. This operation flow will be described by taking as an example a case where the user U is navigated using the master force sense device 300 and the slave force sense device 400. In the first embodiment, the conversion process from the posture of the slave force sense device 400 to the direction viewed from the posture of the slave force sense device 400 is performed on the direction of the force sense to be given by the force sense imparting interface 480 of the slave force sense device 400. An example of processing by the sense device 400 has been described. On the other hand, in the present embodiment, conversion processing from the posture of the slave force sense device 400 to the direction viewed from the posture of the slave force sense device 400 is performed for the direction of the force sense to be given by the force sense imparting interface 480 of the slave force sense device 400. An example of processing performed by the sense device 300 will be described.

  The user U calibrates the master force sense device 300 and the slave force sense device 400 before starting navigation using the master force sense device 300 and the slave force sense device 400. Further, the calibration method of the master force sense device 300 and the slave force sense device 400 is the same as the calibration method of the master force sense device 100 and the slave force sense device 200 in the first embodiment, and therefore the details thereof. The detailed explanation is omitted.

  The posture deviation amount calculation unit 312 of the master haptic device 300 performs a master haptic with respect to a reference posture common to the master haptic device 300 and the slave haptic device 400 each time the posture of the master haptic device 300 changes after calibration. The amount of deviation of the posture of the apparatus 300 is calculated (S201). Further, the process of step S201 by the posture deviation amount calculation unit 312 is the same as the process of step S101 in the first embodiment, and thus detailed description thereof is omitted.

  Similarly, the posture deviation amount calculation unit 412 of the slave force sense device 400 performs a reference posture common to the master force sense device 300 and the slave force sense device 400 every time the posture of the slave force sense device 400 changes after calibration. The amount of deviation of the posture of the slave force sense device 400 is calculated (S202).

  On the other hand, the user U starts navigation by pressing a navigation start button (not shown) of the master force sense device 300, for example. When such an operation is performed, the event detection unit 311 of the master force sense device 300 displays data indicating the current location of the master force sense device 300 measured by the GPS receiver 350 and map data stored in the memory 330. Based on the above, the current location S on the map indicated by the map data is specified. Then, when the event detection unit 311 specifies the current location S in this way, it is assumed that an event that is to be given a force to give a sense of force to the user U in order to indicate the traveling direction is detected (S203: Yes). ), Data indicating that is transmitted to the posture deviation amount calculation unit 312 and the force sense direction calculation unit 313, and Bluetooth is transmitted to the slave force sense device 400 via the transceiver 390 (S204). In addition, the event detection unit 311 sends data indicating the identified current location S to the haptic direction calculation unit 313.

  When the posture deviation amount calculation unit 312 receives data indicating that an event has been detected from the event detection unit 311, the posture difference of the master force sense device 300 with respect to a reference posture common to the master force sense device 300 and the slave force sense device 400. The latest data indicating the amount of deviation is sent to the force sense direction conversion unit 315.

  On the other hand, when the haptic direction calculation unit 313 of the master haptic device 300 receives data indicating that an event has been detected and data indicating the current location S from the event detection unit 311, the haptic application interfaces 380 and 480 For the force sense to be applied, the direction of each force sense is calculated from the posture state of the master force sense device 300 (S205). Moreover, since the process of step S205 by the force sense direction calculation part 313 is the same as the process of step S104 in 1st Embodiment, the detailed description is abbreviate | omitted. Then, the haptic direction calculation unit 313 sends data indicating the direction of the haptic to be applied by the haptic application interface 380 to the haptic control unit 314. Further, the haptic direction calculation unit 313 sends data indicating the direction of the haptic to be applied by the haptic application interface 480 to the haptic direction conversion unit 315.

  On the other hand, when the posture deviation amount calculation unit 412 of the slave force sense device 400 receives the data indicating the detection of the event transmitted from the master force sense device 300 on the Bluetooth signal, the master force sense device 300 and the slave force sense device The latest data indicating the amount of deviation of the posture of the slave force sense device 400 with respect to the reference posture common to 400 is transmitted on the Bluetooth signal to the master force sense device 300 via the transceiver 490 (S206).

  The force sense direction conversion unit 315 of the master force sense device 300 receives data indicating the amount of deviation of the posture of the master force sense device 300 from the posture deviation amount calculation unit 312, and determines the force sense to be given by the force sense assignment interface 480. When data indicating the direction is received from the force sense direction calculation unit 313 and data indicating the amount of posture deviation of the slave force sense device 400 transmitted from the slave force sense device 400 via Bluetooth is received via the transceiver 390, Based on the posture state of the master force sense device 300 calculated by the force sense direction calculation unit 313 of the master force sense device 300, the direction of the force sense is the direction seen from the posture state of the slave force sense device 400. Conversion is performed (S207). In addition, since the process of step S207 by the force sense direction conversion part 315 is the same as the process of step S106 in 1st Embodiment, the detailed description is abbreviate | omitted. Then, the force sense direction conversion unit 315 transmits the data indicating the converted force sense direction 3 on the Bluetooth force signal to the slave force sense device 400 via the transceiver 390.

  When the force sense control unit 214 of the slave force sense device 200 receives the data indicating the direction of the force sense to be applied transmitted from the master force sense device 300 via the transceiver 490, the force sense control unit 214 imparts the force sense in that direction. Accordingly, the haptic interface 480 is controlled (S209).

  On the other hand, when the force sense control unit 314 of the master force sense device 300 receives the data indicating the direction of the force sense to be given from the force sense direction calculation unit 313, the force sense imparting is performed to give the force sense in the direction. The interface 380 is controlled (S210).

  In this way, the user U is guided to the destination by applying the force sense from the master force sense device 300 and the slave force sense device 400, as in the first embodiment.

  Further, in the present embodiment, data indicating the detection of an event is used as a trigger for transmitting data indicating the amount of deviation of the posture of the slave force sense device 400 on the Bluetooth signal from the slave force sense device 400 to the master force sense device 300. The example in which Bluetooth transmission is performed from the master force sense device 300 to the slave force sense device 400 has been described. However, the slave force sense device 400 may transmit data indicating the amount of deviation of the posture of the slave force sense device 400 to the master force sense device 300 on a Bluetooth signal at predetermined time intervals.

  According to the second embodiment, as in the first embodiment, additional guidance is provided to the user by giving meaning to combinations of the direction of each force sense given individually. be able to.

<Third Embodiment>
FIG. 19 shows an example of a usage environment of the haptic system according to the third embodiment. The force sense system according to the third embodiment includes a master non-force sense device 500 and two slave force sense devices 200a and 200b (hereinafter collectively referred to as slave force sense device 200) for the user U. The master non-force sense device 500 is connected to each slave force sense device 200 via a Bluetooth signal. Then, the master non-force sense device 500 controls each slave force sense device 200. In addition, each slave force sense device 200a, b is the same device as the slave force sense device 200 in the first embodiment.

  The master non-force sense device 500 is hung from the neck of the user U by a strap or the like. The slave force sense device 200a is attached to the right waist RW of the user U. Then, the slave force sense device 200a gives a force sense to the right waist RW. The slave force sense device 200b is attached to the left waist LW of the user U. Then, the slave force sense device 200b gives a force sense to the left waist LW.

  In addition, in this embodiment, for the purpose of preventing the explanation from becoming complicated, a configuration in which the haptic system includes one slave haptic device 200 will be described. However, the haptic system includes a plurality of slave forces. A sense device 200 may be provided.

  FIG. 20 shows an example of the configuration of the master non-force sense device 500. The master forceless device 500 includes a control unit 510, a memory 530, a gyroscope 540, a GPS receiver 550, a magnetic compass 560, an acceleration sensor 570, and a transceiver 590. Further, the main functions of each hardware of the master non-haptic device 500 are the same as the main functions of each hardware of the master haptic device 100 in the first embodiment, and thus detailed description thereof is omitted. . However, the master non-force sense device 500 lacks the one corresponding to the force sense imparting interface 180 of the master force sense device 100 (FIG. 2).

  FIG. 21 shows an example of the configuration of the control unit 510 of the master non-haptic device 500. The control unit 510 includes an event detection unit 511, a posture deviation amount calculation unit 512, and a haptic direction calculation unit 513. In addition, since the function and operation | movement of these each structure of the control part 510 are respectively the same as the function and operation | movement of each structure of the master force sense apparatus 100 in 1st Embodiment, the detailed description is abbreviate | omitted. However, the master non-force sense device 500 lacks the one corresponding to the force sense control unit 114 in which the control unit 110 of the master force sense device 100 (FIG. 2) outputs data to the force sense imparting interface 180.

  FIG. 22 shows an example of an operation sequence of the master non-force sense device 500 and the two slave force sense devices 200. The first embodiment described above is a system that controls the force sense imparting interface 180 of the master force sense device 100 and the force sense imparting interface 280 of the slave force sense device 200. On the other hand, in the present embodiment, since the master non-force sense device 500 does not include a force sense imparting interface, the force sense imparting interfaces 280 of the two slave force sense devices 200 are controlled.

  The posture misalignment calculating unit 512 of the master non-force sensation device 500 causes the posture of the master non-haptic device 500 with respect to a reference posture common to the two slave haptic devices 200 each time the posture of the master non-force sensation device 500 changes after calibration. Is calculated (S301). Further, the processing in step S301 by the posture deviation amount calculation unit 512 is the same as the processing in step S101 in the first embodiment, and thus detailed description thereof is omitted.

  Similarly, the posture displacement amount calculation unit 412 of the slave force sense device 200 changes the slave force sense device 200 with respect to a common reference posture with the master non-force sense device 500 every time the posture of the slave force sense device 200 changes after calibration. The amount of deviation of the posture is calculated (S302).

  On the other hand, the user U starts navigation by pressing a navigation start button (not shown) of the master non-force sense device 500, for example. When such an operation is performed, the event detection unit 511 of the master non-force sense device 500 displays the data indicating the current location of the master non-force sense device 500 measured by the GPS receiver 550 and the map data stored in the memory 530. Based on the above, the current location S on the map indicated by the map data is specified. Then, when the event detection unit 511 identifies the current location S in this way, it is assumed that an event that is to be given a force sense for instructing the traveling direction has been detected (S303: Yes), and that fact is detected. The data shown is sent to the posture deviation amount calculation unit 512 and the haptic direction calculation unit 513. Then, the force sense direction calculation unit 513 calculates the direction of the force sense (S304), and transmits these data on the two slave force sense devices 200 via the transceiver 590 on the Bluetooth signal (S305). The two slave force sense devices 200 change the direction of the force sense (S306) and control the force sense imparting interface 280 (S307).

  Therefore, the operation sequence of the present embodiment is the same processing as the operation sequence of the first embodiment, except that there is no control operation of the haptic interface of the master non-haptic device 500 itself. Thus, the force sense system can be operated even if the master device is not a force sense device.

  Moreover, this embodiment demonstrated the example using the two slave force sense apparatuses 200 same as 1st Embodiment mentioned above as a slave. However, the slave force sense device to be used is not limited to this. For example, two slave force sense devices 400 that are the same as those in the second embodiment described above may be used. The operation sequence in that case is the same processing as the operation sequence of the second embodiment, except that there is no control operation of the haptic interface of the master non-haptic device 500 itself.

  According to the third embodiment, similarly to the first embodiment and the second embodiment, by giving meaning to each combination of direction of force sense given individually, Additional guidance can be provided.

  As described above, the haptic system according to the present embodiment has a force in a predetermined direction by the two haptic devices 100 and 200 attached to the left and right according to the current position of the user U and the direction to be guided. Since the sense of sensation is given, the content of the instruction to the user U can be shown in a more understandable manner as compared with known techniques.

  In the above-described embodiment, the example in which the master force sense device includes the event detection unit has been described. However, the slave force sense device may include the event detection unit.

  Further, in the above-described embodiment, the example in which the calibration is performed in a state where the master force device and the slave force device are overlapped has been described, but the relationship between the posture of the master force device and the posture of the slave force device It is sufficient that the above-mentioned standards can be taken, and the postures that serve as the standards may be different.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 100 Master force sense apparatus 110 Control part 111 Event detection part 112 Attitude shift amount calculation part 113 Force sense direction calculation part 114 Force sense control part 130 Memory 140 Gyroscope 150 GPS receiver 160 Magnetic compass 170 Acceleration sensor 180 Force sense provision interface 190 Transceiver 200 Slave force sense device 210 Control unit 212 Attitude deviation amount calculation unit 214 Force sense control unit 215 Force sense direction conversion unit 230 Memory 240 Gyroscope 280 Force sense imparting interface 290 Transceiver 300 Master force sense device 310 Control unit 311 Event detection unit 312 Posture deviation amount calculation unit 313 Haptic direction calculation unit 314 Haptic control unit 315 Haptic direction conversion unit 330 Memory 340 Gyroscope 350 GPS receiver 360 Magnetic compass 370 Acceleration sensor -380 Force sense imparting interface 390 Transceiver 400 Slave force sense device 410 Control unit 412 Posture deviation amount calculation unit 414 Force sense control unit 430 Gyroscope 480 Force sense imparting interface 490 Transceiver 500 Master non-force sense device 510 Control unit 511 Event detection Unit 512 posture deviation amount calculation unit 513 haptic direction calculation unit 530 memory 540 gyroscope 550 GPS receiver 560 magnetic compass 570 acceleration sensor 590 transceiver U user RW right waist LW left waist S current location I ₁ first intersection I ₂ second Intersection G destination R ₁ first travel route R ₂ second travel route R ₃ third travel route F force direction F ₁ to be applied ₁ force sense direction F to be applied by the force sense interface 180 ₂ Force imparting interface Master force with respect to the direction theta ₁ reference posture is inclined directional C ₂ slave force device 200 is inclined with a certain direction C ₁ master force device 100 in the direction C common reference posture of the force to be applied by the scan 280 The angle of inclination of the posture of the apparatus 100 θ ₂ The angle of inclination of the posture of the slave force sense device 200 with respect to the reference posture θ ₃ The angle of the direction of force sense with respect to the direction of inclination of the master force sense device 100

Claims (5)

A force sense system that gives a force sense to a user,
A plurality of force sense devices including force sense imparting means for giving force sense to the user;
The haptic device includes:
In order to give the user a force sense in a predetermined direction, the device has a force sense control unit that controls the force sense imparting means included in the device,
Any one of the haptic devices, or a non-haptic device that is a device other than the haptic device and does not include the haptic application means is a master that controls the other haptic device. A haptic system that operates as a device and the haptic device other than the master device operates as a slave device controlled by the master device. The master device is
A force sense direction calculation unit that calculates the direction of each force sense viewed from the posture state of the master device for the force sense to be imparted by each force sense imparting means,
The force sense control unit of the force sense device includes the force sense imparting means provided in the own device to impart a force sense in a direction corresponding to the direction calculated by the force sense direction calculation unit of the master device. The haptic system according to claim 1 to be controlled. The master device and / or the slave device is
The haptic direction calculation of the master device based on the amount of deviation of the posture of the master device with respect to the reference posture common to the master device and the slave device and the amount of deviation of the posture of the slave device with respect to the common reference posture A force sense direction conversion unit that converts the direction of the force sense seen from the posture state of the master device calculated by the unit into the direction seen from the posture state of the slave device;
The force sense control unit of the slave device controls the force sense imparting means included in the own device so as to impart a force sense in the direction after the force sense direction conversion unit has converted. The haptic system described. The master device and the slave device are:
A posture deviation amount calculating unit for calculating a deviation amount of the posture of the own device with respect to a reference posture common to the master device and the slave device;
The haptic direction conversion unit of the master device or the slave device is calculated by the posture deviation amount calculation unit of the master device calculated by the posture deviation amount calculation unit of the master device and the posture deviation amount calculation unit of the slave device. Based on the amount of deviation of the posture of the slave device, the direction of the force sense viewed from the posture state of the master device calculated by the force direction calculation unit of the master device is viewed from the posture state of the slave device. The haptic system according to claim 3, wherein the haptic system converts the direction. The master device and / or the slave device is
It further has an event detection unit that detects the occurrence of an event that gives a sense of force to the user,
The haptic direction calculation unit of the master device, when the event detection unit detects the occurrence of an event, for each haptic to be applied by each of the haptics imparting means, viewed from the posture state of the master device The haptic system according to any one of claims 2 to 4, wherein a haptic direction is calculated.

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