JP2013080483A - 電気活性ポリマーを利用する触覚装置 - Google Patents
電気活性ポリマーを利用する触覚装置 Download PDFInfo
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
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- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03543—Mice or pucks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03545—Pens or stylus
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03547—Touch pads, in which fingers can move on a surface
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0362—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/013—Force feedback applied to a game
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/015—Force feedback applied to a joystick
Abstract
【解決手段】触覚フィードバック・インタフェース装置(12)は、ホストコンピュータ(14)と通信を行い、ユーザによるインタフェース装置への操作を検出するセンサ(112)装置、入力信号に対応して、アクチュエータの移動により生じた力をユーザに出力する電気活性ポリマーアクチュエータを含む。出力された力はユーザに触覚的な感覚を与える。EAPアクチュエータを採用する様々な実施例が記載され、含まれている実施例は、直接的に力を与えるもの、慣性力を与えるもの、ブレーキ力を与えるものがある。触覚フィードバック・インタフェース装置は、さらにボタン(256)を備え、触覚フィードバック力はボタンを介して出力される。
【選択図】図3A
Description
電気活性ポリマー(EAP)は、広い範囲の物理的、電気的、電気工学的な振る舞い、特性を示すように作られ処理されたポリマーの種類である。
EAPアクチュエータおよびセンサは、種々の異なる方法で構成しうる。そのうちのいくつかの構成を以下に記載する。
触覚装置におけるEAPアクチュエータおよびセンサのために検討される主要な用途の種類は、振動アクチュエータ、直線的アクチュエータ、回転アクチュエータ、ブレーキ、およびその他の用途である。これらの種類の多くは、与えられる本発明の触覚装置の実施例において以下に記載されている。
14 ホストコンピュータ・システム
18 アクチュエータ
26 ディスプレイ装置
100 ホスト・マイクロプロセッサ
110 ローカル・マイクロプロセッサ
112 センサ
114 センサインタフェース
116 アクチュエータ・インタフェース
Claims (36)
- ユーザとコンピュータとの間の相互作用を可能にするように構成されるマニピュランダム装置において、
筐体と、
前記筐体の少なくとも一部分の動きを検出して前記動きに関連するセンサ信号を出力するように構成されるセンサと、
前記筐体に結合される電気活性ポリマー・アクチュエータであって、前記電気活性ポリマー・アクチュエータに電圧が印加されたときに、出力された前記センサ信号に関連する触覚フィードバック力を出力するように構成される電気活性ポリマー・アクチュエータとを備え、
前記電圧が印加されることによって、前記電気活性ポリマー・アクチュエータが弾性的に歪むようになっており、
前記マニピュランダム装置は、さらにボタンを備え、前記触覚フィードバック力は前記ボタンを介して出力され、
前記ボタンは、前記ボタンの動き自由度内における前記触覚フィードバック力に応動するように構成されることを特徴とするマニピュランダム装置。 - 前記触覚フィードバック力は、ホストコンピュータにより実行されるイベントに関連付けられる請求項1に記載の装置。
- 前記電気活性ポリマー・アクチュエータにより出力される前記触覚フィードバック力は、質量を動かすことにより生ずる慣性力である請求項1に記載の装置。
- 前記電気活性ポリマー・アクチュエータによって出力される前記触覚フィードバック力は、回転力である請求項1に記載の装置。
- 前記電気活性ポリマー・アクチュエータによって出力される前記触覚フィードバック力は、直線的な力である請求項1に記載の装置。
- 前記電気活性ポリマー・アクチュエータは、部材の一部を前記筐体の内部から前記筐体の外部へと移動するように構成される請求項5に記載の装置。
- 前記電気活性ポリマー・アクチュエータは、触感アレイに配列された複数の電気活性ポリマー・アクチュエータの1つである請求項6に記載の装置。
- 前記電気活性ポリマー・アクチュエータは、前記筐体を部分的に移動するように構成される請求項1に記載の装置。
- 前記電気活性ポリマー・アクチュエータは、可動部分の摩擦抵抗力を加減するように構成される請求項1に記載の装置。
- 前記電気活性ポリマー・アクチュエータは、前記筐体に結合する回転ホイールに前記触覚フィードバック力を出力するように構成される請求項1に記載の装置。
- 前記筐体は、スタイラスとして構成される請求項1に記載の装置。
- 前記筐体は、トラックポイント・ジョイスティック・コントローラとして構成される請求項1に記載の装置。
- ユーザとコンピュータとの間の相互作用を可能にするように構成されるマニピュランダム装置であって、
筐体と、
前記筐体に結合され、出力されたセンサ信号に関連する触覚フィードバック力を出力するように構成される電気活性ポリマー(EAP)エレメントとを備え、
前記EAPエレメントは関連する入力信号の制御により変形し、この変形によって前記触覚フィードバック力を生ずるようになっており、
前記マニピュランダム装置は、さらにボタンを備え、前記触覚フィードバック力は前記ボタンを介して出力され、
前記ボタンは、前記ボタンの動き自由度内における前記触覚フィードバック力に応動するように構成されることを特徴とするマニピュランダム装置。 - 前記EAPエレメントは、前記筐体の接触を検出するように構成される請求項13に記載の装置。
- 前記EAPエレメントは、該EAPエレメントへ印加される圧力の大きさを検出するように構成される請求項13に記載の装置。
- 前記EAPエレメントによって出力される前記触覚フィードバック力は、直線的な力である請求項13に記載の装置。
- 前記筐体は、ジョイスティックまたはトラックポイント・コントローラとして構成される請求項13に記載の装置。
- マニピュランダム装置を用いてコンピュータと相互作用するユーザに触覚フィードバックを与える方法であって、
電気活性ポリマー・アクチュエータを使用してマニピュランダムの筐体の動きを検出し、検出された前記動きに関連するセンサ信号を出力し、
前記電気活性ポリマー・アクチュエータの変形により生じる、前記電気活性ポリマー・アクチュエータへの入力信号に基づいた前記触覚フィードバック力を出力することを含み、
前記触覚フィードバック力はボタンを介して出力され、前記ボタンは、前記ボタンの動き自由度内における前記触覚フィードバック力に応動することを特徴とする方法。 - 前記電気活性ポリマー・アクチュエータは、回転力を出力するように構成される請求項18に記載の方法。
- 前記電気活性ポリマー・アクチュエータは、直線的な力を出力するように構成される請求項18に記載の方法。
- 前記電気活性ポリマー・アクチュエータは、可動部分の摩擦抵抗力を加減するように構成される請求項18に記載の方法。
- 前記電気活性ポリマー・アクチュエータは、前記筐体を部分的に移動するように構成される請求項18に記載の方法。
- ユーザに触れられるように構成された接触面を有する筐体と、
前記接触面に結合され、前記接触面の少なくとも一部にユーザが触れる場所または動きのうち少なくとも一方を検出し、該場所または動きに関連するセンサ信号を出力するように構成されるセンサと、
前記筐体に結合され、出力された前記センサ信号に関連するコントロール信号をプロセッサから受信すると、触覚フィードバック力を出力するように構成される電気活性ポリマー・アクチュエータとを備える装置であって、
前記コントロール信号は、前記触覚フィードバック力が出力されるようにするために、前記電気活性ポリマー・アクチュエータを弾性的に歪ませるように構成され、
前記装置は、さらにボタンを備え、前記触覚フィードバック力は前記ボタンを介して出力され、
前記ボタンは、前記ボタンの動き自由度内における前記触覚フィードバック力に応動するように構成されることを特徴とする装置。 - 前記接触面は、ある平面に平行するように方向付けられ、
前記電気活性ポリマー・アクチュエータは、前記平面に対して実質的に垂直方向に前記触覚フィードバック力を出力する、請求項23に記載の装置。 - 前記コントロール信号が受信されると、前記の電気活性ポリマーは、前記平面に対して実質的に垂直方向に物理的に移動する請求項23に記載の装置。
- 前記の電気活性ポリマーは、複数の電気活性ポリマー・アクチュエータ・ピンをさらに備え、
各々の前記電気活性ポリマー・アクチュエータ・ピンは、前記コントロール信号が受信されると、前記平面に対して実質的に垂直方向に物理的に移動する請求項23に記載の装置。 - 2つの隣接する電気活性ポリマー・アクチュエータとそれらの端部に結合される可撓性膜とを複数備え、前記の2つのアクチュエータの少なくとも一方の動きが前記可撓性膜に力を与える、請求項26に記載の装置。
- 前記プロセッサは、グラフィカルユーザインタフェースを表示するプログラムを実行するコンピュータ・システムのプロセッサであり、
前記グラフィカルユーザインタフェースの少なくとも一部分は、前記グラフィカルユーザインタフェース上に指定された触覚提示箇所において、前記場所または動きを示す前記センサ信号に応じた前記コントロール信号を前記プロセッサに出力させるように構成される請求項23に記載の装置。 - 前記接触面は、前記ユーザから該接触面を介してグラフィカルユーザインタフェースに入力される入力を受信するように構成されるタッチスクリーンである請求項23に記載の装置。
- 1以上の有形媒体に格納されるエンコードされたコンピュータ・プログラムであり、
コンピュータに、
センサに結合される接触面にユーザが触れたときに、電気活性ポリマー・アクチュエータを使用して前記センサにより出力されるセンサ信号であって、ユーザが触れた場所または動きに関連するセンサ信号を受信し、
前記ユーザが触れた場所または動きを示す前記センサ信号に応じたコントロール信号を、指定された触覚フィードバック力提示箇所にある電気活性ポリマー・アクチュエータへ出力し、
前記電気活性ポリマー・アクチュエータが前記コントロール信号をプロセッサから受信したときに、前記接触面へ触覚フィードバック力を出力することを実行させるためのコンピュータ・プログラムであって、
前記触覚フィードバック力はボタンを介して出力され、前記ボタンは、前記ボタンの動き自由度内における前記触覚フィードバック力に応動することを特徴とするコンピュータ・プログラム。 - 前記コントロール信号は、電気活性ポリマー・アクチュエータに、前記接触面がなす平面に対して実質的に垂直方向に前記触覚フィードバック力を出力させる、請求項30に記載のコンピュータ・プログラム。
- 前記コントロール信号が受信されると、前記の電気活性ポリマーは、前記平面に対して実質的に垂直方向に物理的に移動する請求項31に記載のコンピュータ・プログラム。
- 前記の電気活性ポリマーは、複数の電気活性ポリマー・アクチュエータ・ピンをさらに備え、
各々の前記電気活性ポリマー・アクチュエータ・ピンは、前記コントロール信号が受信されると、前記平面に対して実質的に垂直方向に物理的に移動する請求項30に記載のコンピュータ・プログラム。 - 2つの隣接する電気活性ポリマー・アクチュエータとそれらの端部に結合される可撓性膜とを複数備え、前記の2つのアクチュエータの少なくとも一方の動きが前記可撓性膜に力を与える、請求項33に記載のコンピュータ・プログラム。
- 前記コンピュータ・プログラムには、グラフィカルユーザインタフェースを表示するソフトウエアプログラムを実行させることが含まれ、
前記グラフィカルユーザインタフェースの少なくとも一部分は、前記グラフィカルユーザインタフェース上に指定された触覚提示箇所において、前記場所または動きを示す前記センサ信号に応じた前記コントロール信号の出力を生じさせる請求項33に記載のコンピュータ・プログラム。 - ユーザとコンピュータとの間の相互作用を可能にするように構成されるマニピュランダム装置において、
筐体と、
前記筐体の少なくとも一部分の動きを検出して前記動きに関連するセンサ信号を出力するように構成されるセンサと、
前記筐体に結合され、かつ、触覚フィードバック力を出力するように構成される電気活性ポリマー・アクチュエータとを備え、
前記触覚フィードバック力は、前記電気活性ポリマー・アクチュエータに電圧が印加されたときに、出力された前記センサ信号に基づいた入力信号によって生じ、
前記電圧が印加されることによって、前記電気活性ポリマー・アクチュエータが弾性的に歪むようになっており、
前記入力信号は、前記触覚フィードバック力の強さ、周波数および持続期間のうちの1つまたは2つ以上を変化させるための少なくとも1つのパラメータを含むことを特徴とするマニピュランダム装置。
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US7511706B2 (en) | 2009-03-31 |
WO2001091100A1 (en) | 2001-11-29 |
US7339572B2 (en) | 2008-03-04 |
JP5349672B2 (ja) | 2013-11-20 |
AU2001264961A1 (en) | 2001-12-03 |
USRE44277E1 (en) | 2013-06-11 |
US20070146317A1 (en) | 2007-06-28 |
CN100342422C (zh) | 2007-10-10 |
EP1303853A1 (en) | 2003-04-23 |
JP5215340B2 (ja) | 2013-06-19 |
JP2003534620A (ja) | 2003-11-18 |
JP2010182315A (ja) | 2010-08-19 |
US20020054060A1 (en) | 2002-05-09 |
CN1444758A (zh) | 2003-09-24 |
EP2385518A2 (en) | 2011-11-09 |
EP2385518A3 (en) | 2012-02-15 |
US20090184923A1 (en) | 2009-07-23 |
EP1303853A4 (en) | 2009-03-11 |
US20080143693A1 (en) | 2008-06-19 |
US7679611B2 (en) | 2010-03-16 |
US7196688B2 (en) | 2007-03-27 |
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