JP2014167773A - Tactile sensation providing device and electronic device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem in which an oscillation of a tactile element in conventional devices just only provides a consecutive change as a tactile sensation, and cannot provide a steady tactile sensation such as various feelings of dents.SOLUTION: A tactile sensation providing device is provided that comprises: a contact section that has an action area causing a sensation to be evoked to a contacting operator; a base board section; and an expansion/contraction section that is arranged between the action area and the base board section so as to oblique with respect to a plane surface of the contact section, and causes the action area to be displaced with respect to the base board section. Further, an electronic device is provided that includes the tactile sensation providing device.

Description

  The present invention relates to a tactile sense presentation device and an electronic apparatus.

An operator in contact with the other end of the tactile sensation by controlling on / off of the pulse voltage with respect to the shape memory alloy to which one end of the tactile sensation is attached and vibrating the tactile sensation by expansion and contraction of the shape memory alloy according to the control. A device for giving a tactile sensation is known (see Patent Document 1).
[Prior art documents]
[Patent Literature]
[Patent Document 1] Japanese Patent Application Laid-Open No. 2008-262478

  The vibration of the tactile sensation only gave a continuous change as a tactile sensation, and could not give a tactile sensation such as a depression.

  The tactile sensation presentation apparatus according to the first aspect of the present invention includes a contact portion having a motion region that causes a touching operator to perceive, a base portion, and a motion region so as to be oblique to the plane of the contact portion. And an expansion / contraction part that is disposed between the base part and displaces the operation region with respect to the base part.

  An electronic device according to a second aspect of the present invention includes the above-described tactile sense presentation device.

  The tactile sensation presentation apparatus according to the third aspect of the present invention is arranged between a contact portion having a motion region that causes a touching operator to perceive, a base portion, and the motion region and the base portion, respectively. Includes a plurality of expansion and contraction parts that displace the operation region with respect to the base part.

  It should be noted that the above summary of the invention does not enumerate all the necessary features of the present invention. In addition, a sub-combination of these feature groups can also be an invention.

It is a section perspective view showing typically the tactile sense presentation device concerning the 1st example. It is explanatory drawing explaining the operation state of the tactile sense presentation apparatus which concerns on 1st Example. It is explanatory drawing explaining the 1st operation | movement transition of the tactile sense presentation apparatus 200 which concerns on 2nd Example. It is explanatory drawing explaining the 2nd operation | movement transition of the tactile presentation apparatus 200 which concerns on 2nd Example. It is explanatory drawing explaining the tactile sense presentation apparatus which concerns on 3rd Example. It is explanatory drawing explaining the tactile sense presentation apparatus which concerns on 4th Example. It is explanatory drawing explaining the tactile sense presentation apparatus which concerns on 5th Example. An example in which a tactile sensation presentation device is incorporated in an imaging device is shown. It is explanatory drawing explaining the SMA board as a substitute of SMA line | wire.

  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. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.

  The tactile sensation presenting apparatus according to each of the following examples in the present embodiment uses various shrinkage and extension of a shape memory alloy processed into a linear or plate shape, and variously apply to an operator's finger or the like that contacts the contact portion. It is a device that provides tactile sensation. The contact portion is made of, for example, an elastic sheet having elasticity, and has at least one operation region that gives a sense of touch. The plurality of shape memory alloys provided for the respective operation regions are independently energized. The shape memory alloy shrinks due to heat generated when energized.

  For example, when one energized shape memory alloy contracts and pulls the operating region in one direction, the operating region is recessed in that one direction. The operator who is in contact with the operation area senses the depression-like deformation as a depression feeling (concave feeling) in the direction. If the pulling direction includes many components parallel to the operation region, the operator can feel a sense of movement and friction in the horizontal direction.

  The shape memory alloy dissipates heat when it is de-energized and expands back to its original length. Then, since the operation area returns to the original plane, the dent feeling is eliminated.

  Depending on the selection of the shape memory alloy wire diameter, plate thickness, type of alloy, contact portion thickness, material, etc., a steep depression shape can be realized. If the depression area with respect to the touching finger is adjusted to a certain ratio or less, even if the physical shape is a depression shape, the operator may feel convex as a biological reaction. Therefore, although the tactile sensation presentation apparatus in each of the following embodiments will be described on the premise that it gives a dent feeling, depending on the selection of the shape memory alloy wire diameter, etc., it may also give a feeling of tingling (convex feeling). I will add what I can do. Hereinafter, the configuration and characteristics of each embodiment will be described in order.

  FIG. 1 is a cross-sectional perspective view schematically showing a tactile sense presentation device 100 according to a first embodiment. The tactile sense presentation device 100 according to the present embodiment includes a contact portion 110 that is touched by an operator's finger, a support column 120 that supports the contact portion 110, and a base portion 130 that supports and fixes the contact portion 110 and the support column 120. , A pair of wires 140 arranged between the contact portion 110 and the base portion 130, a side wall 150 surrounding the side surface of the apparatus, and a pressure sensor 160 for detecting the contact of the operator.

  The contact part 110 is made of a sheet-like elastic body having a surface that the operator contacts and a back surface supported by the support pillar 120, and is formed of, for example, insulating silicon rubber. The contact part 110 is fixed to the side wall 150 with a screw in a state where the contact part 110 is pulled in a plane direction so as not to be loosened.

  The support column 120 is made of a cylindrical elastic body, and is formed of, for example, insulating silicon rubber, like the contact portion 110. When the same material is used, the contact portion 110 and the support pillar 120 may be integrally molded. Even when different materials are employed, if they are integrally formed by two-color molding or the like, subsequent processes such as adhesion can be omitted.

  The base portion 130 functions as a base member, and is formed of, for example, polycarbonate having high rigidity. The base part 130 is disposed to face the pulled contact part 110. The base portion 130 also functions as a fixing member that fixes the side wall 150. The base part 130 and the side wall 150 may be integrally formed with the same mold.

  The wire pair 140 is composed of two SMA (Shape Memory Alloy) wires 141 and 142, and the SMA wires 141 and 142 are, for example, a shape memory alloy obtained by processing an alloy of titanium and nickel into a linear shape. The SMA wire 141 is installed and fixed between a ground electrode 171 fixed in the vicinity of the support pillar 120 on the back surface of the contact portion 110 and a power supply electrode 181 fixed to the base portion 130. Similarly, the SMA wire 142 is installed and fixed between a ground electrode 172 fixed in the vicinity of the support pillar 120 on the back surface of the contact portion 110 and a power supply electrode 182 fixed to the base portion 130. .

  As shown in the drawing, in the present embodiment, the SMA lines 141 and 142 have a linear shape with a circular cross section. The SMA wires 141 and 142 formed in a linear shape have properties as strings. Therefore, since the SMA wires 141 and 142 can be bent and twisted, the relative relationship between the ground electrodes 171 and 172 and the power supply electrodes 181 and 182 fixed at both ends is compared with the case where the SMA wires 141 and 142 are formed of a rigid body. The positional relationship can change variously. That is, the SMA lines 141 and 142 can create various inclinations of the support column 120. On the other hand, when it is desired to make the support column 120 tilt easily in a specific direction and limit the tilt in another direction, for example, the cross section may be rectangular to make it difficult to twist. In such a case, a plate-like SMA plate may be employed. The cross-sectional shape, cross-sectional area, and the like of the SMA wires 141 and 142 are appropriately determined in relation to the recess shape to be realized.

  The ground electrodes 171 and 172 are connected to each other by a ground line 230. The ground line 230 is kept at the ground potential. The power supply electrodes 181 and 182 are connected to the power supply line 220 via the switches 211 and 212, respectively. The power supply line 220 is kept at the power supply potential in the ON state of the apparatus.

  The switch 211 is a switching element that is incorporated between the SMA line 141 and the power supply line 220 and opens and closes according to a command from the address line 240 connected to the selection circuit 291. Similarly, the switch 212 is a switching element that is incorporated between the SMA line 142 and the power supply line 220 and opens and closes according to a command from the address line 240. When the switch 211 is closed, a current flows through the SMA line 141. Then, the SMA wire 141 contracts and pulls the contact portion 110 toward the power supply electrode 181 through the ground electrode 171. When the switch 212 is closed, a current flows through the SMA line 142. Then, the SMA wire 142 contracts and pulls the contact portion 110 toward the power supply electrode 182 through the ground electrode 172. That is, the control unit 290 that controls the entire apparatus independently controls the SMA lines 141 and 142 via the selection circuit 291, thereby changing the pulling direction of the contact unit 110 and thus the shape of the depression formed by the pulling. Can be controlled.

  In the contact portion 110, a region where a depression is formed under the control of the control unit 290 is an operation region 190. The motion area 190 has a size corresponding to the operator's finger as shown in the figure, and is preferably about 2 mm or more and less than 10 mm, for example. When a plurality of pairs of support pillars 120 and line pairs 140 are provided so that a plurality of operation areas 190 are adjacent to each other, for example, a plurality of operation areas 190 exist in the contact area of the operator's finger so that, for example, φ2 mm or more and less than φ5 mm The degree is preferred.

  In the present embodiment, the SMA lines 141 and 142 are positioned symmetrically across the central axis of the support column 120. Further, the plane formed by the line pair 140 intersects the surface of the base portion 130 perpendicularly. In a state in which the SMA wires 141 and 142 are not contracted, the four points of the ground electrodes 171 and 172 and the power supply electrodes 181 and 182 have the contact portion 110 side as the upper bottom and the base portion 130 side as the lower bottom in the plane. Form a trapezoid. In this case, the distance between the ground electrodes 171 and 172 that form the upper base is shorter than the distance between the power supply electrodes 181 and 182 that form the lower base.

  Thus, by installing the SMA wires 141 and 142 obliquely, it is possible to employ an SMA wire that is longer than the vertically installed SMA wire, and thus it is possible to increase the amount of contraction when energized. That is, the deformation amount of the operation area 190 can be increased. In addition, the SMA wire installed obliquely does not simply contract in the vertical direction, but contracts with a component parallel to the plane of the contact portion 110, so that the amount of horizontal displacement in the operation region 190 is increased. And can present various types of tactile sensations.

  When both the switches 211 and 212 are closed and the SMA lines 141 and 142 are contracted at the same time, the ground electrodes 171 and 172 that are the ends of the SMA lines 141 and 142 are simultaneously drawn downward on the base part 130 side. Then, as shown in the figure, the upper surface of the support column 120 (fixed surface with the contact portion 110), which is an elastic body sandwiched between the SMA wires 141 and 142, sinks in parallel, and the central portion of the operation region 190 has a bowl shape. Indented. At this time, the central portion of the operation region 190 has a depth of Δd with respect to the plane before the depression. The depth Δd varies depending on the contraction amount of the SMA wires 141 and 142, the angle formed between each other, the elastic force of the support column 120, the elastic force of the contact portion 110, and the like, and can be appropriately determined by adjusting these. Here, the angle formed between the SMA lines 141 and 142 is an intersection angle at the intersection when both lines are extended on the plane where the SMA lines 141 and 142 are stretched.

  If the switches 211 and 212 are open, no current flows through the SMA lines 141 and 142. In this case, the operation area 190 is kept flat as an initial state. In addition, by adjusting the height of the support column 120, the initial state of the operation region 190 can be convex or concave. In order to positively show the operation area 190 to the operator, the initial state may be made uneven as described above so that the operator can visually recognize it. The visual recognition of the operation area 190 in the initial state is not limited to this. For example, the contact part 110 may be printed.

  The pressure sensor 160 is sandwiched and fixed between the surface of the base portion 130 and the bottom surface of the support column 120 that are bonded to each other. For example, a strain gauge is used as the pressure sensor 160. When the operator touches the operation region 190, the pressure sensor 160 outputs an output signal corresponding to the contact to the detection circuit 292 via the detection circuit line 250. In the case where a plurality of sets of support pillars 120 and line pairs 140 are provided so that a plurality of operation regions 190 are adjacent to each other, a plurality of pressure sensors 160 are also provided correspondingly. In this case, the detection circuit 292 identifies in which operation region 190 the pressure is detected, and delivers the detection result to the control unit 290.

  When the control unit 290 receives the detection result from the pressure sensor 160, the control unit 290 determines the opening / closing operation of the switches 211 and 212 together with other conditions such as the timing touched by the operator. For example, when the control unit 290 determines that both the switches 211 and 212 are closed, a command for the determination is sent to the switches 211 and 212 via the address line, and both the switches 211 and 212 are closed. Then, a current flows through the SMA wires 141 and 142, and the surface of the operation area 190 touched by the operator is recessed in a bowl shape. Thereby, the operator feels a large dent only by lightly touching the surface of the operation area 190. When the operation area 190 is depressed more than the amount of depression caused by the operator's pressing, the operator can feel the depression and sense it as a feeling.

  The control unit 290 opens the switches 211 and 212 when a predetermined time of, for example, about 1 second elapses. Then, the SMA wires 141 and 142 release heat and return to their original length. As a result, the contact portion 110 that has been pulled and the support column 120 that has been pressed return to the original shape. At this time, if the operator is still touching the surface of the contact portion 110, only the deformation due to the pressing remains in the contact portion 110.

  In the case of the present embodiment, the control unit 290 is not limited to opening and closing the switches 211 and 212 at the same time, and can determine four types of opening / closing operations of turning on and off the switch 211 and turning on and off the switch 212. With reference to FIG. 2, the deformation of the operation region 190 by a combination of these will be described.

  FIG. 2 is an explanatory diagram for explaining the operating state of the tactile sense presentation device 100 according to the first embodiment. The state change of the tactile sense presentation device 100 will be described by dividing it into three patterns with reference to FIGS. In the drawings used in the following description, the elements denoted by the same reference numerals as those in FIG. 1 are omitted as elements that exhibit the same function unless otherwise specified. Moreover, in this description, description of a pressure sensor, an electrode, wiring, etc. is abbreviate | omitted suitably. The same applies to the following drawings unless otherwise specified.

  FIG. 2A is a diagram illustrating an initial state in which the switches 211 and 212 are both opened and the SMA wires 141 and 142 are not energized. In this state, the operation area 190 forms a flat surface as the entire contact portion 110.

  FIG. 2B is a diagram showing a state in which the SMA line 141 is energized and the SMA line 142 is not energized. When the switch 211 is closed from the state of FIG. 2A, a current flows from the power supply line 220 to the SMA line 141, and the SMA line 141 starts to contract due to heat generation.

  One end of the SMA wire 141 is fixed to the contact portion 110 via the ground electrode 171, and the other end is fixed to the base portion 130 via the power supply electrode 181. Since the base portion 130 is a highly rigid base member, it does not deform even when the SMA wire 141 contracts. Then, the operation region 190 of the contact portion 110 that is an elastic body is pulled by the SMA wire 141, and the contact portion 110 sinks at the upper end fixing point of the SMA wire 141, that is, the fixed portion of the ground electrode 171. And the support pillar 120 adhere | attached on the back surface of the contact part 110 is bent so that the fixed surface with the contact part 110 may move to the SMA line | wire 141 side.

  At this time, the SMA line 142 follows the displacement of the upper end fixing point of the SMA line 142, that is, the fixed part of the ground electrode 172 without contracting. Then, as shown in the drawing, a depression which is biased to one side is formed such that the vicinity of the upper end fixing point of the SMA line 141 is deepest and the region corresponding to the fixing surface of the support column 120 is an inclined surface.

  Since the operation region 190a corresponding to the fixed surface of the support pillar 120 is bonded to the fixed surface on the back surface side, the amount of expansion and contraction in the surface direction is smaller than that of the other operation region 190b. In the transition from the state of FIG. 2A to the state of FIG. 2B, the central axis of the support column 120 is tilted due to bending. At this time, a part of the touching finger that is in contact with the motion region 190a is moved. It moves parallel to the region 190a without any relative displacement. On the other hand, the portion in contact with the motion region 190b moves while causing a relative displacement with the motion region 190b that greatly expands and contracts. Such a difference in displacement for each contact site amplifies the friction feeling in the horizontal direction.

  In particular, when the touching finger itself moves and contacts the motion region 190, various feelings can be presented by combining the finger moving direction and the bending direction of the support column 120. For example, if the finger movement direction and the bending direction of the support column 120 are matched, a following feeling (or a smooth feeling) can be given, and if reversed, a resistance feeling (or a rough feeling) can be given. Can be given.

  FIG. 2B shows a state where the SMA line 141 is energized and the SMA line 142 is not energized, but the SMA line 142 is energized and the SMA line 141 is not energized. FIG. 2 (b) is the right and left target state, so the description is omitted.

  FIG. 2C is a diagram showing a state where both SMA wires 141 and 142 are energized. When the switches 211 and 212 are closed at the same timing from the state of FIG. 2A, current flows from the power supply line 220 to the SMA lines 141 and 142, and the SMA lines 141 and 142 both start to contract due to heat generation. Then, the contact portion 110 sinks at the upper end fixing point of the SMA line 141, that is, the fixing point of the ground electrode 171 and the upper end fixing point of the SMA line 142, that is, the fixing point of the ground electrode 172. Here, since the SMA line 141 and the SMA line 142 are arranged symmetrically with the support column 120 as the center, the straight line connecting both the fixing points and the center axis of the support column 120 are orthogonal to each other. Accordingly, the support column 120 bonded to the contact portion 110 receives a pressing force that is axisymmetric with respect to the fixed surface due to the sinking of the contact portion 110 and is compressed perpendicularly to the base portion 130. When the switches 211 and 212 are closed at different timings, the switches 211 and 212 sink from the previously closed side, but after a certain time has passed since both are closed, the state becomes stable in the state of FIG.

  In the transition from the state of FIG. 2 (a) to the state of FIG. 2 (c), there is no bias in the horizontal direction, so that the emphasized dent feeling is operated with almost no friction in one direction. Can be given to a person. It is also possible to displace the SMA wire 142 from the state of FIG. 2B to the state of FIG. Further, by contracting the SMA line 141 from a state that is symmetric with respect to FIG. 2B, it can be displaced to the state of FIG. In such a case, since the shift in the horizontal direction is eliminated, a further different feel in the horizontal direction can be generated.

  As can be understood from the above description, the fixing position of the ground electrode 171 that is the upper end fixing point of the SMA line 141 and the fixing position of the ground electrode 172 that is the upper end fixing point of the SMA line 142 are each acting on the operation region. Since they function as points, they are preferably separated from each other. In other words, by disposing them apart from each other, it is possible to actively cause an inclination in the operation region 190, so that variations in the depression shape can be expanded. Furthermore, by making the area between the two separate from each other as an adhesion area with the support column 120, it is possible to generate areas with different amounts of expansion and contraction within the operation area 190, thereby presenting more tactile sensations. Can do.

  Next, a second embodiment will be described. In the first embodiment, the haptic presentation device 100 is a single unit device having one operation area 190. However, the haptic presentation device 200 of the second embodiment has a plurality of units arranged adjacent to each other. As a result, the device has a plurality of operation areas arranged in a straight line.

  FIG. 3 is an explanatory diagram illustrating a first operation transition of the tactile presentation device 200 according to the second embodiment. More specifically, FIG. 3A to FIG. 3F show a state in which the operating region sequentially moves from the left side to the right side of the drawing.

  The interval between the plurality of operation areas adjacent to each other includes at least two operation areas about 10 mm square where the operator's finger contacts the contact portion 110 so that the adjacent support columns 120 do not interfere with each other when bent. Is set as follows.

  In the present embodiment, when the operator's finger touches the contact portion 110, the control is not performed so that the contact portion sinks as it is. The operating region is sequentially transmitted from the contact portion 110 other than the contact location, and the depression is controlled to pass through the contact location. As a result, the operator can feel as if the region operating with the fingertip has moved in the horizontal direction.

  FIG. 3A shows a state immediately before the shape of the contact part 110 is changed without the operator touching the contact part 110. At this time, the contact part 110 is flat as a whole. Here, the tactile sensation providing apparatus 200 will be described as an apparatus having five units of a first unit 301, a second unit 302, a third unit 303, a fourth unit 304, and a fifth unit 305 as a plurality of units. .

  FIG. 3B shows a state in which the operator touches the contact portion 110 and the first unit 301 at the left end of the paper surface is in the same state as in FIG. FIG. 3C shows a state in which the second unit 302 adjacent to the first unit 301 deformed in FIG. 3B is in the same state as in FIG. FIG. 3D shows the third unit 303 next to it, FIG. 3E shows the fourth unit 304 next to it, FIG. 3F shows the fifth unit 305 next to it, The state which became the state similar to FIG.2 (c) is shown.

  More specifically, the control according to the present embodiment will be described. First, the pressure sensor immediately below the contact portion 110 with which the operator has touched with the fingertip detects the contact, and outputs an output signal corresponding to the contact to the detection circuit 292. To do. The detection circuit 292 identifies which operation region corresponds to the pressure detected by the unit (here, the third unit 303), and delivers the detection result to the control unit 290. When the control unit 290 receives the detection result, the control unit 290 sends a command to close the switches 311 and 312 of the first unit 301 that is two leftward from the identified third unit 303. In response to the command, the switches 311 and 312 are closed, whereby the SMA wires 411 and 412 connected to both switches contract, and the first operation region 391 is depressed as shown in FIG.

  The control unit 290 closes the switches 311 and 312 and opens the switches 311 and 312 after a time of about 0.5 seconds has elapsed. Further continuously, the control unit 290 closes the switches 321 and 322 of the second unit 302. Then, the SMA wires 411 and 412 dissipate heat and return to the original length, and the first operating region 391 returns to the original plane, while the SMA wires 421 and 422 contract due to heat generation, and FIG. As shown in c), the second operation region 392 is recessed.

  By repeating these series of operations, the second operation region 392 returns to the plane, and at the same time, the third operation region 393 is depressed as shown in FIG. The operation area 394 is recessed as shown in FIG. 3E, and the fifth operation area 395 is recessed as shown in FIG. The operator who touches the contact part 110 with a fingertip feels such a gradual shape change of the operation region in the contact part 110 as a sense of movement in the horizontal direction.

  In the above description, one operation region is depressed at a time. However, a plurality of operation regions may be depressed in parallel by adjusting the depression timing to each other. By such control, it is possible to present a smoother dent feeling and a horizontal movement feeling to the operator. In addition, the direction feeling can be given to the sense of movement in the horizontal direction by gradually increasing or decreasing the timing of depression between adjacent operation regions.

  FIG. 4 is an explanatory diagram for explaining a second operation transition of the tactile sense presentation device 200 according to the second embodiment. More specifically, FIG. 4A to FIG. 4F show a state in which the operating region sequentially moves from the left side to the right side of the drawing.

  In the first operation transition described with reference to FIG. 3, the operation area is recessed in a bowl shape in each unit. On the other hand, in the second motion transition, a biased depression is formed by energizing only the SMA line ahead in the movement direction of the motion region in each unit. By continuously forming such depressions that are biased in the same direction, it is possible to make the operator more surely recognize the moving direction of the motion region.

  FIG. 4A shows a state immediately before the shape of the contact part 110 is changed without the operator touching the contact part 110. At this time, the contact part 110 is flat as a whole. FIG. 4B shows a state in which the operator touches the contact portion 110 and the first unit 301 at the left end of the drawing is in a symmetric state with FIG. That is, in FIG. 2B, the SMA line 141 on the left side contracts toward the paper surface and the operation area 190a is tilted to the left side. However, the first unit 301 in FIG. Tilt to the right.

  FIG. 4C shows a state in which the second unit 302 adjacent to the first unit 301 deformed in FIG. 4B is symmetric with FIG. 2B together with the first unit 301. In FIG. 4D, the first operation region 391 of the first unit 301 deformed in FIG. 4B returns to the original plane, while the second unit 302 adjacent to the second unit 302 deformed in FIG. A state in which the three units 303 are in a symmetric state with FIG. 2B together with the second unit 302 is shown. FIG. 4E shows a state in which the second operation region 392 of the second unit 302 returns to a plane, while the fourth unit 304 is in a state of being symmetric with FIG. 2B together with the third unit 303. Show. FIG. 4F shows a state in which the third operation region 393 of the third unit 303 returns to the plane, while the fifth unit 305 is in a symmetric state with FIG. 2B together with the fourth unit 304. Show.

  More specifically, the control according to the present embodiment will be described. First, the pressure sensor immediately below the contact portion 110 with which the operator has touched with the fingertip detects the contact, and outputs an output signal corresponding to the contact to the detection circuit 292. To do. The detection circuit 292 identifies which operation region corresponds to the pressure detected by the unit (here, the third unit 303), and delivers the detection result to the control unit 290. When the control unit 290 receives the detection result, the control unit 290 sends a command to close the switch 312 of the first unit 301 that is two leftward from the identified third unit 303. With this command, the switch 312 is closed, whereby the SMA wire 412 contracts. At this time, since the control unit 290 keeps the switch 311 of the first unit 301 open, the SMA wire 411 does not contract. Then, as shown in FIG. 4B, the first operation region 391 is depressed so that the first operation region 391a falls to the right side. The first operation region 391a is a region corresponding to the fixed surface of the support pillar 120 in the first operation region 391.

  The controller 290 closes the switch 322 of the second unit 302 after the switch 312 is closed and the time of about 0.5 seconds has elapsed. Then, the SMA line 422 also contracts, and as shown in FIG. 4C, the second operation region 392 is depressed together with the first operation region 391 so that the second operation region 392a falls to the right side.

  Next, the controller 290 closes the switch 322 and opens the switch 312 of the first unit 301 after a time of about 0.5 seconds has elapsed. Further continuously, the control unit 290 closes the switch 332 of the third unit 303. Then, the SMA wire 412 dissipates heat and returns to the original length, and the first operation area 391 returns to the original plane. On the other hand, as the SMA wire 432 contracts due to heat generation, as shown in FIG. 4D, the third operation region 393 is depressed together with the second operation region 392 so that the third operation region 393a falls to the right side. Mu

  By repeating these series of operations, the second operation region 392 returns to the plane and the fourth operation region 394 is depressed as shown in FIG. 4E, and the third operation region 393 returns to the plane and the fifth operation region 392 returns to the plane. The operation region 395 is recessed as shown in FIG. The operator who touches the contact part 110 with a fingertip feels such a gradual shape change of the operation region in the contact part 110 as a sense of movement in the horizontal direction. In particular, since the center position of the depression is biased forward with respect to the traveling direction, the operator can feel a sense of direction in addition to a sense of movement. The shape change biased forward with respect to the traveling direction causes the operator to perceive the traveling direction due to the action of sequentially lifting the fingertips of the operator unevenly. In addition, since a plurality of operation areas are recessed at the same time, the operator can obtain a sense of touch more reliably.

  FIG. 5 is an explanatory diagram for explaining a tactile sense presentation device 500 according to the third embodiment. In the first embodiment and the second embodiment, the line pairs that are pairs of SMA lines are arranged so as to form a symmetric trapezoid around the support column, but in this embodiment, the SMA lines constituting the line pair 540 are arranged. It arrange | positions so that 541 and SMA line | wire 542 may mutually cross.

  Specifically, the support column 520 has a slit in the axial direction passing through the central axis, and the SMA wires 541 and 542 are installed between the contact portion 510 and the base portion 530 so as to intersect inside the slit. Yes. The pressure sensor 560 is disposed between the support column 520 and the base portion 530. With such a configuration, the length of the SMA wire to be installed can be relatively increased compared to the configurations of the first and second embodiments, so that the contraction amount of the SMA wire can be increased. . If the contraction amount of the SMA line can be increased, the depth of the depression in the operation region 590 can be increased, and a tactile sensation can be presented to the operator more effectively.

  FIG. 6 is an explanatory diagram for explaining a tactile sensation providing apparatus 400 according to the fourth embodiment. 6A is a perspective conceptual view of a single unit corresponding to one operation region 690, FIG. 6B is a plan view showing the arrangement of the single unit, and FIG. 6C is the single unit. It is explanatory drawing which shows the mode of operation | movement of.

  From the first embodiment to the third embodiment, there are two SMA lines that dent one operation region, but in this embodiment, three SMA lines are arranged. Specifically, when the SMA lines 641, 642, 643 constituting the line pair 640 are viewed from the contact portion 610 side, as shown in FIG. The support columns 620 are arranged symmetrically at intervals of 120 degrees with respect to each other. Similarly, when viewed from the contact portion 610 side, the diameter of the circle drawn by the ground terminals 671, 672, 673 to which the SMA wires 641, 642, 643 are fixed on the contact portion 610 side is fixed on the base portion 630 side. It is smaller than the diameter of the circle drawn by the power terminals 681, 682, 683. That is, it can be said that the SMA lines 641, 642, and 643 are arranged along a virtual truncated cone having a central axis that coincides with the central axis of the support column 620.

  In the present embodiment, the voltage values applied to the SMA lines 641, 642, 643 can be changed, respectively, and the voltage values of the SMA lines 641, 642, 643 can be changed by changing the voltage value in the ON state of the switch. Each shrinkage can be changed in stages. With this configuration, the operation region 690 can be recessed by arbitrarily adjusting the inclination angle of the operation region 690a that is the region corresponding to the fixed surface of the support column 620 in the operation region 690.

  Specifically, for example, if no current is supplied to the SMA line 641 and half the current of the SMA line 643 is supplied to the SMA line 642, the amount of contraction may be 0: 1: 2. it can. In this case, considering the elastic force of the support column 620, as shown in FIG. 6C, a combined vector (solid arrow) is obtained as a sum of force vectors (dotted arrows) in three directions with respect to the initial state. The motion region 690a is inclined according to the direction of the composite vector. That is, the control unit 290 can control the inclination angle of the operation region 690a by changing the currents flowing through the SMA lines 641, 642, 643.

  Note that the number of SMA lines to be installed is not limited to three, and may be further increased. For example, when the amount of contraction of the SMA line is small, a large number of SMA lines may be arranged at an angle interval smaller than the 120 degree interval. Note that if the interval between two adjacent SMA lines is arranged so as not to exceed 180 degrees, the tilt angle of the operation region 690a can be arbitrarily controlled.

  Moreover, although the support pillar of each Example in the above description demonstrated as a cylinder, the shape of a support pillar is not restricted to a cylinder. Various shapes such as a quadrangular prism and a truncated cone can be adopted. In particular, when it is desired to have anisotropy in the tilt direction of the operation region, it is preferable to adopt a shape that easily falls in a specific direction.

  FIG. 7 is an explanatory diagram for explaining a tactile sense presentation device 600 according to the fifth embodiment. The tactile presentation device 600 is a tactile presentation device in which units 700 corresponding to a single unit of the tactile presentation device 400 in the fourth embodiment are arranged in an annular shape.

  The contact portion 710 is, for example, about the size of a finger touching the contact portion 710 and has a shape similar to a zenith portion of a general push button or dial button. Eight units 700 are arranged between the contact portion 710 and the base portion 730 and arranged at intervals of 45 degrees along the circumferential direction, for example, as shown in FIG. 7A.

  The tactile sensation providing apparatus 600 configured as described above can realize various depressions by the cooperative operation of the plurality of units 700.

  When the operator touches the contact portion 710 with a finger, one or a plurality of pressure sensors in the unit 700 detects the contact, and the control unit 290 starts control of the unit 700 in response to the detection result. For example, if the operation area of each unit 700 is controlled to be inclined toward the center of the contact portion 710, a recess having a central portion as a recess as a whole can be formed as shown in FIG. 7B. . On the contrary, if the operation area of each unit 700 is controlled to be inclined toward the outer periphery of the contact portion 710, as shown in FIG. it can.

  Furthermore, as shown in FIG. 7C, if the respective units 700 are sequentially depressed counterclockwise, the operator can perceive a feeling of dents that go around. In particular, if the operation area is biased and recessed with respect to the traveling direction, it is possible to give the operator a greater sense of circulation. Of course, the control unit 290 can sequentially dent in a clockwise direction, and can sequentially move a plurality of dents. Even when there is no contact of the operator, if the control is performed to make the operation region depressed, it is possible to make the operator visually recognize how the depression goes around sequentially.

  How the contact portion 710 is depressed can be appropriately determined depending on the function, state, and the like of the electronic device in which the tactile sense presentation device 600 is incorporated. For example, when the tactile presentation device 600 is incorporated into a digital camera as an electronic device, the tactile presentation device 600 is disposed in the vicinity of the grip portion so that an operator's finger or the like can be applied. For example, when the mode selection is executed by the rotation of the mode dial, the built-in haptic presentation device 600 forms a recess in the manner shown in FIG. 7C in synchronization with the rotation of the mode dial. Can do. Further, when the enter button is operated, a depression is formed according to the mode as shown in FIG. 7A, or when the cancel button is operated, as shown in FIG. 7B. can do. The tactile sensation presentation device 600 can form a recess in synchronization with various operations associated with the digital camera, such as in synchronization with zooming up and zooming out.

  In addition, when arrange | positioning an operation | movement area | region circularly in the plane of a contact part, you may arrange over not only 1 round but multiple rounds. Further, it may be arranged in a lattice shape instead of an annular shape.

  Not only the tactile sensation presentation apparatus 600 but the tactile sensation presentation apparatus in each of the embodiments described above can be incorporated into an electronic device in various modes. In particular, when the electronic apparatus includes a display device, it is preferable to control the SMA line in conjunction with the displayed image to form a recess. For example, when the tactile presentation device 200 described with reference to FIGS. 2 and 3 is incorporated in a tablet terminal, the feed direction of the feed operation is synchronized with the feed operation of the still image reproduced on the display unit. The dent can be moved together.

  FIG. 8 is an external view of the imaging apparatus 900 when the tactile presentation device 200 is incorporated in the imaging apparatus 900 as an electronic apparatus. The tactile presentation device 200 is disposed on the back surface of the imaging device 900. In particular, in the grip part gripped by the operator, it is arranged in a region where the right thumb is located.

  A liquid crystal monitor 910 serving as a display unit is provided on the rear surface of the imaging apparatus 900. The liquid crystal monitor 910 displays information such as menu items in addition to displaying captured images. Here, a case where the operator selects an aperture value as menu item display will be described.

  As shown in the figure, item values 920 that can be selected by the operator are sequentially displayed as “4.0... 5.6... 8.0” along the longitudinal direction (left-right direction) of the liquid crystal monitor 910. Yes. The values that can be selected are not limited to the displayed values, but there are values such as “2.8” and “2.0” that are smaller than “4.0”, and are larger than “8.0”. Values such as “11” and “16” exist. That is, the operator can display these values by scrolling the numerical values in the left-right direction.

  The tactile sensation providing apparatus 200 is provided with a plurality of operation areas in the same direction as the longitudinal direction of the liquid crystal monitor 910. When the operator traces the surface in order from the left side to the right side as indicated by, for example, a drawing arrow, the pressure sensor corresponding to each energization unit detects the contact and delivers the detection result to the control unit 290. The control unit 290 determines that the operator has given an instruction from the left side to the right side, that is, the right direction, and sequentially scrolls the numerical values displayed on the liquid crystal monitor 910 in the right direction. At this time, the control unit 290 causes the operation area to be depressed in order from the left side to the right side as shown in FIG. 3 or 4 in conjunction with the scroll display operation. When it reaches the right end, it is recessed from the left end again. Then, the operator who puts his finger on the tactile sensation presentation device 200 senses a continuous tactile sensation (a dent feeling) linked to the visual sense by scroll display. When the value to be selected is arranged at the center, the operator presses an OK button 930 to execute the selection.

  In this way, an electronic device equipped with a tactile sensation presentation apparatus can recognize changes in display items that have been dependent only on the visual perception of the operator by tactile sense. In the above example, the tactile sense presentation device is used as an input member, but an input member may be provided separately.

  FIG. 9 is an explanatory diagram for explaining an SMA plate 840 as an alternative to the SMA line. As described above, the haptic presentation device may employ an SMA plate instead of the SMA wire, but a plurality of SMA plates may be integrally formed. The SMA plate 840 is a shape memory alloy formed integrally by punching.

  Specifically, the SMA plate 840 includes a main body portion 841 that serves as a fixing portion that is fixed to the base portion, and stretchable portions 842, 843, 844, and 845 extending from four sides of the main body portion 841. . The SMA plate 840 punched into a cross shape by punching is bent into a shape in which the stretchable parts 842, 843, 844, and 845 follow the truncated cone as a whole.

  In the SMA plate 840 formed in this way, the main body portion 841 is connected to the ground line, and the distal ends of the expansion and contraction portions 842, 843, 844, and 845 are connected to the power supply line via individual switches. The main body portion 841 also serves as a support portion that supports the support pillar 820. Instead of fixing the main body portion 841 to the base portion, the main body portion 841 itself can be used as the base portion. When the SMA plate 840 configured as described above is employed, the rigidity in the recess direction can be increased. In particular, the support column 820 can be eliminated if it has rigidity to support the contact portion. In addition, the contact portion may not be an elastic body as long as the stretchable portions 842, 843, 844, and 845 exhibit the function of a leaf spring in the direction of depression. In this case, various materials can be used for the contact portion as long as it has flexibility.

  In the present embodiment described above, the description has been made on the assumption that the contact portion is a non-conductive member. However, when the contact portion is a conductive member, the contact surface may be covered with an insulating sheet or an insulating film. The insulating sheet and the insulating film are formed of a soft material so as not to prevent the depression operation. Further, when a conductive member such as a conductive sheet is employed as the contact portion, the SMA wire can be directly connected to the back surface of the contact portion, so that the installation wiring can be simplified.

  In the above embodiment, the plurality of SMA lines have been described as having the same characteristics. However, the characteristics of the SMA lines may be different from each other. By adopting SMA lines having different properties, various tactile sensations can be presented.

  In the above-described embodiment, the contact portion has a common sheet shape over a plurality of operation regions. However, a slit may be provided for each operation region, and the operation region may be independent. Thereby, since it does not receive the reaction force by the adjacent support pillar through a contact part, the displacement of an operation area | region can be made easy to obtain.

  In each of the tactile sensation presentation devices described above, the space between the contact portion and the base portion is assumed to be hollow, but the space is made of a material that is softer than the contact portion and the support column that are elastic bodies. It may be filled. Since the filling part filled with the filler can stabilize the shape of the contact part, it is possible to reduce the possibility that the contact part is damaged.

  In each of the tactile sensation presentation devices described above, the SMA wire is fixed to the contact portion and the base portion outside the support column. However, the SMA wire may be buried in the support column by two-color molding, for example. By comprising in this way, a unit can be comprised small. Further, the stretchable part described above as a shape memory alloy is not limited to a shape memory alloy, and may be an element, member, or device that can be actively stretched.

  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-described 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.

100 tactile sensation presentation device, 110 contact portion, 120 support pillar, 130 base portion, 140 wire pair, 141, 142 SMA wire, 150 side wall, 160 pressure sensor, 171 and 172 ground electrode, 181 and 182 power supply electrode, 190 operating region, 200 Tactile sensation presentation device, 211, 212 switch, 220 power line, 230 ground line, 240 address line, 250 detection circuit line, 290 control unit, 291 selection circuit, 292 detection circuit, 301 first unit, 302 second unit, 303 3rd unit, 304 4th unit, 305 5th unit, 311, 312 switch, 321, 322 switch, 332 switch, 391 1st operation area, 392 2nd operation area, 393 3rd operation area, 394 4th operation area 395, fifth operating region, 400 Sense display device, 411, 412 SMA line, 421, 422 SMA line, 432 SMA line, 500 tactile display device, 510 contact part, 520 support column, 530 base part, 540 line pair, 541 SMA line, 542 SMA line, 560 Pressure sensor, 590 operation area, 600 tactile sensation device, 610 contact part, 620 support column, 630 base part, 640 wire pair, 641, 642, 643 SMA wire, 671, 672, 673 Ground terminal, 681, 682, 683 Power supply Terminal, 690 Operation area, 700 units, 710 Contact portion, 730 Base portion, 820 Support pillar, 840 SMA plate, 841 Main body portion, 842, 843, 844, 845 Extendable portion, 900 Imaging device, 910 Liquid crystal monitor, 920 Item value , 930 OK button

Claims (12)

A contact portion having a region to be contacted by an operator;
The base,
A tactile sensation presentation apparatus comprising: an expansion / contraction part that is disposed between the region and the base part so as to be oblique to the plane of the contact part, and that displaces the region with respect to the base part.   The tactile sense presentation device according to claim 1, wherein a plurality of the expansion / contraction portions are provided for one region.   The tactile sensation providing apparatus according to claim 2, wherein the plurality of expansion / contraction parts are arranged such that their action points are separated from each other in the region.   The tactile sensation providing apparatus according to claim 2, wherein each of the plurality of expansion / contraction parts has a respective expansion / contraction direction that is not parallel to each other.   The tactile sense presentation device according to claim 1, further comprising an elastic support column that supports the region from the base portion.   The tactile sensation providing apparatus according to claim 1, wherein the expansion / contraction part is a shape memory alloy that contracts when energized.   The tactile sensation providing apparatus according to claim 6, wherein the shape memory alloy forming the stretchable part is an integrally formed product connected to each other on the base part side.   The tactile sense presentation device according to claim 6, comprising a common ground electrode for the plurality of expansion / contraction portions and a power supply electrode that can be energized independently. Comprising a plurality of the regions,
The tactile sensation providing apparatus according to claim 1, further comprising a detection unit configured to detect that at least a part of the plurality of regions has been touched by the operator. A tactile sensation presentation apparatus according to any one of claims 1 to 9,
An electronic device comprising a control unit that controls the expansion and contraction unit in cooperation. With a display,
The electronic device according to claim 10, wherein the control unit controls the expansion / contraction unit in conjunction with an image displayed on the display unit. A contact portion having an area that evokes perception to an operator who makes contact;
The base,
A tactile sensation providing apparatus, comprising: a plurality of expansion / contraction portions arranged between the region and the base portion, each of which displaces the region with respect to the base portion.

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