JP2017033130A - Force-sensing guide device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a force-sensing guide device that can be further downsized, and allows force sensing to guide fingers of users in a mode high in operability as to information to be presented on a display.SOLUTION: A force-sensing guide device 1 according to the present invention comprises: a tactile display 31 that supports a display unit 34 having oscillators 37a, 37b, 37c and 37d via a damper 36, and allows impact actuation of the oscillator to relatively move the display unit 34 on a two-dimensional plane; a tactile presentation control unit 22 that controls so as to present prescribed information on the display unit 34; a finger position coordinate calculation unit 23 that measures a finger position coordinate indicative of a finger position of a user in the display unit 34; a target position coordinate management unit 24 that manages presence or absence of guide completion of the target position coordinate set in presented information; an inter-coordinate vector calculation unit 25 that conducts a vector difference between the finger position coordinate and the target position coordinate to obtain a force-sensing guide vector; and a force-sensing guide control unit 26 that conducts the impact actuation on the basis of force-sensing guide vector, and conducts a guide control of the finger position of the user.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a force sense guidance device that guides a user's finger with a force sense regarding information presented on a display.

  As a method for presenting information to a user such as a visually impaired person, it is known that graphic information can be presented in addition to Braille by a tactile display using a pin matrix in which a large number of pins driven by an actuator or the like are arranged (for example, (See Patent Document 1 and Non-Patent Document 1).

  However, since graphic information that is visual information is difficult for a user such as a visually impaired person to grasp only by tactile sense, a voice guide is often used together.

  On the other hand, in recent years, a force sense that presents a force sense to guide a user's finger using a manipulator having a link mechanism when presenting the tactile information to a force sense presentation device using such a tactile display. A technique for configuring a guidance system and enabling a user to grasp information more quickly has been disclosed (see, for example, Patent Document 2 and Non-Patent Document 2).

  In these haptic guidance systems disclosed in Patent Literature 2 and Non-Patent Literature 2, the haptic guidance system haptics the user's finger before the user touches information such as a figure or a graph presented as haptic information. Can be guided to teach the structure of information, the trajectory of the graph, and the like.

  However, in this haptic guidance system, since a manipulator having a link mechanism is used to present a haptic sense for the guidance, it is inevitable that the system becomes expensive and large. Furthermore, since the manipulator and the finger must be fixed, the operability is also deteriorated.

  On the other hand, as a technique for presenting a force sensation to a general visual display, a technique for generating a force sensation by pulling a pad or panel installed on the display surface of the display with a wire or the like is known. (For example, see Non-Patent Documents 3 and 4).

  In such a technique using the pad, since a wire for pulling the pad exists on the display, it can be an obstacle at the time of touching. Also, in the technique of pulling the panel, it is necessary to secure the movable range of the panel by increasing the width of the display frame, and it is not possible to avoid an increase in the size of the device, and it is difficult to apply it to a tactile display due to its structure. .

  Incidentally, an impact drive mechanism that realizes a small actuator is known (for example, see Non-Patent Document 5). The impact driving mechanism disclosed in Non-Patent Document 5 generates a driving force by utilizing an inertial force accompanying rapid deformation of a piezoelectric element or the like and a stick-slip phenomenon between a moving body and a shaft.

  Further, as another example of the impact drive mechanism, there is one using an impact force using an electrostatic force (see, for example, Non-Patent Document 6).

Japanese Patent No. 4294668 JP 2014-2668 A

Fernando Vidal-Verdu and Moustapha Hafez, “Graphical Tactile Displays for Visually-Impaired People”, IEEE Trans. On Neural Syst. & Rehabilitation, Vol. 15, No. 1 (2007) Tadahiro Sakai, et al., “Tactile guidance method and effect in tactile presentation of 2D information”, IEICE Technical Report, MVE, Multimedia and Virtual Environment Fundamentals 112 (474), pp.311-316, 2013 Issued March 4 Rino Tamura, et al., "Development of haptic interface SPIDAR-tablet for touch panel and its haptic calculation method", Transactions of the Virtual Reality Society of Japan 16 (3), pp.363-366, September 30, 2011 Makoto Norieda and Makoto Sato, “Proposal of panel-driven haptic touch panel and its haptic control method”, Information Processing Society of Japan Interaction 2012, March 15, 2012 Toshiro Higuchi, et al., “Micro Robot Arm Using Rapid Deformation of Piezoelectric Elements”, Journal of the Robotics Society of Japan, Vo1 8, No.4, pp 479-482, August 25, 2010 Hiroaki Katsui, et al., “Operational Characteristics of DC Electrostatic Impact Drive Mechanism”, Proceedings of the Japan Society for Precision Engineering 2006S (0), 875-876, January 31, 2007

  When presenting tactile information on a tactile display, presenting a force sense to guide a user's finger is effective when presenting graphic information or the like that is difficult to grasp only by tactile sense.

  However, as described above, in the conventional technique, for example, when configured as disclosed in Patent Literature 2 and Non-Patent Literature 2, it is inevitable that the system becomes expensive and large. Furthermore, since the manipulator and the finger must be fixed, the operability is also deteriorated.

  Moreover, even if it is configured to generate a force sense by pulling with a wire or the like as a substitute for a manipulator by applying the techniques of Non-Patent Documents 3 and 4 to such a tactile display, it is an obstacle at the time of touching. It can be. Also, in the technique of pulling the panel, it is necessary to secure the movable range of the panel by increasing the width of the display frame, and it is not possible to avoid an increase in the size of the device, and it is difficult to apply it to a tactile display due to its structure. .

  In addition, as disclosed in Non-Patent Documents 5 and 6, an impact drive mechanism that realizes a small actuator is known. However, the user can respond to tactile information presented on a tactile display by such an impact drive mechanism. Techniques for constructing the finger to hapticly guide are not known and have not been established.

  In addition, not only a tactile display but also a general visual display, a technique is known in which a user's finger is guided by a force sense with respect to information presented on the display by such an impact drive mechanism. Not established.

  In view of the above-described problems, an object of the present invention is to provide a force sense guidance device that guides a user's finger with a force sense with respect to information presented on a display in a manner that enables further miniaturization and high operability. It is in.

  A force sense guidance device according to the present invention is a force sense guidance device that guides a user's finger with a force sense with respect to information presented on a display, and supports a display unit having a vibrator via a damper. A display that enables relative movement on a two-dimensional plane by impact driving of the vibrator, information presentation control means for controlling to present predetermined information on the display unit, and a finger position of the user on the display unit Finger position coordinate measuring means for measuring finger position coordinates; target position coordinate managing means for managing whether or not the target position coordinates set in the presented information are completed; and the finger position coordinates and the target position coordinates. An inter-coordinate vector calculating means for obtaining a haptic guidance vector by vector difference between the two, and controlling the vibrator based on the haptic guidance vector to drive the impact on the display unit Performed, characterized in that it and a force induction control means for inducing controlled to forcibly move relative to the finger position of the user relative to the display unit in the force to the target location coordinates.

  In the haptic guidance device according to the present invention, the haptic guidance control means may be configured such that, as the impact driving, the driving force exceeding a presumed static friction force generated between the user's finger and the display unit or the pin. Then, after driving the display unit at the first speed in the reverse guiding direction, the vibration is performed so that the display unit is driven at the second speed in the guiding direction with a driving force equal to or less than the static frictional force. It is characterized by controlling the child.

  Further, in the haptic guidance device of the present invention, the display has a pin matrix in which a plurality of pins capable of presenting a projecting state or a non-projecting state is arranged in the insertion hole of the display unit, and the pin matrix and the display The portions are configured to be movable relative to each other.

  In the haptic induction device of the present invention, the pin is made of an elastic material that can be elastically deformed.

  Further, in the haptic guidance device of the present invention, the display has a pin matrix in which a plurality of pins capable of presenting a projecting state or a non-projecting state is arranged in the insertion hole of the display unit, and the pin matrix and the display The two-dimensional relative movement is impossible.

  Further, in the haptic guidance device of the present invention, the display includes an ultrasonic transducer that can propagate by imparting vibration in a normal direction to the two-dimensional plane of the display unit, and the haptic guidance control. The means includes means for controlling the ultrasonic vibration generated by the ultrasonic vibrator to propagate on a two-dimensional plane of the display unit when driving at the first speed.

  ADVANTAGE OF THE INVENTION According to this invention, size reduction of the force sense guidance apparatus which guides a user's finger with force sense with respect to the information shown on a display, and its operativity can be improved.

It is a figure showing a schematic structure of a force sense guidance device of a 1st embodiment by the present invention. It is sectional drawing which shows schematic structure of the force sense presentation unit in the force sense guidance device of 1st Embodiment by this invention. (A), (b), (c) shows a schematic configuration of a haptic guidance type tactile display provided with an impact driving mechanism in the haptic presentation unit in the haptic guidance device of the first embodiment according to the present invention. FIG. It is a flowchart which shows operation | movement of the force sense guidance apparatus of 1st Embodiment by this invention. (A), (b), (c) is a figure which shows the example of presentation of the tactile information in the force induction apparatus of 1st Embodiment by this invention, respectively. It is a figure which shows the example of guidance by the force sense with respect to the tactile information shown in the force sense guidance apparatus of 1st Embodiment by this invention. (A), (b), (c) shows the operation example at the time of guidance by force sense by the impact drive mechanism of one example in the force sense presentation unit in the force sense guidance device of the first embodiment according to the present invention, respectively. FIG. (A), (b), (c) is an example of operation at the time of guidance by force sense by the impact drive mechanism of another example in the force sense presentation unit in the force sense guidance device of the first embodiment according to the present invention. FIG. (A), (b), (c) shows the schematic structure of the haptic guidance type tactile display provided with the impact drive mechanism in the haptic presentation unit in the haptic guidance device of the second embodiment according to the present invention. FIG. (A), (b), (c) shows the operation example at the time of guidance by force sense by the impact drive mechanism of one example in the force sense presentation unit in the force sense guidance device of the second embodiment according to the present invention, respectively. FIG. It is sectional drawing which shows schematic structure of the force sense presentation unit in the force sense guidance device of 3rd Embodiment by this invention.

  Hereinafter, with reference to the drawings, the haptic induction device 1 of each embodiment according to the present invention will be described as an example.

[First Embodiment]
First, the haptic induction device 1 according to the first embodiment of the present invention will be described. FIG. 1 is a diagram illustrating a schematic configuration of a force sense guidance device 1 according to the first embodiment. The force sense guidance device 1 of this embodiment includes a control unit 2 and a force sense presentation unit 3.

  The force sense presentation unit 3 is configured such that a finger position detector 32 is supported on a main body of the tactile display 31 via a support 33. The main body of the tactile display 31 is provided with a display unit 34 on the upper surface, and a pin matrix 35 is provided on the display unit 34. The pin matrix 35 forms a display screen for presenting tactile information to the user's finger.

  One end of the support 33 is attached to one end of the main body of the tactile display 31 and extends upward (in the z-axis direction), and then on the two-dimensional plane (x, y-axis plane) of the display unit 34. It is bent so as to be substantially horizontal with respect to the other end, and a finger position detector 32 is provided at the other end. As will be described later with reference to FIG. 2, the finger position detector 32 includes one or a plurality of infrared LEDs 321 and a video camera 322, and is a device that detects the user's finger position. The pin matrix 35 is disposed so as to face the substantially central portion. The finger position detector 32 may be in any other form as long as it can detect the user's finger position. For example, the finger position detector 32 may detect based on capacitive touch detection of a human body used in a general touch panel, The pressure sensors can be arranged in a matrix.

  Here, in the tactile display 31 according to the present invention, the four sides of the display unit 34 provided on the upper surface of the main body of the tactile display 31 extend and contract with respect to the frame of the main body of the tactile display 31 (the surrounding frame sandwiching the display unit 34). It is supported by a damper member 36 such as a possible spring or rubber. Thus, the display unit 34 can vibrate (relatively move) by a predetermined amount in an arbitrary direction on the two-dimensional plane (x, y axis plane) on the upper surface of the main body of the tactile display 31.

  A pair of vibrators 37 a and 37 b and vibrators 37 c and 37 d in the x-axis direction and the y-axis direction are disposed at each end of the four sides on the lower surface side of the display unit 34, and the main body of the tactile display 31. It is installed inside. The pair of vibrators 37a and 37b can vibrate the display unit 34 such that the display unit 34 can move relative to the main body of the tactile display 31 (a frame around the display unit 34) in the y-axis direction. The vibrators 37c and 37d can vibrate the display unit 34 so as to be relatively movable in the x-axis direction with respect to the main body of the tactile display 31 (a frame around the display unit 34). Such vibrators 37a, 37b, 37c, and 37d can be, for example, piezoelectric elements or electromagnetically driven vibrators such as Force Reactor (registered trademark) manufactured by Alps Electric Co., Ltd.

  The vibrators 37a, 37b, 37c, and 37d constitute an impact driving mechanism that imparts vibration by impact driving according to the present invention, as will be described in detail later, and are presented on the display unit 34 of the tactile display. The user's finger can be guided by force with respect to tactile information. However, the vibrator is only required to be able to give vibration by impact driving, and may be configured as a single unit instead of a pair. As described above, the tactile display 31 includes the display unit 34, the pin 352, the pin driving unit 353 (353a), and the vibrators 37a, 37b, 37c, and 37d, and the display unit 34 and the main body (display unit 34) of the tactile display 31. The frame surrounding the frame) has a structure capable of relative movement on a two-dimensional plane. The control unit 2 described below makes it possible to control the relative movement of the display unit 34 by impact driving using the vibrators 37a, 37b, 37c, and 37d.

  The control unit 2 is connected to the force sense presentation unit 3 via a predetermined cable, presents tactile information on the display unit 34, detects the user's finger position, and displays the finger position on the display unit 34. This is a functional unit that controls the display unit 34 to forcibly move relative to the target coordinate position by force. Although the control unit 2 and the force sense presentation unit 3 are described as separate units, the control unit 2 may be accommodated in the force sense presentation unit 3 and integrated.

  The control unit 2 includes a tactile sense presentation / force sense guidance data DB 21, a tactile sense control unit 22, a finger position coordinate measurement unit 23, a target position coordinate management unit 24, an inter-coordinate vector calculation unit 25, and a force sense guidance control. Part 26.

  The tactile sense presentation / force sense guidance data DB 21 is preset with tactile sense presentation data for presenting tactile information on the display unit 34 and the tactile sense presentation data for forcibly moving the finger position of the user with force sense. It is a database that holds target position coordinates.

  The tactile sense presentation control unit 22 takes out tactile sense presentation data for presenting tactile information from the tactile sense presentation data / force guidance DB 21 to the display unit 34 in accordance with an external instruction from an operator (or a user), and a pin matrix. Control to present the haptic information by 35.

  The finger position coordinate measurement unit 23 instructs the force sense presentation unit 3 to detect and acquire information on x and y coordinates (finger position coordinates) indicating the user's finger position via the finger position detector 32, and This is output to the position coordinate calculation unit 24 and the inter-coordinate vector calculation unit 25.

  The target position coordinate management unit 24 manages whether or not the guidance of the target position coordinates set in the presented tactile information has been completed, and outputs the target position coordinate information to the inter-coordinate vector calculation unit 25.

  The inter-coordinate vector calculation unit 25 performs a vector difference between the finger position coordinates obtained from the finger position coordinate measurement unit 23 and the target position coordinates obtained from the target position coordinate management unit 24, thereby generating a force sense vector (x-axis direction, y Information on the direction and size of each of which is guided in the axial direction), and outputs the haptic guidance vector to the haptic guidance control unit 26.

  The haptic guidance control unit 26 generates control information for impact driving for the vibrators 37a, 37b, 37c, and 37d based on the haptic guidance vector obtained from the inter-coordinate vector calculation unit 25. Output to the main body of the tactile display 31.

  The control unit 2 can be caused to function by a computer, and a program for causing the computer to realize each component according to the present invention is stored in a memory provided inside or outside the computer. A program in which processing content for realizing the function of each component is described under the control of a central processing unit (CPU) provided in the computer is appropriately read from the memory, and each component of the control unit 2 is read. The function can be realized by a computer. Here, the function of each component may be realized by a part of hardware.

  FIG. 2 is a cross-sectional view showing a schematic configuration of the force sense presentation unit 3 in the force sense guidance device 1 according to the first embodiment of the present invention. The finger position detector 32 is provided with a video camera 322 on a surface facing the pin matrix 35 on the display unit 34, and one or a plurality of infrared LEDs 321 are provided around the video camera 322 (illustrated). In this example, two infrared LEDs 321 are shown). The infrared LED 321 is arranged to irradiate the entire display screen by the pin matrix 35 with infrared light, and the video camera 322 is arranged so that the entire display screen by the pin matrix 35 can be photographed.

  Note that the video camera 322 is provided with a filter (infrared light passing filter) that transmits the wavelength of infrared light irradiated by the infrared LED 321 and cuts other wavelength regions such as visible light. 322 is configured to capture infrared light reflected from the surface of the pin matrix 35 or the like.

  The pin matrix 35 is configured by arranging, in a matrix, pins 352 that can be controlled to project / not project with respect to the insertion holes 351 arranged in a matrix on the display unit 34.

  The projecting / non-projecting state of the pins 352 is driven by a pin driving unit 353 arranged on the lower surface side of the display unit 34, and the appropriate projection / non-projecting of the pins 352 in the pin matrix 35 is controlled by the control unit 311. The state is controlled. Further, the control unit 311 controls the protruding / non-projecting state of the pin 352 based on the control information related to the presentation of the tactile information from the tactile presentation control unit 22 in the control unit 2. Further, the control unit 311 and the control unit 2 may be integrated and accommodated in the force sense presentation unit 3.

  As described above, information such as characters, figures, images, and the like that can be tactilely recognized by the projections and depressions of the pin 352 can be presented as tactile information by a combination of protruding / non-projecting states of the pin 352. Therefore, the haptic information can be displayed on the display screen by the pin matrix 35 by the haptic presentation control unit 22 in the control unit 2.

  When the user touches the pin matrix 35 on which the tactile information is displayed with the fingertip, the user recognizes (tactile) the tactile information displayed on the pin matrix 35 by perceiving the unevenness of the pin 351 with the fingertip. Can do.

  In addition, in order to be able to detect the touch position by the user's fingertip, it is preferable to attach a marker fa for irregularly reflecting infrared light in an identifiable shape to the tip of the user's finger f. Such a marker fa can reflect the infrared light emitted from the infrared LED 321 in the direction of the video camera 322, and the marker on the display screen by the pin matrix 35 by analyzing the imaging information of the video camera 322. The position of fa can be specified almost in real time.

  The lighting control of the infrared LED 321 and the analysis of the imaging information of the video camera 322 are performed by the control of the control unit 311. The control unit 311 indicates the finger position of the user through the analysis of the imaging information of the video camera 322. Information on x and y coordinates (finger position coordinates) is generated. Further, the control unit 311 outputs information on the finger position coordinates to the finger position coordinate measurement unit 23 in accordance with an instruction from the finger position coordinate measurement unit 23 in the control unit 2.

  Based on the impact drive control information from the haptic guidance control unit 26 in the control unit 2, the control unit 311 assists the haptic information presented on the display unit 34 of the haptic display with the haptic guidance. The vibrators 37a, 37b, 37c, and 37d are driven and controlled so as to give vibration by impact driving.

  Next, with reference to FIG. 3, the impact driving by the vibrators 37a, 37b, 37c, and 37d according to the present invention will be described. 3A is a perspective view showing a schematic configuration of a force-sensing tactile display, FIG. 3B is a plan view thereof, and FIG. 3C constitutes a pin matrix 35. It is a figure which shows the relative relationship of the insertion hole 351 on the display part 34, and the pin 352 which can control a protrusion / non-protrusion state.

  As shown in FIGS. 3A and 3B, a pair of vibrators 37a and 37b in the x-axis direction and the y-axis direction, respectively, at each end of the four sides on the lower surface side of the display unit 34, and the vibrator 37c and 37d are provided. The pair of vibrators 37a and 37b can apply vibration (Vy in the drawing) so that the display unit 34 can move relative to the main body of the tactile display 31 in the y-axis direction. 37d can apply vibration (Vx in the drawing) so that the display unit 34 can move relative to the main body of the tactile display 31 in the x-axis direction. As described above, such vibrators 37a, 37b, 37c, and 37d are, for example, piezoelectric elements, electromagnetically driven vibrators such as Force Reactor (registered trademark) manufactured by Alps Electric Co., Ltd., or Non-Patent Document 5. It is also possible to use the asymmetry due to the impact as shown in FIG.

  That is, as will be described later in detail, any vibrator can be used as long as the acceleration can be changed (biased acceleration) depending on the vibration direction by two-stage speed control in realizing impact driving. However, it is more preferable that the vibration displacement can be increased. Therefore, it is desirable to use an electromagnetic drive type that can take a large displacement of vibration. For example, in order to generate partial acceleration with an electromagnetic drive type vibrator, the input signal may be controlled (for example, the duty ratio is biased).

  Further, as shown in FIG. 3C, the hole diameter dh of the insertion hole 35 on the display unit 34 constituting the pin matrix 35 has an impact larger than the cross-sectional diameter dp of the pin 352 capable of controlling the protruding / non-projecting state. The display 34 is driven to be vibrated to the extent possible, and the pitch p between the pins 352 is made larger than the hole diameter dh of the insertion hole 35.

  In this way, the pin matrix 35 is configured, and the vibrators 37a, 37b, 37c, and 37d are arranged at the respective ends of the four sides of the display unit 34, and driven in the x and y axis directions. Impact driving in any direction is possible.

  Next, with reference to FIG. 4, operation | movement of the force sense guidance apparatus of 1st Embodiment by this invention is demonstrated. FIG. 4 is a flowchart showing the operation of the force sense guidance device 1 according to the first embodiment of the present invention.

  First, the haptic guidance device 1 uses the haptic presentation control unit 22 in the control unit 2 to present haptic information from the haptic presentation / haptic guidance data DB 21 to the display unit 34 in accordance with an external instruction from an operator or the like. The tactile sense presentation data is taken out and controlled so as to present tactile information by the pin matrix 35 (step S1).

  For example, FIGS. 5A and 5B simply show a state where tactile information is presented on the pin matrix 35 in the display unit 34 in a perspective view and a plan view, respectively, and FIG. The pin 352 protrudes from the display unit 34, and the tactile information is presented. As shown in FIG. 5, based on the tactile presentation data stored in the tactile presentation / force tactile guidance data DB 21, the pin 352 protrudes from the display unit 34 to present tactile information.

  Subsequently, the force sense guidance device 1 acquires the target position coordinates for forcibly moving the user's finger position by force sense from the target position coordinate management unit 24 in the control unit 2 (step S2).

  Subsequently, the force sense guidance device 1 instructs the force sense presentation unit 3 by the finger position coordinate measurement unit 23 in the control unit 2 and passes the finger position detector 32 to indicate x, y coordinates ( Information (finger position coordinates) is detected and acquired (step S3).

  Subsequently, the force sense guidance device 1 uses the inter-coordinate vector calculation unit 25 in the control unit 2 to obtain the finger position coordinates obtained from the finger position coordinate measurement unit 23 and the target position coordinates obtained from the target position coordinate management unit 24. A vector difference is used to obtain a haptic guidance vector (step S4).

  Here, the inter-coordinate vector calculation unit 25 determines whether or not the finger has reached the target coordinate from the value of the obtained force sense vector (step S5), and when the finger has not reached the target coordinate (step S5). S5: No), the haptic induction device 1 is based on the haptic induction vector obtained from the inter-coordinate vector calculation unit 25 by the haptic induction control unit 26 in the control unit 2, and the vibrators 37a, 37b, 37c, 37d. Control information for driving the impact on the haptic display unit 3 is output to the main body of the tactile display 31 in the force sense presentation unit 3.

  Accordingly, in the haptic presentation unit 3, tactile information is presented on the display unit 34, the display unit 34 vibrates by impact driving based on the user's finger position, and the user's finger position is displayed on the display unit 34. Operates to force relative movement.

  Until the finger reaches the target coordinates (step S5: Yes), the haptic guidance device 1 generates impact drive control information by the haptic guidance control unit 26 in the control unit 2, and the haptic display in the haptic presentation unit 3 31 is output to the main body 31 (steps S3 to S6).

  When the finger reaches the target coordinates (step S5: Yes), the haptic guidance device 1 determines the presence / absence of the next target coordinate from the target position coordinate management unit 24 (step S7), and the force until the next target coordinate disappears. The haptic guidance device 1 generates impact drive control information by the haptic guidance control unit 26 in the control unit 2 and outputs it to the main body of the tactile display 31 in the haptic presentation unit 3 (steps S2 to S7).

For example, as shown in FIG. 6, tactile information is presented on the pin matrix 35 in the display unit 34, and force guidance is used when guiding from the start position Op to the final position Oe where the tactile information is presented on the pin matrix 35. The guiding device 1 guides the user's finger in the following procedure.
(1) The first target coordinates (start position Op) and the finger position are sequentially vector-differenced to obtain a force sense vector v0 (not shown), and the finger is guided to the first target coordinates.
(2) When the finger is guided to the first target coordinate, the haptic guidance vector v1 is obtained by sequentially subtracting the second target coordinate and the finger position, and the finger is guided to the second target coordinate.
(3) When the finger is guided to the second target coordinate, the third target coordinate and the finger position are sequentially vector-differed to obtain a force sense vector v2, and the finger is guided to the third target coordinate.
(4) When the finger is guided to the third target coordinate, the fourth target coordinate and the finger position are sequentially vector-differed to obtain the force sense vector v3, and the finger is guided to the fourth target coordinate.
(5) The finger is guided to the fourth target coordinate (final position Oe), and the guidance is completed.

  FIG. 7 shows an operation example at the time of guidance by force sense by the impact drive mechanism (vibrators 37a, 37b, 37c, 37d) of one embodiment according to the present invention. First, FIG. 7A shows a state where the finger is in contact with the display unit 34 and is stationary, and from this state, for example, the pins 352-protruding from the display units 34 scattered in the x-axis direction. When it is desired to guide the finger in the order of 1,352-2 and 352-3, the impact driving in the guiding direction drives and controls the pair of vibrators 37c and 37d in the x-axis direction. In the impact driving according to the present invention, rapid driving in the reverse guiding direction (see FIG. 7B) and slow driving in the guiding direction (see FIG. 7C) are set as one set of driving procedures, and this is repeated. Then guide your finger.

  More specifically, from the state shown in FIG. 7A, the display unit 34 is rapidly driven in the reverse guiding direction with a driving force that exceeds a presumed static friction force generated between the finger and the display unit 34. (See FIG. 7B). Then, the finger slides on the display unit 34 and moves relative to the display unit 34. At this time, due to the inertial force acting on the finger, the displacement of the finger position is extremely small compared to the displacement of the display unit 34. Since the static friction force generated between the finger and the display unit 34 depends on the pressing force of the finger on the display unit 34 and the material and shape of the display unit 34, the driving exceeds the presumed maximum static friction force. What is necessary is just to drive-control a pair of vibrator | oscillators 37c and 37d so that force may be provided with respect to the display part 34. FIG.

  Subsequently, from the state shown in FIG. 7B, the display unit 34 is slowly driven in the guiding direction with a driving force equal to or less than the static friction force generated between the finger and the display unit 34 (FIG. 7C). reference). Then, the finger maintains the position on the display unit 34 and does not move further relative to the display unit 34. As a result, the new stationary state that has undergone impact driving in FIG. 7C is a state in which the finger is forcibly guided from the position of the stationary state illustrated in FIG.

  In the example illustrated in FIG. 7, the example in which the pitch p between the pins 352 is sufficiently provided so that the finger is in contact with the display unit 34 is described, but the pitch between the pins 352 where the finger is not in contact with the display unit 34 is described. In the case of p, the pin 352 may be made of an elastically deformable material. In particular, it is preferable that the pin 352 is configured to be long and a space (play) sufficient for the pin 352 to elastically deform with respect to the insertion hole 351 is provided.

  For example, FIG. 8 shows an operation example at the time of induction by force sense by the impact drive mechanism (vibrators 37a, 37b, 37c, 37d) of another embodiment in which the pin 352 according to the present invention is made of an elastically deformable material. Show. First, FIG. 8A shows a state where the finger is in contact with the display unit 34 and is stationary, and from this state, for example, pins 352-protruding from the display units 34 scattered in the x-axis direction. When it is desired to guide the finger in the order of 1,352-2 and 352-3, the impact driving in the guiding direction drives and controls the pair of vibrators 37c and 37d in the x-axis direction. Also in the impact driving in this example, rapid driving in the reverse guiding direction (see FIG. 8B) and slow driving in the guiding direction (see FIG. 8C) are set as one set of driving procedures, and this is repeated. Then guide your finger.

  More specifically, from the state shown in FIG. 8A, the display unit 34 is rapidly driven in the reverse guiding direction with a driving force that exceeds a presumed static frictional force generated between the finger and the pin 352. (See FIG. 8 (b)). Then, the impact drive of the display unit 34 is transmitted to the pin 352, the pin 352 is elastically deformed, the finger slides on the pin 352-1, moves onto the pin 352-2, and moves relative to the display unit 34. . At this time, due to the inertial force acting on the finger, the displacement of the finger position is extremely small compared to the displacement of the display unit 34. Since the static friction force generated between the finger and the pin 352 depends on the pressing force of the finger against the pin 352 and the material and shape of the pin 352, the driving force exceeding the presumed maximum static friction force is displayed. What is necessary is just to drive-control a pair of vibrator | oscillators 37c and 37d so that it may provide with respect to the part 34. FIG.

  Subsequently, from the state shown in FIG. 8B, the display unit 34 is slowly driven in the guiding direction with a driving force equal to or less than the static friction force generated between the finger and the pin 352 (see FIG. 7C). ). Then, the finger maintains the position on the pin 352-2 and does not move further relative to the display unit 34. As a result, the new stationary state that has undergone the impact driving in FIG. 8C is a state in which the finger is forcibly guided from the position of the stationary state illustrated in FIG.

  Here, guidance when the pitch p between the pins 352 is sufficiently provided so as to come into contact with the finger and the display unit 34 is easy, and further, the pins 352 are made of an elastically deformable material, which makes it easier. Can be forced to guide the finger. For this reason, if the pins 352 are made of an elastically deformable material, the finger can be forcibly guided with the pitch p between the pins 352 being arbitrary.

  If it is force sense guidance device 1 of a 1st embodiment constituted as mentioned above, a user's finger can be guided by force sense to tactile information presented on tactile display 31, and the size reduction and The operability can be improved.

[Second Embodiment]
Next, a force sense guidance device 1 according to a second embodiment of the present invention will be described. In the haptic induction device 1 of the second embodiment, ultrasonic transducers 38 such as ultrasonic transducers using piezoelectric elements are further arranged on the lower surface of the display unit 34 (for example, at the four corners). Is the same as in the first embodiment. FIGS. 9A and 9B show a state in which the ultrasonic transducers 38 are provided at the four corners of the lower surface of the display unit 34, and FIG. A state in which vibration in the z-axis direction is given to 34 and propagated on the display unit 34 is shown.

  The control unit 311 of the force sense presentation unit 3 drives the vibrators 37a, 37b, 37c, and 37d so as to apply vibration by impact drive based on the impact drive control information from the force sense control unit 26 in the control unit 2. At the time of control, control is performed so as to apply vibration in the z-axis direction by the ultrasonic transducer 38 only during the rapid drive out of the two stages of the rapid drive and the slow drive.

  For example, FIG. 10 shows an operation example at the time of guidance by force sense by the impact driving mechanism (vibrators 37a, 37b, 37c, 37d) in the second embodiment. First, FIG. 10A shows a state in which the finger is in contact with the display unit 34 and is stationary. From this state, for example, the display is scattered in the x-axis direction as in the first embodiment. When it is desired to guide the finger in the order of the pins 352-1, 352-2, and 352-3 protruding from the portion 34, the impact drive in the guide direction drives and controls the pair of vibrators 37c and 37d in the x-axis direction. To do. Also in the impact driving according to the present invention, a rapid driving in the reverse guiding direction (see FIG. 10B) and a slow driving in the guiding direction (see FIG. 10C) constitute a set of driving procedures. Guide your finger by repeating.

  More specifically, from the state shown in FIG. 10A, the display unit 34 is rapidly driven in the reverse guiding direction with a driving force exceeding a static friction force assumed in advance between the finger and the display unit 34. (See FIG. 10B). At this time, vibration in the z-axis direction by the ultrasonic transducer 38 is also applied. Then, it is possible to reduce a presumed static frictional force generated between the finger and the display unit 34, and the finger is easily slipped with respect to the display unit 34. Therefore, the finger easily slides on the display unit 34 and moves relative to the display unit 34.

  Subsequently, when driving slowly from the state shown in FIG. 10B, the vibration in the z-axis direction by the ultrasonic transducer 38 is stopped, and the finger, the display unit 34, and the like, as in the first embodiment, are stopped. The display unit 34 is slowly driven in the guiding direction with a driving force equal to or less than the static friction force generated between the two (see FIG. 10C). Then, the finger maintains the position on the display unit 34 and does not move further relative to the display unit 34. As a result, the new stationary state that has undergone the impact driving in FIG. 10C is a state in which the finger is forcibly guided from the position of the stationary state illustrated in FIG.

  If it is the force sense guidance device 1 of 2nd Embodiment comprised as mentioned above, guidance by impact drive will be attained easily and the size reduction and the operativity can be improved.

[Third Embodiment]
Next, a force sense guidance device 1 according to a third embodiment of the present invention will be described. The force sense guidance device 1 of the third embodiment can be configured in substantially the same configuration as that of the first embodiment shown in FIG. 1, but the display unit 34 is vibrated independently of the pin drive unit 353. Instead, it is different in that a pin driving unit 353a that is vibrated by being integrated with the display unit 34 is configured.

  FIG. 11 is a cross-sectional view illustrating a schematic configuration of the force sense presentation unit 3 in the force sense guidance device 1 according to the third embodiment of the present invention. In addition, the same reference number is attached | subjected to the component similar to 1st Embodiment. That is, as shown in FIG. 11, the pin driving unit 353 a that drives the protruding / non-projecting state of the pin 352 is disposed on the lower surface side of the display unit 34 and integrated with the display unit 34. Based on the impact drive control information from the haptic guidance control unit 26 in the control unit 2, the control unit 311 assists the haptic information presented on the display unit 34 of the haptic display with the haptic guidance. The vibrators 37a, 37b, 37c, and 37d are driven and controlled so as to give vibration by impact driving.

  Then, the display unit 34 is vibrated by impact driving together with the pin driving unit 353a. With this configuration, the insertion hole 351 on the display unit 34 constituting the pin matrix 35 can have a hole diameter that allows the protruding / non-projecting state of the pin 352 to be controlled, and the material of the pin 352 can be changed. It is possible to guide without using an elastic material. That is, in the case of the third embodiment, the amplitude of impact driving can be determined without considering the material and hole diameter of the pin 352.

  Furthermore, it can also be set as the embodiment which combined 2nd Embodiment and 3rd Embodiment.

  The present invention has been described above with reference to specific embodiments. However, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the technical concept thereof. For example, in the above-described example, a tactile display has been mainly described as an example. However, the present invention is not limited to a tactile display but can be applied to a general visual display.

  That is, in the above-described example, the tactile display 31 includes the display unit 34, the pin 352, the pin driving unit 353 (353a), the transducers 37a, 37b, 37c, and 37d, and more preferably, the ultrasonic transducer 38. The display unit 34 and the main body of the tactile display 31 (the surrounding frame sandwiching the display unit 34) have a structure capable of relative movement on a two-dimensional plane. Similarly, when applied to a visual display, too. Are provided with the display unit 34 and transducers 37a, 37b, 37c, 37d, and more preferably an ultrasonic transducer 38, and the display unit 34 and the body of the visual display are described. (A frame around the display unit 34) can be configured to have a structure capable of relative movement on a two-dimensional plane. The display according to the present invention is configured to be “relatively movable on the two-dimensional plane” by the vibrator, and when configured to include the ultrasonic vibrator, Note that it is configured to be able to propagate vibration in the normal direction.

  According to the present invention, it is possible to guide a user's finger with a sense of force with respect to information presented on the display, and it is possible to improve the downsizing and operability thereof. Useful for guiding to

1 Force sense guidance device 2 Control unit 21 Tactile sense presentation / force sense guidance data DB
DESCRIPTION OF SYMBOLS 22 Tactile sense presentation control part 23 Finger position coordinate measurement part 24 Target position coordinate management part 25 Coordinate vector calculation part 26 Force sense guidance control part 3 Force sense presentation unit 31 Tactile display 32 Finger position detector 33 Support body 34 Display part 35 Pin Matrix 36 Damper member 37a, 37b, 37c, 37d Vibrator 38 Ultrasonic vibrator 311 Control unit 321 Infrared LED
322 Video camera 351 Insertion hole 352 Pin 353, 353a Pin drive unit

Claims (6)

A force sensation induction device for guiding a user's finger with a force sense regarding information presented on a display,
A display that supports a display unit having a vibrator via a damper, and the display unit can be relatively moved on a two-dimensional plane by impact driving of the vibrator;
Information presentation control means for controlling to present predetermined information on the display unit;
Finger position coordinate measuring means for measuring finger position coordinates indicating the user's finger position on the display unit;
Target position coordinate management means for managing the presence / absence of completion of guidance of the target position coordinates set in the presented information;
An inter-coordinate vector calculating means for obtaining a haptic guidance vector by performing a vector difference between the finger position coordinates and the target position coordinates;
The vibrator is controlled based on the force-sensing vector to perform impact driving on the display unit, and the finger position of the user is forcibly relative to the target position coordinates with respect to the display unit. Haptic guidance control means for performing guidance control so as to move;
A haptic guidance device comprising:   The force sensation guidance control means, as the impact drive, in a reverse guidance direction with respect to the display unit with a driving force exceeding a presumed static friction force generated between the user's finger and the display unit or the pin. The vibrator is controlled to drive the second speed in the guiding direction of the display unit with a driving force equal to or less than the static frictional force after driving the first speed. Item 2. The force sense guidance device according to Item 1.   The display has a pin matrix in which a plurality of pins capable of presenting a projecting or non-projecting state is arranged in the insertion hole of the display unit, and the pin matrix and the display unit are configured to be movable relative to each other. The haptic induction device according to claim 1, wherein the haptic induction device is provided.   The haptic induction device according to claim 3, wherein the pin is made of an elastic material that is elastically deformable.   The display has a pin matrix in which a plurality of pins capable of presenting a projecting or non-projecting state is arranged in the insertion hole of the display unit, and the pin matrix and the display unit are configured so that the two-dimensional relative movement is impossible. The haptic induction device according to claim 1, wherein the haptic induction device is provided. The display has an ultrasonic transducer that can propagate by imparting vibration in a normal direction to the two-dimensional plane of the display unit,
The haptic guidance control means includes means for controlling the ultrasonic vibration generated by the ultrasonic vibrator to propagate on a two-dimensional plane of the display unit when the first speed is driven. The force sense guidance device according to any one of 1 to 5.