JP2017123039A - Tactile sense reproduction device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tactile sense reproduction device capable of providing fingers with reaction force and feeling that simulate an operation of picking a virtual holding object with fingers to manipulate it.SOLUTION: With an input device 20, a first countering operated object 33A, a second countering operated object 33B, and a thumb operated object 43 are protruded from a case 21. By holding the thumb operated object 43 with a thumb and holding each of countering operated objects 33A and 33B with an index finger and a middle finger, respectively, the same movement is performed when a holding object is grasped. A control signal is given from a controller to a motor in a case 21 and reaction force is given to fingers from the countering operated objects 33A and 33B and the thumb operated object 43. Sound is emitted in response to change in the state of the holding object. Feeling generation units 56A, 56B, and 55 are provided in each operated objects 33A, 33B, and 43, respectively.SELECTED DRAWING: Figure 2

Description

  The present invention provides a tactile sensation that allows the user to feel the softness and hardness as well as the movement and temperature imitating that the virtual object to be held is held by the finger when the operating body provided in the input device is gripped by the finger. It relates to a reproduction device.

Patent Document 1 describes an invention related to a virtual space display device.
This virtual space display device can communicate with a terminal communication unit and a server, and the terminal communication unit is equipped with a touch panel including a liquid crystal display and an input unit.

  By the communication from the server, the shopping mall image is displayed on the liquid crystal display of the touch panel. When the user drags the touch panel, the displayed scene in the shopping mall can be moved, and when the user taps a product thumbnail in the shopping mall screen, detailed information on the product is displayed on the screen. The user can temporarily collect the products to be purchased in the stock area, and can purchase the products by performing a settlement process on the stock products.

JP 2012-234355 A

  In the virtual space display device described in Patent Literature 1, it is possible to check the price and color of a product displayed in a store of a shopping mall, and further search for a product to be purchased with reference to detailed product information.

  However, since the product cannot actually be touched, the size and texture of the product cannot be felt by hand. Further, when the product is deformed, it is impossible to feel how much force is required for the deformation. Furthermore, you cannot feel the movement of the product, and you cannot feel the temperature.

  The present invention solves the above-described conventional problems, and can mechanically generate a reaction force imitating a soft texture or a hard feeling when a predetermined object to be held is operated by hand. It is an object of the present invention to provide a tactile sensation reproducing device that can obtain a feel of a holding object such as movement and temperature.

The tactile reproduction device of the present invention has an input device and a control unit,
The input device includes an operating body that can move forward and backward and can be pressed with a finger, a position detection unit that detects a movement position of the operating body, an advancing / retreating driving unit that applies a force in a moving direction to the operating body, A touch generating unit that provides a touch to a finger touching the operating body is provided,
The control unit drives the advance / retreat drive unit based on the detection information from the position detection unit and applies a reaction force to the finger from the operating body, and operates the touch generation unit to feel the finger. It is characterized in that a feeling imparting control is given.

  In the tactile sensation reproducing device of the present invention, the touch generating part is a vibration generating part. In this case, the frequency of the vibration generated by the vibration generating unit is higher than the frequency of the reciprocating motion that can be given to the operating body by the advance / retreat driving unit.

  In the tactile sensation reproducing device of the present invention, the touch generation unit may be a thermal variable element, and the touch generation unit may include both a vibration generation unit and a thermal variable element.

The tactile reproduction device of the present invention is preferably provided with a posture detection unit for detecting the posture of the input device, and the touch imparting control is performed according to the posture of the input device detected by the posture detection unit. .
In the haptic reproduction apparatus of the present invention, it is preferable that a plurality of the operating bodies are provided.

For example, in the tactile reproduction device of the present invention, the input device includes a thumb operation body pressed by a thumb, a first opposing operation body and a second opposing operation body individually pressed by an index finger and a middle finger. Is provided,
The first opposing operating body and the second opposing operating body protrude in opposite directions with respect to the protruding direction of the thumb operating body.

  In the haptic reproduction apparatus of the present invention, the control unit holds information about the object to be held, and based on the information, the reaction force application control imitating holding the object to be held with a finger and the touch Granting control is performed.

Further, the tactile reproduction device of the present invention is provided with a display device,
The control unit displays a virtual image of the held object and a hand image on the display screen of the display device,
When the operation body of the input device is pressed, a display for changing the state of the object to be held is performed with the image of the hand.

  In this case, it is preferable that a sounding device associated with a change in the display screen of the input device is provided.

  In the tactile sensation reproducing device of the present invention, the softness and hardness of the object to be held are reproduced in the reaction force application control, and the movement and temperature of the object to be held are reproduced in the touch application control.

  The tactile reproduction device of the present invention generates a reaction force according to the moving position of the operating body when the operating body is pressed with a finger, thereby creating a soft texture or hardness that imitates a virtual object to be held. A feeling can be given to a finger.

  Furthermore, it is possible to give the finger a feeling of movement and temperature imitating the object to be held. At this time, the movement and temperature are changed according to the movement position of the operating body, and are changed according to the posture of the input device. be able to.

Explanatory drawing which shows the example which uses the haptic reproduction apparatus of the 1st Embodiment of this invention, Explanatory drawing which shows the example which uses the haptic reproduction apparatus of the 2nd Embodiment of this invention, FIG. 2 illustrates an input device provided in the tactile reproduction device shown in FIG. 1, (A) is a perspective view seen from above, (B) is a perspective view seen from below, FIG. 3 is an exploded perspective view of the input device shown in FIG. The perspective view which shows the tactile sense generation unit provided in the input device shown in FIG. The block diagram which shows the structure of the tactile reproduction apparatus of embodiment of this invention, FIG. 4 is a diagram illustrating a usage example of the tactile reproduction device according to the embodiment, and is an explanatory diagram illustrating a display image imitating an operation of pouring liquid into a soft cup as a virtual object to be held; FIG. 5 is a diagram illustrating a usage example of the tactile sensation reproducing device according to the embodiment, and is an explanatory diagram illustrating a display image imitating an operation of inclining a bottle as a virtual object to be held and causing liquid to flow out; Explanatory drawing which shows the example of use of the tactile reproduction device of an embodiment, and shows the display image which reproduces the tactile sense when grasping a spray bottle as a virtual held object, (A) is explanatory drawing which shows operation | movement of each operation body when grasping a cup or a bottle as a virtual to-be-held object, (B) is operation | movement of each operation body when operating a spray bottle as a virtual to-be-held object. Explanatory diagram showing, (A) shows the reaction force application control when imitating the action of pouring liquid into a soft cup, (B) shows the vibration application control of the feel control.

<Overall structure>
1A and 1B show a state in which the haptic reproduction apparatuses 1A and 1B of the present invention are used.

  A haptic reproduction device 1A according to the first embodiment shown in FIG. 1A includes a device main body 10A and an input device 20. In FIG. 1A, one input device 20 is used, and this input device 20 is operated with the right hand.

  The input device 20 is connected to the apparatus main body 10 </ b> A by a cord 52. A display device 13 is provided in the apparatus main body 10A. The display device 13 is a color liquid crystal display panel, an electroluminescence display panel, or the like. The apparatus main body 10A is a personal computer, a demonstration display apparatus having a relatively large display screen, or the like.

  As shown in FIG. 5, the apparatus main body 10 </ b> A is provided with a display driver 14 for driving the display device 13 and a control unit 15 for controlling the display form of the display driver 14. The control unit 15 is composed mainly of a CPU and a memory. In addition, an interface 16 is provided for exchanging signals between the control unit 15 and each input device 20.

  A tactile reproduction device 1B according to the second embodiment shown in FIG. 1B includes a device body 10B and an input device 20. In FIG. 1B, two identical input devices 20 are used, and the input device 20 is operated with the right hand and the left hand.

  The apparatus main body 10B includes a mask type main body 11 to be mounted in front of the eyes and a strap 12 for mounting the mask type main body 11 to the head.

  A display device 13 is provided on the mask-type main body 11 of the apparatus main body 10B. This display device 13 is installed in front of the eyes of the operator and is visible. The display driver 14, the control unit 15, the interface 16, and the like illustrated in FIG. 5 are mounted on the mask type main body 11.

  2A is a perspective view of the external appearance of the input device 20 from above, and FIG. 2B is a perspective view of the external appearance of the input device 20 viewed from below. FIG. 3 is an exploded perspective view of the input device 20. FIG. 4 shows the structure of the first tactile sensation generating unit 30 </ b> A among the three sets of tactile sensation generating units built in the input device 20. 2A, FIG. 3 and FIG. 4 show XYZ coordinates based on the input device 20. FIG. In the input device 20, the Z direction is the pressing direction of each operating body.

  In the usage example shown in FIGS. 1A and 1B, the input device 20 is held by a human hand in a posture in which the Y direction is directed up and down.

  As shown in FIG. 2, the input device 20 has a case 21 made of synthetic resin. The case 21 is large enough to be held with one hand. The case 21 is configured by combining an upper case 22 and a lower case 23. As shown in FIG. 3, the upper case 22 and the lower case 23 can be divided in the Z direction. The upper case 22 and the lower case 23 are fixed to each other by screwing means or the like, and a mechanism housing space is formed inside the two cases 22 and 23.

  The surface of the upper case 22 facing the Z direction is the first surface 22a, and the surface of the lower case 23 facing the Z direction is the second surface 23a. As shown in FIG. 3, the upper case 22 has operation holes 24, 24 penetrating in the Z direction on the first surface 22a. The lower case 23 has an operation hole 25 penetrating the second surface 23a in the Z direction. The operation holes 24 and 24 are formed side by side in the Y direction, and the opening size in the Y direction is larger in the operation holes 25 than in the individual operation holes 24.

  A connector mounting hole 26 is opened on the end surface of the upper case 22 facing the Y direction, and a power plug mounting hole 27 is opened on the end surface of the lower case 23 facing the Y direction.

  As shown in FIG. 3, a mechanism chassis 28 is stored in a mechanism storage space inside the case 21. The mechanism chassis 28 is bent from a metal plate to form a mounting plate portion 28a parallel to the XY plane and a partition plate portion 28b parallel to the YZ plane.

  The first tactile sensation generating unit 30A and the second tactile sensation generating unit 30B are fixed to one side in the X direction across the sorting plate portion 28b. The first tactile sensation generating unit 30A and the second tactile sensation generating unit 30B are arranged side by side in the Y direction. One set of the third tactile sensation generating unit 40 is provided on the other side in the X direction across the sorting plate portion 28b.

<Structure of tactile generating unit>
FIG. 4 shows the structure of the first tactile sensation generating unit 30A.

  The first tactile sensation generating unit 30 </ b> A has a frame 31 in which a metal plate 30 is bent. The first tactile sensation generating unit 30A is mounted on the mechanism chassis 28 by fixing the frame 31 to the sorting plate portion 28b.

  A moving member 32 </ b> A is provided on the frame 31. The moving member 32A is made of a synthetic resin material, and the first opposing operation body 33A is fixed to the tip thereof. The first opposing operation body 33A is formed of a synthetic resin material. As shown in FIG. 2, the first opposing operation body 33 </ b> A protrudes outward from the operation hole 24 formed in the upper case 22.

  As shown in FIG. 1A and FIG. 1B, when the input device 20 is held with the right hand, the first opposing operation body 33A is pushed with the index finger, and as shown in FIG. When the device 20 is held with the left hand, the first opposing operation body 33A is operated with the middle finger.

  As shown in FIG. 4, a guide long hole 31 c extending in the Z direction is formed in one side plate portion 31 a of the frame 31. A sliding protrusion 32a is integrally formed on the side of the moving member 32A, and the moving member 32A slides on the frame 31 in the Z direction by sliding the sliding protrusion 32a inside the guide slot 31c. It is supported to move freely. The moving member 32A has a recess 32b. A compression coil spring 34 is interposed between the moving member 32A and the lower end portion of the frame 31 inside the recess 32b. Due to the elastic force of the compression coil spring 34, the moving member 32 </ b> A is biased upward in the figure in the Z direction, which is the direction in which the first opposing operation body 33 </ b> A protrudes from the upper case 22.

  A motor 35 </ b> A is fixed to one side wall portion 31 a of the frame 31. An output gear 36a is fixed to the output shaft of the motor 35A. A reduction gear 36b is rotatably supported on the outer surface of the side wall 31a, and the output gear 36a and the reduction gear 36b are engaged with each other. A gear box 37 is fixed to the side wall 31 a of the frame 31, and a speed reduction mechanism is housed inside the gear box 37. The rotational force of the reduction gear 36 b is reduced by a reduction mechanism in the gear box 37. The speed reduction mechanism in the gear box 37 includes a sun gear and a planetary gear.

  A pinion gear 37 a is fixed to the reduction output shaft of the gear box 37. A rack part 32c is formed on the surface of the thick part of the moving member 32A, and the pinion gear 37a and the rack part 32c are engaged with each other. The tooth part of the pinion gear 38a and the tooth part of the rack part 32c are helical teeth inclined with respect to the Y direction orthogonal to the moving direction of the moving member 32A.

  By providing the compression coil spring 34, backlash between the pinion gear 38a and the rack portion 32c can be eliminated. However, the compression coil spring 34 may not be provided in each tactile sensation generating unit.

  In this embodiment, the motor 35A, the gears 36a and 36b, the gear box 37, the pinion gear 37a, and the rack portion 32c constitute an advance / retreat drive unit.

  A position detection unit 38A is fixed to the other side wall 31b of the frame 31. 38 A of position detection parts have the stator part fixed to the side wall part 31b, and the rotor part rotated facing a stator part. The rotor shaft provided in the rotor portion rotates together with the pinion gear 37a. The position detection unit 38A is a resistance change type, and an arc-shaped resistor pattern is provided in the stator portion, and a slider that slides the resistor pattern is provided in the rotor portion. The position detection unit 38A is a magnetic detection type. A rotating magnet is fixed to the rotor unit, and a magnetic detection element such as a GMR element is provided on the stator unit. The rotation angle of the rotor unit is detected by the magnetic detection element. It may be a thing. Alternatively, the position detection unit 38A may be an optical position detection unit.

  As shown in FIG. 3, the second tactile sensation generating unit 30B is fixed alongside the first tactile sensation generating unit 30A on one side in the X direction across the sorting plate portion 28b. Since the structure of the second tactile sensation generating unit 30B is the same as that of the first tactile sensation generating unit 30A, detailed description of the structure is omitted.

  In the second tactile sensation generating unit 30B, the second opposing operation body 33B is fixed to the upper part on the Z side of the moving member 32B. The second opposing operating body 33B has the same shape and dimensions as the first opposing operating body 33A.

  Further, in the second tactile sensation generating unit 30B, the motor is indicated by 35B and the position detecting unit is indicated by 38B. These are the motor 35A and the position detecting unit 38A provided in the first tactile generating unit 30A. The same.

  As shown in FIG. 1A and FIG. 1B, when the input device 20 is held with the right hand, the second opposing operation body 33B is pushed with the middle finger, and as shown in FIG. When the device 20 is held with the left hand, the second opposing operation body 33B is operated with the index finger.

  As shown in FIG. 3, a third tactile sensation generating unit 40 is provided on the other side of the partition plate portion 28 b of the mechanism chassis 28.

  The third tactile generating unit 40 has the same basic structure as the first tactile generating unit 30A and the second tactile generating unit 30B, but the third tactile generating unit 40 is configured to be slightly larger. Yes. In the third tactile sensation generating unit 40, a moving member 42 is supported by a frame 41 so as to be movable in the Z direction, and a thumb operating body 43 is fixed to the front portion of the moving member 42. The thumb operation body 43 projects downward from the operation hole 25 of the lower case 23 in the figure. The moving member 42 is biased by a compression coil spring 44 in a direction in which the thumb operating body 43 protrudes from the operation hole 25. As described above, the compression coil spring 44 can be omitted.

  The thumb operating body 43 has a width dimension in the Y direction that is larger than that of the first opposing operating body 33A and the second opposing operating body 33B, and the first opposing operating body 33A and the second opposing operating body. Both 33B oppose the thumb operating body 43 in the Z direction. As shown in FIGS. 1A and 1B, the thumb operating body 43 is operated with the thumb both when the input device 20 is held with the right hand and with the left hand.

  Also in the third tactile sensation generating unit 40, the motor 45 is fixed to the frame 41, and the output gear 46a fixed to the output shaft of the motor 45 meshes with the reduction gear 46b. The rotational force of the reduction gear 46b is reduced by a reduction mechanism in the gear box 47, and the reduction output is transmitted from the pinion gear to the rack portion formed on the moving member 42. Then, the rotation of the pinion gear is detected by the position detector 48.

  As shown in FIG. 2, the first feel generating portion 56A is fixed to the end face of the first opposing operation body 33A, and the second touch generation portion 56B is fixed to the end face of the second opposing operation body 33B. . In addition, a third feel generating portion 55 is fixed to the end face of the thumb operating body 43.

  As shown in FIG. 4, the first feel generation unit 56A includes a vibration generation unit 57 fixed to the end face of the first opposing operation body 33A, and a heat variable element 58 superimposed on the vibration generation unit 57. Have. The second touch generation unit 56B also has a vibration generation unit 57 and a heat variable element 58 superimposed thereon. Similarly, the third touch generating unit 55 also includes a vibration generating unit 57 and a heat variable element 58 superimposed thereon.

  In the vibration generating unit 57, a vibrator is housed inside a cubic case. The vibrator is supported in the case so as to freely vibrate in the Z direction by an elastic member such as a leaf spring. A coil is wound around the vibrator, and a magnet facing the coil is fixed in the case. The vibrator vibrates by applying an alternating current to the coil. Conversely, the vibrator may be formed of a magnet, and a coil facing the vibrator may be fixed in the case. Or you may comprise the vibration generation part 57 by a piezoelectric element.

  The vibration generating unit 57 can generate a vibration having a relatively high frequency, and the vibration frequency is determined by the first tactile sensation generating unit 30A, the second tactile sensation generating unit 30B, and the third tactile sensation generating unit 40. The frequency of the reciprocating motion that can be generated by the driving force of the motors 35A, 35B, and 45 can be made higher.

  The heat variable element 58 is a so-called Peltier element, and utilizes the heat transfer of the Peltier effect when a direct current is applied to two opposing metal plates, and the surface side in the Z direction according to the current direction. The amount of heat of the metal plate changes. By controlling the current direction and the amount of current, it is possible to make the finger touching the heat variable element 58 feel a warm temperature or a cold temperature.

  As shown in FIG. 3, a signal connector 17 and a power plug 29 are built in the case 21. The signal connector 17 is exposed inside a connector mounting hole 26 formed in the upper case 22, and the power plug 29 is exposed inside a power plug mounting hole 27 formed in the lower case 23.

  As shown in the block diagram of FIG. 5, a motor driver 51 is provided in each of the first tactile sensation generating unit 30A, the second tactile sensation generating unit 30B, and the third tactile sensation generating unit 40. The motor 35A provided in the first tactile sensation generating unit 30A, the motor 35B provided in the second tactile sensation generating unit 30B, and the motor 45 provided in the third tactile sensation generating unit 40 are rotated by respective motor drivers 51. Driven.

  Each motor driver 51 is connected to the signal connector 17 via an interface 17a.

  The position detector 38A mounted on the first tactile sensation generating unit 30A, the position detector 38B mounted on the second haptic generating unit 30B, and the position detector 48 mounted on the third tactile generating unit 40 are respectively The signal connector 17 is connected via an interface 17a.

  The first tactile generating unit 30A mounted on the first tactile generating unit 30A, the second tactile generating unit 56B mounted on the second tactile generating unit 30B, and the third tactile generating unit 40 are mounted. In addition, the third touch generating portion 55 is also connected to the signal connector 17 via the interface 17a.

  As shown in FIG. 5, an attitude detection unit 53 is provided inside the case 21 of the input device 20. The posture detection unit 53 is, for example, a magnetic sensor that detects a geomagnetic sensor or a vibration type gyro device, and can detect the posture of the input device 20 in the operation space and the position in the operation space. The attitude detection unit 53 is connected to the signal connector 17 via the interface 17a.

  As shown in FIG. 5, an interface 16 is provided in the apparatus main bodies 10 </ b> A and 10 </ b> B, and a signal connector to which each interface 16 is connected and the signal connector 17 to which each interface 17 a is connected are represented by a cord 52. It is connected. The cord 52 includes a power line, and the power line is connected to the power plug 29. Power is supplied to the input device 20 from the apparatus main bodies 10A and 10B through the power supply line.

  The apparatus main bodies 10A and 10B and the respective input devices 20 can communicate with each other by an RF signal, and the input device 20 may include a battery. In this case, the cord 52 that connects the apparatus main bodies 10A and 10B and the input device 20 is not necessary.

  Further, the apparatus main bodies 10A and 10B may further have a communication function with the server.

  Further, the apparatus main body 10A shown in FIG. 1A and the apparatus main body 10B shown in FIG. 1B are each provided with a sounding device. The sound generation device is a speaker that emits sound in space, or a receiver that applies sound to an operator's ear.

Next, an operation method and operation of the haptic reproduction apparatus 1 will be described.
<Operation of input device 20 and reaction force application control>
As shown in FIG. 2, in the input device 20, the first opposing operation body 33A and the second opposing operation body 33B protrude from the first surface 22a of the case 21, and one thumb operation is performed on the second surface 22b. The body 43 protrudes, and the two opposing operation bodies 33A and 33B and the thumb operation body 43 protrude in opposite directions in the Z direction. As shown in FIGS. 1A and 1B, one input device 20 is held by one hand, the thumb operating body 43 is pressed by the thumb, and the first opposing operating body 33A and the second are operated by the index and middle fingers. The opposite operation body 33B is pressed.

  In the input device 20, a control command is given to each motor driver 51 by the reaction force application control of the control unit 15, and the motor 35B of the first tactile sensation generating unit 30A, the motor 35B of the second tactile sensation generating unit 30B, and the third The motor 45 of the tactile sensation generating unit 40 is operated based on the control command.

  By controlling the rotation of the motors 35A and 35B and the motor 45, the moving members 32A and 32B and the moving member 42 can be moved to arbitrary positions and stopped at those positions. For example, the first opposing operating body 33A, the second opposing operating body 33B, and the thumb operating body 43 can be stopped at a position where they protrude from the case 21 to the maximum extent, or the operating bodies 33A, 33B, 43 can be stopped. The case 21 can be stopped at the maximum retracted position. Further, the operating bodies 33A and 33B and the operating body 43 can be stopped at any position between the maximum projecting position and the maximum retracted position.

  Further, by controlling the electric power applied to the motors 35A, 35B and the motor 45, the motors 35A, 35B, 45 are controlled so that they do not move even if the operating bodies 33A, 33B, 40 protruding from the case 21 are pushed with a finger. The rotor can be held with a strong force.

  When each of the moving members 32A, 32B, and 42 is in a movable state, any one of the first opposing operating body 33A, the second opposing operating body 33B, and the thumb operating body 43 is pressed to move the moving members 32A, 32B, When 42 moves in the push-in direction, the movement position is detected by the position detection units 38A, 38B or the position detection unit 48, and the detection output is given to the control unit 15. The control unit 15 holds data on a reaction force action line (reaction force action coefficient) indicating the relationship between the moving distance and the reaction force for reaction force application control, and controls the operating bodies 33A, 33B, and 43. Depending on the push-in position, the motors 35A, 35B or the motor 45 are controlled so as to generate torque according to the reaction force action line. Accordingly, a reaction force is applied to the index finger and the middle finger pressing the opposing operation bodies 33A and 33B, and the thumb pressing the thumb operation body 43.

  FIG. 10A shows an example of data of reaction force action lines (reaction force action coefficients) stored in the memory in the control unit 15. In either case, the horizontal axis represents the push amount (push position) of the operating bodies 33A, 33B, 43, and the push amount increases toward the right in the figure.

  The vertical axis represents the moving force applied from the motors 35A, 35B, 45 to the moving members 32A, 32B, 42, and the moving force is applied to each finger from the opposing operating bodies 33A, 33B and the thumb operating body 43. It becomes. As the vertical axis moves upward, the force for causing the opposing operation bodies 33A and 33B and the thumb operation body 43 to protrude from the case 21 increases, and the reaction force felt by the finger increases.

  The reaction force action line indicated by a solid line in FIG. 10A indicates that the reaction force felt on the finger in proportion to the amount of pushing when the operating bodies 33A, 33B, 43 are pushed toward the case 21 is linear function-like. Has increased. This means that the reaction force increases as the operating body is pushed in with a finger. The inclination of the solid line in this case corresponds to the elastic coefficient when a virtual held object, which is an elastic body, is pressed with a finger.

  The reaction force action line indicated by a broken line in FIG. 10A is a horizontal straight line. This means that when each operating body 33A, 33B, 43 is pushed toward the case 21, the reaction force felt by the finger is constant no matter where it is pushed. This mimics the action of pressing a soft object that exhibits little elasticity with a finger.

  In this way, by controlling the motors 35A, 35B, and 45, it is possible to give a hard feeling and a soft texture to the fingers holding the operating bodies 33A, 33B, and 43.

<Operation of Input Device 20 and Feeling Control>
When the thumb touches the thumb operating body 43 and the index finger and middle finger touch the first opposing operating body 33A and the second opposing operating body 33B, the touch control signal from the control unit 15 generates the first tactile sensation. The first touch generation unit 56A provided in the unit 30A, the second touch generation unit 56B provided in the second touch generation unit 30B, and the third touch generation unit provided in the third touch generation unit 40. 55.

  The vibration generators 57 of the touch generators 55, 56A, and 56B are individually or simultaneously controlled by the touch control signal to apply vibration to the finger. In addition, the thermal variable element 58 of each of the touch generation units 55, 56A, and 56B is controlled individually or simultaneously by the touch control signal to change the temperature felt by the finger. The vibration generator 57 and the heat variable element 58 may be driven and controlled simultaneously by the touch control signal, or only one of the vibration generator 57 and the heat variable element 58 may be driven and controlled. .

  Therefore, each of the touch generation units 55, 56 </ b> A, and 56 </ b> B may be configured by only the vibration generation unit 57 or may be configured by only the heat variable element 58.

  In the feeling imparting control, the control unit 15 monitors the detection signals from the position detection units 38A, 38B, and 48, and generates vibrations according to the pressing amounts when the operating bodies 33A, 33B, and 43 are pressed by the finger. The frequency of vibration generated in the unit 57 and the duty ratio of vibration may be changed, or the temperature felt by the finger from the heat variable element 58 may be changed according to the amount of pressing.

  Alternatively, the control unit 15 changes the frequency of vibration generated by the vibration generation unit 57 and the duty ratio of the vibration in accordance with the change in the posture of the input device 20 based on the detection signal from the posture detection unit 53 to change the heat. The heat (temperature) that the finger feels from the element 58 may be changed.

  Alternatively, as shown in FIGS. 10B and 10C, the frequency of vibration generated by the vibration generating unit 57 and the duty ratio of vibration may be changed with the passage of time. The heat that the finger feels from the variable element 58 may be changed.

<Operation that mimics the action of pouring liquid into a soft cup>
In the tactile sensation reproducing apparatuses 1A and 1B, an operator's hand can feel a reaction force and a touch imitating holding a plurality of types of virtual held objects by hand. Data of reaction force action lines (reaction force action coefficients) and touch control information of a plurality of types of virtual held objects are stored in a memory provided in the control unit 15. Further, the display driver 14 is controlled by the control unit 15 so that images of a plurality of types of virtual held objects can be selected on the display device 13 shown in FIG. 1A or FIG. 1B, and hand images are also displayed. . These displays are based on computer graphics.

  In FIG. 6, a soft cup 61 is displayed on the display screen 13 a of the display device 13 as a virtual object to be held. This cup is assumed to be made of paper or a thin synthetic resin material.

  An image of the hand H is displayed on the display screen 13a, and by performing a predetermined operation, the image of the hand H appearing on the display screen 13a moves, and the cup 61 is held by the image of the hand H. The display status changes to. For example, when the input device 20 is moved while being held by hand, the movement posture is detected by the posture detection unit 53 and information on the posture is given to the control unit 15. The display driver 14 is controlled by this information, and the image of the hand H appearing on the display screen 13a is moved and displayed so as to go to the cup 61. Alternatively, when the cup 61 is selected as an object to be held with another operation member such as a keyboard, the display state is changed so that the hand H appearing on the display screen 13 a holds the image of the cup 61.

  When the soft cup 61 is selected as the virtual object to be held, the motors 35A, 35B, and 45 are controlled, and the initial positions of the opposing operation bodies 33A and 33B and the thumb operation body 43 are set. When the virtual object to be held is the cup 61, the opposing operation bodies 33A and 33B and the thumb operation body 43 are set to the initial positions that protrude from the case 21 to the maximum as shown in FIG.

  The control unit 15 reads the data of the reaction force action line (reaction force action coefficient) shown in FIG. 10A from the memory, and the control unit 15 selects each motor 35A, 35B, 45 based on the reaction force action line data. To control. In the third tactile sensation generating unit 40, the reaction force applied from the motor 45 to the moving member 42 and the thumb operating body 43, and in the first tactile sensation generating unit 30A, the moving member 32A and the first opposing operating body 33A are provided. And the reaction force applied from the motor 35B to the moving member 32B and the second opposing operation body 33B in the second tactile sensation generating unit 30B are set as shown in FIG.

  In the reaction force action line shown in FIG. 10A, the reaction force Fa, Fb, Fc applied to each finger is controlled to increase with a substantially linear function as the amount of pressing by the three fingers increases. In other words, the cup 21 that can be elastically deformed is held by the three fingers that hold the input device 20, and it can be felt as if it is receiving an elastic reaction force from the cup 21.

  Next, when a predetermined operation is performed, the display state of the display screen 13a changes so that the liquid 62 is poured into the cup 62 as shown in FIG. This predetermined operation is performed by, for example, performing the operation as if holding the input device 20 with the left hand and holding the soft cup 61 with the left hand, and the liquid displayed on the display screen 13a with the right hand. This is an operation of pressing a start button for operating the server. Alternatively, it is an operation of pressing one of the three operating bodies 33A, 33B, 43 of the input device 20 held in the right hand.

  Alternatively, as shown in FIG. 7, when the input device 20 is held with the right hand, an image holding the bin 71 with the right hand appears on the display screen. In this display state, when the input device 20 held by the right hand is tilted counterclockwise, the operation is detected by the posture detection unit 53, and the liquid 62 flows out from the bottle 71 by a control command from the control unit 15. As shown in FIG. 6, the display state may be changed so that the liquid 62 is poured into the image of the cup 61 held by the left hand.

  At this time, the reaction force Fa, Fb, Fc applied to each finger according to the increase in the amount of liquid poured into the cup 61 is gradually increased by the reaction force action line (reaction force action coefficient) stored in the memory. Control to increase is performed. When the liquid in the cup 61 increases while the soft cup 61 is held in the left hand, the finger holding the cup 61 is pushed back by the liquid inside, and the cup 61 feels slightly swollen. However, by controlling the reaction force as described above, the left hand holding the input device 20 can be given an operational feeling that simulates the process of filling the liquid. become.

  Further, as shown in FIG. 6, when an image in which the liquid is poured into the cup 61 is displayed on the display screen 13a, the control unit 15 performs the touch based on the touch imparting information stored in the memory. Grant control is performed.

  First, when the liquid 61 is poured, a vibration applying signal is given to the touch generating units 55, 56A, and 56B, and the vibration generating unit 57 is controlled to generate vibration. For example, as shown in FIG. 10B, the vibration generation unit 57 generates vibration at a relatively high frequency f, and control is performed to gradually shorten the vibration generation period t. When such vibration is applied to the finger from each of the touch generation units 55, 56A, and 56B, it is possible to cause the finger to feel the same vibration (movement) as when the liquid is poured into the soft cup 61. By gradually shortening the vibration generation period t and gradually increasing the frequency of the vibration generation period t, the finger feels as if the amount of liquid poured into the cup 61 is increased. be able to.

  When a cold drink is assumed as the liquid 62 to be poured into the cup 61, a heat control signal is given from the control unit 15 to the heat variable elements 58 of the touch generating units 55, 56 </ b> A, 56 </ b> B, and poured into the cup 61. As the liquid 62 is increased, the temperature applied to the finger is gradually lowered. By this temperature control, the temperature felt by the finger holding the operating body 20 changes, and it is possible to obtain a feeling as if the cold liquid is gradually filled in the cup 61. When a hot drink is assumed as the liquid 62, the heat (temperature) applied to the finger from the heat variable element 58 is controlled to increase as the amount of the liquid 62 poured increases.

  In addition, the sounding device is operated to generate a sound when the liquid 62 is poured into the cup 61, thereby further enhancing the sense of presence.

<Operation that mimics the action of inclining a bottle to drain liquid>
FIG. 7 shows a display example when a bottle 71 containing the liquid 62 as a virtual held object is selected.

  In the same manner as when the cup 61 is selected, the input device 20 held with the right hand is moved, and the image of the hand H displayed in the display screen 13a is moved to the position of the image of the bin 71, thereby displaying The display state of the screen 13a can be changed to an image obtained by grasping the bin 71 with the hand H.

  When the bin 71 is selected as the virtual object to be held and displayed on the display screen 13a, the initial positions of the first opposing operation body 33A, the second opposing operation body 33B, and the thumb operation body 43 of the input device 20 are as follows. As shown in FIG. 9 (A), a state of protruding from the case 21 is set.

  Since the bin 71 is assumed to be a hard object such as glass, the torque of the motors 35A, 35B, 45 is set to a maximum value so that the operating bodies 33A, 33B, 43 do not move easily. Thus, the same holding feeling as holding the hard bottle 71 can be given to the finger. When the bottle 71 is made of a soft material such as a synthetic resin (PET), the operation bodies 33A and 33B are set by setting reaction force action lines similar to those shown in FIG. , 43, the reaction forces Fa, Fb, Fc acting on the finger are gradually increased as the amount of pushing in increases, so that the finger feels the elasticity of the bin 71.

  When the posture of the input device 20 is rotated by rotating the right hand holding the input device 20 counterclockwise in the direction seen from the eyes, the operation is detected by the posture detection unit 53 shown in FIG. That information is given. Based on this posture information, the display driver 14 is controlled by the control unit 15 so that the image of the hand H and the image of the bin 71 displayed on the screen 13a are rotated counterclockwise as shown in FIG. The display changes, and an image in which the liquid 62 flows out of the bottle 71 is displayed.

  At this time, vibration is generated by the vibration generation unit 57 provided in each of the touch generation units 55, 56A, and 56B, so that the same vibration as the liquid 62 flows out from the bottle 71 can be applied to the finger. Also in this case, by changing the vibration generation period t in the same manner as in FIGS. 6B and 6C, it is possible to give the finger a feeling as if the liquid 62 is gradually flowing out of the bottle 71.

  When the cold liquid 62 is assumed, each heat variable element 58 is controlled to make the finger feel a cold temperature when the liquid 62 is not flowing out, and as the outflow amount of the liquid 62 increases. By performing the feeling imparting control for gradually increasing the temperature, it is possible to give the finger holding the input device 20 as if the cold liquid 62 is gradually flowing out.

  When the warm liquid 62 is assumed, control is performed to gradually lower the temperature felt by the finger as the amount of outflow of the liquid 62 increases.

In addition, the sounding device is operated to generate a sound when the liquid 62 flows out from the bottle 71, thereby further enhancing the sense of presence.
<Tactile reaction force when operating a spray bottle as a virtual object to be held>
FIG. 8 shows a display example when the spray bottle 80 is selected as a virtual object to be held.

  The image of the spray bottle 80 displayed on the display screen 13 a includes a bottle body 81 that is assumed to contain various liquids, a nozzle cap 82 that is fixed to the opening end of the bottle body 71, and a nozzle cap 82. A discharge nozzle 83 provided forward and a discharge button 84 provided on the nozzle cap 82 are provided.

  The input device 20 held by the right hand is moved to move the image of the hand H displayed in the display screen 13a to the position of the image of the spray bottle 80, so that the display screen 13a is moved by the hand H to the spray bottle 80. Can be changed to a captured image.

  When the image of the spray bottle 80 is selected as a virtual object to be held and displayed on the display screen 13a, the moving member 42 is moved in the pulling direction by the motor 45, and the moving member 32B is moved in the pulling direction by the motor 35B. It is done. As a result, as shown in FIG. 9B, the initial state of the input device 20 is a state in which the thumb operation body 43 and the second opposing operation body 33B are retracted toward the case 21, and the first opposing operation body Only 33A protrudes from the case 21.

  A thumb operation body 43 that is retracting toward the case 21 is held by the thumb, and a second counter operation body 33B that is also retracting is held by the middle finger, and the first counter operation body protruding from the case 21 When 33A is pushed in with the index finger, the index finger F2 displayed on the display screen 13a shown in FIG. 8 moves to retreat the image of the discharge button 84, and at the same time, the liquid 85 from the protruding nozzle 83 displayed on the display screen 13a. The image changes so that is sprayed in a mist.

  At this time, the reaction force applied from the motor 35A to the first opposing operation body 33A is controlled so that the operation reaction force acting on the index finger gradually increases as the first opposing operation body 33A is pressed. .

  The operator actually operates the input device 20 while viewing the image shown in FIG. 8, and further generates a sound imitating that the liquid 85 is sprayed from the spray bottle 80 (liquid ejection sound). You can get an operational feel as if you were handling a bottle.

  Further, by generating vibration from the vibration generating unit 57 of the first touch generating unit 56A provided in the first opposing operation body 33A, the index finger feels vibration when the liquid 85 is sprayed from the spray bottle 80. Can be made.

<Examples of other held objects>
The held object displayed on the display screen 13a when the input device 20 is held can correspond to various objects such as balloons containing liquid, musical instruments such as maracas, and playground equipment such as kendama.

1A, 1B Tactile reproduction device 10A, 10B Device main body 11 Mask type main body 13 Display device 15 Control unit 20 Input device 21 Case 28 Mechanism chassis 30A First tactile generation unit 30B Second tactile generation unit 32A, 32B Moving member 33A First One opposing operation body 33B Second opposing operation bodies 35A, 35B Motors 38A, 38B Position detection unit 40 Third touch generation unit 42 Moving member 43 Thumb operation body 45 Motor 48 Position detection unit 55 Third touch generation unit 56A First feel generation unit 56B Second feel generation unit 57 Vibration generation unit 58 Thermal conversion element

Claims (12)

An input device and a control unit;
In the input device,
An operating body that can move forward and backward and can be pressed with a finger, a position detection unit that detects a moving position of the operating body, an advancing / retreating drive unit that applies a force in an advancing / retreating direction to the operating body, There is a touch generating part that gives a touch to the finger touching the body,
In the control unit,
Reaction force application control for driving the advance / retreat drive unit based on detection information from the position detection unit and applying force to the finger from the operating body, and feeling application control for operating the touch generation unit to give a touch to the finger A tactile reproduction device characterized in that is performed.   The tactile sensation reproducing device according to claim 1, wherein the tactile generating unit is a vibration generating unit.   The tactile sensation reproducing device according to claim 1, wherein the tactile generating unit is a heat variable element.   The tactile sensation reproducing device according to claim 1, wherein the tactile sensation generating unit includes a vibration generating unit and a heat variable element.   The haptic reproduction apparatus according to claim 2 or 4, wherein a frequency of vibration generated by the vibration generating unit is higher than a frequency of reciprocating motion that can be given to an operating body by the advance / retreat driving unit.   6. The touch imparting control according to claim 1, wherein a posture detection unit that detects a posture of the input device is provided, and the feel imparting control is performed according to the posture of the input device detected by the posture detection unit. Tactile reproduction device.   The haptic reproduction apparatus according to claim 1, wherein a plurality of the operating bodies are provided. The input device includes a thumb operating body that is pressed with a thumb, a first opposing operating body and a second opposing operating body that are individually pressed with an index finger and a middle finger,
The tactile reproduction device according to claim 7, wherein the first opposing operation body and the second opposing operation body protrude in opposite directions with respect to the protruding direction of the thumb operation body.   The information related to the object to be held is held in the control unit, and based on the information, the reaction force application control and the feeling application control imitating holding of the object to be held with a finger are performed. 9. The tactile reproduction device according to any one of 8 to 8. A display device is provided,
The control unit displays a virtual image of the held object and a hand image on the display screen of the display device,
The tactile reproduction device according to claim 9, wherein when the operation body of the input device is pressed, a display for changing a state of the held object is performed by an image of the hand.   The tactile reproduction device according to claim 10, wherein a sound generation device associated with a change in a display screen of the input device is provided.   12. The softness and hardness of the object to be held are reproduced in the reaction force application control, and the movement and temperature of the object to be held are reproduced in the feel control. Tactile reproduction device.

Images