JP2017208024A - Haptic feedback device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a haptic feedback device that offers improved operability.SOLUTION: A haptic feedback device 1 includes; a touch pad 2 configured to detect tracing manipulation performed on a manipulation surface 20 thereof; a vibration imparting unit (first through fourth actuators 41-44) configured to vibrate the manipulation surface 20; and a controller for controlling the vibration imparting unit. When it is determined that tracing manipulation was performed on the manipulation surface 20, the controller imparts vibration that makes a point on the manipulation surface 20 draw an elliptical trajectory 75 in a vibration plane 40 crossing the manipulation surface 20. A manipulating finger touching the manipulation surface 20 is driven to a direction of the tracing manipulation and guided to an appropriate input position.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a tactile sense presentation device.

  As a conventional technique, a touch panel that is laid on the entire display screen and detects a contact position by an operator's operation part, a lateral displacement means for displacing the touch panel in the lateral direction of the display, and a touch panel is displaced in the vertical direction of the display There is known a touch panel device that includes a vertical displacement unit that controls the horizontal direction and a touch panel drive unit that performs drive control of the vertical direction displacement unit (see, for example, Patent Document 1).

  This touch panel device drives the horizontal direction displacement means and the vertical direction displacement means to displace and vibrate the touch panel in a two-dimensional direction in the plane along the screen of the display, and moves the operator's finger to an appropriate input position. Can be guided.

JP 2003-58321 A

  However, the conventional touch panel device requires a touch panel in which the operation finger is difficult to slide in order to guide the finger (operation finger) by the in-plane two-dimensional displacement. It may be difficult to perform and the operability may not be good.

  Accordingly, an object of the present invention is to provide a tactile sensation presentation apparatus that can improve operability.

  One aspect of the present invention includes a detection unit that detects a tracing operation performed on the operation surface, a vibration addition unit that applies vibration to the operation surface, and an operation surface within a plane that intersects the operation surface by controlling the vibration addition unit. There is provided a tactile sensation presentation apparatus including a control unit that applies vibration such that an upper point draws an elliptical orbit and drives an operation finger in contact with an operation surface in an operation direction.

  According to the present invention, operability can be improved.

FIG. 1A is a schematic diagram of the inside of a vehicle on which an example of a tactile sensation presentation apparatus according to an embodiment is mounted, and FIG. 1B is an example of a block diagram of the tactile sensation presentation apparatus. FIG. 2A is a top view illustrating an example of the tracing operation performed on the operation surface of the tactile presentation device according to the embodiment, and FIG. 2B is an example of a side view of the tactile presentation device. FIG. 3A is a top view illustrating an example of a tracing operation performed on the operation surface of the tactile presentation device according to the embodiment, and FIG. 3B is a schematic diagram for explaining an example of an elliptical orbit. FIG. 3C is a schematic diagram illustrating an example of a vibration pattern of the vibration adding unit. FIG. 4A to FIG. 4C are schematic diagrams for explaining an example of the shearing force applied to the operation finger by the tactile sense presentation device according to the embodiment. FIG. 5 is a flowchart showing an example of the operation of the tactile sense presentation device according to the embodiment.

(Summary of embodiment)
A tactile sense presentation device according to an embodiment includes a detection unit that detects a tracing operation performed on an operation surface, a vibration addition unit that applies vibration to the operation surface, and an in-plane that intersects the operation surface by controlling the vibration addition unit. And a control unit that applies vibration such that a point on the operation surface draws an elliptical trajectory and drives the operation finger in contact with the operation surface in the operation direction.

  This tactile sensation presentation device applies vibrations such that points on the operation surface draw an elliptical trajectory and drives the operation finger in the tracing operation direction. Therefore, compared to the case where this configuration is not adopted, the operation finger in the tracing operation direction is driven. Moves smoothly, improving operability.

[Embodiment]
(Outline of the tactile presentation device 1)
FIG. 1A is a schematic diagram of the inside of a vehicle on which an example of a tactile sensation presentation apparatus according to an embodiment is mounted, and FIG. 1B is an example of a block diagram of the tactile sensation presentation apparatus. FIG. 2A is a top view illustrating an example of the tracing operation performed on the operation surface of the tactile presentation device according to the embodiment, and FIG. 2B is an example of a side view of the tactile presentation device. Note that, in each drawing according to the embodiment described below, the ratio between figures may be different from the actual ratio. In FIG. 1B, main signals and information flow are indicated by arrows. Furthermore, “A to B” indicating a numerical range is used in the meaning of A or more and B or less.

  As an example, the tactile sense presentation device 1 is disposed on a floor console 80 extending between a driver seat and a passenger seat of the vehicle 8 as shown in FIG.

  The tactile sensation presentation apparatus 1 can operate a connected electronic device, and can also present a tactile sensation indicating that the electronic device has accepted the operation. The tactile sense presentation device 1 is connected to a display device 82 that functions as a display unit of the connected electronic device via the electronic device. The display device 82 is arranged on the center console 81 as shown in FIG.

  As shown in FIG. 1A and FIG. 1B, the tactile sensation presentation apparatus 1 applies vibration to the touch pad 2 as a detection unit that detects a tracing operation performed on the operation surface 20 and the operation surface 20. Vibration is added to the operation surface 20 by controlling the vibration addition unit 4 and the surface (vibration surface 40) intersecting the operation surface 20 by controlling the vibration addition unit 4 so that a point on the operation surface 20 draws an elliptical orbit. And a control unit 7 that drives the touching operation finger 9 in the tracing operation direction.

  The tactile sense presentation device 1 includes a load sensor 6 as a load detection unit that detects a push operation performed on the operation surface 20 by detecting a load acting on the touch pad 2. When the load sensor 6 detects a push operation, the control unit 7 controls the vibration adding unit 4 to vibrate the operation surface 20 up and down to present tactile feedback for the push operation.

(Configuration of touchpad 2)
The touch pad 2 is a touch sensor that detects the touched position on the operation surface 20 by, for example, touching the operation surface 20 with a part of the operator's body (for example, a finger) or a dedicated pen. For example, the operator can operate the connected electronic device by operating the operation surface 20. As the touch pad 2, for example, a touch pad of a resistance film method, an infrared method, a capacitance method, or the like can be used. The touch pad 2 of the present embodiment is, for example, a capacitive touch pad.

  As a modification, the detection unit may include a camera that generates a distance image such as a stereo camera, and may detect an operation performed on the operation surface based on the captured distance image.

The touch pad 2 includes, for example, a plurality of drive electrodes and a plurality of detection electrodes that are arranged below the operation surface 20 so as to cross while maintaining insulation. The touch pad 2 scans and reads out the capacitance generated between the drive electrode and the detection electrode in all combinations. Then, the touch pad 2 compares the read capacitance and the threshold value to calculate the contact point of the operating finger. The touch pad 2 periodically reads out the capacitance, and when an operating finger is detected, calculates the coordinates of the contact point and outputs the calculated information as detection information S ₁ to the control unit 7.

  For example, as shown in FIG. 2A, an XY coordinate system is set on the operation surface 20 with the lower left as the origin. The coordinates of the contact point are calculated as coordinates in this XY coordinate system. The normal direction of the operation surface 20 is the Z axis. The vertical vibration is, for example, vibration in a direction along the Z axis, and the normal direction is the upward direction.

(Configuration of vibration adding unit 4)
As shown in FIGS. 1B to 2B, the vibration adding unit 4 includes a first actuator 41 to a fourth actuator 44. The first actuator 41 to the fourth actuator 44 are, for example, monomorph type piezoelectric actuators including a metal plate and a piezoelectric element.

  This monomorph type piezoelectric actuator is an actuator having a structure that bends with only one piezoelectric element. Note that a modified example of the first actuator 41 to the fourth actuator 44 may be a bimorph piezoelectric actuator in which two piezoelectric elements are provided on both surfaces of a metal plate.

  The first actuator 41 to the fourth actuator 44 are, for example, arranged at the four corners of the back surface 21 of the operation surface 20 clockwise from the lower right of the paper surface of FIG.

The first actuator 41 gives vibration to the first driving signal S ₂ operation surface 20 based on the output from the control unit 7. The second actuator 42 applies vibration to the operation surface 20 based on the second drive signal S ₃ output from the control unit 7. The third actuator 43 applies vibration to the operation surface 20 based on the third drive signal S ₄ output from the control unit 7. The fourth actuator 44 applies vibration to the operation surface 20 based on the fourth drive signal S ₅ output from the control unit 7.

  As an example, the resonance frequency of the first actuator 41 to the fourth actuator 44 is 1 Hz to 200 Hz. The resonance frequency of the present embodiment is 80 Hz.

  When a squeeze film is formed on the operation surface 20 as a modified example, the first actuator 41 to the fourth actuator 44 are ultrasonically driven so as to vibrate at 20 kHz or more. By forming this squeeze film, the touch pad 2 can reduce the frictional force acting on the operation finger.

  The vibration adding unit 4 may be anything that vibrates the operation surface 20, and may be, for example, a voice coil.

(Configuration of load sensor 6)
The load sensor 6 is, for example, a sensor that uses a piezoelectric body, a resistance film, or the like. As an example, the load sensor 6 is disposed at the center of the back surface 21 of the operation surface 20 and detects a load P applied to the operation surface 20 as shown in FIGS. 2 (a) and 2 (b). Has been.

The load sensor 6 is configured to generate load information S ₆ indicating that a push operation has been performed and output the load information S ₆ to the control unit 7 when a load P equal to or greater than a predetermined threshold value is detected. Control unit 7 acquires the load information S ₆ indicating that the pushing operation is performed, controls the vibration adding portion 4 so as to vibrate the operation surface 20 in the vertical as tactile feedback for the push operation.

(Configuration of control unit 7)
The control unit 7 includes, for example, a CPU (Central Processing Unit) that performs operations and processes on acquired data according to a stored program, a RAM (Random Access Memory) that is a semiconductor memory, a ROM (Read Only Memory), and the like. Microcomputer. In this ROM, for example, a program for operating the control unit 7 and vibration pattern information 70 are stored. For example, the RAM is used as a storage area for temporarily storing calculation results and the like. The control unit 7 has means for generating a clock signal therein, and operates based on this clock signal.

The vibration pattern information 70 is information on a vibration pattern added to the operation surface 20. The controller 7 generates the first drive signal S ₂ to the fourth drive signal S ₅ based on the vibration pattern information 70 and drives the first actuator 41 to the fourth actuator 44.

Control unit 7, for example, as shown in FIG. 2 (a) and 2 (b), operating the finger 9 at time _{t 1} is detected at point _{A (X A, Y A)} , operating finger at time _{t 2} 9 is detected at point B (X _B , Y _B ), and if the time interval from time t ₁ to time t ₂ is less than or equal to a predetermined time interval, it is determined that the tracing operation has been performed. Further, the control unit 7 calculates the tracing operation direction based on the points A and B.

Note the time interval between the time t ₂ from time t _1, for example, a natural number multiple of the read cycle of the capacitance of the touch pad 2.

Further, the time interval from time t ₂ to time t ₇ to be described later is, for example, an equal interval and is a natural number times the readout cycle of the capacitance of the touch pad 2.

(About the elliptical orbit 75 added to the operation surface 20)
FIG. 3A is a top view illustrating an example of a tracing operation performed on the operation surface of the tactile presentation device according to the embodiment, and FIG. 3B is a schematic diagram for explaining an example of an elliptical orbit. FIG. 3C is a schematic diagram illustrating an example of a vibration pattern of the vibration adding unit. FIG. 4A to FIG. 4C are schematic diagrams for explaining an example of the shearing force applied to the operation finger by the tactile sense presentation device according to the embodiment.

Here, as an example, as shown in FIG. 3A, the operation finger 9 is detected at a point A (X _A , Y _A ) at time t ₁ , and the operation finger 9 is detected at point B (X _{B at} time t ₂ . , Y _B ), and the vibration that forms the elliptical orbit 75 presented when it is determined that the tracing operation has been performed will be described. Note that Y _A = Y _B. The tracing operation direction of the tracing operation is along the X-axis, and FIGS. 3 (a) and 3 (b) to indicate what follows the time t ₇ or later.

  For example, as illustrated in FIG. 3B, the control unit 7 adds vibration such that a point on the operation surface 20 draws an elliptical orbit 75 within the vibration surface 40 intersecting the operation surface 20. The operation finger 9 that is in contact with is driven in the tracing operation direction. This point is the contact point 25 where the operation finger 9 is detected.

  Further, as shown in FIG. 3B, the control unit 7 operates the operation surface 20 so that the major axis of the elliptical track 75 is in the normal direction of the manipulation surface 20 and the minor axis of the elliptical track 75 is in the parallel direction of the manipulation surface 20. The vibration applying unit 4 is controlled so as to add vibration to the. This minor axis coincides with the tracing operation direction. By this coincidence, the operation finger 9 is efficiently driven in the tracing operation direction. Hereinafter, the generation of the elliptical orbit 75 will be described with reference to FIGS. 3 (a) to 4 (c).

When the operation finger 9 is detected continuously at time t ₁ and time t ₂ , the control unit 7 determines that the tracing operation is being performed. At this time, the operation surface 20 is located at the reference position 23 as shown in FIG.

Next, at time t ₃ , as shown in FIGS. 3 (b) and 3 (c), the control unit 7 drives the first actuator 41 to the fourth actuator 44 to drive the first drive signals S ₂ to S 1. displacing upward from the fourth driving signal S ₅ reference position 23 output to the operation surface 20 a. Due to the upward displacement of the operation surface 20, the operation finger 9 is deformed so that the belly 90 is crushed as shown in FIG. Direction of displacement on the operation surface 20 is continued until time _{t 3} ~ time _{t 4.}

Next, from time t ₄ to time t ₅ , the control unit 7 causes the second actuator 42 and the third actuator 43 to displace the operation surface 20 upward, and the first actuator 41 and the fourth actuator 44 operate. The first drive signal S ₂ to the fourth drive signal S ₅ for shifting the surface 20 downward are output.

As shown in FIG. 3 (b), at time t ₅ from the time t _4, the operation surface 20 is lowered to the reference position 23 while being displaced in the tracing operation direction. At this time, the operation finger 9 receives the shearing force F and moves in the tracing operation direction together with the operation surface 20.

Then the control unit 7 from the time _{t 5} to time _{t 6,} the first driving signal _{S 2} ~ fourth driving signal _{S 5} to the first actuator 41 to the fourth actuator 44 to displace the operation surface 20 downwardly Is output.

At this time, as shown in FIG. 3B, the operation surface 20 is displaced downward while being displaced in a direction opposite to the tracing operation direction. That is, the operation surface 20 of the operation finger 9 is displaced while the deformation of the belly 90 is returned, as shown in FIG. Thus shearing force F acting on the operating finger 9 is smaller than the shearing force F exerted at a time t _{4 ~} time t _5. Further, since the operation finger 9 is operated in the tracing operation direction, the operation finger 9 moves in the tracing operation direction without moving with the operation surface 20.

Then the control unit 7 from the time t ₆ to time t _7, the first actuator 41 and a fourth actuator 44 displaces the operation surface 20 in the upward direction, the second actuator 42 and the third actuator 43 is operated The first drive signal S ₂ to the fourth drive signal S ₅ for shifting the surface 20 downward are output.

  At this time, the operation surface 20 rises to the reference position 23 while being displaced in the direction opposite to the tracing operation direction. However, since the shearing force F acting on the operation finger 9 is small, the operation finger 9 moves in the tracing operation direction.

Next time _{t 7} or later, it becomes a repetition of up to time _{t 3} ~ time _{t 7.} Time _{t 7,} the first driving signal _{S 2} ~ fourth driving signal _{S 5} for displacing upward that is, the first actuator 41 to the fourth actuator 44 at time _{t 3} the operation surface 20 from the reference position 23 Output.

From time t ₇ (time t ₃ ) to time t ₄ shown in FIG. 3B, the operation surface 20 is displaced in the tracing operation direction while deforming the belly 90 of the operation finger 9. Therefore, the operating finger 9 moves in the tracing operation direction. That is, the operation finger 9 is driven in the tracing operation direction while the operation surface 20 is displaced upward from the reference position 23.

The control unit 7 drives the operating finger 9 Repeat vibration pattern 71 up to the time t _{3 ~} time t ₇ in the tracing operation direction.

  As described above, when vibration that draws an elliptical orbit 75 is applied to the operation surface 20, a shearing force F in the direction of the tracing operation and the opposite direction acts on the operation finger 9. This shearing force F is greater in the tracing operation direction than in the opposite direction.

  The displacement of the operation surface 20 in the elliptical orbit 75 is zero in total. However, the impulse acting on the operation finger 9 due to the displacement of the operation surface 20 is asymmetrical in the upward and downward directions from the reference position 23 and does not become zero in total.

  That is, when the operation surface 20 is displaced upward, the impulse increases and the deformation of the operation finger 9 increases, and the operation finger 9 moves in the tracing operation direction following the operation surface 20. Further, when the operation surface 20 is displaced downward, the impulse is reduced and the deformation of the operation finger 9 is reduced, and the operation finger 9 moves in the tracing operation direction without following the operation surface 20. Such a bias of impulse is a force that drives the operating finger 9 in the tracing direction.

  Thus, when the vibration applying unit 4 is controlled so that a large shearing force F is generated in the same direction as the tracing operation direction while the tracing operation is being performed, the operating finger 9 moves on the operation surface 20. It becomes easy. On the other hand, the operation finger 9 is difficult to move on the operation surface 20 when the vibration applying unit 4 is controlled so that a large shearing force F is generated in a direction opposite to the tracing operation direction. Therefore, by combining these, the tactile sense presentation device 1 can guide the operation finger 9 to an arbitrary position on the operation surface 20.

  In the above description, the case where the elliptical trajectory 75 coincides with the tracing operation direction has been described. However, the tactile sense presentation device 1 is configured to add vibration so that the vibration surface 40 of the elliptical trajectory 75 intersects the tracing operation direction. May be.

  Below, an example of operation | movement of the tactile sense presentation apparatus 1 of this Embodiment is demonstrated according to the flowchart of FIG.

(Operation)
Tactile display device 1, when the power supply of the vehicle 8 is turned, the load sensor 6 outputs the load information S ₆ with the touch pad 2 is the operation surface 20 is periodically scanned to detect the operation finger 9.

The control unit 7 is first checked whether the detection operation fingers 9 on the basis of the detected information S _1. When “Yes” in Step 1 is established, that is, when the operation finger 9 is detected (Step 1: Yes), the control unit 7 determines whether the performed operation is a push operation or a tracing operation.

Control unit 7 determines that the push operation is performed on the basis of the detection information _{S 1} and load information _{S 6} (Step2: Yes), the first driving signal _{S 2} ~ fourth drive vibrating the operation surface 20 in the vertical It generates and outputs the vibration adding portion 4 on the basis of the signal _{S 5} vibration pattern information 70 (Step3). The vibration adding unit 4 adds vibration for a predetermined period based on the first drive signal S ₂ to the fourth drive signal S ₅ . The control unit 7 outputs to the electronic device to generate an operation information S ₇ indicating that a push operation is performed.

Here, the control unit 7 in step 2 determines that the tracing operation has been performed on the basis of the detection information _{S 1} and load information _{S 6} (Step2: No), it calculates a tracing operation direction (Step4). Next, the control unit 7 generates the first drive signal S ₂ to the fourth drive signal S ₅ that vibrate the operation surface 20 so as to draw the elliptical orbit 75 based on the vibration pattern information 70, and the vibration adding unit 4. (Step 5). Based on the first drive signal S ₂ to the fourth drive signal S ₅ , the vibration adding unit 4 applies vibration while the tracing operation is being performed, or until a predetermined distance or an operation target is approached. . The control unit 7 outputs to the electronic device to generate an operation information S ₇ based on the tracing operation.

  The operation target is, for example, an icon displayed on the display device 82. When the cursor or the like is moving toward the operation target by the tracing operation, the control unit 7 guides the operation finger 9 to guide the cursor to the operation target. At this time, for example, the control unit 7 may control the vibration adding unit 4 so that the shearing force F increases in the direction opposite to the tracing operation direction so that the cursor does not exceed the operation target. Control may be terminated before this.

(Effect of embodiment)
The tactile sense presentation device 1 according to the present embodiment can improve operability. Specifically, the tactile sensation providing device 1 applies vibrations such that a point on the operation surface 20 draws an elliptical trajectory 75 and drives the operation finger 9 in the operation direction, so that this configuration is not used. Thus, the movement of the operation finger 9 in the tracing operation direction becomes smooth and the operability is improved.

  The tactile sensation providing apparatus 1 can apply a shearing force F to the operation finger 9 by applying vibration so as to form an elliptical orbit 75, so that even if the operation surface 20 is a curved surface, the operation finger 9 is moved. It can be driven in the tracing operation direction.

  The tactile sensation presentation apparatus 1 can move the operating finger 9 smoothly by changing the direction of the elliptical orbit 75 or the like, and can be easily stopped at an arbitrary place. Various tactile sensations can be presented.

  The tactile sensation presentation apparatus 1 according to the present embodiment is applied to the touch pad 2 that detects the tracing operation performed in the two-dimensional direction, but is not limited to this, and the touch pad 2 that detects the tracing operation in the one-dimensional direction. May be applied.

  As mentioned above, although some embodiment and modification of this invention were demonstrated, these embodiment and modification are only examples, and do not limit the invention based on a claim. These novel embodiments and modifications can be implemented in various other forms, and various omissions, replacements, changes, and the like can be made without departing from the scope of the present invention. In addition, not all combinations of features described in these embodiments and modifications are necessarily essential to the means for solving the problems of the invention. Further, these embodiments and modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Tactile sense presentation apparatus, 2 ... Touch pad, 4 ... Vibration addition part, 6 ... Load sensor, 7 ... Control part, 8 ... Vehicle, 9 ... Operation finger, 20 ... Operation surface, 21 ... Back surface, 23 ... Reference position, 25 ... contact point, 40 ... vibration surface, 41-44 ... first actuator to fourth actuator, 70 ... vibration pattern information, 71 ... vibration pattern, 75 ... elliptical orbit, 80 ... floor console, 81 ... center console, 82 ... display device, 90 ... belly

Claims (3)

A detection unit for detecting a tracing operation performed on the operation surface;
A vibration applying unit for applying vibration to the operation surface;
The vibration adding unit is controlled to add vibration such that a point on the operation surface draws an elliptical orbit in a plane intersecting the operation surface, and the operation finger in contact with the operation surface is traced in the operation direction. A controller to drive;
A tactile presentation device. A load detection unit that detects a push operation performed on the operation surface by detecting a load acting on the detection unit;
When the load detection unit detects the push operation, the control unit controls the vibration adding unit to vibrate the operation surface up and down to present tactile feedback for the push operation.
The tactile sense presentation device according to claim 1. The control unit adds the vibration to the operation surface such that the major axis of the elliptical orbit is in the normal direction of the operation surface and the minor axis of the elliptical orbit is in a direction parallel to the operation surface. To control the
The tactile sense presentation device according to claim 1 or 2.

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