JP2018018239A - Tactile presentation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tactile presentation device on which vibration hardly occurs when reaction force is switched.SOLUTION: A tactile presentation device 1 comprises: an operation lever 40 which can be operated in two-dimensional operation; a measurement part 5 for measuring an operation angle θ of the operation lever 40; an actuator 6 for adding reaction force T in a direction opposite to an operation direction where operation is performed, to the operation lever 40 according to the operation angle θ; and a control part 8 for controlling the actuator 6 based on a first function Tf(θ) for generating the first reaction force, when the operation lever 40 is moving in a first direction A, a second function Tb(θ) different from the first function Tf(θ) for generating the second reaction force when the operation lever is moving in a second direction B opposite to the first direction A, which are functions of the operation angle θ and reaction force T, and a switching function Tc(θ) for switching to the other function.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a tactile sensation presentation apparatus.

  As conventional techniques, an operation member for performing an input operation movable in the operation direction, an actuator that applies an operation direction force to the operation member and moves the operation member in the operation direction, and a sensor that detects the state of the operation member And an input device including a control unit that controls an actuator in accordance with the output of the sensor is known (see, for example, Patent Document 1).

  This input device is generated after the time of deresistance by controlling the amount of load applied from the actuator to the operation member and the amount of displacement of the operation member by the actuator by the first control at the initial resistance and the second control at the time of deresistance. Various click feelings can be changed.

JP 2011-81774 A

  In the case of such a conventional input device, the operation member may vibrate when the reaction force is switched based on the operation direction of the operation member.

  Accordingly, an object of the present invention is to provide a tactile sensation providing apparatus that is unlikely to generate vibration when the reaction force is switched.

  One aspect of the present invention includes an operation unit capable of one-dimensional operation and / or two-dimensional operation, an operation position measurement unit that measures an operation position of the operation unit, and a reaction force in a direction opposite to the operation direction in which the operation is performed. A reaction force generation unit added to the operation unit according to the operation position, and a function of the operation position and the reaction force to generate the first reaction force while the operation unit is moving in the first direction. A second function different from the first function for generating the second reaction force while moving in a second direction opposite to the first direction, and each other There is provided a tactile sensation providing apparatus including a control unit that controls a reaction force generation unit based on a switching function for switching to a function.

  According to the present invention, vibration hardly occurs when the reaction force is switched.

FIG. 1A is a schematic diagram illustrating an example of a tactile sensation providing apparatus according to the first embodiment, and FIG. 1B is a block diagram illustrating an example of a tactile sensation providing apparatus. FIG. 2A to FIG. 2C are graphs for explaining an example of a relationship between an operation position and a reaction force until switching from the switching mode to the pressing mode of the tactile sensation providing apparatus according to the first embodiment. is there. FIG. 3A to FIG. 3D illustrate an example of a relationship between an operation position and a reaction force until the tactile sensation providing apparatus according to the first embodiment is switched to the pressing mode, the switching mode, and the pushing back mode. It is a graph for. FIG. 4 is a flowchart illustrating an example of the operation of the tactile sensation providing apparatus according to the first embodiment. FIG. 5A is a schematic diagram illustrating an example of a tactile sensation providing apparatus according to the second embodiment, and FIG. 5B is a block diagram illustrating an example of a tactile sensation providing apparatus. FIGS. 6A to 6C are graphs for explaining an example of the relationship between the operation angle and the reaction force until the tactile sensation providing apparatus according to the second embodiment switches from the switching mode to the forward mode. is there. FIGS. 7A to 7D are diagrams for explaining an example of the relationship between the operation angle and the reaction force until the tactile sensation providing apparatus according to the second embodiment is switched to the forward mode, the switching mode, and the reverse mode. It is a graph of. FIG. 8 is a flowchart illustrating an example of the operation of the tactile sensation providing apparatus according to the second embodiment.

(Summary of embodiment)
The tactile sensation providing apparatus according to the embodiment includes an operation unit capable of one-dimensional operation and / or two-dimensional operation, an operation position measurement unit that measures an operation position of the operation unit, and a direction opposite to the operation direction in which the operation is performed. A reaction force generation unit that adds a reaction force to the operation unit in accordance with the operation position; and a function of the operation position and the reaction force, wherein the first reaction force is applied while the operation unit is moving in the first direction. A first function for generating, a second function different from the first function for generating the second reaction force while moving in a second direction opposite to the first direction, And a control unit that controls the reaction force generation unit based on a switching function for switching to a mutual function.

  Since the tactile sensation providing device suppresses a steep change in reaction force based on the switching function when the operation direction is switched, vibration is less likely to occur when the reaction force is switched than when this configuration is not employed.

[First embodiment]
(Outline of the tactile sensation presentation device 1)
FIG. 1A is a schematic diagram illustrating an example of a tactile sensation providing apparatus according to the first embodiment, and FIG. 1B is a block diagram illustrating an example of a tactile sensation providing apparatus. FIG. 2A to FIG. 2C are graphs for explaining an example of a relationship between an operation position and a reaction force until switching from the switching mode to the pressing mode of the tactile sensation providing apparatus according to the first embodiment. is there. FIG. 3A to FIG. 3D illustrate an example of a relationship between an operation position and a reaction force until the tactile sensation providing apparatus according to the first embodiment is switched to the pressing mode, the switching mode, and the pushing back mode. It is a graph for. 3A to 4D, the horizontal axis represents the operation position x (mm), and the vertical axis represents the reaction force F (N).

  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 and FIG. 5B, the flow of main signals and information is indicated by arrows.

  The tactile sensation providing apparatus 1 according to the present embodiment is configured as a push switch as shown in FIG. The tactile sensation providing apparatus 1 is configured to generate a reaction force F with respect to a one-dimensional push operation and generate a tactile sensation associated with the push operation.

  As shown in FIGS. 1A to 3D, the tactile sensation providing apparatus 1 includes a button 3 as an operation unit capable of one-dimensional operation, a measurement unit 5 that measures an operation position x of the button 3, An actuator 6 serving as a reaction force generating unit that applies a reaction force F in the direction opposite to the operation direction in which the operation is performed to the button 3 according to the operation position x, and a function of the operation position x and the reaction force F. While 3 is moving in the first direction A, the first function Ff (x) for generating the first reaction force is moved in the second direction B opposite to the first direction A. While the second function Fb (x) is different from the first function Ff (x) for generating the second reaction force, and the switching function Fc (x) for switching to each other function. And a control unit 8 that controls the actuator 6.

The control unit 8, when the measured operating position x is moved from the initial position x ₀ in the first direction A, to the intersection of the first function Ff (x) by using the switching function Fc (x) The actuator 6 is controlled.

  Further, the control unit 8 moves the measured operation position x in the first direction A, and after the function for generating the reaction force is switched from the switching function Fc (x) to the first function Ff (x), A switching function Fc (x) for switching from the first function Ff (x) to the second function Fb (x) is set using the point switched from the first direction A to the second direction B as an intersection.

  In the following, the mode for presenting the reaction force F when the button 3 moves in the first direction A is pushed down, and the mode for presenting the reaction force F when the button 3 moves in the second direction B is pushed back. The mode in which the reaction force F is presented when switching from the mode, the push-down mode to the push-back mode, and the push-back mode to the push-down mode is referred to as a switching mode.

Δx shown in FIG. 2A and the like indicates the range of the switching mode. The initial position x ₀ is the position of the button 3 when the push operation is not performed. The first direction A is a direction in which the button 3 is pushed into the housing 10, that is, a push operation direction. The second direction B is a direction to return the button 3 is pushed to the initial position x _0.

  Further, as shown in FIG. 1A, the reaction force F is a force in a direction (second direction B) opposite to the direction of the force f pushing the button 3 (first direction A), and is upward. (Second direction B) is positive.

  The tactile sensation providing apparatus 1 has a housing 10 as shown in FIG. The housing 10 is made of, for example, metal or resin.

(Configuration of button 3)
The button 3 has a disk shape as an example. Further, a plunger 50 of the actuator 6 is attached to the button 3. Accordingly, when a push operation is performed on the button 3, the plunger 50 moves together with the button 3 toward the inside of the housing 10.

(Configuration of measuring unit 5)
The measurement part 5 is arrange | positioned inside the housing | casing 10, as shown to Fig.1 (a). As an example, the measurement unit 5 outputs a laser 60 to the end of the plunger 50, receives the laser 60 reflected from the end of the plunger 50, and measures the operation position x of the button 3 through the position of the plunger 50. It is a position measurement sensor.

Measuring unit 5 outputs to the control unit 8 the information of the operation position x of the measured button 3 as measurement information S _1. The operating position x is the initial position x ₀ is the position before the pushing operation is performed, it is the downward direction as viewed in FIGS. 1 (a) positive.

  Note that the measurement unit 5 is not limited to the position measurement sensor using the laser 60, and may be one using a magnetic sensor or one using ultrasonic waves.

(Configuration of actuator 6)
The actuator 6 is, for example, a push type solenoid actuator. The actuator 6 generates a reaction force F by driving the plunger 50 based on the drive signal S ₂ output from the control unit 8.

  The plunger 50 has a cylindrical shape. One end of the plunger 50 protrudes from the housing 10 and is connected to the button 3, and the other end faces the measuring unit 5.

(Configuration of control unit 8)
The control unit 8 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 8 and mode information 80 are stored. For example, the RAM is used as a storage area for temporarily storing calculation results and the like.

Control unit 8 outputs as an example, when it reaches the operating position the button 3 predetermined and connected electronic device operation information S ₃ to the push operation has been performed. The predetermined operation position is, for example, an operation position when switching from the first function Ff (x) to the switching function Fc (x).

  The mode information 80 is information relating to the pressing mode, the pushing back mode, and the switching mode. The mode information 80 includes at least information on the first function Ff (x), the second function Fb (x), and the switching function Fc (x).

  As an example, the first function Ff (x) and the second function Fb (x) have a waveform based on a sine wave, as shown in FIG. The movement is based on zero. The first function Ff (x) is a function corresponding to the pressing mode. The second function Fb (x) is a function corresponding to the push-back mode.

  The switching function Fc (x) is a function from the start of the push operation until switching to the first function Ff (x) and from the first function Ff (x) to switching to the second function Fb (x). In the switching function Fc (x), as shown in FIG. 2A, the width Δx of the range of the switching mode from the start of the push operation to the intersection with the first function Ff (x) is determined in advance. . As shown in FIG. 3B, the switching function Fc (x) has a switching mode range width of 2Δx until the first function Ff (x) is switched to the second function Fb (x). Is determined in advance.

As an example, the switching function Fc (x) uses the range center position x _c , the range width Δx of the switching mode, the first function Ff (x), and the second function Fb (x) as follows: It is represented by
Fc (x) = [(x− _{c c} + Δx) Ff (x) − (x− _{c c} −Δx) Fb (x)] / 2Δx

This range center position _xc is the center value of the range of the switching mode. Incidentally range center position x _c of the push operation at the start is in the initial position x ₀ of the button 3 without the center of the range.

As shown in FIG. 2A, the control unit 8 is configured to start from the switching mode before the push operation is performed. The width of the switching function Fc (x) in this switching mode is Δx (x ₀ + Δx).

As shown in FIG. 2B, when a push operation is performed, the plunger 50 moves via the button 3. Control unit 8, when the operating position _{x 1} of the button 3 is in the switching mode range _{(x 0 ≦ x ≦ x 0} + △ x), the center of the range of positions _{x c,} the first function Ff (x), the second A reaction force F (x ₁ ) at the operation position x ₁ is calculated based on the function Fb (x) and the switching function Fc (x). Then, the control unit 8 outputs a drive signal S ₂ based on the calculated reaction force F (x ₁ ) to the actuator 6 to add the reaction force F (x ₁ ) to the operation finger 9. Incidentally range center position x _c is not updated since it is within the scope of the switching mode.

Further, as shown in FIG. 2C, the control unit 8 has an intersection (x ₂ = x ₀ + Δx) between the switching mode (switching function Fc (x)) and the pressing mode (first function Ff (x)). , Ff (x ₂ )), the reaction force at the operation position x ₂ (first reaction force) F (x ₂ ) = Ff (x ₂ ) based on the first function Ff (x). Is calculated. Then, the control unit 8 outputs a drive signal S ₂ based on the calculated reaction force F (x ₂ ) to the actuator 6 and adds the reaction force F (x ₂ ) to the operation finger 9. Incidentally range center position x _c is not updated since it is within the scope of the switching mode.

Further, as shown in FIG. 3 (a), the control unit 8, when the operation position x ₃ larger range of switching mode _{(x 0 + △ x <x} ), is determined that the depressed mode, the first function Based on Ff (x), a reaction force F (x ₃ ) = Ff (x ₃ ) at the operation position x ₃ is calculated. Then, the control unit 8 outputs a drive signal S ₂ based on the calculated reaction force F (x ₃ ) to the actuator 6 and adds the reaction force F (x ₃ ) to the operation finger 9. Since the range center position _xc is in the pressing mode, it is updated based on the operation position in the pressing mode. For example, as shown in FIG. 3 (a), when the operation position of the pressing mode is an operation position x _3, the center of the range of positions x _c is, x 3 _- the △ x.

Note operation position x _3, as shown in FIG. 3 (a), are located beyond the maximum value of the first function Ff (x). For example, in a push operation performed on a mechanical switch, the reaction force is reduced after the reaction force by the elastic body is maximized. The operating position x ₃ is the position where the reaction force becomes smaller after becomes maximum is obtained. Therefore the control unit 8, as an example, the operation to the position x ₃ when the operation is performed, and outputs the to operation information S ₃ determines that the push operation has been performed.

Also as shown in FIG. 3 (b), the control unit 8, when the operating direction in the operating position x ₃ is reversed, that range shifts to switching mode _{(x 3 -2 △ x ≦ x} ≦ x ₃ ) Set. Based on the range center position x _c , the first function Ff (x), the second function Fb (x), and the switching function Fc (x), the control unit 8 reacts with the reaction force F (x ₄ ) at the operation position x ₄ . Is calculated. Then, the control unit 8 outputs a drive signal S ₂ based on the calculated reaction force F (x ₄ ) to the actuator 6 and adds the reaction force F (x ₄ ) to the operation finger 9. Incidentally range center position x _c is not updated since it is within the scope of the switching mode.

Further, as shown in FIG. 3C, the control unit 8 has the intersection (x ₅ = x ₃ −2) of the switching mode (switching function Fc (x)) and the push-back mode (second function Fb (x)). When the operation position reaches Δx, Fb (x ₅ )), the reaction force (second reaction force) F (x ₅ ) = Fb (x) at the operation position x ₅ based on the second function Fb (x). ₅ ) is calculated. Then, the control unit 8 outputs a drive signal S ₂ based on the calculated reaction force F (x ₅ ) to the actuator 6 and adds the reaction force F (x ₅ ) to the operation finger 9. Incidentally range center position x _c is not updated since it is within the scope of the switching mode.

Then, as shown in FIG. 3 (d), the control unit 8, when the operating position x ₆ is smaller than the range of switching mode _{(x <x 3 -2 △ x} ), determines that the push-back mode, the second The reaction force F (x ₆ ) = Fb (x ₆ ) at the operation position x ₆ is calculated based on the function Fb (x). Then, the control unit 8 outputs a drive signal S ₂ based on the calculated reaction force F (x ₆ ) to the actuator 6 and adds the reaction force F (x ₆ ) to the operation finger 9. Incidentally range center position x _c is because it is pushed back mode is updated based on the operating position in the push-back mode. For example, as shown in FIG. 3 (d), if the operating position of the push-back mode is an operation position _{x 6,} the center of the range of positions _{x c} becomes _{x 6} + △ _x.

  Hereinafter, an example of the reaction force presentation operation of the tactile sensation presentation apparatus 1 according to the present embodiment will be described with reference to the flowchart of FIG.

(Operation)
The control unit 8 of the tactile sensation providing apparatus 1 sets the switching mode based on the mode information 80 (Step 1). The control unit 8 generates a drive signal S ₂ according to the operation position based on the measurement information S ₁ acquired from the measurement unit 5 and the switching function Fc (x) based on the mode information 80, and outputs the drive signal S ₂ to the actuator 6. F (x) is presented (Step 2).

  The control unit 8 monitors the measured operation position and determines whether to switch the mode. When the operation position reaches the intersection of the switching function Fc (x) and the first function Ff (x), the control unit 8 switches the mode from the switching mode to the pressing mode (Step 3: Yes). The control unit 8 presents a reaction force F (x) based on the first function Ff (x) in the pressing mode (Step 4).

  When the movement direction of the operation position is reversed (Step 5: Yes), the control unit 8 switches the mode from the pressing mode (the first function Ff (x)) to the switching mode (the switching function Fc (x)), and the reaction force F Present (x) (Step 6).

  When the operation position reaches the intersection of the switching function Fc (x) and the second function Fb (x), the control unit 8 further switches the mode from the switching mode to the push-back mode (Step 7: Yes). The control unit 8 presents a reaction force F (x) based on the push-back mode (second function Fb (x)) (Step 8).

The control unit 8, when the operation position reaches the initial position _{x 0} (Step9: Yes), switches the mode to the switching mode (Step10), and terminates the operation of the reaction force presented for the push operation.

  Here, when the mode is not switched in Step 3 (Step 3: No), the control unit 8 proceeds to Step 2 and presents the reaction force F (x) in the switching mode.

  In step 5, the control unit 8 advances the process to step 4 when the moving direction is not reversed (Step 5: No).

  In step 7, when the operation position has not reached the intersection of the switching function Fc (x) and the second function Fb (x) (Step 7: No), the process proceeds to step 6.

In step 9, the control unit 8 advances the process to step 8 when the operation position has not reached the initial position x ₀ (Step 9: No).

(Effects of the first embodiment)
In the tactile sensation providing apparatus 1 according to the present embodiment, vibration is unlikely to occur when the reaction force is switched. Specifically, the tactile sensation providing device 1 steeply changes from the first function Ff (x) to the second function Fb (x), and from the second function Fb (x) to the first function Ff (x). Instead of changing, the switching function Fc (x) is gradually switched, so that vibration due to a sudden switching of the reaction force is less likely to occur than when this configuration is not employed.

  Since the tactile sensation providing apparatus 1 presents a reaction force by the function of the operation position such as the first function Ff (x), the second function Fb (x), and the switching function Fc (x), when the mechanical switch is operated A waveform file imitating the reaction force is not required, and the configuration is simplified and the manufacturing cost is suppressed. In addition, the tactile sensation providing apparatus 1 can present various tactile sensations by changing the setting of the above-described function.

[Second Embodiment]
The second embodiment is different from the first embodiment in that the operation unit can be operated two-dimensionally.

  FIG. 5A is a schematic diagram illustrating an example of a tactile sensation providing apparatus according to the second embodiment, and FIG. 5B is a block diagram illustrating an example of a tactile sensation providing apparatus. FIGS. 6A to 6C are graphs for explaining an example of the relationship between the operation angle and the reaction force until the tactile sensation providing apparatus according to the second embodiment switches from the switching mode to the forward mode. is there. FIGS. 7A to 7D are diagrams for explaining an example of the relationship between the operation angle and the reaction force until the tactile sensation providing apparatus according to the second embodiment is switched to the forward mode, the switching mode, and the reverse mode. It is a graph of.

  In FIG. 6A to FIG. 7D, the horizontal axis represents the operation angle θ (deg) as the operation position, and the vertical axis represents the reaction force T (N · m). In this embodiment, as will be described later, the operation lever 40 is rotated by the X-axis motor 65 and the Y-axis motor 66 to generate a reaction force. Accordingly, the reaction force is shown as torque T.

  In the embodiments described below, parts having the same functions and configurations as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and description thereof is omitted.

  As an example, the tactile sensation providing apparatus 1 according to the present embodiment is a joystick configured so that an operation lever 40 as an operation unit is operated to a desired operation position in an XY coordinate system as illustrated in FIG. Tech. This XY coordinate system is an orthogonal coordinate system. The tactile sensation providing apparatus 1 is configured to generate a reaction force T in the reverse direction of the tilting operation and generate a tactile sensation associated with the tilting operation. This tilting operation is an operation performed by tilting the operation lever 40 from the neutral state. The tactile sensation providing apparatus 1 can instruct movement of a cursor or the like displayed on a display device, for example.

  The reaction force T is calculated for each of the X component and Y component of the operation angle of the operation lever 40. Therefore, the generation of the reaction force of the X component will be described below.

  Hereinafter, a mode in which the reaction force T is presented when the operation lever 40 moves in the first direction A is a forward mode, and a mode in which the reaction force T is presented when the operation lever 40 moves in the second direction B. The mode for presenting the reaction force T when switching from the reverse mode, the forward mode to the reverse mode, and the reverse mode to the forward mode is referred to as a switching mode.

  As shown in FIGS. 5A to 7D, the tactile sensation providing apparatus 1 includes an operation lever 40 that can be operated two-dimensionally, a measurement unit 5 that measures an operation angle θ of the operation lever 40, and an operation performed by the operation lever 40. An actuator 6 that applies a reaction force T in the direction opposite to the operation direction performed to the operation lever 40 according to the operation angle θ, and a function of the operation angle θ and the reaction force T, where the operation lever 40 is in the first direction. While moving in A (third direction C), a first function Tf (θ) for generating a first reaction force, a second direction B (first direction opposite to the first direction A) While moving in the direction D) 4, the second function Tb (θ) different from the first function Tf (θ) for generating the second reaction force, and the function for switching to each other's function And a controller 8 that controls the actuator 6 based on the switching function Tc (θ).

As described above, the first function Tf, the second function Tb, and the switching function Tc of the present embodiment are functions of the operation angle θ. Note the control unit 8, for example, based on the obtained operating angle θ generates operation information S _3, and outputs to the connected electronic equipment.

As for the operation angle θ, the neutral position shown in FIG. 5A is the initial angle θ ₀ (= 0 deg), the positive operation angle of the XY axes is + θ, and the negative operation angle of the XY axes is −θ. . The operation lever 40 is supported by the operation support mechanism 4 so as to be tilted from the neutral position.

Further, when the measured operation angle θ increases from the initial angle θ ₀ to the first direction A, the control unit 8 uses the switching function Tc (θ) up to the intersection with the first function Tf (θ). The actuator 6 is controlled.

  Further, the control unit 8 increases the measured operation angle θ in the first direction A, and after the function that generates the reaction force T is switched from the switching function Tc (θ) to the first function Tf (θ), A switching function Tc (θ) for switching from the first function Tf (θ) to the second function Tb (θ) is set with the point switched from the first direction A to the second direction B as an intersection.

(Configuration of operation support mechanism 4)
The operation lever 40 has, for example, a cylindrical shape. And the operation support mechanism 4 is supporting the operation lever 40 so that tilting operation is possible, as shown to Fig.5 (a).

  The operation support mechanism 4 is mainly configured to mainly include an X-axis direction support portion 44 and a Y-axis direction support portion 45. The operation lever 40 can indicate a desired operation position on the XY coordinates by the combination of the X-axis direction support portion 44 and the Y-axis direction support portion 45.

  The X-axis direction support portion 44 is provided on both side surfaces of the main body 440 and the guide portion 441 in which the operation lever 40 is inserted and guides the operation of the operation lever 40 in the X-axis direction. A support portion 442 and a support portion 443 that are supported in a possible manner are schematically provided. Therefore, the operation lever 40 tilts in the first direction A and the second direction B (the positive and negative directions of the X axis).

  The Y-axis direction support part 45 is provided on both side surfaces of the main body 450 and the guide part 451 in which the main body 450 and the operation lever 40 are inserted and guides the operation of the operation lever 40 in the Y-axis direction. The support part 452 and the support part 453 supported so that it is possible are comprised roughly. Therefore, the operation lever 40 tilts in the third direction C and the fourth direction D (the positive and negative directions of the Y axis).

(Configuration of measuring unit 5)
For example, the measurement unit 5 measures the operation of the operation lever 40 by measuring the rotation of the support unit 442 or the support unit 443 of the X-axis direction support unit 44 and the support unit 452 or the support unit 453 of the Y-axis direction support unit 45. Measure the angle θ.

The measuring unit 5 is a rotation sensor including a magnetic sensor such as a Hall element or a magnetoresistive element. The measurement unit 5 generates measurement information S ₁ based on the measured operation angle θ and outputs the measurement information S ₁ to the control unit 8. As a modification, the measurement unit 5 is not limited to a rotation sensor provided with a magnetic sensor, and may be a rotation sensor using another measurement method.

(Configuration of actuator 6)
The actuator 6 includes, for example, an X-axis motor 65 and a Y-axis motor 66 as shown in FIG. The output shaft of the X-axis motor 65 is connected to, for example, a support portion 452 of the operation support mechanism 4. The X-axis motor 65 generates the X component of the reaction force T by rotating the support portion 452 via the output shaft. Further, the output shaft of the Y-axis motor 66 is connected to, for example, the support portion 442 of the operation support mechanism 4. The Y-axis motor 66 generates the Y component of the reaction force T by rotating the support portion 442 via the output shaft.

X-axis motor 65 is first rotated in the direction A and the second direction B on the basis of the drive signal S ₄ that is output from the control unit 8. Y-axis motor 66, the third rotating in the direction C and the fourth direction D of on the basis of the drive signal S ₅ output from the control unit 8.

(Configuration of control unit 8)
The mode information 80 of the present embodiment includes at least information on the first function Tf (θ), the second function Tb (θ), and the switching function Tc (θ).

  As an example, the first function Tf (θ) and the second function Tb (θ) have a waveform based on a sine wave as shown in FIG. The movement is based on zero. The first function Tf (θ) is a function corresponding to the forward mode. The second function Tb (θ) is a function corresponding to the reverse mode.

  The switching function Tc (θ) is a function from the start of the tilting operation until the first function Tf (θ) is switched and from the first function Tf (θ) to the second function Tb (θ). As shown in FIG. 6A, the switching function Tc (θ) has a predetermined range Δθ of the range of the switching mode from the start of the tilting operation to the intersection with the first function Tf (θ). . As shown in FIG. 6B, the switching function Tc (θ) has a switching mode range width of 2Δθ until the first function Tf (θ) is switched to the second function Tb (θ). Is determined in advance.

As an example, the switching function Tc (θ) is expressed as follows using a range center position θ _c , a switching mode range width 2Δθ, a first function Tf (θ), and a second function Tb (θ). It is expressed by a formula.
Tc (θ) = [(θ−θ _c + Δθ) Tf (θ) − (θ−θ _c −Δθ) Tb (θ)] / 2Δθ

The center of the range of positions theta _c is the center value of the range switching mode. The range center position θ _c at the start of the tilting operation is matched with the initial angle θ ₀ of the operation lever 40.

  As shown in FIG. 6A, the control unit 8 is configured to start from the switching mode before the tilting operation is performed. Hereinafter, a case where the operation lever 40 is operated along the X axis, that is, a case where there is no Y component will be described.

As shown in FIG. 6B, when the tilting operation is performed in the positive direction of the X axis, the operation lever 40 is moved by being supported by the operation support mechanism 4. When the operation angle θ ₁ of the operation lever 40 is in the switching mode range (θ ₀ −Δθ ≦ θ ≦ θ ₀ + Δθ), the control unit 8 performs the first function Tf (θ) and the second function Tb. Based on (θ) and the switching function Tc (θ), the reaction force T (θ ₁ ) at the operation angle θ ₁ is calculated. Then, the control unit 8 outputs a drive signal S ₄ based on the calculated reaction force T (θ ₁ ) to the actuator 6 (X-axis motor 65) and adds the reaction force T (θ ₁ ) to the operation finger 9. Incidentally range center position theta _c is not updated since it is within the scope of the switching mode.

Further, as shown in FIG. 6C, the control unit 8 has the intersection (θ ₂ = θ ₀ + Δθ) of the switching mode (switching function Tc (θ)) and the forward mode (first function Tf (θ)). , Tf (θ ₂ )), the reaction force at the operation angle θ ₂ (first reaction force) T (θ ₂ ) = Tf (θ ₂ ) based on the first function Tf (θ). Is calculated. Then, the control unit 8 outputs a drive signal S ₄ based on the calculated reaction force T (θ ₂ ) to the actuator 6 and adds the reaction force T (θ ₂ ) to the operation finger 9. Incidentally range center position theta _c is not updated since it is within the scope of the switching mode.

Further, as shown in FIG. 7 (a), the control unit 8, when the operating angle theta ₃ is greater than the range of switching mode _{(θ 0 + △ θ <θ} ), is determined to be a forward mode, a first function Based on Tf (θ), a reaction force T (θ ₃ ) = Tf (θ ₃ ) at the operation angle θ ₃ is calculated. Then, the control unit 8 outputs a drive signal S ₄ based on the calculated reaction force T (θ ₃ ) to the actuator 6 and adds the reaction force T (θ ₃ ) to the operation finger 9. Incidentally range center position theta _c is because the forward mode, is updated based on the operation angle in the forward mode. For example, as illustrated in FIG. 7A, when the operation angle in the forward mode is the operation angle θ ₃ , the range center position θ _c is θ ₃ −Δθ.

Further, as shown in FIG. 7B, when the operation direction is reversed at the operation angle θ ₃ , the control unit 8 shifts to the switching mode and defines the range (θ ₃ -2Δθ ≦ θ ≦ θ). ₃ ) Set. The control unit 8 determines the reaction force T (θ ₄ ) at the operation angle θ ₄ based on the range center position θ _c , the first function Tf (θ), the second function Tb (θ), and the switching function Tc (θ). Is calculated. Then, the control unit 8 outputs a drive signal S ₄ based on the calculated reaction force T (θ ₄ ) to the actuator 6 and adds the reaction force T (θ ₄ ) to the operating finger 9. Incidentally range center position theta _c is not updated since it is within the scope of the switching mode.

Further, as shown in FIG. 7C, the control unit 8 has an intersection (θ ₅ = θ ₃ −2Δ) between the switching mode (switching function Tc (θ)) and the reverse mode (second function Tb (θ)). When the operation angle reaches θ, Tb (θ ₅ )), the reaction force (second reaction force) F (θ ₅ ) = Tb (θ ₅ ) at the operation angle θ ₅ based on the second function Tb (θ). ) Is calculated. Then, the control unit 8 outputs a drive signal S ₄ based on the calculated reaction force T (θ ₅ ) to the actuator 6 and adds the reaction force T (θ ₅ ) to the operation finger 9. Incidentally range center position theta _c is not updated since it is within the scope of the switching mode.

Further, as shown in FIG. 7D, when the operation angle θ ₆ is smaller than the switching mode range (θ <θ ₃ −Δθ), the control unit 8 determines that the reverse mode is selected, and the second function Based on Tb (θ), a reaction force T (θ ₆ ) = Tb (θ ₆ ) at the operation angle θ ₆ is calculated. Then, the control unit 8 outputs a drive signal S ₄ based on the calculated reaction force T (θ ₆ ) to the actuator 6 and adds the reaction force T (θ ₆ ) to the operation finger 9. Incidentally range center position theta _c is because it is backward mode is updated based on the operating angle in the reverse mode. For example, as shown in FIG. 7D, when the operation angle in the reverse mode is the operation angle θ ₆ , the range center position θ _c is θ ₆ + Δθ.

The above has described the reaction force T of the X component, if there is a Y component, is computed similarly for the Y component, the drive signal S ₅ is outputted to the Y-axis motor 66 of the actuator 6. Accordingly, the reaction force T acts as a resultant force of the X component and the Y component.

  Hereinafter, an example of the reaction force presentation operation of the tactile sensation presentation apparatus 1 according to the present embodiment will be described with reference to the flowchart of FIG.

(Operation)
Control unit 8 of the tactile sensation device 1 makes a determination mode based on the measurement information S ₁ and mode information 80 acquired from the measurement section 5 (Step11). When the measured operation angle θ is equal to or larger than θ _c −Δθ (Step 12: No) and equal to or smaller than θ _c + Δθ (Step 13: No), the control unit 8 determines that the switching mode is set (Step 13: No). Step 14).

The control unit 8 calculates a reaction force T (θ) using a switching mode switching function Fc (θ) based on the mode information 80. Control unit 8 based on the calculated reaction force T (theta) generates a drive signal _{S 4} and the drive signals _{S 5} and outputs to the actuator 6, presents a reaction force T (θ) (Step15).

Here, in Step 12, when the measured operation angle θ is smaller than θ _c −Δθ (Step 12: Yes), the control unit 8 determines that the retreat mode is set (Step 16). Control unit 8, the center of the range of positions theta _c and updates the theta + △ theta, and calculates the reaction force T (theta) using the second function Fb retraction mode based on the mode information 80 (x). Control unit 8 based on the calculated reaction force T (theta) generates a drive signal _{S 4} and the drive signals _{S 5} and outputs to the actuator 6, presents a reaction force T (θ) (Step15).

In Step 13, when the measured operation angle θ is larger than θ _c + Δθ (Step 13: Yes), the control unit 8 determines that the forward mode is set (Step 17). Control unit 8 updates the range center position theta _c theta-△ to theta, and calculates the reaction force T (theta) using the first function Ff forward mode based on the mode information 80 (x). Control unit 8 based on the calculated reaction force T (theta) generates a drive signal _{S 4} and the drive signals _{S 5} and outputs to the actuator 6, presents a reaction force T (θ) (Step15).

(Effect of the second embodiment)
The tactile sensation providing apparatus 1 according to the present embodiment is steep from the first function Ff (θ) to the second function Fb (θ), and from the second function Fb (θ) to the first function Ff (θ). However, the switching function Fc (θ) is gradually switched, so that vibration due to a sudden switching of the reaction force is less likely to occur than when this configuration is not employed.

  The tactile sensation providing apparatus 1 presents a reaction force by the function of the operation position such as the first function Ff (θ), the second function Fb (θ), and the switching function Fc (θ). Cost is reduced. In addition, the tactile sensation providing apparatus 1 can present various tactile sensations by changing the setting of the above-described function.

[Third Embodiment]
The third embodiment is different from the above-described embodiment in that the operation unit can perform one-dimensional operation and two-dimensional operation.

  The tactile sensation providing apparatus 1 according to the present embodiment is configured such that, for example, a push operation can be performed on the operation lever 40 according to the second embodiment. In this case, the reaction force F for the push operation and the reaction force T for the tilting operation are calculated and presented in the same manner as in the first embodiment and the second embodiment.

  According to the tactile sensation providing apparatus 1 of at least one embodiment described above, it is possible to make it difficult for vibration to occur when the operation direction is switched.

  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, 3 ... Button, 4 ... Operation support mechanism, 5 ... Measurement part, 6 ... Actuator, 8 ... Control part, 9 ... Operation finger, 10 ... Housing | casing, 40 ... Operation lever, 44 ... X-axis direction Support part 45 ... Y-axis direction support part 50 ... plunger 60 ... laser 65 ... X-axis motor 66 ... Y-axis motor 80 ... mode information 440 ... main body 441 ... guide part 442,443 Part, 450 ... main body, 451 ... guide part, 452, 453 ... support part

Claims (4)

An operation unit capable of one-dimensional operation and / or two-dimensional operation;
An operation position measurement unit for measuring an operation position of the operation unit;
A reaction force generation unit that adds a reaction force in a direction opposite to the operation direction in which the operation is performed to the operation unit according to the operation position;
A function of the operation position and reaction force, which is a first function for generating a first reaction force while the operation unit is moving in the first direction, opposite to the first direction. The second function different from the first function for generating the second reaction force and the switching function for switching to each other function while moving in the second direction. A control unit for controlling the force generation unit;
A tactile sensation presentation device comprising: The control unit controls the reaction force generation unit using the switching function up to an intersection with the first function when the measured operation position moves in the first direction from an initial position.
The tactile sensation providing apparatus according to claim 1. The control unit moves the measured operation position in the first direction and switches a function for generating a reaction force from the switching function to the first function, and then from the first direction to the first function. Setting the switching function for switching from the first function to the second function with the point switched in the direction of 2 as an intersection point;
The tactile sensation providing apparatus according to claim 2. When the operation unit is operated, the control unit controls the reaction force generation unit using an average of reaction forces of the first function and the second function at the initial position as a reaction force of the initial position. ,
The tactile sensation providing apparatus according to claim 1.

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