JP2018097635A - Tactile sense presentation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tactile sense presentation device capable of presenting, with a sense of touch, a stereoscopic feeling that an operation finger ascends to or descends from an icon or the like displayed on a display device.SOLUTION: A tactile sense presentation device controls an actuator to add vibration to an operation surface of a touch pad configured to detect an operation finger 9 and to present a tactile sense of ascending to and descending from a virtual step 7. Before the operation finger 9 ascends to the virtual step 7, a first vibration 61 is presented, and after the operation finger has passed through the step 7, a second vibration 62 higher in frequency than the first vibration 61 and attenuating is presented. Before the operation finger 9 descends from the virtual step 7, a third vibration 63 is presented, and after the operation finger has descended from the step 7, a fourth vibration 64 lower in frequency than the third vibration 63 and attenuating is presented.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a tactile sense presentation device.

  As prior art, means for monitoring an input pulse configured to drive an actuator, means for generating haptic feedback in accordance with the input pulse, and means for detecting removal of the input pulse from the actuator Haptic feedback comprising: means for starting the actuator in response to removal of the input pulse; and means for generating a brake pulse to reduce the damping effect of the haptic feedback generated by the actuator. A generating device is known (for example, see Patent Document 1).

  This device can assist in stopping vibration of the actuator by generating a brake pulse and provide a damping effect for short mechanical type haptic effects.

JP 2010-287231 A

  However, the conventional device cannot present a stereoscopic effect such as an operation finger rising or falling on an icon or the like displayed on the display device with a tactile sensation.

  Therefore, an object of the present invention is to provide a tactile sensation presentation apparatus that can present a three-dimensional effect in which an operating finger ascends and descends on an icon or the like displayed on a display device.

  One aspect of the present invention provides a tactile sensation presentation device including a control unit that applies vibration to an operation surface of an operation unit that detects an operation finger by controlling an actuator and presents a tactile sensation that moves up and down a virtual step. provide.

  ADVANTAGE OF THE INVENTION According to this invention, the three-dimensional effect that an operating finger rises or falls to the icon etc. which were displayed on the display apparatus can be shown by a tactile sense.

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 schematic diagram illustrating an example of a tactile sensation presentation apparatus according to the embodiment, and FIG. 2B illustrates an example of a display image displayed on the operation target display unit of the tactile sensation presentation apparatus. FIG. 2C is a schematic diagram for explaining an example of a tactile sensation for an icon, and FIG. 2D is a schematic diagram for explaining an example of a tactile sensation for a slave image. FIG. FIG. 3A is a schematic diagram for explaining a tactile sensation rising up a step presented by the tactile presentation device according to the embodiment, and FIG. 3B is a drive signal for presenting a haptic up the step. FIG. 3C is a schematic diagram for explaining a tactile sensation descending a step, and FIG. 3D is an example of a drive signal for presenting a tactile sensation descending a step. It is a graph to show. 4 (a) shows an example of a graph relating to the sound rising sense of depth, FIG. 4 (b) shows an example of a partially enlarged graph of interval T _1, FIG. 4 (c), the section It shows an example of a partially enlarged graph of T _2. 5 (a) shows an example of a graph relating to sound down a three-dimensional appearance, FIG. 5 (b) shows an example of a partially enlarged graph of interval T _3, FIG. 5 (c), the section It shows an example of a partially enlarged graph of T _4. FIG. 6 is a flowchart illustrating an example of the operation of the tactile sense presentation device according to the embodiment.

(Summary of embodiment)
The tactile sensation presentation apparatus according to the embodiment is roughly provided with a control unit that applies vibration to the operation surface of the operation unit that detects the operation finger by controlling the actuator, and presents a tactile sense that moves up and down a virtual step. It is configured.

  This tactile sensation presentation device can present a tactile sensation that raises and lowers a virtual level difference by vibrating the operation surface. Therefore, compared to the case where this configuration is not adopted, the tactile sensation presentation device operates on an icon displayed on the display device. It is possible to present a three-dimensional feeling in which a finger rises or descends by touch.

[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 schematic diagram illustrating an example of a tactile sensation presentation apparatus according to the embodiment, and FIG. 2B illustrates an example of a display image displayed on the operation target display unit of the tactile sensation presentation apparatus. FIG. 2C is a schematic diagram for explaining an example of a tactile sensation for an icon, and FIG. 2D is a schematic diagram for explaining an example of a tactile sensation for a slave image. FIG. 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.

  For example, as shown in FIG. 1A, the tactile sense presentation device 1 is arranged such that the operation surface 20 is exposed on a floor console 80 between a driver seat and a passenger seat of the vehicle 8. The tactile sense presentation device 1 is an operation device that remotely operates an electronic device 85 to be operated mounted on the vehicle 8. The tactile sensation providing apparatus 1 is configured to, for example, improve the slip of the operator's operation finger or present a tactile sensation as if a push button is pressed by vibrating the operation surface 20. .

  The tactile sense presentation device 1 can operate, for example, a cursor displayed on the operation target display unit. As an example, the display unit is a display device 82 disposed on the center console 81 of the vehicle 8 as shown in FIG. The electronic device 85 to be operated is, for example, a navigation device, an air conditioner, a music and video playback device, etc. mounted on the vehicle 8. In the following, as an example, the electronic device 85 to be operated is a navigation device.

  For example, as shown in FIGS. 1B and 2A, the tactile sense presentation device 1 controls the actuator 4 to vibrate the operation surface 20 of the touch pad 2 as an operation unit that detects the operation finger 9. In addition, a control unit 6 that presents a tactile sensation that moves up and down a virtual step 7 is schematically configured.

Control unit 6, for example, is configured so as to present the tactile elevation of a virtual step 7 based on the instruction signal S ₄ that is output from the operation target. The instruction signal S _4, for example, is output in accordance with the position of the cursor 826 in the display image 820 where the display device 82 displays.

  As an example, when the operation target is a navigation device, the display device 82 displays a display image 820 including a map image 822 and the like as shown in FIG. For example, the display image 820 displays a plurality of icons 823, a sub image 824, a plurality of icons 825 included in the sub image 824, and a cursor 826.

  For example, when the electronic device 85 to be operated is displaying the display image 820 shown in FIG. 2C, a boundary 823 a between the plurality of icons 823 and the map image 822 is defined as a virtual step 7. For example, the electronic device 85 defines a boundary 824a between the sub-image 824 and the map image 822 as a virtual step 7. Further, as an example, the electronic device 85 defines a boundary between the plurality of icons 825 and the sub-image 824 as a virtual step 7. As an example, the control unit 6 presents a tactile sensation such that the operating finger 9 gets over or goes down these virtual steps 7.

(Configuration of touchpad 2)
The touch pad 2 is, for example, a capacitive touch that detects the position on the operation surface 20 when the operator touches the operation surface 20 with a part of the body (for example, an operation finger) or a dedicated pen. It is a sensor.

  The touch pad 2 is supported by the housing 10 so that the actuator 4 can vibrate, for example. Further, the touch pad 2 includes, for example, a plurality of drive electrodes and detection electrodes, and detects a capacitance corresponding to all combinations of the drive electrodes and the detection electrodes. Then, the touch pad 2 calculates the coordinates of the position where the operation finger 9 is in contact with the operation surface 20 based on a capacitance equal to or greater than a predetermined threshold value. The calculation of the coordinates is performed using, for example, a weighted average.

The touch pad 2 generates detection information S ₁ as information on the coordinates of the position touched by the operation finger 9 and periodically outputs it to the control unit 6. An orthogonal XY coordinate system is set on the operation surface 20, and the touched position is calculated as coordinates of this XY coordinate system.

(Configuration of actuator 4)
For example, as illustrated in FIG. 2A, the actuator 4 is disposed on the bottom surface 100 of the housing 10 of the tactile sense presentation device 1, and the touch pad 2 is disposed thereon. The actuator 4 is, for example, a voice coil motor, but is not limited thereto, and may be configured by an actuator or a motor using a piezo element.

For example, as shown in FIG. 2A, the actuator 4 is configured to vibrate the operation surface 20 up and down from the reference position 200 with the operation surface 20 to which vibration is not applied as a reference position 200. Yes. The actuator 4 oscillates on the basis of the drive signal S ₂ output from the control unit 6.

(Configuration of control unit 6)
FIG. 3A is a schematic diagram for explaining a tactile sensation rising up a step presented by the tactile presentation device according to the embodiment, and FIG. 3B is a drive signal for presenting a haptic up the step. FIG. 3C is a schematic diagram for explaining a tactile sensation descending a step, and FIG. 3D is an example of a drive signal for presenting a tactile sensation descending a step. It is a graph to show. 3B and 3D, the vertical axis represents the amplitude A, and the horizontal axis represents the time T.

  The control unit 6 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 6 and waveform information 60 are stored. For example, the RAM is used as a storage area for temporarily storing calculation results and the like. Further, the control unit 6 has means for generating a clock signal therein, and operates based on this clock signal.

The control unit 6 generates operation information S ₃ based on the detection information S ₁ output from the touch pad 2 and outputs the operation information S ₃ to the connected electronic device 85 to be operated. The operation information S _3, as an example, a touch operation, drag operation includes a single tap operation, the information of the performed the operation such as double-tapping operation.

For example, as shown in FIG. 3A and FIG. 3B, the control unit 6 presents the first vibration 61 before the operating finger 9 ascends the virtual step 7, and the virtual step After exceeding 7, a second vibration 62 having a frequency higher than that of the first vibration 61 and damped is presented. Control unit 6 presents a first vibration 61 and the second vibration 62 based on the instruction signal S ₄ that is output from the connected electronic device 85.

Further, for example, as shown in FIG. 3C and FIG. 3D, the control unit 6 presents the third vibration 63 before the operating finger 9 descends the virtual step 7, and After descending the step, the fourth vibration 64 having a frequency lower than that of the third vibration 63 and attenuated is presented. Control unit 6 presents a third vibration 63 and the fourth oscillation 64 based on the instruction signal S ₄ that is output from the connected electronic device 85.

  For example, as shown in FIG. 3B and FIG. 3D, the control unit 6 is configured such that the first vibration 61 has a frequency lower than that of the third vibration 63 and the second vibration 62 is the fourth vibration. The actuator 4 is controlled so that the frequency becomes higher than 64.

  For example, as illustrated in FIGS. 2C and 2D, the electronic device 85 to be operated has a virtual step between a boundary 823 a that is the outer shape of the icon 823 and a boundary 824 a between the map image 822 and the sub-image 824. Set as 7. Note that a virtual step 7 is also set on the outer shape of the icon 825 located in the sub-image 824.

  By presenting a tactile sensation overcoming or descending the virtual step 7, the operator can confirm that the cursor 826 has reached the icon 823 without moving the line of sight to the display device 82, or the outside of the icon 823. Can be recognized.

  The electronic device 85 to be operated sets, for example, a first presentation boundary and a second presentation boundary as an icon or the like in order to present a virtual tactile sense of raising and lowering the virtual step 7.

Tactile ascending virtual step 7, during the period T _1, be presented first oscillation 61 during the subsequent period T _2, the second vibration 62 is produced by being presented. When the operation finger 9 is moving while tracing the operation surface 20 so that the cursor 826 is directed to the icon 823, the first vibration 61 is, for example, FIG. 2C, FIG. 3A, and FIG. ), The cursor 826 is added to the operation surface 20 when it reaches the first presentation boundary 823b. When the cursor 826 reaches the boundary 823a, the first vibration 61 is switched to the second vibration 62. Subsequently, when the cursor 826 reaches the second presentation boundary 823c, the second vibration 62 is stopped.

Control unit 6 other words, based on the instruction signal _{S 4,} presents a first vibration 61 from the first presentation boundary 823b as tactile ascending virtual step 7 to the boundary 823a, presented from the boundary 823a of the second The second vibration 62 is presented up to the boundary 823c.

Haptics down the virtual step 7 also, during the period T _3, are presented the third vibration 63, during the subsequent period T _4, the fourth oscillation 64 is produced by being presented. When the operation finger 9 is moving while tracing the operation surface 20 so that the cursor 826 goes out of the icon 823, the third vibration 63 is, for example, shown in FIGS. 2 (c), 3 (c), and FIG. As shown in FIG. 3D, when the cursor 826 reaches the second presentation boundary 823c, it is added to the operation surface 20. When the cursor 826 reaches the boundary 823a, the third vibration 63 is switched to the fourth vibration 64. Subsequently, when the cursor 826 reaches the first presentation boundary 823b, the fourth vibration 64 is stopped.

Control unit 6 other words, based on the instruction signal _{S 4,} virtual stepped 7 down presents a third oscillation 63 from the second presentation boundary 823c as tactile to the boundary 823a, the first presentation from the boundary 823a The fourth vibration 64 is presented up to the boundary 823b.

  Subsequently, when the operation finger 9 moves while tracing the operation surface 20 so that the cursor 826 moves from the map image 822 to the sub-image 824, the first vibration 61 is, for example, FIG. As shown in FIG. 3C and FIG. 3D, when the cursor 826 reaches the first presentation boundary 824b, it is added to the operation surface 20. When the cursor 826 reaches the boundary 824a, the first vibration 61 is switched to the second vibration 62. Subsequently, when the cursor 826 reaches the second presentation boundary 824c, the second vibration 62 is stopped.

Control unit 6 other words, based on the instruction signal _{S 4,} presents a first vibration 61 from the first presentation boundary 824b as tactile ascending virtual step 7 to the boundary 824a, presented from the boundary 824a of the second The second vibration 62 is presented up to the boundary 824c.

  Further, when the operating finger 9 moves while tracing the operation surface 20 so that the cursor 826 moves out of the secondary image 824, the third vibration 63 is, for example, FIG. 2 (d), FIG. 3 (c). And as shown in FIG.3 (d), when the cursor 826 reaches | attains the 2nd presentation boundary 824c, it will be added to the operation surface 20. FIG. When the cursor 826 reaches the boundary 824a, the third vibration 63 is switched to the fourth vibration 64. Subsequently, when the cursor 826 reaches the first presentation boundary 824b, the fourth vibration 64 is stopped.

Control unit 6 other words, based on the instruction signal _{S 4,} virtual stepped 7 down presents a third oscillation 63 from the second presentation boundary 824c as tactile to the boundary 824a, the first presentation from the boundary 824a The fourth vibration 64 is presented up to the boundary 824b.

Electronic device 85 of the operation target is to move the cursor 826 based on the operation information S ₃ output from the tactile display device 1, the start of the first oscillation 61 to fourth vibration 64 according to the position of the cursor 826 , switching outputs an instruction signal S ₄ for instructing the stop.

  Note that the elevation of the virtual step 7 may be set in reverse. That is, a tactile sensation that rises when going from the icon 823 to the map image 822 may be presented, and a tactile sense that descends when going from the map image 822 to the icon 823 may be presented.

The control unit 6 has waveform information 60 as information on the first vibration 61 to the fourth vibration 64. Control unit 6 generates a drive signal S ₂ having a suitable waveform based on the waveform information 60.

  The first presentation boundary, the boundary, and the second presentation boundary may be set according to, for example, a predetermined thickness of the operating finger. For example, the thickness of the operation finger is determined by statistics of operation fingers of a plurality of operators.

(About the first vibration 61 to the fourth vibration 64)
4 (a) shows an example of a graph relating to the sound rising sense of depth, FIG. 4 (b) shows an example of a partially enlarged graph of interval T _1, FIG. 4 (c), the section It shows an example of a partially enlarged graph of T _2. 5 (a) shows an example of a graph relating to sound down a three-dimensional appearance, FIG. 5 (b) shows an example of a partially enlarged graph of interval T _3, FIG. 5 (c), the section It shows an example of a partially enlarged graph of T _4. Figure 4 (a) ~ FIG. 5 (c), the vertical axis represents the amplitude A ₁ of the sound, the horizontal axis represents the time T, shows the results of actual measurement of the sound sense of depth.

Sound rising sense of depth, for example, as shown in FIG. 4 (a) ~ FIG 4 (c), the frequency interval T ₁ is is lower than the frequency of the interval T _2. The amplitude of the interval T _1, the amplitude of the interval T ₂ contrast is nearly constant is attenuated.

In this embodiment, the first vibration 61 is generated by simulating the waveform of the sound interval T _1, the second vibration 62 is generated to simulate the sound waveform of the interval T _2.

The sound down a three-dimensional appearance, for example, as shown in FIG. 5 (a) ~ FIG 5 (c), the frequency of the interval T ₃ is higher than the frequency of the interval T _4. The amplitude of the interval T _3, the amplitude of the interval T ₄ whereas it is substantially constant is attenuated.

In this embodiment, the third vibration 63 is generated by simulating the waveform of the sound interval T _3, the fourth vibration 64 is generated to simulate the sound waveform of the interval T _4.

  Below, an example of operation | movement of the tactile sense presentation apparatus 1 of this Embodiment is demonstrated according to the flowchart of FIG. Here, a case where the operator performs a tracing operation to select a target icon or the like with the cursor 826 will be described.

(Operation)
The control unit 6 of the tactile sense presentation device 1 periodically acquires the detection information S ₁ from the touch pad 2. Control unit 6, the touch pad 2 detects the operation finger 9, and outputs the operation information S ₃ the operation target of the electronic device 85 connected generates and (Step1).

The electronic device 85 sets the first presentation boundary, the boundary, and the second presentation boundary based on the display image 820 displayed on the display device 82. The electronic device 85 moves the cursor 826 on the display image 820 based on the operation information S ₃ output from the tactile display device 1. The electronic device 85 outputs the cursor 826 reaches the first presentation boundary or second presentation boundary indication signal S ₄ for instructing the tactile presentation to tactile display device 1.

Control unit 6 of the tactile display device 1 determines whether the instruction signal S ₄ is inputted (Step2), get off whether ascending virtual step 7 based on the instruction signal S ₄ inputted. Control unit 6, when the instruction signal S ₄ is for instructing the tactile presentation ascending virtual step 7 (Step3: Yes), the drive signal to generate a first oscillation 61 based on the waveform information 60 S ₂ presents a first vibration 61 is output to the actuator 4, the switching from the first vibration 61 according to the instruction signal S ₄ to be input to the subsequent second vibration 62, and stops the second vibration 62 Then, the presentation of the tactile sensation that climbs the virtual step 7 is terminated (Step 4).

Here, in step 3, when the input instruction signal S ₄ instructs to present a tactile sensation to go down the virtual step 7 (Step 3: No), the control unit 6 performs the third vibration based on the waveform information 60. a drive signal S ₂ to produce a 63 presents a third vibration 63 is output to the actuator 4, the switching from the third vibration 63 to the fourth vibration 64 according to the instruction signal S ₄ to be input thereafter, and The fourth vibration 64 is stopped, and the presentation of the tactile sensation that descends the virtual step 7 is terminated (Step 5).

  In addition, the control part 6 stops the presentation of a tactile sense, when the operating finger 9 is no longer detected in the middle of a tactile sense presentation.

(Effect of embodiment)
The tactile sensation providing apparatus 1 according to the present embodiment can present a three-dimensional effect in which the operating finger 9 rises and falls on an icon or the like displayed on the display device 82 by tactile sensation. Since this tactile sensation presentation device 1 can present a tactile sensation in which the operating finger 9 moves up and down the virtual step 7 by vibrating the operation surface 20, compared with the case where this configuration is not adopted, In addition to such simple tactile feedback, it is possible to present with a tactile sense a stereoscopic effect in which the operating finger 9 rises and falls on an icon or the like displayed on the display device 82. Moreover, since the tactile sensation providing apparatus 1 can present a tactile sensation with a three-dimensional effect, the operator can recognize the operation content by tactile sensation.

Tactile display apparatus 1 is a time to get off as when ascending a virtual step 7, since the waveform of the driving signal S ₂ to vibrate the operation surface 20 is different, compared to the case not employing the configuration, the operator is more three-dimensional You can feel a sense of touch.

  Here, as another embodiment, the control unit 6 includes information on the display image 820 displayed on the display device 82 acquired from the electronic device 85 to be operated, and the operation surface 20 of the operation finger 9 detected by the touch pad 2. Information on the upper position, and based on the acquired information, the first presentation boundary, the boundary and the second presentation boundary are determined, and the virtual step difference according to the movement of the operation surface 20 of the operation finger 9 7 may be configured to present a tactile sensation that moves up and down 7.

  As still another embodiment, the tactile presentation device 1 may be configured as a tactile presentation system together with the electronic device 85 to be operated.

  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 presentation apparatus, 2 ... Touch pad, 4 ... Actuator, 6 ... Control part, 7 ... Step, 8 ... Vehicle, 9 ... Operating finger, 10 ... Housing, 20 ... Operation surface, 60 ... Waveform information, 61- 64: First vibration to fourth vibration, 80: Floor console, 81: Center console, 82: Display device, 85: Electronic device, 100: Bottom surface, 200: Reference position, 820: Display image, 822: Map image 823 ... icon, 823a ... boundary, 823b ... first presentation boundary, 823c ... second presentation boundary, 824 ... secondary image, 824a ... boundary, 824b ... first presentation boundary, 824c ... second presentation boundary, 825 ... icon, 826 ... cursor

Claims (5)

  A tactile sensation providing apparatus including a control unit that applies vibration to an operation surface of an operation unit that detects an operation finger by controlling an actuator and presents a tactile sensation that moves up and down a virtual step. The control unit presents a tactile sensation that raises and lowers a virtual step based on an instruction signal output from an operation target.
The tactile sense presentation device according to claim 1. The control unit presents a first vibration before the operating finger climbs a virtual step, and after exceeding the virtual step, a second frequency that is higher than the first vibration and attenuates. Presenting the vibration of
The tactile sense presentation device according to claim 1 or 2. The control unit presents a third vibration before the operating finger descends the virtual step, and after descending the virtual step, the frequency is lower than the third vibration and attenuates. Presenting the vibration of
The tactile sense presentation device according to claim 3. The control unit controls the actuator so that the first vibration has a frequency lower than that of the third vibration and the second vibration has a frequency higher than that of the fourth vibration.
The tactile sense presentation device according to claim 4.

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