JP2019117459A - Haptic presentation apparatus, haptic presentation system and haptic presentation method - Google Patents

Abstract

To properly present haptic to a wearer.SOLUTION: A haptic presentation apparatus includes two rods 24 and 26 which are relatively rotatably connected with each other with a connection portion (rotation shaft 30), and attached to both sides perpendicular to the rotation shaft of a joint of a wearer. In addition, the haptic presentation apparatus includes a reception member 32 for receiving the two rods 24 and 26 on a circumference of the connection portion, and a fluid member that is received in the reception member 32 to contact the rods 24 and 26 respectively and whose viscosity changes due to external action.SELECTED DRAWING: Figure 2

Description

  The technology disclosed herein relates to a force sense presentation device, a force sense presentation system, and a force sense presentation method.

  For example, in a virtual reality space, there is a device that presents a sense of touching an object that does not actually exist. As an example, there is a technique in which an electrorheological fluid is put in a container and sealed, and an electrorheological fluid unit in which a pair of electrode plates are arranged in a sandwich shape so as to sandwich the container is attached to the joint part of the user. In this technology, an electrorheological fluid unit is applied by applying an electric field to the electrorheological fluid sealed in the container by applying to the electrode plate a voltage having a magnitude of force sense determined by the central control unit to increase the viscosity. Motion of the joint is suppressed.

JP-A-8-314626

  The technology that gives the wearer the sense of touching the object by giving a sense of force or resistance to movement is required to be able to present the sense of force appropriately to the wearer .

  The disclosed technology of the present application has an object to accurately present a sense of force to a wearer as one aspect.

  In the disclosed technology of the present application, it has two rods which are relatively rotatably coupled by the coupling portion and are respectively attached to both sides of the joint of the wearer. Furthermore, it has the accommodation member which accommodates two rods around a connection part, and the fluid member which is accommodated in the accommodation member and contacts each of a rod, and whose viscosity changes by the operation from the outside.

  In the technology disclosed in the present application, it is possible to properly present a sense of force to the wearer.

FIG. 1 is a side view showing the force sense presentation device of the first embodiment. FIG. 2 is a sectional view taken along line 2-2 of FIG. 1 showing the force sense presentation device of the first embodiment. FIG. 3 is an exploded perspective view partially showing the internal structure of the force sense presentation device of the first embodiment. FIG. 4 is a block diagram of the force sense presentation device of the first embodiment. FIG. 5 is a side view showing the mounting state of the force sense presentation device of the first embodiment. FIG. 6 is a side view showing the mounting state of the force sense presentation device of the first embodiment. FIG. 7A is a graph showing an example of the relationship between applied voltage and time in the force sense presentation device of the first embodiment. FIG. 7B is a graph showing an example of the relationship between the resistance and the movement stroke in the force sense presentation device of the first embodiment. FIG. 8A is a graph showing an example of the relationship between applied voltage and time in the force sense presentation device of the first embodiment. FIG. 8B is a graph showing an example of the relationship between the resistance and the movement stroke in the force sense presentation device of the first embodiment. FIG. 9 is a side view showing a force sense presentation device of a comparative example. FIG. 10 is a side view showing a double-end support beam which approximates the force sense presentation device of the comparative example. FIG. 11 is a cross-sectional view showing a double-end support beam which approximates the force sense presentation device of the comparative example. FIG. 12 is a cross-sectional view showing a force sense presentation device of the second embodiment. FIG. 13 is a cross-sectional view showing a force sense presentation device of the third embodiment. FIG. 14 is a cross-sectional view showing a force sense presentation device of a fourth embodiment. FIG. 15 is a side view showing a part of the rod of the force sense presentation device of the fourth embodiment. FIG. 16 is a cross-sectional view showing a force sense presentation device of the fifth embodiment. FIG. 17 is a side view showing the mounting state of the force sense presentation device of the first modified example. FIG. 18 is a front view showing the mounting state of the force sense presentation system of the second modified example. FIG. 19 is a side view showing an example of the wearing state of the force sense presentation device. FIG. 20 is a side view showing an example of the wearing state of the force sense presentation device.

  The force sense presentation apparatus, the force sense presentation method, and the force sense presentation system of the first embodiment will be described in detail based on the drawings.

  As shown in FIGS. 1 and 2, the force feedback device 22 has two rods 24 and 26. In the present embodiment, each of the rods 24 and 26 has a structure having one link member 28. The link member 28 is a long plate-like member in the illustrated example.

  One end 24A of the rod 24 and one end 26A of the rod 26 are rotatably connected by the rotation shaft 30. In the present embodiment, as shown in FIG. 3, the rotation shaft 30 is integrally formed with the rod 26, and the rotation shaft 30 is rotatably held by the rod 24.

  The rotating shaft 30 connects the two rods 24 and 26 rotatably in one direction, and is an example of a connecting portion. The connecting portion may be a member (biaxial hinge or the like) that connects the two rotatably relative directions. Further, as the connecting portion, a structure in which these rods are relatively rotatably connected by holding the ball provided on one rod from the outside by holding the spherical shell provided on the other rod from the outside (ball joint ) May be.

  A housing member 32 is disposed around the rotation shaft 30 so as to receive one end 24A of the rod 24 and one end 26A of the rod 26. The housing member 32 is formed in a closed curved surface (bag-like) shape by an elastically deformable material such as soft resin (silicone resin as an example), rubber or the like.

  The housing members 32 are provided with the contact portions 34 and 36. The adhesion portions 34 and 36 are also cylindrical portions 38 in which the bag-like portion of the housing member 32 extends in a cylindrical shape toward the outside. The adhesion portion 34 is in close contact with the rod 24 so as to surround a part (intermediate portion) in the longitudinal direction of the rod 24. Similarly, the intimate contact portion 36 is in close contact with the rod 26 so as to surround a part (intermediate portion) in the longitudinal direction of the rod 26.

  The large diameter part 40 which thickened the rods 24 and 26 locally is provided in the part which the contact parts 34 and 36 (cylinder part 38) contact | adhere to the rods 24 and 26, respectively. In the large diameter portion 40, the adhesion portions 34, 36 are partially stretched radially outward of the rods 24, 26, so that the adhesion portions 34, 36 adhere to the rods 24, 26 more strongly than the portions other than the large diameter portion 40.

  In the rods 24 and 26, the other end 24B and 26B side, that is, the portion on the opposite side of the portion connected by the rotating shaft 30 is a protrusion 42 that protrudes from the housing member 32.

  An electro-rheological (ER) fluid 48 is accommodated in the accommodation member 32. The electrorheological fluid 48 is a fluid whose viscosity changes according to the magnitude of the electric field applied from the outside of the electrorheological fluid 48, and is an example of a fluid member. The electro-rheological fluid 48 is in contact with each of the rods 24, 26 inside the housing member 32, that is, around the rotation axis 30.

  The force sense presentation device 22 has a pair of electrodes 44, 46. As shown in FIG. 3, in the first embodiment, the electrodes 44 and 46 are annular and plate-like members that surround the rotation shaft 30. And electrodes 44 and 46 are stuck on rods 24 and 26, respectively, and are mutually opposed.

  A portion of the electro-rheological fluid 48 is located between the electrodes 44, 46. In other words, the housing member 32 is a member for keeping a part of the electrorheological fluid 48 disposed between the electrodes 44 and 46.

  Wirings 54 and 56 for supplying power from the outside are connected to the electrodes 44 and 46. In the present embodiment, the wires 54 and 56 are extended to the outside of the housing member 32 through the contact holes 32H of the housing member 32. Alternatively, the wires 54 and 56 may extend to the outside of the housing member 32 through between the rods 24 and 26 and the contact portions 34 and 36. In any structure, the gap between the wires 54 and 56 and the housing member 32 is sealed so that the electro-rheological fluid 48 does not leak to the outside.

  As shown in FIG. 4, the force sense presentation device 22 is electrically connected to the electric field generation source 62. The electric field generation source 62 is a power supply that applies a predetermined voltage to the electrodes 44 and 46 via the wires 54 and 56, and is controlled by the control device 50. Therefore, the electrodes 44 and 46 are an example of the application members, and the application members are provided on the rods 24 and 26, respectively. In addition, the electric field generation source 62 is an example of a current-carrying member.

  The force sense presentation system 52 includes the force sense presentation device 22, the electric field generation source 62, and the control device 50 described above, and further includes an imaging device 58 and a drawing device 60 connected to the control device 50. The imaging device 58 captures a finger F1 (see FIGS. 5 and 6) of the wearer with the force sense presentation device 22 attached thereto, and detects the movement of the finger F1 by, for example, motion capture using a captured image. , And an example of a detection device.

  The drawing device 60 is, for example, a device for drawing a predetermined image to a wearer wearing the force sense presentation device 22. Although a head mount display with which a wearer wears a head can be mentioned as a specific example of drawing device 60, It is not limited to this. The control device 50 can display an image as a so-called virtual reality by superimposing a virtual image on the finger F1 of the wearer imaged by the imaging device 58 and the real image around it.

  As shown in FIGS. 5 and 6, the force sense presentation device 22 has mounting members 64, 66 corresponding to the rods 24, 26 respectively. In the present embodiment, the mounting members 64 and 66 are formed in a flat cylindrical (annular) shape by an extendable mesh-like member. Then, a part of the mounting members 64 and 66 in the circumferential direction is fixed to the corresponding projecting portion 42 of the rods 24 and 26. The wearer can wear the force sense presentation device 22 by passing the finger F1 of the wearer through the mounting members 64 and 66. In the wearing state, for example, the rotation shaft 30 is located near the joint J1 of the finger F1. In the example shown in FIGS. 5 and 6, the force sense presentation device 22 is located on the side (lateral) of the finger F1.

  As the mounting members 64 and 66, as described above, it is possible to cite a structure which is expanded and contracted as a whole in a shape continuous in the circumferential direction of the cylindrical shape by the net-like member. The mounting members 64 and 66 have a structure in which a belt-like cloth material, a woven fabric, a non-woven fabric, a leather material or the like is provided with a fastener such as a buckle, a hook-and-loop fastener, or an adhesive tape. It may be a structure which maintains a winding state by fastening by.

  Next, the operation of the present embodiment will be described.

  As shown in FIGS. 5 and 6, the force sense presentation device 22 is attached to the side of the joint J1 of the finger F1 (wearer). Specifically, the rod 24 is attached to the tip end side of the finger F1 more than the joint J1, and the rod 26 is attached to the root side of the finger F1 than the joint J1 by the mounting members 64 and 66, respectively. That is, the rods 24, 26 are attached to both sides of the finger F1 in the direction perpendicular to the rotation axis of the joint J1.

  In this state, the imaging device 58 of the force sense presentation system 52 images both sides of the joint J1 of the finger F1 and detects the movement. The control device 50 draws a predetermined image on the drawing device 60 based on the signal received from the imaging device 58. Further, the controller 50 operates the electric field generation source 62 to supply a signal to the electrodes 44 and 46 to generate a predetermined electric field between the electrodes 44 and 46. The electric field generates clusters C1 (see FIG. 2), and the viscosity of the electrorheological fluid 48 changes. Since the electro-rheological fluid 48 is in contact with one end 24 A, 26 A of the rods 24, 26, the electro-rheological fluid 48 provides resistance to relative rotation of the rods 24, 26 around the rotation shaft 30. And, when the viscosity of the electro-rheological fluid 48 changes, the resistance to the movement when moving the finger F1 centering on the joint J1 changes.

  FIG. 7A shows the relationship between the time T and the drive voltage V when it is assumed that a relatively hard virtual object is touched with the finger F1. FIG. 7B shows the movement stroke of the finger F1 in this case. The relationship between S and the resistance F acting on the finger F1 is shown.

  On the other hand, FIG. 8A shows the relationship between the time T and the drive voltage V when it is assumed that the relatively soft virtual object is touched with the finger F1, and FIG. 8B shows the finger in this case. The relationship between the movement stroke S of F1 and the resistance F acting on the finger F1 is shown.

  In FIG. 7A and FIG. 8A, the time at the time of a contact start is set to T0. Moreover, in FIG. 7B and FIG. 8B, the movement stroke of the finger F1 at the time of a contact start is set to S0.

  As shown in FIG. 7A, in the case where a hard virtual object is assumed as an object being touched with the finger F1, the rise of the drive voltage V is steep at time T0 at the start of the touch. And as shown to FIG. 7B, the resistance F with respect to the movement stroke S of the finger F1 also becomes large rapidly in stroke S0 at the time of a contact start.

  On the other hand, as shown in FIG. 8A, in the case where a soft virtual object is assumed as the object being touched with the finger F1, the rise of the drive voltage V is gentle compared to FIG. 7A at time T0 at the start of contact. is there. Moreover, as shown to FIG. 8B, the resistance F with respect to the movement stroke S of the finger F1 becomes large gradually from stroke S0 at the time of a contact start.

  As described above, in the present embodiment, it is possible to appropriately present the wearer with the force sense matched to the hardness and softness of the object assumed to be in contact with the finger F1. Further, by adjusting the viscosity of the electro-rheological fluid 48, the resistance to the movement of the finger F1 can be adjusted, and the hardness, the softness, and the like of the virtual object can be presented to the wearer.

  Moreover, in the present embodiment, the movement of both sides of the joint J1 is detected by the imaging device 58. The imaging device 58 is an example of a detection device, and in place of the imaging device 58, for example, an acceleration sensor may be attached to the finger F1. However, when the acceleration sensor is used, it may be difficult to detect the movement when the acceleration of the movement of the finger F1 is small. On the other hand, in the imaging device 58, since the finger F1 which is a target for detecting motion is imaged, more accurate motion detection is possible as compared with a structure using an acceleration sensor.

  Here, FIG. 9 shows a force sense presentation device 82 of a comparative example. In the force sense presentation device 82, an electro-rheological fluid is contained in a container 84 and sealed, and a pair of electrode plates 86 and 88 are disposed so as to sandwich the container 84 in the thickness direction (the direction of arrow A1). Then, in the force sense presentation device 82, when one of the electrode plates 86, 88 is located at the joint of the wearer and the finger is bent at the joint, the force sense presentation device 82 is bent in the thickness direction as a whole.

As shown in FIG. 10, the force sense presentation device 82 of the comparative example is supported at both end portions in the longitudinal direction of the container 84 and approximates to a both-ends support beam 90 having the cross-sectional shape shown in FIG. Specifically, the length of the both-ends support beam 90 is L, the thickness is h, and the width is b. Deflection amount [delta] when the uniformly distributed load P is applied to such opposite ends supporting beam 90, the Young's modulus of the electrorheological fluid E, the moment of inertia as I, can be expressed as δ = 5PL 4 ^/ 384EI . Here, the second moment I are I = ^bh 3/12.

  In the force sense presentation device 82 of the comparative example, the thickness h of the container 84 is increased or the Young's modulus E is increased in order to decrease the deflection amount δ when a constant equal distribution load P acts. There is a need. However, when the container 84 is thickened, the force sense presentation device 82 itself is also thickened, the feeling of wearing on the finger is lowered, and it becomes difficult to move the finger in the state where the electric field is not applied. Moreover, the Young's modulus E is determined by the type of the electro-rheological fluid sealed in the container 84 and the magnitude of the applied electric field, but if the thickness h of the container 84 is increased, the distance between the electrode plates 86 and 88 becomes longer. The electric field between the electrode plates 86 and 88 is weakened. That is, in the force sense presentation device 82 of the comparative example, in order to cause an electric field of a sufficient magnitude to act between the electrode plates 86 and 88, a higher output electric field source is required.

  On the other hand, in the force sense presentation device 22 of the present embodiment, the viscosity of the electro-rheological fluid 48 is changed to change the resistance of the movement of the finger F1, thereby changing the resistance of the relative rotation of the rods 24, 26. Let In other words, in order to change the resistance to the movement of the finger F1, it is sufficient to change the viscosity of the electro-rheological fluid 48, and it is not necessary to increase the thickness of the electro-rheological fluid 48. Also, in order to increase the resistance of the relative rotation of the rods 24, 26, it is not necessary to widen the distance between the electrodes 44, 46.

  Then, in the present embodiment, by making the thickness of the electro-rheological fluid 48 thin, that is, narrowing the distance between the electrodes 44 and 46, clusters of the electro-rheological fluid 48 generated by the electric field between the electrodes 44 and 46 are used. , The relative rotation of the rods 24, 26 can be given appropriate resistance. Since the distance between the electrodes 44 and 46 can be narrowed, even when a constant potential difference is applied between the electrodes 44 and 46, the obtained electric field is larger than that of the force sense presentation device 82 of the comparative example. In other words, the potential difference applied between the electrodes 44 and 46 to obtain the required electric field can be small. For these reasons, in the present embodiment, by thinning the electro-rheological fluid 48 (substantially the housing member 32), the force sense presentation device 22 having excellent mountability can be obtained.

  Further, since the electric field generated between the electrodes 44 and 46 may be small, the electric field generation source 62 and the like can be miniaturized, and the force sense presentation system 52 can also be miniaturized.

  Next, the force sense presentation device 112 of the second embodiment and the force sense presentation device 122 of the third embodiment will be described. In the second embodiment and the third embodiment, the same elements, members, and the like as those in the first embodiment are denoted by the same reference numerals, and detailed descriptions thereof will be omitted. In the second, third and fifth embodiments and modifications described below, although the wires 54 and 56 are omitted in the drawings, the wires 54 and 56 are actually provided.

  In the force sense presentation device 112 of the second embodiment, as shown in FIG. 12, the rod 26 has two link members 28. The link members 28 are plate-like members having the same shape, and are arranged in parallel. Each of the link members 28 is rotatable around the rotation shaft 30 on one end 26A of the rod 26 and is connected by the connection portion 114 on the other end 26B.

  The link 28 of the rod 24 is located between the two links 28 of the rod 26 at a position rotatably supported by the rotation shaft 30 (the center of the receiving member 32). Electrodes 44 and 46 are fixed to each of the link members 28. Thus, in the second embodiment, two pairs of electrodes 44, 46 are present.

  In the force sense presentation device 112 of the second embodiment configured as described above, the rod 26 has a structure in which the two link members 28 are connected by the connection portion 114, and therefore the rigidity is high. For example, in the rod 26, even when a bending force acts in the thickness direction of the link member 28 (the direction of the arrow A2), bending of the rod 26 as a whole is suppressed.

  And since there are two pairs of electrodes 44 and 46, the electrorheological fluid 48 can exert a larger electric field as compared with a single pair of electrodes 44 and 46.

  In the force sense presentation device 122 of the third embodiment, as shown in FIG. 13, not only the rod 26 but also the rod 24 has two link members 28. Similar to the link member 28 of the second embodiment, the link member 28 of the third embodiment is also a plate-like member having the same shape, and is disposed in parallel. Each of the link members 28 is rotatable around the rotation shaft 30 on one end 24A side of the rod 24 and is connected by the connection portion 114 on the other end 24B side.

  Also in the force sense presentation device 122 of the third embodiment, the electrodes 44 and 46 are fixed to each of the link members 28, and the number of pairs of the electrodes 44 and 46 is three.

  Therefore, in the force sense presentation device 122 of the third embodiment, the rigidity of the rod 24 and the rod 26 is high. Even when a bending force acts on the rod 26 in the thickness direction of the link member 28 (the direction of the arrow A2), bending of the rod 26 as a whole is suppressed.

  In the force sense presentation device 122 of the third embodiment, since there are three pairs of electrodes 44, 46, a large electric field is applied to the electrorheological fluid 48 as compared with the one or two pair of electrodes 44, 46. Can act. And, by applying a large electric field, a greater resistance can be given to the relative rotation of the rods 24, 26.

  Thus, the number of links 28 of the rods 24, 26 is not limited. Also, the link member 28 may be, for example, a rod-like member instead of a plate.

  By increasing the number of link members 28 per rod 24, 26, in the housing member 32, the surfaces corresponding to the link members 28 increase. In the structure in which the electrodes 44 and 46 are disposed on the surface facing the link member 28 (the second embodiment and the third embodiment described above are examples thereof), many pairs of the electrodes 44 and 46 can be disposed. is there.

  Next, a fourth embodiment will be described. In the fourth embodiment, the same elements, members, and the like as those of the first embodiment are denoted by the same reference numerals, and the detailed description thereof is omitted.

  As shown in FIG. 14 and FIG. 15, in the force sense presentation device 132 of the fourth embodiment, the wiring member 134 is embedded in each of the rods 24, 26. Although the rod 26 is shown in FIG. 15, the structure of the wiring member 134 is the same in the rod 24 as well.

  One end side of the wiring member 134 is in contact with the corresponding electrode 44, 46, and the other end side of the wiring member 134 is exposed from the housing member 32. By connecting a cable (not shown) to this exposed portion, a voltage can be applied from the electric field generation source 62 (see FIG. 4) to the electrodes 44 and 46 via the wiring member 134. In addition, the part exposed from the accommodating member 32 in the wiring member 134 is insulated coated except the connection part with a cable, and even if it contacts a wearer, it does not get an electric shock.

  In the force sense presentation device 132 of the fourth embodiment, since the wiring member 134 is embedded in the rods 24, 26, for example, the wiring member 134 can be easily routed as compared with the wires 54, 56 shown in FIG. is there. In addition, the wires 54 and 56 do not flutter, and the force sense presentation device 132 can be miniaturized. In addition, the generation of the gap between the housing member 32 and the rod 24 can be more effectively suppressed, and the fluid member can be reliably sealed in the housing member 32.

  Next, a fifth embodiment will be described. In the fifth embodiment, the same elements, members and the like as those in the first embodiment are denoted by the same reference numerals, and the detailed description thereof is omitted.

  As shown in FIG. 16, in the force sense presentation device 142 of the fifth embodiment, the fixing band 144 is wound around the contact portions 34 and 36. The fixing band 144 squeezes the intimate contact portions 34 and 36 inward to make the intimate contact with the link member 28 stronger.

  Therefore, in the fifth embodiment, the effect of suppressing positional deviation of the contact portions 34 and 36 with respect to the rods 24 and 26 is high.

  In FIG. 16, the fixing band 144 is disposed closer to the other ends 24B and 26B of the rods 24, 26 than the large diameter portion 40, but is disposed closer to the one end 24A or 26A than the large diameter portion 40. It is also good.

  Next, force sense presentation devices of various modifications will be described. In the following modifications, the basic structure adopts the same structure as that of the first embodiment, but it is also possible to adopt the structure of any of the second to fifth embodiments.

  In the first modified example shown in FIG. 17, the force sense presentation device 152 has one mounting member 154 in common with the rods 24 and 26.

  The mounting member 154 has a tubular shape that is longer in the longitudinal direction (direction of the arrow N1) than the mounting members 64 and 66 shown in FIGS. 5 and 6 and covers both of the rods 24 and 26. One end side (tip end side) of the mounting member 154 is closed by the closing portion 154T, and the mounting member 154 has a so-called finger-sack shape as a whole.

  In the first modification, one mounting member 154 is provided for one force sense presentation device 152. That is, one attachment member 154 may be attached to the finger, and the attachment of the force sense presentation device 152 to the finger F1 is easy. Further, since the tip end side of the mounting member 154 is closed by the closing portion 154T, in the state where the closing portion 154T contacts the fingertip, displacement of the mounting member 154 to the root side (direction of arrow N2) of the finger F1 is suppressed .

  In a second modified example shown in FIG. 18, a force sense presentation unit 160 including a plurality of force sense presentation devices 22 is provided. Specifically, in each finger of the hand, force sense presentation devices 22A, 22B, 22C are arranged from the tip end side of the finger. Then, as exemplified by the second finger in FIG. 18, the rod 26 of the force sense presentation device 22A and the rod 24 of the force sense presentation device 22B are integrated by the plate member 162 so as to be continuous. . Similarly, the rod 24 of the force sense presentation device 22B and the rod 26 of the force sense presentation device 22C are integrated by the plate member 162 so as to be continuous.

  And in the 2nd modification, mounting member 164 is formed in the shape which covers all these force sense presentation devices 22, for example, glove shape. The mounting member 164 is in contact with a plurality of (five in the example of FIG. 18) fingers F1 and a portion including the palm F2 and the back of the hand. Since the plurality of force sense presentation devices 22 can be held at appropriate positions, the sense of grasping the virtual object by hand can be presented more easily and appropriately.

  Thus, the structure of the mounting member can take various structures such as a band shown in FIGS. 5 and 6, a finger sack shown in FIG. 17, and a glove shown in FIG.

  In the belt-like structure shown in FIGS. 5 and 6, the contact area of the mounting members 64 and 66 with the finger F1 of the wearer is small, so that a feeling of wearing similar to that when the force sense presentation device is not mounted can be obtained.

  In the finger-sack-like structure shown in FIG. 17, the contact area with the finger F1 is wider than in the band-like structure, and therefore, the effect of suppressing the displacement and the dropout of the force sense presentation device from the finger F1 is high.

  In the glove-like structure shown in FIG. 18, the contact area to the hand is wider compared to the finger-sack-like structure, so displacement and dropout of the force sense presentation device from fingers F1 and palm F2 etc. is made more effective. It can be suppressed. Further, the wearer can wear a plurality of force sense presentation devices, and the force sense presentation devices can be disposed on the palm F2 side.

  In addition, since resistance can be applied to movements of a plurality of joints, it is also possible to more accurately present the shape and texture of a virtual object.

  And even if a mounting member is any structure, mounting to a wearer becomes easy because a force sense presentation apparatus has a mounting member. For example, a force sense presentation device having a structure without a mounting member may be used, but in this case, a member for mounting the force sense presentation device on a wearer, such as an adhesive tape or a mounting belt, is required. . On the other hand, in the structure in which the force sense presentation device includes the attachment member, it is not necessary to prepare a member for attachment separately from the force sense presentation device.

  In any of the above-described mounting members, the mounting portion to the wearer is cylindrical, and can be appropriately brought into close contact with a part of the wearer's body by elastically deforming (shrinking) radially inward. is there. Thus, the force sense presentation device can be worn without applying an excessive load or load to the wearer.

  In each of the above embodiments, FIGS. 5, 6, and 17 show an example in which the force sense presentation device is attached to the side face (lateral side) of the joint J1 when attaching the force sense presentation device to the finger F1. Alternatively, for example, as shown in FIG. 19, it can be mounted inside the joint J1, or as shown in FIG. 20, it can be mounted outside the joint J1. For example, with the third finger (middle finger), since there are other fingers (second and fourth fingers) on both sides, it may be difficult to attach the force sense presentation device to the side of the joint of the third finger is there. Even in such a case, as long as it is inside or outside the joint J1, the force sense presentation device can be attached, and resistance against bending of the joint J1 can be exerted. Furthermore, the attachment positions may be combined, such as attaching the force sense presentation device to any two or all three of the side, inner and outer sides of the joint J1.

  Although FIG. 19 and FIG. 20 mentions the force sense presentation apparatus 22 of 1st embodiment as a force sense presentation apparatus mounted | worn with the inner side or the outer side of the joint J1, 2nd-5th each embodiment and the 1st The force sense presentation devices of the second to third modifications can be applied.

  The force sense presentation unit 160 shown in FIG. 18 is also an example in which a force sense presentation device is disposed inside the joint J1.

  In the above, although the part ahead of the finger F1 or the wrist is mentioned as the wearing target (the body part of the wearer) of the force sense presentation device, the wearing target is not limited to these, for example, wrist, elbow, It may be toe, ankle, knee, shoulder, waist and the like.

  Moreover, the structure which mounts a force sense presentation apparatus to mounting object is not limited to an above-described mounting member. For example, the force sense presentation device may be attached to the wearer using an adhesive tape.

  In the above-described embodiments, portions of the rods 24 and 26 on the side of the other ends 24B and 26B, that is, portions on the opposite side connected by the rotation shaft 30 project from the housing member 32. For example, mounting members 64 and 66 shown in FIG. 5 and FIG. Thereby, since the rods 24 and 26 can be attached in close contact with the wearer, accurate presentation of force sense is possible.

  The housing member 32 has a close contact portion 34. Since the contact portion 34 is in close contact with the rod 24, leakage of the liquid member from the inside of the housing member 32 can be suppressed.

  The adhesion portion 34 is a cylindrical member and is in close contact with a part of the rod 24 in the longitudinal direction. When the adhesion portion 34 is cylindrical, for example, the adhesion area is larger than the ring-like structure of the adhesion portion, so that the leakage of the liquid member from the inside of the housing member 32 can be more effectively suppressed.

  The rod 24 has a large diameter portion 40. At the position of the large diameter portion 40, the close contact portion 34 of the housing member 32 is spread outward and strongly in close contact with the large diameter portion 40, so leakage of the liquid member from the inside of the housing member 32 can be more effectively suppressed. . Further, positional deviation of the contact portion 34 with respect to the rod 24 can be suppressed.

  In the force sense presentation device of each of the above embodiments, the electrodes 24 and 46, which are an example of the application members, are provided on the rod 24. That is, the electrodes 44 and 46 are supported by the rod 24. Although the application member may not be provided on the rod 24, for example, a support member for supporting the electrode anew may be provided, but by providing the electrodes 44 and 46 on the rod 24, no new support member is required, and the structure Simplification can be achieved.

  In the above example, the electrodes 44, 46 are annular around the rotation axis 30. Thus, it is possible to generate a more uniform electric field in the circumferential direction around the rotation axis 30 as compared to a non-annular structure in which the electrodes surround the rotation axis.

  In each of the above embodiments, the fluid member is exemplified by the electro-rheological fluid whose viscosity is changed by the change of the electric field, but the fluid member is not limited to the electro-rheological fluid. For example, it may be a magnetic fluid (Magneto Rheological fluid (MR) fluid) whose viscosity is changed by a change in magnetic field. When a magnetic fluid is used as the fluid member, a magnetic field having a desired magnetic field can be applied to the magnetic fluid by providing a pair of magnetic bodies having the same shape as the electrodes 44 and 46 described above as the application member. In addition, as an application member for applying a magnetic field to the magnetic fluid, for example, one or a plurality of conducting wires passing through the magnetic fluid may be used, and a magnetic field generated when current flows through the conducting wires may be used. The conductors do not have to be linear, but may, for example, be coiled.

  Furthermore, a fluid whose viscosity changes with temperature may be used as the fluid member. In this case, a heater element or the like for changing the temperature of the fluid member may be provided, and the temperature of the fluid member may be changed by energizing the heater element. That is, the fluid member is a fluid whose viscosity is changed by the action from the outside of the fluid member (the above-mentioned electric field, magnetic field, heat and the like are examples).

  When an electrorheological fluid or a magnetic fluid is used as the fluid member, a structure that changes the viscosity of the fluid member can be realized with a simple structure that changes an electric field or a magnetic field.

  And, in the structure using the electro-rheological fluid or the magnetic fluid as the fluid member, the viscosity of the fluid member can be changed by a simple structure in which the electrodes 44 and 46 and the magnetic body are provided as the application members.

  The application member may be disposed outside the accommodation member 32 instead of inside. For example, the application member may be attached to the housing member 32 outside the housing member 32, or a new support member may be provided at a position separated from the housing member, and the electrodes 44 and 46 may be supported by this support member. It is also good. When the application member is disposed inside the accommodation member 32, the distance between the application member and the fluid member is short, the electric field or magnetic field applied by the application member directly acts on the fluid member, and the viscosity of the fluid member is efficiently Can change.

  The embodiment of the technology disclosed in the present application has been described above, but the technology disclosed in the present application is not limited to the above, and various modifications can be made without departing from the scope of the present invention. Of course it is.

This specification discloses the following additional remarks regarding the above embodiments.
(Supplementary Note 1)
Two rods which are rotatably connected relative to each other by a connector and which are attached to both sides perpendicular to the rotation axis of the wearer's joint;
A receiving member for receiving the two rods around the connecting portion;
A fluid member housed in the housing member and in contact with each of the rods, the viscosity of which is changed by an external action;
Force sense presentation device.
(Supplementary Note 2)
The force sense presentation device according to appendix 1, wherein the opposite side portion connected by the connection portion in each of the rods protrudes from the housing member.
(Supplementary Note 3)
The force sense presentation device according to claim 2, wherein the housing member has a contact portion that closely contacts the rod by elasticity and seals the fluid member inside.
(Supplementary Note 4)
The force sense presentation device according to appendix 3, wherein the close contact portion is a cylindrical tubular portion surrounding a part in the longitudinal direction of the rod.
(Supplementary Note 5)
The force sense presentation device according to appendix 4, wherein the rod has a large diameter portion which is locally thickened at a portion where the cylindrical portion is in close contact.
(Supplementary Note 6)
The force sense presentation device according to any one of appendices 1 to 5, wherein the viscosity changes with a change in an applied electric field or a magnetic field.
(Appendix 7)
The force sense presentation device according to claim 6, further comprising an application member that applies the electric field or the magnetic field to the fluid member.
(Supplementary Note 8)
The force sense presentation device according to appendix 7, wherein each of the application members is provided on the rod.
(Appendix 9)
The force sense presentation device according to appendix 8, wherein the application member is an annular shape surrounding the connection portion.
(Supplementary Note 10)
24. The force sense presentation device according to any one of appendices 7 to 9, further comprising an energizing member provided along the rod to energize the applying member.
(Supplementary Note 11)
The force sense presentation device according to any one of appendices 1 to 10, comprising mounting members provided on the rod and mounted on both sides of the joint.
(Supplementary Note 12)
The force sense presentation device according to appendix 11, wherein the mounting member is cylindrical and elastically deformed inward in the radial direction.
(Supplementary Note 13)
The rod is
A plurality of link members disposed parallel to each other and connected to the connecting portion at one end side;
A connecting portion for connecting the plurality of link members on the other end side opposite to the one end side;
The force sense presentation device according to any one of appendices 1 to 12 including:
(Supplementary Note 14)
Two rods which are rotatably connected relative to each other by a connector and which are attached to both sides perpendicular to the rotation axis of the wearer's joint;
A receiving member for receiving the two rods around the connecting portion;
A fluid member housed in the housing member and in contact with each of the rods, the viscosity of which is changed by an external action;
A force sense presentation device having
A detection device for detecting movement on both sides of the joint to which the rod is attached;
A control device that changes the viscosity of the fluid member by changing the action according to the movement of both sides of the joint detected by the detection device;
Force sense presentation system.
(Supplementary Note 15)
The force sense presentation system according to appendix 14, wherein the detection device is an imaging device that detects the motion by imaging.
(Supplementary Note 16)
The resistance of the relative rotation of the two rods, which are connected relative to each other by means of the connection and are respectively mounted on both sides of the joint of the wearer, is external to the fluid members which contact each of the rods around the connection. A force sense presentation method of adjusting by changing viscosity by action.

22 Force Display Device 24, 26 Rod 28 Link Material 30 Rotating Shaft (An Example of Coupling Part)
32 accommodation member 34 adhesion portion 36 adhesion portion 38 cylinder portion 40 large diameter portion 42 protruding portions 44, 46 electrode 48 electro-rheological fluid (an example of fluid member)
DESCRIPTION OF SYMBOLS 50 Control device 52 Force sense presentation system 54, 56 Wiring 58 Imaging device (an example of a detection member)
60 drawing device 62 electric field generation source (an example of a current-carrying member)
64 mounting member 112 force feedback device 114 connection portion 122 force feedback device 132 force feedback device 134 wiring member 142 force feedback device 152 force feedback device 154 mounting member 160 force feedback unit 164 mounting member

Claims (8)

Two rods which are rotatably connected relative to each other by a connector and which are attached to both sides perpendicular to the rotation axis of the wearer's joint;
A receiving member for receiving the two rods around the connecting portion;
A fluid member housed in the housing member and in contact with each of the rods, the viscosity of which is changed by an external action;
Force sense presentation device.   The force sense presentation device according to claim 1, wherein an opposite side portion connected by the connection portion in each of the rods protrudes from the housing member.   The force sense presentation device according to claim 2, wherein the housing member has a contact portion that closely contacts the rod by elasticity and seals the fluid member inside.   The force sense presentation device according to any one of claims 1 to 3, wherein the viscosity of the fluid member changes according to a change in an applied electric field or a magnetic field.   The force feedback device according to claim 4, further comprising an application member that applies the electric field or the magnetic field to the fluid member.   The force sense presentation device according to any one of claims 1 to 5, further comprising a mounting member provided on the rod and mounted on both sides of the joint. Two rods which are rotatably connected relative to each other by a connector and which are attached to both sides perpendicular to the rotation axis of the wearer's joint;
A receiving member for receiving the two rods around the connecting portion;
A fluid member housed in the housing member and in contact with each of the rods, the viscosity of which is changed by an external action;
A force sense presentation device having
A detection device for detecting movement on both sides of the joint to which the rod is attached;
A control device that changes the viscosity of the fluid member by changing the action according to the movement of both sides of the joint detected by the detection device;
Force sense presentation system.   The resistance of the relative rotation of the two rods, which are connected relative to each other by the connection and are respectively mounted on both sides of the joint of the wearer, is external to the fluid members which contact each of the rods around the connection. A force sense presentation method of adjusting by changing viscosity by action.