JP2020071674A - Tactile sense presentation device - Google Patents

Abstract

To provide a tactile sense presentation device capable of presenting vibrations with natural strength and reducing the discomfort felt by a user.SOLUTION: The device includes a panel 12 having an operation surface 120, an operation detection unit 14 configured to detect a control input of a pressing operation on the operation surface 120, an actuator 16 that applies vibrations to the operation surface 120, and a control unit 18 configured to control the drive of the actuator 16 based on the result obtained by the operation detection unit 14. The control unit 18 configures a tactile sense presentation device so as to change the mode of drive control of the actuator 16 according to the amount of change in the control input at the time of releasing the pressing operation. Thus, as presentation of vibrations with natural strength, a tactile sense presentation that reduces the discomfort felt by a user is provided.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a tactile presentation device.

  As a conventional technique, a panel having an operation surface, a panel having an operation surface, an operation detection unit that detects a load applied when an operation of pushing the operation surface is performed, and an actuator that adds vibration to the operation surface Then, when the load detected by the operation detection unit becomes equal to or more than the first load threshold, the operation surface is displaced in the pushing direction at the first acceleration, and subsequently the detected load becomes equal to or less than the second load threshold, A tactile sense presentation device including a control unit that presents a tactile sense to an operator by controlling an actuator so as to displace the operation surface in a direction opposite to the pushing direction with a second acceleration is known (for example, Patent Document 1). See 1.).

  This tactile sensation providing apparatus is controlled so that vibration is presented when the operation surface is pushed in the pushing direction, and also when the release operation, which is an operation of releasing a finger from the operation surface, is performed.

JP, 2008-41299, A

  However, in the conventional tactile sense presentation device, when the user's operation at the time of release is quick, there is a problem that the vibration presentment is delayed, or a sufficient pseudo tactile sense due to the vibration presentation cannot be felt.

  Therefore, an object of the present invention is to provide a tactile presentation device capable of presenting vibration with natural strength and reducing the discomfort felt by the user.

[1] To achieve the above object, a panel having an operation surface, an operation detection unit that detects an operation amount of a pressing operation on the operation surface, an actuator that applies vibration to the operation surface, and an operation detection unit A control unit that performs drive control of the actuator based on a result, and the control unit sets a mode of drive control of the actuator according to a change amount of the operation amount at the time of the release operation of the pressing operation. A tactile presentation device that changes is provided.
[2] The tactile sensation providing apparatus according to [1], wherein the control unit controls the actuator to generate vibration when the operation amount is equal to or less than a predetermined operation threshold value.
[3] Further, the control unit performs control to generate vibration in the actuator when the amount of change in the operation amount is equal to or less than a predetermined change threshold value. [1] or [2]. It may be a tactile presentation device.
[4] Further, the control unit does not perform control when the control threshold is equal to or lower than the change threshold, and does not control when the control threshold is lower than or equal to the operation threshold. It may be a device.
[5] Further, in the control for causing the actuator to generate vibration, the control unit changes the tactile sensation display device according to any one of [1] to [4]. May be
[6] Further, the control unit may be the tactile sensation providing apparatus according to any one of [1] to [5], which controls to generate vibration in the actuator when the pressing operation is pushed. Good.

  According to the tactile sense presentation device of the present invention, it is possible to present a vibration with natural strength and reduce the discomfort felt by the user.

FIG. 1 is a schematic diagram of the inside of a vehicle equipped with an example of the tactile presentation device according to the embodiment. FIG. 2 is a schematic diagram showing an example of the tactile sense presentation device. It should be noted that the load F is positive in the downward direction of the paper. FIG. 3 is a block diagram showing an example of the tactile sense presentation device. FIG. 4A is a graph of a horizontal axis time for explaining an example of the load and the load threshold detected by the operation detection unit of the tactile presentation device according to the embodiment, and FIG. It is a graph of the horizontal axis time which shows the change of operation speed in the graph of (a). FIG. 5 is a flowchart showing an example of the operation of the tactile sense presentation device according to the first embodiment. FIG. 6 is a flowchart showing an example of the operation of the tactile sense presentation device according to the second embodiment.

  FIG. 1 is a schematic diagram of the inside of a vehicle equipped with an example of the tactile presentation device according to the embodiment. FIG. 2 is a schematic diagram showing an example of the tactile sense presentation device. It should be noted that the load F is positive in the downward direction of the paper. FIG. 3 is a block diagram showing an example of the tactile sense presentation device. The tactile sense presentation device 1 according to the embodiment of the present invention includes a panel 12 having an operation surface 120, an operation detection unit 14 that detects an operation amount of a pressing operation on the operation surface 120, and an actuator that applies vibration to the operation surface 120. 16 and a control unit 18 that performs drive control of the actuator 16 based on the result of the operation detection unit 14, and the control unit 18 responds to the change amount of the operation amount during the release operation of the pressing operation. It is configured to change the mode of drive control of 16. The operation amount of the pressing operation is the load F detected by the operation detection unit 14.

  The tactile sense presentation device 1 according to the embodiment of the present invention performs control to generate vibration in the actuator when a push operation is performed on the panel 12, that is, when the push operation is pushed. Next, the control unit 18 changes the mode of drive control of the actuator 16 according to the change amount of the operation amount during the release operation of the pressing operation. As a result, when the operation at the time of release by the user is fast, the problem that the vibration presentation is delayed, or that a sufficient pseudo tactile sensation due to the vibration presentation is not felt can be solved.

In the tactile sense presentation device 1 according to the embodiment of the present invention, changing the drive control mode of the actuator 16 means the following.
(1) The control unit 18 controls the actuator 16 to generate vibration when the operation amount as a result of the operation detection unit 14 becomes equal to or less than a predetermined operation threshold value.
(2) The control unit 18 controls the actuator to generate vibration when the change amount of the operation amount as a result of the operation detection unit 14 becomes equal to or smaller than a predetermined change threshold value.
(3) The control unit 18 does not perform the control when the control threshold value is equal to or higher than the change threshold value, or the control when the control threshold value is equal to or lower than the operation threshold value.
(4) In the control of causing the actuator to generate vibration, the control unit 18 changes the operation amount according to the change amount of the operation amount as a result of the operation detection unit 14.

The operation threshold is, for example, a load threshold F ₁ that serves as a determination reference for causing the actuator 16 to vibrate when a predetermined load is exceeded and to provide a tactile sensation to the operator during pushing. Good. Further, it is a load threshold value F ₂ which is a criterion for causing the actuator 16 to generate vibration when the load falls below a predetermined load and to provide a tactile sensation at the time of release to the operator. When the operation detection unit described later is a pressure detection unit, the operation threshold can be a pressure threshold.

Further, the change threshold is, for example, a speed threshold V _th that serves as a determination reference for causing the actuator 16 to vibrate and provide a tactile sensation at the time of release to the operator when the speed becomes equal to or lower than a predetermined operation speed. It may be. Here, the operation speed is the amount of change in load per unit time (ΔF / Δt). The operation speed being equal to or lower than the predetermined operation speed means that the release operation is fast, and when the absolute value of the operation speed is considered, the absolute value of the operation speed exceeds the absolute value of the predetermined operation speed.

  The tactile sense presentation device 1 is arranged, for example, as shown in FIG. 1, so that the operation surface 120 is exposed on the floor console 80 of the vehicle 8. The tactile sense presentation device 1 is electromagnetically connected to, for example, an electronic device to be operated, which is mounted on the vehicle 8. Then, the tactile sense presentation device 1 may, for example, give instructions such as movement of the cursor displayed on the display device 82 arranged on the center console 81 serving as the display unit of the electronic device, selection of the displayed icon, determination, dragging, and dropping. It is a remote control device that can perform. The electronic device to be operated is, for example, a navigation device, an air conditioner, a music / video reproducing device, or the like.

  Further, the tactile sense presentation device 1 is configured to apply vibration to the operation surface 120 according to an operation performed on the operation surface 120 to present a tactile sense to the operator.

Further, the tactile sense presentation device 1 of the present embodiment includes the operation detection unit 14 that detects the load F applied when the push operation on the operation surface 120 is performed. Then, when the detected load F is equal to or larger than the predetermined load threshold F ₁ , the control unit 18 controls the actuator 16 to present a tactile sensation.

  The above-described panel 12 detects the position of the operating finger 9 that is in contact with the operating surface 120, as shown in FIG. 2, for example. As a modified example, the panel 12 may be a plate member or the like imitating a switch button.

(Structure of panel 12)
The panel 12 is, for example, a touch sensor that detects a touched position on the operation surface 120 by touching the operation surface 120 with a part of the operator's body (for example, an operation finger) or a dedicated pen. The operator can operate the connected electronic device by operating the operation surface 120, for example. As the panel 12, for example, a touch panel such as a resistance film type or a capacitance type can be used. The panel 12 of the present embodiment is, for example, a capacitance type touch sensor.

  The panel 12 includes a plurality of drive electrodes and a plurality of detection electrodes which are arranged below the operation surface 120 so as to intersect with each other while maintaining insulation. The panel 12 scans, for example, a plurality of drive electrodes and a plurality of detection electrodes to periodically read the capacitance. The panel 12 calculates the coordinates of the detection point 121 where the operating finger 9 is detected based on the read capacitance.

Then, the panel 12 generates the detection information S ₁ based on the calculated coordinates of the detection point 121 and outputs the detection information S ₁ to the control unit 18, for example. The coordinates are coordinates in the coordinate system set on the operation surface 120.

(Configuration of operation detection unit 14)
As shown in FIG. 2, the operation detection unit 14 is arranged on the back surface side of the panel 12 and is configured to detect the load F applied to the operation surface 120. The load F is positive with respect to the load applied in the pushing direction (direction F in FIG. 2) with reference to the reference position 120a to which no load or vibration is applied. The operation detection unit 14 is a load detection unit, but may be any unit that detects an operation amount of the pressure detection unit or the like.

The operation detection unit 14 is, for example, a strain gauge. The operation detection unit 14 generates load information S ₂ based on the detected load F and outputs it to the control unit 18.

(Structure of Actuator 16)
The actuator 16 is arranged on the back surface side of the operation surface 120, as shown in FIG. The actuator 16 is composed of, for example, a voice coil motor or a piezo element.

The actuator 16 according to the present embodiment is a piezo actuator arranged between the housing 10 and the operation detection unit 14. The actuator 16 vibrates the operation surface 120 above and below the reference position 120 a based on the drive signal S ₃ output from the control unit 18.

(Structure of control unit 18)
The control unit 18 includes, for example, a CPU (Central Processing Unit) that performs calculation and processing on the acquired data according to a stored program, a RAM (Random Access Memory) that is a semiconductor memory, and a ROM (Read Only Memory). Is a microcomputer. The ROM stores, for example, a program for operating the control unit 18 and thresholds F ₁ , F ₂ , V _th , and the like.

The control unit 18 also pushes in the information on the coordinates of the detection point 121 of the operating finger 9 and the operation surface 120 based on the detection information S ₁ acquired from the panel 12 and the load information S ₂ acquired from the operation detection unit 14, for example. The operation information S ₄ including the operation (push operation) information is output to the connected electronic device to be operated.

(Operation of the tactile presentation device 1)
FIG. 4A is a graph of a horizontal axis time for explaining an example of the load and the load threshold detected by the operation detection unit of the tactile presentation device according to the embodiment, and FIG. It is a graph of the horizontal axis time which shows the change of operation speed in the graph of (a). The outline of the operation of the tactile sense presentation device 1 will first be described with reference to these drawings.

As shown in FIG. 4A, for example, when the operating finger 9 pushes the panel 12, the load F detected by the operation detecting unit 14 increases (from time zero to t2). Further, when the operation finger 9 is operated to be separated from the panel 12, a release operation is performed, and the load F detected by the operation detection unit 14 decreases (from time t ₂ to time t _{4 and} thereafter). Here, as shown in FIG. 4A, when the push operation is performed, when the operation finger, which is the operator's finger, presses the panel 12, the operation speed is as shown in FIG. It can be the time of operation of the section that is positive. In addition, the release operation means that when the operation finger, which is the operator's finger, presses the panel 12, the operation speed is an operation in a negative section as shown in FIG. 4B. can do. Note that the pressing operation is a combination of the above-described push operation and release operation.

When the load F detected by the operation detection unit 14 reaches the load threshold F ₁ during the push operation, the actuator 16 is vibrated to provide a tactile sensation in order to notify the operator that the push operation has been performed. .. As shown in FIG. 4A, a tactile sensation is presented at the time of pushing at time t ₁ . That is, the time of pushing means a time when the actuator 16 vibrates during a push operation to present a tactile sensation to the operator that the operating finger pushes.

  As shown in FIG. 4B, the operation speed V is positive during the push operation. The operation speed V is negative during the release operation. Here, the change amount of the operation amount is a load change amount and is a change amount of the load per unit time (ΔF / Δt), which is referred to as an operation speed.

During the release operation, when the operation speed V becomes equal to or lower than the speed threshold value V _th , the actuator 16 is vibrated to provide a tactile sensation to notify the operator that the release operation has been performed. As shown in FIG. 4B, the tactile sense is presented at the time of release at time t ₃ . That is, the release time refers to a time when the actuator 16 vibrates during the release operation to provide the operator with a tactile sensation that the operating finger releases.

  As shown in FIG. 4B, when the release operation is fast, even if the user performs a quick release operation such that the release operation speed V becomes a certain threshold value or less, the operation speed does not wait for the determination based on the load F. Make a decision based on. Accordingly, at the time of release, it is possible to allow the vibration presentation to be delayed and to provide a sufficient pseudo-tactile sensation due to the vibration presentation.

(Operation in the first embodiment)
FIG. 5 is a flowchart showing an example of the operation of the tactile sense presentation device according to the first embodiment. The flowchart shown in FIG. 5 shows the operation after the tactile sensation providing operation at the time of pushing.

  (Step 01) The tactile sense presentation device 1 controls the actuator 16 to generate vibration when a push operation is performed on the panel 12, that is, when the push operation is pushed.

  (Step 02) Next, the operation detection unit 14 detects the load F.

  (Step 03) The control unit 18 calculates the operation speed V at the time of release. The amount of change in the manipulated variable is the amount of change in the load, which is the amount of change in the load per unit time (ΔF / Δt), which is the operating speed.

(Step 04) The control unit 18 determines whether or not the operation speed V <speed threshold V _th . If the operation speed V <speed threshold V _th , the operation proceeds to Step 06 (Step 04: Yes). If the operation speed V <speed threshold V _th is not satisfied, the operation proceeds to Step 05 (Step 04: No).

(Step 05) The control unit 18 determines whether the load F <the load threshold F ₂ . If the load F <F ₂ , the process proceeds to Step 06 (Step 05: Yes), and if the load F <load threshold F ₂ is not satisfied, the process returns to Step 02 (Step 05: No).

  (Step 06) At the time of release, the control unit 18 vibrates the actuator 16 and presents a tactile sensation in order to notify the operator that the release operation has been performed.

As shown in FIGS. 4A and 4B, when the release operation is slow, the tactile sensation is presented based on the operation speed V at time t ₄ .

On the other hand, as shown in FIGS. 4A and 4B, when the release operation is fast, the tactile sensation is presented at the time t ₃ based on the operation speed V. Therefore, before the operation finger 9 is separated from the operation surface 120. In addition, it becomes possible to perform tactile presentation. As a result, when the operation at the time of release by the user is fast, the problem that the vibration presentation is delayed, or that a sufficient pseudo tactile sensation due to the vibration presentation is not felt can be solved.

(Operation in Second Embodiment)
FIG. 6 is a flowchart showing an example of the operation of the tactile sense presentation device according to the second embodiment. The flowchart shown in FIG. 6 shows the operation after the tactile sensation providing operation at the time of pushing.

  (Step 11) The tactile sense presentation device 1 controls the actuator to generate vibration when a push operation is performed on the panel 12, that is, when the push operation is pushed.

  (Step 12) Next, the operation detection unit 14 detects the load F.

  (Step 13) The control unit 18 calculates the operation speed V at the time of release. The amount of change in the manipulated variable is the amount of change in the load, which is the amount of change in the load per unit time (ΔF / Δt), which is the operating speed.

  (Step 14) The control unit 18 calculates pseudo tactile feedback according to the operation speed. The control unit 18 can calculate pseudo tactile feedback that is proportional to the absolute value of the operation speed, for example. With such pseudo tactile feedback, for example, the operation at the time of release is fast, and the large pseudo tactile feedback is presented when the finger is separated from the operation surface 120, whereby the tactile presentation can be surely presented to the user. .. Note that various kinds of calculation can be performed for calculating the pseudo tactile feedback according to the operation speed. The signal for tactile presentation can be calculated by using time, pulse interval, pulse width (duty), voltage, the number of presentations, and the like, or a signal obtained by appropriately combining these.

(Step 15) The control unit 18 determines whether or not the operation speed V <speed threshold V _th . When the operation speed V <speed threshold V _th , the process proceeds to Step 16 (Step 15: Yes), and when the operation speed V <speed threshold V _th is not satisfied, the process returns to Step 12 (Step 15: No).

  (Step 16) At the time of release, the control unit 18 vibrates the actuator 16 and presents a tactile sensation in order to notify the operator that a release operation has been performed. This tactile presentation is presented as pseudo tactile feedback calculated in Step 14. As a result, even if the user's release operation is fast, the vibration feedback having a natural strength can be presented, so that the user can feel less discomfort.

(Effects of the embodiment)
(1) The tactile sense presentation device 1 according to the present embodiment adds a vibration to the operation surface 120, the panel 12 having the operation surface 120, the operation detection unit 14 that detects the operation amount of the pressing operation on the operation surface 120. An actuator 16 and a control unit 18 that performs drive control of the actuator 16 based on the result of the operation detection unit 14 are provided. The control unit 18 responds to the change amount of the operation amount at the time of the release operation of the pressing operation. It is configured to change the mode of drive control of the actuator 16. As a result, it is possible to present the vibration with natural strength and reduce the discomfort felt by the user.
(2) In the first embodiment, when the change amount of the operation amount as a result of the operation detection unit 14 becomes equal to or less than a predetermined change threshold value, the actuator 16 is controlled to generate vibration. As a result, when the user's release operation is fast, the vibration presentation is delayed, or the problem that a sufficient pseudo tactile sensation due to the vibration presentation is not felt is solved.
(3) In the second embodiment, in the control of causing the actuator 16 to generate vibration, the control unit changes the operation amount according to the change amount of the operation amount as a result of the operation detection unit 14. For example, pseudo tactile feedback that is proportional to the absolute value of the operation speed is calculated, and the actuator is oscillated based on this. As a result, even if the release operation by the user is fast, the vibration feedback having a natural strength can be presented, so that the user can feel less discomfort.

  Although some embodiments and modifications of the present invention have been described above, these embodiments and modifications are merely examples and do not limit the invention according to the claims. These new embodiments and modified examples can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the present invention. Further, not all combinations of the features described in the embodiments and the modifications are essential to the means for solving the problems of the invention. Furthermore, these embodiments and modifications are included in the scope and spirit of the invention, and are also included in the invention described in the claims and the scope of equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Tactile presentation device, 8 ... Vehicle, 9 ... Operating finger, 10 ... Housing, 12 ... Panel, 14 ... Operation detection part, 16 ... Actuator, 18 ... Control part, 80 ... Floor console, 81 ... Center console, 82 ... display device, 120 ... operating surface, 120a ... reference position, 121 ... detection points, F ... load, F 1 _... load threshold (operation threshold value), F 2 _... load threshold (operation threshold value), S 1 _... detection information, S ₂ ... load information, S 3 _... drive signal, S 4 _... operation information, t 1 _... time, t 2 _... time, t 3 _... time, V ... operating speed, V _{th ...} speed threshold (variation threshold)

Claims (6)

A panel having an operation surface,
An operation detection unit that detects the operation amount of the pressing operation on the operation surface,
An actuator that applies vibration to the operation surface,
A control unit that controls the drive of the actuator based on the result of the operation detection unit,
The haptic sense presentation device, wherein the control unit changes a mode of drive control of the actuator in accordance with a change amount of the operation amount during a release operation of the pressing operation.   The tactile sense presentation device according to claim 1, wherein the control unit performs control to generate vibration in the actuator when the operation amount becomes equal to or less than a predetermined operation threshold value.   The tactile sensation providing apparatus according to claim 1, wherein the control unit performs control to generate vibration in the actuator when a change amount of the operation amount is equal to or less than a predetermined change threshold value.   The haptic sense presentation device according to claim 3, wherein the control unit does not perform control when the control threshold is equal to or lower than the operation threshold when the control is performed when the control threshold is equal to or lower than the change threshold.   The haptic sense presentation device according to any one of claims 1 to 4, wherein the control unit changes the operation amount in accordance with a change amount of the operation amount in a control of generating vibrations in the actuator.   The tactile sense presentation device according to any one of claims 1 to 5, wherein the control unit performs control to generate vibration in the actuator when the pressing operation is pushed.

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