JP2020098649A - Tactile force sense information presentation system - Google Patents

Abstract

To realize an induced false illusional phenomenon by combinations of vibrations, and provide synergy effects related to a trigger displacement, a characteristic induced stimulus, a trigger stimulus, a misunderstanding (misconception) vibration, or an illusion, a consonant or vocalic displacement structure, or an illusion phenomenon database.SOLUTION: In the tactile force sense information providing system, a tactile force sense presentation device presents a stimulus by an object and/or to an object, controls a stimulus applied to the object according to an operation of an operator, and generates a tactile force sense. The tactile force sense providing system presents at least one of an amplitude, a displacement, and a deformation to an object. The device is a sense synthesizer which synthesizes senses of guide senses and also a sense inducing device, and generates at least one of a pressure sense, a force sense, and an illusion by a displacement having a sweep displacement in the object.SELECTED DRAWING: Figure 8

Description

The present invention relates to a tactile force sense information presentation system using sensory characteristics.

Japanese Patent Application Laid-Open No. 2005-190465 discloses only a physical characteristic of a tactile sensation presenting device in a conventional non-grounded man-machine interface that gives a person an impact force of the presence or collision of a virtual object and has no base in the body. Disclosed is a system capable of continuously presenting tactile sensations such as torque and force in the same direction, which cannot be presented by.

This patent application has the following configuration. Tactile force sense presenting device In the tactile force sense presenting device, the control device controls the displacement of one or more actuators in the tactile force sense presenting device, and controls the physical characteristics of the displacement, force, and torque. Causes the user to perceive various tactile force information such as displacement, force, and torque. This tactile force information presentation system uses a human sense characteristic or an illusion to appropriately control a physical quantity, so that a force that cannot physically exist or a tactile sensory physical characteristic is given to a person. To experience it.

JP, 2005-190465, A

In view of the above points, in the conventional technology, there are drawbacks such as limitation and sense intensity and clarity when presenting tactile force information only by a physical method, and an object of the present invention is to provide a displacement, a displacement pattern, and a waveform. By combining, the induced illusion phenomenon is realized, the tactile directional distinction is poor, and the Y direction displacement, displacement pattern, and waveform are illusions of the Z direction displacement, displacement pattern, and waveform by finger pressing pressure in the Z direction. It is to provide a synergistic effect regarding illusion, consonant/vowel waveform configuration, and illusion phenomenon database against trigger displacement, characteristic-induced stimulus/trigger stimulus, and misunderstanding.

The haptic information presentation system according to the present invention is an object and the object is a real object or a virtual object, and depending on the object and/or position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, A sensor for detecting a stimulus having at least one of vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity, and an operator's sensory characteristics and/or illusion are applied to the object to provide the operator with an actual A tactile force sense presentation device that presents a tactile force sense as if the object was operated, a tactile force sense presentation control device that controls the tactile force sense presentation device based on a stimulus from a sensor, and the tactile force sense device. The presentation control device presents tactile sense information by controlling the stimulus by utilizing that the sensory characteristic indicating the relationship between the stimulus amount and the sensation amount applied to the human body is non-linear and/or illusion. The sensory characteristic includes at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount physically exists. The tactile sense presentation device presents a stimulus to and/or by the object, and controls the stimulus applied to the object in accordance with the operation of the operator. Generates tactile sensations.

In the tactile force sense system, the touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is independently controlled.

In the tactile force information presentation system, the object is a touch panel, and generates different tactile and/or force senses for each touch panel.

The haptic information presentation system according to the present invention is an object and the object is a real object or a virtual object, and depending on the object and/or position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, A sensor for detecting a stimulus having at least one of vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity, and an operator's sensory characteristics and/or illusion are applied to the object to provide the operator with an actual A tactile force sense presentation device that presents a tactile force sense as if the object was operated, a tactile force sense presentation control device that controls the tactile force sense presentation device based on a stimulus from a sensor, and the tactile force sense device. The presentation control device presents tactile sense information by controlling the stimulus by utilizing that the sensory characteristic indicating the relationship between the stimulus amount and the sensation amount applied to the human body is non-linear and/or illusion. The sensory characteristic includes at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount physically exists. The tactile force sense presentation device presents at least one of amplitude, displacement, and deformation to the object.

In the haptic information presentation system, the touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is independently controlled.

In the tactile force information presenting system, the tactile force presenting device presents a tactile force sense according to the amplitude, displacement and/or deformation of the object.

In the tactile force information presenting system, the tactile force presenting apparatus causes the object to induce at least one of amplitude, displacement, and deformation in six dimensions at least every one of position, phase, and time.

In the tactile force information presenting system, the tactile force presenting device causes at least one of amplitude, displacement, and deformation at a right angle, in parallel, or at an arbitrary angle with a tangent line of an object.

The haptic information presentation system according to the present invention is an object and the object is a real object or a virtual object, and the position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, depending on the object and/or the object, A sensor for detecting a stimulus having at least one of vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity, and an operator's sensory characteristics and/or illusion are applied to the object to provide the operator with an actual A tactile force sense presentation device that presents a tactile force sense as if the object was operated, a tactile force sense presentation control device that controls the tactile force sense presentation device based on a stimulus from a sensor, and the tactile force sense device. The presentation control device presents tactile sense information by controlling the stimulus by utilizing that the sensory characteristic indicating the relationship between the stimulus amount and the sensation amount applied to the human body is non-linear and/or illusion. The sensory characteristic includes at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount physically exists. The tactile force sense presentation device is a sensory synthesis/guidance device for synthesizing a sense of inductive sensation, and the sensory synthesis/guidance device is a displacement provided with a sweep displacement on the object. A tactile force sense electronic device that generates at least one of pressure sense, force sense, and illusion.

The combination of displacements can realize induced illusions, and provides trigger displacements, characteristic-induced stimuli/triggered stimuli, misunderstandings (misidentifications), synergistic effects on illusions, consonant/vowel displacements/vibrations, and illusion database can do.

Schematic diagram showing a tactile display system Demonstrate control of displacement of haptic actuator Schematic diagram explaining the illusion phenomenon Showing other paraphysical phenomena In addition, In addition, Schematic diagram explaining how to press your finger Schematic diagram explaining another finger pushing method Schematic diagram for explaining still another finger pushing method Schematic diagram that further explains how to press your finger Schematic diagram that further explains how to press your finger Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram for explaining vibration control of a haptic actuator Schematic diagram explaining how to control the waveform Schematic diagram explaining how to control the waveform Schematic diagram explaining how to control the waveform Schematic explaining the actuator control method Schematic explaining the actuator control method Schematic explaining the actuator control method Schematic diagram explaining sensory characteristics Schematic diagram explaining sensory characteristics Schematic diagram explaining sensory characteristics Schematic diagram explaining sensory characteristics Schematic diagram explaining sensory characteristics Schematic diagram explaining the control method Schematic diagram explaining nonlinear control of physical properties Schematic diagram explaining the actuator control method Schematic diagram explaining the mounting method Schematic diagram explaining the mounting method Schematic diagram explaining the mounting method Schematic diagram explaining the actuator control method Schematic diagram explaining the configuration of the touch panel Schematic diagram explaining the configuration of the touch panel Schematic diagram explaining the configuration of the touch panel Schematic diagram explaining the configuration of the touch panel Schematic diagram explaining the configuration of the touch panel Schematic diagram explaining the configuration of the touch panel Schematic diagram explaining the configuration of the touch panel Schematic diagram explaining the configuration of the touch panel Schematic diagram explaining the mounting site Schematic diagram explaining the control wiring Schematic diagram explaining the control wiring Schematic diagram illustrating a tactile display system Schematic diagram explaining the touch panel module Schematic diagram explaining the touch panel module Schematic diagram explaining the illusion phenomenon Schematic diagram explaining illusionary force device module Schematic diagram explaining illusionary force device module Schematic diagram explaining an illusionary force sense device Schematic diagram explaining an illusionary force sense device Schematic diagram explaining the touch panel module Schematic diagram explaining the touch panel module Schematic diagram explaining the touch panel module Schematic diagram explaining the touch panel module Schematic diagram explaining the touch panel module Schematic diagram explaining the liquid crystal touch panel module Schematic diagram explaining the liquid crystal touch panel module Schematic diagram explaining the liquid crystal touch panel module Schematic diagram explaining the liquid crystal touch panel module Schematic diagram explaining the liquid crystal touch panel module Schematic diagram explaining the multi-touch array unit Schematic diagram explaining sensory synthesis control Schematic diagram explaining multi-touch sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining button shape sensation generation Schematic diagram explaining button shape sensation generation Schematic diagram explaining button sensation generation Schematic diagram for explaining the sensory control between buttons Schematic diagram for explaining the sensory control between buttons Schematic diagram for explaining the sensory control between buttons Schematic diagram for explaining the sensory control between buttons Schematic diagram for explaining tactile force sense control by slider Schematic diagram for explaining tactile force sense control by slider Schematic diagram explaining static friction/dynamic friction control method Schematic diagram explaining static friction/dynamic friction control Schematic diagram explaining static friction control Schematic diagram explaining static friction control Schematic diagram explaining static friction control Schematic diagram explaining dynamic friction control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining tactile force sense dial control Schematic diagram explaining tactile force sense dial control Schematic diagram explaining haptic dial control Schematic diagram explaining tactile force sense dial control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining waveform control Schematic diagram explaining device size Schematic diagram explaining device size Schematic diagram explaining the texture structure Schematic diagram explaining the texture structure Schematic diagram explaining waveform control Schematic explaining the digital mouse Schematic diagram explaining the measurement of personal characteristics Schematic diagram explaining actuator control Schematic illustrating profiling Schematic diagram explaining diagnostic simulation Schematic explaining remote synchronization Schematic diagram explaining the application of the tactile force information presentation system

The tactile force information presentation system according to the present invention includes the following. The tactile force information presentation system includes an object and the object is a real object or a virtual object, and the position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, depending on the object and/or the object, A sensor that detects a stimulus having at least one of torque, pressure, humidity, temperature, viscosity, and elasticity, and an operator's sensory characteristics and/or illusion are applied to the object to operate the object actually to the operator. The tactile force sense presentation device that presents such a tactile force sense, the tactile force sense presentation control device that controls the tactile force sense presentation device based on a stimulus from a sensor, and the tactile force sense presentation control device. , The sensory characteristic indicating the relationship between the amount of stimulus applied to the human body and the amount of sensation is non-linear and/or illusion to control the stimulus to present tactile force information, and the sensory characteristic is A sensation that includes at least one stimulus amount of the stimulus amount given to the operator and a stimulus amount caused by the operation of the operator and a sense amount presented to the operator, and the sense amount cannot physically exist. Is the amount.

The tactile force sense presentation device presents a tactile force sense by presenting a stimulus by and/or to the object and controlling a stimulus applied to the object in accordance with an operation of an operator.

The touch panel is divided into a plurality of sections and is arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is independently controlled.

The object is a touch panel and generates different tactile sensations and/or force sensations for each touch panel.

The tactile force sense presentation device presents at least one of amplitude, displacement, and deformation to the object.

The touch panel is divided into a plurality of sections and is arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is independently controlled.

The tactile force sense presentation device presents a tactile force sense in accordance with the amplitude, displacement, and/or deformation of the object.

The tactile force sense presentation device causes the object to perform at least one of amplitude, displacement, and deformation in six dimensions at least every one of position, phase, and time.

The tactile force sense presentation device causes at least one of amplitude, displacement, and deformation at a right angle, a parallel direction, or an arbitrary angle with respect to a tangent line of an object.

The tactile force sense presentation device is a sensory synthesis/guidance device that synthesizes a sense of inductive sensation, and the sensory synthesis/guidance device includes at least one of a pressure sense, a force sense, and an illusion by a displacement including a sweep displacement on the object. Is generated.

FIG. 8 shows a block diagram of a haptic display panel system. The system of tactile force display reproduces tactile force sense including tactile force force sense, tactile sense, and force sense on a panel and a display. The displacement or displacement pattern and waveform are controlled according to the movement of the finger. Even though it is a flat object, a three-dimensional feel with a sense of depth can be obtained. Displacements in different directions, displacement patterns, and pressure/force sensations are presented despite the waveform. It may be applied to buttons, sliders, dials, and switches.

The haptic display panel system comprises a controller and a haptic actuator. The haptic actuator supplies a sensor signal to the controller, and the controller supplies a control signal to the haptic actuator. The sensor signal is a stimulus that is provided by and/or to the object and comprises at least one of position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity. Prepare

The controller is driven by a control algorithm, and changes the stimulation intensity including displacement, momentum, vibration, amplitude, and displacement with time according to the movement of the finger. The control signal is generated by the drive voltage of the force information and the amplitude information.

The actuator is a motor, eccentric motor, linear motor, electrostatic motor, molecular motor, piezo, artificial muscle, memory alloy, coil, voice coil, piezoelectric element, magnetic force, static electricity, etc. Good.

The tactile display panel can be attached to any part of the body (see FIG. 58).

This system applies tactile characteristics and illusions of an operator to present tactile force information to the operator as if he or she actually operated an object. Specifically, it is controlled based on the stimulus detected by the sensor, and the stimulus is applied by utilizing the fact that the sensory characteristic showing the relationship between the stimulus amount applied to the human body and the sensation amount is nonlinear or illusion. The tactile force sense information is controlled and presented. The sensory characteristic comprises at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount may be physically present. There is no sense.

Here, the system presents a stimulus from or to the object, and the stimulus applied to the operator in response to the operation of the operator is controlled. The minimum tactile force information presentation system is composed of a tactile force actuator and a controller. The sensor attached to the haptic actuator measures the position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity at the sensor, and the information Is sent to the controller, a control signal for controlling the haptic actuator is calculated, and is sent to the haptic actuator to control the haptic actuator.

The haptic actuator has a panel-type and display-type sensor function and a presentation function, and in the controller, the displacement, momentum, vibration amplitude, displacement stimulus, vibration stimulus, and stimulus intensity associated with the movement of the body such as a finger or palm are used. Time changes are calculated, and based on the control algorithm, the position, velocity, acceleration, shape, displacement, deformation, and amplitude of the tactile force sense actuator are adjusted according to the movement and pressure of the body such as fingers and palm monitored by the sensor. , Rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are controlled, and tactile sense information such as pressure sense, tactile sense, and force sense is presented to humans.

In the control signal, force information (t), amplitude information (t), etc. are expressed by driving voltage and the like, and the actuator is a motor, piezo, artificial muscle, memory alloy, molecular motor, electrostatic, coil, magnetic force, electrostatic. In addition, the device and operation principle are not limited as long as they generate displacement and vibration. As a result, even if a panel or display composed of a flat surface, a curved surface, or a three-dimensional shape is installed in the housing or the like so as to be fixed or vibrate slightly, the feeling of insertion, the feeling of pushing, the feeling of being depressed, and the depth Feeling, pushing back, uplifting, vibration/amplitude convergence, vibration/amplitude reverberation, displacement/movement direction feeling, sloppy feeling, hardness, soft feeling, and three-dimensional feeling. Physically, although such a sensation is not reproduced or presented, such a sensation and a physical reaction/reflex are experienced.

As a result, in an information terminal or the like, it is possible to realistically obtain the operation feeling of an object such as a button, a slider, a dial, a switch, an operation panel or the like, even though the panel is flat or flat.

FIG. 9 shows a schematic diagram of displacement control of the tactile force sense actuator. The haptic force actuator has 6 degrees of freedom regarding translation and rotation, and can freely control displacement, amplitude, velocity, acceleration, and phase difference. In addition to stimulation of displacement, displacement pattern, waveform, and vibration, stimulation such as electrical stimulation and Coulomb force can be controlled.

FIGS. 10-1 to 10-4, FIG. 11, FIG. 12 and FIG. 13 are schematic views of the device showing the optic angle phenomenon. In this figure, this device is provided with an actuator on a base material, and a touch panel and a sensor for detecting displacement, pressure, acceleration, etc. of an object on the base material and measuring a position, rotation, and tensor. The touch panel is displaced in the y direction, but the button is dented and pushed in the z direction.

FIG. 10-1 shows a normal operation without an illusion phenomenon. The basic unit of the tactile force sense actuator is composed of a touch panel, a sensor, and an actuator. Position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are measured as a scalar, vector, or tensor on the touch panel and sensor. It

For the actuator, position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are presented as a scalar, vector, or tensor. The touch panel is usually hard and does not deform, and when the operator presses the touch panel with the pressing force P, the touch panel is not displaced or deformed in the Z direction and Z=0 is maintained. As the pushing pressure P increases, the operator's fingertip is deformed and the pushing pressure is perceived, but the depression displacement Z (=0) and the depression sensation Sz (=0) are not felt.

In this patent, the perception of tactile force information at the fingertip will be described, but not limited to the fingertip, it is assumed that the operator's whole body and body are everywhere.

FIG. 10-2 shows an operation when there is an illusion phenomenon. The touch panel is usually hard and does not deform, and when the operator presses the touch panel with the pressing force P, the touch panel is not displaced or deformed in the Z direction and Z=0 is maintained.

Here, unlike the normal case, when the touch panel is displaced (Y) in the Y direction by the actuator, there is no depression displacement Z (=0), but in the Z direction along with the perception of an increase in the pushing pressure P. A subduction feeling Sz is felt. Even when the touch panel is displaced (X) in the X direction, the sensation of sinking Sz is also felt in the Z direction. However, when the direction (Y) pointed by the fingertip does not match the displacement direction of the touch panel, the movement in the displacement direction may be perceived weakly. The illusion becomes effective when the displacement direction of the touch panel is adjusted according to the direction of the fingertip and the depression of the finger.

The phenomenon here is an illusion that displacement in the Y direction is perceived as a sense of depression in the Z direction, and is an illusion phenomenon (cross-direction effect) that exceeds the axis and the direction of movement. As for the displacement in the Y direction, there are various displacement patterns that match the desired tactile sensation. Arbitrary waveform design, amplitude modulation, frequency modulation, convolution as if creating a musical instrument tone or music with a synthesizer, not limited to linear increase / decrease, sinusoidal vibration, combination of fundamental frequency components , And a combination thereof, it is possible to express various tactile sensations.

The illusion pattern is provided by a combination of 9 patterns of indentation pressure method (3 directions)×actuator displacement direction (3 directions). Furthermore, a rotation pattern is provided. Moreover, since there is also an intermediate direction, the combination is infinite. In addition to translational displacement, there is also the case of rotational displacement.

FIG. 10-3 shows the operation of the latch/continuous illusion phenomenon. Here, when the touch panel is displaced stepwise (Y) in the Y direction by the actuator, there is no depression displacement Z (=0), but the displacement (Y) is sensed with the perception of an increase in the pushing pressure P. Along with the stepwise change, a zigzag and a stepwise sinking sensation Sz are felt in the Z direction.

FIG. 10-4 shows the operation of the latch/continuous illusion phenomenon. Here, when the touch panel is repeatedly displaced (Y) in the Y direction by the actuator, the displacement (Y) changes with the perception of an increase in the pressing pressure P, even though there is no depression displacement Z (=0). Along with this, a feeling of swelling and sinking Sz is felt in the Z direction. There is a condition in which the pushing displacement (Y) is hard to feel.

The figure shows pushing, pushing pressure, displacement, and depression feeling, respectively. In FIG. 11, the phase is delayed and the displacement appears. The touch panel is usually hard and does not deform, and when the operator presses the touch panel with the pressing force P, the touch panel is not displaced or deformed in the Z direction and Z=0 is maintained. Here, unlike the usual case, when the touch panel is displaced (Y) in the Y direction by delaying the phase with respect to the increase of the pushing pressure P by the actuator, there is no subduction displacement Z (=0). , Swelling sensation Sz is felt in the Z direction with displacement (Y) in the Y direction. Until the displacement (Y) starts to increase, the reaction force against the pressing of the virtual button is presented, and the pressing sensation Sz (≠0) that is the maximum value of the reaction force is presented as the hardness of the virtual button.

In FIG. 12, the displacement becomes zero after the displacement does not continue and reaches a peak. Here, when the touch panel is reciprocally displaced (Y) in the Y direction by the actuator, there is no depression displacement Z (=0), but the pushing pressure P increases and the displacement (Y) changes. , Z-direction like a button is felt in the Z direction.

In FIG. 13, the displacement becomes zero after showing a positive peak and a negative peak. Here, when the touch panel is reciprocally displaced (Y) in the Y direction by the actuator, there is no depression displacement Z (=0), but the pushing pressure P increases and the displacement (Y) changes. , Z-direction like a button is felt in the Z direction.

14 to 18 are schematic diagrams showing a method of pushing a finger which is a stimulus to and/or by an object (panel). In FIG. 14, when the operator pushes the touch panel with the pushing pressure P and the touch panel is displaced in the Z direction by the actuator, a feeling of depression Sp is felt in the Z direction. FIGS. 15 and 16 show a stimulus of slight button resistance of the panel, an instant reaction, a responsive stimulus, a stimulus that clicks after the button feels, and a stimulus in which only the wall is felt without a button by pressing the buttons stepwise. The respective presentations are shown. FIG. 17 shows presentation of a stimulus in which the panel moves, a stimulus in which the panel stands still, and a sensory stimulus between the finger and the panel, respectively, by stepwise pressing of buttons. FIG. 18 shows the presentation of the triangular wave and sine wave stimuli generated on the panel by pressing the button.

20 to 25 are schematic diagrams showing control of displacement/amplitude applied to the panel as a stimulus. In FIG. 20, when the panel is pushed right below, the panel is displaced to form a triangular wave. By this displacement, the depth sensation stimulus of the sensory finger, the tension stimulus to the physical finger, and the resistance stimulus to the sensory finger are presented. In FIG. 21, the panel is displaced when it is pushed down when the panel is unknowingly moved to form a triangular wave. By this displacement, a sense of progress of the sensory finger, a tension stimulus to the physical finger, and a depth sensation to the sensory finger are presented. In FIG. 22, when a viscoelastic stimulus, which is a button characteristic, is applied to the panel, the panel is displaced to form a triangular wave. Due to this displacement, a sense of progress of the sensory finger, a tension stimulus to the physical finger, and a sense of reaction to the sensory finger are presented on the panel.

In FIG. 23, when a viscoelastic stimulus, which is a feeling of artificial skin, is applied to the panel, the panel is displaced to form a triangular wave. Due to this displacement, a sense of progress of the sensory finger, a stimulus of tension to the physical finger, and a feeling of reaction to the sensory finger are presented on the panel.

In FIG. 24, when a stimulus is applied to the panel, the panel is displaced to form a triangular wave. The displacement of the panel is shown respectively. Here, when the touch panel is displaced (Y) in the Y direction by the actuator, there is no depression displacement Z (=0), but the Z direction is increased in accordance with the increase of the pushing pressure P and the displacement (Y). You can feel the depression feeling Sz like a button. Depending on how the displacement (Y) is made in the Y direction, the user can feel a "slippery" depression, a "click" or "click" button-like sensation Sz in the Z direction.

In FIG. 25, when the panel is stimulated, the displacement of the panel forms a sine wave. The displacement of the panel is shown respectively. Here, when the touch panel is displaced (Y) in the Y direction and changed sinusoidally by the actuator, the pushing pressure P increases and the displacement (Y) increases even though there is no depression displacement Z (=0). With the change, a feeling of depression Sz like a button is felt in the Z direction. Depending on how the displacement (Y) is made in the Y direction, the user can feel a "slippery" depression, a "click" or "click" button-like sensation Sz in the Z direction.

26 to 30 are schematic diagrams of waveform control, which are examples of displacement, displacement pattern, waveform, and vibration of the tactile force sense actuator. The tactile force sense actuator can generate an arbitrary displacement/waveform pattern in an arbitrary direction by freely controlling the waveform amplitude, the vibration amplitude, the velocity, the acceleration, and the phase difference.

FIG. 27 shows a displacement waveform that produces a force sensation by asymmetrically accelerating and decelerating the waveform. FIG. 28 shows an acceleration/deceleration waveform that generates a force sensation capable of asymmetrically accelerating/decelerating the waveform. FIG. 29 shows an accelerated sweep (click feeling) waveform in which the touch feeling is changed by changing the frequency for each waveform when the panel is changed in waveform for a short time to give a click feeling. Generates a pattern deceleration waveform and a pattern acceleration waveform. FIG. 30 is a schematic diagram of an acceleration/deceleration shift waveform in which the waveform phase is fixed and the acceleration/deceleration positions are switched, and a phase shift waveform in which the waveform phases are switched while the acceleration/deceleration position is fixed. As for the waveform, the speed and the phase waveform are controlled.

FIG. 31 is a diagram showing a tactile force information presentation method in which the displacements are combined by phase-locking the rotations of the two eccentric rotors A912 and B913 by using the sensory characteristics related to the force sense.

Here, (FIG. 31(b)) schematically illustrates a case where the two eccentric rotors A912 and B913 of (FIG. 31(a)) are synchronously rotated in the same direction with a phase delay of 180 degrees. It is a thing. As a result of this synchronous rotation, torque rotation without eccentricity can be combined.

(FIG. 31C) is a schematic representation of a case where the sensory characteristic 931 is a logarithmic function characteristic. The sensory characteristic 931 is similar to the sensory characteristic 211 in that the sensory quantity 933 is different from the physical quantity 932 which is a stimulus. It shows that it is a nonlinear characteristic such as logarithm. Considering a case where a positive torque is generated at the operating point A 934 and a negative torque in the opposite direction is generated at the operating point B 935 on this sensory characteristic 931, the torque sensation 944 is as shown in FIG. 31( d ). Represented. The torque 943 is proportional to the time derivative of the rotation speed 942 of the rotor. When operated at the operating point A 934 and the operating point B 935, a torque sensation 944 is perceived.

The torque 943 physically returns to the initial state 948 in one cycle, and its integral value is zero. However, the sensory integral value of the torque sense 944, which is the sense amount, does not always become zero. By appropriately selecting the operating point A 934 and the operating point B 935 and appropriately setting the operating point A duration 945 and the operating point B duration 946, it is possible to continuously present the torque sensation in any direction. ..

The above is true not only for torque rotation but also for rotation or translational displacement, or when the sensory characteristic 931 exhibits non-linear characteristics such as an exponential function. Even when the sensory characteristic 931 of FIG. 31(c) has a threshold value, similar torque feeling occurs, and the torque feeling can be intermittently presented only in one direction.

FIG. 32A shows the direction of the illusionary tactile force sense induced/perceived by the initial phase (θi) of the phase pattern. The illusionary tactile force sense device 107 changes the initial phase (θi) of the start of rotation in FIG. 32B to change the direction 1202 of the illusionary tactile force sense induced by the change in momentum synthesized by the eccentric rotor. It can be controlled in the direction of the initial phase (θi). For example, by changing the initial phase (θi) as shown in FIG. 32C, it can be induced in an arbitrary direction of 360° in the plane. At this time, if the illusionary tactile force sense interface device 101 itself is heavy, it is difficult to obtain the buoyancy sensation 1202 in which the upward force sensation 1202 due to the illusionary tactile force and the downward force sensation 1204 due to gravity are canceled out, and the illusionary tactile force sense 1202 is heavy. It can be felt. At this time, the illusionary tactile force sense 1203 is induced by slightly shifting the upward direction due to the illusionary tactile force sense from the direction opposite to the direction of gravity, whereby it is possible to suppress the reduction/inhibition of the levitation sensation due to gravity. When it is desired to present in the direction opposite to the direction of gravity, there is also a method of alternately inducing an illusionary tactile force sense in a direction slightly deviated from the vertical direction, that is, 180°+α° and 180°−α°.

FIGS. 33A to 33F show an example of control of an illusionary tactile force device (tactile force device) that presents a basic tactile force sense and an illusionary tactile force sense. FIG. 33(a) schematically shows a method of generating a rotational force in the illusionary tactile force sense device 107, and FIG. 33(d) schematically shows a method of generating a translational force. Is. The two eccentric weights 814 in FIG. 33A rotate in the same direction with a phase delay of 180°. On the other hand, in FIG. 33(d), they rotate in opposite directions.

(1) As shown in FIG. 33(b), when two eccentric rotors are synchronously rotated in the same direction with a phase delay of 180 degrees, the two eccentric rotors become point symmetric and the center of gravity and the center of the rotation axis coincide. As a result, equal torque rotations without eccentricity are combined. As a result, it is possible to present a rotational force sensation. However, the time derivative of the angular momentum is the torque, and in order to continuously present the torque in a fixed direction, it is necessary to continuously accelerate the number of rotations of the motor. Is difficult to do.

(2) As shown in FIG. 33(c), the illusionary tactile force sense (continuous torque sense) of a continuous rotational force is induced in a fixed direction by synchronously controlling the angular velocity ω1 and the angular velocity ω2. (3) When synchronously rotating at a constant angular velocity in the opposite directions as shown in FIG. 33(e), a force (single vibration) that linearly vibrates in any direction can be synthesized by controlling the initial phase θi1201.

(4) As shown in FIG. 33(f), according to the sensory characteristics relating to the illusionary tactile force sense, when the angular velocity ω1 and the angular velocity ω2 are synchronously rotated in opposite directions, the illusionary tactile force sense of a continuous translational force in a certain direction. (Continuous force sensation) is induced. In the illusionary tactile force sense interface device 101, as shown in FIGS. 33C and 33F, if the rotational speed (angular speed) and the phase synchronization are accurately controlled according to the human sensory characteristics, two types of angular speeds are obtained. Since the illusionary tactile force sense can be induced only by the combination of (ω1, ω2), the control circuit can be simplified.

FIG. 34 schematically shows the phenomenon of FIG. 31 and its effect. In consideration of the sensory characteristics related to the illusionary tactile force sense, the rotation pattern of the eccentric motor 815 is controlled to temporally change the combined momentum of the two eccentric rotors, thereby periodically accelerating and decelerating around the equilibrium point. From 904, it is possible to induce an illusion 905 in which a force continuously acting in a certain direction is perceived. That is, there is no component such as a force physically acting in a certain direction, but an illusion is induced that the force is perceived as acting in a certain direction.

When the acceleration and deceleration are alternately performed at the operating point A and the operating point B for each 180° of phase, the force sensation 905 in a constant direction is continuously perceived. The force physically returns to the initial state in one cycle, and the momentum and the integral value of the force are zero. In other words, the acceleration/deceleration mechanism stays around the equilibrium point and does not move to the left. However, the sensory integral value of the force sensation, which is the sensory quantity, does not become zero. At this time, the perception of the integral 908 of the force in the positive direction is reduced and only the integral 909 of the force in the negative direction is perceived.

Here, the time derivative of the angular momentum is the torque, and the time derivative of the momentum is the force. Therefore, the method of periodically rotating a rotating body or the like is not suitable for continuously presenting force sense in a certain direction. In particular, it is physically impossible to continuously present a force in one direction with a non-based interface used in mobile devices.

However, humans have a non-linear sensory characteristic, and if the method of the present invention is used, a force/force pattern different from the physical characteristic can be obtained by utilizing the perceptual sensitivity regarding the illusionary tactile force sense characteristic and controlling the acceleration/deceleration pattern of the momentum. Can be perceived as an illusion. For example, the ratio of the size of the sensed stimulus to the applied stimulus intensity is the sensitivity, but the human sensory characteristics differ in sensitivity to the applied stimulus intensity, and are more sensitive to weak stimuli, Insensitive to strong stimulation. Therefore, by controlling the phase of acceleration/deceleration of the motor rotation and repeating the acceleration/deceleration periodically, it has succeeded in presenting a continuous force sense in the direction in which a weak stimulus is presented. Further, by selecting the operating points A and B having appropriate sensory characteristics, it is possible to present a continuous force sense even in the direction in which a strong stimulus is presented.

Although a driving simulator is associated with a similar device, with a driving simulator, a vehicle's acceleration feeling is obtained by slowly returning to its original position with a small acceleration that is not noticed after giving the target force (acceleration feeling). Is presented. Therefore, the force is intermittently presented, and in such an unbalanced acceleration type system, it is not possible to continuously present a sense of force and a sense of acceleration in a certain direction. The same applies to a conventional tactile force sense interface device. However, in the present invention, by utilizing the illusion, a continuous translational force sensation 905 is presented in a certain direction. In particular, the feature of the illusionary tactile force sense interface device 101 using the illusion is that a continuous force is perceived in a direction opposite to the direction of the intermittent force presented by the driving simulator by a physical method. Is.

In other words, by utilizing the human non-linear sensory characteristic that the sensitivity varies depending on this intensity, although the integral of the force generated by periodic acceleration/deceleration or vibration is physically zero, In addition to not being offset, the force 908 in the positive direction is not perceived, and the force sense 905 and the torque feeling that are translational force can be continuously presented in the negative direction 909 which is the target direction. (Refer to FIG. 20C for the method of generating a continuous torque sensation.) These phenomena have non-linear characteristics even when the sensory characteristic 831 is a physical quantity 832 which is a stimulus and the sensory quantity is not logarithmic. The same effect can be obtained. This effect can be obtained not only in the non-base type but also in the base type.

In FIG. 9, since the rotation duration Ta at the operating point A approaches zero, the rotation duration Ta and the rotation duration Tb have the same momentum in the respective sections, so that the rotation duration Ta is combined in the section. Although the amount of exercise increases and the force also increases, the sense of force changes logarithmically and the sensitivity decreases, so that the integral of the sense value in the section of the rotation duration Ta approaches zero. Therefore, the force sensation in the section of the rotation duration time Tb becomes relatively large, and the continuity of the force sensation 905 in one direction is improved. As a result, the operating point A and the operating point B are appropriately selected, the operating point A duration and the operating point B duration are appropriately set, and the synchronous phases of the two eccentric rotors A and B are adjusted. By doing so, the force sensation can be continuously presented in any direction.

FIG. 35 shows the non-linear characteristics used in the illusionary tactile force sense interface device, and the sensory characteristics (FIGS. 35(a) and 35(b)) and the non-linear characteristics of the viscoelastic material (FIG. 35(c), respectively). )), and the hysteresis characteristic of a viscoelastic material (FIG.22(d)). Similar to FIG. 8, FIG. 35B is a schematic diagram showing a human sensory characteristic having a threshold value 2206 with respect to a physical quantity, and by controlling the illusionary tactile force sense interface device in consideration of this characteristic. , It indicates that a sensation that does not physically exist is induced as an illusionary tactile force sense. As shown in FIG. 35(c), a material having physical properties in which the stress characteristic with respect to the applied force exhibits a non-linear characteristic is provided between the device for generating driving force such as displacement, vibration, torque, and force and the human skin/sensory organ. The same illusionary tactile force sensation is induced even when sandwiched. Further, as shown in FIG. 35(d), the sensory characteristic is not isotropic when the displacement increases and decreases, such as when the muscle is stretched and contracted, and often exhibits a hysteresis-like sensory characteristic. Immediately after the muscle is pulled, it contracts strongly. By generating such a strong hysteresis characteristic, induction of a similar illusionary tactile force sense is promoted.

FIG. 36 is a diagram showing a tactile force sense information presentation method using a method of changing a sense characteristic by a masking effect regarding a force sense as an example of a method of changing a sense characteristic.

The sensory characteristics are masked by the masking displacement (vibration) and the torque sensation 434 is reduced. Examples of this masking method include simultaneous masking 424 (proven in visual and auditory masking), front masking 425, and rear masking 426. (FIG. 36(a)) is a schematic representation of the torque 413 which is a masky, and the torque sensation 434 perceived at this time is expressed as (FIG. 36(c)). The torque 413 is proportional to the time derivative of the rotation speed 412 of the rotor.

At this time, the initialization time 415 for initializing the rotation speed 412 of the rotor and the corresponding masking duration 425 are shown in FIG. 6 (FIG. 36(d)) initialization time 445 and masking duration 455. It seems that the torque is continuously presented like the torque sensation 464, even though the negative torque due to the initialization physically exists when the time becomes shorter than a certain time. A critical fusion occurs.

The masker that generates masking displacement (vibration) may be a rotor that is different from the rotor that is a masky whose torque is masked, or the rotor itself that is a masky. When the rotor of the masky is also a masker, it means that the rotor is controlled by the control device so as to generate a masking displacement (vibration) during masking. The direction of displacement (vibration) of the masker may or may not be the same as the direction of rotation of the rotor of the musky. The above can also occur when the masky and the masker have the same stimulation (when the rotor of the masky is also the masker).

FIG. 37 is a diagram schematically showing this case. As shown in FIG. 37, before and after the strong torque sensations 485 and 486, the torque sensation 484 is reduced by the front masking 485 and the rear masking 486.

As for the sensory characteristic, the sensitivity of the torque sensation 517 changes depending on the tension state of the muscle or one or more of the physical, physiological, and psychological states. For example, when a muscle is instantly stretched with a presentation torque 514 (a strong torque 524 in a short time) which is an external force, a sensor called a muscle spindle in the muscle senses this, and the muscle has a power that is not defeated by this external force. Torque 515 (torque 525 due to muscle reflex) causes the muscle to quickly contract reflexively. At this time, myoelectricity 511 is generated. The control circuit 512 that detects it controls the tactile force sense presentation device 513 to exert a presentation torque 516 (gentle moderate torque 526) in synchronization with the contraction of the muscles to change the sensitivity of the torque sensation 517. ..

The above applies not only to the state of muscle tension, but also to changes in sensory sensitivity due to any one or more of breathing, posture, and nerve firing.

The sensitivity of the palm varies depending on the direction of the palm due to the anatomical structure of the skeleton, joints, tendons, muscles, etc. By correcting the intensity of the presented physical quantity (rotational speed ω 612) according to the sensitivity (anisotropy sensitivity curve 611) depending on the direction of the palm, it is possible to present the direction with high accuracy.

FIG. 38 shows masking of force sense as an example of a control method for continuously or intermittently presenting one or more tactile force sense information of displacement sense, vibration sense, force sense, and torque sense in an arbitrary direction. It is a figure which shows the vibrotactile force sense information presentation method in arbitrary directions using the method of changing a sensory characteristic by an effect.

The sensory characteristics are masked by the masking displacement (vibration) 1216 and the force sensation 1224 is reduced. This masking displacement (vibration) is generated by displacing (vibrating) the speed by synchronizing the rotation speed 1022 of the eccentric rotor A and the rotation speed 1023 of the eccentric rotor A in FIG. 31(b). You can (FIG. 38(a)) is a schematic representation of this, and the force sensation 1224 perceived at this time is expressed as in (FIG. 38(b)). The force 1213 is proportional to the time derivative of the magnitude 1212 of the combined rotational speed of the two eccentric rotors.

At this time, the initialization time 1215 for initializing the rotation speed 1212 of the rotor is shortened, and when it becomes shorter than a certain time as shown in FIG. 38C, a negative force due to the initialization physically exists. Nevertheless, a critical fusion occurs where the force feels like being continuously presented, like force sensation 1244.

The above thing occurs when the maskey and the masker are different rotors, and the same continuous presentation feeling occurs not only when the force is applied but also when the torque is applied.

As in the sensory characteristics shown in FIGS. 39A to 39C, the sensory characteristics for each user are different. For this reason, there are some people whose illusionary tactile force sense is clearly perceived, some who are difficult to perceive, and others whose perceptibility is improved by learning. The present invention has a device that corrects this individual difference. Moreover, when the same stimulus is continuously presented, the sense may be weakened by the stimulus. Therefore, it is effective to prevent habituation by giving fluctuations to the intensity/cycle and direction of the stimulus.

FIG. 39D shows an example of a method for presenting a force in a certain direction using the illusionary tactile force sense. In the method of rotating the two eccentric oscillators in opposite rotational directions to combine the displacement component and the vibration component, a high-speed rotation speed ω1 (high frequency f1) 1002a at the operating point A and a low-speed rotation speed ω2 (low frequency at the operating point B are low. When the frequency f2) 1002b is alternately presented for each phase 180°, the illusionary tactile force sense intensity (II) is proportional to the logarithm of the acceleration/deceleration ratio Δf/f of the frequency that is the rotation speed of the eccentric rotor (FIG. 39). (E)). However, (f=(f1+f2)/2, Δf=f1-f2). The slope n when the logarithmic value of the illusionary tactile force sense and Δf/f is plotted shows the individual difference.

The sensory intensity (VI) indicates the intensity of the displacement component/vibration component that is perceived at the same time as the sense of force in a certain direction due to the illusion, and the intensity of the displacement component/vibration component and the physical quantity f (logarithm) are approximately inversely proportional. Therefore, the sense intensity (VI) is relatively lowered by increasing the frequency f (FIG. 39(f)). By controlling the contained intensity of the displacement component and the vibration component, the texture of the force when the illusionary tactile force sense is presented is changed. The slope m when plotted in logarithm indicates individual difference. It should be noted that n and m indicating individual differences change as learning progresses, and converge to constant values when learning is saturated.

40A to 40C show a texture expressing method of the virtual flat plate 1100. In the illusionary tactile force sense interface device 101, the movement (position/posture angle, velocity, acceleration) of the illusionary tactile force sense interface device 101 monitored by sensing represents 1101 of the movement of the virtual object. In accordance with the above, by controlling the direction/strength of the drag force 1102 by the illusionary tactile force sense and the texture parameter (contained vibration component), the friction sensation 1109, the roughness sensation 1111 and the shape which are the texture of the virtual flat plate are controlled. FIG. 40A shows a drag force 1103 from the virtual plate to the virtual object and a drag force 1102 against the movement, which are exerted when the virtual object (illusionary tactile force sense interface device 101) is moved on the virtual plate 1100.

FIG. 40B shows that the frictional force 1104 acting between the two objects when the illusionary tactile force sense interface device 101 and the virtual flat plate 1100 are in contact vibratingly repeating dynamic friction and static friction. Also, the presence/shape of the virtual flat plate is perceived by feedback-controlling and presenting the drag force 1106 that pushes back so that the illusionary tactile force sense interface device 101 stays within the error thickness 1107 of the virtual flat plate. When the illusionary tactile force sense interface device 101 does not exist in the virtual flat plate 1100, the presence of the wall is perceived by not presenting the pushing back drag force but by presenting it only when it is present.

FIG. 40C shows a method of expressing the surface roughness. A resistance sensation and a viscous sensation 1108 are perceived by presenting a reaction force in a direction opposite to the direction 1101 in which the illusionary tactile force sense interface device 101 is moved in accordance with the moving speed/acceleration. By presenting a negative drag force (acceleration force 1113) in the same direction as the moving direction, it is possible to emphasize the smoothness 1110 of the virtual flat plate that slides on ice. This sense of acceleration/smoothness 1110 is difficult to be presented by a conventional non-base type tactile force sense interface device using a vibrator, and the texture and material realized by the illusionary tactile force sense interface device 101 using illusion are It is an effect. Further, by vibratingly changing the drag force (vibratory drag force 1112), a sense 1111 of the surface roughness of the virtual flat plate is perceived.

FIG. 41 shows a control algorithm using a viscoelastic material whose characteristics change depending on the applied voltage. In the method using a viscoelastic material, materials (2403, 2404) having different stress-deformation characteristics are attached, but as shown in FIG. 41A, a material 1707 whose viscoelastic characteristics change with applied voltage may be used. .. By changing the viscoelastic coefficient by controlling the applied voltage (FIG. 41(b)), the transmissivity of the periodically changing momentum generated by the eccentric rotor to the palm is set as the rotational phase of the eccentric rotor. By changing in synchronization, even if the eccentric rotor is rotating at a constant rotation speed (constant speed rotation) as shown in FIG. 41(c), the viscoelastic characteristic is changed as shown in FIG. 41(d). Since the momentum transmitted to the palm/fingertip can be controlled by changing the characteristic values at the operating point B and the operating point A in terms of time, the same effect as accelerating and decelerating the rotational speed of the eccentric rotor can be obtained.

In addition, this method has the same effect as artificially changing the physical characteristics of the skin, and also has the effect of artificially changing the sensory characteristic curve (FIG. 41(e). It can be used for absorption or control for increasing the induction efficiency of the illusionary tactile force sense. Further, as in the case of sticking a viscoelastic material on the surface of the illusionary tactile force sense device as shown in FIG. The viscoelastic material may be attached to the fingertip or the body as in f), where the viscoelastic material is a material/characteristic as long as the stress-strain characteristic can be controlled non-linearly by the applied voltage. The control method is not limited to the control by the applied voltage as long as the nonlinear control can be performed.

As shown in FIG. 41(b), when acceleration/deceleration of the rotation of the motor is repeated, large energy loss and heat generation occur. However, in this method, the rotation speed of the motor is constant (FIG. 41(c)), or the acceleration ratio f1 Since /f2 is a value close to 1, and the characteristic is changed by the applied voltage, the energy consumption of this method can be suppressed to be smaller than the energy consumption by the acceleration/deceleration of the motor.

FIG. 42 shows an example of control of the illusionary tactile force sense interface device 101. In this device, the control of the motor 1704 is divided into a motor feedback (FB) characteristic controller that controls the feedback characteristic of the motor 1704 and a control signal generator that converts the illusionary tactile force sense induction pattern into a motor control signal. In the present invention, it is important to control the synchronization of the motor rotation phase pattern θ(t)=F(u, II, VI, R), and it is necessary to perform the synchronization control with high accuracy in terms of time. Therefore, as an example of the method, here, the position control by the control pulse train of the servo motor is shown. When a stepper motor is used for position control, it is often impossible to get out of step/control due to sudden acceleration/deceleration. Therefore, here, pulse position control by the servo motor will be described. In the present invention in which a large number of illusionary tactile force sense interface devices 101 are synchronously controlled and used by separating the control of the motor feedback (FB) control characteristic and the motor control by the pulse position control method, the motors when different motors are used. Consistency of control signals, high-speed generation of illusionary tactile force sense induced patterns, and scalability capable of easily coping with an increase in the number of control motors to be synchronously controlled are ensured. In addition, it becomes easy to correct individual differences.

In the illusionary tactile force sense induction function generator 1701, a pulse signal train gi is separated into control signals for controlling the motor FB characteristic controller and the motor control signal generator, and the motor control signal generator controls the phase position of the motor. (T)=gi(f(t)) is generated, and the phase pattern θ(t) of the motor is controlled. In this method, the rotation phase of the motor is feedback-controlled by the number of pulses, and for example, one pulse rotates the motor by 1.8°. As for the rotation direction, normal rotation/reverse rotation is selected by the direction control signal. By using this pulse control method, an arbitrary acceleration/deceleration pattern (rotational speed, rotational acceleration) is controlled at an arbitrary phase timing while maintaining the phase relationship between two or more motors.

FIG. 43A to FIG. 43 show an implementation example of the illusionary tactile force sense interface device 101. As shown in FIGS. 43A and 43B, the adhesive tape 1301 and the finger insertion portion 1303 of the housing 1302 are used to attach the fingertip 533. Further, it may be used between the fingers 533 (43(c)) or sandwiched between the fingers 533 (43(d)) for use. The housing 1302 may be made of a hard material with little deformation, an easily deformable material, or a slime shape having viscoelasticity. FIG. 43 is also conceivable as a variation of these mounting methods. By controlling the phases of the two basic units of the illusionary tactile force sense device with the flexible adhesive and the housing, it is possible to express a sense of expansion and a sense of compression/compression in addition to the force sense of the left, right, up, and down. As described above, a component such as an adhesive tape or a housing having a finger insertion part that allows the illusionary tactile force sense interface device 101 to be mounted on the body is called a mounting part. In addition to the adhesive tape and the housing having the finger insertion portion, the mounting portion may be in any form such as a sheet type, a belt type, and tights as long as it can be attached to an object or a body. In a similar manner, it is worn all over the body, such as fingertips, palms, arms and thighs. The terms viscoelastic material and viscoelastic properties dealt with in the present specification indicate those having viscous and/or elastic properties.

FIG. 44 shows another implementation example of the illusionary tactile force sense interface device 101. In FIG. 44A, since the illusionary tactile force sense device 107 is detected as noise vibration by the acceleration sensor 108, by arranging these in the opposite direction to the finger 533, the influence of the vibration on the acceleration sensor 108. Has been reduced. Further, noise contamination detected by the acceleration sensor 108 is canceled based on the control signal of the illusionary tactile force sense device 107 to reduce noise mixing.

In FIGS. 44(c) to 44(e), the seismic resistant material 1405 is interposed between the illusionary tactile force sense device 107 and the acceleration sensor 108 to suppress the mixing of noise vibration. In FIG. 44( d ), the illusionary tactile force sense interface device 101 is configured to sense an illusionary tactile force sensation while touching an actual object. An illusionary tactile force sense is added to the sense of touch with the real object. In the conventional data glove, the tactile force sense is presented by attaching a wire to the finger and pulling the finger to present the force sense. When tactile sensation is presented while touching a real object using a data glove, it is difficult to combine the feelings of the real object and the virtual object, such as the finger being separated from the real object and the grasping being hindered. The illusionary tactile force sense interface device 101 realizes a composite sensation (mix reality) in which a virtual touch is added while firmly gripping/touching a real object without such a situation.

In FIG. 44E, an illusionary tactile force sensation is further added according to the contact with the real object measured by the pressure sensor 110 and the gripping pressure to edit the gripping/contact feeling of the real object, or the virtual object 531. Replace with the feel of. In FIG. 44(f), a shape sensor (for example, a photo sensor) that measures the surface shape or shape deformation is used instead of the pressure sensor of FIG. 44(e) to measure the shape/surface shape of the gripped object related to the tactile sensation. , And the gripping force, strain resilience, and contact due to deformation are measured. With these, a tactile magnifying glass emphasizing the measured stress/resilience and surface shape is realized. It is possible to visually confirm a fine surface shape on a display like a microscope and also to visually check the shape. Further, if a photo sensor is used as the shape sensor, the shape can be measured without contact, so that the shape of the object can be sensed by holding the hand over the distant object.

Also, in the case of a variable touch button whose commands on the touch panel change depending on the usage situation or context, especially when it is hidden by a finger when pressing the button like a mobile phone, the command of the variable button Is hidden and unreadable. Similarly, in the case of a variable type button in the virtual space in VR content, since the menu notation and commands change depending on the context, when the button is pressed, the content of the button to be pressed now becomes unknown. Therefore, as shown in FIG. 44E, by displaying it on the display 1406 on the illusionary tactile force sense interface device 101, the illusionary tactile force sense button can be pushed in while confirming the command content of the button.

In order that the pushing information and pushing reaction force of the virtual button on the virtual object 531 or the virtual controller can be felt and operated in the same manner as an actual object, the time delay between pushing and the presentation of the pushing reaction force is a problem. Become. For example, in the case of an arm-type ground-type haptic interface, the position of the gripping finger is measured by the angle of the arm, etc., and after determining contact/interference with the digital model, the stress to be presented is calculated, and the Since the rotation is controlled and the movement/stress of the arm is presented, a response delay may occur. In particular, since the button operation during the game is reflexively performed at high speed, it may not be enough to monitor and control the content side. Therefore, the illusionary tactile force sense interface device side 101 is also equipped with a CPU and a memory for monitoring the sensors (108, 109, 110) and controlling the illusionary tactile force sense device 107 and the viscoelastic material 1404, thereby performing real-time control. By doing so, the responsiveness such as pressing the virtual button is improved, and the reality and operability are improved.

In addition, the communication device 205 is provided to communicate with another illusionary tactile force sense interface device 101. For example, when the illusionary tactile force sense interface device 101 is attached to five fingers, the illusionary tactile force sense interface device is deformed by the shape deforming material (1403 in FIG. 44B) in association with the movement of each finger. By changing the shape and feel of the virtual controller and operating virtual buttons in real time, the reality and operability are improved.

In FIG. 44(a), in order to effectively use the hysteresis characteristics of the sensation/muscle, the myoelectric sensor 110 is used to measure the myoelectric response, and the illusionary tactile force sensation is set so that the time and strength for muscle contraction increase. The induction function is corrected in a feedback manner. One of the factors that influence the induction of the illusionary tactile force sense is how the illusionary tactile force sense interface device 101 is attached to a finger or palm (sandwiching/strengthening force), and receives the force from the illusionary tactile force sense interface device 101. There is a way for the user to put force on the arm. There are individual differences in the sensitivity of the illusionary tactile force sense, and some people feel the illusionary tactile force sense more sensitively when they are held lightly, and some feel more sensitive when they are strongly grasped. Similarly, the sensitivity also changes depending on the method of tightening when mounting. In order to absorb this individual difference, the gripping state is monitored by the pressure sensor 109 and the myoelectric sensor 110, the individual difference is measured, and the illusionary tactile force sense induction function is corrected in real time. People get accustomed to and learn physical simulation in contents, and learning progresses in an appropriate direction for grasping, and this correction has an effect of promoting this. In FIGS. 44(a) to 44(e), the illusionary tactile force sense interface device 101 is thick in order to show the configuration of the parts, but each part is also compatible with a thin sheet shape.

FIG. 45A shows that, in addition to the illusionary tactile force sensation induced by the illusionary tactile force sense device, the shape deforming motor 3002 deforms the shape 3001 of the illusionary tactile force sense interface device in synchronization with the illusionary tactile force. 2 shows a device for enhancing the illusionary tactile force sensation 905 induced by. For example, as shown in FIG. 45(b), when applied to a fishing game, the sense of tension of the fishing line induced by the illusionary tactile force sense 905 is further emphasized by warping the interface shape 3001 in accordance with the pull of the fishing rod by the fish. To be done. At this time, it is not possible to experience such a realistic pulling of the fish simply by deforming the interface without the illusionary tactile force sense, and the reality is improved by adding the deformation of the interface to the illusionary tactile force sense. Further, by spatially arranging the basic units of the illusionary tactile force sense device as shown in FIG. 30C, a deformation effect can be produced without the shape-deformation motor 3002. The shape deformation is not limited to the shape deformation motor 3002, and any mechanism capable of changing the shape such as a shape memory alloy or a driving device using a piezoelectric element may be used.

FIG. 46 shows an alternative device to the illusionary tactile force sense device 107. In place of the eccentric weight 814 of the eccentric rotor and the eccentric motor 815 for driving the same in FIG. 46A, a weight 2302 and a stretchable material 2303 are used in FIGS. 46B to 46E. For example, FIGS. 46(b) and 46(d) show a plan view, a front view, and a side view when the number of elastic members 2303 supporting the weight 2302 is eight and four, respectively. In each drawing, the weight can be moved in an arbitrary direction by contracting and expanding the pair of elastic members 2303. As a result, translational and rotational displacement/vibration can be generated. Any structure can be used as a substitute as long as it has an acceleration/deceleration mechanism capable of generating and controlling the translational movement of the center of gravity and the rotating torque.

47 to 57 show various configurations of a tactile force sense display or a touch panel. A tactile force display or touch panel is an actuator provided on a base material and a sensor that detects displacement, pressure, acceleration, etc. of the touch panel and touch panel to measure the position, rotation, tensor of displacement, pressure, acceleration, etc. Equipped with.

47, 48, and 49 show various configurations of a table-type tactile force sense display or touch panel.

FIG. 47 shows a basic unit of a tactile force sense actuator, which is composed of a touch panel, a sensor, and an actuator. Position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are measured as a scalar, vector, or tensor on the touch panel and sensor. It For the actuator, position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are presented as a scalar, vector, or tensor. Here, the perception of tactile force information at the fingertip will be described, but not limited to the fingertip, it is assumed that the operator's whole body and body are everywhere. FIG. 48 shows an example in which the basic unit of the tactile force sense actuator is used for a table type and a table. It can be operated with your palm as well as with your fingertips.

FIG. 49 is a table type, which is provided with virtual buttons on the wall or the like for the operator to operate. It is possible to operate with body parts such as elbows, and to operate objects such as virtual buttons through the body parts.

50, 52, and 53 are of a steering wheel type, and are provided with an actuator such as a steering wheel of an automobile, and a virtual button near the steering wheel for an operator to operate. An example in which the basic unit of the tactile force sense actuator is used for a handle type and a handle is shown. In FIG. 50, an operation with a body part such as a finger or a palm, and an object such as a virtual button can be operated through the body part. In FIG. 51, a liquid crystal display is provided on the handle. Even if the steering wheel is turned while driving, the attitude of the liquid crystal display is maintained as it is. It is possible to operate with body parts such as fingers and palm, and to operate objects such as virtual buttons through the body parts. At this time, when presenting visual information on a liquid crystal display or the like, the attitude of the liquid crystal display is kept constant even if the handle is rotated so as to secure a viewpoint and a visual field.

In FIG. 52, an operation with a body part such as a finger or a palm, and an object such as a virtual button can be operated through the body part. The tactile force actuator is arranged on the entire handle, and the tactile force actuator can be used regardless of whether the handle is rotated or the finger, palm, or arm is at any position.

In FIG. 53, an operation with a body part such as a finger or a palm, and an object such as a virtual button can be operated through the body part. The entire handle is a tactile force actuator, so you can use the tactile force actuator regardless of the position of your finger, palm, or arm by rotating the handle.

In FIG. 54, an operation can be performed with a body part such as a finger or a palm, and an object such as a virtual button can be operated through the body part. This allows the feel and operation of the door knob without the door knob. The window glass is provided with a curved liquid crystal panel and a touch panel. You can do the same thing with buttons, sliders, dials, switches, control panels, etc. on objects.

In FIG. 55, the tactile force sense actuator is attached to the finger, in FIG. 56, the actuator is attached to the wrist, and in FIG. 57, the actuator is attached and the virtual button is pressed with the finger to operate. FIG. 55 shows an example in which the basic unit of the tactile force sense actuator is used for a ring type and a ring. It is possible to operate with body parts such as fingers and palm, and to operate objects such as virtual buttons through the body parts. This allows the feel and operation of the door knob without the door knob. You can do the same thing with buttons, sliders, dials, switches, control panels, etc. on objects.

FIG. 56 shows an example in which the basic unit of the tactile force sense actuator is used for the wrist type and the wrist. It is possible to operate with body parts such as fingers and palm, and to operate objects such as virtual buttons through the body parts. This allows the feel and operation of the door knob without the door knob. You can do the same thing with buttons, sliders, dials, switches, control panels, etc. on objects.

FIG. 57 shows an example in which the basic unit of the tactile force sense actuator is used for an arm ring type and an arm ring. It is possible to operate with body parts such as fingers and palm, and to operate objects such as virtual buttons through the body parts. This allows the feel and operation of the door knob without the door knob. You can do the same thing with buttons, sliders, dials, switches, control panels, etc. on objects.

FIG. 58 shows an example in which the basic unit of the tactile force sense actuator is used for the whole body. It is possible to operate with body parts such as fingers and palm, and to operate objects such as virtual buttons through the body parts. This allows the feel and operation of the door knob without the door knob. You can do the same thing with buttons, sliders, dials, switches, control panels, etc. on objects.

59 and 60 schematically show how to connect the controller and the tactile force sense actuator. FIG. 59 shows a case where the haptic actuators are connected in a parallel arrangement, and FIG. 60 shows a case where they are connected in a cross arrangement.

FIG. 61 shows a schematic diagram of a system for exchanging information by communication between a haptic display panel and a computer (PC). The touch panel is equipped with the actuator array or is integrally provided.

This system applies tactile characteristics and illusions of an operator to present tactile force information to the operator as if he or she actually operated an object. Specifically, it is controlled based on the stimulus detected by the sensor, and the stimulus is applied by utilizing the fact that the sensory characteristic showing the relationship between the stimulus amount applied to the human body and the sensation amount is nonlinear or illusion. The tactile force sense information is controlled and presented. The sensory characteristic comprises at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount may be physically present. There is no sense.

Here, the system presents a stimulus from or to the object, and the stimulus applied to the operator in response to the operation of the operator is controlled. The minimum parts consist of a haptic actuator and a controller and can be used as parts. An image touch panel having a tactile force information presentation function is configured by integrating these components into an actuator array. In the tactile force information presentation system, a system such as a touch display is configured by using this component and other modules. In this way, by integrating as an actuator array, it is possible to configure a tactile force information display system having various shapes and sizes such as a flat surface, a curved surface, and a solid.

The sensor attached to the haptic actuator measures the position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity at the sensor, and the information Is sent to the controller, a control signal for controlling the haptic actuator is calculated, and is sent to the haptic actuator to control the haptic actuator. The haptic actuator has a panel-type and display-type sensor function and a presentation function, and in the controller, the displacement, momentum, vibration amplitude, displacement stimulus, vibration stimulus, and stimulus intensity associated with the movement of the body such as a finger or palm are used. Time changes are calculated, and based on the control algorithm, the position, velocity, acceleration, shape, displacement, deformation, and amplitude of the tactile force sense actuator are adjusted according to the movement and pressure of the body such as fingers and palm monitored by the sensor. , Rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are controlled, and tactile sense information such as pressure sense, tactile sense, and force sense is presented to humans.

In the control signal, force information (t), amplitude information (t), etc. are expressed by driving voltage and the like, and the actuator is a motor, piezo, artificial muscle, memory alloy, molecular motor, electrostatic, coil, magnetic force, electrostatic. In addition, the device and operation principle are not limited as long as they generate displacement and vibration.

As a result, even if a panel or a display composed of a flat surface, a curved surface, or a three-dimensional shape is installed in a housing or the like so as to be fixed or to perform minute displacement/vibration, the feeling of being inserted, the feeling of being pushed in, the feeling of being depressed Feeling of depth, pushing back, uplifting, vibration/amplitude convergence, vibration/amplitude reverberation, displacement/movement direction feeling, sloppy feeling, hardness, soft feeling, three-dimensional feeling .. Physically, although such a sensation is not reproduced or presented, such a sensation and a physical reaction/reflex are experienced. In addition, in an information terminal or the like, it is possible to realistically obtain an operation feeling of an object such as a button, a slider, a dial, a switch, an operation panel or the like, even though the panel is flat or flat.

Other than the above, stationery, notebooks, pens, home appliances, signs, signage, kiosk terminals, walls, tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (surgery, driving, massage, sports, walking, It can be used for musical instruments, crafts, paintings, arts, etc.

FIG. 62 shows various integrated configurations of a haptic display panel system. A plurality of actuators are attached to the touch panel. The actuators may be arrayed. An actuator may be integrated on the touch panel. There are a unit composed of multiple modules, an integrated array type, a sphere/solid type arranged on the surface, and a solid type packed in the sphere/solid. In this way, by integrating as an actuator array, it is possible to configure a tactile force information display system having various shapes and sizes such as a flat surface, a curved surface, and a solid.

In FIG. 63, the actuators provided with the haptic display panel are arranged in an array, and these are attached via a link mechanism, a vibration damping agent or a damping mechanism. It is not necessary to use a vibration buffer or a buffer mechanism. Multiple modules are simply arranged in a plane, curved surface, three-dimensional, various modules are linked by a link mechanism, linked by a vibration damping agent/damping mechanism, independent modules, etc. There is.

65 to 68 show schematic diagrams of basic modules of the haptic device. The basic module of the haptic device digitizes and digitally expresses the tactile sensation of button feeling, friction feeling, and unevenness, pain feeling, presence of virtual objects, and feeling of expression. It presents tactile and illusionary tactile sensations by physical quantities and stimuli such as displacement, rotation, deformation, and vibration according to contact and movement of fingers and body. Then, displacement such as contact or movement, rotation, speed, acceleration, pressure, force is measured by a sensor using a photo device, strain, bending, resistance, conductivity, capacitance, sound wave, laser, or the like. The sensor signal is a stimulus that is provided by and/or to the object and comprises at least one of position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity. Prepare As a result, tactile sensations such as button sensation, friction sensation, and unevenness, pain sensations, and presence/feel of virtual objects are expressed.

The panel can be adapted to any plane and shape. This allows free design. Digital representation of instantaneous changes in tactile sensation is possible. By monitoring the operation near the touch panel before touching the touch panel, it is possible to improve the real-time response characteristics when the touch panel is touched. Displacement such as movement, rotation, speed, acceleration, pressure and force are measured with a non-contact sensor. Therefore, a feeling of collision and a feeling of impact are expressed. The contact state related to the tactile force sense can be digitally expressed. The contact state such as the contact angle of the finger, the contact area, the dampness of the finger, and the like can be monitored, and control that reflects the contact state can be performed, thereby improving the feeling of tracing.

69 to 79 are schematic views of the panel type module. The basic module of the haptic device digitizes and digitally expresses the tactile sensation of button feeling, friction feeling, and unevenness, pain feeling, presence of virtual objects, and feeling of expression. Presents tactile sensation and illusionary tactile force sensation by physical quantities and stimuli such as displacement, rotation, deformation, and vibration according to contact with a finger or body, contact position, and movement. Then, the physical quantity such as contact, contact position, displacement according to movement, rotation, deformation, vibration, etc., stimulus and spatial balance of the stimulus on the touch panel, intensity distribution, and tactile sensation and illusionary tactile force sensation due to time change are presented. .. Therefore, it is possible to move, propagate, and sense a change in shape (force, sensation) of a force, an object, and a presence due to the spatial balance of the stimulus, intensity distribution, and temporal change (phantom sensation), and present the object and the presence on a hard panel. Further, it is possible to present an object, a three-dimensional object, and its presence, regardless of the hard panel.

FIG. 70 shows a touch panel structure in which a photo interrupt is installed on a base material. The photo interrupt detects a distance and a change, and perceives a button pressing feeling (sinking pitch, depth). Therefore, by digitally expressing the button feeling on the hard panel, it is possible to adaptively change the texture and feel expression in accordance with the application and taste.

71, 72 and 73 show a structure in which the actuator is attached to the touch panel in a suspended structure. FIG. 71 shows a structure in which an actuator is attached to an air suspension structure at approximately the center of the touch panel.

FIG. 72 shows a structure in which actuators are attached to both ends of the touch panel in a suspended structure. In the structure of FIGS. 71 and 72, it is preferable to provide a viscoelastic material or a vibration damping agent on the side wall between the panel and the wall.

FIG. 73 shows a structure in which actuators are attached to both ends of the touch panel in a suspended structure. In the structure of FIG. 73, it is preferable to provide a low friction material on the side wall between the panel and the wall. With these structures, the sensory strength of the tactile force sense and its effect can be increased. In the structure of FIG. 71, the physical quantity and the stimulation quantity transmitted to the finger and the body can be increased through the touch panel by the 3D speaker mechanism with the displacement and vibration of 6 degrees of freedom in which the touch panel and the actuator are floated. With the increase, the actuator parts in FIG. 72 are attached to both ends of the touch panel, and in FIG. 73, the inertia actuators are attached to both ends of the touch panel. , The amount of stimulation can be increased. It increases the amount of tactile sensation, and further increases the amount of indentation, the pitch of depression, and the depth sensation. It can be applied to IoT devices. You can increase the amount of feeling and efficiency without choosing the mounting location.

74 to 78 show schematic views of a touch panel module in which a liquid crystal display is incorporated in the touch panel. In the touch panel module shown in FIG. 74, liquid crystal panels are arranged in the space of a pair of modules arranged on both sides of the touch panel. Since the touch panel and the actuator are separated from each other, the image on the liquid crystal panel does not shake and does not vibrate. The tactile sense, the sense of touch, and the presence of the object reflected on the liquid crystal panel are presented. It is possible to simulate the tactile sensation of a 3D object using a 2D model.

75 and 76 are schematic views of a thin touch panel module. FIG. 75 shows the same arrangement as FIG. 74. In FIG. 76, since actuators are provided at both ends of the touch panel, it can be mounted on a thin device such as a smartphone.

77 shows a schematic diagram of a touch panel module system in which a screen is provided on the surface of the touch panel of the touch panel module of FIGS. 74 to 76 and a projector is arranged above the screen. As a result, the digital tactile force sense function of the image can be realized. The image projection by the projector and the haptic touch panel are controlled.

FIG. 78 is a schematic view in which the five-sense information presentation device is arranged on the touch panel module of FIGS. 74 to 77. By installing a five-sense information presentation device, the reality can be improved by utilizing the five senses such as sight, hearing, and touch. In addition, the five senses such as video, sound, touch, smell, taste, etc. can be used. It enhances and promotes the illusion by the mutual effect with the five senses information that matches or does not match (mismatch) the tactile force information as an object, and can expand the sense that does not actually exist.

FIG. 79 shows a schematic diagram of an array unit for multi-touch. Presents basic movement and kinesthetics. By performing phase control of the displacement direction for each panel, it is possible to express movement and kinesthetic sensations other than simple displacement due to movement stimulation. It presents a sense of rotation with a fixed panel.

FIG. 80 presents a complex kinesthetic sensation. Phase control in the displacement direction and sensory synthesis control with each fingertip are provided for each panel to present a feeling of expansion, pressure, twist, expansion, and pressure. It presents a sense of deformation with a fixed panel.

FIG. 81 presents a complex kinesthetic sensation. For each panel, phase control in the displacement direction and sensory synthesis in the perceptual/cognitive layer are performed, and multi-touch sensation is synthetically controlled to obtain a feeling of expansion, pressure, and twist, and to present a feeling of expansion and pressure. Get a sense of deformation by the fixed panel.

FIG. 82 presents tactile and force senses by one device. Performs sensory synthesis control that reproduces the different components [tactile/force sense] for each panel. The Z direction pressure sense drive by finger pressure and the control by the XY displacement trigger are performed, and tactile and force senses in the Z direction are presented at the same time. Realize multiple resonance peaks.

FIG. 83 presents tactile/force senses by one device. Reproduce different components (tactile sensation) for each panel. The Z-direction pressure sensation drive by finger pressure, the control by the XY displacement trigger, the Z-direction pressure sensation is generated and controlled, and the tactile sensation and the force sensation are simultaneously presented by the panel. Realize multiple resonance peaks.

FIG. 84 presents tactile/force sensations by one device. Reproduce different components (tactile sensation) for each panel at different timings. The method of composition is not limited to this. Avoid mutual effects such as mutual tactile/force sense masking. Present consonants and vowels.

In FIG. 85, the induction pattern is controlled to control the front displacement and the rear displacement. FIG. 86 presents tactile sensation/force sensation by one device. Reproduce different components (tactile sensation) for each panel at different timings. When there is overlap and when there is a non-overlap part. The method of composition is not limited to this. Avoid comprehensive effects such as mutual masking of tactile and force senses. Present consonants and vowels.

FIG. 87 presents tactile/force senses by one device. Present different components (intensity/amplitude, frequency, waveform, phase) for each panel. Waveform comparison, difference, phase difference, and synergistic effects produce a different sensation from the components. FIG. 88 presents tactile/force senses by one device. Present different components (intensity/amplitude, frequency, waveform, phase) for each panel. Waveform comparison, difference, phase difference, and synergistic effects produce a different sensation from the components.

FIG. 89 shows a sharp tactile sensation of a mountain peak, which is generated and presented as a button-shaped sensation. The panel amplitude is larger near the center. It gets smaller with distance. Present the feeling (pullback/overtaking sensation) at the summit. It presents a sharp sensation of a convex slope by the panel. FIG. 90 presents a semi-cylindrical convex sensation in the haptic sense. Controls the intensity and amplitude of stimulation/displacement. Present a mountain crossing (pullback/overtaking). Present a convex sensation by the panel.

FIG. 91 presents a concave gap sensation in the haptic sense. It gives a sense of gap by eliminating resistance for a moment. The panel presents a feeling of recessed gap.

In FIG. 92, the movement of the finger between the buttons (the feeling of crossing) is guidedly controlled. Controls the intensity and amplitude of stimulation/displacement. It is hard to stay between the buttons and is guided to the buttons. On the flat panel, we guide the finger movement like an attractor of the potential field. Operate the pointer from the panel to move between buttons. When the pointer leaves the button area, it is guided to the next pointer. The panel amplitude increases as it gets closer to the center of the induction section (it gets smaller as it goes away). The haptic direction switches in the center of the guidance section.

FIG. 93 presents an edge feeling and an end point feeling by controlling the guidance feeling between the buttons. Click displacement at the end of the guidance section. You can feel the presence of the edges and the feeling of the buttons rising. Operate the pointer from the panel to move between buttons. When the pointer leaves the button area, it is guided to the next pointer. The panel amplitude increases as it gets closer to the center of the induction section (it gets smaller as it goes away). The haptic direction changes at the center of the guidance section.

FIG. 94: Masking displacement (vibration) is generated at the edge portion where the guidance feeling of the button is controlled to present an edge feeling. You can feel the presence of edges and the feeling of steps and dents on the flat panel. Operate the pointer from the panel to move between buttons. When the pointer leaves the button area, it is guided to the next pointer. The panel amplitude increases as it gets closer to the center of the induction section (it gets smaller as it goes away). The haptic direction switches in the center of the guidance section.

FIG. 95 presents a stable tactile force sensation by tactile force controlling the slider. Operate the pointer from the panel to move between buttons, guide to the next button when exiting from the pointer or button area, @ panel amplitude becomes larger as it gets closer to the center of the guide section (it gets smaller as it gets farther away), force sense at the center of the guide section Switch direction. Get a slider feel.

In FIG. 96, tactile force sense control is performed on the slider to present a stable tactile force sense, and a click displacement is generated at the slider end point. Get a slider feel. FIG. 97 shows the sensory control of the slider.

FIG. 98 presents a stable tactile sensation during sweep. Control is performed separately for static friction and dynamic friction. Present a stable tactile sensation. Stable presentation in different control modes. FIG. 99 presents a stable tactile force sense by performing dynamic friction control (equalizing) during sweep. Controls coherent phase due to cutting displacement. Present a stable tactile sensation. It presents stability in different control modes.

FIG. 100 presents a stable tactile force sense by controlling static friction during sweeping. Fix your finger (body) and move the virtual slider. Fix the virtual slider and slide your finger to reciprocate. Feels like a slider. FIG. 101 presents a stable tactile force sensation by static friction control during sweep. Fix your finger (body) and move the virtual slider. Fix the virtual slider, slide your finger, and reset your finger when it reaches the end (lift your finger from the panel surface). Feels like a slider.

FIG. 102 presents a stable tactile force sensation by static friction control during sweep. Fix your finger (body) and move the virtual slider. Fix the virtual slider, slide your finger, and reset your finger when it reaches the end (displacement). Feels like a slider. FIG. 103 presents a stable tactile force sensation by dynamic friction control during sweep. Fix your finger (body) and move the virtual slider. Fix the virtual slider and slide your finger. When the friction exceeds the tension limit, the contact fixation comes off. Feels like a slider.

These sweep waveform, click waveform, and cutting waveform may be vibrations or arbitrary waveforms. The arbitrary waveform has various waveform patterns that match the desired tactile sensation. Arbitrary waveform design, amplitude modulation, frequency modulation, convolution as if creating a musical instrument tone or music with a synthesizer, not limited to linear increase / decrease, sinusoidal vibration, combination of fundamental frequency components , And a combination thereof, it is possible to express various tactile sensations.

In FIG. 104, the feeling of pressing the button is controlled and presented. -A displacement is applied to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases are exceeded. -The button hardness is expressed by the threshold value, panel amplitude, and frequency. Although it is a panel that does not dent, you can feel the indentation depth. Without physical dent, dent feeling.

FIG. 105 presents the feel of a push button by controlling the push of a button. -A displacement is applied to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases are exceeded. -Express the button hardness with the threshold value, panel amplitude, and frequency. Although it is a panel that does not dent, you can feel the indentation depth. Without physical dent, dent feeling.

In FIG. 106, the feeling of pressing the button is controlled and presented. By setting multiple thresholds, the feeling of half-pressing is expressed. Half-press feeling like a camera shutter. A feeling of holding the shutter focus. In FIG. 107, the feeling of pressing the shutter button is controlled and presented. By setting multiple thresholds, the feeling of half-pressing is expressed. Half-press feeling like a camera shutter. A feeling of holding the shutter focus.

In FIG. 108, the feeling of pressing the button is controlled and presented. Push and release are separated (1st release is not released and 2nd is release). FIG. 109 presents a button-pressing feeling by latching control. Separate indentation and release (no release for the first time and release for the second time)

In FIG. 110, the notch pulse threshold is controlled at equal intervals. Millefeuille, a feeling of putting a knife in chocolate covered ice cream. FIG. 111 controls the notch pulse threshold to be unequal. In FIG. 112, the notch pulse threshold values are controlled at equal intervals. Millefeuille, a feeling of putting a knife in chocolate covered ice cream.

In FIG. 113, the notch pulse threshold is controlled at equal intervals. Millefeuille, a feeling of putting a knife in chocolate covered ice cream. In FIG. 114, the notch pulse threshold values are controlled at equal intervals. Millefeuille, a feeling of putting a knife in chocolate covered ice cream. In FIG. 115, the notch pulse threshold value is controlled to be unequal. Millefeuille, a feeling of putting a knife in chocolate covered ice cream.

FIG. 116 hysterically controls the push feeling button. Amplitude is applied to the panel at the timing when the threshold for pressing pressure and the threshold for falling are exceeded. The hardness of the button is expressed by the threshold value, the panel amplitude, and the frequency.

In FIG. 117, the push feeling button is controlled by the acupressure function. Amplitude is applied to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases are exceeded. Representing Button Stiffness with Threshold Value, Panel Amplitude, and Frequency In FIG. 118, amplitude is applied to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases are exceeded. Controls waveform adaptation. The hardness of the button is expressed by the threshold value, the panel amplitude, and the frequency.

In FIG. 119, the push-in feeling button is pushed in the displacement amplitude plane (phase) in a 3D manner, and is controlled according to the threshold value. Amplitude is applied to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases are exceeded. Represents button stiffness with threshold value, panel amplitude, and frequency

In FIG. 120, an amplitude is applied to the panel at a timing when the threshold value 1 at the time of pressing pressure increase and the threshold value 2 at the time of falling pressure are exceeded to control the push-in feeling button according to the situation. The hardness of the button is expressed by the threshold value, panel amplitude, and frequency. Amplitude is applied to the panel at the timing when the lower pressure when pushing down and the threshold when lowering are exceeded. The hardness of the button is expressed by the threshold value, the panel amplitude, and the frequency.

In FIG. 121, the amplitude is applied to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases are exceeded. The hardness of the button is expressed by the threshold value, the panel amplitude, and the frequency. The amplitude is applied to the panel at the timing when the threshold value 1 when the pressing pressure rises and the threshold value 2 when the pressing pressure falls are controlled to control the push-in feeling button according to the situation.

In FIG. 122, the push-in feeling button is controlled by a time pattern. In FIG. 123, the notch pulse threshold values are controlled at equal intervals. In FIG. 124, the notch pulse threshold is pulse width amplitude controlled at equal intervals. In FIG. 125, the notch pulse threshold is waveform-controlled at equal intervals. In FIG. 126, the notch pulse threshold is masked and controlled at equal intervals.

127. In FIG. 127, the panel is oscillated by controlling the dynamic/static friction of the push-down sensation button to exceed the threshold 1 when the pressing pressure increases and the threshold 2 when the pressing pressure decreases. The hardness of the button is expressed by the threshold value, the panel amplitude, and the frequency. FIG. 128 is a diagram showing the threshold value for applying amplitude to the panel at the timing when the threshold value 1 at the time of pressing pressure rise and the threshold value 2 at the time of falling pressure are controlled by controlling the phase of the push feeling button, the amplitude of the panel, and the stiffness of the button by frequency. Expression

129. In FIG. 129, the intervals of pressing are controlled so that the panel is oscillated at a timing exceeding a plurality of threshold values provided only when the pressing pressure is increased. High frequency is used for notch amplitude. Express notch button in combination with button. In FIG. 130, the pressing unequal intervals are controlled so that only when the pressing pressure is increased, the panel is oscillated at a timing exceeding a plurality of threshold values. High frequency is used for notch amplitude. Express notch button in combination with button

In FIG. 131, the threshold equal intervals are controlled so that the panel is oscillated only when the pressing pressure increases, at the timing when a plurality of thresholds are exceeded. High frequency is used for notch amplitude. Express notch button in combination with button.

In FIG. 132, the tactile force sense dial is controlled by the control function. Displacement direction is controlled for each position phase. Displacement can be controlled in 3D direction. Realized various dial feeling. Flat panel for a realistic dial feel. No physical or analog dial mechanism is required. In FIG. 133, the pointer is operated from the panel to rotate the dial with a sense of acceleration. Amplify the panel by oscillating the panel parallel to the tangent to the dial. In the slip expression, control is performed so that a force sense is further generated in the dial rotation direction.

In FIG. 134, the pointer is operated from the panel to rotate the dial with a resistance. The panel is oscillated at right angles to the tangent of the dial to create a feeling of resistance. In FIG. 135, the pointer is operated from the panel and the dial is rotated with a feeling of horizontal acceleration. The panel is oscillated at a right angle to the tangent of the dial to express a feeling of horizontal acceleration. In FIG. 136, the pointer is operated from the panel to rotate the dial with a variable feel. The panel is oscillated at an arbitrary angle with the tangent line of the dial to express a variable feel. Various feels are generated by changing the phase in the displacement direction for each position. In FIG. 137, the pointer is operated from the panel to rotate the dial with a random feeling. The panel is oscillated at a right angle to the tangent of the dial to express a sense of randomness.

In FIG. 138, the dial is clicked, and a click displacement is caused for each fixed position phase to realize a flat panel loader encoder-like feel, a digital dial feel, and a volume knob feel.

FIG. 139 shows a feeling of circumferential guidance operation on the circumference of the volume, a feeling that the finger stays in the circumference, or a finger moves on the circumference, and the circumference when the actual rotary volume is rotated. The centripetal tactile sensation is presented for each constant position and phase. In FIG. 140, the operational feeling can be expressed by the operational feeling on the circumference of the volume, the circumferential induction feeling when actually rotating the rotary volume, and the resistance feeling. A centripetal tactile sensation and a resistive tactile sensation are alternately or temporally exclusively presented for each fixed position phase, and at the same time, a circular motion sensation is realized when the volume is rotated.

FIG. 141 expresses the tactile force sense of the volume adjustment and the finalizing action. A click displacement is given for each fixed position phase, and a rotary volume feeling due to the click displacement, a button pressing feeling due to the confirmation click displacement, and a volume operation/confirmation/switch feeling on the flat panel are realized.

FIG. 142 increases the tactile variation of the tactile sense dial. The displacement direction and the displacement method are controlled for each position phase. The displacement can be controlled in the 3D direction. Directional presentation is used to achieve various dial feels and sensations, warnings and cautions. The open panel provides various dial feels and responses in the right place at the right time. Control the feel and feel in a timely manner according to the situation.

In FIG. 143, the illusionary force sense changes non-linearly according to the weight by changing the size and shape of the device. The perceptual sound pressure and the perceptual torque intensity are changed. In FIG. 144, the tactile force sense threshold value and the perception amount are changed depending on the device size. The perceived torque strength is obtained by subtracting the weight from the torque. There is an optimal device size for perceptual quantities.

In FIG. 145, the texture is formed by pressure (contact feeling); pressure, warming and cooling, tactile sense; micro time structure, force sense; macro time structure, vibration feeling; frequency. FIG. 146 shows a texture structure database in which various macro and micro time structures express texture.

FIG. 147 controls the waveform to control the 2D amplitude direction. The amplitude of the panel surface with respect to an arbitrary axis is generated by synthesizing the X-axis and Y-axis waveforms.

In FIG. 148, a large number of touch panels are arranged in an array, and an actuator is provided for each touch panel. As a result, the position in the displacement direction can be controlled for each panel, and a feeling of pitch, a feeling of gripping, a feeling of tearing, and a feeling of rotation can be realized, and subtle adjustment of mouse operation can be intuitively realized. FIG. 149 illustrates a system for measuring an individual's characteristics using an illusionary tactile force induction function generator.

FIG. 150 is a flowchart showing a method for controlling the actuator.

151 to 153 show application examples and their effects. 151, personal profiling is realized using dials and pointers. The personal ID, the psychological state, the health state, and the fatigue level are estimated by analyzing the operation profile and the physiological information like the handwriting determination.

In FIG. 152, a large number of touch panels are arranged in an array, and an actuator is provided for each touch panel. With this, it is possible to control the position in the displacement direction for each panel, and realize a feeling of forward movement, a feeling of receding, a feeling of shearing/tearing, a feeling of enlargement/pinch, a squeeze, and a feeling of rotation. Palpation training can be realized by providing body conditions such as organs (hardness, softness, shape, etc.) according to how to move and how to apply force.

In FIG. 153, the remote synchronization operation is possible by connecting the VR environment generation devices by communication. As in the application example, in an information terminal or the like, it is possible to realistically obtain the operation feeling of an object such as a button, a slider, a dial, a switch, or an operation panel, even though the panel is flat or flat. Because it can present various feelings, stationery, notebooks, pens, home appliances, signs, signage, kiosk terminals, walls, tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (surgery, driving, It can be used for massage, sports, walking, musical instruments, crafts, paintings, arts, etc., feeling of insertion, feeling of depth, feeling of being returned, feeling of uplifting, convergence, reverberation, sense of direction, It is possible to add added value to the product such as tactile feeling, hardness, softness, smoothness, slimy feeling, slimy feeling, slimy feeling, rough feeling, bumpy feeling, tingling sensation, tight feeling, tight feeling, puny puny feeling. it can.

Industrial applications

By implementing the present invention, equipment used in the field of virtual reality, equipment used in the field of games, amusement and entertainment, mobile communication equipment used in the IT field, information terminal equipment, navigation equipment, mobile information terminal equipment, It is possible to realize a useful man-machine interface that can be mounted on a device used in the fields of automobiles and robots, a device used in the fields of medical care and welfare, a device used in the field of space development, and the like.

More specifically, for example, in the field of virtual reality and information appliances, presenting tactile information such as tactile sensation to a person through a man-machine interface to which the present invention is applied, drag or reaction force, etc. By restricting the movement of the person by giving the above, it is possible to present the impact due to the presence or collision of an object in the virtual space and the real space and the operation feeling of the device. Further, by mounting the above interface on a mobile phone, a portable navigation device, or the like, it is possible to realize various instructions and guidance, which have not been seen in the past, through the skin of the operator.

Despite the flat/flat panel, it is possible to realistically obtain the operation feeling of objects such as buttons, sliders, dials, switches, and operation panels. Because it can present various feelings, stationery, notebooks, pens, home appliances, signs, signage, kiosk terminals, walls, tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (surgery, driving, It can be used for massage, sports, walking, musical instruments, crafts, paintings, arts, etc., feeling of insertion, feeling of depth, feeling of being returned, feeling of uplifting, convergence, reverberation, sense of direction, It is possible to add added value to the product such as tactile feeling, hardness, softness, smoothness, slimy feeling, slimy feeling, slimy feeling, rough feeling, bumpy feeling, tingling sensation, tight feeling, tight feeling, puny puny feeling. it can.

The present invention relates to a tactile force sense information presentation system using sensory characteristics.

Japanese Patent Application Laid-Open No. 2005-190465 discloses only a physical characteristic of a tactile sensation presenting device in a conventional non-grounded man-machine interface that gives a person an impact force of the presence or collision of a virtual object and has no base in the body. Disclosed is a system capable of continuously presenting tactile sensations such as torque and force in the same direction, which cannot be presented by.

This patent application has the following configuration. Tactile force sense presenting device In the tactile force sense presenting device, the control device controls the displacement of one or more actuators in the tactile force sense presenting device, and controls the physical characteristics of the displacement, force, and torque. Causes the user to perceive various tactile force information such as displacement, force, and torque. This tactile force information presentation system uses a human sense characteristic or an illusion to appropriately control a physical quantity, so that a force that cannot physically exist or a tactile sensory physical characteristic is given to a person. To experience it.

JP, 2005-190465, A

In view of the above points, in the conventional technology, there are drawbacks such as limitation and sense intensity and clarity when presenting tactile force information only by a physical method, and an object of the present invention is to provide a displacement, a displacement pattern, and a waveform. By combining, the induced illusion phenomenon is realized, the tactile directional distinction is poor, and the Y direction displacement, displacement pattern, and waveform are illusions of the Z direction displacement, displacement pattern, and waveform by finger pressing pressure in the Z direction. It is to provide a synergistic effect regarding illusion, consonant/vowel waveform configuration, and illusion phenomenon database against trigger displacement, characteristic-induced stimulus/trigger stimulus, and misunderstanding.

The haptic information presentation system according to the present invention is an object and the object is a real object or a virtual object, and depending on the object and/or position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, A sensor for detecting a stimulus having at least one of vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity, and an operator's sensory characteristics and/or illusion are applied to the object to provide the operator with an actual A tactile force sense presentation device that presents a tactile force sense as if the object was operated, a tactile force sense presentation control device that controls the tactile force sense presentation device based on a stimulus from a sensor, and the tactile force sense device. The presentation control device presents tactile sense information by controlling the stimulus by utilizing that the sensory characteristic indicating the relationship between the stimulus amount and the sensation amount applied to the human body is non-linear and/or illusion. The sensory characteristic includes at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount physically exists. The tactile sense presentation device presents a stimulus to and/or by the object, and controls the stimulus applied to the object in accordance with the operation of the operator. Generates tactile sensations.

In the tactile force sense system, the touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is independently controlled.

In the tactile force information presentation system, the object is a touch panel, and generates different tactile and/or force senses for each touch panel.

The haptic information presentation system according to the present invention is an object and the object is a real object or a virtual object, and depending on the object and/or position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, A sensor for detecting a stimulus having at least one of vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity, and an operator's sensory characteristics and/or illusion are applied to the object to provide the operator with an actual A tactile force sense presentation device that presents a tactile force sense as if the object was operated, a tactile force sense presentation control device that controls the tactile force sense presentation device based on a stimulus from a sensor, and the tactile force sense device. The presentation control device presents tactile sense information by controlling the stimulus by utilizing that the sensory characteristic indicating the relationship between the stimulus amount and the sensation amount applied to the human body is non-linear and/or illusion. The sensory characteristic includes at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount physically exists. The tactile force sense presentation device presents at least one of amplitude, displacement, and deformation to the object.

In the haptic information presentation system, the touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is independently controlled.

In the tactile force information presenting system, the tactile force presenting device presents a tactile force sense according to the amplitude, displacement and/or deformation of the object.

In the tactile force information presenting system, the tactile force presenting apparatus causes the object to induce at least one of amplitude, displacement, and deformation in six dimensions at least every one of position, phase, and time.

In the tactile force information presenting system, the tactile force presenting device causes at least one of amplitude, displacement, and deformation at a right angle, in parallel, or at an arbitrary angle with a tangent line of an object.

The haptic information presentation system according to the present invention is an object and the object is a real object or a virtual object, and the position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, depending on the object and/or the object, A sensor for detecting a stimulus having at least one of vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity, and an operator's sensory characteristics and/or illusion are applied to the object to provide the operator with an actual A tactile force sense presentation device that presents a tactile force sense as if the object was operated, a tactile force sense presentation control device that controls the tactile force sense presentation device based on a stimulus from a sensor, and the tactile force sense device. The presentation control device presents tactile sense information by controlling the stimulus by utilizing that the sensory characteristic indicating the relationship between the stimulus amount and the sensation amount applied to the human body is non-linear and/or illusion. The sensory characteristic includes at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount physically exists. The tactile force sense presentation device is a sensory synthesis/guidance device for synthesizing a sense of inductive sensation, and the sensory synthesis/guidance device is a displacement provided with a sweep displacement on the object. A tactile force sense electronic device that generates at least one of pressure sense, force sense, and illusion.

The combination of displacements can realize induced illusions, and provides trigger displacements, characteristic-induced stimuli/triggered stimuli, misunderstandings (misidentifications), synergistic effects on illusions, consonant/vowel displacements/vibrations, and illusion database can do.

Schematic diagram showing a tactile display system Schematic diagram showing the configuration of the tactile force information presentation system Demonstrate control of displacement of haptic actuator Schematic diagram explaining the illusion phenomenon Schematic diagram explaining the illusion phenomenon Schematic diagram explaining the illusion phenomenon Schematic diagram explaining the illusion phenomenon Schematic diagram explaining the illusion phenomenon Schematic diagram explaining the illusion phenomenon Schematic diagram explaining the illusion phenomenon Schematic diagram explaining how to press your finger Schematic diagram explaining how to press your finger Schematic diagram explaining how to press your finger Schematic diagram explaining how to press your finger Schematic diagram explaining how to press your finger Schematic diagram explaining how to press your finger Schematic diagram explaining how to press your finger Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram explaining how to control displacement and amplitude Schematic diagram for explaining vibration control of a haptic actuator Schematic diagram explaining how to control the waveform Schematic diagram explaining how to control the waveform Schematic diagram explaining how to control the waveform Schematic diagram explaining how to control the waveform Schematic explaining the actuator control method Schematic explaining the actuator control method Schematic explaining the actuator control method Schematic diagram explaining tactile force generation Schematic diagram explaining sensory characteristics Schematic diagram explaining sensory characteristics Schematic diagram explaining sensory characteristics Schematic diagram explaining sensory characteristics Schematic diagram explaining sensory characteristics Schematic explaining the control method of sensory characteristics Schematic diagram explaining nonlinear control of physical properties Schematic diagram explaining the structure of the actuator Schematic diagram explaining the mounting method Schematic diagram explaining the mounting method Schematic diagram explaining the mounting method Schematic diagram illustrating the configuration of the haptic actuator Schematic diagram explaining the basic unit of the haptic actuator Schematic diagram for explaining the table type of haptic actuator Schematic diagram for explaining the table type of haptic actuator Schematic diagram explaining the handle type of the haptic actuator Schematic diagram explaining the handle type of the haptic actuator Schematic diagram explaining the handle type of the haptic actuator Schematic diagram explaining the handle type of the haptic actuator Schematic diagram explaining the surface layer type of haptic actuator Schematic explaining the ring type of the haptic actuator Schematic diagram explaining the wristband type of haptic actuator Schematic diagram for explaining the arm ring type of haptic actuator Schematic diagram explaining the mounting site Schematic diagram explaining the control wiring Schematic diagram explaining the control wiring Schematic diagram illustrating the system and components Schematic diagram illustrating module integration Schematic diagram illustrating module integration Schematic diagram explaining the illusion phenomenon Schematic diagram illustrating modules of a haptic device Schematic diagram illustrating modules of a haptic device Schematic diagram illustrating a haptic device Schematic diagram illustrating a haptic device Schematic diagram explaining the panel type module Schematic diagram explaining the panel type module Schematic diagram explaining the panel type module Schematic diagram explaining the panel type module Schematic diagram explaining the panel type module Schematic diagram explaining the liquid crystal touch panel type module Schematic diagram explaining the liquid crystal touch panel type module Schematic diagram explaining the liquid crystal touch panel type module Schematic diagram explaining the touch panel module Schematic diagram explaining the multimodal effect Schematic diagram explaining the multi-touch array unit Schematic diagram explaining sensory synthesis control Schematic diagram explaining multi-touch sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining sensory synthesis control Schematic diagram explaining button shape sensation generation Schematic diagram explaining button shape sensation generation Schematic diagram explaining button sensation generation Schematic diagram for explaining the sensory control between buttons Schematic diagram for explaining the sensory control between buttons Schematic diagram for explaining the sensory control between buttons Schematic diagram for explaining tactile force sense control by slider Schematic diagram for explaining tactile force sense control by slider Schematic diagram for explaining tactile force sense control by slider Schematic diagram explaining static friction/dynamic friction control method Schematic diagram explaining dynamic friction control Schematic diagram explaining static friction control Schematic diagram explaining static friction control Schematic diagram explaining static friction control Schematic diagram explaining dynamic friction control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining push-in feeling button control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining haptic dial control Schematic diagram explaining waveform control Schematic diagram explaining device size and shape characteristics Schematic diagram explaining device size and shape characteristics Schematic diagram explaining the texture structure Schematic diagram explaining the texture structure database Schematic diagram explaining waveform control Schematic explaining the digital mouse Schematic diagram explaining the measurement of personal characteristics Schematic diagram explaining actuator control Schematic illustrating profiling Schematic diagram explaining diagnostic simulation Schematic explaining remote synchronization

The tactile force information presentation system according to the present invention includes the following. The tactile force information presentation system includes an object and the object is a real object or a virtual object, and the position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, depending on the object and/or the object, A sensor that detects a stimulus having at least one of torque, pressure, humidity, temperature, viscosity, and elasticity, and an operator's sensory characteristics and/or illusion are applied to the object to operate the object actually to the operator. The tactile force sense presentation device that presents such a tactile force sense, the tactile force sense presentation control device that controls the tactile force sense presentation device based on a stimulus from a sensor, and the tactile force sense presentation control device. , The sensory characteristic indicating the relationship between the amount of stimulus applied to the human body and the amount of sensation is non-linear and/or illusion to control the stimulus to present tactile force information, and the sensory characteristic is A sensation that includes at least one stimulus amount of the stimulus amount given to the operator and a stimulus amount caused by the operation of the operator and a sense amount presented to the operator, and the sense amount cannot physically exist. Is the amount.

The tactile force sense presentation device presents a tactile force sense by presenting a stimulus by and/or to the object and controlling a stimulus applied to the object in accordance with an operation of an operator.

The touch panel is divided into a plurality of sections and is arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is independently controlled.

The object is a touch panel and generates different tactile sensations and/or force sensations for each touch panel.

The tactile force sense presentation device presents at least one of amplitude, displacement, and deformation to the object.

The touch panel is divided into a plurality of sections and is arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is independently controlled.

The tactile force sense presentation device presents a tactile force sense in accordance with the amplitude, displacement, and/or deformation of the object.

The tactile force sense presentation device causes the object to perform at least one of amplitude, displacement, and deformation in six dimensions at least every one of position, phase, and time.

The tactile force sense presentation device causes at least one of amplitude, displacement, and deformation at a right angle, a parallel direction, or an arbitrary angle with respect to a tangent line of an object.

The tactile force sense presentation device is a sensory synthesis/guidance device that synthesizes a sense of inductive sensation, and the sensory synthesis/guidance device includes at least one of a pressure sense, a force sense, and an illusion by a displacement including a sweep displacement on the object. Is generated.

FIG. 2 shows a block diagram of a haptic display panel system. The system of tactile force display reproduces tactile force sense including tactile force force sense, tactile sense, and force sense on a panel and a display. The displacement or displacement pattern and waveform are controlled according to the movement of the finger. Even though it is a flat object, a three-dimensional feel with a sense of depth can be obtained. Displacements in different directions, displacement patterns, and pressure/force sensations are presented despite the waveform. It may be applied to buttons, sliders, dials, and switches.

The haptic display panel system comprises a controller and a haptic actuator. The haptic actuator supplies a sensor signal to the controller, and the controller supplies a control signal to the haptic actuator. The sensor signal is a stimulus that is provided by and/or to the object and comprises at least one of position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity. Prepare

The controller is driven by a control algorithm, and changes the stimulation intensity including displacement, momentum, vibration, amplitude, and displacement with time according to the movement of the finger. The control signal is generated by the drive voltage of the force information and the amplitude information.

The actuator is a motor, eccentric motor, linear motor, electrostatic motor, molecular motor, piezo, artificial muscle, memory alloy, coil, voice coil, piezoelectric element, magnetic force, static electricity, etc. Good.

The tactile display panel can be attached to any part of the body (see FIG. 58).

This system applies tactile characteristics and illusions of an operator to present tactile force information to the operator as if he or she actually operated an object. Specifically, it is controlled based on the stimulus detected by the sensor, and the stimulus is applied by utilizing the fact that the sensory characteristic showing the relationship between the stimulus amount applied to the human body and the sensation amount is nonlinear or illusion. The tactile force sense information is controlled and presented. The sensory characteristic comprises at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount may be physically present. There is no sense.

Here, the system presents a stimulus from or to the object, and the stimulus applied to the operator in response to the operation of the operator is controlled. The minimum tactile force information presentation system is composed of a tactile force actuator and a controller. The sensor attached to the haptic actuator measures the position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity at the sensor, and the information Is sent to the controller, a control signal for controlling the haptic actuator is calculated, and is sent to the haptic actuator to control the haptic actuator.

The haptic actuator has a panel-type and display-type sensor function and a presentation function, and in the controller, the displacement, momentum, vibration amplitude, displacement stimulus, vibration stimulus, and stimulus intensity associated with the movement of the body such as a finger or palm are used. Time changes are calculated, and based on the control algorithm, the position, velocity, acceleration, shape, displacement, deformation, and amplitude of the tactile force sense actuator are adjusted according to the movement and pressure of the body such as fingers and palm monitored by the sensor. , Rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are controlled, and tactile sense information such as pressure sense, tactile sense, and force sense is presented to humans.

In the control signal, force information (t), amplitude information (t), etc. are expressed by driving voltage and the like, and the actuator is a motor, piezo, artificial muscle, memory alloy, molecular motor, electrostatic, coil, magnetic force, electrostatic. In addition, the device and operation principle are not limited as long as they generate displacement and vibration. As a result, even if a panel or display composed of a flat surface, a curved surface, or a three-dimensional shape is installed in the housing or the like so as to be fixed or vibrate slightly, the feeling of insertion, the feeling of pushing, the feeling of being depressed, and the depth Feeling, pushing back, uplifting, vibration/amplitude convergence, vibration/amplitude reverberation, displacement/movement direction feeling, sloppy feeling, hardness, soft feeling, and three-dimensional feeling. Physically, although such a sensation is not reproduced or presented, such a sensation and a physical reaction/reflex are experienced.

As a result, in an information terminal or the like, it is possible to realistically obtain the operation feeling of an object such as a button, a slider, a dial, a switch, an operation panel or the like, even though the panel is flat or flat.

FIG. 3 shows a schematic diagram of displacement control of the tactile force sense actuator. The haptic force actuator has 6 degrees of freedom regarding translation and rotation, and can freely control displacement, amplitude, velocity, acceleration, and phase difference. In addition to stimulation of displacement, displacement pattern, waveform, and vibration, stimulation such as electrical stimulation and Coulomb force can be controlled.

4 to 10 show schematic views of an apparatus showing the illusion phenomenon. In this figure, this device is provided with an actuator on a base material, and a touch panel and a sensor for detecting displacement, pressure, acceleration, etc. of an object on the base material and measuring a position, rotation, and tensor. The touch panel is displaced in the y direction, but the button is dented and pushed in the z direction.

FIG. 4 shows a normal operation without illusion. The basic unit of the tactile force sense actuator is composed of a touch panel, a sensor, and an actuator. Position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are measured as a scalar, vector, or tensor on the touch panel and sensor. It

For the actuator, position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are presented as a scalar, vector, or tensor. The touch panel is usually hard and does not deform, and when the operator presses the touch panel with the pressing force P, the touch panel is not displaced or deformed in the Z direction and Z=0 is maintained. As the pushing pressure P increases, the operator's fingertip is deformed and the pushing pressure is perceived, but the depression displacement Z (=0) and the depression sensation Sz (=0) are not felt.

In this patent, the perception of tactile force information at the fingertip will be described, but not limited to the fingertip, it is assumed that the operator's whole body and body are everywhere.

FIG. 5 shows the operation when there is an illusion phenomenon. The touch panel is usually hard and does not deform, and when the operator presses the touch panel with the pressing force P, the touch panel is not displaced or deformed in the Z direction and Z=0 is maintained.

Here, unlike the normal case, when the touch panel is displaced (Y) in the Y direction by the actuator, there is no depression displacement Z (=0), but in the Z direction along with the perception of an increase in the pushing pressure P. A subduction feeling Sz is felt. Even when the touch panel is displaced (X) in the X direction, the sensation of sinking Sz is also felt in the Z direction. However, when the direction (Y) pointed by the fingertip does not match the displacement direction of the touch panel, the movement in the displacement direction may be perceived weakly. The illusion becomes effective when the displacement direction of the touch panel is adjusted according to the direction of the fingertip and the depression of the finger.

The phenomenon here is an illusion that displacement in the Y direction is perceived as a sense of depression in the Z direction, and is an illusion phenomenon (cross-direction effect) that exceeds the axis and the direction of movement. As for the displacement in the Y direction, there are various displacement patterns that match the desired tactile sensation. Arbitrary waveform design, amplitude modulation, frequency modulation, convolution as if creating a musical instrument tone or music with a synthesizer, not limited to linear increase / decrease, sinusoidal vibration, combination of fundamental frequency components , And a combination thereof, it is possible to express various tactile sensations.

The illusion pattern is provided by a combination of 9 patterns of indentation pressure method (3 directions)×actuator displacement direction (3 directions). Furthermore, a rotation pattern is provided. Moreover, since there is also an intermediate direction, the combination is infinite. In addition to translational displacement, there is also the case of rotational displacement.

FIG. 6 shows the operation of the latch/continuous illusion phenomenon. Here, when the touch panel is displaced stepwise (Y) in the Y direction by the actuator, there is no depression displacement Z (=0), but the displacement (Y) is sensed with the perception of an increase in the pushing pressure P. Along with the stepwise change, a zigzag and a stepwise sinking sensation Sz are felt in the Z direction.

FIG. 7 shows the operation of the latch/continuous illusion phenomenon. Here, when the touch panel is repeatedly displaced (Y) in the Y direction by the actuator, the displacement (Y) changes with the perception of an increase in the pressing pressure P, even though there is no depression displacement Z (=0). Along with this, a feeling of swelling and sinking Sz is felt in the Z direction. There is a condition in which the pushing displacement (Y) is hard to feel.

The figure shows pushing, pushing pressure, displacement, and depression feeling, respectively. In FIG. 8 , the phase is delayed and the displacement appears. The touch panel is usually hard and does not deform, and when the operator presses the touch panel with the pressing force P, the touch panel is not displaced or deformed in the Z direction and Z=0 is maintained. Here, unlike the usual case, when the touch panel is displaced (Y) in the Y direction by delaying the phase with respect to the increase of the pushing pressure P by the actuator, there is no subduction displacement Z (=0). , Swelling sensation Sz is felt in the Z direction with displacement (Y) in the Y direction. Until the displacement (Y) starts to increase, the reaction force against the pressing of the virtual button is presented, and the pressing sensation Sz (≠0) that is the maximum value of the reaction force is presented as the hardness of the virtual button.

In FIG. 9 , the displacement becomes zero after the displacement does not continue and reaches a peak. Here, when the touch panel is reciprocally displaced (Y) in the Y direction by the actuator, there is no depression displacement Z (=0), but the pushing pressure P increases and the displacement (Y) changes. , Z-direction like a button is felt in the Z direction.

In FIG. 10 , the displacement becomes zero after showing a positive peak and a negative peak. Here, when the touch panel is reciprocally displaced (Y) in the Y direction by the actuator, there is no depression displacement Z (=0), but the pushing pressure P increases and the displacement (Y) changes. , Z-direction like a button is felt in the Z direction.

11 to 17 are schematic views showing a method of pushing a finger which is a stimulus to and/or by an object (panel). In FIG. 11 , when the operator pushes the touch panel with the pushing pressure P and the touch panel is displaced in the Z direction by the actuator, a feeling of depression Sp is felt in the Z direction. FIG. 12 and FIG. 13 show a stimulus of a slight button resistance of the panel, an instant reaction, a responsive stimulus, a stimulus that clicks after the button feels, and a stimulus in which only the wall is felt without a button by pressing the buttons stepwise . The respective presentations are shown. 14 and 15 show presentation of a stimulus in which the panel moves, a stimulus in which the panel stands still, and a sensory stimulus between the finger and the panel, respectively, by stepwise pressing of buttons. FIG. 17 shows the presentation of the triangular wave and sine wave stimuli generated on the panel by pressing the button.

19 to 24 are schematic diagrams showing control of displacement/amplitude applied to the panel as a stimulus. In FIG. 19 , when the panel is pushed right below, the panel is displaced to form a triangular wave. By this displacement, the depth sensation stimulus of the sensory finger, the tension stimulus to the physical finger, and the resistance stimulus to the sensory finger are presented. In FIG. 20 , the panel is displaced when it is pushed down when the panel is unknowingly moved to form a triangular wave. By this displacement, a sense of progress of the sensory finger, a tension stimulus to the physical finger, and a depth sensation to the sensory finger are presented. In FIG. 21 , when a viscoelastic stimulus, which is a button characteristic, is applied to the panel, the panel is displaced to form a triangular wave. Due to this displacement, a sense of progress of the sensory finger, a tension stimulus to the physical finger, and a sense of reaction to the sensory finger are presented on the panel.

In FIG. 22 , when a viscoelastic stimulus, which is a sense of artificial skin, is applied to the panel, the panel is displaced to form a triangular wave. Due to this displacement, a sense of progress of the sensory finger, a stimulus of tension to the physical finger, and a feeling of reaction to the sensory finger are presented on the panel.

In FIG. 23 , when a stimulus is applied to the panel, the panel is displaced to form a triangular wave. The displacement of the panel is shown respectively. Here, when the touch panel is displaced (Y) in the Y direction by the actuator, there is no depression displacement Z (=0), but the Z direction is increased in accordance with the increase of the pushing pressure P and the displacement (Y). You can feel the depression feeling Sz like a button. Depending on how the displacement (Y) is made in the Y direction, the user can feel a "slippery" depression, a "click" or "click" button-like sensation Sz in the Z direction.

In FIG. 24 , the displacement of the panel forms a sine wave when the panel is stimulated. The displacement of the panel is shown respectively. Here, when the touch panel is displaced (Y) in the Y direction and changed sinusoidally by the actuator, the pushing pressure P increases and the displacement (Y) increases even though there is no depression displacement Z (=0). With the change, a feeling of depression Sz like a button is felt in the Z direction. Depending on how the displacement (Y) is made in the Y direction, the user can feel a "slippery" depression, a "click" or "click" button-like sensation Sz in the Z direction.

25 to 29 are schematic diagrams of waveform control, which are examples of displacement, displacement pattern, waveform, and vibration of the tactile force sense actuator. The tactile force sense actuator can generate an arbitrary displacement/waveform pattern in an arbitrary direction by freely controlling the waveform amplitude, the vibration amplitude, the velocity, the acceleration, and the phase difference.

FIG. 26 shows a displacement waveform that generates a force sensation by asymmetrically accelerating and decelerating the waveform. FIG. 27 shows an acceleration/deceleration waveform that generates a force sensation capable of asymmetrically accelerating/decelerating the waveform. FIG. 28 shows an accelerated sweep (click feeling) waveform in which the touch feeling is changed by changing the frequency for each waveform when the panel is changed in waveform for a short time to give a click feeling. Generates a pattern deceleration waveform and a pattern acceleration waveform. FIG. 29 is a schematic diagram of an acceleration/deceleration shift waveform in which the waveform phase is fixed and the acceleration/deceleration positions are switched, and a phase shift waveform in which the waveform phases are fixed and the waveform phases are switched. As for the waveform, the speed and the phase waveform are controlled.

FIG. 30 is a diagram showing a tactile force sense information presentation method in which the displacements are combined by phase-locking the rotations of the two eccentric rotors A912 and B913 by using the sensory characteristics regarding the force sense.

Here, ( FIG. 30 (b)) schematically illustrates a case where the two eccentric rotors A912 and B913 of ( FIG. 30 (a)) are synchronously rotated in the same direction with a phase delay of 180 degrees. It is a thing. As a result of this synchronous rotation, torque rotation without eccentricity can be combined.

( FIG. 30C) schematically shows a case where the sensory characteristic 931 is a logarithmic function characteristic. The sensory characteristic 931 is similar to the sensory characteristic 211 in that the sensory quantity 933 is different from the physical quantity 932 which is a stimulus. It shows that it is a nonlinear characteristic such as logarithm. Considering a case where a positive torque is generated at the operating point A934 and a negative torque in the opposite direction is generated at the operating point B935 on the sensory characteristic 931, the torque sensation 944 is as shown in ( FIG. 30 (d)) . Represented. The torque 943 is proportional to the time derivative of the rotation speed 942 of the rotor. When operated at the operating point A 934 and the operating point B 935, a torque sensation 944 is perceived.

The torque 943 physically returns to the initial state 948 in one cycle, and its integral value is zero. However, the sensory integral value of the torque sense 944, which is the sense amount, does not always become zero. By appropriately selecting the operating point A 934 and the operating point B 935 and appropriately setting the operating point A duration 945 and the operating point B duration 946, it is possible to continuously present the torque sensation in any direction. ..

The above is true not only for torque rotation but also for rotation or translational displacement, or when the sensory characteristic 931 exhibits non-linear characteristics such as an exponential function. Even when the sensory characteristic 931 of FIG. 30 (c) has a threshold value, a similar torque feeling occurs, and the torque feeling can be intermittently presented only in one direction.

FIG. 31A shows the direction of the illusionary tactile force sense induced and perceived by the initial phase (θi) of the phase pattern. The illusionary tactile force sense device 107 changes the initial phase (θi) of the start of rotation in FIG. 31B to change the direction 1202 of the illusionary tactile force sense induced by the change in the momentum synthesized by the eccentric rotor. It can be controlled in the direction of the initial phase (θi). For example, by changing the initial phase (θi) as shown in FIG. 31C, it can be induced in an arbitrary direction of 360° in the plane. At this time, if the illusionary tactile force sense interface device 101 itself is heavy, it is difficult to obtain the buoyancy sensation 1202 in which the upward force sensation 1202 due to the illusionary tactile force and the downward force sensation 1204 due to gravity are canceled out, and the illusionary tactile force sense 1202 is heavy. It can be felt. At this time, the illusionary tactile force sense 1203 is induced by slightly shifting the upward direction due to the illusionary tactile force sense from the direction opposite to the direction of gravity, whereby it is possible to suppress the reduction/inhibition of the levitation sensation due to gravity. When it is desired to present in the direction opposite to the direction of gravity, there is also a method of alternately inducing an illusionary tactile force sense in a direction slightly deviated from the vertical direction, that is, 180°+α° and 180°−α°.

32 (a) to 32 (f) show an example of control of an illusionary tactile force device (tactile force device) that presents a basic tactile force sense and an illusionary tactile force sense. FIG. 32 (a) schematically shows a method of generating a rotational force in the illusionary tactile force sense device 107, and FIG. 32 (d) schematically shows a method of generating a translational force. Is. The two eccentric weights 814 in FIG. 32A rotate in the same direction with a phase delay of 180°. On the other hand, in FIG. 32 (d), they rotate in opposite directions.

(1) When two eccentric rotors are synchronously rotated in the same direction with a phase delay of 180 degrees as shown in FIG. 32 (b), the two eccentric rotors become point-symmetrical and the center of gravity and the center of the rotation axis coincide. As a result, equal torque rotations without eccentricity are combined. As a result, it is possible to present a rotational force sensation. However, the time derivative of the angular momentum is the torque, and in order to continuously present the torque in a fixed direction, it is necessary to continuously accelerate the number of rotations of the motor. Is difficult to do.

(2) As shown in FIG. 32 (c), the illusionary tactile force sense (continuous torque sense) of a continuous rotational force is induced in a certain direction by synchronously controlling the angular velocity ω1 and the angular velocity ω2. (3) When synchronously rotating at a constant angular velocity in opposite directions as shown in FIG. 32 (e), a force (single vibration) that linearly vibrates in an arbitrary direction can be synthesized by controlling the initial phase θi1201.

(4) As shown in FIG. 32 (f), according to the sensory characteristics relating to the illusionary tactile force sensation, the illusionary tactile force sensation of a continuous translational force in a certain direction when synchronously rotated in opposite directions by the angular velocity ω1 and the angular velocity ω2. (Continuous force sensation) is induced. In the illusionary tactile force sense interface device 101, as shown in FIGS. 32 (c) and 32 (f), if the rotational speed (angular velocity) and the phase synchronization are accurately controlled according to the human sensory characteristics, two types of angular velocity are obtained. Since the illusionary tactile force sense can be induced only by the combination of (ω1, ω2), the control circuit can be simplified.

FIG. 33 schematically shows the phenomenon of FIG. 30 and its effect. In consideration of the sensory characteristics related to the illusionary tactile force sense, the rotation pattern of the eccentric motor 815 is controlled to temporally change the combined momentum of the two eccentric rotors, thereby periodically accelerating and decelerating around the equilibrium point. From 904, it is possible to induce an illusion 905 in which a force continuously acting in a certain direction is perceived. That is, there is no component such as a force physically acting in a certain direction, but an illusion is induced that the force is perceived as acting in a certain direction.

When the acceleration and deceleration are alternately performed at the operating point A and the operating point B for each 180° of phase, the force sensation 905 in a constant direction is continuously perceived. The force physically returns to the initial state in one cycle, and the momentum and the integral value of the force are zero. In other words, the acceleration/deceleration mechanism stays around the equilibrium point and does not move to the left. However, the sensory integral value of the force sensation, which is the sensory quantity, does not become zero. At this time, the perception of the integral 908 of the force in the positive direction is reduced and only the integral 909 of the force in the negative direction is perceived.

Here, the time derivative of the angular momentum is the torque, and the time derivative of the momentum is the force. Therefore, the method of periodically rotating a rotating body or the like is not suitable for continuously presenting force sense in a certain direction. In particular, it is physically impossible to continuously present a force in one direction with a non-based interface used in mobile devices.

However, humans have a non-linear sensory characteristic, and if the method of the present invention is used, a force/force pattern different from the physical characteristic can be obtained by utilizing the perceptual sensitivity regarding the illusionary tactile force sense characteristic and controlling the acceleration/deceleration pattern of the momentum. Can be perceived as an illusion. For example, the ratio of the size of the sensed stimulus to the applied stimulus intensity is the sensitivity, but the human sensory characteristics differ in sensitivity to the applied stimulus intensity, and are more sensitive to weak stimuli, Insensitive to strong stimulation. Therefore, by controlling the phase of acceleration/deceleration of the motor rotation and repeating the acceleration/deceleration periodically, it has succeeded in presenting a continuous force sense in the direction in which a weak stimulus is presented. Further, by selecting the operating points A and B having appropriate sensory characteristics, it is possible to present a continuous force sense even in the direction in which a strong stimulus is presented.

Although a driving simulator is associated with a similar device, with a driving simulator, a vehicle's acceleration feeling is obtained by slowly returning to its original position with a small acceleration that is not noticed after giving the target force (acceleration feeling). Is presented. Therefore, the force is intermittently presented, and in such an unbalanced acceleration type system, it is not possible to continuously present a sense of force and a sense of acceleration in a certain direction. The same applies to a conventional tactile force sense interface device. However, in the present invention, by utilizing the illusion, a continuous translational force sensation 905 is presented in a certain direction. In particular, the feature of the illusionary tactile force sense interface device 101 using the illusion is that a continuous force is perceived in a direction opposite to the direction of the intermittent force presented by the driving simulator by a physical method. Is.

In other words, by utilizing the human non-linear sensory characteristic that the sensitivity varies depending on this intensity, although the integral of the force generated by periodic acceleration/deceleration or vibration is physically zero, In addition to not being offset, the force 908 in the positive direction is not perceived, and the force sense 905 and the torque feeling that are translational force can be continuously presented in the negative direction 909 which is the target direction. (Refer to FIG. 19C for a method of generating a continuous torque sensation . ) These phenomena are non-linear characteristics even if the sensory characteristic 831 is a physical quantity 832 which is a stimulus and the sensory quantity is not logarithmic. The same effect can be obtained. This effect can be obtained not only in the non-base type but also in the base type.

In FIG. 3 , when the rotation duration Ta at the operating point A is brought close to zero, the rotation duration Ta and the rotation duration Tb have the same momentum in the respective sections, so that the synthesis in the section of the rotation duration Ta is performed. Although the amount of exercise increases and the force also increases, the sense of force changes logarithmically and the sensitivity decreases, so that the integral of the sense value in the section of the rotation duration Ta approaches zero. Therefore, the force sensation in the section of the rotation duration time Tb becomes relatively large, and the continuity of the force sensation 905 in one direction is improved. As a result, the operating point A and the operating point B are appropriately selected, the operating point A duration and the operating point B duration are appropriately set, and the synchronous phases of the two eccentric rotors A and B are adjusted. By doing so, the force sensation can be continuously presented in any direction.

FIG. 34 shows the nonlinear characteristics used in the illusionary tactile force sense interface device . The sensory characteristics ( FIG. 34 (a) and FIG. 34 (b)) and the nonlinear characteristics of the viscoelastic material ( FIG. 34 (c) are shown, respectively) . )), and the hysteresis characteristic of a viscoelastic material (FIG.21(d)) is shown. Similarly to FIG. 2 , FIG. 34B is a schematic diagram showing a human sensory characteristic having a threshold 2206 with respect to a physical quantity, and by controlling the illusionary tactile force sense interface device in consideration of this characteristic. , It indicates that a sensation that does not physically exist is induced as an illusionary tactile force sense. As shown in FIG. 34 (c), a material having physical properties in which the stress characteristic with respect to the applied force exhibits a non-linear characteristic is provided between the device for generating driving force such as displacement, vibration, torque, and force and the human skin/sensory organ. The same illusionary tactile force sensation is induced even when sandwiched. In addition, as shown in FIG. 34 (d), the sensory characteristics are not isotropic when the displacement increases and decreases, such as when the muscle is stretched and contracted, and often shows a hysteresis-like sensory characteristic. Immediately after the muscle is pulled, it contracts strongly. By generating such a strong hysteresis characteristic, induction of a similar illusionary tactile force sense is promoted.

FIG. 35 is a diagram showing a tactile force sense information presentation method using a method of changing a sense characteristic by a masking effect regarding a force sense as an example of a method of changing a sense characteristic.

The sensory characteristics are masked by the masking displacement (vibration) and the torque sensation 434 is reduced. Examples of this masking method include simultaneous masking 424 (proven in visual and auditory masking), front masking 425, and rear masking 426. ( FIG. 35 (a)) is a schematic representation of the torque 413 which is a musky, and the torque sensation 434 perceived at this time is expressed as ( FIG. 35 (c)). The torque 413 is proportional to the time derivative of the rotation speed 412 of the rotor.

At this time, the initialization time 415 for initializing the rotation speed 412 of the rotor and the corresponding masking duration 425 are shown in FIG. 6 ( FIG. 35 (d)) initialization time 445 and masking duration 455. It seems that the torque is continuously presented like the torque sensation 464, even though the negative torque due to the initialization physically exists when the time becomes shorter than a certain time. A critical fusion occurs.

The masker that generates masking displacement (vibration) may be a rotor that is different from the rotor that is a masky whose torque is masked, or the rotor itself that is a masky. When the rotor of the masky is also a masker, it means that the rotor is controlled by the control device so as to generate a masking displacement (vibration) during masking. The direction of displacement (vibration) of the masker may or may not be the same as the direction of rotation of the rotor of the musky. The above can also occur when the masky and the masker have the same stimulation (when the rotor of the masky is also the masker).

FIG. 36 is a diagram schematically showing this case. As shown in FIG. 36 , before and after the strong torque sensations 485 and 486, the torque sensation 484 decreases due to the front masking 485 and the rear masking 486.

As for the sensory characteristic, the sensitivity of the torque sensation 517 changes depending on the tension state of the muscle or one or more of the physical, physiological, and psychological states. For example, when a muscle is instantly stretched with a presentation torque 514 (a strong torque 524 in a short time) which is an external force, a sensor called a muscle spindle in the muscle senses this, and the muscle has a power that is not defeated by this external force. Torque 515 (torque 525 due to muscle reflex) causes the muscle to quickly contract reflexively. At this time, myoelectricity 511 is generated. The control circuit 512 that detects it controls the tactile force sense presentation device 513 to exert a presentation torque 516 (gentle moderate torque 526) in synchronization with the contraction of the muscles to change the sensitivity of the torque sensation 517. ..

The above applies not only to the state of muscle tension, but also to changes in sensory sensitivity due to any one or more of breathing, posture, and nerve firing.

The sensitivity of the palm varies depending on the direction of the palm due to the anatomical structure of the skeleton, joints, tendons, muscles, etc. By correcting the intensity of the presented physical quantity (rotational speed ω 612) according to the sensitivity (anisotropy sensitivity curve 611) depending on the direction of the palm, it is possible to present the direction with high accuracy.

FIG. 37 shows masking of force sense as an example of a control method for continuously or intermittently presenting one or more tactile force sense information of displacement sense, vibration sense, force sense, and torque sense in an arbitrary direction . It is a figure which shows the vibrotactile force sense information presentation method in arbitrary directions using the method of changing a sensory characteristic by an effect.

The sensory characteristics are masked by the masking displacement (vibration) 1216 and the force sensation 1224 is reduced. The masking displacement (vibration) is generated by displacing (vibrating) the eccentric rotor A rotational speed 1022 and the eccentric rotor A rotational speed 1023 in synchronization with each other in ( FIG. 30B) . You can ( FIG. 37 (a)) is a schematic representation of this, and the force sensation 1224 perceived at this time is expressed as in ( FIG. 37 (b)). The force 1213 is proportional to the time derivative of the magnitude 1212 of the combined rotational speed of the two eccentric rotors.

At this time, the initialization time 1215 for initializing the rotation speed 1212 of the rotor is shortened, and when it becomes shorter than a certain time as shown in FIG. 37 (c), a negative force due to the initialization physically exists. Nevertheless, a critical fusion occurs where the force feels like being continuously presented, like force sensation 1244.

The above thing occurs when the maskey and the masker are different rotors, and the same continuous presentation feeling occurs not only when the force is applied but also when the torque is applied.

As in the sensory characteristics shown in FIGS. 38A to 38C, the sensory characteristics for each user are different. For this reason, there are some people whose illusionary tactile force sense is clearly perceived, some who are difficult to perceive, and others whose perceptibility is improved by learning. The present invention has a device that corrects this individual difference. Moreover, when the same stimulus is continuously presented, the sense may be weakened by the stimulus. Therefore, it is effective to prevent habituation by giving fluctuations to the intensity/cycle and direction of the stimulus.

FIG. 38D shows an example of a method of presenting a force in a certain direction using the illusionary tactile force sense. In the method of rotating the two eccentric oscillators in opposite rotational directions to combine the displacement component and the vibration component, a high-speed rotation speed ω1 (high frequency f1) 1002a at the operating point A and a low-speed rotation speed ω2 (low frequency at the operating point B are low. When the frequency f2) 1002b is alternately presented for each phase 180°, the illusionary tactile force sense intensity (II) is proportional to the logarithm of the acceleration/deceleration ratio Δf/f of the frequency that is the rotation speed of the eccentric rotor ( FIG. 38 ) . (E)). However, (f=(f1+f2)/2, Δf=f1-f2). The slope n when the logarithmic value of the illusionary tactile force sense and Δf/f is plotted shows the individual difference.

The sensory intensity (VI) indicates the intensity of the displacement component/vibration component that is perceived at the same time as the sense of force in a certain direction due to the illusion, and the intensity of the displacement component/vibration component and the physical quantity f (logarithm) are approximately inversely proportional. Therefore, the sensory intensity (VI) is relatively decreased by increasing the frequency f ( FIG. 38 (f)). By controlling the contained intensity of the displacement component/vibration component, the texture of the force when the illusionary tactile force sense is presented is changed. The slope m when plotted in logarithm indicates individual difference. It should be noted that n and m indicating individual differences change as learning progresses, and converge to constant values when learning is saturated.

Figure 39 (a) ~ FIG 39 (c) shows a texture representation of the virtual flat 1100. In the illusionary tactile force sense interface device 101, the movement (position/posture angle, velocity, acceleration) of the illusionary tactile force sense interface device 101 monitored by sensing represents 1101 of the movement of the virtual object. In accordance with the above, by controlling the direction/strength of the drag force 1102 by the illusionary tactile force sense and the texture parameter (contained vibration component), the friction sensation 1109, the roughness sensation 1111 and the shape which are the texture of the virtual flat plate are controlled. FIG. 39A shows a drag force 1103 from the virtual plate to the virtual object and a drag force 1102 against the movement, which are exerted when the virtual object (illusionary tactile force sense interface device 101) is moved on the virtual plate 1100.

FIG. 39B shows that the frictional force 1104 acting between the two objects when the illusionary tactile force sense interface device 101 and the virtual flat plate 1100 contact each other vibratingly repeats dynamic friction and static friction. Also, the presence/shape of the virtual flat plate is perceived by feedback-controlling and presenting the drag force 1106 that pushes back so that the illusionary tactile force sense interface device 101 stays within the error thickness 1107 of the virtual flat plate. When the illusionary tactile force sense interface device 101 does not exist in the virtual flat plate 1100, the presence of the wall is perceived by not presenting the pushing back drag force but by presenting it only when it is present.

FIG. 39 (c) shows a method of expressing the surface roughness. A resistance sensation and a viscous sensation 1108 are perceived by presenting a reaction force in a direction opposite to the direction 1101 in which the illusionary tactile force sense interface device 101 is moved in accordance with the moving speed and acceleration. By presenting a negative drag force (acceleration force 1113) in the same direction as the moving direction, it is possible to emphasize the smoothness 1110 of the virtual flat plate that slides on ice. This sense of acceleration/smoothness 1110 is difficult to be presented by a conventional non-base type tactile force sense interface device using a vibrator, and the texture and material realized by the illusionary tactile force sense interface device 101 using illusion are It is an effect. Further, by vibratingly changing the drag force (vibratory drag force 1112), a sense 1111 of the surface roughness of the virtual flat plate is perceived.

FIG. 40 shows a control algorithm using a viscoelastic material whose characteristics change depending on the applied voltage. In the method using a viscoelastic material, materials (2403, 2404) having different stress-deformation characteristics are attached, but as shown in FIG. 40A, a material 1707 whose viscoelastic characteristics change with applied voltage may be used. .. By changing the viscoelastic coefficient by controlling the applied voltage ( FIG. 40 (b)), the transmissibility of the periodically changing momentum generated by the eccentric rotor to the palm is defined as the rotational phase of the eccentric rotor. by varying in synchronism, even eccentric rotor was rotating (constant speed rotation) at a constant rotational speed as in FIG. 40 (c), the viscoelastic properties as shown in FIG. 40 (d) Since the momentum transmitted to the palm/fingertip can be controlled by changing the characteristic values at the operating point B and the operating point A in terms of time, the same effect as accelerating and decelerating the rotational speed of the eccentric rotor can be obtained.

In addition, this method has the same effect as artificially changing the physical characteristics of the skin, and also has the effect of artificially changing the sensory characteristic curve ( Fig. 40 (e)). absorbed or can be used to control for increasing the induced efficiency of illusionary force sense. as in the case of pasting a viscoelastic material illusionary force sense device surface as shown in FIG. 40 (a), FIG. 40 ( The viscoelastic material may be attached to the fingertip or the body as in f), where the viscoelastic material is a material/characteristic as long as the stress-strain characteristic can be controlled non-linearly by the applied voltage. The control method is not limited to the control by the applied voltage as long as the nonlinear control can be performed.

As shown in FIG. 40 (b), when the acceleration/deceleration of the rotation of the motor is repeated, a large energy loss and heat generation occur, but in this method, the rotation speed of the motor is constant ( FIG. 40 (c)) or the acceleration ratio f1 Since /f2 is a value close to 1, and the characteristic is changed by the applied voltage, the energy consumption of this method can be suppressed to be smaller than the energy consumption by the acceleration/deceleration of the motor.

FIG. 41 shows an example of control of the illusionary tactile force sense interface device 101. In this device, the control of the motor 1704 is divided into a motor feedback (FB) characteristic controller that controls the feedback characteristic of the motor 1704 and a control signal generator that converts the illusionary tactile force sense induction pattern into a motor control signal. In the present invention, it is important to control the synchronization of the motor rotation phase pattern θ(t)=F(u, II, VI, R), and it is necessary to perform the synchronization control with high accuracy in terms of time. Therefore, as an example of the method, here, the position control by the control pulse train of the servo motor is shown. When a stepper motor is used for position control, it is often impossible to get out of step/control due to sudden acceleration/deceleration. Therefore, here, pulse position control by the servo motor will be described. In the present invention in which a large number of illusionary tactile force sense interface devices 101 are synchronously controlled and used by separating the control of the motor feedback (FB) control characteristic and the motor control by the pulse position control method, the motors when different motors are used. Consistency of control signals, high-speed generation of illusionary tactile force sense induced patterns, and scalability capable of easily dealing with an increase in the number of control motors to be synchronously controlled are ensured. In addition, it becomes easy to correct individual differences.

In the illusionary tactile force sense induction function generator 1701, a pulse signal train gi is separated into control signals for controlling the motor FB characteristic controller and the motor control signal generator, and the motor control signal generator controls the phase position of the motor. (T)=gi(f(t)) is generated, and the phase pattern θ(t) of the motor is controlled. In this method, the rotation phase of the motor is feedback-controlled by the number of pulses, and for example, one pulse rotates the motor by 1.8°. As for the rotation direction, normal rotation/reverse rotation is selected by the direction control signal. By using this pulse control method, an arbitrary acceleration/deceleration pattern (rotational speed, rotational acceleration) is controlled at an arbitrary phase timing while maintaining the phase relationship between two or more motors.

FIG. 42A to FIG. 42 show an example of mounting the illusionary tactile force sense interface device 101. As shown in FIGS. 42 (a) and 42 (b), the adhesive tape 1301 and the finger insertion portion 1303 of the housing 1302 are used to attach the fingertip 533. Further, it may be used between the fingers 533 (43(c)) or sandwiched between the fingers 533 (43(d)) for use. The housing 1302 may be made of a hard material with little deformation, an easily deformable material, or a slime shape having viscoelasticity. FIG. 43 is also conceivable as a variation of these mounting methods. By controlling the phases of the two basic units of the illusionary tactile force sense device with the flexible adhesive and the housing, it is possible to express a sense of expansion and a sense of compression/compression in addition to the force sense of the left, right, up, and down. As described above, a component such as an adhesive tape or a housing having a finger insertion part that allows the illusionary tactile force sense interface device 101 to be mounted on the body is called a mounting part. In addition to the adhesive tape and the housing having the finger insertion portion, the mounting portion may be in any form such as a sheet type, a belt type, and tights as long as it can be attached to an object or a body. In a similar manner, it is worn all over the body, such as fingertips, palms, arms and thighs. The terms viscoelastic material and viscoelastic properties dealt with in the present specification indicate those having viscous and/or elastic properties.

FIG. 43 shows another implementation example of the illusionary tactile force sense interface device 101. In FIG. 43A, the illusionary tactile force sense device 107 is detected by the acceleration sensor 108 as noise vibration, so by arranging these in the opposite direction to the finger 533, the influence of the vibration on the acceleration sensor 108 is affected. Has been reduced. Further, noise contamination detected by the acceleration sensor 108 is canceled based on the control signal of the illusionary tactile force sense device 107 to reduce noise mixing.

In FIGS. 43(c) to 43(e) , the seismic resistant material 1405 is interposed between the illusionary tactile force sense device 107 and the acceleration sensor 108 to suppress the mixing of noise vibration. In FIG. 43 (d), the illusionary tactile force sense interface device 101 is capable of perceiving an illusionary tactile force sensation while touching an actual object. An illusionary tactile force sense is added to the sense of touch with the real object. In the conventional data glove, the tactile force sense is presented by attaching a wire to the finger and pulling the finger to present the force sense. When tactile sensation is presented while touching a real object using a data glove, it is difficult to combine the feelings of the real object and the virtual object, such as the finger being separated from the real object and the grasping being hindered. The illusionary tactile force sense interface device 101 realizes a composite sensation (mix reality) in which a virtual touch is added while firmly gripping/touching a real object without such a situation.

In FIG. 43 (e), an illusionary tactile force sensation is further added according to the contact with the real object measured by the pressure sensor 110 and the gripping pressure to edit the gripping/contact feeling of the real object, or the virtual object 531. Replace with the feel of. In FIG. 43 (f), a shape sensor (for example, a photo sensor) for measuring the surface shape or shape deformation is used instead of the pressure sensor of FIG. 43 (e) to measure the shape/surface shape of the gripped object related to the tactile sensation. , And the gripping force, strain resilience, and contact due to deformation are measured. With these, a tactile magnifying glass emphasizing the measured stress/resilience and surface shape is realized. It is possible to visually confirm a fine surface shape on a display like a microscope and also to visually check the shape. Further, if a photo sensor is used as the shape sensor, the shape can be measured without contact, so that the shape of the object can be sensed by holding the hand over the distant object.

Also, in the case of a variable touch button whose commands on the touch panel change depending on the usage situation or context, especially when it is hidden by a finger when pressing the button like a mobile phone, the command of the variable button Is hidden and unreadable. Similarly, in the case of a variable type button in the virtual space in VR content, since the menu notation and commands change depending on the context, when the button is pressed, the content of the button to be pressed now becomes unknown. Therefore, by displaying it on the display 1406 on the illusionary tactile force sense interface device 101 as shown in FIG. 43 (e), the illusionary tactile force sense button can be pushed in while confirming the command content of the button.

In order that the pushing information and pushing reaction force of the virtual button on the virtual object 531 or the virtual controller can be felt and operated in the same manner as an actual object, the time delay between pushing and the presentation of the pushing reaction force is a problem. Become. For example, in the case of an arm-type ground-type haptic interface, the position of the gripping finger is measured by the angle of the arm, etc., and after determining contact/interference with the digital model, the stress to be presented is calculated, and the Since the rotation is controlled and the movement/stress of the arm is presented, a response delay may occur. In particular, since the button operation during the game is reflexively performed at high speed, it may not be enough to monitor and control the content side. Therefore, the illusionary tactile force sense interface device side 101 is also equipped with a CPU and a memory for monitoring the sensors (108, 109, 110) and controlling the illusionary tactile force sense device 107 and the viscoelastic material 1404, thereby performing real-time control. By doing so, the responsiveness such as pressing the virtual button is improved, and the reality and operability are improved.

In addition, the communication device 205 is provided to communicate with another illusionary tactile force sense interface device 101. For example, when the illusionary tactile force sense interface device 101 is attached to five fingers, the illusionary tactile force sense interface device is deformed by the shape deforming material (1403 in FIG. 43B) in association with the movement of each finger . By changing the shape and feel of the virtual controller and operating virtual buttons in real time, the reality and operability are improved.

In FIG. 43 (a), in order to effectively use the hysteresis characteristics of the sensation/muscle, the myoelectric sensor 110 is used to measure the myoelectric response, and the illusionary tactile force sensation is set so that the time and intensity of muscle contraction increase. The induction function is corrected in a feedback manner. One of the factors that influence the induction of the illusionary tactile force sense is how the illusionary tactile force sense interface device 101 is attached to a finger or palm (sandwiching/strengthening force), and receives the force from the illusionary tactile force sense interface device 101. There is a way for the user to put force on the arm. There are individual differences in the sensitivity of the illusionary tactile force sense, and some people feel the illusionary tactile force sense more sensitively when they are held lightly, and some feel more sensitive when they are strongly grasped. Similarly, the sensitivity also changes depending on the method of tightening when mounting. In order to absorb this individual difference, the gripping state is monitored by the pressure sensor 109 and the myoelectric sensor 110, the individual difference is measured, and the illusionary tactile force sense induction function is corrected in real time. People get accustomed to and learn physical simulation in contents, and learning progresses in an appropriate direction for grasping, and this correction has an effect of promoting this. 43 (a) to 43 (e), the illusionary tactile force sense interface device 101 is thick in order to show the component configuration, but each component can also be made thin in a sheet form.

FIG. 44A shows that, in addition to the illusionary tactile force sensation induced by the illusionary tactile force sense device, the shape deforming motor 3002 deforms the shape 3001 of the illusionary tactile force sense interface device in synchronization with the illusionary tactile force. 2 shows a device for enhancing the illusionary tactile force sensation 905 induced by. For example, as shown in FIG. 44B, when applied to a fishing game, the sense of tension of the fishing line induced by the illusionary tactile force sense 905 is further emphasized by bending the interface shape 3001 in accordance with the pull of the fishing rod by the fish. To be done. At this time, it is not possible to experience such a realistic pulling of the fish simply by deforming the interface without the illusionary tactile force sense, and the reality is improved by adding the deformation of the interface to the illusionary tactile force sense. Further, by spatially arranging the basic units of the illusionary tactile force sense device as shown in FIG. 29C, a deformation effect can be produced without the shape-deformation motor 3002. The shape deformation is not limited to the shape deformation motor 3002, and any mechanism capable of changing the shape such as a shape memory alloy or a driving device using a piezoelectric element may be used.

FIG. 45 shows an alternative device to the illusionary tactile force sense device 107. In place of the eccentric weight 814 of the eccentric rotor and the eccentric motor 815 for driving it shown in FIG. 45 (a), a weight 2302 and a stretchable material 2303 are used in FIGS. 45 (b) to 45 (e). For example, FIGS. 45 (b) and 45(d) show a plan view, a front view, and a side view when the number of elastic members 2303 supporting the weight 2302 is eight and four, respectively. In each drawing, the weight can be moved in an arbitrary direction by contracting and expanding the pair of elastic members 2303. As a result, translational and rotational displacement/vibration can be generated. Any structure can be used as a substitute as long as it has an acceleration/deceleration mechanism capable of generating and controlling the translational movement of the center of gravity and the rotating torque.

46 to 56 show various configurations of the haptic display or touch panel. A tactile display or a touch panel includes an actuator provided on a base material, and a sensor that detects displacement, pressure, acceleration, etc. of the touch panel and the touch panel, and measures position, rotation, tensor such as displacement, pressure, acceleration, etc. Equipped with.

46, 47, and 48 show various configurations of a table-type tactile force sense display or touch panel.

FIG. 46 shows a basic unit of a tactile force sense actuator, which is composed of a touch panel, a sensor, and an actuator. Position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are measured as a scalar, vector, or tensor on the touch panel and sensor. It The position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. of the actuator are presented as a scalar, vector, or tensor. Here, the perception of tactile force information at the fingertip will be described, but not limited to the fingertip, it is assumed that the operator's whole body and body are everywhere. FIG. 47 shows an example in which the basic unit of the tactile force sense actuator is used for a table type and a table. It can be operated with your palm as well as with your fingertips.

FIG. 48 is a table type, which is provided with virtual buttons for an operator to operate on a wall or the like. It is possible to operate with body parts such as elbows, and to operate objects such as virtual buttons through the body parts.

49, 51 , and 52 are of a steering wheel type, and are provided with an actuator such as a steering wheel of an automobile and a virtual button near the steering wheel for an operator to operate. An example in which the basic unit of the tactile force sense actuator is used for a handle type and a handle is shown. In FIG. 49 , an operation can be performed with a body part such as a finger or a palm, and an object such as a virtual button can be operated through the body part. In FIG. 50 , a handle is provided with a liquid crystal display. Even if the steering wheel is turned while driving, the attitude of the liquid crystal display is maintained as it is. It is possible to operate with body parts such as fingers and palm, and to operate objects such as virtual buttons through the body parts. At this time, when presenting visual information on a liquid crystal display or the like, the attitude of the liquid crystal display is kept constant even if the handle is rotated so as to secure a viewpoint and a visual field.

In FIG. 51 , an operation can be performed with a body part such as a finger or a palm, and an object such as a virtual button can be operated through the body part. The tactile force actuator is arranged on the entire handle, and the tactile force actuator can be used regardless of whether the handle is rotated or the finger, palm, or arm is at any position.

In FIG. 52 , an operation with a body part such as a finger or a palm, and an object such as a virtual button can be operated through the body part. The entire handle is a tactile force actuator, so you can use the tactile force actuator regardless of the position of your finger, palm, or arm by rotating the handle.

In FIG. 53 , an operation with a body part such as a finger or a palm, and an object such as a virtual button can be operated through the body part. This allows the feel and operation of the door knob without the door knob. The window glass is provided with a curved liquid crystal panel and a touch panel. You can do the same thing with buttons, sliders, dials, switches, control panels, etc. on objects.

In FIG. 54 , a tactile force sense actuator is attached to the finger, in FIG. 55 , the actuator is attached to the wrist, and in FIG. 56 , the actuator is attached and the virtual button is pressed with the finger to operate. FIG. 54 shows an example in which the basic unit of the tactile force sense actuator is used for a ring type and a ring. It is possible to operate with body parts such as fingers and palm, and to operate objects such as virtual buttons through the body parts. This allows the feel and operation of the door knob without the door knob. You can do the same thing with buttons, sliders, dials, switches, control panels, etc. on objects.

FIG. 55 shows an example in which the basic unit of the tactile force sense actuator is used for the wrist type and the wrist. It is possible to operate with body parts such as fingers and palm, and to operate objects such as virtual buttons through the body parts. This allows the feel and operation of the door knob without the door knob. You can do the same thing with buttons, sliders, dials, switches, control panels, etc. on objects.

FIG. 56 shows an example in which the basic unit of the tactile force sense actuator is used for an arm ring type and an arm ring. It is possible to operate with body parts such as fingers and palm, and to operate objects such as virtual buttons through the body parts. This allows the feel and operation of the door knob without the door knob. You can do the same thing with buttons, sliders, dials, switches, control panels, etc. on objects.

FIG. 57 shows an example in which the basic unit of the tactile force sense actuator is used for the whole body. It is possible to operate with body parts such as fingers and palm, and to operate objects such as virtual buttons through the body parts. This allows the feel and operation of the door knob without the door knob. You can do the same thing with buttons, sliders, dials, switches, control panels, etc. on objects.

58 and 59 show the outline of the wiring method for connecting the controller and the tactile force sense actuator. 58 shows a case where the tactile force sense actuators are connected in a parallel arrangement, and FIG. 59 shows a case where they are connected in a cross arrangement.

FIG. 60 shows a schematic diagram of a system for exchanging information by communication between a tactile sense display panel and a computer (PC). The touch panel is equipped with the actuator array or is integrally provided.

This system applies tactile characteristics and illusions of an operator to present tactile force information to the operator as if he or she actually operated an object. Specifically, it is controlled based on the stimulus detected by the sensor, and the stimulus is applied by utilizing the fact that the sensory characteristic showing the relationship between the stimulus amount applied to the human body and the sensation amount is nonlinear or illusion. The tactile force sense information is controlled and presented. The sensory characteristic comprises at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount may be physically present. There is no sense.

Here, the system presents a stimulus from or to the object, and the stimulus applied to the operator in response to the operation of the operator is controlled. The minimum parts consist of a haptic actuator and a controller and can be used as parts. An image touch panel having a tactile force information presentation function is configured by integrating these components into an actuator array. In the tactile force information presentation system, a system such as a touch display is configured by using this component and other modules. In this way, by integrating as an actuator array, it is possible to configure a tactile force information display system having various shapes and sizes such as a flat surface, a curved surface, and a solid.

The sensor attached to the haptic actuator measures the position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity at the sensor, and the information Is sent to the controller, a control signal for controlling the haptic actuator is calculated, and is sent to the haptic actuator to control the haptic actuator. The haptic actuator has a panel-type and display-type sensor function and a presentation function, and in the controller, the displacement, momentum, vibration amplitude, displacement stimulus, vibration stimulus, and stimulus intensity associated with the movement of the body such as a finger or palm are used. Time changes are calculated, and based on the control algorithm, the position, velocity, acceleration, shape, displacement, deformation, and amplitude of the tactile force sense actuator are adjusted according to the movement and pressure of the body such as fingers and palm monitored by the sensor. , Rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are controlled, and tactile sense information such as pressure sense, tactile sense, and force sense is presented to humans.

In the control signal, force information (t), amplitude information (t), etc. are expressed by driving voltage and the like, and the actuator is a motor, piezo, artificial muscle, memory alloy, molecular motor, electrostatic, coil, magnetic force, electrostatic. In addition, the device and operation principle are not limited as long as they generate displacement and vibration.

As a result, even if a panel or a display composed of a flat surface, a curved surface, or a three-dimensional shape is installed in a housing or the like so as to be fixed or to perform minute displacement/vibration, the feeling of being inserted, the feeling of being pushed in, the feeling of being depressed Feeling of depth, pushing back, uplifting, vibration/amplitude convergence, vibration/amplitude reverberation, displacement/movement direction feeling, sloppy feeling, hardness, soft feeling, three-dimensional feeling .. Physically, although such a sensation is not reproduced or presented, such a sensation and a physical reaction/reflex are experienced. In addition, in an information terminal or the like, it is possible to realistically obtain an operation feeling of an object such as a button, a slider, a dial, a switch, an operation panel or the like, even though the panel is flat or flat.

Other than the above, stationery, notebooks, pens, home appliances, signs, signage, kiosk terminals, walls, tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (surgery, driving, massage, sports, walking, It can be used for musical instruments, crafts, paintings, arts, etc.

FIG. 61 shows various integrated configurations of a haptic display panel system. A plurality of actuators are attached to the touch panel. The actuators may be arrayed. An actuator may be integrated on the touch panel. There are a unit composed of multiple modules, an integrated array type, a sphere/solid type arranged on the surface, and a solid type packed in the sphere/solid. In this way, by integrating as an actuator array, it is possible to configure a tactile force information display system having various shapes and sizes such as a flat surface, a curved surface, and a solid.

In FIG. 62 , the actuators provided with the tactile force display panel are arranged in an array, and they are attached via a link mechanism, a vibration damping agent or a damping mechanism. It is not necessary to use a vibration buffer or a buffer mechanism. Multiple modules are simply arranged in a plane, curved surface, three-dimensional, various modules are linked by a link mechanism, linked by a vibration damping agent/damping mechanism, independent modules, etc. There is.

64 to 67 show schematic diagrams of basic modules of the haptic device. The basic module of the haptic device digitizes and digitally expresses the feeling of buttons, the feeling of friction, the feeling of unevenness, the feeling of pain, the presence of virtual objects, and the feeling of expression. It presents tactile and illusionary tactile sensations by physical quantities and stimuli such as displacement, rotation, deformation, and vibration according to contact and movement of fingers and body. Then, displacements such as contact and movement, rotations, speeds, accelerations, pressures and forces are measured by a sensor using a photo device, distortion, bending, resistance, conductivity, capacitance, sound wave, laser, or the like. The sensor signal may be a stimulus that comprises at least one of position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity by and to the object. Prepare As a result, tactile sensations such as button sensation, friction sensation, and unevenness, pain sensations, and presence/feel of virtual objects are expressed.

The panel can be adapted to any plane and shape. This allows free design. Digital representation of instantaneous changes in tactile sensation is possible. By monitoring the operation near the touch panel before touching the touch panel, it is possible to improve the real-time response characteristics when the touch panel is touched. Displacement such as movement, rotation, speed, acceleration, pressure and force are measured with a non-contact sensor. Therefore, a feeling of collision and a feeling of impact are expressed. The contact state related to the tactile force sense can be digitally expressed. The contact state such as the contact angle of the finger, the contact area, the dampness of the finger, and the like can be monitored, and control that reflects the contact state can be performed, thereby improving the feeling of tracing.

68 to 78 are schematic views of the panel type module. The basic module of the haptic device digitizes and digitally expresses the tactile sensation of button feeling, friction feeling, and unevenness, pain feeling, presence of virtual objects, and feeling of expression. Presents tactile sensation and illusionary tactile force sensation by physical quantities and stimuli such as displacement, rotation, deformation, and vibration according to contact with a finger or body, contact position, and movement. Then, the physical quantity such as contact, contact position, displacement according to movement, rotation, deformation, vibration, etc., stimulus and spatial balance of the stimulus on the touch panel, intensity distribution, haptic sensation and illusionary tactile sensation due to time change are presented. .. Therefore, it is possible to move, propagate, and sense a change in shape (force, sensation) of a force, an object, and a presence due to the spatial balance of the stimulus, intensity distribution, and temporal change (phantom sensation), and present the object and the presence on a hard panel. Further, it is possible to present an object, a three-dimensional object, and its presence, regardless of the hard panel.

FIG. 69 shows a touch panel structure in which a photo interrupt is installed on a base material. The photo interrupt detects a distance and a change, and perceives a button pressing feeling (sinking pitch, depth). Therefore, by digitally expressing the button feeling on the hard panel, it is possible to adaptively change the texture and feel expression in accordance with the application and taste.

70 , 71 and 72 show a structure in which the actuator is attached to the touch panel in a suspended structure. FIG. 70 shows a structure in which an actuator is attached to the hanging structure at approximately the center of the touch panel.

FIG. 71 shows a structure in which actuators are attached to both ends of the touch panel in a suspended structure. In the structure of FIGS . 70 and 71 , it is preferable to provide a viscoelastic material or a vibration damping agent on the side wall between the panel and the wall.

FIG. 72 shows a structure in which actuators are attached to both ends of the touch panel in a suspended structure. In the structure of FIG. 72 , it is preferable to provide a low friction material on the side wall between the panel and the wall. With these structures, the sensory strength of the tactile force sense and its effect can be increased. In the structure of FIG. 71 , the physical quantity and the stimulation quantity transmitted to the finger and the body can be increased through the touch panel by the 3D speaker mechanism with the displacement and vibration of 6 degrees of freedom in which the touch panel and the actuator are floated. With the increase, the actuator parts in FIG. 71 are attached to both ends of the touch panel, and in FIG. 72 , the inertia actuators are attached to both ends of the touch panel. , The amount of stimulation can be increased. It increases the amount of tactile sensation, and further increases the amount of indentation, the pitch of depression, and the depth sensation. It can be applied to IoT devices. You can increase the amount of feeling and efficiency without choosing the mounting location.

73 to 77 show schematic views of a touch panel module in which a liquid crystal display is incorporated in the touch panel. In the touch panel module shown in FIG. 73 , a liquid crystal panel is arranged in the space of a pair of modules arranged on both sides of the touch panel. Since the touch panel and the actuator are separated from each other, the image on the liquid crystal panel does not shake and does not vibrate. The tactile sense, the sense of touch, and the presence of the object reflected on the liquid crystal panel are presented. It is possible to simulate the tactile sensation of a 3D object using a 2D model.

74 and 75 are schematic views of a thin touch panel module. FIG. 74 shows the same arrangement as FIG. 73 . In FIG. 75 , since actuators are provided at both ends of the touch panel, it can be mounted on a thin device such as a smartphone.

FIG. 76 shows a schematic diagram of a touch panel module system in which a screen is provided on the surface of the touch panel of the touch panel module of FIGS . 73 to 75 and a projector is arranged above the screen. As a result, the digital tactile force sense function of the image can be realized. The image projection by the projector and the haptic touch panel are controlled.

FIG. 77 is a schematic diagram in which the five sense information presenting device is arranged on the touch panel module of FIGS . 73 to 76 . By installing a five-sense information presentation device, the reality can be improved by utilizing the five senses such as sight, hearing, and touch. In addition, the five senses such as video, sound, touch, smell, taste, etc. can be used. It enhances and promotes the illusion by the mutual effect with the five senses information that matches or does not match (mismatch) the tactile force information as an object, and can expand the sense that does not actually exist.

FIG. 78 shows a schematic view of an array unit for multi-touch. Presents basic movement and kinesthetics. By performing phase control of the displacement direction for each panel, it is possible to express movement and kinesthetic sensations other than simple displacement due to movement stimulation. It presents a sense of rotation with a fixed panel.

FIG. 79 presents a complex kinesthetic sensation. Phase control in the displacement direction and sensory synthesis control with each fingertip are provided for each panel to present a feeling of expansion, pressure, twist, expansion, and pressure. It presents a sense of deformation with a fixed panel.

FIG. 80 presents a complex kinesthetic sensation. For each panel, phase control in the displacement direction and sensory synthesis in the perceptual/cognitive layer are performed, and multi-touch sensation is synthetically controlled to obtain a feeling of expansion, pressure, and twist, and to present a feeling of expansion and pressure. Get a sense of deformation by the fixed panel.

FIG. 81 presents tactile sensation/force sensation by one device. Performs sensory synthesis control that reproduces the different components [tactile/force sense] for each panel. The Z direction pressure sense drive by finger pressure and the control by the XY displacement trigger are performed, and tactile and force senses in the Z direction are presented at the same time. Realize multiple resonance peaks.

FIG. 82 presents tactile and force senses by one device. Reproduce different components (tactile sensation) for each panel. The Z-direction pressure sensation drive by finger pressure, the control by the XY displacement trigger, the Z-direction pressure sensation is generated and controlled, and the tactile sensation and the force sensation are simultaneously presented by the panel. Realize multiple resonance peaks.

FIG. 83 presents tactile/force senses by one device. Reproduce different components (tactile sensation) for each panel at different timings. The method of composition is not limited to this. Avoid mutual effects such as mutual tactile/force sense masking. Present consonants and vowels.

In FIG. 84 , the induced pattern is controlled to control the front displacement and the rear displacement. FIG. 85 presents tactile/force senses by one device. Reproduce different components (tactile sensation) for each panel at different timings. When there is overlap and when there is a non-overlap part. The method of composition is not limited to this. Avoid comprehensive effects such as mutual masking of tactile and force senses. Present consonants and vowels.

FIG. 86 presents tactile sensation/force sensation by one device. Present different components (intensity/amplitude, frequency, waveform, phase) for each panel. Waveform comparison, difference, phase difference, and synergistic effects produce a different sensation from the components. FIG. 87 presents tactile/force senses by one device. Present different components (intensity/amplitude, frequency, waveform, phase) for each panel. Waveform comparison, difference, phase difference, and synergistic effects produce a different sensation from the components.

FIG. 88 shows a button-shaped sensation that presents a sharp peaked sensation in the haptic sense. The panel amplitude is larger near the center. It gets smaller with distance. Present the feeling (pullback/overtaking sensation) at the summit. It presents a sharp sensation of a convex slope by the panel. FIG. 89 presents a semi-cylindrical convex sensation in the haptic sense. Controls the intensity and amplitude of stimulation/displacement. Present a mountain crossing (pullback/overtaking). Present a convex sensation by the panel.

FIG. 90 presents a concave gap sensation in the haptic sense. It gives a sense of gap by eliminating resistance for a moment. The panel presents a feeling of recessed gap.

FIG. 91 performs guided sensory control of finger movement (swinging feeling) between buttons. Controls the intensity and amplitude of stimulation/displacement. It is hard to stay between the buttons and is guided to the buttons. On the flat panel, we guide the finger movement like an attractor of the potential field. Operate the pointer from the panel to move between buttons. When the pointer leaves the button area, it is guided to the next pointer. The panel amplitude increases as it gets closer to the center of the induction section (it gets smaller as it goes away). The haptic direction switches in the center of the guidance section.

FIG. 92 presents an edge feeling and an end point feeling by controlling the guidance feeling between the buttons. Click displacement at the end of the guidance section. You can feel the presence of the edges and the feeling of the buttons rising. Operate the pointer from the panel to move between buttons. When the pointer leaves the button area, it is guided to the next pointer. The panel amplitude increases as it gets closer to the center of the induction section (it gets smaller as it goes away). The haptic direction changes at the center of the guidance section.

FIG. 93 : Masking displacement (vibration) is generated at the edge portion where the guidance feeling of the button is controlled to present an edge feeling. You can feel the presence of edges and the feeling of steps and dents on the flat panel. Operate the pointer from the panel to move between buttons. When the pointer leaves the button area, it is guided to the next pointer. The panel amplitude increases as it gets closer to the center of the induction section (it gets smaller as it goes away). The haptic direction switches in the center of the guidance section.

FIG. 94 presents a stable tactile force sensation by tactile force controlling the slider. Operate the pointer from the panel to move between buttons, guide to the next button when exiting from the pointer or button area, @ panel amplitude becomes larger as it gets closer to the center of the guide section (it gets smaller as it gets farther away), force sense at the center of the guide section Switch direction. Get a slider feel.

In FIG. 95 , tactile force sense control is performed on the slider to present a stable tactile force sense, and a click displacement is generated at the slider end point. Get a slider feel. FIG. 96 shows the sensory control of the slider.

FIG. 97 presents a stable tactile force sense during sweep. Control is performed separately for static friction and dynamic friction. Present a stable tactile sensation. Stable presentation in different control modes. FIG. 98 presents a stable tactile force sense by performing dynamic friction control (equalizing) during sweep. Controls coherent phase due to cutting displacement. Present a stable tactile sensation. It presents stability in different control modes.

FIG. 99 presents a stable tactile force sensation by controlling static friction during sweeping. Fix your finger (body) and move the virtual slider. Fix the virtual slider and slide your finger to reciprocate. Feels like a slider. FIG. 100 presents a stable tactile force sensation by static friction control during sweep. Fix your finger (body) and move the virtual slider. Fix the virtual slider, slide your finger, and reset your finger when it reaches the end (lift your finger from the panel surface). Feels like a slider.

FIG. 101 presents a stable tactile force sensation by static friction control during sweep. Fix your finger (body) and move the virtual slider. Fix the virtual slider, slide your finger, and reset your finger when it reaches the end (displacement). Feels like a slider. FIG. 102 presents a stable tactile force sensation by dynamic friction control during sweep. Fix your finger (body) and move the virtual slider. Fix the virtual slider and slide your finger. When the friction exceeds the tension limit, the contact fixation comes off. Feels like a slider.

These sweep waveform, click waveform, and cutting waveform may be vibrations or arbitrary waveforms. The arbitrary waveform has various waveform patterns that match the desired tactile sensation. Arbitrary waveform design, amplitude modulation, frequency modulation, convolution as if creating a musical instrument tone or music with a synthesizer, not limited to linear increase / decrease, sinusoidal vibration, combination of fundamental frequency components , And a combination thereof, it is possible to express various tactile sensations.

In FIG. 103 , the button pressing feeling is controlled and presented. -A displacement is applied to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases are exceeded. -The button hardness is expressed by the threshold value, panel amplitude, and frequency. Although it is a panel that does not dent, you can feel the indentation depth. Without physical dent, dent feeling.

FIG. 104 presents the feel of a push button by controlling the push of a button. -A displacement is applied to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases are exceeded. -Express the button hardness with the threshold value, panel amplitude, and frequency. Although it is a panel that does not dent, you can feel the indentation depth. Without physical dent, dent feeling.

In FIG. 105 , the feeling of pressing the button is controlled and presented. By setting multiple thresholds, the feeling of half-pressing is expressed. Half-press feeling like a camera shutter. A feeling of holding the shutter focus. In FIG. 106 , the feeling of pressing the shutter button is controlled and presented. By setting multiple thresholds, the feeling of half-pressing is expressed. Half-press feeling like a camera shutter. A feeling of holding the shutter focus.

In FIG. 107 , the feeling of pressing the button is controlled and presented. Push and release are separated (1st release is not released and 2nd is release). In FIG. 108 , the feeling of pressing the button is latched and presented. Separate indentation and release (no release for the first time and release for the second time)

In FIG. 109 , the notch pulse threshold is controlled at equal intervals. Millefeuille, a feeling of putting a knife in chocolate covered ice cream. FIG. 110 controls the notch pulse threshold to be unequal. In FIG. 111 , the notch pulse threshold values are controlled at equal intervals. Millefeuille, a feeling of putting a knife in chocolate covered ice cream.

In FIG. 112 , the notch pulse threshold values are controlled at equal intervals. Millefeuille, a feeling of putting a knife in chocolate covered ice cream. In FIG. 113 , the notch pulse threshold is controlled at equal intervals. Millefeuille, a feeling of putting a knife in chocolate covered ice cream. In FIG. 114 , the notch pulse thresholds are controlled at unequal intervals. Millefeuille, a feeling of putting a knife in chocolate covered ice cream.

In FIG. 115 , the push feeling button is hysterically controlled. Amplitude is applied to the panel at the timing when the threshold for pressing pressure and the threshold for falling are exceeded. The hardness of the button is expressed by the threshold value, the panel amplitude, and the frequency.

In FIG. 116 , the push feeling button is controlled by the acupressure function. Amplitude is applied to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases are exceeded. Expression of Button Stiffness with Threshold Value, Panel Amplitude, and Frequency FIG. 117 applies amplitude to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases is exceeded. Controls waveform adaptation. The hardness of the button is expressed by the threshold value, the panel amplitude, and the frequency.

In FIG. 118 , the push feeling button is pushed in the displacement amplitude plane (phase) in a 3D manner and controlled according to the threshold value. Amplitude is applied to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases are exceeded. Represents button stiffness with threshold value, panel amplitude, and frequency

In FIG. 119 , an amplitude is applied to the panel at the timing when the threshold value 1 at the time of increasing the pressing pressure and the threshold value 2 at the time of decreasing the pressure are exceeded, and the pressing feeling button is controlled according to the situation. The hardness of the button is expressed by the threshold value, panel amplitude, and frequency. Amplitude is applied to the panel at the timing when the lower pressure when pushing down and the threshold when lowering are exceeded. The hardness of the button is expressed by the threshold value, the panel amplitude, and the frequency.

In FIG. 120 , the amplitude is applied to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases are exceeded. The hardness of the button is expressed by the threshold value, the panel amplitude, and the frequency. The amplitude is applied to the panel at the timing when the threshold value 1 when the pressing pressure rises and the threshold value 2 when the pressing pressure falls are controlled to control the push-in feeling button according to the situation.

In FIG. 121 , the push feeling button is controlled by a time pattern. In FIG. 122 , the notch pulse threshold values are controlled at equal intervals. In FIG. 123 , the notch pulse threshold is pulse width amplitude controlled at equal intervals. In FIG. 124 , the notch pulse threshold is waveform-controlled at equal intervals. In FIG. 125 , the notch pulse threshold is masked at equal intervals.

In FIG. 126 , the push/push feeling button is subjected to dynamic/static friction control, and an amplitude is applied to the panel at the timing when the threshold value 1 when the pressing pressure increases and the threshold value 2 when the pressing pressure decreases are exceeded. The hardness of the button is expressed by the threshold value, the panel amplitude, and the frequency. 127. FIG. 127 shows the button stiffness according to the threshold value, the panel amplitude, and the frequency that apply amplitude to the panel at the timing when the threshold value 1 at the time of pressing pressure rise and the threshold 2 at the time of falling pressure are controlled by controlling the phase of the button for pressing down. Expression

128. In FIG. 128 , the uniform pressing intervals are controlled, and only when the pressing pressure is increased, the panel is oscillated at the timing when the plurality of threshold values are exceeded. High frequency is used for notch amplitude. Express notch button in combination with button. In FIG. 129 , the unequal intervals of pressing are controlled so that the panel is oscillated only when the pressing pressure is increased at a timing exceeding a plurality of threshold values. High frequency is used for notch amplitude. Express notch button in combination with button

In FIG. 130 , the threshold equal intervals are controlled so that the panel is oscillated only when the pressing pressure is increased, at the timing when the plurality of thresholds are exceeded. High frequency is used for notch amplitude. Express notch button in combination with button.

In FIG. 131 , the tactile force sense dial is controlled by the control function. Displacement direction is controlled for each position phase. Displacement can be controlled in 3D direction. Realized various dial feeling. Flat panel for a realistic dial feel. No physical or analog dial mechanism is required. In FIG. 132 , the pointer is operated from the panel to rotate the dial with a sense of acceleration. Amplify the panel by oscillating the panel parallel to the tangent to the dial. In the slip expression, control is performed so that a force sense is further generated in the dial rotation direction.

In FIG. 133 , the pointer is operated from the panel to rotate the dial with a sense of resistance. The panel is oscillated at right angles to the tangent of the dial to create a feeling of resistance. In FIG. 134 , the pointer is operated from the panel and the dial is rotated with a sense of horizontal acceleration. The panel is oscillated at a right angle to the tangent of the dial to express a feeling of horizontal acceleration. In FIG. 135 , the pointer is operated from the panel to rotate the dial with a variable feel. The panel is oscillated at an arbitrary angle with the tangent line of the dial to express a variable feel. Various feels are generated by changing the phase in the displacement direction for each position. In FIG. 136 , the pointer is operated from the panel to rotate the dial with a random feeling. The panel is oscillated at a right angle to the tangent of the dial to express a sense of randomness.

In FIG. 137 , the dial is clicked, and a click displacement is generated for each fixed position phase to realize a flat panel loader encoder-like touch, a digital dial touch, and a volume knob touch.

FIG. 138 shows a feeling of circumferential guidance operation on the circumference of the volume, a feeling that the finger stays within the circumference, or a finger moves on the circumference, and the circumference when the actual rotary volume is rotated. The centripetal tactile sensation is presented for each constant position and phase. In FIG. 139 , the operation feeling can be expressed by the operation feeling on the circumference of the volume, the circumferential induction feeling when actually rotating the rotary volume, and the resistance feeling. A centripetal tactile sensation and a resistive tactile sensation are alternately or temporally exclusively presented for each fixed position phase, and at the same time, a circular motion sensation is realized when the volume is rotated.

FIG. 140 expresses the tactile force sense of the volume adjustment and the confirmation operation. A click displacement is given for each fixed position phase, and a rotary volume feeling due to the click displacement, a button pressing feeling due to the confirmation click displacement, and a volume operation/confirmation/switch feeling on the flat panel are realized.

FIG. 141 increases the tactile sense dial variation. The displacement direction and the displacement method are controlled for each position phase. The displacement can be controlled in the 3D direction. Directional presentation is used to achieve various dial feels and sensations, warnings and cautions. The open panel provides various dial feels and responses in the right place at the right time. Control the feel and feel in a timely manner according to the situation.

In FIG. 142 , the illusionary force sense changes non-linearly according to the weight by changing the size and shape of the device. The perceptual sound pressure and the perceptual torque intensity are changed. In FIG. 143 , the tactile force sense threshold value and the perception amount are changed depending on the device size. The perceived torque strength is obtained by subtracting the weight from the torque. There is an optimal device size for perceptual quantities.

In FIG. 144 , the texture is formed by pressure sense (touch feeling); pressure, warming and cooling, tactile sense; micro time structure, force sense; macro time structure, vibration feeling; frequency. FIG. 145 shows a texture structure database in which various macro and micro time structures express texture.

FIG. 146 controls the waveform to control the 2D amplitude direction. The amplitude of the panel surface with respect to an arbitrary axis is generated by synthesizing the X-axis and Y-axis waveforms.

In FIG. 147 , a large number of touch panels are arranged in an array, and an actuator is provided for each touch panel. As a result, the position in the displacement direction can be controlled for each panel, and a feeling of pitch, a feeling of gripping, a feeling of tearing, and a feeling of rotation can be realized, and subtle adjustment of mouse operation can be intuitively realized. FIG. 148 illustrates a system for measuring an individual's characteristics using an illusionary tactile force induction function generator.

FIG. 149 is a flowchart showing a method for controlling the actuator.

150 to 152 show application examples and effects thereof. In FIG. 150 , personal profiling is realized using dials and pointers. The personal ID, the psychological state, the health state, and the fatigue level are estimated by analyzing the operation profile and the physiological information like the handwriting determination.

In FIG. 151 , a large number of touch panels are arranged in an array, and an actuator is provided for each touch panel. With this, it is possible to control the position in the displacement direction for each panel, and it is possible to realize a feeling of forward movement, a feeling of receding, a feeling of shearing/tearing, a feeling of enlargement/pinch, a squeeze, and a feeling of rotation. Palpation training can be realized by providing body conditions such as organs (hardness, softness, shape, etc.) according to how to move and how to apply force.

In FIG. 152 , remote synchronization operation is possible by connecting the VR environment generation devices by communication. As in the application example, in an information terminal or the like, it is possible to realistically obtain the operation feeling of an object such as a button, a slider, a dial, a switch, or an operation panel, even though the panel is flat or flat. Since it can present various feelings, stationery, notebooks, pens, home appliances, signs, signage, kiosk terminals, walls, tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (surgery, driving, It can be used for massage, sports, walking, musical instruments, crafts, paintings, arts, etc. It is possible to add added value such as tactile feeling, hardness, softness, slippery feeling, slimy feeling, slimy feeling, rough feeling, rough feeling, bumpy feeling, tingling sensation, tight feeling, tight feeling, punyupuni feeling to the product. it can.

By implementing the present invention, equipment used in the field of virtual reality, equipment used in the field of games, amusement and entertainment, mobile communication equipment used in the IT field, information terminal equipment, navigation equipment, mobile information terminal equipment, It is possible to realize a useful man-machine interface that can be mounted on a device used in the fields of automobiles and robots, a device used in the fields of medical care and welfare, a device used in the field of space development, and the like.

More specifically, for example, in the field of virtual reality and information appliances, presenting tactile information such as tactile sensation to a person through a man-machine interface to which the present invention is applied, drag or reaction force, etc. By restricting the movement of the person by giving the above, it is possible to present the impact due to the presence or collision of an object in the virtual space and the real space and the operation feeling of the device. Further, by mounting the above interface on a mobile phone, a portable navigation device, or the like, it is possible to realize various instructions and guidance, which have not been seen in the past, through the skin of the operator.

Despite the flat/flat panel, it is possible to realistically obtain the operation feeling of objects such as buttons, sliders, dials, switches, and operation panels. Because it can present various feelings, stationery, notebooks, pens, home appliances, signs, signage, kiosk terminals, walls, tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (surgery, driving, It can be used for massage, sports, walking, musical instruments, crafts, paintings, arts, etc., feeling of insertion, feeling of depth, feeling of being returned, feeling of uplifting, convergence, reverberation, sense of direction, It is possible to add added value to the product such as tactile feeling, hardness, softness, smoothness, slimy feeling, slimy feeling, slimy feeling, rough feeling, bumpy feeling, tingling sensation, tight feeling, tight feeling, puny puny feeling. it can.

Claims (9)

An object and the object is a real object or a virtual object,
A sensor for detecting a stimulus having at least one of position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity by and/or to an object; ,
A tactile force sense presentation device that applies a sensory characteristic and/or an illusion of an operator to the object to present a tactile force sense to the operator as if the operator actually operated the object,
A tactile force sense presentation control device that controls the tactile force sense presentation device based on a stimulus from a sensor;
The tactile force sense presentation control device controls the stimulation by utilizing the fact that the sensory characteristic indicating the relationship between the amount of stimulation applied to the human body and the amount of sensory sense is nonlinear and/or illusion to control the tactile force information. Present
The sensory characteristic includes at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount physically exists. It's a sense that you can't do,
Here, the tactile force sense presentation device presents a tactile force sense by presenting a stimulus to and/or by the object, and controlling a stimulus applied to the object in accordance with an operation of an operator. Tactile information providing system. The tactile force information providing device according to claim 1, wherein the touch panel is divided into a plurality of sections and is arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is independently controlled. system. The tactile force information providing system according to claim 1, wherein the object is a touch panel, and generates different tactile and/or force senses for each touch panel. An object and the object is a real object or a virtual object,
A sensor for detecting a stimulus having at least one of position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity by and/or to an object; ,
A tactile force sense presentation device that applies a sensory characteristic and/or an illusion of an operator to the object to present a tactile force sense to the operator as if the operator actually operated the object,
A tactile force sense presentation control device that controls the tactile force sense presentation device based on a stimulus from a sensor;
The tactile force sense presentation control device controls the stimulation by utilizing the fact that the sensory characteristic indicating the relationship between the amount of stimulation applied to the human body and the amount of sensory sense is nonlinear and/or illusion to control the tactile force information. Present
The sensory characteristic includes at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount physically exists. It's a sense that you can't do,
Here, the tactile force sense presentation device is a tactile force sense information providing system that presents at least one of amplitude, displacement, and deformation to the object. The tactile sense information providing device according to claim 4, wherein the touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is independently controlled. system. The tactile force sense information providing system according to claim 4, wherein the tactile force sense presentation device presents a tactile force sense according to an amplitude, a displacement, and/or a deformation of the object. 5. The tactile force sense presentation device according to claim 4, wherein the tactile force sense presentation device causes the object to perform at least one of amplitude, displacement, and deformation in six dimensions at least every one of position, phase, and time. Information provision system. The tactile force sense information providing system according to claim 4, wherein the tactile force sense presentation device generates at least one of amplitude, displacement, and deformation at a right angle, in parallel, or at an arbitrary angle with a tangent line of the object. .. An object and the object is a real object or a virtual object,
A sensor for detecting a stimulus having at least one of position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity by and/or to an object; ,
A tactile force sense presentation device that applies a sensory characteristic and/or an illusion of an operator to the object to present a tactile force sense to the operator as if the operator actually operated the object,
A tactile force sense presentation control device that controls the tactile force sense presentation device based on a stimulus from a sensor;
The tactile force sense presentation control device controls the stimulation by utilizing the fact that the sensory characteristic indicating the relationship between the amount of stimulation applied to the human body and the amount of sensory sense is nonlinear and/or illusion to control the tactile force information. Present
The sensory characteristic includes at least one of an amount of stimulation provided to the operator and an amount of stimulation provided by an operation of the operator, and a sensory amount presented to the operator, and the sensory amount physically exists. It's a sense that you can't do,
Here, the tactile force sense presentation device is a sensory synthesis/guidance device that synthesizes a sense of a guided sense,
The sensory synthesis/guidance device is a tactile force sense information providing system that generates at least one of a pressure sense, a force sense, and an illusion by a displacement including a sweep displacement on the object.