JP2020144466A - Tactile and auditory presentation device and control method of tactile and auditory presentation device - Google Patents

Abstract

To provide a tactile and auditory presentation device and a control method of the tactile and auditory presentation device capable of perceiving an auditory stimulus and a tactile stimulus with a natural sensation.SOLUTION: A tactile and auditory presentation device includes a movable part, a vibration imparting unit that imparts vibration to the movable part, an audio output unit that outputs audio, and a control unit that controls the vibration imparting unit and the audio output unit. The control unit causes the vibration imparting unit to impart the vibration and then causes the audio output unit to output the audio.SELECTED DRAWING: Figure 7

Description

The present disclosure relates to a tactile and auditory presentation device and a method for controlling the tactile and auditory presentation device.

Patent Documents 1 to 3 disclose a device that presents a stimulus to the sense of touch as well as a stimulus to the auditory sense.

JP-A-2002-359888 JP-A-2018-97706 Jikkenhei 2-28197 Gazette

However, the devices described in Patent Documents 1 to 3 may cause a sense of discomfort when a human recognizes a stimulus to hearing and a stimulus to tactile sensation.

It is an object of the present disclosure to provide a tactile-hearing presenting device and a method for controlling a tactile-hearing presenting device capable of perceiving an auditory stimulus and a tactile stimulus with a natural sensation.

According to the present disclosure, there are a movable unit, a vibration imparting unit that applies vibration to the movable unit, a voice output unit that outputs voice, and a control unit that controls the vibration imparting unit and the voice output unit. The control unit is provided with a tactile / auditory presentation device that outputs the voice to the voice output unit after the vibration applying unit is applied with the vibration.

According to the present disclosure, it is possible to perceive auditory stimuli and tactile stimuli with a natural sensation.

It is a perspective view which shows the structure of the operation apparatus which concerns on embodiment. It is a top view which shows the structure of the operation apparatus which concerns on embodiment. It is sectional drawing which shows the structure of the operation apparatus which concerns on embodiment. It is a schematic diagram which shows the change of the operation device with the pressing operation. It is a figure which shows the structure of a control device. It is a flowchart which shows 1st example of the content of processing by a control device. It is a figure which shows the relationship between the change of height in 1st example, and the generation timing of voice. It is a flowchart which shows the 2nd example of the content of processing by a control device. It is a figure which shows the relationship between the change of height and the generation timing of voice in the 2nd example. It is a flowchart which shows the content of the process by the control device of the tactile-auditory presentation device which is triggered by the signal input from the outside.

Hereinafter, embodiments of the present disclosure will be specifically described with reference to the accompanying drawings. In the present specification and drawings, components having substantially the same functional configuration may be designated by the same reference numerals to omit duplicate explanations.

FIG. 1 is a perspective view showing the configuration of the operating device according to the embodiment, FIG. 2 is a top view showing the configuration of the operating device according to the embodiment, and FIG. 3 is a configuration of the operating device according to the embodiment. It is sectional drawing which shows. FIG. 3 corresponds to a cross-sectional view taken along the line I-I in FIG. The operating device is an example of a tactile and auditory presentation device.

As shown in FIGS. 1 to 3, the operating device 100 according to the embodiment has a fixed base 110 and a decorative panel 141 inside the fixed base 110. An electrostatic sensor 142 is provided on the side of the fixed base 110 where the flat plate portion 111 described later is located with respect to the decorative panel 141, and the touch pad 140 is formed by the decorative panel 141 and the electrostatic sensor 142. A movable base 130 is provided on the flat plate portion 111 side of the touch pad 140. The movable base 130 has a flat plate portion 131 wider than the touch pad 140 in a plan view, and a wall portion 132 extending from the edge of the flat plate portion 131 toward the flat plate portion 111. The fixed base 110 has a flat plate portion 111 that is wider than the flat plate portion 131 in a plan view, and a wall portion 112 that extends upward from the edge of the flat plate portion 111 on the outside of the wall portion 132.

The actuator 160 is provided on the flat plate portion 111. The actuator 160 comes into contact with the flat plate portion 111 and the flat plate portion 131. In a plan view, the actuator 160 is located substantially at the center of the flat plate portion 111 and the flat plate portion 131. Further, a plurality of pretension springs 150 are provided around the actuator 160 between the flat plate portion 111 and the flat plate portion 131 to urge the flat plate portion 111 and the flat plate portion 131 so as to attract each other in the vertical direction. The touch pad 140 is an example of an operation unit, and the movable base 130 and the touch pad 140 are included in the movable unit. The actuator 160 is an example of a vibration applying unit.

Further, a panel guide 190 that comes into contact with the wall portion 112 and the wall portion 132 is provided between the wall portion 112 and the wall portion 132. For example, the panel guide 190 has elasticity and guides the movable base 130 inside the fixed base 110.

Further, a plurality of reflective photo interrupters 170 are provided on the flat plate portion 111 of the fixed base 110. The photo interrupter 170 irradiates the flat plate portion 131 of the movable base 130 above the flat plate portion 131 with light, receives the light reflected by the flat plate portion 131, and detects the distance to the portion of the flat plate portion 131 irradiated with the light. can do. For example, the photo interrupter 170 is arranged inside the four corners of the touch pad 140 in a plan view. The photo interrupter 170 is an example of a detection unit.

Further, the speaker 200 is attached to the outer surface of the wall portion 112 of the fixed base 110. The speaker 200 is an example of an audio output unit.

Further, a control device 180 is provided on the fixed base 110. The control device 180 controls the actuator 160 and the speaker 200 in response to the operation of the touch pad 140 by a process described later, and presents a stimulus to the user's sense of touch and a stimulus to the auditory sense. The control device 180 is, for example, a semiconductor chip. In the present embodiment, the control device 180 is provided on the flat plate portion 111, but the place where the control device 180 is provided is not limited, and may be provided, for example, between the touch pad 140 and the movable base 130. ..

The actuator 160 may be a magnetic actuator or a piezoelectric actuator. The actuator 160 may be a magnetostrictive actuator. Further, the direction of vibration of the actuator 160 is not particularly limited, and may be a direction perpendicular to the surface of the movable base 130, a direction parallel to the surface of the movable base 130, or any direction that can be synthesized by a combination of these. You may.

The movable portion including the movable base 130 and the touch pad 140 is pressed by, for example, the user's fingertip 10. FIG. 4 is a schematic view showing changes in the operating device 100 due to the pressing operation.

In the state where the pressing operation is not performed, as shown in FIG. 4A, it is assumed that the height h of the upper surface of the touch pad 140 with respect to the upper surface of the flat plate portion 111 is h ₀ . When the movable portion is pressed, the pretension spring 150 is compressed in the vertical direction, and the height h is reduced to h _x . The photointerruptor 170 can detect this change in height h through a change in the distance to the lower surface of the flat plate portion 131. This change in height h is input to the control device 180. Then, the control device 180 converts the change in height h into a pressing load on the movable portion. The amount of change in height h (displacement amount) and the pressing load are examples of physical quantities.

Next, the control of the actuator 160 and the speaker 200 by the control device 180 will be described. FIG. 5 is a diagram showing the configuration of the control device 180.

The control device 180 includes a CPU (Central Processing Unit) 181, a ROM (Read Only Memory) 182, a RAM (Random Access Memory) 183, and an auxiliary storage unit 184. The CPU 181 and ROM 182, the RAM 183, and the auxiliary storage unit 184 constitute a so-called computer. Each part of the control device 180 is connected to each other via a bus 185.

The CPU 181 executes various programs (for example, a pressing load determination program) stored in the auxiliary storage unit 184.

The ROM 182 is a non-volatile main storage device. The ROM 182 stores various programs, data, and the like necessary for the CPU 181 to execute the various programs stored in the auxiliary storage unit 184. Specifically, ROM 182 stores boot programs such as BIOS (Basic Input / Output System) and EFI (Extensible Firmware Interface).

The RAM 183 is a volatile main storage device such as a DRAM (Dynamic Random Access Memory) or a SRAM (Static Random Access Memory). The RAM 183 functions as a work area developed when various programs stored in the auxiliary storage unit 184 are executed by the CPU 181.

The auxiliary storage unit 184 is an auxiliary storage device that stores various programs executed by the CPU 181 and various data generated by executing the various programs by the CPU 181.

The control device 180 has the hardware configuration as described above, and performs the following processing.

First, a first example of the content of processing by the control device 180 will be described. FIG. 6 is a flowchart showing a first example of the contents of processing by the control device 180. FIG. 7 is a diagram showing the relationship between the change in height h and the generation timing of voice in the first example.

The control device 180 monitors whether or not the pressing load on the movable portion has reached the preset press threshold value (step S101), and when the pressing load reaches the press threshold value (YES in step S101), the actuator The 160 is driven to give vibration to the movable portion (step S102). FIG. 7 shows the change in height h before conversion to the pressing load, and the pressing load reaches the press threshold when the height h reaches the threshold Pth. The press threshold is an example of the threshold.

After that, when the preset time Δt elapses (YES in step S103), the control device 180 causes the speaker 200 to output sound (step S104). This voice is, for example, a voice that imitates the sound generated when the click switch is pressed, and is an example of a pseudo click sound. The time Δt is, for example, the time t1 until the tactile stimulus received by the fingertip 10 is transmitted to the brain through the nerves in the body and the voice output from the speaker 200 are heard by a user having an average physique. , The difference from the time t2 until it is transmitted to the brain. For example, when the length of the nerve from the fingertip 10 to the brain is 85 cm, the time Δt can be 5 msec to 30 msec.

After that, the control device 180 monitors whether or not the pressing load on the movable portion has reached the preset release threshold value (step S105), the user weakens the pressing load, and the pressing load reaches the release threshold value. Then (YES in step S105), the actuator 160 is driven to give vibration to the movable portion (step S106). In the example shown in FIG. 7, the pressing load reaches the release threshold when the height h reaches the threshold Rth.

After that, when the preset time Δt elapses (YES in step S107), the control device 180 causes the speaker 200 to output sound (step S108). This voice is, for example, a voice that imitates the sound generated when the click switch is pressed and then released, and is an example of a pseudo click sound.

According to the operating device 100 provided with the control device 180 that controls the first example, the tactile stimulus given to the fingertip 10 in step S102 and the auditory stimulus generated in step S104 However, it reaches the brain almost at the same time. Further, the tactile stimulus given to the fingertip 10 in step S106 and the auditory stimulus generated in step S108 reach the brain almost at the same time. Therefore, the user can perceive the auditory stimulus and the tactile stimulus with a natural sensation.

When the pressing load reaches the press threshold value, not only the actuator 160 is made to vibrate the moving part, but also the speaker 200 is made to output the sound, the auditory stimulus is more than the tactile stimulus. Is perceived by the brain as soon as possible. Therefore, the user tends to feel uncomfortable. According to this embodiment, such a feeling of strangeness can be reduced.

Next, a second example of the content of processing by the control device 180 will be described. FIG. 8 is a flowchart showing a second example of the content of processing by the control device 180. FIG. 9 is a diagram showing the relationship between the change in height h and the generation timing of voice in the second example.

The control device 180 monitors whether or not the pressing load on the movable portion reaches a preset first press threshold value (step S201), and when the pressing load reaches the first press threshold value (step S201). YES in S201), the actuator 160 is driven to give vibration to the movable portion (step S202). FIG. 9 shows the change in height h before conversion to the pressing load, and the pressing load reaches the first press threshold when the height h reaches the threshold value Pth1. The first press threshold is an example of the first threshold.

After that, the control device 180 monitors whether or not the pressing load on the movable portion has reached a preset second press threshold value (step S203), and when the pressing load reaches the second press threshold value. (YES in step S203), the speaker 200 is made to output audio (step S204). This voice is, for example, a voice that imitates the sound generated when the click switch is pressed, and is an example of a pseudo click sound. As for the second press threshold value, for example, when an average pressing operation is performed, the time Δt in the first example, for example, 5 msec to 30 msec, has elapsed since the pressing load reached the first press threshold value. It is the load that sometimes reaches. The pressing load tends to increase while the user increases the pressing load, and the second press threshold is larger than the first press threshold. The second press threshold value can be set according to, for example, the spring constant of the pretension spring 150. In the example shown in FIG. 9, the pressing load reaches the second press threshold when the height h reaches the threshold Pth2. The second press threshold is an example of the second threshold.

After that, the control device 180 monitors whether or not the pressing load on the movable portion has reached a preset first release threshold value (step S205), the user weakens the pressing load, and the pressing load becomes the first. When the release threshold value of 1 is reached (YES in step S205), the actuator 160 is driven to apply vibration to the movable portion (step S206). In the example shown in FIG. 9, the pressing load reaches the first release threshold when the height h reaches the threshold Rth1. The first release threshold is another example of the first threshold.

After that, the control device 180 monitors whether or not the pressing load on the movable portion has reached the preset second release threshold value (step S207), and when the pressing load reaches the second release threshold value. (YES in step S207), the speaker 200 is made to output audio (step S208). This voice is, for example, a voice that imitates the sound generated when the click switch is pressed and then released, and is an example of a pseudo click sound. The second release threshold is, for example, when the average pressing operation is performed, the time Δt in the first example, for example, 5 msec to 30 seconds, has elapsed since the pressing load reached the first release threshold value. It is the load that sometimes reaches. The pressing load tends to decrease while the user weakens the pressing load, and the second release threshold is smaller than the first press threshold. The second release threshold value can be set according to, for example, the spring constant of the pretension spring 150. In the example shown in FIG. 9, the pressing load reaches the second release threshold when the height h reaches the threshold Rth2. The second release threshold is another example of the second threshold.

According to the operating device 100 provided with the control device 180 that controls the second example, the tactile stimulus given to the fingertip 10 in step S202 and the auditory stimulus generated in step S204. However, it reaches the brain almost at the same time. Further, the tactile stimulus given to the fingertip 10 in step S206 and the auditory stimulus generated in step S208 reach the brain almost at the same time. Therefore, the user can perceive the auditory stimulus and the tactile stimulus with a natural sensation.

In the second example, after the pressing load reaches the first press threshold value, the pressing load is weakened or maintained in the vicinity of the first press threshold value before the pressing load reaches the second press threshold value. In that case, the presentation of the sound in step S204 is not performed. Therefore, the amplitude of the vibration presented in step S202 is adjusted, and even if the user does not increase the pressing load after reaching the first press threshold value, the height h is the threshold value after reaching the first press threshold value. You may try to reach Pth2. By adjusting the amplitude of the vibration in this way, it is possible to reliably present the sound of step S204. The time from when the height h reaches the threshold value Pth2 after reaching the first press threshold value is preferably about the same as the time Δt in the first example.

Similarly, in the second example, after the pressing load reaches the first release threshold, the pressing load is conversely increased before the pressing load reaches the second release threshold, or near the first release threshold. If it is maintained at, the presentation of the sound in step S208 is not performed. Therefore, even if the amplitude of the vibration presented in step S206 is adjusted and the user does not weaken the pressing load after reaching the first release threshold, the height h is the threshold after reaching the first release threshold. You may try to reach Rth2. By adjusting the amplitude of the vibration in this way, the sound of step S208 can be reliably presented. The time from when the height h reaches the threshold value Rth2 after reaching the first press threshold value is preferably about the same as the time Δt in the first example.

The operation device 100 is particularly suitable for an operation device operated by a driver of an automobile. The driver can receive vibration feedback for the pressing operation on the operating device performed by the driver without diverting the line of sight from the traveling direction of the vehicle. Further, in this tactile feedback, not only the tactile stimulus but also the auditory stimulus similar to the sound generated when the mechanical switch is operated can be received. Furthermore, since the tactile stimulus and the auditory stimulus can be perceived almost simultaneously in the brain, the discomfort that occurs when vibration and voice are generated at the same time is alleviated, and the auditory stimulus and the tactile stimulus are naturally felt. Can be perceived.

The operation unit is not limited to the one that the user presses with the fingertip of the hand. For example, it may be an accelerator pedal, a brake pedal, or a clutch pedal of an automobile in which the operation unit presses the sole of the foot. The length of the nerve from the brain to the sole of the foot is about twice the distance of the nerve to the fingertips of the hand. Therefore, the time Δt of the operating device for pressing with the sole of the foot is preferably about twice the time Δt for the operating device for pressing with the fingertips of the hand, for example, about 10 msec to 60 msec.

Further, the tactile and auditory presentation device is not limited to an operation device provided with an operation unit, and is not provided with an operation unit, and presents a stimulus to the sense of touch and a stimulus to the hearing by using a signal input from the outside as a trigger. It may be a device. For example, the tactile and auditory presentation device may be attached to the steering wheel of the automobile or may be attached to the driver's seat.

FIG. 10 is a flowchart showing the contents of processing by the control device of the tactile and auditory presentation device triggered by a signal input from the outside. This tactile and auditory presentation device includes a movable portion, an actuator, a speaker, and a control device, and the control device performs control according to the flowchart shown in FIG.

The control device monitors whether or not there is an input of a specific signal from the outside that becomes a trigger (step S301), and when the signal that becomes a trigger is input (YES in step S301), the control device drives and moves the actuator. Vibration is applied to the portion (step S302). For example, when the tactile and auditory presentation device is attached to the steering wheel of an automobile, the trigger signal is a signal indicating that a deviation from the lane has been detected. Further, when the tactile and auditory presentation device is attached to the driver's seat of the automobile, the trigger signal is a signal indicating the approach of the vehicle behind. That is, in this tactile and auditory presentation device, vibration and voice are presented regardless of the intention of the user who presents them.

After that, when the preset time Δt elapses (YES in step S303), the control device causes the speaker to output sound (step S304). This voice is, for example, a warning sound to the driver. The time Δt is, for example, the time t1 until the tactile stimulus is transmitted to the brain through the nerves in the body and the voice output from the speaker enters the ear and is transmitted to the brain in a user having an average physique. It is about the difference from the time t2 until. For example, when the tactile and auditory presentation device is provided in the portion corresponding to the back of the driver in the driver's seat, it is shorter than the time difference in the first example of the control method of the operating device 100, and the time Δt is 3 msec to 20 msec. be able to.

The control device of this tactile and auditory presentation device performs the above-described operation. As in the second example of the control method of the operation device 100, the control device of the tactile and auditory presentation device is not a control using the time Δt, but a control using a two-step press threshold value and a two-step release threshold value. May be done.

A tactile and auditory presentation device attached to an accelerator pedal or a brake pedal of an automobile may perform the control as shown in FIG. In this case, for example, when the automatic brake for avoiding a forward collision is activated, the vibration can be presented by the actuator by using the activation signal as a trigger, and then the voice can be presented by the speaker.

In addition, a tactile and auditory presentation device is attached to the door handle of the automobile, and when the door is being opened, the vibration is presented by the actuator triggered by the approach of the vehicle from behind, and then the voice is presented by the speaker. Can be presented.

In addition, the tactile and auditory presentation device can also be used for smartphones, microwave ovens, refrigerators, game controllers equipped with virtual reality (VR) functions, gloves, body suits, remote control controllers for heavy machinery, and the like.

100 Operation device (tactile and auditory presentation device)
110 Fixed base 130 Movable base (movable part)
140 Touch pad (operation unit)
141 Decorative panel 142 Electrostatic sensor 150 Pretension spring 160 Actuator (vibration imparting part)
170 Photo interrupter (detector)
180 Control device (control unit)
200 speakers (audio output section)

Claims (8)

Moving parts and
A vibration applying portion that applies vibration to the movable portion,
An audio output unit that outputs audio and
A control unit that controls the vibration applying unit and the audio output unit,
Have,
The control unit is a tactile-hearing presentation device characterized in that the vibration-applying unit is applied with the vibration and then the voice output unit is output with the voice. The movable portion has an operation portion that is pressed and operated.
A detection unit for detecting the pressing operation of the operation unit is further provided.
The tactile-hearing presentation device according to claim 1, wherein the control unit applies the vibration to the vibration-imparting unit by triggering the detection unit to detect the pressing operation. The detection unit detects the physical quantity of the operation unit accompanying the pressing operation, and detects the physical quantity of the operation unit.
The control unit
When the physical quantity detected by the detection unit reaches a preset threshold value, the vibration applying unit is made to apply the vibration.
The tactile and auditory presentation device according to claim 2, wherein when a preset time elapses after the vibration is applied to the vibration applying unit, the voice is output to the voice output unit. The detection unit detects the physical quantity of the operation unit accompanying the pressing operation, and detects the physical quantity of the operation unit.
The control unit
When the physical quantity detected by the detection unit reaches a preset first threshold value, the vibration applying unit is made to apply the vibration.
When the physical quantity detected by the detection unit reaches a preset second threshold value, the voice output unit is made to output the voice.
When the physical quantity tends to increase, the second threshold value is larger than the first threshold value.
The tactile and auditory presentation device according to claim 2, wherein when the physical quantity tends to decrease, the second threshold value is smaller than the first threshold value. The fourth aspect of the present invention is characterized in that the physical quantity detected by the detection unit of the operation unit reaches the second threshold value after the vibration is applied by the vibration applied by the vibration imparting unit. The tactile and auditory presentation device described. The tactile hearing according to any one of claims 3 to 5, wherein the physical quantity is a pressing load of the pressing operation of the operating unit or a displacement amount of the operating unit due to the pressing operation. Presentation device. The tactile-auditory presentation device according to any one of claims 1 to 6, wherein the voice output unit outputs a pseudo-click sound as the voice. Moving parts and
A vibration applying portion that applies vibration to the movable portion,
An audio output unit that outputs audio and
It is a control method of a tactile and auditory presentation device having
A method for controlling a tactile-hearing presentation device, characterized in that the sound is output to the sound output unit after the vibration is applied to the vibration-imparting unit.

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