JP2021060896A - Force-sense generating device - Google Patents

Force-sense generating device Download PDF

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JP2021060896A
JP2021060896A JP2019185749A JP2019185749A JP2021060896A JP 2021060896 A JP2021060896 A JP 2021060896A JP 2019185749 A JP2019185749 A JP 2019185749A JP 2019185749 A JP2019185749 A JP 2019185749A JP 2021060896 A JP2021060896 A JP 2021060896A
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rotary
housing
force
holder
rotation
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JP7344742B2 (en
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鈴木　克俊
Katsutoshi Suzuki
克俊 鈴木
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Alps Alpine Co Ltd
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Alps Alpine Co Ltd
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Abstract

To provide a force-sense generating device which senses vibration and can obtain a sense of resistance when tilted.SOLUTION: A force-sense generating device includes: a housing; a rotary holder which is mounted inside the housing in a state so as to be rotatable around a first direction; a first rotary driving part which rotates with a second direction, as a rotary axis, perpendicular to the first direction and provided inside the rotary holder; and a first rotary weight which is mounted on a rotary shaft of the first rotary driving part. The force sense is generated by operation of tilting the housing.SELECTED DRAWING: Figure 3

Description

本発明は、力覚生成装置に関するものである。 The present invention relates to a force sense generator.

近年、バーチャルリアリティに関する技術が普及しており、一般にバーチャルリアリティを体験できる機会が増えつつある。例えば、ゲーム機のコントローラやコンピュータ入力装置において、バーチャルリアリティによる力覚を生じさせ、臨場感等を体感することのできるものが開示されている。 In recent years, technologies related to virtual reality have become widespread, and opportunities to experience virtual reality are increasing in general. For example, a controller of a game machine or a computer input device that can generate a force sensation by virtual reality and experience a sense of reality or the like is disclosed.

特開２０００−３０８７５６号公報Japanese Unexamined Patent Publication No. 2000-308756 特開２０００−００５４４２号公報Japanese Unexamined Patent Publication No. 2000-005442

しかしながら、上記のような力覚を生じさせる装置は、振動は発生させることはできるが、傾けたときの抵抗感がないものや、傾けたときの抵抗感はあるが、振動が発生しないものである。 However, a device that generates a sense of force as described above can generate vibration but does not have a feeling of resistance when tilted, or has a feeling of resistance when tilted but does not generate vibration. is there.

このため、振動を感じるとともに、傾けたときの抵抗感を得ることのできる力覚生成装置が求められている。 Therefore, there is a demand for a force sensation generator capable of feeling vibration and obtaining a feeling of resistance when tilted.

本実施の形態の一観点によれば、筐体と、前記筐体の内部において、第１の方向を軸に回動可能な状態で取り付けられている回動ホルダと、前記回動ホルダの内部に設けられた前記第１の方向と直交する第２の方向を回転軸として回転する第１の回転駆動部と、前記第１の回転駆動部の回転軸に取り付けられた第１の回転錘と、を有し、前記筐体を傾ける操作をすることにより力覚が生成されることを特徴とする。 According to one aspect of the present embodiment, the housing, the rotating holder attached to the inside of the housing in a state of being rotatable about the first direction, and the inside of the rotating holder. A first rotary drive unit that rotates about a second direction orthogonal to the first direction, and a first rotary weight attached to the rotary shaft of the first rotary drive unit. , And the force sense is generated by the operation of tilting the housing.

開示の力覚生成装置によれば、振動を感じるとともに、傾けたときの抵抗感を得ることができる。 According to the disclosed force sense generator, it is possible to feel vibration and obtain a feeling of resistance when tilted.

第１の実施の形態における力覚生成装置の外観斜視図External perspective view of the force sense generator according to the first embodiment 第１の実施の形態における力覚生成装置の内部の斜視図A perspective view of the inside of the force sense generator according to the first embodiment. 第１の実施の形態における力覚生成装置の分解斜視図An exploded perspective view of the force sense generator according to the first embodiment. 第１の実施の形態における力覚生成装置の説明図Explanatory drawing of the force sense generator in the 1st Embodiment 第１の実施の形態における力覚生成装置の回動ホルダの斜視図Perspective view of the rotating holder of the force sense generator according to the first embodiment. 第１の実施の形態における力覚生成装置の回動ホルダの内部の斜視図Perspective view of the inside of the rotating holder of the force sense generator according to the first embodiment. 第１の実施の形態における力覚生成装置の内部の説明図（１）Explanatory drawing of the inside of the force sense generator in the 1st Embodiment (1) 第１の実施の形態における力覚生成装置の内部の説明図（２）Explanatory drawing (2) of the inside of the force sense generation apparatus in 1st Embodiment 第２の実施の形態における力覚生成装置の説明図（１）Explanatory drawing of the force sense generator in the second embodiment (1) 第２の実施の形態における力覚生成装置の説明図（２）Explanatory drawing of the force sense generator in the second embodiment (2) 第２の実施の形態における力覚生成装置の説明図（３）Explanatory drawing of the force sense generator in the second embodiment (3)

実施するための形態について、以下に説明する。尚、同じ部材等については、同一の符号を付して説明を省略する。また、本願においては、Ｘ１−Ｘ２方向、Ｙ１−Ｙ２方向、Ｚ１−Ｚ２方向を相互に直交する方向とする。また、Ｘ１−Ｘ２方向及びＹ１−Ｙ２方向を含む面をＸＹ面と記載し、Ｙ１−Ｙ２方向及びＺ１−Ｚ２方向を含む面をＹＺ面と記載し、Ｚ１−Ｚ２方向及びＸ１−Ｘ２方向を含む面をＺＸ面と記載する。 The embodiment for carrying out will be described below. The same members and the like are designated by the same reference numerals and the description thereof will be omitted. Further, in the present application, the X1-X2 direction, the Y1-Y2 direction, and the Z1-Z2 direction are defined as directions orthogonal to each other. Further, the surface including the X1-X2 direction and the Y1-Y2 direction is described as the XY surface, the surface including the Y1-Y2 direction and the Z1-Z2 direction is described as the YZ surface, and the Z1-Z2 direction and the X1-X2 direction are described as the YZ surface. The surface including the surface is referred to as a ZX surface.

〔第１の実施の形態〕
第１の実施の形態における力覚生成装置について説明する。本実施の形態における力覚生成装置は、例えば、手に持った状態で使用するものであり、内部において発生した振動を手に伝えることにより、人に力覚として情報を伝えることができ、また、力覚生成装置を傾けた場合に抵抗感を得ることができる。このため、本実施の形態における力覚生成装置は、ゲーム機のコントローラ、各種リモコン、携帯機器等の手に持って操作するものに用いることができるものであり、空中に把持した状態で用いられる。 [First Embodiment]
The force sense generation device according to the first embodiment will be described. The force sensation generator in the present embodiment is used, for example, while being held in a hand, and by transmitting the vibration generated inside to the hand, information can be transmitted to a person as a force sensation. , A feeling of resistance can be obtained when the force sense generator is tilted. Therefore, the force sense generation device in the present embodiment can be used for a controller of a game machine, various remote controllers, a portable device, or the like that is held and operated by a hand, and is used in a state of being held in the air. ..

本実施の形態における力覚生成装置について、図１から図３に基づき説明する。図１は、本実施の形態における力覚生成装置の外観の斜視図であり、図２は、内部構造を示す斜視図であり、図３は、分解斜視図である。 The force sensation generator according to the present embodiment will be described with reference to FIGS. 1 to 3. FIG. 1 is a perspective view of the appearance of the force sensation generator according to the present embodiment, FIG. 2 is a perspective view showing an internal structure, and FIG. 3 is an exploded perspective view.

本実施の形態における力覚生成装置は、外側が長球状の筐体１０に覆われている。筐体は、Ｙ１側の一方の筐体部１０ａと、Ｙ２側の他方の筐体部１０ｂとを接続することにより形成されている。図２は、他方の筐体部１０ｂを取り外した状態の斜視図である。筐体１０の内部には、第１の回転錘２１、２２、第２の回転錘３１、３２、回動ホルダ４０等を有している。 The force sensation generator in the present embodiment is covered with a long spherical housing 10 on the outside. The housing is formed by connecting one housing portion 10a on the Y1 side and the other housing portion 10b on the Y2 side. FIG. 2 is a perspective view showing a state in which the other housing portion 10b is removed. Inside the housing 10, there are first rotary weights 21, 22, second rotary weights 31, 32, a rotary holder 40, and the like.

回動ホルダ４０は、Ｚ１側に設けられたベアリング４１とＺ２側に設けられたベアリング４２とによりＺ１−Ｚ２方向を回転軸として回動可能な状態で、筐体１０の内部に取り付けられている。回動ホルダ４０は、略立方体の形状で形成されており、図４に示されるように内部に、第１のモータ５０及び第２のモータ６０を有している。図４は、本実施の形態における力覚生成装置の分解斜視図において、回動ホルダ４０の筐体部及びベアリング４１、４２を取り除いた状態を示す。本願においては、第１のモータ５０を第１の回転駆動部と記載し、第２のモータ６０を第２の回転駆動部と記載する場合がある。 The rotation holder 40 is attached to the inside of the housing 10 in a state where the bearing 41 provided on the Z1 side and the bearing 42 provided on the Z2 side can rotate around the Z1-Z2 direction as a rotation axis. .. The rotating holder 40 is formed in a substantially cubic shape, and has a first motor 50 and a second motor 60 inside as shown in FIG. FIG. 4 shows an exploded perspective view of the force sensation generator according to the present embodiment, in which the housing portion of the rotating holder 40 and the bearings 41 and 42 are removed. In the present application, the first motor 50 may be referred to as a first rotary drive unit, and the second motor 60 may be referred to as a second rotary drive unit.

図５は、回動ホルダ４０の斜視図であり、図６は、回動ホルダ４０の内部の斜視図である。回動ホルダ４０の筐体の内部では、第１のモータ５０と第２のモータ６０は、Ｚ１−Ｚ２方向において重ねて配置されており、第１のモータ５０がＺ１側、第２のモータ６０がＺ２側となっている。第１のモータ５０には、Ｘ１−Ｘ２方向に平行な回転軸５１が設けられており、回転軸５１を中心に回転可能である。また、第２のモータ６０には、Ｙ１−Ｙ２方向に平行な回転軸６１が設けられており、回転軸６１を中心に回転可能である。 FIG. 5 is a perspective view of the rotating holder 40, and FIG. 6 is a perspective view of the inside of the rotating holder 40. Inside the housing of the rotation holder 40, the first motor 50 and the second motor 60 are arranged so as to be overlapped in the Z1-Z2 direction, and the first motor 50 is on the Z1 side and the second motor 60. Is on the Z2 side. The first motor 50 is provided with a rotation shaft 51 parallel to the X1-X2 directions, and is rotatable about the rotation shaft 51. Further, the second motor 60 is provided with a rotation shaft 61 parallel to the Y1-Y2 direction, and can rotate around the rotation shaft 61.

図５に示されるように、回動ホルダ４０の筐体のＸ１側のＹＺ面に平行な面には、貫通孔４３が設けられており、第１のモータ５０の回転軸５１のＸ１側の部分が、貫通孔４３より回動ホルダ４０の筐体の外側に出ている。また、回動ホルダ４０の筐体のＹ２側のＺＸ面に平行な面には、貫通孔４４が設けられており、第２のモータ６０の回転軸６１のＹ２側の部分が、貫通孔４４より回動ホルダ４０の筐体の外側に出ている。同様に、図示はしないが、回動ホルダ４０の筐体のＸ２側のＹＺ面に平行な面には、貫通孔が設けられており、第１のモータ５０の回転軸５１のＸ２側の部分が、貫通孔より回動ホルダ４０の筐体の外側に出ている。また、回動ホルダ４０の筐体のＹ１側のＺＸ面に平行な面には、貫通孔が設けられており、第２のモータ６０の回転軸６１のＹ１側の部分が、貫通孔より回動ホルダ４０の筐体の外側に出ている。 As shown in FIG. 5, a through hole 43 is provided in a surface parallel to the YZ surface on the X1 side of the housing of the rotating holder 40, and is provided on the X1 side of the rotating shaft 51 of the first motor 50. The portion protrudes from the through hole 43 to the outside of the housing of the rotating holder 40. Further, a through hole 44 is provided on the surface of the rotating holder 40 that is parallel to the ZX surface on the Y2 side, and the portion of the rotating shaft 61 of the second motor 60 on the Y2 side is the through hole 44. It is exposed to the outside of the housing of the rotating holder 40. Similarly, although not shown, a through hole is provided in a surface parallel to the YZ surface on the X2 side of the housing of the rotation holder 40, and a portion of the rotation shaft 51 of the first motor 50 on the X2 side. Is protruding from the through hole to the outside of the housing of the rotating holder 40. Further, a through hole is provided in the surface parallel to the ZX surface of the housing of the rotation holder 40 on the Y1 side, and the portion of the rotation shaft 61 of the second motor 60 on the Y1 side is rotated from the through hole. It is exposed to the outside of the housing of the moving holder 40.

図７は、回動ホルダ４０に、第１の回転錘２１、２２、第２の回転錘３１、３２が取り付けられている状態の斜視図であり、図８は、第１のモータ５０及び第２のモータ６０と、第１の回転錘２１、２２、第２の回転錘３１、３２との関係を示す斜視図である。図７及び図８に示されるように、第１のモータ５０の回転軸５１のＸ１側の端部には第１の回転錘２１が取り付けられており、第１のモータ５０の回転軸５１のＸ２側の端部には第１の回転錘２２が取り付けられている。第１のモータ５０の回転軸５１を回転させることにより、回転軸５１のＸ１−Ｘ２方向の両端に取り付けられている第１の回転錘２１及び第１の回転錘２２を回転させることができる。 FIG. 7 is a perspective view of a state in which the first rotary weights 21 and 22 and the second rotary weights 31 and 32 are attached to the rotary holder 40, and FIG. 8 shows the first motor 50 and the first motor 50. It is a perspective view which shows the relationship between the motor 60 of 2 and the 1st rotary weight 21, 22, and the 2nd rotary weight 31, 32. As shown in FIGS. 7 and 8, a first rotary weight 21 is attached to the end of the rotary shaft 51 of the first motor 50 on the X1 side, and the rotary shaft 51 of the first motor 50 A first rotary weight 22 is attached to the end on the X2 side. By rotating the rotary shaft 51 of the first motor 50, the first rotary weight 21 and the first rotary weight 22 attached to both ends of the rotary shaft 51 in the X1-X2 direction can be rotated.

また、第２のモータ６０の回転軸６１のＹ１側の端部には第２の回転錘３１が取り付けられており、第２のモータ６０の回転軸６１のＹ２側の端部には第２の回転錘３２が取り付けられている。第２のモータ６０の回転軸６１を回転させることにより、回転軸６１のＹ１−Ｙ２方向の両端に取り付けられている第２の回転錘３１及び第２の回転錘３２を回転させることができる。 Further, a second rotary weight 31 is attached to the end of the rotary shaft 61 of the second motor 60 on the Y1 side, and a second rotary weight 31 is attached to the end of the rotary shaft 61 of the second motor 60 on the Y2 side. The rotary weight 32 of is attached. By rotating the rotating shaft 61 of the second motor 60, the second rotating weight 31 and the second rotating weight 32 attached to both ends of the rotating shaft 61 in the Y1-Y2 direction can be rotated.

本実施の形態においては、第１のモータ５０の回転軸５１を回転させることにより、回転軸５１のＸ１−Ｘ２方向の両端に取り付けられている第１の回転錘２１及び第１の回転錘２２が回転し、ジャイロ効果により、回転軸５１の方向を保ち、この状態を維持しようとする。同様に、第２のモータ６０の回転軸６１を回転させることにより、回転軸６１のＹ１−Ｙ２方向の両端に取り付けられている第２の回転錘３１及び第２の回転錘３２が回転し、ジャイロ効果により、回転軸６１の方向を保ち、この状態を維持しようとする。 In the present embodiment, the first rotary weight 21 and the first rotary weight 22 attached to both ends of the rotary shaft 51 in the X1-X2 direction by rotating the rotary shaft 51 of the first motor 50. Rotates, and the gyro effect keeps the direction of the rotating shaft 51 and tries to maintain this state. Similarly, by rotating the rotary shaft 61 of the second motor 60, the second rotary weights 31 and the second rotary weights 32 attached to both ends of the rotary shaft 61 in the Y1-Y2 direction are rotated. Due to the gyro effect, the direction of the rotating shaft 61 is maintained, and this state is maintained.

本実施の形態における力覚生成装置は、人の手により筐体１０を握った状態等で使用する。このような状態で、本実施の形態における力覚生成装置を傾けた場合、ジャイロ効果により、回転軸５１の方向を保ち、この状態を維持しようとし、また、回転軸６１の方向を保ち、この状態を維持しようとする。このため、本実施の形態における力覚生成装置を持った手に抵抗感を感じる。 The force sensation generator in the present embodiment is used in a state where the housing 10 is held by a human hand. When the force sensation generator according to the present embodiment is tilted in such a state, the direction of the rotating shaft 51 is maintained and this state is maintained due to the gyro effect, and the direction of the rotating shaft 61 is maintained. Try to maintain the state. Therefore, a feeling of resistance is felt in the hand holding the force sensation generator in the present embodiment.

更に、本実施の形態における力覚生成装置を傾けることにより、ジャイロ効果の反作用により揺動が生じ、この揺動による振動が、筐体を介し人に伝わり、人が力覚として振動も得ることができる。具体的には、筐体１０の内部において、回動ホルダ４０はＺ１−Ｚ２軸を中心に回動可能な状態で取り付けられている。本実施の形態における力覚生成装置を傾けることにより、ジャイロ効果の反作用により揺動が生じると、この揺動により、回動ホルダ４０がＺ１−Ｚ２軸を中心に時計回り反時計回りに交互に回動し、この回動により振動が生じる。この振動が筐体１０を握っている人の手に伝わり、人は振動を感じることができる。 Further, by tilting the force sensation generator in the present embodiment, vibration occurs due to the reaction of the gyro effect, and the vibration caused by this vibration is transmitted to a person through the housing, and the person also obtains vibration as a force sensation. Can be done. Specifically, inside the housing 10, the rotating holder 40 is attached in a state in which it can rotate around the Z1-Z2 axes. When the force sensation generator in the present embodiment is tilted to cause vibration due to the reaction of the gyro effect, the rotation holder 40 alternately clockwise and counterclockwise around the Z1-Z2 axis due to this vibration. It rotates, and this rotation causes vibration. This vibration is transmitted to the hand of the person holding the housing 10, and the person can feel the vibration.

よって、本実施の形態における力覚生成装置では、力覚生成装置を傾けることにより、抵抗感と振動との双方の力覚を得ることができる。 Therefore, in the force sense generation device of the present embodiment, by tilting the force sense generation device, it is possible to obtain both a sense of resistance and a force sense of vibration.

〔第２の実施の形態〕
次に、第２の実施の形態における力覚生成装置について説明する。第１の実施の形態における力覚生成装置は、２軸の回転軸で第１の回転錘と第２の回転錘を回転させていたが、本実施の形態における力覚生成装置では、１軸の回転軸で回転錘を回転させるものである。このような構成の力覚生成装置においても、力覚生成装置を傾けると、抵抗感と振動との双方の力覚を感じることができる。 [Second Embodiment]
Next, the force sense generator according to the second embodiment will be described. In the force sense generation device of the first embodiment, the first rotary weight and the second rotary weight are rotated by the two axes of rotation, but in the force sense generation device of the present embodiment, one axis. The rotary weight is rotated by the rotation axis of. Even in a force sense generator having such a configuration, when the force sense generator is tilted, both a sense of resistance and a sense of vibration can be felt.

具体的には、本実施の形態における力覚生成装置は、図９及び図１０に示されるように、筐体１１０の内部に、第１の回転錘２１、２２、回動ホルダ４０等を有している。回動ホルダ４０の内部には、Ｘ１−Ｘ２方向を軸に回転する回転軸５１を有する第１のモータ５０は設けられてはいるが、第２のモータ６０は設けられてはいない。本実施の形態においては、回動ホルダ４０はＺ１−Ｚ２方向の回動軸１４１を中心に回動可能な状態で筐体１１０の内部に取り付けられている。 Specifically, as shown in FIGS. 9 and 10, the force sensation generator according to the present embodiment has the first rotary weights 21, 22, the rotary holder 40, and the like inside the housing 110. doing. Inside the rotation holder 40, a first motor 50 having a rotation shaft 51 that rotates about the X1-X2 direction is provided, but a second motor 60 is not provided. In the present embodiment, the rotation holder 40 is attached to the inside of the housing 110 in a state where it can rotate about the rotation shaft 141 in the Z1-Z2 direction.

第１のモータ５０の回転軸５１のＸ１側の端部には第１の回転錘２１が取り付けられており、Ｘ２側の端部には第１の回転錘２２が取り付けられており、第１のモータ５０が回転軸５１を中心に回転することにより、回転軸５１の両端に取り付けられている第１の回転錘２１、２２が回転する。 The first rotary weight 21 is attached to the end of the rotary shaft 51 of the first motor 50 on the X1 side, and the first rotary weight 22 is attached to the end on the X2 side. As the motor 50 of the above rotates about the rotation shaft 51, the first rotary weights 21 and 22 attached to both ends of the rotation shaft 51 rotate.

図１１に示されるように、本実施の形態における力覚生成装置をＸ２方向に傾けると、Ｘ１−Ｘ２方向の回転軸５１を中心に回転している第１の回転錘２１、２２のジャイロ効果により、回転軸５１の方向を保ち、この状態を維持しようとし、この状態を維持しようとする。このため、抵抗感を感じることができる。 As shown in FIG. 11, when the force sense generator in the present embodiment is tilted in the X2 direction, the gyro effect of the first rotary weights 21 and 22 rotating around the rotation shaft 51 in the X1-X2 direction. Therefore, the direction of the rotation shaft 51 is maintained, this state is maintained, and this state is maintained. Therefore, a feeling of resistance can be felt.

また、本実施の形態における力覚生成装置を傾けることにより、ジャイロ効果の反作用により揺動が生じると、この揺動により、回動ホルダ４０がＺ１−Ｚ２方向の回動軸１４１を中心に時計回り反時計回りに交互に回動し、この回動により振動が生じる。この振動が筐体１１０を握っている人の手に伝わり、人は振動を感じることができる。 Further, when the force sense generator in the present embodiment is tilted to cause a swing due to the reaction of the gyro effect, the swing causes the rotation holder 40 to watch around the rotation shaft 141 in the Z1-Z2 direction. It rotates alternately counterclockwise, and this rotation causes vibration. This vibration is transmitted to the hand of the person holding the housing 110, and the person can feel the vibration.

尚、上記以外の内容については、第１の実施の形態と同様である。 The contents other than the above are the same as those in the first embodiment.

以上、実施の形態について詳述したが、特定の実施形態に限定されるものではなく、特許請求の範囲に記載された範囲内において、種々の変形及び変更が可能である。 Although the embodiments have been described in detail above, the embodiments are not limited to the specific embodiments, and various modifications and changes can be made within the scope of the claims.

１０ 筐体
１０ａ 一方の筐体部
１０ｂ 他方の筐体部
２１、２２ 第１の回転錘
３１、３２ 第２の回転錘
４０ 回動ホルダ
４１、４２ ベアリング
４３、４４ 貫通孔
５０ 第１のモータ
６０ 第２のモータ 10 Housing 10a One housing 10b The other housing 21, 22 First rotary weights 31, 32 Second rotary weights 40 Rotating holders 41, 42 Bearings 43, 44 Through holes 50 First motor 60 Second motor

Claims (4)

筐体と、
前記筐体の内部において、第１の方向を軸に回動可能な状態で取り付けられている回動ホルダと、
前記回動ホルダの内部に設けられた前記第１の方向と直交する第２の方向を回転軸として回転する第１の回転駆動部と、
前記第１の回転駆動部の回転軸に取り付けられた第１の回転錘と、
を有し、
前記筐体を傾ける操作をすることにより力覚が生成されることを特徴とする力覚生成装置。 With the housing
A rotating holder mounted inside the housing so as to be rotatable about the first direction,
A first rotation drive unit provided inside the rotation holder and rotating about a second direction orthogonal to the first direction as a rotation axis.
A first rotary weight attached to the rotary shaft of the first rotary drive unit, and
Have,
A force sense generating device characterized in that a force sense is generated by an operation of tilting the housing. 前記回動ホルダの内部に設けられた前記第１の方向及び前記第２の方向と直交する第３の方向を回転軸として回転する第２の回転駆動部と、
前記第２の回転駆動部の回転軸に取り付けられた第２の回転錘と、
を有することを特徴とする請求項１に記載の力覚生成装置。 A second rotation drive unit provided inside the rotation holder and rotating about the first direction and a third direction orthogonal to the second direction as a rotation axis.
A second rotary weight attached to the rotary shaft of the second rotary drive unit, and
The force sense generating device according to claim 1, wherein the force sense generating device is characterized by having. 前記筐体の内部において、
前記第１の回転錘は、前記回動ホルダの外側に２つ設けられており、第１の回転駆動部の回転軸の両端に取り付けられており、
前記第２の回転錘は、前記回動ホルダの外側に２つ設けられており、第２の回転駆動部の回転軸の両端に取り付けられていることを特徴とする請求項２に記載の力覚生成装置。 Inside the housing
Two of the first rotary weights are provided on the outside of the rotary holder, and are attached to both ends of the rotary shaft of the first rotary drive unit.
The force according to claim 2, wherein two of the second rotary weights are provided on the outside of the rotary holder and are attached to both ends of the rotary shaft of the second rotary drive unit. Sense generator. 前記第１の回転駆動部と、前記第２の回転駆動部は、前記第１の方向に重ねて配置されていることを特徴とする請求項２または３に記載の力覚生成装置。 The force sensation generating device according to claim 2 or 3, wherein the first rotation driving unit and the second rotation driving unit are arranged so as to be overlapped with each other in the first direction.
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0461598U (en) * 1990-10-05 1992-05-27
JP2005190465A (en) * 2003-11-20 2005-07-14 National Institute Of Advanced Industrial & Technology Tactile force information display system and method
JP2009075861A (en) * 2007-09-20 2009-04-09 Panasonic Corp Input device and system
JP2009289015A (en) * 2008-05-29 2009-12-10 Sharp Corp Force-applying input apparatus

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0461598U (en) * 1990-10-05 1992-05-27
JP2005190465A (en) * 2003-11-20 2005-07-14 National Institute Of Advanced Industrial & Technology Tactile force information display system and method
JP2009075861A (en) * 2007-09-20 2009-04-09 Panasonic Corp Input device and system
JP2009289015A (en) * 2008-05-29 2009-12-10 Sharp Corp Force-applying input apparatus

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