JP2022149250A - Foot sole tactile device and vr system - Google Patents

Abstract

To provide a foot sole tactile device capable of generating a tactile sense corresponding to various ground surface states in accordance with a human movement of walking.SOLUTION: A foot sole tactile device 40 includes: an input device 10 having a pressure-sensitive sensor 12 for foot soles; plural foot sole side syringes 22 abutting on each of plural places of foot soles; an output device 20 having a stepping motor 26 for driving the foot sole side syringe 22; a pedestal 28 for mounting the input device 10 and the output device 20; and a control device 30 for receiving a detection signal and an external signal from the input device 10 and outputting an output signal to the output device 20. The control device 30 drives each of the foot sole side syringes 22 such that pressure detected by the pressure-sensitive sensor 12 becomes a value corresponding to ground surface information Q when receiving the ground surface information Q.SELECTED DRAWING: Figure 1

Description

Patent Law Article 30, Paragraph 2 applied Date of publication: December 11, 2020 Publication location: The Institute of Electronics, Communication and Information Engineers Publication method: Published in abstracts of the conference (December 18 of the same year)

The present invention relates to a sole haptic device that generates a tactile sensation on the sole and a VR system that includes the sole haptic device.

Currently, Virtual Reality (VR) technology has been introduced into various fields such as simulation and training, and is useful in people's lives. Also, by combining VR technology and tactile technology, it is possible to experience touching a three-dimensional object in a virtual space from a remote location. Such technology is applied not only to the tactile sense of the hand but also to the tactile sense of the foot.

In the smart shoe of US Pat. No. 6,200,006 (Public Art 1), a controller embedded on the shoe uses data received from one or more sensing elements to generate a pressure mapping display. A pressure mapping display is presented in the user interface of the mobile device.

The controller can use data from the sensing elements to generate a motion animation display. The motion animation display includes an avatar that can move like a person wearing smart shoes, and the person's movements are substantially reflected in the avatar (Patent Document 1/paragraph 0051,0052, FIG. 6).

Also, in recent years, a tactile device has been known that can obtain a tactile sensation by sliding a device having a plurality of syringes on the sole of the foot. This device can generate a tactile sensation on the sole of the foot by controlling each syringe to be pushed up when it is slid (publicly known technique 2).

Japanese Patent Publication No. 2020-518296

The smart shoes of known technique 1 have a problem that it is easy to perform pressure mapping on a hard surface (rigid body), but accurate pressure mapping is difficult on a relatively soft surface (plastic body).

In addition, the tactile device of known technology 2 is excellent in that it allows the subject to recognize the size of the tactile sensation of the sole of the foot. . Therefore, although the tactile sensation of tracing the surface of a three-dimensional object can be obtained, the tactile sensation felt by the sole of a person's foot while walking cannot be obtained.

The present invention has been made in view of such circumstances, and aims to provide a sole tactile device capable of generating tactile sensations corresponding to various ground conditions in response to the walking motion of a person. aim.

A first invention is a sole tactile device that generates a tactile sensation with respect to the sole of a subject's foot,
An input device having a pressure-sensitive sensor for detecting pressure applied to the sole, a plurality of abutment portions provided to abut on a plurality of locations of the sole, and driving each of the abutment portions. an output device having one or more driving units; a base on which the input device and the output device are mounted; a detection signal from the input device and an external signal from other than the input device; a control device that outputs an output signal to
The control device controls the drive unit when ground information having at least information about the hardness of the ground is received as the external signal, and the pressure detected by the pressure sensor becomes a value corresponding to the ground information. and driving each of the contact portions.

A sole haptic device of the first invention comprises an input device, an output device, and a control device. When receiving ground information (ground hardness information) as an external signal, the control device drives each of the contact parts so that the subject using the sole tactile device can feel the tactile sensation. In particular, since the pressure sensor constantly detects pressure during use, the control device drives and controls each of the contact portions so that the pressure becomes a value corresponding to the ground information. This allows the device to generate tactile sensations in response to ground surfaces of varying hardness.

In the sole haptic device of the first invention, the ground information further includes three-dimensional coordinate information of the ground, and the control device can drive each of the contact parts based on the three-dimensional coordinate information. preferable.

The ground information has three-dimensional coordinate information of the ground in addition to the hardness information of the ground. Therefore, the control device drives and controls each of the contact portions so that the pressure becomes a value corresponding to the ground information. This allows the device to generate a haptic sensation in response to a given position, slope or uneven ground.

A second aspect of the present invention includes the above-mentioned sole tactile sense devices corresponding to both feet, an image display device capable of displaying in a virtual space the avatar of the subject wearing the sole tactile sense devices, and an image display device that is linked to the movement of the subject's feet. and an image processing device that performs image processing so that the legs of the avatar move,
The input device includes a movement amount detection unit that detects the amount of movement of the pedestal when the subject's leg moves, and a movement direction detection unit that detects the movement direction of the subject by measuring the acceleration and angular velocity of the pedestal. The control device detects the pressure detected by the pressure-sensitive sensor, the movement amount detected by the movement amount detection section, and the movement direction detected by the movement direction detection section in the image. The avatar is transmitted to a processing device, and the avatar is operated on the image display device based on the image processing device.

The VR system of the second invention comprises the foot tactile device, an image display device capable of displaying the subject's avatar in a virtual space, and an image that performs image processing so that the avatar's feet move in conjunction with the subject's feet. and a processor. Since the pedestal moves when the subject using the sole tactile device moves his or her foot, the pressure of the pressure sensor, the amount of movement detected by the movement amount detector, and the movement direction of the movement direction detector are sent to the controller, and the control signal is transmitted to the image. sent to the processor. As a result, the present system enables the avatar to reproduce the movement of the subject's legs on the image display device.

In the VR system of the second aspect of the invention, when the avatar walks in the virtual space, it is preferable to drive each of the contact parts by controlling the drive part based on the ground information.

For example, when an avatar walks on a hard, uneven ground surface in a virtual space, the control device that receives the ground information controls the drive unit. At this time, since the control device drives each of the contact portions according to the ground condition, the subject can obtain a tactile sensation of the sole according to the ground condition.

In the VR system of the second invention, the movement amount detection unit is a hall sensor that detects the movement amount by rotating a roller in which a magnet is embedded when the subject's leg moves, and the hall sensor detects the movement amount. It is preferable that the sensor can detect the movement amount when the pressure sensor detects the pressure.

When the subject's foot (pedestal) moves and the roller rotates, the movement amount detection unit detects the movement amount by the Hall sensor detecting the magnetism of the magnet. Further, since the Hall sensor can detect the movement amount when the pressure sensor detects the pressure, idle rotation of the roller is not detected, and unnecessary movement of the avatar can be suppressed.

BRIEF DESCRIPTION OF THE DRAWINGS The figure explaining the outline|summary of the VR system which concerns on 1st Embodiment of this invention. The figure explaining the detail of the sole haptic device which concerns on 1st Embodiment. The figure which shows an example of the contact pattern of a sole when a test subject walks. The figure explaining the arrangement|sequence of the sole syringe of a sole tactile device. Timing chart of pressure changes when the subject walks. Flowchart (first half) of various controls performed in the VR system. Flowchart (second half) of various controls performed in the VR system. The figure explaining the detail of the sole haptic device included in the VR system which concerns on 2nd Embodiment of this invention. The figure which shows the correlation graph of the input/output of the sole haptic device of 2nd Embodiment.

Hereinafter, embodiments of a sole haptic device according to the present invention and a VR system including the sole haptic device will be described with reference to the drawings.

[First Embodiment]
FIG. 1 shows an outline of a VR system 1 according to a first embodiment of the invention.

The VR system 1 mainly includes an input device 10 , an output device 20 , a control device 30 , a computer 50 and a head mounted display 60 . The input device 10, the output device 20, and the control device 30 constitute a sole tactile device 40, which will be described later.

The input device 10 comprises a pressure sensor 12 , a hall sensor 14 and an inertial measurement device 16 . The pressure sensor 12 is a pressure sensor that determines whether or not the bottom of the sole tactile device 40 is in contact with the ground when the subject wears the sole tactile device 40 .

The Hall sensor 14 is a magnetic sensor that utilizes the Hall effect of a semiconductor. Although details will be described later, the amount of movement of the sole tactile device 40 is detected by detecting the approach of the magnet embedded in the roller by the Hall sensor 14 .

An inertial measurement unit (IMU) 16 is a device that detects motion in a translational direction with an acceleration sensor and motion in a rotational direction with an angular velocity (gyro) sensor. The inertial measurement unit 16 determines the orientation of the sole tactile device 40 by measuring a total of six axes of motion. Detection signals from the pressure sensor 12 , Hall sensor 14 and inertial measurement device 16 are sent to the control device 30 .

The output device 20 comprises a sole syringe 22 , a motor-side syringe 24 and a stepping motor 26 . The sole syringe 22, the motor side syringe 24, and the stepping motor 26 can be driven by receiving an output signal from the control device 30 to adjust the pressure applied to the sole of the subject.

The foot sole syringe 22 (the "contact portion" of the present invention) is a syringe provided upright so as to contact the sole of the subject's foot F (see FIG. 2), and the motor side syringe 24 is a stepping motor. 26 and connected syringe. The "syringe" of this embodiment is a so-called air cylinder consisting of a cylindrical portion and a piston, the piston being moved by air pressure.

The stepping motor 26 (the “driving unit” of the present invention) is a motor that rotates according to the number of input pulse signals, and can perform accurate positioning. The stepping motor 26 used this time is an actuator that drives the motor-side syringe 24 by linearly moving the shaft portion.

The control device 30 can transmit and receive signals to and from the input device 10 and the output device 20, and can transmit and receive control signals to and from the computer 50 in a wired or wireless manner. This time, a one-board microcomputer “Arduino (registered trademark)” was used as the control device 30 . Also, the computer 50 is equipped with a game engine “Unity (registered trademark)”, performs predetermined image processing, creates a video signal, and reflects it in the motion of the avatar in the virtual space.

An image based on the image signal is displayed on a head-mounted display 60, which is a display device that can be worn by the subject. In addition, the control device 30 drives the stepping motor 26 in accordance with the shape and material (ground texture) of the ground in the virtual space where the avatar exists, and the movement of the subject's feet, and senses the tactile sensation of pressure on the soles of the subject's feet. Reproduce. Note that the avatar may be displayed on the display of the computer 50 , so the head-mounted display 60 is not an essential component of the VR system 1 .

Here, FIG. 2 shows details of the sole tactile device 40 (worn by the subject) according to the first embodiment.

In the sole tactile device 40, a plurality of sole syringes 22 are provided on a pedestal 28 so as to come into contact with a plurality of locations on the sole. Pressure sensors 12a and 12b, Hall sensors 14, and an inertial measurement device 16 are provided on the lower surface side of the pedestal 28. As shown in FIG. The pedestal 28 also has a band 29 for fixing the subject's foot F to the sole tactile device 40 .

As illustrated, the pressure sensors 12a and 12b are arranged one by one in the front-rear direction of the pedestal 28, respectively. For example, if the ground in the virtual space where the avatar exists is a flexible plastic body, the pressure sensors 12a and 12b detect the difference in pressure according to the force of the stepping foot. Then, when the control device 30 receives the ground information Q as the control information, it drives the stepping motor 26 according to the ground texture (plastic ground). The plastic ground means, for example, a rubber-like, sponge-like or jelly-like ground, a mat, a sandbox, a meadow, a snow surface, or the like.

The ground information Q transmitted to the control device 30 includes the three-dimensional coordinates (x, y, z) in the virtual space as well as a ground hardness parameter ρ. Based on the ground information Q (x, y, z, ρ), the control device 30 adjusts the drive of the stepping motor 26 so that the strength of the pressure is generated on the sole.

For example, the plane surrounded by the coordinates (x0, y0, z0, ρ1), (x0, y5, z0, ρ1), (x5, y0, z0, ρ1), (x5, y5, z0, ρ1) of the ground information Q It is assumed that the area has a ground hardness of ρ1, and the other area has a ground hardness of ρ2 (<ρ1). In this case, the control device 30 controls so that the same feedback pressure P1 corresponding to the floor reaction force is generated on the sole within the region, but when the foot moves outside the plane region, the feedback pressure P1 is higher than the feedback pressure P1. is controlled so that a feedback pressure P2 smaller by ΔP is generated.

Further, the ground information Q can represent an inclined surface whose z-coordinate value changes gradually, or an uneven surface whose z-coordinate value changes randomly. When such ground information Q is input, the control device 30 performs control so that different feedback pressures P are generated at each position of the sole (toe, center, heel, etc.).

The Hall sensor 14 is arranged below the pressure sensor 12a on the front side. The Hall sensor 14 mainly has a roller 14a that rotates in the front-rear direction of the sole tactile device 40, detects the magnetism of the magnet 14b approaching when the roller 14a rotates, and detects the amount of movement of the foot (pedestal 28). to detect The amount of movement is reflected in the above-described action of the avatar. A roller 14a' is provided below the pressure sensor 12b on the rear side so that the foot can be easily moved, but neither a Hall sensor nor a magnet is provided.

Also, the Hall sensor 14 detects the amount of movement only when the pressure sensor 12a is detecting pressure. As a result, it is possible to prevent the avatar from moving when the rollers 14a and 14a' idle.

The inertial measurement device 16 is arranged on the rearmost side of the pedestal 28 . Each inertial measurement device 16 of the sole tactile device 40 corresponding to both feet measures the orientation of the left and right feet. The control device 30 sets, as the traveling direction of the avatar, the direction obtained by bisecting the angle formed by the measured orientation of the left leg and the orientation of the right leg.

The stepping motor 26 is separate from the pedestal 28 . The stepping motor 26 receives an output signal from the control device 30 and generates a tactile sensation on the subject's sole corresponding to the ground texture. The motor-side syringe 24 is coupled with the iron core of the stepping motor 26

Also, the foot sole syringe 22 and the motor side syringe 24 are connected by a tube 25 . Therefore, the motor-side syringe 24 and the stepping motor 26 can be physically separated from the sole syringe 22 . When the stepping motor 26 is driven (linear motion) and the motor-side syringe 24 is pushed out, the sole syringe 22 is pushed up through the tube 25 and pressure is generated on the sole.

Although the details will be described later, since the sole syringe 22 of the present embodiment is divided into 10 parts, the surface that generates pressure on the sole is subdivided to reproduce the tactile sensation of the ground texture. Alternatively, a plurality of stepping motors may be prepared and one stepping motor may be used to drive two sole syringes.

Next, pressure detection when the subject wearing the sole tactile device 40 walks will be described with reference to FIGS. 3 to 5. FIG.

First, FIG. 3 shows an example of the contact pattern of the sole when the subject walks. The contact pattern is the same when the subject wears the sole tactile device 40 .

First, (a) time T= _t0 is the state immediately before the subject's foot touches the ground. After that, (b) the heel lands on the _ground at time T=t1, and (c) the heel part of the sole contacts the ground at time T ₌ t2.

Then, (d) at time T=t3 _, the entire sole comes into contact with the ground, and ₍ e) at time T=t4, the heel separates from the ground. Further, at ₍ f) time T= _t5 , only the toes come into contact with the ground, and (g) at time T=t6, the entire sole leaves the ground. That is, the time T=t ₀ to t ₆ is the motion of one step of the subject.

Next, FIG. 4 shows the arrangement of the sole syringes 22 of the sole tactile device 40 . The sole syringe 22 has syringes 22a to 22j arranged in a matrix of 2×5, which are driven independently.

Here, the feedback pressure of the syringe 22a is "f11" and the feedback pressure of the syringe 22b is "f12". The pressure F1 applied to the toe portion is given by the sum of the pressure f11 of the syringe 22a and the pressure f12 of the syringe 22b.

Further, since the feedback pressure of the syringe 22c is "f21" and the feedback pressure of the syringe 22d is "f22", the pressure F2 applied to the portion adjacent to the toe is the pressure f21 of the syringe 22c and the pressure f22 of the syringe 22d. given by the sum of

Similarly, since the feedback pressure of the syringe 22i is "f51" and the feedback pressure of the syringe 22j is "f52", the pressure F5 applied to the heel is the sum of the pressure f51 of the syringe 22i and the pressure f52 of the syringe 22j. given in sum.

The syringes forming the sole syringe 22 are not limited to the 2×5 arrangement, and may be arranged in a finer 3×6 arrangement, for example. In particular, in the case of a plastic ground, the tactile sensation of the sole can be reproduced more accurately because the arch of the foot is also in contact with the ground.

In addition, the syringes constituting the sole syringe 22 may have a minimum configuration such as two locations adjacent to the toes (for example, the ball of the thumb and the ball of the little finger) and one location at the heel. In particular, when the ground is hard, the arch of the foot does not come into contact with the ground, so we omit the syringe for this part, or provide a syringe that works only when the avatar in the virtual space walks on uneven ground. You may

Next, a timing chart of pressure changes when the subject wearing the sole tactile device 40 walks will be described with reference to FIG. In FIG. 5, the horizontal axis is time T [s] and the vertical axis is pressure P [N/m ² ].

As shown in the figure, during the period from time T=t ₀ to t ₁ , a tactile sensation is generated as if the pressure F5 on the heel portion rises to 20 [N/m ² ]. Since the heel part is completely separated from the _ground at time T= _t4 , the pressure F5 is controlled to gradually decrease during the period from time T=t1 to _t4 .

Further, the pressure F4 in the portion adjacent to the heel is controlled so as to gradually increase during the period of time T ₌ t1 _{- t2} and gradually decrease during the period of time T=t2 _- t4.

_On the other hand, since the toe portion touches the ground at time T=t3 _, the pressure F1 is controlled to gradually increase during the period from time T= _t3 to _t4 and decrease from time T=t5. .

At the portion adjacent to the toe, a tactile sensation is generated such that the pressure F2 rises to about 14 [N/m ² ] during the period of time T=t ₂ to t ₅ . After that, the pressure F2 is controlled so as to gradually decrease during the period of time T=t ₂ to t ₄ .

Also, the pressure F3 at the center of the sole is controlled so that it rises from time T ₌ t1 and time T=t2 _, reaches _a maximum at time T=t3, and then gradually decreases.

The above result is an example of a case where the ground is relatively hard, but by using the sole tactile device 40, it is possible to generate a tactile sensation when walking on the sole of the subject's foot. Even when the ground is soft, the tactile sensation generated on the sole is considered to have the same tendency, but the value of the pressure P becomes smaller. The stepping motor 26 of this embodiment is capable of such pressure adjustment.

Next, with reference to FIGS. 6A and 6B, flowcharts of various controls performed in the VR system 1 will be described. Here, it is assumed that the subject wears the sole tactile device 40 on both feet.

In FIG. 6A, first, display of an avatar is started (step S01). Thereby, the subject can confirm the avatar operating in the virtual space (in particular, the scenery from the avatar's viewpoint) through the head-mounted display 60 .

After that, it is determined whether or not the leg moved by the subject is the left leg (step S02). If the moved leg is determined to be the left leg, the process proceeds to step S03, and if the moved leg is determined to be the right leg, the process proceeds to step S13 (see FIG. 6B).

First, the case where the moved leg is determined to be the left leg ("YES" in step S02) will be described. In this case, the orientation of the left foot is measured by the inertial measurement device 16 (step S03). Next, the orientation of the avatar's left leg is determined (step S04). Specifically, the orientation of the left leg of the avatar is controlled so as to match the orientation of the left leg measured by the inertial measurement device 16 .

At this time, since the orientation of the right leg of the avatar is also determined at the same time, the direction of travel of the avatar is determined (step S05). The direction of travel is determined by calculation from the directions of the left and right feet measured by the inertial measurement device 16 .

Next, it is determined whether or not the pressure sensor 12 for the left leg is turned on (step S06). This is a determination as to whether the sole tactile device 40 for the left foot is in contact with the ground. If the pressure sensor 12 is on, the process proceeds to step S07, and if not, the process proceeds to step S08.

If the pressure sensor 12 is on ("YES" in step S06), the left foot of the avatar is landed (step S07). On the other hand, if the pressure sensor 12 is not turned on ("NO" in step S06), the left leg of the avatar is lifted off the ground (step S08). At this time, the subject can confirm the motion of the avatar corresponding to the motion of the left leg on the head-mounted display 60 .

After step S07, it is determined whether or not the hall sensor 14 on the left leg is turned on (step S09). If the hall sensor 14 on the left foot is on, the process proceeds to step S10, and if not, the process proceeds to step S12.

If the hall sensor 14 of the left leg is on ("YES" in step S09), the avatar's right leg is moved (step S10). Here, information on the traveling direction in step S05 (step S05' in FIG. 6B) is used. In a walking motion, when one foot is advanced forward, the opposite foot is relatively lowered backward, so the opposite foot (right foot) moves in the direction of movement as opposed to the left foot which is on the ground.

Next, the stepping motor 26 for the left leg is controlled (step S11). As a result, the sole tactile device 40 (sole syringe 22) of the left foot operates so as to generate pressure (tactile sensation) according to the ground texture in the virtual space. After that, the process proceeds to step S12.

Next, the case where the moved leg is identified as the right leg ("YES" in step S02) will be described. In FIG. 6B, the orientation of the right foot is measured by the inertial measurement device 16 (step S13). Next, the orientation of the avatar's right leg is determined (step S14). Here, the orientation of the avatar's right leg is controlled so as to match the orientation of the right leg measured by the inertial measurement device 16 . Then, the traveling direction of the avatar is determined (step S05').

Next, it is determined whether or not the pressure sensor 12 for the right leg is turned on (step S16). This is a determination as to whether the sole tactile device 40 of the right foot is in contact with the ground. If the pressure sensor 12 is on, the process proceeds to step S17, and if not, the process proceeds to step S18.

If the pressure sensor 12 is on ("YES" in step S16), the avatar's right foot is landed (step S17). On the other hand, if the pressure sensor 12 is not turned on ("NO" in step S16), the avatar's right foot is lifted off the ground (step S18). At this time, the subject can confirm the motion of the avatar corresponding to the motion of the right leg on the head-mounted display 60 .

After step S17, it is determined whether or not the hall sensor 14 on the right leg is turned on (step S19). If the hall sensor 14 on the right foot is on, the process proceeds to step S20, otherwise the process proceeds to step S12 (FIG. 6A).

If the hall sensor 14 of the right leg is on ("YES" in step S19), the left leg of the avatar is moved (step S20). Specifically, the opposite foot (left foot) from the right foot, which is on the ground, moves in the advancing direction. Note that the traveling direction information in step S05' (step S05 in FIG. 6A) is used.

Next, the stepping motor 26 for the right foot is controlled (step S21). As a result, the sole tactile device 40 (sole syringe 22) of the right foot operates so as to generate pressure (tactile sensation) according to the ground texture in the virtual space. After that, the process proceeds to step S12.

Finally, the motion of the avatar is stopped (step S12). Specifically, since the motion of the avatar corresponding to the detection signal of the sole tactile device 40 ends, the subject can confirm the stopped avatar in the virtual space through the head-mounted display 60 . As described above, the subject of the VR system 1 can experience as if he/she were walking in the virtual space by obtaining the tactile sensation of the sole corresponding to the ground texture while viewing the image of the virtual space.

[Second embodiment]
Next, a sole haptic device 70 according to a second embodiment will be described with reference to FIGS. 7 and 8. FIG. In addition, the same reference numerals are given to the same configurations as those of the sole tactile device 40 of the first embodiment, and a partial description thereof is omitted.

In the sole tactile device 70 shown in FIG. 7, a plurality of sole syringes 22 are provided on a pedestal 28 so as to abut on a plurality of locations on the sole. The pedestal 28 is provided with pressure sensors 12a, 12b, Hall sensors 14, 14', and an inertial measurement device 16 on its lower surface side.

The hall sensor 14' is attached below the rear pressure sensor 12b, has a roller 14a', detects the approach of the magnet 14b' of the roller 14a', and detects the amount of movement of the foot (pedestal 28). do. During the walking of the subject, there are times when only the toes are in contact with the ground and times when only the heels are in contact with the ground (see FIG. 3). gives more accurate numbers.

For the amount of movement obtained from the Hall sensor 14 and the amount of movement obtained from the Hall sensor 14', either one (maximum value or minimum value) may be adopted, or the average value of both may be adopted. and adjust accordingly.

The pressure sensors 12a and 12b are arranged one by one in the front-rear direction of the sole tactile device 70, as in the first embodiment. Furthermore, in the second embodiment, each of the sole syringes 22 has a pressure sensor 13 on the upper surface side that contacts the sole.

When the sole syringe 22 is composed of ten syringes 22a-22j (see FIG. 4), pressure sensors 13a-13j are arranged for the respective syringes 22a-22j. As a result, the pressure on the sole of the subject's foot can be accurately detected.

The stepping motor 26 receives an output signal from the control device 30 and generates a tactile sensation on the subject's sole corresponding to the ground texture. When the pressure signal (magnification) of the input device 10 changes, the pressure signal (magnification) of the output device 20 changes accordingly.

Finally, with reference to FIG. 8, an input/output correlation graph of the sole tactile device 70 will be described. In the correlation graph, the horizontal axis is the input magnification by the pressure sensors 12 and 13 and the vertical axis is the output magnification of the stepping motor 26 .

As shown, when the input magnification from the pressure sensors 12 and 13 is less than 1.0, the output magnification of the stepping motor 26 is 0 and no pressure (output signal) is output. However, when the input magnification reaches 1.0, the output magnification becomes 1.0, and when the input magnification reaches 1.5, the output magnification becomes 1.5. The sole haptic device 70 can apply this to obtain a desired output.

As described above, the present invention is not limited to the above embodiments, and can be implemented in various forms without departing from the spirit of the present invention. The sole syringe 22 and the motor side syringe 24 in each of the above embodiments are both air cylinders, but they can be replaced with actuators (for example, hydraulic or mechanical cylinders) capable of controlling vertical movement. be.

Further, instead of the Hall sensor 14, a sensor that optically detects the amount of movement may be used, and instead of the stepping motor 26, a driving unit using a solenoid coil or the like may be used.

Reference Signs List 1 VR system 10 Input device 12, 12a, 12b, 13, 13a to 13j Pressure sensor 14, 14' Hall sensor 14a, 14a' Roller 14b, 14b' Magnet 16 Inertial measurement device 20 Output device 22 Foot sole syringe 22a to 22j Syringe 24 Motor side syringe 25 Tube 26 Stepping motor 28 Pedestal 29 Band 30 Control device 40 , 70... Foot tactile device, 50... Computer, 60... Head-mounted display.

Claims (5)

A sole haptic device that generates a tactile sensation with respect to the sole of a subject's foot,
an input device having a pressure sensor that detects pressure applied to the sole;
an output device having a plurality of abutment portions provided to respectively abut on a plurality of locations of the sole, and one or more driving portions for driving each of the abutment portions;
a pedestal on which the input device and the output device are mounted;
a control device that receives a detection signal from the input device and an external signal from other than the input device and outputs an output signal to the output device;
The control device controls the drive unit when ground information having at least information about the hardness of the ground is received as the external signal, and the pressure detected by the pressure sensor becomes a value corresponding to the ground information. A foot tactile device characterized by driving each of the abutment portions. The ground information further includes three-dimensional coordinate information of the ground,
The sole tactile device according to claim 1, wherein the control device drives each of the contact parts based on the three-dimensional coordinate information. a sole tactile device according to claim 1 or 2 corresponding to both feet;
an image display device capable of displaying in a virtual space an avatar of a subject wearing the sole haptic device;
a VR system comprising an image processing device that performs image processing so that the avatar's legs move in conjunction with the movement of the subject's legs,
The input device includes a movement amount detection unit that detects the amount of movement of the pedestal when the subject's leg moves, and a movement direction detection unit that detects the movement direction of the subject by measuring the acceleration and angular velocity of the pedestal. and further comprising
The control device transmits the pressure detected by the pressure sensor, the movement amount detected by the movement amount detection unit, and the movement direction detected by the movement direction detection unit to the image processing device,
A VR system in which the avatar is operated based on the image processing device in the image display device. 4. The control device according to claim 3, wherein when the avatar walks in the virtual space, the control device drives each of the contact portions by controlling the driving portion based on the ground information. 's VR system. The movement amount detection unit is a Hall sensor that detects the movement amount by rotating a roller embedded with a magnet when the subject's foot moves,
5. The VR system according to claim 3, wherein the Hall sensor can detect the amount of movement when the pressure sensor detects the pressure.

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