JP2024037086A - Force sense presentation device, force sense presentation system, and force sense presentation method - Google Patents

Abstract

An object of the present invention is to provide a force sense presentation device that can generate a force sensation on a finger with a simple configuration. A force sense presentation device (10) is arranged at a position along the side surface of a finger (F), and includes a first electrode part (111) having a stimulation electrode, and a second electrode part (112) forming a pair with the first electrode part (111). The second electrode part 112 is arranged so that a current flows between the first electrode part 111 and the second electrode part 112 through the inside of the finger F, and the second electrode part 112 is arranged so that a current flows through the inside of the finger F. The device includes a generating unit 123 that generates a current between the first electrode unit 111 and the second electrode unit 112 that stimulates the sensory receptors of the finger F to generate a force sensation in the finger F. [Selection diagram] Figure 1

Description

The present disclosure relates to a force sense presentation device, a force sense presentation system, and a force sense presentation method.

2. Description of the Related Art Conventionally, techniques for simulating a predetermined tactile sensation on a user's finger are known. For example, in Patent Document 1, a tactile sensation is generated at the fingertips without intervening a device between the fingertips and the tool, without causing any discomfort when operating the tool, and without hindering the tool operation. A compact tactile presentation technology is disclosed. For example, Non-Patent Document 1 discloses a technology related to haptic gloves that generate a tactile sensation at the fingertips.

The spatially transparent tactile presentation device described in Patent Document 1 includes two stimulation electrodes that are brought into contact along each of two afferent nerve bundles running on both sides of a finger, and and one ground electrode that comes into contact with the palm side. The tactile presentation device further includes an electric signal generating section that provides each of the stimulation electrodes with a predetermined electric signal that controls at least one of the wave height and frequency corresponding to each of the stimulation electrode terminals. The tactile presentation device generates electrical stimulation in two afferent nerves by applying an electrical signal to each of the stimulation electrodes, and the electrical stimulation produces a tactile sensation at the distal phalanx of the finger. The haptic glove described in Non-Patent Document 1 is a glove-shaped device that applies pressure to fingertips using air pressure.

Japanese Patent Application Publication No. 2012-005596

Tech at Meta, [online], [searched on September 5, 2020], Internet <URL: https://tech.fb.com/ar-vr/2021/11/inside-reality-labs-meet- the-team-thats-bringing-touch-to-the-digital-world/＞

However, in the prior art described in Patent Document 1, sufficient consideration has not been given to generating a force sensation, which is completely different from a tactile sensation, on a finger. In the device disclosed in Non-Patent Document 1, it is necessary to send air to obtain air pressure, which increases the size of the device.

An object of the present disclosure is to provide a force sense presentation device, a force sense presentation system, and a force sense presentation method that can generate a force sensation on a finger with a simple configuration.

This disclosure:
(1)
a first electrode part arranged along the side surface of the finger and having a stimulation electrode;
a second electrode part forming a pair with the first electrode part, the second electrode part being arranged so that a current flows between the first electrode part and the second electrode part through the inside of the finger; an electrode part;
A current is generated between the first electrode part and the second electrode part, which is a current flowing from the side surface of the finger to the inside, which stimulates the sensory receptors of the finger and causes a force sensation to the finger. A generating part that causes
Equipped with
force sense presentation device,
It is.

(2)
In the force sense presentation device described in (1) above,
The second electrode portion may be arranged along a side surface of the finger.

(3)
In the force sense presentation device described in (2) above,
The first electrode part is arranged at a position along one side of the finger,
The second electrode portion may be arranged along the other side surface of the finger.

(4)
In the force sense presentation device described in (3) above,
The first electrode part and the second electrode part may face each other.

(5)
In the force sense presentation device according to any one of (1) to (4) above,
The first electrode portion may be placed at the tip of the finger.

(6)
In the force sense presentation device according to any one of (1) to (5) above,
The first electrode part has at least one cathode as the stimulation electrode,
The second electrode section may have at least one anode as an indifferent electrode with respect to the stimulation electrode.

(7)
In the force sense presentation device described in (6) above,
The number of cathodes in the first electrode section may be less than the number of anodes in the second electrode section.

(8)
In the force sense presentation device described in (6) or (7) above,
The first electrode portion may include a plurality of continuous cathodes adjacent to each other.

(9)
In the force sense presentation device according to any one of (6) to (8) above,
The second electrode portion may include a plurality of continuous anodes adjacent to each other.

(10)
The force sense presentation device according to any one of (1) to (9) above,
The device may include a switching portion that reverses the positional relationship between the first electrode portion and the second electrode portion by switching the polarity of the electrode.

This disclosure:
(11)
The force sense presentation device according to any one of (1) to (10) above;
an operation target that is remotely operated by a user wearing the force sense presentation device;
an output interface that outputs a state of the operation target operated by the user as visual information to the user;
Equipped with
The force sensation presentation device acquires information based on the operation of the operation target by the user, and generates a force sensation in the finger of the user according to the information.
force sense presentation system,
It is.

(12)
In the force sense presentation system described in (11) above,
The operation target includes a robot hand formed at the tip of a robot arm,
The information may include force and tactile information output from a force and tactile sensor attached to the robot hand.

(13)
In the force sense presentation system described in (11) or (12) above,
The operation target includes a finger of an avatar in virtual space,
The information may include digital information corresponding to finger movements of the avatar.

This disclosure:
(14)
A current is caused to flow through the inside of the finger between a first electrode part that is arranged along the side surface of the finger and has a stimulation electrode, and a second electrode part that forms a pair with the first electrode part. including steps,
In the step, a current is applied to the first electrode part and the second electrode part, which is a current flowing from a side surface of the finger to the inside, which stimulates the sensory receptors of the finger and causes a force sensation to the finger. occur between
force sense presentation method,
It is.

According to a force sensation presentation device, a force sensation presentation system, and a force sensation presentation method according to an embodiment of the present disclosure, it is possible to generate a force sensation in a finger with a simple configuration.

FIG. 1 is a block diagram illustrating an example of the configuration of a force sense presentation device according to an embodiment of the present disclosure. FIG. 2 is a schematic diagram showing an example of the appearance of attachment parts of the force sense presentation device of FIG. 1. FIG. FIG. 3 is a schematic diagram showing an example of how the attachment component of FIG. 2 is attached to the tip of a user's finger. 4 is a schematic diagram more simply showing the first electrode part and the second electrode part in FIG. 3. FIG. FIG. 2 is a schematic diagram specifically showing a part of the configuration of the force sense presentation device of FIG. 1. FIG. It is a schematic diagram which shows the 1st example of the polar pattern of a 1st electrode part and a 2nd electrode part. It is a schematic diagram which shows the 2nd example of the polar pattern of a 1st electrode part and a 2nd electrode part. 1 is a schematic diagram showing a first example of the configuration of a force sense presentation system including the force sense presentation device of FIG. 1. FIG. 8 is a block diagram showing a schematic configuration of the haptic presentation system of FIG. 7. FIG. 2 is a schematic diagram showing a second example of the configuration of a force sense presentation system including the force sense presentation device of FIG. 1. FIG. 10 is a block diagram showing a schematic configuration of the haptic presentation system of FIG. 9. FIG. FIG. 2 is a schematic diagram showing a first modification of the force sense presentation device of FIG. 1. FIG. FIG. 2 is a schematic diagram showing a second modification of the force sense presentation device of FIG. 1. FIG. FIG. 2 is a schematic diagram showing a third modification of the force sense presentation device of FIG. 1. FIG. It is a schematic diagram which shows the 4th modification of the force sense presentation apparatus of FIG. It is a schematic diagram which shows the 5th modification of the force sense presentation apparatus of FIG. It is a schematic diagram which shows the 6th modification of the force sense presentation apparatus of FIG. It is a schematic diagram which shows the 7th modification of the force sense presentation apparatus of FIG. It is a schematic diagram which shows the 8th modification of the force sense presentation apparatus of FIG. It is a schematic diagram which shows the 9th modification of the force sense presentation apparatus of FIG. It is a schematic diagram which shows the 10th modification of the force sense presentation device of FIG. FIG. 3 is a schematic diagram showing an eleventh modification of the force sense presentation device of FIG. 1. FIG. It is a schematic diagram which shows the 12th modification of the force sense presentation device of FIG. It is a schematic diagram which shows the 13th modification of the force sense presentation device of FIG. It is a schematic diagram which shows the 14th modification of the force sense presentation device of FIG. It is a schematic diagram which shows the 15th modification of the force sense presentation device of FIG.

An embodiment of the present disclosure will be mainly described below with reference to the accompanying drawings.

FIG. 1 is a block diagram showing an example of the configuration of a force sense presentation device 10 according to an embodiment of the present disclosure. An example of the configuration of a force sense presentation device 10 according to an embodiment will be schematically described with reference to FIG. 1.

The force sensation presentation device 10 stimulates the sensory receptors of the user's fingers to generate a force sensation in the fingers. The force sense presentation device 10 is roughly divided into a mounting part 11 and a control circuit 12 connected to the mounting part 11.

Attachment component 11 includes any component that can be attached to the tip of a user's finger. The attachment part 11 has a first electrode part 111 having at least one electrode and a second electrode part 112 having at least one electrode. The first electrode section 111 and the second electrode section 112 form a pair with each other. The first electrode part 111 and the second electrode part 112 are arranged at the tip of the user's finger so that a current flows between the first electrode part 111 and the second electrode part 112 through the inside of the user's finger. . The attachment part 11 receives the current output from the control circuit 12 and causes the current to flow inside the user's finger using the first electrode part 111 and the second electrode part 112.

The control circuit 12 includes any circuit for controlling the operation of the force sense presentation device 10. The control circuit 12 includes a communication section 121, a storage section 122, a generation section 123, a switching section 124, and a control section 125. Each of the communication section 121 and the storage section 122 and the control section 125 are connected to each other. The generation section 123, the switching section 124, and the control section 125 are connected to each other.

The communication unit 121 includes a communication module connected to a network 50, which will be described later. For example, the communication unit 121 includes a communication module compatible with mobile communication standards such as 4G (4th Generation) and 5G (5th Generation) or Internet standards. In one embodiment, the force sense presentation device 10 is connected to the network 50 via the communication unit 121. The communication unit 121 transmits and receives various information via the network 50.

The storage unit 122 is, for example, a semiconductor memory, a magnetic memory, or an optical memory, but is not limited thereto. The storage unit 122 functions as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 122 stores arbitrary information used for the operation of the force sense presentation device 10. The storage unit 122 stores system programs, application programs, various information received or transmitted by the communication unit 121, and the like.

Generator 123 includes any current source. The generator 123 includes, for example, a constant current source. The generator 123 generates a current flowing inside the user's finger between the first electrode portion 111 and the second electrode portion 112 of the attachment component 11 . The generating section 123 generates the current between the first electrode section 111 and the second electrode section 112 via the switching section 124 .

The switching section 124 includes an arbitrary switch circuit connected to the first electrode section 111 , the second electrode section 112 , and the generation section 123 . The switching section 124 switches the electrical connection between the first electrode section 111 and the second electrode section 112 and the generation section 123 under on/off control by the control section 125 .

The switching section 124 switches on/off the current flowing between the first electrode section 111 and the second electrode section 112. The switching section 124 switches the output timing of the current flowing between the first electrode section 111 and the second electrode section 112. The switching section 124 switches the direction of the current flowing between the first electrode section 111 and the second electrode section 112. When the first electrode section 111 includes a plurality of electrodes as described below, the switching section 124 is a first electrode section used for passing a current between the first electrode section 111 and the second electrode section 112. 111 electrodes are switched. When the second electrode part 112 includes a plurality of electrodes as described below, the switching part 124 is a second electrode part used for passing a current between the first electrode part 111 and the second electrode part 112. 112 electrodes are switched.

Since the switching unit 124 always maintains the electrical connection between the first electrode unit 111 and the second electrode unit 112 and the generation unit 123, the current output from the generation unit 123 to the switching unit 124 is A steady current flows between the electrode section 111 and the second electrode section 112. The switching unit 124 periodically switches the electrical connection between the first electrode unit 111 and the second electrode unit 112 and the generation unit 123, so that the current output from the generation unit 123 to the switching unit 124 is A pulse current flows between the first electrode section 111 and the second electrode section 112.

Control unit 125 includes one or more processors. In the present disclosure, the term "processor" includes, for example, a general-purpose processor and a dedicated processor specialized for specific processing. The control unit 125 is communicably connected to each component forming the force sense presentation device 10 and controls the operation of the force sense presentation device 10 as a whole. The control unit 125 outputs a control signal to the generation unit 123, for example, and controls the on/off and intensity of the constant current output from the generation unit 123. The control unit 125 outputs a control signal to the switching unit 124, for example, and controls the on/off timing of the switch circuit included in the switching unit 124, as well as the selection of the electrode to be connected among the plurality of electrodes included in the first electrode unit 111. And controls the selection of the electrode to be connected among the plurality of electrodes included in the second electrode section 112.

FIG. 2 is a schematic diagram showing an example of the appearance of the attachment part 11 of the force sense presentation device 10 of FIG. 1. As shown in FIG. FIG. 3 is a schematic diagram showing an example of how the attachment part 11 of FIG. 2 is attached to the tip of a user's finger F. The configuration of the attachment part 11 of the force sense presentation device 10 in FIG. 1 will be mainly described with reference to FIGS. 2 and 3.

The attachment part 11 is formed by a pair of pinch pieces 11a that are attached to the user's fingers F so as to pinch the tips of the fingers F, and a pair of grip pieces 11b that are formed on the opposite side of the pair of pinch pieces 11a. has been done. The attachment part 11 allows the user to hold the pair of grip pieces 11b in their hands and push the pair of grip pieces 11b so that the pair of grip pieces 11b approaches each other, thereby increasing the distance between the pair of pinch pieces 11a. can. When the user strongly pinches the pair of gripping pieces 11b, the pair of pinching pieces 11a opens wide. The pair of pinch pieces 11a are placed at the tips of the user's fingers F in a wide open state. An elastic member (not shown) is incorporated inside the attachment part 11 so that when the user releases the pair of gripping pieces 11b, the pair of pinching pieces 11a come close to each other and pinch the tip of the user's finger F.

The first electrode part 111 and the second electrode part 112 are respectively attached to the pair of clamping pieces 11a so as to penetrate the sides of the pair of clamping pieces 11a of the mounting part 11 along the opening direction of the pair of clamping pieces 11a. ing. The first electrode part 111 and the second electrode part 112 face each other. As shown in FIG. 2, the first electrode part 111 and the second electrode part 112 are separated from each other with the pair of sandwiching pieces 11a opened. A space is formed between the first electrode section 111 and the second electrode section 112 to receive the tip of the user's finger F.

As an example, the first electrode section 111 has four electrodes. The four electrodes of the first electrode section 111 are arranged in a row in the vertical direction on one side of the pair of sandwiching pieces 11a. As an example, the second electrode section 112 has four electrodes. The four electrodes of the second electrode section 112 are arranged in a row in the vertical direction on the other side of the pair of sandwiching pieces 11a.

FIG. 4 is a schematic diagram more simply showing the first electrode section 111 and the second electrode section 112 in FIG. 3. In FIG. 4, an example of the arrangement of the first electrode part 111 and the second electrode part 112 with respect to the tip of the user's finger F is more simply shown. Although not shown in FIG. 3, a conductive gel G may be placed between the tip of the user's finger F and the first electrode section 111. Similarly, the gel G may be placed between the tip of the user's finger F and the second electrode section 112. The gel G is for suppressing the generation of pain sensation in the user's finger F by dispersing the current flowing between the first electrode part 111 and the second electrode part 112. For example, in order to arrange the gel G, a sheet coated with the gel G may be attached to the electrodes or fingers F included in each electrode section.

The first electrode section 111 is arranged at a position along the side surface of the user's finger F. More specifically, the first electrode part 111 is arranged at a position along one side surface A1 of the user's finger F. The first electrode section 111 is placed at the tip of the user's finger F. For example, the four electrodes of the first electrode section 111 are arranged in a line along the side surface A1 at the tip of the user's finger F in the direction in which the finger F extends.

The second electrode part 112 is arranged at a position along the side surface of the user's finger F. More specifically, the second electrode part 112 is arranged at a position along the other side surface A2 of the user's finger F. The second electrode section 112 is placed at the tip of the user's finger F. For example, the four electrodes of the second electrode section 112 are arranged in a line along the side surface A2 at the tip of the user's finger F in the direction in which the finger F extends.

FIG. 5 is a schematic diagram specifically showing a part of the configuration of the haptic presentation device 10 of FIG. 1. As shown in FIG. The configuration and operation of the control circuit 12 of the force sense presentation device 10 will be described in more detail with reference to FIG. 5.

The switching section 124 of the control circuit 12 has a first switching section 124a connected to the output terminal side of the constant current source included in the generating section 123. The first switching unit 124a includes eight switches S11, S12, S13, S14, S15, S16, S17, and S18 in order from the left side in FIG. 5.

In the example in FIG. 5, the switch S11 of the first switching section 124a is in an on state, electrically connecting the electrode E24 of the four electrodes of the second electrode section 112 to the generating section 123. The switch S13 of the first switching section 124a is in an on state and electrically connects the electrode E22 of the four electrodes of the second electrode section 112 to the generation section 123. The switches S12, S14, S15, S16, S17, and S18 of the first switching section 124a are in the off state, and the electrodes E21 and E23 of the four electrodes of the second electrode section 112 are electrically connected to the generating section 123. Therefore, the four electrodes E11, E12, E13, and E14 of the first electrode section 111 and the generation section 123 are not electrically connected.

The switching section 124 of the control circuit 12 has a second switching section 124b connected to the input terminal side of the constant current source included in the generating section 123. The second switching unit 124b has eight switches S21, S22, S23, S24, S25, S26, S27, and S28 in order from the left side in FIG. 5.

In the example in FIG. 5, the switch S25 of the second switching section 124b is in an on state, electrically connecting the electrode E11 of the four electrodes of the first electrode section 111 to the generating section 123. The switch S28 of the second switching section 124b is in an on state and electrically connects the electrode E14 of the four electrodes of the first electrode section 111 to the generation section 123. The switches S21, S22, S23, S24, S26, and S27 of the second switching section 124b are in the off state, and the four electrodes E21, E22, E23, and E24 of the second electrode section 112 and the generating section 123 are electrically connected. Of the four electrodes of the first electrode section 111, the electrodes E12 and E13 are not electrically connected to the generation section 123.

According to an example of the operation of the switching unit 124 as described above, the electrodes E11 and E14 of the first electrode unit 111 function as cathodes. The electrodes E12 and E13 of the first electrode section 111 are in an unconnected state with respect to the generating section 123, that is, in a high impedance state. Electrodes E22 and E24 of the second electrode section 112 function as anodes. Electrodes E21 and E23 of the second electrode section 112 are not connected to the generation section 123.

FIG. 6A is a schematic diagram showing a first example of the polar pattern of the first electrode section 111 and the second electrode section 112. FIG. 6B is a schematic diagram showing a second example of the polar pattern of the first electrode section 111 and the second electrode section 112. In FIGS. 6A and 6B, unlike FIG. 4, illustration of the gel G is omitted. An example of the polar pattern of the first electrode section 111 and the second electrode section 112 will be mainly described with reference to FIGS. 6A and 6B.

In the first example shown in FIG. 6A, the electrodes E11, E12, E13, and E14 are arranged along the side surface A1 on one side of the user's finger F in the first electrode section 111. They are sequentially arranged in a line in the direction in which the fingers F extend from the tip side. Electrodes E11 and E14 are not connected to generation section 123, and electrodes E12 and E13 function as cathodes.

In the second electrode part 112 disposed along the side surface A2 on the other side of the user's finger F, electrodes E21, E22, E23, and E24 are arranged in the direction in which the finger F extends from the tip side of the user's finger F. are arranged in a row in order. Electrodes E21, E22, E23, and E24 all function as anodes.

In the second example shown in FIG. 6B, the electrodes E11, E12, E13, and E14 are arranged along the side surface A1 on one side of the user's finger F in the first electrode part 111. They are sequentially arranged in a line in the direction in which the fingers F extend from the tip side. Electrodes E11 and E14 are not connected to generation section 123, and electrodes E12 and E13 function as cathodes.

In the second electrode part 112 disposed along the side surface A2 on the other side of the user's finger F, electrodes E21, E22, E23, and E24 are arranged in the direction in which the finger F extends from the tip side of the user's finger F. are arranged in a row in order. Electrodes E21, E22, E23, and E24 all function as anodes.

The polarity patterns shown in the first example in FIG. 6A and the second example in FIG. 6B can be switched to each other based on a switching operation by the switching unit 124. The switching unit 124 reverses the positional relationship between the first electrode unit 111 and the second electrode unit 112 by switching the polarity of the electrodes. The switching unit 124 allows each electrode to be switched to a cathode, an anode, or an unconnected state.

In FIG. 6A, the first electrode part 111 is located on the left side of the tip of the user's finger F, and the side surface A1 corresponds to the left side surface of the tip of the user's finger F. In FIG. The second electrode part 112 is located on the right side of the tip of the user's finger F, and the side surface A2 corresponds to the right side of the tip of the user's finger F. On the other hand, in FIG. 6B, the first electrode part 111 is located on the right side of the tip of the user's finger F, and the side surface A1 corresponds to the right side surface of the tip of the user's finger F. The second electrode part 112 is located on the left side of the tip of the user's finger F, and the side surface A2 corresponds to the left side surface of the tip of the user's finger F.

As shown in FIGS. 6A and 6B, the first electrode section 111 has at least one cathode as a stimulation electrode. As an example, the first electrode section 111 has two cathodes as stimulation electrodes. The second electrode section 112 has at least one anode as an indifferent electrode with respect to the stimulation electrode. As an example, the second electrode section 112 has four anodes as indifferent electrodes. The number of cathodes in the first electrode section 111 is smaller than the number of anodes in the second electrode section 112.

The first electrode section 111 includes a plurality of continuous cathodes adjacent to each other. As an example, the first electrode section 111 includes two continuous cathodes adjacent to each other. In the first electrode section 111 , two continuous cathodes adjacent to each other are located at the center of the first electrode section 111 . Unconnected electrodes E11 and E14 are located on both sides of the two cathodes, respectively. The two cathodes are sandwiched in the extending direction of the finger F by the electrodes E11 and E14, which are in an unconnected state.

The second electrode section 112 includes a plurality of continuous anodes adjacent to each other. As an example, the second electrode section 112 includes four consecutive anodes adjacent to each other. The second electrode section 112 is configured based on only four consecutive anodes adjacent to each other.

The first electrode section 111 and the second electrode section 112 are located at the same position in the direction in which the finger F extends. For example, the electrode E11 in an unconnected state and the electrode E21 functioning as an anode are at the same position in the direction in which the finger F extends. The electrode E12 functioning as a cathode and the electrode E22 functioning as an anode are located at the same position in the direction in which the finger F extends. The electrode E13 functioning as a cathode and the electrode E23 functioning as an anode are located at the same position in the direction in which the finger F extends. The electrode E14 in an unconnected state and the electrode E24 functioning as an anode are located at the same position in the direction in which the finger F extends.

The generating unit 123 generates a current from the side surface of the user's finger F to the inside, which stimulates the sensory receptors of the finger F and causes a force sensation to the finger F, to the first electrode unit 111 and the first electrode unit 123. It is generated between the two electrode parts 112. The force sensation presentation device 10 generates electrical stimulation from the side surface of the user's finger F, thereby activating sensory receptors located near the side surface of the finger F, thereby causing a pseudo force sensation. At this time, the force sensation presentation device 10 may stimulate the sensory receptors directly with an electric current, or may stimulate the sensory receptors indirectly via nerve fibers connected to the sensory receptors. . In the present disclosure, "sensory receptors" include those that contribute to the generation of force sensation, such as Meissner corpuscles, Merkel cells, Pacinian corpuscles, and Ruffini terminals.

Parameters related to such current are optimized for each user based on a calibration work performed at the initial stage when the force sense presentation device 10 is attached to the user's finger F. In the present disclosure, "parameters related to current" include, for example, current patterns including pulsed current and steady current, width, period, and duty ratio of pulsed current, current intensity, and the like. The current-related parameters are such that when a current is passed between the first electrode section 111 and the second electrode section 112 through the inside of the finger, the sensory receptors are stimulated most strongly within a range where the user does not feel pain. Optimized to the value that can be used.

The control unit 125 stores, in the storage unit 122, parameters regarding current that are optimized for each user based on the calibration work. The control unit 125 reads parameters related to the current optimized for the user from the storage unit 122 when the user uses the force sense presentation device 10 after the calibration work. The control unit 125 controls the generation unit 123 and the switching unit 124 based on the read parameters, and generates a current between the first electrode unit 111 and the second electrode unit 112 that corresponds to the parameters.

For example, in FIG. 6A, the current flows from right to left from the second electrode section 112 including the anode to the first electrode section 111 including the cathode. At this time, since the number of cathodes located along the left side surface A1 is smaller than the number of anodes located along the right side surface A2, the current density on the left side surface A1 side is lower than the current density on the right side surface A2 side. higher than the current density at As a result, the sensory receptor located inside the tip of the finger F is more strongly stimulated and becomes active in the vicinity of the cathode serving as the stimulation electrode of the first electrode section 111 on the left side.

The force sensation presentation device 10 causes a pseudo force sensation in the lateral direction, for example, to the tip of the user's finger F by arranging the first electrode section 111 and the second electrode section 112 as shown in FIG. 6A. The force sensation presentation device 10 causes the tip of the user's finger F to generate a force sensation as if it were receiving force from left to right, as indicated by the arrow in FIG. 6A, for example.

For example, in FIG. 6B, the current flows from left to right from the second electrode section 112 including the anode to the first electrode section 111 including the cathode. At this time, since the number of cathodes located along the right side surface A1 is smaller than the number of anodes located along the left side surface A2, the current density on the right side surface A1 side is lower than the current density on the left side surface A2 side. higher than the current density at As a result, the sensory receptor located inside the tip of the finger F is more strongly stimulated and becomes active in the vicinity of the cathode serving as the stimulation electrode of the first electrode section 111 on the right side.

The force sensation presentation device 10 causes a pseudo force sensation in the lateral direction, for example, to the tip of the user's finger F by arranging the first electrode section 111 and the second electrode section 112 as shown in FIG. 6B. The force sensation presentation device 10 causes the tip of the user's finger F to generate a force sensation as if it were receiving force from right to left, as indicated by the arrow in FIG. 6B, for example.

In order to demonstrate the effect of force sensation generation as shown in FIGS. 6A and 6B, a demonstration experiment was conducted on multiple subjects. The purpose of this demonstration experiment was to verify the presence or absence of a pseudo force sensation and its direction caused by the attachment component 11 having the electrode arrangement shown in FIGS. 6A and 6B as an example.

For example, the subject attaches the attachment part 11 to the middle finger of his/her dominant hand and sticks the middle finger out in front of the air. The reason for choosing the middle finger as the subject of the experiment was that it was the easiest to perceive the pseudo-force sensation most clearly during the preliminary trial stage. X, Y, and Z orthogonal axes were determined for the middle finger in order to have the subject answer the direction of force sensation generation. For example, the Z axis is an axis along the direction in which the middle finger extends. The Y-axis is an axis along the vertical direction orthogonal to the extending direction of the middle finger. The X-axis is an axis along the left-right direction orthogonal to the extending direction of the middle finger.

The direction of force sensation generation was recorded by recording the value of the directional vector. For example, if the force sensation is directed to the right, it is recorded as (X, Y, Z) = (1, 0, 0), and if the force sensation is directed diagonally upward to the left in the XY plane, it is recorded as (X, Y, Z) = (1, 0, 0). Y, Z) = (-1, 1, 0) was recorded.

The experimental procedure includes a first step of adjusting the amount of stimulation current by the first electrode section 111 and the second electrode section 112. In the first step, the subject is fitted with the attachment part 11 as shown in FIG. The stimulation current amount was increased until nociception occurred. Thereafter, the amount of stimulation current was lowered until the sensation of pain disappeared, setting the maximum amount of stimulation current that did not make the subject feel uncomfortable. The control unit 125 stored the parameters related to the current at this time in the storage unit 122. Subsequent steps were performed based on the amount of stimulation current.

The experimental procedure includes a second step of verifying the presence or absence of skin sensation due to left and right electrical stimulation. In the second step, a plurality of electrode stimulation patterns including the electrode stimulation patterns shown in FIGS. 6A and 6B are sequentially presented, and the subject is asked whether ``skin sensation due to electrical stimulation is produced'' for each of the right and left sides of the finger. I made them answer. The second step is to confirm the presence or absence of cathodal stimulation, which is a clue for perceiving a force sensation, in a plurality of electrode stimulation patterns including the electrode stimulation patterns of FIGS. 6A and 6B.

The experimental procedure includes a third step of verifying whether a pseudo force sensation occurs. In the third step, a plurality of electrode stimulation patterns including the electrode stimulation patterns shown in FIGS. 6A and 6B were tried three times in a random order, and the subjects were asked to answer the direction of the pseudo force sensation that occurred in each trial. If the pseudo force sensation did not occur, the subject was asked to report so, and the value of the direction vector was recorded as (X, Y, Z) = (0, 0, 0).

Under the above-mentioned demonstration experiment, it was found that subjects perceived pseudo-force sensations in various directions. It was found that the test subject perceived a pseudo force sensation in the direction indicated by the arrow in either FIG. 6A or FIG. 6B, for example. The demonstration experiment demonstrated that a pseudo force sensation was occurring. Sensory receptors located inside the area around the fingernail area are more strongly stimulated and become active, and the occurrence of a pseudo force sensation is mutually related. The fact that the nail part is difficult to deform compared to other parts of the finger and the fact that a pseudo force sensation occurs are related to each other.

FIG. 7 is a schematic diagram showing a first example of the configuration of a force sense presentation system 1 including the force sense presentation device 10 of FIG. FIG. 8 is a block diagram showing a schematic configuration of the haptic presentation system 1 of FIG. 7. As shown in FIG. A first example in which the haptic presentation device 10 of FIG. 1 is applied to the haptic presentation system 1 will be mainly described with reference to FIGS. 7 and 8. In FIG. 7, for the purpose of simple illustration, only the attachment part 11 attached to the tip of the user's finger of the force sense presentation device 10 is mainly shown, and the illustration of the control circuit 12 is omitted. In addition, in order to mainly focus on the force sense presentation device 10 according to an embodiment of the present disclosure, illustrations of other devices required for remotely controlling the operation target 23, which will be described later, are also omitted.

The force sense presentation system 1 includes the force sense presentation device 10 described above. The force sense presentation device 10 is used with the attachment component 11 attached to a user's finger. The force sense presentation device 10 may be attached to at least one or all of the user's ten fingers. For example, as shown in FIG. 7, the force sense presentation device 10 is attached to the user's right thumb and index finger, and the user's left thumb and index finger.

The force sense presentation system 1 includes a robot 20 in addition to the force sense presentation device 10. More specifically, the force sense presentation system 1 includes, as part of the configuration of the robot 20, an operation target 23 that is remotely operated by a user wearing the force sense presentation device 10. The haptic presentation system 1 includes an output interface 30 that outputs to the user the state of the operation target 23 operated by the user as visual information. In addition to the force sense presentation device 10, the robot 20 including the operation target 23, and the output interface 30, the force sense presentation system 1 may further include an imaging device 40.

Each of the force sense presentation device 10, the robot 20 including the operation target 23, the output interface 30, and the imaging device 40 is communicably connected to a network 50 including a mobile communication network, the Internet, and the like.

Robots 20 include those used for any purpose, such as medical, home, industrial, and commercial uses. The robot 20 includes a communication section 21, a storage section 22, an operation target 23, and a control section 24.

The communication unit 21 includes a communication module connected to the network 50. For example, the communication unit 21 includes a communication module compatible with mobile communication standards such as 4G and 5G or Internet standards. In one embodiment, the robot 20 is connected to the network 50 via the communication unit 21. The communication unit 21 transmits and receives various information via the network 50.

The storage unit 22 is, for example, a semiconductor memory, a magnetic memory, or an optical memory, but is not limited thereto. The storage unit 22 functions as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 22 stores arbitrary information used for the operation of the robot 20. The storage unit 22 stores system programs, application programs, various information received or transmitted by the communication unit 21, and the like.

The operation target 23 includes a robot hand formed at the tip of a robot arm. For example, the operation target 23 includes a robot hand formed at the tip of a robot arm of an arbitrary robot 20 located remotely from a location where a user wearing the force sense presentation device 10 is located. The robot arm has at least one arm, and each arm has a robot hand. The robot hand has at least one finger. For example, as shown in FIG. 7, the robot arm may have a left arm and a right arm like a human, and the robot hand of each arm may have five fingers. The robot hand may have only one arm, and only two fingers may be formed on the robot hand of the arm.

The robot hand included in the operation target 23 has a force and tactile sensor 23a at the tip of each finger. The force and tactile sensor 23a outputs information when the finger of the robot hand comes into contact with an arbitrary object as force and tactile information.

Control unit 24 includes one or more processors. The control unit 24 is communicably connected to each component forming the robot 20 and controls the operation of the robot 20 as a whole. For example, the control unit 24 controls the operation object 23 in conjunction with the movements of the hands and fingers of a user who remotely operates the operation object 23 while wearing the force sense presentation device 10 and other devices not shown.

Output interface 30 includes one or more interfaces that output information as images to a user. For example, the output interface 30 includes wearable devices such as goggle-type and glasses-type devices that output information in the form of images, and any other display device. The output interface 30 includes a communication section 31, a storage section 32, an output section 33, and a control section 34.

The communication unit 31 includes a communication module connected to the network 50. For example, the communication unit 31 includes a communication module compatible with mobile communication standards such as 4G and 5G or Internet standards. In one embodiment, the output interface 30 is connected to the network 50 via the communication section 31. The communication unit 31 transmits and receives various information via the network 50.

The storage unit 32 is, for example, a semiconductor memory, a magnetic memory, or an optical memory, but is not limited thereto. The storage unit 32 functions as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 32 stores arbitrary information used for the operation of the output interface 30. The storage unit 32 stores system programs, application programs, various information received or transmitted by the communication unit 31, and the like.

The output unit 33 includes one or more displays that output information to the user as images. For example, the output unit 33 includes a display that outputs information in the form of images.

Control unit 34 includes one or more processors. The control unit 34 is communicably connected to each component forming the output interface 30 and controls the operation of the output interface 30 as a whole. For example, the control unit 34 acquires visual information, which will be described later, generated by the imaging device 40 via the network 50 through the communication unit 31, and displays it to the user as an image while controlling the output unit 33.

The imaging device 40 includes any camera placed around the operation target 23. The imaging device 40 includes a communication section 41, a storage section 42, an imaging section 43, and a control section 44.

The communication unit 41 includes a communication module connected to the network 50. For example, the communication unit 41 includes a communication module compatible with mobile communication standards such as 4G and 5G or Internet standards. In one embodiment, the imaging device 40 is connected to a network 50 via a communication unit 41. The communication unit 41 transmits and receives various information via the network 50.

The storage unit 42 is, for example, a semiconductor memory, a magnetic memory, or an optical memory, but is not limited thereto. The storage unit 42 functions as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 42 stores arbitrary information used for the operation of the imaging device 40. The storage unit 42 stores system programs, application programs, various information received or transmitted by the communication unit 41, and the like.

The imaging unit 43 includes any imaging device such as a CCD (Charge Coupled Device) and a CMOS (Complementary Metal Oxide Semiconductor).

Control unit 44 includes one or more processors. The control unit 44 is communicably connected to each component that constitutes the imaging device 40, and controls the operation of the entire imaging device 40. For example, the control unit 44 uses the imaging unit 43 to generate visual information, which will be described later, and transmits it to the output interface 30 via the network 50 while controlling the communication unit 41 .

The user remotely operates the operation target 23 while wearing the force sense presentation device 10 and other devices (not shown). The robot hand as the operation target 23 performs similar movements in conjunction with the movements of the user's hands and fingers. For example, as shown in FIG. 7, the robot hand supports the bottle mainly with the thumb and forefinger of the left arm robot hand, and rotates the lid of the bottle with the thumb and forefinger of the right arm robot hand.

At this time, the control unit 125 of the force sense presentation device 10 acquires information based on the operation of the operation target 23 by the user, and causes a force sense to be generated in the user's finger according to the information. In the first example shown in FIG. 7, the information includes force and tactile information output from a force and tactile sensor 23a attached to a robot hand serving as the operation target 23. Such force sense generates weight information applied to the force and tactile sensor 23a. The control unit 125 of the force sense presentation device 10 acquires information based on the operation of the operation target 23 by the user from the robot 20 having the operation target 23 via the network 50 and the communication unit 121.

The control unit 125 of the force sense presentation device 10 controls the force sense presentation device 10 worn by the user to apply a force corresponding to the force and tactile information output from the force and tactile sensor 23a attached to the robot hand. The amount of stimulation current is controlled through the first electrode section 111 and the second electrode section 112 so that the stimulation current is felt through the body. For example, the user can experience the sensation of supporting the bottle while simulating the gravity of the bottle with the thumb and forefinger of the left hand. The user simulates the sensation of turning the bottle lid while feeling the friction force when turning the bottle lid with the thumb and forefinger of the right hand.

At this time, the control unit 44 of the imaging device 40 disposed around the operating target 23 uses the imaging unit 43 to capture an image of the operating target 23 operated by the user, and generates visual information. The control unit 34 of the output interface 30 acquires the visual information generated by the imaging device 40 via the network 50 and the communication unit 31, and displays it to the user as an image using the output unit 33. The user visually recognizes the state of the operation target 23 that he/she operates while visually checking the image displayed on the output interface 30.

As described above, the user remotely operates the operation target 23 while experiencing an integrated sense of force and vision presented by the force sense presentation device 10 and the output interface 30, respectively. Thereby, the user can obtain a realistic operational feeling with a simple configuration.

FIG. 9 is a schematic diagram showing a second example of the configuration of the force sense presentation system 1 including the force sense presentation device 10 of FIG. FIG. 10 is a block diagram showing a schematic configuration of the haptic presentation system 1 of FIG. 9. As shown in FIG. A second example in which the haptic presentation device 10 of FIG. 1 is applied to the haptic presentation system 1 will be mainly described with reference to FIGS. 9 and 10. In FIG. 9, for the purpose of simple illustration, only the attachment part 11 attached to the tip of the user's finger of the force sense presentation device 10 is mainly shown, and the control circuit 12 is not shown. In addition, in order to mainly focus on the force sense presentation device 10 according to an embodiment of the present disclosure, illustrations of other devices required for remotely controlling the operation target 63a, which will be described later, are also omitted.

The force sense presentation system 1 includes the force sense presentation device 10 described above. The force sense presentation device 10 is used with the attachment component 11 attached to a user's finger. The force sense presentation device 10 may be attached to at least one or all of the user's ten fingers. For example, as shown in FIG. 9, the force sense presentation device 10 is attached to the user's right thumb and index finger, and the user's left thumb and index finger.

The force sense presentation system 1 includes an information processing device 60 in addition to the force sense presentation device 10. More specifically, the haptic presentation system 1 includes an operation target 63a that is included in an avatar generated in a virtual space by the information processing device 60 and remotely operated by a user wearing the haptic presentation device 10. The haptic presentation system 1 includes an output interface 30 that outputs to the user the state of the operation target 63a operated by the user as visual information.

Each of the haptic presentation device 10, the information processing device 60 that generates an avatar including the operation target 63a, and the output interface 30 is communicably connected to a network 50 including a mobile communication network, the Internet, and the like.

The information processing device 60 is one or a plurality of server devices that can communicate with each other. The information processing device 60 is not limited to these, and may be any general-purpose electronic device such as a PC (Personal Computer) or a smartphone, or other electronic device dedicated to the force sense presentation system 1. good. The information processing device 60 includes a communication section 61, a storage section 62, and a control section 63.

The communication unit 61 includes a communication module connected to the network 50. For example, the communication unit 61 includes a communication module compatible with mobile communication standards such as 4G and 5G or Internet standards. In one embodiment, the information processing device 60 is connected to the network 50 via the communication unit 61. The communication unit 61 transmits and receives various information via the network 50.

The storage unit 62 is, for example, a semiconductor memory, a magnetic memory, or an optical memory, but is not limited thereto. The storage unit 62 functions as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 62 stores arbitrary information used for the operation of the information processing device 60. The storage unit 62 stores system programs, application programs, various information received or transmitted by the communication unit 61, and the like.

Control unit 63 includes one or more processors. The control unit 63 is communicably connected to each component forming the information processing device 60 and controls the operation of the information processing device 60 as a whole. For example, the control unit 63 generates an avatar in an arbitrary virtual space that includes an operation target 63a that is operated in the virtual space by a user wearing the force sense presentation device 10.

The operation target 63a includes the finger of the avatar in the virtual space. For example, the operation target 63a may be the finger of an arbitrary avatar located in a three-dimensional virtual space constructed in a computer, computer network, etc., which is different from the real space in which the user wearing the force sense presentation device 10 is located. including. Such avatars are, for example, characters based on humans, non-human animals, plants, machines such as robots, objects, etc., and have hands that correspond to the user's hands. including. The avatar has at least one hand and at least one finger on each hand. For example, as shown in Figure 9, an avatar is a human-based character that has a left arm and a right arm like humans, and has five fingers on the hand formed at the tip of each arm. There may be.

The output interface 30 has the same configuration as the first example described in FIGS. 7 and 8. For example, the control unit 34 acquires visual information, which will be described later, from the information processing device 60 via the communication unit 31 via the network 50, and displays it to the user as an image while controlling the output unit 33.

The user operates the operation target 63a in the virtual space in the real space while wearing the force sense presentation device 10 and other devices (not shown). An avatar having a finger as the operation target 63a performs similar movements in conjunction with the movements of the user's hand and fingers. For example, as shown in FIG. 9, the avatar supports the bottle primarily with the thumb and forefinger of the left hand while rotating the lid of the bottle with the thumb and forefinger of the right hand.

At this time, the control unit 125 of the force sense presentation device 10 acquires information based on the user's operation of the operation target 63a, and generates a force sense in the user's finger according to the information. In the second example shown in FIG. 9, the information includes digital information corresponding to the movement of the finger of the avatar as the operation target 63a. More specifically, the digital information includes force information for presenting a sensation corresponding to the movement of the avatar's fingers, which is generated by the control unit 63 of the information processing device 60 through calculations based on haptic rendering. . The control unit 125 of the haptic presentation device 10 acquires information based on the operation of the operation target 63a by the user from the information processing device 60 that has performed calculations based on haptic rendering via the network 50 and the communication unit 121.

The control unit 125 of the force sense presentation device 10 controls the first electrode portion 111 and the first electrode portion 125 so that the user feels the force corresponding to the digital information acquired from the information processing device 60 through the force sense presentation device 10 worn by the user. The amount of stimulation current is controlled via the two-electrode section 112. For example, the user can experience the sensation of supporting the bottle while simulating the gravity of the bottle with the thumb and forefinger of the left hand. The user simulates the sensation of turning the bottle lid while feeling the friction force when turning the bottle lid with the thumb and forefinger of the right hand.

At this time, the control unit 34 of the output interface 30 acquires visual information of the virtual space where the avatar including the operation target 63a is located from the information processing device 60 via the network 50 and the communication unit 31, and uses the output unit 33 to obtain the visual information of the virtual space where the avatar including the operation target 63a is located. and display it to the user as an image. The user visually recognizes the state of the operation target 63a that he/she operates while viewing the image displayed on the output interface 30.

As described above, the user remotely operates the operation target 63a while feeling an integrated sense of force and vision presented by the force sense presentation device 10 and the output interface 30, respectively. Thereby, the user can obtain a realistic operational feeling with a simple configuration.

According to the force sense presentation device 10 according to the embodiment as described above, it is possible to generate a force sense in a finger with a simple configuration. The force sense presentation device 10 includes a first electrode section 111 that is arranged along the side surface of a finger and has a stimulating electrode, and a first electrode section 111 and a second electrode section 112 that conduct current from the side surface of the finger to the inside. and a generating section 123 that generates a signal between the two. Thereby, the force sense presentation device 10 can strongly stimulate the sensory receptor located inside the finger in the vicinity of the stimulation electrode to make it active. The force sensation presentation device 10 is capable of stimulating the sensory receptors of the user's fingers to generate a force sensation in the fingers.

The force sense presentation device 10 has the second electrode section 112 positioned along the side surface of the finger, so that the second electrode section 112 can be positioned along the side surface of the finger similarly to the first electrode section 111. This allows it to be brought closer to the first electrode section 111. Thereby, the force sense presentation device 10 can more easily cause current to flow between the first electrode section 111 and the second electrode section 112 through the inside of the finger. Therefore, the force sensation presentation device 10 can stimulate the sensory receptors of the user's fingers to more reliably generate a force sensation in the fingers.

In the force sense presentation device 10, the first electrode part 111 is arranged at a position along the side surface A1, and the second electrode part 112 is arranged at a position along the side surface A2. The current can be generated more reliably between the first electrode section 111 and the second electrode section 112. Such current flows more reliably inside the user's finger between the side surfaces A1 and A2 located on opposite sides. Thereby, the force sensation presentation device 10 can stimulate the sensory receptors of the user's fingers to more reliably generate a force sensation in the fingers.

The force sense presentation device 10 has the first electrode section 111 and the second electrode section 112 facing each other, so that the current flowing from the side surface of the finger to the inside can be transferred between the first electrode section 111 and the second electrode section 112. It can be generated more reliably. Such current flows more reliably inside the user's finger between the first electrode part 111 and the second electrode part 112 that are positioned to face each other. Thereby, the force sensation presentation device 10 can stimulate the sensory receptors of the user's fingers to more reliably generate a force sensation in the fingers.

In the force sense presentation device 10, the first electrode portion 111 and the second electrode portion 112 face each other, and small electrodes are used in the first electrode portion 111 and the second electrode portion 112, so that the device can be miniaturized. can be easily realized.

In the force sense presentation device 10, the first electrode section 111 is arranged at the tip of the finger, so that the sensory receptors located inside the tip of the finger are more sensitive to the stimulation electrode included in the first electrode section 111. It is possible to stimulate it strongly to make it more active. Thereby, the force sensation presentation device 10 can stimulate the sensory receptors of the user's fingers to more reliably generate a force sensation at the tip of the finger.

In the force sense presentation device 10, the first electrode section 111 has at least one cathode as a stimulation electrode, and the second electrode section 112 has at least one anode as an indifferent electrode with respect to the stimulation electrode. Stimulation can be easily applied to the located sensory receptors using the stimulation electrode. Thereby, the force sensation presentation device 10 can activate the sensory receptors to more reliably generate a force sensation in the finger.

In the force sense presentation device 10, the number of cathodes in the first electrode part 111 is smaller than the number of anodes in the second electrode part 112, so that the current density on the first electrode part 111 side is reduced by the current density on the second electrode part 112 side. It can be higher than the density. Thereby, the force sense presentation device 10 can more strongly stimulate the sensory receptors located inside the finger in the vicinity of the cathode serving as the stimulation electrode of the first electrode section 111 to make them more active. be. Therefore, the force sensation presentation device 10 can stimulate the sensory receptors of the user's fingers to more reliably generate a force sensation in the fingers.

In the force sense presentation device 10, the first electrode section 111 has a plurality of continuous cathodes adjacent to each other, so that the current density on the first electrode section 111 side is higher than the current density on the second electrode section 112 side. can do. Thereby, the force sense presentation device 10 can more strongly stimulate the sensory receptors located inside the finger in the vicinity of the cathode serving as the stimulation electrode of the first electrode section 111 to make them more active. be. Therefore, the force sensation presentation device 10 can stimulate the sensory receptors of the user's fingers to more reliably generate a force sensation in the fingers.

In the force sense presentation device 10, the second electrode section 112 has a plurality of continuous anodes adjacent to each other, so that the contact between the first electrode section 111 and the second electrode section 112 is from the side surface of the finger to the inside. Current can flow more easily. Therefore, the force sensation presentation device 10 can stimulate the sensory receptors of the user's fingers to more reliably generate a force sensation in the fingers.

The force sense presentation device 10 includes a switching unit 124 that reverses the positional relationship between the first electrode unit 111 and the second electrode unit 112, thereby making it possible to generate different force sensations on the user's finger. be. For example, the force sense presentation device 10 can make the user feel forces directed in mutually opposite directions, as shown in FIGS. 6A and 6B. The force sense presentation device 10 can also continuously cause different force sensations to the user's finger by having the switching unit 124 continuously switch the polarity pattern from one to the other in FIGS. 6A and 6B. be. The user can also continuously feel forces pointing in different directions due to the seamless operation of the switching unit 124.

In addition to the force sense presentation device 10, the force sense presentation system 1 has an output interface 30 that outputs to the user the state of the operation target operated by the user as visual information, so that the force sense and vision are integrated. Enables users to remotely control objects. Thereby, the user can visually compensate for the difference between the actual sensation and the force sensation generated in the finger by the force sensation presentation device 10. The user can complement the difference while integrating the sense of force and vision, and can obtain a pseudo sensation very close to the actual sensation. For example, as shown in FIGS. 7 and 9, the user can use the force sense presentation device 10 and the output interface 30 to experience a sensation that is very close to the actual sensation of both hands when holding a bottle with the left hand and opening the lid with the right hand. can be obtained in a pseudo manner.

With the above, it becomes easier to accurately convey to the user the sensation of movement related to the actual motion of the operation target. Therefore, the user can perform remote control of the operation target more precisely.

The force sense presentation system 1 includes a robot hand in which the operation target 23 is formed at the tip of a robot arm, thereby enabling the user to remotely control the robot hand while integrating force sense and vision. The user can integrate the sense of force and vision while complementing the difference from the actual sensation, and can simulate a sensation very close to the actual sensation while remotely operating the robot hand. For example, as shown in FIG. 7, the user can use the force sense presentation device 10 while remotely operating the robot hand to experience a sensation that is very similar to the actual sensation of holding a bottle with the left hand and opening the lid with the right hand. and can be obtained in a pseudo manner by the output interface 30.

The haptic presentation system 1 allows the user to remotely control the avatar's fingers in a state where the haptic sense and vision are integrated because the operation target 63a includes the avatar's fingers in the virtual space. The user can integrate haptic and visual senses while complementing the differences with the actual sensation, and remotely control the avatar's fingers to obtain a simulated sensation that is very close to the actual sensation. For example, as shown in FIG. 9, the user can use the haptic presentation device to remotely control the avatar's fingers to experience a sensation that is very close to the actual sensation of both hands when holding a bottle with the left hand and opening the lid with the right hand. 10 and output interface 30.

It will be obvious to those skilled in the art that the present disclosure can be implemented in other predetermined forms than the embodiments described above without departing from the spirit or essential characteristics thereof. Accordingly, the above description is illustrative and not limiting. The scope of the disclosure is defined by the appended claims rather than by the foregoing description. Any changes that come within the range of equivalents are intended to be included therein.

For example, the shape, size, arrangement, orientation, number, etc. of each component described above are not limited to what is illustrated in the above description and drawings. The shape, size, arrangement, orientation, number, etc. of each component may be arbitrarily configured as long as the function can be realized.

FIG. 11 is a schematic diagram showing a first modification of the force sense presentation device 10 of FIG. FIG. 12 is a schematic diagram showing a second modification of the force sense presentation device 10 of FIG. FIG. 13 is a schematic diagram showing a third modification of the force sense presentation device 10 of FIG. FIG. 14 is a schematic diagram showing a fourth modification of the force sense presentation device 10 of FIG.

In the above embodiment, it has been explained that the second electrode part 112 is arranged at a position along the side surface of the finger, but the present invention is not limited thereto. The second electrode part 112 does not have to be placed along the side surface of the finger. The second electrode part 112 may be placed at any position as long as a current can flow between it and the first electrode part 111 to cause a force sensation to the finger. For example, the second electrode section 112 may be arranged so as to be wrapped around the joint of the finger F, as shown in FIG. 11. For example, the second electrode part 112 may be arranged so as to be wrapped around the base of the finger F, as shown in FIG. 12. For example, the second electrode section 112 may be placed on the back of the hand, as shown in FIG. 13. For example, the second electrode part 112 may be arranged so as to be held in the palm of the hand, as shown in FIG.

FIG. 15 is a schematic diagram showing a fifth modification of the force sense presentation device 10 of FIG. In the embodiment described above, the first electrode section 111 is arranged at a position along the side surface A1 on one side of the finger, and the second electrode section 112 is arranged at a position along the side surface A2 on the other side of the finger. However, the invention is not limited to this. The first electrode section 111 and the second electrode section 112 may not be arranged along different side surfaces, but may be arranged along the same side surface. For example, as shown in FIG. 15, the first electrode section 111 and the second electrode section 112 may be arranged at positions along the same side surface A1.

FIG. 16 is a schematic diagram showing a sixth modification of the force sense presentation device 10 of FIG. 1. In the embodiment described above, it has been described that the first electrode section 111 and the second electrode section 112 face each other, but the present invention is not limited thereto. The first electrode part 111 and the second electrode part 112 do not have to face each other. That is, the first electrode part 111 and the second electrode part 112 may be arranged at different positions along the direction in which the finger extends. For example, as shown in FIG. 16, the first electrode part 111 is located closer to the tip side along the extending direction of the finger F, and the second electrode part 112 is located closer to the back of the hand along the extending direction of the finger F. It may be located in

FIG. 17 is a schematic diagram showing a seventh modification of the force sense presentation device 10 of FIG. 1. In the above embodiment, it has been explained that the first electrode part 111 is arranged at the tip of the finger, but the present invention is not limited thereto. For example, as shown in FIG. 17, the first electrode section 111 may be placed closer to the back of the hand than the tip of the finger F.

FIG. 18 is a schematic diagram showing an eighth modification of the force sense presentation device 10 of FIG. 1. In the above embodiment, as shown in FIGS. 6A and 6B, the first electrode section 111 has at least one cathode as a stimulation electrode, and the second electrode section 112 has at least one anode as a stimulation electrode. Although it has been explained that it is provided as a related electrode, it is not limited thereto. The first electrode section 111 may have at least one anode as a stimulation electrode, and the second electrode section 112 may have at least one cathode as an indifferent electrode with respect to the stimulation electrode.

For example, as shown in FIG. 18, the first electrode section 111 may have two anodes as stimulation electrodes. The second electrode section 112 may have four cathodes as indifferent electrodes. The number of anodes in the first electrode section 111 is smaller than the number of cathodes in the second electrode section 112. The electrode arrangement as shown in FIG. 18 can be obtained by switching on/off a predetermined switch included in the switching unit 124 of FIG. 5 from the state of the electrode arrangement as shown in FIG. 6A. The predetermined switches include each switch connected to electrodes E12, E13, E21, E22, E23, and E24.

FIG. 19 is a schematic diagram showing a ninth modification of the force sense presentation device 10 of FIG. 1. FIG. 20 is a schematic diagram showing a tenth modification of the force sense presentation device 10 of FIG. 1. FIG. 21 is a schematic diagram showing an eleventh modification of the force sense presentation device 10 of FIG. FIG. 22 is a schematic diagram showing a twelfth modification of the force sense presentation device 10 of FIG. FIG. 23 is a schematic diagram showing a thirteenth modification of the force sense presentation device 10 of FIG.

The electrode arrangements as shown in FIGS. 21 to 23 can be obtained by switching on/off a predetermined switch included in the switching unit 124 of FIG. 5 from the electrode arrangement shown in FIG. In the eleventh modification of FIG. 21, the predetermined switches include switches connected to electrodes E11, E12, E14, E21, E23, and E24. In the twelfth modification of FIG. 22, the predetermined switches include switches connected to electrodes E12, E13, E14, E21, E23, and E24. In the thirteenth modification of FIG. 23, the predetermined switches include switches connected to electrodes E11, E12, E13, E14, E21, and E23.

Although the first electrode section 111 has been described as having four electrodes in the above embodiment, the present invention is not limited thereto. The first electrode section 111 may have three or less electrodes, or may have five or more electrodes. For example, the first electrode section 111 may have three electrodes, as shown in FIG. 19. For example, the first electrode section 111 may have five electrodes, as shown in FIG. 20.

In the above embodiment, it has been explained that in the first electrode section 111, two of the four electrodes are in the cathode state, but the present invention is not limited to this. The number of electrodes in the cathode state in the first electrode section 111 may be one, or may be three or more. For example, as shown in FIG. 21, the number of electrodes in the cathode state in the first electrode section 111 may be one. For example, as shown in FIG. 22, the number of electrodes in the cathode state in the first electrode section 111 may be three.

In the embodiment described above, it has been explained that the first electrode section 111 is in a cathode state or in an unconnected state for all the electrodes, but the present invention is not limited to this. The first electrode section 111 may be configured to include an anode in addition to a cathode and an unconnected electrode. For example, as shown in FIG. 23, the first electrode section 111 may be configured such that the electrode E11 is not connected, the electrode E12 is a cathode, the electrode E13 is a cathode, and the electrode E14 is an anode.

Although the second electrode section 112 has been described as having four electrodes in the above embodiment, the present invention is not limited thereto. The second electrode section 112 may have three or less electrodes, or may have five or more electrodes. For example, the second electrode section 112 may have five electrodes, as shown in FIG. 19. For example, the second electrode section 112 may have three electrodes, as shown in FIG. 20.

In the above embodiment, it has been explained that in the second electrode section 112, all four electrodes are in the anode state, but the present invention is not limited to this. The number of electrodes in the anode state in the second electrode section 112 may be three or less. For example, as shown in FIGS. 21 and 22, the number of electrodes in the anode state in the second electrode section 112 may be three.

In the above embodiment, it has been explained that all the electrodes of the second electrode section 112 are in the anode state, but the present invention is not limited thereto. The second electrode section 112 may be configured to include at least one of a cathode and an unconnected electrode in addition to the anode. For example, as shown in FIG. 21, the second electrode section 112 may be configured such that the electrode E21 is an anode, the electrode E22 is an anode, the electrode E23 is an anode, and the electrode E24 is in an unconnected state. For example, as shown in FIG. 22, the second electrode section 112 may be configured such that the electrode E21 is an anode, the electrode E22 is an anode, the electrode E23 is an anode, and the electrode E24 is a cathode.

FIG. 24 is a schematic diagram showing a fourteenth modification of the force sense presentation device 10 of FIG. 1. FIG. 25 is a schematic diagram showing a fifteenth modification of the force sense presentation device 10 of FIG. 1.

In the embodiment described above, it has been described that the electrodes of the first electrode section 111 are arranged in a line along the extending direction of the finger, but the present invention is not limited thereto. The electrodes included in the first electrode section 111 may be arranged in multiple rows along the direction in which the finger extends. For example, as shown in FIG. 24, the electrodes of the first electrode section 111 may be arranged in two rows along the direction in which the finger F extends.

In the above embodiment, it has been explained that the electrodes of the second electrode section 112 are arranged in a line along the direction in which the fingers extend, but the present invention is not limited thereto. The electrodes included in the second electrode section 112 may be arranged in multiple rows along the direction in which the finger extends. For example, as shown in FIG. 25, the electrodes of the second electrode section 112 may be arranged in two rows along the direction in which the finger F extends.

In the above embodiment, it has been described that the first electrode section 111 and the second electrode section 112 have the same number of electrodes, but the present invention is not limited to this. For example, as shown in FIGS. 19 and 20, the first electrode section 111 and the second electrode section 112 may have different numbers of electrodes.

In the above embodiment, it has been explained that the number of cathodes in the first electrode section 111 is smaller than the number of anodes in the second electrode section 112, but the present invention is not limited to this. The number of cathodes in the first electrode section 111 may be greater than or equal to the number of anodes in the second electrode section 112. For example, as shown in FIG. 5, the number of cathodes in the first electrode section 111 may be the same as the number of anodes in the second electrode section 112.

In the embodiment described above, the first electrode section 111 has been described as having a plurality of continuous cathodes adjacent to each other, but the present invention is not limited thereto. For example, as shown in FIG. 5, the plurality of cathodes in the first electrode section 111 do not need to be adjacent to each other and continuous. That is, in the first electrode section 111, an anode or an unconnected electrode may be disposed between the cathodes.

In the embodiment described above, the second electrode section 112 has been described as having a plurality of continuous anodes adjacent to each other, but the present invention is not limited thereto. For example, as shown in FIG. 5, the plurality of anodes in the second electrode section 112 do not have to be adjacent to each other and continuous. That is, in the second electrode section 112, a cathode or an unconnected electrode may be disposed between the anodes.

In the above embodiment, it was explained that the force sense presentation device 10 includes the switching section 124 that reverses the positional relationship between the first electrode section 111 and the second electrode section 112 by switching the polarity of the electrodes. but not limited to. The force sense presentation device 10 does not need to have such a switching section 124.

In the above embodiment, for example, as shown in FIG. 7, it has been explained that the force sense presentation device 10 is attached to the thumb and index finger of the user's right hand, and the thumb and index finger of the user's left hand, but the present invention is not limited to this. Not done. The force sense presentation device 10 may be attached to all ten fingers of the user in correspondence with the number and arrangement of fingers of the robot hand shown in FIG. The force sense presentation device 10 may be attached to an appropriate finger of the user's ten fingers in accordance with the number and arrangement of fingers of an arbitrary robot hand, or It may be worn on any of the user's ten fingers without corresponding placement.

In the above embodiment, for example, as shown in FIG. 9, it has been explained that the force sense presentation device 10 is attached to the thumb and index finger of the user's right hand, and the thumb and index finger of the user's left hand, but the present invention is not limited to this. Not done. The force sense presentation device 10 may be attached to all ten fingers of the user corresponding to the number and arrangement of fingers of the avatar in FIG. 9 . The force sense presentation device 10 may be attached to an appropriate finger of the user's ten fingers in accordance with the number and arrangement of fingers of an arbitrary avatar, or may be attached to an appropriate finger among the user's ten fingers in accordance with the number and arrangement of fingers of an arbitrary avatar. It may be worn on any finger of the user's ten fingers without making them correspond to each other.

1 Force sense presentation system 10 Force sense presentation device 11 Attachment parts 111 First electrode section 112 Second electrode section 11a Clipping piece 11b Gripping piece 12 Control circuit 121 Communication section 122 Storage section 123 Generation section 124 Switching section 124a First switching section 124b Second switching unit 125 Control unit 20 Robot 21 Communication unit 22 Storage unit 23 Operation target 23a Force and tactile sensor 24 Control unit 30 Output interface 31 Communication unit 32 Storage unit 33 Output unit 34 Control unit 40 Imaging device 41 Communication unit 42 Memory Section 43 Imaging section 44 Control section 50 Network 60 Information processing device 61 Communication section 62 Storage section 63 Control section 63a Operation target A1 Side surface A2 Side surface E11 Electrode E12 Electrode E13 Electrode E14 Electrode E21 Electrode E22 Electrode E23 Electrode E24 Electrode F Finger G Gel S11 Switch S12 Switch S13 Switch S14 Switch S15 Switch S16 Switch S17 Switch S18 Switch S21 Switch S22 Switch S23 Switch S24 Switch S25 Switch S26 Switch S27 Switch S28 Switch

Claims (14)

a first electrode part arranged along the side surface of the finger and having a stimulation electrode;
a second electrode part forming a pair with the first electrode part, the second electrode part being arranged so that a current flows between the first electrode part and the second electrode part through the inside of the finger; an electrode part;
A current is generated between the first electrode part and the second electrode part, which is a current flowing from the side surface of the finger to the inside, which stimulates the sensory receptors of the finger and causes a force sensation to the finger. A generating part that causes
Equipped with
Force sense presentation device. The force sense presentation device according to claim 1,
the second electrode section is arranged at a position along a side surface of the finger;
Force sense presentation device. The force sense presentation device according to claim 2,
The first electrode part is arranged at a position along one side of the finger,
the second electrode section is arranged at a position along the other side of the finger;
Force sense presentation device. The force sense presentation device according to claim 3,
the first electrode part and the second electrode part are opposed to each other,
Force sense presentation device. The force sense presentation device according to any one of claims 1 to 4,
The first electrode part is arranged at the tip of the finger,
Force sense presentation device. The force sense presentation device according to any one of claims 1 to 4,
The first electrode part has at least one cathode as the stimulation electrode,
The second electrode section has at least one anode as an indifferent electrode with respect to the stimulation electrode.
Force sense presentation device. The force sense presentation device according to claim 6,
The number of cathodes in the first electrode section is smaller than the number of anodes in the second electrode section.
Force sense presentation device. The force sense presentation device according to claim 6,
The first electrode section has a plurality of continuous cathodes adjacent to each other,
Force sense presentation device. The force sense presentation device according to claim 6,
The second electrode portion includes a plurality of continuous anodes adjacent to each other.
Force sense presentation device. The force sense presentation device according to any one of claims 1 to 4,
comprising a switching part that reverses the positional relationship between the first electrode part and the second electrode part by switching the polarity of the electrode;
Force sense presentation device. A force sense presentation device according to any one of claims 1 to 4,
an operation target that is remotely operated by a user wearing the force sense presentation device;
an output interface that outputs a state of the operation target operated by the user as visual information to the user;
Equipped with
The force sensation presentation device acquires information based on the operation of the operation target by the user, and generates a force sensation in the finger of the user according to the information.
Force presentation system. The force sense presentation system according to claim 11,
The operation target includes a robot hand formed at the tip of a robot arm,
The information includes force and tactile information output from a force and tactile sensor attached to the robot hand.
Force presentation system. The force sense presentation system according to claim 11,
The operation target includes a finger of an avatar in virtual space,
The information includes digital information corresponding to finger movements of the avatar.
Force presentation system. A current is caused to flow through the inside of the finger between a first electrode part that is arranged along the side surface of the finger and has a stimulation electrode, and a second electrode part that forms a pair with the first electrode part. including steps,
In the step, a current is applied to the first electrode part and the second electrode part, which is a current flowing from the side surface of the finger to the inside, which stimulates the sensory receptors of the finger and causes a force sensation to the finger. occur between
Force presentation method.

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