JP2024040763A - haptic device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a haptic device which can enhance comfort of a user.

SOLUTION: A haptic device 1 according to the present invention has stretching parts 2 which can be fitted to fingers on the back of a hand H of a user and allows the fingers to stretch in a longitudinal direction, a drive unit 4 constituted so as to make an accessory 10 operate the stretching parts 2, and a processor device 5 having an acquiring unit for acquiring information of a haptic output to the finger, a control unit for detecting postures of the fingers based on a state of the stretching parts 2 and for controlling an operation of the stretching parts 2 by the drive unit 4 based on the haptic output information acquired by the acquiring unit, and a communication unit for communicating with an external device via wireless communication.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present disclosure relates to haptic devices.

A tactile device worn on a user's hand is known as a device that gives the user a pseudo tactile sensation for a virtual object (see Patent Document 1). This tactile device provides a tactile sensation to a finger or the like by deforming an elastic expansion/contraction body placed together with aggregate inside a finger cot or glove.

Japanese Patent Application Publication No. 2004-29999

In the haptic devices described above, the user's fingers are covered by a finger cot or glove. Therefore, there is a possibility that the user may feel discomfort at the fingertips. Additionally, hand movements may be restricted while wearing the device.

One aspect of the present disclosure aims to provide a haptic device that can enhance user comfort.

One aspect of the present disclosure includes: a tensioning section that can be attached to a user's finger on the back side of the hand and configured to be able to pull the finger in the longitudinal direction; a driving section configured to operate the tensioning section; an acquisition unit configured to acquire tactile output information to the tension unit; and an acquisition unit configured to detect the posture of the finger based on the state of the tension unit, and actuate the tension unit by a drive unit based on the tactile output information acquired by the acquisition unit. a controller configured to control a haptic device.

According to such a configuration, a tactile sensation can be provided to the user's fingers by the operation of the tensioning portion attached to the back of the hand, so that discomfort at the user's fingertips and restrictions on hand movement can be reduced. Furthermore, since the posture of the finger is detected based on the state of the tensioning part, it is possible to generate a highly realistic tactile sensation in the user's finger when it comes into contact with a virtual object.

One aspect of the present disclosure may further include a vibration unit that can be attached to a fingernail and is configured to apply vibration to the fingernail. The control unit may be configured to control vibration of the vibrating unit based on the haptic output information. According to such a configuration, it is possible to provide the user with an input tactile sensation such as a pressing operation on a virtual switch.

In one aspect of the present disclosure, the vibrating unit may be configured to be attachable to the nail so that the side part of the finger is exposed. According to such a configuration, it is possible to provide the user with an input tactile sensation while increasing the feeling of openness at the user's fingertips.

In one aspect of the present disclosure, the acquisition unit may be configured to output the posture detected by the control unit to an external device, and acquire haptic output information from the external device. According to such a configuration, the haptic device can be downsized while providing the user with a highly realistic tactile sensation.

In one aspect of the disclosure, the tensioning section may include a rubber actuator. According to such a configuration, the tension section and the drive section can be downsized. Therefore, the effect of improving the comfort of the user wearing the haptic device can be promoted.

In one aspect of the present disclosure, the control section may be configured to detect the posture of at least the first joint of the finger based on the state of the tension section. The tensioning section may be configured to tension the finger such that at least the first joint is less bent. According to such a configuration, it is possible to improve the realism of the tactile sensation when touching a virtual object.

FIG. 1 is a schematic diagram of a haptic device in an embodiment. 2A is a schematic side view of the tensioning part and the vibrating part in the haptic device of FIG. 1, and FIG. 2B is a schematic cross-sectional view taken along the line IIB-IIB of FIG. 2A. 3A, 3B, and 3C are schematic front views of the vibrating section of FIG. 2A. 4A, FIG. 4B, and FIG. 4C are schematic diagrams showing a connection structure between the tension section and the vibration section of FIG. 2A. FIG. 5 is a schematic configuration diagram of the haptic device of FIG. 1. FIG. 6 is a schematic diagram showing an example of control of the tensioning section by the control section.

Embodiments to which the present disclosure is applied will be described below with reference to the drawings.
[1. First embodiment]
[1-1. composition]
The haptic device 1 shown in FIG. 1 is used by being attached to a user's hand H. The haptic device 1 is used with an external device 100 (see FIG. 5) that presents virtual objects to the user. The virtual object may be displayed in a virtual space such as a virtual reality (VR) space or an augmented reality (AR) space, or may be displayed as a single virtual object such as an aerial display. It may be something that

The external device 100 includes a computing device that forms a virtual object, a display device that displays the virtual object, and a sensor that detects the position and orientation of the user. For example, a camera, a tactile sensor, etc. are used as the sensor.

The virtual objects presented by the external device 100 include, for example, a wall, a button-like switch, and the like. The external device 100 is installed in a car, for example, and provides an airborne touch panel to the occupant.

The haptic device 1 has an answerback function that provides the user with a tactile sensation when the user's hand H contacts a virtual object. The haptic device 1 includes a plurality of tension sections 2, a plurality of vibration sections 3, a drive section 4, a processing device 5, and a mounting tool 10.

<Tension part>
The plurality of tension parts 2 are each a string-shaped component configured to be able to be attached to each finger F of the user on the back side of the hand H.

As shown in FIG. 2A, the tensioning section 2 includes an operating section 21 and a connecting section 22. The actuating portion 21 extends along the longitudinal direction of the user's finger F. One end of the actuating section 21 is attached to the user's nail by the connecting section 22 via the vibrating section 3 . The other end of the actuating section 21 is connected to the driving section 4 (that is, the mounting tool 10). The actuating section 21 is configured to extend and contract or move along the longitudinal direction L of the finger F by the driving section 4 .

The tension portion 2 covers a part of the back of the finger F, but does not cover the side and pad of the finger F. Moreover, the actuating part 21 is preferably configured to be attached in close contact with the dorsal side of the finger F, as shown in FIG. 2B.

The tensioning section 2 is configured to be able to pull the finger F in the longitudinal direction of the finger F by contracting or moving in a direction away from the user's fingertip (that is, the nail) by the driving section 4 . The tensioning unit 2 tensions the finger F so that at least the bending of the first joint of the finger F becomes smaller. This stretches the finger F, giving the user a pseudo tactile sensation. The plurality of tension sections 2 operate independently of each other.

The material of the actuating part 21 is not particularly limited, but a rubber actuator is preferable. A rubber actuator includes, for example, an elastic tube and a sleeve that covers the elastic tube. The elastic tube is made of an elastic material such as rubber or silicone. The sleeve is made of a knitted fabric of fibers and has elasticity. This type of rubber actuator expands and contracts by injecting and expelling fluid (eg, air, oil, etc.) into and out of the elastic tube.

Further, the rubber actuator may include an elastic tube and electrodes arranged on the front and back sides of the elastic tube. This type of rubber actuator expands and contracts by applying and removing voltage.

By configuring the actuating section 21 with such a rubber actuator, the tension section 2 and the driving section 4 can be downsized. Therefore, the effect of improving the comfort of the user wearing the haptic device 1 can be promoted.

Furthermore, the actuating section 21 does not necessarily have to be expanded or contracted by external input. If the tensioning section 2 is wound up by the driving section 4, the actuating section 21 does not necessarily have to be elastic. Therefore, the actuating portion 21 may be made of twisted yarn, for example. However, in consideration of contact with the finger F, the actuating portion 21 is preferably elastic and/or stretchable.

<Vibrating part>
Each of the plurality of vibrating units 3 is a component that can be attached to each fingernail of a user's finger F. The vibrating section 3 is configured to apply vibration to the user's nails.

As shown in FIG. 3A, the vibrating section 3 includes a mounting section 31 and a vibrating body 32. The mounting portion 31 is a plate-shaped member that covers the user's nails. The mounting portion 31 is fixed to the nail using, for example, double-sided tape.

The attachment part 31 can be attached to the nail so that the side part of the finger F is exposed. In other words, the mounting portion 31 does not cover the sides and belly of the finger F. Note that the mounting portion 31 may cover the entire user's nail, or may cover only a portion (for example, the tip) of the nail.

The vibrating body 32 is a small device that vibrates the mounting portion 31 based on input of an electric signal. Examples of the vibrating body 32 include a vibrating motor shown in FIG. 3A, a vibrating solenoid shown in FIG. 3B, and a vibrating speaker shown in FIG. 3C. Electric power is supplied to the vibrating body 32 via, for example, wiring arranged within the tension section 2.

The vibration of the vibrating body 32 generates an input to the user's fingertip in a direction perpendicular to the surface of the nail (that is, in the thickness direction of the nail). This gives the user a simulated tactile sensation when pressing a virtual switch or the like.

In addition, when the actuating part 21 of the tension part 2 is a rubber actuator, the mounting part 31 can be vibrated in the thickness direction of the nail by vertical expansion and contraction of the rubber actuator. When the mounting portion 31 can be vibrated by the tensioning portion 2 in this manner, the vibrating portion 3 does not necessarily have to include the vibrating body 32.

As shown in FIG. 4A, the mounting part 31 has a connected part 31A to which the connecting part 22 of the tensioning part 2 is connected. FIG. 4A is an example in which the connecting portion 22 is a hook and the connected portion 31A is a hole or a recess. The tension portion 2 is connected to the attachment portion 31 by the connection portion 22 engaging with the connected portion 31A. Note that the connected portion 31A may be a hook, and the connecting portion 22 may be a hole or a recess.

FIG. 4B is an example in which both the connecting portion 22 and the connected portion 31A are magnets or magnetic bodies. The tensioning portion 2 is connected to the mounting portion 31 by connecting the connecting portion 22 to the connected portion 31A by magnetic force.

FIG. 4C is an example in which the connecting portion 22 is a convex portion and the connected portion 31A is a concave portion. The tension portion 2 is connected to the attachment portion 31 by inserting the connection portion 22 into the connected portion 31A. Note that the connected portion 31A may be a convex portion, and the connecting portion 22 may be a concave portion.

<Drive section>
The drive section 4 shown in FIG. 1 is configured to actuate the tension section 2. The drive section 4 shown in FIG. The drive unit 4 contracts or moves the tensioning unit 2 in order to pull the finger F by the tensioning unit 2. The drive unit 4 is housed in the mounting tool 10.

When the actuating section 21 of the tensioning section 2 is constituted by a rubber actuator, the driving section 4 operates the tensioning section 2 by supplying and discharging fluid to the rubber actuator or controlling energization. For example, the drive unit 4 causes the finger F to be stretched by contracting the tensioning unit 2 by discharging fluid from the rubber actuator or energizing the rubber actuator. Further, the drive unit 4 releases the tension on the finger F by inflating the tension unit 2 by supplying fluid to the rubber actuator or stopping power supply to the rubber actuator.

The drive section 4 may be a winder that winds up the tension section 2. In this case, the drive section 4 pulls the finger F by winding up the tension section 2. Further, the drive section 4 releases the tension on the finger F by sending out the tension section 2.

The drive unit 4 may contract or move the tensioning unit 2 to bring the tensioning unit 2 into close contact with the user's hand H when the user puts the tensioning unit 2 on the finger F.

<Processing device>
The processing device 5 is a computer including, for example, a processor, a storage medium such as a RAM or ROM, and an input/output unit. The processing device 5 is housed in a mounting tool 10. As shown in FIG. 5, the processing device 5 includes a control section 51, an acquisition section 52, and a communication section 53.

<Control unit>
The control unit 51 has a detection function that detects the posture of the user's finger F, and a control function that controls the operation of the tension unit 2 and the vibration unit 3.

In the detection function, the control unit 51 detects the posture of the user's finger F based on the state of the tensioning unit 2. The "posture of finger F" is, for example, the degree of bending of finger F, and includes the bending angle of each joint of finger F.

Examples of the "state of the tensioning section 2" include the amount of fluid supplied to the rubber actuator, the amount of winding of the tensioning section 2, and the like. The control unit 51 detects the posture of at least the first joint of the finger F based on the state of the tension unit 2.

The control unit 51 estimates the posture of the finger F using, for example, a determination formula. This determination formula is created in advance by a statistical method using the state of the tensioning part 2 as an explanatory variable (that is, an independent variable) and the posture of the finger F as an objective variable. The control unit 51 notifies the acquisition unit 52 of the estimated posture of the finger F as a detection result.

As the statistical method, multivariate analysis, supervised machine learning, or a combination thereof is used. In supervised machine learning, machine learning is performed using the posture of the finger F as teacher data and the above-mentioned explanatory variables as input data.

In the learning step, a machine learning circuit analyzes combinations of explanatory variables with a large number of labels (that is, training data). The machine learning circuit learns feature amounts for classifying a combination of explanatory variables into a plurality of labels (that is, the posture of the finger F) from a large amount of labeled data, and constructs a determination formula.

Note that the control section 51 may detect the posture of the finger F by combining the information on the user's posture detected by the external device 100 (that is, the sensor output of the external device 100) with the state of the tensioning section 2.

Further, the control unit 51 performs zero point correction of the posture of the finger F by performing a predetermined initialization operation such as tapping a part of the body (for example, hand, thigh, etc.) with the user's hand spread out. conduct. That is, the control unit 51 initializes the posture of the finger F by the initialization operation.

In the control function, the control unit 51 controls the operation of the tension unit 2 by the drive unit 4 and the vibration of the vibration unit 3 based on the tactile output information acquired by the acquisition unit 52. The tactile output information includes event occurrence information such as contact of the finger F with a virtual object and operation of a virtual switch, as well as the direction and magnitude of the reaction force that the finger F receives in the event.

When the tactile output information includes a contact event of the finger F with a virtual object, the control unit 51 adjusts the amount of operation of the drive unit 4 (that is, the amount of tension of the tension unit 2) in accordance with the direction and magnitude of the reaction force. ) and input it to the drive unit 4. The relationship between the direction and magnitude of the reaction force and the amount of operation of the drive unit 4 is stored in advance in the form of a function or a table. The drive unit 4 receives an input from the control unit 51 and operates the tensioning unit 2 by a set operating amount so that the finger F is pulled.

As shown in FIG. 6, when the user brings the finger F close to the virtual wall W having the first convex portion P1 and the second convex portion P2, at the position where the finger F interferes with the virtual wall W, The acquisition unit 52 acquires tactile output information including the reaction force from the external device 100 .

The control unit 51 controls the drive unit 4 to pull the finger F in the area that interferes with the virtual wall W based on the tactile output information. This gives the user the feeling that the finger F is in contact with the virtual wall W.

Further, the control unit 51 controls the drive unit 4 to release the tension of the finger F in a region away from the virtual wall W based on the tactile output information. This gives the user the feeling that the finger F is separated from the virtual wall W.

Therefore, as shown in FIG. 6, when the user moves the finger F along the virtual wall W, the combination of pulling and releasing the finger F causes the finger to swing toward the first convex portion P1 and the second convex portion P2. A pseudo-tactile sensation is given to the user's finger F. That is, the control unit 51 gives the user a pseudo sensation of tracing the surface of the virtual object by controlling the drive unit 4 based on the tactile output information.

Further, the control unit 51 causes the vibration unit 3 to vibrate when the tactile output information includes information on the occurrence of a pressing operation of the virtual switch by the finger F. Specifically, the control unit 51 instructs the vibrating unit 3 to vibrate once for each press (that is, click).

Furthermore, the control unit 51 controls the drive unit 4 to bend the finger F based on the positional relationship between the finger F and the virtual switch included in the tactile output information at the same time as the instruction to the vibration unit 3 . This gives the user the sensation of pressing a virtual switch.

<Acquisition part>
The acquisition unit 52 shown in FIG. 5 outputs the posture of the finger F detected by the control unit 51 to the external device 100 via the communication unit 53. Further, the acquisition unit 52 is configured to acquire tactile output information to the finger F from the external device 100 via the communication unit 53.

The external device 100 calculates tactile output information for the finger F from the posture of the finger F and the movement and position of the user's hand detected by the external device 100. The tactile output information is output to the acquisition unit 52 and then transmitted to the control unit 51. Therefore, complicated calculations are not required in the processing device 5, and the processing device 5 and the battery can be made smaller.

<Communication Department>
The communication unit 53 is configured to communicate with the external device 100 via wireless communication.

<Attachment>
The mounting tool 10 houses a drive unit 4, a processing device 5, and a battery (not shown). The mounting tool 10 has a wristband shape, for example, and is configured to be attachable to and detachable from the user's wrist. The plurality of tension parts 2 are held by the mounting tool 10.

The haptic device 1 is attached to the user's hand H, for example, in the following procedure. First, the plurality of drive units 4 are respectively attached to the nails of the plurality of fingers F of the user. Next, the wearing tool 10 is worn on the user's arm. Thereafter, the plurality of tension parts 2 are respectively connected to the plurality of drive parts 4.

[1-2. effect]
According to the embodiment detailed above, the following effects can be obtained.
(1a) Since a tactile sensation can be given to the user's fingers F by the operation of the tensioning part 2 attached to the back of the hand, discomfort at the user's fingertips and restrictions on hand movement can be reduced. Furthermore, since the posture of the finger F is detected based on the state of the tensioning part 2, it is possible to cause the user's finger F to generate a highly realistic tactile sensation when it comes into contact with a virtual object.

(1b) The vibration unit 3 that vibrates the nail can provide the user with an input tactile sensation such as a pressing operation on a virtual switch.
(1c) By exposing the side part of the finger F by the vibrating part 3, it is possible to provide the user with an input tactile sensation while increasing the open feeling of the user's fingertips.

(1d) The acquisition unit 52 outputs the posture of the finger F to the external device 100 and acquires tactile output information from the external device 100, thereby providing the user with a highly realistic tactile sensation while reducing the size of the haptic device 1. can do.

(1e) The control unit 51 detects the posture of at least the first joint of the finger F, and the tension unit 2 pulls the finger F so that at least the first joint bends less. The sense of realism can be improved.

[2. Other embodiments]
Although the embodiments of the present disclosure have been described above, it goes without saying that the present disclosure is not limited to the above embodiments and can take various forms.

(2a) In the haptic device of the above embodiment, the tensioning section and the vibration section may be attached to only one finger (for example, the index finger). That is, the haptic device may include one tensioning part and one driving part.

(2b) In the haptic device of the above embodiment, the tensioning section does not necessarily need to be attached to the user's finger via the vibrating section. For example, the tensioning portion may be attached directly to the user's nail or fingertip other than the nail.

(2c) In the haptic device of the above embodiment, the haptic device does not necessarily have a vibrating part. In other words, the haptic device may provide a pseudo tactile sensation to the user's finger only by the pulling portion.

(2d) The function of one component in the above embodiment may be distributed as multiple components, or the functions of multiple components may be integrated into one component. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above embodiment may be added to, replaced with, etc. in the configuration of other embodiments. Note that all aspects included in the technical idea specified from the words in the claims are embodiments of the present disclosure.

DESCRIPTION OF SYMBOLS 1... Haptic device, 2... Tension part, 3... Vibration part, 4... Drive part, 5... Processing device,
DESCRIPTION OF SYMBOLS 10... Mounting tool, 21... Operating part, 22... Connecting part, 31... Mounting part, 31A... Connected part,
32... Vibrating body, 51... Control unit, 52... Acquisition unit, 53... Communication unit, 100... External device.

Claims (6)

a tensioning portion that can be attached to a user's finger on the back side of the hand and configured to be able to pull the finger in the longitudinal direction;
a drive section configured to actuate the tension section;
an acquisition unit configured to acquire tactile output information to the finger;
a control unit configured to detect the posture of the finger based on the state of the tensioning unit and to control the operation of the tensioning unit by the drive unit based on the tactile output information acquired by the acquisition unit; ,
A tactile device. A haptic device according to claim 1, comprising:
Further comprising a vibrating section that can be attached to the fingernail and configured to apply vibration to the fingernail,
The control section is a haptic device configured to control vibration of the vibrating section based on the haptic output information. The haptic device according to claim 2,
The vibration unit is a tactile device configured to be attachable to the nail so that a side part of the finger is exposed. The haptic device according to any one of claims 1 to 3,
The acquisition unit is a haptic device configured to output the posture detected by the control unit to an external device, and acquire the tactile output information from the external device. The haptic device according to any one of claims 1 to 3,
A haptic device, wherein the tensioning part has a rubber actuator. The haptic device according to any one of claims 1 to 3,
The control unit is configured to detect a posture of at least a first joint of the finger based on a state of the tension unit,
The tensioning section is a haptic device configured to tension the finger such that at least bending of the first joint is reduced.

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