JP3349751B2 - Tactile presentation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tactile presentation device for transmitting tactile information of an object that cannot be directly touched to a human tactile organ when operating the object.

[0002]

2. Description of the Related Art An apparatus for performing an operation on a micro sample or an extreme environment which cannot be directly touched, and an operation section operated by an operator and an operation by which a manipulator or the like directly operates on an object. There are two types of operating devices that are roughly classified into two parts and that indirectly handle the object, for example.

FIG. 14 is a view showing a micromanipulator used by being installed in a microscope. FIG. 14A is a view showing the whole, and FIG. 14B is a partially enlarged view. In this microscope, a pipette 133 that supports an operation target 132 and a manipulator 134 that operates on the target are operably attached to a microscope main body 131. The microscope body is provided with joysticks 135 and 136 for operating the pipette 133 and the manipulator 134 at hand. (Measurement and control; Vol.23, No.9, P32-38 cell micromanipulation:
By operating the joysticks 135 and 136 between the pipette 133 and the manipulator 134 while observing the object 132 with a microscope with such a configuration, fine cells such as fertilized eggs are sucked and fixed by the pipette 133. In advance, a reagent is injected into cells by a needle, or different genetic information is injected.

FIG. 15 is a diagram showing a robot manipulator system. An operation unit that actually performs a work operation includes a plurality of joints 141 having sensors and a slave arm 143 having a treatment unit 142. The operation unit for giving the operator a movement is provided by the slave arm 143.
Arm 14 having a plurality of joints 144 equipped with sensors and a treatment section 145 corresponding to the configuration of the slave arm 143 in order to match the degree of freedom of movement of the arm of the operator with the arm.
6 and a fixing member 147 for fixing the operator's arm to the master arm 146 so as to directly transmit the operation. The control system 14 includes a signal processing circuit for performing various processes for controlling the movement of both the slave arm and the master arm.
8 are connected.

With such a configuration, the operator fixes the arm to the master arm by the fixing member 147 and operates the slave arm 143 in accordance with the operation state by controlling the information of the sensor by arbitrarily operating the arm. Then, the operation of the operator is reproduced by the slave arm 143 via the master arm 146, and the external force received by the slave arm 143 is directly received by the operator via the master arm 146. (Machinery technology Research Laboratory Report; Vol.46 (1992), No.2
P, 170-182 Impedance control type master-slave system-Basic principle and application to transmission delay: see Tate and Sakaki)

As described above, a large number of manipulator systems as described above, such as a microscope and a robot manipulator system, have been published.

However, in the conventional apparatus as described above,
Recognize the contact or grip state, such as how the manipulator of the operating unit is in contact with the object or tissue during operation, or how much force the object is holding, and Various contact information such as surface roughness and surface temperature of the object could not be obtained. That is, in the conventional device, the above various tactile information is not fed back to the operator, and it is impossible to perform a delicate and accurate operation based on the human tactile sense.

For this reason, for example, in the above-described conventional apparatus, in a micromanipulator installed and used in a microscope, it is determined whether or not an operating unit is in contact with an object based on information obtained in a two-dimensional image. ,
Considerable technology has been required to cope with the tendency of miniaturization of an object or an operation part. Also, in robot manipulator systems, conventional sensory displays are sufficient for rough movements such as the transfer of objects, but micromanipulators that require precise and minute movements and judgments are sufficient. However, it is not enough to improve the operability by displaying the sense of resistance and to accurately recognize the object to be grasped.

In view of such circumstances, the present applicant has previously filed an application for a tactile transmission device as shown in FIG. 16 (Japanese Patent Application No. 5-7196). This is a circular coil having a tactile transmission section 155 on the upper side and a stopper 154 on the lower side between the N and S poles of the circular magnet 153 having the N pole at the center and the S pole around the pedestal 151. 1
Tactile transmission means comprising a voice coil according to 52 is constituted.

[0010] Since such a voice coil is a device for converting an alternating current into a mechanical vibration through a magnetic circuit,
When the current applied to the coil 152 is set to a frequency exceeding the response limit of the human tactile sense, the tactile sense transmitting unit 155 is driven to transmit the information of the hardness or softness of the object to the fingertip of the operator, and further flows to the voice coil. By changing the amount of current, the repulsive force from the target when the force for crushing the target is applied by changing the holding force of the tactile transmission unit 155 is also transmitted. Therefore, the operator can eliminate the divergence of the operation in question, and obtain a feeling as if he / she is actually operating the target with his / her own hand.

[0011]

Means for Solving the Problems First tactile presentation of the present invention
The indicating device detects a contact state with the object and outputs a tactile state signal thereof, and a signal processing unit that converts the contact state detected by the detecting unit into tactile information of the object and outputs the tactile information. With a piezoelectric element that generates sliding vibration
According to the signal output by the signal processing means,
A sliding vibration is generated in the piezoelectric element, and an operator
It is characterized by presenting surface information . The second of the present invention
In the tactile presentation device, a piezoelectric element that generates sliding vibration
Elastic member for transmitting vibration from the piezoelectric element, and transmission
Transmission member that transmits the vibrated vibration to the operator as tactile information
It is characterized by consisting of. Third tactile presentation device of the present invention
The piezoelectric element that generates sliding vibration and the piezoelectric element
A plurality of elastic members provided at an end; and the plurality of elastic members
And a transmission member having both ends supported by the piezoelectric element.
Generated sliding vibrations through the plurality of elastic members.
Transmits the signal to the transmission member and gives the operator a touch
A tactile sense presentation device characterized by presenting. Fourth Embodiment of the Present Invention
The tactile presentation device of the present invention has the features of the first tactile presentation device in addition to the features of the first tactile presentation device.
And an elastic member for transmitting vibration from the piezoelectric element.
And transmit the transmitted vibration to the operator as tactile information
A transmission member, wherein the signal is output by the signal processing means.
Tactile presentation means for transmitting surface information according to the received signal.
It is characterized by having.

[0012]

According to the present invention, there is provided a detecting means for detecting a contact state with an object and outputting a tactile state signal thereof, and detecting tactile information of the object based on the contact state detected by the detecting means. Signal processing means for converting and outputting, a piezoelectric element for providing sliding vibration, an elastic member for transmitting vibration from the piezoelectric element, and a transmitting member for transmitting the transmitted vibration to a fingertip of an operator as tactile information And tactile sense presenting means for transmitting surface information according to the signal output by the signal processing means.

Preferably, the tactile sensation providing means may be integrated with driving means for driving at a frequency higher than the time response limit of human tactile sensation.

Preferably, the signal processing means has a function of converting a contact state signal from a detection means into a perceptual signal, a function of converting the perceived signal into an oscillation frequency, and providing the tactile sensation based on the contact state signal. It may be constituted by a circuit having a function of adjusting the driving state of the means.

[0015]

According to the first tactile sensation presentation device of the present invention, when the detecting means comes into contact with an object, the contact state with the object is detected, the contact state signal is output, and the contact state signal is processed by the signal processing means. Performs signal processing for converting into surface information of the object based on the contact state. Then, a slip vibration is generated from the piezoelectric element by the processed signal, and the operator perceives a slip feeling and a surface roughness as surface information of the object.
In the second tactile sense presentation device of the present invention, the piezoelectric element has slip vibration.
And the signal vibrates the transmission member via the elastic member.
By letting the operator
Perceives slipperiness and surface roughness. Third Tactile Presentation of the Present Invention
In the display device, the piezoelectric element generates slip vibration,
The elastic members provided at both ends of the piezoelectric element
The operator as slip information as surface information of the object.
Perception of feeling and surface roughness. Fourth tactile presentation device of the present invention
The vibration from the piezoelectric element is transmitted through an elastic member.
To the operator, and provide the operator with tactile information about slipperiness and surface roughness.
And present it.

In addition, by vibrating the transmission member through the elastic member to transmit the slip vibration generated from the piezoelectric element to the operator, the operator is presented with the surface information such as the feeling of slip of the object and the surface roughness, and at the same time, By driving the driving means at a frequency higher than the time response limit of the human tactile sense, hardness, softness and the like are also perceived.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, the background to the present invention and its theoretical background will be described. The present applicant has proposed a tactile transmission means capable of transmitting the hardness and softness of the object in the above-mentioned prior application,
The perception transmitted to the operator in this proposal is a tactile sense in a direction perpendicular to the fingertip. On the other hand, recognition of slipperiness and surface condition is the perception of the direction along the skin surface of the fingertip,
Further, it has directionality in the plane. Therefore, this 2
As a result of various studies focusing on the point, it was found that as an effective method of transmitting information while satisfying these two conditions, it is effective to use the sliding deformation of the piezoelectric body using the elastic plate as a transmission medium. .

FIGS. 1A, 2A, 3
As shown in FIG. 1A, the piezoelectric effect of generating a charge by applying a stress or a strain to the crystal and, conversely, FIG.
(B), FIG. 2 (B), and FIG. 3 (B) have an inverse piezoelectric effect in which stress or distortion occurs when an electric field is applied. The piezoelectric effect includes stress T applied to the crystal, electric field E, strain S generated in the crystal,
The electric displacement D is an effect related to each other. If T and E are now selected as independent displacements, the relation is as follows.

[0019]

[Number 1] ^{_{Si = s ij E T j +}} d im E m D n = d ni T i + e nm T E m (m, n = 1,2,3; i, j = 1,2 ... 6)

Here, S is strain, s is compliance, d is piezoelectric strain constant, E is electric field, D is electric displacement, and e is dielectric constant. The above equation (1) is called a basic piezoelectric equation (d form), and the electric field E and the electric displacement D are represented by vector quantities, and the stress T and the strain S are represented by symmetric tensor quantities. Also, the voltage output constant g
The suffix of _ij indicates the direction vector i of the electric displacement with respect to the direction of the stress (second-order tensor) j, the suffix of d _ij is the direction j of the electric field strength with respect to the strain direction i, and e _ij
Is the direction of electric field strength and the direction of electric field strength j
Where s ^E is the elastic compliance when the electric field is constant, and e ^T is the dielectric constant when the stress is constant.

The total number of coefficients contained therein is 9 × 9 =
Although the number is 81, taking into account the symmetry of both matrices s ^E and e ^T , the crystal symmetry is assumed to be high, and the direction of the polarization axis of the piezoelectric body is set to the x-axis, and a plane perpendicular to this is taken. Assuming that two axes orthogonal to each other are y and z, the coefficient matrix of the basic piezoelectric equation becomes very simple. That is, independent non-zero coefficients _{^{are, s 11 E, s 12 E}} , s 13 E, s 33 E, s 44 E,
_{d 15, d 31, d 33} , e 11 T, the only 10 e ₃₃ ^T. Therefore, the piezoelectric and inverse piezoelectric effects can be represented by using these ten coefficients.

The piezoelectric effect is as shown in FIG.
Is the effect of generating a charge by applying a force to the

V _i = g _ij F _j (L / S) (2) Here, V is the generated voltage, F is the applied force, L
Is the length of the piezoelectric body 41, S is the cross-sectional area of the piezoelectric body 41, and g _ij is the voltage output constant.

The voltage output constant g _ij refers to the strength of an electric field generated when a unit stress is applied in a state where electric displacement is 0, and is generally called a g constant and can be obtained by the following equation.

Equation 3] _{g 31 = d 31 / e 33} T g 33 = d 33 / e 33 T g 15 = d 15 / e 11 T ... (3)

The constant g ₃₃ is the proportionality constant voltage generated in proportion from the polarization direction, as shown in FIG. 1 (A) a force is applied, and the distortion amount Δx when distorted in the polarization direction. The generated voltage can be detected by the electrodes 1 and 2 attached to the plane perpendicular to the polarization direction. Constant g _15, as shown in FIG. 2 (A),
This is a proportional constant of a voltage generated in proportion to the amount of slip distortion Δy when a sliding stress is applied in a direction along the polarization direction and is distorted in that direction. The generated voltage can be detected by the electrodes 11, 12 attached to the surface on which the force is applied. Constant g
_{Numeral 31} denotes a proportional constant of a voltage generated in proportion to a distortion amount Δy when a force is applied from a direction perpendicular to the polarization direction as shown in FIG. . The generated voltage is detected by electrodes 21 and 22 mounted on a plane perpendicular to the polarization direction.

On the other hand, the inverse piezoelectric effect is shown in FIGS.
(B), when an electric field as shown in FIG. 3 (B) is applied, distortion and force are generated, and the generated force is shown as follows.

## EQU4 ## Fi = (S / L) (d _ij / s) V _j (4)

Here, S is the area of the piezoelectric body, L is the length of the piezoelectric body, and s is the compliance (elastic constant). The amount of displacement that occurs is

L _i = d _ij V _j (5)

However, the amplitude at resonance is related to the mechanical quality factor Qm of the system in which the piezoelectric element is installed.

[6] is given by _{Li = Q m d ij V j} ... (6).

Electrode arrangement for applying voltage to piezoelectric element
May be the same as when the piezoelectric effect is obtained. In other words, the polarization method
Field applied by electrodes 1 and 2 attached to the surface perpendicular to
In this case, the strain Δx occurs in the polarization direction, and the applied voltage
Is proportional to g₃₃(See FIG. 1). Polarization direction
When applied to electrodes 11 and 12 attached to the surface along
Is generated so that the strain Δy is generated along the polarization direction.
The proportionality constant to the applied voltage is g_Fifteen(See FIG. 2).
Applied to electrodes 21 and 22 mounted on a plane perpendicular to the polarization direction
The strain Δy occurs in the direction perpendicular to the polarization direction.
And the proportional constant to the applied voltage at this time is g ₃₁Is
(See FIG. 3).

The tactile sensation providing device of the present invention performs tactile sensation presentation by utilizing the above-described inverse piezoelectric effect. In this case, the distortion of the piezoelectric element, that is, the displacement is usually very small compared to the entire length, and it is very difficult for a human to perceive the displacement as it is. Therefore, in the present application, this displacement is enlarged by utilizing the resonance of the mechanical system constituted by the elastic member and the transmission member, and is amplified to a displacement that can be easily perceived by humans. The resonance is generated by synchronization with the natural vibration of the system. Although the natural frequency varies depending on the mechanical shape of the system, resonance can be easily generated by matching the vibration of the piezoelectric body and the natural frequency of the system including the piezoelectric body.

In particular, although the primary mode of the resonance frequency is simple in deformation, the displacement is the maximum, and is therefore a very important mode for a vibrating system. The piezoelectric body vibrates at the frequency at which the primary mode occurs. Alternatively, by configuring the mechanical system such that the vibration frequency of the piezoelectric element matches the primary mode of the system, it is possible to easily expand the minute displacement of the piezoelectric element.

FIG. 5 is a diagram schematically showing the configuration of the tactile sensation providing device of the present invention. The detection unit 51 includes a detection unit 51 that detects a contact state with an object and outputs a tactile state signal, a signal processing unit 52 that converts the contact state signal into tactile information, and a tactile presentation unit 53. The means 53 includes a piezoelectric element, an elastic member that transmits vibration of the piezoelectric element,
The transmission member is configured to transmit the vibration of the elastic member to the fingertip of the operator.

When the detecting means 51 comes into contact with the object, the state of contact with the object is detected, the contact state signal is output, and the contact state signal is transmitted by the signal processing means 52 to the object based on the contact state. The tactile information is transmitted to the operator by performing signal processing for changing to various tactile information such as slipperiness, surface roughness, hardness, and softness, and driving the tactile presentation means 53 according to the signal. Then, the operator is made to perceive the contact state and the characteristics of the object when the operator touches the object. The driving of the tactile sense presenting means 53 at this time is performed by presenting the above-described sliding vibration of the transmission unit excited by the sliding vibration of the piezoelectric element to the operator's fingertip.
It expresses surface information such as slipperiness or surface roughness when the operation target is gripped.

Hereinafter, a specific embodiment of the tactile sensation providing means according to the present invention will be described based on the above-described principle. FIG.
1 is a perspective view of a first embodiment showing a basic configuration of a tactile sense presenting means according to the present invention. This is because elastic members 62 and 63 for transmitting the vibration of the piezoelectric element 6a are attached to both ends in the longitudinal direction of a rectangular parallelepiped piezoelectric element 61 that generates sliding vibration, and the piezoelectric element 61 is supported by the elastic member. The transmission member 64 is fixed at a fixed distance in parallel. Then, when a slip vibration is generated in the piezoelectric element 61,
The transmission member 64 is vibrated through the elastic members 62 and 63 to transmit the vibration to the fingertip of the operator as sliding vibration.

FIG. 7 is a diagram showing a vibration state of the transmission member 64. When the piezoelectric element 61 is driven to generate sliding vibration, the elastic members 62 and 63 having predetermined elasticity disposed at both ends of the piezoelectric element 61 are displaced so as to fall in accordance with the elastic members. Then, the transmission member 64 fixed to the elastic members 62 and 63 is displaced following the transmission member 64. At this time, by periodically changing the voltage applied to the piezoelectric element 61, the displacement direction changes, and reciprocation can be performed.

Further, as described above, the vibration displacement of the piezoelectric element is very small. Therefore, by design such that the natural frequency of the mechanical system constituted by the elastic members 62 and 63 and the transmission member 64 becomes a frequency at which resonance occurs with respect to the frequency of the piezoelectric element 61, the displacement of the transmission member is reduced. Can be bigger. Therefore, if the finger is placed on the transmission member, it can be clearly sensed that the finger is displaced, and it is possible to obtain a sense of slip in the direction of displacement.

FIG. 8 is a perspective view showing a second embodiment of the tactile sense presenting means of the present invention, and FIG. 9 is a view showing an example of the operation thereof. This is a configuration in which the tactile sensation providing means of the first embodiment is further expanded, and a tactile sensation providing means having a similar basic configuration including a piezoelectric element 71, elastic members 72, 73, and a transmission member 74 is provided on a substrate 75. A plurality of tactile sense presenting means are arranged in parallel on the upper part. The operation of each tactile sensation providing means is the same as the singular one described above, but the resolution of the slip feeling can be improved by each movement,
Furthermore, if the combination of the polarizations of the piezoelectric elements of each tactile sense presenting means can be driven independently, it is possible to present a sense of slipping in two directions in the front and rear directions. In addition, as shown in FIG. 9, by alternately arranging the polarization directions of the respective piezoelectric elements 71, the directions of the vibration transmitted to the respective transmission members 74 are alternately presented. As a result, since slippage occurs in both directions, it is possible to recognize a sense of non-slip that is opposite to a sense of slip as a perception.

FIG. 10 is a perspective view showing a third embodiment of the tactile sense presenting means of the present invention. This is a configuration in which the tactile sensation providing means of the first embodiment is further expanded, and has four similar haptic sensation providing means 80A having the same basic configuration including a piezoelectric element 81, elastic members 82 and 83, and a transmission member 84. 8
0B, 80C, and 80D are further radially formed on a circular substrate 85. Each of the tactile sensation providing means performs the operation as shown in FIG. 7 described above, and by adopting such a configuration, the opposing tactile sensation providing means 80A and 80C or 80B and 80D are provided by the polarization provided in the same direction. It is possible to present a vertical or horizontal sliding by driving each pair of opposing tactile sensation presenting means and a 45 ° sliding feeling by simultaneously driving both sets.

FIG. 11 is a perspective view showing a fourth embodiment of the tactile sense presenting means of the present invention. This is a configuration in which the tactile sensation providing means of the third embodiment is further expanded, and the tactile sensation providing means having the basic configuration shown in the second embodiment is arranged in parallel with Similar to the embodiment, four tactile sense presenting means are provided radially on the substrate 95. With such a configuration, it is possible not only to present the vertical or horizontal sliding and the 45 ° sliding feeling with high resolution, but also to arrange the polarization directions of the parallel piezoelectric elements alternately. By doing so, the direction of the slip vibration to be presented can be alternated, which causes slip from both directions, so that it is possible to recognize the sense of slippage that is opposite to the sense of slip as a perception, It is possible to present an unusual sensation.

FIG. 12 is a perspective view showing a fifth embodiment of the tactile sense presenting means of the present invention. First, a voice coil in which a permanent magnet sandwiching a shaft portion 108 around which a coil 105 is wound is fixed on a base 109, and a substrate 110 and an ultrasonic wave blocking member 12k are provided on the shaft portion 108 in an overlapping manner. ing. Then, the piezoelectric element 101, the elastic members 102 and 103, and the transmission member 104 are placed on the ultrasonic blocking member 111.
Is provided. Therefore, when a direct current is applied to the coil 105,
When a force proportional to the current is generated in the coil 105 in the vertical direction to cause the tactile sense presenting means to fluctuate or protrude in the vertical direction, and to cause the piezoelectric element 101 to generate sliding vibration,
The vibration is transmitted to the transmission member 1 via the elastic members 102 and 103.
04 is vibrated. Therefore, by driving the voice coil at a frequency equal to or higher than the time response limit related to the human tactile sense, the transmitting member 104 can move up and down to express the hardness or softness of the object, and the tactile sense generated by the current flowing through the coil. The repulsion force when the operation target is pushed by the force holding the presenting means can be expressed. That is, according to the present embodiment, it is possible to transmit the hardness, softness, surface information, and slipperiness of the target object to the operator.

FIG. 13 is a diagram schematically showing a circuit configuration according to the fifth embodiment, which is a typical circuit configuration according to the present invention. A sensor circuit 122 and a perceptual signal processing circuit 123 are sequentially connected to the sensor 121, and a drive circuit 128 for driving the voice coil 129 and a perceptual signal-oscillation frequency conversion circuit 124 are connected to the perceptual signal processing circuit 123. I have. The oscillation circuit 125 and the selection circuit 126 for driving the piezoelectric element 127 are sequentially connected to the perceptual signal-oscillation frequency conversion circuit 124.

With such a configuration, the tactile state signal from the sensor 121 enters the sensor circuit 122 that processes the output of the sensor, and thereafter, the output of the sensor circuit is converted into a perceptual signal such as hardness, softness, and slipperiness. Into a perceptual signal processing circuit 123 for conversion into a signal and branch processing. After that, the perception signal of the hardness and the softness is transmitted to the voice coil drive circuit 128, and based on the processed drive signal, the voice coil 1
29 is driven. The perceived signal of slipperiness and surface roughness passes through a perceived signal-oscillation frequency conversion circuit 124 that converts the perceived signal into an oscillation frequency, and an oscillation circuit 125 that drives a piezoelectric element. A selection circuit 12 for selecting which piezoelectric element of the element 127 is to be driven or which direction of the sliding vibration is to be excited.
Through 6, the piezoelectric element 127 is driven to present sliding vibration to the transmission member.

[0042]

As described above, according to the present invention, by transmitting tactile information including surface information such as a feeling of slippage and surface roughness to an operator, it is possible for the operator to actually control the object by his / her own hand. It is possible to improve the operability of the device by eliminating the feeling of operation divergence and to perform more accurate and operable operation in a device as described in the related art because it is possible to obtain the feeling of operating the device. Can be.

[Brief description of the drawings]

FIG. 1 is a diagram showing a basic function in a thickness direction of a piezoelectric body.

FIG. 2 is a diagram showing a basic function in a length direction of a piezoelectric body.

FIG. 3 is a diagram showing a basic function in a sliding direction of a piezoelectric body.

FIG. 4 is a diagram showing a piezoelectric effect.

FIG. 5 is a diagram schematically showing the configuration of the present invention.

FIG. 6 is a perspective view showing a first embodiment of the tactile sense presenting means of the present invention.

FIG. 7 is a diagram showing an operation state of the tactile sense presenting means.

FIG. 8 is a perspective view showing a second embodiment of the tactile sense presenting means of the present invention.

FIG. 9 is a diagram showing a polarization direction of a piezoelectric element.

FIG. 10 is a perspective view showing a third embodiment of the tactile sense presenting means of the present invention.

FIG. 11 is a perspective view showing a fourth embodiment of the tactile sense presenting means of the present invention.

FIG. 12 is a diagram showing a fifth embodiment of the tactile sense presenting means of the present invention integrated with a voice coil.

FIG. 13 is a diagram showing an embodiment of the signal processing means of the present invention.

FIG. 14 is a diagram showing a conventional technique regarding a microscope.

FIG. 15 is a diagram showing a conventional technique relating to a robot manipulator.

FIG. 16 is a diagram showing a tactile sensation providing device already proposed by the present applicant.

[Explanation of symbols]

 Reference Signs List 51 detecting means 52 tactile presenting means 53 signal processing means 61 piezoelectric elements 62, 63 elastic member 64 transmitting member

──────────────────────────────────────────────────続 き Continued on the front page (58) Fields surveyed (Int. Cl. ⁷ , DB name) B25J 3/00-3/04 B25J 9/10-9/22 B25J 13/00-13/08 B25J 19 / 02-19/06

Claims (4)

(57) [Claims] 1. A means for detecting a contact state with an object and outputting a tactile state signal thereof, and a signal processing means for converting and outputting tactile information of the object based on the contact state detected by the detecting means. A piezoelectric element that generates a sliding vibration, and according to a signal output by the signal processing means,
A sliding vibration is generated in the piezoelectric element, and the operator is given a surface
A tactile presentation device that presents information . 2. A piezoelectric element for generating a sliding vibration, An elastic member for transmitting vibration from the piezoelectric element; Transmission that transmits the transmitted vibration to the operator as tactile information
A tactile sense presentation device comprising a member. 3. A piezoelectric element for generating a sliding vibration, A plurality of elastic members provided at both ends of the piezoelectric element, A transmission member having both ends supported by the plurality of elastic members;
And The slip vibration generated by the piezoelectric element is
Through the member to the transmission member and contact the transmission member
Tactile presentation device characterized by presenting a tactile sensation to an affected operator
Place. 4. An elastic member for transmitting vibration from the piezoelectric element.
The transmitted vibration is transmitted to the operator as tactile information.
Further comprising a transmission member that reaches the
Tactile presentation hand that transmits surface information according to the output signal
The tactile presentation according to claim 1, further comprising a step.
Indicating device.