JP4022999B2 - Force display device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a novel force sense presentation device. More specifically, the present invention relates to a technology for providing a force sense presentation device that is small, light and inexpensive, has few failures, and does not cause damage to the user due to runaway or the like.
[0002]
[Prior art]
In a virtual world constructed as data on a computer, there is a virtual object manipulation system that allows a virtual object to be felt and manipulated as if it were a real object.
[0003]
By converting the three-dimensional position in the real space into the three-dimensional coordinates of the video (virtual space) displayed using a technique such as computer graphics, the virtual hand of the user's virtual hand displayed in the video is displayed. Correspondence between the position and the position in the real space can be taken, which allows the user to manipulate the virtual object.
[0004]
However, with that alone, the user can feel as if he / she is actually manipulating the virtual object, and cannot feel as if he / she touched or grabbed the virtual object.
[0005]
Therefore, several devices have been proposed as force sense presentation devices that transmit the above feeling to the user in a virtual world.
[0006]
Conventionally, for example, a wire having one end fixed to a ring-shaped member fixed using a band or the like between joints of each finger even though it is not a glove type or a glove type is connected to the wrist through a pulley or the like. Instead of combining the wire and the motor, or by pulling the wire around and pulling it out and winding the other end of each wire with a motor to apply force to each joint of the fingers (see JP-A-6-324622) There are those using an air cylinder and those using a vibrator.
[0007]
[Problems to be solved by the invention]
The method of combining wires and motors and the method of using an air cylinder not only increases the weight of the device attached to the finger itself, but also increases the weight of the device. It is difficult to use for a long time. In addition, in the method using the vibrator, a so-called tactile sensation of touching the virtual object can be obtained to some extent, but a reaction force from the virtual object, that is, a force sense cannot be obtained.
[0008]
In addition, these methods apply external force to the fingers, so if the applied force is too strong even during normal operation, or if a very strong force is applied due to abnormal control (runaway), etc., the fingers will be damaged. There is a risk of giving. In order to avoid this, even if a safety device such as a limiter is provided, it is difficult to guarantee the reliability of the limiter 100%. It can also be avoided by using a motor with a small maximum torque, but in this case, the user's force often exceeds the motor torque and the original function of force sense presentation cannot be performed frequently. It can happen.
[0009]
As a solution to the above problems, a device that provides a reaction force to the operator by arranging a tube filled with a liquid instead of a wire around a finger and adjusting the flow resistance of the liquid can be considered. However, in such a system, a mechanical electromagnetic valve is used as a means for adjusting the flow resistance of the fluid, there is a possibility that the electromagnetic valve may fail, and the electromagnetic valve is large and heavy. There is a problem that the drawbacks of the conventional apparatus cannot be overcome in terms of burden on the user.
[0010]
Accordingly, an object of the present invention is to provide a force sense presentation device that is small, light and inexpensive, has few failures, and does not cause damage to the user due to runaway or the like.
[0011]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the force sense presenting device of the present invention has a glove-shaped outer shell member formed of a flexible material, a tube that is incorporated in the outer shell member and is filled with an electrorheological fluid, Control means for controlling the flow resistance of the electrorheological fluid generated by the movement of the object in the outer shell member, the control means being an electric field generating means for applying an electric field to the electrorheological fluid, the electric field generating means Is arranged near the wrist of the tube .
[0012]
Therefore, in the force sense presentation device of the present invention, a desired reaction force can be generated by changing the flow resistance of the electrorheological fluid, and the means for changing the flow resistance of the electrorheological fluid is configured to be small and light. can do.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the force sense presentation device of the present invention will be described below with reference to the accompanying drawings. In the illustrated force sense presentation device, the present invention is applied to a force sense presentation device for giving a force sense to a finger when a virtual object is operated by the finger.
[0014]
The force sense presentation device 1 includes an outer shell member 2 into which a user's hand can be inserted.
[0015]
The outer shell member 2 is formed of a flexible material in a glove shape. The outer shell member 2 includes a predetermined number of finger portions 3, 3,... And a palm portion 4, and covers the operator's fingers and palm to the wrist. The outer shell member 2 incorporates a plurality of tubes 6, 6,... Filled with electrorheological fluids 5, 5,.
[0016]
The tubes 6, 6,... Are incorporated in the outer shell member 2 so as to be positioned along the finger part 3 on the back side (outside) and the abdomen side (inside) of the user's finger inserted into the finger part 3. It is. Each of the tubes 6, 6,... Is sealed with end portions 6 a, 6 a,... On the fingertip side of the finger portion 3, and the opposite end portions 6 b, 6 b,. It is pulled out from the outside and connected to the storage tank 8. The storage tank 8 supplies the electrorheological fluids 5, 5,... To the tubes 6, 6,... According to the state of the internal volume of the tubes 6, 6,. , 6,... Are stored. The storage tank 8 is attached to, for example, an operator's arm, but may be appropriately arranged, for example, placed beside it without being attached to the operator.
[0017]
These tubes 6 are formed of a flexible material, but it is necessary that the inner volume thereof does not change greatly due to the pressure received from the electrorheological fluid 5 sealed inside.
[0018]
The electrorheological fluid 5 is an electrically insulating liquid, such as silicon oil, hydrocarbon-based mineral oil, halogenated hydrocarbon, or the like, which is a solid fine particle that is electrically polarized by application of an electric field, such as cellulose, silica, zeolite, or the like. It is dispersed and suspended, and has the property that the viscosity of the fluid changes with the application of an electric field.
[0019]
An electric field generating means 9 is disposed in the vicinity of the wrist portion 7. The electric field generating means 9 includes a pair of electrodes 10 and 11 arranged with the tube 6 interposed therebetween, and a control device 12 for controlling a voltage applied to the electrodes 10 and 11. An electric field is generated between the electrodes 10 and 11 by the voltage applied to the electrodes 10 and 11 by the control device 12, and the viscosity of the electrorheological fluid 5 is changed. Therefore, the flow of the electrorheological fluid 5 in the tube 6 is easy. Changes.
[0020]
Thus, the user inserts the hand 13 up to the wrist 14 into the outer shell member 2 for use. At this time, the user's fingers 15, 15,... Are inserted into the finger parts 3, 3,. When the user flexes and stretches the finger 15, the outer shell member 2 and the tubes 6, 6,... Attached thereto are bent, and the internal volume of the tubes 6, 6,. Accordingly, the electrorheological fluids 5, 5,... Filled in the tubes 6, 6,.
[0021]
However, since the end portions 6a, 6a,... On the fingertip side of the tubes 6, 6,... Are closed, the electrorheological fluids 5, 5,. If the flow of the electrorheological fluids 5, 5,... Is obstructed by the electric field generating means 9, 9,..., The electrorheological fluids 5, 5,. Therefore, the change in the inner volume of the tubes 6, 6,... Is also restricted, and the bending movement of the fingers 15, 15,. For example, if the flow of the electrorheological fluids 5, 5,... Is completely stopped, the user cannot bend and stretch the fingers 15, 15,. If it is difficult to flow, the user needs a certain amount of force for the bending movement of the fingers 15, 15,.
[0022]
The fluidity of the electrorheological fluids 5, 5,... Is adjusted by changing the strength of the electric field applied to the electrorheological fluids 5, 5,. This is done by changing the size of. As described above, an electric field is generated by applying a voltage to the electrodes 10 and 11, but if the applied voltage is increased, the generated electric field becomes stronger and the electrorheological fluids 5, 5,. Conversely, if the applied voltage is reduced, the generated electric field is weakened, and the electrorheological fluids 5, 5,... Can flow without receiving much resistance.
[0023]
As described above, when the user grasps a rigid body or a non-rigid body in the virtual space, the electric field generating means 9 adjusts the voltage applied to the electrodes 10 and 11 to adjust the tubes 6, 6, The flow resistance of the electrorheological fluids 5, 5,... Can be changed to change the degree of hardness felt by the user's fingers 15, 15,. Therefore, various feelings can be given to the user's fingers.
[0024]
In the force sense presentation device 1 described above, it is possible to give an actual reaction force to the user instead of giving a pseudo force using vibration, so that the user actually operates the object. You can get a real feeling.
[0025]
In addition, since the actual reaction force is presented in a form that hinders the user's movement, not by a forced method using a wire or the like, the user's finger or the like is damaged due to a mechanical malfunction or the like. There is no danger of it. Therefore, it is not necessary to provide a limiter for avoiding such danger, and the apparatus can be configured to be small and light.
[0026]
In addition, since it is not necessary to use a mechanical mechanism to control the fluidity of the electrorheological fluid, there is less failure, and the electrorheological fluid in the tube itself can play a role in regulating the flow rate. The means for adjusting the flow rate of the fluid can be made small and light, and the burden on the user can be reduced.
[0027]
In the above embodiment, the outer shell member has a form that covers the user's hand up to the wrist. However, depending on the purpose of use, the outer shell member may cover only a part of the hand such as a finger or a palm. On the contrary, the arm side may be covered more extensively than the wrist.
[0028]
In addition, the tube may not be arranged on both the dorsal side and the ventral side of the fingers, but may be arranged on either the dorsal side or the ventral side, or a plurality of tubes may be arranged for one finger. Also good. Further, the tube may be arranged on a portion other than the fingers. Moreover, the cross-sectional shape of the tube is not limited to a circle, and may be other shapes.
[0029]
The storage tank may be attached to the user or may not be attached to the user. Further, the connection between each tube and the storage tank is not performed separately, but some tubes may be combined in the middle or all the tubes may be connected to the storage tank.
[0030]
The number of electrodes arranged with a tube interposed therebetween is not limited to one, and a plurality of pairs of electrodes may be provided. In such a case, the electrodes 10 and 11 are not paired, but a pair of electrodes 16, 16,... And all these electrodes 16, 16,. It is good also as a structure using the electrode 17 used.
[0031]
Further, as means for controlling the fluidity of the electrorheological fluid, other means than the electric field generating means, such as an electromagnetic valve, may be used in combination. In such a case, the control means other than the electric field generating means are used auxiliary.
[0032]
In short, the shape or structure of each part shown in the above embodiment is merely an example of the embodiment performed in carrying out the present invention, and the technical scope of the present invention is limited thereby. It should not be interpreted.
[0033]
【The invention's effect】
As is apparent from the above description, the force sense presentation device of the present invention includes a glove-shaped outer shell member formed of a flexible material, and a tube that is incorporated in the outer shell member and is filled with an electrorheological fluid. And control means for controlling the flow resistance of the electrorheological fluid caused by the movement of the object in the outer shell member, the control means being electric field generating means for applying an electric field to the electrorheological fluid, The generating means is arranged near the wrist portion of the tube .
[0034]
Therefore, in the force sense presentation device of the present invention, it is possible to give an actual reaction force to the user instead of giving a pseudo force using vibration, so that the user actually operates the object. A real feeling can be obtained. In addition, since the actual reaction force is presented in a form that hinders the user's movement, not by a forced method using a wire or the like, the user's finger or the like is damaged due to a mechanical malfunction or the like. There is no danger of it. Therefore, it is not necessary to provide a limiter for avoiding such danger, and the apparatus can be configured to be small and light.
[0035]
In addition, since it is not necessary to use a mechanical mechanism to control the fluidity of the electrorheological fluid, there is less failure, and the electrorheological fluid in the tube itself can play a role in regulating the flow rate. The means for adjusting the flow rate of the fluid can be made small and light, and the burden on the user can be reduced. Further, since the control means is an electric field generating means for applying an electric field to the electrorheological fluid, the power consumption can be reduced and the running cost can be reduced. And since the outer shell member was made into the glove-type thing, the thing suitable as a force sense presentation apparatus at the time of manipulating a virtual object with a finger can be provided.
[0037]
In the invention described in claim 2 , since the flow resistance control means other than the electric field generating means is used in combination with the electric field generating means, it is possible to present a finer force sense. .
[Brief description of the drawings]
FIG. 1 shows an embodiment of a force sense presenting device of the present invention, and this drawing schematically shows the overall configuration.
FIG. 2 is an enlarged cross-sectional view showing a distal end portion of a finger portion of an outer shell member.
FIG. 3 is a plan view of an outer shell member.
FIG. 4 is a cross-sectional view showing an electrode portion of the electric field generating means.
5 is a cross-sectional view taken along line VV in FIG.
FIG. 6 is a cross-sectional view showing a modification of the electrode part.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Force sense presentation apparatus, 2 ... Outer shell member, 5 ... Electroviscous fluid, 6 ... Tube, 7 ... Wrist part, 9 ... Electric field generation means (control means)

Claims (2)

A glove-shaped outer shell member made of a flexible material;
A tube incorporated in the outer shell member and filled with an electrorheological fluid inside;
Ri formed and control means for controlling the flow resistance of the electrorheological fluid caused by the movement of the object of the outer shell member,
The force sense presentation device, wherein the control means is an electric field generating means for applying an electric field to the electrorheological fluid, and the electric field generating means is disposed in the vicinity of a wrist portion of the tube . 2. The force sense presentation device according to claim 1, wherein a flow resistance control means other than the electric field generating means is used in combination with the control means .

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