JP4109806B2 - Direction presenting apparatus and method using tactile sense - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a human interface device and a human interface method using tactile sensation.
[0002]
[Prior art]
In recent years, with the development of computer technology, network technology, communication technology, etc., location information services using these technologies can be used in various places, such as car navigation systems using location detection technology by satellite communication, Navigation systems such as ships and airplanes, and small navigation systems that can be carried by users are becoming widespread.
[0003]
In these systems, the user is shown the correct direction of travel and directions, the direction of approaching dangerous goods, the direction in which attention should be given in an emergency, or the direction of the target. Technology that accurately displays the direction and position in real space is necessary.
[0004]
In addition, since the direction presentation technique as described above is often required for an environment such as a vehicle to move, a technique that can quickly and accurately convey the direction and position is desired. .
[0005]
Furthermore, it is often used in public places such as outdoors and buildings where other humans exist, and a technology that can quietly present the direction and position is desired.
[0006]
Conventionally, in order to present a direction to a user, for example, the direction or position of an arrow or the like is displayed on a screen of a visual information output device such as a CRT (character display) or an LCD (liquid crystal display). A method of presenting a symbol or presenting a word indicating a direction or a position is used.
[0007]
Conventionally, in order to present the direction to the user, for example, a method of using an audio output that expresses a direction and a position such as “I am right” is used.
[0008]
Furthermore, in response to improvements in computer processing technology and miniaturization in recent years, devices in the form of wearable computing that use computers mounted on their bodies are beginning to appear.
[0009]
In such wearable computers, for example, a method of presenting image information using an HMD (head mounted display) that presents image information in front of the user's eyes, for example, when the user wears it on the head On such a head-mounted image display, for example, a symbol indicating a direction or a position such as an arrow is displayed, or character information indicating a direction or a position is presented, or stereoscopic image information is displayed. The method of indicating the direction and position can be used.
[0010]
Alternatively, a method for indicating a direction and a position by using a three-dimensional sound field technology to localize a position and a direction in a sound image has been studied.
[0011]
[Problems to be solved by the invention]
However, the above-described conventional method has the following problems.
[0012]
First, the conventional method of presenting the direction and position to the user by displaying symbols and words representing the direction and position on the screen has a problem in that a display unit needs to be prepared.
[0013]
Secondly, in the conventional method of presenting the direction and position to the user by displaying symbols and words representing the direction and position on the screen, it is necessary to prepare a display unit. There was a problem of becoming.
[0014]
Thirdly, in the conventional method of presenting the direction and position to the user by displaying symbols and words indicating the direction and position on the screen, it is necessary to arrange the display unit at a position that can be seen by the user. Therefore, there is a problem that the physical arrangement of the component parts of the apparatus is restricted and the wiring between the component parts of the apparatus is restricted.
[0015]
Fourthly, in the conventional method of presenting the direction and position to the user by displaying symbols and words representing the direction and position on the screen, it is necessary to arrange the display unit at a position that can be seen by the user. Therefore, there is a problem that the physical arrangement of the component parts of the apparatus is limited, and the component parts of the apparatus cannot be arranged freely.
[0016]
Fifth, the conventional method of presenting the direction and position to the user by displaying the symbols and words representing the direction and position on the screen shows the direction and position using visual information. There is a problem in that the user needs to look at the screen as the display unit and restrains the user's line of sight.
[0017]
Sixth, since the size of the screen serving as the display unit is limited, the direction that can be expressed is limited, and only a narrow range of directions can be presented.
[0018]
Seventh, the correspondence between the position of symbols on the screen and the direction that you want to present in the real world is arbitrary, so it is difficult for the user to understand the actual direction you want to present There was a point.
[0019]
Eighth, there is a problem in that it is impossible to present the direction with high accuracy because the positional relationship with the direction of the real world to be actually presented is arbitrary and generally the directions do not match. It was.
[0020]
Ninth, the positional relationship with the actual world direction that you want to present is arbitrary, and generally the directions do not match, so the user must read and understand the presented direction with high accuracy. There was a problem that was difficult.
[0021]
Tenth, since it is necessary to prepare a display unit, there is a problem that it is not suitable for a wearable computer.
[0022]
Eleventh, there is a problem in that it is not possible to use it for visually handicapped persons such as blind persons and low vision persons because it is necessary to see the display with eyes.
[0023]
12thly, since the information shown on a display part is a two-dimensional display, there existed a problem that it was difficult to show a three-dimensional direction.
[0024]
13thly, since the information shown on a display part is a two-dimensional display, there existed a problem that it was difficult for a user to read a three-dimensional direction.
[0025]
14thly, in a wearable computer, the conventional method of presenting image information using HMD (head mounted display) which presents image information in front of a user's eyes, for example, when a user wears on a head However, there is a problem that the position of symbols and the like displayed on the HMD is difficult to match the direction intended for presentation from the user's eyes, and the accuracy of direction presentation is poor.
[0026]
Fifteenth, there has been a problem that the HMD hinders the user's view and makes it difficult to understand the surrounding situation.
[0027]
Sixteenth, the direction that can be presented by a user without moving his / her head at one time in HMD is limited to the range of the user's field of view at the maximum, so there is a problem that the range of directions is narrow. It was.
[0028]
Seventeenth, for example, in the conventional method of indicating a direction by a spoken language using a word indicating a direction, it is difficult to express a complicated direction or a subtle direction with a word, so it is not possible to indicate a detailed direction. There was a problem.
[0029]
Eighteenth, the spoken language has a problem that it takes a certain amount of time to speak, and it takes time to present directions because it cannot be understood until most of the utterance content has been uttered.
[0030]
Nineteenth, the spoken language has a problem that it is almost impossible to express the direction of changing at a high speed.
[0031]
20th, since it is very difficult to simultaneously understand a plurality of spoken languages, there is a problem that it is impossible to present a plurality of directions at the same time.
[0032]
Twenty-first, since a sound signal including sound propagates to the space around the user, the presentation method using sound is noisy for users other than the user and is not suitable for social etiquette. there were.
[0033]
Twenty-second, when there is noise in the usage environment, there is a problem that it may be difficult for the user to hear the method presentation by voice, or it may not be heard at all.
[0034]
Twenty-third, there is a problem that the hearing-impaired person cannot use the method using voice.
[0035]
Twenty-fourth, in the conventional method of indicating the direction by sound image localization, the direction that can be accurately identified is limited to, for example, the forward direction in a horizontal plane because of human auditory characteristics. There was a problem that was narrow.
[0036]
25th, in the conventional method of indicating the direction by sound image localization, the user recognizes the presented direction due to the influence of an acoustic parameter called a head-related transfer function that differs for each user. There was a problem that it was very difficult to do.
[0037]
26th, for the same reason, there is a problem that it is difficult to present the direction with high accuracy.
[0038]
27th, since it is very difficult to listen to a plurality of sound signals at the same time and to recognize each sound image localization, it is difficult to present a plurality of directions at the same time.
[0039]
Twenty-eighth, since it takes a certain amount of time to understand the contents of a sound signal and sound image localization, there is a problem that it is difficult to present a direction that changes at a high speed or to read. It was.
[0040]
29th, the method using sound image localization has a problem that it cannot be used by the hearing impaired.
[0041]
(Object of invention)
The present invention has been made in view of such circumstances, and has the following objects.
[0042]
First, it is intended that the user can easily understand the presented position and direction.
[0043]
Secondly, the object is to facilitate the understanding of the correspondence with the direction and position in the real space from the information presented to the user.
[0044]
A third object is to allow a user to quickly read the presented position and direction.
[0045]
A fourth object is to enable a user to easily read a position and direction that change at a fast speed in time.
[0046]
A fifth object is to be able to present a three-dimensional direction and position including the vertical direction and the front-rear direction with high accuracy and to allow the user to easily read the presented information.
[0047]
The sixth object is that a plurality of positions and directions can be simultaneously presented to the user, and the user can easily read them.
[0048]
The seventh object is to provide a wide range of directions and positions that can be expressed and can be identified by the user.
[0049]
Eighth, the object is not to generate sound that becomes noise to the surroundings.
[0050]
Ninth, it aims at being able to use without trouble even in the situation where the surrounding environment is noisy.
[0051]
A tenth object is to make eye-free use without restraining the user's eyes.
[0052]
The eleventh object of the present invention is to use the earphones without restraining the user's ears.
[0053]
12thly, it aims at being able to use hands-free, without restraining a user's hand.
[0054]
A thirteenth object is to eliminate the need for a visual information display device for a user to confirm visual information.
[0055]
14thly, it aims at not having the display apparatus of the auditory information for a user confirming auditory information.
[0056]
A fifteenth object of the present invention is to be suitable for a wearable computer system that a user wears on the body.
[0057]
[Means for Solving the Problems]
  The present inventionIn a direction presentation device that presents a predetermined direction to a user, a stimulus presentation unit that applies tactile stimulation to at least one location on the user's body surface, and a direction that indicates a presentation direction that is a direction to be presented to the user A tactile stimulus is applied by the stimulus presenting means to a stimulus corresponding portion in which the presenting direction designated by the direction instructing means corresponds to a spatial position in the body surface in contact with the instruction means and the stimulus presenting means. Control means for informing the user of the presentation direction thereby,Position detecting means for detecting arrangement information in the space of the stimulus presenting means comprising the position of the stimulus presenting means or the posture;And the stimulus presentation means covers the body surface of the userTubular or hollow hemisphericalA plurality of arrangements are made over the entire circumference so that the angles are different inside the member, and the control means includes:Based on the arrangement information detected by the position detection means, determine the stimulus corresponding place,The presentation direction instructed by the direction instructing means;Were determinedDirection presentation using tactile sensation characterized in that a tactile stimulus is given to the stimulus corresponding portion by one stimulus presentation means from among the plurality of stimulus presentation means so that the normal directions of the stimulus corresponding portions substantially coincide with each other apparatusIt is.
[0059]
Here, “substantially coincidence” includes a position where the direction that can be presented is the closest to the normal direction, or a position that is closest within a predetermined range.
[0066]
  BookThe invention will be described.
[0067]
For example, when the user wants to present the right direction when viewed from the front of the user, the stimulus presenting means worn by the user on the body causes the right side of the user's body within the contact surface between the stimulus presenting means and the user. A desired direction is presented to the user by giving a tactile stimulus to the body surface corresponding to the surface or the body surface close to the right side surface.
[0068]
  Also bookThe invention will be described.
[0069]
For example, when the user wants to present to the user a direction within a horizontal plane of 30 degrees to the left when viewed from the front of the user, the user wears the stimulus presentation means so as to cover a part of the body like a bracelet. To do.
[0070]
In this state, the normal direction of the corresponding body surface in the contact surface between the stimulus presentation means and the user is substantially the same as or close to the direction in the horizontal plane of 30 degrees left as viewed from the front of the user. Thus, the desired direction is presented to the user by showing the tactile stimulus in the same direction as the normal direction.
[0072]
For example, when the user wants to present the left direction when viewed from the front of the user, the user is holding (wrapping) and holding the stimulus presentation means configured in the shape of a cylindrical cane.
[0073]
In this state, when presenting a direction of 90 degrees left as viewed from the front of the body, the left of the surface of the stimulus presenting means held by the user as viewed from the front of the user. By displaying a tactile stimulus in a direction opposite to the normal direction to the user's body surface corresponding to (opposite to) a portion substantially coincident with or close to the normal direction in the direction of 90 degrees, Present directions to the user.
[0074]
  In addition, bookThe invention will be described.
[0075]
For example, the position or orientation of the stimulus presentation unit in the space is detected by a magnetic sensor, an acceleration sensor, or the like, and the position where the tactile stimulus is presented to the user is determined using the information.
[0076]
As a result, the user moves, the user changes the posture, the user moves a part of the body, the user moves the stimulus presentation means, or the user changes the wearing state of the stimulus presentation means. Even when it is changed, the desired direction is correctly presented to the user.
[0077]
  Claim 2The invention will be described.
[0078]
For example, when two users own this device one by one and try to wait, the direction that each user possesses depends on the direction that each device possesses. Knowing it makes it possible to meet efficiently.
[0079]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a direction presentation device using a tactile sensation according to an embodiment of the present invention will be described with reference to the drawings.
[0080]
FIG. 1 shows an example of the configuration of the apparatus according to an embodiment of the present invention. The apparatus includes at least one or more tactile sense presentation units 101a to 101n, a direction input unit 102, a position detection unit 103, and a control unit 104. Consists of
[0081]
1. Tactile presentation unit
In FIG. 1, tactile sense presenting units 101 a to 101 n are tactile presenting devices that present tactile stimuli to the body surface of the user's body in accordance with instructions from the control unit 104. Here, the position of the body surface to which the tactile stimulus is applied is referred to as a “stimulus-corresponding portion”.
[0082]
a. Implementation example
For the tactile sense presenting sections 101a to 101n, for example, realized by using a tactile device or the like shown in Section 3.1 of “Development of Artificial Reality” (Corona, 1994) written by Fujiwara. To do.
[0083]
An implementation example will be described.
[0084]
(1) Implementation example 1
A tactile stimulus is given to the user by applying a mechanical force to the handle or stick portion gripped by the user by an arm or wire driven by a motor or the like.
[0085]
(2) Implementation example 2
A small rubber balloon is placed in contact with the skin surface, such as the user's fingertip.
[0086]
Then, the air pressure inside the balloon is changed by using a mechanical pump, or by a heat generation / heat absorption element such as a heater or a Peltier element. In addition, the air pressure in the balloon is changed by releasing or occluding hydrogen by applying heat to or cooling the hydrogen occluding alloy (MH). Thereby, the hardness and shape of the balloon surface are changed, and a tactile stimulus is given to the user.
[0087]
(3) Implementation example 3
A tactile stimulus is given to a user using an actuator using a shape memory alloy.
[0088]
(4) Implementation example 4
Heating / heat-absorbing elements such as heaters and Peltier elements are arranged at positions that come into contact with the skin surface such as the user's fingertips, and heat is applied or cooled to give tactile stimulation to the user.
[0089]
(5) Implementation example 5
A tactile stimulus is given to the user by applying a fluid such as air toward the skin surface such as the fingertip of the user.
[0090]
(6) Implementation example 6
A tactile stimulus is applied to the user by applying an electrical stimulus to the skin surface of the user.
[0091]
b. Arrangement example
2A to 2D show examples of arrangement of the tactile sense presentation units 101a to 101n.
[0092]
(1) Arrangement example 1
FIG. 2 (a) shows an inner circumferential arrangement.
[0093]
That is, at least one or more tactile sensation presentation units are arranged inwardly inside the apparatus having a thin circular tubular shape.
[0094]
The present apparatus configured using this shape can be used as follows.
[0095]
The first example is worn on the head like a bee.
[0096]
In the second example, the buttock is worn like a collar.
[0097]
In the third example, the garment is worn like a belt.
[0098]
In the fourth example, the finger is worn like a ring.
[0099]
The fifth example is worn on the wrist like a wristwatch.
[0100]
The sixth example is worn on the upper hip like an armband.
[0101]
The seventh example is attached to the ankle like an anklet.
[0102]
FIG. 6 shows a cross-sectional view of the bracelet-shaped device attached to the arm, with the white arrow indicating the normal direction, the solid arrow indicating the presentation direction, and the zigzag arrow indicating the tactile stimulation direction. Show.
[0103]
Then, as shown in FIG. 6, in the case of this arrangement example, the tactile sense providing unit touches the stimulus corresponding location so that the presentation direction described later matches the normal direction of the body surface of the stimulus corresponding location. Give a stimulus. Thus, by making it match with the normal direction, the user can surely recognize the tactile sense of the stimulus.
[0104]
(2) Arrangement example 2
FIG. 2B shows the spherical inner arrangement.
[0105]
That is, at least one or more tactile sensation presentation units are arranged inwardly in the inside of the apparatus having a hollow hemispherical back surface shape.
[0106]
The present apparatus configured using this shape can be used by being worn on the head, for example, like a helmet or a hat, or can be worn on a finger like a finger sack.
[0107]
Then, as shown in FIG. 6, in the case of this arrangement example, the tactile sense providing unit touches the stimulus corresponding location so that the presentation direction described later matches the normal direction of the body surface of the stimulus corresponding location. Give a stimulus. Thus, by making it match with the normal direction, the user can surely recognize the tactile sense of the stimulus.
[0108]
(3) Arrangement example 3
FIG. 2 (c) shows the cylindrical outer arrangement.
[0109]
That is, at least one or more tactile sensation presentation units are arranged outwardly on the outside of the side surface of the cylindrical device.
[0110]
The present apparatus configured using this shape can be used by being incorporated in a cane, a car or bicycle handle, a boat oar or rudder, or a joystick.
[0111]
FIG. 7 shows a cross-sectional view of the cane-like device grasped by a hand, with white arrows indicating the normal direction, solid arrows indicating the presentation direction, and zigzag arrows indicating the tactile stimulation direction. Is shown.
[0112]
Then, as shown in FIG. 7, in the case of this arrangement example, the tactile sense presentation unit makes the presentation direction described later coincide with the direction opposite to the normal direction of the body surface of the stimulation corresponding portion. A tactile stimulus is given to the stimulus corresponding part. In this way, by matching the direction opposite to the normal direction, the user can surely recognize the tactile sense of the stimulus.
[0113]
(4) Arrangement example 4
FIG. 2 (d) shows a spherical outer surface arrangement.
[0114]
That is, at least one or more tactile sensation presenting portions are arranged outwardly on the outside of the device having a ball shape such as a spherical surface.
[0115]
This device constructed using this shape can be used by incorporating it into a cane, handle, boat oar, rudder, joystick, control bar or the like.
[0116]
Then, as shown in FIG. 7, in the case of this arrangement example, the tactile sense presentation unit makes the presentation direction described later coincide with the direction opposite to the normal direction of the body surface of the stimulation corresponding portion. A tactile stimulus is given to the stimulus corresponding part. In this way, by matching the direction opposite to the normal direction, the user can surely recognize the tactile sense of the stimulus.
[0117]
(5) Other arrangement examples
In the above, for the sake of simplicity, a simple geometric shape such as a sphere or a circle is shown as an example, but FIG. 2 shows an example of the arrangement of the tactile sense providing units 101a to 101n. The arrangement of the portions 101a to 101n is not limited to the example shown here, and may be a more complicated shape.
[0118]
2. Direction input part
In FIG. 1, the direction input unit 102 is “presentation direction information” that is information about a direction to be presented to the user with respect to the apparatus, or “presentation position information” that is information about a position to be presented to the user. Is received, and the control unit 104 is notified of the contents.
[0119]
Thereafter, the presentation direction information and presentation position information are based on the position of the user's center of gravity, the front direction of the user is the X axis positive direction, the user's right direction is the Y axis positive direction, and the user's upper direction is the Z axis positive direction. It will be expressed as a vector in the coordinate system of the direction.
[0120]
3. Position detector
In FIG. 1, the position detection unit 103 is in accordance with an instruction from the control unit 104, for example, by a magnetic sensor, a direction sensor, a gyro, an optical sensor, a radio wave receiver, a GPS, or a mechanical encoder. The device position information, which is information representing the position of the device by detecting the spatial position and orientation of the device, and the device orientation information, which represents the front direction of the device, are used as the presentation direction information and the presentation position described above. It is expressed as a vector in the same coordinate system as the information and output.
[0121]
4). Control unit
In FIG. 1, the control unit 104 operates according to processing procedure A shown below based on at least one of presentation direction information, presentation position information, device position information, and device posture information.
[0122]
Thus, the operation of the tactile sense providing units 101a to 101n is controlled to appropriately present tactile stimuli to the user, and information related to a desired direction and position is presented to the user.
[0123]
FIG. 3 is a flowchart showing the flow of processing procedure A.
[0124]
<Processing procedure A>
・ Step A1
When the control command including the presentation direction information D including the direction vector Vd to be presented to the user is input from the direction input unit 102, the process proceeds to step A4.
[0125]
・ Step A2
When the control command including the presentation position information L including the vector V1 indicating the position to be presented to the user is input from the direction input unit 102, the process proceeds to step A8.
[0126]
・ Step A3
Proceed to step A1.
[0127]
・ Step A4
The position detection unit 103 is instructed to detect the posture of the apparatus.
[0128]
・ Step A5
From the position detection unit 103, device posture information P including a vector Vp indicating the posture of the present device is sent to the control unit 104.
[0129]
・ Step A6
The control unit 104 refers to the presentation direction information D and the device posture information P,
Vector Vx = vector Vd−vector Vp
Calculate
[0130]
・ Step A7
Proceed to step A11.
[0131]
・ Step A8
The position detection unit 103 is instructed to detect the posture and position of the apparatus.
[0132]
・ Step A9
From the position detection unit 103, device posture information P including a vector Vp indicating the posture of the device and device position information Q including a vector Vq indicating the position of the device are sent to the control unit 104.
[0133]
・ Step A10
The control unit 104 refers to the presentation position information L, the device posture information P, and the device position information Q,
Vector Vx = vector Vl−vector Vp−vector Vq
Calculate
[0134]
-Step A11
The tactile sense providing units 101a to 101n are searched for a tactile sense presenting unit 101x (a <= x <= n) that gives a tactile stimulus in the vector Vx direction to the front of the apparatus.
[0135]
-Step A12
A tactile stimulus is given to the user by the tactile sense providing unit 101x.
[0136]
Step A13
Proceed to step A1.
[0137]
The above is the configuration of this apparatus and its function.
[0138]
5. Processing details
Next, the processing described above will be described in more detail with reference to the drawings.
[0139]
Here, it is assumed that the user wears this bracelet-shaped device on the right wrist.
[0140]
In addition, it is assumed that a tactile sense presentation device is juxtaposed to the body of the user in contact with the tactile stimulus by vibration on the inside of the apparatus.
[0141]
Furthermore, this apparatus is controlled from an external application and is used to present the position and direction expressed in vectors from the center of gravity of the user's body to the user.
[0142]
FIG. 4 is a schematic diagram for explaining the operation status of the apparatus.
[0143]
a. Definition contents
The following content is defined in FIG.
[0144]
(1) Ux, Uy, and Uz are the X axis when the user's center of gravity is the origin, the front of the user is the X axis positive direction, the right direction is the Y axis positive direction, and the upward direction is the Z axis positive direction. Y axis and Z axis are shown. In the future, this coordinate system will be referred to as the user coordinate system and will be used as a future reference for position and direction.
[0145]
(2) M is the apparatus, U is a user who uses the apparatus, Ha and Hb indicate directions to be presented to the user, and Oc is an object whose position is to be presented to the user. It is.
[0146]
(3) The vector P indicates the position of the apparatus in the user coordinate system, and the vector Q indicates the direction in which the front position, which is the direction reference of the apparatus, faces in the user coordinate system.
[0147]
(4) Vectors Da and Db indicate the presentation directions Ha and Hb in the user coordinate system, respectively.
[0148]
(5) The positions of the vector Lc and the object Oc are shown in the user coordinate system.
[0149]
(6) The upper right figure is an enlarged view of the device and the arm of the user wearing the device. Here, 101xa, 101xb, and 101xc represent tactile sense presentation devices that respectively operate when the presentation direction Ha, the presentation direction Hb, and the object Oc are presented to the user.
[0150]
b. Contents of processing shown in time series
(t0) First, it is assumed that the direction Ha is presented to the user by an application or the like outside the apparatus.
[0151]
(t1) As a result, a control command including presentation direction information including the vector Da representing the direction Ha is input from the presentation direction input unit 102 to the apparatus.
[0152]
(t2) The process proceeds to step A4 in step A1 of the processing procedure A, and the position detection process of the apparatus is performed according to an instruction from the control unit 104. In step A5, the apparatus attitude including the attitude vector Pt2 of the apparatus at this time Information is provided to the controller 104.
[0153]
(t3) In step A6, Va = Da-Pt2 is calculated.
[0154]
(t4) In step A11, the haptic presentation unit 101xa located at the position corresponding to the Va direction is selected as viewed from the front of the apparatus, and in step A12, haptic stimulation is presented to the user from the haptic presentation unit 101xa. The
[0155]
Through the above processing, a desired direction Ha is presented to the user by tactile sensation regardless of the posture (orientation) of the apparatus.
[0156]
Subsequently, it is assumed that an application outside the apparatus determines to present the direction Hb, which is a direction different from the direction Ha, to the user.
[0157]
(t5) As a result, a control command including presentation direction information including the vector Db representing the direction Hb is input from the presentation direction input unit 102 to the present apparatus.
[0158]
(t6) Vb = Db−Pt6 is calculated by the same processing as (t2) to (t3) described above.
[0159]
(t7) In step A11, the tactile sense providing unit 101xb at the position corresponding to the Vb direction as viewed from the front direction of the apparatus is selected, and in step A12, a tactile stimulus is presented to the user from the tactile presenting unit 101xb. The
[0160]
With the above processing, a desired direction Hb is presented to the user by touch.
[0161]
Here, since the direction vector is relative, the position in the space of the device can be changed by the user changing the direction or moving the right wrist as the mounting portion of the device. Even if the posture changes, the desired direction can be correctly presented by the same processing as described above.
[0162]
Subsequently, it is assumed that the application outside the apparatus determines to present the position of the object Oc to the user.
[0163]
(t8) As a result, a control command including presentation position information including the vector Lc representing the position of the object Oc is input from the presentation direction input unit 102 to the apparatus.
[0164]
(t9) The process proceeds to step A8 by steps A1 to A2 of the processing procedure A, and the position detection process and the attitude detection process of the apparatus are performed according to the instruction of the control unit 104. In step A9, the attitude of the apparatus at this time The apparatus attitude information including the vector Pt9 and the apparatus position information including the position vector Qt9 of this apparatus at this time are provided to the control unit 104.
[0165]
(t10) In step A10, Vc = Lc−Pt9−Qt9 is calculated.
[0166]
(t11) By the same processing as the above (t7), in step A11, the tactile sense providing unit 101xc located at the position corresponding to the Lc direction as viewed from the front direction of the apparatus is selected. The tactile stimulus is presented from the tactile sense presenting unit 101xc.
[0167]
Through the above processing, a desired position is presented to the user by touch.
[0168]
Note that the above processing is processing that takes into account the orientation of the user and the position and orientation of the apparatus, so that the position can be correctly presented even when the user changes the orientation and orientation, for example.
[0169]
Moreover, by presenting the position and direction of the presentation target object while sequentially updating them, the moving object and direction can be presented correctly even when the user is moving or changing the posture. .
[0170]
Furthermore, a plurality of positions and directions can be presented simultaneously.
[0171]
6). Effects of the embodiment
Thus, according to the present apparatus configured as described above, the following effects are obtained.
[0172]
First, the user can easily understand the presented position and direction.
[0173]
Second, the user can easily associate the direction and position in the real space from the presented information.
[0174]
Third, the user can quickly read the presented position and direction.
[0175]
Fourth, the user can easily read the position and direction that change at a fast speed in time.
[0176]
Fifth, the user can easily find the three-dimensional direction and position including the vertical direction and the front-rear direction.
[0177]
Sixth, a user can read a plurality of positions and directions simultaneously.
[0178]
Seventh, it is possible to widen the range of directions and positions that can be expressed and can be identified by the user.
[0179]
Eighth, it is possible to present a direction without generating a sound that is noisy to the surroundings.
[0180]
Ninth, it is possible to present directions without any trouble even in a situation where there is noise in the surrounding environment.
[0181]
Tenth, a visual information display device for a user to confirm visual information is unnecessary, and the direction and position can be presented in an eye-free manner without restraining the user's eyes.
[0182]
Eleventh, an audio information display device for the user to confirm auditory information is not required, and the direction and position can be presented in an ear-free manner without restraining the user's ear.
[0183]
12thly, a direction and a position can be shown hands-free, without restraining a user's hand.
[0184]
13thly, the direction and position method suitable for a wearable computer system which a user wears | wears with a body and can be used can be provided.
[0185]
In addition, the effect of this apparatus and this method is not limited to the example mentioned above.
[0186]
7. Example of change
(1) Modification 1
In the above-described embodiment, a tactile sensation is given to the user by a physical stimulus given in contact with the user's body, but other methods such as wind, electrical stimulation, or temperature stimulation are used. It may be used to stimulate the user remotely without touching the user's body.
[0187]
(2) Modification example 2
The apparatus may not be realized as an integrated device, but may be configured by being divided into a part to be worn on the body and a control unit, and both of them may be operated by wireless communication, for example.
[0188]
(3) Modification 3
In the above-described embodiment, the body surface corresponding to the direction desired to be presented is stimulated, but the body surface close to the direction desired to be presented may be stimulated.
[0189]
(4) Modification 4
The user may move the body and give a stimulus when the direction in which the user wants to present matches the direction of the output unit of the tactile sense presentation device.
[0190]
(5) Modification 5
The direction and position may be presented in appropriate combination with a sound signal, a three-dimensional sound field, an image, a symbol, three-dimensional CG, voice, language, and the like.
[0191]
(6) Modification 6
Since this device uses tactile sensation, it can be used anywhere in the body, and various implementation forms are possible.
[0192]
For example, it may be configured in the shape of a hat, a helmet, a hair band, or a collar so that a tactile sensation is presented on the head or neck, for example.
[0193]
(7) Modification example 7
It may be configured in the shape of a bracelet or a wristwatch, and for example, a tactile sensation may be presented on an arm or the like.
[0194]
(8) Modification 8
It may be configured in the shape of a ring so that a tactile sensation is presented to a finger or the like.
[0195]
(9) Modification Example 9
It may be configured in the form of an anklet or shoes, and for example, a tactile sensation may be presented on a foot or the like.
[0196]
(10) Modification 10
For example, it may be configured so as to be grasped by a hand such as a wand, and a tactile sensation may be presented on the palm of the hand.
[0197]
8). Application examples
The present invention can be applied in various ways.
[0198]
(1) Application example 1
The direction and position of an obstacle, a target, etc. can be presented to the pilot using this device configured in a helmet shape in conjunction with a sensor or radar device for monitoring the surroundings.
[0199]
(2) Application example 2
It can also be applied to welfare equipment that presents the direction and position of obstacles, destinations, etc. for the elderly and the handicapped by configuring it in the shape of a cane.
[0200]
(3) Application example 3
As a navigation device carried by the user, it can also be used for mountain climbing guides and road guidance.
[0201]
(4) Application example 4
The apparatus according to the present invention is configured so as to be more closely attached to the user's body, for example, by using a soft material such as rubber, or configured to follow a change in the shape of the user's body. Is also possible.
[0202]
(5) Application example 5
The present invention can be used by being incorporated into existing tools such as a hat, a helmet, a wristwatch, and shoes.
[0203]
(6) Application example 6
By using technology such as GPS (Position Information System using Satellite) and PHS (Personal Handy Phone System) and communication technology, for example, the location information of the other party is obtained, and there are other persons such as children and elderly people. It can also be used as a device for presenting the position and direction.
[0204]
(7) Application example 7
In the above embodiment, the direction and position are presented by tactile presentation on the surface of the user's body, but the present apparatus can be used in a form such as being placed in the oral cavity, for example.
[0205]
(8) Application example 8
When two users own this device one by one and use waiting, the user knows the direction of each other according to the direction presented by each device possessed by each user. This makes it possible to meet efficiently.
[0206]
9. Realization example of recording medium
In the above-described embodiment, an example in which the present invention is realized as an apparatus has been described. However, the processing procedure and flowchart shown in the above-described specific example are described as a program, mounted, and executed by a general-purpose computer system. It is possible to obtain similar functions and effects.
[0207]
As shown in the example of the internal configuration of the general-purpose computer in FIG. 5, the following is provided in the general-purpose computer including the CPU unit 501, the memory unit 502, the mass storage unit 503, and the communication interface unit 504.
[0208]
That is, input interface units 505a to 505n, input device units 506a to 506n, output interface units 507a to 507m, and output device units 508a to 508m are provided.
[0209]
Then, a control command including presentation position information or presentation direction information is received from an external application through the communication interface unit 504.
[0210]
Further, it can also be used for receiving a control command including presentation position information or presentation direction information through the input interface unit 505 and the input device unit 506.
[0211]
In addition, presentation position information or presentation direction information is received from an application program stored in the memory unit 502 or the substitute storage unit 503 and operated by the CPU unit 501.
[0212]
Then, by the software control by the CPU unit 501, the operation as described above can be realized by using the prepared tactile presentation device as the output device units 508a to 508m.
[0213]
That is, the method described in the above embodiment uses a recording medium such as a magnetic disk (floppy disk, hard disk, etc.), optical disk (CD-ROM, DVD, etc.), semiconductor memory, etc. as a program that can be executed by a computer. If the program is read into the computer and executed by the CPU 501, the multimodal interface device of the present invention can be realized.
[0214]
【The invention's effect】
As described above, according to the present invention, the user can easily understand, easily associate with the position in the real space, the user can quickly read the direction and position, and change at a high speed. Position and direction can also be presented, 3D directions and positions can be presented, multiple positions and directions can be presented simultaneously, the range that can be presented is wide, presentation accuracy is high, noise is not generated, noise It can be used without any problem even in situations where it can be used, can be applied to wearable computer systems without restraining the user's eyes, ears and hands, and can also be used by people with disabilities (barrier-free). For example, a great effect can be achieved.
[Brief description of the drawings]
FIG. 1 is a configuration example of a haptic interface device.
FIG. 2 is an example of arrangement of tactile sense presentation units 101a to 101n.
FIG. 3 is a flowchart showing a flow of a processing procedure A.
FIG. 4 is a schematic diagram for explaining an operation state of the apparatus.
FIG. 5 is an example of the internal configuration of a general-purpose computer.
FIG. 6 is a cross-sectional view of an arrangement example of the apparatus.
FIG. 7 is a cross-sectional view of another arrangement example of the apparatus.
[Explanation of sign]
101a-n Tactile presentation part
102 Direction input section
103 Position detector
104 Control unit
201a-d Tactile presentation device
203a-d Position detection device
U user
Ux User coordinate x-axis vector
Uy User coordinate y-axis vector
Uz User coordinate z-axis vector
M This device
Ha, b Target direction
Oc Object to be presented
P device position vector
Q device attitude vector
Da, b Presentation target direction vector
Lc presentation object vector
101xa ~ xc tactile presentation device
501 CPU
502 Memory part
503 Mass storage unit
504 Communication interface
505a-n Input interface section
506a-n Input device section
507a-m Output interface section
508a ~ m Output device section

Claims (4)

In a direction presentation device that presents a predetermined direction to a user,
A stimulus presentation means for providing a tactile stimulus to at least one location on the user's body surface;
Direction indicating means for indicating a presentation direction which is a direction to be presented to the user;
A tactile stimulus is given by the stimulus presenting means to a stimulus corresponding portion whose spatial position corresponds to the presenting direction designated by the direction indicating means in the body surface in contact with the stimulus presenting means, thereby Control means for informing the user of the presentation direction;
Position detecting means for detecting arrangement information in the space of the stimulus presenting means comprising the position of the stimulus presenting means or the posture;
Have
A plurality of the stimulus presentation means are arranged over the entire circumference so that the angles are different inside a circular or hollow hemispherical member that covers the surface of the user's body,
The control means determines the stimulus corresponding location based on the arrangement information detected by the position detection means, and the presentation direction instructed by the direction indicating means substantially coincides with the normal direction of the determined stimulus corresponding location. So as to provide a tactile stimulus to the stimulus-corresponding portion by one stimulus presenting means from among the plurality of stimulus presenting means,
A direction presentation device using a tactile sensation characterized by the above. There are a plurality of direction presentation devices according to claim 1,
One direction presentation device among the plurality of direction presentation devices presents the direction of another direction presentation device;
Alternatively, the direction presentation system using a tactile sensation, wherein the plurality of direction presentation devices present directions of each other. A plurality of stimuli presenting means for providing a tactile stimulus to at least one part of the user's body surface, wherein a plurality of them are arranged over the entire circumference so as to have different angles inside a cylindrical or hollow hemispherical member covering the user's body surface; Using a direction presentation method in which a computer presents a predetermined direction to the user,
A direction instruction step in which the computer indicates a presentation direction which is a direction to be presented to the user;
A tactile stimulus is delivered by the stimulus presenting means to a stimulus corresponding position in which a spatial position corresponds to the presenting direction designated by the direction indicating step in the body surface in contact with the stimulus presenting means. Giving a control step to inform the user of the presentation direction,
A position detecting step of detecting arrangement information in the space of the stimulus presenting means comprising the position of the stimulus presenting means or the posture;
Have
The control step performed by the computer determines the stimulus corresponding portion based on the arrangement information detected in the position detecting step, and presents the direction indicated by the direction indicating step and the normal of the determined stimulus corresponding portion. Giving a tactile stimulus to the stimulus corresponding portion by one stimulus presenting means from among the plurality of stimulus presenting means so that directions substantially coincide with each other;
A direction presentation method using the sense of touch characterized by the above. A plurality of stimuli presenting means for providing a tactile stimulus to at least one part of the user's body surface, wherein a plurality of them are arranged over the entire circumference so as to have different angles inside a tubular or hollow hemispherical member covering the user's body surface; A recording medium storing a program for realizing a direction presentation method in which a computer presents a predetermined direction to the user,
A direction indicating function for indicating a presentation direction which is a direction to be presented to the user;
A tactile stimulus is given by the stimulus presenting means to a stimulus corresponding position corresponding to a spatial position corresponding to the presenting direction designated by the direction indicating function in the body surface in contact with the stimulus presenting means, thereby A control function for notifying the user of the presentation direction;
A position detecting function for detecting arrangement information in the space of the stimulus presenting means consisting of the position of the stimulus presenting means or the posture;
Record the program that realizes
In the control function, the stimulus corresponding portion is determined based on the arrangement information detected by the position detecting function, and the presentation direction instructed by the direction indicating function substantially coincides with the normal direction of the determined stimulus corresponding portion. So as to provide a tactile stimulus to the stimulus-corresponding portion by one stimulus presenting means from among the plurality of stimulus presenting means,
The recording medium which recorded the program which implement | achieves the direction presentation method using the tactile sense characterized by the above.

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