JP4413105B2 - Acceleration generating device and pseudo force sense generating device - Google Patents

Description

  The present invention relates to a technique for allowing a user to perceive a sense of force such as a response, and in particular, does not require a fulcrum or a power point that supports the reaction force, while the average physical action force remains zero. The present invention relates to a technology for perceiving force sense.

The present age is a time when information is congested. However, despite the limited information processing ability of human beings, conventional information provision methods have mainly focused on visual and auditory methods. Therefore, in providing information for audiovisual, the provided information is concentrated on the audiovisual and the user's attention is shifted. In addition, in order to reflect the audio-visual stimulus in the exercise, a conscious interpretation is required, so that there is a problem that the delay time from receiving the information to starting the operation is relatively long.
In order to solve such a problem, development of a haptic channel such as a response as an information providing channel other than the audiovisual channel has been underway.

Conventional force research can be classified into two types: grounded and non-grounded. The grounding type is a form in which a fulcrum or force point that supports the reaction force of the force sense to be generated is fixed to the outside or a human body, and the non-grounding type is a form that does not use such a fulcrum / power point (for example, non-patent) Reference 1 and Patent Reference 1).
Naoyuki Tsuji, Hiroaki Yano, Mitsuru Saito, Tetsuro Ogi, Michiaki Hirose: Development and Evaluation of HapticGERA, a Force Display Device in Input Virtual Space, Transactions of the Virtual Reality Society of Japan, VOL. 5, No. 4, pp. 1113 -1120, 2000. JP 2002-346225 A

However, the conventional force generation method has a problem in that it is difficult to apply it to the field of portable devices such as mobile devices and wearable computing.
For example, in the case of a grounding type in which a fulcrum / power point is fixed to the outside, it is difficult to apply it to fields such as mobile devices that involve free movement and wearable contributors.
In the case of a ground contact type in which a fulcrum / power point is provided at a body part other than the action point, the reaction force of the presented haptic information is also applied to the human body, and it is difficult to present accurate direction information using this haptic information.

Further, Patent Document 1 “Attack generating device and its control device, control method and program” by Koga and Kano was invented in order to solve the above-mentioned problem by a reaction of a sudden moment force. The possible haptics are limited to the striking power, and it was difficult to present a haptic force that was stable over time.
The present invention has been made in view of these points, and an object of the present invention is to provide a technique for perceiving a force sense that is stable in time without providing a fulcrum or a force point that supports a reaction force.

In the present invention, in order to solve the above-described problems, a rotational input shaft to which rotational power is transmitted and a rotational power transmitted to the rotational input shaft are converted into periodic accelerations having positive and negative accelerations in one cycle. There is provided an acceleration generation device including a power transmission unit that converts motion. Here, this acceleration motion is different from the maximum absolute value of acceleration in the positive direction and the maximum absolute value of acceleration in the negative direction. Is a movement that is shorter than the time with acceleration in a small direction.
Usually, in order to generate a physically perfect acting force, a fulcrum or a force point that supports the reaction force is required. On the other hand, in the present invention, there is no such fulcrum or force point, and the average as the physical acting force remains zero. However, the acceleration generating device of the present invention is different from the maximum value of the magnitude of the positive acceleration and the maximum value of the negative acceleration, and the duration of the exercise having the acceleration in the direction in which the maximum value is large, The movement is shorter than the movement duration with acceleration in the direction in which the maximum value is small. Then, a pseudo force sense in the target direction is displayed based on the difference between the absolute values of positive and negative acceleration, the difference in action time, and the non-linearity of human force sense (details will be described later).

  In the present invention, it is preferable that the power transmission unit can be rotated by a rotating member fixed to the rotating input shaft and a portion on the rotating member other than the rotating input shaft by a first rotating shaft parallel to the rotating input shaft. A second link mechanism joined to a portion on the first link mechanism other than the first rotation axis by a second rotation axis parallel to the first rotation axis, A slide mechanism in which a portion on the second link mechanism other than the second rotation axis is rotatably joined by a third rotation axis parallel to the second rotation axis, and the movement range is limited to a one-way slide movement; A slide fulcrum base portion whose relative position with respect to the rotation input shaft is fixed and a slide fulcrum rotation shaft parallel to the rotation input shaft are rotatably joined to the slide fulcrum base portion, and the first link mechanism is slidably held in the longitudinal direction. That and a slide fulcrum mechanism. Here, the acceleration motion of the slide mechanism is different from the maximum absolute value of the acceleration in the positive direction and the maximum absolute value of the acceleration in the negative direction. The movement is shorter than the time having the acceleration in the direction where the maximum value is small.

  Preferably, in the present invention, the power transmission section has a pitch circle radius that varies depending on the position of the pitch surface, and the pitch circle radius varies depending on the position of the pitch surface and the first non-circular gear to which the rotational power of the rotary input shaft is transmitted. In contrast, the first non-circular gear has a second non-circular gear meshed so as to be capable of meshing movement. Here, the angular acceleration motion of the second non-circular gear is different from a maximum absolute value of the angular acceleration in the positive direction and a maximum absolute value of the angular acceleration in the negative direction. The time with acceleration is shorter than the time with angular acceleration in the direction in which the maximum value is small.

  As described above, in the present invention, a time-stable force sense can be perceived without using a fulcrum or a force point that supports the reaction force.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
First, a first embodiment of the present invention will be described.
<Principle>
This embodiment is an example in which the present invention is realized in a translational form. First, the principle of this embodiment will be described.
Consider the translational motion of an object with a certain mass. This translational motion is a periodic motion with a partial acceleration that moves in a desired direction for a short time with a large acceleration and moves in the opposite direction for a long time with a small acceleration. In this case, the user holding the system including the object perceives a pseudo force sense in the presenting direction.
This utilizes human perceptual characteristics, and is a phenomenon that occurs due to a peculiar sensation and a tactile sensation related to a gripping action.

In other words, the reflex characteristics of muscle spindles (sensory organs in skeletal muscles that sense muscle contraction and cause sensation) include a dynamic reaction that excites strongly when the length of the muscle changes, and a stretched muscle. There is a static reaction that continues impulse firing when kept at a certain length. The dynamic response is strong when the change in muscle length is relatively small (for example, “Oyama Tadashi, Imai Shogo, Wake Nenji: New edition Handbook of Sensory and Perceptual Psychology, Seishin Shobo, 1994) ."reference). It is known that such a perceptual reaction can be approximated by a sigmoid curve as shown in FIG. In this figure, the horizontal axis represents physical acceleration, and the vertical axis represents perceptual acceleration. In a physical periodic motion, the acceleration is integrated to zero when integrated for one period, but the sensory value converted by the S-shaped curve is not necessarily zero even if integrated. For example, in a range such as f ₁ (x) in FIG. 6, the change in acceleration, that is, the difference between the differential values at the end points (f ₁ ′ (a + k) −f ₁ ′ (a)) Bigger than. Conversely, in a range such as f ₂ (x), the change in acceleration (f ₁ ′ (b + k) −f ₁ ′ (b)) is smaller than the difference in sensory values. This means that there are places where the physical acceleration change is underestimated sensuously and places where the sensory overestimation is overestimated. This means that a pseudo force sense can be generated by utilizing the difference in the sensory intensity.

  Also, on the contact surface between the skin surface and the moving object, the translational force of the translational motion exceeds the static frictional force at a certain acceleration due to the relationship between the static friction coefficient and the dynamic friction coefficient, and slipping may occur. Therefore, by applying a large acceleration in the direction to be presented, this slip can be generated and a force sense can be displayed.

<Mechanical configuration>
FIG. 1 is a plan view illustrating the configuration of a translational acceleration generator 1 according to this embodiment. FIG. 2A is a front view seen from the direction G in FIG. 1, and FIG. FIG. 2B is not a cross-sectional view but a side view.

Hereinafter, the configuration of the acceleration generator 1 of this embodiment will be described with reference to these drawings.
As illustrated in FIGS. 1 and 2, the acceleration generator 1 of this embodiment includes a base unit 10, a motor 20 built in the base unit 10, a rotary input shaft 21 to which the rotational power of the motor 20 is transmitted, and rotation. A rotating member 30 (crank) fixed to the input shaft 21 and a portion on the rotating member 30 other than the rotating input shaft 21 are joined to be rotatable by a first rotating shaft 33 parallel to the rotating input shaft 21. A first link mechanism 50 and a second link mechanism 70 rotatably joined to a portion on the first link mechanism 50 other than the first rotary shaft 33 by a second rotary shaft 51 parallel to the first rotary shaft 33. The parts on the second link mechanism 70 other than the second rotating shaft 51 are joined rotatably by a third rotating shaft 83a parallel to the second rotating shaft 51, and the moving range is slid in one direction (F direction). Slide limited to exercise The first link is rotatably joined to the slide fulcrum base 41 by a structure 82, a slide fulcrum base 41 having a fixed relative position with respect to the rotation input shaft 21, and a slide fulcrum rotation shaft 43 parallel to the rotation input shaft 21. The slide fulcrum mechanism 42 that holds the mechanism 50 so as to be slidable in the longitudinal direction (I direction) is a main component.

The base portion 10 of this example is a step-like hollow body in which a low step portion 11 and a high step portion 12 are constituted by one step, and a plate-like tab 13 provided with a screw hole on its bottom surface. 14 is configured. A through-hole 12 a for passing the rotation input shaft 21 that transmits the rotational power of the motor 20 is provided at the end of the high step portion 12 of the base portion 10. The motor 20 is fixedly disposed inside the high step portion 12 of the base portion 10 in a state in which the rotation input shaft 21 that transmits the rotational power projects outside through the through hole 12a. The electrical connection of the motor 20 will be described later.
The central portion of the disk-shaped rotating member 30 is fixed to the rotation input shaft 21 protruding to the outside of the base portion 10 from the through hole 12a. As a result, the rotating member 30 rotates in the A direction by the rotational power of the rotation input shaft 21.

An end portion of the columnar first link mechanism 50 is attached to the edge portion 32 on the rotating member 30 so as to be rotatable in the B direction by a first rotating shaft 33 (such as a screw). As a result, the first link mechanism 50 is rotatably joined to the portion on the rotating member 30 other than the rotating input shaft 21 by the first rotating shaft 33 parallel to the rotating input shaft 21. Note that linear grooves 52 are formed on both side surfaces of the first link mechanism 50 in the longitudinal direction.
Further, on the surface of the high step portion 12 of the base portion 10, there is a slide fulcrum base portion 41 having a shape in which both ends of a member having a U-shaped cross section are folded outward at right angles (this folded portion is called a tab). The relative position with respect to the rotation input shaft 21 is fixed. In the case of this example, the slide fulcrum base portion 41 is displaced from the rotary input shaft 21 toward the center portion side of the base portion 10 (that is, toward the low step portion 11) (more specifically, in the stationary state of FIG. 1 link mechanism 50 is screwed through a tab at a position near the tip of rotation input shaft 21 side). A slide fulcrum mechanism 42 that slidably holds the groove 52 of the first link mechanism 50 from both sides is disposed at the inner center portion of the slide fulcrum base portion 41. The slide fulcrum mechanism 42 is attached to the slide fulcrum base portion 41 so as to be rotatable in the C direction by a slide fulcrum rotating shaft 43 (such as a screw). Note that the position of the slide fulcrum rotating shaft 43 is closer to the center of the base portion 10 than the first rotating shaft 33 (closer to the lower step portion 11). As described above, the slide fulcrum mechanism 42 is joined to the slide fulcrum base 41 so as to be rotatable in the C direction by the slide fulcrum rotation shaft 43 (such as a screw) parallel to the rotation input shaft 21, and the first link mechanism 50 is connected in the longitudinal direction ( It is held so as to be slidable in the I direction).

The reinforcing member 60 is screwed to the base 10 side of the other end portion of the first link mechanism 50 by screws 61 and 62, and the end portion of the columnar second link mechanism 70 is second via the reinforcing member 60. A rotary shaft 51 is attached to be rotatable in the D direction.
Also, a rail 81 on the column is screwed to the surface of the lower step portion 11 of the base portion 10 located on the straight line connecting the rotation input shaft 21 and the slide fulcrum rotation shaft 43 in FIG. 1 by screws 81a to 81f. Linear rails 82a are provided on both side surfaces in the longitudinal direction (F direction) of the rail 81, and these grooves 82a are sandwiched from both sides on the rail 81, and in the F direction along the rail 81. A slide mechanism 82 that slides is arranged. A weight holding plate 83 is fixed to the surface of the slide mechanism 82 opposite to the rail 81. Further, weights 84 and 85 (inertial mass) are screwed to both ends of the weight holding plate 83 opposite to the base portion 10 by screws 84a, 84b, 85a and 85b, respectively. Further, the other end portion of the second link mechanism 70 is attached to the center portion of the weight holding plate 83 so as to be rotatable in the E direction by a third rotating shaft 83a (screw or the like). With this configuration, a portion on the second link mechanism 70 other than the second rotation shaft 51 is joined to the slide mechanism 82 so as to be rotatable by the third rotation shaft 83a parallel to the second rotation shaft 51. The movement range of the mechanism 82 is limited to a sliding motion in one direction (F direction) by the rail 81.

<Material>
Examples of the material of the base portion 10, the rotating member 30, the first link mechanism 50, the second link mechanism 70, the slide fulcrum base portion 41, the slide fulcrum mechanism 42, the weight holding plate 83, screws, and screws include stainless steel, aluminum, and duralumin. Plastic, ceramics and the like can be used, but there is no particular limitation as long as it is a rigid body having a certain mechanical strength. The weights 84 and 85 may be any material such as lead, but a material having a large specific gravity is preferable. As the motor, for example, a brushless motor (for example, EC45 Flat motor manufactured by Maxson Motor, etc.) can be used, but it is not particularly limited thereto.

<Electrical configuration>
FIG. 3 is an example of a block diagram showing an electrical configuration of the pseudo force sense generator 100 having the acceleration generator 1 described above.
As illustrated in this figure, the pseudo force generation device 100 of this example includes a CPU (Central processing Unit: for example, Pentium (registered trademark) 4, 1.5 HGz), a RAM (Random Access Memory), a ROM (Read Only Memory). ) Or the like, a D / A board 111 (for example, Interface PCI-3521, etc., manufactured by Interface) that converts a command from the computer 110 into an analog signal, a power source 120, and power supplied from the power source is D / A The acceleration generator 1 includes the motor amplifier 130 (for example, DEC50 / 5 manufactured by Maxson Moter) that controls and outputs the signal based on the output signal from the board 111 and the motor 20.

  Here, the D / A board 111 is electrically connected to the computer 110 so that digital signals can be received from the computer 110, and the D / A board 111 supplies analog signals to the motor amplifier 130. It is electrically connected to the motor amplifier 130 so as to be possible. Further, a power source 120 is electrically connected to the motor amplifier 130, and power can be supplied from the power source 120. Further, the motor amplifier 130 is electrically connected to the motor 20 so that power can be supplied to the motor 20.

<Operation>
First, the computer 110 sends to the D / A board 111 a digital signal for controlling the rotation of the motor 20 of the acceleration generator 1 to the D / A board 111. The D / A board 111 converts this into an analog signal and sends it to the motor amplifier 130. The motor amplifier 130 converts the power supplied from the power source 120 into predetermined DC power according to the control of the analog signal, and supplies it to the motor 20. As a result, the motor 20 rotates at a constant speed, the rotational power is transmitted to the rotation input shaft 21, and the acceleration generator 1 is driven.

  4A and 4B are diagrams illustrating the movement of each mechanism when the rotary input shaft 21 is rotated in the A direction by the motor 20. FIG. As shown in these drawings, when the rotation input shaft 21 rotates in the A direction, the first rotation shaft 33 held by the rotation input shaft 21 also rotates in the A direction. Accordingly, the portion of the first link mechanism 50 held by the first rotating shaft 33 also slides with a rotational movement in the B direction about the first rotating shaft 33. Along with this movement, the second link mechanism 70 held by the second rotation shaft 51 portion of the first link mechanism 50 also slides along with a rotational movement around the second rotation shaft 51. With this movement, the weight holding plate 83 and the slide mechanism 82, which are rotated and held by the third rotating shaft 83a portion of the second link mechanism 70, move in the F direction.

FIGS. 5A to 5D are conceptual diagrams showing models of this mechanism. As shown in these drawings, along with the circumferential rotation of the first rotation shaft 33, the first link mechanism 50 performs the rotation shift movement while being slidably held on the slide fulcrum rotation shaft 43, and accordingly, The second rotation shaft 51 moves along an approximately elliptical path, and the third rotation shaft 83a moves in the F1 or F2 direction (F direction). In the case of the example in this figure, the third rotating shaft 83a moves in the F1 direction at the time of FIGS. 5A and 5B, and moves in the F2 direction at the time of FIGS. 5C and 5D. ing.
Along with the movement of the third rotation shaft 83a, the slide mechanism 82, the weight holding plate 83, and the weights 84 and 85 also translate in the F direction. However, when the motor 20 is rotating at a constant speed, these translational motions are: Periodic acceleration motion with positive and negative acceleration in one cycle.

  This acceleration motion is different from the maximum absolute value of acceleration in the positive direction and the maximum absolute value of acceleration in the negative direction. The motion is shorter than the time with a small acceleration. Specifically, the movement is as shown in the graph of FIG. 7A shows the change in the position of the slide mechanism 82 when the rotating member 30 rotates at a constant speed, FIG. 7B shows the change in speed, FIG. 7C shows the change in acceleration, Each is shown. In each graph, the horizontal axis indicates time, and the vertical axis indicates each value (position, velocity, or acceleration). In both cases, the direction F2 in FIG. 5 is positive.

  Since this motion is a periodic motion, in principle, if the position, velocity, and acceleration are integrated for one cycle, the average value becomes zero. However, in the case of the configuration of the present embodiment, as shown in FIG. 7C, the acceleration of the slide mechanism 82 is positive (F2 direction in FIG. 5) in most of the rotation period of the rotating member 30, and negative (FIG. The period of time (F1 direction at 5) is short. However, the maximum absolute value of the negative acceleration is extremely larger than the maximum absolute value of the positive acceleration (in this example, about 7 to 8 times). That is, the slide mechanism 82 shifts from left to right (F1 direction to F2 direction in FIG. 5) with a small positive acceleration over most of the rotation period of the rotation member 30, and in the remaining short time. The movement moves from right to left (F2 direction to F1 direction in FIG. 5) with a large negative acceleration. At this time, the user holding the entire acceleration generating device 1 feels more strongly the reaction of the negative acceleration that becomes a large value in a short time due to the nonlinearity of the force sense perception. As a result, this user feels pseudo-responsiveness in the right direction (F2 direction in FIG. 5). In this embodiment, since the weights 84 and 85 also perform the same translational acceleration motion, this effect is even greater.

<Perceptual characteristic evaluation results>
Next, the perceptual characteristic evaluation result of the pseudo force sense generator according to the present embodiment is shown.
[experimental method]
In order to output in only an arbitrary direction, a linear rail (LWFF manufactured by Nippon Thomson Co., Ltd., rail length 400 mm) was used, and the translational direction of the weight was limited to only one axis. The weight of the weight was 20 g. In this experiment, the axis with the positive direction from the elbow to the palm was examined. An ABS resin box was attached to the simulated force sense generator of this embodiment, and the subject gripped the portion with a dominant hand. The test subjects were five men from the age of 24 to 31 years old, and the information from vision was blocked by an eye mask. Then, the simulated force sense generator was driven, and the subject answered whether he / she felt the sense of force in “forward (direction from elbow to palm)” or “backward (direction from palm to elbow)”. The number of seconds for displaying the force sense was 2 seconds, and a rest of about 1 minute was taken every 20 trials to prevent adaptation of the vibration component. In addition, the polarity (forward / backward) of the acceleration output and the value of the frequency were changed randomly, and the order was made uniform among the subjects. The frequency value was set to 7 levels of 1 Hz from 5 Hz to 11 Hz, and 10 trials were performed for each subject (5 trials and 5 reverses).

[Experimental result]
The experimental results are shown in FIG. Here, (a) is a table showing the correct answer rate of each subject's polarity, and (b) is the average of the correct answer rate of each subject for each polarity (forward “forward”, backward “backward”, both “total”). It is the displayed graph.
As shown in these figures, the correct answer rate tends to increase as the frequency increases. This is because the absolute value of the acceleration component increases as the frequency increases. And when the frequency was 10 Hz or more, the correct answer rate of all members exceeded 80%. The correct answer means that the polarities of the force sense generated by the pseudo force sense generating device and the force sense answered by the subject coincide.

[Second Embodiment]
The present embodiment is an example in which the present invention is realized by a rotary type.
<Mechanical configuration>
FIG. 9A is a plan view showing the internal structure of the acceleration generator 200 according to this embodiment, and FIG. 9B is a cross-sectional view taken along line JJ in FIG. 9A. 9A, illustration of the motor 220 and the lid 211 is omitted, and the motor 220 portion in FIG. 9B is not a sectional view but a side view.

As shown in FIGS. 9A and 9B, the acceleration generator 200 of this embodiment includes a motor 220, a rotation input shaft 221 to which the rotational power of the motor 220 is transmitted, and a circular shape fixed to the rotation input shaft 221. The gear 222, the circular gear 231 and the non-circular gear 232 fixed to the rotating shaft 230, the non-circular gear 241 and the flywheel 250 fixed to the rotating shaft 240, the bearings 213 to 216, and the gear box 210 are mainly connected. Component.
The gear box 210 in this example has a hollow box shape, and one surface thereof can be removed as a lid 211. A through-hole 211a is provided in the central portion of the lid 211, and the tip of the rotary input shaft 221 to which the rotational power of the motor 220 disposed outside the lid 211 is transmitted is connected to the gear box 210 through the through-hole 211a. Inserted inside. The rotation input shaft 221 inserted into the gear box 210 is fixed to the center of rotation of the circular gear 222, and the rotational power of the rotation input shaft 221 is transmitted to the circular gear 222. In the gear box 210, two rotating shafts 230 and 240 that are perpendicular to the lid 211 and the bottom surface 212 are mounted. Here, the rotating shaft 230 is held by a bearing 213 on the lid 211 and a bearing 214 on the bottom surface 212 so as to be coaxially rotatable. One end of the rotating shaft 240 is inserted into the gear box 210 through a through hole 212 a provided in the bottom surface 212, and is rotatably held by the bearing 215 of the lid 211 and the bearing 216 of the bottom surface 212. The other end of the rotary shaft 240 is disposed outside the gear box 210 through the through hole 212a.

A circular gear 231 is fixed at a position near the lid 211 of the rotary shaft 230 so as to be able to mesh with the circular gear 222 and move. Further, a non-circular gear 232 is fixed at a position near the bottom surface 212 of the rotating shaft 230. Thereby, the rotational power of the rotary input shaft 221 (K direction in this example) is transmitted from the circular gear 222 to the circular gear 231, and from there, is transmitted to the non-circular gear 232 as rotation of the rotary shaft 230 (L direction in this example). Is done. Further, the non-circular gear 241 is fixed to the rotary shaft 240 near the inner bottom surface 212 of the gear box 210 so as to be able to mesh with the non-circular gear 232. A disc-shaped flywheel is fixed to the rotating shaft 240 outside the gear box 210. Thereby, the rotational power (in this example, L direction) transmitted to the non-circular gear 232 is transmitted through the pitch surface as rotation of the non-circular gear 241 (in this example, M direction), which is the rotation of the rotating shaft 240. , And the flywheel 250 fixed to the rotating shaft 240 is rotated (in this example, the M direction).
Here, the non-circular gears 232 and 241 are non-circular gears having different pitch circle radii depending on the position of the pitch surface as shown in FIG. 9, and the non-circular gear 232 and the non-circular gear 241 have the same shape. .

<Material>
As materials for the gear box 210, the rotation input shaft 221, the circular gears 222 and 231, the rotation shafts 230 and 240, and the non-circular gears 232 and 241, for example, stainless steel, aluminum, duralumin, plastic, ceramics, and the like can be used. There is no particular limitation as long as it is a rigid body having a certain mechanical strength. The flywheel may be any material such as lead, but a material with a large specific gravity is preferable.

<Electrical configuration>
The second embodiment is the same as the first embodiment except that the motor 20 becomes the motor 220 and the acceleration generator 1 becomes the acceleration generator 200.
<Operation>
When the rotational power of the motor 220 is transmitted to the rotational input shaft 221, the rotational power is transmitted to the circular gears 222 and 231, the rotational shaft 230, and the non-circular gear 232 as described above. The non-circular gear 232 transmits the rotational power to the non-circular gear 241 by meshing movement as shown in FIG. 9C, and the rotational power is transmitted to the rotary shaft 240 and the flywheel 250, and finally rotates the flywheel 250. Here, when the rotational motion of the motor 220 is a constant speed rotational motion, the rotational motion of the flywheel 250 is a periodic angular acceleration motion having positive and negative angular accelerations in one cycle. When the non-circular gears 232 and 241 having a shape as shown in FIG. 9 are used, this angular acceleration motion is obtained by calculating the maximum absolute value of the angular acceleration in the positive direction and the maximum absolute value of the angular acceleration in the negative direction. Are significantly different from each other, and the time having the angular acceleration in the direction in which the maximum value is large is much shorter than the time having the angular acceleration in the direction in which the maximum value is small. Therefore, the user who holds the entire acceleration generating device 200 feels more strongly the reaction in the angular acceleration direction that takes a large value in a short time due to the nonlinearity of the force sense perception. As a result, it is possible to present a pseudo moment response in the rotation direction.

The present invention is not limited to the embodiment described above. For example, you may comprise the acceleration generator which synthesize | combined 1st Embodiment and 2nd Embodiment. In this case, it is possible to create a pseudo response regarding the total motion direction of the rigid body 6 degrees of freedom in both the rotation direction and the slide direction.
Further, as a modification of the second embodiment, a configuration may be adopted in which rotational power is transmitted using three or more non-circular gears.
Needless to say, other modifications are possible without departing from the spirit of the present invention.

  In order to generate a physically complete acting force, a fulcrum or a force point that supports the reaction force is usually required. In the present invention, while the average as the physical acting force remains zero, It enables force display in a pseudo target direction based on the difference between the non-linearity of human force perception and the absolute value of positive and negative acting force. Thus, since no external fulcrum is required, it can be applied as a sensory presentation device to the field of mobile devices and wearable contributors.

The top view which illustrated the composition of the translation type acceleration generating device in a 1st embodiment. 2A is a front view as viewed from the direction G in FIG. 1, and FIG. 2B is a partial cross-sectional view taken along line HH in FIG. The block diagram which shows the electric constitution of a pseudo force sense generator. (A) and (b) are the figures which illustrated the motion of each mechanism when a rotation input axis rotates to A direction with a motor. The conceptual diagram which showed the model of the acceleration generator. The figure of the S-shaped curve which showed the relationship between physical acceleration and objective acceleration. The graph which showed the translational motion in 1st Embodiment. The perceptual characteristic evaluation result of the pseudo force sense generating device in the first embodiment. (A) is the top view which showed the internal structure of the acceleration generator in 2nd Embodiment, (b) is JJ sectional drawing of Fig.9 (a). FIG. 9C is a diagram showing the meshing movement of two non-circular gears.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Acceleration generator 10 Base part 11 Low step part 12 High step part 12a Through-hole 13, 14 Tab 20 Motor 21 Rotation input shaft 30 Rotating member 32 Edge part 33 Rotating shaft 41 Slide fulcrum base part 41a, 41b Tab 42 Slide fulcrum Mechanism 43 Slide fulcrum rotation shaft 50 First link mechanism 51 Second rotation shaft 52 Groove 60 Reinforcement member 61, 62 Screw 70 Second link mechanism 81 Rails 81a to 81f, 84a, 84b, 85a, 85b Screw 82a Groove 82 Slide mechanism 83 Weight holding plate 83a Third rotating shaft 84, 85 Weight 100 Simulated force generation device 110 Computer 111 D / A board 120 Power supply 130 Motor amplifier 200 Acceleration generation device 210 Gear box 211 Lid 211a Through hole 212 Internal bottom surface 212 Bottom surface 212a Through hole 213-216 Bearing 220 221 rotary input shaft 222 circular gear 230, 240 rotating shaft 230 rotating shaft 231 circular gear 232 first non-circular gear 240 rotating shaft 241 second non-circular gear 250 flywheel

Claims (3)

A rotational input shaft to which rotational power is transmitted;
A power transmission unit that converts rotational power transmitted to the rotational input shaft into periodic acceleration motion having positive and negative accelerations in one cycle;
The acceleration motion is
The maximum absolute value of acceleration in the positive direction is different from the maximum absolute value of acceleration in the negative direction. Is a shorter exercise,
The power transmission unit is
A rotating member fixed to the rotating input shaft;
A first link mechanism rotatably joined to a portion on the rotating member other than the rotating input shaft by a first rotating shaft parallel to the rotating input shaft;
A second link mechanism joined to a portion on the first link mechanism other than the first rotation axis so as to be rotatable by a second rotation axis parallel to the first rotation axis;
A slide mechanism in which a portion on the second link mechanism other than the second rotation axis is rotatably joined by a third rotation axis parallel to the second rotation axis, and the movement range is limited to a sliding motion in one direction. When,
A slide fulcrum base portion having a fixed relative position to the rotation input shaft;
A slide fulcrum mechanism rotatably connected to the slide fulcrum base by a slide fulcrum rotation axis parallel to the rotation input shaft, and holding the first link mechanism slidable in the longitudinal direction;
The acceleration motion is an acceleration motion of the slide mechanism,
The acceleration is a linear motion acceleration,
An acceleration generator characterized by that. A control computer;
A motor amplifier that is electrically connected to the control computer and supplies power in accordance with the control of the control computer;
A motor electrically connected to the motor amplifier and driven by the power supplied from the motor amplifier;
A rotational input shaft to which the rotational power of the motor is transmitted;
A power transmission unit that converts rotational power transmitted to the rotational input shaft into periodic acceleration motion having positive and negative accelerations in one cycle;
The acceleration motion is
The time when the maximum absolute value of acceleration in the positive direction is different from the maximum absolute value of acceleration in the negative direction, and the time when the maximum value has a large acceleration is the time when the maximum value has a small acceleration. Is a shorter exercise,
The power transmission unit is
A rotating member fixed to the rotating input shaft;
A first link mechanism rotatably joined to a portion on the rotating member other than the rotating input shaft by a first rotating shaft parallel to the rotating input shaft;
A second link mechanism joined to a portion on the first link mechanism other than the first rotation axis so as to be rotatable by a second rotation axis parallel to the first rotation axis;
A slide mechanism in which a portion on the second link mechanism other than the second rotation axis is rotatably joined by a third rotation axis parallel to the second rotation axis, and the movement range is limited to a sliding motion in one direction. When,
A slide fulcrum base portion having a fixed relative position to the rotation input shaft;
A slide fulcrum mechanism rotatably connected to the slide fulcrum base by a slide fulcrum rotation axis parallel to the rotation input shaft, and holding the first link mechanism slidable in the longitudinal direction;
The acceleration motion is an acceleration motion of the slide mechanism,
The acceleration is a linear motion acceleration,
A pseudo force generation apparatus characterized by the above. A control computer;
A motor amplifier that is electrically connected to the control computer and supplies power in accordance with the control of the control computer;
A motor electrically connected to the motor amplifier and driven by the power supplied from the motor amplifier;
A rotational input shaft to which the rotational power of the motor is transmitted;
A power transmission unit that converts rotational power transmitted to the rotational input shaft into periodic acceleration motion having positive and negative accelerations in one cycle;
The acceleration motion is
The time when the maximum absolute value of acceleration in the positive direction is different from the maximum absolute value of acceleration in the negative direction, and the time when the maximum value has a large acceleration is the time when the maximum value has a small acceleration. Is a shorter exercise,
The power transmission unit is
A first non-circular gear having a pitch circle radius that varies depending on the position of the pitch surface, and to which the rotational power of the rotary input shaft is transmitted;
A second non-circular gear having a pitch circle radius that varies depending on a position of the pitch surface, and the first non-circular gear meshed so as to be capable of meshing movement;
The acceleration motion is an angular acceleration motion of the second non-circular gear;
The acceleration is angular acceleration.
A pseudo force generation apparatus characterized by the above.

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