JP4543863B2 - I / O device with tactile function and electronic device - Google Patents

Description

  The present invention relates to an information processing apparatus, a mobile phone, and information that presents a tactile sensation to an operator's finger when inputting information by selecting an icon from a display screen for selecting input items prepared in advance. The present invention relates to an input / output device and an electronic device with a tactile function suitable for application to a portable terminal device or the like.

  In recent years, users (operators) have frequently taken in and used various contents in portable terminal devices such as game devices, mobile phones, and PDAs (Personal Digital Assistants). In these portable terminal devices, input devices such as a keyboard and a JOG dial, and a touch panel combined with a display unit are used to input various information.

  An input / output device combined with an actuator has also been developed. Actuators are produced by the difference in strain between two or more piezoelectric elements with different strain amounts, or when piezoelectric control elements and non-piezoelectric elements are pasted together and a vibration control voltage is applied to the piezoelectric elements of the bonded body. The bending deformation of the bonded body is used dynamically (vibrating body function). On the contrary, it is known that a voltage is generated when a force is applied to the piezoelectric element (force detection sensor function). In many cases, so-called bimorph actuators, unimorph actuators, disk actuators (collectively these are simply referred to as actuators below), etc. are used as actuators.

  With respect to an electronic apparatus provided with this type of actuator, Patent Document 1 discloses an input / output device and an electronic apparatus. According to this electronic apparatus, an input / output device having a multilayer piezoelectric bimorph actuator and a touch panel is provided, and the multilayer piezoelectric bimorph actuator feeds back different tactile sensations to the user through the touch panel depending on the type of information. By configuring the electronic device in this way, it is possible to reliably provide the user with tactile feedback for an input operation corresponding to the type of information.

  In tactile feedback control using these actuators, the touch panel detects external inputs (position and pressure), and the control system triggers input information from the touch panel to vibrate the touch panel or the housing. Made.

Japanese Unexamined Patent Publication No. 2004-94389 (pages 4 to 5 and FIG. 11)

  By the way, in a game device with a tactile input function and an electronic device such as an information processing device, a mobile phone, and an information portable terminal device according to a conventional example, a piezoelectric composite means having an actuator function and a force detection sensor function is used. When trying to configure an I / O device, there are the following problems.

  i. This is a case where the piezoelectric composite means is applied to an electronic device or the like provided with a multilayer piezoelectric bimorph type actuator as shown in Patent Document 1, and the actuator function and the force detection sensor function of the piezoelectric composite means are individually switched. In use, no vibration control voltage wraps around the force detection sensor function, so no problem occurs. However, when the actuator function and the force detection sensor function are used at the same time, the vibration control voltage wraps around the force detection sensor function, which complicates the force detection process.

  ii. When this actuator function and force detection sensor function are used at the same time, with the tactile sensation presented to the operator's finger, the same piezoelectric composite means is continuously operated to select new input items or input selections. The case where the confirmation of an item etc. is input is assumed. This is because it may be necessary to “receive input while outputting” depending on the application of the electronic device.

  For example, in a game device, the scene is a scene in which a machine gun or the like operated by a finger with a finger is continuously fired at a target. In this scene, it is assumed that the output waveform of the vibration control voltage for presenting a tactile sensation to the operator's finger is about 1.0 sec at the maximum. Therefore, if it is necessary to detect the next input without waiting for the scene to end, if the input is accepted only every 1.0 seconds, this hinders high-speed data processing of the tactile control sequence. It becomes.

  iii. In such a case, there is a method of determining the input in the control system by monitoring the vibration control voltage supplied to the actuator as the vibrating body and the force detection voltage detected from the actuator as the force detection function. If data processing is performed without any ingenuity, it is determined that there is an input even though no external force is applied, and there is a risk that the reliability in force detection may be reduced. In this way, in a state where a tactile sensation is presented to the operator's finger (operation body), the same piezoelectric composite means is continuously operated to input selection of new input items, confirmation of input selection items, etc. It becomes difficult.

  Therefore, the present invention solves such a conventional problem, and in the state where a tactile sensation is presented to the operating body, the same piezoelectric composite means is continuously operated to select a new input item or input It is an object of the present invention to provide an input / output device and an electronic device with a tactile function that allow confirmation of selection items and the like to be input.

The input / output device with a tactile function of the present invention is input by an operating tool on a display screen for selecting input items, and detects a contact position of the operating tool on the display screen and outputs a position detection signal. An input means for outputting, a control means for generating a vibration control signal based on the position detection signal output from the input means, and presenting a tactile sensation to the operating body based on the vibration control signal output from the control means And a piezoelectric composite means for detecting the force at the contact position of the operating body and outputting a force detection signal. Further, the control means selects one of a plurality of types of vibration pattern data corresponding to a plurality of different types of tactile waveforms according to the contact position on the display screen based on the position detection signal and the force detection signal. In addition, a vibration control signal composed of the selected vibration pattern data is generated, and a piezoelectric sense is presented to the operating body based on the vibration control signal composed of the vibration pattern data selected by the piezoelectric composite means. When the composite means is pressed , the difference between the force detection signal output from the piezoelectric composite means and the vibration control signal output to the piezoelectric composite means is calculated, and the signal level of the difference is compared with a predetermined threshold level. by, as well as determine whether the touched there was exceeding the threshold value to the piezoelectric composite means, if it is determined that the depression there was more than the threshold value, the plurality of types Both that also adapted to generate a vibration control signal consisting of other vibration pattern data corresponding to other different haptic waveform sense waveform.
An electronic apparatus according to the present invention includes the input / output device with a tactile function according to the present invention.

In the input / output device and electronic device with a tactile function according to the present invention, when an input operation is performed on a display screen for selecting an input item, the input means detects a contact position of the operating body on the display screen and detects a position detection signal. Is output. The control means generates a vibration control signal based on the position detection signal output from the input means. The piezoelectric composite means presents a tactile sensation to the operating body based on the vibration control signal output from the control means, and detects a force at the contact position of the operating body and outputs a force detection signal. At this time, the control means selects one of a plurality of types of vibration pattern data corresponding to a plurality of different types of tactile waveforms according to the contact position on the display screen based on the position detection signal and the force detection signal. Then, a vibration control signal composed of the selected vibration pattern data is generated. The force output from the piezoelectric composite means when the piezoelectric composite means is further pressed in a state where a tactile sensation is presented to the operating body based on the vibration control signal composed of the vibration pattern data selected by the piezoelectric composite means. Was there a press that exceeded the threshold for the piezoelectric composite means by calculating the difference between the detection signal and the vibration control signal output to the piezoelectric composite means and comparing the signal level of this difference with a predetermined threshold level ? Determine whether or not. If it is determined that there has been a press exceeding the threshold, a vibration control signal composed of other vibration pattern data corresponding to another tactile waveform different from any of the plurality of types of tactile waveforms is generated. As a result, the input operation such as selection of a new input item or confirmation of the input selection item can be performed by using the force detection information as a trigger. In addition, the user can know which icon he / she is trying to select by touching the display screen without visually checking the icon etc. on the display screen, It becomes possible to know (confirm) that it has been accepted.

According to the input / output device and electronic apparatus with a tactile function of the present invention, when an input operation is performed on the input item selection display screen, the tactile sense is based on the position detection signal obtained by detecting the contact position of the operating tool. Control means for controlling the presentation, and the control means, based on the position detection signal and the force detection signal, a plurality of types of vibration patterns corresponding to a plurality of different types of tactile waveforms corresponding to contact positions on the display screen Select one of the data, generate a vibration control signal composed of the selected vibration pattern data, and present a tactile sensation to the operating body based on the vibration control signal composed of the vibration pattern data selected by the piezoelectric composite means in a state where there, further, when the piezoelectric composite means is pressed, come calculates the difference between the vibration control signal output to the force detection signal and the piezoelectric composite means is output from the piezoelectric composite means By comparing the signal level with a predetermined threshold level of the difference, if it is determined whether or not there is a pressed exceeding the threshold to the piezoelectric composite means, it is determined that the depression there was more than the threshold value, Since a vibration control signal composed of other vibration pattern data corresponding to another tactile waveform different from any of the above-mentioned plurality of types of tactile waveforms is generated, force detection information can be displayed while a tactile sensation is being presented to the operating body. As a trigger, input operations such as selection of a new input item and confirmation of the input selection item can be performed. Therefore, it is possible to improve the function of the input / output device with a tactile function, and to process the tactile control sequence at high speed and with high reliability. In addition, the user can know which icon he / she is trying to select by touching the display screen without visually checking the icon etc. on the display screen, You can know (confirm) that it was accepted.

  Next, an embodiment of an input / output device with a tactile function and an electronic apparatus according to the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing a configuration example of an input / output device 100 with a tactile function as a first embodiment according to the present invention.
An input / output device 100 with a tactile function shown in FIG. 1 is a device that presents a tactile sensation to an operator's finger as an operating body during an input operation, and is a game device that processes various types of input information, an information processing device, It is suitable for application to telephones, portable information terminal devices, and the like. The input / output device 100 includes a multi-function piezoelectric actuator (hereinafter simply referred to as an actuator) 1, a storage unit 35, and a control unit 15.

  The actuator 1 is an example of a piezoelectric composite unit, which is a stack of piezoelectric elements, and has a function of presenting a tactile sensation to the operator's finger based on the vibration control signal SVa, and a pressing force F of the operator's finger, for example. And a function of outputting a force detection signal SVd. The vibration control signal SVa is amplified by an amplifier or the like and applied to the actuator 1 as a vibration control voltage (actuator drive voltage) Va. The force detection signal SVd is extracted from the actuator 1 including the detection voltage Vd.

  The force detection signal SVd is generated by a pressing force F by an operator's finger or the like. The actuator 1 outputs a force detection signal SVd when the pressing force F is detected at the time of tactile presentation. The force detection signal SVd includes a signal component of the detection voltage Vd and a signal component of the vibration control voltage Va. For example, the force detection signal SVd has a form in which the vibration control signal SVa is modulated by the detection voltage Vd and the signal component of the detection voltage Vd and the signal component of the vibration control voltage Va are combined.

  The control means 15 functions to control the input / output of the actuator 1. The control unit 15 includes, for example, an actuator drive circuit 37, a CPU 55, an operational amplifier 87, a comparator 88, and an A / D driver 89, and these circuits and drivers are connected to a normal power supply Vcc. When the input / output device 100 is applied to a portable terminal device, a DC power supply of about 3 V is used as the power supply Vcc.

  The operational amplifier 87 is connected to the detection terminal of the actuator 1, amplifies the force detection signal SVd output from the actuator 1, and outputs a force detection voltage Vd ′ to the comparator 88. Since the electrical circuit of the peripheral circuit of the actuator 1 is closed, when the actuator 1 is pressed by the operating body, the detection voltage Vd is generated at the detection terminal of the actuator 1 by the capacity of the capacitor. The electric charge accumulated in the capacitor is discharged by the closed circuit and is consumed by the circuit as time passes. In this case, when the actuator 1 is continuously pressed, the linearity of the applied pressure F and the detected voltage Vd cannot be maintained. In order to solve this, an operational amplifier 87 having a resistance of about 10 KΩ is inserted. That is, by inserting the operational amplifier 87, the consumption of electric charges is suppressed, and the linearity of the applied pressure F and the detected voltage Vd is maintained.

  The operational amplifier 87 is connected to a comparator 88 that constitutes an input means, and receives the vibration control voltage Va and the force detection voltage Vd ′ including the detection voltage Vd to execute comparison processing. In this comparison process, the actuator 1 is pressed by the operator's finger or the like, and there is a characteristic of applied pressure F-detected voltage Vd, and the comparator 88 outputs the detected voltage Vd (FIG. 4). reference).

  An A / D driver 89 is connected to the comparator 88 to output force detection data Dd obtained by analog-digital conversion of the detection voltage Vd. The A / D driver 89 determines whether or not there is an input on the basis of the case where the detection voltage Vd as the output of the comparator 88 is positive (Vd> 0) or negative (Vd <0). In the A / D driver 89, the detection voltage Vd output from the comparator 88 is sampled by a high clock signal of about 8 μsec, for example. Therefore, if Vd> 0, it is assumed that there is an input and sampling processing is continued. If Vd <0, it is considered that there is no input and sampling processing is continued. The CPU 55 determines input information such as the contact position and the applied pressure.

  In this example, when a further new different input is received in the tactile sensation generation state, the force detection data Dd is output to the CPU 55 only when Vd> 0. When the actuator 1 is not vibrating, Vd> 0 is always satisfied, and the force detection data Dd is output to the CPU 55. Since β = 0 during reading of the continuous change in the pressing force F, “Vd′−αVa” is directly used as a determination criterion for the presence / absence of input.

  A CPU 55 is connected to the A / D driver 89. A storage means 35 is further connected to the CPU 55 so as to store vibration pattern data Dp. For example, when the actuator 1 is pressed, the CPU 55 inputs the first force detection data Dd obtained from the actuator 1. The CPU 55 reads the vibration pattern data Dp from the storage unit 35 based on the force detection data Dd, and outputs the vibration pattern data Dp to the actuator drive circuit 37. An actuator drive circuit 37 is connected to the CPU 55.

  The actuator drive circuit 37 includes a D / A driver 76 and an output amplifier 77. The D / A driver 76 converts the vibration pattern data Dp read out by the CPU 55 from digital to analog and generates a vibration control signal SVa. Thereby, the vibration control signal SVa can be generated based on the first force detection data Dd.

  An output amplifier 77 is connected to the D / A driver 76. The output amplifier 77 is connected to a drive power supply Vaa of about 20 V, which is higher than the normal voltage Vcc, and generates a vibration control voltage Va based on the vibration control signal SVa and the drive power supply Vaa. Thus, the actuator drive circuit 37 generates the vibration control signal SVa based on the vibration pattern data Dp, and then amplifies the vibration control signal SVa. The amplified vibration control signal SVa is applied to the actuator 1 as a vibration control voltage Va. The actuator 1 vibrates based on the vibration control voltage Va. This vibration can present a tactile sensation to the operator's finger.

  In this example, the comparator 88 described above is a force detection voltage based on the force detection signal SVd output from the actuator 1 when the actuator 1 is further pressed in a state where a tactile sensation is presented to the operator's finger. The detection voltage Vd is output by calculating the difference between Vd ′ and the vibration control voltage Va based on the vibration control signal SVa applied to the actuator 1.

  The CPU 55 also provides second force detection data Dd obtained from the actuator 1 when the actuator 1 is pressed in a state where the actuator 1 presents a tactile sensation to the operator's finger based on the vibration control signal SVa. Enter. The force detection data Dd is output from the A / D driver 89 to the CPU 55. When the force detection data Dd based on the second force detection signal SVd is positive (Vd> 0), or the force detection data Dd based on the force detection signal SVd is negative (Vd <0). Thus, it is determined whether or not the actuator 1 has been pressed exceeding the threshold value or has not been pressed. As a result, the CPU 55 further executes the tactile sensation generation output while receiving the input, and can accept further new different inputs in that state.

2A and 2B are a perspective view and a cross-sectional view showing a configuration example of the multifunction piezoelectric actuator 1 which is an example of the piezoelectric composite means.
A fixed connection type multifunctional piezoelectric actuator (hereinafter simply referred to as an actuator) 1 shown in FIG. 2A is an example of a piezoelectric composite unit, and has a piezoelectric actuator function and a force detection sensor function. As shown in FIG. 2B, the actuator 1 is configured such that at least one laminated body is electrically divided (divided) into two single-layer piezoelectric bodies 4a and 4b. The actuator 1 has a power supply electrode (hereinafter referred to as power supply electrode) 2, a common electrode 6, and a signal detection electrode (hereinafter referred to as detection electrode) 8. The first piezoelectric element 3 is joined between the power supply electrode 2 and the common electrode 6 to constitute one single-layer piezoelectric body 4a. A predetermined voltage (vibration control voltage) Va is supplied between the feeding electrode 2 and the common electrode 6 in the single-layer piezoelectric body 4a, and functions as a piezoelectric actuator.

  A second piezoelectric element 7 is joined between the common electrode 6 and the detection electrode 8 to constitute the other single-layer piezoelectric body 4b. A force detection signal SVd (hereinafter also referred to as a force detection voltage Vd) based on an external force is taken out from the detection electrode 8 and functions as a force detection sensor. The actuator 1 has three terminals 9a, 9b, 9c. The first terminal 9 a is connected to the power supply electrode 2. A lead line L1 is connected to the terminal 9a. The second terminal 9 b is connected to the common electrode 6. A lead line L2 is connected to the terminal 9b. The third terminal 9 c is connected to the detection electrode 8. A lead line L3 is connected to the terminal 9c.

  The actuator 1 is configured as described above, the actuator control means is connected to the lead line L1 and the lead line L2, and power is supplied to the first piezoelectric element 3 via the terminals 9a, 9b, 9c and the terminals 9a, 9b, 9c. Then, the first piezoelectric element 3 vibrates. When an external force is applied to the second piezoelectric element 7, the detection voltage Vd is output to the lead line L3. As a result, only the force detection signal (detection voltage Vd) based on the external force modulated by the predetermined voltage Va supplied between the feeding electrode 2 and the common electrode 6 can be extracted. The actuator 1 constitutes a low voltage drive type multifunctional actuator that can use both functions simultaneously.

  FIG. 3 is a graph showing an example of the function of the actuator 1. In FIG. 3, the horizontal axis represents the applied pressure F [gf]. The pressing force F [gf] varies depending on the pressing force by the operator's finger or the like. The vertical axis represents the detection voltage Vd [V] with respect to the applied pressure F. The actuator 1 generates a detection voltage Vd = X [V] when the pressing force is F1, and generates a detection voltage Vd = Y [V] when the pressing force is F2. Therefore, when Vd = X is set as the first threshold value, and when the applied pressure F that obtains the detection voltage (Vd> X) exceeding the threshold value X is detected, the CPU 55 indicates that there is an input based on the threshold value X. Is made to discriminate.

  Further, when Vd = Y (Y> X) is set as the second threshold value, and when the applied pressure F at which the detection voltage (Vd> Y) exceeding the threshold value Y is detected, the CPU 55 performs the update based on the threshold value Y. It is determined that there is an input.

  4A to 4C are waveform diagrams showing an example of the function of the comparator 88. FIG. FIG. 4A shows an output waveform of the output amplifier 77 and simulates the vibration control voltage Va. The vibration control voltage Va is shown as a sine wave to simplify the description. FIG. 4B is an output waveform when the actuator is pressed, and is a waveform that simulates the force detection voltage Vd ′ including the detection voltage Vd. FIG. 4C is a waveform showing the detection voltage Vd. The detection voltage Vd is shown as a rectangular wave for the sake of simplicity.

The vibration control voltage Va shown in FIG. 4A and the force detection voltage Vd ′ including the detection voltage Vd shown in FIG. 4B are input to the comparator 88 shown in FIG. The comparator 88 receives the vibration control voltage Va and the force detection voltage Vd ′ and executes a comparison process. In this comparison process, the actuator 1 is pressed with an operator's finger or the like, and there is a characteristic of applied pressure F-detected voltage Vd.
Vd = Vd′−αVa−β (1)
Thus, the detection voltage Vd shown in FIG. 4C is calculated.

  α is an arithmetic coefficient, and is a value between 0 <α <1, and when the vibration control voltage Va is applied while the actuator 1 is pressurized, the detection voltage Vd that can be taken out from the detection terminal is the vibration control voltage. It is a value that takes into account that it is somewhat smaller than Va. β is a threshold value for determining the detection voltage Vd, and β = X or Y is substituted, and corresponds to the threshold value of the applied pressure F assumed by the application. Note that β = 0 while a continuous change in the pressing force F is read.

FIG. 5 is a flowchart illustrating an operation example of the input / output device 100 with a tactile function.
In this embodiment, in the tactile control sequence of the portable terminal device or the like, after receiving the first input, the output is further executed, and a new different input is received in that state. The first force detection data In a state where the actuator 1 is presenting a tactile sensation to the operator's finger based on the vibration control voltage Va based on Dd, when the actuator 1 is further pressed, the CPU 55 receives the second force detection data Dd from the actuator 1. The control is executed using the second force detection data Dd as a trigger in a state where a tactile sensation is presented to the operator's finger.

  Under these operating conditions, in the flowchart shown in FIG. For example, the CPU 55 detects power-on information and activates the system. The power-on information is normally generated when a clock function or the like is activated in a portable terminal device or the like and a power switch of the portable terminal device or the like in a sleeping state is turned on. The CPU 55 detects the power-on information and proceeds to step A2.

  In step A2, the CPU 55 waits for a tactile activation request from the actuator 1. The tactile activation request is given to the CPU 55 through the force detection function of the actuator 1 → the operational amplifier 87 → the comparator 88 → the A / D driver 89. For example, the operational amplifier 87 connected to the detection terminal of the actuator 1 amplifies the force detection signal SVd output from the actuator 1 and outputs the force detection voltage Vd ′ to the comparator 88.

  The comparator 88 receives the vibration control voltage Va and the force detection voltage Vd ′ including the detection voltage Vd, and executes comparison processing. In this comparison processing, the actuator 1 is pressed by the operator's finger or the like, and there is a characteristic of the applied pressure F-the detected voltage Vd, and the comparator 88 is shown in FIG. The detection voltage Vd shown in FIG. The comparator 88 outputs the detection voltage Vd to the A / D driver 89.

  The A / D driver 89 outputs force detection data Dd obtained by analog-digital conversion of the detection voltage Vd. The A / D driver 89 determines whether or not there is an input on the basis of the case where the detection voltage Vd as the output of the comparator 88 is positive (Vd> 0) or negative (Vd <0). When the actuator 1 is not vibrating, Vd> 0 is always satisfied, and the first force detection data Dd is output to the CPU 55 as a tactile activation request.

  When there is a tactile activation request, the CPU 55 proceeds to steps A3 and A4 and executes parallel processing. In step A3, the actuator drive circuit 37 executes a tactile sense presentation process. For example, the CPU 55 reads the vibration pattern data Dp from the storage unit 35 based on the force detection data Dd, and outputs the vibration pattern data Dp to the actuator drive circuit 37.

  In the actuator drive circuit 37, the D / A driver 76 performs digital / analog conversion on the vibration pattern data Dp read by the CPU 55 to generate a vibration control signal SVa. The vibration control signal SVa is output from the D / A driver 76 to the output amplifier 77. The output amplifier 77 generates a vibration control voltage Va based on the vibration control signal SVa and the drive power supply Vaa. The vibration control voltage Va is applied from the output amplifier 77 to the actuator 1. The actuator 1 vibrates based on the vibration control voltage Va. This vibration can present a tactile sensation to the operator's finger.

  In parallel with this, the CPU 55 waits for further input in step A4. The input at this time is also given to the CPU 55 through the force detection function of the actuator 1 → the operational amplifier 87 → the comparator 88 → the A / D driver 89. That is, when a new new different input is received in the tactile sensation generation state, the force detection data Dd is output to the CPU 55 only when Vd> 0.

  In this example, when a further new different input is received in the tactile sensation generation state, the detection voltage Vd that is the output of the comparator 88 becomes positive (Vd> 0), so the second force detection data Dd is output to the CPU 55. It is made like. Since β = 0 during reading of the continuous change in the pressing force F, “Vd′−αVa” is directly used as a determination criterion for the presence / absence of input.

  In the above example, if there is an input in a state where a tactile sensation is being presented on the operator's finger, the process proceeds to step A5, and the CPU 55 executes an input process. This input processing includes input operations such as selection of a new input item and confirmation of the input selection item. Thereafter, the process proceeds to step A6, where the CPU 55 detects the power-off information and determines the end of the input / output process. When the power-off information is not detected, the process returns to step A2 and the CPU 55 waits for a tactile activation request. If power-off information is detected, the input / output process is terminated.

  Thus, according to the input / output device 100 with a tactile function as the first embodiment according to the present invention, as the first input, the CPU 55 obtains the first obtained from the actuator 1 when the actuator 1 is pressed. Force detection data Dd based on the force detection signal SVd is input, and a vibration control voltage Va is output to the actuator 1 based on the first force detection data Dd. The actuator 1 presents a tactile sensation to the operator's finger based on the vibration control voltage Va. When the actuator 1 is further pressed as a new different input in the tactile sense presentation state, the CPU 55 inputs force detection data Dd based on the second force detection signal SVd output from the actuator 1.

  In this example, when the tactile sensation is presented to the operator's finger and the actuator 1 is further pressed, the comparator 88 causes the force detection voltage Vd ′ output from the operational amplifier 87 and the output amplifier 77 to output the actuator. The vibration control voltage Va output to 1 is input and the difference is calculated. By this calculation, the second force detection voltage Vd is output to the A / D driver 89.

  Therefore, the A / D driver 89 can perform input determination with high reliability based on the force detection voltage Vd. Using the second force detection data Dd obtained from the result of the input determination as a trigger, the CPU 55 can perform an input operation such as selection of a new input item or confirmation of the input selection item. Thereby, the function of the input / output device 100 with a tactile function can be improved, and the tactile control sequence can be processed at high speed and with high reliability.

6A and 6B are a perspective view and a cross-sectional view showing a configuration example of a multifunctional piezoelectric actuator (connection fixed type) 10 that can be used in the input / output device according to the second embodiment.
The multifunction piezoelectric actuator 10 shown in FIG. 6A is an example of a piezoelectric composite means, and has a piezoelectric actuator function and a force detection sensor function. As shown in FIG. 6B, the multi-function piezoelectric actuator 10 is configured such that at least one laminated body 14 is electrically divided (divided) into three laminated piezoelectric body groups 14a, 14b, and 14c.

  In this example, the central electrode 13 drawn out from the piezoelectric element located at the center of the multilayer piezoelectric body group 14c is used for force detection, and the piezoelectricity of the other multilayer piezoelectric body groups 14a, 14b located on both sides of the multilayer piezoelectric body group 14c. The electrode drawn from the element is used for feeding. In this example, among the one or more electrically divided laminated piezoelectric material groups 14a, 14b, 14c, the laminated piezoelectric material group 14c at a position close to the neutral plane when bending is deformed is used for force detection. The laminated piezoelectric material groups 14a and 14b located away from the neutral plane are used for the actuator.

  In this example, the center electrode 13 drawn from the piezoelectric element located at the center of the multilayer piezoelectric body group 14c is used as a force detection sensor, and the other multilayer piezoelectric body groups 14a, 14b located on both sides of the multilayer piezoelectric body group 14c. The electrode drawn from the piezoelectric element is used for power supply of the actuator. In this example, among the one or more electrically divided laminated piezoelectric material groups 14a, 14b, and 14c, the laminated piezoelectric material group 14c at a position close to the neutral plane when bending deformation is used for the force detection sensor. Then, the laminated piezoelectric material groups 14a and 14b located away from the neutral plane are used as actuators.

  The first laminated piezoelectric body group 14a is an example of a first laminated body, and is formed by laminating one or more extraction electrodes (hereinafter referred to as the upper surface electrode 11) and piezoelectric elements. Each piezoelectric element includes an electrode and a piezoelectric body. The second laminated piezoelectric body group 14b is an example of a second laminated body, and is formed by laminating one or more extraction electrodes (hereinafter referred to as the lower surface electrode 12) and piezoelectric elements. Each piezoelectric element includes an electrode and a piezoelectric body. The upper surface electrode 11 and the lower surface electrode 12 are connected inside the laminate. Other electrodes are also connected inside the laminate.

  The third laminated piezoelectric body group 14c is an example of a third laminated body, and is laminated between the laminated piezoelectric body group 14a and the laminated piezoelectric body group 14b, and has one or more piezoelectric elements. The laminated piezoelectric material group 14c has a central electrode 13 which is an example of another extraction electrode. The central electrode 13 is positioned on the neutral plane of the bending deformation of the laminated piezoelectric group 14c and the laminated piezoelectric group 14b.

  The fixed connection type multifunction piezoelectric actuator 10 has four terminals 16a to 16d. The first terminal 16 a is connected to the upper surface electrode 11. A lead line L1 is connected to the terminal 16a. The second terminal 16b is connected to the lead electrode of the multilayer piezoelectric body group 14b. A lead line L2 is connected to the terminal 16b. The third terminal 16c is connected to the extraction electrode of the multilayer piezoelectric body group 14b. A lead line L3 is connected to the terminal 16c. The fourth terminal 16d is connected to the extraction electrode of the multilayer piezoelectric body group 14c. A lead line L4 is connected to the terminal 16d.

  The fixed connection type multi-function piezoelectric actuator 10 is configured as described above. Then, when the actuator drive circuit 37 is connected to the lead line L1 and the lead line L2, and power is supplied to the piezoelectric elements of the multilayer piezoelectric body group 14a and the multilayer piezoelectric body group 14b via the terminals 16a and 16b, the multilayer piezoelectric body group 14a and The laminated piezoelectric body group 14b vibrates. Further, when an external force is applied to the piezoelectric elements of the laminated piezoelectric body group 14c, the detection voltage Vd is output to the lead line L3 and the lead line L3.

  Also in this embodiment, the detection voltage Vd is given to the CPU 55 as force detection data Dd through the operational amplifier 87 → the comparator 88 → the A / D driver 89. That is, when a new new different input is received in the tactile sensation generation state, the force detection data Dd is output to the CPU 55 only when Vd> 0.

  As described above, according to the input / output device to which the multi-function piezoelectric actuator 10 according to the second embodiment is applied, as the first input, the CPU 55 obtains the first obtained from the actuator 10 when the actuator 10 is pressed. Force detection data Dd based on the force detection signal SVd is input, and a vibration control voltage Va is output to the actuator 10 based on the first force detection data Dd. The actuator 10 presents a tactile sensation to the operator's finger based on the vibration control voltage Va. When the actuator 10 is further pressed as a new different input in the tactile sense presentation state, the CPU 55 inputs force detection data Dd based on the force detection signal SVd output from the actuator 10.

  Also in this example, when the actuator 10 is further pressed in a state where a tactile sensation is being presented on the operator's finger, the comparator 88 causes the force detection voltage Vd ′ output from the operational amplifier 87 and the actuator from the output amplifier 77 to operate. The vibration control voltage Va output to 10 is input and the difference is calculated. By this calculation, the second force detection voltage Vd is output to the A / D driver 89.

  Therefore, even in the input / output device to which the multifunctional piezoelectric actuator 10 is applied, the A / D driver 89 can determine the input based on the detection voltage Vd. Using the second force detection data Dd obtained from the result of the input determination as a trigger, the CPU 55 can perform an input operation such as selection of a new input item or confirmation of the input selection item. Thereby, it is possible to improve the function of the input / output device with a tactile function to which the multi-function piezoelectric actuator 10 is applied, and to process the tactile control sequence at high speed and with high reliability.

FIG. 7 is a diagram illustrating a cross-sectional configuration example of a variable connection type multifunctional piezoelectric actuator 300 that can be used in the input / output device according to the third embodiment.
The multi-function piezoelectric actuator 300 shown in FIG. 7 is a form in which a piezoelectric body is laminated between electrodes, and a total of 18 layers of piezoelectric bodies # 1 to # 18, an upper surface electrode 11, a lower surface electrode 12, The laminated body having the central electrode 13 and the 16 layers of the electrodes IE1 to IE16 is at least electrically divided into three laminated piezoelectric body groups 14a, 14b, and 14c. Also in this example, similarly to the fixed connection type, the laminated piezoelectric body group 14c takes a form sandwiched between the laminated piezoelectric body group 14a and the laminated piezoelectric body group 14b.

  The laminated piezoelectric body group 14a includes the upper surface electrode 11, the electrodes IE1 to IE5, and five layers of piezoelectric bodies # 1 to # 5, and functions as a piezoelectric actuator. The piezoelectric body # 1 is laminated between the upper surface electrode 11 and the electrode IE1, the piezoelectric body # 2 is laminated between the electrode IE1 and the electrode IE2, and the piezoelectric body # 3 is interposed between the electrode IE2 and the electrode IE3. The piezoelectric body # 4 is laminated between the electrode IE3 and the electrode IE4, and the piezoelectric body # 5 is laminated between the electrode IE4 and the extraction electrode IE5.

  The laminated piezoelectric material group 14c is laminated between the laminated piezoelectric material group 14a and the laminated piezoelectric material group 14b, and includes a central electrode 13, electrodes IE6 to IE8, four layers of piezoelectric materials, and electrodes IE9 to IE11. It is composed of four layers of piezoelectric bodies and functions as a force detection sensor. The piezoelectric body # 6 is stacked between the electrode IE5 and the electrode IE6, the piezoelectric body # 7 is stacked between the electrode IE6 and the electrode IE7, and the piezoelectric body # 8 is stacked between the electrode IE7 and the electrode IE8. The piezoelectric body # 9 is laminated between the electrode IE8 and the central electrode 13.

  The piezoelectric body # 10 is stacked between the central electrode 13 and the electrode IE9, the piezoelectric body # 11 is stacked between the electrode IE9 and the electrode IE10, and the piezoelectric body # 12 is disposed between the electrode IE10 and the electrode IE11. Are stacked on each other. The central electrode 13 is positioned on the neutral plane of the bending deformation of the laminated piezoelectric group 14c and the laminated piezoelectric group 14b.

  The laminated piezoelectric body group 14b is composed of the lower surface electrode 12, the electrodes IE13 to IE17, and five layers of piezoelectric bodies, and functions as the piezoelectric actuator 300. The piezoelectric body # 13 is stacked between the electrode IE11 and the electrode IE12, the piezoelectric body # 14 is stacked between the electrode IE12 and the electrode IE13, and the piezoelectric body # 15 is stacked between the electrode IE13 and the electrode IE14. The piezoelectric body # 16 is stacked between the electrode IE14 and the electrode IE15, the piezoelectric body # 17 is stacked between the electrode IE15 and the electrode IE16, and the piezoelectric body # 18 is disposed between the electrode IE16 and the lower surface electrode 12. Are stacked on each other.

  In FIG. 7, in the laminated piezoelectric material group 14a, the upper surface electrode 11, the electrode IE2, and the electrode IE4 are connected inside the laminated body. The upper surface electrode 11 is connected to the lead line L1 through the first terminal 16a. The electrode IE1 and the electrode IE3 are connected to the extraction electrode IE5 inside the stacked body. The lead electrode IE5 is connected to the lead line L2 via the second terminal 16b.

  In the laminated piezoelectric material group 14c, the electrode IE8 is connected to the extraction electrode IE6 inside the laminated body. The lead electrode IE6 is connected to the lead line L3 via the terminal 16c. The electrode IE7 and the electrode IE10 are connected to the central electrode 13. The center electrode 13 is connected to the lead line L4 via the terminal 16d. The electrode IE9 is connected to the extraction electrode IE11 inside the laminate. The lead electrode IE11 is connected to the lead line L5 via the terminal 16e.

  In the multilayer piezoelectric body group 14b, the electrode IE14 and the electrode IE16 are connected to the extraction electrode IE12 inside the multilayer body. The lead electrode L12 is connected to a lead line L6 via a terminal 16f. The electrode IE13 and the electrode IE15 are connected to the lower surface electrode 12 inside the multilayer body. The lower surface electrode 12 is connected to the lead line L7 through the terminal 16g.

  In FIG. 7, the piezoelectric bodies # 8 to # 12 shown in the satin near the center electrode 13 function as force detection sensors, and the white piezoelectric bodies # 1 to # 5 and the piezoelectric bodies # 14 to # 14 above and below the piezoelectric bodies # 14 to # 12. # 18 is a part that functions as the actuator 300. The piezoelectric bodies # 6 and # 13 are located at the boundary between the actuator and the force detection sensor, and function as a cushioning material.

8A and 8B are block diagrams illustrating a configuration example of a control system of the multifunction piezoelectric actuator 300. FIG.
In this example, a control device 50 connected to the upper surface electrode 11, the electrode IE5, the electrode IE6, the central electrode 13, the electrode IE11, the electrode IE12, and the lower surface electrode 12 of each of the laminated piezoelectric body groups 14a to 14c is provided and controlled. The device 50 supplies power to the upper surface electrode 11, the electrode IE5, the electrode IE12, and the lower surface electrode 12 of each of the multilayer piezoelectric bodies 14a and 14b according to a preset control signal, and the multilayer piezoelectric body group 14c. Electric power is supplied to the electrode IE6, the central electrode 13, and the electrode IE11, or a force detection signal (detection voltage Vd) is detected from the electrode IE6, the central electrode 13, and the electrode IE11.

  The control device 50 shown in FIG. 8A includes an actuator drive circuit 37 ′, a detection unit 17, and a connection circuit 18, and is a case where the multifunction piezoelectric actuator 300 functions simultaneously as a piezoelectric actuator + force detection sensor. As the actuator drive circuit 37 ', the actuator drive circuit 37 shown in the first embodiment with a switch selection function is used. As the detection means 17, the input means composed of the operational amplifier 87, the comparator 88 and the A / D driver 89 shown in the first embodiment is used.

  For example, the connection circuit 18 includes a gate array using a MOSFET switch circuit. The actuator drive circuit 37 'is connected to a higher-level control system (for example, the CPU 55 shown in the first embodiment), and from the higher-level control system, for example, function selection as an example of vibration pattern data Dp and a control signal. The signal SE1 is input, and the multifunction piezoelectric actuator 300 is driven and controlled based on the vibration pattern data Dp and the function selection signal SE1.

  For example, when the function selection signal SE1 has the content of “actually function as a piezoelectric actuator + force detection sensor”, the actuator drive circuit 37 ′ outputs the switch connection signal SS1 to the connection circuit 18 and extracts the lead line L1 and the lead line L1. Connect to line L7. Further, the lead line L1 and the lead line L7 are connected to the actuator drive circuit 37 '. Thereby, the actuator circuits reaching the piezoelectric bodies # 1 to # 5 and the piezoelectric bodies # 14 to # 18 of the laminated piezoelectric body group 14a and the laminated piezoelectric body group 14b via the terminals 16a, 16b, 16f, and 16g shown in FIG. Can be built.

  Further, the actuator drive circuit 37 'connects the lead line L3 and the lead line L5 based on the switch connection signal SS1, and connects the lead line L4 to the detection means 17, respectively. Thereby, a force detection sensor circuit that reaches the central electrode 13 and the piezoelectric bodies # 7 to # 12 of the laminated piezoelectric body group 14c via the terminals 16c, 16d, and 16e shown in FIG. 6 can be constructed.

  In a state where such an actuator circuit and a force detection sensor circuit are constructed, the actuator drive circuit 37 'generates a vibration control voltage Va based on the vibration pattern data Dp. The vibration control voltage Va is transmitted through the lead lines L1, L2, L6, and L7, and via the terminals 16a, 16b, 16f, and 16g shown in FIG. 6, the piezoelectric bodies # 1 to # 1 of the laminated piezoelectric body group 14a and the laminated piezoelectric body group 14b. When power is supplied to # 5 and the piezoelectric bodies # 14 to # 18, the laminated piezoelectric body group 14a expands and the laminated piezoelectric body group 14b vibrates with the central electrode 13 as a reference. Therefore, the multifunction piezoelectric actuator 300 can be operated as an actuator function.

  Further, when an external force is applied to the piezoelectric bodies # 7 to # 12 of the multilayer piezoelectric body group 14c in a state where the vibration control voltage Va is supplied or in a state where the vibration control voltage Va is not supplied, the lead line L3 and the lead line A force detection voltage Vd is generated on the line L3. This force detection voltage Vd is output to the detection means 17. In the detection means 17, for example, the detection voltage Vd is given to the CPU 55 as the force detection data Dd through the operational amplifier 87 → the comparator 88 → the A / D driver 89 in the same manner as in the first embodiment. That is, when a new new different input is received in the tactile sensation generation state, the force detection data Dd is output to the CPU 55 only when Vd> 0.

  As described above, according to the input / output device to which the multi-function piezoelectric actuator 300 according to the third embodiment is applied, as the first input, the CPU 55 obtains the first obtained from the actuator 300 when the actuator 300 is pressed. Force detection data Dd based on the force detection signal is input, and a vibration control voltage Va is output to the actuator 300 based on the first force detection data Dd. The actuator 300 presents a tactile sensation to the operator's finger based on the vibration control voltage Va. When the actuator 300 is further pressed as a new different input in the tactile sense presentation state, the CPU 55 inputs force detection data Dd based on the second force detection signal output from the actuator 300.

  Also in this example, when the actuator 300 is further pressed in a state where a tactile sensation is presented to the operator's finger, the comparator 88 constituting the detection means 17 is the force detection voltage Vd ′ output from the operational amplifier 87. Then, the vibration control voltage Va output from the actuator drive circuit 37 ′ (output amplifier 77 or the like) to the actuator 300 is input to calculate the difference. By this calculation, the detection voltage Vd is output to the A / D driver 89 in the detection means 17.

  Therefore, even in the input / output device to which the multifunction piezoelectric actuator 300 is applied, the A / D driver 89 in the detection means 17 can determine the input based on the force detection voltage Vd. Using the second force detection data Dd obtained from the result of the input determination as a trigger, the CPU 55 can perform an input operation such as selection of a new input item or confirmation of the input selection item. As a result, it is possible to improve the function of the input / output device with a tactile function using the multi-function piezoelectric actuator 300, and to process the tactile control sequence at high speed and with high reliability.

FIG. 9 is an assembled perspective view showing a configuration example of an input / output device 400 with a tactile function as a fourth embodiment.
In this embodiment, when an input operation is performed on the input item selection display screen, a tactile sensation is presented to the operator's finger based on position detection information obtained by detecting the contact position of the operator's finger. In the state, when the input means 84 with a tactile function is further pressed, the control means 15 ′ inputs force detection data obtained from the multifunction piezoelectric actuator 65a or the like, and uses the force detection data as a trigger. An input operation such as selection of a new input item or confirmation of the input selection item can be performed (second input / output device).

  The input / output device 400 with a tactile function shown in FIG. 9 is one in which an input operation is performed on the display screen by touching one of a plurality of icons displayed on the display screen for selecting an input item.

  The input / output device 400 has a display means comprising an input means 84 having a length of about Lcm and a width of about Wcm, a first frame 41 having an equivalent size, and a liquid crystal display having an equivalent size. 62 and a second frame 47 sized to accommodate the display means 62 are stacked. The frame 47 has a display means retaining process, and the frames 41 and 47 constitute a structure (housing).

  The frame 47 is made of a stainless steel frame having a thickness of about 0.3 mm and protects the display means 62. A display means 62 is housed in the frame 47 and operates to display icons based on position information obtained from the input means 84. On the display means 62 housed in the frame 47, the frame 41 is arranged. The frame 41 is also made of a stainless steel frame having a thickness of about 0.3 mm, and has openings 48a and 48b with bridges for attaching the vibration means on both sides.

  An actuator 65a constituting vibration means is attached to the opening 48a, and the display screen (input operation surface) is vibrated based on the vibration control voltage Va. The actuator 65a is provided with a detection terminal (not shown). In this example, the force detection signal SVd is output from the detection terminal when the actuator 65a is pressed. The actuator 65a is attached to the bridge portion of the opening 48a via fixing members 44a and 45a. Similarly, an actuator 65b is attached to the opening 48b, and the display screen (input operation surface) is vibrated based on the vibration control voltage Vb. The actuator 65b is also provided with a detection terminal (not shown). In this example, when the actuator 65b is pressed, the force detection signal SVd is output from the detection terminal. The actuator 65b is attached to the bridge portion of the opening 48b via fixing members 44b and 45b. As the actuators 65a and 65b, the multifunctional piezoelectric actuators 1, 10 or 300 described in the first to third embodiments are used.

  The vibration control voltages Va and Vb are supplied to the actuator 65a when the operator contacts (touches) one of the icons displayed on the display means 62. For the actuators 65a and 65b, piezoelectric elements having a size width = 3 mm × length = 30 mm and a thickness of about 0.8 mm are used. The fixing members 44a, 45a, 44b, 45b and the like are made of a material having a low elastic modulus (for example, NITTO 5713).

  In this example, rectangular supporters 42a and 42b are provided on the other two sides of the frame 41 where the openings 48a and 48b are not provided, and square supporters 43a to 43d are provided at the four corners, respectively. It has been. For the supporters 42a, 42b, 43a, 43b, 43c and 43d, foamed rubber, KG gel or the like is used. Input means 84 is disposed on the supporters 42a, 42b, 43a, 43b, 43c, and 43d. The input means 84 is connected via a connecting member 46a provided on a substantially central portion of the actuator 65a, and is connected via a connecting member 46b provided on a substantially central portion of the actuator 65b.

  In this example, the actuator 65a and the connecting member 46a, and the actuator 65b and the connecting member 46b constitute a vibration transmission mechanism 80, and the vibration generated by the actuators 65a and 65b is transmitted to the input means 84. The input means 84 constitutes an example of a detection means, and detects the selected contact position of the icon and outputs a position detection signal S1.

  The position detection signal S1 includes position information and an input amount (force). The position information is obtained from the position detection signal S1 when the icon is touched, and the input amount (force) is obtained from the multifunction piezoelectric actuator 65a or the like when the icon is touched. As the input means 84, a touch panel having an input operation surface size of W = 64 mm × L = 88 mm and a thickness of about 1.0 mm is used. The touch panel is a capacitance type input device, and has a capacitance sheet in which transparent electrodes serving as storage electrodes are arranged in a matrix.

  FIG. 10 is an enlarged perspective view showing a configuration example of the vibration transmission mechanism 80. The vibration transmission mechanism 80 shown in FIG. 10 shows the periphery of the actuator 65a, and includes a frame 41, a fixing member 45a, a connecting member 46a, and an actuator 65a. For example, the frame 41 has a width of about 4 mm and is formed by bending a C-shaped (channel) stainless steel member into a frame shape. For example, an opening 48 a having a width of about 3 mm and a length of about 30 mm is provided at a predetermined portion of the frame 41. Bridge portions 49a and 49b (not shown) are provided at predetermined positions of the opening 48a. The actuator 65b is configured similarly.

  The actuator 65a is attached to the bridge portions 49a and 49b of the opening 48a via fixing members 44a and 45a. For the actuator 65a or the like, a piezoelectric element having a size width = 3 mm × length = 30 mm and a thickness of about 0.8 mm is used. A connecting member 46a is attached on a substantially central portion of the actuator 65a. This is because the actuator 65a and the input means 84 are connected via the connecting member 46a. In this vibration transmission mechanism 80, the vibration generated by the actuator 65a is propagated to the input means 84 via the connecting member 46a.

  FIG. 11 is a block diagram illustrating a configuration example of a control system in the vibration transmission mechanism 80. Control means 15 'is connected to the actuator 65a of the vibration transmission mechanism 80 shown in FIG. The actuator 65a is supplied with the vibration control voltage Va from the control means 15 '. A storage means 35 is connected to the control means 15 'so as to store vibration pattern data Dp. For example, the control unit 15 ′ inputs the position detection information Din obtained from the input unit 84 when the input unit 84 is touched and a contact position is detected from a touch panel or the like. At this time, the actuator 65a and the actuator 65b (not shown) similarly output the force detection signal SVd from the detection terminal to the control unit 15 'in cooperation with the actuator 65b when the input unit 84 is pressed.

  The control means 15 ′ reads the vibration pattern data Dp from the storage means 35 based on the force detection data Dd obtained by processing the force detection signal SVd and the position detection information Din obtained from the input means 84, and based on the vibration pattern data Dp. Vibration control voltages Va and Vb are generated. The control means 15 'operates to supply the vibration control voltage Va to the actuator 65a and supply the vibration control voltage Vb to the actuator 65b to control the actuators 65a and 65b by touch.

FIG. 12 is a block diagram illustrating a configuration example of a control system of the input / output device 400 with a tactile function.
An input / output device 400 shown in FIG. 12 is a device that presents a tactile sensation to the operator's finger 30 during an input operation. For example, information is obtained by selecting an icon from a display screen for selecting input items prepared in advance. It is suitable for application to game devices, information processing devices, mobile phones, portable information terminals, and the like. The input / output device 400 includes a storage unit 35, a display unit 62, actuators 65a and 65b, an input unit 84, and a control unit 15 ′.

  The display means 62 displays a display screen for selecting input items based on the display data D2. The display means 62 displays an icon on the display screen. As the display means 62, a liquid crystal display device or the like is used.

  The input means 84 detects the contact position of the operator's finger on the display screen and outputs a position detection signal S1. A touch panel is used as the input means 84. An input processing unit 86 is connected to the input means 84, and a position detection signal S1 is input from the input means 84 and the position detection information Din after analog / digital processing is output.

  The control means 15 'functions to control input / output of the actuator 65a and the like based on the position detection information Din. For example, the control unit 15 ′ generates the vibration control voltage Va based on the position detection information Din output from the input processing unit 86 and the force detection data Dd output from the A / D driver 89. The control means 15 'includes an actuator drive circuit 37, a CPU 55, an input processing unit 86, an operational amplifier 87, a comparator 88, and an A / D driver 89. These circuits, drivers, etc. are connected to a normal power supply Vcc. Composed.

  The actuators 65a and 65b present tactile sensations to the operator's finger based on the vibration control voltage Va output from the control means 15 'in the same manner as in the first to third embodiments, and the operator's finger 30 The force at the contact position is detected and a force detection signal SVd is output.

  Also in this example, the CPU 55 is output from the actuator 65a or the like when the actuator 65a or the like is further pressed while the actuator 65a or the like is presenting a tactile sensation to the operator's finger based on the vibration control voltage Va. The force detection signal SVd is input, the vibration control voltage Va and the force detection voltage Vd ′ are input, and the difference is calculated to obtain force detection data Dd. For example, the CPU 55 presents a tactile sensation on the operator's finger 30, and when the actuator 65a or the like is further pressed, the force detection data Dd is positive or the force detection data Dd is negative. In some cases, it is determined whether or not the actuator 65a or the like has been pressed beyond a threshold value or has not been pressed.

  In this tactile sense control, the CPU 55 supplies the force detection signal SVd obtained by the actuator 65 a or the like to the CPU 55 as force detection data Dd through the operational amplifier 87 → the comparator 88 → A / D driver 89. The comparator 88 receives the vibration control voltage Va and the force detection voltage Vd ′ including the detection voltage Vd, and executes a comparison process (see FIG. 4). That is, when a new new different input is received in the tactile sensation generation state, the force detection data Dd is output to the CPU 55 only when Vd> 0. As a result, the CPU 55 further executes the tactile sensation generation output while receiving the input, and can accept further new different inputs in that state. In addition, since the thing of the same name and the same code | symbol as 1st Example has the same function, the description is abbreviate | omitted.

FIG. 13 is a flowchart illustrating an operation example of the input / output device 400 with a tactile function.
In this embodiment, in the tactile control sequence of the mobile terminal device or the like, after receiving the first input, the output is further executed, and a new different input is received in that state, based on the position detection information Din. When the actuator 65a or the like is presenting a tactile sensation to the operator's finger with the vibration control voltage Va, when the actuator 65a or the like is further pressed, the CPU 55 obtains force detection data Dd from the actuator 65a or the like. In a state where a tactile sensation is presented to the operator's finger, control is executed using force detection data Dd as a trigger.

  Under these operating conditions, in the flowchart shown in FIG. 13, first, in step B1, the power-on is waited. For example, the CPU 55 detects power-on information and activates the system. The power-on information is normally generated when a clock function or the like is activated in a portable terminal device or the like and a power switch of the portable terminal device or the like in a sleeping state is turned on. The CPU 55 detects power-on information and proceeds to step B2.

  In step B2, the CPU 55 outputs display data D2 to the display means 62 and executes display control. The display means 62 displays a display screen for selecting input items based on the display data D2. The display means 62 displays an icon on the display screen.

  Next, the CPU 55 proceeds to step A3 to detect whether or not an icon has been selected, and waits for a tactile activation request from the input means 84. The tactile activation request in this example is given to the CPU 55 through the input means 84 → input processing unit 86. At this time, similarly to the first embodiment, a tactile activation request obtained through the force detection function of the actuator 1 → the operational amplifier 87 → the comparator 88 → the A / D driver 89 may be given to the CPU 55. In other words, the requests may be received in parallel and the process may be shifted to the subsequent processing based on either one of the tactile activation requests. In this way, the CPU 55 can determine the first position detection information Din or the force detection data Dd as a tactile activation request.

  If there is a tactile activation request, the CPU 55 proceeds to steps B4 and B5 and executes parallel processing. In step B3, the actuator drive circuit 37 executes tactile sense presentation processing in the same manner as in the first embodiment. For example, the CPU 55 reads the vibration pattern data Dp from the storage unit 35 based on the force detection data Dd, and outputs the vibration pattern data Dp to the actuator drive circuit 37.

  In the actuator drive circuit 37, the D / A driver 76 performs digital / analog conversion on the vibration pattern data Dp read by the CPU 55 to generate a vibration control signal SVa. The vibration control signal SVa is output from the D / A driver 76 to the output amplifier 77. The output amplifier 77 generates a vibration control voltage Va based on the vibration control signal SVa and the drive power supply Vaa. The vibration control voltage Va is applied from the output amplifier 77 to the actuator 65a and the like. The actuator 65a and the like vibrate based on the vibration control voltage Va. This vibration can present a tactile sensation to the operator's finger.

  In parallel with this, the CPU 55 waits for further input in step B5. The input at this time is given to the CPU 55 through the force detection function of the actuator 65a, etc. → the operational amplifier 87 → the comparator 88 → the A / D driver 89. That is, when a new new different input is received in the tactile sensation generation state, the force detection data Dd is output to the CPU 55 only when Vd> 0.

  In this example, when a further new different input is received in the tactile sensation generation state, the detection voltage Vd that is the output of the comparator 88 becomes positive (Vd> 0), so that the force detection data Dd is output to the CPU 55. The Since β = 0 during reading of the continuous change in the pressing force F, “Vd′−αVa” is directly used as a determination criterion for the presence / absence of input.

  In the above-described example, in the state where a tactile sensation is presented to the operator's finger and there is an input, the process proceeds to step B6 and the CPU 55 executes the input process. This input processing includes input operations such as selection of a new input item and confirmation of the input selection item. Thereafter, the process proceeds to step B7, where the CPU 55 detects the power-off information and determines the end of the input / output process. When the power-off information is not detected, the process returns to step B2 and the CPU 55 continues the display process of the input item selection screen, and proceeds to step B3 to wait for an icon selection and a tactile activation request. If power-off information is detected in step B7, the input / output process is terminated.

  As described above, according to the input / output device 400 with a tactile function according to the fourth embodiment of the present invention, when an input operation is performed on the display screen for selecting an input item, When the means 84 is touched or when the input means 84 is strongly pressed, position detection information Din based on the position detection signal S1 obtained from the input means 84 is input, or the first information obtained from the actuator 65a or the like. Force detection data Dd based on one force detection signal SVd is input.

  The CPU 55 outputs the vibration control voltage Va to the actuator 65a and the like based on the position detection information Din or the first force detection data Dd. The actuator 65a and the like present a tactile sensation to the operator's finger based on the vibration control voltage Va. When the actuator 65a or the like is further pressed as a new different input in the tactile sense presentation state, the CPU 55 determines the force detection data Dd based on the force detection signal SVd output from the actuator 65a or the like.

  In this example, when the actuator 65 a or the like is further pressed in a state where a tactile sensation is being presented to the operator's finger, the comparator 88 outputs the force detection voltage Vd ′ output from the operational amplifier 87 and the output amplifier 77. The vibration control voltage Va output to the actuator 65a or the like is input to calculate the difference. By this calculation, the force detection voltage Vd is output to the A / D driver 89.

  Therefore, the A / D driver 89 can make an input determination based on the force detection voltage Vd. Using the force detection data Dd obtained from the result of the input determination as a trigger, the CPU 55 can perform an input operation such as selection of a new input item or confirmation of the input selection item. Thereby, the function of the input / output device 400 with a tactile function can be improved, and the tactile control sequence can be processed at high speed and with high reliability.

14A and 14B are conceptual diagrams showing a configuration example of a mobile terminal device 500 as a fifth embodiment to which the first input / output device is applied.
A portable terminal device (PDA) 500 illustrated in FIG. 14A is an example of an electronic device, and includes the first input / output device 100 according to the present invention. The mobile terminal device 500 is suitable for application to a remote controller (hereinafter simply referred to as a remote controller) of various electronic devices, an electronic dictionary, a mobile phone, a digital camera, and the like. The mobile terminal device 500 has a main body 20. The main body 20 has a plurality of function keys 21 to 28. In addition to these function keys 21 to 28, the main body 20 has the input / output device 100 with a tactile function described in the first embodiment.

  In this example, the input / output device 100 is configured to include the multifunction piezoelectric actuator 1 with a touch cover, and has a structure that imparts a vibrational displacement to the touch cover 38. The touch cover 38 is provided so as to cover the detection electrode, and the boundary with the main body 20 is a constricted portion 29. This is because this portion has a diaphragm (spring) effect, and the housing is easily deformed. The touch cover 38 is formed of an insulating resin member. The resin member of the main body 20 may be used for injection molding so as to form part of the housing. The actuator 1 is attached to the side recess of the main body 20 by adhesion or the like, for example. In this example, the actuator function of the actuator 1 is used for presenting a tactile sensation to the user, and the sensor function is used as input means for user switch ON / OFF information.

  The actuator 1 constitutes tactile sensation presentation information confirmation means, presents a tactile sensation based on the vibration control signal SVa to the user's finger 30 who presses the touch cover 38, and touches the touch cover at the contact position of the operator's finger 30 38 has a function of detecting an external force applied to 38 and outputting a force detection signal (detection voltage Vd). The force detection signal determines switch ON / OFF input information when the touch cover 38 is pressed (first input / output device).

  The main body 20 is provided with display means 62. The display means 62 displays input information. In the upper control system, for example, the pressing force F ′ of the operator's finger 30 for selecting the input item displayed on the display means 62 is detected, and the detected pressing force F ′ of the operator's finger 30 is detected here. Based on this, it is determined that the input item has been selected.

  As shown in FIG. 14B, the actuator 1 includes a feeding electrode 2, a common electrode 6 and a detection electrode 8, a piezoelectric element 3 joined between the feeding electrode 2 and the common electrode 6, a common electrode 6 and a detection electrode 8. And a piezoelectric element 7 joined between the two. In the actuator 1, a predetermined vibration control voltage is supplied between the feeding electrode 2 and the common electrode 6, and a force detection signal based on an external force applied to the touch cover 38 is extracted from the detection electrode 8. That is, the actuator 1 constitutes an input unit, and operates to detect whether the operator's finger 30 is touched and output switch ON information or OFF information. For example, when the operator's finger 30 touches the touch cover 38 and is pressed down, the pressing force F 'is detected and switch ON information (or switch OFF information) is output.

  FIG. 15 is a circuit diagram illustrating a configuration example of a control system of the input / output device 100. The input / output device 100 illustrated in FIG. 15 includes the actuator 1, the touch cover 38, and the control unit 15. In the figure, the portion indicated by the wave shape has a diaphragm. The touch cover 38 covers the entire surface of the detection electrode 8, and its periphery is engaged with the main body 20 through a diaphragm so as to be movable up and down.

  In this example, the control means 15 controls the input / output of the actuator 1. For example, when the actuator 1 is pressed, the control unit 15 receives the first force detection signal SVd from the actuator 1 and outputs the vibration control signal SVa to the actuator 1 based on the force detection signal SVd. Is presenting a tactile sensation to the operator's finger based on the vibration control signal SVa, and when the actuator 1 is further pressed, the second force detection signal SVd is input from the actuator 1.

  The control means 15 includes an output amplifier 77, an operational amplifier 87, and a comparator 88. The output amplifier 77 is connected to the power feeding electrode 2 and feeds the vibration control voltage Va between the power feeding electrode 2 and the common electrode 6 in accordance with a vibration control signal SVa set in advance from a higher control system. The operational amplifier 87 is connected to the detection electrode 8, amplifies the force detection signal SVd from the detection electrode 8, and outputs a force detection voltage Vd ′ to the comparator 88.

  The comparator 88 presents a tactile sensation on the operator's finger, and when the actuator 1 is further pressed, the comparator 88 outputs the force detection voltage Vd ′ output from the actuator 1 and input via the operational amplifier 87 and the actuator 1. The force detection voltage Vd is output to a higher-level control system by inputting the vibration control voltage Va output to the input and calculating the difference. In the upper control system, power supply control to the actuator 1 is executed based on the detection voltage Vd obtained from the comparator 88. In this power feeding control, the upper control system outputs a vibration control signal SVa to the output amplifier 77. The output amplifier 77 performs power supply control to the power supply electrode 2 based on the vibration control signal SVa. By this power supply control, a tactile stimulus is applied to the finger 30 of the operator.

  In this example as well, the upper control system is presenting a tactile sensation to the operator's finger, and when the actuator 1 is further pressed, the force detection information based on the force detection signal SVd is positive or Depending on the case where the force detection information based on the force detection signal SVd is negative, it is determined whether or not the actuator 1 has been pressed beyond the threshold value or has not been pressed.

  Thus, according to the mobile terminal device 500 as the fifth embodiment to which the input / output device 100 is applied, the actuator 1 according to the present invention is applied as tactile sensation presentation information determination means. The input / output device 100 detects the pressing force F ′ at the contact position of the operator's finger 30 from the touch cover 38 and inputs switch ON / OFF information. The actuator 1 presents a tactile sensation to the finger 30 of the operator who presses the touch cover 38 and detects the pressing force F ′ at the contact position of the finger 30 of the operator so as to determine the switch ON / OFF information. To be made.

  Therefore, it becomes possible to continue displaying new input selection items and further input operations for input items based on the confirmed input information. Thereby, it is possible to improve the function of the portable terminal device 500 to which the input / output device 100 with a tactile function is applied, and to process the tactile control sequence at high speed and with high reliability. A portable terminal device 500 with a tactile input / output function can be provided.

FIG. 16 is a perspective view showing a configuration example of a portable terminal device 600 as a sixth embodiment to which the second input / output device is applied.
A portable terminal device (PDA) 600 shown in FIG. 16 is an example of an electronic device, and includes an input / output device 400 with a tactile function that is input by an operator's finger 30 on a display screen for selecting an input item. . The input / output device 400 uses the input / output device according to the present invention. The mobile terminal device 600 is suitable for application to remote controls of various electronic devices, electronic dictionaries, mobile phones, digital cameras, and the like. The mobile terminal device 600 has a main body 20. The main body 20 has a plurality of function keys 21 to 28. In addition to the function keys 21 to 28, the main body 20 has an input / output device 400 capable of blind touch.

  The input / output device 400 includes a touch panel 61, a display means 62, four multifunctional piezoelectric actuators (hereinafter simply referred to as actuators) 100a to 100d, and the like, and has a structure that imparts a vibrational displacement to the touch panel 61. Yes. The touch panel 61 constitutes an example of an input unit, and operates to detect a contact position of an operator's finger 30 as an example of an operation body and output input information. For example, when the operator's finger 30 selects an icon or the like displayed on the display means 62 and touches it, the input information is output.

  The display means 62 displays input items such as a menu screen and icon buttons. As the display means 62, a liquid crystal display device or an EL (electroluminescence) element is used. The actuators 100a to 100d constitute tactile sense information determination means, present tactile sensations to the finger of the user who operates the touch panel 61, and detect external force applied to the touch panel 61 at the contact position of the operator's finger 30 to detect the force. It operates to output a detection signal.

  The force detection signal confirms the input information selected on the touch panel 61. In the input / output device 400, the multifunctional piezoelectric actuators 1, 10, and 300 described in the first to third embodiments are applied to the actuators 100a to 100d. In this example, the actuator functions of the multifunction piezoelectric actuators 1, 10 and 300 are used for tactile presentation to the user, and the sensor function is used as a user input information collecting means (second input / output device).

  FIG. 17 is a cross-sectional view illustrating a configuration example including the touch panel 61, the display unit 62, and the actuators 100a and 100b of the input / output device 400 in the mobile terminal device 600. A display unit 62 is provided below the touch panel 61, and input items displayed on the display unit 62 have a structure that is presented to the user through the touch panel 61.

  Display means 62 is arranged inside the support frame 71 so that the display surface is exposed, and actuators 100a, 100b, etc. are arranged at four corners (only two are shown in the figure) on the support frame 71. Has been. The left actuator 100a is arranged with two support portions 73a and 73b on the support frame 71 as pillows, and a support portion 73c is provided at the center of the actuator 100a. The support portion 73 a is disposed on the back side of the upper end portion 72 b of the actuator 100 a, and the support portion 73 b is disposed adjacent to the terminal 16. The terminal 16 constitutes the terminals 16a to 16g illustrated in FIG. 15B.

  The right actuator 100b is arranged with the two support portions 74a and 74b on the support frame 71 as pillows, and a support portion 74c is provided at the center of the actuator 100b. The support portion 74 a is disposed on the back side of the upper end portion 72 b of the actuator 100 b, and the support portion 74 b is disposed adjacent to the terminal 16. The terminal 16 constitutes, for example, the terminals 16a to 16g illustrated in FIG.

  A touch panel 61 is disposed on the support portions 73c and 74c. The touch panel 61 is fixed to the support frame 71 by an upper inverted L-type side support member 70. Seal members 70 a and 70 b are sandwiched between the touch panel 61 and the upper end portions 70 a and 70 b of the side support member 70. The support portions 73 a to 73 c and the support portions 74 a to 74 c constitute a vibration transmission mechanism 64.

  A control device 50 'is connected to each actuator 100a, 100b. For example, the seven lead lines L1 to L7 shown in FIG. 7 are connected to the terminal 16 of the actuator 100a. The lead lines L1 to L7 are connected to the control device 50 '. Further, the seven lead lines L1 to L7 shown in FIG. 7 are connected to the terminal 16 of the actuator 100b. The lead lines L1 to L7 are also connected to the control device 50 '.

  The control device 50 'applies a vibration control voltage (actuator drive voltage) Va to the laminated piezoelectric body groups 14a and 14b functioning as actuators through the lead lines L1 to L7 with respect to the actuator 100a. The bending deformation (R) at this time is converted into a displacement U of the touch panel 61 in the Z direction. For example, the control device 50 ′ generates the vibration control voltage Va and passes through the lead lines L1, L2, L6, and L7 connected to the actuator 100a via the terminals 16a, 16b, 16f, and 16g shown in FIG. When power is supplied to the piezoelectric bodies # 1 to # 5 and the piezoelectric bodies # 14 to # 18 of the multilayer piezoelectric body group 14a and the multilayer piezoelectric body group 14b, the multilayer piezoelectric body group 14a expands on the basis of the central electrode 13, and the multilayer piezoelectric body The body group 14b vibrates so as to contract. Therefore, the actuator 100a can be operated as an actuator function.

  Further, the control device 50 'applies a vibration control voltage Va to the laminated piezoelectric body groups 14a and 14b functioning as actuators through the lead lines L1 to L7 with respect to the actuator 100b. The bending deformation (R) at this time is converted into a displacement U of the touch panel 61 in the Z direction. For example, the control device 50 ′ generates the vibration control voltage Va and passes through the lead lines L1, L2, L6, and L7 connected to the actuator 100b via the terminals 16a, 16b, 16f, and 16g shown in FIG. When power is supplied to the piezoelectric bodies # 1 to # 5 and the piezoelectric bodies # 14 to # 18 of the multilayer piezoelectric body group 14a and the multilayer piezoelectric body group 14b, the multilayer piezoelectric body group 14a expands with the central electrode 13 as a reference, and the multilayer piezoelectric body The body group 14b vibrates so as to contract. Therefore, the actuator 100b can be operated as an actuator function.

  18A and 18B are cross-sectional views illustrating an operation example when the touch panel is pressed in the input / output device 400. FIG. The support portion 73c shown in FIG. 18A serves as a fulcrum when the user's finger 30 presses the touch panel 61 and the actuator 100 is bent and deformed (R) by the pressing force F in the wavy circle diagram shown in FIG. 18B. ing. In the actuator 100a and the like, a force detection signal SVd (detection voltage Vd) is generated by the laminated piezoelectric material group 14c functioning as a sensor shown in FIG.

  For example, when an external force is applied to the piezoelectric bodies # 7 to # 12 of the multilayer piezoelectric body group 14c, the force detection signal SVd is generated in the lead line L3 and the lead line L3. The force detection signal SVd is output to the control device 50 '. In the control device 50 ', for example, the force detection signal SVd is signal-processed and output to the upper control system as force detection data Dd. Therefore, it can be operated as a force detection sensor while maintaining the actuator function of the actuator 100a and the like (see FIG. 7).

  FIG. 19 is a block diagram illustrating a configuration example of a main part of the mobile terminal device 600. A mobile terminal device 600 illustrated in FIG. 19 includes a control device 50 ′ and an input / output device 400. The control device 50 ′ includes, for example, an analog / digital (hereinafter referred to as A / D) converter 51, a digital / analog (hereinafter referred to as D / A) converter 52, a memory 53, a processor 54, a CPU 55, a current amplifier 56, and operational amplifiers 87a to 87d. And a comparator 88. The control device 50 ′ generates a vibration control voltage Va based on the operation data D <b> 3 output from the touch panel 61.

  The input / output device 400 includes a touch panel 61, display means 62, and vibration generation means 63. The touch panel 61 includes an input unit 84 and an input processing unit 86 as shown in FIG. As a function of the input means 84, the contact position of the operator's finger on the display screen is detected and a position detection signal is output. In this example, when an input item such as a menu screen or an icon button is pressed, for example, the input processing unit 86 processes a position detection signal and outputs operation data D3 constituting coordinate input position information to the CPU 55. The display means 62 displays input items such as a menu screen and icon buttons based on the display data D2 output from the CPU 55.

  In this example, the input / output device 400 is provided with vibration generating means 63. The vibration generating means 63 includes four actuators 100a to 100d, the vibration transmission mechanism 64 shown in FIG. The actuators 100a to 100d and the like are connected to the control device 50 '. The actuators 100a to 100d present a tactile sensation to the operator's finger 30 based on the vibration control voltage Va output from the control device 50 ', and detect the force at the contact position of the operator's finger 30 to detect the force. The signal SVd is output.

  The control device 50 ′ supplies power to the main electrodes IE of the laminated piezoelectric material groups 14a and 14b based on the force detection signal SVd obtained from the central electrode 13 of the laminated piezoelectric material group 14c shown in FIG. 7 of the actuators 100a to 100d. Execute control. In the state where the actuators 100a to 100d are presenting a tactile sensation to the operator's finger 30 based on the vibration control voltage Va, the control device 50 'further starts to move from the actuators 100a to 100d when the actuators 100a to 100d are pressed. The force detection information SVd is input, the vibration control voltage Va and the force detection voltage Vd ′ are input, and the difference is calculated to determine the force detection information.

  Also in this example, the operational amplifier 87a is connected to the actuator 100a. The operational amplifier 87 a is connected to the central electrode 13, amplifies the force detection signal SVd (detection voltage Vd) output from the central electrode 13, and outputs the amplified signal to the comparator 88. Operational amplifiers 87b to 87d are also connected to the other actuators 100b to 100d one by one. The outputs of the four operational amplifiers 87a to 87d are connected together, for example, to the + terminal (q point) of the comparator 88. Of course, the present invention is not limited to this, and an OR circuit or the like may be inserted at the point q.

  The comparator 88 presents the force detection voltage Vd ′ output from the actuator 100a and input via the operational amplifier 87a and the like when the actuator 100a and the like are further pressed in a state where a tactile sensation is presented to the operator's finger. The force detection voltage Vd is output to the A / D converter 51 by inputting the vibration control voltage Va output to the actuators 100a to 100d and calculating the difference.

  The A / D converter 51 A / D converts the detection voltage Vd obtained from the comparator 88 and outputs digital force detection data Dd. A processor 54 is connected to the A / D converter 51 and operates to assist the arithmetic control of the CPU 55. For example, the processor 54 performs power supply control to the actuators 100a to 100d based on the force detection data Dd. According to this power supply control, force detection data Dd is input from the A / D converter 51, a vibration waveform pattern is determined based on the force detection data Dd, and the pattern determination data Dd ′ is notified to the CPU 55. A digital signal processing device (hereinafter referred to as DSP) is used for the processor 54.

  A memory 53 is connected to the processor 54 and various vibration pattern data Dp is stored. For example, an acknowledge waveform pattern P10 indicating operation acceptance and vibration control waveform patterns P11, P12, P13, and P14 that provide various tactile waveforms are stored. The vibration control waveform pattern P11 is a so-called rectangular wave pattern that generates a click feeling, for example, a feeling of rigidity. The vibration control waveform pattern P12 is a digital waveform pattern that feels a rhythmic sense such as a heartbeat. The vibration control waveform pattern P13 is a waveform pattern that gives a feeling of operation that generates a continuous movement. The vibration control waveform pattern P14 is a pattern that gives an ordinary touch panel surface reaction, that is, a substantially constant vibration displacement.

  In addition to the memory 53, a CPU 55 is connected to the processor 54, and vibration waveform pattern reading is determined based on the operation data D3 and the pattern determination data Dd '. The CPU 55 outputs a pattern read permission instruction Dc to the processor 54. The processor 54 reads the vibration pattern data Dp from the memory 53 based on the pattern read permission instruction Dc and sets it in the D / A converter 52.

  A D / A converter 52 is connected to the processor 54. After the D / A conversion is performed on the vibration pattern data Dp read by the processor 54, an analog vibration control signal SVa is output to the current amplifier 56. The current amplifier 56 is an example of an output amplifier, and generates a vibration control voltage Va based on the vibration control signal SVa. The vibration control voltage Va is supplied to the laminated piezoelectric material groups 14a and 14b that function as actuators by the actuators 100a to 100d. By this power supply control, a tactile stimulus is applied to the finger 30 of the operator. The processor 54, the D / A converter 52, and the current amplifier 56 constitute the actuator drive circuit 37 shown in FIG.

  In this way, the processor 54 detects the force F of the user's finger 30 that selects the input item displayed on the display means 62, and the CPU 55 is based on the force of the user's finger 30 detected by the processor 54. It is determined that the input item has been selected. For example, the CPU 55 determines that the input item has been selected based on the force detection signal SVd obtained from the central electrode 13 of the processor multilayer piezoelectric body group 14 c via the processor 54, and then the multilayer piezoelectric via the processor 54. A tactile stimulus is applied to the user's finger 30 by executing power feeding control to the main electrode IE of the body groups 14a and 14b (acknowledgment method by tactile sense).

  Next, a control example of the mobile terminal device 600 will be described. FIG. 20 is a configuration diagram illustrating an operation example in the mobile terminal device 600. In this example, when the actuators 100a to 100d in the input / output device 400 function as actuators, when they function as force detection sensors, and when they are operated in series, the description is divided into three. To do.

[Actuator function]
A menu screen is displayed on the display means 62 shown in FIG. 20, and in this example, four icons 31 to 34 are displayed on the menu screen. It is assumed that the user selects any of the four icons 31 to 34.

  In FIG. 20, when the user's finger 30 touches the icon 31, 32, 33 or 34 displayed on the menu screen via the touch panel 61, the coordinate position information of the touched position becomes the operation data D3 and the CPU 55. Is output. The CPU 55 specifies the vibration control waveform pattern P11 corresponding to the icon touched by the user's finger 30, for example, the icon 31. The CPU 55 controls the processor 54 so as to read out the vibration control waveform pattern P11 corresponding to the icon 31 from the memory 53.

  The processor 54 reads the vibration pattern data Dp giving the vibration control waveform pattern P 11 from the memory 53 and sets it in the D / A converter 52. The D / A converter 52 is read by the processor 54 and D / A converts the vibration pattern data Dp, and then outputs an analog vibration control signal SVa to the current amplifier 56. The current amplifier 56 generates a vibration control voltage Va based on the vibration control signal SVa. The vibration control voltage Va is supplied to the laminated piezoelectric material groups 14a and 14b that function as actuators by the actuators 100a to 100d. As a result, vibration with a click feeling corresponding to the icon 31 is generated on the touch panel surface and presented to the user's finger 30 as a tactile stimulus.

  When the icon 32 is touched, a vibration that feels a rhythmic sense such as a heartbeat based on the vibration control waveform pattern P <b> 12 is generated on the touch panel surface, and is presented to the user's finger 30 as a tactile stimulus. Further, when the icon 33 is touched, a vibration that gives a feeling of movement that generates a continuous movement based on the vibration control waveform pattern P13 is generated on the touch panel surface, and is presented to the user's finger 30 as a tactile stimulus. The When the icon 34 is touched, the response of the normal touch panel surface based on the vibration control waveform pattern P14, that is, an almost constant vibration displacement is only given.

  Further, when the user moves his / her fingertip away from the touch panel surface or slides on the touch panel surface and moves out of the area where the icon 31 or the like is displayed, the coordinate position output from the touch panel 61 to the CPU 55 as needed. Based on the information, the CPU 55 determines whether or not the icon is touched, and resets the vibration control voltage Va for the actuators 100a to 100d. This reset operation stops the vibration on the touch panel surface. As described above, the user is selecting which icon 31, 32, 33, or 34 by touching the touch panel surface without checking the icons 31, 32, 33, 34, and the like with the eyes. Can know. Thus, the actuators 100a to 100d and the like can be operated as an actuator function.

[Force detection sensor function]
In FIG. 20, when the user touches the fingertip on the touch panel, the actuators 100 a to 100 d are deformed by the pressing force F received by the touch panel 61, and a force detection signal SVd is generated in the laminated piezoelectric body group 14 c that functions as a force detection sensor. (See FIGS. 18A and B). When the user knows that his / her finger 30 is on the icon he / she wants to select by the above-described method, the user presses the touch panel 61 more strongly in order to select the icon 31 or the like, for example. The By this pushing operation, a larger force detection signal SVd is generated in the multilayered piezoelectric body group 14c functioning as a force detection sensor.

  The force detection signal SVd is output to the operational amplifier 87a and the like. The operational amplifier 87a amplifies the force detection signal SVd (detection voltage Vd) and outputs it to the comparator 88. The comparator 88 presents the force detection voltage Vd ′ output from the actuator 100a and input via the operational amplifier 87a and the like when the actuator 100a and the like are further pressed in a state where a tactile sensation is presented to the operator's finger. The force detection voltage Vd is output to the A / D converter 51 by inputting the vibration control voltage Va output to the actuators 100a to 100d and calculating the difference.

  The A / D converter 51 A / D converts the detection voltage Vd obtained from the comparator 88 and outputs digital force detection data Dd. The force detection data Dd is output from the A / D converter 51 to the processor 54. The processor 54 receives the force detection data Dd from the A / D converter 51, and compares the level to be compared based on the force detection data Dd with a preset threshold level as needed.

  When the compared level based on the force detection data Dd exceeds the threshold level, the CPU 55 determines that the user has selected (pressed) the icon 31 or the like. If the compared level does not exceed the threshold level, it is determined that the user is looking for the icon 31 or the like. Accordingly, the actuators 100a to 100d and the like operate as force detection sensors.

[A series of operation examples of actuator and force detection sensor]
21A to 21C are diagrams showing a series of operation examples and waveform examples in the input / output device 400. FIG. 21B and 21C, the horizontal axis represents time t and the contact position X of the finger 30. The vertical axis represents the combined value [V] of the vibration control voltage Va and the force detection signal SVd based on the vibration control waveform patterns P10 to P13.

  In the sixth embodiment, an example is given in which the user slides on the icon 31 from the left side to the right side to search for the icon 33 and selects it. A series of actions of the actuators 100a to 100d in this case will be described using an actuator function based on specific vibration control waveform patterns P10 to P13 and a force detection signal SVd detected by the force detection sensor function.

  In FIG. 21A, the user searches for the desired icon 33 from the left end of the icon 31 starting from the position (A) in the figure, that is, the start point (A), in the direction of the right arrow. The finger 30 is slid on the touch panel 61. The selection operation is performed when the finger 30 reaches the desired icon 33 (position).

  With these as operating conditions, first, at the start point (a), that is, at the time t0, the user is not touching any of the icons 31 and 33, so the level of the vibration control voltage Va shown in FIG. 0. This is because the touch panel surface is displaced in proportion to the vibration control voltage Va based on the vibration control waveform pattern P11 and the like, but at this time, the vibration control voltage Va is 0 and there is no vibration. In this case, the user does not feel anything. On the other hand, as the force detection signal SVd, the user simply touches the finger 30 lightly on the touch panel surface, and thus the force detection signal SVd corresponding to the touch appears. The force detection signal SVd at this time is a voltage lower than the threshold value as shown in FIG. 21C.

  Next, when the user slides the finger 30 and reaches the icon 31 at the position x 1 at time t 1, the processor 54 sets a predefined vibration control waveform pattern P 11 from the memory 53 in the D / A converter 52. . The D / A converter 52 outputs the analog vibration control signal SVa to the current amplifier 56 after D / A converting the vibration pattern data Dp read by the processor 54. The current amplifier 56 generates a vibration control voltage Va based on the vibration control signal SVa. The vibration control voltage Va is supplied to the laminated piezoelectric material groups 14a and 14b that function as actuators by the actuators 100a to 100d.

  As a result, vibration with a click feeling corresponding to the icon 31 is generated on the touch panel surface and presented to the user's finger 30 as a tactile stimulus. The force detection signal SVd at this time is a force obtained by superimposing the detection voltage Vd when the user touches the touch panel 61 and the vibration control voltage Va due to the deformation of the actuators 100a to 100d by the vibration control waveform pattern P11. The detection voltage Vd ′ is obtained.

  Further, when the user moves the finger 30 to the right side, the user moves away from the icon 31 at the position x2 at time t2, so that the same state as the starting point (A) is obtained again. When this state goes to the icon 33 at the position x3 at time t3, the vibration control waveform pattern P13 corresponding to the icon 33 is set (output) from the memory 53 to the D / A converter 52. The D / A converter 52 outputs the analog vibration control signal SVa to the current amplifier 56 after D / A converting the vibration pattern data Dp read by the processor 54.

  The current amplifier 56 generates a vibration control voltage Va based on the vibration control signal SVa. The vibration control voltage Va is supplied to the laminated piezoelectric material groups 14a and 14b that function as actuators by the actuators 100a to 100d. As a result, a vibration that gives a feeling of motion that generates a continuous movement based on the vibration control waveform pattern P <b> 13 is generated on the touch panel surface and is presented to the user's finger 30 as a tactile stimulus.

  Here, in order to select the icon 33, the user pushes the touch panel surface at the position x4 at time t4. Then, the value of the force detection signal SVd increases in proportion to the pressing force F. When the value of the force detection signal SVd exceeds a preset threshold value Vth shown in FIG. 21C, the CPU 55 determines that selection by the user has been made. The CPU 55 having made this determination reads out the acknowledge waveform pattern P10 indicating that the operation by the user has been received from the memory 53 and outputs it to the D / A converter 52. As a result, a vibration that suddenly rises based on the acknowledge waveform pattern P10 is generated, and the user can know (confirm) that his / her selection action has been accepted by the CPU 55.

  Thus, according to the portable terminal device 600 with a tactile input / output function as the sixth embodiment according to the present invention, the input / output device 400 according to the present invention is applied. In this portable terminal device 600, when an input operation is performed on the input item selection display screen, as the first input, the CPU 55 touches the touch panel 61 or when the touch panel 61 is strongly pressed. Operation data D3 based on the position detection signal obtained from 61 is input, or force detection data Dd based on the first force detection signal SVd obtained from the actuator 100a or the like is input.

  The CPU 55 outputs the vibration control voltage Va to the actuator 100a or the like based on the operation data D3 or the first force detection data Dd. The actuator 100a or the like presents a tactile sensation to the operator's finger based on the vibration control voltage Va. When the actuator 100a or the like is further pressed as a new different input in the tactile sense presentation state, the CPU 55 inputs force detection data Dd based on the force detection signal SVd output from the actuator 100a or the like.

  In this example, when the actuator 100a or the like is further pressed while the tactile sensation is being presented to the operator's finger, the comparator 88 includes the force detection voltage Vd ′ output from the operational amplifier 87a or the like and the current amplifier 56. The vibration control voltage Va output to the actuator 100a or the like is input to calculate the difference. By this calculation, the force detection voltage Vd is output to the A / D converter 51.

  Therefore, the A / D converter 51 can determine the input based on the detection voltage Vd. Using the force detection data Dd obtained from the result of the input determination as a trigger, the CPU 55 can perform an input operation such as selection of a new input item or confirmation of the input selection item. As a result, it is possible to improve the function of the mobile terminal device 600 with the tactile input / output function, and to process the tactile control sequence at high speed and with high reliability.

  The user's operation is a so-called “blind operation” in which the type of icon button, etc. is determined by simply touching the touch panel 61 and an appropriate one is selected, and it is not necessary to watch the display screen. is there. In particular, when the portable terminal device 600 is applied to a vehicle, the driving operation is not visually hindered, which contributes to the safety of the user.

  Also, if you apply "blind operation" to the operation remote control of large TVs, etc., which has become complicated due to the multi-channel broadcasting and video distribution that has been seen in recent years, not just in-vehicle devices, you can look away from the main setting screen. In addition, since it is possible to perform complicated operations at hand, the operability of the input / output device 400 and the mobile terminal device 600 is improved.

  The input discrimination algorithm in the A / D driver 89, the A / D converter 51 or the CPU 55 determines a result obtained by averaging a plurality of detection values and performing calculation such as the sum in order to perform stable input detection. It may be a variable. That is, any calculation result may be used as the detection voltage Vd within the range allowed by the sampling frequency.

  Naturally, when an input is detected in the above-described situation, the detected input information is immediately output as an output to another information processing system or the like. In this case, the A / D driver 89, the A / D converter 51, the D / A converter 52, the D / A driver 76, or the CPU 55 has a function (algorithm) that immediately stops the previous output output at the time of detection. It may be configured to own.

  As described above, according to the first to sixth embodiments, simple input detection can be performed while performing the actuator output process. In addition, since the input discrimination algorithm is simplified, it is possible to reduce the size of the device.

  The present invention provides a game device, an information processing device, a mobile phone, and an information portable device that presents a tactile sensation when inputting information by selecting an icon from a display screen for selecting input items prepared in advance. It is extremely suitable when applied to a terminal device or the like.

1 is a block diagram showing a configuration example of an input / output device 100 with a tactile function as a first embodiment according to the present invention. A and B are a perspective view and a cross-sectional view showing a configuration example of a multifunction piezoelectric actuator 1 as an example of a piezoelectric composite means. 3 is a graph showing an example of functions of the actuator 1. FIG. A to C are waveform diagrams showing an example of the function of the comparator 88. It is a flowchart which shows the operation example of the input / output device 100 with a tactile function. A and B are a perspective view and a cross-sectional view showing a configuration example of a multifunctional piezoelectric actuator (connection-fixed type) 10 that can be used in the input / output device according to the second embodiment. It is a figure which shows the structural example of the cross section of the variable connection type multifunctional piezoelectric actuator 300 which can be used for the input / output device as a 3rd Example. 3 is a block diagram illustrating a configuration example of a control system of a multifunction piezoelectric actuator 300. FIG. It is an assembly perspective view which shows the structural example of the input / output device 400 with a tactile function as a 4th Example. 4 is an enlarged perspective view showing a configuration example of a vibration transmission mechanism 80. FIG. 3 is a block diagram illustrating a configuration example of a control system in a vibration transmission mechanism 80. FIG. It is a block diagram which shows the structural example of the control system of the input / output device 400 with a tactile function. It is a flowchart which shows the operation example of the input / output device 400 with a tactile function. A and B are conceptual diagrams illustrating a configuration example of a mobile terminal device 500 as a fifth embodiment to which the first input / output device is applied. 3 is a circuit diagram illustrating a configuration example of a control system of the input / output device 100. FIG. It is a perspective view which shows the structural example of the portable terminal device 600 as a 6th Example which applied the 2nd input / output device. It is sectional drawing which shows the structural example containing the touchscreen 61 of the input / output device 400, the display means 62, and actuator 100a, 100b. A and B are cross-sectional views illustrating an operation example when the touch panel is pressed in the input / output device 400. 5 is a block diagram illustrating a configuration example of a main part of a mobile terminal device 600. FIG. FIG. 11 is a configuration diagram showing an operation example in the mobile terminal device 600. FIGS. 8A to 8C are diagrams illustrating a series of operation examples and waveform examples in the input / output device 400. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,10,300 ... Multifunctional piezoelectric actuator (piezoelectric composite apparatus), 15, 15 '... Control means, 35 ... Storage means, 37, 37' ... Actuator drive circuit, 50 ... Control device 53 ... Memory 55 ... CPU (control means) 61 ... Touch panel (input means) 62 ... Display means 63 ... Vibration generating means 64, 80 ... Vibration transmission mechanism, 84 ... input means, 100, 400 ... input / output device, 500, 600 ... mobile terminal device (electronic device)

Claims (4)

An input / output device with a tactile function that is input by an operating body on a display screen for selecting an input item,
Input means for detecting a contact position of the operating body on the display screen and outputting a position detection signal;
Control means for generating a vibration control signal based on a position detection signal output from the input means;
A piezoelectric composite means for presenting a tactile sensation to the operating body based on the vibration control signal output from the control means, and detecting a force at a contact position of the operating body and outputting a force detection signal;
The control means includes
Based on the position detection signal and the force detection signal, select one of a plurality of types of vibration pattern data corresponding to a plurality of types of tactile waveforms different from each other according to the contact position on the display screen, and Generate a vibration control signal consisting of the selected vibration pattern data,
In a state where the piezoelectric composite means is presenting a tactile sensation to the operating body based on a vibration control signal composed of the selected vibration pattern data, and further when the piezoelectric composite means is pressed,
By calculating the difference between the force detection signal output from the piezoelectric composite means and the vibration control signal output to the piezoelectric composite means, and comparing the signal level of the difference with a predetermined threshold level, the piezoelectric composite It is determined whether or not there has been a press exceeding the threshold, and if it is determined that there has been a press exceeding the threshold, it corresponds to another haptic waveform that is different from any of the plurality of types of haptic waveforms. An input / output device with a tactile function that generates vibration control signals consisting of other vibration pattern data. The piezoelectric composite means includes
An electrode for feeding, a common electrode and an electrode for signal detection;
A first piezoelectric element joined between the power feeding electrode and the common electrode;
A second piezoelectric element joined between the common electrode and the signal detection electrode;
A predetermined voltage is supplied between the power feeding electrode and the common electrode,
The input / output device with a tactile function according to claim 1, wherein a force detection signal including a force detection signal based on an external force is extracted from the detection electrode. An electronic device including an input / output device with a tactile function that is input by an operating body on a display screen for selecting an input item,
The input / output device is
Input means for detecting a contact position of the operating body on the display screen and outputting a position detection signal;
Control means for generating a vibration control signal based on a position detection signal output from the input means;
A piezoelectric composite means for presenting a tactile sensation to the operating body based on the vibration control signal output from the control means, and detecting a force at a contact position of the operating body and outputting a force detection signal;
The control means includes
Based on the position detection signal and the force detection signal, select one of a plurality of types of vibration pattern data corresponding to a plurality of types of tactile waveforms different from each other according to the contact position on the display screen, and Generate a vibration control signal consisting of the selected vibration pattern data,
In a state where the piezoelectric composite means is presenting a tactile sensation to the operating body based on a vibration control signal composed of the selected vibration pattern data, and further when the piezoelectric composite means is pressed,
By calculating the difference between the force detection signal output from the piezoelectric composite means and the vibration control signal output to the piezoelectric composite means, and comparing the signal level of the difference with a predetermined threshold level, the piezoelectric composite It is determined whether or not there has been a press exceeding the threshold, and if it is determined that there has been a press exceeding the threshold, it corresponds to another haptic waveform that is different from any of the plurality of types of haptic waveforms. Electronic equipment that generates vibration control signals consisting of other vibration pattern data. The piezoelectric composite means includes
An electrode for feeding, a common electrode and an electrode for signal detection;
A first piezoelectric element joined between the power feeding electrode and the common electrode;
A second piezoelectric element joined between the common electrode and the signal detection electrode;
A predetermined voltage is supplied between the power feeding electrode and the common electrode,
The electronic device according to claim 3 , wherein a force detection signal including a force detection signal based on an external force is extracted from the detection electrode.

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