JP4572308B2 - Force display device - Google Patents

Description

  The present invention relates to a force sense presentation device, and more particularly to a force sense presentation device using a desktop device such as a digital desk used as a computer interface.

An example of the prior art is disclosed in Patent Document 1. The virtual desktop device of Patent Document 1 includes, for example, two linear induction motors (LIM) that are orthogonal to each other. However, the LIM has a structure in which a general rotation induction motor is cut open. Specifically, a single LIM is composed of a primary stator composed of a coil group that generates magnetic flux, and a secondary movable element that generates a force. For example, a force in an arbitrary one-dimensional direction can be generated with respect to a conductor mover placed on a board surface (desk plate). By arranging such LIMs orthogonally, a synthetic two-dimensional force can be generated. In other words, since the conventional virtual desktop device has a structure in which two LIMs having one degree of freedom are orthogonal to each other, when driving the LIM in the X-axis direction and the LIM in the Y-axis direction, FIG. As can be seen from FIG. 10B showing the state after 2 seconds, parallel waves of each LIM are orthogonal to each other, and a superimposed wave is formed (occurred). However, when only one of the LIMs is driven, a parallel wave of the one LIM is formed. For example, when driving only the LIM in the X-axis direction, the magnetic field advances in the X-axis direction as can be seen from FIG. 11A and FIG. 11B showing the state after Δt seconds. That is, a magnetic field traveling in one dimension (X-axis direction or Y-axis direction) is generated on a two-dimensional plane.
JP 2004-78488 A

  However, since this prior art virtual desktop apparatus has a structure in which two LIMs are stacked, the distance to the desk plate that presents the force differs between the upper and lower stages, and the performance of each LIM is not equal. For this reason, the drive control of each LIM is troublesome. Even if only one of the LIMs is driven, a uniform traveling magnetic field is generated on the entire board surface. Therefore, even when a plurality of conductors are placed in the magnetic field, they have the same direction and size. I could only show my strength. In order to avoid this, Patent Document 1 proposes a virtual desktop device in which a stator coil is individually wound around each stator core and a force in different directions and / or magnitudes is presented using a plurality of conductors. However, the specific control method is unknown.

  Therefore, a main object of the present invention is to provide a force sense presentation device capable of simultaneously presenting different types of forces.

The invention of claim 1 includes at least one conductor provided on the desk plate, a plurality of stator cores provided under the desk plate, and a plurality of stator coils wound around each of the plurality of stator cores. in force feedback device using a linear induction motor, receives command information from the command information output means, and the instruction information output unit outputs the instruction information including the reference point and the direction of the traveling magnetic field for at least the traveling magnetic field, the The distance between the reference point included in the command information and each of one or more stator coils belonging to a certain range determined by the relationship with the direction of the traveling magnetic field including the reference point among the plurality of stator coils And controlling at least the drive voltage applied to each of the one or more stator coils to thereby control the one or more stator coils. Characterized in that it comprises a stator coil drive control means for controlling the phase of the AC current flowing in each of a force sense presentation device.

According to the first aspect of the present invention, the force sense presentation device includes a linear induction motor. In this linear induction motor, at least one electric conductor provided on a desk plate is a secondary side, and a stator in which a stator coil is individually wound around a plurality of stator cores provided under the desk plate is a primary side. To do. The command information output means outputs command information including at least a reference point related to the traveling magnetic field and the direction of the traveling magnetic field . Stator coil drive control means receives the instruction information output from the specified information output means, a reference point included in the instruction information, among the plurality of stator coils, the direction of progress magnetic field includes the reference point And controlling at least the drive voltage applied to each of the one or more stator coils based on the distance to each of the one or more stator coils belonging to a certain range determined by the relationship between The phase of the alternating current flowing through each of the one or more stator coils is controlled. For example, with reference to the phase of the alternating current flowing through the stator coil assumed to exist at the reference point regardless of the presence or absence of the stator coil, the reference of the alternating current flowing through the stator coil controlled by the stator coil drive control means The relative phase difference from is calculated. Then, a drive voltage for flowing an alternating current having the calculated phase difference is generated. At this time, it is controlled by a pulse width modulation method (PWM) of the drive voltage to be applied.

According to the first aspect of the present invention, since the stator coil that includes the reference point and falls within a certain range determined by the relationship with the direction of the traveling magnetic field is driven , a plurality of small regions (locally) on the desk plate are driven. A traveling magnetic field can be generated (occurred). Therefore, if the conductor is moved by each traveling magnetic field, it is possible to present at least forces having different positions (positions) to the user who holds or touches the conductor. For this reason, it can be used as a highly convenient interface.

The invention of claim 2 is dependent on claim 1 , wherein the command information further includes the intensity of the traveling magnetic field, and the stator coil drive control means applies the pulse width modulation method based on the strength included in the command information. Controls the pulse width of the drive voltage.

In the invention of claim 2 , the command information further includes the intensity of the traveling magnetic field. Thereby, the stator coil drive control means controls the pulse width of the drive voltage (PWM voltage) applied by the pulse width modulation method.

According to the second aspect of the present invention, since the intensity of the traveling magnetic field can be controlled, it is possible to provide information to the user using the strength of the force as a parameter.

The invention of claim 3 is dependent on claim 1 or 2 , and the stator coil drive control means does not drive a stator coil outside a certain range among the plurality of stator coils .

In the invention of claim 3 , the stator coil drive control means does not drive a stator coil outside a certain range among the plurality of stator coils . That is, only the stator coil existing within a certain range is driven.

According to the invention of claim 3, and controls the stator carp Runomi that exists within a predetermined range, it is possible to occur the progress field in the small area, such as the predetermined range.

  According to the present invention, the stator coil can be driven locally to generate a traveling magnetic field at least in a different location, and therefore the conductors arranged in different locations can be moved by the traveling magnetic field. Therefore, different types of forces can be presented to the user holding or touching the conductor. In other words, a highly convenient interface can be provided.

  The above object, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

  A force sense presentation device 10 according to an embodiment of the present invention includes a desktop device 12, and the desktop device 12 includes a desk plate 14 and a linear induction motor (hereinafter referred to as “LIM”) 16.

  In the drawing, for the sake of easy understanding, the desk plate 14 and the primary side of the LIM 16 (the side where a stator core and a stator coil to be described later are provided) are expressed as having a gap, In practice, the desk plate 14 is placed on the primary side of the LIM 16.

  Although illustration is omitted, a desired image (a still image or a moving image) can be displayed on the desk plate 14 using, for example, a projector.

  FIG. 2 is an illustrative view showing a configuration of the desktop device 12. As can be seen from FIG. 2, the primary side of the LIM 16 is provided below the desk plate 14. As the desk plate 14, for example, a 2 mm thick Teflon (registered trademark) plate can be used. The LIM 16 includes a plurality (81 in this embodiment) of stator cores 16a and yokes (relays) 16b. The plurality of stator cores 16a are equally spaced in the horizontal (X) direction and the vertical (Y) direction. (For example, 10 mm), a predetermined number (for example, 9) is arranged and arranged in a matrix. As shown in FIG. 3 (omitted in FIG. 2), stator coils L (L1, L2, L3,..., L79, L80, L81) are individually wound around the stator cores 16a.

  In addition, the stator coil L of this example is obtained by winding an insulating lead wire having a diameter of 0.26 mm in 1520 turns using an iron core (10 mm square, 10 mm height) laminated with comb-shaped silicon steel plates as a stator core 16a. (The DC resistance value is about 28Ω).

  Returning to FIG. 1, the force sense presentation device 10 includes a pointing device 18, and the pointing device 18 is placed on the desk plate 14. In FIG. 1, for the sake of simplicity, one pointing device 18 is shown, but two or more pointing devices 18 may be provided. The pointing device 18 is provided with a non-magnetic conductor 18a such as copper, aluminum or brass formed in a disk shape, for example. The shape of the conductor 18a should not be limited to this, but may be formed in a quadrangular (square, rectangular) plate shape. The conductor 18a is a secondary side mover of the LIM 16. The pointing device 18 is provided with a gripping part (hereinafter referred to as “pen input part”) 18b that can be attached to or gripped by the user's finger. The pen input part 18b is connected to the above-described conductor 18a. Connected. However, the shape of the gripping portion 18b is not necessarily limited to the pen shape, and may be a computer mouse shape. Furthermore, the pen input unit 18b is provided with an infrared LED 18c. As an example, the infrared LED 18c is provided in the vicinity of a connection portion between the conductor 18a and the pen input portion 18b. However, the infrared LED 18c may be provided at any position of the conductor 18a or the pen input unit 18b as long as the infrared light can be detected by a detection device (in this embodiment, the detection device 26) described later. Is possible.

  Note that the infrared LED 18c is provided in the vicinity of the connecting portion between the conductor 18a and the pen input portion 18b because the center or almost the center of the conductor 18a is recognized (detected) by the user. This is because the connecting portion is located substantially at the center of the conductor 18a.

  Although not shown, the pointing device 18 is driven by, for example, a battery (primary battery or secondary battery), and the infrared LED 18c is turned on by turning on a switch (not shown).

  The pointing device 18 configured as described above is held by the user with the pen input unit 18b, and the desk plate 14 is moved in accordance with the user's operation. Further, when the LIM 16 described above is driven, a wave of magnetic flux (traveling magnetic field) that moves on the stator (stator core 16a, yoke 16b, stator coil L) (here, on the desk plate 14) is generated (occurred). Is done. For this reason, the conductor 18a is moved on the desk plate 14 in accordance with the traveling magnetic field, whereby an arbitrary force can be applied to the user's finger holding the pen input unit 18b.

  Note that a method of generating (generating) a traveling magnetic field will be described in detail later, and thus detailed description thereof is omitted here.

  The force sense presentation device 10 includes a computer 20, and the computer 20 is a general-purpose computer such as a PC or a workstation. The computer 20 functions as a host computer, and the magnitude (direction of traveling magnetic field) and direction of the force presented to the user via the pointing device 18, strictly speaking, a reference phase point P described later and the center thereof. A force vector (hereinafter also referred to as “command information”) is instructed to a plurality of controllers 24 via an interface 22 such as a CAN (Controller Area Network) bus.

  However, in this embodiment, the command information includes coordinates indicating the reference phase point P (referred to as “first coordinates” for convenience of description) and coordinates for determining a force vector (for convenience of explanation, “first 2 coordinates ")). The force vector is a vector having a first coordinate as a start point and a second coordinate as an end point.

  The controller 24 is composed of, for example, a microcomputer and controls the driving of the stator coil L. The controller 24 is a constant voltage (for example, 135V) PWM drive circuit, and applies the PWM voltage to the stator coil L. Thereby, an alternating current flows through the stator coil L. Although not shown, one controller 24 is connected to one stator coil L. Although not shown, the controller 24 includes a processor such as a CPU and a driver (amplifier), and generates and applies a driving voltage for the stator coil L according to instructions (command information) given from the computer 20. . However, as will be described later, the controller 24 generates a drive voltage for appropriately controlling the timing of flowing the drive current to the stator coil L, the magnitude (effective value) of the drive current, and the phase of the drive current, It is applied to the stator coil L.

  Furthermore, the force sense presentation device 10 includes a detection device 26, and the detection device 26 is used to detect the position of the pointing device 18 (infrared LED 18c) as described above. In this embodiment, a high-speed CMOS camera (product number: iMVS-155) manufactured by AKAtech is used as the detection device 26. As described above, a CMOS camera is used as the detection device because image processing using a general CCD camera and a PC is limited to processing at a frame rate of 30 Hz. On the other hand, the CMOS camera used in the embodiment is equipped with a programmable DSP on the camera side, and can capture images in units of pixels.

The detection process of the pointing device 18 (infrared LED 18c) is performed by the detection device 26,
Only the detection result, that is, the position information of 18c in the infrared LE is transmitted to the computer 20. Thereby, relatively fast position tracking can be realized. Specifically, an initial search process shown in FIG. 4A and a light spot tracking process shown in FIG. 4B are executed. Although a detailed description is omitted, these algorithms are implemented in the DSP of the detection device 26 described above. Here, the initial search process is executed in a timely manner as a previous stage of the light spot tracking process or when some of the light spots are lost. Specifically, in the initial search process, a necessary number of light spots can be obtained by performing raster scan on a binary image obtained by using the entire surface (board surface) of the desk plate 14 as a search region (for example, 320 mm × 320 mm). Detected. The coordinates of the detected light spot are used as initial coordinates for the next light spot tracking process.

  In the light spot tracking process, as shown in FIG. 4B, only a small area (for example, 20 mm × 20 mm) around the coordinates of the previous time (Δt before) is photographed, and for example, the coordinates of the previous time are the center. Only a certain range is photographed and the coordinates of the current time are acquired (obtained). Assuming that the light spot tracking process is sufficiently fast, the light spot (infrared LED 18c) moves only by the distance Δd within the time of Δt. The search process (scan) may be executed for. The obtained coordinates are transmitted to the computer 20 and then used as the center coordinates of the window area at the next time. However, such light spot tracking processing is executed for each light spot (infrared LED 18c).

  Hereinafter, the control method of LIM16 is demonstrated. FIG. 5 is an illustrative view showing an arrangement of the stator coil L (stator core 16a) shown in FIG. Each stator coil L is given identification information (ID number). As can be seen from FIG. 5, the stator coil L at the upper left corner is assigned “00” as the ID number. In this embodiment, each stator coil L is considered in the same manner as a matrix element, and an ID number is assigned to each stator coil L. Therefore, it is possible to recognize the stator coil L by the ID number.

  In addition, as described above, nine stator coils L are arranged in a lattice in a row in the vertical direction (Y-axis direction) and the horizontal direction (X-axis direction). For example, the distance between adjacent stator coils L (stator core 16a) is set to “1” for convenience. However, the unit is h. As described above, when the distance between adjacent stator coils L is assumed to be “1” and the plane on the stator coil L is considered in the XY coordinate system, i, j in each axial direction from a certain reference point. The coordinates of the stator coils L separated from each other are expressed as L = (i, j). For example, the distance ‖Lb−La‖ between the adjacent stator coil La = (i, j) and the stator coil Lb = (i + 1, j) is expressed by the following equation (1).

  A certain reference point is a reference phase point P to be described later, and does not need to coincide with the coordinates where the stator coil L is arranged.

[Equation 1]
‖Lb−La‖ = √ {(i + 1−i) ² + (j−j) ² } = 1
However, in order to generate a parallel wave (see FIG. 11) such as a one-degree-of-freedom LIM, that is, a magnetic field traveling in a one-dimensional direction, the alternating current flowing in the adjacent stator coil L has a certain phase difference. There is a need. Therefore, when the phase difference of the alternating current to flow between the adjacent stator coils L and phi _0, if the phase difference phi ₀ is every n-th to 0 (= 2π), the number 2 of the relation holds.

[Equation 2]
φ ₀ = 2π / n
Here, in this embodiment, as shown in FIG. 6A, since n = 6, the phase difference φ ₀ of the alternating current flowing in the adjacent stator coil L is π / 3. However, in FIG. 6A, a spatial phase angle relationship is shown. Therefore, if the reference phase (the phase at the center position of the circle in FIG. 6A) is α, the relationship between the phase of each phase and the reference phase is expressed as in Equation 3.

[Equation 3]
u = α
v = α-2π / 3
w = α + 2π / 3
u ′ = − α
v ′ = − α + 2π / 3
w ′ = − α−2π / 3
Further, since the distance between the adjacent stator coils L is assumed to be 1, the phase difference between the stator coils L separated by the distance d is dφ ₀ . Therefore, it can be understood that the phase difference φ between the stator coils L may be obtained by calculating the distance in the coordinate system projected onto the traveling axis.

That is, as shown in FIG. 6B, considering a point having a reference phase (hereinafter referred to as “reference phase point”) P, the reference phase point P and the stator coil Lc (for convenience of explanation) In FIG. 6B, the phase difference φ _{CP from} the position (arbitrary coordinates) of “C”) is the axis indicating the magnetic field traveling direction (force direction) and the position of the stator coil Lc. And the angle formed by the straight line CP connecting the reference phase point P is θ, it can be obtained according to Equation 4.

[Equation 4]
φ _CP = ‖C−P‖ × φ ₀ × cos θ
Each stator coil L is supplied with an alternating current having the same frequency as the alternating current to be applied to the reference phase point P and maintaining the phase difference φ _CP calculated according to Equation 4, and a traveling magnetic field is generated. Accordingly, the conductor 18a shown in FIG. 1 is moved in a direction according to the traveling magnetic field, and a force is given to the user who holds the conductor 18a.

  The reference phase point P is instructed from the computer 20, but the reference phase point P is appropriately determined by an application executed by the computer 20. For example, when an image such as an icon or button is displayed at or near the position indicated by the user and it is desired to give a touch as if the image is touched, the position or the vicinity thereof is, for example, a reference phase point. P can be determined. In such a case, the direction of the force (the direction of travel of the magnetic field) is arbitrarily determined depending on how the touch is given. Further, for example, when it is not desired to designate such an image, the center of the image or its vicinity is determined as the reference phase point P so that repulsive force acts from the image, and the direction of the force is determined by the reference phase point. What is necessary is just to determine in the direction which goes to a user's indication position (pointing device 18) from P. However, these are merely examples, and the reference phase point P can be determined by the computer 20 or can be determined (designated) by the operator of the computer 20. Thus, in order to determine the reference phase point P, the user's designated position, that is, the position information of the pointing device 18 (infrared LED 18c) is detected.

  Here, in the LIM 16 of this embodiment, the controller 24 is connected to each of the stator coils L and is driven independently. Therefore, in order to place a traveling magnetic field for each of a plurality of small regions (locally), a reference phase point P is defined for each small region, and each stator coil L is based on a distance from the reference phase point P. To determine which small region it belongs to. This small area is a condition (constant range) defined by Equation 6 described later.

  For example, it is defined that a traveling magnetic field is generated by a set of stator coils L located in a region having a distance of 2h in the width direction by a half cycle before and after the traveling direction from the kth reference phase point Pk at an arbitrary coordinate. When the position (coordinates) of the stator coil L arranged at an arbitrary coordinate is expressed by Equation 5, the stator coil L that satisfies the condition expressed by Equation 6 is the stator coil L to be driven.

[Equation 5]
C = {(x, y) | x∈M, y∈N}
[Equation 6]
d = ‖C-Pi‖
| D cos θ | ≦ 3φ ₀
| Dsinθ | ≦ h
For example, a reference phase point P and a force vector around the reference phase point P, that is, command information, are supplied from the computer 20 to each controller 24 via the interface 20. Each controller 24 grasps the coordinates (ID number) of the stator coil L that it controls and determines whether or not to drive the stator coil L based on the command information transmitted from the computer 20. to decide. That is, whether or not it belongs to a certain range centered on the reference phase point P is determined by whether or not the condition of Equation 6 is satisfied. When the condition of Equation 6 is satisfied, the controller 24 determines that the stator coil L is to be driven, and calculates a pulse voltage (PWM voltage) to be applied to the amplifier in order to control the effective value and phase of the drive current ( Generate) and give to the amplifier. On the other hand, when the condition of Equation 6 is not satisfied, the controller 24 does not drive the stator coil L.

  However, the determination as to whether or not a certain range (condition) is satisfied does not have to be performed using the equation (6), and can be performed using a circle equation as shown in the equation (7).

[Equation 7]
d = √ (Pi−C) ²
d> 3φ ₀ ... out of a certain range (does not satisfy the condition)
d ≦ 3φ ₀ ... Within a certain range (conditions are met)
Here, as shown in FIG. 7A, the reference waveform (one sine wave for one cycle) of the alternating current that flows when the stator coil L is driven is determined in advance. The stator coil L is driven so that this reference waveform is reproduced with a desired phase. However, strictly speaking, a PWM voltage as shown in FIG. 7B is applied to the stator coil L. For this reason, although illustration is omitted, for example, the PWM voltage output from the amplifier is stored in the memory of each controller 24 corresponding to the cycle. As can be seen from FIG. 7A, in this embodiment, one period (2π rad (radian)) is represented by a numerical value of 0 to 255 (1-byte numerical data). Although not shown, the output of the amplifier provided in the controller 24 is represented by 0 to 100%, and this output is also represented by a numerical value of 0 to 255 (1-byte numerical data). The output of this amplifier corresponds to the effective value of the alternating current flowing through the stator coil L. Further, the pulse width of the PWM voltage is changed according to the output of the amplifier. In this embodiment, the pulse width of the reference PWM voltage shown in FIG. 7B is set to 50% (127), and the pulse width is changed in accordance with the output of the amplifier.

  However, in this embodiment, command information from the computer 20 is sent at a cycle of 40 Hz (25 msec), but the operating frequency of each controller 24 is 30 Hz (33 msec = 1 time for one wavelength). Accordingly, as shown in FIG. 7C, when the controller 24 calculates the phase (rad) and output (%) of the drive current (drive voltage) of the stator coil L in accordance with the command information from the computer 20, 25 msec. A PWM voltage is applied to the stator coil L so that a drive current for (0.75 wavelength) flows. However, the application of the PWM voltage is started from a position (waveform reproduction start position) corresponding to the calculated phase (rad). For example, when the phase is “34” and the output is “255”, as shown in FIG. 7D, PWM for 0.75 wavelengths from the waveform reproduction start position indicated by the phase “34”. A voltage is applied to the stator coil L.

  FIG. 8 is an illustrative view showing a waveform of an alternating current flowing through the stator coil L and a waveform of a PWM voltage applied to the stator coil L when the controller 24 controls the stator coil L. FIG. However, the controller 24 receives command information (force generation command) at regular intervals (40 Hz = 25 msec) via the interface 22 (CAN bus). For example, the controller 24 receives command information transmitted at regular intervals, and calculates the phase and output based on the command information. The method for calculating the phase and output is as described above. When the phase and output are calculated, the pulse width of the PWM voltage is adjusted (set) according to the output, and the PWM voltage for a certain time (25 msec) from the waveform reproduction start position indicated by the calculated phase is as shown in FIG. Then, it is applied to the stator coil L at the next command information read timing. Therefore, at the timing of receiving the second command information from the left in FIG. 8, the PWM voltage (phase 34, output 50%) based on the first (first) command information in FIG. 8 is given. Also, at the timing of receiving the third command information from the left in FIG. 8, the PWM voltage (phase 67, output 100%) based on the second command information from the left in FIG. 8 is given. Further, the PWM voltage (phase 172, output 80%) based on the third command information from the left in FIG. 8 is applied to the stator coil L at the timing of receiving the fourth command information from the left in FIG.

  Note that the waveform shown in FIG. 8 is an ideal waveform of the current flowing through the stator coil L when the corresponding PWM voltage is applied to the stator coil L. It will change.

  The force sense presentation device 10 having such a configuration can be applied to a system 100 as shown in FIG. This system 100 is substantially the same except that the configuration and driving method of the LIM 16 are different from the desktop system disclosed in Japanese Patent Application Laid-Open No. 2005-141331, which has been filed earlier by the applicant of the present application. . However, as described above, the detection device 26 is a CMOS camera. In this system 100, two computers are provided, and the first computer 20 is the computer 20 shown in the above-described embodiment. By configuring such a system 100, in a conventional desktop system, a plurality of different traveling magnetic fields can be generated on the desk plate 14. That is, different magnitudes of force can be presented in different directions at different locations. However, it will be appreciated that the same direction or / and the same magnitude of force can be presented at different locations.

  According to this embodiment, a stator coil can be wound around each of the stator cores, a one-dimensional traveling magnetic field can be generated in a fixed region centered on a reference point, and a plurality of conductors can be moved. , Direction, size, and location can present different forces simultaneously. That is, different types of forces can be presented.

It is an illustration figure which shows an example of a structure of the force sense presentation apparatus of this invention. It is an illustration figure which shows an example of a structure of the desktop apparatus shown in FIG. It is an illustration figure which shows the state by which the stator coil was wound around the stator core of the linear motor shown in FIG. It is an illustration figure for demonstrating the position detection using the CMOS camera shown in FIG. FIG. 3 is an illustrative view showing an arrangement and arrangement pitch of stator coils (stator cores) of the linear motor shown in FIG. 2. It is an illustration figure which shows the relationship between the magnetic field produced on the desk plate (stator core) shown in FIG. 1, and a phase angle. It is an illustration figure explaining the production | generation method of the PWM voltage which the controller shown in FIG. 1 provides to a stator coil. It is an example of the timing chart which shows a mode that the controller shown in FIG. 1 produces | generates a PWM voltage for every fixed time according to the command information from a computer, and provides to a stator coil. It is an illustration figure which shows an example of the virtual desktop system using the force sense presentation apparatus shown in FIG. It is an illustration figure which shows the time change of the magnetic field produced on a desk plate when the linear motor of the X-axis direction and the Y-axis direction which are contained in the conventional desktop apparatus is driven. It is an illustration figure which shows the time change of the magnetic field produced on a desk plate when the linear motor of the X-axis direction or the Y-axis direction contained in the conventional desktop apparatus is driven.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Force sense presentation apparatus 12 ... Desktop apparatus 14 ... Desk plate 16 ... Linear motor 18 ... Pointing apparatus 20 ... Computer 22 ... Interface (CAN bus)
24 ... Controller 26 ... Detection device (CMOS camera)

Claims (3)

A linear induction motor including at least one conductor provided on a desk plate, a plurality of stator cores provided under the desk plate, and a plurality of stator coils wound around each of the plurality of stator cores was used. In the haptic device,
Command information output means for outputting command information including at least a reference point relating to the traveling magnetic field and the direction of the traveling magnetic field, and the command information from the command information output means, and the reference point included in the command information; Based on the distance from each of the one or more stator coils belonging to a certain range including the reference point and determined in relation to the direction of the traveling magnetic field among the plurality of stator coils. or more by controlling the drive voltage to be applied to each of the stator coils, characterized in that it comprises a stator coil drive control means for controlling the phase of the AC current flowing through each of the one or more stator coils , Force sense presentation device. The command information further includes the strength of the traveling magnetic field,
It said stator coil drive control means, based on said intensity included in the instruction information, to control the pulse width of the drive voltage applied by the pulse width modulation method, force-feedback device according to claim 1. 3. The force sense presentation device according to claim 1, wherein the stator coil drive control unit does not drive a stator coil outside the predetermined range among the plurality of stator coils . 4.

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