JP5981782B2 - Haptic guidance control device, haptic guidance control method, and haptic guidance control program - Google Patents

Description

  The present application relates to a haptic guidance control device, a haptic guidance control method, and a haptic guidance control program, and in particular, a haptic guidance control device, a haptic guidance control method, and a haptic guidance control method for allowing a user to grasp an object quickly and reliably. The present invention relates to a haptic guidance control program.

  Conventionally, in order for a visually handicapped person or the like to grasp the shape or important position of an object (hereinafter referred to as “object”), an assistant or the like guides the hand of the visually handicapped person and touches the object. The shape must be transmitted. Therefore, conventionally, as a method for transmitting an object to a visually impaired person or the like, there is a method using a tactile display that gives vibrations or unevenness to a large number of minute actuators and presents an object in an image with a tactile sense. As an example of the tactile display as described above, there is KGS dot view (registered trademark), for example. Note that the tactile display described above recognizes an object when the user who uses it actively moves his / her finger. Conventionally, there is a method for explaining information about an object presented on a tactile display, contents of a position touched by a user, and the like by voice.

  On the other hand, in the field of virtual reality, there is a device that presents the shape of a virtual object with a force sense for the purpose of transmitting a three-dimensional solid shape. In the force sense presentation device as described above, for example, a method of detecting the three-dimensional coordinate position of the user's finger and feeding back the physical reaction force to the user's hand or finger when the computer collides with a virtual object created by a computer. (For example, refer nonpatent literature 1).

  Conventionally, as an example of presentation of two-dimensional information using a force sense presentation device, an icon created with a GUI (Graphical User Interface) or the like is created by a computer, and an icon arranged virtually is touched. There is a technique for transmitting a sense to a user (for example, see Non-Patent Document 2). Further, conventionally, there is a method of guiding a finger in the direction of an object using a force sense presentation device in order to convey the direction and distance of the object existing in the space (see, for example, Patent Document 1).

JP 2011-238070 A

T.A. H. Massie: "Initial Haptic Explorations with the Phantom: Virtual touch Through Point Interaction," Degree of Master of Science (1996) W. Yu, S .; Brewster: “Multimodal virtual reality versus medium in visualisation for blind people,” 5th int. ACM conf. Assistive technologies, pp 57-64 (2002)

  By the way, among objects, especially objects such as figures and graphs, the shape changes depending on target data. In particular, since an object such as a line graph may have a large change in value, it is difficult for the user to efficiently understand it in a short time using only the tactile sensation.

  Conventionally, as described above, there are means for explaining by voice, but since the explanation of the voice is supplementary, it is difficult to grasp the exact position, and the part where the object changes while listening to the voice Because it keeps track of, you can not grasp quickly.

  In addition, there is a method of presenting two-dimensional information using a tactile display or the like as in the conventional method. However, when the object is touched for the first time without any prior knowledge or assistance, the overall configuration presented Since all important points must be touched, it was impossible to quickly grasp important points of information or to quickly convey the contents of objects.

  Furthermore, as shown in Patent Document 1, an important part of an object (for example, a method for guiding a finger in the direction of an object using a force sense presentation device in order to convey the direction and distance of the object existing in the space) It is not taken into account that the change part of the graph is transmitted to the user quickly and reliably.

  In view of such a problem, the disclosed technique aims to allow a user to grasp an object quickly and reliably.

  In order to solve the above problems, the present invention employs means for solving the problems having the following characteristics.

In force induced controller for guidance control of the said object relative to the force sense presentation device for presenting information for the object to the user by the haptic, guidance data creation for creating guidance data corresponding to the position information of the object A guidance control unit that controls a guidance speed corresponding to the guidance position of the object based on guidance data obtained by the guidance data creation unit and a current guidance position for the object, and the guidance control unit based on the induction speed obtained by, possess a force sense presenting control unit for force feedback to the force-feedback device, the induction control section changes the induced velocity between the center portion and the peripheral portion of the object Let

  According to the disclosed technique, it is possible to cause the user to grasp an object quickly and reliably.

It is a figure which shows an example of schematic structure of the force sense guidance control apparatus in this embodiment. It is a figure which shows the specific structural example of a guidance data preparation part and a guidance control part. It is a figure which shows an example of the guidance control corresponding to the presentation content in Example 1. FIG. 6 is a diagram illustrating an example of force sense guidance control in Embodiment 1. FIG. It is a flowchart which shows an example of the force sense guidance control process with respect to a linear object. It is a flowchart which shows an example of the area | region guidance process between objects. It is a figure which shows an example of the guidance control corresponding to the presentation content in Example 2. FIG. It is a flowchart which shows an example of the force sense guidance control process with respect to a planar object. It is a figure which shows an example of the guidance control corresponding to the presentation content in Example 3. FIG. It is a flowchart which shows an example of the force sense guidance control process by a regulation input position.

<About one aspect of the present invention>
One aspect of the present invention provides a haptic device for causing a visually impaired person or a person (user) in a situation where visual information is blocked to grasp the shape of an object of two-dimensional information such as a figure or a graph. Is used to guide the user's fingers to grasp the entire object happily. At this time, by performing control such as changing the guidance speed on an important part (for example, a discontinuous part or an end part) of the object, for example, even a single user can quickly and reliably grasp the object. .

  Next, embodiments in which a force sense guidance control device, a force sense guidance control method, and a force sense guidance control program according to an aspect of the present invention are suitably implemented will be described in detail with reference to the drawings.

<Outline configuration example of force sense guidance control device in this embodiment>
FIG. 1 is a diagram illustrating an example of a schematic configuration of a haptic guidance control device according to the present embodiment. A haptic guidance control apparatus 10 shown in FIG. 1 includes an object description unit 11, an object presentation data creation unit 12, a guidance parameter description unit 13, a guidance data creation unit 14, a guidance sequence description unit 15, and guidance data storage. The unit 16, the guidance control unit 17, the force sense guidance control unit 18, the guidance position detection unit 19, and the guidance switching unit 20 are configured. A force sense presentation device 30 is connected to the force sense guidance control device 10 by wire or wireless. The haptic guidance control device 10 causes the haptic presentation device 30 to perform guidance control according to the present embodiment so that the user can quickly and reliably grasp the shape of the object by the haptic sense.

  The object description unit 11 describes the size and shape of the object to be presented to the user, spatial coordinates, and presentation parameters for friction and hardness when the object is touched. Moreover, the object description part 11 can also describe the object information which comprises one object, for example using a some object. The object description unit 11 describes attribute information of each object. The attribute information may be, for example, information indicating the type of object, information on the start point and end point of the object, or the like.

  Here, the object in the present embodiment is, for example, a target diagram, graph, icon, or the like to be touched by the user with force, but is not limited thereto. Further, in the present embodiment, an object that is an element constituting an object outline or a line such as a graph is referred to as a “line object”, and an object to be presented as an object has an area (surface) (that is, an object) An object other than a linear object) is called a “planar object”. Each object is managed together with attribute information. In the following description, “linear objects” and “planar objects” are simply collectively referred to as “objects” as necessary.

  The object presentation data creation unit 12 creates presentation data for reproducing the object described by the object description unit 11 by the force sense presentation device 30. The object presentation data creation unit 12 creates presentation data corresponding to the type of force sense presentation device 30 to be connected. The object presentation data creation unit 12 can create a virtual force sense presentation object in addition to the shape and arrangement of the objects, for example, corresponding to a plurality of objects.

  The guidance parameter description unit 13 describes guidance parameters for guiding a finger with a force sense to an object in the present embodiment. The guidance parameters are, for example, the number and contents (types) of objects arranged on the screen, shape information (for example, concave shape, convex shape, etc.) of the touched portion of the object, spatial coordinates of each object, object non-existence. Including, but not limited to, at least one of friction and viscosity of continuous portions, induced speed (including, for example, moving acceleration and deceleration for each object), attribute information, and the like. The guidance parameter description unit 13 can also define the movement acceleration, deceleration, and the like of each object when sequentially guiding a plurality of objects to the user.

  The guidance data creation unit 14 extracts the guidance parameter described by the guidance parameter description unit 13 and moves the spatial coordinate position corresponding to the haptic presentation device 30 connected to the haptic guidance control device 10. Create guidance data for control. The guidance data includes, for example, the center of gravity (or center) position of the object, the object start point and end point position at the time of guidance, guidance data for performing inscribed circle guidance, outer circumference guidance, etc. for the planar object, etc. , Including but not limited to at least one. Furthermore, the guidance data creation unit 14 can create guidance data when a plurality of objects are connected to form one object.

  The guidance sequence description unit 15 describes the order in which a plurality of objects (for example, continuous linear objects and planar objects) to be presented to the user are guided as a guidance sequence.

  The guidance data storage unit 16 accumulates information on the guidance data obtained by the guidance data creation unit 14 and information on the guidance sequence obtained by the guidance sequence description unit 15. The guidance data accumulation unit 16 accumulates data for driving the haptic presentation device 30 connected to the haptic guidance control device 10.

  The guidance control unit 17 controls the guidance speed, the guidance position, and the like based on the movement information obtained from the guidance data storage unit 16 and the current guidance position information obtained from the guidance position detection unit 19. For example, the guidance control unit 17 changes the guidance speed at an important part of the object. Specifically, the guidance control unit 17 can change the guidance speed between, for example, the center and the periphery (end, discontinuous point) of the object. It is not limited.

  The haptic guidance control unit 18 outputs a guidance control signal or the like to the haptic presentation device 30 based on the control information obtained from the guidance control unit 17 with respect to the object presentation data obtained by the object presentation data creation unit 12.

  The guidance position detection unit 19 detects the current guidance position in the force sense presentation device 30. Specifically, the guidance position detection unit 19 may acquire current position information (for example, three-dimensional coordinates) from the force sense presentation device 30, and the force sense presentation control unit 18 sends the force sense presentation device 30 to the force sense presentation device 30. The current position information may be acquired from the contents of the output control signal.

  The guidance switching unit 20 performs guidance control on the force sense presentation device 30 to turn on / off and guides a finger to understand the contents of the object, and a free tactile mode in which a user can feel freely without guidance. Switch.

  Specifically, when the guidance switching unit 20 turns off the guidance control, a guidance stop instruction is generated, and the guidance control unit 17 stops the guidance control in the present embodiment, during which the user moves a finger or the like to a free position. The object can be touched by moving (free touch mode). In this case, guidance control is not performed, but force control such as friction and viscosity by touching an object is performed.

  When the guidance switching unit 20 turns on guidance control, a guidance resumption instruction is generated, and the guidance control unit 17 continues guidance control from the position of the object that has been guided to immediately before (guidance mode).

  The switching by the guidance switching unit 20 can be performed using, for example, a preset switch or button. In addition, in the example of FIG. 1, the configuration including the guidance switching unit 20 is illustrated, but the configuration is not limited thereto, and for example, a configuration not including the guidance switching unit 20 may be used.

  As the force sense presentation device 30, for example, an existing device such as a device that gives a force sense to one or more fingertips of a user or a device that gives a force sense to the entire finger can be used. In FIG. 1, as an example of the force sense presentation device 30, a device that induces an action of a user's finger and recognizes an object by a force sense is shown. However, the present embodiment is not limited to this. Absent.

<Specific Configuration Example of Guidance Data Creation Unit 14 and Guidance Control Unit 17>
Next, specific configuration examples of the guidance data creation unit 14 and the guidance control unit 17 described above will be described with reference to the drawings. FIG. 2 is a diagram illustrating a specific configuration example of the guidance data creation unit and the guidance control unit. In the example of FIG. 2, for the convenience of explanation, the guidance data creation unit 14, the guidance data storage unit 16, the guidance control unit 17, and the guidance switching unit 20 are illustrated.

  In FIG. 2, the guidance data creation unit 14 includes a linear object extraction unit 41, a planar object extraction unit 42, an object centroid position calculation unit 43, an object start / end position detection unit 44, an object inscribed circle / An outer periphery guidance data creation unit 45 is included.

  2, the guidance control unit 17 includes a guidance speed setting unit 51, an object position setting unit 52, an object inscribed circle / outer periphery guidance control unit 53, and a guidance position / speed control unit 54. Has been.

  In the guidance data creation unit 14, the linear object extraction unit 41 extracts a linear object from one or more pieces of object information included in the guidance parameter obtained from the guidance parameter description unit 13. The linear object extraction unit 41 outputs the extracted linear object to the object centroid position calculation unit 43.

  The planar object extraction unit 42 extracts a planar object from one or more pieces of object information included in the guidance parameter obtained from the guidance parameter description 13. The planar object extraction unit 42 outputs the extracted planar object to the object center-of-gravity position calculation unit 43, the object start / end position detection unit 44, and the object inscribed circle / outer periphery guidance data creation unit 45.

  The above-described extraction of the linear object and the planar object is performed by, for example, adding attribute information for identifying the linear object or the planar object in advance for each object included in the guidance parameter, and referring to the attribute information. Thus, each object can be extracted, but the extraction method is not limited to this.

  The object centroid position calculating unit 43 calculates the centroid position of the linear object obtained from the linear object extracting unit 41 or the planar object obtained from the planar object extracting unit 42. The object centroid position calculation unit 43 extracts the centroid for each input object. Furthermore, the object gravity center position calculation unit 43 may calculate the center with respect to the input linear object or planar object. The object centroid position calculation unit 43 outputs the calculated centroid position information of each object to the guidance data storage unit 16.

  The object start / end position detection unit 44 extracts the positions of the start point and end point when guiding the planar object obtained by the planar object extraction unit 42. Specifically, the object start / end position detection unit 44 may extract the positions of the start and end points of the planar object from the spatial coordinates of each object included in the guidance parameter, for example. The object start point / end point position detection unit 44 outputs the start point position and end point position of the extracted object to the guidance data storage unit 16.

  The object inscribed circle / outer periphery guidance data creation unit 45 creates, for example, guidance data of the circle or the outer periphery of the object inscribed in the planar object obtained from the planar object extraction unit 42. Specifically, the object inscribed circle / outer periphery guidance data creation unit 45 can create guidance data for the inscribed circle of the planar object or the outer circumference of the object from the spatial coordinates of each object included in the guidance parameter, for example. However, the present invention is not limited to this.

  Further, the object inscribed circle / peripheral guidance data creation unit 45 may create guidance data using any one of the inscribed circle or the outer circumference for all planar objects presented to the user. The guidance data may be created by selecting an inscribed circle or an outer periphery corresponding to the shape of each planar object. In the present embodiment, the reason for guiding the inscribed circle or the outer periphery is to quickly grasp the shape and size of the planar object. The object inscribed circle / outer periphery guidance data creation unit 45 outputs the created position information to the guidance data storage unit 16.

  The guidance data accumulation unit 16 accumulates information obtained from the object gravity center position calculation unit 43, the object start / end position detection unit 44, and the object inscribed circle / outer periphery guidance data creation unit 45.

  Next, in the guidance control unit 17, the guidance speed setting unit 51 sets the maximum value and the minimum value of the guidance speed for each object. The maximum value and the minimum value of the guide speed may be changed for each object, or may be the same value. The guide speed setting unit 51 outputs the set guide speed to the guide position / speed control unit 54.

  The object position setting unit 52 sets the guidance position based on the information of the start point position and end point position for each object obtained from the object start / end position detection unit 44 accumulated in the guidance data accumulation unit 16. The object position setting unit 52 outputs the obtained guidance position to the guidance position / speed control unit 54.

  The object inscribed circle / outer periphery guidance control unit 53 is based on the inscribed circle or outer periphery guidance data for each object obtained from the object inscribed circle / outer periphery guidance data creation unit 45 accumulated in the guidance data accumulation unit 16. Control the guidance position of the inscribed circle or outer circumference. The object inscribed circle / outer periphery guidance control unit 53 outputs the obtained guidance data to the guidance position / speed control unit 54.

  The guidance position / velocity control unit 54 includes guidance speed information obtained from the guidance speed setting unit 51, position control information obtained from the object position setting unit 52, and inscription obtained from the object inscribed circle / outer periphery guidance control unit 53. Based on the circle / periphery guidance control information, the position and speed for each object are integratedly controlled, and the guidance position information corresponding to the force sense presentation device 30 connected to the force sense guidance control device 10 and the speed corresponding to the position. Control information is output as guidance control information.

  The guidance position / speed control unit 54 suspends or restarts the guidance control based on the ON / OFF switching signal from the guidance switching unit 20. For example, when the switching signal from the guidance switching unit 20 is in the OFF state, the guidance position / speed control unit 54 stores guidance control information such as guidance position and guidance speed for the current object, inscribed circle / outer circumference guidance information, etc. in the internal memory. The guidance control information is not output to the force sense presentation control unit 18 until a switching signal is received from the guidance switching unit 20 to be turned on. In addition, when the switching signal from the guidance switching unit 20 is ON, the guidance position / speed control unit 54 outputs the temporarily recorded guidance control information to the force sense presentation control unit 18. Thereby, even in the middle of the guidance control for the entire object, the guidance control is interrupted by the switching signal using the guidance switching unit 20 from the user, and the user can freely touch the object. In addition, after resuming the guidance control, the guidance control can be performed continuously from the position that has been guided so far.

<Examples of guidance control corresponding to the presentation contents in this embodiment>
Next, each example of guidance control corresponding to the presentation contents in the present embodiment will be described with reference to the drawings.

<Example 1>
FIG. 3 is a diagram illustrating an example of guidance control corresponding to the presentation content in the first embodiment. FIG. 3A shows an example of speed control for an object, and FIG. 3B shows an example of an object to be guided displayed on a reference plane.

  In the first embodiment, for example, when the linear object (Obj) 60 is presented to the user by the force sense presentation device 30, the user does not touch the linear object 60 at a constant speed, for example, FIG. ), The speed is changed near the start point and the end point of the linear object 60. That is, the speed is changed between the central portion and the peripheral portion of the linear object 60. Specifically, in the linear object 60, the start point (peripheral part) is set to acceleration (+ a), the end point is set to deceleration (-a), and the center of gravity (center) part is set to the maximum speed (Vmax).

  In addition, the maximum (Vmax) and minimum (Vmin) of the guide speed in the first embodiment are set by the guide speed setting unit 51 described above. The degree of acceleration at which the speed is changed can be set in accordance with the length of the linear object 60, for example. The first distance (L2-L1) for changing the speed near the start point and the second distance (L4-L3) for changing the speed near the end point also correspond to, for example, the length of the linear object. Can be set. Note that the amount of change (acceleration, deceleration) in the vicinity of the start point and the end point of the linear object 60 may or may not be the same. Further, the first distance and the second distance described above may not be the same distance.

Here, in the example of FIG. 3B, a line graph object (Obj _{1 to} Obj ₇ ) 60-1 and an object (Obj ₈ ) 60 of the figure (for example, a circle) with respect to the reference plane 61. -2 and the objects (Obj ₉ , Obj ₁₀ ) 60-3 of the axes (vertical axis, horizontal axis) corresponding to the line graph are shown. The objects 601 and 60-3 are linear objects, and the object 60-2 is a planar object. In the first embodiment, a plurality of objects as shown in FIG. 3B are included in one content.

The broken line object 60-1 and the axis object 60-3 constitute a single object by connecting a plurality of objects. Here, when connecting a plurality of objects, for example, in the case of a line graph, it is preferable to create an object divided at a portion where the line is broken and connect the created objects. Note that the polyline object 60-1, may contain curved portions as the object Obj _6.

  The broken part of the graph is an important part on the object and is a part that the user wants to grasp. Therefore, in the first embodiment, for example, as shown in FIG. 3A, the guidance control is performed by changing the speed, and the speed of the end portion of the line or the bent portion is reduced, thereby making the shape of the object quick. The user can be surely grasped.

Note that the speed change by the guidance control is, for example, for the object (Obj ₈ ) 60-2 shown in FIG. 3B and the object (Obj ₉ , Obj ₁₀ ) 60-3 on the axis (vertical axis, horizontal axis). It can also be done.

Here, in the first embodiment, the objects Obj ₁ to Obj ₁₀ are presented to the user's fingers and the like in a predetermined order using the force sense presentation device 30. Specifically, the objects Obj ₁ to Obj ₁₀ are presented to the user by force. In this case, the movement path of the finger includes a part that moves when the object is touched (with an object) and a part that moves without touching the object (no object). For example, the path moving from the object Obj ₇ to Obj ₈ is a portion where the object is not touched.

Therefore, the presentation parameters when presenting an object by force sense are described in the following format, for example, with physical quantities of height h, roughness σ, friction μ, and hardness c.
Object present: Fp = {height h _i , roughness σ _i , friction (dynamic / static) μ _i , hardness c _i }
No object: Fn = {height h ₀ , roughness σ ₀ , friction (dynamic / static) μ ₀ , hardness c ₀ }
According to the example described above, in FIG. 3B, the presentation parameter on the plane 61 without the object 60 is Fn.

  That is, in the first embodiment, a tactile sensation according to the presentation parameter can be given in the presentation area of each object. In addition, by setting different presentation parameters depending on the presence or absence of an object, the presence or absence of the object can be clearly recognized. Note that the object touching can be switched between the free touching mode and the guiding mode using, for example, the above-described guidance switching unit 20.

Further, the guidance parameter described in the guidance parameter description unit 13 specifically defines the speed in the object when the finger is guided by moving in the direction between the centers of gravity between the objects in the guidance mode. . In this case, the guidance parameter is described in the following format depending on the presence or absence of an object.
Object present: FIp = {acceleration + a _i , deceleration−a _i , maximum speed Vmax _i , minimum speed Vmin _i , induction force F _i }
No object: FIn = {acceleration + a _j , deceleration−a _j , maximum speed Vmax _j , minimum speed Vmin _j , induction force F _j }
In addition, the above-mentioned subscript i shows the variable allocated corresponding to each object, and the above-mentioned subscript j has shown the variable allocated corresponding to the movement between each object.

In the guidance parameters in the first embodiment, for example, by specifying acceleration + a, deceleration-a, maximum speed Vmax, and minimum speed Vmin for each object when there is an object, and between objects when there is no object, An object can be grasped reliably by a force sense. The guidance parameter when there is no object is a fixed value (for example, FIn = {acceleration + a ₀ , deceleration−a ₀ , maximum speed Vmax ₀ , minimum speed Vmin ₀ , guidance force, for example) as in the presentation parameter described above. F ₀ }). Further, in the above-described free palpation mode, it is possible to perform palpation that is not restricted by the guidance parameter, and thus it is possible to grasp the object more reliably.

The guidance sequence described by the guidance sequence description unit 15 can be described as follows when the presentation as shown in FIG. 3B is performed, for example, but is not limited thereto.
Guiding order information IS = {Obj ₁ + Obj ₂ + Obj ₃ + Obj ₄ + Obj ₅ + Obj ₆ + Obj ₇ + NoObj + Obj ₈ + NoObj + Obj ₉ + Obj ₁₀ }
Note that “NoObj” indicates a path without an object (inter-object area).

Here, in Example 1, in order to continuously guide the objects Obj _{1 to} Obj ₇ shown in FIG. 3B, for example, as shown in FIG. In the case of presenting from the plane 61, a predetermined groove (concave portion) is provided in the finger guide path (passage) for the object 60-1, and the finger is guided so as to pass through or above the groove. Good. Thereby, it is possible to prevent the user's finger from deviating from the object during the guidance control, and the object can be guided more reliably. In addition, in this embodiment, it is not limited to this, For example, a convex part may be sufficient.

Further, the object (Obj ₈ ) 60-2 shown in FIG. 3B may be guided to a center of the object Obj _{8 at} a predetermined speed, or may be guided so as to touch the outer periphery. May be.

Further, it is preferable that the axis objects (vertical object Obj ₉ , horizontal axis object Obj ₁₀ ) 60-3 shown in FIG. 3B are touched before guidance control of the object 60-1 of the line graph is performed. However, the present invention is not limited to this. The axis objects (Obj ₉ , Obj ₁₀ ) 60-3 may be touched without being continuous with Obj _{1 to} Obj ₈ .

  As described above, by performing speed control or the like for each object, in the case of a line graph or the like shown in FIG. 3B, the user can easily grasp the portion where the line changes, Objects such as graphs can be reliably recognized.

Here, FIG. 4 is a diagram illustrating an example of force sense guidance control according to the first embodiment. FIG. 4 shows an example of haptic guidance control for the objects (Obj _{1 to} Obj ₇ ) shown in FIG.

That is, in the example of FIG. 4, IS1 = {Obj ₁ + Obj ₂ + Obj ₃ + Obj ₄ + Obj ₅ + Obj ₆ + Obj ₇ + NoObj} is set as an induction sequence (guidance order information), and the above-described induction sequence is followed. Each object is guided using the presentation parameters (Fp, Fn) and the guidance parameters (FIp, FIn). In the example of FIG. 4, the end point of the object between the regions NoObj is the centroid of the object Obj _8. In the example of FIG. 4, the guidance is performed at the maximum speed from the start point to the end point (the center of gravity of the object Obj ₈ ) from the inter-object area NoObj. However, the speed control is not limited to this. The guidance may be performed at a predetermined speed set for NoObj.

Each object is speed controlled within the range of the minimum speed and the maximum speed. For example, as shown in the object Obj _4, the length X of the object Obj _4, but the center (or centroid) position to (x / 2) is gradually accelerated at a predetermined acceleration + _{a 4,} exceeds the maximum speed Speed control is done so that there is no. Further, after passing through the center position, the speed is controlled so as not to decelerate at a predetermined deceleration -a ₄ and to become less than the minimum speed. As described above, by performing speed control within the range of the minimum speed and the maximum speed, it is possible to prevent a rapid speed change for the user. Therefore, it is possible to make the user grasp the object quickly and reliably.

<Example of haptic guidance control processing>
Here, an example of haptic guidance control processing of an object that forms a polygonal line as a linear object will be described using a flowchart. FIG. 5 is a flowchart illustrating an example of a force sense guidance control process for a linear object.

In the example of FIG. 5, the haptic guidance control process sets (describes) an object to be presented, guidance parameters, etc. (S01), and further sets (describes) a guidance sequence (S02). Here, in the haptic guidance control process, it is determined whether or not the setting has been completed for all objects to be guided (S03). If the setting of all objects has not been completed (NO in S03), S01 Return to. Further, in the process of S03, when all the objects have been set (YES in S03), the guidance target object is extracted based on the order set by the guidance sequence (S04). Here, the parameter i is incremented by 1 (S05), and the guidance of the object Obj (i) is started (S06). Further, the haptic guidance control process detects the guidance position in the current object (S07). At this time, the force sensation guidance control process determines that the current guidance speed V is the maximum speed Vmax when the current guidance speed V is greater than the maximum speed Vmax, and the current guidance speed V is less than the minimum speed Vmin. The current guide speed V is set as the minimum speed Vmin (S08). That is, in the process of S08, the speed is controlled within the range from the minimum speed V to the maximum speed Vmax. Accordingly, in the above-described processing of S06, the object is guided at the acceleration + _ai from the start point of the object, and the speed increases to the center of gravity (or center) position of the object Obj (i), but the actual guided speed is the set maximum speed Vmax. Limited by. Thereby, the magnitude | size of a change can be adjusted.

Here, the haptic guidance control process determines whether or not the center of gravity position (or center position) of the object has been reached from the guidance position information obtained by the processing of S07 (S09), and the center of gravity position (or center of the object). If the position has not been reached (NO in S09), the process returns to S07. Moreover, the force induced control process, (in S09, YES) when it reaches the position of the center of gravity of the object (or the center position), controlling the speed at deceleration -a _i in the object point (S10).

  Similarly to the process of S08 described above, when the current guidance speed V is greater than the maximum speed Vmax, the force guidance control process sets the current guidance speed V to the maximum speed Vmax, and the current guidance speed V is When the speed is smaller than the minimum speed Vmin, the current guide speed V is set as the minimum speed Vmin (S11).

  Here, in the haptic guidance control process, it is determined whether or not the guidance of Obj (i) is terminated (S12). If the guidance is not terminated (NO in S12), the process returns to S10. Further, in the haptic guidance control process, when the guidance of Obj (i) is terminated (YES in S12), it is determined whether or not there is guidance between objects (S13). When there is an inter-object guidance (YES in S13), the haptic guidance control process performs an inter-object region guidance process (S14), returns to the process of S04, and performs the following based on the order set by the guidance sequence. Extract objects. The processing content of S14 will be described later.

  Also, in the haptic guidance control process, when there is no guidance between objects in the process of S13 (NO in S13), it is next determined whether or not the guidance for all objects has been completed (S15). In the haptic guidance control process, when guidance for all objects has not been completed (NO in S15), the process returns to S04 and the next object is extracted based on the order set by the guidance sequence.

  Further, the force sense control process ends the force sense control process when all objects have been processed (YES in S15).

<S14: Inter-object area guidance process>
Next, an example of the inter-object region guidance process in S14 described above will be described using a flowchart. FIG. 6 is a flowchart illustrating an example of the inter-object region guidance process. In FIG. 6, the inter-object region guiding process has the minimum speed when the guiding position is the end point of the object, and after being guided to the start point of the next object set in the guiding sequence, is the same as described above. Continue guiding.

Therefore, when moving between objects in the force sense guidance control process, the presentation parameter Fn (j) and the guidance parameter FIn (j) when there is no object are extracted (S21). Here, as the processing of S21, for example, the presentation parameter Fn = {h ₀ , σ ₀ , μ ₀ , c ₀ }, which is an initial value, and the guidance parameter FIn = {+ a ₀ , −a ₀ , Vmax ₀ , Vmin ₀ , Vmin ₀ , F ₀ } may be extracted and the extracted parameters may be applied to all objects.

In the inter-object region guiding process shown in the example of FIG. 6, by increasing 1 to the variable j (S22), different parameters can be extracted between the objects. The inter-object region guiding process starts guiding between two objects (Obj (i) to Obj (i + 1)) using each parameter extracted in S21 (S23). In the process of S23, acceleration by a predetermined acceleration (for example, acceleration + a _j ) between objects may be performed. As a result, the user can easily grasp whether the guidance is for the object or between the objects. Note that this section may be a constant speed (for example, the minimum speed, the maximum speed, or other speed).

  The inter-object region guidance process guides between objects based on the parameter value of the guidance parameter Fin.

  Specifically, the inter-object region guidance process detects the guidance position between objects (S24), and determines whether or not the current guidance position has reached the center position of the distance between objects (S25). The inter-object region guidance process returns to the process of S24 when the current guidance position has not reached the center position (NO in S25).

Further, in the inter-object area guiding process, when the current guiding position has reached the center position (YES in S25), the object is decelerated by a predetermined deceleration for the object (for example, deceleration -a _j ). However, the two objects (Obj (i) to Obj (i + 1)) are guided (S26). In the process of S26, the guide speed is controlled so as not to be smaller than the minimum speed.

  Next, in the inter-object region guiding process, it is determined whether or not the inter-object guiding is to be ended (S27). When the inter-object guiding is not to be ended (NO in S27), the process returns to S26. In the inter-object area guiding process, when the inter-object guiding is finished (YES in S27), the inter-object area guiding process is finished.

  As described above, in the present embodiment, by performing predetermined speed control in movement within or between linear objects, discontinuous points such as graphs (for example, broken portions in a line graph) and curved portions can be quickly displayed. The user can be surely grasped.

<Example 2>
Next, Example 2 of guidance control corresponding to the presentation contents in the present embodiment will be described with reference to the drawings. In the second embodiment, for example, guidance control of a planar object will be described.

  FIG. 7 is a diagram illustrating an example of guidance control corresponding to the presentation content in the second embodiment. 7A shows an example of guidance in the planar object 70, FIG. 7B shows an example of speed control of the planar object 70, and FIG. An inscribed circle guidance example is shown, and FIG. 7D shows an outer circumference guidance example in each planar object 70.

In the case of the planar object 70, for example, when one or more objects 70 (objects Obj _{1 to} Obj _{5 in} the example of FIG. 7A) are presented on the reference plane 61, each object It is preferable to be able to grasp a certain size of this by touch.

Thus, in the second embodiment, for example, as illustrated in FIG. 7A, guidance control is performed to pass the centroids of the objects Obj _{1 to} Obj ₅ based on the guidance order set in the guidance sequence. In the example of FIG. 7A, the guidance may be performed based on the center position, not based on the center-of-gravity positions of the objects Obj _{1 to} Obj ₅ .

  Here, in the second embodiment, in the case of the center-of-gravity position guidance method in which guidance control is performed based on the center-of-gravity position as illustrated in FIG. 7A, the presentation parameter is Fp (object present) as in the first embodiment. , Fn (no object), and the induction parameter can also be expressed as FIp (with object) and FIn (without object).

  Further, in the second embodiment, the guidance of the planar object 70 is performed by changing the speed in the object so that the object can be easily grasped, as shown in FIG. I do. In the second embodiment, for example, the first end that starts to be guided with respect to the planar object 70 is set as the start point, and the last end that exits from the planar object 70 is set as the end point. .

  In the example of FIG. 7B, the speed at the starting point of the planar object 70 is set to the maximum speed Vmax, and then the vehicle is decelerated with a deceleration −a. Further, for guidance beyond the center of gravity, the acceleration is + a. The speed is controlled so that the maximum speed Vmax is reached at the end point of the planar object 70 by accelerating. In the above-described control, control is performed so as not to be less than the minimum speed Vmin. The speed control described above may be reversed, and control may be performed so that the minimum speed Vmin is obtained at the start point and the end point of the planar object 70 and the maximum speed Vmax is obtained at the center of gravity position.

As a guidance method for the planar object 70, for example, as shown in FIG. 7C, a method of guiding to the center of gravity of the object and guiding and presenting an inscribed circle (inscribed circle guidance) can be used. Specifically, as shown in FIG. 7C, the objects Obj ₁ to Obj ₃ are first guided to the center of gravity and then guided to a predetermined point (start point a) on the inscribed circle. Circumferential guidance is performed in the direction, and control is performed to return to the center of gravity again after one round. In the example of FIG. 7C, guidance between the centers of gravity is performed at the time of guidance from the object Obj ₁ to Obj ₂ , but the guidance content is not limited to this. For example, FIG. 7C As in the case of guidance from the object Obj ₂ to Obj ₃ shown in FIG.

  Further, in the second specific example, as shown in FIG. 7D, a method of guiding to the center of gravity of the object and guiding and presenting the outer periphery of the object (object outer periphery guiding) can be used.

For example, in the case of the object Obj ₁ shown in FIG. 7D, after guiding to the center of gravity position, guiding to a predetermined position (start point a) on the outer periphery, performing outer periphery guidance in a predetermined direction, and then making one turn Then, control to return to the center of gravity is performed again. Further, after the outer periphery guidance is completed, the guidance is performed to the next object. In the case of the object Obj ₂ shown in FIG. 7D, after guiding to the center of gravity, guiding to the starting point a and guiding the periphery in the order of route a → b → c → d → a. After finishing, it returns to the center of gravity again. Similarly, in the case of the object Obj ₃ shown in FIG. 7D, the outer periphery guidance is performed in the order of the route a → b → c → d → e → f → g → h → i → j → a, and the center of gravity is again obtained. After that, the haptic guidance control is terminated by guiding from the end a to the end e. In the example of FIG. 7D, guidance between the centers of gravity is performed during guidance between the objects, but the guidance content is not limited to this.

  Note that the inscribed circle guidance and the outer circumference guidance described above may be combined with, for example, inscribed circle guidance or object circumference guidance corresponding to each object.

<Example of haptic guidance control processing for planar object>
Here, an example of the haptic guidance control process for the planar object will be described with reference to a flowchart. FIG. 8 is a flowchart illustrating an example of a force sense guidance control process for a planar object. Note that the example of the process in FIG. 8 illustrates a planar object guidance control process using the center-of-gravity position guidance method.

In FIG. 8, in the haptic guidance control process, the object gravity center position calculation unit 43 detects the gravity center of each object (S31). Next, the haptic guidance control process extracts a guidance target object based on the order set in the guidance sequence (S32), and guides it to the center of gravity of the object Obj (i) (S33). In the process of S33, for example, speed control as shown in FIG. 7B is performed at the time of guidance to the center of gravity. Specifically, to start the induction at the maximum speed Vmax set in advance, while decelerated at the deceleration -a _i, is guided to the center of gravity position.

  Here, the guidance presentation process detects the guidance position in the object (S34), and if the current guidance speed V is greater than the maximum speed Vmax, the current guidance speed V is set to the maximum speed Vmax, and the current guidance is displayed. If the speed V is smaller than the minimum speed Vmin, the current guide speed V is set as the minimum speed Vmin (S35). That is, the maximum speed and the minimum speed of the guide speed are limited by the guide speed setting unit 51 by the process of S35.

  Here, in the guidance presentation process, it is determined whether or not the guidance position in the object is at the center of gravity position (S36). If the guidance position is not at the center of gravity position (NO in S36), the process returns to S34. Further, the guidance presentation process performs a predetermined guidance for the planar object 70 when the center of gravity is located (YES in S36).

  In the example of FIG. 8, an example of performing inscribed circle guidance as shown in FIG. 7C will be described. When the guidance presentation process is guided to the center of gravity position, for example, the guidance presentation process moves to the starting point a as shown in FIG. 7C (S37), and the inscribed circle calculated by the object inscribed circle / outer circumference guidance data creation unit 45 Is controlled by the object inscribed circle / outer periphery guidance control 53, and is guided by moving the inscribed circle at a constant speed (S38), and again moves from the starting point a to the center of gravity (S39). Thereafter, the guidance presentation process moves to the next object. As described above, by using the inscribed circle guidance, not only the position of the object but also the approximate size of the planar object 70 can be quickly grasped.

The guidance presentation process starts the guidance of the object Obj (i) at a predetermined acceleration (for example, acceleration + a _i ) after the process of S39 (S40). Further, as described above, in the guidance presentation process, when the current guidance speed V is greater than the maximum speed Vmax, the current guidance speed V is set to the maximum speed Vmax, and the current guidance speed V is less than the minimum speed Vmin. The current guide speed V is set to the minimum speed Vmin (S41). That is, in the process of S35, the maximum speed and the minimum speed of the guide speed are limited by the guide speed setting unit 51.

  Next, in the guidance presentation process, it is determined whether or not the guidance of Obj (i) is to be terminated (S42). If the guidance of Obj (i) is not terminated (NO in S42), the process returns to S40. In the guidance presentation process, when the guidance of Obj (i) is terminated (YES in S42), the guidance presentation process of the planar object 70 is terminated.

  In the example of FIG. 8, the inscribed circle guidance method is used in the processes of S37 to S39, but the present embodiment is not limited to this. For example, in the processing of S37 to S39, for example, object outer periphery guidance as shown in FIG. In this case, the object moves around the object based on the information on the outer periphery position extracted by the object inscribed circle / periphery guidance data creation unit 45, returns to the center of gravity again, and then moves to the next object. When the object inscribed circle / peripheral guidance data creation unit 45 performs guidance for moving the outer circumference, the outer circumference can be handled as the linear object described above. Thus, by using the object outer periphery guidance, the user can surely grasp the position and shape of the object.

  Furthermore, as another example, as shown in FIG. 7A, there is a method in which the center of gravity position is simply moved and guided without performing the above-described processing of S37 to S39. In this case, when the center of gravity is reached, the object moves to the next designated object with acceleration + a. By using this method, the user can quickly grasp the position of the planar object. As described above, in the second embodiment, from the viewpoint of guidance including recognition of the position of the object and recognition of the size and shape of the object, force guidance control can be selectively performed from the guidance method of the above-described content. it can.

<Example 3>
Next, Example 3 of guidance control corresponding to the presentation contents in the present embodiment will be described with reference to the drawings. In the third embodiment, guidance control of a planar object will be described as in the second embodiment. In the third embodiment, a prescribed input / output position guidance method and guidance speed for performing guidance based on a predefined input / output position. An example of control will be described.

FIG. 9 is a diagram illustrating an example of guidance control corresponding to the presentation content in the third embodiment. The object in FIG. 9 has five objects 70 (Obj _{1 to} Obj ₅ ). As shown in FIG. 9, in the third embodiment, the speed is controlled by the specified input / output position guidance method and the force sense speed control so that the user can grasp the position of the object.

  In the second embodiment described above, as shown in FIG. 7A, guidance based on the center of gravity position (or center position) has been shown. However, for the planar object 70, a certain degree of shape and size are grasped. Since it is necessary, it is also an important condition where the start point and the end point are set.

  For example, as a method for setting the start point and the end point, a method for setting the start point and the end point by inputting preset predetermined values, or automatic so that the guide route is shortened according to the position of the object placed on the plane. In general, a method of setting the start point and the end point can be used.

  In the prescribed input / output position guidance system shown in the third embodiment, for example, as shown in FIG. 9, when guiding between objects 70, an input position that is the start point of the object 70 and an output position that is the end point of the object 70 are defined, and the interval between them is linear. To guide. Further, the guidance speed between objects is controlled so that deceleration, constant speed, and acceleration are performed at the center (center of gravity) position of the object as in the above description.

Here, in the setting of the specified input / output positions (start point and end point) described above, for example, the position coordinates of the start point and end point can be included in the attribute information of the object in advance. In this case, the guidance parameter for the object is described as follows, for example.
Object: FIp = {acceleration + a, deceleration-a, maximum speed Vmax, minimum speed Vmin, induction force F, start point (X _s , Y _s ), end point (X _e , Y _e )}
In the example of FIG. 9, guidance control is performed in the guidance order of the objects Obj _{1 to} Obj ₅ . In the example of FIG. 9, the object Obj ₁ has a straight line passing through the start point a and the end point b as a guide route, Obj ₂ has a straight line through the start point a and the end point c, and Obj ₃ has a start point a and an end point e. A straight line passing through is used as a guide route, and Obj ₄ uses a straight line passing through the start point a and the end point c as a guide route. Furthermore, in the third embodiment, an arbitrary guidance route can be selected and guided with respect to the object Obj _{5 by} using, for example, the automatically detected end point c or the end point c ′ set by the specified input / output position. . Further, in the third embodiment, by performing speed control for each object as shown in FIG. 9 in each guidance route, the user can be quickly and surely grasped the object.

<Example of haptic guidance control processing based on specified input position>
Next, an example of a haptic guidance control process based on a prescribed input position of a planar object will be described using a flowchart. FIG. 10 is a flowchart illustrating an example of the haptic guidance control process based on the specified input position.

Specifically, the haptic guidance control process shown in FIG. 10 sets a prescribed input / output position (S51), and then starts the haptic guidance, and then the object start point / end point position detection unit 44 starts (X _s , Y _s ) and the end point (X _e , Y _e ) are detected (S52). Here, in the haptic guidance control process, the object position setting unit 52 moves the guidance position to the starting point a (S53).

  Here, speed control as shown in FIG. 7B is performed in the planar object. Specifically, the haptic guidance control process detects the guidance position in the object (S54), and if the current guidance speed V is greater than the maximum speed Vmax, the current guidance speed V is set to the maximum speed Vmax. If the current guide speed V is smaller than the minimum speed Vmin, the current guide speed V is set as the minimum speed Vmin (S55). That is, in the process of S55, the guide speed is linearly guided from the start point a to the end point b while being limited by the maximum speed Vmax and the minimum speed Vmin.

  Here, in the haptic guidance control process, it is determined whether or not the guidance position has reached the end point b (S56). When the end point b has not been reached (NO in S56), the process returns to the process of S54. If the end point b has been reached (YES in S56), the process ends.

Here, in the third embodiment, as another example of the specified input / output position guidance method, there is a method of automatically detecting an end point on the X axis. In this method, the minimum and maximum coordinates in the horizontal direction (X-axis direction) of the object are detected and set as a start point (X ₁ , Y ₁ ) and an end point (X ₂ , Y ₂ ), respectively. The method of guidance and speed control is the same as that of the prescribed input / output position setting, and the guidance is linearly performed from the start point a to the end point b. For example, an object Obj ₃ shown in FIG. 9 corresponds to the method described above. In the example of the object Obj ₃ , the end point a is the start point and the end point e is the end point. Therefore, the guidance path of the object Obj ₃ is a straight line a → e.

  When this method is used, the X-axis end point is automatically detected in the process of S51 shown in FIG. 10, and the object end points a and b are detected in the process of S52. The same processing is performed for S53 to S56.

  As described above, in the specified input / output position guidance method of the third embodiment, in addition to being able to transmit the positional relationship of the object quickly, by defining the start point and the end point, for example, the size of the object in the long axis direction can be intentionally set. It can be recognized. In addition, by changing the guide speed between the center portion and the peripheral portion of the object, it is possible to quickly and reliably grasp the positional relationship of the object, the pseudo unevenness, and the like.

<About the guidance switching unit 20>
In the present embodiment, as described above, the guidance control can be stopped using the guidance switching unit 20 to enable free touch. Moreover, when restarting force sense guidance control, the restart method corresponding to the content of guidance control can be used.

  For example, when the above-described center-of-gravity position guidance method is used for the planar object 70, the guidance is resumed by moving to the center-of-gravity position of the canceled object. Further, in the case of the linear object 60 or when the above-described prescribed input / output position guidance method is used for the planar object 70, the position information at the time of suspension is stored, and guidance is performed from the stored position. To resume.

  Further, when the inscribed circle guidance method or the object outer circumference guidance method is used for the planar object, the guidance is resumed by moving to the start point a.

  In the present embodiment, the present invention is not limited to this, and any one of the above-described restart methods can be selected or combined.

<Execution program (haptic guidance control program)>
Here, the haptic guidance control apparatus 10 described above has, as one aspect, a volatile storage medium such as a CPU (Central Processing Unit) and a RAM (Random Access Memory), and a nonvolatile storage such as a ROM (Read Only Memory). It can be configured by a computer having an input device such as a medium, a mouse, a keyboard, and a pointing device, a display means for displaying images and data, and an interface for communicating with the outside.

  Therefore, the above-described functions of the haptic guidance control apparatus 10 can be realized by causing the CPU to execute a program describing these functions. These programs can also be stored and distributed in a recording medium such as a magnetic disk (floppy disk, hard disk, etc.), optical disk (CD-ROM, DVD, etc.), semiconductor memory, or the like.

  That is, by generating an execution program (force sense guidance control program) for causing a computer to execute the processing in each configuration described above and installing the program in, for example, a general-purpose personal computer, the above-described force sense guidance control processing is performed. Can be realized.

  As described above, according to one aspect of the present invention, it is possible to cause a user to grasp an object quickly and reliably. Specifically, in force presentation, in addition to the active touch that the user has grasped the content by moving his / her fingers, Kana characters and various graphs (including line graphs, bar graphs, pie charts, etc.) For visually impaired persons or persons who are in a situation where visual information is blocked by passively presenting the fingers with a force sense in predetermined order to objects such as map outlines and other objects Even if it exists, the object can be grasped quickly and reliably.

  In addition, in this embodiment mentioned above, although the force sense guidance control apparatus 10 and the force sense presentation apparatus 30 were made into the different structure, it is not limited to this, The force sense guidance control apparatus 10 and force sense presentation The apparatus 30 may be configured integrally. In this case, for example, a configuration example in which the force sense guidance control device 10 is built in the force sense presentation device 30 is assumed.

  Although the present embodiment has been described in detail above, the present invention is not limited to the specific embodiment, and various modifications and changes other than the above-described modifications are possible within the scope described in the claims. .

DESCRIPTION OF SYMBOLS 10 Haptic guidance control apparatus 11 Object description part 12 Object presentation data creation part 13 Guidance parameter description part 14 Guidance data creation part 15 Guidance sequence description part 16 Guidance data storage part 17 Guidance control part 18 Haptic guidance control part 19 Guidance position detection Unit 20 guidance switching unit 30 force sense presentation device 41 linear object extraction unit 42 planar object extraction unit 43 object centroid position calculation unit 44 object start point / end point position detection unit 45 object inscribed circle / outer periphery guidance data creation unit 51 guidance speed Setting unit 52 Object position setting unit 53 Object inscribed circle / periphery guidance control unit 54 Guide position / speed control unit 60 Object 61 Plane 70 Planar object

Claims (7)

In a haptic guidance control apparatus that performs guidance control on the object with respect to a haptic presentation apparatus that presents object information to the user by haptic sense,
A guidance data creation unit that creates guidance data corresponding to the position information of the object;
A guidance control unit that controls the guidance speed in accordance with the guidance position of the object based on the guidance data obtained by the guidance data creation unit and the current guidance position with respect to the object;
Based on the induction speed obtained by the guidance control unit, possess a force sense presenting control unit for force feedback to the force-feedback device,
The guidance control unit
A haptic guidance control apparatus , wherein the guidance speed is changed between a central part and a peripheral part of the object . The guidance data creation unit
In inductive position of the object, the force of claim 1, characterized in that to create a derived data set the start and end points for guiding the object to move in a straight line set start and end points Guidance control device. The guidance data creation unit
The haptic guidance control apparatus according to claim 1 or 2 , wherein a plurality of objects are connected to create guidance data constituting one object. The guidance data creation unit calculates the center of gravity or center of the planar object when the object is a planar object having a predetermined area;
The haptic guidance control apparatus according to any one of claims 1 to 3 , wherein the guidance control unit controls a guidance position so as to guide between the centers of gravity or between the centers of the planar objects. The guidance control unit
5. The haptic guidance control device according to claim 4 , wherein control is performed so as to guide the center of the planar object from a center of gravity or a center thereof to a circle inscribed in the planar object or an outer periphery of the planar object itself. . The guidance data creation unit
If the object is a linear object, the force induction control according to any one of claims 1 to 3, characterized in that to produce a concave or convex shape portion Judging touch the linear object apparatus. A haptic guidance control program that causes a computer to function as the haptic guidance control device according to any one of claims 1 to 6.

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