JP7081819B2 - Force sensation generator - Google Patents

Description

The present invention belongs to the technical field of the force sensation generator, and more specifically, to the technical field of the force sensation generator that generates so-called bodily vibration.

Conventionally, for example, when a weight that is large enough to be held by hand is vibrated to the left or right (reciprocating motion), if the acceleration applied to the weight is different at both ends of the reciprocating motion, the person applies a fast acceleration. It is known to feel pulled in the direction of the end being made. This is a so-called "non-linearity of perception" in which a person is generally more likely to recognize a large force than a small force. At this time, in the perception of the force, it is considered that the physical force does not actually act on the person. Therefore, such perception is called a pseudo "force sense". Such force sensation is, for example, realization of simulation or virtual reality in a game, or generation of force sensation in a device to be provided to a person in order to guide the person in a large event venue. Etc. are used. Examples of the documents that disclose the prior art relating to the device for generating the pseudo force sensation include the following Patent Documents 1 and 2.

On the other hand, a device that allows a user to experience the above-mentioned force sense is often carried by the user in a three-dimensional space, but when defining the position and behavior of the device in the three-dimensional space, , The concept of "degree of freedom" indicating its position and its posture is used. The greater the degree of freedom (the higher the degree of freedom), the more accurately the position and behavior can be defined. In order to define the position and behavior most accurately, there are three degrees of freedom for the position (three degrees of freedom in the x, y and z directions) and three degrees of freedom for the posture (ψ angle, θ angle and φ angle). It is required to be able to control a total of 6 degrees of freedom.

Japanese Patent No. 3787777 Japanese Unexamined Patent Publication No. 2015-014953

Here, for example, when the electric-mechanical vibration converter described in Patent Document 1 is used to experience the force sensation, one electric-mechanical vibration converter has one direction in which the force sensation is experienced. Therefore, for example, in order to realize a total of two degrees of freedom, one translational degree of freedom and one rotational degree of freedom, two electric-mechanical vibration transducers connected in parallel are required. Similarly, in order to realize a total of four degrees of freedom, for example, two degrees of freedom in translation and two degrees of freedom in rotation, four electric-mechanical vibration transducers fixed to each other are required. In any of these cases, due to the expansion of the scale of the device, there is a problem that the device to be carried by the user cannot avoid being increased in size and weight.

Therefore, the present invention has been made in view of the above-mentioned problems, and one example of the problem is a lightweight / miniaturized force sense while being able to experience the force sense of a plurality of degrees of freedom. The purpose is to provide a generator.

In order to solve the above problems, the invention according to claim 1 is supported inside the fixed support portion by two points, such as a fixed support portion such as a frame-shaped outer ring fixed to the housing and the inside of the fixed support portion. A rotary support portion having a frame shape, such as an inner ring, which is rotatably supported around a line connecting the two points so as to be rotatably perpendicular to or more than a plane including the fixed support portion. A first electric-mechanical vibration converter fixed inside the rotary support portion, and a second electric-mechanical vibration converter supported outside the fixed support portion in a plane including the fixed support portion. And, a rotating means such as a rotating portion that rotates the rotating support portion and the first electric-mechanical vibration converter around the line, and a force sense in a direction perpendicular to the plane including the rotating support portion. The second driving means such as a driving unit that drives the first electric-mechanical vibration converter so as to generate the force sense in a direction perpendicular to the plane including the fixed support portion. It is provided with a second driving means such as a driving unit for driving an electric-mechanical vibration converter.

According to the first aspect of the present invention, it is a frame-shaped rotary support portion supported inside by two points inside the frame-shaped fixed support portion fixed to the housing, and connects the two points. A first electric-mechanical vibration converter is fixed inside a rotary support portion that is rotatably supported around a wire at a right angle or more relative to a plane including a fixed support portion. Further, in the plane including the fixed support portion, the second electric-mechanical vibration transducer is supported outside the fixed support portion. Then, the rotation support portion and the first electric-mechanical vibration transducer are rotated around the line connecting the above two points. In the above configuration, the first electric-mechanical vibration converter is driven so as to generate a force sense in the direction perpendicular to the plane including the rotary support portion, and is in the direction perpendicular to the plane including the fixed support portion. The second electric-mechanical vibration converter is driven to generate a force sensation. Therefore, by rotating the rotation support and the first electric-mechanical vibration converter, and driving the first electric-mechanical vibration converter and the second electric-mechanical vibration converter, three degrees of freedom (translational two degrees of freedom and one rotation). A force sensation generator capable of generating a force sensation of (degree of freedom) can be realized by two electric-mechanical vibration converters.

In order to solve the above problems, the invention according to claim 2 is fixed in the plane including the fixed support portion and outside the fixed support portion in the force sensation generator according to claim 1. A second fixed support portion such as a frame-shaped outer ring and a frame-shaped second rotation support portion supported inside by two points inside the second fixed support portion, and a line connecting the two points. A second such as an inner ring, which is rotatably supported around the surface including the second fixed support portion by at least a right angle to the plane, and the second electric-mechanical vibration converter is fixed inside. The second rotation of the rotating part or the like that rotates the two-rotating support portion, the second rotating support portion, and the second electric-mechanical vibration converter around a line connecting two points inside the second fixed support portion. Further provided with means.

According to the invention of claim 2, in addition to the action of the invention of claim 1, the frame-shaped second fixed support portion is in the plane including the fixed support portion and outside the fixed support portion. It is fixed to. Further, the frame-shaped second rotation support portion to which the second electric-mechanical vibration converter is fixed inside is supported inside by two points inside the second fixed support portion, and the two points are connected. Around the line, it is rotatably supported at a right angle or more relative to the plane including the second fixed support portion. Then, the second rotation support portion and the second electric-mechanical vibration transducer are rotated around a line connecting two points inside the second fixed support portion. Therefore, a force sense generator capable of generating a force sense of four degrees of freedom (translational two degrees of freedom and two degrees of freedom of rotation) by further rotation of the second rotation support portion and the second electric-mechanical vibration converter is provided. , Can be realized by two electric-mechanical vibration converters.

In order to solve the above problems, the invention according to claim 3 is the force sensation generator according to claim 2, in a plane including the fixed support portion and the second fixed support portion, or perpendicular to the plane. In a plane, the direction in a plane including the fixed support portion or the third electric-mechanical vibration converter supported outside the fixed support portion, the fixed support portion, and the second fixed support portion, or Further, a third driving means such as a driving unit for driving the third electric-mechanical vibration converter is provided so as to generate a force sense in a direction perpendicular to the plane.

According to the invention of claim 3, in addition to the action of the invention of claim 2, the third electricity in the plane including the fixed support portion and the second fixed support portion or in the plane perpendicular to the plane. -The mechanical vibration transducer is supported outside the fixed support or the second fixed support. Then, the third electric-mechanical vibration transducer is driven so as to generate a force sense in a direction in a plane including the fixed support portion and the second fixed support portion or in a direction perpendicular to the plane. Therefore, by adding a third electric-mechanical vibration converter supported outside the fixed support or the second fixed support, it is possible to generate a force sense of five degrees of freedom (translational two degrees of freedom and rotational three degrees of freedom). A force sensation generator can be realized by three electric-mechanical vibration converters.

In order to solve the above problems, the invention according to claim 4 is the force sensation generator according to claim 3, in a plane including the fixed support portion and the second fixed support portion, and the fixed support. A third fixed support portion such as a frame-shaped outer ring fixed to the outside of the portion or the second step support portion, and a frame-shaped third portion supported inside the third fixed support portion by two points inside the third fixed support portion. It is a three-rotation support part, and is rotatably supported around a line connecting the two points at a ratio of at least perpendicular to the plane including the third fixed support part, and the third electric-machine A third rotation support part such as an inner ring in which the vibration converter is fixed inside, the third rotation support part and the third electric-mechanical vibration converter, and two points inside the third fixed support part. A third rotating means such as a rotating portion that rotates around the connecting line is further provided.

According to the invention of claim 4, in addition to the action of the invention of claim 3, the frame-shaped third fixed support portion is placed in a plane including the fixed support portion and the second fixed support portion. Moreover, it is fixed to the outside of the fixed support portion or the second fixed support portion. Further, the frame-shaped third rotation support portion to which the third electric-mechanical vibration converter is fixed inside is supported inside by two points inside the third fixed support portion, and the two points are connected. Around the line, it is rotatably supported at a right angle or more relative to the plane including the third fixed support portion. Then, the third rotation support portion and the third electric-mechanical vibration transducer are rotated around a line connecting two points inside the third fixed support portion. Therefore, a force sensation generator capable of generating a force sensation of six degrees of freedom (translational three degrees of freedom and rotation three degrees of freedom) by further rotation of the third rotation support portion and the third electric-mechanical vibration converter is provided. , Can be realized by three electric-mechanical vibration converters.

In order to solve the above problems, the invention according to claim 5 is the force sense generation device according to claim 3 or 4, wherein the force sense is generated in the first electric-mechanical vibration converter. The point where the force sensation is generated in the second electric-mechanical vibration converter and the point where the force sensation is generated in the third electric-mechanical vibration converter are located at each apex of the regular triangle. The first electric-mechanical vibration converter, the second electric-mechanical vibration converter, and the third electric-mechanical vibration converter are arranged.

According to the invention of claim 5, in addition to the action of the invention of claim 3 or 4, each of the force sensation generation points in each electric-mechanical vibration converter is at each apex of a regular triangle. Since each electric-mechanical vibration converter is arranged so as to be located at each position, it is possible to efficiently generate a force sense at each degree of freedom.

According to the present invention, a frame-shaped rotary support portion supported inside by two points inside the frame-shaped fixed support portion fixed to the housing, around a line connecting the two points. The first electric-mechanical vibration converter is fixed inside the rotary support portion that is rotatably supported at a right angle or more relative to the plane including the fixed support portion. Further, in the plane including the fixed support portion, the second electric-mechanical vibration transducer is supported outside the fixed support portion. Then, the rotation support portion and the first electric-mechanical vibration transducer are rotated around the line connecting the above two points. In the above configuration, the first electric-mechanical vibration converter is driven so as to generate a force sense in the direction perpendicular to the plane including the rotary support portion, and is in the direction perpendicular to the plane including the fixed support portion. The second electric-mechanical vibration converter is driven to generate a force sensation.

Therefore, by rotating the rotation support and the first electric-mechanical vibration converter, and driving the first electric-mechanical vibration converter and the second electric-mechanical vibration converter, three degrees of freedom (translational two degrees and one rotation). Since a force sensation generator capable of generating a force sensation of (degree of freedom) can be realized by two electric-mechanical vibration converters, it is possible to generate a force sensation of multiple degrees of freedom, but the weight is reduced. It is possible to realize a miniaturized force sense generator.

It is an external perspective view which shows the outline structure of the force sensation generator which concerns on 1st Embodiment. It is an external view which shows the structure of the support part of 1st Embodiment, (a) is the plan view which shows the 1st state of the support part, and (b) is the front view which shows the 1st state. , (C) is a side view showing the first state, (d) is a plan view showing the second state of the support portion, and (e) is a front view showing the second state. Yes, (f) is a side view showing the second state. It is a conceptual diagram which shows the operation of the force sensation generator which concerns on 1st Embodiment, (a) is a frontal conceptual diagram which shows the 1st example of the said operation, and (b) is a plane conceptual diagram which shows the 1st example. (C) is a front conceptual diagram showing a second example of the operation, (d) is a planar conceptual diagram showing the second example, and (e) is a frontal conceptual diagram showing the third example of the operation. It is a conceptual diagram, and (f) is a planar conceptual diagram showing the third example. 2 is a conceptual diagram showing the operation of the force sensation generator according to the second embodiment, (a) is a front conceptual diagram showing the first example of the operation, and (b) is a plan conceptual diagram showing the first example. (C) is a front conceptual diagram showing a second example of the operation, (d) is a planar conceptual diagram showing the second example, and (e) is a frontal conceptual diagram showing the third example of the operation. It is a conceptual diagram, (f) is a plane conceptual diagram showing the third example, (g) is a front conceptual diagram showing the fourth example of the operation, and (h) is a plane showing the fourth example. It is a conceptual diagram. It is a conceptual diagram which shows the operation of the force sensation generator which concerns on 3rd Embodiment, (a) is a plane conceptual diagram which shows the 1st example of the operation, and (b) is a frontal conceptual diagram which shows the 1st example. (C) is a conceptual diagram of a plane showing a second example of the operation, (d) is a front conceptual diagram showing the second example, and (e) is a plane showing a third example of the operation. It is a conceptual diagram, (f) is a front conceptual diagram showing the third example, (g) is a plan conceptual diagram showing the fourth example of the operation, and (h) is a frontal conceptual diagram showing the fourth example. It is a conceptual diagram, (i) is a plane conceptual diagram showing the fifth example of the operation, and (j) is a front conceptual diagram showing the fourth example. It is a conceptual diagram which shows the operation of the force sensation generator which concerns on 4th Embodiment, (a) is a plane conceptual diagram which shows the 1st example of the operation, and (b) is a frontal conceptual diagram which shows the 1st example. (C) is a conceptual diagram of a plane showing a second example of the operation, (d) is a front conceptual diagram showing the second example, and (e) is a plane showing a third example of the operation. It is a conceptual diagram, (f) is a front conceptual diagram showing the third example, (g) is a plan conceptual diagram showing the fourth example of the operation, and (h) is a frontal conceptual diagram showing the fourth example. It is a conceptual diagram, (i) is a plan conceptual diagram showing a fifth example of the operation, (j) is a front conceptual diagram showing the fifth example, and (k) is a sixth example of the operation. It is a plan conceptual diagram which shows, and (l) is a front conceptual diagram which shows the 6th example.

Next, a mode for carrying out the present invention will be described with reference to the drawings. In addition, each embodiment described below is an embodiment when the present invention is applied to a force sensation generator for carrying the user to experience the force sensation. The force sensation in this case is experienced by the user in the three-dimensional space.
(I) First Embodiment
First, the first embodiment according to the present invention will be described with reference to FIGS. 1 to 3. Note that FIG. 1 is an external perspective view showing an outline configuration of the force sensation generator according to the first embodiment, FIG. 2 is an external view showing a configuration of a support portion of the first embodiment, and FIG. 3 is a first. It is a conceptual diagram which shows the operation of the force sense generator which concerns on embodiment.

As shown in FIG. 1, the force sensation generator S1 according to the first embodiment includes a glasses frame-shaped housing B1, an electric-mechanical vibration converter 10, an electric-mechanical vibration converter 20, an inner ring 11, and an inner ring 11. The inner ring 21, the outer ring 12, the outer ring 22, the rotating portion 15 that rotates the inner ring 11 at a right angle or more with respect to the outer ring 12, and the rotation that rotates the inner ring 21 at a right angle or more with respect to the outer ring 22. It is composed of a part 25 and. At this time, the electric-mechanical vibration converter 10, the inner ring 11, and the outer ring 12 are provided inside the portion corresponding to one of the lens holes of the eyeglass frame. Further, the electric-mechanical vibration transducer 20, the inner ring 21, and the outer ring 22 are provided inside the portion corresponding to the other of the lens holes of the eyeglass frame. The inner ring 11 and the inner ring 21 correspond to an example of the "rotation support portion", an example of the "second rotation support portion", and an example of the "third rotation support portion" according to the present invention, respectively. 12 and the outer ring 22 correspond to an example of the "fixed support portion", an example of the "second fixed support portion", and an example of the "third fixed support portion" according to the present invention, respectively, and the rotating portion 15 and the rotating portion 25 are described. Corresponds to an example of the "rotating means", an example of the "second rotating means", and an example of the "third rotating means" according to the present invention, respectively.

In the above configuration, a substantially cylindrical electric-mechanical vibration converter 10 is fixed inside the inner ring 11 so that the ring surface of the inner ring 11 and the substantially cylindrical bottom surface are parallel to each other. Then, the inner ring 11 is rotated by the rotating portion 15 inside the outer ring 12 with the rotation shaft 13 as the center. On the other hand, inside the inner ring 21, a substantially cylindrical electric-mechanical vibration converter 20 is fixed so that the ring surface of the inner ring 21 and the bottom surface of the substantially cylindrical shape are parallel to each other. Then, the inner ring 21 is rotated by the rotating portion 25 inside the outer ring 22 with the rotation shaft 23 as the center.

Next, the structures of the inner ring 11 and the inner ring 21 and the outer ring 12 and the outer ring 22 according to the present invention will be described with reference to FIG.

As shown in FIGS. 3, in the inner ring 11 and the inner ring 21 and the outer ring 12 and the outer ring 22 according to the present invention, the respective ring surfaces are the same in the first state (FIGS. 2A to 2). (C)) and the second state in which the ring surface of the inner ring 11 and the inner ring 21 and the ring surface of the outer ring 12 and the outer ring 22 form a right angle (see FIGS. 2 (d) to 2 (f)). The inner ring 11 and the inner ring 21 are rotated separately by the rotating portion 15 and the rotating portion 25 so as to be able to take. Then, each rotation is performed about the center line C1 passing through the central axis 13 and the central axis 23. The rotating portion 15 and the rotating portion 25 can be formed inside, for example, the outer ring 12 and the outer ring 22 by using, for example, microfabrication technology or MEMS (Micro Electro Mechanical Systems) technology.

On the other hand, as the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 according to the first embodiment, for example, the electric-mechanical vibration converter described in Patent Document 1 can be used. The electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 independently generate a force sense in a direction perpendicular to the bottom surface of the substantially cylindrical shape under the control of a drive unit (not shown). .. This driving unit corresponds to an example of the "driving means" according to the present application.

Next, the operation of the force sensation generator S1 according to the first embodiment will be described with reference to FIGS. 1 to 3. Note that FIG. 3 is a conceptual diagram conceptually showing the configuration of the force sensation generator S1 according to the first embodiment in order to clarify the explanation, and has the same configuration as the constituent members shown in FIGS. 1 and 2. Similar member numbers are used for the members.

First, as shown in the front conceptual diagram of FIG. 3 (a) and the planar conceptual diagram of FIG. 3 (b), the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are rotated in the same direction as the rotating portion 15 and the rotating portion 15, respectively. When the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are driven in a state of being rotated around the center line C1 by the unit 25, the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are driven. Generates a force sense F10 and a force sense F20 in the same direction, respectively. Therefore, the force sense generator S1 as a whole generates the force sense F1 in the direction along the axis A1 shown in FIGS. 3 (a) and 3 (b) (that is, the same direction as the force sense F10 and the force sense F20). .. As a result, the user carrying the force sensation generator S1 according to the first embodiment can feel as if he / she is pulled in the direction of the force sensation F1 (direction of the axis A1).

On the other hand, as shown in the front conceptual diagram of FIG. 3 (c) and the planar conceptual diagram of FIG. 3 (d), the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are rotated in opposite directions. When the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are driven while being rotated around the center line C1 by the rotating portion 15 and the rotating portion 25, the electric-mechanical vibration converter 10 and the electric-mechanical vibration are driven. The converter 20 generates a force sense F10 and a force sense F20 in opposite directions, respectively. Therefore, the force sense generator S1 as a whole generates the force sense F2 in the direction of rotation around the axis A2 shown in FIGS. 3 (c) and 3 (d). As a result, the user carrying the force sensation generator S1 according to the first embodiment can experience the rotation in the direction of the force sensation F2 (the direction of rotation around the axis A2). can.

Next, as shown in the front conceptual diagram of FIG. 3 (e) and the planar conceptual diagram of FIG. 3 (f), when only the electric-mechanical vibration converter 10 is driven in a non-rotated state, the electric-mechanical vibration converter 10 is driven. 10 generates a force sense F10 in the directions shown in FIGS. 3 (e) and 3 (f). At this time, since the electric-mechanical vibration converter 20 is not driven, the electric-mechanical vibration converter 20 does not generate a force sense. Therefore, the force sense generator S1 as a whole generates the force sense F3 in the direction along the axis A3 shown in FIGS. 3 (e) and 3 (f) (that is, in the same direction as the force sense F10). As a result, the user carrying the force sensation generator S1 according to the first embodiment can feel as if he / she is pulled in the direction of the force sensation F3 (direction of the axis A3).

In FIGS. 3 (a) to 3 (f), the angle formed by the axis A1 and the axis A2 is a right angle, and the axis A2 and the axis A3 are parallel to each other.

As described above, according to the configuration and operation of the force sensation generator S1 according to the first embodiment, the inner ring 11 supported inside by two points inside the outer ring 12 fixed to the housing B1. The electric-mechanical vibration converter 10 is fixed around the center line C1 inside the inner ring 11 which is rotatably supported at a right angle or more with respect to the plane including the outer ring 12. .. Further, in the plane including the outer ring 12, the electric-mechanical vibration converter 20 is supported outside the outer ring 12. Then, the inner ring 11 and the electric-mechanical vibration transducer 10 are rotated around the center line C1. In the above configuration, the electric-mechanical vibration converter 10 is driven so as to generate a force sense F10 in a direction perpendicular to the plane including the inner ring 11, and is in a direction perpendicular to the plane including the inner ring 21. When the electric-mechanical vibration converter 20 is driven so as to generate the force sense F20, the rotation of the inner ring 11 and the electric-mechanical vibration converter 10, and the electric-mechanical vibration converter 10 and the electric-mechanical vibration conversion are performed. Two electric-machines are used to generate a force sense of three degrees of freedom (translational two degrees of freedom for axes A1 and axis A3 and rotation one degree of freedom for axis A2) by driving the device 20. It can be realized by the vibration converter 10 and the electric-mechanical vibration converter 20. As a result, it is possible to realize a lightweight / miniaturized force sensation generator S1 while being able to generate a force sensation having a plurality of degrees of freedom.
(II) Second Embodiment
Next, a second embodiment, which is another embodiment of the present invention, will be described with reference to FIG. Note that FIG. 4 is a conceptual diagram showing the operation of the force sensation generator according to the second embodiment. FIG. 4 is a conceptual diagram conceptually showing the configuration of the force sensation generator according to the second embodiment in order to clarify the explanation. As shown in FIG. 4, the configuration of the force sensation generator according to the second embodiment is basically the same as the configuration of the force sensation generator S1 according to the first embodiment. -For the same constituent members as those shown in FIG. 3, the same member numbers are used.

Regarding the operation of the force sensation generator S2 according to the second embodiment, first, as shown in the front conceptual diagram of FIG. 4 (a) and the plan conceptual diagram of FIG. 4 (b), the electric-mechanical vibration converter 10 and electricity. -When the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are driven in a state where the mechanical vibration converter 20 is rotated around the center line C1 by the rotating portion 15 and the rotating portion 25, respectively, the electric-mechanical vibration converter 20 is driven. Similar to the case of the force sense generator S1 according to the first embodiment, the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 generate the force sense F10 and the force sense F20 in the same direction, respectively. Therefore, the force sense generator S2 as a whole generates the force sense F1 in the direction along the axis A1 shown in FIGS. 4 (a) and 4 (b). As a result, the user carrying the force sensation generator S2 according to the second embodiment can feel as if he / she is pulled in the direction of the force sensation F1 (direction of the axis A1).

Next, as shown in the front conceptual diagram of FIG. 4 (c) and the planar conceptual diagram of FIG. 4 (d), the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are rotated in opposite directions to each other. And when the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are driven in a state of being rotated around the center line C1 by the rotating portion 25, the case of the force sense generator S1 according to the first embodiment is used. Similarly, the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 generate a force sense F10 and a force sense F20 in opposite directions, respectively. Therefore, the force sense generator S2 as a whole generates the force sense F2 in the direction of rotation around the axis A2 shown in FIGS. 4 (c) and 4 (d). As a result, the user carrying the force sensation generator S2 according to the second embodiment can be made to experience the rotation in the direction of the force sensation F2.

Next, as shown in the front conceptual diagram of FIG. 4 (e) and the planar conceptual diagram of FIG. 4 (f), when the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are driven in a non-rotating state, the electric-mechanical vibration converter 20 is driven. The electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 generate the force sense F10 and the force sense F20 in the directions shown in FIGS. 4 (e) and 4 (f), respectively. Therefore, the force sense generator S2 as a whole generates the force sense F3 in the direction along the axis A3 shown in FIGS. 4 (e) and 4 (f) (that is, the same direction as the force sense F10 and the force sense F20). .. As a result, the user carrying the force sensation generator S2 according to the second embodiment can feel as if he / she is pulled in the direction of the force sensation F3.

Finally, as shown in the front conceptual diagram of FIG. 4 (g) and the planar conceptual diagram of FIG. 4 (h), only the electric-mechanical vibration converter 10 is rotated in the opposite direction by a rotating portion (not shown in FIG. 4). When the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are driven in this state, the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 have a force sense F10 and a force sense F20 in opposite directions. Are generated respectively. Therefore, the force sense generator S2 as a whole generates the force sense F4 in the direction of rotation around the axis A4 shown in FIGS. 4 (g) and 4 (h). As a result, the user carrying the force sensation generator S2 according to the second embodiment can feel that the force sensation is rotated in the direction of the force sensation F4.

In FIGS. 4 (a) to 4 (h), the axis A1 and the axis A4 are parallel, the axis A2 and the axis A3 are parallel, and the axis A1 (axis A4) and the axis A2 (axis A3). The angle between them is a right angle.

As described above, according to the configuration and operation of the force sensation generator S2 according to the second embodiment, in addition to the effect of the configuration and operation of the force sensation generator S1 according to the first embodiment, the outer ring 22 is provided. Is fixed in a plane including the outer ring 12 and outside the outer ring 12. Further, the inner ring 21 to which the electric-mechanical vibration converter 20 is fixed inside is supported inside by two points inside the outer ring 22, and a plane including the outer ring 22 around the center line C1. It is supported so that it can rotate more than a right angle to the relative. Then, the inner ring 21 and the electric-mechanical vibration transducer 20 are rotated around the center line C1. Therefore, by further rotation of the inner ring 21 and the electric-mechanical vibration converter 20, four degrees of freedom (translational two degrees of freedom for the axes A1 and A3 and rotation two degrees of rotation for the axes A2 and A4). The force sensation generator S2 capable of generating a force sensation can be realized by the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20.
(II) Third Embodiment
Next, a third embodiment, which is still another embodiment of the present invention, will be described with reference to FIG. Note that FIG. 5 is a conceptual diagram showing the operation of the force sensation generator according to the third embodiment. FIG. 5 is a conceptual diagram conceptually showing the configuration of the force sensation generator according to the third embodiment in order to clarify the explanation.

Here, in the force sensation generator S3 according to the third embodiment, as shown in FIG. 5, three electric-mechanical vibration converters 10 to 30 arranged in an equilateral triangle are shown in FIG. 5 is provided in a triangular frame-shaped housing B3 via an inner ring and an outer ring (not shown). At this time, the electric-mechanical vibration converter 10 to the electric-mechanical vibration converter 30 have the same configurations as the inner ring 11 and the outer ring 12 according to the force sensation generator S1 according to the first embodiment, respectively. And by the outer ring, they are supported by the housing B3 so as to be rotatable separately. Further, the mode of generating the force sense by each of the electric-mechanical vibration converter 10 to the electric-mechanical vibration converter 30 is the same as that of the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 according to the first embodiment. Is. Therefore, in the following description, the description of the configuration itself of the inner ring and the outer ring according to the third embodiment will be omitted. Along with this, in FIG. 5, the same member numbers are used for the same constituent members as those shown in FIGS. 1 to 4.

Regarding the operation of the force sensation generator S3 according to the third embodiment, first, as shown in the front conceptual diagram of FIG. 5 (a) and the planar conceptual diagram of FIG. 5 (b), the electric-mechanical vibration conversion is performed in a non-rotating state. When the device 10 to the electric-mechanical vibration converter 30 is driven, the electric-mechanical vibration converter 10 to the electric-mechanical vibration converter 30 generates a force sense F10 to a force sense F30 in the same direction, respectively. Therefore, the force sense generator S3 as a whole generates the force sense F1 in the direction along the axis A1 shown in FIGS. 5 (a) and 5 (b) (that is, the same direction as the force sense F10 to the force sense F30). .. As a result, the user carrying the force sensation generator S3 according to the third embodiment can feel as if he / she is pulled in the direction of the force sensation F1 (direction of the axis A1).

Next, as shown in the front conceptual diagram of FIG. 5 (c) and the planar conceptual diagram of FIG. 5 (d), only the electric-mechanical vibration converter 10 is rotated in the opposite direction by a rotating portion (not shown in FIG. 5). When only the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are driven in this state, the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 have a force sense F10 and a force sense in the opposite directions. Generate F20 respectively. Therefore, the force sense generator S3 as a whole generates the force sense F2 in the direction of rotation around the axis A2 shown in FIGS. 5 (c) and 5 (d). As a result, the user carrying the force sensation generator S3 according to the third embodiment can feel that the force sensation is rotated in the direction of the force sensation F2.

Next, as shown in the front conceptual diagram of FIG. 5 (e) and the planar conceptual diagram of FIG. 5 (f), only the electric-mechanical vibration converter 30 is rotated in the opposite direction by a rotating portion (not shown in FIG. 5). When the electric-mechanical vibration converter 10 to the electric-mechanical vibration converter 30 are driven in this state, the electric-mechanical vibration converter 10 to the electric-mechanical vibration converter 30 are shown in FIGS. 5 (e) and 5 (f). ), The force sense F10 to the force sense F30 in the respective directions are generated. Therefore, the force sense generator S3 as a whole generates the force sense F3 in the direction of rotation around the axis A3 shown in FIGS. 5 (e) and 5 (f). As a result, the user carrying the force sensation generator S3 according to the third embodiment can feel that the force sensation is rotated in the direction of the force sensation F3.

Next, as shown in the front conceptual diagram of FIG. 5 (g) and the planar conceptual diagram of FIG. 5 (h), the electric-mechanical vibration converter is rotated in the same direction by a rotating portion (not shown in FIG. 5). When only 10 and the electric-mechanical vibration converter 20 are driven, the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 have a force sense in the directions shown in FIGS. 5 (g) and 5 (h), respectively. F10 and force sense F20 are generated respectively. Therefore, the force sense generator S3 as a whole generates the force sense F4 in the direction of rotation around the axis A4 shown in FIGS. 5 (g) and 5 (h). As a result, the user carrying the force sensation generator S3 according to the third embodiment can feel that the force sensation is rotated in the direction of the force sensation F4.

Finally, as shown in the front conceptual diagram of FIG. 5 (i) and the planar conceptual diagram of FIG. 5 (j), the electric-mechanical vibration converter 10 and the electric-mechanical vibration in opposite directions due to the rotating portion (not shown in FIG. 5). Assuming that the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are driven while only the converter 20 is rotated, and the electric-mechanical vibration converter 30 is not driven, the electric-mechanical vibration converter 30 is not driven. The vibration converter 10 and the electric-mechanical vibration converter 20 generate a force sense F10 and a force sense F20 in the directions shown in FIGS. 5 (i) and 5 (j), respectively. Therefore, the force sense generator S3 as a whole generates the force sense F5 in the direction of the axis A5 shown in FIGS. 5 (i) and 5 (j) (that is, the direction of the resultant force of the force sense F10 and the force sense F20). As a result, the user carrying the force sensation generator S3 according to the third embodiment can feel as if he / she is pulled in the direction of the force sensation F5 (direction of the axis A5).

In FIGS. 5A to 5J, the axis A1 and the axis A4 are parallel, the axis A2 and the axis A5 are parallel, and the angle formed by the axis A2 (axis A5) and the axis A3. Will be at right angles.

As described above, according to the configuration and operation of the force sensation generator S3 according to the third embodiment, in addition to the effect of the configuration and operation of the force sensation generator S2 according to the second embodiment, the third embodiment. The electric-mechanical vibration converter 30 is supported in a plane including each outer ring according to the above or in a plane perpendicular to the plane. Then, the electric-mechanical vibration transducer 30 is driven so as to generate a force sense in a direction in a plane including each outer ring according to the third embodiment or in a direction perpendicular to the plane. Therefore, by adding the electric-mechanical vibration converter 30, a force capable of generating a force sense of five degrees of freedom (translational two degrees of freedom for the axes A1 and A5 and three rotational degrees of freedom for the axes A2 to A4) can be generated. The sensation generator S3 can be realized by three electric-mechanical vibration converters 10 to electric-mechanical vibration converters 30.
(II) Fourth Embodiment
Finally, a fourth embodiment, which is still another embodiment of the present invention, will be described with reference to FIG. Note that FIG. 6 is a conceptual diagram showing the operation of the force sensation generator according to the fourth embodiment. FIG. 5 is a conceptual diagram conceptually showing the configuration of the force sensation generator according to the fourth embodiment in order to clarify the explanation. As shown in FIG. 6, the configuration of the force sensation generator according to the fourth embodiment is basically the same as the configuration of the force sensation generator S3 according to the third embodiment. For the same constituent members as each constituent member shown in the above, the same member number is used.

The force sensation generator S4 according to the fourth embodiment is the third embodiment described with reference to FIGS. 5 (a) to 5 (j), respectively, as shown in FIGS. 6 (a) to 6 (j). The same operation as that of the force sensation generator S3 according to the embodiment is performed.

In addition to these, the force sensation generator S4 according to the fourth embodiment has a rotating portion (not shown in FIG. 5), as shown in the front conceptual diagram of FIG. 6 (k) and the planar conceptual diagram of FIG. 6 (l), respectively. Assuming that the electric-mechanical vibration converter 30 is driven in the rotated state and the electric-mechanical vibration converter 10 and the electric-mechanical vibration converter 20 are not driven, the electric-mechanical vibration converter 30 is shown in the figure. The force sense F30 in the directions shown in 5 (k) and 5 (l) is generated. Therefore, the force sense generator S4 as a whole according to the fourth embodiment generates the force sense F6 in the direction of the axis A6 shown in FIGS. 5 (k) and 5 (l) (that is, in the same direction as the force sense F30). .. As a result, the user carrying the force sensation generator S4 according to the fourth embodiment can feel as if he / she is pulled in the direction of the force sensation F6 (direction of the axis A6).

In FIGS. 6 (a) to 6 (l), the axes A1 and A4 are parallel, the axes A2 and A5 are parallel, the axes A3 and A6 are parallel, and the axes A2. The angle formed by (axis A5) and axis A3 (axis 6) is a right angle.

As described above, according to the configuration and operation of the force sensation generator S4 according to the fourth embodiment, in addition to the effect of the configuration and operation of the force sensation generator S3 according to the third embodiment, electric-mechanical vibration. The inner ring to which the converter 30 is fixed to the inner side is supported by two points on the inner side of the outer ring so as to be rotatable at right angles or more to the inner side. The electrical-mechanical vibration transducer 30 is then rotated around the inner centerline of the outer ring. Therefore, when the rotation of the electric-mechanical vibration converter 30 is further added, the force of six degrees of freedom (translational three degrees of freedom for the axes A1, A5 and A6, and three rotational degrees of freedom for the axes A2 to A4). The force sensation generator S4 capable of generating sensation can be realized by three electric-mechanical vibration converters 10 to electric-mechanical vibration converters 30.

Further, according to the configurations and operations of the force sensation generator S3 according to the third embodiment and the force sensation generator S4 according to the fourth embodiment, the electric-mechanical vibration converter 10 to the electric-mechanical vibration converter 30. Since the electric-mechanical vibration converter 10 to the electric-mechanical vibration converter 30 are arranged so that each center (that is, the generation point of the force sense F10 to the force sense F30) is located at each apex of the regular triangle. , It is possible to efficiently generate a sense of force at each degree of freedom.

Further, according to the configurations of the force sensation generator S3 according to the third embodiment and the force sensation generator S4 according to the fourth embodiment, the center of the electric-mechanical vibration converter 10 to the electric-mechanical vibration converter 30 is centered. Since it is located at the apex of the regular triangle, it is easy for the user to hold it, and therefore, the force sensation generator S3 or the force sensation generator S4, which is lighter / smaller, effectively perceives the sensation of force sensation. It is possible to realize how to hold the device (grasping method).

In each of the above-described embodiments, the postures (states) of the electric-mechanical vibration converter 10 to the electric-mechanical vibration converter 30 have been described in the case of the first state or the second state. In addition to this, if there is an angle difference from the first state, even if there is an angle difference between the first state and the second state, or beyond the second state. Even in a state of being rotated at a right angle or more, the effect of the present invention, that is, the force sense in a desired direction can be generated according to the degree of freedom.

Further, it is also possible to mount a so-called inertial measurement unit on each of the force sensation generator S1 to the force sensation generator S4 according to each embodiment. At this time, the inertial measurement unit (IMU) is composed of, for example, an acceleration sensor, a gyroscope, a geomagnetic sensor, or the like, and the movement amount, rotation amount, or orientation of the device on which the inertial measurement unit is mounted. It is a sensor that can detect such things. By installing the inertial measurement unit, not only the direction of gravity such as the force sensation generator S1 to the force sensation generator S4 according to each embodiment but also the force sensation generator S1 to the force sensation generator S4 can be used by the user. It is possible to detect in what state (posture) the vehicle is being carried and moving. Therefore, by using this, regardless of the usage state (portable state) of the force sense generator S1 to the force sense generator S4, the force sense can be experienced in a spatially constant (that is, unified) direction. It is possible to present the user with an experience of stroking it along the contour of a so-called aerial image in which no substance exists.

As described above, the present invention can be used in the field of force sensation generators, and particularly remarkable effects can be obtained when applied in the field of force sensation generators carried by users. ..

10, 20, 30 Electric-mechanical vibration converter 11, 21 Inner ring 12, 22 Outer ring 13, 23 Rotating shaft 15, 25 Rotating part S1, S2, S3, S4 Force sensor A1, A2, A3, A4, A5, A6 axis B1, B3 housing C1 center line F1, F2, F3, F4, F5, F6, F10, F20, F30 force sense

Claims (5)

A frame-shaped fixed support that is fixed to the housing,
A frame-shaped rotary support portion supported inside the fixed support portion by two points inside the fixed support portion, which is relatively perpendicular to a plane including the fixed support portion around a line connecting the two points. The rotary support part that is rotatably supported and
The first electric-mechanical vibration transducer fixed inside the rotation support portion,
A second electric-mechanical vibration transducer supported outside the fixed support portion in a plane including the fixed support portion.
A rotating means for rotating the rotation support portion and the first electric-mechanical vibration transducer around the line, and
A first driving means for driving the first electric-mechanical vibration transducer so as to generate a force sense in a direction perpendicular to the plane including the rotation support portion.
A second driving means for driving the second electric-mechanical vibration transducer so as to generate a force sense in a direction perpendicular to the plane including the fixed support portion.
A force sensation generator characterized by being equipped with. In the force sensation generator according to claim 1,
A frame-shaped second fixed support portion fixed in the plane including the fixed support portion and outside the fixed support portion.
A frame-shaped second rotation support portion supported inside by two points inside the second fixed support portion, and on a plane including the second fixed support portion around a line connecting the two points. On the other hand, a second rotation support portion that is rotatably supported at a right angle or more and has the second electric-mechanical vibration converter fixed inside, and a second rotation support portion.
A second rotating means for rotating the second rotary support and the second electric-mechanical vibration transducer around a line connecting two points inside the second fixed support.
A force sensation generator characterized by further providing. In the force sensation generator according to claim 2,
A third electric-mechanical vibration transducer supported outside the fixed support portion or the second fixed support portion in a plane including the fixed support portion and the second fixed support portion or in a plane perpendicular to the plane. When,
A third driving means for driving the third electric-mechanical vibration transducer so as to generate a force sense in a direction in a plane including the fixed support portion and the second fixed support portion or in a direction perpendicular to the plane. When,
A force sensation generator characterized by further providing. In the force sensation generator according to claim 3,
A frame-shaped third fixed support portion fixed in a plane including the fixed support portion and the second fixed support portion and outside the fixed support portion or the second process support portion.
A frame-shaped third rotation support portion supported inside by two points inside the third fixed support portion, and on a plane including the third fixed support portion around a line connecting the two points. On the other hand, a third rotation support portion that is rotatably supported at a right angle or more and has the third electric-mechanical vibration converter fixed inside, and a third rotation support portion.
A third rotating means for rotating the third rotation support portion and the third electric-mechanical vibration transducer around a line connecting two points inside the third fixed support portion.
A force sensation generator characterized by further providing. In the force sensation generator according to claim 3 or 4.
The generation point of the force sensation in the first electric-mechanical vibration converter, the generation point of the force sensation in the second electric-mechanical vibration converter, and the force sensation in the third electric-mechanical vibration converter. The first electric-mechanical vibration converter, the second electric-mechanical vibration converter, and the third electric-mechanical vibration converter are arranged so that the generation point is located at each apex of the regular triangle. A force sensation generator characterized by this.

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