JP7208123B2 - air jacks and stimulators - Google Patents

Description

The present invention relates to air jacks and stimulators.

2. Description of the Related Art Conventionally, there is known a technique of changing the shapes of an internal space and a forming member by supplying a fluid into the forming member forming the internal space (see, for example, Patent Document 1). Patent Literature 1 discloses a fluid pressure actuator in which a tube diameter changes by supplying a fluid into a double inner tube. Patent Literature 2 discloses a rod-shaped instrument that is gripped by a person, such as a handrail with a variable grip thickness (rod diameter). Patent Document 3 discloses an air massage device in which an air bag is arranged inside a seat. In this air massage device, air is sucked into and discharged from the air bag.

JP 2015-108436 A JP-A-2000-204799 Japanese Patent Application Laid-Open No. 2001-252315

In the actuator disclosed in Patent Document 1, when the fluid is supplied into the inner tube, the tube diameter increases and the length along the central axis of the tube decreases. can't keep In addition, if the amount of fluid in the inner tube is extremely small, the rigidity of the actuator itself depends on the rigidity of the tube, so that the rigidity decreases and a constant shape cannot be maintained. In the device described in Patent Document 2, a certain amount of paper is wrapped around the core material, so the larger the diameter of the device, the larger the space formed between the wound papers. As a result, with this device, if the thickness of the grip is increased, the space between the papers will increase and the rigidity will decrease. The airbag of the massage device described in Patent Document 3 has a bag-like shape, and is repeatedly inflated and deflated by compressed air supplied into the bag. The airbag itself is formed of an elastic material, and has low rigidity when no air is contained, and is deformed by a slight load.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems. It is intended to have rigidity.

The present invention has been made to solve the above-described problems, and can be implemented as the following modes. An air jack comprising a core material and an elastic hollow tube body wound around the outer surface of the core material, wherein at least one of the outer diameter and hardness of the air jack is the tube body The core material has a base material provided inside and a surface member provided on the outer surface of the base material, and the surface member is made of the same material as the tube body. In addition, the present invention can also be implemented as the following modes.

(1) According to one aspect of the present invention, an air jack is provided. The air jack includes a core material and an elastic hollow tube body wound around the outer surface of the core material, and at least one of the outer diameter and hardness of the air jack is determined by the tube body It changes according to the flow rate of the fluid filled inside.

According to this configuration, when the inside of the tube body wound around the core material is filled with the fluid, the tube body expands. As a result, the outer diameter of the air jack including the core material and the tube body is increased, and the rigidity of the air jack is ensured by the fluid in the tube body. On the other hand, when the tube body is not filled with fluid, the rigidity of the air jack can be ensured by the core material. That is, the size of the air jack changes as the fluid flowing through the air jack changes, and the air jack can have a constant rigidity even when no fluid flows in the air jack.

(2) In the air jack of the above aspect, the core material has a base material provided inside and a surface member provided on the outer surface of the base material, and the surface member is the tube body may be made of the same material as
According to this configuration, since the material of the surface member and the material of the tube body are the same, the surface member and the tube body can be strongly bonded.

(3) In the air jack of the above aspect, the base material is formed of mesh-woven metal strands, and the surface member is formed of a flexible resin material. The shape of the core material may be changeable.
According to this configuration, since the base material is configured in a mesh shape of metal wires, the shape of the base of the core material can be easily changed. Since the base material is deformable and the surface member has flexibility, the shape of the core material can be easily changed after being molded as the core material.

(4) In the air jack of the aspect described above, the surface member and the tube body may be made of a silicon compound.
According to this configuration, the tube body and the surface member of the base material can be bonded even if a silicon compound that is difficult to bond with other materials is used for the tube body.

(5) In the air jack of the aspect described above, the tube body may be adhered to the surface member with an adhesive containing the same material as the tube body.
According to this configuration, the surface member made of the silicon compound and the tube body can be strongly bonded.

(6) According to another aspect of the invention, a stimulator is provided. This stimulation device includes the air jack described above, a sensor, a supply unit that supplies the fluid to the inside of the tube body, and supply from the supply unit in accordance with a change in the detection value detected by the sensor. and a control unit that changes the flow rate of the fluid.
According to this configuration, the controller changes the flow rate of the fluid in the tube according to the change in the situation detected by the sensor. Therefore, the change in the situation detected by the sensor can be transmitted as a stimulus to the user who is touching the air jack or visually recognizing the air jack.

(7) In the stimulation device of the above aspect, the tube body is arranged at a steering wheel of a vehicle, the sensor detects environmental information around the vehicle, and the control unit detects the environment detected by the sensor. A flow rate of the fluid supplied from the supply unit may be changed when the information changes.
According to this configuration, when the environmental information of the vehicle changes, the flow rate of the fluid in the tube changes, thereby changing the size of the tube arranged in the steering wheel. As a result, the driver of the vehicle holding the steering wheel can perceive changes in the environmental conditions, which he/she does not perceive visually or audibly, from changes in the size of the air jack.

(8) In the stimulating device of the above aspect, the sensor uses the environmental information to change from a first mode as an autonomous driving mode of the vehicle to a second mode as the autonomous driving mode different from the first mode. A change may be detected, and the control section may change the flow rate of the fluid supplied from the supply section after the change is detected by the sensor.
In a vehicle equipped with an autonomous driving system, different inputs may be required for the driver to operate the vehicle depending on the multiple autonomous driving modes. According to this configuration, when the operation required of the driver changes with the change of the autonomous driving mode from the first mode to the second mode as the environmental conditions around the vehicle, driving while holding the steering wheel is possible. The change in hand can be communicated to the driver as a change in the size of the air jack.

(9) In the stimulation device of the above aspect, the air jack is further arranged in a driver's seat of the vehicle, and the control unit is arranged in the steering wheel when the environmental information changes. A flow rate of the fluid supplied from the supply section to the inside of each tube body may be changed in synchronism with the air jack and the air jack arranged in the seat.
According to this configuration, an air jack is arranged in the driver's seat in addition to the tube body arranged in the steering wheel. Furthermore, the flow rates supplied to the tubular body arranged in the steering wheel and the tubular body arranged in the seat change synchronously according to changes in environmental information around the vehicle. Therefore, a driver sitting in the driver's seat can recognize changes in environmental information from changes in the size of the tube body in the steering wheel and seat. Furthermore, since the flow rate of the fluid in the two tubes changes synchronously, it is possible to make the driver separately recognize different environmental changes depending on the period of synchronism or the like.

The present invention can be implemented in various aspects, for example, an air jack, a variable handle, a stimulation device, a haptic stimulation interlocking device, a vehicle, a device and system including these, a stimulation method, and It can be realized in the form of a computer program for executing these systems and methods, a server device for distributing this computer program, a non-temporary storage medium storing the computer program, and the like.

1 is a schematic perspective view of a vehicle with an air jack and stimulator according to an embodiment of the invention; FIG. 1 is a schematic block diagram of a vehicle with an air jack and stimulator; FIG. It is a schematic front view of a handle and a first jack. It is a schematic perspective view of a 2nd jack. It is explanatory drawing of the core material in a 2nd jack. It is a schematic front view of a base material.

<Embodiment>
FIG. 1 is a schematic perspective view of a vehicle 100 with air jacks 10, 20 and a stimulation device 90 according to an embodiment of the invention. FIG. 1 shows a schematic perspective view of part of a vehicle 100 when the driver's seat is viewed from the left front passenger seat, and an information database 200 (information DB 200) that stores various information. The vehicle 100 of this embodiment is equipped with an autonomous driving support system, and selects one autonomous driving mode from a plurality of autonomous driving modes according to the environmental conditions around the vehicle 100 . The vehicle 100 runs while assisting the driver's operation in accordance with the selected autonomous driving mode. The information DB 200 transmits and receives various information to and from the vehicle 100 by wireless communication. Note that in this specification, changes in the switching of the autonomous driving mode are also included as changes in the environmental conditions around the vehicle 100 .

As shown in FIG. 1, a vehicle 100 includes a steering wheel 80 for receiving a handling operation, a seat 60 on which a driver sits, a side mirror 70, and a tactile sensor 52 for detecting touch by the driver or the like. , a control device 30 that performs various controls of the stimulation device 90, and a compressor (supply unit) 40 that sends compressed air as a fluid to other devices according to control signals sent from the control device 30. A first jack 10 (air jack) that is expanded and contracted by compressed air sent from the compressor 40 is arranged on the handle 80 . A second jack 20 (air jack) that is expanded and contracted by the compressed air of the compressor 40 is arranged in the seat 60 in the same manner as the first jack 10 .

The side mirror 70 has a Doppler sensor 51 . The Doppler sensor 51 transmits microwaves to the surroundings and detects the microwaves reflected by the surrounding objects to detect the movement of the object. For example, the Doppler sensor 51 detects objects such as other vehicles and people near the side mirror 70 . Hereinafter, the first jack 10 and the second jack 20 are also collectively referred to as the air jacks 10 and 20.

FIG. 2 is a schematic block diagram of a vehicle 100 with air jacks 10, 20 and stimulator 90. As shown in FIG. The control device 30 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), which are not shown in FIGS. The CPU functions as a determination unit 31, a communication unit 32, a GPS (Global Positioning System) 33, and a flow rate control unit 34 shown in FIG. do.

The communication unit 32 acquires map information from the information DB 200 . GPS 33 identifies the position of vehicle 100 using satellite position information and map information acquired from information DB 200 . The determination unit 31 switches between a plurality of autonomous driving modes using the position of the vehicle 100 specified by the GPS 33 and map information. For example, when the vehicle 100 enters a highway from a general road, the determination unit 31 supports the driver's driving and then supports the driver's driving from the guardian mode, which is one of the autonomous driving modes, Switch to chauffeur mode, one of the autonomous driving modes that automatically controls steering and speed. On the other hand, when the vehicle 100 traveling on the expressway is within a predetermined distance from the expressway toll booth, the determination unit 31 switches the autonomous traveling mode from the chauffeur mode to the guardian mode. Further, the determination unit 31 continuously acquires information about the detected object detected by the Doppler sensor 51 and detection values of the tactile sensor 52 .

The flow control unit 34 controls the compressor 40 using the determination result by the determination unit 31 . The flow control unit 34 supplies compressed air to the air jacks 10 and 20 when the autonomous driving mode is switched from the chauffeur mode to the guardian mode and when the Doppler sensor 51 detects an object to be detected. to control the compressor 40. That is, the flow control unit 34 changes the flow rate of the air as the fluid supplied from the compressor 40 when the detected environmental information around the vehicle 100 changes. The flow rate control unit 34 changes the flow rate of the compressed air that flows into the air jacks 10 and 20 at regular intervals. The flow rate control unit 34 synchronizes flow rate changes in the first jack 10 and the second jack 20 . The flow rate control unit 34 changes the cycle of the flow rate change according to the sensor that detects the change in the environmental condition that causes the flow rate change. For example, the change detected by the Doppler sensor 51 and the determination result by the determination unit 31 that changes according to the running condition of the vehicle 100 differ in the period of change in the flow rate of the compressed air supplied to the air jacks 10 and 20 .

Further, when the tactile sensor 52 detects the contact of the driver or the like while the compressor 40 is supplying the compressed air to the air jacks 10 and 20, the flow control unit 34 supplies the compressed air to the air jacks 10 and 20. stop the supply. That is, when the outer diameter and hardness of the air jacks 10 and 20 are changing, the change of the air jacks 10 and 20 can be stopped by the driver touching the tactile sensor 52 . Note that the determination unit 31 and the flow control unit 34 in this embodiment function as the "control unit" in the claims. The determination unit 31 also functions as a "sensor" in the claims for detecting the surrounding environmental conditions.

FIG. 3 is a schematic front view of the handle 80 and the first jack 10. FIG. As shown in FIG. 3 , the first jack 10 includes a handle 80 as a core member 15 and an elastic hollow tube body 11 wound around the outer surface of the handle 80 . The tube body 11 is made of a silicon compound, which is a resin material. Air compressed by the compressor 40 is supplied to the inside of the tube body 11, and when the tube body 11 is filled with air, the tube body 11 expands. The outer diameter and hardness of first jack 10 including tube body 11 change according to the flow rate of air in tube body 11 . Note that the outer diameter of the first jack 10 is the diameter based on the central axis of the circle of the handle 80 .

FIG. 4 is a schematic perspective view of the second jack 20. FIG. As shown in FIG. 4 , the second jack 20 includes a rectangular parallelepiped core 25 and an elastic hollow tube body 21 wound around the outer surface of the core 25 . The tube body 21 is made of the same silicon compound as the tube body 11 of the first jack 10 . When the compressed air from the compressor 40 is supplied to the inside of the tube body 21 and the inside of the tube body 21 is filled with air, the tube body 21 expands. The size and hardness of the second jack 20 including the tube body 21 change according to the flow rate of the air inside the tube body 21 .

FIG. 5 is an explanatory diagram of the core material 25 in the second jack 20. As shown in FIG. FIG. 5 shows a cut plane CP obtained by cutting the core material 25 . As shown in FIG. 5, the core material 25 has a base material 26 provided inside and a surface member 27 provided on the outer surface of the base material 26 . The surface member 27 is made of the same flexible resin material as the tube body 21, which contains a silicon compound. The tube body 21 is adhered to the surface member 27 with the same adhesive containing a silicon compound as the tube body 21 . In this embodiment, KE-12, which is used for general molding by Shin-Etsu Chemical Co., Ltd. (Shin-Etsu Silicone), is used as the material of the surface member 27 . Swanbond 102 manufactured by Takada Chemicals Manufacturing Co., Ltd. is used as the adhesive.

FIG. 6 is a schematic front view of the substrate 26. FIG. As shown in FIG. 6, the base material 26 is formed by mesh weaving of a plurality of parallel strands 261 and a plurality of strands 262 perpendicular to the strands 261 . The wires 261 and 262 are made of the same metallic material. Therefore, the base material 26 is deformed when a certain force or more is applied. In the manufacturing method of the core material 25, the surface member 27 was cured after pouring the uncured surface member 27 in a state in which the substrate 26 was slightly raised from the plane. Since the base material 26 and the surface member 27 are deformable, the shape of the core material 25 is also deformable.

As described above, the air jacks 10 and 20 in this embodiment are provided with the elastic hollow tube bodies 11 and 21 wound around the outer surfaces of the core members 15 and 25 . The outside diameter (size) and hardness of the air jacks 10 and 20 change as the flow rate of the compressed air as the fluid filled in the tube bodies 11 and 21 changes. Therefore, in the air jacks 10 and 20 of this embodiment, when the tube bodies 11 and 21 are filled with compressed air, the outer diameters of the air jacks 10 and 20 become large. Further, the rigidity of the air jacks 10, 20 is ensured by the compressed air inside the tube bodies 11, 21. On the other hand, when the tube bodies 11 and 21 are not filled with fluid, the rigidity of the air jack can be ensured by the core members 15 and 25 . Further, the sizes of the core members 15 and 25 do not change depending on whether the tube bodies 11 and 12 are filled with the fluid or not. Thereby, even if the flow rate of the fluid in the tube bodies 11 and 21 changes, the sizes of the core members 15 and 25 of the air jacks 10 and 20 do not change. As a result, the air jacks 10 and 20 can change the outer diameter while maintaining a constant size.

Further, the core member 25 of the second jack 20 of this embodiment includes a base material 26 and a surface member 27 provided on the outer surface of the base material 26 . The surface member 27 is made of the same material as the tube body 21 . Since the material of the surface member 27 of this embodiment and the material of the tube body 21 are the same, the surface member 27 and the tube body 21 can be firmly adhered.

In addition, the base material 26 of the second jack 20 of the present embodiment is formed of a plurality of mesh-woven metal strands 261 and 262, and changes in shape. The surface member 27 is made of a flexible resin material. Since the base material 26 is deformable and the surface member 27 has flexibility, the shape of the core material 25 can be easily changed after the core material 25 is molded.

Further, the surface member 27 and the tube body 21 of the second jack 20 of this embodiment are made of a silicon compound. Therefore, the tube body 21 and the surface member 27 of the base material 26 can be bonded even if the tube body 21 is made of silicon, which is difficult to adhere to other materials.

Further, the tube body 21 in the second jack 20 of this embodiment is adhered to the surface member 27 with an adhesive containing the same material as the tube body 21 . As a result, the surface member 27 made of a silicon compound and the tube body 21 can be bonded more firmly.

In addition, the stimulation device 90 of the present embodiment includes the air jacks 10 and 20, the Doppler sensor 51 and the tactile sensor 52 that function as sensors, the determination unit 31, the compressor 40, the determination unit 31 that functions as a control unit, and the flow rate A control unit 34 is provided. Doppler sensor 51 , tactile sensor 52 , and determination unit 31 detect environmental information around vehicle 100 . The compressor 40 supplies compressed air as a fluid into the tube bodies 11 and 21 . The flow rate control section 34 controls the flow rate of the compressed air supplied into the tube bodies 11 and 21 according to the determination result of the determination section 31 . Therefore, the flow rate of the compressed air in the tube bodies 11 and 21 changes according to changes in the surrounding environmental conditions detected by the sensors. As a result, a user such as a driver who is touching the air jacks 10 and 20 or who is visually recognizing the air jacks 10 and 20 can detect changes in the surrounding environmental conditions detected by the sensors via the air jacks 10 and 20. It can be recognized as a strong stimulus. For example, when it is desired to present danger to a driver, a sound alarm is used. It can be recognized by the driver.

Further, the tube body 11 of the first jack 10 of this embodiment is arranged on the steering wheel 80 of the vehicle 100 . The flow control unit 34 supplies the first jack 10 with the change in the surrounding environmental conditions by the Doppler sensor 51 or the change in the surrounding environmental conditions based on the traveling position of the vehicle 100 determined by the determining unit 31 . Vary the flow rate of compressed air. Therefore, the change in the outer diameter of the first jack 10 arranged on the steering wheel 80 causes the driver holding the steering wheel 80 to notice changes in environmental conditions that he or she does not recognize visually or aurally. It can be recognized by a change in magnitude of 10.

Also, the determination unit 31 of the present embodiment detects a change in the autonomous driving mode of the vehicle 100 from the chauffeur mode to the guardian mode. After detecting the change, the flow rate control unit 34 changes the flow rate of the fluid supplied from the compressor 40 to the air jacks 10 and 20 . Therefore, in the vehicle 100 equipped with the stimulation device 90 of the present embodiment, when the operation required of the driver changes as the autonomous driving mode changes, the driver who is holding the steering wheel 80 is notified of the change. It can be communicated to the driver as a change in the size of 1 jack 10 .

Further, in the stimulation device 90 of the present embodiment, the second jack 20 is arranged inside the driver's seat 60 of the vehicle 100 . The flow control unit 34 synchronizes the flow rates of the compressed air supplied into the tube bodies 11 and 21 with respect to the first jack 10 and the second jack 20 when the environmental conditions around the vehicle 100 change. Therefore, the driver sitting on the seat 60 can perceive the change of the environmental information around the vehicle 100 from the change of the handle 80 and the size of the tube bodies 11 and 12 in the seat 60 . Furthermore, since the flow rate of the fluid in the two tube bodies 11 and 21 changes synchronously, it is possible to make the driver separately recognize different environmental changes depending on the period of synchronism or the like.

<Modified example of embodiment>
The present invention is not limited to the above-described embodiments, and can be implemented in various aspects without departing from the scope of the invention. For example, the following modifications are possible.

[Modification 1]
Although an example of the air jacks 10, 20 and the stimulation device 90 including the air jacks 10, 20 has been described in the above embodiment, the air jacks 10, 20 and the stimulation device 90 can be modified in various ways. The device including the stimulation device 90 may be a device or system other than the vehicle 100 . For example, a second jack 20 may be provided inside the bed of bedding. In this case, the second jack 20 in the bed may change at least one of the outer diameter and hardness of the second jack 20 as an alarm at a specific time detected by the clock as the sensor. In addition, other devices and systems are provided with air jacks 10 and 20 instead of stimulation device 90, and are not provided with compressor 40 functioning as a supply unit and flow control unit 34 and determination unit 31 functioning as a control unit. may In this case, the air jacks 10, 20 may control the flow rate of the fluid in the air jacks 10, 20 by controlling other devices and systems. The fluid supplied into the air jacks 10 and 20 may be fluid other than air compressed by the compressor 40 . For example, oil, water, nitrogen, etc. may be used as the fluid. At least one of the outer diameter and hardness of the air jacks 10 and 20 should be changed as a result of the flow rate control, and both need not necessarily be changed.

The shape and material of the core members 15, 25 and the tube bodies 11, 21 included in the air jacks 10, 20 can be modified in various ways. The core members 15 and 25 may be objects around which the tube bodies 11 and 21 are wound, and may be the handle 80, a separate component separately attached to the handle 80, or a core member. It may be an independent one piece like 25. The shape of the core members 15 and 25 may be rod-like or spherical, or may be a combination of a plurality of shapes such as rod-like and spherical.

Also, the materials of the core members 15 and 25 can be modified in various ways. The tube bodies 11 and 21 only need to have an elastic hollow shape, and may be made of a resin other than a silicon compound or other materials. The core material 25 does not necessarily have the base material 26 and the surface member 27, and may be made of a single material, such as reinforced corrugated cardboard. The surface member 27 of the core member 25 may not be made of the same material as the tube body 21, and may be made of a different material. Also, the surface member 27 may be a silicon processed material other than KE-12 (Shin-Etsu Silicone). On the other hand, the surface member 27 may not be made of a resin material having flexibility, may be made of metal, or may be made of a resin material whose shape does not change. The base material 26 does not need to be formed of the mesh-woven metal strands 261 and 262, and may be formed of, for example, a thin metal plate, or a plate of resin or paper. good too.

The method of fixing the core material 25 and the tube body 21 can be modified in various ways. The tube body 21 may be adhered to the surface member 27 of the core member 25 with a silicone compound adhesive other than Swanbond 102 (manufactured by Takada Chemical Manufacturing Co., Ltd.). On the other hand, the tube body 21 does not have to be adhered to the surface member 27 with the same adhesive containing a silicon compound as the tube body 21 . For example, the core material 25 and the tube body 21 may be fixed by inserting the tube body 21 into a plurality of holes formed in the core material 25 . Further, the core material 25 and the tube body 21 may be fixed with clips or bolts in a state in which the tube body 21 is wound around the core material 25 .

[Modification 2]
The various sensors included in the stimulation device 90 can be modified in various ways. The Doppler sensor 51, the tactile sensor 52, and the determination unit 31 functioning as sensors in the above-described embodiment detect changes in environmental conditions around the vehicle 100 equipped with the stimulation device 90, but do not detect other changes. may The sensor may, for example, detect the temperature inside the vehicle 100 or detect changes in the driver's line of sight. As in the above embodiment, the vehicle 100 including the stimulation device 90 does not need to include a plurality of sensors, and for example, only the determination section 31 may function as a sensor. The autonomous driving mode performed by the determination unit 31 may include modes other than the chauffeur mode and the guardian mode of the above-described embodiment. Also, the various controls in the autonomous driving modes of the chauffeur mode and the guardian mode can be modified in various ways.

A vehicle 100 equipped with a stimulation device 90 is an example, and includes at least one air jack 10, 20, any one sensor, a determination unit 31 and a flow control unit 34 functioning as a control unit, and a compressor (supply unit). 30, and other configurations may not be provided. For example, vehicle 100 does not have to include Doppler sensor 51 , tactile sensor 52 , communication unit 32 and GPS 33 . For example, in the absence of the tactile sensor 52, the flow control unit 34 repeats a cycle of increasing and decreasing the flow rate of the fluid in the tube bodies 11 and 21 a predetermined number of times (for example, four times) according to the determination result of the determination unit 31. may In this case, the tactile sensor 52 does not need to detect the stoppage of the flow rate control. The vehicle 100 may not have the first jack 10 or the second jack 20 , and conversely, may have a storage device as the information DB 200 . The compressor 40 can be replaced with a well-known device as long as the fluid can be supplied into the tube bodies 11 and 21 .

[Modification 3]
There are individual differences in the size of the hand of the driver of the vehicle 100 . In the above embodiment, the outer diameter of the handle 80 is changed by controlling the amount of fluid with which the tubular body 11 of the first jack 10 is filled. That is, since the outer diameter of a portion of the steering wheel 80 gripped by the driver changes, even if the vehicle 100 is equipped with the same steering wheel 80, the first jack 10 can be adjusted to the thickness of the steering wheel 80 that fits the driver. Adjustable. As a result, the operability of the vehicle 100 by the driver is improved.

In addition, when the autonomous driving mode is the guardian mode, the stimulation device 90 can assist the driver's driving by making the flow rates in the right side tube body 11 and the left side tube body 11 in the steering wheel 80 different. . For example, when the vehicle 100 is heading to a preset destination, the flow control unit 34 increases the flow rate in the right tube body 11 and increases the flow rate in the left tube body 11 when turning right at an intersection during traveling. Flow rate may be reduced. Thereby, the stimulus device 90 can make the driver recognize the intention of turning right by tactile sensation.

The present aspect has been described above based on the embodiments and modifications, but the above-described embodiments are intended to facilitate understanding of the present aspect, and do not limit the present aspect. This aspect may be modified and modified without departing from the spirit and scope of the claims, and this aspect includes equivalents thereof. Also, if the technical features are not described as essential in this specification, they can be deleted as appropriate.

10... First jack (air jack)
DESCRIPTION OF SYMBOLS 11, 21... Tube body 15, 25... Core material 20... 2nd jack (air jack)
DESCRIPTION OF SYMBOLS 26... Base material 27... Surface member 30... Control apparatus 31... Determination part (control part)
32... communication section 33... GPS
34 ... Flow rate control unit (control unit)
40... Compressor (supply unit)
51 Doppler sensor 52 Tactile sensor 60 Seat 70 Side mirror 80 Handle (core material)
90... Stimulation device 100... Vehicle 261, 262... Wire 200... Information database CP... Cutting surface

Claims (8)

is an air jack,
a core material;
an elastic hollow tube body wound around the outer surface of the core material;
with
At least one of the outer diameter and hardness of the air jack changes according to the flow rate of the fluid filled inside the tube body,
The core material has a base material provided inside and a surface member provided on the outer surface of the base material,
The air jack , wherein the surface member is made of the same material as the tube body . The air jack according to claim 1 ,
The base material is formed of mesh-woven metal strands,
The air jack, wherein the surface member is made of a flexible resin material so that the shape of the core material can be changed. The air jack according to claim 1 or claim 2 ,
The air jack, wherein the surface member and the tube body are made of a silicon compound. The air jack according to any one of claims 1 to 3 ,
The air jack, wherein the tube body is adhered to the surface member with an adhesive containing the same material as the tube body. a stimulator,
The air jack according to any one of claims 1 to 4 ;
a sensor;
a supply unit that supplies the fluid to the inside of the tube body;
a control unit that changes the flow rate of the fluid supplied from the supply unit according to a change in the detection value detected by the sensor;
A stimulator, comprising: A stimulator according to claim 5 , comprising:
The tubular body is arranged in a steering wheel of a vehicle,
The sensor detects environmental information around the vehicle,
The stimulation device, wherein the control unit changes the flow rate of the fluid supplied from the supply unit when the environmental information detected by the sensor changes. A stimulator according to claim 6 , comprising:
The sensor detects, as the environmental information, a change from a first mode as an autonomous driving mode of the vehicle to a second mode as the autonomous driving mode different from the first mode, and
The stimulation device, wherein the control section changes the flow rate of the fluid supplied from the supply section after the change is detected by the sensor. The stimulator according to claim 6 or claim 7 ,
The air jack is further disposed within a driver's seat of the vehicle,
When the environmental information changes, the control unit is configured to install the supply unit inside each of the tube bodies for the air jacks arranged in the steering wheel and the air jacks arranged in the seat. A stimulator that synchronously varies the flow rate of fluid supplied from each of the .

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