JP7319813B2 - Haptic presentation system, haptic presentation device, and program - Google Patents

Description

The present invention relates to a haptic presentation system, a haptic presentation device, and a program.

2. Description of the Related Art Conventionally, a virtual reality (VR) technology is known that displays an object (virtual object) in a virtual space using, for example, a head mounted display (HMD) or the like. There is also known a technique of presenting a feeling of contact with an object in virtual space by means of vibration or the like.

Also, there is known a technique for presenting a feeling of gripping an object in a virtual space by expanding and contracting a stick that is in contact with the user's finger according to the position of the user's finger (for example, Patent Document 1). ).

JP 2015-215795 A

In the conventional technology, for example, it may be difficult for the user to perceive a force sensation such as collision of an object held by the user with a virtual object. An object of the technology disclosed herein is to provide a technology capable of more appropriately presenting a force sensation to a user.

Provided is a haptic presentation system having a haptic presentation device that presents a haptic to a user and an information processing device that controls the haptic presentation device. The information processing device includes a virtual space control unit that controls the position of a first object in the virtual space and controls the position of the second object that is associated with the haptic presentation device in the virtual space; a transmitting unit configured to transmit control information corresponding to the collision to the haptic presentation device when the first object and the second object collide, wherein the haptic presentation device and the first object; a receiving unit that receives from the information processing device a control signal corresponding to the collision of the first object and the second object, based on the control signal received by the receiving unit, to the user and a vibration unit configured to vibrate the force sense presentation device. At a second point in time different from the point in time, control is started to indent the grip portion in the direction in which the first object collided with the second object, and depending on the material of the first object and the material of the second object, , the time difference between the first time point and the second time point .

According to the disclosed technique, it is possible to more appropriately present a force sensation to the user.

It is a figure which shows the structural example of the force sense presentation system which concerns on embodiment. 1 is a diagram illustrating an example (part 1) of a configuration of a force sense presentation device according to an embodiment; FIG. 1 is a diagram illustrating an example (part 1) of a configuration of a force sense presentation device according to an embodiment; FIG. 1 is a diagram illustrating an example (part 1) of a configuration of a force sense presentation device according to an embodiment; FIG. It is a figure which shows an example of the functional block diagram of the force sense presentation system which concerns on embodiment. 7 is a flowchart showing an example of processing of the haptic presentation system according to the embodiment; FIG. 5 is a diagram illustrating an example of processing of the haptic presentation system according to the embodiment; FIG. 5 is a diagram illustrating an example of processing of the haptic presentation system according to the embodiment; FIG. 5 is a diagram illustrating an example of processing of the haptic presentation system according to the embodiment; FIG. 4 is a diagram illustrating an example of timings at which dents, vibrations, and sounds are presented in the haptic device 10 according to the embodiment; FIG. 4 is a diagram illustrating an example of timings at which dents, vibrations, and sounds are presented in the haptic device 10 according to the embodiment; 2 is a diagram illustrating an example (part 2) of the configuration of a force sense presentation device according to an embodiment; FIG. 2 is a diagram illustrating an example (part 2) of the configuration of a force sense presentation device according to an embodiment; FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<System configuration>
FIG. 1 is a diagram showing a configuration example of a force sense presentation system 1 according to an embodiment. In FIG. 1 , the haptic presentation system 1 includes a haptic presentation device 10 , an information processing device 20 , and a display device 40 .

In the example of FIG. 1, the haptic presentation device 10 and the information processing device 20 are connected so as to communicate with each other via a USB (Universal Serial Bus) cable 30, for example. Note that the haptic presentation device 10 and the information processing device 20 may be connected so as to communicate wirelessly such as BLE (Bluetooth (registered trademark) Low Energy) or wireless LAN.

The haptic presentation device 10 notifies the information processing device 20 of the current two-dimensional or three-dimensional position of the haptic presentation device 10 . The information processing device 20 may detect the three-dimensional position of the force sense presentation device 10 using a laser, a stereo camera, or the like. Further, the haptic presentation device 10 presents the haptic sensation of collision (contact) with an object in the virtual space to the user's finger or the like according to the control command received from the information processing device 20 .

For example, similar to a ball-type mouse, the haptic presentation device 10 moves on the horizontal plane of the haptic presentation device 10 based on the rotation of the trackball when the haptic presentation device 10 is moved on a mouse pad or the like. position (two-dimensional position) may be obtained. Alternatively, similarly to an optical mouse, the bottom surface of the haptic presentation device 10 is illuminated with infrared rays, lasers, LEDs, or the like, and infrared rays, lasers, LEDs, etc. are emitted when the haptic presentation device 10 is moved on a mouse pad or the like. The horizontal position of the force sense presentation device 10 may be obtained by detecting the reflection with a camera sensor.

For example, the haptic presentation device 10 reads a symbol or the like written on a pad placed under the haptic presentation device 10 by a camera or the like provided at the bottom of the haptic presentation device 10, and reads the symbol or the like. Based on this, the horizontal position (two-dimensional position) of the force sense presentation device 10 may be obtained. Alternatively, for example, the haptic presentation device 10 detects the angle of each arm by the motor of the contact point of each arm, and based on the preset length of each arm and the angle of each arm, detects the tip of the arm, etc. The three-dimensional position of the force sense presentation device 10 may be acquired using a three-dimensional position detection device that detects the position of the . In this case, the force sense presentation device 10 may be attached to the tip of the arm of the three-dimensional position detection device or the like. Then, the three-dimensional position detection device may detect the current three-dimensional position of the force sense presentation device 10 with respect to a predetermined three-dimensional position set in advance as the origin and output it to the force sense presentation device 10 .

Alternatively, the force sense presentation device 10 may have a camera and an acceleration sensor, and detect the three-dimensional position of the force sense presentation device 10 based on the camera image and the acceleration detected by the acceleration sensor.

The information processing device 20 is, for example, an information processing device such as a personal computer, a smart phone, or a set-top box. The information processing device 20 issues a control command for presenting the user with the force sensation of colliding with an object existing at the position of the haptic presentation device 10 in the virtual space according to the actual position of the haptic presentation device 10 . It is transmitted to the haptic presentation device 10 .

The information processing device 20 and the haptic presentation device 10 may be configured as an integrated device by housing the information processing device 20 inside the haptic presentation device 10 . In this case, for example, a small built-in computer may be used as the information processing device 20 . Alternatively, the control device 19 of the haptic presentation device 10 may have the functions of the information processing device 20 .

In the example of FIG. 1 , the information processing device 20 presents the haptic sensation to the user through the haptic presentation device 10 while causing the display device 40 to display an image of each object in the virtual space.

<Configuration of haptic presentation device 10>
Next, an example of the configuration of the force sense presentation device 10 according to the embodiment will be described with reference to FIGS. 2A to 2C. 2A to 2C are diagrams illustrating an example (part 1) of the configuration of the force sense presentation device 10 according to the embodiment.

2A shows a side view of the haptic presentation device 10, and FIG. 2B shows a top view of the haptic presentation device 10. As shown in FIG. Also, FIG. 2C shows a perspective view of the force sense presentation device 10 in an exploded state. In addition, in FIG. 2A to FIG. 2C, the grasping portion 12 is shown translucent for the sake of explanation.

In the example of FIGS. 2A to 2C, the force sense presentation device 10 has a base portion (housing) 11 and a grip portion 12 gripped by the user. In the example of FIGS. 2A to 2C, the base part 11 is a cylindrical housing, and the grip part 12 is, for example, a spherical body having a layer of elastic paint on its surface and a layer of sponge on its inner surface. is the cover. The grip portion 12 may be formed, for example, by horizontally cutting a part of a soft and elastic sphere such as sponge and hollowing out the inside. Further, the surface of the grip portion 12 may be coated with a paint having rubber elasticity such as polyurethane or silicon. As a result, the restoring force after the grip portion 12 is dented is enhanced, and the surface of the grip portion 12 is less likely to be stained. In addition, it is possible to reduce tearing of the portion to which force is applied when being dented.

In the example of FIGS. 2A to 2C, the inside of the force sense presentation device 10 covered by the base portion 11 and the grip portion 12 includes a vibrating portion 13, a driving portion 14, an internal housing 15, a position sensor 111, and a control device. A device 19 or the like is provided.

The control device 19 is, for example, a built-in small computer or the like, receives control commands from the information processing device 20, and controls the vibrating section 13, the driving section 14, and the like based on the received control commands.

The vibration unit 13 is, for example, a vibration conversion device (transducer) that converts an input electrical signal into vibration. In the example of FIGS. 2A to 2C, the vibrating unit 13 presents vibration and sound to the user by converting an electrical signal into vibration with a mechanism similar to a speaker unit, which is a component that vibrates air in a speaker. It is a vibration conversion device that

The drive unit 14 is an actuator that converts an input electrical signal into a physical motion that causes the grasping unit 12 to collapse. In the example of Figures 2A-2C, drive 14 has four servo motors, each of which rotates a servo horn 16A-16D, respectively.

2A to 2C, the drawing portion 17A is connected to the one end portion 16A1 of the servo horn 16A and the joint point 18A inside the grip portion 12. As shown in FIG. Also, the pulling portion 17B is connected to the other end portion 16A2 of the servo horn 16A and the joint point 18B inside the grip portion 12. As shown in FIG. Also, the pulling portion 17C is connected to the one end portion 16B1 of the servo horn 16B and the joint point 18C inside the grip portion 12 . Also, the drawing portion 17D is connected to the one end portion 16B2 of the servo horn 16B and the joint point 18D inside the grip portion 12. As shown in FIG. Also, the drawing portion 17E is connected to the one end portion 16C1 of the servo horn 16C and the joint point 18E inside the grip portion 12 . Also, the drawing portion 17F is connected to the one end portion 16C2 of the servo horn 16C and the joint point 18F inside the grip portion 12. As shown in FIG. Also, the pulling portion 17G is connected to the one end portion 16D1 of the servo horn 16D and the joint point 18G inside the grip portion 12. As shown in FIG. Also, the drawing portion 17H is connected to one end portion 16D2 of the servo horn 16D and the joint point 18H inside the grip portion 12. As shown in FIG. The drawing portions 17A to 17H may be members that transmit the pulling force to the other end when one end is pulled, and do not transmit the force to the other end by bending or the like when the one end is pushed. The drawing parts 17A to 17H may be members in the form of threads (strings), chains, or the like, for example. As an example, a thread or the like made of nylon or the like may be used.

Let W be the length 102 from the center 104 of the servo horn 16A to one end 16A1 (the length of the servo horn), θ be the rotation angle 103 of the servo horn 16A, and D be the moving distance 101 of the junction 18A. D can be approximated by D≈|W×sin θ|. The rotation angle of the servo horn 16A when the longitudinal direction of the servo horn 16A is perpendicular to the line passing through the central portion 104 and the inner point 105 of the grip portion 12 closest to the central portion 104 is assumed to be 0 degrees.

As shown in FIG. 2B, the control device 19 rotates the servo horn 16A by θ to pull the drawing portion 17A, thereby causing the position 181 (“first portion”) on the surface of the grip portion 12 facing the junction 18A. ) can be recessed by a distance D. In this case, since the pulling portion 17B only bends, the position 182 on the surface of the gripping portion 12 facing the joining point 18B does not change. Further, the control device 19 rotates the servo horn 16A by -θ to pull the drawing portion 17B, thereby moving the position 182 (an example of the "second portion") on the surface of the grip portion 12 facing the joint point 18B. , can be recessed by a distance D. The same is true for the servo horns 16B to 16D.

The internal housing 15 is a housing that accommodates the vibrating section 13, the driving section 14, the internal housing 15, the control device 19, and the like. The internal housing 15 can protect the drive unit 14 and the like even when the grip unit 12 is strongly gripped by the user.

The position sensor 111 is, for example, a sensor that detects the three-dimensional position (x, y, z) and attitude angles (roll, pitch, yaw) of the force sense presentation device 10 . The position sensor 111 includes, for example, three acceleration sensors that measure acceleration in the x, y, and z directions, three angular velocity sensors that measure angular velocities in the x, y, and z directions, and a height from the floor surface. A hybrid sensor including a laser sensor, a camera for photographing the floor surface, and the like may be used.

For example, the haptic presentation device 10 may be powered by a built-in battery, or may be powered by an external device such as the information processing device 20 or a power outlet via a USB cable or the like. The shape of the grip portion 12 is not limited to the spherical shape shown in FIG. 2A and the like, and may be plate-like, cylindrical, or the like. Also, the number of servo horns and the like are not limited to the example shown in FIG. 2A and the like.

<Functional configuration of haptic presentation system 1>
Next, the functional configuration of the force sense presentation system 1 according to the embodiment will be described with reference to FIG. 3A. FIG. 3A is a diagram showing an example of a functional block diagram of the force sense presentation system 1 according to the embodiment.

<<Functional configuration of haptic presentation device 10>>
In the example of FIG. 3A , the control device 19 of the force sense presentation device 10 according to the embodiment has a position detection section 191 , a transmission/reception section 192 and a control section 193 . The functions of the position detection unit 191 , the transmission/reception unit 192 , and the control unit 193 may be implemented by, for example, processing that causes the CPU of the haptic presentation device 10 to execute one or more programs installed in the control device 19 .

The position detection unit 191 detects the position of the force sense presentation device 10 based on data measured by the position sensor 111, for example.

The transmitting/receiving unit 192 transmits/receives data to/from the information processing device 20 . The transmission/reception unit 192 transmits, for example, the position information of the haptic device 10 detected by the position detection unit 191 to the information processing device 20 . The transmitting/receiving unit 192 also receives, from the information processing device 20, a control signal corresponding to a collision between an object in the virtual space and the haptic device 10, for example.

The control unit 193 controls the vibrating unit 13 based on the control signal received by the transmitting/receiving unit 192 to move the first object in the virtual space and the second object in the virtual space corresponding to the haptic device 10 . Vibration and sound are generated according to the collision with an object (avatar).

Further, the control unit 193 controls the driving unit 14 based on the control signal received by the transmitting/receiving unit 192 to determine the direction in which the first object in the virtual space collided with the second object (the direction in which the second object collided). The grip portion 12 is recessed in the direction of viewing the second object from the first object.

<<Functional configuration of information processing device 20>>
In the example of FIG. 3A, the information processing device 20 according to the embodiment has a transmitter/receiver 21 and a virtual space controller 22 . The functions of the transmitting/receiving unit 21 and the virtual space control unit 22 may be realized by, for example, processing that causes the CPU of the information processing device 20 to execute one or more programs installed in the information processing device 20 .

The transmitting/receiving unit 21 transmits/receives data to/from the haptic device 10 . The transmitting/receiving unit 21 receives, for example, information indicating the position of the haptic presentation device 10 from the haptic presentation device 10 .

The virtual space control unit 22 controls the position, movement and collision of each object in the virtual space. The virtual space control unit 22 controls the position of a predetermined object (an example of a “second object”) associated with the haptic device 10 in the virtual space. Further, when one object collides with the predetermined object in the virtual space, the virtual space control unit 22 causes the transmission/reception unit 21 to transmit control information corresponding to the collision to the force sense presentation device 10 .

<Processing>
Next, the processing of the force sense presentation system 1 will be described with reference to FIGS. 3B to 5B. FIG. 3B is a flowchart showing an example of processing of the force sense presentation system 1 according to the embodiment. 4A to 4C are diagrams illustrating an example of processing of the force sense presentation system 1 according to the embodiment. FIGS. 5A and 5B are diagrams illustrating an example of timing at which dents, vibrations, and sounds are presented in the force sense presentation device 10 according to the embodiment.

In step S<b>1 , the position detection unit 191 of the haptic device 10 detects the position of the haptic device 10 . Subsequently, in step S<b>2 , the transmitter/receiver 192 of the haptic presentation device 10 transmits the position information of the haptic presentation device 10 to the information processing device 20 .

Subsequently, in step S3, the virtual space control unit 22 of the information processing device 20 controls the position of the second object in the virtual space based on the position information of the haptic presentation device 10, and controls the position of the first object in the virtual space. A collision between the object and the second object is detected. Note that the virtual space control unit 22 of the information processing device 20 may control the position of the second object in the virtual space regardless of the position of the force sense presentation device 10 in the real space. In this case, the force sense presentation device 10 does not have to have the position sensor 111 . Subsequently, in step S<b>4 , the transmission/reception unit 21 of the information processing device 20 transmits control information corresponding to the collision to the force sense presentation device 10 .

Subsequently, in step S5, the control unit 193 of the haptic device 10 moves the grasping unit in the direction in which the first object in the virtual space collided with the second object based on the control signal received by the transmitting/receiving unit 192. Depress 12.

The information processing device 20 may cause the display device 40 to display images of the first object and the second object in the virtual space. In the example of FIG. 4A, on the display screen 401 of the virtual space displayed on the display device 40, the object 404A (an example of the "first object"), the object 404B, and the haptic presentation device 10 move in accordance with the movement. An object 402 (an example of a "second object") is shown.

As shown in FIG. 4B , when the user grips the haptic device 10 with a hand 451 and moves the haptic device 10 in a forward direction 452 of the user, the virtual space control unit 22 changes the position of the object 402 is moved upward 403 on the display screen 401 . Then, as shown in FIG. 4A, when the object 402 and the object 404A collide in the virtual space, the virtual space control unit 22 determines that the direction of the vector 405 shown in FIG. , transmits a control signal to vibrate and dent the force sense presentation device 10 in the direction in which the object 404A collides with the object 402 . This allows the user to recognize from which direction and with what force the haptic device 10 has been impacted. Also, the user can recognize that the force sense presentation device 10 moves in the direction of the vector 405 due to this collision. As a result, for example, while displaying an image of a volleyball game, the force sense presentation device 10, which uses the ball as an avatar, can provide a sense of force, such as in what direction and with what force the player has hit the ball. can be presented to the user.

Here, the virtual space control unit 22, for example, based on the position, moving direction, moving speed, material, and mass of the object 404A and the position, moving direction, moving speed, material, and mass of the object 402, A force vector 405 that the object 402 receives may be calculated by . The material and mass of the object 404A and the material and mass of the object 402 may be set in advance.

In addition, the virtual space control unit 22 calculates, for example, the part (collision part, collision part) where the object 402 receives force due to the collision, based on the position and shape of the object 404A and the position and shape of the object 402. You may Note that the shape of the object 404A and the shape of the object 402 may be set in advance.

Then, in the process of step S5 in FIG. 3B, the control unit 193 of the haptic device 10 causes the first object in the virtual space to collide with the second object based on the received control signal, as shown in FIG. 4C. A portion 461 of the grip portion 12 corresponding to the portion where the first object collided with the second object is dented in the direction 462 .

Further, in the process of step S5 in FIG. 3B, the control unit 193 controls the vibrating unit 13 based on the received control signal to generate vibration and sound in response to the collision between the first object and the second object. generate The control unit 193 may set the first time point at which the vibration of the vibrating portion 13 is started to be different from the second time point at which the control of indenting the gripping portion 12 in the direction in which the first object collides with the second object is started. good. In this case, the control unit 193 may start the control of indenting the gripping unit 12 in the direction in which the first object collided with the second object after starting the vibration of the vibrating unit 13 . As a result, the timing at which the grip portion 12 starts to vibrate and the timing at which the grip portion 12 starts to dent are shifted, so that the user is less likely to confuse the force sense due to the start of vibration and the force sense due to the start of denting. For example, the user can easily perceive the feeling of depression.

Alternatively, the control unit 193 may cause the vibrating unit 13 to start vibrating after starting the control to dent the gripping unit 12 in the direction in which the first object collided with the second object. In this case, the second point in time when the denting starts is earlier than the first point in time when the vibration starts. As a result, the timing at which the grip portion 12 starts to vibrate and the timing at which the grip portion 12 starts to dent are shifted, so that the user is less likely to confuse the force sense due to the start of vibration and the force sense due to the start of denting. For example, the user can easily perceive the feeling of depression.

The control unit 193 of the haptic presentation device 10 outputs an electrical signal for outputting a sound corresponding to the material of the first object and the material of the second object according to the magnitude of the collision force between the first object and the second object. The amplitude is output to the vibrating section 13 for a time corresponding to the material of the first object, the material of the second object, and the magnitude of the force of collision between the first object and the second object. For example, if the material of the first object and the material of the second object are hard materials such as metal, the control unit 193 causes the vibrating unit 13 to output a high-frequency sound.

5A and 5B show an example in which the control unit 193 starts the control of indenting the gripping unit 12 in the direction in which the first object collided with the second object after starting the vibration of the vibrating unit 13. will be explained. In the example of FIG. 5B, the control unit 193 outputs an electrical signal 513 that causes a sound to be output from time _t1 when the first object collides with the second object to time _t4 when the time (for example, 500 ms) has elapsed. are doing.

Further, after the time (delay time) corresponding to the material of the first object and the material of the second object has elapsed, the control unit 193 determines the magnitude of the collision force between the first object and the second object. An electrical signal is output to the servomotor of the drive unit 14 to indent the gripper 12 by an amount. Based on the control signal received from the information processing device 20, the control unit 193 determines the servo motor corresponding to the collision site among the servo motors of the drive unit 14, and sends the electric signal to the determined servo motor. to output

For example, if the material of the first object and the material of the second object are hard materials such as metal, the control unit 193 shortens the delay time compared to soft materials. As a result, it is possible to present a force sense of collision according to the material. Note that the control unit 193 similarly sets the delay time according to the material when starting the vibration of the vibrating unit 13 after the grasping unit 12 is dented in the direction in which the first object collided with the second object. Vibration may be started after the delay time has elapsed after calculating and indenting control is started.

In addition, for example, if the material of the first object and the material of the second object are hard materials such as metal, the control unit 193 outputs an electric signal that causes the grip part 12 to be dented in a shorter time than in the case of soft materials. Output. As a result, it is possible to more appropriately present the force of collision to the user.

In the example of FIG. 5A, the control unit 193 controls the time corresponding to the magnitude of the collision force between the first object and the _second object from time _t2 after the delay time (for example, 100 ms) from time t1. A pulse width modulation (PWM) electric signal 502 with a predetermined voltage 501 is output until time _t3 .

If the second object is, for example, an object with a restoring force, such as a ball for a ball game (eg, volleyball, etc.), the control unit 193 controls the electric signal 502 at times after time _t3 in FIG. 5A. may be output to the servomotor of the drive unit 14 to restore the position of the servo horn. As a result, the dented portion is restored by the restoring force of the sponge or the like of the grip portion 12 .

The control unit 193 controls the denting speed at the joint point corresponding to the position held by the user's fingers and the joint point corresponding to the position held by the user's palm, among the joint points 18A to 18H. and amounts may vary.

For example, the user grips with each finger five positions on the surface of the gripping portion 12 that face the joint points 18A to 18E, respectively, based on the notation on the seal attached to the surface of the gripping portion 12. , and the joint points 18F to 18H.

In this case, if the first position on the grip part 12 corresponding to the position where the second object collided with the first object is the position touched by the user's finger, the controller 193 controls the connection point 18A to the connection point 18E. of which the junction corresponding to the position is depressed by a first amount at a first speed in the direction in which the first object collides with the second object.

Further, when the position on the grip part 12 corresponding to the collision position is the second position contacted by the palm of the user, the control unit 193 selects the joint point corresponding to the position among the joint points 18F to 18H. at a second velocity that is faster than the first velocity (e.g., twice the first velocity) and by a second amount that is greater than the first amount (e.g., twice the first amount) It is dented in the direction of collision with the second object. As a result, when the part on which the palm is in contact is depressed, the grip part 12 is depressed faster and more greatly than when the part on which the finger is in contact is depressed. It is possible to appropriately present a force sensation even in the part where the palm touches, which has dull sensation.

<Modified example of drive unit 14>
The drive unit 14 may have the configuration shown in FIGS. 6A and 6B instead of the configuration shown in FIGS. 2A to 2C. 6A and 6B are diagrams illustrating an example (part 2) of the configuration of the force sense presentation device 10 according to the embodiment.

In the example of FIGS. 6A and 6B, the drive section 14 has a servomotor 601 and a servomotor 603 . A servomotor 601 rotates a table 602 on which a servomotor 603 is placed on a horizontal plane. The servo motor 603 tilts the servo horn 604 in one direction on the horizontal plane from the vertical direction.

Also, a drawing portion 605 is connected to the tip of the servo horn 604 and a joint point 606 inside the grip portion 12 . The pulling part 605 may be, for example, a rod-shaped member having a certain rigidity.

The drawer 605 is ball jointed at a junction 606 to a first pulley that moves on a rail 607 located inside the gripper 12 .

As shown in FIG. 6A , the control device 19 can dent the position on the surface of the gripper 12 facing the junction 606 by tilting the servo horn 604 in the one direction.

As shown in FIG. 6B, when the table 602 on which the servomotor 603 is placed is rotated by the servomotor 601 on the horizontal plane, the junction 606 moves on the rail 607 . A table 602 is rotated on a horizontal plane by a servomotor 601, and a servomotor 603 mounted on the table 602 is operated, whereby the control device 19 controls the surface of the gripper 12 facing each position on the rail 607. The position can be dented.

<Modification>
The control device 19 of the haptic presentation device 10 and the information processing device 20 may be realized by cloud computing, for example, composed of a plurality of computers. Also, at least part of the processing in the information processing device 20 may be executed by the control device 19 of the haptic presentation device 10 .

<Summary of embodiment>
2. Description of the Related Art Conventionally, due to the development of virtual reality technology, for example, technology for presenting information not only visually (video) and auditory (sound) but also by tactile sensation has attracted attention. Conventionally, various methods have been proposed that can present the feeling of contact with a virtual object, and the proposed methods have been put into practical use as user interfaces such as controllers of video game machines, for example.

Techniques that can present the sensation of contact with a virtual object include, for example, a technique that simulates force by presenting vibrations to the user's hands and fingers, and a technique that uses an actuator such as a motor to create a physical reaction force. There is a method of presenting

According to the above-described embodiment, when the first virtual object and the second object corresponding to the force sense presentation device 10 held by the user collide in the virtual space, the first object collides with the second object. The grasping part 12 of the force sense presentation device 10 is dented in the direction of collision. This allows the user to recognize the position and direction of collision, for example.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and various modifications, Change is possible. It is also possible to combine part or all of the above-described embodiments.

1 Force sense presentation system 10 Force sense presentation device 11 Base unit 12 Grip unit 13 Vibration unit 14 Drive unit 15 Internal housing 16A Servo horn 16B Servo horn 16C Servo horn 16D Servo horn 111 Position sensor 19 Control device 191 Position detector 192 Transmission/reception unit 193 control unit 20 information processing device 21 transmission/reception unit 22 virtual space control unit

Claims (3)

A haptic presentation system including a haptic presentation device that presents a haptic sensation to a user and an information processing device that controls the haptic presentation device,
The information processing device is
a virtual space control unit that controls the position of a first object in a virtual space and controls the position of a second object that is associated with the haptic device in the virtual space;
a transmission unit configured to transmit control information corresponding to the collision to the force sense presentation device when the first object and the second object collide in the virtual space;
The haptic presentation device includes:
a receiving unit that receives from the information processing device a control signal corresponding to the collision with the first object;
a control unit that indents the grip held by the user in a direction in which the first object collided with the second object based on the control signal received by the receiving unit;
a vibrating unit that vibrates the haptic device,
The control unit causes the vibrating unit to start vibrating at a first time point, and dents the gripping unit in a direction in which the first object collides with the second object at a second time point different from the first time point. A haptic presentation system, wherein control is started to vary the time difference between the first time point and the second time point according to the material of the first object and the material of the second object. The vibrating unit outputs sound by vibration,
The control unit causes the vibrating unit to start outputting sound corresponding to the material of the first object and the material of the second object at the first time point, and at the second time point, the first object becomes the second object. indenting the gripping portion in the direction in which it collided with the object;
The force sense presentation system according to claim 1 . When the time corresponding to the material of the first object elapses from the point at which the vibration unit starts outputting the sound corresponding to the material of the first object and the material of the second object, denting the grip in the direction in which the first object collided with the second object;
The force sense presentation system according to claim 2 .

Images