JPH05506736A - 力フィードバック及びテクスチャー擬似インタフェース装置 - Google Patents
力フィードバック及びテクスチャー擬似インタフェース装置Info
- Publication number
- JPH05506736A JPH05506736A JP91504884A JP50488491A JPH05506736A JP H05506736 A JPH05506736 A JP H05506736A JP 91504884 A JP91504884 A JP 91504884A JP 50488491 A JP50488491 A JP 50488491A JP H05506736 A JPH05506736 A JP H05506736A
- Authority
- JP
- Japan
- Prior art keywords
- force
- sensing
- texture
- body portion
- generating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
- Manipulator (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Chair Legs, Seat Parts, And Backrests (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
Description
Claims (20)
- 1.相互作用実体と対象間の相互作用を擬似する力を発生する手段と、 発生した力を感知する本体部分に伝達する手段とからなる相互作用実体と端部仮 想又は実対象間に相互作用を擬似する感知する本体部分に信号を発生する装置。
- 2.該発生手段は該対象と相互作用する相互作用実体の接触力を擬似する力を発 生する手段からなる請求項1記載の装置。
- 3.該発生手段は該対象の面を擬似する面パターンを発生する手段からなる請求 項1記載の装置。
- 4.該対象と相互作用する該相互作用実体の接触面を擬似する力を発生する手段 と、 第1の非活性位置の該感知する本体部分から変位された該感知する本体部分に力 を印加し、第2の活性位置の該感知する本体部分を接触する手段と、 該発生手段を該適用手段に動作可能に接続する伝達手段とからなる相互作用実体 と端部仮想又は実対象間に相互作用を擬似する感知する本体部分に信号を発生す る装置。
- 5.該適用手段は、力印加台と、 並列の台を該感知する本体部分に保持する支持構造とからなる請求項4記載の装 置。
- 6.該適用手段は更に、力印加台と、 該力印加台に取付けられ、該力感知する台を支持する支点と、該力感知する台を 該伝達手段に接続し、そこで該伝達手段による該力感知する台の作動が該力印加 台を該第2の位置に可動する機械的手段とからなる請求項5記載の装置。
- 7.該伝達手段は、力伝達可撓性長手方向素子と、該力発生手段からの該素子を 該力印加手段に案内する可撓性筐体と、 該素子からの該力を該力印加手段に伝達する手段とからなる請求項4記載の装置 。
- 8.該素子は非弾性腱からなり、該筐体は非圧縮性である請求項7記載の装置。
- 9.該素子は非圧縮性液体からなり、 該筐体は非弾性である請求項7記載の装置。
- 10.該装置は更に該力発生手段と該力印加手段間の該素子に取付けられた力感 知する手段からなる請求項7記載の装置。
- 11.所定のアレーでの複数のテクスチャー素子と、並列の該アレーのテクスチ ャー素子を該感知する本体部分に保持する手段と、 該相互作用実体と該対象面間の相互作用を擬似する複数のテクスチャー素子を変 位するよう力を発生する手段と、該対象面を該感知する本体部分に擬似するよう 該発生力を該テクスチャー素子に伝達する手段とからなる相互作用実体と端部仮 想又は実対象間に相互作用を擬似する感知する本体部分に信号を発生する装置。
- 12.該アレーはテクスチャー素子の3×3アレーである請求項11記載の装置 。
- 13.該対象と相互作用する該相互作用実体の接触面を擬似する力を発生する第 1の手段と、 第1の非活性位置の該感知する本体部分から変位された該感知する本体部分に力 を印加し、第2の活性位置の該感知する本体部分を接触する手段と、 該第1の発生手段を該適用手段に動作可能に接続する第1の伝達手段と、 該感知する本体部分と対抗関係の所定の配列での複数のテクスチャー素子からな る該適用手段と、 該相互作用実体と該対象面間の相互作用を擬似する複数のテクスチャー素子を変 位するよう力を発生する第2の手段と、該対象面を該感知する本体部分に擬似す るよう該第2の発生力を該テクスチャー素子アレーに伝達する第2の手段とから なる相互作用実体と端部仮想又は実対象間に相互作用を擬似する感知する本体部 分に信号を発生する装置。
- 14.該適用手段は該複数のテクスチャー素子からなる力印加台と、 並列の該力印加台を該感知する本体部分に保持する支持構造と、該力印加台を該 第1の位置に保持する伸縮自在手段とからなる請求項13記載の装置。
- 15.該適用手段は更に、力印加台と、該力印加台に取付けられ、該力感知する 台を支持する支点と、該力感知する台を該伝達手段に接続し、そこで該伝達手段 による該力感知する台の作動が該力印加台を該第2の位置に可動する機械的手段 とからなる請求項14記載の装置。
- 16.該相互実体と該対象間の相互作用を擬似する力を発生する手段と、 該発生力を該第1の信号として該感知する本体部分に伝達する手段と、 制御する本体部分の位置を感知し、該制御する本体部分の該位置に関連した第2 の信号を発生する手段と、該第2の信号を受信し、該相互作用実体と該第2の信 号に関連する該対象間の相互作用を制御し、該相互作用実体と該対象の相互作用 に関連する該第1の信号を発生るすよう該発生手段に作動する信号収集及び発生 手段とからなる相互作用実体と端部仮想又は実対象間に相互作用を擬似する感知 する本体部分に第1の信号を発生し、該相互作用実体を該対象に関して操作する マン−マシンインタフェース装置。
- 17.該発生手段は第1の非活性位置の該感知する本体部分から変位された該感 知する本体部分に力を印加し、第2の活性位置の該感知する本体部分を接触する 第1の手段とからなり、該伝達手段は、該感知する本体部分と対抗する関係での 所定のアレーする複数のテクスチャー素子からなる台からなる適用手段と、該相 互作用実体と該対象面間の相互作用を擬似する複数のテクスチャー素子を変位す るよう力を発生する第2の手段と、該対象面を該感知する本体部分に擬似するよ う該第2の発生力を該テクスチャー素子アレーに伝達する第2の手段とから更に なる請求項16記載のマン−マシンインタフェース装置。
- 18.該指部分に取付ける支持部と、 該支持部に固定された力印加手段と、 該相互作用実体と該対象間の相互作用を擬似する力を発生する手段と、 該発生力を該第1の信号として該指部分に伝達する手段と、制御する指部分の位 置を感知し、該制御する指部分の該位置に関連した第2の信号を発生する手段と 、 該第2の信号を受信し、該相互作用実体と該第2の信号に関連する該対象間の相 互作用を制御し、該相互作用実体と該対象の相互作用に関連する該第1の信号を 発生するよう該発生手段に作動する信号収集及び発生手段とからなる相互作用実 体と端部仮想又は実対象間に相互作用を擬似する指部分に第1の信号を発生し、 該相互作用実体を該対象に関して操作するマン−マシンインタフェース装置。
- 19.該支持部はグローブであり、該指部分は指チップであり、該伝達手段は筐 体で該筐体により案内された力伝達可撓性長手方向素子とからなり、 該力伝達素子を方向づける該グローブに取付けられた案内部材と、リストマトラ ップと、 一端で該リストマトラップに取付けけられ、他端で該力発生手段の近似に取付け られた該筐体から更になる請求項18記載のマン−マシンインタフェース装置。
- 20.該適用手段は第1の非活性位置から該指チップと接触の第2の活性位置に 可動自在である力印加台と、並列での該力印加台を該指チップに保持する支持構 造と、該力印加台を該第1の位置に保持する伸縮自在手段と、力感知する台と、 該力印加台に取付けられ、該力感知する台を支持する支点と、該力感知する台を 該伝達手段に接続し、そこで、該伝達手段による該力感知する台の作動が該力印 加台を該第2の位置に可動する機械的手段とからなる請求項19記載のマン−マ シンインタフェース装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US07/474,168 US5184319A (en) | 1990-02-02 | 1990-02-02 | Force feedback and textures simulating interface device |
US474,168 | 1990-02-02 | ||
PCT/US1991/000632 WO1991011775A1 (en) | 1990-02-02 | 1991-01-30 | A force feedback and texture simulating interface device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH05506736A true JPH05506736A (ja) | 1993-09-30 |
JP3290436B2 JP3290436B2 (ja) | 2002-06-10 |
Family
ID=23882453
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP50488491A Expired - Lifetime JP3290436B2 (ja) | 1990-02-02 | 1991-01-30 | 力フィードバック及びテクスチャー擬似インタフェース装置 |
Country Status (9)
Country | Link |
---|---|
US (1) | US5184319A (ja) |
EP (1) | EP0513199B1 (ja) |
JP (1) | JP3290436B2 (ja) |
KR (1) | KR100252706B1 (ja) |
AT (1) | ATE287555T1 (ja) |
AU (2) | AU649655B2 (ja) |
CA (1) | CA2075178C (ja) |
DE (1) | DE69133441D1 (ja) |
WO (1) | WO1991011775A1 (ja) |
Cited By (13)
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JPH0458748U (ja) * | 1990-09-27 | 1992-05-20 | ||
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JP2012074075A (ja) * | 1995-11-30 | 2012-04-12 | Immersion Corp | 触覚感覚を与えるための装置、システム、及び方法 |
JP2012083866A (ja) * | 2010-10-08 | 2012-04-26 | Jvc Kenwood Corp | 指取り付け型触覚再現機能付き処理装置 |
JP2013225176A (ja) * | 2012-04-19 | 2013-10-31 | Toyota Motor Corp | 触覚ディスプレイ |
JP2014164518A (ja) * | 2013-02-25 | 2014-09-08 | Nippon Hoso Kyokai <Nhk> | 提示装置 |
JP2016197376A (ja) * | 2015-04-06 | 2016-11-24 | 日本放送協会 | 力覚制御装置及び力覚提示装置 |
JP2018515206A (ja) * | 2015-04-29 | 2018-06-14 | ビオセルボ テクノロジーズ アクチエボラグBioservo Technologies Aktiebolag | 人口腱の取付け方法および製品 |
JP2021060290A (ja) * | 2019-10-07 | 2021-04-15 | 株式会社 資生堂 | 動作計測装置、動作計測システム、及び動作計測方法 |
JP2022545927A (ja) * | 2019-08-28 | 2022-11-01 | 杭州宇▲樹▼科技有限公司 | 新型の足部力採集装置及びそれを利用した四足ロボット |
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JP2006047293A (ja) * | 2004-06-25 | 2006-02-16 | 059312 Nb Inc | 形状加速度計測装置及び方法 |
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JP2014164518A (ja) * | 2013-02-25 | 2014-09-08 | Nippon Hoso Kyokai <Nhk> | 提示装置 |
JP2016197376A (ja) * | 2015-04-06 | 2016-11-24 | 日本放送協会 | 力覚制御装置及び力覚提示装置 |
JP2018515206A (ja) * | 2015-04-29 | 2018-06-14 | ビオセルボ テクノロジーズ アクチエボラグBioservo Technologies Aktiebolag | 人口腱の取付け方法および製品 |
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JP2021060290A (ja) * | 2019-10-07 | 2021-04-15 | 株式会社 資生堂 | 動作計測装置、動作計測システム、及び動作計測方法 |
Also Published As
Publication number | Publication date |
---|---|
CA2075178C (en) | 2001-07-24 |
ATE287555T1 (de) | 2005-02-15 |
AU649655B2 (en) | 1994-06-02 |
EP0513199A4 (en) | 1993-01-07 |
AU671705B2 (en) | 1996-09-05 |
AU7319991A (en) | 1991-08-21 |
JP3290436B2 (ja) | 2002-06-10 |
EP0513199B1 (en) | 2005-01-19 |
AU5752394A (en) | 1994-04-28 |
CA2075178A1 (en) | 1991-08-03 |
EP0513199A1 (en) | 1992-11-19 |
KR100252706B1 (ko) | 2000-04-15 |
US5184319A (en) | 1993-02-02 |
DE69133441D1 (de) | 2005-02-24 |
WO1991011775A1 (en) | 1991-08-08 |
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