JPH0720978A - Virtual reality device - Google Patents

Abstract

PURPOSE:To give a more natural operation feeling in a virtual reality world. CONSTITUTION:An arm 32 is wound with a band 11 between the wrist and elbow. When the user tries to grip a ball in the hand, the positions of the fingers are detected by sensors of a data glove 31. When the positions comes to positions where the ball is gripped, a voltage is applied between electrodes 41 and 42 to contract the muscles in the hand opening direction. With this resistance feeling, the person feels as if the ball were actually grasped.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a virtual sensation apparatus suitable for use in, for example, remotely controlling a robot or performing a predetermined work in a virtual reality space.

[0002]

2. Description of the Related Art The so-called tele-exist
ence), it is necessary to remotely control the robot in order to make the robot perform a predetermined work in a place where a human cannot directly go. There is also a case where a predetermined object is displayed in the virtual reality space and a person wants to perform a predetermined action on the object. In such a case, it is known that if the operation feeling is fed back to the operator, the sense of presence is increased and the work efficiency can be improved.

[0003] For example, in the case of causing a robot to install a spacecraft antenna in space, when the robot grabs a pole that constitutes the antenna, a person who remotely controls the pole feels that he or she actually grabbed the pole. If the (grasping feeling) is fed back, the work can be executed more quickly.

Furthermore, for example, if a tennis ball is displayed in a virtual reality space and a person can actually touch the ball to check its size and hardness (softness), Even if the ball does not actually exist, it can be one of the factors for a person to confirm the condition of the ball and, for example, purchase it.

Conventionally, the following method has been proposed as a method for feeding back the feeling of grasping an object to the human hand.

A first method is a method of mounting a master manipulator using a rigid body and feeding back a sense of force to a human finger or the like with an actuator such as a rabatulator. That is, in this method, for example, a member driven by a motor or compressed air is provided at a position corresponding to a human finger, and the human finger is placed on the member. Then, a force is applied to the finger through an actuator to give a resistance to the human finger.

The second method is to attach an air balloon to gloves. It is a method of feeding back the feeling of force to a person by putting a hand on the glove and adjusting the air flow in and out of the air balloon at the time of use.

Further, a third method is to attach a vibrating element, such as a piezoelectric buzzer, to a fingertip, and to move the piezoelectric buzzer when the fingertip is moved to a predetermined position (for example, when the ball is grasped). Is transmitted to a person through tactile sensation that the position has been reached.

[0009]

However, the above-mentioned first method has a problem in that the size of the apparatus is large and the cost is high. Further, for example, an adult and a child have different finger sizes and positions, but there is a problem that they cannot cope with these changes. Of course, it suffices to manufacture the devices corresponding to the individual humans, but in that case, a huge number of devices had to be prepared, which was practically impossible.

Further, the second method has a problem that the device for controlling the air pressure becomes large and the cost also becomes high.

Further, the third method has a problem in that it is possible to inform a person that a finger or the like has reached a predetermined position, but it is not possible to obtain a feeling of touching an object.

The present invention has been made in view of such a situation, and it is possible to feed back the feeling of actually touching an object by a low-cost device having a relatively simple structure. Further, the same device can be used for adults and children.

[0013]

A virtual sensation apparatus according to the present invention includes a generating means (for example, RAM1 in FIG. 1) for generating three-dimensional position information and a stimulating means (in FIG. 1) for stimulating muscles to contract. It is characterized by including a band 11) and a control means (CPU 2 in FIG. 1) for controlling the stimulation means in correspondence with the three-dimensional position information generated by the generation means.

The RAM 1 can store, for example, video information and hardness (softness) information as three-dimensional position information.

When stimulating the muscles with the band 11, it is possible to contract the muscles that suppress a predetermined motion among the muscles. Further, the generating means can generate three-dimensional information from the information detected by the robot.

[0016]

In the virtual sensation apparatus having the above structure, for example, R
Band 1 corresponding to the video information read from AM1
1 stimulates muscles to contract. As a result, it is possible to obtain a feeling of actually touching an object with a low-cost device having a simple structure. In addition, even adults and children can use the same band.

[0017]

1 is a block diagram showing the configuration of an embodiment of a virtual sensation apparatus of the present invention. RAM1 has various 3
Dimension information is stored. FIG. 2 shows an example of this three-dimensional information. That is, in this embodiment, R
Video information and hardness (softness) information are stored in the AM1 in association with each other. These are for displaying images of chairs, desks, tennis balls, etc. as three-dimensional images in the virtual reality space. The hardness S1 to S3 of these chairs, desks, tennis balls, etc. are stored in correspondence with these images.

The CPU 2 controls each unit according to a program stored in the ROM 12. For example, the video information stored in the RAM 1 is read, this information is processed according to the data from the three-dimensional coordinate measuring device 6 to be described later, and this is supplied to the video generating device 3,
Generate a video signal to be displayed in the virtual reality space. This video signal is supplied from the video generator 3 to the display 4.

The display 4 is constructed so that a person can wear it on the head, as shown in FIG. 3, for example. The display 4 is configured to independently display images corresponding to the left-eye image signal L and the right-eye image signal R output by the image generation device 3, to the left and right eyes of the person who wears them. The left-eye video signal and the right-eye video signal include a component corresponding to parallax, and the person wearing the display 4 synthesizes the video displayed therein in his / her brain, This is recognized as a three-dimensional stereoscopic image.

A sensor 5 is attached to the display 4, and a signal detected by the sensor 5 is supplied to the three-dimensional coordinate measuring device 6.

FIG. 4 shows a sensor 5 and a three-dimensional coordinate measuring device 6.
The example of composition of is shown. As shown in the figure, the three-dimensional coordinate measuring device 6 has a source (orthogonal coil) 24. The source 24 includes a coil 24x that generates a magnetic field in the x-axis direction, a coil 24y that generates a magnetic field in the y-axis direction, and a coil 24z that generates a magnetic field in the z-axis direction. The sensor 5 is also a coil 5ax that detects a magnetic field in the x-axis direction and a coil 5 that detects a magnetic field in the y-axis direction.
It has a coil 5az for detecting magnetic fields in the ay and z-axis directions.

The position calculator 22 of the three-dimensional coordinate measuring device 6
Drives each of the three coils of the source 24 via the drive circuit 23 in a time division manner. As a result, a magnetic field in the x-axis direction, a magnetic field in the y-axis direction, or a magnetic field in the z-axis direction is sequentially generated. Each coil of the sensor 5 detects the magnetic field in each of these directions and outputs the detection signal to the detection circuit 21.
The detection circuit 21 supplies the detection signal to the position calculation unit 22. The position calculator 22 calculates the detection signal supplied from the detection circuit 21 to obtain the three-dimensional position and orientation of the sensor 5. The position data calculated by the position calculator 22 is supplied to the CPU 2.

Using the three-dimensional coordinate position data, the CPU 2 uses the display 4 even when the user wearing the display 4 moves the position of his head in the three-dimensional space. An image is displayed as if the object in the virtual reality space being observed by the wearer stands still at a predetermined position.

The sensor 7 is a data glove 31 worn by the person wearing the display 4 on his / her hand (see FIG. 5).
The posture information such as the position and angle of the wearer's hand is detected and output to the three-dimensional coordinate measuring device 6.
Further, for example, three-dimensional information is also input to the three-dimensional coordinate measuring device 6 from a sensor 8 attached to a robot arranged at a remote place. For example, when the robot touches a predetermined object, the sensor 8 outputs the touched information as it is. Therefore, the output of the sensor 8 is transmitted to the three-dimensional coordinate measuring device 6 via the wireless communication device as needed. The three-dimensional coordinate measuring device 6 is
The data supplied from the sensor 7 or the sensor 8 is processed in the same manner as the output of the sensor 5 and output to the CPU 2.

The CPU 2 also controls the signal generating circuit 9 so as to prevent a person from feeling pain (for example, 50H among predetermined frequencies (for example, 50Hz to 100Hz).
The magnitude of the value of the pulsating flow signal of the signal generating circuit 9 for generating the pulsating flow signal of z)) is controlled so as to change in the range of about 0 volt to 200 volt. The output of the signal generation circuit 9 is supplied to the band 11 via the drive circuit 10.

The band 11 is, for example, as shown in FIG.
It is wound between the wrist and elbow of the user's arm 32.

As shown in FIG. 6, the band 11 has a substantially rectangular shape when unfolded, and a plurality of individual electrodes 41 are arranged in a matrix on the elbow side (right side in the figure). The common electrode 42 having a rectangular shape is attached to the wrist side (left side in the drawing). It is preferable that the individual electrodes 41 each have a shape as small as possible. This makes it possible to more accurately adjust the position to be stimulated.

Further, it is preferable that the number of the individual electrodes 41 is increased as much as possible to form another channel. As a result, even if the position where the band 11 is attached changes every time it is attached, by selecting the predetermined individual electrode 41 among them, it becomes possible to constantly stimulate the predetermined position of the arm 32. It is also possible to sequentially change the position to be stimulated with the passage of time. Furthermore, whether the person wearing the band 11 is an adult or a child, by selecting a predetermined individual electrode 41,
It is possible to always stimulate the correct position. Further, in the case of this embodiment, five fingers are set as control targets, but it is possible to control each finger independently.

FIG. 7 shows the positions of the electrodes 41 and 42 when the band 11 is wound around the arm 32. As shown in the figure, the band 11 is arranged so that the electrodes 41 and 42 are located on the extension line of the back of the hand (the side opposite to the palm).

That is, for example, as shown in FIG.
When trying to grab 3 by hand, one uses his muscles to close his hand. This muscle is located on the volar side of the arm 32 between the wrist and elbow. By contracting this muscle, the person
You can close your hands like you grab 3.

On the other hand, in order to open the hand so that the grasped ball 33 is released, the muscles on the back side of the hand (extensor digitorum communis) are contracted. The nerve that activates the extensor digitorum brevis is the radial nerve. Since the extensor digitorum radix and the radial nerve are located between the elbow and the wrist of the arm 32 and on the back side of the hand, the electrodes 41 and 4
2 is arranged on the back side of the hand between the elbow and the wrist of the arm 32, as shown in FIG.

Accordingly, for example, when a predetermined voltage is applied between the individual electrode 41 and the common electrode 42 as shown in FIG. 8, as shown in the same figure, the weakness is weak along the common finger extensor muscle and the radial nerve. A strong electric current flows and the hand is stimulated to open.

Next, referring to the flowchart of FIG.
The operation will be described. Now CPU2 is RAM1
It is assumed that the video data stored in is read out, a predetermined video signal is generated in the video generation device 3 in accordance with this data, and is displayed on the display 4. As a result, for example, as shown in FIG. 5, the stereoscopic image of the ball 33 appears to the user as being displayed in the virtual reality space. That is, the ball 33 does not actually exist but is a virtual image.

First, in step S1, the CPU2
Causes the three-dimensional coordinate measuring device 6 to take in data from the sensor 7 of the data globe 31. And step S2
Then, the state (position and angle) of the user's hand is calculated by using the data captured in step S1.

Next, in step S3, the three-dimensional position information of the hand obtained in step S2 is compared with the three-dimensional position information of the ball 33 displayed on the display 4.
Then, in step S4, it is determined whether or not the position of the palm or the finger is at the position where the ball 33 is grabbed.

When it is determined that the palm or the finger is in the position of gripping the ball 33, the process proceeds to step S5 and the band 1
The value to be output is calculated for one individual electrode 41.
Then, in accordance with the value calculated in step S5, the band 11 is driven in step S6.

That is, the CPU 2 controls the signal generating circuit 9 to set the voltage value of the pulse (pulsational flow signal) having a frequency of 50 Hz output from the signal generating circuit 9 to the value obtained in step S5,
Corresponding individual electrode 4 of band 11 via drive circuit 10
1 is applied. As a result, as shown in FIG. 8, a potential difference is generated between the individual electrode 41 and the common electrode 42, and a weak current flows between them. As a result, the radial nerve is stimulated and the extensor digitorum brevis contracts.

Now, the user uses the ball 3 in the virtual reality world.
I'm closing my hand trying to grab the 3 by hand. That is, the palm-side muscle between the elbow and the wrist of the arm 32 is contracted to close the palm. In this state, the electrodes 41 and 42 arranged on the back side of the hand between the elbow and the wrist of the arm 32 stimulate the radial nerve, so that the total finger extensor muscle is contracted. That is, the user is stimulated to contract the muscle that suppresses the motion of closing the hand.

As described above, the user tries to close his / her hand in his / her own will, but the electrodes 41, 4
As a result of 2 stimulating the radial nerve, the extensor digitorum brevis contracts, making it difficult to actually close the hand. as a result,
The user feels as if he actually gripped the ball 33 with his hand. That is, the resistance from the ball 33 is felt.

The value of the voltage applied to the individual electrode 41 calculated in step S5 is changed according to the hardness information of the ball 33, as shown in FIG. That is, for example, when the ball 33 is relatively soft, as shown in FIG.
As indicated by the line A at, its voltage value is changed.
That is, the output voltage is gradually increased in accordance with the change in the angle θ from the angle θ ₁ at which the finger angle θ contacts the ball 33.
On the other hand, if the ball 33 is hard,
At 0, as indicated by line B, its output voltage rises sharply.

Thus, as indicated by the line A, when the voltage is gradually increased, the feeling of resistance also gradually increases, so that the user gradually receives a larger resistance as the finger is closed. On the other hand, in the case indicated by the line B, a person suddenly receives a large resistance when the finger is slightly closed, and the person perceives this as a hard object.

As described above, by controlling the voltage value corresponding to the hardness information (elasticity information), the user can sense the hardness of the object.

In step S4, the finger of the hand moves to the ball 3
In the case where it is determined that it is not in contact with No. 3, the processes of steps S5 and S6 are skipped. If it is not determined in step S7 that the end of processing has been instructed, the process returns to step S1 again,
The subsequent processing is repeatedly executed.

In the above, in order to give a feeling of actually grasping an object when grasping the object by hand, the muscles for opening the hand, which is a resistance against the action of closing the hand, are contracted. However, conversely, for example, when expressing the feeling that the hand touches the inner wall of the bottle when the hand is put in the bottle and the hand is opened, the electrodes 41 and 42 of the arm 32 are not used. It may be attached to the palm side between the elbow and the wrist so as to stimulate the nerve on that side and contract the muscle on that side.

In the above embodiments, the case where the hand is closed or opened has been described as an example.
The position where the band 11 is attached may be the upper arm, the leg, or any other predetermined position.

In the above embodiment, nerves or muscles are stimulated in accordance with the video signal.
For example, when the information obtained when a robot working at a remote place grabs an object is fetched from the sensor 8 to the CPU 2 via the three-dimensional coordinate measuring device 6, the band 11 is controlled according to this data. By doing so, it is possible to get the feeling that the robot actually grasped the object. As a result, it becomes possible to very efficiently command the robot to perform a predetermined work.

In this way, for example, a ball or a door knob is displayed as a catalog in the virtual reality space, and the user can actually grasp it by hand,
You can give a simulated experience of confirming its shape and hardness.

Alternatively, when a shooting game or the like is performed in the virtual reality space, the user can feel as if he / she actually triggered, and a more advanced and natural game can be realized. . Furthermore, it is also conceivable to use the device, for example for muscle strengthening training.

[0049]

As described above, according to the virtual sensation apparatus according to the first aspect, the muscles are contracted in accordance with the three-dimensional position information. Can be given to the user. Further, the same device can be used regardless of the body type of the user.

According to the virtual sensation apparatus of claim 2,
Since the muscles are stimulated according to the image information, it is possible to realize a more mature virtual sensation.

According to the virtual sensation apparatus of claim 3,
Since I tried to contract the muscles according to the hardness information,
Not only the shape but also the hardness can be detected, and it can be applied to catalogs.

According to the virtual sensation apparatus of claim 4,
Since the muscles are made to contract in accordance with the information detected by the robot, it is possible to cause the robot to execute a predetermined work more efficiently.

According to the virtual sensation apparatus of claim 5,
Since the muscle that suppresses a predetermined motion is contracted, it is possible to surely give a feeling of operation with a simple device.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of a virtual sensation apparatus of the present invention.

FIG. 2 is a diagram illustrating data stored in a RAM 1 of FIG.

3 is a perspective view showing an external configuration of a display 4 of FIG.

FIG. 4 is a diagram showing a configuration example of a sensor 5 and a three-dimensional coordinate measuring device 6 in FIG.

FIG. 5 is a diagram showing a state in which a band 11 and a data glove 31 are attached.

FIG. 6 is a diagram illustrating a configuration of electrodes 41 and 42 of band 11.

FIG. 7 is a diagram illustrating a positional relationship between electrodes 41 and 42 with respect to an arm.

FIG. 8 is a diagram illustrating a current flowing through a muscle.

9 is a flowchart illustrating the operation of the embodiment of FIG.

FIG. 10 is a diagram illustrating a processing example in step S5 of FIG. 9.

[Explanation of symbols]

 1 RAM 2 CPU 3 image generator 4 display 5 sensor 6 three-dimensional coordinate measuring device 7, 8 sensor 9 signal generating circuit 10 drive circuit 11 band 31 data glove 32 arm 41 individual electrode 42 common electrode

Claims (5)

[Claims] 1. A generator for generating three-dimensional position information, a stimulator for stimulating muscles to contract, and a control for controlling the stimulator corresponding to the three-dimensional position information generated by the generator. And a virtual experience device. 2. The virtual sensation apparatus according to claim 1, wherein the generation unit generates image information as the three-dimensional position information. 3. The virtual sensation apparatus according to claim 1, wherein the generation unit generates hardness information as the three-dimensional position information. 4. The virtual sensation apparatus according to claim 1, wherein the generating means generates the three-dimensional information from information detected by a robot. 5. The virtual sensation apparatus according to claim 1, wherein the stimulating means stimulates the muscle that suppresses a predetermined motion among the muscles to contract.