JPH087182A - Tactile sensation stimulation presentation method and device and tactile sensation stimulation display - Google Patents

Abstract

PURPOSE:To provide tactile sensation stimulation presentation method and device and a tactile sensation stimulation display for enabling the body feeling of a delicate tactile sensation relating to surface roughness without performing presentation in a fine shape like the surface roughness. CONSTITUTION:A stimulation presentation tactile surface plate 1 for significantly stimulating' the tactile sensation, the translational vibration generation mechanism Aa of an ultrasonic wave frequency provided with vibration components in a normal direction to the stimulation presentation tactile surface plate 1 and a variable high frequency driving power source 3 for controlling translational vibration are provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tactile stimulus display method used for simulation for actually sensation of touching the surface of an object, a device directly used for implementing the same, and a tactile stimulus display.

[0002]

2. Description of the Related Art Research on the simulation of tactile sensations in a narrow sense such as touch is currently being actively conducted, but the history is still short and the tactile sensation associated with surface roughness such as "smoothness" and "roughness" which is the object of the present invention. There are few examples of research and development related to the simulation.

However, conventionally, the tactile sense is often used as a visual substitute means for the visually impaired person, and a research on an information transmitting device for the purpose of transmitting two-dimensional or three-dimensional graphic information via the tactile sense. Many developments are also underway.
An example of trying to simulate the tactile sensation associated with surface roughness from the information transmission technique and technical means used here, by the way, Ikeyi, Ikeno, Fukuda, "Development of a vibrating tactile display" The 3rd Design of the Japan Society of Mechanical Engineers・ Proceedings of system section lectures, 1993. As such, these techniques can be considered as prior art in contrast to the present invention.

The general method is to express the shape to be transmitted geometrically, and for example, as shown in FIG. 10 (a), a method of individually expanding and contracting vertically with a reference plane (a) as a boundary ( (B) or, as shown in FIG. 10 (b), a large number of mechanisms (d) for forming a protrusion (c) shape are gathered, and as shown in FIG. Arranged in a lattice plane and operating them independently according to the object, for example, in FIG.
1 (b) expresses the numeral "8", but it is such that a two-dimensional shape or a three-dimensional three-dimensional shape is formed on the exposed surface in this way.

In some of the examples including the above-mentioned conventional example, the protrusion (c) shape is vibrated in the vicinity of the sensitive frequency of the human sensory sensation sensory receptors (generally referred to as 200 to 300 Hz). However, the purpose is to effectively transmit the expressed shape, not to transmit the vibration itself.

[0006]

Even when simulating the tactile sensation associated with surface roughness, the surface roughness (fine three-dimensional figure) is expressed by the information transmission technique and technical means used here. It is possible to do in principle. However, considering that the human sense of touch is extremely sensitive to the micron-order shape, it is necessary to freely form a micron-scale fine shape according to the tactile sense to be transmitted. However, it is difficult in reality because there is a limit to miniaturization of the unit mechanism that operates up and down and high-density arrangement.

The main objects to be solved by the present invention are as follows. That is, the first object of the present invention was made in view of the conventional example, and provides a tactile stimulus expression method and device and a tactile stimulus display that avoid the limiting factors of the mechanism miniaturization and the limit of high-density arrangement. It is intended to be provided.

A second object of the present invention is to provide a tactile stimulus expression method and device and a tactile sensation that enable a delicate tactile sensation related to surface roughness without displaying a fine shape such as surface roughness. It is intended to provide a stimulus display.

A third object of the present invention is to provide a tactile stimulus display method and device and a tactile stimulus display for energizing the vibration of ultrasonic frequency having a vibration component in a fixed direction on the stimulus surface. It is a thing.

A fourth object of the present invention is to provide a tactile stimulus expression method and device and a tactile display capable of controlling the ultrasonic frequency and vibration amplitude applied to the tactile surface. .

Other objects of the present invention will become apparent from the description, drawings, and particularly the claims.

[0012]

The above-mentioned object can be achieved by adopting the novel construction methods and means listed in the following by the present invention. A first feature of the method of the present invention is a tactile stimulus expression method for tactilely applying vibration of ultrasonic frequency having a vibration component in the normal direction to a stimulus expression tactile surface for significantly stimulating tactile sense. Is.

A second feature of the method of the present invention is a tactile stimulus expression method in which the vibration of the ultrasonic frequency in the first feature of the method of the present invention is translational vibration.

A third feature of the method of the present invention is a tactile stimulus expression method in which the vibration of the ultrasonic frequency in the first feature of the method of the present invention is bending wave vibration.

A fourth feature of the method of the present invention is a tactile stimulus expression method in which the vibration amplitude of the ultrasonic frequency in the first, second or third feature of the method of the present invention is variably controlled. Is.

The first feature of the device of the present invention is that the stimulus-exposing tactile plate for significantly stimulating the tactile sense, and the translational vibration of ultrasonic frequency having a vibration component in the normal direction applied to the stimulus-exposing tactile plate. A generation mechanism and a control mechanism for controlling the translational vibration,
A tactile stimulus display device comprising:

The second characteristic of the device of the present invention is that the stimulus-exposing joint tactile plate for significantly stimulating the tactile sense, and the ultrasonic frequency having the vibration component in the normal direction applied to the stimulus-exposing joint tactile plate. The tactile stimulus display device includes a flexural vibration wave generation mechanism and a control mechanism that controls the flexural vibration wave.

A third feature of the device of the present invention is that the translational vibration generating mechanism according to the first feature of the device of the present invention has a Langevin type vibrator hung vertically on the lower surface and a neck post protruding on the upper surface. Is a front cruciform suspension, while a stimulus-expressing tactile plate is mounted on the upper end of the neck pillar.

A fourth feature of the device of the present invention is that the flexural vibration wave generating mechanism according to the second feature of the device of the present invention is a vibration amplifying device in which a Langevin type vibrator is hung on the lower surface and a neck pillar is erected on the upper surface. A plurality of translational vibration generating mechanisms that suspend the boards in the front cross are installed side by side at multiple required intervals, while a stimulus expression is made by mounting a joint tactile surface plate on the upper end of the column group of the translational vibration generating mechanism. It is a device.

A fifth feature of the device of the present invention is that the flexural vibration wave control mechanism according to the second, third or fourth feature of the device of the present invention is centrally connected to each Langevin type vibrator of the flexural vibration wave generating mechanism. However, a tactile stimulus display device in which the respective Langevin-type transducers are independently and individually or simultaneously formed into a circuit that can be drive-controlled.

A sixth feature of the device of the present invention is that a tactile stimulus display device equipped with a translational vibration generating mechanism is arranged in a vertical and horizontal lattices to form a stimulus display touch plate group in close contact with each other in a grid pattern. A tactile stimulus display, which forms a tactile stimulus exposed collective tactile surface and centrally connects the translational vibration generating mechanism groups to a control controller so as to be independently drive-controllable.

[0022]

In the present invention, since the novel method and means as described above are taken, it is completely different from the conventional method of expressing the tactile sensation by forming the concavo-convex shape with respect to the flat initial state. Based on the reverse sending that adds smoothness to the stimulus exposed touch surface with a certain state, ultrasonic vibration with a component in the normal direction of the stimulus exposed touch surface is applied, and by controlling it, the touch surface is Controls the tactile sensation related to the roughness when touched.

By applying this ultrasonic vibration of the present invention, it becomes possible to produce a smooth feeling when touched by a person due to the effect of the mechanical action between the stimulating surface and the skin of the finger. . The effects that affect the tactile sensation include (i) the stimulus-exposed touch surface and the release of the skin due to the human skin's inability to follow vibrations (ii) the change in shape of the human skin and the unevenness of the surface being caught on the finger. Decrease (iii) Possibility of gas lubrication of skin and irritation exposed contact surface.

Further, by controlling the magnitude of the vibration generated on the stimulus-exposed touch surface and changing the strength of the mechanical action between the stimulus-exposed touch surface and the skin of the finger, the finger without vibration is added. Continuously realizes an intermediate state between a state where there is a resistance when tracing, and a state where a smooth tactile sensation is obtained when vibration is added.
It is possible to give various tactile sensations to fine roughness, that is, control of the tactile sensations.

(Device Example 1) A first device example of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view of the conceptual configuration of this embodiment, and FIG.
FIG. 4 is a front view of a translational vibration generating mechanism. In the figure, A is a tactile stimulus display device of this device example, Aa is a translational vibration generating mechanism, 1 is a stimulus display tactile plate (hereinafter simply referred to as tactile plate) for tactile stimulation, 2 is a Langevin type vibrator, 2a is a core part, 2b
Is a coil, 3 is a variable high frequency drive power source of a suitable example as a control mechanism, 4 is an amplitude amplification plate, 5 is a support base, 5a is a support arm,
5b is a leg, 5c is a foot, 6 is a neck, 7 is a base, and 8 is a control signal line. It is assumed that the resonance frequency of the Langevin type vibrator 2 is higher than the audible range and is approximately 20 kHz or higher.

Since the specifications of this example of the apparatus show such a specific embodiment, the Langevin type vibrator 2 reciprocally vibrates in the vertical direction shown by the arrow in FIG. 1 via the signal line 8 by the variable high frequency drive power source 3. , The vibration is propagated to the touch plate 1 after the amplitude is amplified and expanded by the amplitude amplifying plate 4 as longitudinal vibration.
The touch plate 1 vibrates in the vertical direction of the circle, which is the direction normal to the surface.

The vibration amplitude of the touch plate 1 is the voltage applied to the Langevin type vibrator 2 of the variable high frequency drive power source 3, or
It is controlled by controlling the vibration frequency. Since the amplitude amplifying plate 4 is fixed in a cruciform shape on the left and right side ends of the support base 5 which is erected side by side, the upper surface of the support arm 5a propagates. It is designed to hit the vibration node. The above is the description of the example of the apparatus.

(Method Example 1) A first method example of the present invention applied to the present apparatus example will be described below. First, touch panel 1
When ultrasonic translational vibration including a normal direction component is generated in
Due to the mechanical action between the touch panel 1 and human skin, the tactile sensation when touching the touch panel 1 is smoother than when no vibration is applied. In particular, if the vibration amplitude to the touch surface plate 1 is sufficiently large, the touch feeling is extremely smooth with almost no resistance. On the other hand, the touch feeling of the touch surface plate 1 without vibration is a resistance feeling (roughness due to unevenness or a close contact feeling due to close contact with the touch surface plate 1) when tracing, depending on the state of the surface.
That is, it is possible to provide a person who shakes the touch panel 1 with a resistive touch and a smooth touch depending on whether or not the touch panel 1 is vibrated.

Further, when the vibration amplitude (vibration intensity) of the Langevin type vibrator 2 is controlled by the variable high frequency drive power source 3 to continuously control the vibration amplitude of the touch surface plate 1, the vibration amplitude between the touch surface plate 1 and the skin of the finger is controlled. Since it is possible to continuously change the effect (strength) of the mechanical action that occurs, it is possible to continuously change and express a sensation intermediate between a smooth tactile sensation and a resistive tactile sensation. . In other words, by controlling the vibration amplitude of this method example, a person who touches the tactile surface plate 1 can be subtly sensitive to the surface roughness between the smooth tactile feeling at the time of vibration and the original resistance of the tactile surface plate 1. It is possible to give a feeling.

(Device Example 2) A second device example of the present invention will be described with reference to the drawings. FIG. 3 is a perspective view of the conceptual configuration of the present apparatus example, and FIG.
FIG. 4 is a front view of a flexural vibration wave generation mechanism. It should be noted that the same numbers are given to members and portions that overlap with the first device example shown in FIG.

In the figure, B is a tactile stimulus expression device of this device example,
Ba is a flexural vibration wave generation mechanism, Aa ′ and Aa ″ are translational vibration generation mechanisms, 1 ′ is a joint contact surface plate (hereinafter referred to as a joint contact surface plate), 2 ′, 2 ″ is a Langevin type vibrator, 4 ′, 4 ″
Is an amplitude amplifying plate, 5 ', 5 "is a support base, 6', 6" is a neck, 8 ', 8 "is a control signal line, 9 is a high frequency drive circuit as a preferred example of a control mechanism, and 10 is a high frequency. Represents a drive power supply.

In the figure, in this device example, a translational vibration generating mechanism A is used.
Since two sets of a'and Aa "are used, they are distinguished by using the subscripts'and", as shown in the figure. Hereinafter, when the two are not distinguished, for example, the Langevin type vibrator 2
It is written without the subscript as in. The resonance frequency of the Langevin type vibrator 2 is set to about 20 kHz or higher, which is a frequency above the audible range.

The specification of this example of the apparatus is such a concrete embodiment that the operation is performed by using one of the Langevin type vibrators 2'and 2 "at the frequency of the vibration mode of the joint contact surface plate 1 '. Vibration is made perpendicular to the joint contact surface plate 1'without vibration shown by the arrow in the middle, and the vibration is amplified by the amplitude amplifying plates 4 ', 4 ".
The amplitude is increased to propagate to the joint touch surface plate 1 ', and the joint touch surface plate 1'is flexurally vibrated to generate a standing wave or a traveling wave on the joint touch surface plate 1'.

FIG. 5 shows an example of a high frequency drive circuit 9 as a preferred example of a control mechanism for generating a standing wave or a traveling wave on the joint touch surface plate 1 '. SW1 and SW2 are switches. When the switch SW1 is connected to the contact terminal sla, the Langevin type vibrator 2'is driven, and when connected to the contact terminal slb, the Langevin type vibrator 2 "is driven.

Here, the switch SW2 is replaced with the switch SW1.
When connected to the Langevin type vibrator 2 on the opposite side, a traveling wave is generated on the joint touch surface plate 1'from the side of the vibrator connected by the switch SW1 to the other vibrator.
In particular, if the variable additional resistor R is set to a value that allows impedance matching, a complete traveling wave that does not contain any standing wave component is generated. Further, if the switch SW2 is not connected to either of them and is opened at the neutral position, a standing wave is generated on the joint touch surface plate 1 '.

FIG. 6 shows a state in which a standing wave β is generated for the joint touch surface α state at the time of non-excited vibration. The standing wave β that is generated satisfies the conditions of a simple support end in the vibration supply part on the vibration side and a fixed end in the fixed part on the non-vibration side of a and b in this device example.

(Method Example 2) A second method example of the present invention applied to the present apparatus example will be described. When ultrasonic flexural vibration including a normal direction component is generated in the joint touch surface plate 1 ', a mechanical action between the joint touch surface plate 1'and human skin causes the joint touch surface plate 1'to be touched. The tactile sensation is smoother than that when no vibration is applied.

In particular, if the vibration amplitude applied to the joint touch surface plate 1'is sufficiently large, the touch feeling is extremely smooth with almost no resistance. On the other hand, the tactile sensation of the joint touch surface plate 1'without vibration is a resistance feeling (roughness due to unevenness or a close contact feeling due to close contact with the joint touch surface plate 1 ') depending on the surface condition. Becomes That is, depending on whether or not the joint tactile plate 1 ′ is vibrated,
It is possible to give a resistive touch and a smooth touch.

Further, when the flexural vibration amplitude of the joint touch surface plate 1'is continuously controlled by controlling the vibration amplitude (vibration intensity) of the Langevin type vibrator 2 by the high frequency drive circuit 9, the joint touch surface plate 1'and the finger are combined. It is possible to continuously express the intermediate sensation of the mechanical action that occurs between the skins of human beings.

When the ultrasonic flexural vibration generated on the joint touch surface plate 1'is the standing wave β, there is no direction dependency of the tactile sensation, but in the case of a traveling wave, the tactile sensation is dependent on the traveling direction of the wave. There is a directional dependency. Specifically, it is possible to experience the tactile sensation of being pulled in the direction opposite to the traveling direction of the wave.

In the second example of the apparatus used in the example of the method, particularly when the bending vibration of the standing wave β is generated, the vibration amplitude varies depending on the position on the joint touch surface plate 1'as shown in FIG. Strictly speaking, it is not possible to obtain a uniform tactile sensation on the entire surface, but since the elastic energy of the surface can be effectively utilized; the structure is designed to express the tactile sensation on a relatively wide surface.

(Device Example 3) A third device example of the present invention will be described with reference to the drawings. FIG. 7 is a system conceptual configuration perspective view of the present apparatus example. In the figure, C is a tactile stimulus display of this device example, 11 is a tactile stimulus expression collective touch surface, A _{1 to An} are unitized tactile stimulus expression device groups, 12 is a high frequency drive power supply,
Reference numeral 13 denotes a controller (hereinafter simply referred to as a controller) for controlling the tactile stimulation display C as a whole.

The tactile stimulus-expressing collective tactile surface 11 (hereinafter referred to as the collective tactile surface) is divided into, for example, a grid pattern as shown in FIG.
Unitized tactile stimulation exposed device (hereinafter, referred to as a unit device) configured as a set of groups A ₁ to A _n. Further, the unit devices A _{1 to} A _n are the stimulus touch elements corresponding to the pixels of the television screen having the configuration shown in the first device example. The unit devices A _{1 to An} are control signal lines 8 ₁ to 8
_It receives a control signal through _n and operates. Controller 13
Can independently control all the unit devices A _{1 to} A _n .

The unit devices A _{1 to} A _n are controlled by the controller 13 via the control signal lines 8 ₁ to 8 _n to form an arbitrary spatial pattern of smoothness in the range of the arrangement density of the unit devices A _{1 to} A _n. Can be formed.

(Method Example 3) A third method example of the present invention applied to the present apparatus example will be described with reference to the drawings. FIG. 8 shows one method of using the tactile spatial pattern formation. FIG. 9 is a plan view of the collective touch surface 11, in which a non-colored portion in FIG. 8 vibrates and becomes smooth, and a colored portion represents a non-vibrated and rough portion.

FIG. 8 shows an example in which "8" is drawn by individually controlling the unit devices A _{1 to} A _n forming the collective touch surface 11. Shape of "8", of the unit devices _A 1 to A _n which constitute the set Sawamen 11 by the controller 13,
It is formed by selectively vibrating the unit devices A _{1 to} A _n other than “8” so that they are left as a stimulating portion with no vibration and a rough feeling. This method example is not suitable for expressing a three-dimensional shape, but it is possible to express a pattern in a plane only by the difference in surface roughness (smoothness).
It is possible to make the displayed pattern feel tactile as if tracing a finger on paper.

FIG. 9 applies the principle of a printer that expresses gray scale by changing the density (ratio) of white and black points, and expresses a finer and more delicate tactile sensation than the expression decomposing ability of the unit devices A1 to An. This is an example of the case where the above is attempted to be realized on the entire collective touch surface 11. In the example of FIG. 9, (a)
In both cases (b), the state is rougher than when everything is vibrated, and smoother than when all are not vibrated. By changing the ratio between the smooth portion and the rough portion in this way, it becomes possible to experience various tactile sensations.

[0048]

As described above, according to the present invention, a touch surface plate or a joint touch surface plate having a resistance to the conventional flat initial state, which causes a resistance change due to the formation of protrusions or the like, causes a resistance change. The subtle tactile sensation is realized by the converse idea that the smoothness is added to the aggregated touch surface by applying ultrasonic waves to control the stimulation of the tactile sensation.

The tactile sense plays an important role as a sensation that only perceives a stimulus by a mechanical action with the outside world caused by contact, and is used consciously or unconsciously in various situations. Focusing on the function of the tactile sensation, it is attempted to be used in a wide range of applications such as a highly realistic communication system, a VR (artificial reality) system, and a design support input / output interface.

If the present invention makes it possible to express and transmit a tactile sensation associated with the surface roughness, it can be expected to be used in these applications. In particular, since the movable part of the present invention is only the exposed touch surface and the vibration source for ultrasonically exciting the exposed touch surface, it is possible to extremely simplify the device configuration. It also has an excellent effect such as easy.

[Brief description of drawings]

FIG. 1 is a front perspective view of a conceptual configuration showing a first device example of the present invention.

FIG. 2 is a front view of the translational vibration generating mechanism in the above.

FIG. 3 is a front perspective view of a conceptual configuration showing a second device example of the present invention.

FIG. 4 is a front view of the flexural vibration wave generation mechanism of the above.

FIG. 5 is an example of a high frequency drive circuit configuration in the above.

FIG. 6 is a view showing the shape of the joint touch surface plate of the above.

FIG. 7 is a system conceptual configuration perspective view showing a third device example of the present invention.

FIG. 8 is an example of a pattern expression according to the above.

9A and 9B are other two pattern expression examples according to the above.

10 (a) and 10 (b) are two conventional general expression mechanism configurations for forming irregularities (projections).

FIG. 11 is a pattern expression example of a conventional general tactile stimulus information transmitting device, in which (a) shows before appearance and (b) shows after appearance.

[Explanation of symbols]

A, B ... tactile stimulation expression unit Aa, Aa ', Aa "... translational vibration generating mechanism A ₁ to A n _... unitized tactile stimulator (unit device) Ba ... bending vibration generating mechanism C ... tactile stimulation display DESCRIPTION OF SYMBOLS 1 ... Stimulation surface-exposing tactile plate (touch surface plate) 1 '... Stimulation surface-exposing joint tactile plate (joint tactile plate) 2, 2', 2 "... Langevin type vibrator 2a ... Core part 2b ... Coil 3 ... Variable high frequency drive Power supply 4, 4 ', 4 "... Amplitude amplification plate 5, 5', 5" ... Support 5a ... Support arm 5b ... Leg 5c ... Leg 6 ... Neck 7 ... Base 8, 8 ', 8 " , 8 ₁ to 8 _n ... Control signal line 9 ... High frequency drive circuit 10, 12 ... High frequency drive power source 11 ... Stimulation expression collective touch surface (collective touch surface) 13 ... Controller for controlling the entire tactile stimulation display

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[Procedure amendment]

[Submission date] June 23, 1994

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[Document name to be corrected] Drawing

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Claims (10)

[Claims] 1. A tactile stimulus expression method, which comprises tactilely applying vibration of ultrasonic frequency having a vibration component in the normal direction to a tactile surface for significant stimulation of tactile sense. 2. The tactile stimulation expression method according to claim 1, wherein the vibration of the ultrasonic frequency is a translational vibration. 3. The tactile stimulation expression method according to claim 1, wherein the vibration of ultrasonic frequency is bending wave vibration. 4. The tactile stimulation expression method according to claim 1, wherein the vibration of ultrasonic frequency is variably controlled in its vibration amplitude. 5. A stimulus-exposing tactile plate for significantly stimulating tactile sensation, a translational vibration generating mechanism of ultrasonic frequency having a vibration component in a normal direction applied to the stimulus-exposing tactile plate, and the translational vibration. A tactile stimulus display device comprising: a control mechanism for controlling. 6. A stimulus-exposing joint tactile plate for significantly stimulating tactile sensation, a flexural vibration wave generating mechanism of ultrasonic frequency having a vibration component in a normal direction applied to the stimulating surface joint tactile plate, and the flexure. A tactile stimulus display device comprising: a control mechanism for controlling a vibration wave. 7. The translational vibration generating mechanism comprises a Langevin type vibrator hung on the lower surface and a vibration amplifying plate having a neck pillar protruding from the upper surface, and a stimulating surface touching plate on the upper end of the neck pillar. The tactile stimulus display device according to claim 5, which is mounted. 8. The flexural vibration wave generating mechanism comprises a translational vibration generating mechanism in which a Langevin type vibrator is hung vertically on a lower surface and a vibration amplifying plate with a neck pillar protruding on the upper surface is suspended in a cross-like shape at a predetermined interval. 7. The tactile stimulus display device according to claim 6, wherein a stimulus display joint touch surface plate is mounted on the upper end of the neck column group of the translational vibration generating mechanism while being installed. 9. A flexural vibration wave control mechanism is centrally connected to each Langevin type vibrator of the flexural vibration wave generation mechanism, and each Langevin type vibrator is independently and individually or simultaneously formed into a circuit capable of drive control. The tactile stimulus display device according to claim 6, 7, or 8. 10. A single tactile stimulus-exposing aggregate tactile surface in which tactile stimulus-exposing devices having a translational vibration generating mechanism are arranged in a vertical and horizontal lattices to form a group of stimulus-exposing touch face plates in a grid-like close contact. On the other hand, the tactile stimulus display is characterized in that the translational vibration generating mechanism groups are independently connected to a control controller so as to be independently drive-controlled.