JPH114970A - Pseudo-bodily sensation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make correction of recognition isolation between the real world and the virtual world possible, by detecting the rotation angle of a main shaft equipped with a riding table when a user operates the riding table looking at a front screen and oscillating an oscillating frame with specific constitution and changing the landscape in the screen. SOLUTION: A player rides on a riding table 20 and performs ski movement by legs corresponding to a situation looking at a screen of ski sliding outputted and displayed by a control CPU 50. A rotation angle around the Z-axis of the main shaft 14 based on the movement and torsion rotation around a longitudinal axis of the rotation axis 21 are detected. This is sent as movement information of ski to the control CPU 50, and locomotive movement in a virtual world of a skier is calculated. An oscillating frame 10 with a restriction point and two oscillating mechanism is oscillated so as to give ski movement based on the locomotive movement to the user. The landscape of a view of a skier in a virtual world is simultaneously displayed on the screen based on the locomotive movement. Thus the gap between the real world and the virtual world is corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a simulated sensation device for giving a user various simulated experiences, and more particularly to a simulated device in which a user performs a moving exercise using a sports equipment such as skiing in a virtual world or a sled. The present invention relates to a simulated bodily sensation device that simulates a user with a simulated centrifugal force, an ascending force, a descending force, and the like and a change in a moving motion that the user will receive based on the moving motion when the user performs a moving motion while riding on a vehicle.

[0002]

2. Description of the Related Art The purpose of a bodily sensation device is to give a simulated experience as if a user in the real world is actually performing a mobile motion similar to the mobile motion situation of the user in the virtual world. The conventional bodily sensation device moves and vibrates the user by moving and vibrating the device itself using a six-axis hydraulic or air motor in order to give the user of the bodily sensation device a centrifugal force, a feeling of falling, etc. Further, the robot is moved and vibrated in the rotation direction to forcibly sense a simulated force and displacement.

[0003]

Generally, in a bodily sensation game machine, vibration can be given by a mechanism of the machine itself. However, for example, when the boarding board is rotated around a vertical axis located in front of the game machine to control the movement in the virtual world by operating the game machine, the boarding board may be moved in a traveling direction desired by the user. Suppose that it is rotated and maintains its orientation. Then, in the virtual world, the course direction is changed to that direction and the vehicle goes straight. Here, the real world and the virtual world are separated. In the real world, the user perceives that he is facing diagonally, but in the virtual world he perceives that he turns straight ahead after turning. The conventional bodily sensation device does not include a mechanism for correcting the separation between the real world and the virtual world by a simple method.

Further, in a bodily sensation device such as skiing, if the user leans down, the skier's speed increases in the virtual world. It was not measured by a simple method. In addition, if the user on the board that is a sled with a bodily sensation device such as a sled tilts his body left or right with respect to the traveling direction, the sled is set to change the direction of the movement in that direction in the virtual world Have been. However, when the maximum allowable value of the torsion angle of the boarding board (tilt left and right with respect to the direction of travel) is limited to a small value so that even a small child can get on, the information that the body has been leaned is a simple method. Could not be detected.

An object of the present invention is to provide a simulated bodily sensation device having a mechanism for correcting the separation between the real world and the virtual world by a simple method. Also,
It is an object of the present invention to detect in a simple manner that a human has taken a forward leaning posture on a boarding board, and to swing the device. Furthermore, when the torsion angle of the boarding board on which a person is boarding (the inclination in the left-right direction with respect to the traveling direction) is limited, the passenger leans the body in the left-right direction with respect to the traveling direction. It is an object to detect the fact by a simple method and swing the device.

[0006]

In order to solve the above-mentioned problems, a simulated bodily sensation device according to claim 1 has two rocking points that are rocked independently only in a vertical direction, and only a displacement is provided. An oscillating frame having one constrained restraint point, two oscillating mechanisms for oscillating the oscillating frame at each of the oscillating points, an image device, and an image signal transmitted to the image device by the oscillating mechanism. A simulated bodily sensation device having a control device for sending a signal, wherein a main shaft connected to the swing frame and horizontally disposed near the constraint point has a predetermined axis around a vertical axis passing through a connection point to the swing frame. The main shaft is rotatable by a predetermined angle from the neutral position, and a restoring force to the neutral position according to the rotational deviation of the main shaft from the neutral position acts on the main shaft, and the end opposite to the connection end of the main shaft to the swing frame. The boarding board on which the user boards Vignetting, detects the rotation angular deviation of the main shaft, and wherein the sending the detection signal to the controller.

According to a second aspect of the present invention, there is provided a simulated bodily sensation device according to the first aspect, wherein the mounting base is attached to the main shaft via the rotary shaft around the rotary shaft. It is capable of torsional rotation, and detects any of the torsional rotation angle of the rotary shaft, the torque of the rotary shaft, or the center of gravity of the boarding platform in the left-right direction, and sends this detection signal to the control device.

According to a third aspect of the present invention, there is provided a simulated bodily sensation device according to the first aspect of the present invention, wherein the boarding platform is divided into two sections, and each of the boarding boards has a rotating shaft. Is attached to the main shaft so as to be able to torsionally rotate around this rotation axis, and further, any of the torsional rotation angle of the rotation shaft or the torque of the rotation shaft or the center of gravity of the boarding board in the left-right direction is applied to each boarding board. And sends this detection signal to the control device.

According to a fourth aspect of the present invention, there is provided a simulated sensation device according to any one of the first to third aspects, further comprising detecting a position of a center of gravity of the boarding board in the front-rear direction. Then, the detection signal is sent to the control device.

According to a fifth aspect of the present invention, there is provided a simulated bodily sensation device according to any one of the first and second aspects, wherein the boarding platform has a structure in which a user can sit. Things.

According to a sixth aspect of the present invention, there is provided a simulated sensation device according to the sixth aspect, further comprising detecting a center of gravity of the boarding platform in the front-rear direction.
This detection signal is sent to the control device.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A simulated sensation device according to the present invention includes a swing frame, a swing mechanism, an image device, and a control device. The oscillating frame has one constraint point in which only displacement is restricted, and each has two oscillating points that are vertically oscillated independently. The swing frame is connected to a swing mechanism at each swing point and swings independently only in the vertical direction. It is preferable that the constraint points be the positions of the vertices of the isosceles triangle, and the swing points be disposed at both ends of the base. A user of the simulated bodily sensation device rides on the boarding board, and an imaging device is arranged at eye level in front of the user to display a scene that the user will see in the virtual world that the user experiences. The user gets on a vehicle in the virtual world, drives and operates the vehicle, and moves in the virtual world.

The control device stores information on the virtual world, that is, information such as terrain, landscape, and the rules of movement of various vehicles. The control device is provided with real-world human vehicle operation information, and based on the information, the control device will display the movement and movement information of the vehicle in the virtual world, which will be visible to the occupants of the vehicle in the virtual world. Calculate landscape information. The control device calculates a swing signal and an image signal based on the movement information, the terrain information and the landscape information, and sends them to the swing mechanism and the image device, respectively.

A horizontally disposed main shaft connected to the swing frame near the constraint point of the swing frame is rotatable from a predetermined neutral position by a predetermined angle around a vertical axis passing through a connection point to the swing frame. Has become. That is, the main shaft rotates left and right in a horizontal plane from a predetermined neutral position with the connection point as a fulcrum. It is preferable that the predetermined neutral position is made to coincide with a perpendicular drawn from the vertex of the isosceles triangle to the base.
A restoring force to the neutral position is applied to the main shaft in accordance with the rotation angle deviation from the neutral position or substantially proportional thereto. When a rotational deviation occurs in the main shaft, compression or tension may be applied to the spring by an amount of displacement caused by the rotational deviation. A coil spring may be arranged along the main shaft directly below the main shaft so that the coil spring rotates integrally with the main shaft. A dashpot that works only when the spindle moves back to the neutral position can be installed.

A boarding table on which a user rides is attached to the end of the main shaft opposite to the end connected to the swing frame. The user gets on the boarding board in the direction of the fulcrum of rotation of the main shaft. The boarding platform functions as a means for driving and operating a vehicle in the virtual world. The rotation angle deviation from the predetermined neutral position of the boarding table, that is, the rotation angle deviation from the neutral position of the main shaft is detected, and this detection signal is sent to the control device as direction change information, that is, operation information of the vehicle in the virtual world.

Next, the action of the restoring force of the main shaft will be described by taking an example of a pseudo-feeling apparatus for skiing. For example, when a person who is skiing straight ahead in a snowy field in the virtual world turns right, it is necessary to change the ski that is facing more quickly to the right diagonally. At this time, in the real world, a person riding on a boarding board that looks like skiing using the bodily sensation device rotates the boarding board facing straight ahead to the right. The platform is connected to one end of a horizontal main shaft, and the other end of the main shaft is connected to a swing frame. The main shaft is structured to be rotatable by a predetermined angle from a predetermined neutral position around a vertical axis passing through a connection point with the swing frame. At this time, the human in the real world performs an operation of rotating the boarding board (that is, the spindle) from the neutral position to the right around the vertical axis passing through the connection point of the spindle with the swing frame of the spindle. become.

On the other hand, the action of a human in the virtual world is controlled by the action of a human in the real world by the control device. In other words, a rotation angle deviation of the main shaft is caused by rotating the boarding board to the right based on the intention of a person in the real world to change the direction to the right. This rotation angle deviation is detected and sent to the control device as a rotation angle deviation signal. Therefore, the controller recognizes that the direction has changed to the right,
The direction of the human in the virtual world is rotated to the right, and the direction of the virtual world shown in the image of the image device is rotated to the right.
At this time, the scene of the virtual world itself moves to the left.

Thereafter, in the virtual world, the changed direction becomes the traveling direction. If the real world person keeps the ski, that is, the boarding board in the current direction without changing the traveling direction, the human in the virtual world will You will face straight ahead and go straight in that direction. That is, the user of the bodily sensation device recognizes that he or she is moving straight ahead in the virtual world.
On the other hand, since the real human in the real world maintains the direction of the ski or boarding board without changing the direction, the ski or boarding board is oriented in the vertical direction of the screen of the imaging device, that is, with respect to the traveling direction of the virtual world. , And the recognition of the real world and the virtual world is separated.

In order to correct the separation between the real world and the virtual world, the person in the real world does not change the ski, that is, the direction of the boarding board by his / her own will, but straightens the direction of the actual boarding board. It is necessary to change the direction. For this purpose, a restoring force to the neutral position according to the rotation angle deviation from the neutral position or substantially proportional to the neutral position acts on the main shaft. The main shaft returns to the neutral position by this restoring force. In other words, after changing the direction of the ski, that is, the boarding board from the neutral position to the right, the person in the real world tries to return to the original direction without changing the direction of the boarding board.
The boarding platform is in its original neutral position by the restoring force acting on the spindle,
In other words, the user is directed straight ahead, and the recognition of the real world and the recognition of the virtual world can be matched.

The actual operation of the ski when changing the direction of travel of the ski to the right is not only to rotate the ski to the right (rotation about a vertical axis in a horizontal plane), but also torsionally rotate to the right (at the same time). Torsional rotation around the horizontal axis in the front-rear direction). Therefore, the right rotation angle of the boarding board is detected, and not only this detection signal is sent to the control device, but also the right torsional rotation angle is detected. By controlling the swing of the moving mechanism and the image of the image device, it is possible to obtain a simulated sensation closer to the actual sensation. Instead of the torsional rotation angle of the platform, the torque of the rotating shaft or the center of gravity of the platform in the left-right direction may be detected, and these detection signals may be sent to the control device.
Detecting either of the former two is useful when the torsional rotation angle is limited to a certain range. Up to a certain value of torsional rotation angle, it is detected by torsional rotation angle,
The rotation torque of the rotation shaft or the position of the center of gravity of the boarding board in the left-right direction may be detected when the rotation angle of the predetermined value is reached.

The boarding platform may be divided into two sections, and each boarding section may be mounted on the main shaft so as to be rotatable through a rotary shaft. In this case, each boarding board is boarded with each foot. Then, either the torsional rotation angle, the torque of the rotation shaft, or the position of the center of gravity in the left-right direction is detected for each boarding platform.

Further, in skiing and the like, when the skier takes a forward leaning posture, the ski speed increases. In order to reproduce this with the bodily sensation device, a state in which the user is bent forward on the boarding board is detected as the position of the center of gravity of the boarding board in the front-back direction, and this detection signal is sent to the control device. When the vehicle leans forward, the center of gravity of the boarding board moves forward, and when the vehicle leans forward, the center of gravity moves significantly forward. If the boarding board is configured to allow the user to sit on it, it is possible to experience the case where the user rides on a sled or the like.

The simulated sensation device according to the present invention includes a ski on snow,
It is possible to provide a device that not only senses a sled, but also skis and sleds on ice, on the grass, on the ground, and the like, and a device that can experience a roller skate and a board. Also, a joystick or a foot pedal may be attached as a means for changing the traveling direction, such as in the case of a sled.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of a simulated sensation device according to the present invention will be described based on a ski sensation device. FIG. 1 is an overall view of a ski experience apparatus according to the present invention. A pillow block 11 is disposed at the center of a swing frame 10 including two horizontally-arranged U-shaped frames, and a structure capable of rotating in two axial directions (about the x-axis and the y-axis) thereabout. Has become.
The swing frame 10 has a structure that is symmetrical with respect to the center axis 16 of the swing frame. The front end of the dogleg-shaped frame of the swing frame 10 is connected to a swing mechanism for swinging (ball screw 30, servo motor 31, shaft coupling 32), and each swing mechanism connects the swing frame 10 to the swing frame. At the connection point, they move vertically independently in conjunction with each other.

When the servo motor 31 rotates, the ball screw 30 rotates, and the vertically arranged ball screw 3
0 rotation is taken out as a vertical movement and the shaft coupling 32
Connected to the swing frame 10 through the swing frame 1
Swing 0 up and down.

The boarding platform 20 on which the user's foot rides is
4, it has a rotation axis 21 itself, and when the passenger tilts his or her feet left and right,
It has a structure that can be twisted and rotated in the left-right direction. The rotation center 12 of the main shaft 14 is located at the end of the main shaft 14 opposite to the connection with the boarding platform 20. The main shaft 14 rotates around a vertical axis (referred to as z-axis) passing through the rotation center 12. That is, the occupant rotates the main shaft 14 around the z-axis by operating the pedestal 20 with the foot. The tension coil spring 13 extends from the tip of the main shaft 14 to the swing frame 10 directly below the main shaft 14. The tension coil spring 13 rotates integrally with the main shaft 14 in the same manner as the main shaft 14, and one end thereof is fixedly connected to the swing frame 10, and the connection portion is located near the center of rotation of the main shaft.

The main shaft 14 and the extension coil spring 13 coincide with the center axis 16 of the oscillating frame when the occupant does not ride on the oscillating frame. The center axis of the oscillating frame corresponds to the neutral position of rotation of the main shaft 14 and the extension coil spring 13 around the z-axis. Become. When the occupant operates the boarding platform 20 and rotates the main shaft 14 around the z-axis, a restoring force for returning the main shaft 14 to the center position direction, which is substantially proportional to the rotation angle from the neutral position, that is, the rotation angle deviation, is always applied. It has a structure.

FIG. 2 shows the sensation of the passenger. The user holds the handle 40 with his / her hand, puts his / her foot on the boarding platform 20, and performs a skiing operation according to the situation, that is, the operation of the boarding platform 20 with his / her foot while watching the sliding screen 51 output by the control CPU 50 as a control device. Do. The method of controlling the ski from the rider side is to rotate the ski (that is, the boarding platform 20) around the z-axis and to perform the edging operation of the ski, that is, torsionally rotate the ski with respect to the horizontal axis in the traveling direction (the boarding platform). 20, that is, torsionally rotate the rotary shaft 21 around its longitudinal axis).

That is, when the occupant turns the ski to the right, the ski must be rotated to the right around the z-axis, or the ski must be twisted to the right. However, usually, when the skier actually turns, the ski is rotated to the right around the z-axis and simultaneously torsionally rotated to the right. In this embodiment, the rotation angle of the main shaft 14 around the z-axis and the torsional rotation of the rotation shaft 21 around its longitudinal axis are detected, and each detection signal is sent to the control CPU 50 as ski operation information.

The control CPU calculates the movement of the skier in the virtual world based on the driving information of the ski, the terrain information stored in the control device, and the law of the movement of the ski. A rocking signal is sent to a rocking mechanism to rock the rocking frame to provide movement to the user. At the same time, the control CPU calculates, based on the moving motion, a landscape that will appear in the skier's field of view in the virtual world, and sends an image signal to the image device.

FIG. 3 is an enlarged view of the torsion rotation amount detection sensor section of the rotation shaft 21. The rotation shaft 21 is fixed to the boarding platform 20, and an angle can be detected by an encoder 22 attached to the main spindle base 15. Spindle 1
Similarly, the angle of the rotation about the z-axis 4 is detected by the encoder 23.

Next, the operation of the pseudo bodily sensation device having the above configuration will be described. Normally, the user places his / her foot on the boarding platform 20 as shown in FIG. 4 and first performs an operation of keeping the boarding platform 20 horizontal. The boarding board 20 is in the neutral position. When the user performs the edging operation and the rotation about the z-axis in accordance with the ski slope on the slide screen 51 output by the control CPU 50, the torsional rotation angle and z
Detect the rotation angle around the axis.

The control CPU 50 determines that the user has started the turn, and changes the degree of inclination of the swing frame 10 according to the values of the two angles as shown in FIG. To make a right turn, the user rotates the ski to the right around the z-axis and simultaneously twists to the right based on past ski experience. The influence of the z-axis rotation and the torsional rotation of the boarding board on the turn angle and the tilt of the oscillating frame depends on the change of the skiing motion of the skier in the virtual world and the tilt of the oscillating frame 10 when the user performs a certain action. Is changed by the control CPU so that the user can experience the feeling of actually skiing.
On the other hand, the control CPU 50 sends the image signal to the image device so that the scenery of the virtual world on the slide screen changes in the same way as the scenery seen by the skier when the skier turns right.

If the user decides to end the turn,
Based on the actual ski experience of the user, the torsional rotation of the ski is returned to the original horizontal position at a predetermined timing, and the force for rotating the ski around the z axis or the force for maintaining the rotating state is removed. The control CPU 50 determines that the end of one turn is completed, and slowly returns the swing frame 10 to the horizontal position as shown in FIG. An image signal is sent from the control CPU 50 to the image device so that the user can recognize that the scene of the virtual world on the sliding screen has changed in the state of the turn in response to the movement of the swing frame.

FIG. 7 is a timing chart showing the torsional rotation angle of the ski, ie, the edge angle, the servo voltage, and the amount of displacement (oscillation displacement) given to the oscillating frame by the oscillating mechanism. The range A in the figure corresponds to FIG. 4, the range B corresponds to FIG. 5, and the range C corresponds to FIG. In the figure, the upward direction of the edge angle indicates rightward rotation, and the downward direction indicates leftward rotation. The servo voltage is positive in the upward direction and negative in the downward direction. In the figure, the swing displacement amount (right) is a displacement for moving the swing frame by the right swing mechanism as viewed from the user, and the up-down direction in the figure corresponds to the up-down direction of the displacement.

The relationship between the rotation angle of the ski about the z-axis and the tilt of the swing frame is not simple as described above. When the skier turns to the right, the right rotation of the edge angle and the right rotation of the z-axis are performed simultaneously, but the twist rotation of the edge is omitted here for the sake of simplicity. If the user decides to turn 30 degrees to the right, slowly rotate the ski 30 degrees to the right about the z-axis. In this state, the user has rotated to the right by 30 degrees from the initial angle and recognizes that the user is still in a direction rotated by 30 degrees from the initial position.

In response, this skier in the virtual world makes a 30 turn to the right over a predetermined period of time. For this, the ski must be turned 30 degrees to the right.
In the snowy field, if the direction of travel is changed by 30 degrees to the right, the direction of the foot that has changed by 30 degrees this time is the straight ahead direction, while the skier in the virtual world goes straight with the foot position unchanged. I realize that On the other hand, as described above, the user in the real world recognizes that the position of the foot is left as it is, and the user is left facing 30 degrees to the right.

In order to eliminate the separation between the recognition of the real world and the recognition of the virtual world, the ski, that is, the boarding board 20 is slowly rotated to the left by 30 degrees without being conscious of the human in the real world, and turned to the original position. It is necessary to return to. this,
It is the restoring force acting on the main shaft to the neutral position that causes a change in the angle of the real world person. The rotation of the ski around the z-axis and the tilt of the rocking frame are determined so that the user can experience the virtual world without a sense of discomfort, together with the magnitude of the restoring force.

Also, when the terrain of the virtual world has a convex portion, the skier of the virtual world rises while traveling straight, and then descends, and the swing frame is simultaneously moved up and down by the two swing mechanisms. Then, the user can obtain a feeling of rising and falling that he or she will experience in the virtual world.

A second embodiment of the present invention will be described with reference to FIG. FIG. 8 is an enlarged top view of the boarding board 20. In the embodiment shown in this figure, the boarding board 20 has three load cells 10.
0, whereby the weight of the load cell portion of the boarding platform is measured, the position of the center of gravity of the user riding on the boarding platform 20 is measured, and the position of the center of gravity in the front-rear direction is sent to the control CPU. Assuming the user's forward leaning posture from the position of the center of gravity in the front-rear direction, the ski speed and the swing frame 10 when the user takes the forward leaning posture
Is determined by the control CPU 50.

When the position of the center of gravity is measured, the weights of the user and the board are sent to the control CPU 50 as inertial mass.
The motion of the virtual world can be changed by the inertial mass.

A third embodiment of the present invention will be described with reference to FIG. In FIG. 9, the boarding board 20 is shaped like a seat 110, and a torque sensor 111 is arranged at a fulcrum. This bodily sensation device is a device for obtaining a bodily sensation when riding on a sled.
Instead of the left and right inclination of the seat, the degree of inclination of the swing frame 10 is determined by the left and right inclination of the seat, the magnitude of the torque due to the left and right inclination of the occupant's body, and the left and right direction of the torque. FIG. 10 shows the relationship among the torque, the rotation axis angle, the servo voltage, and the swing displacement amount.

【The invention's effect】

As described above, according to the pseudo bodily sensation device of the present invention, it is possible to assist the return of the main shaft to the neutral position around the z-axis with a low cost and a simple mechanism.
A pseudo body sensation device with increased realism without causing a separation between the real world and the virtual world in the turn operation. Since the turn operation of the virtual world is performed by rotation around the vertical axis and torsion rotation around the horizontal axis in the traveling direction, it is possible to realize a turn operation close to the operation actually performed in skis etc. You can experience.

When the torsion torque about the horizontal axis or the center of gravity in the left-right direction with respect to the traveling direction is detected instead of the torsional rotation angle about the horizontal axis, for example, since it is a simulated sensation device for a child, there is a demand for safety. Even when the value of the torsional rotation angle about the horizontal axis is limited, the turn operation can be performed, and the turn operation can be performed when the situation such as warpage is different.

Further, since the center of gravity of the boarding platform in the front-back direction in the traveling direction is detected, and the forward leaning posture of the user is sent to the control CPU as a signal by the factor of the center of gravity in the front-back direction, the forward leaning posture allows the virtual world to be displayed. It was possible to change the state of locomotion, and to obtain a pseudo-feeling closer to the actual one. If the boarding board has a structure in which a user can sit, it is possible to obtain a simulated sensation in more situations.

[Brief description of the drawings]

FIG. 1 is a perspective view of a ski experience apparatus according to a first embodiment of the present invention.

FIG. 2 is a view showing a scene of use of the ski experience device according to the first embodiment;

FIG. 3 is an enlarged view of a boarding board of the ski experience device.

FIG. 4 shows a state diagram of a swing frame and a boarding board when the user of the ski experience device does not make a turn.

FIG. 5 shows a state diagram of the swing frame and the boarding board when the user of the ski experience device performs a turn.

FIG. 6 is a state diagram of the swing frame when the user is returning from the turn of the user of the ski experience device.

FIG. 7 is a timing chart showing a relationship between an edge angle, a servo voltage, and a swing displacement amount of the ski experience device.

FIG. 8 is an enlarged view of a boarding board of the ski sensation device according to the second embodiment of the present invention.

FIG. 9 is a three-dimensional enlarged view of the boarding board of the sled sensation device according to the third embodiment of the present invention.

FIG. 10 shows the torque and the servo voltage of the sled sensor,
4 is a timing chart showing a relationship between swing displacement amounts.

[Explanation of symbols]

 Reference Signs List 10 swing frame 11 pillow block 12 rotation center 13 coil spring 14 spindle 15 spindle base 16 swing frame center axis 20 boarding table 21 rotation axis 22 encoder 23 encoder 30 ball screw 31 servo motor 32 shaft coupling 40 handle 50 control CPU 51 sliding screen 100 Load cell 111 torque sensor

Claims (6)

[Claims] An oscillating frame having two oscillating points that are independently oscillated only in the vertical direction, and one oscillating frame that is restricted only in displacement, and an oscillating frame at each of the oscillating points. Two swing mechanisms for swinging, an image device,
A simulated bodily sensation device comprising: a control device for transmitting an image signal to an image device to an oscillating mechanism; and a main shaft connected to the oscillating frame and disposed horizontally near the constraint point, Can rotate from a predetermined neutral position by a predetermined angle around a vertical axis passing through a connection point to the main shaft, and further, a restoring force to a neutral position corresponding to a rotational deviation of the main shaft from the neutral position acts on the main shaft, and the main shaft swings. A pedestal on which a user rides is attached to the end opposite to the connection end to the moving frame, detects the rotational angle deviation of the main shaft, and sends a detection signal to a control device. apparatus. 2. The boarding platform is mounted on a main shaft through a rotary shaft and is rotatable around the rotary shaft. The torsion rotation angle of the rotary shaft, the torque of the rotary shaft, or the horizontal direction of the mounting platform. Of the center of gravity of the
The simulated bodily sensation device according to claim 1, wherein the detection signal is sent to a control device. 3. A boarding platform is divided into two, and each boarding board is attached to a main shaft via a rotating shaft so as to be capable of torsional rotation around the rotating shaft, and further, a torsional rotation angle of the rotating shaft or the rotating shaft. 2. The simulated bodily sensation device according to claim 1, wherein either the torque of the vehicle or the center of gravity of the boarding platform in the left-right direction is detected for each boarding platform, and this detection signal is sent to the control device. 4. The simulated bodily sensation device according to claim 1, further comprising detecting a position of a center of gravity of the boarding board in the front-rear direction and sending a detection signal to the control device. 5. The simulated sensation device according to claim 1, wherein the boarding board has a structure in which a user can sit. 6. The simulated bodily sensation device according to claim 5, further comprising detecting a center of gravity position of the boarding board in the front-rear direction and sending a detection signal to the control device.