KR100511204B1 - A haptic mouse with arm and finger force feedback - Google Patents

Abstract

The present invention relates to a computer tactile mouse device that generates a reaction force so that a computer user can feel the mechanical properties of a virtual object. The present invention relates to the first and second directions 115 and 116 which are both sides of the virtual object 111. The user who receives the mechanical property through the third encoder 132 and linearly moves the pair of pins 140 and 141 connected to the third encoder 132 to contact the pair of pins 140 and 141 ( A mouse unit 130 for transmitting a reaction force to the fingers of 112; The mechanical properties of one direction of the virtual object 111 are transmitted through the first and second encoders 121 and 122, and the link structure 127 connected to the first and second encoders 121 and 122 is driven, It consists of a reaction force unit 120 for generating a reaction force by the drive of the link structure 127 to the palm and arm of the user 112 holding the mouse unit 130. Therefore, the tactile mouse device configured as described above has an effect of transmitting the reaction force to the user's arm and finger, so that the user can feel the weight, size, shape, roughness, and firmness of the virtual object.

Description

A haptic mouse with arm and finger force feedback

The present invention relates to a tactile mouse device for generating a reaction force for a computer user to feel the mechanical properties of a virtual object, and in particular, a tactile sense for generating a reaction force to feel the force of holding or contacting the virtual object on the arm and finger, respectively. It relates to a mouse device.

The user experiences a virtual object in a game or simulation experiment of a virtual reality formed by a computer. The interface device used for interaction between the computer and the user includes a mouse, a joystick, a steering wheel, and a tablelet. . Such an interface device directs a control signal or command to a virtual object on a computer or allows a user to physically feel the virtual object. Therefore, the interface device requires a user-friendly computer force reaction device so that the user can feel the virtual object. The interface device of the prior art equipped with such a force reaction device is a mouse described in Korean Utility Model Registration No. 257172. In the following, the prior art tactile mouse described in Utility Model Registration No. 257172 will be described with reference to FIGS. 1A and 1B.

1A and 1B are schematic and cross-sectional views of a mouse for transmitting a reaction force to a user according to the shape of a virtual object according to the prior art.

As shown in FIGS. 1A and 1B, the tactile mouse 10 has a sensor ball 12 installed inside a housing 11 forming an appearance, and the sensor ball 12 is a planar workspace mouse pad. At 14, the movement of the mouse is detected, and a sensor signal of the detected movement is output.

In addition, the tactile mouse 10 is provided with an actuator 13 capable of applying an inertial force in a vertical direction of the planar workspace within the housing 11. The actuator 13 moves the inertial body up and down to generate a reaction force in the user's hand that surrounds the housing 11 of the tactile mouse 10. That is, the tactile mouse 10 moves the inertial body of the actuator 13 up and down according to the shape of the virtual object on the computer to apply a reaction force to the housing 11, so that the user can feel the virtual object indirectly.

However, the tactile mouse 10 not only makes the user feel the indirect contact of the virtual object by the reaction force transmitted from the actuator 13, but also recognizes various mechanical properties such as the size, weight, shape, and rigidity of the virtual object. There is a disadvantage that can not be.

The present invention is provided to solve the problems of the prior art as described above, the computer user to generate a reaction force on the user's arms and fingers so as to feel various mechanical properties such as weight, size, shape, rigidity for the virtual object It is an object of the present invention to provide a tactile mouse device composed of a mouse part and a reaction force part.

It is also an object of the present invention to provide a tactile mouse device that transmits reaction force to the arms and fingers so as not to cause inconvenience to the computer user and to reduce fatigue.

The tactile mouse device of the present invention for achieving the object as described above transmits the reaction force to the user, so that the user can indirectly feel the virtual object on the computer monitor. The present invention receives the mechanical properties of the first and second directions, which are both sides of the virtual object, through a third encoder, and linearly moves a pair of pins connected to the third encoder, A mouse unit for transmitting reaction force to the fingers of the user in contact with the pins; The mechanical property of one direction of the virtual object is transmitted through the first and second encoders, and the link structure connected to the first and second encoders is driven to connect the link to the palm and arm of the user holding the mouse part. It includes a reaction force for transmitting the reaction force by the drive of the structure.

In addition, the motor shaft connected to the third encoder is wound by a cable surrounding the pair of pins, it is preferable that the rotational movement of the motor shaft is transformed into a linear movement of the pair of pins.

The pin may further include a pin head contacted with the user's finger and a pin leg extended and fixed to one surface of the pin head; The cable is more preferably wound in a guide groove formed in the longitudinal direction of the pin leg and a slit formed in the pin head.

In addition, a nut plate wound around the cable is attached to the pin head of the pin, and a bolt is coupled to the nut plate; More preferably, the nut plate is moved up and down with respect to the pin head by tightening or releasing the bolt to adjust the tension of the cable.

In addition, the link structure is a four-section link, two links coupled to the first fastener of the link structure is driven to be connected to the first and second encoders, respectively, and the second fastener located on the diagonal of the first fastener More preferably, it is integrally coupled to the mouse unit.

In addition, it is more preferable that the mouse plate is attached to the reaction force portion so as to place the wrist of the user holding the mouse portion between the link structure and the mouse portion.

In addition, the mouse plate is formed with a connection hole so that the link structure and the mouse portion is coupled, the hole is formed in a fan shape larger than the polar coordinate operating range of the second fixing sphere for two-dimensional movement in accordance with the operation of the link structure More preferred.

Hereinafter, with reference to the accompanying drawings a preferred embodiment of the tactile mouse device according to the present invention will be described in detail.

FIG. 2 is a perspective view illustrating a tactile mouse device that transmits reaction force to an arm and a finger so that a computer user may feel a property of a virtual object according to an embodiment of the present invention, and FIG. 3 is a tactile mouse device shown in FIG. It is a perspective view shown.

As shown in FIGS. 2 and 3, the tactile mouse device 100 according to the present invention has the mechanical properties of the virtual object 111 with respect to the third direction 114 in one direction in the computer monitor 110. It is received through the first and second encoders 121 and 122 of 120. The first and second encoders 121 and 122 rotate the first and second motors 123 and 124 to apply a reaction force to the hand of the user 112 holding the mouse unit 130. In addition, the tactile mouse device 100 displays the mechanical properties of the virtual object 111 in the first and second directions 115 and 116 perpendicular to the third direction 114 to the third encoder of the mouse unit 130. Received to 132, and rotates the third motor 133 coupled to the third encoder (132). The third motor 133 moves the pins 140 and 141 respectively coupled to both sides of the mouse unit 130 to apply a reaction force to the thumb and the ring finger of the user 112, respectively.

FIG. 4 is an exploded perspective view showing a reaction force portion and a mouse portion in the tactile mouse device shown in FIG. 3, and FIG. 5 is a state in which the mouse plate is separated to show a link structure for driving the mouse portion in the reaction force portion shown in FIG. 4. 6 is a perspective view of a part of the reaction force showing a coupling relationship of the motor shaft for driving the link structure shown in FIG.

2 to 6, in the tactile mouse device 100, the reaction force unit 120 includes an exterior body 125 having a double plate coupled to a predetermined interval. The first and second motors 123 and 124 are coupled to the upper part of the exterior body 125, respectively, and the first and second encoders 121 are connected to one ends of the first and second motors 123 and 124. , 122) are respectively combined.

An encoder is a device having a plurality of input terminals and a plurality of output terminals. When a signal is applied to any one input terminal, the signal is displayed by a combination of output terminals corresponding to the input terminal. That is, the first and second encoders 121 and 122 receive a mechanical property in the third direction 114 of the virtual object 111 on the monitor 110 and according to the information on the input mechanical property. The second motors 123 and 124 are driven at respective rotation rates.

The first and second motors 123 and 124 are connected to a four-section link structure 127 whose other end is located inside the exterior body 125. The first fixture 128a of the link structure 127 is fixed to the upper portion of the exterior body 125, and the first fixture 128a is connected to the cables of the motor shafts of the first and second motors 123 and 124, respectively. Two link connectors 126a and 126b, which are wound and joined, are rotatably fitted. In addition, since the link connectors 126a and 126b are integrally coupled to two links of the link structure 127, the link structure 127 is driven according to the rotation of the first and second motors 123 and 124. In the link structure 127, the second fixture 128b positioned diagonally to the first fixture 128a is coupled to the mouth 130. At this time, between the mouse unit 130 and the link structure 127, the mouse plate 129 is attached to the upper portion of the exterior body 125 so that the user 112 holding the mouse unit 130 can rest on the wrist. In this mouse plate 129, a connection hole is formed at a portion where the second fixing tool 128b and the mouse unit 130 are coupled to each other. The hole of the mouse plate 129 is a mouse part because the mouse part 130 makes a two-dimensional movement on the upper part of the mouse plate 129 according to the operation of the link structure 127 about the first fixing tool 128a. It is preferable that the fan is formed to be somewhat larger than the polar coordinate operating range of the second fixing tool 128b coupled to 130.

7 is a perspective view showing the inside of the mouse portion for transmitting a reaction force to the finger in the tactile mouse device shown in Figure 4, Figure 8 is a coupling relationship between the pin and the motor shaft for transmitting a reaction force to the finger in the mouse portion shown in FIG. Figure 9 is a schematic view from the front, Figure 9 is a perspective view of the pin shown in Figure 8, Figure 10 is a perspective view showing a body in which the pin and the motor is fastened and fixed in the mouse shown in FIG.

As shown in FIGS. 2, 4, 7 and 10, the mouse unit 130 includes a third encoder 132 inside a rectangular parallelepiped case 131, and a lower surface of the case 131 includes a third encoder 132. Two fixtures 128b are coupled. In addition, a small third motor 133 is coupled to the third encoder 132, which is the third encoder 132 of the virtual object 111 in the first and second directions 115 and 116 to be input. The third motor 133 is rotated according to the information. In addition, the third motor 133 is coupled to the body 134 inside the case 131, and at this time, the motor shaft 135 of the third motor 133 may have a first insertion hole formed in the body 134. It protrudes out of the body 134 through 136.

The body 134 is a shape in which a part of the longitudinal center is cut out and both ends protrude. The second insertion hole 137 is formed in the protruding portions 138 at both ends thereof so that the pin 140 is inserted in the longitudinal direction, and the first insertion in which the motor shaft 135 is fitted at the cut center of the body 134. A ball 136 is formed.

In addition, the pin 140 inserted into the body 134 may have a pin head 143 having a circular flat contact surface so that a finger of the user 112 is in contact with one another, and a pin extended and fixed to one surface of the pin head 143. It consists of a leg 144. And, the pin bridge 144 is formed with a guide groove 145 along its longitudinal direction, the cable 146 is located in the guide groove 145. The pin head 143 is formed with a slit 147 so that the cable 146 wound along the guide groove 145 can pass therethrough.

The pins 140 and 141 as described above are inserted into and installed in the second insertion hole 137 of the body 134 at upper and lower portions of the motor shaft 135 inserted into the first insertion hole 136, respectively. In accordance with the rotation of the 135 is a linear movement in both the lateral direction of the mouth 130. For this purpose, the cable 146 is wound around the pins 140 and 141 and is tightly wound along the guide groove 145. In addition, the ball pin bearing 144 may have friction in the second insertion hole 137 of the body 134 due to the linear motion of the pins 140 and 141. Are fitted.

11 is a perspective view showing a more preferred embodiment of the pin shown in FIG.

In a more preferred embodiment of the pin 140 shown in FIG. 11, the bolt 148 and the nut plate 149 are attached to the pinhead 143 so that the tension of the cable 146 can be adjusted. That is, the cable 146 must be loosely wound to convert the rotational motion of the motor shaft 135 into the correct ratio in the linear motion of the pins 140, 141. To this end, the nut plate 149 attached to the pin head 143 is wound by a cable 146, which nut plate 149 moves up and down the pin head 143 by loosening or tightening the bolt 148. It is configured to. That is, when the bolt 148 is rotated in the unwinding direction, the nut plate 149 moves to the upper portion of the pin head 143, and the cable 146 is tightly wound around the pins 140 and 141.

Hereinafter, an operation relationship of the tactile mouse device 100 configured as described above will be described.

First, in order for the user 112 to feel the virtual object 111 on the computer monitor 110, a reaction force is generated in the third direction 114, which is one side of the virtual object 111, in the palm of the user 112. Reaction force must be generated in the finger held by 112 in the first and second directions 115 and 116 which are both sides of the virtual object 111 perpendicular to the third direction 114.

That is, the mechanical properties of the virtual object 111 in the third direction are transmitted to the first and second encoders 121 and 122, and the first and second encoders 121 and 122 are connected to the first and second motors. 123, 124 is rotated. Then, the first and second motors 123 and 124 drive the link structure 127 integrally coupled to the mouse unit 130, and the palms and arms of the user 112 holding the mouse unit 130. By transmitting the reaction force, the user 112 makes the user feel the contact force, weight, size, and the like to the virtual object 111.

In addition, the mechanical properties of the virtual object 111 in the first and second directions 115 and 116 are transmitted to the third encoder 132, and the third encoder 132 is the third inside the mouse unit 130. Rotate the motor 133. Since the motor shaft 135 of the third motor 133 is wound by the pins 140 and 141 and the cable 146 provided on both sides of the mouse unit 130, the pins 140 and 141 In accordance with the rotation of the three motor 133 is linear movement in both side directions of the mouth (130). Then, since the thumb and the ring finger of the user 112 are in contact with the pins 140 and 141 of the mouse unit 130, respectively, the user 112 may not change the surface roughness or the virtual object 111 of the virtual object 111. You can feel the grip and so on.

As described in detail above, the tactile mouse device of the present invention transmits a reaction force to the user's arm and finger, so that the user can feel the weight, size, shape, roughness, and firmness of the virtual object.

In addition, the tactile mouse device of the present invention can check the tolerances while feeling the assembling state of each part in the computer-aided design (CAD), or the user can directly feel the virtual object on the online shopping mall and computer game It works.

Although the technical idea of the tactile mouse device of the present invention has been described above with the accompanying drawings, this is for illustrative purposes only and not for limiting the present invention. In addition, it is obvious that any person skilled in the art can make various modifications and imitations without departing from the scope of the technical idea of the present invention.

1A and 1B are schematic and cross-sectional views of a mouse for transmitting a reaction force to a user according to the shape of a virtual object according to the prior art,

2 is a schematic diagram illustrating a tactile mouse device that transmits a reaction force to an arm and a finger so that a computer user can feel a property of a virtual object according to an embodiment of the present invention;

3 is a perspective view showing the tactile mouse device shown in FIG.

4 is an exploded perspective view illustrating a reaction force portion and a mouse portion in the tactile mouse device shown in FIG. 3, respectively.

FIG. 5 is a perspective view of a state where a mouse plate is separated to show a link structure for driving a mouse unit in the tactile mouse device shown in FIG. 4;

6 is a partial perspective view of a reaction force unit showing a coupling relationship of a motor shaft driving the link structure shown in FIG. 5;

FIG. 7 is a perspective view illustrating the inside of a mouse unit transmitting a reaction force to a finger in the tactile mouse device shown in FIG. 4;

FIG. 8 is a schematic diagram illustrating a coupling relationship between a pin and a motor shaft that transmits a reaction force to a finger in the mouse unit illustrated in FIG. 7;

9 is a perspective view illustrating the pin shown in FIG. 8;

FIG. 10 is a perspective view illustrating a body in which a pin and a motor are fastened and fixed in the mouse unit illustrated in FIG. 7;

11 is a perspective view showing a more preferred embodiment of the pin shown in FIG.

♠ Explanation of symbols on the main parts of the drawing ♠

100: tactile mouse device 110: monitor

111: virtual object 120: reaction force

121, 122, 132: 1st, 2nd, 3rd encoder

123, 124, 133: first, second, third motor

127: link structure 129: mouse plate

130: mouse portion 134: body

140, 141: pin 146: cable

Claims (7)

In the mouse device for transmitting a reaction force to the user's hand to indirectly feel the virtual object on the computer monitor, A third encoder for analyzing mechanical properties of the first direction and the second direction forming the width of the virtual object, a third motor operated according to the signal of the third encoder, and a linear motion connected to the third motor A mouse part comprising a pair of pins for transmitting a reaction force to at least two or more fingers of a user who holds the mouse; A first motor and a second motor operating according to signals of the first encoder and the second encoder, the first encoder and the second encoder, respectively, analyzing the mechanical properties in the third direction, the longitudinal direction of the virtual object. One end is connected to each of the one motor and the second motor and the other end is connected to the mouse portion comprising a reaction force unit comprising a reaction structure consisting of a link structure for transmitting a reaction force to the hand and arm of the user holding the mouse. The tactile mouse device according to claim 1, wherein the motor shaft connected to the third encoder is wound by a cable surrounding the pair of pins, so that the rotational movement of the motor shaft is transformed into a linear movement of the pair of pins. . 3. The apparatus of claim 2, wherein the pin comprises a pin head contacted by the user's finger and a pin leg extended and fixed to one surface of the pin head; The cable is tactile mouse device, characterized in that the winding is located in the guide groove formed in the longitudinal direction of the pin legs, and the slit formed in the pin head. According to claim 3, The pin head of the pin is attached to the nut plate wound on the cable, the nut plate is coupled to the bolt; The nut plate is configured to move up and down with respect to the pin head by tightening or loosening the bolt, tactile mouse device, characterized in that the tension of the cable is adjusted. The link structure of claim 1, wherein the link structure is a four-section link, and two links coupled to the first fastener of the link structure are driven to be connected to the first and second encoders, respectively. Tactile mouse device, characterized in that the second fixture is integrally coupled to the mouse. 6. The tactile mouse device according to claim 5, wherein a mouse plate is attached to the reaction force portion so as to place a wrist of the user holding the mouse portion between the link structure and the mouse portion. The method according to claim 6, wherein the mouse plate is formed with a connection hole for coupling the link structure and the mouse portion, the hole is larger than the polar coordinate range of motion of the second fixture to perform a two-dimensional movement in accordance with the operation of the link structure Tactile mouse device, characterized in that formed in a fan shape.