KR100981277B1 - Providing method of passive haptic feedback and the apparatus thereof - Google Patents

Abstract

The present invention relates to a method for providing a passive haptic feedback and an apparatus for providing the same, and more particularly, to an apparatus and method for inducing a change in physical properties of a haptic material (fluid fluid, working fluid, paraffin, etc.) to allow a user to recognize various haptic feedback. It is about. A passive haptic feedback providing method according to the present invention comprises the steps of the control means for controlling the output of the power supply means based on the predetermined sense of muscle information; Applying the electricity output from the power supply means to the sensory means for delivering a predetermined sense of sensory feedback to the user, thereby changing the physical properties of the haptic material in the sensory means; And changing the sensory means based on a change in the physical properties of the haptic material so that the sensory means causes a change in shear force or a change in stiffness so that the user can recognize the present invention. The present invention provides a method and passive haptic feedback. It relates to a device to provide.

Passive haptic feedback, rheological fluids, working fluids, paraffins

Description

Providing method of passive haptic feedback and the apparatus

The present invention relates to a method for providing passive haptic feedback and a device for providing the same, and more particularly, to an apparatus and method for providing various haptic feedback to a user by inducing property changes of a haptic material (rheological fluid, working fluid, paraffin, etc.). It is about.

In general, haptic is a tactile sensation that can be felt by a human fingertip (finger tip or stylus pen) when touching an object.Tapile feedback and joints and muscles are felt by the skin touching the surface of the object. It is a concept that encompasses kinesthetic force feedback that is felt when the movement of a person is disturbed. By "passive haptic feedback" is meant herein to provide such muscular sensory force feedback.

As a human sensory receptor, a mechanical stimulus receptor is a Pacinian corpuscle that senses high-frequency vibrations, Meissner's corpuscle that senses low-frequency vibrations, and a Merkel disc that senses local pressure. There is Merkel's disc and Ruffini's ending, which senses the stretch that presses on the skin.

As various tactile display devices for stimulating the sensory receptors, there are various actuators such as piezo actuators, solenoid actuators, DC / AC motors, server motors, ultrasonic actuators, shape memory alloy ceramic actuators, and electroactive polymer actuators. A representative example of the tactile display device is a vibration motor according to an input of a touch screen in a mobile device, and a device for stimulating a Pachinian / Minus body that generates vibration by detecting vibration of high frequency / low frequency.

1 illustrates a case of applying the mobile phone 10 as a device that provides such a sense. As a device applied to the mobile phone 10 to transmit a predetermined sense, the prior art was a method of outputting only vibration in response to the user's touch with the finger (1).

Such a conventional sensory device only stimulates the skin sensation, and the reality is inferior to touching a real object. A person rubs while pressing an object with a certain pressure using a joint of a hand / arm. At this time, a person feels the stiffness of the object and recognizes a different roughness depending on the degree of pressing even a substance having the same roughness.

As described above, it is important for a person to sense the stiffness of an object by using a sense of muscle, but in the sensory acceptance, the conventional sensor providing apparatus has a limit in satisfying the needs of various senses of a user by outputting only a simple vibration.

Thus, there has been a demand for the development of a device that provides passive feedback that enables a person who is not limited to simply outputting a predetermined vibration to the skin to feel the stiffness of an object using the sense of muscle.

Accordingly, the present invention has been made to solve the above problems, an object of the present invention is to recognize the user to change the shear force or stiffness of the sensory means based on the change in the physical properties of the haptic material (fluid fluid, working fluid, paraffin) To provide a method and apparatus for providing passive haptic feedback to the user in such a way as to.

An object of the present invention as described above, the control means for controlling the output of the power supply means based on the predetermined sense of muscle information;

Applying the electricity output from the power supply means to the sensory means for delivering a predetermined sense of sensory feedback to the user, thereby changing the physical properties of the haptic material in the sensory means; And

It is achieved by the passive haptic feedback providing method comprising a; changing the sense means to the user based on the change in the physical properties of the haptic material changes the shear force or the stiffness so that the user recognizes.

The haptic material is a rheological fluid, and the change in the physical properties of the haptic material will be a change in viscosity.

The haptic material is a working fluid, and the change in physical properties of the haptic material may be a change in fluidity based on a phase change between liquid and gas of the working fluid.

In addition, the haptic material is paraffin, the physical property change of the haptic material may be a fluidity change based on the phase change between the solid and liquid of the paraffin.

And detecting, by the sensor means, the strength of the force applied by the user; And causing the sensory means to cause a change in shear force or a change in stiffness again in proportion to the strength of the force.

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As another category for achieving the above object, the passive haptic feedback providing device is a sensor means including a case portion containing a rheological fluid therein, and the inner membrane is provided in the case portion is embedded in the rheological fluid ;

Power supply means for applying predetermined electricity to the sense means to change the viscosity of the rheological fluid; And

And control means for controlling the power supply means and having predetermined root sense information.

Characterized in that the user can recognize the change in the shear force of the sensory means based on the change in viscosity of the rheological fluid.

At this time, the rheology fluid in the case part may use a magnetorheological fluid or an electric rheology fluid.

In addition, the rheological fluid is a magnetorheological fluid, and a coil is preferably wound around the center of the case part in order to apply a magnetic field to the magnetorheological fluid.

In addition, the rheological fluid is an electrorheological fluid, and an electrode electrically connected to the electrorheological fluid is preferably further provided to apply an electric field to the electric rheological fluid.

The case portion and the inner film may be configured in a cylindrical or spherical shape.

In addition, the sensor means for measuring the strength of the force applied by the user is further included, it is preferable that the control means to control the power supply means based on the measured strength of the force.

The above object is, the sensor means including a heat generating unit for applying heat to the paraffin or the working fluid and the case portion containing the paraffin or working fluid therein;

Power supply means for applying electricity to the sense means to induce a phase change of the paraffin or working fluid; And

And control means for controlling the power supply means and having predetermined muscle sensory information.

It can be achieved by the passive haptic feedback providing device characterized in that the user can recognize the change in the stiffness of the sensory means based on the paraffin or the phase change of the working fluid.

At this time, the case portion is preferably composed of a flexible material.

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Such sensor means may be composed of a pressure sensor, a force sensor or an acceleration sensor.

Therefore, according to one embodiment of the present invention as described above, unlike the conventional art that provides only vibration to the human skin sense, by changing the shear force, stiffness or magnetic force based on the change in physical properties or magnetic field of the haptic material, It has the advantage of providing passive haptic feedback with improved naturalness and intuition, such as touching an object.

In addition, by measuring the strength of the force applied by the user, by changing the shear force, stiffness or magnetic force on the basis, there is an advantage that can provide feedback to the user according to the force applied by the user.

(How to provide passive haptic feedback)

Hereinafter, a passive haptic feedback providing method using the passive haptic feedback providing apparatus having the above configuration will be described.

(Example 1)

Figure 2 is a flow chart according to the passive haptic feedback providing method according to the present invention, in particular relates to the use of haptic material, Figure 3 is a block diagram of a device for providing such a passive haptic feedback. The control means 200 in which the muscle sensory information for providing passive haptic feedback is stored controls the output of the power supply unit 300 based on the previously stored sensory sensory information (S100). The muscle sensory information stored in the control means 200 varies according to the type and state of the object to be implemented. As an example of the muscle sensory information, when transmitting the sense of the rubber ball, information about the viscosity of the rheological fluid corresponding to the sense of the rubber ball, the degree of phase change of the paraffin or working fluid, the voltage of electricity applied to the sensor means 400, etc. It is stored in advance. In addition, the control means 200 may include a PWM signal generator (not shown) therein, and may output a signal for controlling the power supply means 300 in a pulse width form.

Next, the electricity output from the power supply means 300 is applied to the sensor means 400 for transmitting a predetermined sense of muscle to the user, the physical properties of the haptic material in the sensor means 400 is changed (S200). As used herein, a haptic material refers to a material whose physical property changes based on a predetermined electrical signal for providing haptic feedback to a user, and includes a working fluid, paraffin, or a rheological fluid. When the haptic material is a rheological fluid (410: magnetorheological fluid or electrorheological fluid), the physical property change of the haptic material becomes a viscosity change, and in the case of a working fluid or paraffin, a fluidity change based on a phase change. Among the phase changes, the working fluid undergoes a phase change between liquid and gas, and the paraffins undergo a phase change between solid and liquid, resulting in a change in fluidity.

Finally, by changing the physical properties of the haptic material, the sensor means 400 including the haptic material causes a change in the shear force or stiffness, so that the user can recognize (S300). When the haptic material is a rheological fluid, as shown in FIG. 4, when the viscosity of the rheological fluid is changed, the haptic material is provided inside the case part 450 and the case part 450 of the sensory means 400 including the rheological fluid. The shear force between the inner film 440 changes. At this time, when the user rotates the contact plate 441 of the inner film 440, the change in the shear force will be recognized. When the haptic material is a working fluid, when a phase change of the working fluid or paraffin occurs, the stiffness of the sensory means 400 including the working fluid or paraffin changes as shown in FIG. 6. For example, it is as follows. When the working fluid is vaporized from liquid to gas, a change in the fluidity of the working fluid is caused, and the sensory means 400 including the working fluid which is vaporized to increase the fluidity expands in volume, so that the user may perceive rigidity of rigidity. It becomes the state that I can. In addition, when the paraffin is melted from a solid to a liquid, the fluidity of the paraffin is increased, and when the sensor 400 including the paraffin is pressed by hand, the user is in a state of being able to recognize the stiffness that is soft. Of course, the change can also occur in the reverse direction as described above.

Preferably, the method may further include detecting the strength of the force applied by the user (S400) and reproducing the change of the shear force or the change in the stiffness based on the detected strength (S500). have. As an example, a passive haptic feedback providing apparatus using the rheology fluid of FIG. 6 will be described. By adding the force detection step (S400) of the force, if the user's force to turn the contact plate 441 is strong, the sensor means 400 causes a change in the shear force so that the user can recognize the more natural passive haptic Feedback can be provided. Referring to the passive haptic feedback providing apparatus of FIG. 8 using the working fluid or the paraffin 410 'as the haptic material, when the value detected in the force intensity detecting step S400 is large, the control means 200 senses the means. The electrical signal applied to the 400 is changed to a value proportional to the strength of the detected force, and the degree of phase change of the working fluid or paraffin 410 'and the change in fluidity thereof are also increased based on the electrical signal. Therefore, the stiffness representing the rigidity or softness of the sensory means 400 including the working fluid or paraffin 410 'is also changed in proportion to the strength (S500), thereby providing natural passive haptic feedback to the user. The detection of the strength of the force is possible through the sensor means (100).

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(Configuration of Passive Haptic Feedback Providing Device)

Hereinafter, with reference to the accompanying drawings will be described with respect to the configuration of the apparatus for generating a near sense stimulation according to an embodiment of the present invention.

(Example 1)

Passive haptic feedback providing apparatus according to the present invention includes a sensor means 400, the power supply means 300, the control means 200, the sensor means 100 and the like. 6 is an exploded perspective view of a passive haptic feedback providing apparatus according to the present invention, Figure 7 shows a state in which the passive haptic feedback providing apparatus of Figure 6 is mounted on the mobile phone (10).

The sensory means 400 includes a case part 450 including the rheology fluid 410 and an inner film 440 provided inside the case part 450. As shown in FIG. 6, the rheological fluid 410 is filled in the case part 450, and the rheological fluid 410 is preferably filled around the edge of the case part 450. A part of the inner film 440 is in a state in which a part of the rheology fluid 410 included in the case portion 450 is embedded. Therefore, when the viscosity of the rheological fluid 410 changes, as shown in FIG. 7, when the user rotates the inner film 440 using the finger 1, the shear force is between the inner film 440 and the case part 450. The change of is caused, and the user becomes aware of the change of the shear force.

As illustrated in FIG. 6, the sensor unit 440, that is, the case unit 450 and the inner layer 440 may have a cylindrical shape or a spherical shape. In the case of a cylindrical configuration, when mounted on the mobile phone 10 as shown in Figure 7, it is possible to select and set variously displayed icons while rotating around the rotation axis. In the case of forming a spherical shape, the inner film 440 may be configured to slide with respect to the case part 450 in various directions.

The rheological fluid 410 is a material that increases in viscosity when a strong electric or magnetic field is applied, and uses an rheological fluid or a magnetorheological fluid. Magneto-Rheological Fluid (MRF) is a non-colloidal solution containing micro paramagnetic particles. When magnetic field is not applied, magneto-Rheological Fluid (MRF) has viscosity of 0.20 Pa-sec to 0.30 Pa-sec at room temperature and 150㎄ / m When a magnetic field of ˜250 kV / m (2 kOe to 3 kOe) is applied, it has a high yield stress of 50 kPa to 100 kPa. In addition, the magnetorheological fluid has a maximum response stress due to magnetic saturation with a fast response time, and has a characteristic of being insensitive to an operating range of -40 ° C to 150 ° C and impurities. In a magnetorheological fluid having such a property, when a magnetic field is applied, particles contained in the fluid form a chain, thereby changing the shear yield stress of the fluid. Therefore, when the magnetic field is not applied, the Newtonian fluid exhibits the behavior, but when the magnetic field is applied, the particles dispersed in the fluid form a chain and have a yield stress even when no shear strain is generated, and the angular velocity is increased. This represents the behavior of the Bingham fluid with increasing torque dissipated. That is, the magnetorheological fluid changes from a liquid state to a gel state when the magnetic field is not applied.

Electro-Fheological Fluid (ERF) is a fluid whose viscosity changes with the application of an electric field, and is a suspension in which polarized particles are dispersed in an insulating fluid. Viscosity increases.

The power supply unit 300 applies predetermined electricity to the sensory means 400 to change the viscosity of the rheological fluid 410 included in the case unit 450. When the rheology fluid 410 included in the case part 450 is a magnetorheological fluid, the power supply unit 300 applies electricity to the wound coil 430 located in the case part 450. The wound coil 430 is preferably located at the center of the case portion 450, as shown in FIG. In addition, when the rheology fluid 410 included in the case part 450 is an electric rheological fluid, the power supply unit 300 applies electricity to an electrode (not shown) located in the case part 450. The electrode is electrically connected to the rheological fluid to form an electric field for causing a viscosity change of the rheological fluid.

The control means 200 controls the output of the power supply means 300, the control means 200 is stored in advance the predetermined sense of the sensory information. As an example of the muscle sensory information, the sensory sensory information for transmitting the sense of the rubber ball may include information about the viscosity of the rheology fluid 410 corresponding to the sense of the rubber ball, the voltage of electricity applied to the rheology fluid 410, and the like. In addition, the control means 200 may include a PWM signal generator (not shown) therein, and may output a signal controlling the power supply means 300 in a pulse width form.

Passive feedback providing apparatus according to the invention may further comprise a sensor means (100). Sensor means 100 is for measuring the strength of the force applied by the user in contact with the sensor means 400, a force sensor, a pressure sensor, an acceleration sensor and the like can be used. The sensor means 100 detects the strength, acceleration, depth, etc. of the force applied by the user, and the control means 200 may control based on the detected signal, thereby providing more substantial passive haptic feedback.

(Example 2)

8 illustrates a second embodiment of a passive haptic feedback providing apparatus according to the present invention, and relates to a passive haptic feedback providing apparatus using paraffin or a working fluid 410 '. The passive haptic feedback providing apparatus of this embodiment also includes a sense means 400, a power supply means 300, and a control means 200.

The sensory means 400 includes a case portion 450 'including a paraffin or working fluid 410' and a heat generating portion 420 '. The case portion 450 'is preferably made of a flexible material (polymer, rubber, urethane, silicone, etc.).

The power supply means 300 applies electricity to the sense means 400 to change the physical properties (phase change) of the paraffin or working fluid 410 'included in the case portion 450'. The sense means 400 includes a heat generator 420 'for applying a predetermined heat to the paraffin or the working fluid 410' inside the case portion 450 ', and the power supply means 300 generates heat. Electricity is applied to the portion 420 '. Due to the phase change of the paraffin or working fluid 410 ', the fluidity of the paraffin or working fluid 410' occurs in the case portion 450 '.

The control means 200 controls the power supply means 300 based on the predetermined root sense information, and the sensor means 100 measures the strength of the force applied by the user. It is similar to the above, and replaced with the previous base material.

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Although the present invention has been described in connection with the above-mentioned preferred embodiments, it will be readily apparent to those skilled in the art that various other modifications or variations are possible without departing from the spirit and scope of the invention. It is obvious that all modifications belong to the appended claims.

1 is a conventional embodiment mounted on a mobile phone to provide a sense,

2 is a flowchart of a first embodiment of a method for providing passive haptic feedback according to the present invention;

3 is a block diagram of an apparatus for providing feedback of FIG. 2;

4 is a flowchart of a second embodiment of a method for providing passive haptic feedback according to the present invention;

5 is a block diagram of an apparatus for providing feedback of FIG. 4;

6 is an exploded perspective view of a first embodiment of a passive haptic feedback providing apparatus according to the present invention;

7 is a state in which the device of Figure 6 is mounted on the mobile phone,

8 is a perspective view of a second embodiment of a passive haptic feedback providing apparatus according to the present invention;

9 is a perspective view of a third embodiment of a passive haptic feedback providing apparatus according to the present invention.

<Description of the symbols for the main parts of the drawings>

1: finger.

10: mobile phone,

100: sensor means,

200: control means,

300: power supply means,

400: sensory means,

410: rheological fluid,

410 ': paraffin or working fluid,

420: coiled coil,

420 ': heat generating unit,

420 ": magnetic field generator,

430 ": magnet,

440: intimacy,

441: contact plate,

450, 450 ': Case part.

Claims (21)

The control means controlling the output of the power supply means based on the predetermined muscle sensory information; Changing the physical properties of the haptic material in the sensory means by applying the electricity output from the power supply means to the sensory means for delivering a predetermined sense of muscle feedback to the user; A sensory means changing step of causing the user to recognize the sensory means by causing a change in shear force or a change in stiffness based on a change in physical properties of the haptic material; Detecting, by the sensor means, the strength of the force applied by the user; And And the sensory means for causing a change in shear force or a change in stiffness again in proportion to the strength of the force. The method of claim 1, The haptic material is a rheological fluid, the method of providing passive haptic feedback, characterized in that the change in physical properties of the haptic material is a change in viscosity. The method of claim 1, The haptic material is a working fluid, the change in the physical properties of the haptic material is a passive haptic feedback providing method characterized in that the fluidity change based on the phase change between the liquid and gas of the working fluid. The method of claim 1, The haptic material is paraffin, and the change in physical properties of the haptic material is a haptic feedback providing method characterized in that the fluidity change based on the phase change between the solid and liquid of the paraffin. delete delete delete Sensory means including a case part including a rheological fluid therein and an inner membrane provided inside the case part and partially embedded in the rheological fluid; Power supply means for applying predetermined electricity to the sense means to change the viscosity of the rheological fluid; And And control means for controlling the power supply means and having predetermined muscle sensory information. Allow the user to recognize the change in the shear force of the sensory means based on the change in viscosity of the rheological fluid, Sensor means for measuring the strength of the force applied by the user, and And the control means controls the power supply means based on the measured strength of the force. The method of claim 8, The rheological fluid in the case portion is a passive haptic feedback device, characterized in that the magnetorheological fluid or an electrorheological fluid. The method of claim 9, The rheological fluid is a magnetorheological fluid, and Passive haptic feedback providing apparatus characterized in that the coil is wound around the center of the case in order to apply a magnetic field to the magnetorheological fluid. The method of claim 9, The rheological fluid is an electrorheological fluid, and Passive haptic feedback providing device, characterized in that further provided with an electrode electrically connected to the electro-fluidic fluid to apply an electric field to the electro-fluidic fluid. The method of claim 8, Passive haptic feedback providing device, characterized in that the case portion and the inner film is cylindrical or spherical. delete Sensing means including a case part including a paraffin or a working fluid therein and a heat generating part for applying heat to the paraffin or working fluid; Power supply means for inducing a phase change of the paraffin or working fluid by applying electricity to the sense means; And And control means for controlling the power supply means and having predetermined muscle sensory information. Changes in the fluidity of the paraffins or working fluids based on the phase change of the paraffins or working fluids can be recognized by the user as a change in the stiffness of the sensory means, Sensor means for measuring the strength of the force applied by the user, and And the control means controls the power supply means based on the measured strength of the force. 15. The method of claim 14, Passive haptic feedback providing device characterized in that the case portion is a flexible material. delete delete delete delete delete The method of claim 8, And said sensor means is a pressure sensor, a force sensor or an acceleration sensor.

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