KR100993485B1 - Haptic Feedback Providing Device and Method Therewith - Google Patents

Abstract

The present invention includes a top plate which the user contacts; and a vibration unit provided at the bottom of the top plate to generate vibration; Skin sense means comprising; and a first electrical applying unit for applying electricity to the vibration unit; Root sense means comprising a fluid tube of a flexible material is provided in the lower portion of the skin sense means, filled with a rheological fluid; and a second electrical applying unit for applying electricity to the fluid tube to change the strength of the fluid tube; And a control means for controlling the first electric applicator and the second electric applicator to provide the user with at least one of a muscle sensation and a skin sensation. Unlike the conventional method of providing only simple vibration using a motor, it provides the same sensation of touch when the user directly touches the object by simultaneously providing the skin sensation stimulus caused by the vibrator and the muscle sensation stimulus due to the viscosity change of the rheological fluid. There is an effect that can provide haptic feedback. The haptic feedback can be used in various ways such as the mobile device industry, the robot industry using the touch.

Haptic, skin sense, muscle sense, rheology fluid, paraffin, working fluid, stiffness, vibration

Description

Haptic Feedback Providing Device and Method Therewith}

The present invention relates to an apparatus and a method for providing a haptic feedback. More particularly, the present invention relates to a haptic feedback providing apparatus and a method for providing a haptic feedback similar to a sensation when a user actually touches an object by simultaneously providing a skin sensation and a muscle sensation. will be.

In general, when you touch an object, the tactile sensations you can feel with a human fingertip (fingertip or stylus pen) are the tactile feedback that the skin touches the surface of the object and when the movement of joints and muscles is disturbed. There is Kinesthetic Force Feedback. As used herein, "haptic feedback" is a concept encompassing tactile feedback and near sensory feedback.

For human sensory receptors, Pachinian Corpuscle detects high-frequency vibration, Meissner's Corpuscle senses low-frequency vibration, and Merkel's Disc senses local pressure. ) And Ruffini's Ending, which detects stretch that stretches the skin.

Various tactile sensory devices for stimulating the sensory receptors of the senses include various actuators such as piezo actuators, solenoid actuators, DC / AC motors, server motors, ultrasonic actuators or electrically active polymer actuators. A representative example of the tactile presentation device is a device that stimulates a Pachinian / Minus body that detects high frequency / low frequency vibration by generating a vibration with a vibration motor according to an input of a touch screen in a mobile device.

1 illustrates an embodiment provided in a conventional mobile phone to provide haptic feedback. As a device for providing a sense as described above, in the case of a device applied to the mobile phone 5 to transmit a predetermined sense, as shown in FIG. 1, when a user touches the screen of the mobile phone 5 with a finger 1 In response, only vibration was output. Such a conventional sensor for providing a sense of stimulation of the skin only has a problem that the reality is different from touching the actual object.

A person uses the joints of his hands and arms to rub an object while pressing it above a certain pressure. At this time, a person feels the stiffness of the object and recognizes different roughness depending on the degree of pressing even a substance having the same roughness. That is, it is possible to recognize the unique touch of the object not only by the skin sense but also by the comprehensive action of the muscle sense. For this reason, there is a demand for the development of a device that provides an environment in which an actual human feels not limited to feedback that simply outputs a predetermined vibration to the skin.

Accordingly, the present invention has been made to solve the above problems, and provides a haptic feedback providing apparatus and method for providing a haptic feedback identical to the sensation when a user actually touches an object by providing a skin sense and a muscle sense at the same time. There is a purpose.

An object of the present invention as described above is provided with a top plate in contact with the user; and a vibration unit provided in the lower portion of the top plate to generate a vibration; Skin sense means comprising; and a first electrical applying unit for applying electricity to the vibration unit; Root sense means comprising a fluid tube of a flexible material is provided in the lower portion of the skin sense means, filled with a rheological fluid; and a second electrical applying unit for applying electricity to the fluid tube to change the strength of the fluid tube; And a control means for controlling the first electrical applier and the second electrical applier, to provide the user with at least one of a muscle sensation and a skin sensation.

In this case, the rheological fluid is a magnetorheological fluid, and a coil is further wound around the fluid pipe to apply a magnetic field to the magnetorheological fluid. Alternatively, the rheological fluid is an electrorheological fluid, and one side of the electric rheological fluid is further provided with an electrode electrically connected to the electric rheological fluid.

In another category, an object of the present invention is provided with a top plate that the user contacts; and a vibration unit provided at the bottom of the top plate to generate vibration; Skin sense means comprising; and a first electrical applying unit for applying electricity to the vibration unit; A button unit provided at a lower portion of the skin sense means and including a case, a rheological fluid included in the case, and a pressing plate having a lower elastic body embedded in the rheological fluid and moving up and down; And a second electrical applying unit for applying electricity to the button unit. And a control means for controlling the first electrical applier and the second electrical applier, to provide the user with at least one of a muscle sensation and a skin sensation.

In this case, the rheological fluid is a magnetorheological fluid, and a coil is further wound around the fluid pipe to apply a magnetic field to the magnetorheological fluid. Alternatively, the rheological fluid is an electric rheological fluid, and the button part further includes an electrode receiving electricity from the second electric applying part and electrically connected to the electric rheological fluid.

As another category, an object of the present invention is provided with a top plate that the user contacts; and a vibration unit provided in the lower portion of the top plate to generate a vibration; Skin sense means comprising; and a first electrical applying unit for applying electricity to the vibration unit; It is provided in the lower part of the skin sense means, and the inside is filled with a rheological fluid, one side is a soft material, the touch part is provided in the lower part of the tactile part, the support portion formed with a flow hole through which the rheological fluid can enter, the fluid fluid past the flow hole A chamber part including an accommodating membrane; And a second electrical applying unit configured to apply electricity to the chamber unit. And a control means for controlling the first electrical applier and the second electrical applier, to provide the user with at least one of a muscle sensation and a skin sensation.

In this case, the rheological fluid is a magnetorheological fluid, and the chamber part further includes a wound coil wound on a main portion of the bobbin through which the central part passes, thereby forming a magnetic field in the flow hole. Alternatively, the rheological fluid is an electrorheological fluid, and the chamber part further includes an electrode which is provided such that the positive electrode and the negative electrode cross each other at predetermined intervals in the flow hole to form an electric field in the flow hole.

In addition, the receiving membrane is elastic to be stretched or restored by the rheological fluid.

As another category, an object of the present invention is provided with a top plate that the user contacts; and a vibration unit provided in the lower portion of the top plate to generate a vibration; Skin sense means comprising; and a first electrical applying unit for applying electricity to the vibration unit; A case part including a heater part provided under the skin sense means and filled with a working fluid or paraffin, and a heater part supplying heat to the working fluid or paraffin, and a resilient membrane for receiving the working fluid or paraffin changed by the heater part. And a second electric applying unit for applying electricity to the heater unit. And a control means for controlling the first electrical applier and the second electrical applier, to provide the user with at least one of a muscle sensation and a skin sensation.

At this time, the case portion is a portion in which the elastic membrane is opened is open, the open surface further includes a lower support plate formed with a receiving area for accommodating the elastic membrane.

In addition, the case part and the elastic membrane have a restoring force for restoring the working fluid or paraffin to a position before the phase change by the heater part.

Among the aforementioned devices, the vibrator includes: a first magnetic force end disposed at one edge of the top plate; And second magnetic force means provided magnetically adjacent to the first magnetic force means. Here, the first magnetic force means is a permanent magnet, and the second magnetic force means is a wound coil.

In addition, the vibration unit, the piezoelectric layer provided on one side edge of the upper plate; And an electrode for applying power to the piezoelectric layer. At this time, a plate spring for amplifying the vibration is further included between the piezoelectric layer and the top plate.

In addition, a position detecting means for detecting a user's contact position on the upper part of the skin sensor means of the above-mentioned devices and outputting a detection signal.

An object of the present invention is another category, the first step of the position detecting means detects the user's contact and outputs a detection signal to the control means; A second step of selecting, by the control means, a first electric applying unit and a second electric applying unit to which electricity is to be applied; A third step of applying a control signal to the first electric applying unit and the second electric applying unit in which the control means is selected; A fourth step of vibrating the vibrating unit based on the electricity applied from the first electric applying unit receiving the control signal and changing the viscosity of the rheological fluid based on the electricity applied from the second electric applying unit receiving the control signal; And a fifth step in which the upper plate is vibrated by the vibration of the vibrator to provide the user with haptic feedback of skin sensation, and haptic feedback of muscle sensation is provided to the user based on the stiffness change of the muscle sense means based on the viscosity change of the rheological fluid. It can be achieved by a haptic feedback providing method comprising a.

In this case, a sixth step of restoring the viscosity of the rheological fluid to its original viscosity state is further included.

In another category, an object of the present invention is to provide a first step of the position detecting means for detecting a user's contact and outputting a detection signal to the control means; A second step of selecting, by the control means, a first electric applying unit and a second electric applying unit to which electricity is to be applied; A third step of applying a control signal to the first electric applying unit and the second electric applying unit in which the control means is selected; The vibration unit vibrates based on the electricity applied from the first electric applying unit receiving the control signal, and the phase change of the working fluid or paraffin is induced based on the electricity applied from the second electric applying unit receiving the control signal. 4 steps; And a fifth haptic feedback provided by the vibration of the vibrating unit to provide haptic feedback of skin sensation to the user, and haptic feedback of the near sense as stiffness change of the muscle sensation means based on the phase change of the working fluid or the phase change of paraffin. It can be achieved by a haptic feedback providing method comprising a.

Here, in the fifth step, the phase change of the working fluid is a phase change from liquid to gas, and the phase change of paraffin is a phase change from solid to liquid.

In the second step of the above-described method, the control means calculates the distance of the skin sense means installed on one surface of the upper plate contacted by the user based on the detection signal, and based on the calculated distance, the first electric applying unit. Is to select.

The sensing signal may include at least one of coordinate data of a contact position and trace data of a contact.

Further, the application of the control signal to the first electric application unit and the application of the control signal to the second electric application unit by the control means are independent of each other.

According to the present invention, unlike the conventional method of providing only a simple vibration using a motor, the sensory stimulation caused by the vibrating unit and the muscle sensation stimulus due to the change in viscosity of the rheological fluid are simultaneously provided to be the same as the user's feel when the user directly touches the object. There is an effect that can provide similar haptic feedback.

The haptic feedback can be used in various ways such as the mobile device industry, the robot industry using the touch.

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

< Haptic  Configuration of Feedback Providing Device>

Figure 2 shows a schematic block diagram of a haptic feedback providing apparatus according to the present invention. As shown in FIG. 2, the haptic feedback providing apparatus according to the present invention includes a position sensing means 100, a control means 100, a skin sense means 300, and a muscle sense means 400. Hereinafter, first, each configuration will be briefly described, and then the specific configuration will be described in the embodiments.

The position detecting means 100 according to the present invention outputs a detection signal regarding a contact position of the user's finger 1 in contact with the haptic feedback providing apparatus. In this case, the detection signal may be output as coordinate data (eg, x and y coordinates) of the contact position of the finger 1 or as trace data of the contact, and may include all of them. As the position detecting means 100, a flexible touch screen or a flexible touch pad may be used.

The detection signal may be used to control the first electric applying unit (not shown) and the second electric applying unit (not shown) of the control means 100. For example, by applying electricity only to the skin sense means 300 and the muscle sense means 400 corresponding to the obtained coordinate data, it is possible to provide sufficient skin sense and muscle sense to the user while minimizing power consumption.

Skin sensation means 300 is a member that provides a skin sensation to the user, by using a vibrating unit to generate a fine vibration to the upper plate 310 connected to the vibrating unit to provide a skin sensation. The skin sensor 300 includes a top plate 310, a vibrator and a first electric applying unit for applying electricity to the vibrator. The micro-vibration caused by the vibration unit may be proportionally changed according to the electricity applied from the first electric application unit.

The muscle sensation means 400 provides a sense of muscle to the user by inducing a change in stiffness using the rheological fluid 10, the paraffin 30, or the working fluid 20. The near sense means 400 is composed of a fluid tube 410 including the rheological fluid 10, a button part 420 or a chamber part 430 including the rheological fluid 10, or a paraffin 30 or a working fluid. It is composed of a case portion 440 including a (20). And a second electrical applying unit for supplying electricity to the fluid tube 410, the button portion 420, the chamber portion 430, or the case 424.

The control means 100 may change the stiffness of the skin sense means 300 and the stiffness of the plurality of skin sense means 300 and the plurality of muscle sense means 400 based on the detection signal of the position sense means. Select muscle sense means. For example, the first electric applying unit and the second electric applying unit to which electricity is to be applied are selected from among the plurality of first electric applying units and the second electric applying unit, and the selected first electric applying unit and the second electric applying unit are selected. Send the control signal. In this way, by selectively applying the control signal, it is possible to minimize the power consumption of a mobile phone, a battery such as a PMP, a separate secondary battery, etc., which can use the first electric applying unit and the second electric applying unit. The stiffness change of the near sense means 400 may be proportionally changed according to the electricity applied from the second electricity applying unit.

The control signal applied to each of the first electric applying unit and each second electric applying unit contains different information on the degree of electric application, and the electric application degree is each individual. Since the control signals are individually applied, various combinations of skin and muscles are possible through these combinations.

(First embodiment)

3 is a perspective view of a haptic feedback providing apparatus according to a first embodiment of the present invention. In the haptic feedback providing apparatus according to the first embodiment of the present invention, the position sensing means 100 is provided on the uppermost layer, and the skin sense means 300 and the muscle sense means 400 are sequentially provided below.

Skin sensation means 300 according to the first embodiment of the present invention is a member that stimulates the user's skin sensation by generating a micro-vibration, and includes a top plate 310, a vibrating unit and the first electric applying unit. Here, as the upper plate 310 is a vibration generated by the vibration unit is transmitted, the vibration generated in the vibration unit uses a member that can be transmitted smoothly.

The vibration unit according to the present invention is a member that generates micro vibrations to the upper plate 310, and is provided below the upper plate 310 as shown in FIG. 3. However, the vibration unit may be provided on the upper plate 310 depending on the usage. This vibrator uses two magnetic means as shown in FIG.

Figure 4a is a view showing a state before the permanent magnet of the vibration unit according to the first embodiment up and down movement, Figure 4b is a state after the permanent magnet of the vibration unit is moved up and down according to the first embodiment of the present invention The figure which shows is shown. As shown in FIGS. 4A and 4B, the vibrator according to the first embodiment of the present invention includes a first magnetic force means and a second magnetic force means. In this case, the first magnetic force means uses a cylindrical permanent magnet 320 as the permanent magnet 320, but may be an electromagnet. The first magnetic force means is fixed to one surface of the upper plate 310, it is fixed to one side of the corner of the upper plate (310). In addition, the second magnetic force means uses a coil 600 wound to function as an electromagnet. The coil 600 is wound in a hollow cylindrical shape, the center is made of a configuration in which the permanent magnet 320 can freely enter. The wound coil 600, which is the second magnetic means, may include a housing 330 that may cover the side, the top, and the bottom of the wound coil 600. At this time, a hole is formed at one side of the center of the upper surface of the housing 330 so that the permanent magnet 320 as the first magnetic force can enter and exit.

The position detecting means 100 according to the first embodiment of the present invention is for detecting a contact position of a user. The signal detected by the position detecting means 100 is applied to the control means 200. In addition, the position detecting means 100 is composed of a touch screen of a flexible material or a touch pad of a flexible material so that the user can recognize the stiffness change of the near sense means (400).

The muscle sensation means 400 according to the first embodiment of the present invention induces a stiffness change by using the rheology fluid 10. The near sense means 400 includes a fluid tube 410 filled with the rheological fluid 10 and a second electric applying unit. The rheology fluid 10 is included in the fluid tube 410 made of a thin film of synthetic resin material. That is, the fluid pipe 410 is made of a flexible material so as to sufficiently transmit a change in the rigidity of the fluid pipe 410 itself based on the viscosity change of the rheological fluid 10 filled therein. As an example, the fluid tube 410 may use silicon. As the rheological fluid 10, a magnetorheological fluid 11 or an electric rheological fluid 12 is used.

Figure 5a is a cross-sectional view of the near sense means consisting of a fluid tube filled with a magnetorheological fluid according to a first embodiment of the present invention. As shown in FIG. 5A, a coil 600 for forming a magnetic field in the magnetorheological fluid 11 is provided to be wound along an outer circumferential surface of the fluid pipe 410. The wound coil 600 is not limited to the outer circumferential surface of the fluid tube 410 as long as the coil 600 is a position capable of applying a magnetic field that changes the viscosity of the magnetorheological fluid 11. The coil 600 receives electricity from the first electricity applying unit.

Magneto-Rheological Fluid (MRF) 11 is a fluid whose viscosity changes according to the strength of a magnetic field. That is, the magnetorheological fluid 11 maintains a low viscosity state when there is no magnetic field, but changes to a high viscosity state such as hardening when a magnetic field is applied by the coil 600. That is, the magnetorheological fluid 11 has a sharp increase in viscosity since particles are arranged in a chain-like structure in the direction of the magnetic field under the influence of an applied magnetic field. The magnetorheological fluid 11 increases in proportion to the intensity of the magnetic field applied thereto. In addition, the magnetorheological fluid 11 is suitable for haptic applications because it has advantages such as high tensile strength, low viscosity, stiffness, stability, and wide temperature variation.

When the viscosity of the magnetorheological fluid 11 increases due to the application of a magnetic field, the degree of pressing when the fluid tube 410 is pressed is changed. That is, the rigidity of the fluid tube 410 itself is also increased, so that the user may feel a hard sense of muscle sense different from before the magnetic field is applied.

Figure 5b shows a cross-sectional view of the near sense means consisting of a fluid tube filled with the electro-fluidic fluid according to the first embodiment of the present invention. As shown in FIG. 5B, an electrode 500 for forming an electric field in the electrofluidic fluid 12 is provided on one side of the fluid pipe 410. The electrode 500 is not limited to the position shown in FIG. 5B as long as it can apply an electric field for changing the viscosity of the electrofluidic fluid 12. In this case, the electrode 500 receives electricity from the first electricity applying unit.

Electro-Rheological Fluid (ERF) 12 is a fluid whose viscosity changes with the strength of an electric field. In other words, the electrofluidic fluid 12 is a suspension liquid in which finely polarized particles are dispersed in an insulating fluid, and maintains a low viscosity when there is no electric field, but hardens when an electric field is applied by the electrode 500. Change to high viscosity. The rheological fluid 12 rapidly increases in viscosity because particles are arranged in a chain-like structure in the direction of the electric field under the influence of an applied electric field. The rheological fluid 12 increases in viscosity in proportion to the intensity of the electric field applied. In addition, the electro-fluidic fluid 12 is suitable for the haptic field because it has the advantages of high tensile and low viscosity, stiffness, stability and wide temperature range.

When the viscosity of the electrofluidic fluid 12 is increased due to the application of an electric field, the degree of pressing when the fluid tube 410 is pressed is changed. That is, the rigidity of the fluid tube 410 itself is increased, so that the user may feel a hard feeling of muscle sense different from before the electric field is applied.

(Second embodiment)

6 is a perspective view of a haptic feedback providing apparatus according to a second embodiment of the present invention. In the haptic feedback providing apparatus according to the second embodiment of the present invention, the position sensing means 100 is provided on the uppermost layer, and the skin sense means 300 and the muscle sense means 400 are sequentially provided below. Since the skin sensor 300 and the position sensor 100 according to the second embodiment of the present invention have the same configuration as that of the first embodiment, the following description will focus on the muscle sensor 400.

The muscle sensation means 400 according to the second embodiment of the present invention includes a plurality of button portions 420, and includes a second electrical applying portion for applying electricity to each button portion 420. The plurality of button units 420 are arranged in a matrix form, as shown in FIG. 6. The button unit 420 includes a case 424 having a rheological fluid 10 therein, and a pressing plate 421 having an elastic body 423 at a lower portion thereof. Also in the second embodiment of the present invention, the rheological fluid 10 uses the electric rheological fluid 12 or the magnetorheological fluid 11 as in the first embodiment.

The button part 420 according to the second embodiment of the present invention includes a cylindrical case 424, a rheological fluid 10 included in the case 424, and a pressing plate 421 having an elastic body 423 at a lower end thereof. It is.

Figure 7a is a cross-sectional view of the muscle sense means consisting of a button portion containing an electro-fluidic fluid according to a second embodiment of the present invention. As shown in FIG. 7A, the elastic body 423 is locked to the rheological fluid 10, and the pressing plate 421 may be connected to the upper portion of the elastic body 423 by the shaft 422. That is, since the elastic body 423 and the pressing plate 421 are connected by the shaft 422, when the pressing force of the finger 1 acts on the pressing plate 421, the pressing plate 421, the shaft 422, and the elastic body 423 It is a structure that moves under the compression force. As the elastic body 423, a spring may be used, and preferably, a compression coil 600 spring is used. One end of the elastic body 423 is fixed to the lower surface of the case 424, the other end opposite to it is connected to the pressing plate 421.

In the case of using the electric rheological fluid 12 as the rheological fluid 10, as shown in FIG. 7A, an electrode 500 for applying an electric field to the electric rheological fluid 12 is provided. Like the first embodiment, electricity is applied to the electrode 500 by the first electricity applying unit. When electricity is applied to the electrode 500 to generate an electric field, the viscosity of the electrofluidic fluid 12 increases. The degree of pressing when the pressing plate 421 is pressed by the high viscosity varies. That is, since the elastic modulus of the elastic body 423 is increased, the user feels the increase in stiffness of the muscle-sensing means 400 when the button part 420 is pressed when the button part 420 is pressed.

7B is a cross-sectional view of the muscle sense means consisting of a button unit including a magnetorheological fluid according to a second embodiment of the present invention. As shown in FIG. 7B, when the magnetic rheological fluid 11 is used as the rheological fluid 10, a coil 600 for applying a magnetic field to the magnetorheological fluid 11 is wound around the case part 440. do. When the magnetic field is applied, the magnetorheological fluid 11 is arranged in a chain-shaped structure along the direction of the magnetic field, so the viscosity increases. The magnetorheological fluid 11 in a high viscosity state has an effect of increasing the elastic modulus by restraining the elastic deformation of the elastic body 423. That is, since the elastic modulus of the elastic body 423 is increased, the user feels the increase in stiffness of the muscle-sensing means 400 when the button part 420 is pressed when the button part 420 is pressed.

When the electric and magnetic fields are not applied to each of the electric rheological fluid 12 and the magnetorheological fluid 11, or relatively weak in comparison with the electric or magnetic field in the above-described case, a soft muscle sensation stimulation may be provided.

(Third embodiment)

8 is a perspective view of a haptic feedback providing apparatus according to a third embodiment of the present invention. As shown in Figure 8, the haptic feedback providing apparatus according to a third embodiment of the present invention is provided with a position sensing means 100 on the top layer, the skin sense means 300 and the muscle sense means 400 below It is provided in this order. Since the skin sensor 300 and the position sensor 100 according to the third embodiment of the present invention are configured in the same configuration as the first or second embodiment described above, the muscle sensor 400 is described below. The explanation is centered.

The near sense means 400 according to the third embodiment of the present invention includes a plurality of chamber portions 430, and includes a second electrical applying portion for applying electricity to each of the chamber portions 430. The plurality of chamber parts 430 may be arranged in a matrix form, as shown in FIG. 8. The chamber part 430 includes a tactile part 450 including a rheological fluid 10 therein, a support part 434 having a flow hole 432 through which the rheological fluid 10 can enter, and a flow hole 432. The lower support plate 436 is formed with an accommodating membrane 435 and an accommodating hole 437 for accommodating the rheological fluid 10 having passed through. In the third embodiment of the present invention, the rheological fluid 10 uses a magnetorheological fluid 11 and an electric rheological fluid 12.

9A is a perspective view of a muscle-sensing means composed of a chamber portion including a magnetorheological fluid according to a third embodiment of the present invention, and FIG. 9B is a muscle consisting of a chamber portion including a magnetorheological fluid according to a third embodiment of the present invention. Fig. 10A is a perspective view of a near-sensory means consisting of a chamber portion including an electro-fluidic fluid according to a third embodiment of the present invention, and Fig. 10B is an electro-fluidic fluid according to a third embodiment of the present invention. Is a cross-sectional perspective view of the muscle sense means consisting of a chamber portion including.

The tactile part 450 according to the third embodiment of the present invention is made of a synthetic resin material, silicon or polymer material, and is configured such that the user's finger 1 contacts the uppermost surface of the chamber part 430. The tactile part 450 is elastic in the vertical direction and is compressed by the pressure when the user presses with the finger 1, and is restored to its original shape when the pressure is released by releasing the finger 1. The tactile part 450 may be deformed into a cylindrical or other polyhedron shape, and may also be made of thin metal or rubber. The upper surface thickness of the tactile portion 450 may be configured to be relatively thinner than the thickness of the side surface (or sidewall) so that the upper surface of the tactile portion 450 sags sufficiently when the upper surface is pressed by the user's finger 1.

The support part 434 is provided below the tactile part 450 and is provided with a flow hole 432 through which the rheological fluid 10 included in the tactile part 450 can enter and exit. At this time, the flow hole 432 may be formed in the center of the support portion 434, as shown in Figure 9a or 9b, but can be changed in position depending on the usage. The support 434 is preferably made of a light and hard material such as synthetic resin material.

The rheology fluid 10 is filled in the tactile part 450. The rheological fluid 10 may be a magnetorheological fluid 11 or an electric rheological fluid 12, and the characteristics of the magnetorheological fluid 11 and the electric rheological fluid 12 may be the first or second embodiment described above. Same as the example.

9A and 9B, when the rheological fluid 10 is a magnetorheological fluid 11, a coil 600 wound to form a magnetic field in the flow hole 432 is provided. The coiled coil 600 has a cylindrical disk shape as a whole. More specifically, the bobbin 433 is formed at the center, and the coil 600 is wound several times to several tens of times around the bobbin 433. The above-described flow hole 432 is formed in the center of the bobbin 433.

As shown in FIGS. 10A and 10B, when the rheological fluid 10 is the electrofluidic fluid 12, an electric field is formed in the flow hole 432 to induce a change in viscosity of the electrofluidic fluid 12. Therefore, the electrode 500 is provided to form an electric field in the flow hole 432. As shown in FIG. 10A, the electrode 500 is provided in the flow hole 432 so as to be spaced apart from each other so that the (+) electrode 500 and the (−) electrode 500 cross each other and face each other.

The accommodation film 435 is provided on the lower support plate 436. The accommodating membrane 435 is made of a thin, tough polymer or rubber so that it can swell like a balloon or be restored back to a plane. The receiving film 435 may cover the lower surface of the tactile part 450 as a whole, or may cover only the periphery of the flow hole 432.

The lower support plate 436 is supported and fixed to the lower portion of the accommodating membrane 435. The lower support plate 436 is a device that supports the force for pressing the tactile part 450 and performs a function of appropriately dispersing. The receiving hole 437 is preferably formed in the central region of the lower support plate 436. The accommodation hole 437 is to provide a space in which the accommodation membrane 435 can swell. Therefore, the receiving hole 437 may be formed by forming a through or concave groove. The lower support plate 436 is preferably made of a hard and light synthetic resin material.

(Example 4)

11 is a perspective view of a haptic feedback providing apparatus according to a fourth embodiment of the present invention. As shown in FIG. 11, in the haptic feedback providing apparatus according to the fourth embodiment of the present invention, the position sensing means 100 is provided on the uppermost layer, and the skin sense means 300 and the muscle sense means 400 below. It is provided in this order. Since the skin sensor 300 and the position sensor 100 according to the fourth embodiment of the present invention have the same configuration as the first to third embodiments described above, the muscle sensor means 400 will be described below. The explanation is centered.

As shown in FIG. 11, the muscle-sensing means 400 according to the fourth embodiment of the present invention includes a plurality of case parts 440, and a second electric power applying part for applying electricity to each case part 440. Include. The plurality of case parts 440 may be arranged in a matrix form. The case part 440 accommodates the tactile part 450, the heater part 454, and the phase changed paraffin 30 or the phase changed working fluid 20 filled with the paraffin 30 or the working fluid 20 therein. It includes an elastic membrane 451.

The inside of the tactile part 450 according to the fourth embodiment of the present invention includes a paraffin 30 or a working fluid 20. Since the tactile part 450 is elastic in the up and down direction, when the user presses with the finger 1, the compression is easily performed by the pressure, and when the finger 1 is released, the touch part 450 can be restored to its original shape. Therefore, it is preferable that the upper surface of the tactile part 450 is formed flexibly to a place where the muscle haptic feedback is provided. As an example, the tactile part 450 may use a polymer, silicone, synthetic resin, or rubber material. The tactile part 450 has an open shape at the bottom thereof and is empty and includes a paraffin 30 or a working fluid 20. The tactile part 450 may be manufactured in various shapes such as hexagonal shape and cylindrical shape.

FIG. 12 illustrates a cross-sectional view of the case part of the near sense means 400 illustrated in FIG. 11. The heater 454 according to the fourth embodiment of the present invention is a device for supplying heat to the paraffin 30 or the working fluid 20 included in the chamber 430. As the heater 454, a micro heater may be used, and the heater 454 may be installed at any position capable of supplying heat to the paraffin 30 or the working fluid 20, but as shown in FIG. 12, the restriction plate 452. It is good to be provided at the top of).

The paraffin 30 included in the chamber part 430 is phase-changed from solid to liquid by heat. That is, if there is no supply of heat, it is in a solid state, and when a predetermined heat is supplied, a phase change occurs to a liquid. In addition, the working fluid 20 changes in volume while being phase-changed by heat. That is, if there is no supply of heat to the working fluid 20 is present in a liquid state, and if a predetermined heat is supplied to evaporate. As the volume expands while vaporizing, it can be used to provide the haptic of the present invention. This working fluid 20 is characterized by incompressibility.

The elastic membrane 451 according to the fourth embodiment of the present invention is provided below the tactile part 450. The elastic membrane 451 is stretched to accommodate the phase-change paraffin 30 or the phase-change working fluid 20 that is pressed down as the tactile part 450 is pressed, and uses a resilient material that can be restored to its original planar state. Good to do. As an example, the material of the elastic membrane 451 may be a thin and tough polymer or rubber.

The lower support plate 453 according to the fourth embodiment of the present invention is provided with a receiving hole 456 to accommodate the stretching of the elastic membrane 451. The lower support plate 453 is preferably made of a hard and light material. The lower support plate 453 serves as a support of the case portion 440, and serves to disperse the pressing force. The accommodation hole 456 may be formed by forming a groove penetrating or concave through the lower support plate 453. In addition, the size of the receiving hole 456 is configured to the extent that the stretch of the elastic membrane 451 can be accommodated to the maximum.

The limiting plate 452 according to the fourth embodiment of the present invention is provided between the lower support plate 453 and the elastic membrane 451. Unlike the elastic membrane 451 made of a resilient material, the limiting plate 452 is intended to limit the stretch of the elastic membrane 451 to the perforated region 455 by drilling a predetermined area. That is, the limiting plate 452 blocks the elastic membrane 451 extending downward by the phase-changed paraffin 30 or the phase-changed working fluid 20 so as to extend only through the perforated region 455 formed in the limiting plate 452. do. Therefore, the limiting plate 452 may be made of a thin, hard and light material. In addition, the perforated region 455 of the limiting plate 452 may be formed at a position corresponding to the position of the receiving hole 456 of the lower support plate 453.

(Fifth Embodiment)

The haptic feedback providing apparatus according to the fifth embodiment is also provided with a position sensing means 100 on the uppermost layer, and the skin sensation means 300 and the muscle sensation means 400 are sequentially provided below. Since the muscle sensory means 400 and the position sensor 100 according to the fifth embodiment of the present invention have the same configuration as those of the first to fourth embodiments described above, the skin sensor means 300 will be described below. The explanation is centered.

13 is a perspective view showing a vibrating portion and a top plate using the piezoelectric layer according to the present invention. As shown in FIG. 13, the vibrator according to the fifth embodiment of the present invention uses a piezoelectric layer 370. The vibrator using the piezoelectric layer 370 includes a plate spring 360, a piezoelectric layer 370, and a metal plate 380. The leaf spring 360 is attached to one surface of the upper plate 310 to amplify the vibration of the piezoelectric layer 370 and the metal plate 380. The cross section of the leaf spring 360 has a c-shape, and it is preferable to use a metal (steel) or a synthetic resin material having good bending elasticity. The piezoelectric layer 370 has a thin band shape and is made of a material such as piezo, Pb (ZrTi) O _3, or the like. Therefore, when electricity is applied by the first electricity applying unit, vibration occurs. To this end, the piezoelectric layer 370 is provided with an electrode 500. The metal plate 380 is provided between the piezoelectric layer 370 and the leaf spring 360. The metal plate 380 is made to have a size larger than that of the piezoelectric layer 370 to maintain the shape of the piezoelectric layer 370, and to transmit vibrations generated in the piezoelectric layer 370 to the plate spring 360. The metal plate 380 is made of thin, made of a resilient, good restorative steel, stainless steel, and the like.

(Variation)

The position sensing means 100 according to the present invention may be provided between the skin sense means 300 and the muscle sense means 400 instead of the uppermost layer according to the use mode of the haptic feedback providing apparatus.

< Haptic  How to Provide Feedback>

The haptic feedback providing method according to the present invention is a method of causing stiffness change in muscle sensation, and is divided into a case using a rheological fluid 10 and a case using a paraffin 30 or a working fluid 20. In addition, in providing a skin sensation, a vibration unit is used. Hereinafter, a control method according to each embodiment will be described.

(Example 1-Use of rheology fluid)

14 is a flowchart sequentially illustrating a method for providing haptic feedback according to a first embodiment of the present invention. As shown in FIG. 14, the muscle sensation means 400 relates to a haptic feedback providing method for using the rheology fluid 10. First, the position detecting means 100 detects the contact of the user finger 1 and outputs a detection signal to the control means 200 (S100). In this case, the sensing signal output by the position detecting means 100 includes contact position data of the user's finger 1 or trajectory data drawn while the finger 1 moves.

Next, the control means 100 selects a part of the first electric applying unit and the second electric applying unit based on the detection signal output from the position detection signal to the detection signal (S200) and selects the selected first electric applying unit. The control signal is applied to the second electric applying unit (S300). Application of the control signal of the first and second electrical application portions of the control means 100 is independent of each other. That is, the application of the control signal to the first electric application unit and the application of the control signal to the second electric application unit are irrelevant. In addition, the control signal applied to each of the first electric applying unit and the second electric applying unit includes information on the amount of electricity applied. Therefore, the vibration of the vibrating unit changes in proportion to the degree of electricity applied, and the intensity of the magnetic field or the electric field affecting the rheological fluid 10 changes.

Next, the first electric applying unit receiving the control signal applies electricity to the vibrator to generate fine vibration in the vibrator (S410). As shown in FIG. 4B, the vibrator includes the first magnetic force means and the second magnetic force means. When power is applied to the wound coil 600, which is the second magnetic force means, the wound coil 600 is changed to an electromagnet, causing attraction or repulsive force to the permanent magnet 320, which is the first magnetic force means. Therefore, the permanent magnet 320 tries to enter or exit the inside of the coil 600 wound. At this time, the upper plate 310 provided on the upper portion of the permanent magnet 320 is also moved. The degree of vibration varies depending on the time interval of vertical movement of the permanent magnet 320 wound up and down the coil 600. That is, the haptic feedback corresponding to the user's skin sensation is provided by inducing various vibrations such as the earthworms wriggling from the minute vibrations according to the time intervals of the permanent magnet 320 moving up and down (S510). As an example of the electric application method to the wound coil 600 of the first electric application unit is a PWM method. In addition, as shown in FIG. 13, even when the piezoelectric layer 370, the leaf spring 360, and the metal plate 380 are formed, the application time of the electricity applied to the electrode 500 of the piezoelectric layer 370 is controlled. It can cause various vibrations.

An electric field or a magnetic field is generated in response to the application of electricity from the first electric applying unit to the vibrating unit and the electric application of the second electric applying unit receiving the control signal. The viscosity of the magnetorheological fluid 11 or the electric rheological fluid 12 is increased by an electric field or a magnetic field (S420). As described above, the magnetorheological fluid 11 is in a low viscosity state when there is no magnetic field and then changes into a high viscosity state such as hardening when the magnetic field is applied, and the change in viscosity varies according to the strength of the magnetic field. Different. In addition, the degree of viscosity also varies depending on the strength of the electric field fluid 12. Due to this characteristic of the rheological fluid 10, when the electric or magnetic field is generated based on the electrical application of the second electric application part, the rheological fluid 10 changes in viscosity. Due to this viscosity change, the higher the viscosity, the greater the user's effort to stimulate the sense of muscles. In this manner, the haptic feedback corresponding to the muscle sensation is provided to the user (S520).

Finally, when the electricity supply applied to the vibration unit is stopped, the vibration of the Shanghai copper or the piezoelectric layer 370 of the permanent magnet 320 is no longer induced (S610).

Hereinafter, the step of providing the haptic feedback corresponding to the muscle sensation while changing the stiffness of the muscle sensation means 400 (S520) and the implementation of the haptic feedback providing apparatus described above with respect to the viscous restoration step (S620) of the rheological fluid 10 Each example will be described in detail.

① In the case of the muscle sensation means of the haptic feedback providing apparatus according to the first embodiment

Looking at the case that the muscle sense means 400 is composed of a plurality of fluid pipes 410, as in the haptic feedback providing apparatus according to the first embodiment as follows. Since the plurality of fluid pipes 410 provided at the lower part of the skin sensation are not applied with electricity, the viscosity of the rheological fluid 10 is very low and is pressed as a flexible state.

Thereafter, as described above, when a control signal is applied (S300) and electricity is applied to the second electric applying unit, an electric field or a magnetic field is formed in the rheological fluid 10 to increase the viscosity of the rheological fluid 10 (S420).

At this time, since the control of the second electrical applying unit of the control means 100 is based on the coordinate data of the position sensing means, the control signal is applied to the fluid pipe 410 corresponding to the pressed position or area based on the coordinate data or the trajectory data. Or it contains a predetermined information so that the magnetic field is applied. That is, when the pressed position is one point, a control signal is applied to increase the viscosity of only the rheological fluid 10 included in one fluid pipe 410, and when the pressed region has a predetermined area (a finger area), The control signal is applied to increase the viscosity of the rheological fluid 10 contained in the fluid pipe 410 of the.

As the viscosity of the rheology fluid 10 included in the fluid pipe 410 is increased, the fluid pipe 410 is gradually hardened to increase rigidity. When the user presses the fluid pipe 410 in such a state, the user feels that the degree of pressing is different when the fluid pipe 410 is pressed (S520).

Next, since the electric field or the magnetic field is not formed when the application of the second electric applying unit is stopped, the viscosity of the rheology fluid 10 in the high viscosity state is reduced and restored to the original state (S620). In other words, the fluid tube 410 again provides a soft feeling of depression.

② In the case of the muscle sensation means of the haptic feedback providing apparatus according to the second embodiment

As shown in FIG. 6, the muscle sensory means 400 includes a plurality of button portions 420. If each button portion 420 has no electricity applied by the second electrical applying portion, the user presses the pressing plate 421, which is the uppermost surface of the button portion 420, using the finger 1 to press the pressing plate 421 and the shaft. The pressing plate 421 is softly pressed while the elastic body 423 connected by 422, that is, the spring is compressed. At this time, since the rheological fluid 10 is in a low viscosity state, it does not significantly interfere with the compression of the spring.

Subsequently, when the control signal is applied to the second electric applying unit (S300), and the electric or magnetic field is formed in the rheological fluid 10 by the electric application based on the control signal of the second electric applying unit, the viscosity of the rheological fluid 10 It is increased (S420).

The rheology fluid 10 in the high viscosity state interferes with the compression of the elastic body 423, that is, the spring inherent in the rheology fluid 10. That is, the elastic modulus of the elastic body 423 is increased by the rheological fluid 10 having increased viscosity. Therefore, the user may press the button 420 by the same displacement as before until the user presses the button 420 with a greater force than before. That is, the button unit 420 has a rigidity different from the previous one when the user is pressed. This increased stiffness provides the user with haptic feedback corresponding to muscle sensations (S520).

At this time, since the electric control of the control means means 100 is based on the coordinate data of the position sensing means 100, the control signal is an electric or magnetic field to the button unit 420 corresponding to the pressed position or area based on the obtained coordinate data. It contains some information to be applied. That is, when the pushed position is one point, a control signal is applied to increase the viscosity of only the rheological fluid 10 included in one button unit 420, and the plurality of button units 420 when the pressed area has a predetermined area. The control signal is applied to increase the viscosity of the rheological fluid 10 contained in.

Subsequently, when the application of the second electric application portion is stopped, the electric or magnetic field is not formed, so that the viscosity of the rheology fluid 10 in the high viscosity state decreases and is restored to its original state. Therefore, the pressing plate 421 of the button unit 420 is pressed again gently.

③ In the case of muscle sensation means of the haptic feedback providing apparatus according to the third embodiment

As shown in FIG. 8, the muscle sensory means 400 includes a plurality of chamber portions 430.

When there is no application by the second electric application unit to each chamber unit 430, when the user presses the haptic feedback providing device using the finger 1, the rheological fluid 10 is in a liquid state and thus the chamber unit ( 430 is pressed gently.

FIG. 15A is a cross-sectional view illustrating a state in which pressure by a user's finger is provided in FIG. 9A, and FIG. 15B is a cross-sectional view illustrating a state in which pressure by a user's finger is provided in FIG. 10A. When the finger 1 presses the upper surface of the tactile portion 450, as shown in FIGS. 15A and 15B, the upper surface of the tactile portion 450 is thin and is easily deformed by the pressing force. As a result, the internal space of the tactile part 450 decreases, and the internal pressure of the rheological fluid 10 increases. At this time, the incompressible fluid 10 will exit through the narrow flow hole (432). In addition, the rheological fluid 10 that has exited the flow hole 432 occupies the space of the accommodation hole 437 while expanding the accommodation membrane 435.

In addition, when the finger 1 is removed from the tactile part 450, the rheological fluid 10 in the accommodation hole 437 is reflowed by the elastic restoring force of the tactile part 450 and the elastic restoring force of the receiving membrane 435. Pass 432 and return to the tactile portion 450.

Thereafter, as described above, the control signal is applied to the second electric application unit (S300), and an electric or magnetic field is strongly formed around the flow hole 432 by the electric application of the second electric application unit based on the control signal. Therefore, the rheological fluid 10 around the flow hole 432 is markedly increased in viscosity by the electric or magnetic field (S420). That is, when an electric or magnetic field is applied, the viscosity of the rheological fluid 10 inside the tactile part 450 increases somewhat, but the viscosity of the rheological fluid 10 in the flow hole 432 is greatly increased by the strong electric or magnetic field. Increases. Accordingly, the rheology fluid 10 in the flow hole 432 may increase or even become hard due to high viscosity, thereby preventing the flow. By properly controlling the voltage or current applied to the electrode 500 or the coil 600, the flow resistance in the flow hole 432 can be controlled proportionally (or linearly).

Due to the increase in the flow resistance of the rheological fluid 10 that passed through the flow hole 432, the user pressing the chamber 430, unlike the previous softly pressed by recognizing the feeling of being pressed hard by the user corresponds to the muscle sense The haptic feedback is provided (S520).

Next, since the electric application or the magnetic field is not formed when the electrical application of the second electric applying unit is stopped, the viscosity of the rheology fluid 10 in the high viscosity state is reduced and restored to the original state (S620). In particular, when the finger 1 is removed from the tactile part 450 because the fluidity of the rheological fluid 10 which is blocking the flow hole 432 increases, the elastic restoring force of the tactile part 450 and the receiving membrane 435 Due to the elastic restoring force, the rheology fluid 10 in the accommodation hole 437 is returned to the tactile part 450 through the flow hole 432 again.

(Example 2-using working fluid or paraffin)

16 is a flowchart sequentially illustrating a method of providing haptic feedback according to a second embodiment of the present invention. As shown in FIG. 16, the haptic feedback providing method according to the second embodiment is related to a case in which the stiffness of the near sense means 400 is changed by using the paraffin 30 or the working fluid 20.

① If paraffin is included in the case

FIG. 17A illustrates a case where paraffin is included in the case part of FIG. 12 and illustrates a cross-sectional view before the pressure is applied by a user's finger. FIG. 17B illustrates a case where paraffin is included in the case part of FIG. 12. The cross-sectional view after the pressure by the finger is provided. 17A and 17B, the skin sensor 300 and the position sensor are omitted for the convenience of description.

First, a state in which heat is not supplied to the paraffin 30 or the working fluid 20 will be described.

If heat is not supplied to the case part 440 including the paraffin 30, as shown in FIG. 17A, even if the finger 1 presses the upper surface of the case part 440, the paraffin 30 which is not subjected to heat supply is Since it is solid, it is not easily pressed.

The working fluid 20 exists in the liquid phase if there is no supply of heat, and then has a characteristic of vaporizing when a predetermined heat is supplied. This working fluid 20 is characterized by a fast change rate and incompressibility. Therefore, when the case portion 440 including the working fluid 20 is pressed in the absence of heat supply, as shown in FIG. 18A, it is easily deformed. As the case part 440 is pressed, the working fluid 20 included in the case part 440 is pressurized, and as shown in FIG. 18A, the elastic membrane 451 provided below the working fluid 20. ) Expands (ie stretches) downwards. This is because the working fluid 20 has an incompressible property.

Next, a case in which heat is supplied to the paraffin 30 or the working fluid 20 by the heater 454 will be described.

As shown in FIG. 16, the position detecting means 100 detects a contact position of the user and outputs a detection signal such as contact position data or trajectory data (S100), and the control means 100 receives the detected signal. Selecting the first electric applying unit and the second applying unit on the basis of the step (S200), and applying the control signal to the selected first and second electric applying unit (S300) according to the first embodiment described above It is the same as the haptic feedback providing method. In addition, the vibration generating method (S410, S510 and S610) in the vibrating portion of the skin sensor 300 is the same as the above-described first embodiment and replaced with the above description.

Hereinafter, the control method of inducing a stiffness change of the near sense means 400 using the phase change of the paraffin 30 or the working fluid 20 will be described.

When the paraffin 30 is included in the case part 440, when the second electric applicator applies electricity to the heater part 454 based on the control signal of the control means 100, the heater part 454 Predetermined heat is generated. Therefore, since the heat is applied to the paraffin 30, the paraffin 30 has a phase change from solid to liquid (S420). That is, as the paraffin 30 is phase-changed, as shown in Figure 17b, it is easily pressed. Accordingly, the user feels the haptic feedback corresponding to the muscle sensation by recognizing the rigidity of the case 440 in which the finger 1 in contact with the upper surface of the case 440 is gently pressed (S520).

Lower support plate 453 provided with a limiting plate 452 having a perforated area 455 and a receiving hole 456 to reduce the heat supplied to the paraffin 30 while effectively inducing a change in the case part 440. ) Can be used appropriately. That is, if the diameters of the perforated region 455 and the receiving hole 456 are large, the user can feel a softer feeling because the paraffin 30 which is phase-changed into a liquid state can sufficiently accommodate the elastic membrane 451 which is expanded. Root sense haptic feedback can be recognized. On the other hand, if the diameters of the perforated region 455 and the receiving hole 456 are small, the space of the perforated region 455 and the receiving hole 456 may be quickly occupied even if the user presses the upper surface of the case part 440 slightly. This gives us a sense of elastic sense of haptic haptic feedback.

Thereafter, when the supply of heat by the heater unit 454 is stopped, the paraffin 30 reverses the phase from the liquid to the original solid state, and the case unit 440 is restored to its original form (S620).

② When working fluid is included in case

FIG. 18A illustrates a case in which a working fluid is included in the case part of FIG. 12, and illustrates a cross-sectional view before pressure is applied by a user's finger. FIG. 18B illustrates a case in which the working fluid is included in the case part of FIG. 12. The cross-sectional view after the pressure by the user's finger is provided. 18A and 18B, the skin sense means 300 and the position sense means are omitted for the convenience of description.

When the second electric applying unit applies electricity to the heater unit 454 based on the control signal of the control means 100, a predetermined heat is generated in the heater unit 454. Therefore, since heat is applied to the working fluid 20, the working fluid 20 increases in volume while a phase change from liquid to gas occurs (S420).

At this time, when the user presses the upper surface of the case part 440 with the finger 1, as shown in FIG. 18B, the pressure of the case part 440 increases as the volume of the working fluid 20 increases, so that the working fluid 20 The elastic membrane 451 provided at the lower portion of the) expands and the upper surface of the case portion 440 also expands. The stiffness of the case part 440 is increased by the expansion, and the user is provided with haptic feedback of the hard muscle sense through the finger 1 (S520).

The working fluid 20 is increased in proportion to the amount of heat supplied, so the degree of vaporization of the working fluid 20 increases, so that the volume increase rate is also increased. Therefore, the volume increase of the working fluid 20 can be proportionally controlled by appropriately controlling the heater 454.

In addition, in order to efficiently control the stiffness change of the case part 440 while reducing the heat supplied to the working fluid 20, the limiting plate 452 and the receiving hole 456 having the perforated areas 455 are provided. It is good to utilize the lower support plate 453 formed appropriately. That is, if the diameter of the perforated region 455 formed in the limiting plate 452 and the receiving hole 456 of the lower support plate 453 are large, the working fluid 20 changed into gas and the elastic membrane 451 increased thereby ) Can sufficiently accommodate the expansion of the upper surface of the case portion 440. However, if the diameter of the perforated region 455 formed in the limiting plate 452 and the receiving hole 456 of the lower support plate 453 are configured to be relatively small so that the expansion is locally performed, the working fluid 20 changed into phase gas ) And the stretched elastic membrane 451 occupy all of the accommodating holes 456, and the expansion of the upper surface of the case 440 is convex, such that the expansion is prominent. Therefore, the finger 1 in contact with the upper surface of the case portion 440 has a feeling like pressing a hard stone. In this manner, various muscle haptic feedbacks are generated by the finger 1 in contact with the upper surface of the case unit 440 (S520).

Finally, when the supply of heat by the heater unit 454 is stopped, the working fluid 20 is reversed from the gas to the original liquid state, and the case unit 440 is restored to its original form (S620). .

As described above, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential features. It is therefore to be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

The following drawings, which are attached in this specification, illustrate the preferred embodiments of the present invention, and together with the detailed description thereof, serve to further understand the technical spirit of the present invention, and therefore, the present invention is limited only to the matters described in the drawings. It should not be interpreted.

1 is a view showing an embodiment mounted on a conventional mobile phone to provide haptic feedback,

2 is a schematic structural block diagram of a haptic feedback providing apparatus according to the present invention;

3 is a perspective view of a haptic feedback providing apparatus according to a first embodiment of the present invention,

Figure 4a is a view showing a state before the permanent magnet moving up and down the vibrating unit according to the first embodiment of the present invention,

Figure 4b is a view showing a state after the permanent magnet of the vibrating unit moves up and down according to the first embodiment of the present invention,

Figure 5a is a cross-sectional view of the muscle sense means consisting of a fluid tube filled with a magnetorheological fluid according to a first embodiment of the present invention,

Figure 5b is a cross-sectional view of the near sense means consisting of a fluid tube filled with an electro-fluidic fluid according to a first embodiment of the present invention,

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

Figure 7a is a cross-sectional view of the muscle sense means consisting of a button portion containing an electro-fluidic fluid according to a second embodiment of the present invention,

7B is a cross-sectional view of the muscle sensation means consisting of a button unit including a magnetorheological fluid according to a second embodiment of the present invention;

8 is a perspective view of a haptic feedback providing apparatus according to a third embodiment of the present invention,

Figure 9a is a perspective view of the muscle sense means consisting of a chamber portion containing a magnetorheological fluid according to a third embodiment of the present invention,

Figure 9b is a cross-sectional perspective view of the muscle sense means consisting of a chamber portion containing a magnetorheological fluid according to a third embodiment of the present invention,

Figure 10a is a perspective view of the near sense means consisting of a chamber portion containing an electro-fluidic fluid according to a third embodiment of the present invention,

FIG. 10B is a cross-sectional perspective view of the muscle sensation means consisting of a chamber portion including an electrofluidic fluid according to a third embodiment of the present invention; FIG.

11 is a perspective view of a haptic feedback providing apparatus according to a fourth embodiment of the present invention,

12 is a cross-sectional view of the case part of the muscle sensation means shown in FIG. 11;

13 is a perspective view showing a vibration portion and a top plate using a piezoelectric layer according to the present invention;

14 is a flowchart sequentially showing a haptic feedback providing method according to a first embodiment of the present invention;

15A is a cross-sectional view illustrating a state in which pressure is applied by a user's finger to FIG. 9A;

15B is a cross-sectional view illustrating a state in which pressure is applied by a user's finger to FIG. 10A;

16 is a flowchart sequentially showing a haptic feedback providing method according to a second embodiment of the present invention;

17A is a cross-sectional view of a case in which case the paraffin is included in FIG. 12 before pressure is applied by a user's finger;

FIG. 17B is a cross-sectional view after paraffin is included in the case part of FIG. 12 after pressure is applied by a user's finger;

18A is a cross-sectional view of a case in which a working fluid is included in the case part of FIG. 12 before pressure is applied by a user's finger;

FIG. 18B is a cross-sectional view of a case in which a working fluid is included in the case part of FIG. 12 after pressure is applied by a user's finger; FIG.

<Explanation of symbols for main parts of the drawings>

1: finger 5: cell phone

10: rheological fluid 11: magnetorheological fluid

12: electric fluid 20: working fluid

30: paraffin 100: position detection means

200: control means 300: skin sense means

310: top 320: permanent magnet

330: housing 340: housing lower plate

360: leaf spring 370: piezoelectric layer

380: metal plate 400: muscle sense means

410: fluid pipe 420: button portion

421: pressing plate 422: axis

423: elastic body 424: case

430: chamber portion 432: flow hole

433 bobbin 434 support

435: receiving film 436: lower support plate

437: accommodation hole 440: case

450: touch part 451: elastic membrane

452: limit plate 453: lower support plate

454: heater 455: perforated area

456: accommodation hole 500: electrode

600: coil

Claims (26)

A top plate 310 in contact with a user; and a vibration unit provided at a lower portion of the top plate 310 to generate vibrations; Skin sense means 300 comprising a; and a first electrical applying unit for applying electricity to the vibration unit; A fluid tube 410 of a flexible material provided under the skin sensor 300 and filled with a rheological fluid 10 therein; and the fluid tube 410 by applying electricity to the fluid tube 410. Near sense means (400) comprising ;; And And haptic control means (100) for controlling the first electrical applicator and the second electrical applicator to provide the user with at least one of muscle and skin sensations. The method of claim 1, The rheological fluid 10 is a magnetorheological fluid 11, and a haptic feedback is further wound around the fluid pipe 410 to apply a magnetic field to the magnetorheological fluid 11. Providing device. The method of claim 1, The rheological fluid 10 is an electric rheological fluid 12, the haptic characterized in that one side of the electric rheological fluid 12 is further provided with an electrode 500 electrically connected to the electric rheological fluid 12. Feedback providing device. A top plate 310 in contact with a user; and a vibration unit provided at a lower portion of the top plate 310 to generate vibrations; Skin sense means 300 comprising a; and a first electrical applying unit for applying electricity to the vibration unit; The elastic body 423 is provided below the skin sensor 300, the case 424, the rheology fluid 10 contained in the case 424, the elastic body 423 is moved up and down in the rheology fluid 10 A button unit 420 including a pressing plate 421 provided at a lower portion thereof; And a second electrical applying unit for applying electricity to the button unit 420; And And haptic control means (100) for controlling the first electrical applicator and the second electrical applicator to provide the user with at least one of muscle and skin sensations. The method of claim 4, wherein The rheological fluid 10 is a magnetorheological fluid 11, the button unit 420 is provided with a haptic feedback, characterized in that further comprises a coiled coil 600 to receive electricity from the second electrical applying unit Device. The method of claim 4, wherein The rheological fluid 10 is an electric rheological fluid 12, and the button part 420 receives electricity from the second electric application part, and an electrode 500 electrically connected to the electric rheological fluid 12 is provided. Haptic feedback providing apparatus further comprises. A top plate 310 in contact with a user; and a vibration unit provided at a lower portion of the top plate 310 to generate vibrations; Skin sense means 300 comprising a; and a first electrical applying unit for applying electricity to the vibration unit; It is provided on the lower portion of the skin sense means 300, the oil fluid 10 is filled therein and the touch part 450 is made of a flexible material on one side, provided below the touch part 450 and the oil fluid 10 A chamber portion 430 including a support portion 434 having a flow hole 432 through which the shell can enter), and an accommodating membrane 435 for receiving the rheological fluid 10 passing through the flow hole 432; And a second electrical applying unit configured to apply electricity to the chamber unit 430; And And haptic control means (100) for controlling the first electrical applicator and the second electrical applicator to provide the user with at least one of muscle and skin sensations. The method of claim 7, wherein The rheological fluid 10 is a magnetorheological fluid 11, and the chamber part 430 is wound around a bobbin 433 through which a central part is passed to form a magnetic field in the flow hole 432. Haptic feedback providing apparatus further comprises a 600. The method of claim 7, wherein The rheological fluid is an electric rheological fluid 12, and the chamber part 430 is provided such that the positive electrode 500 and the negative electrode 500 cross each other at predetermined intervals in the flow hole 432. Haptic feedback providing device further comprises an electrode 500 for forming an electric field in the flow hole (432). The method of claim 7, wherein The accommodating membrane 435 is a haptic feedback providing device, characterized in that the elasticity to be stretched or restored by the rheology fluid (10). A top plate 310 in contact with a user; and a vibration unit provided at a lower portion of the top plate 310 to generate vibrations; Skin sense means 300 comprising a; and a first electrical applying unit for applying electricity to the vibration unit; The heater unit 454 which is provided under the skin sense means 300, is filled with the working fluid 20 or paraffin 30 therein, and supplies heat to the working fluid 20 or the paraffin 30. ) And a case part 440 including a working fluid 20 phase-changed by the heater part 454 or an elastic membrane 451 for receiving the paraffin 30; and electricity to the heater part 454. Near sense means (400) including; applying a second electric applying unit; And Haptic feedback providing apparatus, characterized in that to provide at least one of the muscle sensation and skin sensation to the user, including a control means (100) for controlling the first electrical applying unit and the second electrical applying unit. The method of claim 11, The case part 440 has a portion in which the elastic membrane 451 is formed is opened, and the open surface further includes a lower support plate having a receiving area formed therein to accommodate the elastic membrane 451. Haptic feedback providing device. The method of claim 11, The case part 440 and the elastic membrane 451 have a restoring force for restoring the working fluid 20 or the paraffin 30 to a position before the phase change by the heater part 454. Haptic feedback providing device. The method according to any one of claims 1, 4, 7, and 11, The vibrating unit, First magnetic force means installed at one edge of the top plate 310; And And a second magnetic force means provided magnetically adjacent to the first magnetic force means. 15. The method of claim 14, The first magnetic force means is a permanent magnet (320), the second magnetic force means is a haptic feedback providing device characterized in that the coil (600). The method according to any one of claims 1, 4, 7, and 11, The vibrating unit, A piezoelectric layer 370 provided at one edge of the upper plate 310; And Haptic feedback providing apparatus comprising a; electrode (500) for applying power to the piezoelectric layer (370). The method of claim 16, Haptic feedback providing device further comprises a plate spring (360) for amplifying the vibration between the piezoelectric layer (370) and the top plate (310). The method according to any one of claims 1, 4, 7, and 11, Haptic feedback providing apparatus further comprises a position detecting means 100 for detecting a user's contact position on the skin sensor 300 to output a detection signal. A first step of the position detecting means 100 detecting a user's contact and outputting a detection signal to the control means 200; A second step of selecting, by the control means, the first electric applying unit and the second electric applying unit to which electricity is to be applied based on the detection signal; A third step of applying a control signal to the first electric applying unit and the second electric applying unit, to which the control means 100 is selected; The vibrator vibrates based on the electricity applied from the first electricity applying unit receiving the control signal, and the viscosity of the rheology fluid 10 is changed based on the electricity applied from the second electricity applying unit receiving the control signal. A fourth step of doing; And The upper plate 310 is vibrated by the vibration of the vibrator to provide haptic feedback of the skin sensation to the user, and based on the stiffness change of the near sense means 400 based on the change in viscosity of the rheology fluid 10. And a fifth step of providing haptic feedback of the near sense to the user. The method of claim 19, And a sixth step of restoring the viscosity of the rheology fluid to its original viscosity state. A first step of the position detecting means 100 detecting a user's contact and outputting a detection signal to the control means 200; A second step of selecting, by the control means, the first electric applying unit and the second electric applying unit to which electricity is to be applied based on the detection signal; A third step of applying a control signal to the first electric applying unit and the second electric applying unit, to which the control means 100 is selected; The vibrating unit vibrates based on the electricity applied from the first electric applying unit receiving the control signal, and the working fluid 20 or paraffin based on the electricity applied from the second electric applying unit receiving the control signal. A fourth step of inducing a phase change of 30); And The upper plate 310 is vibrated by the vibration of the vibrator to provide haptic feedback of the skin sensation to the user, and the muscle sensation means based on the phase change of the working fluid 20 or the phase change of the paraffin 30 ( And a fifth step of providing haptic feedback of muscle sensation as a stiffness change of 400). The method of claim 21, The haptic feedback providing method, characterized in that the phase change of the working fluid (20) in the fifth step (S500) is a phase change from liquid to gas. The method of claim 21, The phase change of the paraffin (30) in the fifth step (S500) is a haptic feedback providing method, characterized in that the phase change from solid to liquid. The method of claim 19 or 21, In the second step, the control means 100 calculates the distance of the skin sensor 300 installed on one surface of the upper plate 310 in contact with the user based on the detection signal, and based on the calculated distance. And selecting the first electrical applicator. The method of claim 19 or 21, The sensing signal includes at least one of the coordinate data of the contact position and the trajectory data of the contact. The method of claim 19 or 21, The application of the control signal to the first electrical applying unit of the control means means (100) and the application of the control signal to the second electrical applying unit is a haptic feedback providing method characterized in that independent of each other.

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