KR101174450B1 - Virtual reality environment creating device, and controller device - Google Patents

Abstract

It provides a virtual reality environment generating device that can experience the full tactile sensation of touching virtual objects or game characters in the non-base interface.
The content creation device 102 for creating content based on the information from the various sensors 108 to 111 and the content data 104, and the contact angle angle function 106 for the contact angle derivation function 1713 according to the content. Touch angle organic device 103 generated by using, the contact angle interface device 101 having a contact angle device 107, the contact angle device drive control device 112 for driving control of the contact angle device 112 ), And by using the contact angle to control the drag by the contact angle according to the movement of the finger and the body, in addition to the three-dimensional image or stereoscopic image to add the presence and shape of the virtual object, the sense of friction or roughness of texture Express.

Description

Virtual reality environment creating device, and controller device}

The present invention relates to a virtual reality environment generating device and a controller device using the illusion and sensory characteristics.

More specifically, the present invention provides a touch angle for providing a man machine interface mounted in a device used in the field of VR (Virtual Reality), a device used in the game field, a mobile phone, and a PDA (portable information terminal). I) an interface device, a method of presenting contact angle information, and a device for generating a virtual reality environment.

As a conventional tactile angle interface device in VR, a tactile angle device in contact with the human sense organs and a tactile angle interface device main body are connected by wires or arms in the presentation of a reverse angle of tension or reaction force (non-patent). Document 1). A non-base, non-base type reverse angle interface device that is non-grounded and has no base in the body. A non-base that can present torque in any direction to any size by independently controlling the rotation of three flywheels arranged in three-axis Cartesian coordinates. A type tactile angle interface device has been proposed (Non Patent Literature 2). Also, in the non-base man machine interface that gives a person a virtual object or reaction force, the perception of the sense of tactile sensation such as torque and force, which cannot be presented only by the physical characteristics of the tactile angle interface device, is continuously perceived in the same direction. The apparatus and the method to make it are proposed (patent document 1). This tactile angle interface device uses human sensory properties to appropriately control the physical quantity so that a person can feel a force that cannot exist physically.

In addition, by using the "twin eccentric rotor method" consisting of two eccentric rotors instead of the torque generating flywheel, a three degree of freedom hybrid type reverse angle interface device that can simultaneously present a translational sense in addition to the sense of rotational force (non-patent literature) 3) is developed. An inverted interface device with a hybrid function capable of continuously presenting two senses of translational force and rotational force in any direction in a plane in one interface. By using the nonlinear sensory characteristics of humans, the gyro cube census in hand has become an illusion effect of force sensation that feels heavy, light or finally rises.

[Patent Document 1] Japanese Patent Application Laid-Open No. 2005-190465

[Non-Patent Literature 1] Norio Nakamura, "Understanding the Sense of Isolation, Pulling, and Rising" Illusion Interfaces, an Inspection Technology, Japanese Industrial Publications, Vol. 11, No. 2, pp.6-11 (2006 / 02) [Non-Patent Document 2] Tanaka Yokichi, Sakai Katsutaka, Kawano Yuka, Fukui Sachio, Yamashita Juri, Nakamura Norio, "Mobile Torque Display and Haptic Characteristics of Human Palm", INTERNATIONAL CONFERENCE ON ARTIFICIAL REALITY AND TELEXISTENCE, pp. 115-120 (2001/12) [Non-Patent Document 3] Nakamura, N., Fukui, Y .: "An Innovative Non-grounding Haptic Interface 'GyroCube Sensuous' displaying Illusion Sensation of Push, Pull, and Lift", Proceedings. of ACM Siggraph 2005, 2005.

The use of wires or arms limits the spatial expansion that can be used because their existence constrains human movement and can only be used in the effective space connected by the wire or the arm with the inverse presentation system body. The method of generating torque by controlling the angular momentum synthesis vector generated by the three gyro motors is not restricted by wires or arms, and the structure is relatively simple, so that the control is easy. However, there is a problem that it is impossible to present the tactile sensations continuously or to present the sensations other than torque.

Furthermore, the conventional reverse angle interface device has a problem in that the response of the interface to the user's movement is poor or the interaction that can express the shape or texture of the virtual object cannot be obtained sufficiently. In addition, in the acceleration / deceleration mechanism by the conventional eccentric rotor using a motor, the reduction of heat generation and energy consumption is a big problem in practical use and commercialization, and it is easy to operate and use in response to individual differences in sensory characteristics, hand size, and preference by user. Enhancement is also an indispensable task.

In view of the foregoing, a first object of the present invention is to use a contact angle to experience a full tactile contact with a virtual object or a character of a game in a non-base interface. The present invention provides an apparatus and method for generating a virtual reality environment that can express a sense of friction or roughness in addition to a stereoscopic image or a stereoscopic sound by controlling drag according to the contact angle according to the contact angle.

The second object of the present invention is to generate heat and energy consumption in the acceleration / deceleration mechanism when the interface is put into practical use and commercialized in order to realize a virtual reality environment by the viewing tactile fusion of virtual space and real space that can be used in everyday life. The present invention provides an apparatus and a method of suppressing the size and making the mobile device easy to be miniaturized. In addition, the present invention provides a device and method with excellent operability and responsiveness, while freely designing an interface that is suited to a user's personal characteristics or uses for large individual differences in the size, taste, and sense of the user's hand.

SUMMARY OF THE INVENTION In order to achieve the above object, a first aspect of the present invention provides a virtual reality environment having a contact angle interface device having a contact angle device and a contact angle device drive control device for driving control of the contact angle device. Generating device.

According to a second aspect of the present invention, there is provided a contact angle organic device for generating a contact angle-induced function according to the content by using contact angle data, a contact angle interface device including a contact angle device; And a touch angle device drive control device for driving control of the touch angle device.

According to a third aspect of the present invention, there is provided a content creation device that creates content based on information and content data from various sensors, and a contact angle induction that generates a contact angle angle function in accordance with the content using the contact angle data. A virtual reality environment generation device comprising an apparatus, a contact angle interface device having a contact angle device, and a contact angle device drive control device for driving control of the contact angle device.

According to a fourth aspect of the present invention, there is provided a content creation apparatus for creating content based on information and content data from various sensors, a learner and / or corrector, and a contact angle angle function adapted to the content. It is a virtual reality environment generating apparatus provided with the contact angle organic device produced using, the contact angle interface apparatus provided with a contact angle device, and the contact angle device drive control apparatus which drive-controls a contact angle device.

According to a fifth aspect of the present invention, there is provided a content creation apparatus for creating a content based on information and content data from various sensors, a learner and / or corrector, and a contact angle angle function adapted to the content. And a contact angle contact device to generate and use, a contact angle interface device including a contact angle device, and a contact angle device drive control device for driving control of the contact angle device. After the instruction for learning, we generate the learning contact angle organic function and sense the user's response and behavior to the contact angle information presented according to this function. A virtual reality environment generating device for calculating individual difference correction data relating to organic functions and control.

According to a sixth aspect of the present invention, there is provided a content creation device that creates content based on information and content data from various sensors, and a learner and / or corrector to generate a contact angle data based on a contact angle organic function matched to the content. And a contact angle contact device to generate and use, a contact angle interface device including a contact angle device, and a contact angle device drive control device for driving control of the contact angle device. Sensing the user's response and behavior to the contact angle information in each content, estimating the user's contact angle sensory characteristics with respect to the feature amount in the content, and calculating the individual difference correction data about the contact angle organic function and control And a virtual reality environment generating device to be used.

According to the 7th aspect which concerns on this invention, a contact angle device is provided with an acceleration / deceleration mechanism.

According to the eighth aspect of the present invention, the contact angle device drive control device controls the speed of the acceleration / deceleration mechanism with the oscillation circuit interposed therebetween.

According to the ninth aspect of the present invention, the contact angle device driving control apparatus includes a phase, direction, and direction of a motor provided in the contact angle device according to the contact angle organic function generated by the contact angle organic device. Controls the rotational speed or phase, direction, and speed of the actuator.

According to the tenth aspect of the present invention, the virtual reality environment generating device includes a sensor, and the sensor detects and measures the motion of the portion on which the contact angle interface device is mounted, and the shape and surface shape of the real object. It is at least one of the shape sensor to measure, a pressure sensor which detects and measures the contact force of a real object, and a user, a biosignal sensor, and an acceleration sensor.

According to the eleventh aspect of the present invention, the contact angle interface device has a mounting portion, and includes a member having a nonlinear stress characteristic between the contact angle device and the mounting portion.

According to a twelfth aspect of the present invention, the contact angle contact device includes a seismic member between the contact angle contact device and the acceleration sensor, and is a virtual reality environment generating device.

According to a thirteenth aspect of the present invention, the contact angle interface device includes an acceleration sensor and includes a finger attachment portion between the contact angle device and the acceleration sensor.

According to a fourteenth aspect of the present invention, the contact angle interface device includes at least one of a CPU, a memory, and a communication device.

According to a fifteenth aspect of the present invention, a content creation device performs physical simulation calculation, generation and update of virtual reality space, creation and display of computer graphics, and information processing of contact angle information based on information from a sensor.

According to the 16th aspect which concerns on this invention, a contact angle interface device is provided with two or more sets of contact angle contact devices which drive with different frequency and / or different acceleration / deceleration.

According to the seventeenth aspect of the present invention, the contact angle interface device has a mounting portion for attaching to a finger or a body.

An eighteenth aspect of the present invention is a controller device including a base provided with deformable means and a contact angle interface device provided with a contact angle device.

A nineteenth aspect of the present invention is a virtual controller device having a contact angle interface device that creates a virtual motion and provides a virtual presence, tactile feeling, and a button manipulation feeling, and an audiovisual display that presents a virtual object.

By carrying out the apparatus and method for generating a virtual reality environment according to the present invention, the following special effects can be obtained.

(1) In the conventional non-base type tactile angle interface, it is possible to perceive only the sense of vibration by repetition of periodic movements such as vibration, so that sufficient interaction can be obtained by force feedback enough to know the shape and texture of the virtual object. Could not. On the contrary, in the present invention, by using the contact angle, it is possible to perceive the sensation of force acting continuously in a certain direction psychologically and physically by recognizing a force and a motion component that do not exist physically. Furthermore, despite the fact that this is a non-base interface used in the state of holding it in the air without supporting force, the physical phenomenon of lifting an arm with an interface against gravity actually occurs.

(2) Contact force angle By controlling the drag force by the contact angle according to the movement of the finger and the body equipped with the interface device, it is possible to express the sense of friction or roughness, which is the existence, shape, and texture of the virtual object. In particular, the slippery feeling of sliding on ice is realized by presenting a negative drag (acceleration) to the movement. In addition, by controlling the feeling of contact force while monitoring the gripping pressure with the real object, the real body texture can be edited or replaced with the virtual object texture.

(3) The shape of the contact angle interface device is deformed in synchronization with the contact angle, thereby emphasizing the force sensation induced by the contact angle, thereby improving reality.

(4) The contact angle has a large individual difference in the intensity and texture perceived differently by the user, and by having a learner and a corrector, the contact angle interface device can be treated in the same way as the conventional touch angle interface device. In addition, individual differences can be corrected in real time by measuring myoelectric response, thereby improving learning of the contact angle and optimizing user-specific control.

(5) In the conventional acceleration and deceleration mechanism by an eccentric rotor using a motor, heat generation and energy consumption were a big problem. On the other hand, by using a plurality of sets of contact angle devices that control the speed of the acceleration / deceleration mechanism or drive at different frequencies by the oscillation circuit, heat generation and energy consumption are suppressed by realizing the same contact angle as the acceleration / deceleration mechanism with constant speed rotation. Miniaturization and mobile becomes easy.

(6) In the conventional arm type tactile angle interface device, the position and posture are measured at the angle of the arm touching the fingertip, and the contact and interference determination with the virtual object and the recalculation of the stress to be presented are repeated for the minute movement of the fingertip. There was a problem that response delay occurs. On the contrary, in the present invention, the CPU and memory are mounted on the touch-sensing angle interface device, which is not the central part, in real time, so that the responsiveness such as pressing a virtual button is improved, thereby improving reality and operability. (7) In conventional driving simulators, there is no way to experience continuous acceleration other than using gravity, so there is a sense of acceleration in the environment where the surroundings are visually visible and the body is perceived as tilted. On the contrary, in the present invention, an arcade game machine that repeats periodic movements in a narrow space on the pedestal can sense a continuous acceleration, and a continuous power can be felt even by a non-base interface such as a mobile or a game controller.

(8) The conventional game controller is a "similar sensation" game in which the user's own body is moved, and sufficient interaction cannot be obtained in the force feedback caused by vibration. In contrast, the present invention realizes a "full haptic controller" that can tactilely touch a virtual object or a character of a game by using the contact angle interface device.

(9) Various types, sizes, and button layouts Game controllers are available for sale, but there are often no easy-to-use controllers for your hand size or preference. On the contrary, in the present invention, the virtual controller technology freely designing the shape or button layout of the controller that fits in the palm of an individual is not required to purchase a dedicated controller that fits the game's contents, and the controller is free to match the scene or story in the content. Can be transformed and changed into materials.

(10) Contrary to the virtual reality that has been biased to conventional audiovisual, the tactile sense of virtual space and real space that is available in everyday life is provided by the provision technology of practical virtual objects by non-base type. A virtual reality environment is provided.

1 is an explanatory diagram showing a basic unit of a virtual reality environment generating device.
2 is an explanatory diagram showing a flow chart of a process of the virtual reality environment generating device.
3 is an explanatory diagram showing a flowchart of a calibration process.
4 is an explanatory diagram showing a flowchart of a sensing process.
5 is an explanatory diagram showing a flow chart of content creation device processing.
6 is an explanatory diagram showing a flowchart of a presentation process.
7 is an explanatory diagram showing a flowchart of a learning process.
It is explanatory drawing which shows an example of the control method of the device which induces a contact angle.
8B is a view showing the shape of the eccentric weight.
9 is an explanatory diagram schematically showing the phenomenon of FIG. 8 and its effects.
It is explanatory drawing about the individual difference of a contact angle.
11 is an explanatory diagram showing a texture representation of a virtual flat plate.
It is explanatory drawing which shows the direction of the contact angle by the initial phase of a phase pattern.
It is explanatory drawing which showed the Example of a contact angle interface device.
It is explanatory drawing which shows the Example of a contact angle interface device.
It is explanatory drawing which shows the Example of a contact angle interface device.
It is explanatory drawing which shows the example of mounting of a contact angle interface device.
It is explanatory drawing which shows the example of mounting of a contact angle interface device.
17 is an explanatory diagram showing an example of a control system of the contact angle interface device 101.
It is explanatory drawing which showed the flowchart of the contact angle device process.
19 is an explanatory diagram showing a motor control device using a pulse train.
It is explanatory drawing which shows the effect of a contact angle interface device.
21 is an explanatory diagram showing a control algorithm regarding an initial phase delay.
It is explanatory drawing which shows the nonlinear characteristic used for a contact angle interface device.
It is explanatory drawing which shows the substitute-touch contact angle device.
24 is an explanatory diagram showing a control algorithm using another viscoelastic material.
It is explanatory drawing which shows the effect using another viscoelastic material.
Fig. 26 is an explanatory diagram showing a control algorithm using hysteresis material.
27 is an explanatory diagram showing a control algorithm using a viscoelastic material whose characteristics change with an applied voltage.
28 is an explanatory diagram showing a control algorithm using an oscillation circuit.
29A is an explanatory diagram showing an arrangement example and an application example of a contact force angle device.
It is explanatory drawing which shows the arrangement example and application example of a contact angle device.
It is explanatory drawing which shows the arrangement example and application example of a contact angle device.
It is explanatory drawing which shows the deformation type contact angle interface device.
31 is an explanatory diagram showing a method of mounting a virtual controller.
It is explanatory drawing which shows the contact angle device and the control method which used one set of units.
It is explanatory drawing which shows the contact angle device and the control method which used one set of units.
It is explanatory drawing which shows the contact angle device and the control method which used one set of units.
It is explanatory drawing which shows the contact angle device and the control method which used several group of units.
It is explanatory drawing which shows the contact angle device and the control method which used several group of units.
It is explanatory drawing which shows the contact angle device and the control method which used several group of units.
It is explanatory drawing which shows the contact angle device and the control method which used several group of units.
It is explanatory drawing which shows the contact angle device and the control method which used several group of units.
33 is an explanatory diagram showing a contact angle device and a control method using several units having eccentric weights of different weights.
It is explanatory drawing which shows a mounting site | part.
35 is an explanatory diagram showing an embodiment using a virtual reality environment generating device.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment which concerns on this invention is described based on drawing.

FIG. 1 shows a hardware block diagram of the contact angle interface device 101 used in the virtual reality environment generating device (VR environment generating device) 100. Here, the case where the contact angle interface device 101 is attached to the fingertip 533 will be described as an example. However, the mounting position of the contact angle interface device 101 is not limited to the fingertip. In addition, the acceleration sensor 108, the pressure sensor 109, and the EMG sensor 110 are integrated into the contact angle device 107 and disposed in the contact angle interface device 101 mounted at the fingertip 533. Although the example is shown, these sensors may be mounted in a body position different from the contact angle device 107. In this specification, even when the contact angle device 107 and the sensor are separately mounted on other parts of the body, they are collectively referred to as the contact angle interface device 101.

Content is created based on information from various sensors and content data 104, and the contact angle organic function 1713 adapted to the content uses the contact angle data 106 in the contact angle organic function generator 115. Is generated, and the contact angle device 107 is controlled by the contact angle device drive control unit 112.

The phase, direction, and rotational speed of the eccentric motor 815 of the contact angle device 107 are controlled according to the contact angle angle function generated by the contact angle contact device 115. In the contact angle device 107, an illusion (touch angle) with respect to the touch angle is induced according to the change in the amount of momentum (acceleration / deceleration pattern) generated by the rotation of the eccentric weight 814 by the eccentric motor. By using this contact angle organic function, the sensory perception can be perceived differently from the force (physical information) caused by the change of the presented momentum using the illusion, which is a nonlinear sensory characteristic. In other words, it is possible to perceive forces and motion components that are not physically present. For example, physically repeated vibrations do not have force information that is only in a certain direction because the direction of force changes periodically, but psychologically physically by controlling the acceleration / deceleration pattern of momentum according to the contact angle angular function. By the contact angle, the continuous force can be perceived in only one direction. The contact angle organizing device 103 has a learner 116 and a corrector 117 and is optimized according to the characteristics of the user.

The movement of the fingertip 533 equipped with the contact angle interface is sensed by the position sensor 111 and the acceleration sensor 108, and the content creation device 102 is obtained from the position, velocity, and acceleration information obtained by the position sensor and the acceleration sensor. The contact between the virtual object generated by the physical simulator 113 and the finger 533 and the force acting on the virtual object are calculated. In addition, the contact and gripping force between the real object and the user is detected by the pressure sensor 109 and the EMG sensor 110. The content is visualized and imaged by the computer graphic 114 and the sound source simulator 119 and displayed on the audiovisual display 105. As a result, a practical non-base type tactile angle interface provides a virtual reality environment by viewing tactile sense that can be used in everyday life, in contrast to the virtual reality biased to the conventional audiovisual.

Instead of using the content creation device, the simulation data of the physics simulator of another device (for example, a conventional game machine) may be used, or the user may control and use the contact angle organic device 115 by manually setting the physical quantity. .

In addition, it is generally controlled via the content generating device which is the central part, by using real-time control using a CPU and a memory mounted on the contact angle contact device which is the eraser, without using the content generating device and the contact angle contact device 115. Responsiveness such as pressing a virtual button, reality and operability are improved. It can also be used by connecting to a conventional apparatus.

In addition, when the contact angle interface device 101 is used, information on a conventional contact angle can also be presented.

The information transfer and / or connection between the devices, peripheral devices, databases, and sensors may be wired or wireless.

2 (a) shows a flowchart of the process of the VR environment generating apparatus 100. In the VR environment generating apparatus 100, the content of the VR environment is generated by modeling the virtual space and the virtual object based on the sensing information from the connected peripheral device 118 and the sensor by performing calibration, and the content information and sensing. The content is generated and updated based on the user's movement and the information from the peripheral device 118, and the information based on the content is presented to the user. The result of the user's perception, recognition and reaction of this presentation information is further monitored by sensing.

Calibration is performed in the contact angle interface device and the contact angle organic device. Sensing is performed at the contact angle interface device (acceleration sensor, pressure sensor, EMG sensor) and position sensor. Content generation is executed in the content generation device. The presentation is performed in the contact angle interface device and the contact angle organic device.

Information is exchanged with the real space through the peripheral device 18 to generate and control a virtual reality environment that deals with the virtual space and the real space in combination.

2 (b) shows that the VR environment generating apparatus 100 has a communicator and each VR environment generating apparatus 100 owned by several users, and the VR environment generating apparatus 100 in a remote space communicate with each other. It shows creating one big VR environment. Content and sensing information are shared by communication, so that multiple users in remote locations can share coexistence and information in the same VR environment and share the same virtual object's operation and feel. In addition, the wearable VR environment is formed by the cooperative operation of multiple contact angle interface devices 101 mounted on the same user.

3 shows a flowchart of the calibration process for the various sensors, the tactile angle interface device, and the tactile angle interface device 101.

A calibration signal is generated in each calibration flow, and accordingly, various sensors, the tactile angle interface, and the tactile angle interface device 101 are controlled and the calibration is performed by sensing the control result.

4 shows a flowchart of the sensing process. In the sensing, the position, posture, acceleration, pressure and interface between the interface and the skin of the tactile angle interface device 101 are measured. This information is used for calibration, learning, content creation, and presentation. Instead of the EMG sensor, a biosignal sensor that measures biosignals such as EEG, heart rate, respiration, blood pressure, blood flow, blood gas, skin resistance, or the like may be used. Biofeedback control facilitates calibration, learning, and effective illusion. The biosignal sensor and the biofeedback control may use existing measurement sensors and control methods used in medical applications. In addition, the biosignal sensor may be mounted on the body at a position away from the contact angle device. For example, you may take the form which attaches the brain wave sensor as a biological signal sensor which comprises a part of a contact angle interface device to a head, and simultaneously attaches to the fingertip the contact angle device which comprises a part of a contact angle interface device. .

Fig. 5A shows a flowchart of the content generation process. In content creation, VR space is created and updated, CG is created and displayed, and contact angle and touch angle information are processed based on the calculation of physics simulation and other model calculations based on the read content data 104 and sensing information. .

FIG. 5 (b) shows a physics simulation 520 modeling a freely deformed hollow sphere in a spring damper physical model 528 using wireframe representation.

When grid point p1 is combined with adjacent grid points p2 to grid point p4, the force vector f12 that grid point p1 receives at grid point p2 is

f12 = -k × (∥p2-p1∥-L ₀ ) × (p2-p1) / ∥p2-p1∥-c × (v2-v1) (1)

. only,

  pi: position vector of grid point pi

  vi: velocity vector of grid point pi

  k: elastic modulus of the spring,

  c: viscosity coefficient of the damper,

L ₀ : Spring length in equilibrium

If the lattice point p1 of mass m1 is the force of the force received from the surrounding lattice points p2 to lattice point p4 as f1, the equation of motion of lattice point p1 is

m1 × d ² p1 / dt ² = f1 = f12 + f13 + f14 (2)

.

When the fingertip 533 on which the contact angle interface device 101 is mounted contacts the grid point p1 of the virtual object / physical model 520, the grid point p1 changes to the position p'1 of the fingertip. The reaction force acting (-f) is

-f = (f12 + f13 + f14) -m1 × d ² p'1 / dt ² (3)

. The movement of the fingertip 533 for determining the contact is sensed by the position sensor 111 and the acceleration sensor 108.

In the actual numerical simulation, the position p'1, the velocity v'1, and the force f'1 of the grid point p1 at time t 'are obtained from the variables p1, v1, f1 at time t.

In other words,

Velocity vector: v'1 = v1 + (f1 / m1) × Δ _t (4)

Position vector: p'1 = p1 + v1 × Δ _t (5)

Similarly, the position and velocity of p2 of mass m2 are calculated.

Velocity vector: v'2 = v2 + (f2 / m2) × Δ _t (6)

Position vector: p'2 = p2 + v2 × Δ _t (7)

Finally, the force vector acting between grid point p1 and grid point p2

f'12 = -k × (∥p'2-p'1∥-L ₀ ) × (p'2-p'1) / ∥p'2-p'1∥-c × (v'2-v '1) (8)

Is calculated.

At each calculation, the position, velocity, and force of the grid points are calculated and stored in memory. Using this stored value, the position, speed, and force of the next time are calculated. The reaction force to the fingertip 533 is presented by these, and the accelerating of the virtual object which stereoscopic image and stereoscopic image was implemented on an audiovisual display is realized.

Like the physics simulation of the virtual object 531, the VR environment is based on the motion information of the user sensed by the real object and the position sensor 111 and the acceleration sensor 108 in the real space sensed by the peripheral device. Modeled in the same VR environment, the contact and gripping force with the content is calculated to create a VR space in which virtual space and real space are fused.

FIG. 5C shows the deformation of the virtual object 531 when the touch angle interface device 101 attached to the fingertip 533 is moved. The motion of the tactile angle interface device 101 is monitored by a sensor to detect contact with the virtual object 531 and transmitted to the deformation, deformation force and fingertip of the model by physical simulation of the virtual object and physical model 520. The reaction force is calculated and the feel is presented through the contact angle interface device 101. Since the contact angle from the virtual object 531 deformed to the movement of the finger 533 to the fingertip 533 is controlled based on the calculation result of the physical simulator 113, for example, the virtual object 531 The virtual object 531 can be deformed and moved while feeling elasticity such as rubber representing a material or viscous like pulling a slime.

6 (a) and 6 (b) show flowcharts of the presentation process.

The content data 104 about the contact angle and the contact angle of the VR space created by the content creation device 102 is read to generate the contact angle organic function and the contact angle function, and the information obtained by sensing and the characteristics of each user Correction is made in the corrector 117. According to this function, the contact angle device 107 is feedback-controlled.

Since the contact angle interface device uses the illusion, there is a large individual difference in sensitivity to the contact angle and improvement in sensitivity by learning. Therefore, even if the same stimulus is presented, the intensity of feeling varies depending on the user. Therefore, in order to perceive a stimulus of the same intensity without depending on the user, it is necessary to learn and correct the stimulus.

7 (a) and 7 (b) show a process flow diagram of the learner 116, with active learning and involuntary learning. In the active learning method, the learning tactile organic function shown below is generated after the learning instruction. The intensity of the contact angle sensation obtained by sensing the user's response and behavior with respect to the contact angle information presented by this function is indicative of the user's contact angle sensation characteristics. The contact angle organic function is prepared based on the data of the contact angle sensory characteristics previously measured for a plurality of subjects. The contact angle sensory function and the contact angle sensory characteristics of each user are compared to calculate correction data 1714 indicating individual differences and stored in a memory or a user characteristic database.

Specifically, in the active learning, after the contact angle contact device 101 is mounted, a constant force according to the contact angle is presented in the directions of 0 °, 180 °, 90 °, and 270 ° sequentially according to the instruction. Unlike the tactile angle, the tactile angle is presented by changing the presentation direction discretely, so that the habits and learning of the tactile angle progress, and as the passage of the presentation time decreases the threshold and the sensory sensitivity increases, the direction of the force becomes clear. . After one minute of learning, the intensity of the contact angle was gradually weakened, and the intensity that was imperceptible was estimated as the sensory threshold of the contact angle. This sensory threshold is different for each direction and user, and the sensory threshold is stored in a memory or a database as correction data for correcting positive characteristics of an individual. As learning progresses, the threshold value converges to a certain value, which is the tactile sensation trait, and the degree of learning is determined by the convergence constant. Next, a sensory level curve is obtained by the psychophysical pair comparison method.

Similarly, in the involuntary learning method, the user's response and behavior with respect to the contact angle information in each content is sensed so that the user's contact angle with respect to the characteristic amount (touch angle intensity and time pattern) regarding the contact angle information in the content Sensory characteristics are measured and response characteristics (dynamic characteristics) are estimated by estimation of the transfer function. The response characteristics for each user are stored in a memory or a database as data for individual difference correction as a touch angle derivation function.

In this way, the contact angle is a large individual difference, but by using learning and correction, even using the contact angle interface device can be treated as a device that presents the same stimulus intensity as the conventional touch angle interface device.

The characteristics of the contact angle will be described below.

In the conventional tactile angle interface device, the force and motion which physically reproduced the physical phenomenon related to the tactile angle were presented and perceived at the fingertip or the palm. It is a phenomenon in which power and movement are perceived and recognized. For example, the sense of rising is perceived even though the interface is not in reality (physical).

In the conventional tactile angle interface device, a base supporting the reaction force when the force is applied to the fingertip or the like to feel the force acting externally is indispensable. On the other hand, in the tactile interface device using the baseless non-base vibration motor, the vibration balance point and the oscillation around the center were not vibrated, but the external force could not be felt. On the other hand, the present inventors' contact angle interface device 101 is a device that presents a sense of the touch angle using the illusion, which can present a sense that was pressed from the outside while being non-base type. (Non-Patent Document 3)

The contact angle causes not only sensory perception by illusion but also a physical phenomenon in which an arm with an interface is actually heard. This is due to the user's involuntary movement of his / her arm by the sensory deception by the illusion, or the movement of the arm's muscle by the reflection. In this respect, the present invention is significantly different from the conventional tactile angle interface, which has been invented and developed to reproduce the physical force acting between the object and the human body. The present invention relates to an apparatus for inducing an illusion regarding the tactile angle. The invention relates to an apparatus for effectively inducing a contact angle.

Moreover, the contact angle interface device 101 of this invention also has the function and effect as a conventional touch angle interface device, and can acquire the synergistic effect of both presentation feelings.

8A (a) to 8A (d) show an example of a method for controlling a device inducing a contact angle.

8A (a) is an acceleration / deceleration mechanism, and is composed of two eccentric rotors A and eccentric rotors B. As shown in FIG. FIG. 8A (b) schematically illustrates the case in which these two eccentric rotors are synchronously rotated in opposite directions. As a result of the synchronous rotation in the opposite direction, a force that accelerates and decelerates linearly in an arbitrary direction in the plane can be synthesized. FIG. 8A (c) schematically illustrates the case where the sensory characteristics such as vibration, force, and torque are logarithmic functional characteristics. Considering the case where the positive force is generated at the operating point A and the negative force in the opposite direction at the operating point B in the sense characteristic, the force sense is expressed as shown in Fig. 8A (d). The combined momentum magnitude of the two eccentric rotors is the composite of the angular momentum of the eccentric rotor A and the eccentric rotor B, and the force is proportional to the time derivative of the combined momentum magnitudes of the two eccentric rotors.

8B (a) to 8B (c) show the shape of the eccentric weight, and are streamlined as shown in Fig. 8B (b), or by disposing the materials having different specific gravity as shown in Figs. It is possible to obtain a large rotation acceleration and deceleration by reducing the resistance due to rotation.

FIG. 9 schematically shows this phenomenon and its effects. In consideration of the sensory characteristics regarding the contact angle, the rotational pattern of the eccentric motor 815 is controlled to change the combined momentum of the two eccentric rotors in a timed manner so as to be in a predetermined direction from the vibration 904 which periodically cycles around the equilibrium point. Continuously acting forces can induce perception 905. That is, there is no physical component such as a force acting in a certain direction, but an illusion that a perceived force acts in a direction is induced.

By alternately accelerating and decelerating the operating point A and the operating point B every 180 degrees, a force sense 905 in a predetermined direction is continuously perceived. The force was physically returned to its initial state in one cycle, and the momentum and force integrals became zero. That is, the acceleration / deceleration mechanism does not move to the left by staying around the balance point. However, the sensory integral of force sensation, a sensory quantity, does not become zero. At this time, the perception of the integral 908 of the force in the positive direction is lowered, and only the integral 909 of the force in the negative direction is perceived.

Here, the time derivative of the angular momentum is the torque, and the time derivative of the momentum is the force, and in order to continuously generate the torque and the force continuously in a predetermined direction, it is necessary to continuously accelerate the rotational speed of the motor or the linear motor, and thus the rotor Periodically rotating the back is not suitable for continuously presenting the reverse angle in a constant direction. In particular, in the non-base interface used for mobile, continuous power in one direction is not physically possible.

However, a person has a non-linear sensory characteristic, and by using the method of the present invention, by using the perceptual sensitivity regarding the contact angle characteristic or by controlling the acceleration / deceleration pattern of the momentum, the force and force pattern different from the physical characteristics are misunderstood. It can be late. For example, the ratio of the perceived stimulus magnitude to the imparted stimulus intensity is the sensitivity; the human sensory traits differ in sensitivity to the imparted stimulus intensity and are more sensitive to weak stimuli and insensitive to strong stimuli. Therefore, by controlling the motor rotation acceleration / deceleration phase and repeating the acceleration / deceleration periodically, it succeeded in presenting the continuous reverse angle in the direction in which the weak stimulus was presented. In addition, by selecting the appropriate operating point A and B of the sensory characteristics, it is also possible to present a continuous reverse angle in the direction in which the strong stimulus is presented.

As a similar device, a driving simulator is associated with a driving simulator, which provides a sense of acceleration by slowly returning the vehicle to its original position with a small acceleration that is not noticeable after applying a desired force (acceleration). Therefore, the force presentation is intermittent, and this one-way acceleration type cannot continuously present a sense of force or acceleration in a certain direction. The same applies to the conventional tactile angle interface device. However, in the present invention, in spite of the driving method 904 which continuously repeats the acceleration and deceleration in the forward and reverse directions on the sensory threshold with a short period of 50 Hz, for example, by using the illusion, continuous sense of translational force in a certain direction ( 905). In particular, the fact that the continuous force is perceived in the opposite direction to the direction of the intermittent force presented to the driving simulator by a physical method is a characteristic of the contact angle interface device 101 using the illusion.

In other words, by using the non-linear sensory characteristics of humans whose sensitivity varies depending on the intensity, the integral of force generated by periodic acceleration / deceleration or vibration is not sensationally compensated even though it is physically zero, but in positive direction. 908 can continuously present a translational reverse angle 905 or a sense of torque in the negative direction 909, which is the desired direction, without being perceived. (The method of generating continuous torque sensation is shown in FIG. 20 (c). This phenomenon can have the same effect if the sensory characteristic 831 is a non-linear characteristic even if the sensory quantity is other than the logarithm to the physical quantity 832 that is the stimulus. This effect can be obtained in the base type as well as the non-base type.

In Fig. 9, by bringing the rotation duration time Ta at the operating point A closer to zero, the combined momentum in the section of the rotation duration time Ta becomes larger because the momentum in each section of the rotation duration time Ta and the rotation duration time Tb becomes equal. Also, since the force sensation changes logarithmically and the sensitivity decreases, the integration of the sensory values in the section of the rotation duration Ta becomes close to zero. Therefore, the force sensation in the section of the rotation duration time Tb becomes relatively large, thereby improving the continuity of the sense of force 905 in one direction. As a result, the operating point A and the operating point B are appropriately selected, and the operating point A duration time and the operating point B duration time are appropriately set to adjust the synchronous phases of the two eccentric rotors A and B. You can continue to present your sense of strength freely in the direction of.

Like the sensory characteristics shown in Figs. 10A to 10C, the sensory characteristics for each user are different. Therefore, there are those who are hardly perceived by the contact angle, those who are hard to perceive, and those whose perception is improved by learning. The present invention has a device for correcting this individual difference. If the same stimulus is presented continuously, the sensation may be slowed down. Therefore, it is effective to prevent acquaintance by changing the stimulus intensity, period, or direction.

Fig. 10 (d) shows an example of a method of presenting a force in a constant direction using a contact angle. In the method of synthesizing vibration components by rotating two eccentric vibrators in opposite rotation directions, the high speed rotational speed ω1 (high frequency f1) 1002a at the operating point A and the low speed rotational speed omega 2 (low frequency f2) at the operating point B ( When 1002b) is presented alternately every 180 °, the contact angle intensity II is proportional to the logarithm of the acceleration / deceleration ratio Δf / f of the frequency, which is the rotational speed of the eccentric rotor (Fig. 10 (e)). However, (f = (f1 + f2) / 2, Δf = f1-f2). The slope n when plotting the contact angle strength and the logarithmic value of Δf / f represents the individual difference.

The vibration intensity (VI) represents the strength of the vibration component perceived simultaneously with the sense of force in a certain direction due to illusion, and is generally in inverse relationship with the strength of the vibration component and the physical quantity f (log). The strength VI is relatively lowered (Fig. 10 (f)). By controlling the containing strength of the vibration component, the texture of the force when the contact angle is presented is changed. The slope m in case of plotting on logarithm represents individual difference. In addition, n, m representing the individual difference changes as learning progresses and converges to a constant value when learning is saturated.

11 (a) to 11 (c) show the texture representation method of the virtual flat plate 1100. FIG. The movement (position, posture angle, velocity, acceleration) of the contact angle interface device 101 monitored by the sensing angle contact device 101 indicates the movement 1101 of the virtual object. By controlling the direction, intensity, and texture parameters (containing vibration component) of the drag force 1102 according to the contact angle according to the movement, the friction sense 1109, the roughness sense 1111, and the shape of the virtual flat plate are controlled.

FIG. 11A shows the drag 1103 from the virtual flat plate acting when the virtual object (touch angle interface device 101) is moved on the virtual flat plate 1100 and the drag 1102 for the movement. It is shown.

Fig. 11 (b) shows that the frictional force 1104 acting between the two objects when the contact angle contact device 101 and the virtual flat plate 1100 are in contact with each other vibratively repeats the dynamic friction and the static friction. It is shown to do. The presence and shape of the virtual flat plate is perceived by feedback control of the drag force 1106 which causes the contact angle interface device 101 to stay within the error thickness 1107 of the virtual flat plate. The presence of the wall is perceived by presenting only when the contact angle interface device 101 is not present in the virtual flat plate 1100, but only when present.

Fig. 11C shows a method of expressing surface roughness. The resistance or viscosity 1108 is perceived by suggesting a drag force in accordance with the moving speed and acceleration in the direction opposite to the direction 1101 in which the contact angle angle interface device 101 is moved. By presenting a negative drag in the same direction as the direction of movement (acceleration 1113), the slippery feeling 1110 of the virtual plate as if sliding on ice can be emphasized. This feeling of acceleration and slippery feeling 1110 is a texture and effect that are difficult to present in a non-base type tactile angle interface device using a vibrator, and are realized in the tactile angle interface device 101 using illusion. In addition, the surface roughness 1111 of the virtual flat plate is perceived by vibrating change of the drag (vibratory drag 1112).

Fig. 12A shows the direction of the contact angle that is induced and perceived by the initial phase θi of the phase pattern.

The contact angle device 107 shifts the direction 1202 of the contact angle, which is induced by the change in the amount of momentum synthesized by the eccentric rotor, by changing the initial rotation phase θi of the rotation in Fig. 12 (b). Control in the direction of). For example, by changing the initial phase θ i as shown in FIG. 12C, it can be induced in any direction of 360 ° in the plane.

At this time, when the weight of the contact angle interface device 101 itself is heavy, the force sense (1202) of the upward direction due to the contact force and the force sense (1204) directed downward by the gravity is negated and floated buoyancy sense (1202) It may be difficult to get heavy. At that time, the upward direction by the contact angle is slightly staggered in the opposite direction to the gravity direction, and the contact angle 1203 is induced to suppress the decrease and the inhibition of the injury sensation caused by gravity.

If you want to present in the direction opposite to the direction of gravity, there is also a method of inducing the contact angle alternately in the direction perpendicular to the direction of gravity and 180 ° + α ° and 180 °-α ° alternately.

13A (a) to 13B (g) show examples of mounting the contact angle interface device 101.

13A (a) or 13A (b), it is attached to the fingertip 533 using the adhesive tape 1301 or the finger insertion portion 1303 of the housing 1302. Moreover, you may attach between finger 533 (FIG. 13A (c), FIG. 13A (e)), or may pinch it with the finger 533 (FIG. 13A (d)). The housing 1302 may be a hard material with little deformation, a material which is easily deformable, or may be a slime type having viscoelasticity. 13B (a)-13B (g) can also be considered as a modification of this mounting method. In Figs. 13B (e) to 13B (g), the expansion and compression and compression feelings can also be expressed in addition to the left and right up and down reverse angles by controlling the phases of the two basic units of the contact angle device by flexible bonding and housing. As described above, mounting the contact angle interface device 101 on the body or the like, such as a housing having an adhesive tape and a finger inserting portion, is called a mounting portion. The mounting portion may be any shape as long as it can be attached to an object or a body such as a sheet type, a belt type, or tights in addition to the housing having the adhesive tape and the finger inserting portion. In the same way, it is mounted all over the body, including the fingertips, palms, arms and thighs.

In addition, the terms viscoelastic material and viscoelastic properties, as used herein, refer to those having properties of viscosity and / or elasticity.

14 shows an example of mounting of the other contact angle interface device 101.

In FIG. 14A, since the contact angle device 107 that generates vibration is detected as the noise vibration in the acceleration sensor 108, it is placed on the vibration acceleration sensor 108 by placing them in the opposite direction with respect to the finger 533. Reduce the impact In addition, the noise vibration detected by the acceleration sensor 108 is invalidated based on the control signal of the contact angle device 107 to further reduce noise mixing.

In FIGS. 14C to 14E, noise and vibration mixing were suppressed by interposing the earthquake-resistant material 1405 between the contact angle device 107 and the acceleration sensor 108.

In FIG. 14 (d), a contact angle interface device 101 which perceives a touch force sense while touching an object. A sense of contact angle was added to the touch of the real object. In the conventional data glove, a reverse angle was presented by pulling a finger by attaching a wire with a finger to the presentation of the contact angle. When using a data glove to touch a real object and presenting a tactile angle, it is difficult to combine the texture of a real object and a virtual object such as a finger falling from the real object or a grip being inhibited. In the contact angle interface device 101, there is no such thing, thereby realizing a complex sense (mix reality) in which a virtual touch is added while holding and touching a real object.

In FIG. 14E, the touch and touch feelings are added according to the contact and gripping pressure with the real object measured by the pressure sensor 109 to edit the gripping and contact feeling of the real object or to feel the virtual object 531. Replace with In Fig. 14 (f), instead of the pressure sensor in Fig. 14 (e), a shape sensor (for example, a photo sensor) for measuring the surface shape or shape deformation is used to measure the shape and surface shape of the gripping object related to the touch. And gripping force, distortion shear force, and contact measurement by deformation. A tactile magnifying glass emphasizing the stress, shear force and surface shape measured by these is realized. As with a microscope, the shape of the fine surface can be visually confirmed on the display, and at the same time, the shape can be tactilely confirmed. When the photo sensor is used for the shape sensor, the shape can be measured even without contact, so that the shape of the object can be felt by placing a hand on a distant object.

In the case of a variable touch button in which the command on the touch panel changes depending on the usage situation or context (context), the command of the variable button is hidden and cannot be read, especially when the user touches the button such as a mobile phone. Similarly, in the case of a variable button in a virtual space in VR content, the menu display or command changes in the context, so when the button is pressed, the contents of the button to be pressed are not known. Thus, by displaying it on the display 1406 on the contact angle interface device 101 as shown in Fig. 14E, the contact angle button can be pressed while confirming the command content of the button.

In order to be able to feel the touch information and the press reaction force of the virtual button in the virtual object 531 or the virtual controller without feeling the same as the real object, time delay of the press and press reaction force becomes a problem. For example, in the case of the female grounded reverse angle interface, the position of the holding finger is measured at the angle of the arm, and after the contact and interference determination with the digital model is made, the stress to be presented is calculated, the rotation of the motor is controlled, Response and delay may occur because motion and stress are presented. In particular, since the button operation during the game is performed at a high speed reflectively, it may not be timed to monitor and control the content. Thus, the touch angle interface device 101 also includes a CPU and a memory for monitoring the sensors 108, 109, and 110 to control the contact angle device 107 and the viscoelastic material 1404, thereby real time controlling the virtual buttons. Responsiveness such as pressing is improved to improve reality and operability.

Moreover, it has a communicator 205 and communicates with another touch angle interface device 101. For example, when the contact angle interface device 101 is mounted on five fingers, the contact angle interface device is deformed or virtual in the shape modifier (1403 of FIG. 14B) in conjunction with the movement of each finger. Reality and operability can be improved by performing the shape change, touch and virtual button operation of the controller in real time.

In FIG. 14 (a), the contact angle organic function is feedback-corrected to increase the time and intensity of muscle contraction by measuring the EMG response in the EMG sensor 110 in order to effectively use the hysteresis characteristics of the sensory and muscle. One of the factors affecting the induction of the contact angle, the contact angle (mounting method, how to fit) on the finger or palm of the contact angle interface device 101, the force from the contact angle interface device 101 There is a way for the user to put power on the arm. There are individual differences in the sensitivity of the contact angle. Some people feel the contact angle with high sensitivity while others hold it lightly, while others feel it with high sensitivity. Similarly, sensitivity changes by the fastening method at the time of wearing. In order to absorb this individual difference, the pressure sensor 109 or the EMG sensor 110 monitors the state of the handle to measure the individual difference and simultaneously corrects the contact angle organic function. Humans are accustomed to learning and learning the physics simulations in content, and the method of grasping proceeds in the proper direction. This correction has the effect of promoting this.

14 (a) to 14 (e), the contact angle interface device 101 is thickened to show the component configuration, but each component may correspond to a sheet-shaped thin film.

15 shows an example of mounting in the case where it is attached to the fingertip 533 of five fingers.

The feature of this embodiment is that the tactile angle interface device mounted in a controller such as a conventional game machine simply changes the strength and frequency of vibration, but in the present mounting method, the force is continuously applied in a constant direction by the tactile angle presentation method. It is at the point of perception. By using this, feedback control of the direction and the magnitude of the contact angle force is performed by the method shown in FIG. 11 in accordance with the movement of the finger 533 and the palm, thereby presenting the presence or feel of the virtual object 531 in the fingertip and palm. . In addition, by detecting the movement of the finger 533 by the acceleration sensor 108, the position sensor 111, or the like and feedback-controlling the contact angle, gravity sense, mass, and force can be continuously presented in a predetermined direction. While being a type interface, the presence, shape, and feel of the virtual object 531 can be presented.

FIG. 16 shows a mounting example different from that in FIG. 15, in which the CPU memory and the communicator 205 are equipped with each contact angle interface device 101. Each of the contact angle interface devices 101 may communicate with each other at high speed and cooperate with each other to present information about the contact angle.

When used as a device for inputting a selection and intention by a gesture, an intuitive gesture input with the virtual object 531 enables intuitive gesture input and manipulation.

In addition to the finger 533 or the person, it can be attached to all things such as writing utensils such as a pencil and a brush, daily necessities such as a toothbrush, toys such as a stuffed toy and a toy. For example, it is possible to present a sense of being pulled or pushed when the hand of the stuffed toy is held by being mounted or embedded in the hand of the stuffed toy. In addition, it can be used for training how to use and move pencils and brushes.

Since each is a controller and an aggregate becomes a big controller, various types of controllers can be realized.

17A shows an example of a control system of the contact angle interface device 101.

The contact angle organic function is generated based on the information accumulated in the contact angle database 1710 according to the tactile feeling that the content information should present. The generated function is generated in the motor controller 1703 which is a controller of the contact angle device 107 after the correction is made based on the user characteristic and the position, acceleration, and pressure information of the contact angle interface device 101 in the compensator 1702. The motor 1704, which is converted into a control signal and connected to the eccentric weight, is driven. The rotational phase is monitored at the encoder 1705 and feedback controlled so that the rotation of the motor is at the proper rotation at the motor controller 1703. This rotation and phase pattern induces a sense of the contact angle.

In addition, the viscoelastic property controller 1706 is converted into a control signal to control the characteristics of the viscoelastic material 1407 as an alternative method of the contact angle device 107 for generating an acceleration / deceleration pattern to improve the organic effect of the contact angle. . By changing the viscoelastic properties of the viscoelastic material 1407 in time, even in the eccentric rotor rotated at constant speed, the same effects as those of the rotation / phase pattern are induced by the motion characteristics through the viscoelastic material 1407.

Materials and methods are irrelevant as long as the vibration and momentum can be changed not only by the two methods but also by a control pattern that induces the contact angle.

FIG. 17B shows a sensory level curve for the contact angle recorded in the contact angle database 1710. Sensory level for reaction force (-f) obtained from physics simulation in content, for example, the contact angle sensory level equivalent to this using the contact angle sensory level curve stored in the contact angle database for 30 dB The physical strength 15dB (1725) which induces the decay is calculated to generate the contact angle organic function F.

The contact angle organic function F1713 generated by the contact angle organic function generator has a direction vector u (x, y, z), the contact angle intensity II, the vibration sense intensity VI, and the response characteristic R (P, Obtained from I, D), a phase pattern θ (t) = F (u, II, VI, R) for controlling the rotational acceleration / deceleration of the eccentric rotor is calculated. However, P, I, and D represent PID control proportional gain, integral gain, and derivative gain. (The specific calculation method is shown in the embodiment of FIG. 35.)

Correction data 1714 obtained from the contact angle and sensory level curves and the user's contact angle and sensory level curves are stored in the user characteristic database 1711, using which the individual readings are corrected by the corrector 1702. do. The contact angle is the sensitivity S by the contact pressure CP between the fingertip and the contact angle interface device 101, the influence PG due to the posture, and the inertial force FI due to the acceleration when the device is moved. PG, FI)) is different. This sensitivity S is obtained by prior subject experiments and stored in the contact angle data 1710, and correction is performed by adding the sensitivity S and correction data 1714 as the threshold value rise of the contact angle and feel level curves. As a result, the corrected contact angle organic function is obtained.

18 shows a flowchart of the processing of the contact angle device and the contact angle device.

The contact angle device 107 is feedback-controlled by the motor 1704 which presents the contact angle information based on the contact angle induction function and the contact angle function data 1710 to present a desired sensation.

The contact angle device 107 also has a function (touch angle device) for presenting a contact angle. By presenting the contact angle and the contact angle at the same time it is possible to obtain a synergistic effect of improving the texture.

19 illustrates an example of control of the contact angle interface device 101.

In this apparatus, the control of the motor 1704 is divided into a motor feedback (FB) characteristic controller for controlling the feedback characteristic of the motor 1704 and a control signal generator for converting the contact angle organic pattern into a motor control signal. In the present invention, it is essential to control the synchronization of the motor rotation phase pattern θ (t) = F (u, II, VI, R) and it is necessary to perform synchronous control with high accuracy in time. Therefore, as an example of the method, here, position control by the pulse train for control of a servomotor is shown. When the step motor is used as the position control, it is often impossible to simply remove and control the motor for rapid acceleration and deceleration. Therefore, the pulse position control by the servo motor will be described here. In the present invention using multiple contact control angle contact device 101 by controlling the motor feedback (FB) control characteristics and the motor control by the pulse position control method, the consistency of the motor control signals when different motors are used. A scalability is secured, which can easily cope with the increase in the number of control motors to be controlled and the speed of generating the tactile angle organic pattern. In addition, correction of individual differences becomes easy.

Pulse signal string gi (t) = gi () separated into a control signal for controlling the motor FB characteristic controller and the motor control signal generator in the contact angle organic function generator 1701 and controlling the phase position of the motor in the motor control signal generator. f (t) is generated to control the phase pattern θ (t) of the motor.

In this system, the rotational phase of a motor is feedback-controlled by the number of pulses, for example, a 1.8 degree motor rotates according to 1 pulse. In addition, the rotation direction selects forward rotation or half rotation by the direction control signal. By using this pulse control technique, arbitrary acceleration / deceleration patterns (rotational speed, rotational acceleration) are controlled at arbitrary phase timings while maintaining the phase relationship of two or more motors.

20 (a) to 20 (f) show an example of the control of the contacting device (touching device) for presenting the basic sense of touch and the sense of contact.

FIG. 20A schematically illustrates a method of generating a rotational force in the contact angle device 107, and FIG. 20D schematically illustrates a method of generating a translational force. The rotation of the two eccentric weights 814 in FIG. 20 (a) is rotated 180 degrees out of phase and rotating in the same direction. In contrast, in Fig. 20 (d), they are rotated in opposite directions.

(1) When two eccentric rotors are synchronously rotated in the same direction with a phase delay of 180 degrees, as shown in FIG. Rotation is synthesized. This can present a sense of torque. However, the time derivative of the angular momentum is the torque, and in order to continuously present the torque continuously in a certain direction, it is necessary to continuously accelerate the rotational speed of the motor.

(2) As shown in Fig. 20 (c), by synchronous control by the angular velocity ω1 and the angular velocity ω2, the contact angle sensation (continuous torque sensation) of continuous rotational force in a predetermined direction is induced.

(3) As shown in Fig. 20 (e), when synchronously rotating at a constant angular speed in the opposite direction, the force (single vibration) that linearly vibrates in an arbitrary direction can be synthesized by controlling the initial phase θ i1201.

(4) As shown in Fig. 20 (f), when the synchronous rotation is rotated in the opposite direction by the angular velocity ω1 and the angular velocity ω2 according to the sensory characteristic regarding the contact angle, the contact angle sensation of continuous translational force in a constant direction (continuous sensation) ) Is organic.

In the tactile angle interface device 101, if the rotational speed (angular velocity) and phase synchronization are accurately controlled in accordance with human sensory characteristics as shown in FIGS. 20 (c) and 20 (f), two kinds of angular velocity (ω1, ω2) Since the contact angle can be induced only by the combination of, the control circuit can be simplified.

FIG. 21 shows a change in sensory intensity with respect to the contact angle when the initial phase delay of the eccentric weight 814 of the contact force device 107 is changed. 21 (a) and 21 (b) show a case where there is no initial phase delay, and FIGS. 21 (d) and 21 (e) show a case where there is an initial phase delay, and FIGS. 21 (a) and 21 (e). (d) schematically shows the phase relationship between the two eccentric weights 814. FIG. 21C is a sensory characteristic showing the relationship between the sensory intensity of the contact angle induced by the contact force device with respect to the vibration amplitude generated by the contact force device.

21 (b) and 21 (e) are cases where the initial phase delays at the time of acceleration and deceleration of each eccentric rotor are 0 ° and −90 °, and the synthesized acceleration / deceleration patterns are different. Since the acceleration / deceleration intensity change (physical amount (amplitude)) can be generated, the sensory intensity of the large contact angle is presented. By controlling the initial phase delay as shown in Fig. 21F, the sensory intensity of the contact angle can be controlled.

Fig. 22 shows the nonlinear characteristics used for the contact angle interface device, and the sensory characteristics (Figs. 22 (a) and 22 (b)), the nonlinear characteristics of the viscoelastic material (Fig. 22 (c)), and the viscoelastic properties, respectively. The hysteresis characteristics of the material (Fig. 22 (d)) are shown.

FIG. 22 (b) is a schematic diagram showing human sensory characteristics having a threshold value 2206 with respect to physical quantities such as vibration and force as shown in FIG. 8, and physically by controlling the contact angle interface device in consideration of this characteristic. It shows that the sense which does not exist is induced as the contact angle.

222 (c), the same contact angle is obtained when a material having physical properties exhibiting nonlinear characteristics is applied between a device generating vibration, torque, and force and a human skin / sensory organ. This is organic.

Also, as shown in Fig. 22 (d), the sensory characteristics are not isotropic when the displacement is increased or decreased when the muscle is stretched or contracted, and the hysteresis sensory characteristics are often shown. When the muscle is attracted, the muscle contracts strongly just after that. By generating a strong hysteresis characteristic in this way, the induction of the same contact angle is promoted.

23 shows an alternative device for the contact angle device 107.

Instead of the eccentric weight 814 of the eccentric rotor of FIG. 23 (a) and the eccentric motor 815 driving it, the weight 2302 and the elastic member 2303 are used in FIGS. 23 (b) to 23 (e). Doing. For example, FIGS. 23B and 23D show a plan view, a front view, and a side view of the case where there are eight elastic members 2303 holding four weights and four four, respectively. The weight can be moved in arbitrary directions by shrinking and expanding the stretchable material 2303 paired in each drawing. As a result, the translation target and rotational vibration can be generated. Any structure can be used as a substitute as long as it has an acceleration / deceleration mechanism capable of generating and controlling the center translational movement and rotational torque.

24 shows a control algorithm using another viscoelastic material.

Human skin and a device for generating a driving force of vibration, torque, and force of the materials 2403 and 2404 having physical properties whose stress characteristics with respect to the applied force as shown in Fig. 24 (g) show nonlinear characteristics (Fig. 24 (c)). The same contact angle 905 occurs even when sandwiched between the sense organs.

For example, as shown in Fig. 24 (a), the eccentric rotor has a right angle by attaching materials 2403 and 2404 having different stress-strain characteristics to the phase -90 to 90 degrees and 90 to 270 degrees regions of the contact angle device surface. Even when rotating at a speed (Fig. 24 (b)), the force transmitted through the viscoelastic deformation material can be transmitted nonlinearly (Fig. 24 (d)). As a result, different forces (physical quantities) are presented in the phases -90 to 90 degrees and 90 to 270 degrees in the same manner as when the eccentric rotor is accelerated and decelerated, and a change in the biased center position x 2402 occurs. A nonlinearity of sensory characteristics (FIG. 24 (f)) may be applied to feel the force 905 of the contact angle in one direction (FIG. 24 (g)). The direction of the force by the contact angle is determined by the position at which the other viscoelastic deformation material is applied. Thereby, energy consumption can be suppressed compared with the method which accelerated and decelerated the rotation speed. In addition, when acceleration / deceleration is carried out without making the rotation speed constant, the effect of the contact angle can be increased by the viscoelastic materials 2403 and 2404. 24D and 24E are the same drawings.

FIG. 25 illustrates the direction of the site where the two viscoelastic deformable materials are attached in FIG. 24 and the direction of the contact angle that are perceived.

25 (a) (b) (c) (d) show materials A and B having viscoelastic properties acting on operating point A and operating point B of FIG. 24 (c) to (1). When material A is used in phase 180 ~ 360 ° and material B is 0 ~ 180 °, (2) When material A is used in phase 90 ~ 270 ° and material B is -90 ~ 90 °, ) When material A is used in phase 0 to 180 ° and material B is used in 180 to 360 °, (4) When material A is used in phase -90 to 90 ° and material B is used in 90 to 270 ° Doing. In FIG. 25A, a touch force in an upward direction acts to obtain a sense in which an interface floats. In FIG. 25 (b), the touch force in the left direction is applied to obtain a sense in which the interface is dragged to the left. In FIG. 25 (c), the downward contacting force acts to obtain a feeling that the weight of the interface becomes heavy. In FIG. 25 (d), the touch force on the right side acts to obtain a sense in which the interface is pulled to the right side.

26 shows a control algorithm using hysteresis material.

As shown in Fig. 26 (c), when the force-displacement hysteresis stress characteristic is different at the increasing operating point B and the decreasing operating point A, the force transmitted through the hysteresis stress characteristic materials 2601 and 2602 is also It depends on the stress characteristics. As a result, when the eccentric rotor is accelerated and decelerated as shown in Fig. 26B, the hysteresis stress characteristic materials 2601 and 2602 in Fig. 26A show the operating point B and the operating point A of Fig. 26C. The acceleration / deceleration motion is generated by representing the displacement according to the user, and the user having the sensory characteristics of FIG. 26 (d) perceives the contact angle by the acceleration / deceleration motion. Thereby, the nonlinear effect as a whole system is augmented by each nonlinear effect, and big contact angle can be obtained. Thus, by inserting a material having hysteresis characteristics between the device that generates the driving force of vibration, torque, and force, and the human skin / sensory organ, the acceleration / deceleration effect is enhanced to increase the organic effect of the contact angle. The case of having hysteresis stress characteristics as shown in FIG. 26 (e) is the same as that of FIG. 26 (c). In addition, as in the case where the hysteresis stress characteristic material is applied to the contact angle angle device surface as shown in Fig. 26A, the hysteresis stress characteristic material may be attached to the fingertip or the body as shown in Fig. 26F.

Fig. 27 shows a control algorithm using a viscoelastic material whose characteristics change with an applied voltage.

In the method using the viscoelastic material in Fig. 24, materials 2403 and 2404 of different stress-strain characteristics are attached, but a material 1707 whose viscoelastic properties are changed by an applied voltage as shown in Fig. 27 (a) may be used. By controlling the applied voltage, the viscoelastic coefficient is changed (Fig. 27 (b)) to change the transmission rate to the palm of the periodically varying momentum generated by the eccentric rotor in synchronization with the rotational phase of the eccentric rotor, Even when rotating at a constant rotational speed (constant speed rotation) as shown in Fig. 27 (c), the viscoelasticity is changed in time so as to be the characteristic values at the operating point B and the operating point A as shown in Fig. 27 (d). Since the amount of momentum transmitted to the vehicle can be controlled, the same effect as the acceleration / deceleration of the rotational speed of the eccentric rotor can be obtained. In addition, this method has the same effect as changing the physical properties of the skin similarly and has an effect of similarly changing the sensory characteristic curve (Fig. 27 (e)). Therefore, it can be used for the control which absorbs the individual difference of a sensory characteristic, or raises the organic efficiency of a contact angle. In addition, as in the case where a viscoelastic material is applied to the surface of the contact angle device as shown in Fig. 27A, the viscoelastic material may be attached to the fingertip or the body as shown in Fig. 27F. Here, the viscoelastic material may be any material or property as long as the stress-distortion property can be controlled nonlinearly by an applied voltage. If the nonlinear control is possible, the control method is not limited to the control by the applied voltage.

Repeated rotation acceleration and deceleration of the motor as shown in Fig. 26 (b) causes a large energy loss and heat generation. In this method, the rotation speed of the motor is constant (Fig. 27 (c)) or the acceleration ratio f1 / f2 is close to one. Value, and the energy consumption of the present method can be reduced compared to the energy consumption due to the acceleration and deceleration of the motor because the change of the characteristics due to the applied voltage is performed.

Fig. 28 shows a control algorithm using an oscillator circuit.

FIG. 28A shows an example of an energy efficient contact angle interface device using an oscillation circuit. In general, when the acceleration / deceleration is repeated, such as by repeating the high speed rotation 1002a and the low speed rotation 1002b of the motor, a large energy loss and heat generation occur. Energy loss and heat generation are serious obstacles when considering mobile or wireless use. Therefore, energy consumption can be suppressed by controlling the rotational speed of the eccentric rotary motor (Fig. 28 (b)) to insert an oscillation circuit combining a coil, a condenser, and a resistor to generate a contact angle. In particular, oscillations having nonlinear characteristics and hysteresis are preferred. As an example, the transmitting circuit shown in Fig. 28A may be a combination using a parallel circuit or the like and a transmitting circuit by a semiconductor element for power control.

29A to 29C show an apparatus using several basic units of the contact angle device in accordance with the purpose of use of an application or a controller.

Fig. 29A (a) shows the basic unit of the contact angle device arranged in the opposite type.

Fig. 29A (b) shows the basic unit of the contact angle device arranged in the opposite type.

Fig. 29A (c) shows the basic unit of the contact angle device arranged in parallel.

Fig. 29A (d) shows the basic unit of the contact angle device arranged in opposing and parallel types.

Fig. 29A (e) shows the basic unit of the contact angle device arranged in opposing and parallel types.

Fig. 29A (f) shows the basic unit of the contact angle device arranged in parallel.

Fig. 29A (g) shows the basic unit of the contact angle device arranged in parallel.

Fig. 29H shows the basic unit of the contact angle device arranged in three dimensions at the vertex of the tetrahedron.

Fig. 29A (i) shows the basic unit of the contact angle device arranged in opposing and parallel types.

Fig. 29A (j) shows the basic unit of the contact angle device arranged in opposing and parallel types.

FIG. 29A (k) shows the basic unit of the contact angle device arranged in parallel.

Fig. 29B (a) shows the basic unit of the contact angle device in which the opposite dies are two-dimensionally arranged.

FIG. 29B (b) shows the basic unit of the contact angle device in which the opposite type and the parallel type are arranged in two dimensions.

Fig. 29B (c) shows the basic unit of the contact angle angle device in which the opposing and parallel types are arranged two-dimensionally.

Fig. 29B (d) shows the basic unit of the contact angle device in which the opposed dies are three-dimensionally arranged.

Fig. 29B (e) shows the basic unit of the contact angle device in which the opposing type and the parallel type are arranged in three dimensions.

Fig. 29B (f) shows the basic unit of the contact angle device in which the opposing and parallel types are arranged in three dimensions.

29C (a) and 29C (b) show the basic units of the contact angle device arranged in the cylindrical game controller.

29C (c) and 29C (d) show the basic units of the contact angle device arranged in three dimensions at the torsional position.

Fig. 29C (e) shows the basic unit of the contact angle device arranged in the game controller.

30 (a) is induced by deforming the shape 3001 of the contact angle interface device by the shape deformation motor 3002 in synchronization with the contact force in addition to the contact force sense induced by the contact angle device. A device for emphasizing the contact angle 905 is shown.

For example, when applied to a fishing game as shown in Fig. 30 (b), the tension sense of the fishing line induced by the contact angle 905 by bending the shape 3001 of the interface in accordance with the pull of the fishing rod by the fish This is further emphasized. At this time, if the interface is modified without the contact angle, such a real fish can not be felt, and the deformation is added to the contact angle, thereby improving the reality. Further, as shown in Fig. 30 (c), by arranging the basic units of the contact angle device spatially, the deformation effect can be produced without the motor 3002 for shape deformation.

The deformation of the shape may be any mechanism as long as it is capable of changing the shape of not only the shape deformation motor 3002 but also a drive device using a shape memory alloy or a piezoelectric element.

FIG. 31 shows a virtual controller 3101 using the contact angle interface device 101. As shown in FIG.

The virtual controller 3101 generated by the content creation device 102 visually visualizes the virtual controller 3101 in the palm of the hand using an audiovisual display 105 such as a hologram, a naked eye stereoscopic display, and a head cape display. By using the contact angle interface device 101, the virtual controller 3101 is made to present the presence, feel, and button manipulation sensation of the virtual controller. In the conventional method using vibration, the shape of the virtual object could not be tactilely expressed, but the presence of the virtual button 3102 and the reaction force pressed when the button is pressed by using the contact angle interface device are expressed.

The conventional game controller enjoys a haptic game by moving a user's own body, except for vibration, and is a "similar haptic type" without feedback by inverse information. On the other hand, when the contact angle interface device 101 is used, a "full haptic controller" capable of tactilely touching the virtual object 531 and the character of the game can be realized.

The effect of the virtual controller 3101 using the contact angle interface device 101 is that the shape and button arrangement of the controller can be freely designed according to the contents of the game. In particular, since the lengths of the palms and fingers vary according to the sexes, the virtual controller 3101 can be designed and modified to fit the palms of the individual. You can also create shapes that match your content or change them to match the story. For example, in the conventional game controller, a game controller adapted to game contents has been released. On the contrary, when a plurality of types of contents are manipulated by one game controller, they are not optimal controllers, and thus, there is a problem that the contents of the contents are limited in accordance with the game controller. On the other hand, in this example, the controller can be virtually created according to the content, so it is not necessary to repurchase a dedicated controller or the controller can be freely transformed and changed according to the scene or story in the content.

In particular, when a new game software is released, the virtual controller information can be embedded in the software, so a virtual controller optimized for the game content can be used. Virtual controllers can be distributed as items via the network, making it easy to upgrade and sell.

In the case of a real game controller, it is difficult to press several buttons in quick succession while holding the housing with the ring finger and the little finger, but the virtual controller does not need to grip the housing. In addition, there is no inertial force due to the weight of the game controller, so the controller can be moved quickly. In contrast, the virtual controller 3101 based on the contact angle can generate the weight or the inertia force of the controller as necessary.

In the conventional game controller, all inputs have been performed with the buttons of the controller. Therefore, when operating switches, doors and handles in the VR space, they were selected and operated with the buttons on the controller. Therefore, a user unfamiliar with the game takes time to acquire a function assigned to a button of a game controller, an operation method, and an operation method for each game. However, in the virtual controller 3101, the function of the game controller can be arranged in the virtual button 3102 in the original VR space, so that the user can directly operate the buttons in the VR space by a familiar and familiar operation method. Not only is this unnecessary but also intuitive operation is possible.

32A to 32G and 33 illustrate a contact angle device and a control method using one set of units or a plurality of sets of units. 32A to 32C show a case where two sets of units are used when FIGS. 32D, 32E, 32G, 32H, and 33 are used.

32A (a) schematically shows the phase relationship of the eccentric weights. 32A (b) shows the rotation phase pattern of the eccentric weight. FIG. 32A (c) shows the temporal change of the center displacement of the contact angle device synthesized in the phase pattern of FIG. 32A (b). As shown in Fig. 32A (c), by changing the phase delay? D representing the timing of accelerating the rotation speed, the basic period of the oscillation (continuation time of the operating point A + duration of the operating point B) remains constant as shown in Fig. 32A (c). As shown in the figure, the acceleration and deceleration ratios of the center displacement plus side and the minus side are controlled. However, if θd is negative, it means phase delay, and if it is positive, it means phase progression. As a result, as shown in Fig. 32A (d), even if the vibration period is constant, the sensory intensity and direction of the contact angle can be changed. In the case of phase retardation θd = 0 and π, the direction of the force of the contact angle is not felt but is perceived as a simple vibration.

Also, as shown in FIG. 32A (e), the ratio of the duration time of the operation point A and the duration time of the operation point B (the duration time of the operation point A / the duration of the operation point B) is shown in FIG. 32A (f). Change the temporal trend of the center displacement as shown. That is, by changing the ratio of the angular velocity (the duration of the operating point B / the duration of the operating point A), the sensory intensity of the contact angle as shown in FIG. Can change. As described above, the sensory intensity and texture of the contact angle can be changed while independently controlling the period, eccentric amplitude, acceleration and deceleration.

32B (a)-(h) are the phase relationship (phase (theta): 0-7 pi / 4) of the eccentric weight in the case where 0 degree and 180 degree directions are a vibration direction in FIG. 32A, and are straight lines which do not contain rotational vibration Vibration. In contrast, Figs. 32C (a) to (h) show a phase relationship (phase θ: π / 2 to 9π / 4) of the eccentric weight when the 90 ° and 270 ° directions are used as the vibration directions. Vibration. This rotational vibration blunts the sense of direction in the induction of the contact angle.

Thus, by using two sets of units as shown in Fig. 32D, this rotational vibration can be reduced. FIG. 32D (a) shows the phase relationship in the case where the 0 ° direction is the direction of the contact angle. FIG. 32D (b) shows the phase relationship when the 90 ° direction is the direction of the contact angle. FIG. 32D (c) shows the phase relationship when the 180 ° direction is the direction of the contact angle. FIG. 32D (d) shows a phase relationship in the case where the 270 ° direction is the direction of the contact angle. Likewise, rotational vibration can be reduced by increasing the number of units.

Here, when two sets of units θ1 and θ2 are changed, the sensory intensity of the contact angle can be changed by adjusting the phase difference θ2-θ1 as shown in FIGS. 32E (c) and 32E (d).

By adjusting the phase relationship of several units as shown in FIG. 32F, the translational contact angles (FIGS. 32F (a) and 32F (B)), the rotational contact angles (FIG. 32F (C), and FIG. 32F (d) ))

By using several sets of units, an energy-efficient contact angle control device is also possible. An example of this is shown in Figs. 32G to 32H.

Prepare two sets of contact angle devices 107a and 107b composed of two eccentric rotors as shown in Fig. 32G (a), and rotate the rotational speeds of the respective sets to ω ₀ and 2ω ₀ as shown in Fig. 32G (b). In this case, the center displacement as shown in Fig. 32 (c) is synthesized. In particular, when the phase is staggered 90 degrees (3203), the difference between the maximum value and the minimum value becomes the maximum. Thereby, without using the oscillation circuit shown in Fig. 28 (a), even if each motor continues to rotate at a constant speed, it is possible to synthesize acceleration / deceleration vibrations that seem to induce a contact angle.

Here, such a synthesis method 2 the rotational speed of the main unit be any relationship between the natural defense, such as ω _0, 2ω If _zero, as well as _{mω 0, nω 0 (m,} n is a natural number).

On the other hand, as shown in Figs. 32G (d) to 32G (f), effects similar to those of Fig. 32A can also be obtained by changing the rotational speeds ω and 2ω of the motor in time. Also, as shown in Fig. 32D, the direction of the contact angle can be selected as shown in Fig. 32H.

33 shows a contact angle device and a control method using several units having eccentric weights of different weights. In Fig. 32 (d), several of the same eccentric weights are used. As shown in Fig. 33 (a), the weight and shape of the eccentric weights may be different in two groups. Furthermore, also about the method mentioned above, energy-efficient contact angle control is attained by using this system using two sets of contact angle devices.

As shown in FIG. 34, the contact angle interface device 101 may be mounted on the body 3400 by a mounting part such as a housing having an adhesive tape and a finger insert.

<Examples>

FIG. 35 illustrates an embodiment in which a virtual reality environment generating device is used, in which a plurality of users cooperate with each other to perform virtual ceramics.

After calibration of all devices of the VR environment generating device A and the VR environment generating device B is performed, communication between the VR environment generating devices is secured. Users exist in different spaces corresponding to VR environment generating devices, and mutual VR environment information is shared between communication devices.

Hereinafter, sensing by the sensor will be described based on FIG. 1.

As the data content data, the initial information of the model (the position Po of the model vertex) regarding the virtual clay block is read from the content data 104.

Next, the information vector group Mu '(position Xu', posture Pu ', velocity Vu', angular velocity Ru ', acceleration Au' about each part of the user's body by means of several position sensors 111 and acceleration sensors 108). , Angular acceleration Tu ') is measured. Here, the position sensor uses what can measure posture information. Velocity, angular velocity, acceleration, and angular acceleration are obtained from the derivative of position information and the second-layer derivative, and the information of the acceleration sensor is used for fast movement. In addition, in the physics simulator 113, a group of information vectors Mo (position Xo, velocity Vo, acceleration Ao, and force Fo acting between the vertices) about the vertices of the physics model of the virtual clay, and the virtual force vectors acting on the vertices from the user. Information about group Fu, sound source data, user model (virtual user) Vector group Mu (position Xu, posture Pu, velocity Vu, angular velocity Ru, acceleration Au, angular acceleration Tu) and virtual working on virtual user at vertices of virtual clay A memory space for storing one force vector group Fou is secured in the content producing device 102. Based on the information vector group of the memory space updated at every moment, the physical simulation of the virtual clay and the virtual user, which are contents, is repeated to update the information of the memory space.

Hereinafter, the physics simulation will be described using the model of FIG. 5.

In the physical simulator, virtual clay is represented by the spring damper model shown in Fig. 5B, and the information vector groups Mu and Mo are calculated and updated. The posture Pu1 of the first measurement point p1 (for example, the fingertip) of the virtual user, and the virtual force vector Fou1 acting on the finger, the direction vector u1 of the force to be presented in the contact angle interface,

    u1 = Fou1 / ∥Fou1∥-Pu1

Obtained by The same is calculated for the other measuring points pi.

As shown in FIG. 12, the initial phase θ i is obtained using the relationship u = (cos θ i, sin θ i, 0) between the initial phase θ i and the direction vector u where the force should be presented. The initial phase delay [theta] d is set to -90 [deg.] Giving the maximum sensory intensity. In addition, the initial phase delay θd may be adjusted according to the dynamic range of the sensory intensity to be provided.

The above is a case where the force is presented in an arbitrary direction in the rounded cross section of the fingertip by using a set of contact angle devices, but this is used to present the force in any direction in all directions by using the set of 3 contact angle devices. It can be extended in a way.

As the physical strength to be presented, reference is made to the physical strength corresponding to the contact angle strength II to be presented using the numerical table representing the contact angle sensory level curve in FIG. 17 (b). The physical quantity Δf / f is obtained from the characteristic graph of the contact angle strength in Fig. 10E. As the texture, for the vibrational sense intensity VI showing the roughness sense 1111 of FIG. 11C, the physical quantity f is obtained from the characteristic graph of the vibrational sense intensity of FIG. 10F. Angular velocities omega 1 and omega 2 are obtained from these physical quantities Δf / f and physical quantities f. When obtaining a value from the characteristic curve, an interpolation function such as a spline function is used. Angular velocities omega 1 and omega 2 are obtained as follows.

    ω1 = 2π / f1, ω2 = 2π / f2 where f1 = f + Δf / 2, f2 = f-Δf / 2

Phase pattern (theta) (t) is shown using the initial phase (theta) i, angular velocity (omega) 1 and (omega) 2 by FIG.12 (b).

The response characteristic R of the motor is selected by P, I, D parameters that have good convergence response without causing vibration due to overshooting. The control method using P, I, D parameters is a control method of a servo motor generally used by the corresponding partner, and P, I, D parameters are selected according to the selection method provided by the motor manufacturer. When it is desired to emphasize the vibrational sense intensity VI representing the roughness sense 1111, the parameter is set feedback in the motor FB characteristic controller while monitoring with an acceleration sensor such that P and D parameters become large so that vibration occurs.

As mentioned above, phase pattern (theta) (t) is calculated | required as f (t) = F (u, II, VI, R) from the contact angle organic function F.

When the resolution of the motor control is set to 1.8 °, the phase pattern? (T) is used to decompose the phase 360 ° of the vertical axis into 200 by 1.8 ° to obtain the time on the horizontal axis corresponding to the 200 points. This time is the timing for generating the control pulse train. As described above, the control pulse train g (t) is obtained from the phase pattern θ (t).

The difference between the type damper model and the spring damper model of FIG. 5 (b) is that the hollow model of FIG. 5 (b) is a surface only, whereas the solid model corresponding to the structural spring and the shear spring is used. .

Another differences, will be updated as the length of the spring a distance between the visual grid point after Δ _t equilibrium in Figure 5 (b) calculation of the equilibrium physics simulation, not the length L ₀ is a fixed value of the spring in. However, if this process is repeated several times, and complicatedly overlapped and deformed like clay, the length of the spring extends to infinity. Therefore, the grid point division in modeling will be performed again so that the length of the spring is equalized every time it is deformed.

When grid point 1 is combined with adjacent grid points 2 to grid points 4, the force vector f12 that grid point 1 receives from grid point 2 is

    fl2 = -k × (∥p2-p1∥―L12) × (p2-p1) / ∥p2-p1∥-c × (v2-v1) (9)

. only,

  pi: position vector of grid point pi

  vi: velocity vector of grid point pi

  k: elastic modulus of the spring,

  c: viscosity coefficient of the damper,

  Lij: the natural length of the spring between grid point i and grid point j

If lattice point 1 of mass ml is the force of the force received from the surrounding lattice points 2 to 4 lattice points as f1, the equation of motion of lattice point 1 is

m1 × d ² p1 / dt ² = f1 = f12 + f13 + f14 (10).

When the fingertip equipped with the contact angle interface device touches the grid point 1 (p1) of this virtual object / physical model, the grid point 1 (p1) changes to the position 1 (p'1) of the fingertip and acts on the fingertip. Reaction force (-f) to say,

-f = (f12 + f13 + f14) -m1 × d ² p'1 / dt ² (11). The movement of the fingertip to determine the contact is sensed by the position sensor and the acceleration sensor.

In the actual numerical simulation, the position p'1, the velocity v'1 and the force f'1 of the grid point 1 at the time t 'are obtained from the variables p, 1v1 and f1 of the time t. In other words,

Velocity vector: v'1 = v1 + (f1 / m1) × Δ _t (12)

Position vector: p'1 = p1 + v1 × Δ _t (13)

Similarly, the position and velocity of the grid point 2 of mass m 2 are calculated.

Velocity vector: v'2 = v2 + (f2 / m2) × Δ _t (14)

Position vector: p'2 = p2 + v2 × Δ _t (15)

Finally, the force acting between the lattice point 1 and the lattice point 2 is different from that in FIG.

    f'12 = 0 (16)

Is calculated.

By the above physics simulation, the force acting on the virtual clay at the fingertip of the virtual user is calculated and the virtual clay is deformed. In virtual clay, the stress on the finger of the virtual user is also calculated. Based on the result of the calculation of this stress, the contact angle interface device in the presentation is controlled by the contact angle organic device and the contact angle device driving controller so that the user (entity) can virtually match the stereoscopic image and the stereoscopic image on the audiovisual display. The virtual vase is transformed into a virtual vase while feeling the shape of the clay and confirming the shape of the virtual object by the touch. At this time, when the virtual object A and the virtual object B are the same in the VR space, the virtual vase is completed by the collaboration.

In addition, the virtual object A and the virtual object B may be a real object, and the image and shape of the real object are measured by a peripheral device, and the result is shared by the VR environment generating device A and the VR environment generating device B through the communication device. When the virtual object A is a real object, the user B's pottery experience is shared.

In each calculation, the position, velocity, and force of the grid points are calculated and stored in memory. Using this stored value, the position, speed, and force of the next time are calculated. By these, the reaction force to the fingertip is presented and the virtualization of the virtual object is realized.

Like the physics simulation of the virtual object, the VR environment is modeled in the same VR environment based on the physical information of the real space sensed by the peripheral device and the user's motion information sensed by the position sensor and the acceleration sensor, and the contact of contents is performed. Gripping force is calculated to create a VR space in which virtual space and real space are fused.

The virtual controller shown in FIG. 31 can also be realized in the same manner as the above virtual ceramics.

This apparatus can be applied to various fields other than the field of virtual reality.

In the presentation and presentation of information by virtual reality technology, there are not a lot of people who do not get motion sickness in the real vehicle, and those who do not feel motion sickness in the simulator or the three-dimensional virtual reality do not feel the three-dimensional feeling, and even the same virtual reality This depends greatly on the person. In addition, depending on the physical differences such as the size of the palm and the strength of the muscles, the weight and shape of the interface, and the user's familiarity with the interface handling method, the degree of deception by virtual reality technology, that is, how to feel is greatly different for each age, gender, and individual. different. Therefore, the effects of learning and correction vary depending on the application.

Application to information terminals such as mobile phones and PDAs improves the amount of information, identification ease, and operability of the tactile angle information in accordance with personal characteristics.

For example, by using this apparatus instead of the vibrator for silent mode, it is possible to effectively present the direction of travel in the navigation and the attention that is easy to be overlooked for the vibration without the conventional direction information at the tactile angle.

When the contact angle device and the contact angle device are incorporated in the information terminal, the strength and the sense of the touch angle vary depending on the relative relationship between the weight and shape of the terminal and the size and muscle strength of the palm. In the case of the non-base type, which is placed on the palm and shakes, even if the same tactile angle information is presented by the inertia force due to mass and moment of inertia, it feels different. Therefore, the correction function of the device is effective because it properly presents the tactile angle information.

When used in a game for a mobile phone using a motion sensor, the output of the force is effectively obtained with respect to the input of the force, thereby improving the interactivity and the reality, thereby improving the intuitive operation. When used in a touch pen (stylus) or tablet PC, the click feeling is improved when a user clicks an icon with a finger or a touch pen, and the overlapping windows can be identified by changing the frictional resistance for each window in the display. Is improved.

In addition, when applied to various training devices such as surgery simulators, information such as characteristic points that need to be adjusted and learned according to individual characteristics and learning degree, and points that are easy to be overlooked are emphasized by expressing them in an operability, easy identification, and learning effect. Is improved.

Since the emphasis is on illusion, it is not necessary to simply increase the physical quantity or enhance the contrast, such as presenting the inverse angle information, but it is necessary to correct the emphasis based on the sensory characteristics of the person. In addition, in order to express the variety of tools and the tools divided into beginners and experienced users, corrections are made to the degree of reality that varies depending on the frequency of use and familiarity, and to the degree of deception by virtual reality technology.

101 contact angle interface unit
102 Content Authoring Device
103 contact angle organic device
104 content data
105 audiovisual displays
106 Tactile angle data and Tactile angle data
107 contact angle device
107a contact angle device
107b contact angle device
108 acceleration sensor
109 pressure sensor
110 EMG Sensor
111 position sensor
112 controller
113 Physics Simulator
114 computer graphics
115 contact angle organic function generator
116 Learner
117 compensator
118 peripherals
119 sound source simulator
205 Communicator
520 Virtual Objects (Physical Models)
528 Spring Damper Physical Model
531 Virtual Objects
533 fingers
535 Stress from Virtual Objects
814 eccentric weight
815 eccentric motor
901 physical phenomenon
902 Nonlinear Sensory Characteristics
903 psychological phenomenon
904 left and right vibration
905 contact angle
908 Integral of force sensation at duration Ta of operating point A
909 Integral amount of force sensation at duration Tb of operating point B
1002a High Speed RPMω1
1002b low speed ω2
1100 virtual reputation
1101 Virtual Object Movement
1102 drag on movement
1103 Drag from a Virtual Plate
1104 friction
1105 viscous drag
1106 drag force the virtual plate back into the surface
Error Thickness of 1107 Virtual Plate
1108 resistance, viscosity
1109 friction
1110 Slippery feeling and acceleration
1111 roughness sensation
1112 vibratory drag
1113 acceleration (negative drag)
1201 initial phase θ i
1202 Injury sensation by contact angle
1203 Injury sensation by contact angle
1204 Gravity sensation by contact angle
1301 adhesive tape
1302 housing
1303 finger insert
1403 Shape Modifier
1404 viscoelastic material
1405 seismic material
1406 display
1702 compensator
1703 motor controller
1704 motor
1705 encoder
1706 viscoelastic property controller
1707 viscoelastic material
1713 contact angle organic function
1714 calibration data
1725 Physical Strength 15 dB
1901 Motor FB Characteristic Controller
1902 Control Signal Generator
2206 threshold
2302 weight
2303 New Construction Material
2400 constant speed rotation
2403 Viscoelastic Material A
2404 Viscoelastic Material B
2601 Hysteresis Material A
2602 Hysteresis Material B
Shape of 3001 contact angle interface device
3002 shape deformation motor
3003 flexible deformation material
3101 Virtual Controller
3102 Virtual Button
3202 Center displacement (phase difference 0 °)
3203 Center displacement (phase difference 180 °)

Claims (19)

A contact angle interface device having a contact angle device,
A contact angle device drive control device for driving control of the contact angle device,
Virtual reality environment generating apparatus comprising a. A contact angle organic device for generating a contact angle organic function according to the content using the contact angle data,
A contact angle interface device having a contact angle device,
A contact angle device drive control device for driving control of the contact angle device,
Virtual reality environment generating apparatus comprising a. A content creation device that creates content based on information and content data from various sensors,
A contact angle organic device for generating a contact angle organic function according to the content using the contact angle data,
A contact angle interface device having a contact angle device,
A contact angle device drive control device for driving control of the contact angle device,
Virtual reality environment generating apparatus comprising a. A content creation device that creates content based on information and content data from various sensors,
A contact angle organizing apparatus having a learner, a compensator or a learner and a compensator, and generating a contact angle organic function according to the content using the contact angle data;
A contact angle interface device having a contact angle device,
A contact angle device drive control device for driving control of the contact angle device,
Virtual reality environment generating apparatus comprising a. A content creation device that creates content based on information and content data from various sensors,
Touch angle organic device having a learner, a corrector or a learner and a corrector to generate a contact angle organic function according to the content using the contact angle data,
A contact angle interface device having a contact angle device,
A contact angle device drive control device for driving control of the contact angle device,
And
The contact angle organizing apparatus generates a learning contact angle organic function after a learning instruction and senses the user's response angle behavior for the contact angle information presented according to this function. And an individual difference correction data relating to the contact angle decay function and the control is estimated as the amount. A content creation device that creates content based on information and content data from various sensors,
Touch angle organic device having a learner, a corrector or a learner and a corrector to generate a contact angle organic function according to the content using the contact angle data,
A contact angle interface device having a contact angle device,
A contact angle device drive control device for driving control of the contact angle device,
And
The touch angle organizing apparatus senses the user's response and behavior with respect to the contact angle information in each content to estimate the touch angle sensory characteristics of the user with respect to the feature amount in the content, and the touch angle organic function and control. And a virtual reality correction apparatus for calculating individual difference correction data. The virtual reality environment generating device according to any one of claims 1 to 6, wherein the contact angle device includes an acceleration and deceleration mechanism. The virtual reality environment generating device according to claim 7, wherein the contact angle device driving control device controls the speed of the acceleration / deceleration mechanism with the oscillation circuit interposed therebetween. In the virtual reality environment generating apparatus according to any one of claims 1 to 6, the contact angle device driving control device is configured to contact the contact force according to the contact angle organic function generated by the contact angle organic device. A device for generating a virtual reality environment, characterized by controlling the phase, direction, and rotational speed of a motor included in each device, or the phase, direction, and speed of an actuator. The virtual reality environment generating device according to any one of claims 1 to 6, comprising a sensor, wherein the sensor is a position sensor or a pressure sensor that detects and measures the movement of a portion on which the contact angle interface device is mounted. And at least one of a shape sensor, a biosignal sensor, and an acceleration sensor. The virtual reality environment generating device according to any one of claims 1 to 6, wherein the contact angle interface device has a mounting portion and includes a member having a nonlinear stress characteristic between the contact angle device and the mounting portion. And a virtual reality environment generating device. In the virtual reality environment generating apparatus according to any one of claims 1 to 6, the contact angle interface device includes an acceleration sensor and an earthquake resistant member between the contact angle device and the acceleration sensor. A virtual reality environment generating device, characterized in that. In the virtual reality environment generating device according to any one of claims 1 to 6, the contact angle interface device includes an acceleration sensor, and includes a mounting portion between the contact angle device and the acceleration sensor. And a virtual reality environment generating device. The virtual reality environment generating device according to any one of claims 1 to 6, wherein the contact angle interface device includes at least one of a CPU, a memory, and a communication device. In the virtual reality environment generating device according to any one of claims 1 to 6, the content creation device is based on the information from the sensor, the physical simulation calculation, the generation and update of the virtual reality space, the creation and display of computer graphics, An apparatus for generating a virtual reality environment, characterized by performing information processing of the contact angle information. In the virtual reality environment generating device according to any one of claims 1 to 6, the contact angle interface device is a pair of two or more sets of contact forces driven at different frequencies, different accelerations or speeds, and different frequencies and different accelerations and decelerations. An apparatus for generating a virtual reality environment, comprising each device. The virtual reality environment generating device according to any one of claims 1 to 6, wherein the contact angle interface device has a mounting portion for mounting on a finger or a body. Bases with deformable means,
A contact angle interface device having a contact angle device device,
Controller device provided with. Tactile angle interface device to create a virtual motion, providing a virtual presence, tactile feeling, button operation,
Audiovisual display for presenting virtual objects,
Virtual controller device having a.

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