KR101515410B1 - Apparatus and method for providing complex haptic stimulation - Google Patents

Abstract

The present invention relates to a complex tactile sensation generating module, a complex tactile presentation method, a mouse equipped with the complex tactile sensation generating module, and a complex tactile display system. More particularly, the present invention relates to a composite tactile sensation generating module for providing tactile information of a virtual object, comprising: a high frequency driving part for vibrating a high frequency diaphragm by a piezo actuator to provide a tactile sense of texture; And a low frequency driving part for providing a tactile sense by a plurality of fine protrusions protruding and protruding and protruding by an electromagnetic force from one surface of the high frequency diaphragm to provide a user with a combination of a fine shape, a texture, a thermal feel, And a composite tactile sensation generation module that allows the user to vividly feel the tactile feeling of a virtual object.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a compound tactile sense generating module and a compound tactile sense generating module,

The present invention relates to a complex tactile sensation generating module, a complex tactile presentation method, a mouse equipped with the complex tactile sensation generating module, and a complex tactile display system. More specifically, the present invention provides a high-frequency driving unit, a low-frequency driving unit, a thermal feeling reproducing unit, and a rigidity reproducing unit to provide a user with a microscopic shape, texture, warmth and rigidity of a virtual surface to vibrate To a complex tactile sensation generating module.

In general, a haptic is a tactile sensation that can be felt by a person's finger tip (fingertip or stylus pen) when touching an object. The tactile feedback that the skin touches the object surface, (Kinesthetic force feedback), which is felt when the movement of the robot is disturbed.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows a partial cross-sectional view of the skin represented by human sensory receptors. As shown in FIG. 1, as a human sensory receptor, a mechanical stimulus receptor includes a Pacinian corpuscle that senses high frequency vibrations (about 250 to 300 Hz), a low frequency vibration (about 3 to 40 Hz) Meissner's corpuscle to sense, Merkel's disc to sense the local pressure to press, and Ruffini's ending to sense the skin's stretch. In order to stimulate these various tactile receptors and reproduce realistic touch, the frequency bandwidth of the actuator is important. Since the tactile receptors each have different frequency ranges to be activated, actuators having a bandwidth of 250 Hz or more are required to stimulate them all.

Existing actuators satisfying the bandwidth of 250 Hz or more include various actuators such as solenoid actuators, DC / AC motors, server motors, ultrasonic actuators, and shape memory alloy ceramic actuators. A typical example of the tactile display device is a vibrating motor driven by a touch screen input from a mobile device to stimulate a pachinian / meistering body that detects vibration of high frequency / low frequency by generating vibration.

In addition, it can be utilized as a pin-array tactile display device capable of expressing fine touch, protrusion, and shape to the user. In order to be utilized as the pin array tactile presentation device, it is important to integrate a plurality of actuators in a small area so as to simulate human skin senses. Therefore, it is important that the entire structure is compactly designed and inserted.

However, in order to provide the user with various complex tactile senses, it is necessary to stimulate the sensory receptors of the human body in a complex manner. Conventional tactile display devices provide a tactile sense by outputting fine shapes through a pin array or the like to the user or by stimulating the Pachinian / Meissner main body by vibrating the surface. However, such a single module does not provide a variety of tactile feedback to the user .

That is, for example, if a user can not only view and listen to information about a virtual object but also provide a variety of information as a tactile sense, it can vividly provide a tactile sensation such as touching an actual object more vividly.

Therefore, there is a need for a complex texture generation module capable of simultaneously presenting various tactile information to present a vivid tactile sense such as touching and feeling objects in a virtual environment.

Korean Patent No. 1153447 Korean Patent No. 1036626

According to an aspect of the present invention, there is provided a display device including a low frequency driving part, a thermal sensation reproducing part, a high frequency driving part, and a rigidity reproducing part, A composite feeling generating module is provided that combines a feeling of texture, a sense of warmth, and rigidity to vividly feel the feel of a virtual object.

In addition, by providing the 3D virtual surface with the fine shape, texture, warmth and rigidity (hardness), it is possible to solve the limitations of the device that stimulates the touch in one or two ways and realizes the feel of the virtual environment object vividly A complex tactile sensation generation module capable of generating a complex tactile sensation.

Other objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments with reference to the accompanying drawings.

A first object of the present invention is to provide a composite tactile sensation generating module for providing tactile information of a virtual object, comprising: a high frequency driving part for vibrating a high frequency diaphragm by a piezo actuator to provide a tactile sense for texture; And a low frequency driving part for providing a tactile sense by a plurality of fine protrusions protruding and protruding and protruding by an electromagnetic force from one surface of the high frequency vibration plate.

The apparatus may further include a stiffness reproducing unit for changing the stiffness of the high-frequency diaphragm to provide a tactile sense to the stiffness information.

The apparatus may further include a thermal sensation reconstruction unit for providing thermal sensation information by changing the temperature of the high-frequency diaphragm.

The high-frequency driving unit may include a solenoid for generating a magnetic field having a different intensity according to an intensity of a current applied thereto, and a plurality of holes And a movable part for providing a tactile sense by the movement, wherein the plurality of low frequency driving parts constitute an array haptic output part arranged in a predetermined form.

The piezoelectric actuator further includes a lower frame spaced apart from the high-frequency diaphragm by an upper frame disposed at a lower portion and a lower frame spaced apart from the upper frame by a predetermined distance, wherein the piezoactuator is disposed between the high- And the stiffness reproducing part is provided between the upper frame and the lower frame.

The piezoelectric actuator may further include a first flexure member provided on an upper portion of the piezoelectric actuator and an elastic member provided on the other side between the upper frame and the lower frame.

The piezoelectric actuator may further include a second flexure member on one side between the high-frequency diaphragm and the upper frame, wherein the high-frequency diaphragm tilts around the second flexure member to provide a tactile sense of texture . ≪ / RTI >

The first flexure member and the second flexure member may be each formed with a concave portion whose both sides are recessed inward.

The high frequency diaphragm may further comprise a heat transfer plate capable of heat transfer, and a temperature changing unit connected to the heat transfer plate to change the temperature of the heat transfer plate.

Further, the temperature changing means may be constituted by a Peltier element.

In addition, the stiffness reproducing unit may be configured as a rigidity implementing module using a magnetorheological fluid.

The rigidity implementing module may include a body for accommodating the magnetorheological fluid therein, an operation plate provided on the upper portion of the body for applying an external force, a piston connected to the operation plate and reciprocating in one direction in the body, And a magnetic field application means provided in the magnetorheological fluid for applying a magnetic field to the magnetorheological fluid to change a viscosity of the magnetorheological fluid by an applied magnetic field to realize a rigidity that is a resistance against the external force .

The apparatus may further include a compression groove formed in the lower end of the piston, and a protruding rod provided in the body and inserted into the compression groove according to reciprocation of the piston.

An elastic providing means provided between the operation plate and the piston for generating an electric signal by a change in inductance due to electromagnetic induction while providing an elastic force to the operation plate moving according to the external force; Further comprising measuring means for measuring the intensity of the external force based on the electrical signal so as to change the viscosity of the magnetorheological fluid through the adjustment of the magnetic field based on the measured intensity of the external force, It is possible to realize a rigidity which is a resistance against a force.

The second object of the present invention can be attained by a mouse including the composite tactile sensation generating module according to the first object mentioned above.

A third object of the present invention is to provide a composite tactile display method using a composite tactile sensation generating module, comprising: providing a tactile sense for texture by vibrating a high frequency vibration plate by a piezo actuator of a high frequency driving part; And a low frequency driving part for providing a tactile sense by a low frequency driving part having a plurality of fine protrusions protruding and protruding by an electromagnetic force from one surface of the high frequency diaphragm, .

The stiffness reproducing unit may further include a step of changing the stiffness of the high-frequency diaphragm to provide a tactile sense to the stiffness information, and the step of providing the thermal sensation information by changing the temperature of the high-frequency diaphragm .

The fourth object of the present invention can be achieved by a computer-readable recording medium on which a program code for executing a composite tactile display method according to the third object is recorded.

A fifth object of the present invention is to provide an image processing apparatus including an input unit for inputting information on a virtual object; Analyzing means for analyzing information input from the input unit to generate tactile information; And a composite touch generating module according to the first object mentioned above; And a control unit for controlling at least one of the high frequency driving unit, the low frequency driving unit, the rigidity reproducing unit, and the thermal sensation reproducing unit provided in the complex tactile sensation generating module based on the tactile information.

According to an embodiment of the present invention, a low-frequency driving part, a thermal sensation reproducing part, a high frequency driving part, and a rigidity reproducing part are provided to give a user a feeling of touch on a virtual object vividly by providing a fine shape, texture, .

In addition, by providing 3D virtual surface with fine shape, texture, warmth and rigidity (hardness), it is possible to solve the limitations of devices that stimulate the touch in one or two ways, And has an effect that can be realized.

The composite presentation apparatus according to an embodiment of the present invention can transmit more realistic and vivid tactile information to the user, thereby presenting a new possibility of being directly touched, not limited to the conventional viewing and listening, It enables users to directly touch and purchase. It also enables students to feel the objects that are difficult to be actually touched by being applied to science education. Furthermore, it is possible to improve immersion feeling by providing tactile feedback with 3D game. It has the effect of contributing to creating a new field by adding a tactile presentation function to the industry.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it will be appreciated by those skilled in the art that various other modifications and variations can be made without departing from the spirit and scope of the invention, All fall within the scope of the appended claims.

Figure 1 is a partial cross-sectional view of the skin,
FIG. 2 is a perspective view of a complex tactile sensation generating module according to an embodiment of the present invention;
FIG. 3 is an exploded perspective view of a complex tactile sensation generating module according to an embodiment of the present invention, FIG.
FIG. 4 is a perspective view of a complex tactile sensation generating module in a state where a finger is brought into contact with a high frequency vibration plate according to an embodiment of the present invention,
5 is a perspective view of an array haptic output unit in which a high frequency driving unit according to an embodiment of the present invention is arranged in a predetermined form,
6 is a perspective view of a high-frequency driving unit according to an embodiment of the present invention,
FIG. 7 is a cross-sectional view of a complex tactile sensation generating module according to an embodiment of the present invention;
FIG. 8 is a cross-sectional view illustrating displacement of a high-frequency diaphragm by driving a piezo actuator according to an embodiment of the present invention;
9A and 9B are cross-sectional views of a high-frequency driving part and a rigidity reproducing part in a state in which a piezo actuator is operated according to an embodiment of the present invention,
10A is a cross-sectional view of a rigidity reproducing unit according to an embodiment of the present invention,
FIG. 10B is a sectional view of the stiffness reproducing portion in a state in which the operation plate is pressed according to an embodiment of the present invention,
FIG. 10C is a sectional view of a stiffness reproducing portion showing a flow of a magnetic field according to an embodiment of the present invention, FIG.
11 is a perspective view illustrating a combined touch generating module according to an embodiment of the present invention and a mouse having the combined touch generating module,
12 schematically shows a configuration diagram of a complex tactile display system according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the detailed description of known functions and configurations incorporated herein will be omitted when it may unnecessarily obscure the subject matter of the present invention.

The same reference numerals are used for portions having similar functions and functions throughout the drawings. Throughout the specification, when a part is connected to another part, it includes not only a case where it is directly connected but also a case where the other part is indirectly connected with another part in between. In addition, the inclusion of an element does not exclude other elements, but may include other elements, unless specifically stated otherwise.

Hereinafter, the structure and function of the complex tactile sensation generation module according to an embodiment of the present invention will be described. 2 is a perspective view of a combined tactile sensation generating module according to an embodiment of the present invention. 3 is an exploded perspective view of a combined tactile sensation generating module according to an embodiment of the present invention. 4 is a perspective view of a combined tactile sensation generating module in a state where a finger is brought into contact with an upper housing according to an embodiment of the present invention.

2 to 4, the complex tactile sensation generating module 100 according to an embodiment of the present invention includes a low frequency driving part 20, a high frequency driving part 30, a stiffness reproducing part 40 and a thermal feeling reproducing part 10, . ≪ / RTI > 2 to 4, the combined touch generating module 100 according to an embodiment of the present invention includes an upper housing 11 and a lower housing 11, A diaphragm 32 and an upper frame 33 spaced apart from the high frequency diaphragm 32 by a predetermined distance and a lower frame 41 spaced apart from the upper frame 33 by a predetermined distance, A low frequency driving part 20 and a high frequency driving wheel 30 are provided between the high frequency vibration plate 32 and the upper frame 33 and a rigidity reproducing part 40 is provided between the upper frame 33 and the lower frame 41 .

3, the upper housing 11 is provided with a plurality of holes 12 in which a plurality of moving parts 22 (pins) provided in the low frequency driving part 20 are protruded and protruded, And a heat transfer plate having a high thermal conductivity.

As shown in FIGS. 2 to 4, the thermal sensing unit 10 is connected to one side of the heat transfer plate, and it is understood that a temperature changing unit for changing the temperature of the heat transfer plate is provided. In this embodiment, the temperature changing means is constituted by a Peltier element 13 and transmits the temperature of the Peltier element 13 to the heat transfer plate to provide the user with temperature information. In addition, the thermal sensation reproducing unit 10 according to an embodiment of the present invention may further include a cooling jacket (not shown) provided at one side of the Peltier element 13.

In a specific embodiment, the temperature of the heat transfer plate can be adjusted between 15 and 40 캜 by the heat generation portion 10. The Peltier element 13 generates a Peltier effect. One surface of the Peltier element 13 is composed of a cooling surface. The other surface is composed of a heat dissipation surface. The temperature difference between the elements is about 30 to 50 ° C. That is, when the temperature of the cooling surface is set to -15 ° C, the temperature of the heat-radiating surface becomes about 15-35 ° C.

This Peltier effect means that when DC voltage is applied to both ends of two different devices, heat is absorbed on one side and heat is generated on the other side depending on the direction of current. For example, the ice cooler uses the cooling effect of the Peltier element 13 as described above, and its performance is very strong, so that dew is formed on the cooling surface (heat absorbing surface) in an instant. Such a device using a Pete effect is called a thermoelectric module or a thermoelectric module (TEM).

The principle of this Peltier element 13 is that the basic principle is that electrons require energy to move between two metals having a potential difference, and that the necessary energy is taken from the energy possessed by the metal. The amount of current applied to the device and the amount of heat absorbed / exothermed are directly applied to the formula of the white back effect, and the proportional constant is also the same. The Ebece effect means that free electrons get energy by the applied heat, and this energy is used to generate an electromotive force.

The complex tactile sensation generating module 100 according to an embodiment of the present invention includes an upper housing 11 and a low frequency driving unit 20 provided at a lower end of the high frequency diaphragm 32. The plurality of low frequency driving units 20 may include a plurality of low frequency driving units 20 and an array haptic output unit 23 arranged in a predetermined form. 5 is a perspective view of an array haptic output unit 23 in which a plurality of low frequency driving units 20 are arranged in a predetermined form according to an embodiment of the present invention. 6 is a perspective view of a low frequency driving unit according to an embodiment of the present invention.

Each of the low-frequency driving units 20 generates a magnetic field having a different intensity according to the intensity of the applied current. The linear solenoid 21 and the linear solenoid 21 provide a tactile sense by vertically moving corresponding to the intensity of a magnetic field generated by the linear solenoid 21. [ And includes a movable portion 22. Therefore, the movable part 22 provided in the low-frequency driving part 20 protrudes and appears in the upper housing 11 and the high-frequency diaphragm 32 to provide tactile information on the fine shape to the user. The driving frequency of the low frequency driving unit 20 is preferably about 0 to 100 Hz.

2 to 4, the complex tactile sensation generating module 100 according to an embodiment of the present invention includes a high frequency driving part 30 and a low frequency driving part 30 between the high frequency diaphragm 32 and the upper frame 33, And the stiffness reproducing part 40 is provided between the upper frame 33 and the lower frame 41. In addition,

FIG. 7 is a cross-sectional view of a composite tactile sensation generating module according to an embodiment of the present invention. 8 is a cross-sectional view illustrating displacement of a high frequency vibration plate by driving a piezo actuator according to an embodiment of the present invention.

9A and 9B are cross-sectional views of a high frequency driving part and a rigidity reproducing part in a state in which a piezo actuator is operated according to an embodiment of the present invention.

The high frequency driving unit 30 according to an embodiment of the present invention generates microvibration in the upper housing 11 and the high frequency vibration plate 32 to provide tactile information on the surface texture.

7 and 8, the high-frequency driving unit 30 according to the embodiment of the present invention includes a high-frequency diaphragm 32, an upper frame 33 spaced apart from the high-frequency diaphragm 32 by a predetermined distance, A piezoelectric actuator 31 provided on one side between the high-frequency diaphragm 32 and the upper frame 33, and the like.

The high frequency diaphragm 32 is coupled to the lower end of the upper housing 11 and the lower end of the upper frame 33 is provided with the stiffness reproducing unit 40 described in detail later. The piezoelectric actuator 31 is constituted by a multi-stack piezoelectric actuator 31 and is arranged on one side between the high frequency vibration plate 32 and the upper frame 33 as shown in Figs. 7, 8, 9A and 9B Respectively.

7, 9A, and 9B, the elastic member 34 ((a), (b), and (c) are formed on the other side between the high frequency vibration plate 32 and the upper frame 33 of the high frequency driving unit 30 according to the embodiment of the present invention. For example, a coil spring). A first flexure structure 35 is provided between the upper portion of the piezoelectric actuator 31 and the high-frequency diaphragm 32. The first flexure member 35 may be further provided on one side between the upper frame 32 and the lower frame 33. A second flexure member 36 is provided on a side of the high frequency diaphragm 32 and the upper frame 33 at a predetermined distance from the first flexure member 35.

As shown in Figs. 7, 8, 9A and 9B, the first flexure member 35 and the second flexure member 36 form concave portions whose both sides are recessed inward. 9A and 9B, when the piezoelectric actuator 31 is driven by this structure, the high frequency vibration plate 32 and the upper housing 11 are integrally fixed to the second flexure member 36 ). As a result, the tactile information on the surface texture is transmitted to the user by the vibration. By applying such a structure, it becomes possible to amplify the displacement of the piezo at the portion where the finger is touched. That is, as shown in FIG. 8, when the piezo actuator 31 is driven, the displacement is amplified at the position where the finger is touched, and various vibration sensations and patterns are transmitted to the user to reproduce the texture.

In addition, the complex tactile sensation generating module according to an embodiment of the present invention includes a stiffness reproducing section 40. FIG. As shown in FIGS. 2 to 4 and FIG. 7, two stiffness reproducing units 40 are provided between the upper frame 33 and the lower frame 41. The stiffness reproducing part 40 basically controls the magnetic field applied to the magnetorheological fluid 45 with the solenoid coil to reproduce the surface rigidity, that is, the hardness, to provide tactile information on the rigidity to the user.

10A is a cross-sectional view of a stiffness reproducing unit 40 according to an embodiment of the present invention. 10B is a sectional view of the stiffness reproducing section 40 in a state in which the operation plate 42 is pushed according to an embodiment of the present invention. That is, FIG. 10B shows the flow direction of the magnetorheological fluid 45 when the action plate 42 is moved downward by the external force. 10C is a cross-sectional view of a stiffness reproducing unit 40 showing a flow of a magnetic field according to an embodiment of the present invention.

10A to 10C, the stiffness reproducing unit according to an embodiment of the present invention includes a body, an operation plate 42, a piston 43, a magnetorheological fluid 45, a magnetic field applying unit 44, Providing means 49, and the like. Inside the body is provided a groove capable of accommodating a piston 43, a magnetorheological fluid 45, a protruding rod 47, a magnetic field applying means 44 and an elastic providing means 49, And is formed into a cylindrical shape. The operation plate 42 is plate-shaped, and a connecting rod member 48 is provided at the central area of the lower surface thereof to transmit an external force applied to the piston 43 in a direction perpendicular to the operation plate 42. The function plate 42 can be deformed into any shape in accordance with the use mode as long as it is capable of transmitting an external force to the piston 43.

The cover is coupled to the open side of the housing. A cover through hole is formed in the central area of the cover so that the connecting rod member 48 of the operation plate 42 can be interconnected with the piston 43. [ The diameter of the cover through-hole is formed to have a slidable tolerance after the connecting rod member 48 is connected to the piston 43 and the magnetorheological fluid 45 does not flow out. 10A, the piston 43 has a shape that can be moved up and down in the body by the operation plate 42, a connecting rod member 48 is inserted into the upper portion, It can be seen that the compression groove 46 is provided so that the insertion groove 47 can be inserted.

The magnetorheological fluid 45 is one of intelligent materials, which is a material whose viscosity characteristics are reversibly changed in accordance with the intensity of an external magnetic field. Specifically, the magnetorheological fluid 45 may be a dispersion medium such as mineral oil, synthetic hydrocarbon, water, silicone oil, esterified fatty acid, or the like, fine particles of several to several tens of microns in diameter, iron, nickel, cobalt, Refers to a dispersed non-colloidal suspension.

The magneto-rheological fluid 45 exhibits a large change in the flow characteristics such as viscosity characteristics of the fluid as the magnetic field is applied, and is excellent in durability. In addition, they are relatively less sensitive to contaminants, have a very fast response to magnetic fields, and are reversible. Therefore, it is considered to be highly applicable to various industrial fields such as a vibration control device such as an automobile clutch, an engine mount, a damper, a high-rise building seismic device, and a driving device of a robotic system.

The magnetorheological fluid 45 also exhibits the nature of the Newtonian fluid when no magnetic field is applied. However, when the magnetic field is applied, the dispersed particles form a dipole and form a fiber structure parallel to the applied magnetic field. This fiber structure increases the viscosity and has a resistance against shear force or flow which interferes with the flow of the fluid, Greatly increasing the yield stress. The yield stress at this time increases with the intensity of the magnetic field. Such magnetorheological fluid 45 is filled in the interior of the housing. On the other hand, the magnetorheological fluid 45 is an incompressible fluid and has almost no volume change.

The magnetic field applying means 44 is a component that receives a power from the outside and applies a magnetic field to the magnetorheological fluid 45 to induce a change in viscosity of the magnetorheological fluid 45. The magnetic field applying means 44 applies a magnetic field to the magnetorheological fluid 45, The rigidity with various resistance can be realized through the control. 10A to 10C, the magnetic field applying means 44 in the embodiment of the present invention includes a magnetic field applying means 44 in which a protruding rod 47 and a piston 43 are inserted in the center of a magnetic field applying means 44, Holes are formed. In other words, the magnetic field applying means 44 can use a solenoid coil formed by winding the lead wire along the outer circumferential surface of the projecting rod 47 and the piston 43.

At this time, the intensity of the magnetic field is increased in proportion to the number of wound wires or the strength of the power supplied to the magnetic field applying means 44. When the strength of the magnetic field is increased as the number of wires or the power source is increased, the magnetorheological fluid 45 is further strengthened to form intermolecular chains, thereby increasing the viscosity of the magnetorheological fluid 45. As a result, the stiffness, which is a resistance against an external force, is increased, and rigidity against external forces of various strengths can be realized.

On the other hand, the magnetic field applying means 44 is connected to the control portion 70 to provide various modes of rigidity through the formation of a magnetic field based on the intensity of the external force measured through the measurement means.

Then, the elastic providing means 49 provides an elastic force to the action plate 42 which moves according to the external force. In one embodiment of the present invention, the elastic providing means 49 may be composed of a spring. Here, the spring is formed in a threaded shape to provide an elastic force to the operation plate 42 through the piston 43. As a result, the elasticity providing means 49 is pressed downwardly in accordance with the external force applied to the action plate 42, thereby deforming its shape, thereby providing an elastic force to the action plate 42.

FIG. 11 is a perspective view illustrating a combined touch generating module according to an embodiment of the present invention, and a mouse having the combined touch generating module. FIG. 12 schematically shows a configuration of a composite tactile display system according to an embodiment of the present invention.

11 and 12, the combined tactile display system according to an embodiment of the present invention includes a mouse 60 having the above-mentioned complex tactile sensation generation module 100, The low frequency driving unit 20, the high frequency driving unit 20, and the high frequency driving unit 20 provided in the aforementioned complex tactile sensation generating module 100 based on the tactile information generated by the analyzing means and the analyzing means for generating the tactual information by analyzing the information inputted from the input unit and the inputting unit, 30, a control unit 70 for controlling the rigidity reproducing unit and the thermal sensation reproducing unit 10, and a power applying unit 80 for applying power.

The input unit, the analysis unit, and the control unit 70 may be installed in the lower frame 41 of the complex tactile sensation creation module 100 described above. The input unit receives information of an object displayed on a display unit 50 such as a monitor. For example, temperature information, stiffness information, texture information, and fine shape information of a virtual object are received.

The analysis means transforms this information into tactile information so that it can be presented to the user in a tactile sense. The control unit 70 controls the low frequency driving unit 20, the high frequency driving unit 30, the stiffness reproducing unit 40 and the thermal sensation reproducing unit 10 based on the tactile information to provide various tactile information to the user.

That is, based on the temperature information about the virtual object, the control unit 70 controls the thermal sensation reconstruction unit 10 to change the temperature of the heat transfer plate to the same temperature as the virtual object, and provide the user with the temperature information in a tactile sense. In addition, the stiffness information of the virtual object (how hard the virtual object is) is inputted, and the analysis means converts the stiffness information into the tactile information for the stiffness, and the control unit 70 controls the stiffness reproducing unit 40 The current applied to the magnetic field applying means 44 is adjusted to change the viscosity of the magnetorheological fluid 45 to provide the user with the rigidity and damping force corresponding to the virtual object.

The control unit 70 controls the oscillation period of the piezoelectric actuator 31 to provide tactile information on the surface texture to the user, The control unit 70 drives the plurality of linear actuators provided in the low frequency driving unit 20 to provide the tactile sense to the user.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. It is to be understood that such modified embodiments are within the scope of protection of the present invention as defined by the appended claims.

10:
11: upper housing
12: Hall
13: Peltier element
20: Low frequency driving part
21: Linear solenoid
22:
23: Array haptic output section
30: High-
31: Piezo actuator
32: High frequency diaphragm
33: upper frame
34: elastic member
35: first flexure member
36: second flexure member
37: High frequency diaphragm hole
40:
41: Lower frame
42: working plate
43: Piston
44: magnetic field applying means
45: Magneto-rheological fluid
46: Compressed groove
47:
48: connecting rod member
49: elasticity providing means
50:
60: Mouse equipped with complex tactile sensation generating module
70:
80: Power supply unit
100: complex tactile generation module

Claims (16)

A composite tactile sensation generating module for providing tactile information of a virtual object,
A high frequency driving unit for vibrating the high frequency diaphragm by the piezoelectric actuator to provide a tactile sense to the texture; And
And a low-frequency driving unit for providing a tactile sense by a plurality of micro-projections protruding from and protruding from one surface of the high-frequency diaphragm,
A plurality of holes are formed in the high-
The low-
A solenoid for generating a magnetic field having a different intensity according to an intensity of an applied electric current and a movable part for providing a tactile sense by moving up and down in correspondence to the intensity of a magnetic field generated in the solenoid,
Wherein the low frequency driving unit comprises a plurality of low frequency driving units, and the plurality of low frequency driving units constitute an array haptic output unit arranged in a predetermined form.
The method according to claim 1,
And a stiffness reproducing unit for changing the stiffness of the high-frequency diaphragm to provide a tactile sense to the stiffness information.
3. The method according to claim 1 or 2,
And a thermal sensation reconstruction unit for providing the thermal sensation information by changing the temperature of the high frequency vibration plate.
delete 3. The method of claim 2,
A lower frame spaced apart from the high-frequency diaphragm by a predetermined distance, and a lower frame spaced apart from the upper frame by a predetermined distance, the piezoactuator being provided on one side between the high-frequency diaphragm and the upper frame, And the rigidity reproducing part is provided between the upper frame and the lower frame.
6. The method of claim 5,
A first flexure member provided on an upper portion of the piezoelectric actuator, and an elastic member provided on the other side between the upper frame and the lower frame.
The method according to claim 6,
Further comprising a second flexure member on one side between the high-frequency diaphragm and the upper frame,
And the high frequency diaphragm is tilted and oscillated about the second flexure member by the piezoelectric actuator to provide a tactile sense to the texture.
The method according to claim 1,
Wherein the high frequency diaphragm comprises a heat transfer plate capable of heat transfer,
And a temperature changing unit connected to the heat transfer plate to change the temperature of the heat transfer plate.
9. The method of claim 8,
Wherein the temperature changing means comprises a Peltier element.
3. The method of claim 2,
Wherein the stiffness reproducing unit comprises a rigidity implementing module using a magnetorheological fluid.
11. The method of claim 10,
Wherein the rigidity implementation module comprises:
A piston which is provided in an upper portion of the body and acts on an external force, a piston which is connected to the action plate and reciprocates in the body in one direction, and a magnetostrictive fluid Wherein the viscoelasticity of the magnetorheological fluid is changed by an applied magnetic field to realize a rigidity that is resistant to the external force, including magnetic field applying means for applying a magnetic field to the magnetorheological fluid.
11. A mouse comprising a complex tactile sensation generating module according to any one of claims 1, 2, and 5 to 11.
A composite tactile display method using a composite tactile sensation generating module,
Vibrating the high-frequency diaphragm by the piezo actuator of the high-frequency driving unit to provide a tactile sense for the texture;
Providing a tactile sense by a low-frequency driving part having a plurality of fine protrusions protruding and protruding from an upper surface of the high-frequency diaphragm by an electromagnetic force;
Providing a tactile representation of the rigidity information by varying the rigidity of the high-frequency diaphragm; And
And providing the thermal sensation reconstruction unit with the temperature information of the high frequency diaphragm by changing the temperature of the high frequency diaphragm.
delete 13. A recording medium on which program codes for executing the compound tactile display method according to claim 13 are recorded.
An input unit for receiving information on a virtual object;
Analyzing means for analyzing information input from the input unit to generate tactile information; And
A complex tactile sensation generating module according to claim 3;
And a control unit for controlling at least one of a high frequency driving unit, a low frequency driving unit, a rigidity reproducing unit, and a thermal sensation reproducing unit provided in the complex tactile sensation generating module based on the tactile information.

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