KR101643576B1 - A thimble type force feedback device - Google Patents

A thimble type force feedback device Download PDF

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Publication number
KR101643576B1
KR101643576B1 KR1020150021785A KR20150021785A KR101643576B1 KR 101643576 B1 KR101643576 B1 KR 101643576B1 KR 1020150021785 A KR1020150021785 A KR 1020150021785A KR 20150021785 A KR20150021785 A KR 20150021785A KR 101643576 B1 KR101643576 B1 KR 101643576B1
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KR
South Korea
Prior art keywords
finger
contact
contact plate
body
end
Prior art date
Application number
KR1020150021785A
Other languages
Korean (ko)
Inventor
오용환
최우혁
허성문
김재하
박재영
Original Assignee
한국과학기술연구원
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Priority to KR1020150021785A priority Critical patent/KR101643576B1/en
Application granted granted Critical
Publication of KR101643576B1 publication Critical patent/KR101643576B1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/02Hand grip control means
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05GCONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/52Controlling members specially adapted for actuation by other parts of the human body than hand or foot
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014Hand-worn input/output arrangements, e.g. data gloves
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A thimble touch suggesting apparatus applied to an interface system moving an avatar in response to a movement of a finger to suggest a touch to an end of a finger. The thimble touch suggesting apparatus includes a body supporting the finger and a contact plate fixed to the body. The contact plate is formed to move a location for the body which moves to adhere to a dead end of the finger to pressurize the dead end of the finger when a predetermined contact occurs in the avatar. When the contact for the avatar is removed, the contact plate removes the pressure by moving to be spaced at the dead end of the finger.

Description

[0001] The present invention relates to a thimble type force feedback device,

The present invention relates to a tangible tactile display device, and more particularly, to a tangible tactile display device that enables a user to clearly distinguish whether an avatar corresponding to a user's fingertip is in contact / non-contact with a target object in a virtual / .

Various interface systems have been developed to operate remote slave robots or virtual graphics (hereinafter referred to as "avatars ") according to the user's will in a virtual environment / augmented environment / remote environment according to industrial development.

Since the human hand is capable of precise movement, it is widely used as a means for driving the above interface system.

In such an interface system, since the avatars to be controlled and the environment in which the avatars operate are not available for the user to directly experience, an apparatus is provided for providing tactile feedback to the user for more realistic and sophisticated control.

FIG. 1 is a diagram of a reversible haptic device that measures the position of a user's fingertip according to the prior art and accurately provides a controlled force vector to provide a sense of back to the user (FIG. 1 of patent document 1).

When the user moves his or her finger with the finger inserted in the end effector 200, the links connected to the end effector 200 are operated, and the position of the end of the finger is determined mechanically.

The position movement data of the fingertip is used to move the position of the avatar.

When the avatar becomes unable to move in contact with a specific object such as an external object, the motors 120, 130 and 140 provided in the haptic device drive the link to provide a force in a direction opposite to the direction in which the user's finger is to be moved. This allows the user to feel that the avatar is in contact with the object by reversing it, because the user's finger is no longer able to move in the direction in which it is intended to move (or becomes uncomfortable moving in the same direction).

However, according to this conventional technique, since the tip of the finger is inserted into the thimble-type end effector and is always in close contact with each other, regardless of whether or not the avatar is in contact with the object, There is a problem that it is always applied to the fingertip.

United States Patent No. 5,587,937

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide an avatar that operates in accordance with movement of a user's finger in a virtual / augmented / It is an object of the present invention to provide a tangible tactile display device which is mechanically switched so that a user can more clearly distinguish contact.

To achieve the above object, according to one aspect of the present invention, there is provided a tangible tactile feedback device applied to an interface system for moving an avatar in response to movement of a finger, And a contact plate fixed to the body, wherein the contact plate is configured to be movable with respect to the body, and when the contact plate is brought into contact with the avatar in a predetermined contact, the contact plate moves in close contact with an end of the finger, And when the contact with the avatar is released, the user moves away from the end of the finger to release the pressing.

According to one embodiment, the contact plate is formed to move linearly with respect to the body, and an end of the finger is positioned between the body and the contact plate.

According to one embodiment, the bone-like tactile feedback device includes tension means for pulling the contact plate toward the body, and elastic means for pushing the contact plate in a direction opposite to the body.

According to one embodiment, the tension means is a wire.

According to one embodiment, the interface system has a link portion that operates in accordance with the movement of the finger and defines a position of an end of the finger, and the body is fixed to an end of the link portion.

According to one embodiment, the interface system includes a motor capable of operating the link portion, and when the contact with the avatar occurs, the motor operates the link portion to provide a reversal that interferes with the movement of the finger.

Fig. 1 is a view of a haptic device according to the prior art disclosed in Patent Document 1. Fig.
2 is a perspective view of a tornable tactile feedback device according to an embodiment of the present invention.
Figs. 3A and 3B show the tangible tactile display device of Fig. 2 in a noncontact mode and a contact mode, respectively.
FIG. 4 is a conceptual diagram of an interface system according to an embodiment to which the tangible tactile feedback apparatus of FIG. 1 is applied.
5 shows a case where an avatar as a control object of the interface system is a remote slave robot.
FIG. 6 shows a case where an avatar as a control object of the interface system is a virtual graphic.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Although the present invention has been described with reference to the embodiments shown in the drawings, it is to be understood that the technical idea of the present invention and its essential structure and action are not limited by this embodiment.

2 is a perspective view of a tangible tactile device 1 according to an embodiment of the present invention.

2, according to the present embodiment, the tactile presentation device 1 includes a body 10 capable of holding a finger thereon, and a contact plate 20 fixed to the body 10 .

The body 10 includes an approximately "C" shaped body portion 11 and an annular fastening portion 12, 13 disposed on the rear end side of the body portion 11 and capable of holding and fixing a node of a finger do.

The annular fixing portions 12 and 13 are formed of two pieces and are fixed by screws. The distance between the two segments can be adjusted according to the thickness of the user's finger.

A tongue 14 extending obliquely and a rotary plate 15 coupled to the tongue 14 are provided at the rear end upper end of the body portion 11. The rotary plate 15 is rotatably coupled to a link 102 belonging to a link portion of the interface system so that the entire tactile presentation device 1 is rotatable with respect to the link portion.

The contact plate 20 includes a contact portion 21 having a recessed shape corresponding to the shape of a finger tip and a connection portion 22 to which the contact portion 21 is fixed at one end.

The user wears the tactile feedback device 1 in such a manner that the finger passes through the fixing portions 12 and 13 and the finger tip is seated on the contact portion 21. [ That is, the tip of the finger is positioned between the body 10 and the contact plate 20. With this configuration, the tip of the finger can be pressed quickly and accurately.

The connecting portion 22 is formed in a substantially "?" Shape, and the upper surface is inserted into the slit formed in the up-and-down direction on the body portion 11.

The contact plate 20 is linearly movable with respect to the body 10 in the direction of the slit.

A wire 31 serving as a tension means capable of pulling the contact plate 20 toward the body 10 is provided on the upper end surface of the connecting portion 22 inserted into the body portion 11, A spring 32 serving as an elastic means for applying an elastic force to push the contact plate 20 thereinto.

The tactile presentation device 1 according to the present embodiment moves the position of the contact plate 20 in accordance with the contact / non-contact state.

Fig. 3A shows a tactile feedback device 1 in a non-contact state, and Fig. 3B shows a tactile feedback device 1 in a contact state.

As shown in Fig. 3A, in the non-contact mode, the contact portion 21 of the contact plate 20 moves to the lowermost end and does not contact the end of the finger.

3B, in the contact mode, the wire 31 is wound through the motor 33 (see Fig. 5) to pull the contact plate 20 upward. The raised contact portion 21 is brought into close contact with the tip of the finger to press the fingertip.

When the contact state is released, the tension applied to the wire 31 is released. Accordingly, the restoring force of the spring 32 causes the contact plate 20 to instantaneously move downward and return to the home position shown in Fig. 3A.

According to this embodiment, since the tension is adjusted by using the wire and the end of the finger is pressed, it is possible to actively cope with the change in the contact pressure between the avatar and the object, so that a more realistic reversal can be provided to the user. In addition, since the pressing is instantaneously released by the spring, the contact feeling can be instantaneously solved.

The tactile display device 1 according to the present embodiment can be applied to a remote or virtual slave robot corresponding to the movement of a finger or an interface system capable of moving a virtual graphic.

4 schematically shows an interface system according to an example for applying the tactile display device 1 according to the present embodiment.

The interface system according to the present embodiment borrows the configuration of the haptic device disclosed in Patent Document 1 as it is. Among the reference numerals shown in FIG. 5, reference numerals identical to those shown in FIG. 1 of Patent Document 1 are intended to be identical in structure, function and operation.

The tactile presentation device 1 according to the present embodiment is connected to the end of the link 102 located at the first end and the motor 106 for moving the contact plate 20 up and down via the wire 31 to the intermediate link 106 33 are combined. The position of the motor 33 is not limited to the intermediate link 106.

The interface system according to the present embodiment has three motors 120, 130 and 140 and a link section of four sections connected thereto.

However, the interface system according to the present embodiment is not limited to the structure of FIG. And a link portion which is operated in accordance with the movement of the finger inserted into the thimble-type tactile presentation device (1) and can mechanically define the position of the end of the finger according to the angle of the joint, It should be understood that the present invention can be used as the interface system according to the present embodiment if the structure can restrict the movement of the tactile feedback device 1 by restricting or changing the attitude of the link portion through the motor.

Fig. 5 shows a case where the avatar as a control object of the interface system is the slave robot 40. Fig.

The slave robot 40 is provided with a robot hand 41 capable of touching and holding the object 42 through the operation of the user's hand clenching or spreading.

The position of the tip of the tactile presentation device 1 (i.e., the tip of the finger) is defined through the kinematic relationship of the link portion, and the position of the end of the robot hand 41 is designated corresponding thereto. Each of the actuators of the robot 40 is controlled to move the end of the robot hand 41 to the designated position. On the other hand, the position of the end of the robot hand 41 is fed back to the interface system.

The contact plate 20 of the tactile display device 1 maintains the non-contact state shown in Fig. 3A while the robot hand 41 is located at a position (free-space) free from an object.

When the user moves the finger to move the slave robot 40 close to the object 42 and the touch of the robot hand 41 to the object 42 is detected, the contact plate 20 of the tactile- As shown in Fig. 3B, moves so as to come into close contact with the fingertips of the fingers and presses the fingertips of the fingers.

The user can intuitively know that the robot hand 41 of the slave robot 40 has contacted the object 42 by the pressing of the contact plate 20. [

When the user's operation of holding the object 42 with a greater force is detected in a state in which the robot hand 41 is in contact with the object 42, the wire 31 is further wound by the motor 33, 20) This user's fingertips can be pressed with a larger force.

In other words, the tactile display device 1 can provide a more realistic sense of back to the user by allowing the contact plate 20 to press the end of the finger in correspondence with the pressure between the avatar and the object in contact therewith.

3A, the contact plate 20 of the tactile feedback device 1 is moved in the direction indicated by the arrow A in Fig. 3A, and the tactile force applied to the wire 31 is released by releasing the object 42 held by the robot hand 41. [ Similarly, release the pressure away from the tip of the finger.

By the action of the spring 32, the pressing is momentarily released and the user can be sure that the contact with the avatar has been released.

FIG. 6 shows a virtual graphic 60, which is another type of avatar to be a control object of the interface system.

A three-dimensional room 50 is defined on the monitor, and a graphic 60 is displayed in the room 50 as a control object of the interface system. In Fig. 6, although the graphic 60 is simply displayed in a circle, the shape of the hand may have various forms.

The side surface 52 of the chamber 50 is designated as the contact area with which the graphic 50 can touch. That is, the graphic 50 can not go outside the side 52.

When the user moves the finger, the position of the end of the finger is defined through the kinematic relationship of the link portion of the interface system of Fig. The position information of the end of the finger is replaced with the position of the graphic 60 on the virtual space (i.e., the space on the monitor), and the graphic 60 is moved corresponding to the movement of the finger.

When the user moves the graphic 60 at a position (for example, position 62) in a free motion space that does not touch the side wall 52, the contact plate 20 of the tactile display device 1 is also rotated Contact state shown in Fig.

When the user places a graphic 60 on the side wall 52 and exerts a force to move the graphic rightward beyond the side wall 52, the computer determines that contact has occurred with the graphic 60 and the side wall 52 .

When such a contact occurs, the interface system drives the motors 120, 130 and 140 to pull the tactile presentation device 1 in the left direction, thereby preventing the user from moving the finger in the right direction. Thus, the user may be aware that the graphic 60 has contacted the sidewall 52.

Meanwhile, at the same time, the contact plate 20 of the tactile display device 1 is moved so as to come into close contact with the fingertips of the fingertip, as shown in Fig. 3B, and presses the fingertips of the fingertip.

The user can surely know that the graphic 60 is in contact with the side wall 52 by the pressing of the contact plate 20. [

When the user tries to push the graphic 60 deep into the room with the side wall 52 in contact, the interface system does not restrict the movement of the user in the x and y axes, Direction in a direction opposite to the user's finger moving direction so that the finger actually moves in the left direction. Through this reversal, the user can feel as if the fingers are moving in contact with the sidewall that is viewed obliquely with the sense of principal of the three-dimensional space.

At this time, since the graphic 60 is located in the area of the side wall 52 which is the contact area, the contact plate 20 still maintains a state of being pressed tightly against the end of the finger.

On the other hand, if the user pushes the graphic 60 to the right while the graphic 60 is in contact with the side wall 52, the interface system correspondingly increases the torque of the motor and restrains the movement of the user. In this case, the wire 33 can be further wound by the motor 33 so that the contact plate 20 presses the user's fingertip with a larger force. In other words, the tactile display device 1 can provide a more realistic sense of back to the user by allowing the contact plate 20 to press the end of the finger in correspondence with the pressure between the avatar and the object in contact therewith.

The contact plate 20 of the tactile presentation device 1 is moved in the free movement space 62 by releasing the tension applied to the wire 31, So that the pressure is released.

By the action of the spring 32, the pressing is momentarily released and the user can be sure that the contact with the avatar has been released.

When the graphic 60 again contacts the object 51 designated as the contact area, the contact plate 20 moves back to the contact position of Fig. 3A to provide a sense of contact.

According to the tactile presentation apparatus of the present embodiment, whether or not the avatar as the control object is in contact with the target object to be touched is assistively transmitted to the user by the contact plate that is mechanically shifted in position, It is possible to eliminate the contact feeling, and to provide the user with a clear contact feeling in the contact space.

Claims (6)

  1. The present invention relates to an apparatus for displaying a tangible tactile feeling, which can be applied to an interface system for moving an avatar in response to movement of a finger,
    A body for supporting the finger;
    And a contact plate fixed to the body,
    Wherein the contact plate is configured to be movable with respect to the body,
    Wherein when the information indicating that a predetermined contact has occurred in the avatar is transmitted to the interface system, the contact plate moves so as to come into close contact with the end of the finger to press the end of the finger,
    Wherein when the information indicating that the contact with the avatar is released is transmitted to the interface system, the contact plate is controlled to move away from the end of the finger to release the pressing.
  2. The method according to claim 1,
    The contact plate is formed so as to move linearly with respect to the body,
    And an end of the finger is positioned between the body and the contact plate.
  3. 3. The method of claim 2,
    Pulling means for pulling the contact plate toward the body,
    And an elastic means for pushing the contact plate in a direction opposite to the body.
  4. The method of claim 3,
    Wherein the tension means is a wire.
  5. The method according to claim 1,
    Wherein the interface system is provided with a link portion which operates in accordance with the movement of the finger and which mechanically defines the position of the end of the finger,
    And the body is fixed to an end of the link portion.
  6. 6. The method of claim 5,
    Wherein the interface system includes a motor capable of operating the link portion,
    Wherein when the contact with the avatar occurs, the motor operates the link portion to provide a reversing effect that interferes with the movement of the finger.
KR1020150021785A 2015-02-12 2015-02-12 A thimble type force feedback device KR101643576B1 (en)

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KR1020150021785A KR101643576B1 (en) 2015-02-12 2015-02-12 A thimble type force feedback device
PCT/KR2016/001280 WO2016129883A1 (en) 2015-02-12 2016-02-05 Thimble type tactile presentation apparatus

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101931285B1 (en) * 2017-06-05 2018-12-20 한국과학기술연구원 Pressurizing apparatus for generating tactile stimulation

Citations (3)

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Publication number Priority date Publication date Assignee Title
JP2003308141A (en) * 2002-04-17 2003-10-31 Seiko Epson Corp Inner force sense presenting device
JP2003337653A (en) * 2002-05-20 2003-11-28 Seiko Epson Corp Tactile sense and force sense presenting device, and tactile sense and force sense presenting system
KR20100125059A (en) * 2009-05-20 2010-11-30 한국과학기술연구원 Tactile display system and operation method using the same

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Publication number Priority date Publication date Assignee Title
US5625576A (en) * 1993-10-01 1997-04-29 Massachusetts Institute Of Technology Force reflecting haptic interface
JP4403474B2 (en) * 1999-12-09 2010-01-27 ソニー株式会社 Tactile sense presentation mechanism and force tactile sense presentation device using the same
KR101313106B1 (en) * 2009-12-17 2013-09-30 한국전자통신연구원 Thimble-type mediated device and method for recognizing thimble gesture using the device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003308141A (en) * 2002-04-17 2003-10-31 Seiko Epson Corp Inner force sense presenting device
JP2003337653A (en) * 2002-05-20 2003-11-28 Seiko Epson Corp Tactile sense and force sense presenting device, and tactile sense and force sense presenting system
KR20100125059A (en) * 2009-05-20 2010-11-30 한국과학기술연구원 Tactile display system and operation method using the same

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
미국 등록특허 제5,587,937호

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101931285B1 (en) * 2017-06-05 2018-12-20 한국과학기술연구원 Pressurizing apparatus for generating tactile stimulation

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