KR20090048215A - Thin type device for tactile feedback - Google Patents

Abstract

The present invention relates to a thin tactile device, comprising: a housing having an upper plate to which a user's skin is accessed, and a lower plate made of ferromagnetic material; The permanent magnet is mounted so as to be protruded inside the housing, and the front end of the housing is in contact with the user's skin when protruding from the upper plate, and the front end of the housing is proximate or attached to the lower plate when the tip is immersed into the housing. Touch pins provided at the rear end; It is mounted between the upper plate and the lower plate, and fixedly penetrates with some of the plurality of touch pins, fluidly penetrates with the rest of the plurality of touch pins, the permanent magnet of the fixedly penetrated touch pin is the lower plate Elastic means having elastic energy when elastically deformed when the touch pin is immersed; And provided on the surface of the elastic means, and when the current is not applied, the permanent magnet of the touch pin is deformed together with the elastic means by being close to or attached to the lower plate, and when the current is applied, the tip of the touch pin protrudes from the upper plate. And linear actuating means for restoring the elastic magnets together with the elastic means so that the permanent magnets of the touch pin are separated from the lower plate.

Thin, touch, touch pin, elastic means

Description

Thin type device for tactile feedback

The present invention relates to a thin tactile device, and more particularly, to a thin tactile device for stimulating the user's skin to give the user a realistic feel.

In general, a haptic device is used in various fields such as virtual reality, simulation, wearable computers, robotics, and medical, and is also called a haptic interface.

These haptic devices use skin feedback mechanisms that transmit physical forces to muscles and joints, and mechanical receptors that come into contact with the skin to stimulate skin irritation such as texture, temperature, pressure, vibration, and pain. It is divided into a tactile device (or a tactile display).

Here, it is important that the haptic device has a tactile technology that realizes a realistic force such as the texture of an actual object to the user by stimulating the skin, and it is important to stimulate the skin to recognize the ideal touch. It is known to arrange the spacing between the points below 1.3 mm.

As an example of a tactile device, a multi-layer touch display device of US Patent Application Publication No. 2006 / 0012576A1 is disclosed.

The multi-layer touch display device of this patent document is composed of a touch plate, a plurality of tactile sensation modification components with magnetic force, and a plurality of coils.

The above-described tactile change components are mounted to operate on the touch plate, are vibrated according to the direction of the current applied to the coil, and the user is displayed on the screen as the user's hand or finger is stimulated by the vibration of the touch plate. You can feel the touch of an object.

However, the tactile device of the above-mentioned patent document is made of a large area by the mechanical structure of the tactile change components, so the distance between the points stimulating the skin is far from the distance is insufficient to realize a realistic touch There is.

In particular, there is a problem that miniaturization is very difficult due to the area occupied by an electromagnetic device composed of a magnet mounted on the lower surface of the coil and the blade.

In addition, the blade is supported on the touch plate by the arms (Arms), and since the coil of the electromagnetic device is configured in a flat form, there is a disadvantage in that a lot of limitations in the displacement and force that can be realized.

The present invention has been made in view of the above problems, and an object of the present invention is to realize a realistic touch by the interlocking structure of the linear actuating means and the elastic means that is deformed or restored so that the touch pin is retracted depending on whether the current is applied. In addition, as the overall thickness of the haptic device is dramatically reduced, it can be embedded in a small electronic device, improve controllability, and provide a low power and high output thin tactile device.

In order to achieve this technical problem, the thin tactile device of the present invention, the housing having a top plate and a bottom plate made of a ferromagnetic material to the user's skin; The permanent magnet is mounted so as to be protruded inside the housing, and the front end of the housing is in contact with the user's skin when protruding from the upper plate, and the front end of the housing is proximate or attached to the lower plate when the tip is immersed into the housing. Touch pins provided at the rear end; It is mounted between the upper plate and the lower plate, and fixedly penetrates with some of the plurality of touch pins, fluidly penetrates with the rest of the plurality of touch pins, the permanent magnet of the fixedly penetrated touch pin is the lower plate Elastic means having elastic energy when elastically deformed when the touch pin is immersed; And provided on the surface of the elastic means, and when the current is not applied, the permanent magnet of the touch pin is deformed together with the elastic means as the proximal or attached to the lower plate, and when the current is applied, the tip of the touch pin is removed from the upper plate. And linear actuation means for restoring together with the elastic means so that the permanent magnet of the touch pin is protruded away from the lower plate so as to protrude.

Preferably, the linear actuating means is made of a shape memory alloy (SMA).

Preferably, the linear actuation means is composed of an electro active polymer (EAP).

Preferably, the linear actuating means is composed of a material which decreases in volume when a current is applied or a material that bends when a current is applied.

Preferably, the linear actuation means is composed of a piezo material.

Preferably, the elastic means has a plate shape, a portion of the plurality of touch pins and a fixed hole for fixed penetration, the remaining of the plurality of touch pins and a flow hole for fluid penetration is formed, the periphery of the fixing hole Slots are formed in the elastic deformation.

In this case, the rest of the plurality of touch pins may be fluidly penetrated through the flow hole or the slot.

On the other hand, a plurality of elastic means is stacked, the main spacer for maintaining the spacing between the plurality of elastic means, respectively.

In addition, each of the elastic means, by the formation of the slot is formed an elastic deformation portion is supported around the fixing hole, the elastic deformation portion is formed so as to form an equal interval around each of the fixing holes.

Preferably, the upper plate of the housing is formed with a through hole through which the touch pins can pass.

Preferably, the apparatus further includes a linear motion guide mounted inside the housing to guide the movement of the touch pin in a linear motion, and the linear motion guide is formed with a guide hole into which the touch pin is guided.

Preferably, the restoring force of the linear actuating means is configured such that the permanent magnet of the touch pin is larger than the proximity force attached to the lower plate or the attachment force.

According to the present invention as described above, the touch pins by the interlocking structure of the linear actuating means and the elastic means that is deformed or restored so that the touch pins appear in accordance with the application of the current can be implemented to touch the user's skin.

In addition, as the overall thickness of the haptic device is dramatically reduced, there is an advantage that it can be embedded in a small electronic device.

In addition, by densely arranged by reducing the distance between the plurality of touch pins can realize a realistic touch.

In addition, the elastic energy of the elastic means amplifies the kinetic force of the touch pin to enable low-power and high output driving of the linear actuation means, can be easily downsized, and can improve the controllability of the touch pin.

In addition, by densely arranged by reducing the distance between the plurality of touch pins can realize a realistic touch.

The haptic device of the present embodiment is largely configured to include a housing 100, a touch pin 200, an elastic means 300, and a linear actuation means 400.

The housing 100 is a part forming the overall appearance of the haptic device, and accommodates the touch pin 200, the elastic means 300, and the linear actuation means 400, and the skin 10 of the user The upper plate 110 and the lower plate 130 made of a ferromagnetic material is provided.

The touch pin 200 is a part for directly contacting the skin 10 of the user and allowing the user to feel the tactile sense, and is mounted to be protruded inside the housing 100.

The elastic means 300 is a part for effectively operating the protrusion of the touch pin 200 by the linear actuation means 400 to be described later, the upper plate 110 and the lower plate (of the housing 100) 130 is mounted between.

The linear actuating means 400 is a part for operating the tip 202 of the touch pin 200 from the top plate 110 of the housing 100 so as to be set out, and the surface of the elastic means 300. Is provided.

First, the housing 100 will be described.

As shown in FIGS. 1 and 2, the housing 100 accommodates the touch pin 200, the elastic means 300, the linear actuation means 400, and the like, while forming the overall appearance of the tactile device. As the main body 120, the upper plate 110, the lower plate 130 is composed of.

The cross section of the main body 120 is formed in a hexagon having a hollow space (120a), one end and the other end is open, one end is mounted on the upper plate 110, the other end is mounted on the lower plate 130, The empty space 120a of the main body 120 may be closed.

Although the cross section of the main body 120 is illustrated and described that it is formed in a hexagon, this is an exemplary one, of course, may be formed in a variety of shapes, such as polygons, ellipses, circles.

Meanwhile, a plurality of through holes 112 are formed in the upper plate 110 mounted at one end of the main body 120 to allow the touch pins 200 to pass therethrough. When contacted to the plate 110 can be felt through the touch pin 200 protruding through the through-hole (112).

In addition, the lower plate 130 mounted on the other end of the main body 120 is made of a ferromagnetic material that is easily attached to a magnet, such as steel, for the purpose of interworking with the permanent magnet provided on the rear end of the touch pin to be described later, This will be included in the description of the operation of the touch pin.

A connector 122 is provided on an outer surface of the main body 120, and the connector 122 is a control means for controlling a current applied to the linear actuation means 400 and is connected to a controller, a microprocessor, a computer, and the like.

As described above, as the housing 100 provides a predetermined empty space 120a, components such as the touch pin 200, the elastic means 300, and the linear actuation means 400 may be accommodated therein. Will be.

Next, the touch pin 200 will be described.

As illustrated in FIGS. 1 and 2, the touch pin 200 is provided inside the housing 100, and the upper portion of the touch pin 200 is formed through the through hole 112 formed in the upper plate 110 of the housing 100. The front end 202 protrudes from the plate 110 or is mounted to be immersed into the housing 100.

That is, as the front end 202 of the part or the entirety of the touch pin 200 protruding from the upper plate 110 through the through hole 112 formed in the upper plate 110 comes into contact with the user's skin 10. Will feel the touch. On the other hand, the rear end 204 of the touch pin 200 is attached to or detached from the lower plate 130 of the housing 100 and the permanent magnet for interworking with the elastic means 300 and the linear actuation means 400 to be described later ( 210 is provided.

As shown in FIG. 3A, in a state where the front end 202 of the touch pin 200 is immersed inside the housing 100, the front end 202 of the touch pin 200 is positioned at the first position P1. 3B, when the tip 202 of the touch pin 200 protrudes from the top plate 110 of the housing 100, the tip 202 of the touch pin 200 is in the second position. It is located at (P2).

In this case, the tip 202 of the touch pin 200 is positioned at the first position P1 or the second position P2 by the elastic means 300 and the linear actuation means 300. Regarding the operation of the pin 200, the elastic means 300 and the linear actuation means 400 will be described together.

As described above, when the tip 202 of the touch pin 200 operates between the first position P1 and the second position P2, the movement of the touch pin 200 may be guided by a linear movement. The linear motion guide 320 is provided.

The linear motion guide 320 is mounted inside the housing 100, and the permanent magnet 210 is provided at the rear end 204 of the touch pin 200, in detail, the rear end 204 of the touch pin 200. A plurality of guide holes 322 are inserted to be inserted therethrough.

The cross-section of the linear motion guide 320 is formed in a hexagon that matches the cross-section of the housing 100 to prevent rotation inside the housing 100, if the cross-section of the housing 100 is deformed into a polygon, oval, circular, etc. , And thus are formed to have the same cross section.

As described above, since the touch pins 200 are inserted into the plurality of guide holes 322 of the linear motion guide 320 mounted inside the housing 100 to prevent rotation, the touch pins 200 are in the first position P1. And can be guided in a linear motion between the second position (P2).

As described above, the touch pin 200 is provided inside the housing 100 and protrudes or immerses from the top plate 110 of the housing 100 to be in contact with the skin 10 of the user to make the user feel. You can feel it.

Next, the elastic means 300 will be described.

As shown in Figure 4a to 4f, the elastic means 300 is a component having elastic energy is elastically deformed when the touch pin 200 is immersed into the housing 100, the housing It is mounted between the upper plate 110 and the lower plate 130 of the (100).

The elastic means 300 is composed of one or more elastic plates, and fixedly penetrates through some of the touch pins 200 of the plurality of touch pins 200, and the remaining touch pins 200 of the plurality of touch pins 200. It is configured to penetrate with fluid.

In detail, the elastic means 300 described above has a plate shape, and a plurality of touch pins 200 and fixing holes 302 for fixed penetration are formed, and a plurality of touch pins. A flow hole 304 for fluid penetration and the remaining touch pins 200 of 200 is formed, and a slot 306 for elastic deformation is formed around the fixing hole 302. On the other hand, the elastic means 300 may be made of synthetic rubber, plastic having an elastic force, a spring plate and the like.

For example, as shown in FIG. 4A, a portion of the elastic means 300 is provided with a fixing hole 302 through which one touch pin 200 is fixedly formed, and around the fixing hole 302. A slot 306 for elastic deformation is formed in a spiral shape, and the remaining touch pins 200 except for one touch pin 200 that are fixedly penetrated through the fixing hole 302 are circumferentially formed around the slot 306. A plurality of flow holes 304 are formed that can be penetrated.

Such elastic means 300, as shown in Figures 4b to 4f, by varying the position and number of the fixing holes 302, the form of the slot 306, the position and number of the flow holes 304 It can be formed in various shapes.

On the other hand, the elastic means 300, by the formation of the slot 306, the elastic deformation portion 308 that is supported at one point around the fixing hole 302 is formed, the elastic deformation around each fixing hole 302 The portions 308 are formed to have equal intervals.

That is, the elastic means 300 of FIGS. 4A and 4B are formed such that elastic deformation parts 308 supported at one point around one fixing hole 302 are formed at equal intervals, and the elastic means 300 of FIGS. 4C and 4D are equally spaced apart. ) Is formed such that the elastic deformation portion 308, which is advantageously supported around the two fixing holes 302, is equally spaced, and the elastic means 300 of FIGS. 4E and 4F have three points around the three fixing holes 302. Supported elastic deformation portion 308 is formed to form an equal interval.

2 and 6, the plurality of elastic means 300 is stacked at intervals, and the main spacer 310 for maintaining the interval between the plurality of elastic plates are interposed therebetween, respectively. have.

The main spacer 310 is a ring-shaped member in which portions corresponding to the fixing hole 302, the flow hole 304, and the slot 306 of the elastic means 300 are opened to support the edge of the elastic means 300. The elastic deformation of the elastic means 300 has a thickness that allows the elastic deformation.

The elastic means 300 and the main spacer 310 described above may be fitted to the space of the main body 120 or fixed by a fixing means, for example, an adhesive epoxy resin.

Meanwhile, some of the touch pins 200 of the plurality of touch pins 200 are fixedly penetrated through the fixing holes 302, and the remaining touch pins 200 of the plurality of touch pins 200 are flow holes 304. 5A through 5C, the remaining touch pins 200 of the plurality of touch pins 200 fluidly penetrate through the slots 306 of the elastic means 300. May be

That is, in a state in which the first elastic means 300a, the second elastic means 300b, and the third elastic means 300c are arranged as shown in FIG. 5A, the first touch pin 200a as shown in FIG. 5B. The second slot 306b of the second elastic means 300b and the third slot 306c of the third elastic means 300c are fixedly penetrated through the first fixing hole 302a of the first elastic means 300a. Can be flexibly penetrated and configured as shown in FIG. 5C. At this time, the second touch pin 200b is fixedly penetrated through the second fixing hole 302b of the second elastic means 300b and at the same time, the first slot 306a and the third elastic means of the first elastic means 300a. Fluidly penetrating the third slot 306c of 300c, the third touch pin 200c is fixedly penetrating the third fixing hole 302c of the third elastic means 300c and at the same time the first elastic means (3). It penetrates fluidly through the first slot 306a of 300a and the second slot 306b of the second elastic means 300b.

As described above, the elastic means 300 is mounted between the upper plate 110 and the solenoid 300 of the housing 100, as shown in Figure 6, combining the various means of the elastic means 300 The touch pin 200 is used as a means for amplifying the movement force of the touch pin when the touch pin 200 protrudes from the upper plate of the housing by the operation of the linear actuation means 400 which will be described later.

Next, the linear actuation means 400 will be described.

The linear actuation means 400 is a component that causes the touch pin 200 to be moved between the first position P1 and the second position P2, as shown in FIGS. 3A and 3B. As shown in, is provided on the surface of the elastic means (300). In detail, it is provided along the surface of the elastic deformation portion 308 of the elastic means (300).

Preferably, the linear actuation means 400 is made of a material which decreases in volume when a current is applied or a material that bends when a current is applied. For example, the shape memory alloy (SMA) or an electrically operated polymer (EAP, electro) active polymer, or piezo material.

The shape memory alloy is deformed at low temperature and then restored to its original state by heating, but when cooled again, there is no change in shape. This phenomenon is called a one-way shape memory effect.

On the other hand, the phenomenon of changing the shape by storing both the shape at high temperature and the shape at low temperature is called a two-way shape memory effect or a reversible shape memory effect.

When current is applied in a state in which the shape enterprise alloy is deformed, heat is generated, and thus the shape memory alloy may be heated and restored to its original state.

Electrically operated polymers are a type of polymer that is manufactured and processed to exhibit a wide range of physical and electrical properties, and when activated by the application of a current, they can achieve significant movement or deformation, commonly called distortion. Such deformation may vary depending on the length, width, thickness, radius, etc. of the material, and it is known that deformations of 10% up to 50% are possible.

The magnitude of this elastic distortion is very unusual compared to piezo having a strain of less than 3%, and has a great advantage in that complete control is possible according to an appropriate electrical system.

The electrically operated polymers are small, easy to control, low power, have a high response speed, and their potential cost is not so high. Currently, electrically operated polymers have been adopted in the field of artificial muscle, and the research is being actively conducted.

The electro-operated polymer may be used as a sensor because it outputs an electrical signal corresponding thereto when physical deformation is applied from the outside. Since the material used for most of the electrically operated polymers generates an electrically measured potential difference, it can be used as a sensor such as force, position, speed, acceleration, pressure, and the like. Since most electrically operated polymers exhibit this bi-directional nature, they can be used either as sensors or actuators.

Piezo material means a material that stretches or shrinks when an electric current is applied.

As described above, the material is reduced in volume when the current is applied, such as a shape memory alloy that is heated upon application of an electric current or an electrically operated polymer or piezo material that is activated and deformed when the current is applied. The linear actuation means 400 made of a material is provided on the surface of the elastic deformation portion 308 of the elastic means 300, and the permanent magnet 210 of the touch pin 200 is the lower plate of the housing 100 when no current is applied. Deformed together with the elastic means 300 as close to or attached to the 130, the touch pin 200 so that the tip 202 of the touch pin 200 protrudes from the upper plate 110 of the housing 100 when a current is applied. ) Permanent magnet 210 is restored with the elastic means away from the lower plate 130 of the housing (100).

That is, when the current is applied through the positive electrode portion 402 and the negative electrode portion 404 of the linear actuating means 400 in the state of FIG. 3A, through activation by heat or current generated by the current, As the state, the shape is restored so that the touch pin 200 protrudes from the upper plate 110 of the housing 100.

In detail, the restoring force of the linear actuation means 400 to be restored to its original form, and the elastic deformation portion 308 of the elastic means 300 act at the same time so that the touch pin protrudes.

Here, although the linear actuation means 400 is not shown and omitted on the surface of the elastic deformation portion 308 of the elastic means 300 shown in Figures 2 to 6, the elastic deformation portion of all the elastic means 300 On the surface of 308, as shown in FIG. 7, the linear actuation means 400 is provided in the surface of the elastic deformation part 308. As shown in FIG.

Finally, the operation of the haptic device of this embodiment will be described.

When the current applied to the linear actuation means 400 is blocked through the connector 122 provided outside the housing 100, the permanent magnet 210 provided at the rear end 204 of the touch pins 200 is blocked. As the attachment to the lower plate 130 of the housing 100, the touch pin 200 is immersed into the housing 100 through the through-hole 112 of the upper plate 110 of the housing 100.

At this time, the upper end of the touch pin 200 is located in the first position (P1) from the second position (P2) and immersed in the interior of the housing 100, the elastic means fixedly penetrated with each touch pin 200 ( 300 are elastically deformed as shown in FIG. 3A to retain elastic energy. In addition, the linear actuation means 400 is deformed together with the elastic deformation of the elastic means 300.

When a current is applied to the solenoid 300 through the connector 122 provided on the outside of the housing 100, the linear actuation force 400 generates a restoring force to restore to its original form.

At this time, the restoring force to restore the linear actuation means 400 to its original form is greater than the adhesion between the permanent magnet 210 provided at the rear end 204 of the touch pin 200 and the lower plate 130 of the housing 100. Will work.

Therefore, the upper end of the touch pin 200 is positioned from the first position P1 to the second position P2 by the restoring force to restore the linear actuation means 400 to its original form, and thus the upper plate of the housing 100. Protrudes from 110.

At this time, in conjunction with the linear motion of the touch pin 200, the elastic deformation portion 308 of the elastic means 300 is restored by the elastic energy while amplifying the kinetic force of the touch pin 200.

As such, since the kinetic force of the touch pin 200 is amplified by the restoring force of the linear actuation means 400 and the elastic energy of the elastic means 300, the low power driving of the solenoid 300 is possible.

In addition, since the high power of the touch pin 200 is also possible by the low power driving of the linear actuation means 400, the haptic device of the present invention can be easily downsized.

When the tip 202 of the touch pin 200 reaches the second position P2, the tip 202 of the touch pin 200 passes through the through hole 112 of the upper plate 110 of the housing 100. It protrudes and contacts the skin 10 of the user, whereby the user can feel the touch from the stimulation of the skin 10 by the touch pin 200.

By interlocking the linear actuation means 400 and the elastic means 300, the resolution of the movement force of the touch pin 200 can be increased to improve controllability of the touch pin 200, and the exterior of the housing 100 can be improved. By controlling the period and the intensity of the current applied through the connector 122 provided in the can make the user feel a realistic touch.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

1 is a perspective view showing the configuration of a thin tactile device according to an embodiment of the present invention.

Figure 2 is an exploded perspective view showing the configuration of a thin tactile device according to an embodiment of the present invention.

3a and 3b is a block diagram showing the operation of the touch pin in the haptic device according to an embodiment of the present invention.

Figures 4a to 4f is a plan view partially showing the configuration of the elastic means in the haptic device according to an embodiment of the present invention.

5a to 5c are perspective views showing a state in which the touch pin and the elastic means are assembled in the tactile device according to an embodiment of the present invention.

Figure 6 is a perspective view showing an example of the stacking of the elastic means according to an embodiment of the present invention.

7 is a perspective view showing a state in which the linear actuation means is provided on the surface of the elastic means according to an embodiment of the present invention.

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

100: housing 110: upper plate

112: through hole 130: bottom plate

200: Touch pin 202: Tip

204: Rear 210: Permanent magnet

300: elastic means 302: fixed hole

304: flow hole 306: slot

308: elastic deformation part 310: main facer

320: linear motion guide 322: guide hole

400: linear actuation means

Claims (12)

A housing having an upper plate to which the user's skin is accessed and a lower plate made of ferromagnetic material; The permanent magnet is mounted so as to be protruded inside the housing, and the front end of the housing is in contact with the user's skin when protruding from the upper plate, and the front end of the housing is proximate or attached to the lower plate when the tip is immersed into the housing. Touch pins provided at the rear end; It is mounted between the upper plate and the lower plate, and fixedly penetrates with some of the plurality of touch pins, fluidly penetrates with the rest of the plurality of touch pins, the permanent magnet of the fixedly penetrated touch pin is the lower plate Elastic means having elastic energy when elastically deformed when the touch pin is immersed; And It is provided on the surface of the elastic means, and when the current is not applied, the permanent magnet of the touch pin is deformed with the elastic means as close to or attached to the lower plate, so that the tip of the touch pin protrudes from the upper plate when the current is applied And thin actuation means for restoring the permanent magnet of the touch pin together with the elastic means away from the lower plate. The method of claim 1, And said linear actuating means is a shape memory alloy (SMA). The method of claim 1, And said linear actuating means is an electroactive polymer (EAP). The method of claim 1, The linear actuating means is a thin tactile device, characterized in that the material is reduced in volume when the current is applied or the material bent when the current is applied. The method of claim 1, And said linear actuating means is a piezo material which is stretched or shrunk upon application of an electric current. The method of claim 1, The elastic means, A plate shape, a portion of the plurality of touch pins and a fixed hole for fixed penetration, the remaining hole of the plurality of touch pins and a flow hole for fluid penetration is formed, a slot for elastic deformation around the fixing hole is formed Thin tactile device, characterized in that. The method of claim 6, The rest of the plurality of touch pins, The thin tactile device, characterized in that penetrates through the flow hole or the slot fluidly. The method of claim 6, The elastic means, A plurality of stacked, the thin tactile device, characterized in that the main spacer for maintaining the gap between the plurality of elastic means, respectively. The method of claim 8, Each of the elastic means, A thin tactile device, wherein the elastic deformation portion is formed around the fixing hole by the formation of the slot, and the elastic deformation portions are formed at equal intervals around the fixing holes. The method of claim 1, The upper plate of the housing, Thin touch device, characterized in that the through-holes through which the touch pins are formed. The method of claim 1, Further comprising a linear motion guide mounted on the inner side of the housing to guide the movement of the touch pin in a linear motion, the linear motion guide is thin, characterized in that the guide hole is inserted to guide the touch pin is formed Tactile device. The method of claim 1, The restoring force of the linear actuating means is a thin tactile device, characterized in that the permanent magnet of the touch pin is larger than the proximity force to which the lower plate is proximate or attached to the lower plate.

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