KR20200127735A - Apparatus for generating touch sensation based on virtural environment - Google Patents

Abstract

The present invention relates to a virtual environment based tactile sensation generation device capable of providing a user with kinesthetic sensation feedback by using an actuator module corresponding to a virtual object in a virtual environment. According to an embodiment of the present invention, the virtual environment based tactile sensation generation device comprises: an actuator module having a plurality of electro-rheological elastic bodies arranged in a predetermined direction, electrodes respectively connected to the plurality of electro-rheological elastic bodies, and an insulating elastic body for connecting the plurality of electro-rheological elastic bodies; and a control module for controlling the mechanical properties of the actuator module by individually applying an electric field to the plurality of electro-rheological elastic bodies through the electrodes.

Description

Virtual environment-based tactile sensor {APPARATUS FOR GENERATING TOUCH SENSATION BASED ON VIRTURAL ENVIRONMENT}

The present invention relates to an apparatus for generating tactile sensation based on a virtual environment.

In general, haptic is a tactile sensation that can be felt by a person's fingertip (finger tip or stylus pen) when touching an object.Tactile feedback and joints and muscles feel when the skin touches the surface of the object. It is a concept that encompasses kinesthetic force feedback that is felt when the movement of the body is disturbed.

The haptic interface using such haptics has dynamic characteristics (a finger when pressing a button) with responsiveness such as when a person touches a virtual object (for example, a button display on a window screen) or a real object (a real button). It can be said that the most ideal is to be able to reproduce the vibration, tactile sensation and motion sound, etc. transmitted through the system. In order to improve the performance of the haptic interface, mechatronic equipment using a motor and link mechanism has been used so far. However, such a mechanical haptic interface weighs a lot, has a complex link structure, is difficult to miniaturize, and it is difficult to implement a quick response speed due to inertia.

On the other hand, the conventional haptic interface can provide tactile sensation to a user through vibration, but there is a limitation in providing physical properties (eg, elasticity, elasticity, etc.) of a virtual cloth in a virtual environment.

Embodiments of the present invention are intended to provide a virtual environment-based tactile sensation generating apparatus capable of providing a user with kinesthetic sensation feedback using an actuator module corresponding to a virtual object in a virtual environment.

Embodiments of the present invention are intended to provide a virtual environment-based tactile sensation generating apparatus capable of tactilely providing physical properties (eg, elasticity, elasticity, etc.) of a virtual cloth expressed visually to a user.

Embodiments of the present invention use a sensor module (for example, a force sensor or a tension sensor) to precisely sense the motion of the user increasing the actuator module, and to deliver feedback according to the physical properties of the virtual object set in the virtual environment to the user. , To provide a tactile sensor based on a virtual environment.

Embodiments of the present invention are intended to provide a virtual environment-based tactile sensation generating apparatus capable of stepwise adjusting the overall mechanical properties of an actuator module using an electrorheological elastic body or a magnetorheological elastic body arranged in the form of an actuator array.

Embodiments of the present invention are a virtual environment capable of providing muscle sensory feedback to a user in the form of a combination of an elastic force according to a change in mechanical properties of an electrorheological elastic body (ERE) or a magnetorheological elastic body (MRE) and a frictional force using an additional dielectric elastic body. It is intended to provide a device for generating tactile sensation based on.

According to an embodiment of the present invention, an actuator module having a plurality of electro-rheological elastic bodies disposed in a predetermined direction, electrodes respectively connected to the plurality of electro-rheological elastic bodies, and an insulating elastic body connecting the plurality of electro-rheological elastic bodies ; And a control module configured to control mechanical properties of the actuator module by individually applying an electric field to the plurality of electro-rheological elastic bodies through the electrode. A virtual environment-based tactile sensation generating device may be provided.

The device may further include a display for displaying a virtual object in a virtual environment, and the control module may adjust the mechanical properties of the actuator module according to the mechanical properties of the virtual object displayed on the display.

The device further includes a sensor module that senses a force applied to the actuator module or a length of a change by the actuator module, and the control module is configured in the display based on the sensed force or the sensed length. The displayed virtual object can be transformed.

The sensor module may include a force sensor sensing a force applied to the actuator module or a tension sensor sensing a varying length of the actuator module.

The electrodes may be respectively positioned above and below the plurality of electro-rheological elastic bodies perpendicular to the predetermined direction.

The electrodes may be respectively positioned between a plurality of electro-rheological elastic bodies disposed in the predetermined direction.

The actuator module may further include handles connected to both ends of the preset direction.

The device includes: a case accommodating the actuator module inside and including a first handle connected to the outside of the case; And a second handle connected to the actuator module so that the received actuator module is pulled in a direction opposite to the first handle.

The device may further include a dielectric elastic body connected to the actuator module and positioned between the actuator module and the case to generate a friction force using an electrostatic attraction with the case.

The actuator module may include a plurality of electro-rheological elastic bodies arranged in a multidimensional arrangement.

Meanwhile, according to another embodiment of the present invention, an actuator having a plurality of magnetorheological elastic bodies disposed in a predetermined direction, an electromagnet respectively connected to the plurality of magnetorheological elastic bodies, and an insulating elastic body connecting the plurality of magnetorheological elastic bodies module; And a control module for controlling mechanical properties of the actuator module by individually applying a magnetic field to the plurality of magnetorheological elastic bodies through the electromagnet, a virtual environment-based tactile sensation generating device may be provided.

The device may further include a display for displaying a virtual object in a virtual environment, and the control module may adjust the mechanical properties of the actuator module according to the mechanical properties of the virtual object displayed on the display.

The device further includes a sensor module that senses a force applied to the actuator module or a length of a change by the actuator module, and the control module is configured in the display based on the sensed force or the sensed length. The displayed virtual object can be transformed.

The sensor module may include a force sensor sensing a force applied to the actuator module or a tension sensor sensing a varying length of the actuator module.

The electromagnet may be positioned above or below the plurality of magnetorheological elastic bodies, respectively.

The electromagnet may be positioned on the left or right side of the plurality of magnetorheological elastic bodies, respectively.

The actuator module may further include handles connected to both ends of the preset direction.

The device includes: a case accommodating the actuator module inside and including a first handle connected to the outside of the case; And a second handle connected to the actuator module so that the received actuator module is pulled in a direction opposite to the first handle.

The device may further include a dielectric elastic body connected to the actuator module and positioned between the actuator module and the case to generate a friction force using an electrostatic attraction with the case.

The actuator module may include a plurality of magnetorheological elastic bodies arranged in a multidimensional arrangement.

Embodiments of the present invention may provide kinesthetic sensation feedback to a user using an actuator module corresponding to a virtual object in a virtual environment.

Embodiments of the present invention can provide a user with physical properties (eg, elasticity, elasticity, etc.) of a virtual fabric that are visually expressed to a user.

Embodiments of the present invention can precisely sense a motion of a user extending an actuator module using a sensor module (eg, a force sensor or a tensile sensor), and provide feedback according to the physical properties of a virtual object set in a virtual environment to the user. .

Embodiments of the present invention can adjust the overall mechanical properties of the actuator module step by step by using the electro-rheological elastic body or the magnetorheological elastic body arranged in the form of an actuator array.

Embodiments of the present invention may provide muscle sensory feedback to a user in the form of a combination of an elastic force according to a change in mechanical properties of an electrorheological elastic body (ERE) or a magnetorheological elastic body (MRE) and a frictional force using an additional dielectric elastic body.

1 is a block diagram illustrating a configuration of an apparatus for generating tactile sense based on a virtual environment according to an embodiment of the present invention.
2 and 3 are a top view and a cross-sectional view of an actuator module in a tactile sensation generating apparatus based on a virtual environment according to an embodiment of the present invention.
4 is a view for explaining the driving principle of the electro-rheological elastic body (ERE) used in an embodiment of the present invention.
5 is a view for explaining a driving operation of an individual electro-rheological elastic body in a tactile sensation generating device based on a virtual environment according to an embodiment of the present invention.
6 is a view for explaining the configuration of an actuator module in a tactile sensation generating apparatus based on a virtual environment according to another embodiment of the present invention.
7 is a view for explaining the configuration of an actuator module using a magnetorheological elastic body in a tactile sensor based on a virtual environment according to another embodiment of the present invention.
8 and 9 are views for explaining a case and a handle accommodating an actuator module in a tactile sensor based on a virtual environment according to another embodiment of the present invention.
FIG. 10 is a diagram illustrating a two-dimensional array of actuator modules in a tactile sensation generating device based on a virtual environment according to another embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to a specific embodiment, it is to be understood to include all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. These terms are used only for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. The term and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. Should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. In describing the present invention, in order to facilitate an overall understanding, the same reference numerals are used for the same elements in the drawings, and duplicate descriptions for the same elements are omitted.

1 is a block diagram illustrating a configuration of an apparatus for generating tactile sense based on a virtual environment according to an embodiment of the present invention.

As shown in FIG. 1, the apparatus 100 for generating tactile sense based on a virtual environment according to an embodiment of the present invention includes an actuator module 110 and a control module 120. Here, the virtual environment-based tactile sensor 100 may further include a sensor module 130 and a display 140. However, not all of the illustrated components are essential components. The virtual environment-based tactile sensation generating device 100 may be implemented by more components than the illustrated components, and the virtual environment-based tactile sensation generating device 100 may be implemented by fewer components.

Hereinafter, a detailed configuration and operation of each component of the virtual environment-based tactile sensor 100 of FIG. 1 will be described.

The actuator module 110 includes a plurality of electro-rheological elastic bodies 111 arranged in a predetermined direction, electrodes respectively connected to the plurality of electro-rheological elastic bodies 111, and an insulating elastic body for connecting the plurality of electro-rheological elastic bodies 111 ( 112). The actuator module 110 may include an ERE actuator array composed of a plurality of electro-rheological elastic bodies 111 (Electro-Rheological Elastomer, ERE).

The control module 120 controls mechanical properties of the actuator module 110 by individually applying an electric field to the plurality of electro-rheological elastic bodies 111 through electrodes.

The display 140 displays a virtual object in a virtual environment.

In addition, the control module 120 may adjust the mechanical properties of the actuator module 110 according to the mechanical properties of the virtual object displayed on the display 140.

The sensor module 130 senses a force applied to the actuator module 110 or a length at which the actuator module 110 changes. The sensor module 130 may include a force sensor 131 or a tensile sensor 132.

In addition, the control module 120 may transform the displayed virtual object based on the sensed force or the sensed length by the sensor module 130.

The apparatus 100 for generating tactile sensation based on a virtual environment according to an embodiment of the present invention visually expresses physical properties (eg, elasticity, resilience, elasticity, etc.) of a virtual object (eg, fashion image, virtual cloth, etc.) in a virtual environment. I can. Virtual objects in a virtual environment may be displayed on the display 140. For example, the display 140 may be a monitor or a visual expression device of the head mounted display 140 (HMD). The tactile sensation generating apparatus 100 may tactilely provide the physical properties of the virtual cloth visually expressed in this way to the user. The user can tactilely feel the mechanical properties of the virtual cloth expressed in the virtual environment while pulling the actuator module 110 of the tactile sensation generating device 100 left and right. The actuator module 110 may be controlled through the control module 120. The control module 120 may transmit a user's input received through the sensor module 130 (eg, the tension sensor 132 or the force sensor 131) included in the actuator module 110 to the virtual environment.

The apparatus 100 for generating tactile sensation based on a virtual environment according to an embodiment of the present invention may visually express partial physical properties of a virtual cloth in a virtual environment by individually controlling a plurality of electro-rheological elastic bodies 111. The tactile sensation generating device 100 may be implemented as the tactile sensation generating device 100 of a fashion image by tactilely providing physical properties (eg, elasticity, elasticity, etc.) of a virtual cloth expressed visually to a user.

The tactile sensation generating device 100 may directly transmit elasticity and elasticity of a cloth expressed in a virtual space to a user. The electric rheological elastic body 111 used in the tactile sensation generating device 100 is a smart material capable of controlling the hardness of the elastic body according to the strength of the electric field applied to the elastic body. When a plurality of electrorheological elastic bodies 111 are configured, and then arranged in a specific direction or linearly, and the electrodes are individually controlled, the tactile sensation generating device 100 may provide partial or overall physical properties (e.g., elastic force) of the virtual object. , Elasticity, etc.) can be effectively controlled.

For example, when the user pulls the actuator module 110 to the left or right, the tactile sensation generating device 100 detects the sensor module 130 (eg, the force sensor 131 or the tension sensor 132). That is, when using the tactile sensation generating device 100 composed of the actuator module 110 and the sensor module 130, information from the sensor module 130 when the user pulls the actuator module 110 left or right is transmitted to the control module 120 ) Through the virtual environment.

In addition, the tactile sensation generating apparatus 100 may transmit information on the degree to which the user has pulled through the control module 120 to the virtual environment, and transform the virtual object using the information to visually express the virtual object. The tactile sensation generating device 100 may reproduce physical properties of a material set in a virtual environment to a user through an ERE actuator array. This not only makes it possible to visually express the physical properties of the material in a virtual space, but also conveys the feeling of tactile experience of the material in a virtual environment to the user.

2 and 3 are a top view and a cross-sectional view of an actuator module in a tactile sensation generating apparatus based on a virtual environment according to an embodiment of the present invention.

2 and 3, the actuator module 110 includes a plurality of electro-rheological elastic bodies 111, an insulating elastic body 112, an anode 113, a cathode 114, and a cover. (115) may be included. The actuator module 110 may further include handles 150 connected to both ends in a preset direction. In addition, the actuator module 110 may be implemented with a sensor module 130 such as a force sensor 131 and a tension sensor 132.

The sensor module 130 may include a force sensor 131 for sensing a force applied to the actuator module 110 or a tension sensor 132 for sensing a varying length by the actuator module 110.

The electrode may include an anode 113 and a cathode 114. The electrode may apply an electric field to the electro-rheological elastic body 111 through the anode 113 and the cathode 114. The cathode 114 operates as a ground (GND). The electrodes may be positioned above and below the plurality of electro-rheological elastic bodies 111 perpendicular to a predetermined direction.

As shown in FIG. 2, the user can pull the actuator module 110 left and right with both hands using a handle 150 such as a ring. The mechanical properties of the actuator module 110 may be changed through individual control of the plurality of electro-rheological elastic bodies 111. The plurality of electro-rheological elastic bodies 111 may be connected to an insulating elastic body 112. The thickness of the insulating elastic body 112 located between the plurality of electro-rheological elastic bodies 111 may be implemented very thin. This is to classify the plurality of electro-rheological elastic bodies 111 so that the electro-rheological elastic bodies 111 can be individually controlled. The tactile sensation generating device 100 uses the tension sensor 132 and the force sensor 131 to measure the length and tension (or pressure) that change according to a user's input (eg, a motion input for pulling a virtual cloth) on the display 140. The virtual object can be transformed by sensing and transmitting it to the virtual object in the virtual environment.

The tactile sensation generating device 100 may directly transmit elasticity and elasticity of a cloth expressed in a virtual space to a user. The electric rheological elastic body 111 used in the tactile sensation generating device 100 is a smart material capable of controlling the hardness of the elastic body according to the strength of the electric field applied to the elastic body. When a plurality of electrorheological elastic bodies 111 are configured, and then arranged in a specific direction or linearly, and the electrodes are individually controlled, the tactile sensation generating device 100 may provide partial or overall physical properties (e.g., elastic force) of the virtual object. , Elasticity, etc.) can be effectively controlled.

In this way, the user can feel the physical properties of the material (eg, virtual cloth) visible in the virtual space by pulling the handles 150 (eg, rings) of the actuator module 110 left and right. The tactile sensation generating device 100 may sense a change in length and a pressure according to a user's input through the tensile sensor 132 and the force sensor 131 and transmit it to a virtual environment. The mechanical properties of the actuator module 110 may be changed by individually controlling several electro-rheological elastic bodies 111. An insulating elastic body 112 is positioned between each electro-rheological elastic body 111 to enable individual control.

4 is a diagram for explaining a driving principle of an electro-rheological elastic body (ERE) used in an embodiment of the present invention.

The electro-rheological elastomer (ERE) 111 is an elastomer including dielectric particles, and dielectric particles are randomly arranged before the electric field is applied. When the electric field is applied, the dielectric particles are polarized according to the direction and strength of the electric field, thereby generating attractive force between the dielectric particles, and the thickness of the electric rheological elastic body 111 is contracted. That is, the displacement d of the electric rheological elastic body 111 occurs depending on whether or not an electric field is applied. Due to this contraction, the gap between the dielectric particles in the electro-rheological elastic body 111 is narrowed, and as a result, the mechanical properties of the electro-rheological elastic body 111 are changed.

In this way, the principle of changing the stiffness of the electro-rheological elastic body 111 is that by applying an electric field to the electro-rheological elastic body 111, particles are polarized according to the direction and strength of the electric field, and as a result, attraction between the particles is generated, The thickness of the elastic body 111 is contracted. That is, depending on whether or not an electric field is applied, the thickness of the electro-rheological elastic body 111 occurs, and as the spacing between the internal particles of the electro-rheological elastic body 111 changes due to this contraction phenomenon, the mechanical properties of the electro-rheological elastic body 111 Will change.

5 is a view for explaining a driving operation of an individual electro-rheological elastic body in a tactile sensation generating device based on a virtual environment according to an embodiment of the present invention.

As shown in FIG. 5, the tactile sensation generating device 100 has an insulating elastic body 112 of the actuator module 110 disposed between a plurality of electro-rheological elastic bodies 111, so that a plurality of electro-rheological elastic bodies 111 ) Can be controlled.

Before applying current, the dielectric particles in the electro-rheological elastic body 111 are randomly arranged.

The case where the current is applied only to ERE ① is as follows. When ERE ① is controlled, electromagnetic field is formed only in ERE ① as shown in the figure above right. ERE ① contracts by electrostatic attraction and lengthens. In other words, ERE ① is the shape that is contracted by electrostatic attraction due to the formation of an electromagnetic field, and ERE ② shows the shape that has not changed.

On the other hand, the case where the current is applied to ERE ① and ERE ② is as follows. When ERE ① and ERE ② are controlled, electromagnetic fields are formed in ERE ① and ERE ② as shown in the figure below right. Both ERE ① and ERE ② contract and lengthen by electrostatic attraction. When ERE ① and ERE ② are controlled, both ERE ① and ERE ② are contracted by electrostatic attraction as electromagnetic fields are formed.

6 is a view for explaining a configuration of an actuator module in a tactile sensation generating apparatus based on a virtual environment according to another embodiment of the present invention.

As shown in FIG. 6, the actuator module 110 in the tactile sensation generating apparatus 100 based on a virtual environment according to another embodiment of the present invention is different from FIGS. 2 and 3, which are an embodiment of the present invention. It may include an electrode disposed in the same direction as the electro-rheological elastic body 111. The electrodes may be positioned between a plurality of electro-rheological elastic bodies 111 disposed in a predetermined direction, respectively.

In FIGS. 2 and 3, which are an embodiment of the present invention, the electrodes are positioned above and below each of the electro-rheological elastic bodies 111. In FIG. 6, which is another embodiment of the present invention, the electrode is positioned on the left and right sides of the electro-rheological elastic body 111 between each of the electro-rheological elastic bodies 111. At this time, a plurality of electro-rheological elastic bodies 111 have a structure arranged from left to right. That is, in the actuator module 110 according to another embodiment of the present invention, the position of the electrode is changed to the left and right instead of up and down.

Unlike FIGS. 2 and 3, the actuator module 110 according to another embodiment of the present invention has a structure made by changing the position of the electrode. The anode 113 electrode and the cathode 114 electrode are positioned alternately with the plurality of electro-rheological elastic bodies 111, respectively. Since the electrodes are located above and below the plurality of electro-rheological elastic bodies 111 shown in FIGS. 2 and 3, each electro-rheological elastic body 111 contracts vertically. On the other hand, since the electrodes are located on the left and right of the plurality of electro-rheological elastic bodies 111 shown in FIG. 6, each of the electro-rheological elastic bodies 111 contracts to the left and right. Electrodes are positioned in the array direction in which the electro-rheological elastic bodies 111 are arranged.

As another example, when the actuator module 110 includes a magnetic rheological elastomer 116 (MRE), an electromagnet 117 may be included for each of the plurality of electro-rheological elastomers 111. The electrodes may be positioned between a plurality of magnetorheological elastic bodies 116 arranged in a predetermined direction, and the electromagnet 117 may be positioned on the left or right of the plurality of magnetorheological elastic bodies 116, respectively.

7 is a view for explaining the configuration of an actuator module using a magnetorheological elastic body in a tactile sensation generating device based on a virtual environment according to another embodiment of the present invention.

As shown in Figure 7, the virtual environment-based tactile sensation generating device 100 according to another embodiment of the present invention is made using a magnetorheological elastic body 116 instead of the electro-rheological elastic body 111 of FIGS. 2 and 3 Have a structure That is, as shown in FIG. 7, the actuator module 110 may include a plurality of magnetorheological elastic bodies 116, electromagnets 117, insulating elastic bodies 112, and a cover 115. The actuator module 110 may further include handles 150 connected to both ends in a preset direction. In addition, the actuator module 110 may be implemented with a sensor module 130 such as a force sensor 131 and a tension sensor 132.

The actuator module 110 uses an electromagnet 117 to control the stiffness of the plurality of magnetorheological elastic bodies 116, respectively. It is an actuator module 110 made by using a plurality of magnetorheological elastic bodies 116 instead of a plurality of electrorheological elastic bodies 111, and can generate an electromagnet 117 or a magnetic field to control the stiffness of the magnetorheological elastic body 116 Any member that is present can be used. In another embodiment of the present invention, an electromagnet or a solenoid coil may be used to convert an electric field used in an embodiment of the present invention into a magnetic field.

In this way, the actuator module 110 connects a plurality of magnetorheological elastic bodies 116 arranged in a preset direction, an electromagnet 117 and a plurality of magnetorheological elastic bodies 116 respectively connected to the plurality of magnetorheological elastic bodies 116 It is provided with an insulating elastic body (112).

The electromagnet 117 may be positioned above or below the plurality of magnetorheological elastic bodies 116, respectively. Alternatively, the electromagnet 117 may be positioned on the left or right side of the plurality of magnetorheological elastic bodies 116, respectively. FIGS. 8 and 9 are actuator modules in a tactile sensation generating device based on a virtual environment according to another embodiment of the present invention. It is a diagram for explaining the case and the handle to accommodate.

The case 160 accommodates the actuator module 110 inside and includes a first handle 151 connected to the outside of the case 160. The case 160 shown in FIGS. 8 and 9 is implemented in the form of a syringe accommodating the actuator module 110.

In addition, the case 160 may further include a second handle 152 connected to the actuator module 110 so that the received actuator module 110 is pulled in a direction opposite to the first handle 151. That is, the second handle 152 may be connected to one surface of the actuator module 110 inside the case 160 so that the second handle 152 can be compressed toward the direction in which the second handle 152 is located. When the user pulls the first handle 151 and the second handle 152 having a circular shape at both ends, the elasticity felt by the user is changed according to the strength of the electric field applied to the plurality of electro-rheological elastic bodies 111.

9, the dielectric elastic body 118 is connected to the actuator module 110, is located between the actuator module 110 and the case 160, the friction force using the electrostatic attraction with the case 160 Can be generated. To this end, the tactile sensation generating device 100 may include an expansion member 153 connected to the second handle 152, an expansion electrode 154, and a dielectric elastic body 118. An electrostatic attraction with the case 160 may be generated by using the dielectric elastic body 118 and the expansion electrode 154 located outside the expansion member 153. The tactile sensation generating device 100 illustrated in FIG. 9 may generate a greater force by adding a frictional force through the dielectric elastic body 118 than FIG. 8 without the dielectric elastic body 118.

As such, the tactile sensation generating apparatus 100 illustrated in FIG. 8 may provide a tactile sensation expressing the elastic force of a virtual object according to a change in mechanical properties of the electro-rheological elastic body (ERE) in the case of a piston type. The tactile sensation generating apparatus 100 illustrated in FIG. 9 may additionally provide a tactile sensation obtained by combining frictional forces using the dielectric elastic body 118 to a user.

FIG. 10 is a diagram for explaining a two-dimensional array of actuator modules in a tactile sensation generating apparatus based on a virtual environment according to another embodiment of the present invention.

As shown in FIG. 10, the actuator module 110 may include a plurality of electro-rheological elastic bodies 111 arranged in a multidimensional arrangement. As another example, the actuator module 110 may include a plurality of magnetorheological elastic bodies 116 arranged in a multidimensional arrangement.

As an example, the actuator module 110 formed in a two-dimensional arrangement is shown in (a) of FIG. 10. In (b) of FIG. 10, the actuator module 110 formed in a two-dimensional arrangement is horizontally stretched by a user. In (c) of FIG. 10, the actuator module 110 formed in a two-dimensional arrangement is vertically extended by the user. In this way, the actuator module 110 is configured in two dimensions so that it can be stretched not only in the horizontal direction but also in the vertical direction. In addition, the tension sensor 132 or the force sensor 131 is also disposed in two dimensions, and the tactile sensor 100 may detect the direction and length of the extension through this. In order to increase the utilization of the tactile sensation generating device 100, if a plurality of electro-rheological elastomers (ERE) 111 or a plurality of magneto-rheological elastomers 116 (MRE) are arranged in two dimensions, the tactile sensation generating device 100 is Physical properties or textures such as the elasticity of the virtual fabric can be expressed in all directions from the left and right.

As a modified example, a plurality of actuator modules 110 having a two-dimensional arrangement illustrated in FIG. 10A may be stacked or connected to each other. Then, the tactile sensation generating apparatus 100 may include the actuator module 110 in a three-dimensional form through the actuator module 110 configured by being stacked in a plurality of layers or connected to each other, not simply in a two-dimensional arrangement. Through this, the tactile sensation generating apparatus 100 may provide a user with a tactile sensation in which a plurality of virtual objects are combined as well as extending in a horizontal or vertical direction. For example, when a user pulls together in a horizontal or vertical direction in a state in which virtual cloths having different mechanical properties are overlapped, the tactile sensation generating device 100 generates a plurality of tactile sensations corresponding to different mechanical properties. The overlapped tactile sensation may be provided to the user through the stacked actuator module 110 in which the actuator module 110 is overlapped.

When a user purchases clothes or fabrics remotely through internet shopping, etc., the user can directly feel and purchase mechanical properties (eg, elasticity, elasticity, etc.) of the clothes or fabrics through the tactile sensor 100.

In addition, since the user can directly feel the elasticity, elasticity, etc. of the clothes worn by the game character in the virtual environment through the tactile sensor 100, the sense of immersion in the game can be improved.

In this way, the tactile sensation generating apparatus 100 according to embodiments of the present invention may provide kinesthetic sensation feedback to the user. The tactile sensation generating device 100 precisely senses the motion of the user increasing the actuator module 110 using the sensor module 130 (for example, the force sensor 131 or the tension sensor 132), and is set in a virtual environment. Feedback according to the physical properties of the virtual object can be delivered to the user.

The tactile sensation generating apparatus 100 according to embodiments of the present invention may allow a user to directly feel a change in mechanical properties of the electrorheological elastic body (ERE) 111 or the magnetorheological elastic body 116 (MRE). The tactile sensation generating device 100 according to the embodiments of the present invention adjusts the overall mechanical properties of the actuator module 110 in stages by using the electro-rheological elastic body 111 or the magneto-rheological elastic body 116 arranged in the form of an actuator array. I can. The tactile sensation generating device 100 not only controls the overall mechanical properties to be uniform, but also controls the physical properties of the actuator module 110 such that some areas are rigidly adjusted and other areas are stretched well. can do. In addition, in the case of insufficient mechanical property change of the electrorheological elastic body (ERE) 111 or the magnetorheological elastic body 116 (MRE), the tactile sensation generating device 100 includes a piston-shaped case 160 and a dielectric elastic body 118 ) To provide muscular sensory feedback to the user in the form of combining the elastic force according to the change in mechanical properties of the electro-rheological elastic body (ERE) 111 or the magnetic rheological elastic body 116 (MRE) and the frictional force using an additional dielectric elastic body 118. Can provide.

Although described above with reference to the drawings and examples, it does not mean that the protection scope of the present invention is limited by the drawings or examples, and those skilled in the art It will be appreciated that various modifications and changes can be made to the present invention without departing from the spirit and scope.

Specifically, the described features may be implemented in digital electronic circuitry, or computer hardware, firmware, or combinations thereof. Features may be executed in a computer program product implemented in storage in a machine-readable storage device, for example, for execution by a programmable processor. And the features can be performed by a programmable processor executing a program of directives to perform the functions of the described embodiments by operating on input data and generating output. The described features include at least one programmable processor, at least one input device, and at least one output coupled to receive data and directives from the data storage system and to transmit data and directives to the data storage system. It can be executed within one or more computer programs that can be executed on a programmable system including the device. A computer program includes a set of directives that can be used directly or indirectly within a computer to perform a specific action on a given result. A computer program is written in any form of a programming language, including compiled or interpreted languages, and is included as a module, element, subroutine, or other unit suitable for use in another computer environment, or as a independently operable program It can be used in any form.

Suitable processors for execution of a program of directives include, for example, both general and special purpose microprocessors, and either a single processor or multiple processors of a different type of computer. Storage devices suitable for implementing computer program directives and data implementing the described features are, for example, semiconductor memory devices such as EPROM, EEPROM, and flash memory devices, magnetic devices such as internal hard disks and removable disks. Devices, magneto-optical disks, and all types of non-volatile memory including CD-ROM and DVD-ROM disks. The processor and memory may be integrated within application-specific integrated circuits (ASICs) or added by ASICs.

The present invention described above is described on the basis of a series of functional blocks, but is not limited by the above-described embodiments and the accompanying drawings, and various substitutions, modifications and changes within the scope not departing from the technical spirit of the present invention It will be apparent to those of ordinary skill in the art to which this invention pertains.

Combinations of the above-described embodiments are not limited to the above-described embodiments, and combinations of various types as well as the above-described embodiments may be provided according to implementation and/or need.

In the above-described embodiments, the methods are described on the basis of a flow chart as a series of steps or blocks, but the present invention is not limited to the order of steps, and certain steps may occur in a different order or concurrently with other steps as described above. I can. In addition, those of ordinary skill in the art understand that the steps shown in the flowchart are not exclusive, other steps are included, or one or more steps in the flowchart may be deleted without affecting the scope of the present invention. You can understand.

The above-described embodiments include examples of various aspects. Although not all possible combinations for representing the various aspects can be described, those of ordinary skill in the art will recognize that other combinations are possible. Accordingly, the present invention will be said to include all other replacements, modifications and changes falling within the scope of the following claims.

100: tactile generating device 110: actuator module
120: control module 130: sensor module
131: force sensor 132: tension sensor
140: display 111: electrorheological elastomer
112: insulating elastic body 113: anode
114: cathode 115: cover
116: magnetorheological elastomer 117: electromagnet
118: dielectric elastomer 150: handle
151: first handle 152: second handle
153: expansion member 154: expansion electrode
160: case

Claims (20)

An actuator module including a plurality of electro-rheological elastic bodies disposed in a predetermined direction, electrodes respectively connected to the plurality of electro-rheological elastic bodies, and an insulating elastic body connecting the plurality of electro-rheological elastic bodies; And
And a control module for controlling mechanical properties of the actuator module by individually applying electric fields to the plurality of electro-rheological elastic bodies through the electrodes. The method of claim 1,
Further comprising a display for displaying the virtual object in the virtual environment,
The control module, a virtual environment-based tactile sensation generating device that adjusts the mechanical properties of the actuator module according to the mechanical properties of the virtual object displayed on the display. The method of claim 2,
Further comprising a sensor module for sensing the force applied to the actuator module or the length of the actuator module changes,
The control module transforms the virtual object displayed on the display based on the sensed force or the sensed length. The method of claim 3,
The sensor module,
A tactile sensor based on a virtual environment, comprising a force sensor sensing a force applied to the actuator module or a tension sensor sensing a varying length of the actuator module. The method of claim 1,
The electrode,
A virtual environment-based tactile sensation generating device positioned above and below the plurality of electro-rheological elastic bodies perpendicular to the preset direction. The method of claim 1,
The electrode,
A device for generating tactile sensation based on a virtual environment, each positioned between a plurality of electro-rheological elastic bodies arranged in the predetermined direction. The method of claim 1,
The actuator module,
A virtual environment-based tactile sensation generating device further comprising a handle connected to both ends of the preset direction. The method of claim 1,
A case accommodating the actuator module inside and having a first handle connected to the outside of the case; And
Further comprising a second handle connected to the actuator module so that the received actuator module is pulled in a direction opposite to the first handle. The method of claim 8,
The device for generating a tactile sense based on a virtual environment, further comprising a dielectric elastic body connected to the actuator module and positioned between the actuator module and the case to generate frictional force using an electrostatic attraction with the case. The method of claim 1,
The actuator module,
A device for generating tactile sensation based on a virtual environment, comprising a plurality of electro-rheological elastic bodies arranged in a multidimensional array. An actuator module including a plurality of magnetorheological elastic bodies arranged in a predetermined direction, an electromagnet respectively connected to the plurality of magnetorheological elastic bodies, and an insulating elastic body connecting the plurality of magnetorheological elastic bodies; And
And a control module for controlling mechanical properties of the actuator module by individually applying a magnetic field to the plurality of magnetorheological elastic bodies through the electromagnet. The method of claim 11,
Further comprising a display for displaying the virtual object in the virtual environment,
The control module, a virtual environment-based tactile sensation generating device that adjusts the mechanical properties of the actuator module according to the mechanical properties of the virtual object displayed on the display. The method of claim 12,
Further comprising a sensor module for sensing the force applied to the actuator module or the length of the actuator module changes,
The control module transforms the virtual object displayed on the display based on the sensed force or the sensed length. The method of claim 13,
The sensor module,
A tactile sensor based on a virtual environment, comprising a force sensor sensing a force applied to the actuator module or a tension sensor sensing a varying length of the actuator module. The method of claim 11,
The electromagnet is positioned above or below the plurality of magnetorheological elastic bodies, respectively. The method of claim 11,
The electromagnet is positioned on the left or right side of the plurality of magnetorheological elastic bodies, respectively. The method of claim 11,
The actuator module,
A virtual environment-based tactile sensation generating device further comprising a handle connected to both ends of the preset direction. The method of claim 11,
A case accommodating the actuator module inside and having a first handle connected to the outside of the case; And
Further comprising a second handle connected to the actuator module so that the received actuator module is pulled in a direction opposite to the first handle. The method of claim 18,
The device for generating a tactile sense based on a virtual environment, further comprising a dielectric elastic body connected to the actuator module and positioned between the actuator module and the case to generate frictional force using an electrostatic attraction with the case. The method of claim 11,
The actuator module,
A device for generating a sense of touch based on a virtual environment, comprising a plurality of magnetorheological elastic bodies arranged in a multidimensional array.

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