KR20220063072A - Magneto-Rheological Elastomer Haptic Device and Haptic Module - Google Patents

Abstract

The present invention relates to a magneto-rheological elastomer haptic device and haptic module. The magneto-rheological elastomer haptic device according to the present invention comprises: a housing; a magnetic field generating part disposed in the housing; an elastic support part disposed on the housing; an MRE vibration part comprising at least a magneto-rheological elastomer (MRE) connected to the elastic support part; and a control part that transmits a signal to the magnetic field generating part. Therefore, the present invention is capable of having an effect of being able to be driven with little energy.

Description

Magneto-Rheological Elastomer Haptic Device and Haptic Module

The present invention relates to a magnetorheological elastomer haptic device and a haptic module. More particularly, it relates to a magnetorheological elastomer haptic device and a haptic module capable of implementing various tactile patterns with little energy by combining a vibrating part including a magnetorheological elastic body and an elastic support part having elastic properties.

In general, as an actuator for haptic technology, a magneto-rheological elastomer (MRE) actuator, an inertial actuator, a piezoelectric actuator, an electroactive polymer actuator (Electro Active Polymer, EAP), an electrostatic force actuator, etc. are used. A magnetorheological-elastic actuator is an element that provides various tactile sensations according to the strength, direction, and frequency of the magnetic field, which is composed of magnetic particles, a matrix material, and a magnetic field generator. The inertial actuator includes an eccentric motor that vibrates with eccentric force generated when the motor rotates, and a linear resonant actuator (LRA) that maximizes the intensity of vibration using a resonant frequency. The piezoelectric actuator has a beam shape or a disk shape, and is driven using a piezoelectric element whose size or shape is instantaneously changed by an electric field. An electroactive polymer actuator attaches a mass to an electroactive polymer film and generates vibration by repeated movement of the mass. The electrostatic force actuator is driven using the attractive force that occurs between two glass surfaces charged with different electric charges and the repulsive force that occurs when the same type of electric charge is charged. In addition, providing devices using shape memory alloy, macro-composite fiber, electrotactile sensation, electrostatic friction, ultrasonic wave, acoustic radiation pressure, etc. are being developed.

1 is a schematic diagram of a linear resonant actuator (LRA). A typical linear vibration motor (LRA) includes a magnet, a coil, a suspension, and other structures.

2 is a schematic diagram of a Magneto-Rheological Elastomer (MRE) actuator. As the polarities N and S poles of the magnetic field generated in the solenoid coil alternate by frequency, haptics are realized according to the shape change of the MRE by the force of attraction or repulsion.

The present invention is a magnetorheological elastomer capable of providing a haptic tactile sense with a driving force capable of diversifying shapes and tactile patterns by applying a magnetorheological elastomer (MRE) that replaces a permanent magnet in a conventional VCM (Voice coil motor). An object of the present invention is to provide a haptic device and a haptic module.

Another object of the present invention is to provide a magnetorheological elastomer haptic device and a haptic module that can be configured thinly by lowering the height and can be driven with little energy.

Another object of the present invention is to provide a haptic module capable of providing a local haptic tactile feel by applying an external double injection structure.

However, these problems are exemplary, and the scope of the present invention is not limited thereto.

The above object of the present invention, the housing; a magnetic field generator disposed in the housing; an elastic support disposed on the housing; MRE vibrating unit including at least a magneto-rheological elastomer (MRE; Magneto-Rheological Elastomer) connected to the elastic support; and a control unit that transmits a signal to the magnetic field generator.

In addition, according to an embodiment of the present invention, the housing may have an open upper surface, and an elastic support portion may be disposed on the open upper surface edge.

Also, according to an embodiment of the present invention, the magnetic field generator may include a solenoid coil.

In addition, according to an embodiment of the present invention, the MRE vibrator may be disposed on the coil end of the magnetic field generator.

In addition, according to an embodiment of the present invention, the elastic support portion, the rim portion supported by the housing; a driving unit connected to the MRE vibrator and driven in the vertical direction; and at least one connecting part connecting the edge part and the driving part.

In addition, according to an embodiment of the present invention, the connecting portion may be formed to be longer than the linear distance from the edge portion to the driving portion.

Also, according to an embodiment of the present invention, the connection part may have a curved shape or a shape having a plurality of curvatures.

Also, according to an embodiment of the present invention, the control unit may include a terminal unit protruding outside the housing, and a flexible printed circuit board (FPCB) connected to the magnetic field generator may be formed on the terminal unit.

Also, according to an embodiment of the present invention, the MRE vibrator may be divided into regions having different polarities.

In addition, the above object of the present invention, a haptic device for implementing a haptic touch; a fixing part having an insertion hole into which the haptic device is inserted; a tactile transmission unit connected to the fixing unit and transmitting a haptic touch generated by the haptic device, the haptic device comprising: a housing; a magnetic field generator disposed in the housing; an elastic support disposed on the housing; MRE vibrating unit comprising at least a magneto-rheological elastomer (MRE; Magneto-Rheological Elastomer) connected to the elastic support; and a control unit that transmits a signal to the magnetic field generator.

In addition, according to an embodiment of the present invention, the tactile transfer unit may be made of at least one of Thermoplastic Polyurethane (TPU) and Thermoplastic Elastomer (TPE).

In addition, according to an embodiment of the present invention, it may further include a cover part connected to the tactile transfer part.

According to the present invention configured as described above, a haptic tactile sense is provided by applying a magnetorheological elastic material (MRE) that replaces a permanent magnet in a conventional VCM (Voice coil motor) to diversify the shape and diversify the tactile pattern. There is an effect that can be done.

In addition, according to the present invention, it can be configured to be thin by lowering the height, and there is an effect that it can be driven with a small amount of energy.

In addition, according to the present invention, there is an effect of providing a local haptic tactile feel by applying the exterior in a double injection structure.

Of course, the scope of the present invention is not limited by these effects.

1 is a schematic diagram of a linear resonant actuator (LRA).
2 is a schematic diagram of a Magneto-Rheological Elastomer (MRE) actuator.
3 is a schematic diagram showing the configuration of a magnetorheological elastomer haptic device according to an embodiment of the present invention.
4 is a schematic plan view showing an elastic support according to various embodiments of the present invention.
5 is a schematic side cross-sectional view and a schematic plan view illustrating a magnetic field generator according to various embodiments of the present disclosure;
6 is a schematic bottom perspective view of a magnetorheological elastomer haptic module according to an embodiment of the present invention.
7 is a schematic perspective view and a schematic side cross-sectional view of a magnetorheological elastomer haptic module according to an embodiment of the present invention.
8 is a schematic plan view and a schematic side cross-sectional view illustrating localized haptic tactile realization of a magnetorheological elastomer haptic module according to an embodiment of the present invention.
9 shows the local haptic tactile intensity of the magnetorheological elastomer haptic module according to an experimental example of the present invention.

Reference is made to the accompanying drawings, which show the embodiment by way of example. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein with respect to one embodiment may be implemented in other embodiments without departing from the spirit and scope of the invention. In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the following detailed description is not intended to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all scope equivalents to those claimed. In the drawings, like reference numerals refer to the same or similar functions in various aspects, and the length, area, thickness, and the like may be exaggerated for convenience.

Hereinafter, in order to enable those of ordinary skill in the art to easily practice the present invention, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

3 is a schematic diagram showing the configuration of the magnetorheological elastic body haptic device 10 according to an embodiment of the present invention. 4 is a schematic plan view showing an elastic support 2 according to various embodiments of the present invention. 5 is a schematic side cross-sectional view and a schematic plan view showing the magnetic field generator 3 according to various embodiments of the present invention.

The magnetorheological elastomer haptic device 10 (hereinafter, MRE haptic device 10) of the present invention implements a haptic by using the spring tension of the MRE vibration unit 1 and the elastic support unit 2 . The MRE vibrator 1 may be driven up and down by attractive and repulsive forces by the magnetic field applied from the magnetic field generator 3 according to the magnetic polarity.

Referring to FIG. 3A , the MRE vibrator 1 may be connected to the elastic support 2 .

The MRE vibrating unit 1 may include a magneto-rheological elastomer (MRE), and may itself be composed of a magneto-rheological elastomer. It is preferable that the MRE vibrating unit 1 also have a thin and flat shape so that the MRE haptic device 10 can be configured thinly, but it can be modified in order to diversify the haptic tactile pattern.

The elastic support part 2 may include an edge part 2a, a connection part 2b, and a driving part 2c. The edge portion 2a, the connecting portion 2b, and the driving portion 2c may be integral, and each portion may be connected as a separate element.

The rim portion 2a constitutes the outer frame of the elastic support portion 2 , and may be supported or inserted on the side wall of the housing 4 .

The connection part 2b may connect the edge part 2a and the driving part 2c. Although four connection parts 2b are shown in FIG. 3( a ), one or more may be used in the range for the purpose of connecting the edge part 2a and the driving part 2c .

The connection part 2b may be supported by the edge part 2a to provide spring elasticity so that the driving part 2c can move up and down. To this end, the connecting portion 2b is preferably formed to be longer than the linear distance from the edge portion 2a to the driving portion 2c. If the length is the same as the linear distance from the edge part 2a to the driving part 2c, the vertical movement of the driving part 2c may become difficult. It is preferable that the connecting portion 2b has a curved shape or a shape having a plurality of curvatures.

Referring to FIG. 4( a ), the four connection parts 2b extend in a curved shape from the center of each side of the edge part 2a and are connected to the circular driving part 2c .

Referring to FIG. 4(b) , the two connecting parts 2b extend in a straight line from the center of each side of the edge part 2a and are connected to the driving part 2c. However, in this case, the connecting portion 2b may be made of a stretchable material so as to be longer than the linear distance from the connecting portion 2b edge portion 2a to the driving unit 2c.

Referring to FIG. 4( c ), the four connection parts 2b extend in a shape having a plurality of curvatures from the four corners of the edge part 2a and are respectively connected to the four corners of the square-shaped driving part 2c is shown. .

The driving unit 2c may be connected to the MRE vibrating unit 1 to be driven in the vertical direction. When the MRE vibrator 1 is vertically driven by the magnetic field applied from the magnetic field generator 3 , the driving unit 2c connected to the MRE vibrator 1 may also be driven vertically. The MRE vibrating unit 1 driving unit 2c is preferably formed to have a larger area than that of the MRE vibrating unit 1 .

In addition to this, the elastic support part 2 is not limited to the shape and material of FIGS. 3 and 4 as long as it has a structure for vertically driving the MRE vibrating part 1 by its spring tension.

Referring to FIG. 3B , the magnetic field generator 3 may be disposed in the housing 4 . The magnetic field generator 3 may use a means capable of controlling the direction of the magnetic field. Preferably, the magnetic field generator 3 may change the direction of the magnetic field by controlling the direction of the flowing current including the solenoid coil. The magnetic field generator 3 may be disposed in a horizontal direction within the housing 4 , and may be disposed to apply a magnetic field from a lower portion to an upper portion of the MRE vibrating unit 1 disposed at a central portion. In consideration of this, it is preferable that the MRE vibrating unit 1 be spaced apart from the end of the solenoid coil.

Referring to Figure 5 (a), the coil (3a) is shown in the form wound around the pillar (3b). By applying a magnetic field to the MRE vibrator 1 spaced apart from the end of each coil, the MRE vibrator 1 may move up and down. In addition to this, since the MRE vibrating unit 1 is connected to the elastic support part 2, even if only energy less than the energy that the MRE vibrating part 1 can move up and down is applied, the spring elasticity of the elastic support part 2 is affected. momentum can be further increased.

Referring to FIGS. 5 ( b ) and 5 ( c ), the shape in which the magnetic field is applied may be changed according to the pattern shape of the pillar 3b . 5(d) and (e), the magnetic field generating unit 3 may be arranged in parallel or diagonally, and the magnetic field resultant of each magnetic field generating unit 3 is applied to the MRE vibrating unit ( As long as it is within the range that can be transferred to 1) and driven up and down, the arrangement shape and number of the magnetic field generating unit 3 can be changed without limitation.

The housing 4 may have an open shape at least one surface (eg, an upper surface). The housing 4 may include a sidewall 4a and a groove portion 4b horizontally protruding from the sidewall 4a. The inside of the housing 4 surrounded by the sidewall 4a may provide a space in which the MRE vibrating unit 1 moves up and down, and may provide a space in which the magnetic field generating unit 3 is disposed.

The edge portion 2a of the elastic support portion 2 may be disposed on the open surface of the housing 4 , that is, on the upper side of the side wall 4a . The lower portion of the side wall 4a of the housing 4 may be open, and there may be a lower surface integral with the side wall 4a. When the lower portion of the side wall 4a is opened, the control body 5a may be disposed under the side wall 4a.

The control unit 5 may include a control body 5a and a terminal unit 5b. The control body 5a may constitute a lower surface of the housing 4, and a portion extending from the control body 5a to the outside of the housing 4 may constitute the terminal part 5b.

A circuit 6 is formed on the controller 5 so that an electric/magnetic energy signal can be transmitted from an external signal input means (not shown) to the magnetic field generator 3 . The circuit 6 may be formed from the terminal portion 5b to the magnetic field generator 3 on the control body 5a. It is preferable that the circuit 6 is a flexible printed circuit board (FPCB) so that the control unit 5 can be made thin.

Referring to FIG. 3 ( c ), in a state where the control unit 5 is connected to the lower surface of the housing 4 and the magnetic field generator 3 is disposed on the control unit 5 , the MRE vibrating unit 1 and The magnetorheological elastic body haptic device 10 completed by connecting the assembly of the elastic support part 2 is shown.

The magnetorheological elastomeric haptic device 10 of the present invention can be driven by the attractive and repulsive force of the spring tension of the elastic support part 2 and the MRE magnetic polarity of the MRE vibrating part 1, so that it can be driven even with a small magnetic field. Therefore, a large amount of magnetic field is required to realize the desired force of the MRE actuator shown in FIG. 2, and the problem of severe heat generation can be solved. In addition, since the MRE of the MRE vibrating unit 1 is driven while generating micro-deformation according to the magnetic field, the vibration is realized by the sum of the spring motion of the elastic support unit 2 and the deformation force according to the application of the magnetic field of the MRE. Vibration with In addition, compared to the conventional LRA shown in FIG. 1, a very thin haptic module can be implemented by using the MRE, and there is an advantage that it can be driven with little energy.

6 is a schematic bottom perspective view of the magnetorheological elastic body haptic module 100 according to an embodiment of the present invention. 7 is a schematic perspective view and a schematic side cross-sectional view of a magnetorheological elastomer haptic module 100 according to an embodiment of the present invention.

6 and 7 , the magnetorheological elastomeric haptic module 100 includes a magnetorheologically elastic haptic device 10 , a fixing part 21 , and a tactile transmitting part 24 , and a cover part 25 is further provided. may include

The fixing part 21 may be formed with an insertion hole 23 into which the MRE haptic device 10 is inserted. The insertion hole 23 preferably has a shape corresponding to the MRE haptic device 10 , but there is no limitation as long as it has a shape into which the MRE haptic device 10 is inserted. After inserting the MRE haptic device 10 into the insertion hole 23, the groove portion 4b of the housing 4 of the MRE haptic device 10 and the groove portion 22 of the fixing portion 21 are connected with a screw or the like and fixed. can do. The upper surface of the MRE haptic device 10 may be positioned at an upper height of the fixing unit 21 through the insertion hole 23 .

The tactile transmission unit 24 may be connected to the fixing unit 21 . The tactile transmission part 24 may cover the entire upper surface of the fixing part 21 without forming a hole. The upper surface of the MRE haptic device 10 may penetrate the insertion hole 23 to contact the lower surface of the tactile transmission unit 24 .

The fixing part 21 may be made of a hard material, and the tactile transmission part 24 may be made of a soft material. Accordingly, the MRE haptic device 10 is firmly fixed to the fixed part 21, which is a hard material, and the MRE haptic device is located at the center C (see FIG. 7(a)) of the soft material tactile transmission part 24. The MRE vibrating part 1 and the elastic support part 2 of (10) may provide a haptic tactile sensation through vertical movement. For example, the fixing unit 21 may be formed of a hard material such as PC (Polycarbonate), and the tactile transmitting unit 224 may be formed of a soft material such as TPU (Thermoplastic Polyurethane) or TPE (Thermoplastic Elastomer) in a double injection structure. .

Since the central part of the fixing part 21 is empty by the insertion hole 23, the vibration force may be insignificant in the part surrounded by the fixing part, and the MRE haptic device 10 in the insertion hole 23 in the central part. A local vibration force may be generated. The local vibration force may be transmitted to the upper part through the tactile transmission part 24 which is a soft material on the upper part.

A cover part 25 may be further formed on the tactile transmission part 24 . The cover unit 25 may receive a tactile sensation from the tactile transmission unit 24 by adopting a material such as glass, but without the cover unit 25, an object to which the MRE haptic module 100 is to be applied (eg, glass). , display, etc.) may act as the cover portion 25 . As the MRE haptic module 100 is attached to an object, a haptic tactile sense can be transmitted, and various applications requiring a local haptic tactile feel are possible.

Conventional VCM motors are structurally composed of permanent magnets, coils, and accessories for attaching them, so there is a limit to lowering the height. is difficult to apply. On the other hand, the present invention has the advantage that various applications are possible by changing the shape of the MRE material by applying MRE.

8 is a schematic plan view and a schematic side cross-sectional view illustrating localized haptic tactile realization of a magnetorheological elastomer haptic module according to an embodiment of the present invention.

The present invention can give various shape changes to the MRE vibrating unit 1, and can give various changes in the magnetic field polarity of the magnetic field generating unit 3, so that it can be changed not only in a simple straight line up and down but also in a zigzag up and down motion, etc. It can provide a tactile feel.

As an example, referring to FIGS. 8 ( a ) and ( b ), by varying the separation of the surface polarity of the MRE vibrator 1 , matching with the magnetic field polarity of the magnetic field generator 3 may be applied. FIG. 8(a) shows a form in which the MRE vibrator 1 has one polarity, so that it can move up and down according to application of a magnetic field. 8(b) shows that the MRE vibrating unit 1 is divided into a plurality of regions 1a and 1b each having different polarities, and even when the same magnetic field is applied, the region 1a moves upward while the region ( 1b) moves in the downward direction so that the MRE vibrating unit 1 can be twisted or zigzag up and down, so it is possible to provide various tactile sensations to the central portion C of the tactile transmission unit 24 . Accordingly, it is possible to provide a variety of driving sources, thereby securing diversity of driving patterns.

9 shows the local haptic tactile intensity of the magnetorheological elastomer haptic module according to an experimental example of the present invention.

As described above in FIGS. 6 and 7 , the structure of the fixing unit 21 and the tactile transmission unit 24 is double-injected (for example, the PC fixing unit 21 and the TPE tactile transmission unit 24) to TPE When the MRE haptic device 10 makes a sudden contact with a soft material like the tactile transfer unit 24 , the haptic touch can be maximized.

Referring to the upper graph of FIG. 9 , it can be confirmed that the central portion C of the tactile transmission unit 24 directly receives vibrations from the MRE of the MRE haptic device 10 and thus has a large tactile intensity. Referring to the lower graph of FIG. 9 , it can be seen that the edge portion E of the tactile transmission part 242 directly connected to the fixing part 21 has a small tactile intensity because of the PC fixing part 21 which is a hard material. Accordingly, according to the shape of the insertion hole 23 of the fixing part 21, various types of tactile sensations can be implemented with various intensities.

Although the present invention has been illustrated and described with reference to preferred embodiments as described above, it is not limited to the above-described embodiments and is not limited to the above-described embodiments, and various methods can be made by those of ordinary skill in the art to which the invention pertains without departing from the spirit of the present invention. Transformation and change are possible. Such modifications and variations are intended to fall within the scope of the present invention and the appended claims.

1: magnetorheological elastomer vibrating part
2: elastic support
3: Magnetic field generator
4: housing
5: Control
6: circuit
10: magnetorheological elastomer haptic device
21: fixed part
24: tactile transmission unit
100: magnetorheological elastomer haptic module

Claims (12)

housing;
a magnetic field generator disposed in the housing;
an elastic support disposed on the housing;
MRE vibrating unit including at least a magneto-rheological elastomer (MRE; Magneto-Rheological Elastomer) connected to the elastic support; and
a control unit that transmits a signal to the magnetic field generator;
A haptic device comprising: According to claim 1,
The housing has an open top surface,
A haptic device, wherein the elastic support is disposed on the open top edge. According to claim 1,
The magnetic field generator includes a solenoid coil, a haptic device. 4. The method of claim 3,
A haptic device, wherein the MRE vibrator is disposed on the coil end of the magnetic field generator. According to claim 1,
elastic support,
a rim part supported by the housing;
a driving unit connected to the MRE vibrating unit and driven in the vertical direction; and
at least one connecting part connecting the edge part and the driving part
A haptic device comprising: 6. The method of claim 5,
The connecting portion is formed to be longer than the linear distance from the edge portion to the driving portion, the haptic device. 7. The method of claim 6,
The connecting portion is a curved shape or a shape having a plurality of curvatures, the haptic device. According to claim 1,
The control unit includes a terminal unit protruding outside the housing, the FPCB (Flexible Printed Circuit Board) connected to the magnetic field generator is formed on the terminal unit, the haptic device. According to claim 1,
The MRE vibrator is divided into regions each having a different polarity, a haptic device. a haptic device that implements a haptic touch;
a fixing part having an insertion hole into which the haptic device is inserted;
a touch transmitting unit connected to the fixing unit and transmitting a haptic touch generated by the haptic device;
including,
The haptic device is
housing;
a magnetic field generator disposed in the housing;
an elastic support disposed on the housing;
MRE vibrating unit including at least a magneto-rheological elastomer (MRE; Magneto-Rheological Elastomer) connected to the elastic support; and
a control unit that transmits a signal to the magnetic field generator;
A haptic module comprising: 11. The method of claim 10,
The tactile transmission unit is made of at least one of Thermoplastic Polyurethane (TPU) and Thermoplastic Elastomer (TPE), a haptic module. 11. The method of claim 10,
The haptic module further comprising a cover unit connected to the tactile transmission unit.

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