KR20240105118A - An apparatus for implementing a sense of touch by using multiple coils and a method for implementing a sense of touch using the same - Google Patents

Abstract

An embodiment of the present invention provides a technology that enables expression of various tactile information by controlling the displacement/speed of the driving part, unlike existing simple displacement control methods. A tactile display device using multiple coils according to an embodiment of the present invention includes a housing having a space therein; A coil formed inside the housing; a driving part that is inserted into the housing and is formed to penetrate the inside of the coil, one end of which is exposed to the outside of the housing, and whose driving is controlled by the magnetic field of the coil; and a sensor unit formed inside the housing and detecting the position of the driving unit or the force applied to the driving unit.

Description

Tactile display device and tactile implementation method using multiple coils {An apparatus for implementing a sense of touch by using multiple coils and a method for implementing a sense of touch using the same}

The present invention relates to a tactile display device and a tactile implementation method using multiple coils. More specifically, the present invention relates to a technology that enables the expression of various tactile information by controlling the displacement/speed of the driving part, unlike the existing simple displacement control method. It's about.

A tactile display is a device that interacts with the user through the sense of touch. Recently, as the application fields such as virtual reality platforms, remote medical technology support, smartphones, and games increase, the importance of not only visual and auditory but also tactile transmission is increasing, and the demand for technology with precision and safety is increasing. .

Traditional haptic technologies in the form of vibration motors are evolving into sonic vibrations using microphones, strained vibration technologies using light-emitting elements and thermally deformable materials, and many technologies using flexible materials such as electroactive polymers, shape memory alloys, and piezoelectric elements. Studies are being reported.

However, electroactive polymers have the advantage of being easy to control displacement according to voltage and having high reactivity, but have disadvantages such as operating only in ionic conductors such as salt water, high driving voltage of several kV, and low displacement. do.

In addition, temperature control methods such as shape memory alloys have a high operating range and large output force, but have the disadvantages of low responsiveness and the need for a separate system for cooling. In addition, in the case of piezoelectric elements, they not only have high response responsiveness but are also easy to control through low voltages, but have small displacement and difficulty in implementing low-frequency movements, which limits their use as tactile displays.

In U.S. Patent Publication No. 2022-0184662 (title of the invention: Complex mass trajectories for improved haptic effect), a coil-shaped electric magnetic material is formed around a cylindrical permanent magnet, and a haptic effect is realized by controlling the magnetic force on the magnetic material, A voice coil shape is formed in which a coil in the shape of a wire wound multiple times is formed around a cylindrical permanent magnet, and the magnetic disk below the voice coil is disclosed to have features mainly used for combining other components. .

Republic of Korea Patent No. 10-0919974 (title of the invention: Haptic module) includes a plurality of piezoelectric driving units that linearly move a moving object coupled to a driving shaft that performs linear reciprocating motion according to physical displacement caused by an applied electric field; It is provided with a plurality of holes into which the drive shaft is inserted, and includes a clamp that supports the piezoelectric drive unit so that the moving parts coupled to the drive shaft inserted into the holes are arranged at predetermined intervals; A haptic module is disclosed in which the clamp includes a clamp connection portion that allows one or more clamps to be connected to each other.

US Patent Publication No. 2022-0184662 Republic of Korea Patent No. 10-0919974

The purpose of the present invention to solve the above problems is to manufacture a tactile display device for interaction with a user using a magnetic field.

Additionally, the purpose of the present invention is to enable the expression of various tactile information by controlling the displacement/speed of the driving part, unlike the existing simple displacement control method.

And, the purpose of the present invention is to enable interaction by measuring the displacement or force applied by the user through a sensor mounted in the tactile display device.

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

The configuration of the present invention for achieving the above object includes a housing having a space therein; a coil formed inside the housing; a driving unit that is inserted into the housing and is formed to penetrate the inside of the coil, one end of which is exposed to the outside of the housing, and whose driving is controlled by the magnetic field of the coil; and a sensor unit formed inside the housing and detecting the position of the driving unit or a force applied to the driving unit, wherein a plurality of coils are arranged along the longitudinal direction of the driving unit.

In an embodiment of the present invention, the driving unit may include: a contact body formed at one end of the driving unit and having one part exposed to the outside of the housing; and a magnetic actuator that combines with the contact body, includes a magnetic material, and is formed in the magnetic field area of the coil.

In an embodiment of the present invention, the driving unit may further include a sensing magnetic body formed at the other end of the driving unit and made of a magnetic material to provide a magnetic field to the sensor unit.

In an embodiment of the present invention, the driving unit may perform linear or rotational movement.

In an embodiment of the present invention, the magnetic actuator may be formed of a magnetic material.

In an embodiment of the present invention, the magnetic actuator is a non-magnetic material; and a magnetic body that is coupled to the non-magnetic material and extends in a direction that rotates about the longitudinal central axis of the non-magnetic material.

In an embodiment of the present invention, the sensor unit may detect the position of the driving unit or the force applied to the driving unit by detecting the magnetic field strength of the sensing magnetic material.

In an embodiment of the present invention, the contact body may be formed of a material having elasticity.

In an embodiment of the present invention, the coil may be formed in a ring shape.

In an embodiment of the present invention, currents of different values may be applied to each of the plurality of coils.

In an embodiment of the present invention, the time at which current is applied to each of the plurality of coils may be different.

In an embodiment of the present invention, the housing may be formed of a material that shields magnetic fields.

The configuration of the present invention for achieving the above object includes: a first step in which the user's body contacts the driving unit; A second step of detecting the position of the driving unit or the force applied to the driving unit by the sensor unit; A third step in which an electrical signal is transmitted from the sensor unit to a control unit, and the control unit analyzes the electrical signal to derive the position of the drive unit or the force applied to the drive unit; A fourth step of determining the current value or time for which the current is applied to each of the plurality of coils in the control unit; And a fifth step in which the magnetic field of each of the plurality of coils is adjusted under the control of the control unit and the driving unit moves to provide a sense of touch to the user's body by the driving unit.

In an embodiment of the present invention, in the fourth step, the control signal from the control unit is transmitted to the power supply unit that applies current to each of the plurality of coils, so that the current applied to each of the plurality of coils can be controlled.

The effect of the present invention according to the above configuration is to control the current value applied to each of the plurality of coils or the time for which the current is applied, thereby generating a tactile signal by driving the driver in various patterns due to deceleration/acceleration of the driver, etc. As a result, the degree of freedom in tactile implementation can be significantly increased.

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a schematic diagram of the structure of a tactile display device according to an embodiment of the present invention.
Figure 2 is an exploded perspective view of a tactile display device according to an embodiment of the present invention.
Figure 3 is a schematic diagram of the structure of a tactile display device according to another embodiment of the present invention.
Figure 4 is a graph related to current application to each of a plurality of coils according to an embodiment of the present invention.
Figure 5 is a schematic diagram of a haptic system according to an embodiment of the present invention.
Figure 6 is a schematic diagram of equipment including a tactile display device according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention may be implemented in various different forms and, therefore, is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts unrelated to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this means not only "directly connected" but also "indirectly connected" with another member in between. "Includes cases where it is. Additionally, when a part is said to “include” a certain component, this does not mean that other components are excluded, but that other components can be added, unless specifically stated to the contrary.

The terms used in this specification are merely used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, the present invention will be described in detail with reference to the attached drawings.

FIG. 1 is a schematic diagram of the structure of a tactile display device 100 according to an embodiment of the present invention, and FIG. 2 is an exploded perspective view of the tactile display device 100 according to an embodiment of the present invention. Additionally, Figure 3 is a schematic diagram of the structure of a tactile display device according to another embodiment of the present invention. And, directions such as upward and downward are based on each drawing. The following is the same.

As shown in Figures 1 and 2, the tactile display device 100 of the present invention includes a housing 140 having a space therein; A coil 110 formed inside the housing 140; A driving unit 120 that is inserted into the housing 140 and is formed to penetrate the inside of the coil 110, has one end exposed to the outside of the housing 140, and whose driving is controlled by the magnetic field of the coil 110; and a sensor unit 130 formed inside the housing 140 and detecting the position of the driving unit 120.

The housing 140 may be formed in a box shape, a space may be formed inside the housing 140, and a driving unit 120, a coil 110, etc. may be formed inside the housing 140. And, the driving unit 120 may perform movement inside the housing 140.

The height of the housing 140 is 6 to 12 mm, and the horizontal or vertical length of the cross section perpendicular to the height direction of the housing 140 is 1 to 4 mm, so that the housing 140 can be made small.

The overall shape of the driving unit 120 may have a pillar shape, and the cross-sectional shape perpendicular to the longitudinal direction of the driving unit 120 may be formed in a circular, oval, or polygonal shape. Additionally, the driving unit 120 may have magnetism in one part to be driven by the magnetic field of the coil 110.

Specifically, the driving unit 120 includes a contact body 121 formed at one end of the driving unit 120, with one part exposed to the outside of the housing 140; and a magnetic actuator 122 that is coupled to the contact body 121, includes a magnetic material, and is formed in the magnetic field area of the coil 110.

In addition, the driving unit 120 may further include a sensing magnetic body 124 formed at the other end of the driving unit 120 and made of a magnetic material to provide a magnetic field to the sensor unit 130. In addition, between the magnetic actuator 122 and the sensing magnetic body 124, a connection body 123 may be formed, one end of which is coupled to the magnetic actuator 122 and the other end of which is coupled with the sensing magnetic body 124.

The length of the driving unit 120 is extended by the connecting body 123, and at the same time, the distance between the magnetic driving body 122 and the sensing magnetic body 124 is increased by the connecting body 123, thereby increasing the magnetic driving body 122 and the sensing magnetic body 124. The magnetic material 124 may be spaced apart, and similarly, the coil 110 and the sensing magnetic material 124 may be spaced apart. Accordingly, the influence of the magnetic field of the coil 110 is blocked on the sensing magnetic material 124 and the magnetic driving material 124 is blocked. By being transmitted only to the sieve 122, the driving precision of the magnetic actuator 122 by the magnetic field of the coil 110 can be improved.

The contact body 121 formed on the upper part of the driving unit 120 is formed with a curved top exposed to the outside, so that the top of the contact body 121 is formed in a hemisphere or similar shape, and the contact body 121 like this has a curved surface. The user's skin may come into contact with the top. In addition to the top of the contact body 121, the lower part of the contact body 121 may be formed in a pillar shape for coupling to the magnetic actuator 122.

When the upper part of the contact body 121 is formed in a hemispherical shape, the radius of the hemisphere shape may be 0.5 to 2.5 mm, and the height of the upper part of the contact body 121 may be 0.6 to 0.8 mm. As the contact body 121 is formed in a small size, it can be easy to implement a fine tactile sensation.

Here, the user's hand or foot may be in contact with the contact body 121, but the body part is not limited to this and other body parts may also be in contact with the contact body 121.

The contact body 121 may be formed of a material having elasticity. According to the operation of the magnetic drive body 122, which performs linear reciprocating motion, vibration, etc., the contact body 121 performs linear reciprocating motion, vibration, etc., and such movements of the contact body 121 The tactile sensation generated by the elasticity of the contact body 121 is transmitted to the user, and thus the user can feel a haptic effect, that is, various tactile effects.

The magnetic driving body 122 may be formed in a pillar shape, and the magnetic driving body 122 may be arranged to penetrate the inside of the coil 110, and the magnetic driving body 122 may be formed according to a change in the magnetic field of the coil 110. ) can perform exercises. The cross-sectional shape perpendicular to the longitudinal direction of the magnetic driving body 122 may be formed in a circular, oval, or polygonal shape.

Here, the magnetic driving body 122 may perform linear or rotational movement, and accordingly, the driving unit 120 may perform linear (up and down) or up and down movement.

In order to perform linear or rotational movement according to changes in the magnetic field of the coil 110, the magnetic actuator 122 includes a magnetic material. Specifically, the magnetic actuator 122 is made of a mixture of magnetic material and synthetic resin or magnetic material. It can be formed from a mixture of substances and metals.

First, as an example of the magnetic actuator 122, the magnetic actuator 122 itself may be formed of a magnetic material. That is, the magnetic actuator 122 may be formed of the magnetic material 122a. In this case, the magnetic actuator 122 may perform linear movement, that is, the up and down movement in FIG. 1, according to changes in the magnetic field of the coil 110.

And, as another embodiment of the magnetic driving body 122, as shown in FIG. 3, the magnetic driving body 122 includes a non-magnetic body 122b; and a magnetic body 122a that is coupled to the non-magnetic material 122b and extends in a direction that rotates about the longitudinal central axis of the non-magnetic material 122b. Here, the non-magnetic material 122b may be formed of synthetic resin or a non-magnetic metal material.

When the magnetic driving body 122 is formed as in other embodiments of the magnetic driving body 122, a strip-shaped magnetic body 122a having a predetermined thickness is formed in the non-magnetic body 122b having a pillar shape. It is formed by being drawn inward from the surface of the magnetic body 122b. At this time, the magnetic body 122a may be formed in a shape that extends in a direction that rotates around the longitudinal central axis of the non-magnetic body 122b. Accordingly, , the magnetic material 122a may exhibit a spiral or vortex shape on the outer surface of the non-magnetic material 122b.

In other embodiments of the magnetic actuator 122, the magnetic actuator 122 may simultaneously perform linear movement (up and down movement) and rotational movement according to changes in the magnetic field of the coil 110.

As described above, the movement pattern of the magnetic actuator 122 may change depending on the configuration change of the magnetic actuator 122, and by arranging the magnetic actuator 122 of different shapes in different areas, each area By driving the various driving units 120, various tactile effects can be realized.

The magnetic actuator 122 becomes magnetic, and as the magnetic force applied to the magnetic actuator 122 changes according to the change in the magnetic field of each of the plurality of coils 110, the movement of the magnetic actuator 122 is controlled. Accordingly, the operation of the driving unit 120 can be performed while the movement of the magnetic driving body 122 changes in real time.

The sensor unit 130 may be formed by being inserted into the bottom wall of the housing 140, or may be fixedly installed on the bottom surface of the housing 140, and the sensor unit 130 may be formed by inserting the sensing magnetic body 124. ) By detecting the magnetic field strength of the drive unit 120, the position of the drive unit 120 or the force applied to the drive unit 120 can be detected. The sensor unit 130 generates an electrical signal according to a change in the magnetic field intensity of the sensing magnetic material 124 according to the movement of the driving unit 120, and such an electrical signal may be transmitted to the control unit.

As described above, the electrical signal of the sensor unit 130 transmitted to the control unit has a predetermined waveform (amplitude, frequency), and the control unit analyzes the waveform of the electrical signal of the sensor unit 130 to determine the position of the driver 120 or the driver unit 120. The force applied to (120) can be derived.

When the distance between the sensing magnetic material 124 and the sensor unit 130 is variable, when the speed of the sensing magnetic material 124 based on the sensor unit 130 is variable due to the force applied to the driving unit 120, or when the sensing Depending on the case where both the distance between the magnetic material 124 and the sensor unit 130 and the speed of the sensing magnetic material 124 vary, the waveform of the electrical signal may have different amplitude, frequency, etc.

In addition, the control unit stores sensor waveform data, which is data on the electric signal waveform of the sensor unit 130 according to the distance between the sensing magnetic body 124 and the sensor unit 130 or the variation of the speed of the sensing magnetic body 124, The control unit compares and analyzes the electrical signal waveform of the sensor unit 130 and the sensor waveform data to derive the position of the drive unit 120 and the value of the force applied to the drive unit 120 when the user touches the contact body 121. You can.

As shown in FIGS. 1 and 2, the coil 110 may be formed in a ring shape. At this time, the coil 110 may be formed in a shape such as a circular ring or a polygonal ring. In addition, a plurality of coils 110 may be arranged along the longitudinal direction of the driving unit 120.

However, the shape of the coil 110 is not limited to this, and the coil 110 may be formed in a shape such as being wound like a spring. In this way, a plurality of coils 110 of the same shape may be arranged, or Alternatively, the shape of one coil 110 among the plurality of coils 110 disposed may be different from that of another coil 110 .

In this way, by forming the shape of one coil 110 and the other coil 110 differently, the magnetic fields of each coil 110 and the other coil 110 are formed differently, and various magnetic actuators can be used using this. The exercise of (122) can also be implemented.

Specifically, in the case of a single coil 110, the speed can be controlled according to the applied current, but the output force can be adjusted, and the variable distance, depending on the length of the magnetic actuator 122 and the height of the coil 110, In other words, since the moving distance of the magnetic actuator 122 is determined, it is not easy to arbitrarily adjust it.

Accordingly, by forming a plurality of coils 110 and finely adjusting the application time between the coils 110, the driving unit 120 can maintain linear movement and output force over time. In addition, various variable combinations of the driving unit 120 can be formed depending on the arrangement method of each coil 110 with a different thickness or number of turns (number of turns) of the plurality of coils 110, thereby realizing various tactile effects. You can.

Figure 4 is a graph related to current application to each of the plurality of coils 110 according to an embodiment of the present invention. As shown in FIG. 4, different values of current may be applied to each of the plurality of coils 110. Also, the time at which current is applied to each of the plurality of coils 110 may be different.

When different currents are applied to each of the plurality of coils 110, the strength of the magnetic field received from the driving unit 120 may vary depending on the position of the driving unit 120 due to the movement of the driving unit 120.

Here, the movement of the drive unit 120 is controlled by the force of magnetic force, and the speed of the drive unit 120 accelerates or decelerates depending on the magnetic field strength of the coil 110 and the change in magnetic field according to the movement of the drive unit 120. All cases that occur or are formed regularly can be implemented.

Additionally, when the time at which current is applied to each of the plurality of coils 110 is different, the strength of the magnetic field received from the driver 120 may vary depending on the position of the driver 120 or a specific time point.

By controlling the current value or time for which the current is applied to each of the plurality of coils 110 as described above, various movements of the driving unit 120 are implemented and at the same time, resistance to the force applied by the user to the driving unit 120 is reduced. It can be varied in various ways, and as a result, various tactile effects can be implemented using the driving unit 120.

That is, by generating tactile signals by driving the driving unit 120 in various patterns such as deceleration/acceleration of the driving unit 120, the degree of freedom in implementing the tactile sensation can be significantly increased.

As described above, the control unit can control the current value or time for which the current is applied to each of the plurality of coils 110 using the electrical signal of the sensor unit 130. Specifically, in order to implement a tactile sensation, the control unit includes data on the current value or time for which the current is applied to each of the plurality of coils 110 that changes in response to the position of the driving unit 120 and the force applied to the driving unit 120. Tactile implementation information may be stored.

In addition, the control unit analyzes the position of the drive unit 120 and the force applied to the drive unit 120 using the electrical signal of the sensor unit 130 as described above, and generates a control signal using the corresponding data and tactile implementation information. there is.

Then, the control unit transmits a control signal to the power supply unit that applies current to each of the plurality of coils 110, and accordingly, the current value applied from the power supply unit to one of the plurality of coils 110 or The time during which current is applied can be controlled.

As a specific example, the plurality of coils 110 include a first coil 111 located at the bottom, a second coil 112 located at the top of the first coil 111, and the second coil 112. It may include a third coil 113 located at the top, and a fourth coil 114 located at the top of the third coil 113.

And, as shown in FIG. 4, by the control signal of the controller, current is applied only to the first coil 111 during a time (s), so that a driving voltage (V) of the value A is formed only in the first coil 111. It can be, during b time, a current is applied to the first coil 111 to form a driving voltage of the value A in the first coil 111, and at the same time, a current is applied to the second coil 112 to form the second coil 112. ), a driving voltage of value B can be formed.

Here, the driving voltage is a voltage generated by the coil 110 to drive the magnetic actuator 122. When the driving voltage increases, the strength of the magnetic field for movement of the actuator 120 also increases. The following is the same.

In addition, during c time, current is applied only to the second coil 112, so that a driving voltage of value B can be formed only in the second coil 112, and during d time, current is applied to the second coil 112, thereby forming the second coil 112. At the same time that a driving voltage of the value B is formed in the coil 112, a current is applied to the third coil 113, so that a driving voltage of the value C may be formed in the third coil 113.

In addition, during time e, current is applied only to the third coil 113, so that a driving voltage of value C can be formed only in the third coil 113, and during time f, current is applied to the third coil 113, thereby forming the third coil 113. At the same time that a driving voltage of the value C is formed in the coil 113, a current is applied to the fourth coil 114, so that a driving voltage of the value D can be formed in the fourth coil 114.

Also, during f time, current is applied only to the fourth coil 114, so that a driving voltage of value D can be formed only in the fourth coil 114.

As described above, the current value applied to each coil 110 sequentially over time is controlled to be different depending on the position of the drive unit 120 according to the force applied by the user to the drive unit 120, and thus, precise and diverse shapes. It can be easy to implement tactile sensation.

Figure 5 is a schematic diagram of a haptic system according to an embodiment of the present invention.

As shown in Figure 5, the haptic system of the present invention includes the tactile display device 100 of the present invention formed as described above; A support unit 200 coupled to and supporting a plurality of tactile display devices 100 using multiple coils 110; and a control unit that transmits a control signal to each of the tactile display devices 100 using a plurality of multiple coils 110. Additionally, the haptic system of the present invention may include a power supply unit that applies current to each of the plurality of coils 110.

The housing 140 may be made of a material that shields magnetic fields. To this end, the housing 140 may include a high permeability metal such as iron, nickel, or cobalt. Specifically, magnetic field shielding performance can be added to the housing 140 by forming a high permeability metal layer as described above on the outside of the housing 140 made of synthetic resin.

Additionally, the housing 140 itself can be formed of a high permeability metal as described above. In addition, magnetic field shielding performance can be formed in the housing 140 by mixing high permeability metal particles and synthetic resin and using the mixture to form the housing 140.

In the haptic system of the present invention, a plurality of tactile display devices 100 of the present invention are included, and each tactile display device 100 may be arranged in close proximity.

At this time, the magnetic field shielding function of the housing 140 prevents the magnetic field formed in one tactile display device 100 from affecting the other tactile display devices 100, so that each tactile display device 100 Since the formed magnetic field only affects the driving unit 120 of the tactile display device 100, the precision of tactile implementation using the tactile display device 100 of the present invention can be improved.

As described above, a plurality of tactile display devices 100 of the present invention may be formed in the haptic system, and the power supply unit may provide power to each of the plurality of coils 110 formed in each of the plurality of tactile display devices 100 by a control signal from the control unit. By controlling the applied current, a tactile effect can be realized by the haptic system of the present invention.

Figure 6 is a schematic diagram of equipment including a tactile display device 100 according to an embodiment of the present invention. Specifically, the tactile display device 100 of the present invention can be installed on a glove 1 for virtual reality experience, etc., and the tactile display device 100 of the present invention is provided on the outer surface of the outer shell 11 of the glove 1. A device layer 12 in which a circuit that supplies current is formed may be formed.

In addition, the tactile display device 100 of the present invention is inserted and fixed to the outer shell 11 and the device layer 12, and when the user wears the gloves 1 and touches a certain object, regardless of the surface of the object. A specific tactile sensation can be felt through the glove (1).

Hereinafter, a method for implementing tactile sensation using the tactile display device 100 of the present invention will be described.

First, in the first step, the user's body may contact the driving unit 120. And, in the second step, the sensor unit 130 can detect the position of the driving unit 120 or the force applied to the driving unit 120.

Next, in the third step, an electrical signal is transmitted from the sensor unit 130 to the control unit, and the control unit analyzes the electrical signal to derive the position of the drive unit 120 or the force applied to the drive unit 120. And, in the fourth step, the control unit may determine the current value or time for which the current is applied to each of the plurality of coils 110.

In the fourth step, the control signal from the control unit is transmitted to the power supply unit that applies current to each of the plurality of coils 110, so that the current applied to each of the plurality of coils 110 can be controlled.

Then, in the fifth step, the driving unit 120 moves while the magnetic field of each of the plurality of coils 110 is controlled by the control unit, so that the driving unit 120 can provide a sense of touch to the user's body.

The remaining details of the tactile implementation method of the present invention are the same as those described in the tactile display device 100 of the present invention described above.

The tactile display device 100 of the present invention as described above can be manufactured by 3D printing, and each of the small parts as described above can be manufactured by 3D printing, so that each of the components of the tactile display device 100 of the present invention can be manufactured by 3D printing. In addition to improving manufacturing precision, the operating precision of the tactile display device 100 of the present invention can also be improved.

The description of the present invention described above is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical idea or essential features of the present invention. will be. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. For example, each component described as single may be implemented in a distributed manner, and similarly, components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the patent claims described below, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention.

1: Gloves 11: Shell
12: device layer
100: Tactile display device 110: Coil
111: first coil 112: second coil
113: third coil 114: fourth coil
120: driving unit 121: contact body
122: magnetic driving body 122a: magnetic body
122b: non-magnetic material 123: connection body
124: sensing magnetic material 130: sensor unit
140: Housing 200: Support portion

Claims (15)

A housing having a space therein;
a coil formed inside the housing;
a driving unit that is inserted into the housing and is formed to penetrate the inside of the coil, one end of which is exposed to the outside of the housing, and whose driving is controlled by the magnetic field of the coil; and
It is formed inside the housing and includes a sensor unit that detects the position of the driving unit or the force applied to the driving unit,
A tactile display device using multiple coils, wherein a plurality of coils are arranged along the longitudinal direction of the driving unit.
In claim 1,
The driving unit,
a contact body formed at one end of the driving unit and having one portion exposed to the outside of the housing; and
A tactile display device using multiple coils, comprising a magnetic actuator that combines with the contact element, contains a magnetic material, and is formed in a magnetic field area of the coil.
In claim 2,
The driving unit is formed at the other end of the driving unit and is made of a magnetic material, further comprising a sensing magnetic material that provides a magnetic field to the sensor unit.
In claim 2,
A tactile display device using multiple coils, wherein the driving unit performs linear or rotational movement.
In claim 3,
A tactile display device using multiple coils, wherein the magnetic actuator is formed of a magnetic material.
In claim 3,
The magnetic actuator is,
Non-magnetic; and
A tactile display device using multiple coils, comprising a magnetic material that is coupled to the non-magnetic material and extends in a direction that rotates about the longitudinal central axis of the non-magnetic material.
In claim 3,
The sensor unit is a tactile display device using multiple coils, characterized in that the position of the driving unit or the force applied to the driving unit is detected by detecting the magnetic field strength of the sensing magnetic material.
In claim 2,
A tactile display device using multiple coils, wherein the contact body is formed of a material having elasticity.
In claim 1,
A tactile display device using multiple coils, wherein the coil is formed in a ring shape.
In claim 1,
A tactile display device using multiple coils, characterized in that currents of different values are applied to each of a plurality of coils.
In claim 1,
A tactile display device using multiple coils, characterized in that the time for which current is applied to each of the plurality of coils is different.
In claim 1,
A tactile display device using multiple coils, wherein the housing is formed of a material that shields magnetic fields.
A tactile display device using multiple coils according to any one of claims 1 to 12;
A support unit coupled to and supporting a plurality of tactile display devices using multiple coils; and
A haptic system comprising a control unit that transmits a control signal to each of the tactile display devices using the plurality of multiple coils.
In the method of implementing tactile sensation using the tactile display device using multiple coils of claim 1,
A first step in which the user's body contacts the driving unit;
A second step of detecting the position of the driving unit or the force applied to the driving unit by the sensor unit;
A third step in which an electrical signal is transmitted from the sensor unit to a control unit, and the control unit analyzes the electrical signal to derive the position of the drive unit or the force applied to the drive unit;
A fourth step of determining the current value or time for which the current is applied to each of the plurality of coils in the control unit; and
A tactile sensation implementation method comprising a fifth step in which the driving unit moves while the magnetic field of each of the plurality of coils is controlled by the control unit, thereby implementing a tactile sensation on the user's body by the driving unit.
In claim 14,
In the fourth step, a control signal from the control unit is transmitted to a power supply unit that applies current to each of the plurality of coils, so that the current applied to each of the plurality of coils is controlled.