WO2005050427A1 - 触力覚情報提示システムおよび方法 - Google Patents
触力覚情報提示システムおよび方法 Download PDFInfo
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- WO2005050427A1 WO2005050427A1 PCT/JP2004/017277 JP2004017277W WO2005050427A1 WO 2005050427 A1 WO2005050427 A1 WO 2005050427A1 JP 2004017277 W JP2004017277 W JP 2004017277W WO 2005050427 A1 WO2005050427 A1 WO 2005050427A1
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- Prior art keywords
- tactile
- sensation
- eccentric
- torque
- information presentation
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/25—Output arrangements for video game devices
- A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
- A63F13/285—Generating tactile feedback signals via the game input device, e.g. force feedback
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/04—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/04—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism
- B06B1/045—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism using vibrating magnet, armature or coil system
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B6/00—Tactile signalling systems, e.g. personal calling systems
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K15/00—Acoustics not otherwise provided for
- G10K15/04—Sound-producing devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B3/00—Line transmission systems
- H04B3/02—Details
- H04B3/36—Repeater circuits
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/013—Force feedback applied to a game
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
Definitions
- the present invention relates to a tactile information presentation system and method using sensory characteristics.
- the present invention is mounted on devices used in the field of VR (Virtual Reality), devices used in the field of games, mobile phones, portable navigation devices, PDAs (portable information terminals), and the like.
- the present invention relates to a tactile information presentation system, a tactile information presentation method, a tactile information presentation system of a tactile information presentation system, and a control device of the tactile information presentation system for providing a provided man-machine interface. is there.
- Non-Patent Document 1 a torque presenting device using a gyro moment and a ginnole structure has been developed.
- the gimbal structure has a problem in that the direction of torque that can be presented is limited, and the structure is complicated and control is complicated.
- Non-Patent Document 2 A camera information presentation machine (Non-Patent Document 2) has been proposed.
- the torque is generated by controlling the combined angular momentum vectors generated by the three gyro motors, so that the structure is relatively simple and the control is easy.
- the point to be solved is to be able to continuously present tactile information and to be able to present force sensations other than torque.
- Non-Patent Document 1 Masayuki Yoshie, Hiroaki Yano, Hiroo Iwata "Development of a non-grounded type visual sensation display device using gyro moment", Research Reports of Human Interface Society, vol.3, ⁇ . ⁇ , ⁇ . 25-30 (2000)
- Non-Patent Document 2 Yokichi Tanaka, Katsutaka Sakai, Yuka Kono, Yukio Fukui, Yuri Yamashita, Norio Nakamura "Mobile Torque Display and Haptic characteristics of Human Palm,
- a first object of the present invention is to provide a conventional non-grounded man-machine interface having no base in the body, which gives a human the presence of a virtual object and the impact force of a collision.
- tactile information presentation mechanism that utilizes the sensory characteristics of a human, tactile information such as vibration, torque, and force can be presented in the same direction. It is an object of the present invention to provide a tactile information presentation system and method that can be continuously presented.
- a second object of the present invention is to utilize the sensory characteristics of humans to physically return the initial state in one cycle in the operation of the tactile sensation presentation machine, A tactile sensation information presentation system and method capable of continuously presenting a sensation in an arbitrary direction even when the sensation becomes zero, even if the sensation integrated value of the sensation amount does not become zero. There is.
- a first mode provides a tactile sense presentation means having two eccentric rotators, a rotation direction, a phase relationship, and a rotation direction of the two eccentric rotators.
- This is a tactile information presentation system including control means for independently changing the frequency and intensity of vibration and Z or vibration sensation by controlling the rolling speed.
- a second embodiment according to the present invention provides a tactile sense presentation means having two eccentric rotators, and a rotation direction of the two eccentric rotators, whereby force and z or sensation are sensed.
- This is a tactile information presentation system including control means for independently changing frequency and intensity.
- a third mode according to the present invention is a single eccentric rotator, a twin eccentric rotator composed of Z or two eccentric rotators, and a twin eccentric rotator arranged in Z or three-dimensional space.
- Tactile sensation providing means having an eccentric rotator array in which a plurality of eccentric rotators are arranged two-dimensionally or three-dimensionally, and control means for controlling the rotational state of each eccentric rotator included in the tactile sensation providing means
- This is a tactile information presentation system comprising:
- a tactile sense presenting means having a plurality of three-dimensionally arranged rotors, and controlling a temporal change of a combined angular momentum vector of the tactile sense presenting means.
- a tactile sensation information presentation system provided with control means for generating a predetermined torque by rapidly changing the combined angular momentum vector near zero. This is a tactile information presentation system that controls the precession torque to a predetermined value or less.
- a tactile sensation providing means having two eccentric rotators, a rotation direction, a phase relationship, and a rotation speed of the two eccentric rotators are controlled.
- a rotation direction having two eccentric rotators
- a phase relationship having two eccentric rotators
- a rotation speed of the two eccentric rotators
- a tactile sensation providing means having two eccentric rotators
- the rotation and the direction of rotation of the two eccentric rotators are reversed, thereby controlling the force and the Z.
- it is a tactile information presentation method that changes the frequency and intensity of the force sensation independently.
- a seventh embodiment according to the present invention provides a single eccentric rotator, a twin eccentric rotator having Z or two eccentric rotator forces disposed on the same rotation axis, and a Z or three-dimensional eccentric rotor.
- a tactile sense presentation means having an eccentric rotor array in which a plurality of twin eccentric rotators arranged two-dimensionally or three-dimensionally are arranged in the space
- the tactile sense presentation means is included in the tactile sense presentation means. This is a tactile information presentation method that individually controls the rotational state of each eccentric rotor.
- a temporal change of a combined angular momentum vector of the tactile sense presenting means is provided.
- Tactile information such as torque and force is continuously or intermittently transmitted in the same direction, which is conventionally difficult with a non-grounded man-machine interface having no base in the body.
- vibration sensation In order to present vibration sensation, torque sensation, and force sensation, conventionally, corresponding devices were required. However, according to the present invention, the vibration sensation is controlled by one mechanism called an eccentric rotor. , One or more of a torque sensation and a force sensation can be simultaneously presented, and various tactile sensation information can be presented, and the presentation system can be downsized.
- devices used in the field of VR Virtual Reality
- devices used in the field of games mobile phones, portable navigation devices, PDAs (Personal Digital Assistants), etc.
- a useful man-machine interface that can be installed in a robot, an interface between a robot and a machine, and an interface between an animal and a machine can be realized.
- the presence of an object in a virtual space or the impact of a collision is presented by presenting force to a person through the above-mentioned man-machine interface or restricting the person's movement by applying anti-force or reaction force.
- the eccentric rotor increases the vibration intensity by increasing the rotation speed, and the vibration frequency and Although the vibration intensity cannot be controlled independently, the eccentric rotor to which the present invention is applied can change the vibration intensity of the eccentric vibration without changing the rotation speed. This makes it possible to control the vibration frequency and the vibration intensity independently.
- the easiness of the control is a great advantage. That is, the combined angular momentum vector is By rapidly changing the torque, it is possible to suppress the precession torque while generating a large torque.
- the torque presenter shakes due to the user's movement, it is difficult to suppress the swing of the torque presenter by temporally changing the synthetic angular momentum vector near the synthetic angular momentum vector of an appropriate size. It is possible to present a predetermined torque.
- FIG. 1 is a diagram showing a schematic configuration of a tactile information presentation system according to an embodiment of the present invention.
- the tactile sensation presentation device 112 controls the rotation speed of one or more rotors in the tactile sensation presentation device 112 by using the control device 111, and its physical characteristics such as vibration, force, By controlling the torque, the user 110 is made to perceive various tactile information such as vibration, force, and torque.
- a tactile sense information presentation system 4101 includes a tactile sense presentation device 4110, a control device 4120, and an input device 4130.
- the tactile sensation presentation device 4110 has one or more rotors 4180 rotated by a motor, and rotates under the control of the control device 4120.
- a stepping motor, a servomotor, or the like can be applied.
- the control device 4120 includes a CPU (central processing unit) 4160, a RAM (random access memory) 4170, a ROM (read only memory) 4140, and the like.
- the CPU 4160 controls the entire operation of the control device 4120.
- the RAM 4170 is used as a work area for temporarily storing data to be processed when performing CPU 4160 processing.
- the ROM 4140 stores a control program 4150 in advance.
- the control program 4150 defines the control processing of the tactile sense presentation device 4110 corresponding to the input signal from the input device 4130. It is a program that did.
- the CPU 4160 reads out and executes the control program 4150 from the ROM 4140, thereby controlling the rotor 4180 of the haptic presentation device 4110 in accordance with each input signal.
- the input device 4130 is, for example, an input camera select button or the like.
- the CPU 4160 performs processing corresponding to the input of the select button selected by pressing or touching (for example, controlling the haptic presentation device 4110 so as to generate a torque in a predetermined rotation direction).
- Such an input device 4130 may be a part of the control device 4120 integrated with the control device 4120.
- the input device 4130 is a device such as a well-known myoelectric detector or a well-known angular acceleration sensor for detecting myoelectricity described below.
- the CPU 4160 controls the tactile sensation presentation device 4110 which feedbacks the input. I do.
- the input device 4130 such as an angular acceleration sensor may be included in the tactile presentation device 4110 together with the tactile presentation device 4110.
- FIGS. 2 and 3 are diagrams showing a tactile information presentation method in which a tactile information presentation machine is controlled by a control device of a tactile information presentation system using tactile characteristics related to the tactile sensation. .
- the sensory characteristic 211 is often a non-linear characteristic such as logarithmic, with respect to the physical amount 212 which is mainly a stimulus.
- Fig. 2-1 schematically illustrates the case where the sensory characteristic 211 is a logarithmic function.
- the torque sense 224 is represented as shown in FIG. 2-2.
- the torque 223 is proportional to the time difference of the rotational speed (angular speed) 222 of the rotor. When operating at operating point A214 and operating point B215, Is perceived.
- the torque 223 physically returns to the initial state 228 in one cycle, and its integral value is zero.
- the sensory integral value of the torque sense 224 which is the sense amount, is not always zero.
- the sensory characteristic 211 shows a non-linear characteristic such as an exponential function.
- FIG. 3 (FIG. 3-1) schematically illustrates a case where the sensory characteristic 231 has a threshold. Considering the case where a positive torque is generated at the operating point A234 and a negative torque is generated in the opposite direction at the operating point B235 on the sensory characteristic 231, the torque sense 244 is represented as shown in Fig. 3-2. Be forgotten.
- the torque 243 physically returns to the initial state 248 in one cycle. , And its integral value is zero.
- the torque sensation 244 which is the sensation amount, is equal to or less than the sensation threshold in the section of the operating point B duration 246, and thus becomes zero. As a result, it is possible to continue to intermittently present the torque sense in only one direction.
- FIG. 4 (FIG. 41)-(FIG. 43) is a diagram showing a tactile sensation information presentation method using hysteretic sensory characteristics related to haptics.
- the sensory characteristic often shows a hysteretic sensory characteristic 311 that is not isotropic when the displacement 312 increases or decreases, such as when the muscle is stretched or contracted.
- the hysteretic sensory characteristic 311 in FIG. 41 is a schematic representation of the hysteretic sensory characteristic. Considering the case where a positive torque is generated on the operation path A314 and a negative torque is generated on the operation path B315 in the reverse direction on the hysteretic sensory characteristic 311, these behaviors are as shown in FIG.
- the torque sense 334 is represented as shown in FIG. 4-3. Torque 333 is proportional to the time derivative of rotor speed 332. When the operation is performed along the operation path A314 and the operation path B315, a torque sense 334 is perceived.
- the torque 333 physically returns to the initial state 338 in one cycle, and its integral value is zero.
- the sensory integral value of the torque sense 334 which is the sensory amount, is not always zero.
- Motion path A314 and motion By appropriately selecting the operation path B315 and setting the operation path A duration 335 and the operation path B duration 336 appropriately, continuously presenting a strong torque sense intermittently in any direction. Can be.
- FIG. 5 and FIG. 6 are diagrams showing a tactile sensation information presentation method using a method of changing a sensation characteristic by a masking effect relating to sight as an example of a method of changing a sensation characteristic.
- FIG. 5 schematically illustrates the torque 413 which is a mask, and the torque sense 434 perceived at this time is expressed as (FIG. 5-3).
- Torque 413 is proportional to the time derivative of rotor speed 412
- the initialization time 415 for initializing the rotation speed 412 of the rotor and the corresponding masking time 425 are masked by the initialization time 445 shown in Fig. 6 (Fig. 6-1).
- the duration is shortened like 455, and when it becomes shorter than a certain time, torque is continuously presented like torque sense 464 despite the negative torque due to initialization physically present. Then, a critical fusion that feels like it occurs.
- the masker that generates the masking vibration may be a rotor different from the rotor that is the masking mask by which the torque is masked, or the masking rotor itself.
- the case where the rotator of the masky is also the masker means that the rotator is controlled by the control device to generate the masking vibration during masking.
- the direction of vibration of the masker may or may not be the same as the direction of rotation of the rotor of the musky.
- FIG. 7 is a diagram schematically illustrating this case. As shown in Fig. 7, the torque sense 484 is reduced by the front masking 485 and the rear masking 486 before and after the senses 485 and 486.
- FIG. 8 shows a method for controlling the presentation of tactile sensation information in accordance with changes in sensory characteristics related to haptics.
- FIG. 6 is a diagram showing a tactile information presentation method using a method.
- the sensitivity of the torque sensation 517 changes depending on at least one of the muscle tension state and the physical 'physiological' or psychological state. For example, muscles are instantaneously stretched with an external force of presentation torque 514 (short, strong in time !, torque 524), and the muscle spindle and muscle sensor in the muscle sense this and lose the external force. Note that the muscle contracts quickly in a conditioned reflex with a muscle-induced torque 515 (muscle reflex-induced torque 525) that has power. At this time, a myoelectric 511 is generated. The control circuit 512 that detects this changes the sensitivity of the torque sense 517 by controlling the tactile sense presentation device 513 and applying the presentation torque 516 (gently moderate torque 526) in synchronization with muscle contraction. Let it.
- FIG. 9 shows a tactile sensation information presentation method using a method of correcting a presentation physical quantity based on a relationship between a presentation physical quantity and a sensation quantity in the direction of the palm regarding the sense of sight.
- the palm has different sensitivities depending on the direction of the palm, due to its anatomical structure such as the skeleton, joint, and tendon muscles. Correcting the strength of the presentation physical quantity (rotational speed ⁇ 612) in accordance with the sensitivity (anisotropic sensitivity curve 611) depending on the direction of the palm enables accurate direction presentation.
- FIG. 10 is an explanatory diagram of an eccentric rotator applicable to the rotator in the tactile sensation display device of the present embodiment.
- the rotation of the eccentric rotator 711 is shown in FIG.
- FIG. 10 is a diagram showing a method of presenting tactile sensation information synchronized in phase (as in 10-2).
- FIG. 10 schematically illustrates the case where the sensory characteristic 731 is a logarithmic function, and the sensory characteristic 731 is a physical quantity that is a stimulus like the sensory characteristic 211. This indicates that the sensory quantity 733 is a non-linear characteristic such as logarithm.
- a positive torque is generated at the operating point ⁇ ⁇ 734 (vibration also occurs due to the eccentricity of the eccentric rotor 711) and a negative torque in the opposite direction is generated at the operating point ⁇ 735 on the sensory characteristic 731, 744 is shown in Figure 10-4.
- Torque 743 is proportional to the time derivative of rotor speed 742.
- torque sense 744 When operated at operating point # 734 and operating point # 735, torque sense 744 is perceived.
- the torque 743 physically returns to the initial state 748 in one cycle, and its integral value is zero.
- the sensory integral of the torque sensor 744 which is the sensory amount, is not always zero. Absent.
- the sensory characteristic 731 exhibits a non-linear characteristic such as an exponential function.
- the sensory characteristic 731 in (Fig. 10-3) has a threshold like the sensory characteristic 231 in (Fig. 3-1), the same torque sensation as in (Fig. 3-2) occurs, and only one direction The sense of torque can be presented intermittently.
- FIG. 11 is an explanatory view of an eccentric rotator applicable to the rotator in the tactile sensation display device according to the present embodiment.
- the eccentric rotator A812 and the eccentric rotator B813 rotate in directions and phases.
- FIG. 10 is a diagram showing a method of presenting tactile information of vibration sensation, torque sensation, and force sensation by appropriately synchronizing the information.
- FIG. 11-2 in Fig. 11 schematically illustrates a case where the two eccentric rotators A812 and B813 of (Fig. 11-1) are synchronously rotated in the same direction. .
- Fig. 11-3 schematically illustrates the case where the two eccentric rotators A812 and B813 of (Fig. 11-1) are synchronously rotated in the same direction with a 180 ° phase delay.
- torque rotation without eccentricity can be synthesized.
- FIG. 114 shows a schematic diagram in which the two eccentric rotators A812 and B813 of FIG. 11A are synchronously rotated in opposite directions. As a result of the synchronous rotation in the opposite direction, a force that linearly vibrates linearly in an arbitrary direction can be synthesized.
- FIG. 12-1) in Fig. 12 shows that the eccentric vibration can be reduced by properly synchronizing the rotation directions and phases of the two eccentric rotors A822 and B823 in (Fig. 11-2). It is a figure showing a method of changing vibration intensity.
- the phase difference of the rotation of the two eccentric rotors A822 and B823 for example, phase difference 0 ° 851, phase difference 90 ° 852, phase difference 180 ° 853
- the two eccentric rotator composite centroids 854, 855, 856)
- the center of gravity moment length (857, 858, 859) between the rotation center of the rotor and the composite center of gravity
- the vibration intensity of the eccentric vibration can be changed without changing. As a result, the vibration frequency and vibration intensity can be reduced. Can be controlled independently.
- the eccentric rotator used in the manner mode of a mobile phone or the like increases the vibration intensity by increasing the rotation speed, and controls the vibration frequency and the vibration intensity independently. Can not.
- FIG. 12-2 shows that the strength of the force and Z or the force sensation can be enhanced by appropriately reversing the rotation directions of the two eccentric rotors A842 and B843 in (Fig. 114).
- FIG. 4 is a diagram illustrating a method of changing the intensity of vibration, Z and vibration sensation.
- FIG. 13 is a diagram showing a tactile sensation presentation machine 1301 in which two eccentric rotators A812 and B813 are set as one set and three sets are arranged in a rectangular coordinate system.
- reference numeral 1310 denotes an eccentric rotator
- 1311 denotes a motor for driving the eccentric rotator.
- FIG. 14 shows a sheet-like configuration of one of the eccentric rotor 711 (Fig. 10-1), the twin eccentric rotor 811 (Fig. 11-1), and the twin eccentric rotor arranged three-dimensionally in Fig. 13
- FIG. 9 is a diagram showing a sheet-shaped eccentric rotator array 880 arranged two-dimensionally in a plane.
- the drive method of the twin eccentric rotor may be any method that can display the desired physical quantity, such as a molecular motor or a piezoelectric element.
- FIG. 15 is a diagram showing a glove-shaped eccentric rotator array 890 obtained by processing the sheet-shaped eccentric rotator array 880 into a glove shape.
- eccentric rotator array 880 and glove-shaped eccentric rotator array 890 are merely examples of the embodiment, and include the case where the eccentric rotator array is three-dimensionally arranged, such as clothing and wearable. It can also be applied to the presentation of tactile information.
- FIG. 16 is a diagram showing a tactile sense information presentation method in which the rotations of the two eccentric rotators A912 and B913 are phase-synchronized using the sensory characteristics related to the sense of sight.
- FIG. 16-2 schematically illustrates a case where the two eccentric rotators A912 and B913 of (FIG. 16-1) are synchronously rotated in the same direction with a 180 ° phase delay. This is what I did. As a result of this synchronous rotation, torque rotation without eccentricity can be synthesized.
- FIG. 16-3 schematically illustrates the case where the sensory characteristic 931 is a logarithmic function characteristic.
- the sensory characteristic 931 is similar to the sensory characteristic 211 with respect to the physical quantity 932 that is a stimulus. This indicates that the quantity 933 is a non-linear characteristic such as logarithm.
- the torque sense 944 is expressed as shown in Fig. 16-4. It is.
- Torque 943 is proportional to the time derivative of rotor speed 942. When operated at operating point A934 and operating point B935, torque sense 944 is perceived.
- the torque 943 physically returns to the initial state 948 in one cycle, and its integral value is zero.
- the sensory integral value of the torque sense 944 which is the sense amount, is not always zero.
- Proper selection of operating point A934 and operating point B935, and appropriate setting of operating point A duration 945 and operating point B duration 946 allow continuous presentation of torque sensation in any direction. Can be.
- FIG. 17 is a diagram showing a tactile sensation information presentation method in which the rotations of the two eccentric rotators A1012 and B1013 are phase-synchronized in opposite directions using sensory characteristics related to the haptics.
- Fig. 17 (Fig. 17-2) is a schematic illustration of a case where the two eccentric rotors A1012 and B1013 of Fig. 17-1 are synchronously rotated in opposite directions. is there. As a result of the synchronous rotation in the opposite direction, a force that oscillates linearly and simply in any direction can be synthesized.
- Fig. 17-3 schematically illustrates the case where the sensory characteristic 1031 is a logarithmic function characteristic, and the sensory characteristic 1031 is the same as the sensory characteristic 211 and the physical amount 1032 is a stimulus. Is a non-linear characteristic such as logarithm.
- the force sensation 1044 is as shown in (Fig. 17-4). Is represented as Combination of two eccentric rotors
- the magnitude of rotational speed 1042 is the composite of the rotational speeds of eccentric rotator A1012 and eccentric rotator B1013, and force 1043 is when the magnitude of combined rotational speed of two eccentric rotors is 1042 It is proportional to the interderivative.
- Force 1043 physically returns to initial state 1048 in one cycle, and its integrated value is zero.
- the sensory integral value of the force sensation 1044 which is the sensory amount, is not always zero. Select the operating point A1034 and operating point B1035 appropriately, set the operating point A duration 1045 and operating point B duration 1046 appropriately, and adjust the synchronous phase of the two eccentric rotors A1012 and B1013. By doing so, it is possible to continue to present force sensation freely in any direction.
- the sensory characteristic 1031 shows a non-linear characteristic such as an exponential function.
- the sensory characteristic 1031 in (Fig. 17-3) has a threshold like the sensory characteristic 231 in (Fig. 3-1), the same force sensation as in (Fig. 3-2) occurs, and the force is applied in only one direction. I can continue to present my senses intermittently.
- FIG. 18 shows the feeling of pushing by itself (FIG. 18-1), the feeling of swelling (FIG. 18-2), and the method of presenting force sensation using two eccentric rotors shown in FIG. How to present a sense of oppression (Fig. 18-3), a sense of pulling by yourself (Fig. 18-4), a sense of pulling external force (Fig. 18-5), and a sense of pressing external force (Fig. 18-6)
- FIG. 18-1 The sensation of pushing itself (Fig. 18-1) can be obtained by presenting force 1113 and force 1114 on the back and front of the palm using twin eccentric rotator 1111 and twin eccentric rotator 1112, respectively.
- twin eccentric rotator 1111 and twin eccentric rotator 1112 twin eccentric rotator 1112
- a feeling of swelling (Figure 18-2), a feeling of oppression (Figure 18-3), a feeling of pulling by yourself (Figure 18-4), a feeling of being pulled from outside (Figure 18-5), and a feeling of being pressed by external force (Figure 18-5) Figure 18-6) can be similarly presented.
- Fig. 19 shows that by properly controlling the rotation of each twin eccentric rotator 1172 on the gloved eccentric rotator array 1170, a force 1173, a shear force 1174, and a torque are applied to the palm and fingertips. It is a figure showing the method of presenting 1175.
- the spatial intensity distribution of the anti-mouse 1193 to be presented to the palm by appropriately adjusting the spatial intensity distribution of the anti-mouse 1193 to be presented to the palm, the spherical anti-mouse 1191, the cubic anti-mouse 1192, etc. It can present a three-dimensional shape such as a sphere or a cube, or a tactile sensation such as a feeling of elasticity and a sense of play.
- FIG. 23 shows an example of a control method that presents one or more tactile sensation information continuously or intermittently in any direction of vibration sensation 'force sensation' or torque sensation in an arbitrary direction.
- FIG. 9 is a diagram illustrating a method of presenting vibration and tactile information in an arbitrary direction using a method of changing characteristics.
- the sensory characteristics are masked by the masking vibration 1216, and the force sensation 1224 is reduced.
- This masking vibration can be generated by oscillating the speed by synchronizing the rotation speed 1022 of the eccentric rotor A and the rotation speed 1023 of the eccentric rotor A in FIG. 17-2.
- Fig. 23-1) is a schematic representation of this, and the perceived perception 1224 at this time is represented as (Fig. 23-2).
- the force 1213 is proportional to the time derivative of the magnitude 1212 of the combined rotational speed of the two eccentric rotors.
- the initialization time 1215 for initializing the rotation speed 1212 of the rotor is reduced, and when the time becomes shorter than a certain time as shown in Fig. 23-3, the negative force due to the initialization is physically reduced. Despite the existence, force is continuously presented as in force sensation 1244, and a critical fusion that feels like it occurs.
- a method of generating a sense of torque there are a method of accelerating and decelerating the rotation speed of a rotating body having a moment of inertia, and a method of rotating the rotating body around an axis orthogonal to its rotation axis. From a mechanistic point of view, it is broadly classified into two types: rotor attitude control type (hereinafter referred to as gyro type 1311) and synthetic angular momentum vector differential type 1312 (Fig. 24).
- gyro type 1311 rotor attitude control type
- Fig. 24 synthetic angular momentum vector differential type
- a gyro type 1311 for controlling the attitude of a rotor using a gyroscope will be described.
- a gimlet structure the posture of the rotor rotating at a constant angular velocity
- the torque can be generated by changing the rotation angles ⁇ and ⁇ around the axis.
- a synthetic angular momentum vector differential type 1312 for controlling a temporal change of the synthetic angular momentum vector will be described.
- the rotation speeds ⁇ , ⁇ , and ⁇ of the three rotors fixed to the X, y, and z axes independently, and synthesizing the angular momentum of each rotor, the angular momentum vector in any direction Can be produced. If this is properly controlled, torque can be created in any direction.
- the torque vector when the angular momentum vector L is changed is expressed as follows.
- the combined angular momentum vector composed of the angular momentum about each of these axes is given by i, j, k as the basic vectors in the x, y, and z directions.
- the generation direction of the angular momentum vector can be controlled in any direction by changing the ratio of the angular velocities ⁇ : ⁇ : ⁇ in the x, y, and z axis directions.
- This method has the advantage of being easy to control and capable of presenting a variety of three-dimensional haptic sensations. Note that the torque felt by a person has the same magnitude as the torque vector ⁇ in the opposite direction according to the law of action and reaction.
- the torque ⁇ X L is added. This precession means that when a torque is applied to the gyro from the outside, the spin axis of the gyro rotates in a direction orthogonal to the torque obtained by the gyro. Is in the rotation of the coordinate axes.
- Luc works and always tries to point in the same direction, like a gyro-conos.
- the control feature according to the present embodiment is that the temporal change of the synthetic angular momentum vector L1332 is controlled, and the easiness of the control is a great advantage.
- L By rapidly changing L near zero, it is possible to generate a large torque [d L / d t],
- the mobile phone or PDA needs to be miniaturized so that it can be built in or externally attached.
- vibration has been used to notify an incoming call.
- a vehicle approaches a corner, it first alerts the user by vibration, and then uses voice to indicate the direction to turn. In other words, it is a reminder by neubration and does not provide direction information, so it was positioned as a 0-dimensional plane (vibration 1341).
- a direction is presented in a plane space such as a navigation system, two dimensions are sufficient as shown in Fig. 26-3, and a visual navigation system is built in a mobile phone or the like. be able to.
- Fig. 26-4 is a model that adopts the opposed twin motor system newly devised in consideration of the balance of the center of gravity.
- the ⁇ X L component be operated at a control point where L is close to zero in order to hinder the movement of the user.
- the Lz component is not affected by the precession torque when rotating in a horizontal plane, such as in the direction of the user's swing, but the vertical movement of the arm causes the torque presenting machine to rotate due to the conservativeness of the rotating shaft like a vertical gyro in an airplane.
- the posture stabilizes (see Fig. 27).
- the rotation vector ⁇ is generated with the arm lowered and the elbow as the fulcrum, and A torque ⁇ ⁇ is generated in the direction to rotate the Lz vector, and a torque is generated in a direction to cancel the rotation vector ⁇ . It is considered that the torque that suppresses the vertical movement of the torque presenter with the elbow as a fulcrum stabilizes the position of the torque presenter.
- FIG. 28 shows a tactile sensation presentation machine 2801-2 in which, as in the case of the tactile sensation presentation machine 1301 in FIG. It is a figure which shows a two-dimensional sectional view.
- an eccentric rotator (inertia; inertia body) 2804, a motor 2803, and the like are arranged in a spherical housing 2807.
- FIG. 28 shows the center of the spherical housing 2807.
- the eccentric rotator 2804 and the motor 2803 are integrated, and the rotating shaft 2802 of the motor is fixed to a joint 2810 of the housing 2807.
- the rotating shaft 2820 is fixed, and is integrated with the rotating shaft 2802 in the same manner as the rotation of an ordinary motor, so that the magnet of the rotor of the motor and the electromagnet of the main body of the motor 2803 repel and the motor 2803 Turns around.
- the rotating body in which the eccentric rotor and the motor are formed rotates.
- the terminals for supplying power to the main body of the motor 2803 are processed so that the contacts maintain the polarity even when the main body of the motor 2803 rotates. (Not shown).
- the tactile sensation presentation device 2801 increases the mass of the rotating part (ie, the inertia) as compared with the haptic presentation device 1301 in FIG. 13 in which the motor is fixed to the housing and only the eccentric rotor rotates. It is possible to increase the moment), and the efficiency of the dynamic operation (presentation of vibration, torque and force) by the rotation of the rotating body is improved. Furthermore, the lighter the housing 2807, the higher its efficiency.
- the tactile sense presentation device 2801 shown in FIG. 28 is not limited to the case where an eccentric rotor is applied, but a rotor which is not eccentric can of course be applied. Furthermore, the tactile sensation presentation device 2801 exemplifies a spherical housing, but the principle of the tactile sensation presentation device 2801 can be applied to a case other than a spherical housing. It is applicable.
- FIG. 29 is a diagram showing a two-dimensional sectional view of a tactile presentation device 2901 obtained by further improving the tactile presentation device 2801 of FIG.
- the tactile sensation display device 2901 includes a fluid (gas flow or liquid flow) 2909 in which a turbine fin 2908 is disposed in a spherical housing 2807, and FIG. 28 is a cross-section through the center of the spherical housing 2807.
- Turbine fins 2908 are provided on a rotating body integrally formed with the eccentric rotor 2804, the motor 2803, and the force S. As a result, in the tactile sense presenter 2901, the turbine fin stirs the fluid 2909 when the rotating body formed by the eccentric rotor and the motor rotates.
- the tactile sensation presentation device 2901 applies a load resistance to the rotation of the turbine fin due to the circulation of the fluid as compared with the rotation of the rotating body of the tactile sensation presentation device 2801 in FIG. Since the effective moment of inertia of the body is increased, the efficiency of the mechanical motion (presentation of vibration, torque, and force) by the rotation of the rotating body is improved. Further, the efficiency is improved as the weight of the housing 2807 is reduced.
- a load resistance can be applied to the rotation of the turbine fin by providing a constriction hole 2910 for squeezing the cross section of the fluid flow path in a path for circulating the fluid.
- FIG. 30 is a diagram showing a two-dimensional cross-sectional view of a tactile presentation device 3001 obtained by further improving the tactile presentation device 2901 of FIG.
- the tactile sensation presentation device 3001 includes air 3009 in a spherical housing 3007, and a hole 3010 is provided in the housing 3007 so as to face the turbine fin, and FIG. 30 shows the center of the spherical housing 3007.
- the tactile sensation display device 3001 can control the motor so that, for example, the left force in FIG. appear. In this case, the tactile sensation presentation device 3001 moves to the left in the figure, taking into account the ejection force of the airflow 3002b, compared to the tactile sensation presentation device 2901 in FIG.
- Turbine fins are variable fins that can control the relationship between the rotation direction and the blowing direction. Even if the torque direction accompanying rotation is the same, the direction of airflow can be controlled by changing the fin angle. Can be. Further, it may be fixed depending on the use. [0114] It should be noted that two motor rotators, a motor body, an eccentric rotating body, and two turbine fins in which airflow is generated in opposite directions are mounted on one rotating shaft 2802. The selection may control the flow direction of the airflow (not shown).
- FIG. 31 is a view showing another application example of the glove-like eccentric rotator array 890 of FIG. 15, and showing a glove-like eccentric rotator array 3110 obtained by processing the sheet-like eccentric rotator array 3111 into a glove-like shape.
- the rotors are arranged in a lattice pattern, and only the eccentric rotors 3170a to 3173a and 3170b to 3177b are rotating.
- the tactile information of a virtual twist as a spatial spread on the palm can be obtained. Can be presented.
- a large synthetic torque 315a for twisting the center of the palm counterclockwise is presented, and the eccentric rotors 3170b to 3177b provide the same direction.
- a synthetic torque 315b that twists the palm extension clockwise is presented.
- FIG. 32 is a diagram showing a two-dimensional sectional view of a tactile presentation device 3201 obtained by further improving the tactile presentation device 2801 of FIG.
- a control circuit 3205 and an angular acceleration sensor (and a gravity / acceleration sensor) 3206 are arranged in the center of a spherical housing 2807, and FIG. 32 shows the center of the spherical housing 2807. It is sectional drawing which passes.
- the control circuit 3205 corresponds to the control device 4120 in FIG. 41
- the angular acceleration sensor (and gravity / acceleration sensor) 3206 corresponds to the input device 4130 in FIG.
- the tactile sense presenter 3201 in FIG. 32 assumes a ball in the form of a baseball, but may have any other shape.
- the angular acceleration sensor 3206 monitors the backspin 3215 generated when the ball (tactile sensation display device 3201) is thrown in the direction of the reference numeral 3210 in the figure, and in the case of constant speed rotation motion, Gravity ⁇
- the direction of gravity can be detected by the acceleration sensor, and the direction of gravity changes periodically with the xyz axis components of the sensor, so the rotation of the ball can be monitored. It should be noted that other methods may be applied as long as the rotation of the ball can be detected.
- the control circuit 3205 analyzes the input information from the angular acceleration sensor (and the gravity / acceleration sensor) 3206, and cancels the backspin 3215 of the ball (the tactile sense presentation device 3201) in the tactile sense presentation device 3201. To control the motor.
- the ball (tactile sense presentation device 3201) becomes non-rotating, and becomes a changing sphere that fluctuates and fluctuates irregularly under the influence of the flow and vortex generated behind it (so-called knuckle ball).
- knuckle ball a changing sphere that fluctuates and fluctuates irregularly under the influence of the flow and vortex generated behind it
- the conventional visual sensation presentation device in VR has reduced the original effect of VR that makes the user feel the weight of itself. Therefore, in the tactile sensation providing device 3001 in FIG. 30, the airflow flowing through the tactile sensation providing device 3001 from the top to the bottom in FIG. This reduces the user's perception of the weight of the tactile sensation presentation device 3001 itself, and improves the original effect of making the user perceive VR. Similarly, by generating an airflow that flows through the haptic presentation device 3001 from bottom to top in FIG. 30, the force of the upward flow of the airflow makes the tactile presentation device 3001 itself heavier than it actually is. It can also make the user feel.
- FIG. 33 is an explanatory diagram of the pen-shaped device 3301 incorporating the tactile sense presenter described above in the present embodiment.
- the pen-shaped device 3301 is provided with a touch panel 3350 on the surface, and the touch nonel 3350 indicates a row of buttons 3310, 3320, 3330, and 3340 in the figure, and each row of buttons has four buttons.
- the pen-shaped device 3301 of the present embodiment is assumed to be applied to, for example, a pen-shaped mobile phone.
- the function of the touch panel 3350 may be a physical button instead of the touch panel.
- each button row is not limited to four buttons, and may be a desired number. Also, a desired number of button rows may be provided (for these examples, FIG. 42 shows a supplementary explanation of FIG. 33).
- Fig. 33 (a) Force Fig. 33 (b) is used by rotating it 180 °, but there are virtual operation panels as many as the number of rows for each rotation angle of (360 ° number of Z rows) Will be.
- FIG. 33 (a) shows that the user holds the pen-shaped device 3301 and Look at the power pen-shaped denoiser 3301! / If you want to, you can use the buttons IJ3310, 3320, 3330, "1, 4, 7, water", “3, 6, 9, #", “2, 5,” respectively. It has a button for the number input function of "8, 0".
- buttons "1, 4, 7, *” in button row 3310 become the kana input function of "A, T, M,-,.”, respectively, and the buttons "3, 6, 9" in button row 3320 , # ”Are the kana input functions of“ sa, ha, ra, (enter) ”, respectively.
- [0122] is a kana input function for "kana na na wa".
- the device is realized by 4 rows and 4 columns, using the first column, second column, and third column as the front side of the device, and using the third column, fourth column, and first column as the back side of the device. Can be used.
- FIG. 34 is a diagram showing a schematic configuration of the pen-shaped device 3301.
- the pen-shaped device 3301 includes a tactile sensation presentation device 3410, a control circuit 3420, a posture sensor 3430 based on a known acceleration sensor, a pen-shaped device control circuit 3440, and a touch panel 3350.
- the control circuit 3420 corresponds to the control device 4120 in FIG. 41
- the attitude sensor 3430 corresponds to the input device 4130 in FIG.
- the pen-shaped device control circuit 3440 determines whether the user is looking at the pen-shaped device 3301 in the misaligned state shown in FIGS. 33 (a) and 33 (b). Then, as shown in FIG. 33 (a) or FIG.
- the input function of each of the buttons 3310, 3320, 3330, 3340 is determined, and the corresponding button is displayed on the touch panel.
- the pen-shaped device control circuit 3440 processes an input from the touch panel 3350, and processes, for example, an input of a numeral 0 when the button “0” is pressed by the user.
- Circuits, such as a pen-shaped device control circuit 3440, for processing input from the attitude sensor 3430 and processing input from the touch panel 3550 and their control are well known to those skilled in the art and need not be described in detail. .
- the posture sensor 3430 detects a posture change to the direction 3302 in FIG. 34, and detects the movement of the finger pressed by the pressure sensor of the touch panel.
- the control circuit 3420 analyzes the input information from the attitude sensor 3430, and presents a sensation as if a real button were pressed even though it was a virtual button on the touch panel.
- the tactile sensation display 3410 controls the motor in the haptic display 3410 to provide the tactile feedback so as to present the movements of the 3460 and 3302 directions. For this reason, the tactile sense presentation device 3410 presents a force in the directions 3460 and 3302 to make the user feel that the button “0” is pressed.
- the posture sensor 3430 detects a posture change to the direction 3470 in FIG. 34, or the finger of the touch panel sensor rubs.
- the control circuit 3420 analyzes the input information from the attitude sensor 3430 and the touch panel sensor, and feels like operating the actual scroll wheel or joystick even though it is a virtual wheel on the touch panel.
- the motion in the 3470 and 3480 directions as presented is controlled by the motor in the tactile sensation presentation machine 3410 to provide haptic feedback. For this reason, the tactile sensation display device 3410 presents forces in the directions 3470 and 3480 to give the user a sense of operation of the virtual scroll wheel.
- FIG. 35 is an explanatory diagram of the pointer 3501 including the tactile sensation presentation device described above in the present embodiment, and is a diagram illustrating a schematic configuration of the pointer 3501.
- the pointer 3501 includes a tactile sense presentation device 3510, a control circuit 3520, an attitude sensor (or a position sensor or an acceleration sensor) 3530, a pointer control circuit 3540, a switch 3550, and a laser light source 3590.
- the control circuit 3520 corresponds to the control device 4120 in FIG. 41
- the attitude sensor 3530 and the switch 3550 correspond to the input device 4130 in FIG.
- the pointer control circuit 3540 controls the laser light source 3590 so as to emit the laser light 3580 when the switch 3550 is turned on. Circuits for controlling the laser light source 3590 to emit laser light 3580, such as the pointer control circuit 3540, and the control thereof are well known to those skilled in the art, and need not be described in detail.
- the attitude sensor 3530 detects a change in the attitude to the direction 3570, and the control circuit 3520 outputs the input information from the attitude sensor 3530. Is analyzed, and the motor in the haptic presentation device 3510 is controlled so as to suppress the movement of the haptic presentation device 3510 in the direction 3570. For this reason, the haptic presentation device 3510 presents a force in the direction 3590, and causes the user to experience the anti-power to the direction 3570 shaken. Thus, for example, in a case where the left force in FIG.
- the selection and gripping intention of the object 3560 is transmitted to the pointer control circuit 3540 using the laser light source 3590 and the laser light tracking function, but this is not a limitation as long as the selection and gripping intention can be input.
- FIG. 36 is an explanatory diagram of a baton-type controller 3601 incorporating the tactile sensation presentation device described above in the present embodiment, and is a diagram showing a schematic configuration of the baton-type controller 3601.
- the command rod type controller 3601 is a controller used in a well-known (conducting) music game of a home video game machine.
- the baton-type controller 3601 includes a tactile sensation providing device 3610, a control circuit 3620, a posture sensor 3630, and a controller control circuit 3640.
- the control circuit 3620 corresponds to the control device 4120 in FIG. 41
- the attitude sensor 3630 and the controller control circuit 3640 correspond to the input device 4130 in FIG.
- the controller control circuit 3640 transmits and receives signals 3609 to and from the game machine 3606, processes input information of the attitude sensor 3630, transmits the information to the game machine 3606, and receives instructions from the game machine 3606. Circuits for controlling communication with the game machine 3606, such as the controller control circuit 3640, and their controls are well known to those skilled in the art and need not be described in detail.
- the signal 3609 is an example of a signal of a wired system. The signal is not limited to this, and the signal 3609 may be a signal of a wireless system.
- the posture sensor (or pressure sensor) 3630 detects the gripping method and the posture change to the direction 3607.
- the controller control circuit 3640 processes the input information from the attitude sensor 3630 and transmits it to the game machine 3606.
- the game machine 3606 processes the music game based on the posture change information from the posture sensor 3630, and the performance of the orchestra in the music game such as tempo, strength, breath, etc. changes depending on the conductor's swing of the baton. . If it is determined that the music at that time exceeds the dynamic range of the performance speed or performance method that can be played by a person, a suppression signal is transmitted to the controller control circuit 3640.
- the controller control circuit 3640 When the controller control circuit 3640 receives the suppression signal, it sends information to that effect to the control circuit 3620, and the control circuit 3620 analyzes the input information from the controller control circuit 3640 to determine the direction of the tactile sensation presentation device 3610 3607 The tactile sensation display 3610 Control data. For this reason, the tactile sense presentation device 3610 presents a force in the direction 3660 to allow the user to experience anti-power in the shaken direction 3607. As a result, in the music game, the music does not exceed the dynamic range of the performance speed and the playing method that can be played by a person, and the music game becomes more realistic.
- FIG. 37 is a diagram showing a schematic configuration of a modification of the tactile information presentation method described above (FIG. 11-4) in the present embodiment.
- Fig. 11-4 two eccentric rotors are rotated synchronously in opposite directions, and a force that linearly vibrates linearly in an arbitrary direction is synthesized.
- Fig. 37 shows a piezo array 3710 in which a plurality of piezo elements 3701 are stacked in the X direction in the figure, and a piezo array 3720 in which a plurality of piezo elements 3701 are stacked in the y direction in the figure.
- FIG. 21 is a diagram showing a piezo matrix 3730 which is a vibrator in which the piezo arrays 3710 and 3720 are alternately arranged in the x and y directions.
- the tactile information presentation method using the piezo matrix 3730 shown in FIG. 37 is a method using the piezo matrix 3730 instead of the rotator 4180 in FIG.
- the controller 4120 in FIG. 41 controls the voltage in the X direction in FIG. 37 to control the simple vibration 3750 in the X direction, and controls the voltage in the y direction in FIG. Controls vibration 3740.
- the piezo arrays 3710 and 3720 are configured to enable a large amplitude, while the piezo element 3701 alone does not provide a sufficient amplitude.
- the tactile sense presentation device 4110 shown in FIG. 41 does not require a stepping motor or a servomotor required for driving the rotor 4180, and the control device 4120 also does not require a control circuit for those motors.
- the configuration combining the camera presentation device and the control device is simplified.
- the piezo matrix 3730 in FIG. 37 by expanding the piezo matrix 3730 in FIG. 37 and forming a piezo cube or the like in which the piezo arrays 3710 and 3720 are alternately arranged in the x, y, and z directions, the simple vibration in the x, y, and z directions can be controlled. It will be understood by those skilled in the art that possible oscillators can be constructed.
- the method in FIG. 37 is applicable to, for example, a mechanism in which a controller in a game machine generates a force in a desired direction.
- the arrangement pattern of the piezo elements 3701 is not particularly limited as long as it can generate a simple vibration in the x, y, and z directions.
- FIG. 38 is also a diagram showing a schematic configuration of another modification of the tactile sensation information presentation method described above (FIG. 11-4) in the present embodiment.
- FIG. 38 (a) shows a cubic vibrator 3801 using a loudspeaker structure in place of an eccentric rotator, and the vibrator 3801 has loudspeaker magnets 3810b, 3810c, 3810m, etc. at the center of each surface.
- the magnets 3810b, 3810c, 3810m, etc. are not limited to the center of each surface, but may be at any position on the surface.
- FIG. 38 (b) is a view showing a cross section of the vibrator 3801 cut along a horizontal cross section 3820 passing through the center of gravity in FIG. 38 (a), and the vibrator 3801 includes magnets 3810a, 3810b, and 381.
- Each side has a speaker cone 3840a, 3850a, 38 ink, 3850b, 3840c, 3850c, 3840d, 3850d associated with each of 0c, 3810d.
- the tactile information presentation method using the transducer 3801 in FIG. 38 is a method using the transducer 3801 instead of the rotor 4180 in FIG.
- the control device 4120 in FIG. 41 controls, for example, the voltage of the magnet in the X direction in FIG. 38 (b) to control the single vibration 3870 in the X direction, and y in FIG. 38 (b).
- the simple vibration 3860 in the y direction is controlled.
- the configuration in Fig. 38 enables a large amplitude due to the vibration of the speaker magnet and cone.
- the control device 4120 does not require a control circuit for those motors.
- the construction power s of the tactile sensation presentation device and the control device is simplified.
- the configuration is not such as the speaker cones 3840a, 3850a, 38, 3850b, 3840c, 3850c, 3840d, 3850d, 3850d, 3850d, 3850d, 3850d, x, y If it is possible to generate a simple vibration in the z-direction, it is possible to use only magnets, regardless of the combination of magnets and cones.
- FIG. 39 is a diagram showing a schematic configuration of a modification of the tactile sensation presentation machine 1301 in FIG. 13 described above in the present embodiment.
- the rotation axes of the two opposing eccentric rotors are parallel including the same axis. All you have to do is do it.
- the two eccentric rotators facing each other are separated in the direction of the rotation axis and rotate on different surfaces, respectively. It is feared that an extra moment due to the mutual force generated in the tactile sensation presentation device 1301 may cause rattling of the rotating shaft.
- the FIG. 39 is a diagram showing a structure in which the generation of an extra moment caused by the rotation of two opposing eccentric rotors on different surfaces is suppressed.
- FIG. 40 is an explanatory diagram of a desktop device 4001 incorporating the tactile sense presentation device described above in the present embodiment, and is a diagram illustrating a schematic configuration of the desktop device 4001.
- the desktop device 4001 also includes a tactile sensation presentation device 4010, a control circuit 4020, and a posture sensor 4030 (acceleration or angular acceleration or a position sensor).
- the control circuit 4020 corresponds to the control device 4120 in FIG. 41
- the attitude sensor 4030 corresponds to the input device 4130 in FIG.
- the posture sensor 4030 detects a change in the position to the direction 4040 in FIG.
- the input information from the 4030 is analyzed, and the motor in the tactile presentation device 4010 is controlled so as to suppress the movement of the tactile presentation device 4010 to the direction 4 040 or to swing horizontally.
- the tactile sense presentation device 4010 presents a force in the direction 4050 to allow the user to experience the frictional force of the desk against the movement in the direction 4040.
- the attitude sensor 4030 detects a change in the position to the direction 4040 in FIG. Analyzes the input information from the robot and controls the motor in the tactile sensation presentation device 4010 to generate a force in the normal direction to the direction of the tactile sensation presentation device 4010 To do. For this reason, the tactile sensation presentation device 4010 presents a force such as a simple vibration in the direction 4060, and makes the user experience a bumpy feeling on the desk for the movement in the direction 4040.
- a device used in the field of VR Virtual Reality
- a device used in the field of games a mobile phone, a portable navigation device, a PDA (Personal Digital Assistant), etc.
- a PDA Personal Digital Assistant
- a force is presented to a person via a man-machine interface to which the present invention is applied, or the movement of the person is restricted by giving an anti-force or a reaction force.
- an anti-force or a reaction force By doing so, it is possible to present the presence of an object in the virtual space and the impact of the collision.
- by mounting the above interface on mobile phones, portable navigation devices, etc. it is possible to realize various kinds of instructions and guidance that have not been seen in the past through the operator's skin. be able to.
- FIG. 1 is a diagram showing a schematic configuration of a tactile information presentation system according to an embodiment of the present invention.
- FIG. 2 is a diagram showing a method for presenting tactile sensation information using sensory characteristics related to tactile sensation.
- FIG. 3 is a diagram showing a tactile sensation information presentation method using sensation characteristics related to tactile sensation.
- FIG. 4 is a diagram showing a tactile sensation information presentation method using hysteretic sensory characteristics related to tactile sensation.
- FIG. 5 is a diagram showing a tactile sensation information presentation method using a method of changing sensory characteristics by a masking effect relating to tactile sensation.
- FIG. 6 is a diagram showing a tactile sensation information presentation method using a method of changing sensory characteristics by a masking effect relating to tactile sensation.
- FIG. 7 is a diagram schematically illustrating a method of changing sensory characteristics by a masking effect relating to tactile sensation.
- FIG. 8 is a diagram showing a tactile information presentation method using a method of controlling tactile information presentation according to a change in sensory characteristics related to tactile information.
- FIG. 9 is a diagram showing a tactile information presentation method using a method of controlling tactile information presentation in accordance with a change in an anisotropic sensitivity curve, which is a sensory characteristic related to tactile information.
- FIG. 10 is a diagram showing a tactile sensation information presentation method in which the rotation of the eccentric rotator 711 is phase-synchronized using the sensory characteristics related to the tactile sensation.
- FIG. 11 is a diagram showing a method of presenting tactile information of vibration sensation, torque sensation, and force sensation by appropriately synchronizing the rotation directions and phases of two eccentric rotators A812 and B813. .
- FIG. 12 is a diagram showing a method of presenting tactile information of vibration sensation and force sensation by appropriately synchronizing the rotation directions and phases of two eccentric rotators A812 and B813.
- FIG. 13 is an explanatory diagram in which two eccentric rotators A812 and B813 are set as one set, and the three sets are arranged in a rectangular coordinate system.
- FIG. 14 is an explanatory view of a sheet-shaped eccentric rotating array to which the present invention is applied.
- Fig. 15 is an explanatory diagram of a glove-shaped eccentric rotating array to which the present invention is applied.
- FIG. 9 is a diagram illustrating a tactile information presentation method in which the rotation of B913 is phase-synchronized.
- FIG. 17 is a diagram showing a tactile sensation information presentation method in which the rotations of two eccentric rotators A1012 and B1013 are phase-synchronized in opposite directions using sensory characteristics related to the tactile sensation.
- FIG. 18 Using the force sensation presentation method using the two eccentric rotors shown in FIG. 17, the sensation of pushing, swelling, oppressing, pulling by yourself, pulling from the outside, and external FIG. 6 is a diagram schematically illustrating a method of presenting a sense of being pressed from a button.
- FIG. 20 is an explanatory view of a skin-like eccentric rotating array to which the present invention is applied.
- Fig. 21 is an explanatory diagram of a skin-like eccentric rotating array to which the present invention is applied.
- FIG. 22 is an explanatory view of a skin-like eccentric rotating array to which the present invention is applied.
- FIG. 7 is a diagram showing a method for presenting vibration and tactile information in an arbitrary direction.
- FIG. 24 is an explanatory diagram of a gyro type and a synthetic angular momentum vector differential type.
- FIG. 25 is an explanatory diagram of a synthetic angular momentum in an inertial coordinate system.
- Fig. 26 is an explanatory diagram showing a torque presentation method and operation principle when a tactile information presentation system to which the present invention is applied is incorporated in a mobile phone.
- FIG. 28 is a diagram showing a two-dimensional cross-sectional view of a tactile presentation device 2801 in which two opposing eccentric rotators are set as one set and three sets are arranged in a rectangular coordinate system.
- FIG. 29 is a diagram showing a two-dimensional cross-sectional view of a tactile presentation device 2901 obtained by further improving the tactile presentation device 2801.
- Fig. 30 is a diagram showing a two-dimensional cross-sectional view of a tactile sensation presentation device 3001 obtained by further improving the tactile sensation presentation device 2901.
- FIG. 31 is a diagram showing another application example of the glove-like eccentric rotator array 890 of FIG.
- FIG. 32 is a diagram showing a two-dimensional cross-sectional view of a tactile sensation presentation machine 3201 obtained by further improving the tactile sensation presentation machine 2801.
- FIG. 34 is an explanatory diagram of a pen-shaped device 3301 incorporating the tactile sensation presentation device of the present embodiment.
- FIG. 34 A diagram showing a schematic configuration of the pen-shaped device 3301.
- FIG. 35 is an explanatory diagram of a laser pointer 3501 incorporating the tactile sense presentation device of the present embodiment, and is a diagram illustrating a schematic configuration of the laser pointer 3501.
- FIG. 36 is an explanatory view of a baton-type controller 3601 incorporating the tactile sensation presentation device of the present embodiment, and is a diagram showing a schematic configuration of the baton-type controller 3601.
- FIG. 37 is a diagram showing a schematic configuration of a modification of the tactile information presentation method of (FIG. 11-4).
- FIG. 38 is a diagram showing a schematic configuration of another modification of the tactile information presentation method of (FIG. 11-4).
- FIG. 14 is a diagram illustrating a schematic configuration of a modification of the tactile sense presentation device 1301 in FIG.
- FIG. 40 is an explanatory view of a desktop device 4001 incorporating the tactile sensation presentation device of the present embodiment.
- FIG. 3 is a diagram showing a schematic configuration of a device 4001.
- FIG. 42 is a supplementary explanatory diagram of the pen-shaped device 3301 incorporating the tactile sense presenter of the present embodiment.
Abstract
Description
Claims
Priority Applications (18)
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US10/579,672 US20070091063A1 (en) | 2003-11-20 | 2004-11-19 | Tactile force sense information display system and method |
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CA2547961A CA2547961C (en) | 2003-11-20 | 2004-11-19 | Haptic information presentation system and method |
KR1020127008624A KR101296925B1 (ko) | 2003-11-20 | 2004-11-19 | 촉력각 통신 장치 |
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US15/285,109 US10936074B2 (en) | 2003-11-20 | 2016-10-04 | Haptic information presentation system and method |
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US15/293,609 US10216278B2 (en) | 2003-11-20 | 2016-10-14 | Haptic information presentation system and method |
US16/232,811 US11287888B2 (en) | 2003-11-20 | 2018-12-26 | Haptic information presentation system and method |
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US17/156,836 US11385723B2 (en) | 2003-11-20 | 2021-01-25 | Haptic information presentation system and method |
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CA2547961A1 (en) | 2005-06-02 |
US20130265148A1 (en) | 2013-10-10 |
US9171437B2 (en) | 2015-10-27 |
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US9041520B2 (en) | 2015-05-26 |
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US9495804B2 (en) | 2016-11-15 |
US20130265254A1 (en) | 2013-10-10 |
US20190129506A1 (en) | 2019-05-02 |
KR20120055722A (ko) | 2012-05-31 |
US20130265149A1 (en) | 2013-10-10 |
KR20060131787A (ko) | 2006-12-20 |
KR101361291B1 (ko) | 2014-02-11 |
US20150371510A1 (en) | 2015-12-24 |
US11287888B2 (en) | 2022-03-29 |
CA2547961C (en) | 2013-04-30 |
JP4111278B2 (ja) | 2008-07-02 |
US20070091063A1 (en) | 2007-04-26 |
JP2005190465A (ja) | 2005-07-14 |
US9142104B2 (en) | 2015-09-22 |
KR20130101140A (ko) | 2013-09-12 |
GB2423846A (en) | 2006-09-06 |
KR101296925B1 (ko) | 2013-08-20 |
US9135791B2 (en) | 2015-09-15 |
KR101520203B1 (ko) | 2015-05-13 |
US10216278B2 (en) | 2019-02-26 |
KR20130016373A (ko) | 2013-02-14 |
US9495803B2 (en) | 2016-11-15 |
GB2423846B (en) | 2008-06-11 |
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