WO2010058539A2 - Device for providing sensation of force, and portable terminal equipment - Google Patents

Abstract

A device for providing the sensation of force which is capable of providing a sensation of force to a user through a pressure plate includes: a vibrating actuator, a liquid medium that transmits the vibration of the actuator, and a pressure plate. The pressure plate is deformed by the vibration that is transmitted through the medium. Typically, the actuator is fixed to a casing that is provided with the aforementioned pressure plate on part of the outside wall and a sealed space is formed by the actuator, the casing and the pressure plate. The medium is sealed within the sealed space.

Description

Haptic display device and portable terminal device

The present invention relates to a force sense presentation device that allows a human hand or finger to perceive a force sense, and a portable terminal device including the force sense presentation device.
The present application includes Japanese Patent Application No. 2008-298126 filed on November 21, 2008, Japanese Patent Application No. 2009-078782 filed on March 27, 2009, and Japanese Patent Application No. 2009 filed on August 4, 2009. Priority is claimed based on 181715, the contents of which are incorporated herein.

With the development of multimodal interfaces, information presentation devices that can provide information on the five senses other than vision and hearing are drawing attention.
In particular, a haptic device that uses information (tactile sensation) when touching an object or reaction force (force sensation) from the object to provide information is effective in improving the operability of the interface and the perception and understanding of information. It is expected to be applied to various vocational technology training, virtual reality technology, telemedicine, game machines, etc.

In general, the haptic presentation device has been proposed by various methods and structures. In particular, as a haptic presentation device that can make a human hand or finger perceive a haptic sense using a liquid as a medium, A device that reproduces a vibration feeling applied to a fingertip that is in contact with an object as in Patent Document 1 is known.
The force sense presentation device disclosed in Patent Document 1 generates a pulse pressure in an electrorheological fluid by a pump, and applies a voltage applied to an electrode of an electrode group provided for a conductive rubber serving as a contact surface to a fingertip. It controls the viscosity of the electrorheological fluid and the pressure and cycle of the pulse pressure to present a sense of the shape of the contact object.
In addition, the force sense presentation device disclosed in Patent Document 2 has an electromagnet disposed between a large number of bag bodies in which a fluid is sealed, and an interval between the bag bodies is reduced by an attractive force or a repulsive force acting between adjacent electromagnets. By narrowing or widening, the shape and surface pressure of the part that contacts the hand or finger are changed.

Japanese Patent No. 3073712 JP 2001-54891 A

However, in the conventional force sense presentation device, the shape of the touched object and the feeling of touch are merely presented by the vibration of the actuator, and the displacement of the force sense presentation unit driven by the actuator is perceived as a force sense by humans. Not as big as possible. Further, there is a problem that the perceived direction cannot be arbitrarily set with respect to the vibration direction of the actuator.

In order to solve the above-described problems, an object of the present invention is to provide a force sense presentation device capable of causing a human hand or finger to perceive a force sense in an arbitrary direction and a portable terminal device including the force sense presentation device. There is to do.

In order to solve the above-described problems, the present invention provides a force sense presentation device that allows a user to perceive a force sense through a pressure plate, and includes a vibrating actuator and a liquid that propagates the vibration of the actuator. There is provided a force sense presentation device including the medium and the pressure plate deformed by vibration propagating in the medium.
Typically, the actuator is fixed to a housing having the pressure plate as a part of an outer wall, and a sealed space is formed by the actuator, the housing, and the pressure plate, and the medium is inside the sealed space. Is enclosed.
Moreover, the portable terminal device of this invention is provided with the said force sense presentation apparatus, It is characterized by the above-mentioned.

According to the present invention, since the medium between the actuator and the pressure plate is liquid, the displacement of the force sense presentation unit driven by the actuator can be increased, and the perceptual direction can be arbitrarily set with respect to the vibration direction of the actuator. It becomes possible to set to.

It is sectional drawing of the force sense presentation apparatus of 1st Embodiment of this invention. It is explanatory drawing of the method of filling the pressure transmission medium in the force sense presentation apparatus of 1st Embodiment. It is explanatory drawing of the operation principle of the force sense presentation apparatus of 1st Embodiment. It is sectional drawing of the force sense presentation apparatus of 2nd Embodiment of this invention. It is a top view of the force sense presentation device of a 2nd embodiment. It is a top view of the force sense presentation device of a 3rd embodiment of the present invention. It is sectional drawing of the force sense presentation apparatus of 4th Embodiment of this invention. It is sectional drawing of the force sense presentation apparatus of 5th Embodiment of this invention. It is sectional drawing of the force sense presentation apparatus of 6th Embodiment of this invention. It is a top view of a force sense presentation device of a 6th embodiment. It is sectional drawing of the force sense presentation apparatus of 7th Embodiment of this invention. It is a top view of the force sense presentation device of a 7th embodiment. It is a figure which shows the state which incorporated the force sense presentation apparatus of 6th Embodiment or 7th Embodiment in the portable terminal device. Similarly, it is a figure which shows the state which incorporated the force sense presentation apparatus of 6th Embodiment or 7th Embodiment in the portable terminal device. Similarly, it is a figure which shows the state which incorporated the force sense presentation apparatus of 6th Embodiment or 7th Embodiment in the portable terminal device. It is sectional drawing of the force sense presentation apparatus of 8th Embodiment of this invention. It is sectional drawing of the force sense presentation apparatus of 9th Embodiment of this invention. It is sectional drawing of the extension pipe | tube used with the force sense presentation apparatus of 8th, 9th embodiment.

[First Embodiment]
FIG. 1 is a cross-sectional view of the force sense presentation device according to the first embodiment of the present invention.
In FIG. 1, reference numeral 11 is a bimorph type piezoelectric vibrator (actuator), reference numeral 12 is a lower structure (lower housing), reference numeral 13a is a lower seal rubber (lower seal material), reference numeral 13b is an upper seal rubber (upper seal material), Reference numeral 14 denotes an upper structure (upper housing), reference numeral 15 denotes a pressure plate pressing plate, reference numeral 16 denotes a pressure plate, and reference numeral 17 denotes a medium (liquid).

As shown in FIG. 1, the bimorph type piezoelectric vibrator 11 is placed on the lower structure 12 via the lower seal rubber 13a, and the upper structure 14 is placed thereon via the upper seal rubber 13b. It is fastened and fixed by screws (not shown) or the like. Further, a pressure plate 16 is placed on the upper structure 14, and a pressure plate pressing plate 15 is placed thereon, and is fastened and fixed by screws (not shown) or the like.

The bimorph type piezoelectric vibrator 11 is obtained by bonding two piezoelectric ceramics that expand and contract in the length direction with a metal plate interposed therebetween. One is elongated in the longitudinal direction by the piezoelectric effect, and the other is contracted to bend and vibrate.
A medium (for example, water) 17 is enclosed in a closed space formed by the bimorph piezoelectric vibrator 11, the upper seal rubber 13 b, the upper structure 14, and the pressure plate 16.

Note that the fixing method of the upper structure 14 and the pressure plate pressing plate 15 is not limited to screw tightening, and the upper structure 14, the pressure plate pressing plate 15 and the pressure plate 16 are processed integrally. Is also possible.
The pressure plate 16 can be made of a rubber material such as silicon or fluorine, a thin metal plate such as stainless steel or aluminum, a resin material such as PET, or a composite material obtained by evaporating aluminum on a PET film. The material is not limited.
Examples of the liquid used as the medium 17 include, but are not limited to, water and an antifreeze liquid such as propylene glycol.

FIG. 2 is a cross-sectional view showing an example of a method for injecting liquid into a closed space formed by the bimorph piezoelectric vibrator 11, the upper seal rubber 13 b, the upper structure 14, and the pressure plate 16. In FIG. 2, reference numerals 18a and 18b are joints, and reference numerals 19a and 19b are inlets.
The side surfaces of the upper structure 14 are provided with inlets 19a and 19b (for example, cylindrical holes) for injecting a medium, and joints 18a and 18b for connecting tubes or the like to the inlets 19a and 19b, respectively. 18b is fixed.
A medium 17 is connected to a closed space formed by the bimorph piezoelectric vibrator 11, the upper seal rubber 13b, the upper structure 14, and the pressure plate 16 by a pump or the like (not shown) connected to the joints 18a and 18b via a tube or the like. (For example, water) is injected, and the air is completely removed to fill with the medium 17. After filling with the medium 17, the entry and exit of the medium is blocked by a cock or a jig (not shown).
The method for injecting the medium 17 is not limited to the method described here.

Next, the operation principle of the haptic device according to the present embodiment will be described.
Since the bimorph type piezoelectric vibrator 11 has a property of being convexly convex upward or downward when a voltage is applied, it vibrates by repeating an upward convex state and a downward convex state when an AC electric field is applied. (Bends and vibrates). At this time, the displacement of the medium in contact with the bimorph type piezoelectric vibrator 11 causes a change in density (volume), so that a change in pressure occurs, thereby causing a displacement of the medium at the next moment. . Due to this chain of processes, pressure and displacement propagate as waves.

For example, considering the vibration of the medium in a cylindrical tube extending in a uniaxial direction with a constant cross-sectional area as shown in FIG. 3, the pressure change in the region between AB is the change in the pressure p.
p = −KΔV / V Equation (1)
It can be expressed. Here, V is the volume of the region between AB, ΔV is the change in volume, and K is the bulk modulus.

In addition, the speed of sound v transmitted through the pipe is determined by density ρ and bulk modulus K.
v = (K / ρ) ^1/2
Therefore, the bulk modulus K is
K = ρv Formula ² (2)
It becomes.

Underwater acoustic velocity 1483m / s, the speed of sound in air 331.45m / s, the density of water 1000 kg / ^{m 3,} when the density of 1.29 kg / ^{m 3} of air, water and bulk modulus of the air from the equation (2) Since the pressures are 2.2 GPa and 142 kPa, respectively, the pressure change is considered to be larger in water than in air.
Based on the above theory, the vibration of the bimorph piezoelectric vibrator 11 propagates to the pressure plate 16 through the medium 17.
In addition, by setting the driving frequency of the bimorph piezoelectric vibrator 11 to a low frequency region of about 10 Hz, it is possible to perceive the pressure plate 16 as a force sensation rather than a vibration sensation when touching the pressure plate 16 with a finger or hand. It is.

It should be noted that a low frequency region of 10 Hz or less can be used as the driving frequency. If the amplitude is large and the frequency is small, a feeling of pressing (force sense) can be obtained. For example, if the driving frequency is 1 Hz or more and 10 Hz or less, the sense of force can be surely perceived.

[Second Embodiment]
FIG. 4 is a cross-sectional view of the force sense presentation device according to the second embodiment of the present invention, and FIG. 5 is a plan view of the force sense presentation device of FIG.
In this embodiment, the difference from the first embodiment is that, in the first embodiment, the vibration direction of the bimorph type piezoelectric vibrator and the vibration direction of the pressure plate are the same direction. It is different from each other.
In the present embodiment, the vibration direction of the bimorph piezoelectric vibrator 21 is the Z direction, whereas the vibration direction of the pressure plates 26a and 26b is the X direction.

In the present embodiment, two pressure propagation paths 29a and 29b are formed in the X direction of the upper structure 24, and the pressure propagation paths 29a and 29b are respectively closed by the pressure plates 26a and 26b and the pressure plate holding plates 25a and 25b. The medium (for example, water) 27 is enclosed in a closed space formed by the bimorph piezoelectric vibrator 21, the upper seal rubber 23b, the upper structure 24, and the pressure plates 26a and 26b. Note that the medium injection method is the same as that in the first embodiment.

Based on the same operating principle as described in the first embodiment, also in this embodiment, the vibration of the bimorph piezoelectric vibrator 21 propagates to the pressure plates 26a and 26b via the medium 27, and the medium is air. Compared to the case, water produces a larger pressure change.
Similarly to the first embodiment, the driving frequency of the bimorph type piezoelectric vibrator 21 is set to a low frequency region of about 10 Hz, so that when the pressure plates 26a and 26b are touched with a finger or hand, vibrations such as It becomes possible to perceive it as a force sense instead of a sense.

4 and 5 are provided with two pressure propagation paths and two pressure plates, it may be one. Two or more places may be provided.

[Third Embodiment]
FIG. 6 is a plan view of a force sense presentation device according to a third embodiment of the present invention.
In this embodiment, the difference from the first embodiment is that the vibration direction of the bimorph piezoelectric vibrator is different from the vibration direction of the pressure plate, as in the second embodiment.
In this embodiment, the vibration direction of the bimorph piezoelectric vibrator is the Z direction (direction perpendicular to the paper surface), whereas the vibration direction of the pressure plate 36a is the X direction, and the vibration direction of the pressure plate 36b is the Y direction. It has become.

In the present embodiment, pressure propagation paths 39a and 39b are formed in the X direction and Y direction of the upper structure 34, respectively, and the pressure propagation paths 39a and 39b are formed by pressure plates 36a and 36b and pressure plate pressing plates 35a and 35b. The medium 37 is enclosed in a closed space formed by a bimorph piezoelectric vibrator (not shown), an upper seal rubber (not shown), an upper structure 34, and pressure plates 36a and 36b. Yes. Note that the medium injection method is the same as in the first and second embodiments.

Based on the same operation principle as described in the first embodiment, also in this embodiment, the vibration of a bimorph piezoelectric vibrator (not shown) propagates to the pressure plates 36a and 36b via the medium 37, Water produces a larger pressure change than when the medium is air.
Similarly to the first and second embodiments, the driving frequency of the bimorph piezoelectric vibrator (not shown) is set to a low frequency region of about 10 Hz, so that the pressure plates 36a and 36b are touched with a finger or a hand. It is possible to perceive it as a force sense instead of a vibration-like sensation.

In this embodiment, as in the second embodiment, two pressure propagation paths and pressure plates are provided, but only one may be used. Two or more places may be provided.

[Fourth Embodiment]
FIG. 7 is a cross-sectional view of a force sense presentation device according to a fourth embodiment of the present invention.
In the present embodiment, the difference from the first embodiment is that the opening diameter of the pressure plate that can be touched with a finger or hand is small.
In the present embodiment, as shown in FIG. 7, the opening diameter of the portion in contact with the pressure plate 116 of the upper structure 114 is about 約 the diameter of the bimorph piezoelectric vibrator 111, and the pressure plate holding plate The opening diameter of 115 is matched with the opening diameter of the upper structure 114.

The parts other than the structure described above have the same structure as that of the first embodiment, and the medium 117 is a closed space formed by the bimorph piezoelectric vibrator 111, the upper seal rubber 113b, the upper structure 114, and the pressure plate 116. Is enclosed.
The medium injection method is the same as in the first, second, and third embodiments.

Based on the same operating principle as described in the first embodiment, also in this embodiment, vibration of the bimorph piezoelectric vibrator 111 propagates to the pressure plate 116 via the medium 117, and the medium is air. Compared to water, a greater pressure change occurs.
Similarly to the first, second, and third embodiments, the driving frequency of the bimorph piezoelectric vibrator 111 is set to a low frequency region of about 10 Hz so that the pressure plate 116 vibrates when touched with a finger or a hand. It is possible to perceive it as a force sense rather than a sense like

[Fifth Embodiment]
FIG. 8 is a cross-sectional view of a force sense presentation device according to a fifth embodiment of the present invention.
The difference from the first embodiment in the present embodiment is that the opening diameter of the pressure plate that can be touched with a finger or hand is small, as in the fourth embodiment, and is different from the fourth embodiment. The point is the shape of the portion where the medium of the upper structure is enclosed, in particular, the shape of the opening in the portion in contact with the pressure plate.
In the fourth embodiment, as shown in FIG. 7, the step of penetrating through the opening portion of the upper structure 114 in contact with the pressure plate 116 in a direction perpendicular to the plate surface of the pressure plate 116 with a certain opening area. On the other hand, in this embodiment, the opening portion of the upper structure 124 in contact with the pressure plate 126 has a tapered shape in which the opening area gradually decreases as the pressure plate 126 is approached. The pressure loss is smaller than that of the configuration.
The opening diameter of the portion where the upper structure 124 and the pressure plate 126 are in contact with each other is about ３ the diameter of the bimorph piezoelectric vibrator 121 as in the fourth embodiment, and the opening diameter of the pressure plate pressing plate 125 is It matches with the opening diameter of the upper structure 124.

The parts other than the structure described above have the same structure as that of the first embodiment, and the medium 127 is a closed space formed by the bimorph piezoelectric vibrator 121, the upper seal rubber 123b, the upper structure 124, and the pressure plate 126. Is enclosed.
The medium injection method is the same as that in the first, second, third, and fourth embodiments.

Based on the same operating principle as described in the first embodiment, also in this embodiment, the vibration of the bimorph piezoelectric vibrator 121 propagates to the pressure plate 126 via the medium 127, and the medium is air. Compared to water, a greater pressure change occurs.
Similarly to the first, second, third, and fourth embodiments, the driving frequency of the bimorph piezoelectric vibrator 121 is set to a low frequency region of about 10 Hz, so that the pressure plate 126 is touched with a finger or a hand. It is possible to perceive it as a force sense instead of a vibration-like sensation.

[Sixth Embodiment]
FIG. 9 is a cross-sectional view of the force sense presentation device according to the sixth embodiment of the present invention, and FIG. 10 is a plan view of the force sense presentation device of FIG.
In this embodiment, the difference from the first embodiment is that, in the first embodiment, the vibration direction of the bimorph type piezoelectric vibrator and the vibration direction of the pressure plate are the same direction. It is different from each other.
In the present embodiment, as in the second embodiment, the vibration direction of the bimorph piezoelectric vibrator 131 is the Z direction, whereas the vibration direction of the pressure plate 140 is the X direction.

In addition, the second embodiment differs from the second embodiment in that in the second embodiment, two pressure propagation paths are formed in the X direction of the upper structure and are each blocked by the pressure plate and the pressure plate holding plate. In this embodiment, one pressure propagation path 139a is closed with a lid 135 with a sealant 136a interposed therebetween, and the other pressure propagation path 139b is hollow with an upper structure 134 sandwiched with a sealant 136b. The extension pipe 138 is connected and is about 100 mm longer than the pressure propagation path 139a.

The end of the extension pipe 138 that is not connected to the upper structure 134 is closed by the pressure plate 140 and the pressure plate holding plate 141, and the medium (for example, water) 137 includes the bimorph piezoelectric vibrator 131 and the upper seal rubber. 133 b, the upper structure 134, the lid 135, the extension tube 138, and the pressure plate 140 are enclosed in a closed space.

In addition, about the injection | pouring method of a medium, it shall carry out by the method similar to 1st, 2nd, 3rd, 4th, 5th embodiment.
9 and 10, the upper structure 134 is provided with two pressure propagation paths in the X direction. However, the pressure propagation path to which the extension pipe is not connected may not be provided. Further, extension pipes may be connected to both of the two pressure propagation paths. The length of the extension tube 138 is about 100 mm, but is not limited to this.

Based on the same operating principle as described in the first embodiment, also in this embodiment, the vibration of the bimorph piezoelectric vibrator 131 propagates to the pressure plate 140 via the medium 137, and the medium is air. Compared to water, a greater pressure change occurs.
Similarly to the first, second, third, fourth, and fifth embodiments, the driving frequency of the bimorph piezoelectric vibrator 131 is set to a low frequency region of about 10 Hz, so that the pressure plate 140 When touched with a hand, it is possible to perceive it as a force sensation instead of a vibration-like sensation.

[Seventh Embodiment]
11 is a cross-sectional view of the force sense presentation device according to the seventh embodiment of the present invention, and FIG. 12 is a plan view of the force sense presentation device in FIG.
Although this embodiment is almost the same as the sixth embodiment, the difference from the sixth embodiment is that, in the sixth embodiment, the vibration direction of the pressure plate is the X direction, but in this embodiment. The point is the Z direction.

In this embodiment, the end of the extension pipe 138 that is not connected to the upper structure 134 is connected to the flow path block 142 with the sealing material 136c interposed therebetween, and the pressure propagation path 139b is converted from the X direction to the Z direction. The
The end of the flow path block 142 that is not connected to the extension pipe 138 is closed with the pressure plate 140 and the pressure plate holding plate 141, and the medium (for example, water) 137 includes the bimorph piezoelectric vibrator 131 and the upper seal rubber 133b. , The upper structure 134, the lid 135, the extension pipe 138, the flow path block 142, and the pressure plate 140 are enclosed in a closed space. The extension pipe 138 and the flow path block 142 are separate parts, but may be an integral structure part.

The medium injection method is the same as in the first, second, third, fourth, fifth, and sixth embodiments.
As in the sixth embodiment, in FIGS. 11 and 12, the upper structure 134 is provided with two pressure propagation paths in the X direction, but the pressure propagation path to which the extension pipe is not connected is It does not have to be. Further, extension pipes may be connected to both of the two pressure propagation paths. The length of the extension tube 138 is about 100 mm, but is not limited to this.

Based on the same operating principle as described in the first embodiment, also in this embodiment, the vibration of the bimorph piezoelectric vibrator 131 propagates to the pressure plate 140 via the medium 137, and the medium is air. Compared to water, a greater pressure change occurs.
Similarly to the first, second, third, fourth, fifth, and sixth embodiments, the pressure plate 140 is set by setting the driving frequency of the bimorph piezoelectric vibrator 131 to a low frequency region of about 10 Hz. Can be perceived as a force sensation rather than a vibration sensation.

[Mobile terminal equipment]
An example in which the force sense presentation device 1001 of the sixth embodiment or the seventh embodiment is mounted on the mobile terminal device 1000 is shown in FIGS. 13A to 13C.
The mobile terminal device 1000 shown in FIGS. 13A to 13C can use a force sense presentation device 1001 according to the present invention to present the user with a feeling such as a dial key click feeling.
FIGS. 13A and 13B show cases where the pressure plate 140 is in the direction of the terminal surface (the surface with the display 1002 and the key) and the side surface, respectively.
Although not shown in FIGS. 13A to 13C, the pressure plate may be in the direction of the back surface of the terminal.
FIG. 13C shows a case where the pressure plate 140 is present in the display display area 1003, and it can also be used in combination with a touch panel or the like.
13A and 13B, it is also possible to present a force sense according to a pressing force when a key is pressed in combination with a sensor such as a pressure sensor.

[Eighth Embodiment]
FIG. 14 is a cross-sectional view of a force sense presentation device according to an eighth embodiment of the present invention.
This embodiment is different from the other embodiments in that two pressure propagation paths provided in the upper structure are connected by a hollow extension pipe, and a pressure plate is provided in the middle of the extension pipe. .

In the present embodiment, the pressure propagation paths 218a and 218b provided in the upper structure 214 are connected to one ends of the extension pipes 219a and 219b via the sealing materials 216a and 216b and the extension pipe connection joints 215a and 215b, respectively. The ends of the extension pipes 219a and 219b that are not connected to the pressure propagation paths 218a and 218b are connected to the flow path block 220 through, for example, connection joints (not shown). Thereby, the piezoelectric vibrator 211 and the pressure plate 222 form a closed circuit via the pressure propagation paths 218a and 218b and the extension pipes 219a and 219b.
Note that the connection method between the extension pipes 219a and 219b and the flow path block 220 is not limited to the connection joint method, and may be a direct connection method by bonding or the like as long as the medium 217 does not leak.

Openings that are not connected to the extension pipes 219a and 219b of the flow path block 220 are closed by the pressure plate 222 and the pressure plate pressing plate 221, and the medium (for example, water) 217 is the bimorph type piezoelectric vibrator 211 and the upper part. It is enclosed in a closed space formed by the seal rubber 213b, the upper structure 214, the extension pipes 219a and 219b, the flow path block 220, and the pressure plate 222.
Further, the extension pipes 219a and 219b include, for example, a rectangle as shown in FIG. 16 (including those having two opposite sides curved in an arc shape: see the upper right end), a circle, an ellipse, a triangle, a gourd, and a square. It is a flexible tube (that is, a flexible and flexible tube) that has a cross-sectional shape such as a hexagon and can be bent freely.
However, the cross-sectional shape of the extension pipes 219a and 219b is not limited to the shape shown in FIG. 16, and may be an arbitrary shape. There is also no length limitation.

Note that the medium 217 is injected by the same method as in the first, second, third, fourth, fifth, sixth, and seventh embodiments.

Based on the same operation principle as described in the first embodiment, also in this embodiment, the vibration of the bimorph piezoelectric vibrator 211 propagates to the pressure plate 222 through the medium 217, and the medium 217 is air. Water produces a greater pressure change than
Similarly to the first, second, third, fourth, fifth, sixth, and seventh embodiments, the drive frequency of the bimorph piezoelectric vibrator 211 is set to a low frequency region of about 10 Hz. When the pressure plate 222 is touched with a finger or hand, it is possible to perceive it as a sensation rather than a sense of vibration.

[Ninth Embodiment]
FIG. 15 is a cross-sectional view of the force sense presentation device according to the ninth embodiment of the present invention.
Although this embodiment is almost the same as the eighth embodiment, the difference from the eighth embodiment is that in the eighth embodiment, the two pressure propagation paths provided in the upper structure are connected by a hollow extension tube. In this embodiment, only one pressure plate is provided in the middle of the extension pipe, but in this embodiment, three pressure plates are provided in the middle of the extension pipe.

In the present embodiment, the pressure propagation paths 318a and 318b provided in the upper structure 314 are connected to one ends of the extension pipes 319a and 319b via the sealing materials 316a and 316b and the extension pipe connection joints 315a and 315b, respectively. The ends of the extension pipes 319a and 319b that are not connected to the pressure propagation paths 318a and 318b are connected to the flow path blocks 320a and 320b through, for example, connection joints (not shown).
Further, the extension pipe 319d is connected to the end of the flow path block 320a that is not connected to the extension pipe 319a, and the extension pipe 319c is connected to the end of the flow path block 320b that is not connected to the extension pipe 319b. Connected in a way.
The end of the extension pipe 319d that is not connected to the flow path block 320a and the end of the extension pipe 319c that is not connected to the flow path block 320b are connected to the flow path block 320c in the same manner. ing.
As in the eighth embodiment, the piezoelectric vibrator 311 and the pressure plates 322a, 322b, and 322c form a closed circuit via the pressure propagation paths 318a and 318b and the extension pipes 319a, 319b, 319c, and 319d.
In addition, the connection method of the extension pipes 319a, 319b, 319c, and 319d and the flow path blocks 320a, 320b, and 320c is not limited to the connection joint method. If the medium 317 does not leak, it is directly connected by adhesion or the like. It does not matter how you do it.

The openings of the flow path blocks 320a, 320b, and 320c that are not connected to the extension pipes 319a, 319b, 319c, and 319d are closed by the pressure plates 322a, 322b, and 322c and the pressure plate holding plates 321a, 321b, and 321c, respectively. The medium (for example, water) 317 includes a bimorph piezoelectric vibrator 311, an upper seal rubber 313b, an upper structure 314, extension pipes 319a, 319b, 319c, and 319d, flow path blocks 320a, 320b, and 320c, and pressure plates 322a and 322b. 322c is enclosed in a closed space.
As in the eighth embodiment, the extension tubes 319a, 319b, 319c, and 319d are, for example, a rectangle as shown in FIG. 16 (including those having two opposing sides curved in an arc shape), a circle, an ellipse, and a triangle. It is a flexible tube (that is, a flexible and flexible tube) that has a cross-sectional shape such as a gourd shape, a square, a hexagon, etc., and can be bent freely.
However, the cross-sectional shape of the extension pipes 319a, 319b, 319c, and 319d is not limited to the shape shown in FIG. 16, and may be an arbitrary shape. There is also no length limitation.
In this embodiment, three pressure plates are provided, but the present invention is not limited to this, and any number of pressure plates may be used.

Note that the medium 317 is injected by the same method as in the first, second, third, fourth, fifth, sixth, seventh, and eighth embodiments.

Based on the same operation principle as described in the first embodiment, also in this embodiment, the vibration of the bimorph piezoelectric vibrator 311 propagates to the pressure plates 322a, 322b, and 322c via the medium 317, and the medium 317 Water produces a greater pressure change than when air is.
Similarly to the first, second, third, fourth, fifth, sixth, seventh, and eighth embodiments, the driving frequency of the bimorph piezoelectric vibrator 311 is set to a low frequency region of about 10 Hz. As a result, when the pressure plates 322a, 322b, and 322c are touched with a finger or a hand, it is possible to perceive them as sensations instead of vibrations.

[Wearable device]
In the force sense presentation device according to the eighth or ninth embodiment, the cross-sectional shape of the extension tubes 219a, 219b, 319a, 319b, 319c, and 319d can be freely changed, and the piezoelectric vibrators 211 and 311 And upper and lower structures 212, 214, 312, 314 and extension pipes 219a, 219b, 319a, 319b, 319c, 319d and pressure plates 222, 322a, 322b incorporated through lower seal rubbers 213a, 213b, 313a, 313b. 322c forms an annular shape and can be attached to the body such as an arm or a neck.
For example, when applied to a mobile terminal device, the pressure plates 222, 322a, 322b, and 322c are provided to the wearer by driving the piezoelectric vibrators 211 and 311 at the time of an incoming call or mail, instead of a vibrator or when an alarm is notified. It is possible to notify it as a force sense.

As described above, the preferred embodiments according to the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to such examples. Various shapes, combinations, and the like of the constituent members shown in the above-described examples are examples, and various modifications can be made based on design requirements and the like without departing from the gist of the present invention.

For example, in the above embodiment, a bimorph type piezoelectric vibrator is used as an actuator, but an actuator having other principles and structures may be used.
In addition, an upper structure and a lower structure that support and fix both sides of the actuator with a seal rubber interposed therebetween are provided as a housing that supports the actuator, and a part of the outer wall of the upper structure is configured by a pressure plate. The sealed space for enclosing the medium is formed by the upper structure and the pressure plate, but the configuration of the sealed space is not limited to this.
The structure of the housing for fixing the actuator and the pressure plate can be variously changed based on design requirements and the like without departing from the gist of the present invention.

As an application example of the present invention, it is used for an output interface of a portable terminal or the like, or a tactile force display such as a virtual reality.

DESCRIPTION OF SYMBOLS 11 ... Piezoelectric vibrator (actuator), 12 ... Lower structure (housing), 13a ... Lower seal rubber, 13b ... Upper seal rubber, 14 ... Upper structure (housing), 15 ... Pressure plate pressing plate, 16 ... Pressure plate 17 ... medium (liquid), 18a ... joint, 18b ... joint, 19a ... injection port, 19b ... injection port, 21 ... piezoelectric vibrator (actuator), 22 ... lower structure (housing), 23a ... lower seal rubber, 23b ... Upper seal rubber, 24 ... Upper structure (housing), 25a ... Pressure plate holding plate, 25b ... Pressure plate holding plate, 26a ... Pressure plate, 26b ... Pressure plate, 27 ... Medium (liquid), 29a ... Pressure propagation Path, 29b ... pressure propagation path, 34 ... upper structure (housing), 35a ... pressure plate pressing plate, 35b ... pressure plate pressing plate, 36a ... pressure plate, 36b ... pressure plate 37 ... Medium (liquid), 39a ... Pressure propagation path, 39b ... Pressure propagation path, 111 ... Piezoelectric vibrator (actuator), 112 ... Lower structure (housing), 113a ... Lower seal rubber, 113b ... Upper seal rubber, 114 ... Upper structure (housing), 115 ... pressure plate holding plate, 116 ... pressure plate, 117 ... medium (liquid), 121 ... piezoelectric vibrator (actuator), 122 ... lower structure (housing), 123a ... lower seal rubber , 123b ... upper seal rubber, 124 ... upper structure (housing), 125 ... pressure plate pressing plate, 126 ... pressure plate, 127 ... medium (liquid), 131 ... piezoelectric vibrator (actuator), 132 ... lower structure ( Case) 133a ... Lower seal rubber, 133b ... Upper seal rubber, 134 ... Upper structure (housing), 135 ... Lid, 136a ... Sea Material: 136b ... Seal material, 136c ... Seal material, 137 ... Medium (liquid), 138 ... Extension pipe, 139a ... Pressure propagation path, 139b ... Pressure propagation path, 140 ... Pressure plate, 141 ... Pressure plate holding plate, 142 ... Flow path block, 211 ... piezoelectric vibrator (actuator), 212 ... lower structure (housing), 213a ... lower seal rubber, 213b ... upper seal rubber, 214 ... upper structure (housing), 215a ... extension pipe connection joint, 215b: Extension pipe connection joint, 216a ... Sealing material, 216b ... Sealing material, 217 ... Medium (liquid), 218a ... Pressure propagation path, 218b ... Pressure propagation path, 219a ... Extension pipe, 219b ... Extension pipe, 220 ... Flow path Block, 221 ... Pressure plate holding plate, 222 ... Pressure plate, 311 ... Piezoelectric vibrator (actuator), 312 ... Substructure (Case) 313a ... Lower seal rubber, 313b ... Upper seal rubber, 314 ... Upper structure (housing), 315a ... Extension pipe connection joint, 315b ... Extension pipe connection joint, 316a ... Seal material, 316b ... Seal material, 317 ... medium (liquid), 318a ... pressure propagation path, 318b ... pressure propagation path, 319a ... extension pipe, 319b ... extension pipe, 319c ... extension pipe, 319d ... extension pipe, 320a ... flow path block, 320b ... flow path block, 320c ... Channel block, 321a ... Pressure plate holding plate, 321b ... Pressure plate holding plate, 321c ... Pressure plate holding plate, 322a ... Pressure plate, 322b ... Pressure plate, 322c ... Pressure plate

Claims (12)

1. A force sense presentation device that allows a user to perceive a force sense through a pressure plate,
   A vibrating actuator;
   A liquid medium that propagates the vibration of the actuator;
   The pressure plate deformed by vibration propagating in the medium;
   A force sense presentation device comprising:
2. 2. The force sense presentation device according to claim 1, wherein the actuator bends and vibrates when an AC electric field is applied.
3. 3. The haptic device according to claim 2, wherein the actuator is a bimorph type piezoelectric vibrator.
4. The actuator is fixed to a housing having the pressure plate as a part of an outer wall;
   The force sense presentation device according to claim 1, wherein a sealed space is formed by the actuator, the housing, and the pressure plate, and the medium is sealed in the sealed space.
5. An opening is formed in the housing, the opening is closed by the pressure plate,
   The shape of the opening is a stepped shape penetrating in a direction perpendicular to the plate surface of the pressure plate with a constant opening area,
   The force sense presentation device according to claim 4, wherein an area of the opening portion in contact with the pressure plate is smaller than an area of the actuator.
6. An opening is formed in the housing, the opening is closed by the pressure plate,
   The shape of the opening is a tapered shape in which the opening area gradually decreases as it approaches the pressure plate,
   The force sense presentation device according to claim 4, wherein an area of the opening portion in contact with the pressure plate is smaller than an area of the actuator.
7. The force sense presentation device according to claim 4, wherein the center of the actuator and the center of the pressure plate are arranged at different positions when viewed from a direction perpendicular to the plate surface of the pressure plate.
8. A sealed space is formed by a housing for fixing the actuator, a hollow tube connected to a part of the housing, the actuator, and the pressure plate,
   The force sense presentation device according to claim 1, wherein the medium is sealed in the sealed space, and the pressure plate is provided in the hollow tube.
9. The haptic device according to claim 8, wherein the hollow tube is a flexible and flexible tube having an arbitrary cross-sectional shape.
10. The force sense presentation device according to claim 8, wherein a plurality of the pressure plates are provided in the middle of the hollow tube.
11. A portable terminal device equipped with the haptic device according to claim 1.
12. A mobile terminal device, wherein the haptic device according to claim 8 can be worn on the body.

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