WO2010095372A1 - 触力覚提示装置、触力覚提示装置が適用された電子機器端末及び触力覚提示方法 - Google Patents
触力覚提示装置、触力覚提示装置が適用された電子機器端末及び触力覚提示方法 Download PDFInfo
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- WO2010095372A1 WO2010095372A1 PCT/JP2010/000562 JP2010000562W WO2010095372A1 WO 2010095372 A1 WO2010095372 A1 WO 2010095372A1 JP 2010000562 W JP2010000562 W JP 2010000562W WO 2010095372 A1 WO2010095372 A1 WO 2010095372A1
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- force
- operation lever
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- 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
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03548—Sliders, in which the moving part moves in a plane
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- 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
Definitions
- the present invention relates to a haptic presentation device and a haptic presentation method that can be applied to an operation unit of an electronic device such as a mobile phone, a PDA, a notebook PC, a game machine, and a TV remote controller.
- tactile sensation presentation device using a tactile sensation such as contact with a virtual object on a computer, which requires a large-scale system, has been presented.
- This tactile sensation presentation device is applied to electronic devices such as mobile phones, PDAs, notebook PCs or remote controllers, mice, and game controllers that place importance on portability.
- the haptic force sense presentation device disclosed in Patent Document 1 includes a sphere that includes a moving element and is held so as to vibrate and rotate. This tactile force sense presentation device outputs a tactile force sense signal when a pointer touches an image displayed on a monitor. In a state where the sphere is rotated, a haptic force sense is presented by vibrating the sphere by moving the mover according to the haptic force sense signal transmitted from the driving device and the information processing device.
- the intermediate electrode sheet is transparent and flexible, and transparent electrodes are formed on both sides.
- the intermediate electrode sheet is sandwiched between the transparent electrodes so as to form predetermined uniform gaps, and the upper electrode sheet is laminated on the input operation side and the lower electrode sheet is laminated on the display device side.
- the upper electrode sheet faces the transparent electrode and has the upper transparent electrode.
- the lower electrode sheet faces the transparent electrode and has the lower transparent electrode.
- the tactile interface device shown in Patent Document 3 includes a user interface unit having an operation unit operated by an operator, a drive unit that drives the user interface unit, and a control unit that controls the drive unit.
- the drive unit has magnets arranged in the case so that the polarities are alternately arranged.
- the control unit of the tactile interface device displaces the frame by causing a current to flow to the coil in the frame via the signal line, and the operation unit attached to the frame is interlocked with the displacement of the frame. Displace.
- the drive unit applies a driving force to the operation unit by electromagnetic force under drive control in the control unit in order to apply a reaction force to the operator.
- Patent Documents 1 to 3 input in the X-axis, Y-axis, and Z-axis directions based on the output from a small and highly flexible sensor due to recent technological advances, A resistance force corresponding to the sense of contact is generated. Thus, many parts are required to detect the input and to generate a resistance force. In the actuator, it is difficult to reduce the size while providing an output sufficient for the operator. In order to present a tactile sensation with higher expressiveness, there is a problem in that the entire apparatus is increased in size and weight, and the cost is increased and the use of energy is increased due to an increase in the number of parts.
- An object of the present invention is to provide a haptic sense presentation device and a presentation method thereof that can perform a haptic presentation that is lightweight, small, and highly expressive.
- the haptic sense presentation device includes an operation lever operated by an operator, an input of a sliding motion of the operation lever in the XY plane direction, and a specific position of the operation lever on the XY plane.
- An operation unit having a moving guide surface for guiding an input of a pushing operation in the Z-axis direction, an input of a sliding operation of the operation lever in the XY plane direction, and an input of the pushing operation of the operation lever in the Z-axis direction are detected.
- a detection unit a calculation control unit that calculates a force corresponding to the operation of the operation lever based on the detection result of the detection unit, and a drive unit composed of at least one actuator, and is driven based on the calculation result of the calculation control unit Drive that generates a drag force of the operation lever against the input of the sliding operation in the XY plane direction and an adjustment force of the operation lever against the input of the pushing operation in the Z-axis direction.
- Drive that generates a drag force of the operation lever against the input of the sliding operation in the XY plane direction and an adjustment force of the operation lever against the input of the pushing operation in the Z-axis direction.
- the tactile sensation presentation method of the present invention includes an operation lever operated by an operator, an input of a sliding motion of the operation lever in the XY plane direction, and a push of the operation lever in a Z-axis direction at a specific position on the XY plane.
- An operation unit having a moving guide surface for guiding an operation input; a detection unit for detecting an input of a sliding operation of the operation lever in the XY plane direction; and an input of a pushing operation of the operation lever in the Z-axis direction;
- a tactile force sense presentation method using a tactile force sense presentation device comprising: a calculation control unit that calculates a force corresponding to an operation of an operation lever based on a detection result of the control unit; and a drive transmission unit having a drive unit including at least one actuator. It is.
- This tactile sensation presentation method refers to the virtual physical data in the database based on the detection data from the detection unit, simulates the physical phenomenon in the virtual space, updates the virtual physical data, and operates A simulator calculation step for outputting the force to be presented to the lever as presentation data, a control data for controlling the actuator for generating the force based on the presentation data, and a touch for operating the operation lever based on the control data A force sense actuator control step.
- the operation control unit operates the operation lever based on the detection result of the detection unit. Calculates the force corresponding to the lever operation. Thereafter, in the drive transmission unit, the drag of the operation lever against the input of the slide operation in the XY plane direction and the Z-axis with respect to the drive unit based on the calculation result of the calculation control unit by the drive unit including at least one actuator An adjustment force for the input of the pushing operation in the direction is generated and transmitted to the operation lever.
- the drive unit including at least one actuator generates the drag force of the operation lever against the input of the slide operation in the XY plane direction and the adjustment force of the operation lever with respect to the input of the pushing operation in the Z-axis direction. ing. Therefore, it is possible to present a tactile sensation associated with the input operation of the active operation lever of the operator, and it is possible to present various tactile sensation expressions with few actuators.
- FIG. 1 It is a block diagram which shows the whole structure of the tactile-force sense presentation apparatus containing the operation part which concerns on Example 1 of this invention. It is a figure showing the mode of the input-output operation of the operation part shown in FIG. It is a longitudinal cross-sectional view which shows the detail of the operation part shown in FIG. It is an image figure showing the relationship between the input detection state in the operation part shown in FIG. 1, and the output presentation method, Comprising: The operation
- FIG. 1 is a block diagram showing a configuration of a haptic sense presentation apparatus to which the present invention is applied.
- FIG. 2 is a perspective view showing an operation unit of the haptic sense presentation device.
- FIG. 2 is an external view of the operation unit 1 shown in FIG. 1 and shows an operation by the fingertip of the operator.
- the operation unit 1 includes a projecting operation lever 12 (described later).
- a region where a tactile sensation is presented to the operation lever 12 is a fingertip contact point.
- the operation lever 12 can be input as a slide operation on the XY plane and a push operation in the Z-axis direction at the center position O.
- the sliding operation on the XY plane with respect to the operating lever 12 and the pushing operation of the operating lever 12 in the Z-axis direction at the center position O are detected as input data.
- a tactile force sense presentation that generates “drag (presentation force)” is performed with respect to an input operation associated with the slide operation on the XY plane.
- a tactile force sense presentation that returns a force such as “elastic force”, “viscous force”, and “inertial force” is performed based on a target reference virtual plane.
- these “elastic force”, “viscous force”, and “inertial force” in the Z-axis direction are expressed as “adjustment force (presentation force)” with respect to the pushing force of the operation lever 12.
- This haptic sense presentation device includes an operation unit 1, a simulator calculation unit 4, an actuator control unit 6, and an information presentation unit 7.
- the operation unit 1 is operated by an operator and includes an input detection sensor 2 and a tactile force presentation actuator 3 (described later).
- the simulator calculation unit 4 compares the detection data output from the input detection sensor 2 of the operation unit 1 with the data in the database 5.
- the actuator control unit 6 is driven based on the calculation result in the simulator calculation unit 4.
- the information presentation unit 7 visually displays control information of the actuator control unit 6. Processing in this haptic sense presentation device will be described.
- the detection data a is output from the input detection sensor 2 of the operation unit 1.
- the simulator calculation unit 4 compares the detected data a with the virtual physical data b that is virtual object information in the database 5 and then compares the presentation data c that is a force for driving the haptic sense presentation actuator 3. calculate. Thereafter, based on the presentation data c, the simulator calculation unit 4 outputs display data e that displays a target reference virtual plane as visual information to the information presentation unit 7 that is a display, for example. At the same time, the simulator calculation unit 4 performs a process of updating the virtual physical data b stored in advance on the database 5 based on the presentation data c.
- the actuator control unit 6 calculates control data d for calculating and controlling the force to be presented to the tactile force presentation actuator 3 based on the presentation data c. Based on this control data d, the tactile force sense presentation actuator 3 is driven.
- the “calculation control unit C” is configured by the simulator calculation unit 4 and the actuator control unit 6.
- the tactile force presentation actuator 3 causes a “drive transmission unit D (specifically, a guide moving unit 30, a compression spring 32, a drive unit 33, a pulley 34, and a wire 35 shown in FIG. 3) (described later)”. Composed.
- FIG. 3 is a cross-sectional view showing details of the operation unit 1 that directly touches with a finger and performs an input operation and a tactile sensation presentation.
- the operation unit 1 includes a casing 10, a lid member 11, an operation lever 12, and a guide member 14.
- the casing 10 is formed in a cylindrical shape as a whole.
- the lid member 11 is provided in the upper opening of the casing 10 and has a circular opening 11A at the center.
- the operation lever 12 is movably provided in the circular opening 11A of the lid member 11, has a convex shape in a longitudinal sectional view, and has a circular shape in a plan view.
- the guide member 14 is provided in the casing 10 and below the lid member 11, and has a concave storage portion 13 in the center. Between the guide member 14 and the circular opening 11 ⁇ / b> A of the lid member 11, an XY-axis direction moving guide surface 15 that can horizontally move the operation lever 12 is formed on the upper surface of the guide member 14.
- the wall surface of the concave storage portion 13 in the guide member 14 is formed in a size that allows the operation lever 12 to be stored.
- a Z-axis direction moving guide surface 16 on which the operation lever 12 can slide in the Z-axis direction is formed on the wall surface.
- a cover 17 is fixed to the side of the operation lever 12. The cover 17 is accommodated in a slit 11 ⁇ / b> B formed horizontally on the inner wall surface facing the circular opening 11 ⁇ / b> A of the lid member 11. The cover 17 moves with the horizontal movement of the operation lever 12 so that the storage portion 13 is not exposed to the top.
- a ring-shaped XY axis movement detector 20 for detecting the movement amount of the operation lever 12 in the XY axis direction is provided in the vicinity of the XY axis direction movement guide surface 15 of the guide member 14.
- a Z-axis movement detection unit 21 for detecting the amount of movement of the operation lever 12 in the Z-axis direction is provided.
- the XY axis movement detection unit 20 and the Z axis movement detection unit 21 correspond to the input detection sensor 2 shown in FIG.
- the XY axis movement detection unit 20 and the Z axis movement detection unit 21 are in a state where the operation lever 12 is at the center position O (a state where the operation lever 12 in FIG. 3 is positioned on the storage unit 13 of the guide member 14). , The movement amount of the operation lever 12 in the XY axis direction and the Z axis direction is detected.
- the XY axis movement detection unit 20 and the Z axis movement detection unit 21 are each connected to a wiring board 22 provided in the casing 10. On this wiring board 22, a storage unit 23, an information processing unit 24, and a control unit 25 are provided along with the XY axis movement detection unit 20 and the Z axis movement detection unit 21.
- the storage unit 23 stores a target state quantity (reference virtual surface).
- the information processing unit 24 calculates the drive amount of the drive unit 33 of the wire 35 based on the detection data obtained by the XY axis movement detection unit 20 and the Z axis movement detection unit 21.
- the control unit 25 controls the adjustment force (presentation force) of the drive unit 33 based on the calculation result by the information processing unit 24.
- the storage unit 23 corresponds to the database 5 in FIG.
- the information processing unit 24 corresponds to the simulator calculation unit 4 in FIG.
- the control unit 25 corresponds to the actuator control unit 6 in FIG.
- the XY axis detection unit 20 and the Z axis detection unit 21 that detect the movement amount are configured by an optical position measurement sensor.
- a guide moving unit 30 is provided in the storage unit 13 of the guide member 14.
- the guide moving part 30 has a through hole 31 in the center and is formed in a cylindrical shape.
- the upper surface of the guide moving unit 30 forms a part of the XY-axis direction moving guide surface 15 when no force is applied from the outside, and the operation lever 12 can slide along the upper surface.
- An upper surface of the through-hole 31 is formed with an inclined surface 31A that is inclined from the outside toward the central through-hole 31 and guides the wire 35 (described later).
- a compression spring 32 for biasing the guide moving part 30 upward is provided between the lower part of the guide moving part 30 and the bottom surface of the storage part 13 of the guide member 14.
- the drive part 33 comprised by the stepping motor etc. is provided in the casing 10 and the side part of the guide member 14, for example.
- the drive unit 33 corresponds to the haptic sense presentation actuator 3 described above.
- a pulley 34 is provided on the output shaft of the drive unit 33.
- a wire 35 is wound around the pulley 34, and the tip of the wire 35 is connected to the lower portion of the operation lever 12 via the through hole 31 of the guide moving unit 30 and the inclined surface 31 ⁇ / b> A above the through hole 31. Has been.
- the operation lever 12 moves to the XY axis direction moving guide surface. 15 moves along the XY plane. At this time, the movement amount shifted from the center position O is measured by the XY axis detection unit 20. Further, when the operation lever 12 is pushed in the Z-axis direction at the center position O with respect to the operation lever 12 of the operation unit 1 by the operator's fingertip, the operation lever 12 has a cylindrical Z-axis. It moves downward along the direction movement guide surface 16. At this time, the amount of movement of the operation lever 12 is measured by the Z-axis movement detector 21.
- the driving unit 33 transmits a tensile force to the operation lever 12 of the operation unit 1 by winding the wire 35 with the pulley 34 and presents a force as a tactile force sense on the operation lever 12.
- the guide moving portion 30 that moves downward together with the operation lever 12 and the compression spring 32 that supports the guide moving portion 30 and biases it upward are statically moved in the Z-axis direction.
- a tactile force sensation is presented to the operation lever 12 in combination with a balance with the tensile force generated by the wire 35.
- FIG. 4A and 4B are diagrams for explaining the relationship between the input detection state by the operation lever 12 and the output presentation method by the drive unit 33.
- FIG. FIG. 4A shows the state of each component when a sliding motion is input in the XY axes.
- the guide moving unit 30 is raised to the lower surface position of the operation lever 12 of the operation unit 1 by the force of the compression spring 32.
- the operation lever 12 is allowed to slide only in the XY axis direction by the XY axis direction moving guide surface 15 and the guide moving unit 30. At this time, the wire 35 is in a free state in which no compression force is applied to the compression spring 32.
- the force transmitted through the wire 35 is used only for presenting the force for the input operation to the slide in the XY axis direction of the operation lever 12. .
- the drag force is always presented so as to be pulled back toward the center by driving the drive unit 33.
- a tactile force sensation that generates a resistance force accompanying the active input operation of the operator is presented.
- FIG. 4B shows the state of each component when the pushing operation of the operation lever 12 is input.
- the operation lever 12 of the operation unit 1 is at the center position O on the XY plane, and only movement in the Z-axis direction is allowed by the Z-axis direction movement guide surface 16 together with the guide movement unit 30.
- the operation lever 12 is pulled by the wire 35 and compresses the compression spring 32 via the guide moving unit 30.
- the compression spring 32 generates a force in the extension direction by being compressed by the operation lever 12 and the guide moving unit 30, and is operated by a resultant force (balance) with a force transmitted by pulling or feeding the wire 35.
- 12 adjustment forces (presentation forces) are controlled. As a result, the operator is presented with adjustment forces such as “elastic force”, “viscous force”, and “inertial force” for grasping the target reference virtual plane.
- FIG. 5 is a diagram showing an operation pointer in the virtual space and virtual physical information forming a target reference virtual plane.
- FIG. 5 shows an operation pointer 40 that moves in conjunction with the operation lever 12 of the operation unit 1.
- the operation pointer 40 moves in the three-dimensional virtual space 42 shown on the display device 41 in conjunction with the operation lever 12 of the operation unit 1 and visually displays the control result of the actuator control unit 6.
- the virtual space 42 is a space formed by the X axis, the Y axis, and the Z axis, and includes, for example, a virtual wall surface 43 and a virtual bottom surface 44 made of physical information.
- the operation pointer 40 indicated by the operation of the operation lever 12 contacts the virtual wall surface 43 or the virtual bottom surface 44 forming the target virtual space 42, the operation pointer 40 and the virtual wall surface 43 or the virtual bottom surface 44 affect each other.
- the exerting position and force are calculated and presented to the operator as a tactile force sense and displayed as visual information.
- the display device 41 shown in FIG. 5 corresponds to the information presentation unit 7 shown in FIG.
- FIG. 6 is a flowchart showing the overall operation of the haptic sense presentation device of the first embodiment.
- the input detection sensor 2 XY axis movement detection unit
- the Z-axis movement detection unit 21 detects the position of the operation lever 12. That is, the input position of the operation lever 12 in the XY plane or the Z-axis direction is detected, and an electrical signal is output as the detection data a.
- the simulator calculation unit 4 (information processing unit 24) refers to the virtual physical data b in the database 5 (storage unit 23), the virtual physical data b, and the detection data a from the input detection sensor 2.
- Display data e which is data for updating the virtual physical data b according to the virtual arrangement relationship and the force balance relationship and displaying visual information on the information display unit 7 (display device 41).
- presentation data c to be presented to the operator as a tactile sensation is output to the actuator control unit 6 (control unit 25).
- step S103 the information display unit 7 (display device 41) receives the display data e and displays the information on a device for display as visual information such as a display as shown in FIG.
- the actuator control unit 6 control unit 25
- control data d to be presented to the operator as a haptic sense based on the presentation data c received from the simulator calculation unit 4, and the haptic sense presentation actuator 3 ( To the drive unit 33).
- step 102 constitutes a “simulator calculation step”. Further, the “tactile force sense actuator control step” is configured by step S103.
- step S101 when the input detection sensor 2 detects a movement input of the operation unit 1 to the operation lever 12, the operation pointer 40 in the virtual space 42 is moved according to the movement of the operation lever 12, as shown in FIG. 7B. Moving. At this time, if the operation pointer 40 in the virtual space 42 moves according to the movement amount of the operation lever 12, the movement range of the operation pointer 40 in the virtual space 42 is limited.
- the operation speed of the operation pointer 40 is changed according to the movement amount of the operation lever 12.
- the movement amount of the operation lever 12 and the movement amount of the operation pointer 40 in the virtual space 42 may be associated with each other.
- a region in which the movement amount of the operation lever 12 of the operation unit 1 is associated with the movement amount of the operation pointer 40 and a region in which the movement amount of the operation lever 12 and the operation speed of the operation pointer 40 are associated may be set in combination. good.
- FIG. 8 is a flowchart showing the control contents of the arithmetic control unit C including the simulator calculation unit 4 and the actuator control unit 6.
- This flowchart shows “resistance (presentation force)” in the XY axis direction (XY plane direction), “elastic force”, “viscous force”, and “inertial force” in the Z axis direction with respect to the operation lever 12 operated by the operator. This is the control content for presenting such “adjustment power”.
- step S200 the input detection sensor 2 detected in the previous step S101 (corresponding to the XY axis movement detection unit 20 and the Z axis movement detection unit 21). Based on the detection result obtained by the above, it is determined whether the movement amount of the operation pointer 40 is made with respect to the XY plane or with respect to the Z-axis direction. If it is determined that the input operation is input to the XY plane, the process proceeds to step S201. On the other hand, if it is determined that the input operation is an input in the Z-axis direction, the process proceeds to step S301.
- step S202 After moving the operation pointer 40 in the XY plane in the virtual space 42 in step S201, the virtual physical data b, which is physical information of the virtual wall surface 43 in the virtual space 42, is referred to in step S202.
- the virtual wall 43 and the operation pointer 40 are contacted.
- the operation pointer 40 and the virtual wall surface 43 are configured by a mesh such as a polygon.
- step S203 the position and force at which the virtual wall surface 43 and the operation pointer 40 influence each other are calculated.
- FIG. 9A showing the relationship between the operation pointer 40 and the virtual physical data in the virtual space 42.
- the virtual spring coefficient, damper coefficient, and mass coefficient of the 3D virtual object on the virtual wall surface 43 are Based on the relationship with the movement of the operation pointer 40 that moves in response to the operation of the operation lever 12 of the operation unit 1, a change in position and force generated in the virtual objects of the virtual wall 43 and the operation pointer 40 is calculated by physical simulation.
- This physical simulation is calculated by an existing method such as an analysis method for calculating a mutual relationship between geometric forces and a penalty method for generating a force according to the amount of virtual objects entering each other.
- the virtual wall surface 43 is expressed as a wall, but is a virtual object that presents a force in the XY plane direction. If the virtual mass of the virtual wall surface 43 is increased or the virtual wall surface 43 is connected to the virtual bottom surface 44, a wall-like expression that does not move even when pressed with the operation pointer 40 can be obtained. If the virtual wall surface 43 is separated from the virtual bottom surface 44 and an appropriate virtual mass is given, the virtual wall surface 43 moving as a virtual object can be expressed. After performing such calculation, the process proceeds to step S204.
- step S204 the change in the position and force exerted by the contact of the virtual wall 43 is updated as the virtual physical data b of the database in S102 described above.
- the change in position and force exerted by the operation pointer 40 due to the contact is presented to the operator as a tactile force sense to the operation lever 12 of the operation unit 1.
- Changes in the positions of the virtual wall surface 43 and the operation pointer 40 are displayed on the display device 41 as visual information.
- the input detection state of the operation lever 12 of the operation unit 1 and the output presentation method are in the state of FIG. 4A.
- the compression spring 32 limits the movement of the operation lever 12 of the operation unit 1 only within the XY plane, and there is no force presented to the operator as a direct contact force sense.
- the pulling force is presented to the operator as a tactile force sense on the operation lever 12 of the operation unit 1 by pulling according to the tactile force sense that generates the wire 35.
- FIGS. 10A and 10B are diagrams showing the relationship between the operation lever 12 of the operation unit 1, the operation pointer in the virtual space 42, and the virtual wall surface.
- a force can be presented only on the side opposite to the input operation direction of the operation lever 12 of the operation unit 1.
- the reaction force from the virtual wall surface 43 calculated by the physical simulation is directed from the operation lever 12 toward the center of the XY plane.
- step S301 the operation pointer 40 in the Z-axis direction in the virtual space 42 is moved.
- step S302 the process proceeds to step S302.
- the operation pointer 40 has not moved on the XY plane, there is no input operation on the XY plane. That is, the operation lever 12 of the operation unit 1 is positioned at the center of the XY plane, and is limited to operations in the Z-axis direction.
- step S302 it is determined whether or not the virtual bottom surface 44 and the operation pointer 40 are in contact with each other by referring to virtual physical data b that is physical information of the virtual bottom surface 44 that is a virtual object in the virtual space 42. After performing the contact determination similar to step S202, the process proceeds to step S303.
- step S303 as shown in FIG. 9B, when the operation pointer 40 and the virtual bottom surface 44 of the virtual physical data b come into contact with each other by movement in the Z-axis direction at the center position O on the XY plane, the 3D virtual of the virtual bottom surface 44 is obtained. From the relationship between the virtual spring coefficient, damper coefficient, and mass coefficient of the object and the movement of the operation pointer 40 that moves in response to the operation of the operation lever 12 of the operation unit 1, a physical simulation is performed, and the virtual bottom surface 44 and A change in position and force generated in the virtual objects of the operation pointer 40 is calculated. Thereafter, the process proceeds to step S304.
- the physical simulation in step S303 is the same as in step S203.
- the virtual bottom surface 44 is also regarded as a virtual object in the same manner as the virtual wall surface 43, and the virtual wall surface 43 is expressed as a bottom surface that does not move by the virtual mass of the virtual wall surface 43 and the connection relationship between the other virtual bottom surface 44 and the virtual wall surface 43. , And a virtual object in the Z-axis direction that moves as a virtual object.
- step S304 the change in position and force exerted by the contact of the virtual bottom surface 44 is updated as virtual physical data b in the database in S102.
- the change in position and force exerted by the operation pointer 40 due to the contact is presented to the operator as a tactile force sense to the operation lever 12 of the operation unit 1. Changes in the positions of the virtual bottom surface 44 and the operation pointer 40 are displayed on the display device 41 as visual information.
- the input detection state of the operation lever 12 of the operation unit 1 and the output presentation method are in the state of FIG. 4B.
- the operation lever 12 and the guide moving unit 30 of the operation unit 1 are restricted in movement in the XY plane direction.
- the operation lever 12 is pulled by the wire 35, the operation lever 12 is integrated with the guide moving unit 30 and compresses the compression spring 32. .
- the compression spring 32 is compressed to generate a force in the extension direction.
- the force and resultant force transmitted by the wire 35 by driving the force by the compression spring 32 and the drive unit 33 are presented to the operator as adjustment force (presentation force) of the operation lever 12 of the operation unit 1.
- the operation lever 12 of the operation unit 1 can be controlled in any direction up and down (positive and negative) at an arbitrary timing.
- Adjustment force such as “elastic force”, “viscous force”, and “inertial force” for grasping the reference virtual plane to be displayed can be presented.
- “elastic force” it is common to present force in the direction in which resistance is generated in proportion to the change in the position to be operated, but it is also possible to present force that escapes in the direction to be operated It is.
- viscous force and “inertial force”
- It can be used for warning of harmful links on the website. It is possible to make a warning by presenting a tactile sensation such as being unable to move to a link to a homepage that is harmful to children, and being difficult to move when a site that is also harmful to general users is included.
- It can be used for grasping the state of touch maps. It is possible to grasp the state by using the reaction of tactile sensation when comprehending a map for visually impaired persons and other walls and directions such as a 3D maze for general users.
- Tactile feedback is important for key operations for input. For this reason, it is possible to freely change the input feedback, such as a force feedback that is easy for the user to understand or an awareness of an input change caused by returning a force feedback different from the conventional click feeling.
- entertainment such as understanding illusion pictures.
- the user feels uncomfortable.
- an illusion picture in which the spiral staircase created by MAURITS CORNELIS ESCHER cannot be touched as a real object, but it can also be touched by the haptic input / output presentation device of the present invention that handles only virtual physical information.
- the drive unit 33 and the wire 35 are separate.
- a biometal or the like that is a wire-like actuator capable of electrically controlling expansion and contraction may be used as the drive unit 33.
- the XY axis movement detection unit 20 and the Z axis movement detection unit 21 are configured by sensors that measure positions with light.
- the XY axis movement detection unit 20 and the Z axis movement detection unit 21 are only required to be able to measure positions, and for example, a magnetic sensor may be used.
- the compression spring 32 is constituted by a coil spring.
- the compression spring 32 may be a mechanism that gives a restoring force, and may be a leaf spring, for example.
- the Z-axis direction movement guide surface 16 is formed in a cylindrical shape to guide the movement of the operation lever 12 of the operation unit 1 in the Z-axis direction.
- a hole is opened at the center of the operation lever 12 of the operation unit 1, and the movement of the operation lever 12 in the Z-axis direction is guided by the rod-shaped Z-axis direction movement guide surface 16.
- the Z-axis direction moving guide surface 16 that guides the pushing of the operation lever 12 in the Z-axis direction is disposed at the center position O on the XY plane.
- Example 1 the storage part 13 of the guide member 14 is located in the center of the casing 10. However, the present invention is not limited to this, and the storage portion 13 of the guide member 14 may be positioned at a position eccentric from the center of the casing 10. In Example 1, although the drive part 33 which comprises the tactile-force sense presentation actuator 3 was comprised by one actuator, the number of this actuator is not specifically limited.
- the XY plane slide detection operation of the operation lever 12 and the Z axis are detected by the XY axis movement detection unit 20 and the Z axis movement detection unit 21.
- the calculation control unit C including the simulator calculation unit 4 and the actuator control unit 6 calculates a force corresponding to the operation of the operation lever 12 based on the detection result of the detection unit.
- the drive unit 33 including at least one actuator is based on the calculation result of the calculation control unit C, and the drag (presenting force) of the operation lever 12 against the slide operation on the XY plane with respect to the drive unit 33.
- the drive unit 33 including at least one actuator causes the drag (presentation force) of the operation lever 12 against the sliding motion on the XY plane and push in the Z-axis direction.
- An adjustment force (presentation force) of the operation lever 12 with respect to the movement is generated. For this reason, it is possible to present a haptic sensation associated with the operation of the active operation lever 12 by the operator, and it is possible to present various haptic sensations with a small number of actuators.
- Embodiment 2 of the present invention will be described with reference to FIG.
- the same components as those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.
- the tactile sensation presentation device is different from the configuration of the first embodiment in that the XY axis movement detection unit and the Z axis movement detection unit provided as the input detection sensor 2 are configured by piezoelectric elements. That is, an XY axis movement detection unit 50 made of a piezoelectric element is provided on the side of the operation lever 12. Further, a Z-axis movement detection unit 51 that is also made of a piezoelectric element is provided below the operation lever 12.
- XY axis movement detection unit 50 and Z axis movement detection unit 51 detect the force applied to the operation lever 12 of the operation unit 1. Based on the outputs from the XY axis movement detection unit 50 and the Z axis movement detection unit 51, the information processing unit 24 (simulator calculation unit 4) calculates the movement direction and movement amount of the operation lever 12.
- the operation speed of the operation pointer 40 is changed according to the magnitude of the force detected by the movement detection unit 50 and the Z-axis movement detection unit 51.
- the movement direction is not restricted when the operation lever 12 is operated. Therefore, the operation pointer 40 is moved in an arbitrary direction in the XYZ space in response to the input operation to the operation lever 12, and in step S200, the component is obtained as the movement amount with respect to the XY plane or the movement amount with respect to the Z-axis direction.
- Embodiment 3 of the present invention will be described with reference to FIGS. 12A and 12B.
- the third embodiment is different from the first embodiment in that the structure of the mechanism for changing the force transmission and direction is changed.
- the same components as those in the previous embodiment are denoted by the same reference numerals, and redundant description is omitted.
- FIG. 12A and 12B are diagrams showing the relationship between the input detection state and the output presentation method according to the second embodiment of the present invention.
- the force is transmitted by pulling the wire 35 and the resultant force of the tensile force by the wire 35 and the expansion force for the compression of the compression spring 32 is used.
- the direction changing portion 60 having a link mechanism is used to transmit force.
- the operation lever 61 of the operation unit 1 and the direction change link member 63 By connecting the operation lever 61 of the operation unit 1 and the direction change link member 63 by the ball joint 62 of the direction change link member 63, the direction of presenting the force in the XY plane direction and the Z axis direction is changed. . Further, the force is transmitted by converting the rotation into the parallel movement of the guide moving unit 30 using the screw 64.
- the operation lever 61 shown in the third embodiment has an inclined surface 61A whose lower surface is inclined upward from the central portion toward the peripheral portion. That is, the operation lever 61 is formed in a shape in which the center protrudes downward.
- the inner peripheral portion of the XY-axis direction moving guide surface 15 of the guide member 14 is also formed on the inclined surface 15A that is inclined downward toward the Z-axis direction moving guide surface 16.
- direction changing link members 63 having ball joints 62 that are rotatable at both ends.
- the direction change link member 63 is connected to the lower center of the operation lever 61 and the guide moving unit 30 by a ball joint 62.
- a screw 64 is connected to the lower portion of the guide moving unit 30.
- the screw 64 is rotationally driven by a drive unit that is an actuator (not shown). The screw 64 can move the guide moving unit 30 along the Z axis by this rotational drive.
- the guide moving unit 30 by the direction conversion link member 63 in the Z-axis direction is adjusted.
- the force may be easily converted into a force in the XY axis direction of the operation lever 61 of the operation unit 1.
- Example 1 when the force in the Z-axis direction is presented, the tensile force of the wire 35 and the extension force of the compression spring 32 are used to generate positive and negative forces.
- Example 3 since the positive and negative forces can be controlled by rotating the screw 64 by the drive unit, the force can be generated more efficiently.
- the operation lever 61 of the operation unit 1 can present a drag (presentation force) in a direction toward the center in the XY plane with respect to an input operation on the XY-axis direction movement guide surface 15, It is also possible to present a drag force (presentation force) in a direction in which the lever 61 moves outward from the center.
- Embodiment 4 of the present invention will be described with reference to FIGS. 13A and 13B.
- the fourth embodiment is different from the first embodiment in that the configuration of the mechanism of the force presentation unit is changed.
- the same components as those in the previous embodiment are denoted by the same reference numerals, and redundant description is omitted.
- the configuration for moving the guide moving unit 30 in the Z-axis direction by rotating the screw 64 is the same as in the third embodiment.
- FIGS. 13A and 13B are diagrams showing the relationship between the input detection state and the output presentation method according to the fourth embodiment of the present invention.
- the force is presented to the operation lever 61 of the operation unit 1 by the pulling force of the wire 35.
- a force (presentation force) against an input operation is generated by stopping the movement of the cover 17 using a stopper 70 as shown in FIG. 13A.
- the stopper 70 has one end connected to the guide moving unit 30 and the other end provided so as to protrude into the slit 11B of the lid member 11. As shown in FIG. 13A, the other end of the stopper 70 can be obtained by rotating the screw 64 and moving the guide moving unit 30 upward in the Z-axis direction while the operation lever 12 is on the XY-axis moving guide surface 15. The portion is protruded into the slit 11B of the lid member 11. As a result, the movement of the operation lever 12 in the XY axis direction is restricted by the stopper 70 and the cover 17.
- Example 1 the force was presented by the resultant force of the tensile force of the wire 35 and the extension force against the compression of the compression spring 32.
- the movement of the guide moving unit 30 in the vertical (positive / negative) direction is generated by rotating the screw 64, thereby contacting the guide moving unit 30. It is possible to present a tactile sensation in the Z-axis direction with the operation lever 61 of the operation unit 1 being provided.
- the drag (presentation force) against the input operation can be presented to the operation lever 61 of the operation unit 1, and the tactile sensation is presented in any of the vertical (positive and negative) directions at an arbitrary timing Is possible.
- the technology for presenting a tactile sensation according to the present invention can be applied to an operation unit of an electronic device such as a mobile phone, a PDA, a notebook PC, a game machine, and a TV remote controller.
- an electronic device such as a mobile phone, a PDA, a notebook PC, a game machine, and a TV remote controller.
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Abstract
Description
この触力覚提示装置における処理を説明する。操作部1が操作されて操作部1の入力検出センサ2から検出データaが出力される。シミュレータ算出部4は、その検出データaを、データベース5の仮想的な物体情報である仮想物理データbと参照比較した後、触力覚提示アクチュエータ3を駆動させるための力である提示データcを計算する。その後、このシミュレータ算出部4は、提示データcに基づき、例えばディスプレイである情報提示部7に対して視覚情報として、目標とされる基準仮想面を表示する表示データeを出力する。それとともに、シミュレータ算出部4は、データベース5に対して、この提示データcに基づき予め記憶させた仮想物理データbを更新させる処理を行う。アクチュエータ制御部6は、シミュレータ算出部4から提示データcが入力された場合に、提示データcに基づき、触力覚提示アクチュエータ3に対して提示する力を算出および制御するための制御データdを生成し、この制御データdに基づき触力覚提示アクチュエータ3を駆動させる。
このとき、操作レバー61の底面とXY軸方向への移動へ限定するための傾斜面15A及び61Aの傾きを適宜、調整することにより、方向変換リンク部材63によるガイド移動部30のZ軸方向の力を、操作部1の操作レバー61のXY軸方向の力に変換し易いようにしても良い。
2 入力検出センサ
3 触力覚提示アクチュエータ
4 シミュレータ算出部
5 データベース
6 アクチュエータ制御部
7 情報表示部
12 操作レバー
15 XY軸方向移動ガイド面
16 Z軸方向移動ガイド面
20 XY軸移動検出部(センサ)
21 Z軸移動検出部(センサ)
23 記憶部
24 情報処理部
25 制御部
30 ガイド移動部
33 駆動部
50 XY軸力検出部
51 Z軸力検出部
60 方向転換部
61 操作レバー
C 演算制御部
D 駆動伝達部
O 中心位置
a 検出データ
b 仮想物理データ
c 提示データ
d 制御データ
e 表示データ
Claims (21)
- 操作者により操作される操作レバーと、前記操作レバーのXY平面方向のスライド動作の入力および前記操作レバーのXY平面上特定位置でのZ軸方向への押し込み動作の入力を案内する移動ガイド面とを有する操作部と、
前記操作レバーのXY平面方向のスライド動作の入力と前記操作レバーのZ軸方向への押し込み動作の入力とを検出する検出部と、
前記検出部の検出結果に基づき、前記操作レバーの操作に対応した力を演算する演算制御部と、
少なくとも一つのアクチュエータからなる駆動部を有し、前記演算制御部の演算結果に基づき、前記駆動部に対して、前記XY平面方向のスライド動作の入力に対する前記操作レバーの抗力、及びZ軸方向への押し込み動作の入力に対する前記操作レバーの調整力を発生させる駆動伝達部と、を備える触力覚提示装置。 - 前記駆動伝達部は、XY平面方向のスライド動作が入力された際にはワイヤによる引張力により前記操作レバーを特定位置に引き戻す抗力を伝達し、Z軸方向の押し込み動作が入力された際には前記ワイヤによる引張力とバネによる伸張力の合力によりZ軸方向に調整力を伝達する請求項1記載の触力覚提示装置。
- 前記駆動伝達部は、前記駆動部で発生する力を、XY平面方向及びZ軸方向への移動力に変換する方向転換部を有し、XY平面方向のスライド動作が入力された際には前記方向変換部により前記操作レバーを特定位置に引き戻す抗力を伝達し、Z軸方向の押し込み動作が入力された際には前記方向変換部によりZ軸方向に調整力を伝達する請求項1記載の触力覚提示装置。
- 前記駆動伝達部は、前記操作レバーのXY平面方向のスライドを止めるストッパーを有し、XY平面方向のスライド動作が入力された際には前記ストッパーにより前記操作レバーの動きを止めることで抗力を発生させ、Z軸方向の押し込み動作が入力された際には、前記操作レバーに対してZ軸方向への調整力を伝達する請求項1記載の触力覚提示装置。
- 前記検出部は、XY平面方向のスライド動作の入力として前記操作レバーのXY平面上の位置を検出するセンサと、Z軸方向への押し込み動作の入力として前記操作部のZ軸方向での位置を検出するセンサとを有する請求項1~4のいずれか1項に記載の触力覚提示装置。
- 前記検出部は、XY平面方向のスライド動作の入力として前記操作レバーのXY平面方向への力を検出するセンサと、Z軸方向への押し込み動作の入力として前記操作レバーのZ軸方向への力を検出センサとを有する請求項1~4のいずれか1項に記載の触力覚提示装置。
- 前記駆動部はモータにおける1方向回転のみを前記操作レバーに提示する力として用いるアクチュエータを有する請求項1~6のいずれか1項に記載の触力覚提示装置。
- 前記駆動部はバイオメタルによる圧縮力を駆動力とするアクチュエータを有する請求項1~6のいずれか1項に記載の触力覚提示装置。
- 前記駆動部はモータにおける時計回転方向と反時計回転方向との2方向の回転を前記操作レバーに提示する力として用いるアクチュエータを有する請求項1~7のいずれか1項に記載の触力覚提示装置。
- 操作者により操作される操作レバーと、前記操作レバーのXY平面方向のスライド動作の入力および前記操作レバーのXY平面上特定位置でのZ軸方向への押し込み動作の入力を案内する移動ガイド面とを有する操作部と、前記操作レバーのXY平面方向のスライド動作の入力と前記操作レバーのZ軸方向への押し込み動作の入力とを検出する検出部と、前記検出部の検出結果に基づき前記操作レバーの操作に対応した力を演算する演算制御部と、少なくとも一つのアクチュエータ駆動部を有する駆動伝達部と、を備え、
前記演算制御部は、
前記検出部からの検出データに基づいて、データベースの仮想物理データを参照し、仮想空間の中での物理現象をシミュレートすることで、前記仮想物理データを更新し、前記操作レバーに提示する力を提示データとして出力するシミュレータ算出部と、
前記提示データに基づき、力を発生させるためのアクチュエータを制御するための制御データを出力し、かつ前記制御データに基づき前記操作レバーを動作させる触力覚提示アクチュエータ制御部と、を具備する触力覚提示装置。 - 前記データベースの前記仮想物理データは、仮想空間上での前記操作レバーに相当する操作ポインタと仮想物体のバネ係数、ダンパ係数、マス係数を持ち、前記操作ポインタと前記仮想物体それぞれの位置、大きさ、拘束条件を定義している請求項10に記載の触力覚提示装置。
- 前記シミュレータ算出部は、前記操作レバーの前記検出データを仮想空間上での前記操作ポインタの移動量に相当させている請求項10または11に記載の触力覚提示装置。
- 前記シミュレータ算出部は、前記操作レバーの前記検出データを仮想空間上での前記操作ポインタの移動速度に相当させている請求項10又は11に記載の触力覚提示装置。
- 前記触力覚提示アクチュエータ制御部は、前記駆動部がXY平面方向のスライド動作が入力される際には前記操作レバーを特定位置に引き戻す力を抗力として提示をする制御をし、前記駆動部がZ軸方向の押し込み動作が入力される際にはZ軸方向への正および負の任意の向きの調整力を提示する制御をする請求項10~13のいずれか1項に記載の触力覚提示装置。
- 前記触力覚提示アクチュエータ制御部は、前記駆動部がXY平面方向のスライド動作が入力される際には前記操作レバーの動きを止めることで抗力を提示する制御をし、前記駆動部がZ軸方向の押し込み動作が入力される際にはZ軸方向への正および負の任意の向きの調整力を提示する制御をする請求項10~13のいずれか1項に記載の触力覚提示装置。
- 前記請求項1~15のいずれか1項に記載の触力覚提示装置を操作部として備える電子端末機器。
- 操作者により操作される操作レバーと、前記操作レバーのXY平面方向のスライド動作の入力および前記操作レバーのXY平面上特定位置でのZ軸方向への押し込み動作の入力を案内する移動ガイド面とを有する操作部と、前記操作レバーのXY平面方向のスライド動作の入力と前記操作レバーのZ軸方向への押し込み動作の入力とを検出する検出部と、前記検出部の検出結果に基づき前記操作レバーの操作に対応した力を演算する演算制御部と、少なくとも一つのアクチュエータからなる駆動部を有する駆動伝達部と、を備えた触力覚提示装置による触力覚提示方法であって、
前記検出部からの検出データに基づいて、データベースの仮想物理データを参照し、仮想空間の中での物理現象をシミュレートすることで、前記仮想物理データを更新し、前記操作レバーに提示する力を提示データとして出力するシミュレータ算出ステップと、
前記提示データに基づき、力を発生させるためのアクチュエータを制御するための制御データを出力し、かつ前記制御データに基づき前記操作レバーを動作させる触力覚提示アクチュエータ制御ステップと、を有することを触力覚提示方法。 - 前記シミュレータ算出ステップは、前記操作レバーの前記検出データを仮想空間上での前記操作ポインタの移動量に相当させている請求項17に記載の触力覚提示方法。
- 前記シミュレータ算出ステップは、前記操作レバーの前記検出データを仮想空間上での前記操作ポインタの移動速度に相当させている請求項17に記載の触力覚提示方法。
- 前記触力覚提示アクチュエータ制御ステップは、前記駆動部がXY平面方向のスライド動作が入力される際には前記操作レバーを特定位置に引き戻す力を抗力として提示をする制御をし、前記駆動部がZ軸方向の押し込み動作が入力される際にはZ軸方向に限定された正および負の任意の向きに調整力を提示する制御をする請求項17~19のいずれか1項に記載の触力覚提示方法。
- 前記触力覚提示アクチュエータ制御ステップは、前記駆動部がXY平面方向のスライド動作が入力される際には前記操作レバーの動きを止めることで抗力を提示する制御をし、前記駆動部がZ軸方向の押し込み動作が入力された際にはZ軸方向に限定された正および負の任意の向きに調整力を提示する制御をする請求項17~19のいずれか1項に記載の触力覚提示方法。
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US8976045B2 (en) | 2015-03-10 |
US20110316724A1 (en) | 2011-12-29 |
JP5413450B2 (ja) | 2014-02-12 |
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