WO2012176610A1 - Dispositif de présentation de stimulus de doigt - Google Patents

Dispositif de présentation de stimulus de doigt Download PDF

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Publication number
WO2012176610A1
WO2012176610A1 PCT/JP2012/064378 JP2012064378W WO2012176610A1 WO 2012176610 A1 WO2012176610 A1 WO 2012176610A1 JP 2012064378 W JP2012064378 W JP 2012064378W WO 2012176610 A1 WO2012176610 A1 WO 2012176610A1
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WO
WIPO (PCT)
Prior art keywords
finger
electrostrictive
presentation device
material layer
actuator
Prior art date
Application number
PCT/JP2012/064378
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English (en)
Japanese (ja)
Inventor
大寺　昭三
Original Assignee
株式会社村田製作所
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Publication date
Application filed by 株式会社村田製作所 filed Critical 株式会社村田製作所
Priority to JP2013521517A priority Critical patent/JP5472539B2/ja
Publication of WO2012176610A1 publication Critical patent/WO2012176610A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/002—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing
    • A61H7/004—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing power-driven, e.g. electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • A61H2201/1669—Movement of interface, i.e. force application means linear moving along the body in a reciprocating manner
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A61H2205/067—Fingers

Definitions

  • the present invention relates to a finger stimulation presentation device, and more particularly to a finger stimulation presentation device that applies mechanical stimulation while being worn on a finger.
  • a finger input device is known as one of devices of a type that a user wears on a finger (hereinafter also referred to as “finger-mounted type”) (see Patent Document 1).
  • This finger input device is configured to support a protruding portion in front of the tip of the finger by a frame portion extending from a fixing member fixed in the middle of the finger, and the protruding portion is a hole provided in the frame portion.
  • a contact projection is disposed outside the frame portion, and a stimulation projection is disposed inside the frame portion (to face the tip of the finger) (patent) See Figures 1 to 4 of document 1).
  • Such a finger input device is used in combination with a touch panel.
  • the frame portion can follow the side surface or upper surface (nail side) of the finger without covering the lower surface (abdomen side) of the finger, and can support the protruding portion in front of the tip of the finger. Therefore, it is possible to expose the lower surface of the finger, and there is an advantage that the user does not feel much finger binding.
  • An object of the present invention is to provide a finger stimulation presentation device capable of giving a mechanical stimulation while being worn on a finger without impairing the workability of the finger as much as possible.
  • the present inventor feels that the lower surface (abdominal side) of the finger is stimulated when the side surface of the finger is mechanically rubbed, and the force of rubbing the side surface of the finger is applied to the tip and lower surface of the finger.
  • the present invention has been completed.
  • a finger stimulation presentation device that applies mechanical stimulation while being worn on a finger, a fixing member for fixing the finger stimulation presentation device to the finger, and a tip portion of a linear actuator
  • a finger stimulation presentation device that includes at least one linear actuator supported by a securing member such that is slid along the side of the finger.
  • the tip of the linear actuator only has to slide along the side surface of the finger, and therefore the linear actuator can be arranged and supported on the side surface of the finger, so that the lower surface of the finger is exposed.
  • the linear actuator can be arranged and supported on the side surface of the finger, so that the lower surface of the finger is exposed.
  • Such a finger stimulation presentation device of the present invention uses a linear actuator to slide the tip, and thus does not require a tall actuator as in the case of using a conventional finger input device. Furthermore, even if the linear actuator is slightly deviated from the finger, the finger stimulation presenting device of the present invention can provide mechanical stimulation without substantially affecting the sliding operation. Further, since the sliding motion can be perceived by tactile sensation even if the force is weaker than the force pushing the tip or lower surface of the finger, the power consumption of the linear actuator can be kept low.
  • the finger stimulus presentation device includes two linear actuators whose sliding directions are orthogonal to each other.
  • a tactile sensation as if the lower surface of the finger is stimulated in the direction in which these forces are synthesized by driving such two linear actuators to apply mechanical stimulation to the side of the finger from two directions. Can make you feel.
  • the sliding direction is orthogonal, the direction combined can be set to an arbitrary direction.
  • the linear actuator includes an electrostrictive material layer, two electrodes respectively disposed on both sides of the electrostrictive material layer, and one side of the electrostrictive material layer via one of the electrodes.
  • An electrostrictive element comprising an electrostrictive element formed of a bonded base material, wherein the electrostrictive element is curved at least partially with one of the electrostrictive material layer and the base material as a convex side Actuator.
  • Such an electrostrictive element is an electrostrictive element having a unimorph structure.
  • the electrostrictive element is at least partially curved with either one of the electrostrictive material layer and the base as a convex side, a voltage is applied between the electrodes of the electrostrictive element.
  • the tip portion of the electrostrictive element moves to contract or extend in the longitudinal direction, and returns to its original state when the voltage is removed.
  • the movement when applying voltage is determined by the bending direction. If the electrostrictive material layer is curved with the convex side facing, it will contract in the longitudinal direction, and the substrate side will be curved with the convex side facing. When it is, it extends in the longitudinal direction.
  • Such an electrostrictive actuator is small, lightweight, and has low power consumption, and therefore can be suitably used as a linear actuator in the finger stimulus presentation device of the present invention.
  • a finger stimulus presentation device capable of minimizing the workability of a finger and applying a mechanical stimulus while attached to the finger.
  • FIG.1 is a schematic perspective view
  • FIG.1 (b) is a schematic top view
  • FIG. 2A is a schematic cross-sectional view illustrating an example of a finger stimulation presentation device in the embodiment of FIG. 1, in which FIG. 2A is a state in which no voltage is applied (non-driven state), and FIG. An applied state (driving state) is shown.
  • FIG. 2A is a schematic cross-sectional view illustrating an example of a finger stimulation presentation device in the embodiment of FIG. 1, in which FIG. 2A is a state in which no voltage is applied (non-driven state), and FIG. An applied state (driving state) is shown.
  • FIG. 2A is a schematic cross-sectional view illustrating an example of a finger stimulation presentation device in the embodiment of FIG. 1, in which FIG. 2A is a state in which no voltage is applied (non-driven state), and FIG. An applied state (driving state) is shown.
  • FIG. 2A is a schematic cross-sectional view illustrating an
  • FIG.3 (a) is a state which has not applied the voltage (non-drive state), FIG.3 (b) shows voltage. An applied state (driving state) is shown. It is a figure which shows the unimorph (sheet
  • Fig.4 (a) is an outline of a unimorph. A cross-sectional view is shown, and FIG. 4 (b) is a diagram for explaining the bending operation of the unimorph. It is a schematic top view which shows the state which mounted
  • the present embodiment relates to a finger stimulation presentation device using one electrostrictive actuator.
  • the finger stimulation presentation device 30 of the present embodiment includes a fixing member 21 for fixing the finger stimulation presentation device 30 to the finger 40 and an electrostriction actuator 23 as a linear actuator. 23 is supported by the fixing member 21 so that the tip end portion A slides along the side surface 41 of the finger 40 (in the direction indicated by the double-headed arrow P in the figure).
  • the electrostrictive actuator 23 used in the present embodiment includes one electrostrictive element 10 as illustrated in FIGS. 2 and 3.
  • the electrostrictive element 10 includes the electrostrictive material layer 1 and the electrostrictive material layer 1.
  • Two electrodes 3a and 3b arranged on both surfaces, respectively, and a base material 5 bonded to one surface of the electrostrictive material layer 1 through one of these electrodes 3a and 3b (in the illustrated embodiment, the electrode 3a) Configured, with either one of the electrostrictive material layer 1 and the base material 5 being a convex side (in the example shown in FIG. 2, the electrostrictive material layer 1 side is a convex side, and in the example shown in FIG. It is at least partially curved (with the substrate 5 side convex).
  • One end 10 a of the electrostrictive element 10 is the tip A of the electrostrictive actuator 23.
  • the electrostrictive actuator 23 is supported by the fixing member 21 at the other end 10 b of the electrostrictive element 10 and / or in the vicinity thereof.
  • the electrostrictive material layer 1 is formed from a polymer electrostrictive material.
  • the polymer electrostrictive material is not particularly limited as long as it is a polymer material having a permanent dipole.
  • the polymer electrostrictive material include PVDF (polyvinylidene fluoride), PVDF copolymer, for example, a copolymer such as P (VDF-TrFE) and P (VDF-VF), and P (VDF-TrFE).
  • -CFE P (VDF-TrFE-CTFE), P (VDF-TrFE-CDFE), P (VDF-TrFE-HFA), P (VDF-TrFE-HFP), P (VDF-TrFE-VC), etc.
  • P is poly, VDF is vinylidene fluoride, TrFE is trifluoroethylene, CFE is chlorofluoroethylene, CTFE is chlorotrifluoroethylene, CDFE is chlorodifluoroethylene, and HFA is hexa. Fluoroacetone, HFP is hexafluoropropylene, VC is vinyl chloride The, VF denotes a vinyl fluoride).
  • P VDF-TrFE-CFE
  • the thickness of the electrostrictive material layer 1 may be set as appropriate, but may be, for example, about several ⁇ m to 100 ⁇ m.
  • the two electrodes 3a and 3b may be formed from any appropriate conductive material as long as they can function as electrodes.
  • conductive materials include Ni (nickel), Pt (platinum), Pt—Pd (platinum-palladium alloy), Al (aluminum), Au (gold), Au—Pd (gold-palladium alloy), etc.
  • Metal materials PEDOT (polyethylenedioxythiophene), PPy (polypyrrole), PANI (polyaniline), etc. (these are organic sulfonic acid compounds such as polyvinyl sulfonic acid, polystyrene sulfonic acid, polyallyl sulfonic acid, polyacrylic sulfone as appropriate.
  • the thickness of the electrodes 3a and 3b may be set as appropriate according to the conductive material used, but may be about 20 nm to 10 ⁇ m, for example.
  • the electrodes 3a and 3b may have the same or different conductive materials and thicknesses.
  • the electrodes 3a and 3b respectively cover the entire surface of the electrostrictive material layer 1, but this is not necessarily required for the present invention, and the electrodes 3a and 3b are appropriately patterned. May be.
  • the electrodes 3a and 3b may cover the central portion of the electrostrictive material layer 1 so as to be separated from the one end 10a and the other end 10b.
  • the base material 5 may be formed of any appropriate flexible material as long as the curve forming described later can be performed.
  • flexible materials include PET (polyethylene terephthalate), cellophane, vinyl chloride, polyimide, polyester, and the like.
  • the thickness of the base material 5 may be set as appropriate, but may be, for example, about several ⁇ m to 100 ⁇ m.
  • Electrostrictive element 10 is at least partially curved.
  • the curved portion of the electrostrictive element 10 preferably includes a portion where the electrodes 3a and 3b are disposed.
  • the curved portion of the electrostrictive element 10 preferably has an arcuate cross-sectional shape.
  • the present invention is not limited to this, and the curved portion of the electrostrictive element 10 may be curved to a cross-sectional shape other than the arc shape (for example, a semi-elliptical shape).
  • the fixing member 21 can support the electrostrictive actuator 23 so that the tip A of the electrostrictive actuator 23 slides along the side surface of the finger 40, and can fix the entire finger stimulation presentation device 30 to the finger 40.
  • the material, shape, arrangement, support method and the like are not particularly limited.
  • the unimorph 7 includes an electrostrictive material layer 1, two electrodes 3a and 3b respectively disposed on both surfaces of the electrostrictive material layer 1, and one of these electrodes 3a and 3b.
  • the electrostrictive material layer 1 contracts in the thickness direction (electric field direction) and extends in the in-plane direction.
  • FIG. 4B a dimensional difference occurs between the base material 5 and the electrostrictive material layer 1 as the outside and the base material 5 as the inside as shown in FIG. 4B.
  • Electrodes 3 a and 3 b are formed on both surfaces of the electrostrictive material layer 1.
  • the electrode can be formed by vapor deposition or sputtering.
  • the electrode can be formed by silk screen printing, inkjet printing, brush application, or the like.
  • the electrodes 3a and 3b are formed on the entire surface of the electrostrictive material layer 1, but this is not necessarily required for the present invention, and the electrodes 3a and 3b are appropriately patterned. Also good.
  • the base material 5 is joined to one side of the electrostrictive material layer 1 with the electrodes 3a and 3b obtained in this way (via the electrode 3a in the illustrated embodiment).
  • This joining can be performed using, for example, an adhesive such as a thermosetting type or an ultraviolet curable type.
  • an adhesive such as a thermosetting type or an ultraviolet curable type.
  • the unimorph 7 is produced.
  • the manufacturing method of the unimorph 7 is not limited to such an example.
  • the electrode 3a is formed in advance on the base 5 and an electrostrictive material is applied or cast on the electrode 3a.
  • the material layer 1 may be formed, and the electrode 3 b may be formed on the electrostrictive material layer 1.
  • this unimorph 7 is curved and the electrostrictive element 10 is obtained.
  • the sheet-like unimorph 7 is bent using, for example, a mold having a semi-cylindrical surface so that one of the electrostrictive material layer 1 and the substrate 5 is on the convex side, and subjected to heat treatment as it is.
  • the base material 5 is thermoformed and then removed from the mold to perform curve forming.
  • the temperature and time of the heat treatment can be appropriately set according to the material of the substrate 5 to be used. For example, when the substrate 5 is made of PET, it can be thermoformed by heat treatment at 80 to 100 ° C. for 5 to 10 minutes.
  • the electrostrictive element 10 is obtained.
  • the dimensions, the curved shape (curvature radius), and the like of the electrostrictive element 10 can be appropriately set according to the desired size and mode of finger stimulation.
  • the lead wires 25a and 25b are connected to the electrodes 3a and 3b, respectively, whereby the electrostrictive actuator 23 is manufactured.
  • the electrostrictive actuator 23 uses the flexible (soft) electrostrictive element 10, there is an advantage that it has high impact resistance and is not easily broken.
  • the electrostrictive actuator 23 using the electrostrictive element 10 has an advantage that it is small and lightweight and has low power consumption.
  • the obtained electrostrictive actuator 23 is joined to and supported by the fixing member 21 at the other end 10b and / or its vicinity.
  • This joining can be performed using, for example, an adhesive such as a thermosetting type or an ultraviolet curable type.
  • the finger stimulus presentation device 30 is manufactured.
  • the fixing member 21 only needs to be able to fix the finger stimulation presentation device 30 to the finger 40, but may be a band that can be adjusted according to the dimension of the finger 40, for example.
  • the finger stimulus presentation device of the present invention is not limited to such a usage method.
  • the finger stimulation presentation device 30 is attached to the finger 40 by being fixed using the fixing member 21.
  • the electrostrictive actuator 23 follows the side surface 41 of the finger 40 and bends (protrudes) to the opposite side of the finger 40 (preferably at least the sliding surface of the tip A is preferably relative to the side surface 41.
  • the tip A may be very slightly separated from the side 41 of the finger 40 as long as the tip A is finally slidable along the side 41 of the finger 40.
  • the finger stimulation presentation device 30 is not illustrated in the non-driven state (state in which no voltage is applied). It takes the form shown in 2 (a).
  • the electrostrictive actuator 23 is driven by applying a voltage between the electrodes 3a and 3b, referring to FIG. 2B, the electrostrictive element 10 shows a further bending motion (shrinks in the longitudinal direction, increases in the convex direction), thereby, electrostrictive actuator 23 is contracted in the longitudinal direction, the tip portion a along the side surfaces 41 of the finger 40 slides in the direction indicated by the arrow P 1.
  • the electrostrictive element 10 shows the movement back to the original state, thereby, electrostrictive actuator 23 slides in the direction indicated by arrow P 2.
  • the finger stimulus presentation device 30 is in a non-driven state (state in which no voltage is applied).
  • the electrostrictive actuator 23 is driven by applying a voltage between the electrodes 3a and 3b, referring to FIG. 3B, the electrostrictive element 10 exhibits an extension movement (extends in the longitudinal direction and extends in the convex direction). low made),
  • the electrostrictive actuator 23 extends in the longitudinal direction, the tip portion a along the side surfaces 41 of the finger 40 slides in the direction indicated by arrow P 2.
  • the electrostrictive element 10 shows the movement back to the original state, thereby, electrostrictive actuator 23 slides in the direction indicated by the arrow P 1.
  • the electrostrictive actuator 23 performs a linear operation, and an operation (sliding operation) of sliding the tip A of the electrostrictive actuator 23 along the side surface 41 of the finger 40 is possible.
  • the movement of the tip A varies depending on the voltage to be applied.
  • the tip A can be periodically displaced by applying an AC voltage.
  • a mechanical stimulus can be given to the side surface 41 of the finger 40.
  • the finger stimulation presentation device 30 slides (rub) the tip A along the side surface 41 of the finger 40, the lower surface (abdominal side) of the finger 40 is shown as a double arrow P to the user.
  • a tactile sensation as if rubbing in a direction parallel to the direction can be felt.
  • the finger stimulation presentation device 30 can be used with the lower surface (abdominal side) of the finger 40 exposed, it is possible to touch an object with the fingertip or hold something with the finger attached. This workability is not substantially impaired.
  • the finger stimulation presentation device 30 is a surface stimulation in which the tip A of the electrostrictive actuator 23 slides along the side surface 41 of the finger 40, even if the electrostrictive actuator 23 is slightly deviated from the initial fixed position, Contact between the distal end portion A and the side surface 41 of the finger 40 can be ensured, and mounting is easy.
  • the present embodiment relates to a finger stimulus presentation device using two electrostrictive actuators.
  • the finger stimulation presentation device 31 of the present embodiment includes a fixing member 21 for fixing the finger stimulation presentation device 31 to the finger 40 and two electrostrictive actuators 27 and 29 as linear actuators.
  • the electrostrictive actuators 27 and 29 are fixed so that the tip portions B and C slide along the side surface 41 of the finger 40 (in the directions indicated by double arrows Q and R in the drawing). It is supported by the member 21.
  • These two electrostrictive actuators 27 and 29 are arranged so that their sliding directions Q and R are orthogonal to each other.
  • the electrostrictive actuators 27 and 29 bend and bend (protrude) to the opposite side of the finger 40 while approaching the side surface 41 of the finger 40 (preferably at least the sliding surfaces of the tip portions B and C thereof).
  • the tip portions B and C are in contact with the side surface 41 of the finger 40, respectively, but are preferably positioned substantially parallel to the side surface 41.
  • the present invention is not limited to this.
  • the electrostrictive actuators 27 and 29 may or may not be bent as long as the distal ends B and C can finally slide along the side surface 41 of the finger 40.
  • the electrostrictive actuators 27 and 29 may have the same configuration as the electrostrictive actuator 23 described in the first embodiment.
  • the conditions such as the material and thickness of the electrostrictive material layer, the electrode, and the substrate may be the same or different.
  • two electrostrictive actuators which are curved with the electrostrictive material layer side described above with reference to FIG. 2 curved may be used as described above with reference to FIG.
  • Two electrostrictive actuators curved with the base material side convex may be used, or these may be used in combination.
  • the fixing member 21 supports the electrostrictive actuators 27 and 29 so that the tip portions B and C of the electrostrictive actuators 27 and 29 slide in directions orthogonal to each other along the side surface 41 of the finger 40.
  • the entire finger stimulation presentation device 31 is fixed to the finger 40.
  • the finger stimulation presentation device 31 of the present embodiment can be manufactured by using two electrostrictive actuators 27 and 29 and joining and supporting the fixing member 21 in a predetermined arrangement.
  • the tip portions B and C of the electrostrictive actuators 27 and 29 can be slid (rubbed) in directions orthogonal to each other along the side surface 41 of the finger 40.
  • the user can feel a tactile sensation as if the lower surface (abdominal side) of the finger 40 is rubbed in the direction in which these forces are combined. Since these sliding directions Q and R are orthogonal to each other, in order to generate a tactile sensation as if rubbing in a certain direction, the sliding directions Q and R are decomposed into a predetermined amount of force. What is necessary is just to make it slide. Therefore, according to the present embodiment, the user can feel a tactile sensation as if the lower surface (belly side) of the finger 40 is being rubbed in an arbitrary desired direction.
  • the finger stimulus presentation device and the method of using the same in the two embodiments of the present invention have been described in detail, but the present invention can be variously modified.
  • one electrostrictive actuator includes one electrostrictive element, but one electrostrictive actuator may include a plurality of stacked electrostrictive elements. If a plurality of electrostrictive elements are stacked and used, the mechanical stimulation applied to the finger can be increased.
  • a linear actuator other than the electrostrictive actuator may be used.
  • a linear actuator include an actuator using an ion conductive polymer film (ICPF: “Ionic Conductor Polymer Film”) or a bucky gel.
  • a linear actuator can be generally produced by using an ion exchange resin layer instead of the electrostrictive material layer.
  • an ionic polymer is formed by chemically plating a metal material such as Au or Pt on both surfaces of an ion exchange resin layer (for example, “Nafion” (registered trademark) manufactured by DuPont Co., Ltd.).
  • an ion exchange resin layer for example, “Nafion” (registered trademark) manufactured by DuPont Co., Ltd.).
  • IPMC "Ionic-Polymer-Metal-Composite”
  • the ion exchange resin layer replaces the electrostrictive material layer.
  • One side of the obtained composite is joined to a base material made of PET or the like (thus, through one of the electrodes).
  • the resulting structure is molded in the same manner as the above-described curve molding method (for example, using a mold having a semi-cylindrical surface so that either the ion-exchange resin layer or the substrate is on the convex side.
  • the element can be obtained by curving and subjecting it to heat treatment as it is to thermoform the substrate. Then, this element can be joined to the fixing member at the other end and / or in the vicinity thereof with one end as a tip portion in the same manner as the joining method described above. In this case, by setting the polarity of the voltage applied between the electrodes of the element to be positive or negative, an operation of extending or contracting can be provided.
  • Bucky gel is a gel-like composite of an ionic liquid and carbon nanotubes.
  • a linear actuator can be generally produced by using a sheet using a bucky gel instead of the electrode. More specifically, first, three sheets are prepared as follows. Suspension of imidazolium-based ionic liquid (for example, 1-butyl-3-methylimidazolium bis (trifluoromethanesulfonyl) imide (BMITSI)) added with single-walled carbon nanotubes and a fluorine-based material (for example, P (VDF-HFP)) The liquid is ground with a pestle with a mortar and cast to produce two first sheets containing carbon nanotubes.
  • imidazolium-based ionic liquid for example, 1-butyl-3-methylimidazolium bis (trifluoromethanesulfonyl) imide (BMITSI)
  • BMITSI 1-butyl-3-methylimidazolium bis (trifluoromethanesulf
  • one ionic liquid and a fluorine-based material are mixed and cast to produce one second sheet made of the ionic liquid and the fluorine-based material. Then, these three sheets are overlapped in a state where the second sheet is disposed between the two first sheets, and this is hot-pressed to produce a composite sheet having a three-layer structure.
  • the second sheet replaces the electrostrictive material layer, and the two first sheets respectively disposed on both surfaces thereof replace the two electrodes. Then, one side of the composite sheet is bonded to a base material made of PET or the like (thus, through one of the electrodes).
  • the resulting structure is molded in the same manner as the above-described curve molding method (for example, using a mold having a semi-cylindrical surface so that one of the second sheet and the base is on the convex side)
  • the element can be obtained by curving and subjecting it to heat treatment as it is to thermoform the substrate. Then, this element can be joined to the fixing member at the other end and / or in the vicinity thereof with one end as a tip portion in the same manner as the joining method described above.
  • the electrostrictive material layer As the electrostrictive material layer, a layer made of P (VDF-TrFE-CFE) having a thickness of 5 ⁇ m was used, and Al was vapor-deposited on both surfaces thereof to form Al electrodes having a thickness of 20 nm.
  • An electrostrictive actuator is obtained by connecting a lead wire to each of the two electrodes of the electrostrictive element obtained as described above, and the other end side of the obtained electrostrictive actuator is attached to a fixing member composed of a band of a thermosetting type. It joined using the adhesive agent, and, thereby, the finger irritation
  • the finger stimulation presentation device of this example was worn on a human finger and the side surface of the finger was rubbed. Specifically, the tip portion of the electrostrictive actuator is brought into contact with the side surface of the finger, a voltage having an AC component of 400V 0-P is applied between the electrodes of the electrostrictive element, and the tip portion is moved along the side surface of the finger. Slid. When an AC voltage of 5 Hz was applied, the tip showed a displacement of about 1 mm in the longitudinal direction. When an AC voltage of 10 Hz or higher was applied, the tip showed a displacement of about 0.5 mm in the longitudinal direction. In either case, a tactile sensation as if the lower surface (abdominal side) of the finger was being rubbed could be felt during the sliding motion. It was confirmed that a fingerprint is present at the fingertip and that a tactile sensation can be felt by rubbing (displacement) over the interval of the fingerprint (0.1 to 0.5 mm) or more.
  • Another finger stimulation presentation device was manufactured in the same manner as described above except that the base material was curved so as to be convex from the electrostrictive material layer. Also in this case, the same results as those of the previous finger stimulation presentation device were shown.
  • the finger stimulation presentation device of the present invention is not particularly limited, but can be incorporated into a wearable tactile interface, a virtual reality device, and the like, and can be used in various medical, welfare, robot industry, entertainment industry, mechatronics, chemistry, electricity, etc. It can be widely used in the field.

Abstract

L'invention porte sur un dispositif de présentation de stimulus de doigt, lequel dispositif est apte à communiquer un stimulus mécanique à un doigt lorsqu'il est monté sur celui-ci, et à minimiser une perte de l'aptitude à l'utilisation du doigt. Un dispositif de présentation de stimulus de doigt pour communiquer un stimulus mécanique à un doigt lorsqu'il est monté sur celui-ci est constitué par : un élément de fixation (21) pour fixer le dispositif de présentation de stimulus de doigt (30) à un doigt (40) ; et au moins un actionneur linéaire (23) supporté par l'élément de fixation (12) d'une manière telle que la partie de pointe (A) de l'actionneur linéaire (23) coulisse le long de la surface latérale (41) du doigt (40).
PCT/JP2012/064378 2011-06-22 2012-06-04 Dispositif de présentation de stimulus de doigt WO2012176610A1 (fr)

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JP2019526864A (ja) * 2017-06-29 2019-09-19 アップル インコーポレイテッドＡｐｐｌｅ Ｉｎｃ． センサ及び触覚を用いた指装着デバイス 本出願は、２０１８年６月２１日付出願の米国特許出願第１６／０１５，０４３号、及び２０１７年６月２９日付出願の米国仮特許出願第６２／５２６，７９２号に対する優先権を主張するものであり、それらの全体が参照により本明細書に組み込まれる。
WO2020066558A1 (fr) * 2018-09-28 2020-04-02 豊田合成株式会社 Dispositif à rétroaction tactile
JP2020057340A (ja) * 2018-09-28 2020-04-09 豊田合成株式会社 触感提示装置
US10795438B2 (en) 2018-04-05 2020-10-06 Apple Inc. Electronic finger devices with charging and storage systems
US10845894B2 (en) 2018-11-29 2020-11-24 Apple Inc. Computer systems with finger devices for sampling object attributes
US11042233B2 (en) 2018-05-09 2021-06-22 Apple Inc. Finger-mounted device with fabric
JP2021168137A (ja) * 2017-08-29 2021-10-21 アップル インコーポレイテッドApple Inc. 指押圧入力イベント中の指感覚を修正するためのシステム
US11287886B1 (en) 2020-09-15 2022-03-29 Apple Inc. Systems for calibrating finger devices
US11709554B1 (en) 2020-09-14 2023-07-25 Apple Inc. Finger devices with adjustable housing structures
US11755107B1 (en) 2019-09-23 2023-09-12 Apple Inc. Finger devices with proximity sensors
US11762429B1 (en) 2017-09-14 2023-09-19 Apple Inc. Hinged wearable electronic devices

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US11914780B2 (en) 2017-06-29 2024-02-27 Apple Inc. Finger-mounted device with sensors and haptics
JP2019526864A (ja) * 2017-06-29 2019-09-19 アップル インコーポレイテッドＡｐｐｌｅ Ｉｎｃ． センサ及び触覚を用いた指装着デバイス 本出願は、２０１８年６月２１日付出願の米国特許出願第１６／０１５，０４３号、及び２０１７年６月２９日付出願の米国仮特許出願第６２／５２６，７９２号に対する優先権を主張するものであり、それらの全体が参照により本明細書に組み込まれる。
US10838499B2 (en) 2017-06-29 2020-11-17 Apple Inc. Finger-mounted device with sensors and haptics
US11416076B2 (en) 2017-06-29 2022-08-16 Apple Inc. Finger-mounted device with sensors and haptics
JP7086940B2 (ja) 2017-06-29 2022-06-20 アップル インコーポレイテッド センサ及び触覚を用いた指装着デバイス
JP7309117B2 (ja) 2017-08-29 2023-07-18 アップル インコーポレイテッド 指押圧入力イベント中の指感覚を修正するためのシステム
JP2021168137A (ja) * 2017-08-29 2021-10-21 アップル インコーポレイテッドApple Inc. 指押圧入力イベント中の指感覚を修正するためのシステム
US11762429B1 (en) 2017-09-14 2023-09-19 Apple Inc. Hinged wearable electronic devices
US10795438B2 (en) 2018-04-05 2020-10-06 Apple Inc. Electronic finger devices with charging and storage systems
US11720174B2 (en) 2018-04-05 2023-08-08 Apple Inc. Electronic finger devices with charging and storage systems
US11042233B2 (en) 2018-05-09 2021-06-22 Apple Inc. Finger-mounted device with fabric
JP2020057340A (ja) * 2018-09-28 2020-04-09 豊田合成株式会社 触感提示装置
WO2020066558A1 (fr) * 2018-09-28 2020-04-02 豊田合成株式会社 Dispositif à rétroaction tactile
US10845894B2 (en) 2018-11-29 2020-11-24 Apple Inc. Computer systems with finger devices for sampling object attributes
US11755107B1 (en) 2019-09-23 2023-09-12 Apple Inc. Finger devices with proximity sensors
US11709554B1 (en) 2020-09-14 2023-07-25 Apple Inc. Finger devices with adjustable housing structures
US11714495B2 (en) 2020-09-14 2023-08-01 Apple Inc. Finger devices with adjustable housing structures
US11287886B1 (en) 2020-09-15 2022-03-29 Apple Inc. Systems for calibrating finger devices

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