WO2014189195A1

WO2014189195A1 - Module for generating complex tactile sensations, method for displaying complex tactile sensations, mouse provided with module for generating complex tactile sensations and system for displaying complex tactile sensations

Info

Publication number: WO2014189195A1
Application number: PCT/KR2014/001110
Authority: WO
Inventors: 양태헌; 박연규; 우삼용; 송한욱; 김상연; 최인묵; 이성준; 김민석; 김유준
Original assignee: 한국표준과학연구원
Priority date: 2013-05-22
Filing date: 2014-02-11
Publication date: 2014-11-27

Abstract

The present invention relates to a module for generating complex tactile sensations, a method for displaying complex tactile sensations, a mouse provided with the module for generating complex tactile sensations and a system for displaying complex tactile sensations. More specifically, the present invention relates to the module for generating complex tactile sensations for providing tactile information of an imaginary object, comprising: a high-frequency driving unit for providing a sensation of touching a material by vibrating a high-frequency vibrating plate by using a piezo actuator; and a low-frequency driving unit for providing a touch sensation by using a plurality of fine protrusions protruding and appearing by electromagnetic force on one side of the high-frequency vibrating plate, and thus provides a user with a combination of fine shape, texture, thermal sensation and rigidity degree for an imaginary surface such that the user can vividly feel tactile sensations of the imaginary object.

Description

Mouse and complex tactile presentation system equipped with composite tactile generation module, composite tactile presentation method, composite tactile tactile generation module

The present invention relates to a composite tactile generation module, a composite tactile presentation method, a mouse provided with the composite tactile generation module, and a composite tactile presentation system. More specifically, a high frequency driving unit, a low frequency driving unit, a warm sense reproducing unit, and a stiffness reproducing unit are provided so that the user can feel the touch on the virtual object vividly by providing the user with a combination of fine shape, texture, warmth and rigidity of the virtual surface. The present invention relates to a composite touch generating module.

In general, haptic is a tactile sensation that can be felt by a human fingertip (finger tip or stylus pen) when touching an object.Tapile feedback and joints and muscles are felt by the skin touching the surface of the object. It is a concept that encompasses kinesthetic force feedback that is felt when the movement of a person is disturbed.

1 shows a partial cross-sectional view of the skin as indicated by human sensory receptors. As shown in FIG. 1, as a sensory receptor of a human, a receptor for a mechanical stimulus includes a Pacinian corpuscle for detecting high frequency vibration (about 250 to 300 Hz) and a low frequency vibration (about 3 to 40 Hz). There's a Meissner's corpuscle that senses it, a Merkel's disc that senses local pressure, and a Ruffini's ending that senses the stretch that presses the skin. In order to stimulate such a variety of tactile receptors and to reproduce a realistic touch, the frequency bandwidth of the actuator is important. Since each of the tactile receptors has a different frequency range that is activated, an actuator with a bandwidth above 250 Hz is required to stimulate them all.

Conventional actuators satisfying the above 250Hz bandwidth include various actuators such as solenoid actuators, DC / AC motors, server motors, ultrasonic actuators, shape memory alloy ceramic actuators, and the like. A representative example of the tactile display device is a vibration motor according to an input of a touch screen in a mobile device, and a device for stimulating a Pachinian / Minus body that generates vibration by detecting vibration of high frequency / low frequency.

In addition, the present invention may be utilized as a pin-array tactile display device capable of expressing fine touch, protrusion, and shape to a user. In order to be utilized as the pin array tactile display device, a technology capable of integrating a plurality of actuators in a small area so as to simulate the human skin sense is important. So the compact design and insertion of the entire structure can be an important design element.

However, in order to provide various complex tactile sensations to the user, it is necessary to complexly stimulate the sensory receptors of the human body. Conventional tactile market has provided the user with tactile output through pin array, or by vibrating the surface to stimulate the Pachinian / Messine element, but it is difficult to provide various tactile sensations to the user with this single module alone. Existed.

That is, for example, if a user can provide a variety of information as a tactile sense as well as see and hear information about a virtual object, the user can vividly provide a tactile sense of touching a real object.

Therefore, there is a need for a complex tactile generation module that can simultaneously provide a variety of tactile information and present vivid tactile sensations such as directly touching and feeling objects in a virtual environment.

Therefore, the present invention has been made to solve the above-mentioned conventional problems, according to an embodiment of the present invention, by providing a low frequency driving unit, a thermosensitive reproducing unit, a high frequency driving unit, a stiffness reproducing unit to the user to fine shape of the virtual surface, It provides a composite touch generating module that provides a texture, warmth and rigidity in a complex manner so that the touch on the virtual object can be vividly felt.

In addition, by providing a combination of fine shape, texture, warmth and rigidity (hardness) of the 3D virtual surface, it solves the limitations of the existing device that stimulates the touch in one or two ways to realize the touch of the virtual object vividly. It provides a composite touch generation module that can be.

Other objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments in conjunction with the accompanying drawings.

A first object of the present invention is a complex touch generating module for providing tactile information of a virtual object, comprising: a high frequency driving unit for providing a tactile sense of texture by vibrating a high frequency diaphragm by a piezo actuator; And a low frequency driving unit providing tactile sensation by a plurality of fine protrusions protruding and releasing by electromagnetic force from one surface of the high frequency diaphragm, which can be achieved as a complex tactile generating module.

The apparatus may further include a stiffness reproducing unit for changing the stiffness of the high frequency diaphragm to provide a tactile sense of stiffness information.

The apparatus may further include a warming reproducing unit which provides warming feeling information by changing the temperature of the high frequency diaphragm.

In addition, a plurality of holes are formed in the high plate diaphragm, and the low frequency driving part is vertically corresponding to the strength of the magnetic field generated in the solenoid and the solenoid generating a magnetic field having a different intensity according to the intensity of the applied current. And a movable part providing a tactile sense by moving, wherein the low frequency driving parts are plural, and the plurality of low frequency driving parts constitutes an array haptic output part arranged in a predetermined form.

The apparatus further includes a high frequency vibration plate disposed below and spaced apart from the high frequency vibration plate, and a lower frame disposed below and spaced apart from the high frequency vibration plate. The piezo actuator is disposed at one side between the high frequency vibration plate and the high frequency vibration plate. The rigid reproducing portion may be provided between the high frequency vibration plate and the upper frame.

In addition, it may include a first flexure member provided on the upper portion of the piezo actuator and an elastic member provided on the other side between the high frequency vibration plate and the upper frame.

And a second flexure member on one side between the high frequency vibrating plate and the high frequency vibrating plate, wherein the high frequency vibrating plate is tilted and vibrated about the second flexure member by the piezo actuator to provide a tactile sense of texture. It may be characterized by.

In addition, the first flexure member and the second flexure member may be characterized in that the concave portion is formed with both sides concave inward.

The high frequency diaphragm may be configured as a heat transfer plate capable of heat transfer, and may further include temperature change means connected to the heat transfer plate to change the temperature of the heat transfer plate.

In addition, the temperature change means may be characterized by consisting of a Peltier element.

The stiffness reproducing unit may be configured as a stiffness implementing module using a magnetorheological fluid.

The rigid implementation module may include a body accommodating a magnetorheological fluid therein, a working plate provided at an upper portion of the body to act as an external force, a piston connected to the working plate and reciprocating in one direction in the body and the body. Including a magnetic field applying means provided inside to apply a magnetic field to the magnetorheological fluid, the viscosity of the magnetorheological fluid is changed by the applied magnetic field, it can be characterized in that the stiffness that is resistant to the external force can be implemented. .

And, it is characterized in that it further comprises a compression groove formed in the lower end of the piston and the protruding rod is provided in the body and inserted into the compression groove according to the reciprocation of the piston.

In addition, provided between the working plate and the piston, the elastic providing means and the elastic providing means for providing an elastic force to the working plate moving in accordance with the external force while generating an electrical signal by the change in inductance caused by electromagnetic induction phenomenon; And measuring means for measuring the strength of the external force based on the electrical signal, by varying the viscosity of the magnetorheological fluid through the control of the magnetic field based on the measured strength of the external force. It can be characterized by implementing a rigidity that is resistant to.

The second object of the present invention can be achieved as a mouse, characterized in that it comprises a complex touch generating module according to the first object mentioned above.

According to a third aspect of the present invention, there is provided a complex tactile presentation method using a complex tactile generating module, the method comprising: providing a tactile sense of texture by vibrating a high frequency diaphragm by a piezo actuator of a high frequency driving unit; And a low frequency driving unit providing a tactile sense by a low frequency driving unit having a plurality of fine protrusions protruding and releasing by an electromagnetic force from one surface of the high frequency diaphragm to be achieved as a complex tactile presentation method using a complex tactile generating module. Can be.

The method may further include providing a tactile information on the rigidity information by changing the stiffness of the high frequency diaphragm and providing a sense of warmth by changing the temperature of the high frequency diaphragm. .

The fourth object of the present invention can be achieved by a computer-readable recording medium on which program code for executing the complex tactile presentation method according to the aforementioned third object is recorded.

A fifth object of the present invention, the input unit for receiving information about the virtual object; Analysis means for generating tactile information by analyzing the information received from the input unit; And a complex touch generating module according to the first object mentioned above. On the basis of the tactile information may be achieved as a complex tactile display system comprising a control unit for controlling at least one of a high frequency drive unit, a low frequency drive unit, a stiff reproducing unit and a thermosensitive reproducing unit provided in the complex tactile generating module.

According to an embodiment of the present invention, the low frequency driving unit, the thermosensitive reproducing unit, the high frequency driving unit, the stiffness reproducing unit is provided to the user in combination with the fine shape, texture, warmth and stiffness of the virtual surface vividly feel the touch to the virtual object Has the effect.

In addition, by providing a combination of fine shape, texture, warmth and rigidity (hardness) of the 3D virtual surface, it solves the limitations of the existing device that stimulates the touch in one or two ways to vividly feel the object of the virtual environment. It has an effect that can be realized.

The composite market according to an embodiment of the present invention can deliver more realistic and vivid tactile information to the user, suggesting a new possibility to touch directly without being limited to the existing viewing and listening, and providing products in the Internet e-commerce. Existing online, such as direct touch and purchase can be applied, applied to science education, etc., it is possible to directly feel objects that are hard to touch, and furthermore, it can improve immersion by providing dynamic tactile sense in 3D games. It has the effect of adding tactile presentation function to the industry and contributing to the creation of new fields.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it will be readily apparent to those skilled in the art that various other modifications and variations are possible without departing from the spirit and scope of the present invention. Are all within the scope of the appended claims.

1 is a partial cross-sectional view of the skin shown by human sensory receptors,

2 is a perspective view of a composite touch generating module according to a first embodiment of the present invention;

3 is an exploded perspective view of a composite touch generating module according to a first embodiment of the present invention;

4 is a perspective view of a complex touch generating module in a state in which the finger in contact with the heat transfer plate according to the first embodiment of the present invention;

5 is a partial perspective view of the composite touch generating module according to the first embodiment of the present invention as viewed from the rear;

6 is a perspective view of an array haptic output unit in which a fine shape reproducing unit is arranged in a predetermined form according to a first embodiment of the present invention;

7 is a perspective view of a fine shape reproduction unit according to the first embodiment of the present invention;

8 is a cross-sectional view of the high frequency drive unit and the rigid reproducing unit according to the first embodiment of the present invention;

9 is a cross-sectional view of the high frequency driving part and the rigid reproducing part in a state where the piezo actuator is operated according to the first embodiment of the present invention;

10 is a cross-sectional view of the stiffness reproducing unit according to the first embodiment of the present invention;

11 is a cross-sectional view of the stiffness reproducing unit in a state in which the working plate is pressed according to the first embodiment of the present invention;

12 is a cross-sectional view of a stiffness reproduction unit showing the flow of the magnetic field according to the first embodiment of the present invention;

13 is a configuration diagram of a complex tactile presentation system according to a first embodiment of the present invention;

14 is a perspective view of a complex touch generating module according to a second embodiment of the present invention;

15 is an exploded perspective view of a composite tactile generating module according to a second embodiment of the present invention;

16 is a perspective view of a composite tactile generating module in a state in which a finger is in contact with a high frequency vibration plate according to a second embodiment of the present invention;

17 is a cross-sectional view of the composite haptic module according to a second embodiment of the present invention;

18 is a cross-sectional view showing a displacement of a high frequency vibration plate by driving a piezo actuator according to a second embodiment of the present invention;

19 is a perspective view showing a composite touch generating module according to a second embodiment of the present invention, a mouse provided with the composite touch generating module.

10: Warm feeling reproduction part 11: Upper housing 12: Hall

13: Peltier element 14: Cooling jacket 20: Low frequency driving part

21: linear solenoid 22: movable part 23: array haptic output unit

30: high frequency drive 31: piezo actuator 32: high frequency vibration plate

33: upper frame 34: elastic member 35: flexure member

40: rigid reproduction part 41: lower frame 42: working plate

43: piston 44: magnetic field applying means 45: magnetic fluid fluid

46: compression groove 47: protrusion rod 48: connecting rod member

49: elasticity providing means 50: display unit 60: mouse

70: control unit 80: power supply unit 100: complex touch generation module

Hereinafter, the configuration and function of the composite tactile display device 100 according to the first embodiment of the present invention will be described. 2 is a perspective view of the composite tactile display device 100 according to the first embodiment of the present invention. And, Figure 3 shows an exploded perspective view of the composite tactile display 100 according to the first embodiment of the present invention, Figure 4 is a state in which the finger in contact with the heat transfer plate according to the first embodiment of the present invention The perspective view of the composite tactile display device 100 is shown.

2 to 5, the complex tactile display device 100 according to the first embodiment of the present invention is a fine shape reproduction unit 20, the surface high-frequency driving unit 30, the stiffness reproduction unit 40 and the thermal sense reproduction unit It can be seen that it includes (10). As shown in FIG. 5, the composite tactile display device 100 according to the first embodiment of the present invention is spaced apart from the upper housing 11 and the upper housing 11 by which a human finger or the like is contacted with a small distance therebetween. The lower frame 41 is provided, and the fine shape reproducing unit 20, the high frequency driving unit 30, and the rigid reproducing unit 40 are provided between the upper housing 11 and the lower frame 41.

More specifically, as shown in FIG. 3, the upper housing 11 includes a plurality of holes 12 through which a plurality of movable parts 22 (pins) provided in the micro-shaped reproducing unit 20 to be described later protrude and emerge. ) Is formed, and it can be seen that it is composed of a heat transfer plate having a high thermal conductivity. Figure 5 shows a perspective view of the composite tactile display device 100 according to the first embodiment of the present invention as viewed from the rear.

3 and 5, the warmth reproducing unit 10 is connected to one side of the heat transfer plate, and it can be seen that the temperature change means for changing the temperature of the heat transfer plate is provided. In a specific embodiment, such a temperature change means is composed of a Peltier module 13 and transmits the temperature of the Peltier element 13 to the heat transfer plate to provide the user with information about the temperature. In addition, the warmth reproducing unit 10 according to the first embodiment of the present invention may further include a cooling jacket 14 provided on one side of the Peltier element 13.

In a specific embodiment, such a sense of warmth reproducing unit 10 is configured to be able to adjust the temperature of the heat transfer plate between 15 ~ 40 ℃. The Peltier element 13 is a device that generates a Peltier effect, one surface is composed of a cooling surface, the other surface is composed of a heat dissipation surface, the temperature difference between them is about 30 ~ 50 ℃. That is, when the temperature of the cooling surface is set to -15 ° C, the temperature of the heat dissipation surface is about 15 to 35 ° C.

This Peltier effect means that when a DC voltage is applied across two different devices, heat is absorbed on one side and heat is generated on the other side according to the direction of the current. For example, the ice cooler uses the cooling effect of the Peltier element 13 as described above, and its performance is so strong that dew drops on the cooling surface (heat absorbing surface) in an instant. A device using such a petier effect is called a thermoelectric device or a thermoelectric module (TEM).

The principle of the Peltier element 13 is based on the principle that electrons require energy in order to move between two metals with potential differences, and the energy required for the Peltier element 13 is taken from the energy possessed by the metal. The amount of current applied to the device and the amount of heat absorbed / heated are applied as it is, and the proportional constant is the same. The Zeebeck effect refers to the effect of free electrons getting energy from the heat applied and using this energy to generate an electromotive force.

In addition, the composite tactile display device 100 according to the first embodiment of the present invention includes a fine shape reproduction unit 20 provided at the lower end of the upper housing 11. The fine shape reproduction unit 20 may be configured in plural, and the plurality of fine shape reproduction units 20 may be configured as an array haptic output unit 23 arranged in a predetermined form. FIG. 6 illustrates a perspective view of an array haptic output unit 23 in which a plurality of fine shape reproducing units 20 according to a first embodiment of the present invention are arranged in a predetermined form. 7 shows a perspective view of a micro-shaped reproduction unit according to the first embodiment of the present invention.

Each of the microscopic reproducing portions 20 provides tactile sensations by moving up and down in correspondence with the strength of the magnetic field generated in the linear solenoid 21 and the linear solenoid 21 to generate a magnetic field having a different intensity according to the applied current intensity. The movable part 22 is included. Therefore, the movable part 22 provided in the micro shape reproducing unit 20 protrudes and emerges from the upper housing 11 to provide the user with tactile information regarding the micro shape. Preferably, the driving frequency of the fine shape reproducing unit 20 is about 0 to 100 Hz.

In addition, the composite tactile display device 100 according to the first embodiment of the present invention, as shown in Figures 2 to 4, the high frequency drive unit 30 and the rigidity between the upper housing 11 and the lower frame 41 It can be seen that the reproduction unit 40 is provided.

8 is a cross-sectional view of the high frequency drive unit 30 and the rigid reproducing unit according to the first embodiment of the present invention. The high frequency driving unit 30 according to the first embodiment of the present invention generates micro-vibration in the upper housing 11 to provide tactile information on the surface texture.

2 to 4 and 8, the high frequency driving part 30 according to the first embodiment of the present invention is the upper frame 32, the high frequency vibrating plate 32 and the upper part which is disposed at a predetermined interval spaced below It can be seen that the frame 33, the piezo actuator 31 and the like provided on one side between the high frequency vibration plate 32 and the upper frame 33.

The upper frame 32 is coupled to the lower end of the upper lower jaw, and the lower end of the lower frame 33 is provided with a rigid reproducing unit 40 which will be described in detail later. Piezo actuator 31 is composed of a multi-stack piezo actuator 31, as shown in Figure 8, is provided on one side between the upper frame 32 and the lower frame 33. In addition, the other side between the upper frame 32 and the lower frame 33 of the high frequency drive unit 30 according to the first embodiment of the present invention, as shown in Figure 8, the elastic member 34 (for example, the coil Spring). In addition, the flexure member 35 (Flexure structure) is provided between the upper portion of the piezo actuator 31 and the high frequency vibration plate 32. The flexure member 35 may be further provided on one side between the high frequency vibration plate 32 and the upper frame 33.

As shown in FIG. 8, the flexure member 35 forms a recess in which both sides are concave inward. Therefore, when the piezo actuator 31 is driven by this structure, the upper frame 32 and the upper housing 11 are integrally vibrated with a tilting vibration with respect to the flexure member 35. Therefore, the user is tactile information on the surface texture by the vibration. 9 illustrates a cross-sectional view of the high frequency driving part 30 and the rigid reproducing part in a state where the piezo actuator 31 is operated according to the first embodiment of the present invention.

In addition, the composite market according to the first embodiment of the present invention includes a rigid reproduction unit 40. As shown in FIGS. 2 to 4 and 8 to 9, two rigid reproduction units 40 may be provided between the lower frame 33 and the lower frame 41. The stiffness reproducing unit 40 basically controls the magnetic field applied to the magnetorheological fluid 45 with the solenoid coil to reproduce the stiffness of the surface, that is, the degree of rigidity, to provide the user with tactile information about the stiffness.

10 is a sectional view of the stiffness reproducing unit 40 according to the first embodiment of the present invention. FIG. 11 shows a sectional view of the rigidity reproducing section 40 in a state where the working plate 42 is pressed according to the first embodiment of the present invention. That is, FIG. 11 shows the flow direction of the magnetorheological fluid 45 when the working plate 42 is moved downward by an external force by an arrow. 12 is a cross-sectional view of the stiffness reproducing unit 40 showing the flow of the magnetic field according to the first embodiment of the present invention.

10 to 12, the rigid reproducing portion according to the first embodiment of the present invention, the body, the working plate 42, the piston 43, the magnetorheological fluid 45, the magnetic field applying means 44 and It can be seen that the elastic providing means 49 and the like. The body is provided with a groove for accommodating the piston 43, the magnetorheological fluid 45, the protruding rod 47, the magnetic field applying means 44 and the elastic providing means 49, the upper portion of which is open It is manufactured in the shape of a cylinder. The working plate 42 has a plate shape, and a connecting rod member 48 is provided at the center of the lower surface thereof to transmit an external force applied in a direction perpendicular to the working plate 42 to the piston 43. The working plate 42 may be deformed into any shape according to the use mode, as long as it is a shape capable of transmitting external force to the piston 43.

The cover is coupled to the open side of the housing. A cover through hole is formed in the central region of the cover so that the connecting rod member 48 of the working plate 42 can be interconnected with the piston 43. The diameter of the cover through hole is formed such that the connecting rod member 48 is connected to the piston 43 and has a tolerance that can be slid without the magnetorheological fluid 45 flowing out. In addition, the piston 43, as shown in Figure 10, has a shape that can be moved up and down in the body by the operation plate 42, the connecting rod member 48 is inserted in the upper portion, the protruding rod in the lower portion It can be seen that the compression groove 46 is provided so that the 47 can be inserted.

The magnetorheological fluid 45 is a material in which the viscosity characteristic of the fluid is reversibly changed according to the strength of an externally added magnetic field, and is one of intelligent materials. Specifically, the magnetorheological fluid 45 is composed of iron, nickel, cobalt and magnetic alloys of fine particles having a diameter of several to several tens of microns in a dispersion medium such as mineral oil, synthetic hydrocarbon, water, silicone oil, and esterified fatty acid. Refers to this dispersed non-colloidal suspension.

The magnetorheological fluid 45 has a large variation in flow characteristics such as a viscosity characteristic of a fluid as a magnetic field is applied, and has excellent durability. In addition, they are relatively less sensitive to contaminants, have very fast response to magnetic fields, and are reversible. For this reason, it is evaluated that it is highly applicable to various industrial fields such as vibration control devices such as clutches of automobiles, engine mounts, dampers, high-rise seismic devices, and driving devices of robotic systems.

In addition, the magnetorheological fluid 45 exhibits properties of Newtonian fluid when no magnetic field is applied. However, when a magnetic field is applied, the dispersed particles form a dipole to form a fibrous structure in a direction parallel to the applied magnetic field, and the fibrous structure increases the viscosity and thus has a shear force or a resistance to flow that interferes with the flow of the fluid. Yield stress is greatly increased. Yield stress at this time increases with the strength of the magnetic field. The magnetorheological fluid 45 is filled inside the housing. On the other hand, the magnetorheological fluid 45 is an incompressible fluid and has almost no volume change.

The magnetic field applying means 44 is a component that induces a change in viscosity of the magnetic rheological fluid by applying a magnetic field to the magnetorheological fluid 45 by receiving power from the outside, and is provided to the magnetic field applying means 44. Through control, various resistances, rigidity can be realized. As shown in FIGS. 10 to 12, the magnetic field applying means 44 in the first embodiment of the present invention is a magnetic field into which the protruding rod 47 and the piston 43 are inserted at the center of the magnetic field applying means 44. Means holes are formed. In other words, the magnetic field applying means 44 may use a solenoid coil formed by winding conducting wires along the outer circumferential surfaces of the protruding rod 47 and the piston 43.

At this time, the strength of the magnetic field is increased in proportion to the number of wound conductors or the power of the power supplied to the magnetic field applying means 44. When the strength of the magnetic field increases as the strength of the number of wires or the power source is wound up, the magnetorheological fluid 45 is further strengthened intermolecular chain formation, thereby increasing the viscosity of the magnetorheological fluid 45. As a result, stiffness, which is resistance to external force, is increased, and thus stiffness of external force of various strengths can be realized.

On the other hand, the magnetic field applying means 44 is connected to the control unit 70 to provide stiffness of various modes through the formation of a magnetic field based on the strength of the external force measured by the measuring means.

In addition, the elastic providing means 49 provides an elastic force to the working plate 42 moving in accordance with the external force. In the first embodiment of the present invention, the elastic providing means 49 may be composed of a spring. Here, the spring is formed in a threaded shape to provide elastic force to the working plate 42 through the piston 43. As a result, the elastic providing means 49 is deformed while being pressed downward according to the external force applied to the working plate 42, thereby providing the elastic force to the working plate 42.

FIG. 13 schematically shows a configuration diagram of a complex tactile presentation system according to a first embodiment of the present invention. As shown in FIG. 13, the complex tactile presentation system according to the first embodiment of the present invention includes a mouse 60 provided with the complex tactile presentation device 100 mentioned above, an input unit for receiving information on a virtual object, Based on the analysis means for generating the tactile information by analyzing the information input from the input unit and the tactile information generated by the analysis means, the low frequency drive unit 20 and the high frequency drive unit 30 provided in the aforementioned complex tactile display device 100. The controller 70 may control the stiffness reproducing unit and the warmth reproducing unit 10, and a power applying unit 80 to apply power.

The input unit, the analysis unit and the control unit 70 may be installed in the lower frame 41 of the complex tactile display 100 mentioned above. The input unit receives information of an object displayed on the display unit 50 such as a monitor. For example, temperature information, stiffness information, texture information, and fine shape information of the virtual object are received.

The analysis means converts this information into tactile information so that it can be provided to the user in a tactile sense. The controller 70 controls the low frequency driving unit 20, the high frequency driving unit 30, the stiffness reproducing unit 40, and the thermal sense reproducing unit 10 based on the tactile information to provide various tactile information to the user.

That is, based on the temperature information on the virtual object, the control unit 70 controls the thermal sense reproducing unit 10 to change the temperature of the heat transfer plate to the same temperature as the virtual object to the user, thereby providing the user with temperature information. In addition, the stiffness information of the virtual object (how hard the virtual object is) is input, and the analyzing means converts the stiffness information into tactile information about the stiffness, and the control unit 70 controls the stiffness reproducing unit 40 to control the magnetic field. By adjusting the current or the like applied to the applying means 44, the viscosity of the magnetorheological fluid 45 is converted to provide the user with rigidity and damping force corresponding to the virtual object.

In addition, by receiving information on the texture of the virtual object, the control unit 70 controls the vibration period of the piezo actuator 31 to provide the user with tactile information on the surface texture, various information about the virtual object The controller 70 drives a plurality of linear actuators provided in the low frequency driving unit 20 to provide the user with tactile sensations for the microscopic shape.

Hereinafter, the configuration and function of the composite tactile generating module according to the second embodiment of the present invention will be described. First, FIG. 14 shows a perspective view of a complex touch generating module according to a second embodiment of the present invention. And, Figure 15 shows an exploded perspective view of the composite touch generating module according to a second embodiment of the present invention. FIG. 16 is a perspective view of the complex touch generating module in a state in which a finger is in contact with the upper housing according to the second embodiment of the present invention. The configuration and function according to the second embodiment of the present invention are only structurally different, and are basically the same as the aforementioned first embodiment,

As shown in Figures 14 to 16, the composite touch generating module 100 according to the second embodiment of the present invention is a low frequency driving unit 20, high frequency driving unit 30, stiffness reproducing unit 40 and the warmth reproducing unit 10 You can see that it contains). As shown in Figures 14 to 16, the complex touch generating module 100 according to the second embodiment of the present invention is provided in the upper housing 11 and the upper housing 11, the contact of the human finger, etc. A high frequency diaphragm 32 and an upper frame 33 disposed below the high frequency diaphragm 32 at a predetermined interval, and a lower frame 41 disposed below the upper frame 33 at a predetermined interval. The low frequency driving unit 20 and the high frequency driving head 30 are provided between the high frequency diaphragm 32 and the upper frame 33, and the rigid reproducing unit 40 is provided between the upper frame 33 and the lower frame 41. It will be provided.

More specifically, as shown in FIG. 3, the upper housing 11 includes a plurality of holes 12 through which a plurality of movable parts 22 (pins) provided in the low frequency driving unit 20 to be described later protrude and emerge. It can be seen that it is formed, and composed of a heat transfer plate having a high thermal conductivity. The warmth reproducing unit 10 has the same configuration as in the first embodiment.

In addition, the composite tactile generating module 100 according to the second embodiment of the present invention includes a low frequency driving unit 20 provided at the lower end of the upper housing 11 and the high frequency diaphragm 32. The low frequency driver 20 may include a plurality of low frequency drivers 20, and the plurality of low frequency drivers 20 may include an array haptic output unit 23 arranged in a predetermined form. The specific configuration of such a low frequency driving unit is the same as that of the first embodiment described above.

In addition, the composite tactile generating module 100 according to the second embodiment of the present invention, as shown in Figure 14 to 16, between the high frequency vibration plate 32 and the upper frame 33 and the high frequency drive unit 30 and low frequency It can be seen that the driving unit 20 is provided, and the rigid reproducing unit 40 is provided between the upper frame 33 and the lower frame 41.

17 is a cross-sectional view of the composite tactile generating module according to the second embodiment of the present invention. 18 is a cross-sectional view showing the displacement of the high frequency vibration plate driven by the piezo actuator according to the second embodiment of the present invention.

The high frequency drive unit 30 according to the second embodiment of the present invention generates micro-vibration in the upper housing 11 and the high frequency diaphragm 32 to provide tactile information on the surface texture.

17 and 18, the high frequency drive unit 30 according to the second embodiment of the present invention is a high frequency diaphragm 32, the high frequency diaphragm 32 and the upper frame 33 is disposed below a predetermined interval spaced apart ), It can be seen that the piezo actuator 31 and the like provided on one side between the high frequency diaphragm 32 and the upper frame 33.

The high frequency diaphragm 32 is coupled to the lower end of the upper housing 11, the lower end of the upper frame 33 is provided with a rigid reproducing portion 40 which will be described in detail later. Piezo actuator 31 is composed of a multi-stack piezo actuator 31, as shown in Figure 17, 18, is provided on one side between the high frequency diaphragm 32 and the upper frame 33.

In addition, the other side between the high frequency vibration plate 32 and the upper frame 33 of the high frequency drive unit 30 according to the second embodiment of the present invention, as shown in Figure 17, the elastic member 34 (for example, a coil Spring). In addition, a first flexure member 35 (Flexure structure) is provided between the upper portion of the piezo actuator 31 and the high frequency vibration plate 32. The first flexure member 35 may be further provided on one side between the upper frame 32 and the lower frame 33. In addition, the second flexure member 36 is provided on one side between the high frequency diaphragm 32 and the upper frame 33 by a predetermined distance from the first flexure member 35.

As shown in Figs. 17 and 18, the first flexure member 35 and the second flexure member 36 form recesses in which both side surfaces are concave inward. Therefore, according to this structure, when the piezo actuator 31 is driven, it can be seen that the high frequency diaphragm 32 and the upper housing 11 integrally vibrate the tilting vibration with respect to the second flexure member 36. Therefore, such vibration causes tactile information on the surface texture to be delivered to the user. By applying such a structure, it is possible to amplify the displacement of the piezo to the part where the finger is in contact. That is, as shown in FIG. 18, when the piezo actuator 31 is driven, the displacement is amplified at the position where the finger touches, and various vibration feelings and patterns are transmitted to the user to reproduce the texture.

In addition, the composite touch generating module according to the second embodiment of the present invention includes a stiffness reproducing unit (40). The configuration of the stiffness reproducing unit 40 is the same as the first embodiment mentioned above.

As shown in FIG. 19, the complex tactile presentation system according to the second embodiment of the present invention includes a mouse 60 provided with the complex tactile generation module 100, an input unit for receiving information on a virtual object, Based on the analysis means for generating the tactile information by analyzing the information input from the input unit and the tactile information generated by the analysis means, the low frequency drive unit 20 and the high frequency drive unit 30 provided in the complex tactile generation module 100 mentioned above. The controller 70 may control the stiffness reproducing unit and the warmth reproducing unit 10, and a power applying unit 80 to apply power.

The input unit, the analysis unit and the control unit 70 may be installed in the lower frame 41 of the complex touch generation module 100 mentioned above. The input unit receives information of an object displayed on the display unit 50 such as a monitor. For example, temperature information, stiffness information, texture information, and fine shape information of the virtual object are received.

The analysis means converts this information into tactile information so that it can be provided to the user in a tactile sense. The controller 70 controls the low frequency driver 20, the high frequency driver 30, the stiffness reproducer 40, and the thermal sense reproducer 10 based on the tactile information to provide various tactile information to the user.

That is, based on the temperature information on the virtual object, the control unit 70 controls the thermal sense reproducing unit 10 to change the temperature of the heat transfer plate to the same temperature as the virtual object to the user, thereby providing the user with temperature information. In addition, the rigidity information of the virtual object (how hard is the virtual object) is received, the analysis means converts the stiffness information into tactile information about the rigidity, the control unit 70 controls the stiffness reproducing unit 40 By controlling the current applied to the magnetic field applying means 44, the viscosity of the magnetorheological fluid 45 is converted, thereby providing the user with rigidity and damping force corresponding to the virtual object.

In addition, by receiving information on the texture of the virtual object, the control unit 70 controls the vibration period of the piezo actuator 31 to provide the user with tactile information on the surface texture, various information about the virtual object, The control unit 70 drives a plurality of linear actuators provided in the low frequency driving unit 20 to provide the user with a tactile sense of fine shape.

Claims

In the complex touch generation module for providing tactile information of a virtual object,

A high frequency drive unit vibrating a high frequency diaphragm by a piezo actuator to provide a tactile sense of texture; And

And a low frequency driving unit providing a tactile sense by a plurality of fine protrusions protruding from and protruding from one surface of the high frequency diaphragm.
The method of claim 1,

And a stiffness reproducing unit for changing the stiffness of the high frequency diaphragm to provide a tactile sense of stiffness information.
The method according to claim 1 or 2,

And a warm sense reproducing unit for changing the temperature of the high frequency diaphragm to provide warm feeling information.
The method of claim 1,

The high plate vibration plate is formed with a plurality of holes,

The low frequency drive unit,

A solenoid for generating a magnetic field having a different intensity and a movable portion for providing tactile sensations by moving up and down corresponding to the intensity of the magnetic field generated by the solenoid according to the intensity of the applied current,

And a plurality of low frequency driving units, and the plurality of low frequency driving units constitute an array haptic output unit arranged in a predetermined form.
The method of claim 2,

And a lower frame disposed below and spaced apart from the high frequency diaphragm, and a lower frame disposed below and spaced apart from the upper frame. The piezo actuator is provided at one side between the high frequency diaphragm and the upper frame. And the rigid reproducing unit is provided between the upper frame and the lower frame.
The method of claim 5,

And a first flexure member provided on an upper portion of the piezo actuator, and an elastic member provided on the other side between the upper frame and the lower frame.
The method of claim 6,

Further comprising a second flexure member on one side between the high frequency vibration plate and the upper frame,

The high frequency diaphragm is tilted and vibrated about the second flexure member by the piezo actuator to provide a tactile sense of texture.
The method of claim 1,

The high frequency vibration plate is composed of a heat transfer plate capable of heat transfer,

And a temperature change means connected to the heat transfer plate to change the temperature of the heat transfer plate.
The method of claim 8,

The temperature change means is a composite tactile generation module, characterized in that consisting of a Peltier element.
The method of claim 2,

The stiffness reproduction unit is a complex tactile generation module, characterized in that consisting of a rigid implementation module using a magnetorheological fluid.
The method of claim 10,

The rigidity implementation module,

A body accommodating a magnetorheological fluid therein, a working plate provided at the upper portion of the body to act on an external force, a piston connected to the working plate and reciprocating in one direction in the body and provided inside the body, the magnetorheological fluid And a magnetic field applying means for applying a magnetic field to the composite tactile generating module, wherein the viscosity of the magnetorheological fluid is changed by an applied magnetic field, thereby implementing rigidity which is a resistance to the external force.
12. A mouse, comprising the complex touch generating module according to any one of claims 1, 2 and 4-11.
In the composite tactile presentation method using a composite tactile generation module,

Vibrating the high frequency diaphragm by a piezo actuator of the high frequency driving unit to provide a tactile sense of texture; And

And a low frequency driving unit providing a tactile sense by a low frequency driving unit having a plurality of fine protrusions protruding and releasing by electromagnetic force from one surface of the high frequency diaphragm.
The method of claim 13,

Providing a tactile information on the stiffness information by changing the stiffness of the high frequency diaphragm;

The complex sense presentation method using a complex tactile generating module further comprises the step of providing a sense of warmth by changing the temperature of the sense of warmth reproducing high frequency diaphragm.
A recording medium readable by a computer, on which program code for executing the complex tactile presentation method according to claim 13 or 14 is recorded.
An input unit configured to receive information about a virtual object;

Analysis means for generating tactile information by analyzing the information received from the input unit; And

Complex touch generating module according to claim 3;

And a control unit controlling at least one of a high frequency driving unit, a low frequency driving unit, a rigid reproducing unit, and a thermosensitive reproducing unit provided in the complex sensation generating module based on the tactile information.