WO2016052803A1 - Magnetic apparatus for providing tactile sensation - Google Patents

Magnetic apparatus for providing tactile sensation Download PDF

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Publication number
WO2016052803A1
WO2016052803A1 PCT/KR2014/010978 KR2014010978W WO2016052803A1 WO 2016052803 A1 WO2016052803 A1 WO 2016052803A1 KR 2014010978 W KR2014010978 W KR 2014010978W WO 2016052803 A1 WO2016052803 A1 WO 2016052803A1
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WO
WIPO (PCT)
Prior art keywords
tactile
magnetic
magnetic field
transmission unit
tactile transmission
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PCT/KR2014/010978
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French (fr)
Korean (ko)
Inventor
도승훈
김형준
Original Assignee
주식회사 씨케이머티리얼즈랩
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Priority claimed from KR1020140158038A external-priority patent/KR101886711B1/en
Application filed by 주식회사 씨케이머티리얼즈랩 filed Critical 주식회사 씨케이머티리얼즈랩
Priority to EP19177139.3A priority Critical patent/EP3550407B1/en
Priority to EP14903233.6A priority patent/EP3203353B1/en
Priority to US15/516,141 priority patent/US10467868B2/en
Priority to CN201480082285.6A priority patent/CN107077194B/en
Publication of WO2016052803A1 publication Critical patent/WO2016052803A1/en
Priority to US16/564,352 priority patent/US10559175B2/en

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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

Definitions

  • the present invention relates to a magnetic tactile providing device, and more particularly, to a magnetic tactile providing device that provides a tactile feeling to a user by a change in viscosity, stiffness, elastic force, etc. by a magnetic field using a magnetorheological fluid or a magnetorheological fluid. will be.
  • Haptics is a technology relating to the touch, and specifically refers to a technology that allows the user of the electronic device to feel the sense of touch, power, movement through the keyboard, mouse, joystick, and touch screen.
  • visual transmission mainly took place when electronic devices and humans exchange information, but in recent years, haptic technology has attracted attention for more specific and realistic information delivery.
  • an inertial actuator In general, as an actuator for haptic technology, an inertial actuator, a piezoelectric actuator, an electroactive polymer (EAP) actuator, an electrostatic force actuator, and the like are used.
  • An inertial actuator includes an eccentric motor that vibrates with eccentric force generated when the motor rotates, and a linear resonant actuator (LRA) that maximizes the intensity of vibration by using a resonance frequency.
  • Piezoelectric actuators have a beam shape or a disk shape and are instantaneously driven by an electric field.
  • the electroactive polymer actuator attaches a mass onto the electroactive polymer film to generate vibrations by repeated movement of the mass.
  • Electrostatic force actuators are driven by the attraction force between two sheets of glass filled with different charges and the repulsive force generated when the same kind of charge is charged.
  • FIG. 1 shows a perspective view of a conventional haptic device. Schematic diagram.
  • FIG. 1 shows a cross section of a composite piezoelectric actuator / sensor cell 10 with its associated electrodes 11.
  • Synthetic piezoelectric cell 10 comprises an array of piezoceramic fibers 12 in a structural adhesive 13, such as an epoxy material.
  • Each of the electrodes 11 is actuated by a patch of each of the fibers 12 inserted in the structural adhesive 13 shown between the two successive electrodes 11 to be localized at the corresponding position. It can be used to transmit individual control signals so as to generate a normalized haptic effect.
  • Arrow 14 shows how the polarized piezoelectric ceramic material expands or contracts with an applied electric field
  • arrow 15 shows the piezoelectric ceramic polarization generated by the electrodes 11.
  • the conventional haptic technology as described above is merely to transmit a vibration, there is a limit to the transfer of a variety of tactile emotional or complex character information. Therefore, there is a need for research on a tactile transmission structure capable of effectively transmitting more sensitive information and more complex information in addition to simple vibration transmission.
  • an object of the present invention is to provide a magnetic tactile sensation providing apparatus capable of transmitting various tactile senses more emotionally.
  • an object of the present invention is to provide a magnetic tactile providing device capable of feeding back a variety of tactile sensations to a user using the physical properties of the magnetorheological fluid or magnetorheological elastic body.
  • an object of the present invention is to provide a magnetic tactile providing device in which the tactile transmission unit is in the form of one cell and is composed of a plurality of cells, and effectively transmits various tactile information to the user of the device by the strength of the magnetic field. do.
  • a magnetic tactile providing device comprising a tactile transmission comprising magnetic particles, wherein the tactile transmission provides a tactile feeling to the user through deformation by an applied external magnetic field.
  • the tactile transmission unit is in the form of a single cell, and is composed of a plurality of cells, thereby effectively transmitting various tactile information to the user of the device in whole or locally by the strength of the magnetic field.
  • FIG. 1 is a schematic view showing a perspective view of a prior art haptic device.
  • FIG. 2 is a diagram illustrating a configuration of an apparatus for providing magnetic tactile sensations according to an embodiment of the present invention.
  • FIG 3 is a view showing a structure in which the tactile transmission unit is composed of a magnetorheological fluid according to an embodiment of the present invention.
  • FIG. 4 is a view showing a structure in which the tactile transmission part is composed of a magnetorheological elastic body according to an embodiment of the present invention.
  • FIG. 5 is a diagram illustrating a magnetic tactile providing device in which a tactile transmission part is formed of a plurality of cells according to an embodiment of the present invention.
  • FIG. 6 is a diagram illustrating an example in which the magnetic tactile providing device according to an embodiment of the present invention is applied to a game device.
  • FIG. 2 is a view showing the configuration of a magnetic tactile providing device according to an embodiment of the present invention
  • Figure 3 is a view showing a structure in which the tactile transmission unit is composed of a magnetorheological fluid, according to an embodiment of the present invention
  • 4 is a diagram illustrating a structure in which the tactile transmission part is made of a magnetorheological elastomer according to an embodiment of the present invention.
  • the magnetic tactile providing device is provided in the housing 400 (see FIG. 5) and the housing 400, and interacts with the magnetic field generating unit 200 and the magnetic field change generating the magnetic field.
  • a tactile transmission unit 100 including magnetic particles 101 see FIG. 4).
  • the housing 400 forms an external shape of the magnetic tactile providing device, and the magnetic field generating unit 200 and the tactile transmission unit 100 are provided therein.
  • the magnetic field generating unit 200 may be a flat coil or a solenoid coil, a DC power source or an AC power source may be applied, and may generate a magnetic field having different characteristics according to the type of power source applied. For example, a DC magnetic field is generated when DC power is applied to the magnetic field generating unit 200, and an AC magnetic field is generated when AC power is applied.
  • the magnetic field generating unit 200 is located on one side of the tactile transmission unit 100, for example, the lower part of the tactile transmission unit 100, and the tactile transmission unit (eg, by the magnetic field generated by the magnetic field generating unit 200). 100 may vary in various forms. In particular, when the alternating magnetic field is generated in the magnetic field generating unit 200, the tactile transmission unit 100 vibrates, and when the direct current magnetic field is applied, the stiffness of the tactile transmission unit 100 is changed.
  • the magnetic field generating unit 200 may control the strength, direction, or frequency of the magnetic field, and the intensity (size), direction, frequency, etc., at which the tactile transmission unit 100 is deformed according to the strength, direction, or frequency of the magnetic field. This can change in various forms.
  • the tactile transmission unit 100 uses a magnetorheological fluid or a magnetorheological elastic body, and may be applied in various forms such as hemispherical, rectangular, and polyhedral according to the device or location to be applied.
  • the tactile transmission unit 100 is affected by the magnetic field generated by the magnetic field generating unit 200 provided below, and may provide various kinds of vibration or stiffness by the type, intensity, position or frequency of the magnetic field. Can be. Therefore, the tactile transmission unit 100 may be used as a vibration source for giving a vibration feeling to a user or applied to a device for transmitting a tactile feeling to a user.
  • the tactile transmission unit 100 is an elastic body such as rubber, polymer, magnetorheological elastomer, etc. (Magneto-Rheological Elastomer, MRE), or may be of a structure that seals the magnetorheological fluid in the outer shell 120 is mixed with the elastic body and the magnetorheological elastic body.
  • a magnetorheological fluid is a suspension of magnetic particles 101 whose viscosity changes depending on the strength of an external magnetic field, and generally magnetically polar particles such as ferromagnetic and ferrimagnetic having a diameter of about 0.01 to 100 ⁇ m. Polarizable Particles).
  • the magnetorheological fluid when the magnetic field generated in the magnetic field generating unit 200 is applied, the magnetized magnetic particles 101 form a chain-like microstructure by the interaction, fast response characteristics and high yield under the magnetic field Control fluid with stress.
  • the outer shell 120 is positioned above the insulator 300, and is divided into a flat part 121 and a bent part 122, and the bent part 122 is provided at both sides of the flat part 121 to form a space 110 therein. And a magnetorheological fluid is sealed in the space 110.
  • the flat part 121 and the bent part 122 may be formed of an elastic body or a magnetorheological body.
  • the insulator 300 is inserted between the tactile transmission unit 100 and the magnetic field generating unit 200, and prevents electricity from directly flowing to the tactile transmission unit 100.
  • the tactile transmission unit 100 of the magnetorheological fluid material may provide a sense of vibration when the internal magnetic particles 101 react with an applied alternating magnetic field and a stiffness change when reacting with an applied direct current magnetic field. Furthermore, various kinds of vibration feelings may be provided by changing the strength and frequency of the magnetic field generated by the magnetic field generator 200.
  • the magnetic particles 101 such as iron or ferrite particles of nano or micron size may be formed of a matrix of rubber or other polymer material ( Matrix) material may be distributed within the material 102.
  • the magnetorheological elastomer is an elastic body including the magnetic particles 101 as well as the magnetorheological fluid.
  • the magnetic particles 101 in the magnetorheological body respond to the magnetic field, It is a controllable elastomer that physically changes tensile strength and elongation of the elastic body.
  • the magnetic particles 101 may be magnetically polarizable particles such as ferromagnetic and ferrimagnetic having a diameter of about 0.01 ⁇ m to 100 ⁇ m.
  • the tactile transmission unit 100 made of a magnetorheological elastomer has a vibrational sense when the internal magnetic particles 101 react to an applied alternating magnetic field, and a response to the applied DC magnetic field. It can provide a change in stiffness. Furthermore, various kinds of vibration feelings may be provided by changing the strength and frequency of the magnetic field.
  • FIG. 5 is a diagram illustrating a magnetic tactile providing device in which a tactile transmission part is formed of a plurality of cells according to an embodiment of the present invention.
  • the tactile transmission unit 100 occupies at least one cell 130, the cell 130 may be provided in the housing 400, and a plurality of housings 400 may be formed. In addition, a plurality of tactile transmission units 100 may be formed to correspond thereto.
  • the magnetic field generator 200 may be a planar or solenoid coil of a size or shape corresponding to the cell 130. The magnetic field generator 200 may be formed in plural numbers corresponding to the cells 130. Here, the magnetic field generator 200 may be connected in series or in parallel with the power supply 500 for supplying DC power or AC power, and the power supply 500 may be independently connected to the plurality of magnetic field generators 200. have.
  • a plurality of cells 130 are arranged in the housing 400, and the housing 400 and the cells 130 may form a single layer or a plurality of layers.
  • the magnetic field generator 200 may generate a magnetic field in the entirety of the plurality of cells 130 to vibrate the entirety of the plurality of cells 130 or cause a change in stiffness.
  • the magnetic field may be generated only in the local part of the plurality of cells 130 to cause local vibration or stiffness change.
  • the tactile transmission unit 100 may occupy the plurality of cells 130 to provide not only signals such as alarms such as alarms but also more complicated information such as letters and figures corresponding to each cell as tactile information. In addition to providing text information and the like in contact with the user's skin, it is possible to effectively deliver secret information that requires security.
  • FIG. 6 is a diagram illustrating an example in which the magnetic tactile providing device according to an embodiment of the present invention is applied to a game device.
  • the magnetic tactile providing device may be applied to the game device 600 or the like, and may realize various functions of the game device 600.
  • stiffness variations and local vibrations can be provided to correspond to various game situations.
  • the FPS (First Person Shooting) game can provide the strength of the muzzle aiming and the actual muzzle pull, and whether the target is hit by changing the stiffness and the local vibration, respectively. Since it can be transmitted to the touch through the strength and weakness of vibration or the like in the left and right, the user's immersion and feeling can be increased.
  • the magnetic tactile provision device may be applied to real-time tactile transmission in mobile devices, touch screens, and online games in the IT field, and driving assistance information feedback systems such as a lane departure warning system, a front collision prevention system, and a speeding prevention system in the automotive industry. It can be applied, and also in the medical field can be applied to the pulsator, pressure distribution measurement of human teeth, surgical robots and the like.
  • the tactile transmission unit has a cell shape and is composed of a plurality of cells, thereby effectively transmitting various tactile information globally or locally to the user of the device by the strength of the magnetic field.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

The present invention relates to a magnetic apparatus for providing a tactile sensation and, more particularly, to a magnetic apparatus for providing a user with tactile information, by means of changes in viscosity, stiffness and elasticity due to a magnetic field, by using a magnetorheological fluid or a magnetorheological elastic body. A magnetic apparatus for providing a tactile sensation comprises a tactile sensation transmission unit (110) having magnetic particles (101), wherein the tactile sensation transmission unit (110) provides a user with tactile information by means of a change due to an external magnetic field that has been applied.

Description

자성 촉각 제공 장치Magnetic Tactile Providing Device
본 발명은 자성 촉각 제공 장치에 관한 것으로, 보다 구체적으로 자기유변유체 또는 자기유변탄성체를 이용하여, 자기장에 의한 점성, 강성, 탄성력 등의 변화에 의해 사용자에서 촉감을 제공하는 자성 촉각 제공 장치에 관한 것이다.The present invention relates to a magnetic tactile providing device, and more particularly, to a magnetic tactile providing device that provides a tactile feeling to a user by a change in viscosity, stiffness, elastic force, etc. by a magnetic field using a magnetorheological fluid or a magnetorheological fluid. will be.
햅틱스(Haptics)는 촉감에 관한 기술로서, 구체적으로 전자기기의 사용자가 키보드, 마우스, 조이스틱, 및 터치스크린 등을 통해 촉각과 힘, 운동감 등을 느끼게 하는 기술을 말한다. 기존에는 전자기기와 인간이 정보를 주고 받을 때 시각적인 전달이 주를 이루었으나, 최근 들어 더욱 구체적이고 실감나는 정보 전달을 위해 햅틱 기술이 주목 받고 있다.Haptics (Haptics) is a technology relating to the touch, and specifically refers to a technology that allows the user of the electronic device to feel the sense of touch, power, movement through the keyboard, mouse, joystick, and touch screen. In the past, visual transmission mainly took place when electronic devices and humans exchange information, but in recent years, haptic technology has attracted attention for more specific and realistic information delivery.
일반적으로 햅틱 기술을 위한 액츄에이터(Actuator)로는 관성형 액츄에이터,압전 액츄에이터, 전기활성 폴리머(Electro Active Polymer, EAP) 액츄에이터, 정전기력 액츄에이터 등이 사용된다. 관성형 액츄에이터는 모터가 회전할 때 발생하는 편심력으로 진동하는 편심 모터, 공진주파수를 이용하여 진동의 세기를 최대화 시키는 선형 공진 액츄에이터(Linear Resonant Actuator, LRA)가 있다. 압전 액츄에이터는 빔(Beam) 형태나 디스크(Disk) 형태를 가지고, 전기장에 의해 순간적으로In general, as an actuator for haptic technology, an inertial actuator, a piezoelectric actuator, an electroactive polymer (EAP) actuator, an electrostatic force actuator, and the like are used. An inertial actuator includes an eccentric motor that vibrates with eccentric force generated when the motor rotates, and a linear resonant actuator (LRA) that maximizes the intensity of vibration by using a resonance frequency. Piezoelectric actuators have a beam shape or a disk shape and are instantaneously driven by an electric field.
크기나 모양이 변하는 압전 소자를 이용해 구동한다. 전기활성 폴리머 액츄에이터는 전기활성 폴리머 필름 위에 질량체를 붙여 질량체의 반복된 움직임에 의해 진동을 생성한다. 정전기력 액츄에이터는 서로 다른 전하가 충전된 두 장의 유리면 사이에서 발생하는 인력과 동일한 종류의 전하가 충전될 때 발생하는 척력을 이용하여 구동한다.It is driven by piezoelectric elements that change in size or shape. The electroactive polymer actuator attaches a mass onto the electroactive polymer film to generate vibrations by repeated movement of the mass. Electrostatic force actuators are driven by the attraction force between two sheets of glass filled with different charges and the repulsive force generated when the same kind of charge is charged.
한편, 종래기술인 햅택 장치에 대하여 대한민국 공개특허공보 제10-2011-0118584호(명칭: 투명한 합성 압전 조합된 터치 센서 및 햅틱 액추에이터)에 개시되어 있으며, 도 1은 종래기술인 햅택 장치의 사시도를 도시한 개략도이다.Meanwhile, the prior art haptic device is disclosed in Korean Unexamined Patent Publication No. 10-2011-0118584 (name: transparent synthetic piezoelectric touch sensor and haptic actuator), and FIG. 1 shows a perspective view of a conventional haptic device. Schematic diagram.
햅틱 장치에서 센서로서 기능하도록 구성된 층 및 액츄에이터로서 기능하도록 구성된 층은 합성 압전 액츄에이터/센서 셀의 형태로 된 단일 모듈로 결합될 수 있다. 여기서, 도 1은 합성 압전 액츄에이터/센서 셀(10)의 단면을 그것의 관련 전극들(11)과 함께 도시하고 있다. 합성 압전 셀(10)은 에폭시 물질과 같은 구조용 접착제(structural adhesive)(13) 내의 압전 세라믹 파이버들(piezoceramic fibers)(12)의 어레이를 포함한다. 전극들(11) 각각은, 2개의 연속하는 전극(11) 사이에 도시된 구조용 접착제(13) 내에 삽입된 파이버들(12)의 각각의 패치(patch)가 작동되어, 대응하는 위치에 서 국부화된 햅틱 효과를 발생시킬 수 있도록, 개별 제어 신호를 송신하기 위해 이용될 수 있다. 화살표(14)는 분극된 압전 세라믹 물질이 인가된 전기장에 의해 어떻게 확장 또는 수축하는지를 나타낸 것이고, 화살표(15)는 전극들(11)에 의해 발생된 압전 세라믹 분극을 나타낸 것이다.The layer configured to function as a sensor in the haptic device and the layer configured to function as an actuator may be combined into a single module in the form of a composite piezoelectric actuator / sensor cell. Here, FIG. 1 shows a cross section of a composite piezoelectric actuator / sensor cell 10 with its associated electrodes 11. Synthetic piezoelectric cell 10 comprises an array of piezoceramic fibers 12 in a structural adhesive 13, such as an epoxy material. Each of the electrodes 11 is actuated by a patch of each of the fibers 12 inserted in the structural adhesive 13 shown between the two successive electrodes 11 to be localized at the corresponding position. It can be used to transmit individual control signals so as to generate a normalized haptic effect. Arrow 14 shows how the polarized piezoelectric ceramic material expands or contracts with an applied electric field, and arrow 15 shows the piezoelectric ceramic polarization generated by the electrodes 11.
그러나, 위와 같은 종래의 햅틱 기술은 단순한 진동을 전달하는 것에 불과하여, 다양한 촉감의 감성적인 전달 또는 복잡한 문자 정보 등을 전달에는 한계가 있다. 따라서, 단순한 진동을 전달하는 것에서 나아가 더욱 감성적인 전달 및 더욱 복잡한 정보를 효과적으로 전달할 수 있는 촉각 전달 구조에 대한 연구가 필요한 실정이다.However, the conventional haptic technology as described above is merely to transmit a vibration, there is a limit to the transfer of a variety of tactile emotional or complex character information. Therefore, there is a need for research on a tactile transmission structure capable of effectively transmitting more sensitive information and more complex information in addition to simple vibration transmission.
따라서, 본 발명은 상기와 같은 종래 기술의 제반 문제점을 해결하기 위하여 안출된 것으로서, 다양한 촉감을 더욱 감성적으로 전달할 수 있는 자성 촉각 제공 장치를 제공하는 것을 목적으로 한다.Accordingly, an object of the present invention is to provide a magnetic tactile sensation providing apparatus capable of transmitting various tactile senses more emotionally.
또한, 본 발명은 자기유변유체 또는 자기유변탄성체의 물리적 성질을 이용하여 사용자에게 다양한 촉감을 피드백하는 것이 가능한 자성 촉각 제공 장치를 제공하는 것을 목적으로 한다In addition, an object of the present invention is to provide a magnetic tactile providing device capable of feeding back a variety of tactile sensations to a user using the physical properties of the magnetorheological fluid or magnetorheological elastic body.
또한, 본 발명은 촉각 전달부가 하나의 셀 형태이며, 복수의 셀로 구성되되, 자기장의 세기에 의해 전체적 또는 국부적으로 다양한 촉각 정보를 장치의 사용자에게 효과적으로 전달하는 자성 촉각 제공장치를 제공하는 것을 목적으로 한다.In addition, an object of the present invention is to provide a magnetic tactile providing device in which the tactile transmission unit is in the form of one cell and is composed of a plurality of cells, and effectively transmits various tactile information to the user of the device by the strength of the magnetic field. do.
본 발명의 상기의 목적은, 자성 입자를 포함하는 촉각 전달부를 포함하며, 상기 촉각 전달부는 인가된 외부 자기장에 의한 변형을 통해 사용자에게 촉감을 제공하는 것을 특징으로 하는 자성 촉각 제공 장치에 의해 달성된다.The above object of the present invention is achieved by a magnetic tactile providing device comprising a tactile transmission comprising magnetic particles, wherein the tactile transmission provides a tactile feeling to the user through deformation by an applied external magnetic field. .
상기와 같이 구성된 본 발명에 따르면, 다양한 촉감을 더욱 감성적으로 전달할 수 있는 효과가 있다.According to the present invention configured as described above, there is an effect that can be transmitted more emotionally various touch.
또한, 본 발명에 따르면, 자기유변유체 또는 자기유변탄성체의 물리적 성질을 이용하여 사용자에게 다양한 촉감을 피드백할 수 있는 효과가 있다.In addition, according to the present invention, there is an effect that can be used to feedback a variety of touch to the user by using the physical properties of the magnetorheological fluid or magnetorheological elastic body.
또한, 본 발명에 따르면, 촉각 전달부가 하나의 셀 형태이며, 복수의 셀로 구성되되, 자기장의 세기에 의해 전체적 또는 국부적으로 다양한 촉각 정보를 장치의 사용자에게 효과적으로 전달할 수 있는 효과가 있다.In addition, according to the present invention, the tactile transmission unit is in the form of a single cell, and is composed of a plurality of cells, thereby effectively transmitting various tactile information to the user of the device in whole or locally by the strength of the magnetic field.
도 1은 종래기술인 햅택 장치의 사시도를 도시한 개략도이다.1 is a schematic view showing a perspective view of a prior art haptic device.
도 2는 본 발명의 일 실시예에 따른 자성 촉각 제공 장치의 구성을 도시한 도면이다.2 is a diagram illustrating a configuration of an apparatus for providing magnetic tactile sensations according to an embodiment of the present invention.
도 3은 본 발명의 일 실시예에 따른 촉각 전달부가 자기유변유체로 구성된 구조를 도시한 도면이다.3 is a view showing a structure in which the tactile transmission unit is composed of a magnetorheological fluid according to an embodiment of the present invention.
도 4는 본 발명의 일 실시예에 따른 촉각 전달부가 자기유변탄성체로 구성된 구조를 도시한 도면이다.4 is a view showing a structure in which the tactile transmission part is composed of a magnetorheological elastic body according to an embodiment of the present invention.
도 5는 본 발명의 일 실시예에 따른 촉각 전달부가 복수의 셀로 형성되어 있는 자성 촉각 제공 장치를 도시한 도면이다.5 is a diagram illustrating a magnetic tactile providing device in which a tactile transmission part is formed of a plurality of cells according to an embodiment of the present invention.
도 6은 본 발명의 일 실시예에 따른 자성 촉각 제공 장치를 게임 기기에 적용한 예를 도시한 도면이다.6 is a diagram illustrating an example in which the magnetic tactile providing device according to an embodiment of the present invention is applied to a game device.
<부호의 설명><Description of the code>
10: 합성 압전 액츄에이터/센서 셀10: Composite piezo actuator / sensor cell
100: 촉각 전달부100: tactile transmission unit
101: 자성 입자101: magnetic particles
102: 매트릭스 소재102: matrix material
120: 외피120: sheath
200: 자기장 발생부200: magnetic field generating unit
300: 절연체300: insulator
400: 하우징400: housing
500: 전원 공급부500: power supply
600: 게임 기기600: game equipment
이하, 첨부 도면을 참조하여 본 발명의 실시예에 따른 구성 및 적용에 관하여 상세히 설명한다. 이하의 설명은 특허 청구 가능한 본 발명의 여러 태양(aspects) 중 하나이며, 하기의 기술(description)은 본 발명에 대한 상세한 기술(detailed description)의 일부를 이룬다. Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the configuration and application according to an embodiment of the present invention. The following description is one of several aspects of the patentable invention and the following description forms part of the detailed description of the invention.
다만, 본 발명을 설명함에 있어서, 공지된 기능 혹은 구성에 관한 구체적인 설명은 본 발명의 요지를 명료하게 하기 위하여 생략하기로 한다.However, in describing the present invention, a detailed description of known functions or configurations will be omitted for clarity of the gist of the present invention.
이하, 첨부된 도면을 참고로 하여, 본 발명의 바람직한 실시예에 따른 자성 촉각 제공장치를 상세히 설명한다.Hereinafter, with reference to the accompanying drawings, it will be described in detail a magnetic tactile providing device according to a preferred embodiment of the present invention.
도 2은 본 발명의 일 실시예에 따른 자성 촉각 제공 장치의 구성을 도시한 도면이고, 도 3은 본 발명의 일 실시예에 따른 촉각 전달부가 자기유변유체로 구성된 구조를 도시한 도면이고, 도 4는 본 발명의 일 실시예에 따른 촉각 전달부가 자기유변탄성체로 구성된 구조를 도시한 도면이다.2 is a view showing the configuration of a magnetic tactile providing device according to an embodiment of the present invention, Figure 3 is a view showing a structure in which the tactile transmission unit is composed of a magnetorheological fluid, according to an embodiment of the present invention, 4 is a diagram illustrating a structure in which the tactile transmission part is made of a magnetorheological elastomer according to an embodiment of the present invention.
먼저, 도 2 내지 도 4를 참고하면, 자성 촉각 제공장치는 하우징(400)[도 5 참조], 하우징(400) 내 구비되며, 자기장을 생성하는 자기장 발생부(200) 및 자기장 변화와 상호 작용하는 자성 입자(101)[도 4 참조]를 포함하는 촉각 전달부(100)를 포함한다.First, referring to FIGS. 2 to 4, the magnetic tactile providing device is provided in the housing 400 (see FIG. 5) and the housing 400, and interacts with the magnetic field generating unit 200 and the magnetic field change generating the magnetic field. And a tactile transmission unit 100 including magnetic particles 101 (see FIG. 4).
보다 구체적으로, 하우징(400)은 자성 촉각 제공 장치의 외형을 형성하며, 내부에 자기장 발생부(200)와 촉각 전달부(100)가 구비된다.More specifically, the housing 400 forms an external shape of the magnetic tactile providing device, and the magnetic field generating unit 200 and the tactile transmission unit 100 are provided therein.
자기장 발생부(200)는 평면 코일 또는 솔레노이드 코일이 사용될 수 있으며, 직류 전원 또는 교류 전원이 인가될 수 있고, 인가되는 전원의 종류에 따라 다른 특성의 자기장을 발생시킬 수 있다. 예를 들면, 자기장 발생부(200)에 직류 전원이 인가되면 직류 자기장을 발생시키고, 교류 전원이 인가되면 교류 자기장이 발생한다.The magnetic field generating unit 200 may be a flat coil or a solenoid coil, a DC power source or an AC power source may be applied, and may generate a magnetic field having different characteristics according to the type of power source applied. For example, a DC magnetic field is generated when DC power is applied to the magnetic field generating unit 200, and an AC magnetic field is generated when AC power is applied.
또한, 자기장 발생부(200)는 촉각 전달부(100)의 일 측면, 예를 들면 촉각 전달부(100)의 하부에 위치하여, 자기장 발생부(200)에서 발생된 자기장에 의해 촉각 전달부(100)가 다양한 형태로 변화할 수 있다. 특히, 자기장 발생부(200)에서 교류 자기장이 발생하면 촉각 전달부(100)는 진동하며, 직류 자기장이 인가하면 촉각 전달부(100)의 강성이 변화하는 특징이 있다.In addition, the magnetic field generating unit 200 is located on one side of the tactile transmission unit 100, for example, the lower part of the tactile transmission unit 100, and the tactile transmission unit (eg, by the magnetic field generated by the magnetic field generating unit 200). 100 may vary in various forms. In particular, when the alternating magnetic field is generated in the magnetic field generating unit 200, the tactile transmission unit 100 vibrates, and when the direct current magnetic field is applied, the stiffness of the tactile transmission unit 100 is changed.
자기장 발생부(200)는 자기장의 세기, 방향 또는 주파수(Frequency)를 제어할 수 있으며, 자기장의 세기, 방향 또는 주파수에 따라 촉각 전달부(100)가 변형되는 세기(크기), 방향, 주파수 등이 다양한 형태로 변화할 수 있다.The magnetic field generating unit 200 may control the strength, direction, or frequency of the magnetic field, and the intensity (size), direction, frequency, etc., at which the tactile transmission unit 100 is deformed according to the strength, direction, or frequency of the magnetic field. This can change in various forms.
촉각 전달부(100)는 자기유변유체 또는 자기유변탄성체를 사용하며, 적용하는 기기 또는 위치에 따라 반구형, 사각형, 다면체 형상 등 다양한 형태로 적용될 수 있다. 특히, 촉각 전달부(100)는 하부에 구비된 자기장 발생부(200)에서 발생된 자기장에 영향을 받으며, 자기장의 종류, 세기, 위치 또는 주파수 등에 의해 다양한 종류의 진동감 또는 강성 변화를 제공할 수 있다. 따라서, 촉각 전달부(100)는 사용자에게 진동감을 주는 진동원으로 활용되거나 사용자에게 촉감을 전달하는 기기에 적용될 수 있다. The tactile transmission unit 100 uses a magnetorheological fluid or a magnetorheological elastic body, and may be applied in various forms such as hemispherical, rectangular, and polyhedral according to the device or location to be applied. In particular, the tactile transmission unit 100 is affected by the magnetic field generated by the magnetic field generating unit 200 provided below, and may provide various kinds of vibration or stiffness by the type, intensity, position or frequency of the magnetic field. Can be. Therefore, the tactile transmission unit 100 may be used as a vibration source for giving a vibration feeling to a user or applied to a device for transmitting a tactile feeling to a user.
이하, 촉각 전달부(100)에 대해서 도 3 및 도 4를 참고하여 보다 구체적으로 설명한다.Hereinafter, the tactile transmission unit 100 will be described in more detail with reference to FIGS. 3 and 4.
도 3을 참고하면, 촉각 전달부(100)의 촉각 전달 수단으로 자기유변유체(Magneto-Rheological Fluid, MRF)를 주로 사용할 경우, 촉각 전달부(100)는 고무, 폴리머 등의 탄성체, 자기유변탄성체(Magneto-Rheological Elastomer, MRE), 또는 탄성체와 자기유변탄성체가 혼용된 외피(120) 내에 자기유변유체를 밀봉하는 구조로 구성될 수 있다. 자기유변유체는 외부 자기장의 세기에 따라 점도 등이 변화하는 자성 입자(101) 현탁액으로, 일반적으로 직경이 0.01～100μm 정도의 강자성(Ferromagnetic) 및 페리자성(Ferrimagnetic) 등의 자기적 극성입자(Magnetically Polarizable Particle)의 분산계 물질이다. 또한, 자기유변유체는, 자기장 발생부(200)에서 발생된 자기장이 인가되면 자화된 자성 입자(101)들이 그 상호작용에 의하여 사슬 모양의 미세구조를 형성하며, 빠른 응답특성과 자기장 하에서 높은 항복응력을 갖는 제어 유체이다.Referring to FIG. 3, when the magneto-rheumatic fluid (MRF) is mainly used as the tactile transmission means of the tactile transmission unit 100, the tactile transmission unit 100 is an elastic body such as rubber, polymer, magnetorheological elastomer, etc. (Magneto-Rheological Elastomer, MRE), or may be of a structure that seals the magnetorheological fluid in the outer shell 120 is mixed with the elastic body and the magnetorheological elastic body. A magnetorheological fluid is a suspension of magnetic particles 101 whose viscosity changes depending on the strength of an external magnetic field, and generally magnetically polar particles such as ferromagnetic and ferrimagnetic having a diameter of about 0.01 to 100 μm. Polarizable Particles). In addition, the magnetorheological fluid, when the magnetic field generated in the magnetic field generating unit 200 is applied, the magnetized magnetic particles 101 form a chain-like microstructure by the interaction, fast response characteristics and high yield under the magnetic field Control fluid with stress.
외피(120)는 절연체(300) 상부에 위치하며, 평탄부(121)와 굴곡부(122)로 구분되며, 굴곡부(122)는 평탄부(121) 양측에 구비되어, 내부에 공간(110)을 형성하고, 상기 공간(110)에 자기유변유체가 밀봉된다. 평탄부(121)와 굴곡부(122)는 탄성체 또는 자기유변탄성체로 구성될 수 있다.The outer shell 120 is positioned above the insulator 300, and is divided into a flat part 121 and a bent part 122, and the bent part 122 is provided at both sides of the flat part 121 to form a space 110 therein. And a magnetorheological fluid is sealed in the space 110. The flat part 121 and the bent part 122 may be formed of an elastic body or a magnetorheological body.
절연체(300)는 촉각 전달부(100)와 자기장 발생부(200) 사이에 삽입되며, 촉각 전달부(100)에 전기가 직접적으로 통전되는 것을 방지한다.The insulator 300 is inserted between the tactile transmission unit 100 and the magnetic field generating unit 200, and prevents electricity from directly flowing to the tactile transmission unit 100.
자기유변유체 재질의 촉각 전달부(100)는, 내부의 자성 입자(101)가 인가된 교류 자기장에 반응할 경우는 진동감을, 인가된 직류 자기장에 반응할 경우는 강성 변화를 제공할 수 있다. 나아가, 자기장 발생부(200)에서 발생된 자기장의 세기 및 주파수 등을 변화시킴으로써 다양한 종류의 진동감을 제공할 수도 있다.The tactile transmission unit 100 of the magnetorheological fluid material may provide a sense of vibration when the internal magnetic particles 101 react with an applied alternating magnetic field and a stiffness change when reacting with an applied direct current magnetic field. Furthermore, various kinds of vibration feelings may be provided by changing the strength and frequency of the magnetic field generated by the magnetic field generator 200.
도 4를 참고하면, 촉각 전달부(100)의 촉각 전달 수단으로 자기유변탄성체를 주로 사용할 경우, 나노 또는 마이크론 크기의 철 또는 페라이트 입자 등의 자성 입자(101)가 고무 또는 기타 폴리머 소재의 매트릭스(Matrix) 소재(102) 내에 분포하도록 구성할 수 있다. 자기유변탄성체도 자기유변유체와 마찬가지로 자성 입자(101)를 포함하는 탄성체로서, 자기장 발생부(200)에서 발생된 자기장이 가해지면 자기유변탄성체 내의 자성 입자(101)들이 자기장에 반응하여, 자기유변탄성체의 인장강도(Tensile Strength), 연신율(Elongation) 등이 물리적으로 변화하는 제어 탄성체(Controllable Elastomer)이다. 여기서, 자성 입자(101)는 일반적으로 직경이 0.01～100μm 정도의 강자성(Ferromagnetic) 및 페리자성(Ferrimagnetic) 등의 자기적 극성입자(Magnetically Polarizable Particle) 일 수 있다.Referring to FIG. 4, when the magnetorheological elastic body is mainly used as the tactile transmission means of the tactile transmission unit 100, the magnetic particles 101 such as iron or ferrite particles of nano or micron size may be formed of a matrix of rubber or other polymer material ( Matrix) material may be distributed within the material 102. The magnetorheological elastomer is an elastic body including the magnetic particles 101 as well as the magnetorheological fluid. When the magnetic field generated by the magnetic field generator 200 is applied, the magnetic particles 101 in the magnetorheological body respond to the magnetic field, It is a controllable elastomer that physically changes tensile strength and elongation of the elastic body. Here, the magnetic particles 101 may be magnetically polarizable particles such as ferromagnetic and ferrimagnetic having a diameter of about 0.01 μm to 100 μm.
또한, 자기유변유체와 마찬가지로, 자기유변탄성체 재질의 촉각 전달부(100)는, 내부의 자성 입자(101)가 인가된 교류 자기장에 반응할 경우는 진동감을, 인가된 직류 자기장에 반응할 경우는 강성 변화를 제공할 수 있다. 나아가, 자기장의 세기 및 주파수 등을 변화시킴으로써 다양한 종류의 진동감을 제공할 수도 있다.In addition, similar to the magnetorheological fluid, the tactile transmission unit 100 made of a magnetorheological elastomer has a vibrational sense when the internal magnetic particles 101 react to an applied alternating magnetic field, and a response to the applied DC magnetic field. It can provide a change in stiffness. Furthermore, various kinds of vibration feelings may be provided by changing the strength and frequency of the magnetic field.
도 5는 본 발명의 일 실시예에 따른 촉각 전달부가 복수의 셀로 형성되어 있는 자성 촉각 제공장치를 도시한 도면이다.5 is a diagram illustrating a magnetic tactile providing device in which a tactile transmission part is formed of a plurality of cells according to an embodiment of the present invention.
도 5를 참고하면, 촉각 전달부(100)는 적어도 하나의 셀(130)을 점유하며, 셀(130)은 하우징(400) 내에 구비될 수 있으며, 하우징(400)은 복수개가 형성될 수 있으며, 촉각 전달부(100) 역시 이에 대응되도록 복수개가 형성될 수 있다. 또한, 자기장 발생부(200)는 셀(130)에 대응되는 크기 또는 형태의 평면 또는 솔레노이드 코일일 수 있다. 자기장 발생부(200)는 셀(130)과 대응되는 개수로 복수개가 형성될 수 있다. 여기서, 자기장 발생부(200)는 직류 전원 또는 교류 전원을 공급하는 전원 공급부(500)와 직렬 또는 병렬로 연결될 수 있으며, 전원 공급부(500)는 복수의 자기장 발생부(200)와 독립적으로 연결될 수 있다.Referring to FIG. 5, the tactile transmission unit 100 occupies at least one cell 130, the cell 130 may be provided in the housing 400, and a plurality of housings 400 may be formed. In addition, a plurality of tactile transmission units 100 may be formed to correspond thereto. In addition, the magnetic field generator 200 may be a planar or solenoid coil of a size or shape corresponding to the cell 130. The magnetic field generator 200 may be formed in plural numbers corresponding to the cells 130. Here, the magnetic field generator 200 may be connected in series or in parallel with the power supply 500 for supplying DC power or AC power, and the power supply 500 may be independently connected to the plurality of magnetic field generators 200. have.
특히, 하우징(400)에 셀(130)이 복수개가 배열되며, 하우징(400) 및 셀(130)은 단층 또는 다수의 층을 형성할 수 있다.In particular, a plurality of cells 130 are arranged in the housing 400, and the housing 400 and the cells 130 may form a single layer or a plurality of layers.
자기장 발생부(200)는 복수의 셀(130) 전체에 자기장을 발생시켜, 복수의 셀(130) 전체를 진동하거나, 강성 변화를 일으킬 수 있다. 또는 복수의 셀(130) 전체 중 국부에만 자기장을 발생시켜 국부적인 진동 또는 강성 변화를 일으킬 수 있다.The magnetic field generator 200 may generate a magnetic field in the entirety of the plurality of cells 130 to vibrate the entirety of the plurality of cells 130 or cause a change in stiffness. Alternatively, the magnetic field may be generated only in the local part of the plurality of cells 130 to cause local vibration or stiffness change.
또한, 촉각 전달부(100)는 복수의 셀(130)을 점유하여, 알람 등의 단순한 진동과 같은 신호뿐 아니라, 각 셀에 대응되는 문자, 도형 등의 더욱 복잡한 정보 등을 촉각 정보로서 제공할 수 있을 뿐만 아니라, 사용자의 피부와 접촉하는 부위에 문자 정보 등을 제공할 수 있어 보안이 필요한 비밀 정보도 효과적으로 전달할 수 있다.In addition, the tactile transmission unit 100 may occupy the plurality of cells 130 to provide not only signals such as alarms such as alarms but also more complicated information such as letters and figures corresponding to each cell as tactile information. In addition to providing text information and the like in contact with the user's skin, it is possible to effectively deliver secret information that requires security.
도 6은 본 발명의 일 실시예에 따른 자성 촉각 제공 장치를 게임 기기에 적용한 예를 도시한 도면이다.6 is a diagram illustrating an example in which the magnetic tactile providing device according to an embodiment of the present invention is applied to a game device.
도 6을 참고하면, 자성 촉각 제공 장치는 게임 기기(600) 등에 적용되며, 게임 기기(600)의 다양한 기능을 실현할 수 있다. 예를 들면, PS4를 포함한 콘솔 및 기타 게임 컨트롤러의 버튼으로 적용할 경우, 다양한 게임 상황에 대응하도록 강성 변화 및 국부적 진동을 제공할 수 있다. 또한, FPS(First Person Shooting) 게임에서 총구를 겨누는 동작의 강약 및 실제 총구를 당기는 느낌, 타겟의 명중 여부를 각각 강성 변화 및 국부적 진동감으로 제공할 수 있으며, 레이싱 상황에서도 차량의 앞/뒤, 좌/우에서의 스침이나 충돌에 대해 진동의 강약 등을 통해 촉감으로 전달할 수 있으므로, 사용자의 몰입도 및 실감을 증가시킬 수 있다.Referring to FIG. 6, the magnetic tactile providing device may be applied to the game device 600 or the like, and may realize various functions of the game device 600. For example, when applied as buttons on consoles and other game controllers including the PS4, stiffness variations and local vibrations can be provided to correspond to various game situations. In addition, the FPS (First Person Shooting) game can provide the strength of the muzzle aiming and the actual muzzle pull, and whether the target is hit by changing the stiffness and the local vibration, respectively. Since it can be transmitted to the touch through the strength and weakness of vibration or the like in the left and right, the user's immersion and feeling can be increased.
또한, 자성 촉각 제공 장치는 IT 분야의 모바일 기기 및 터치스크린, 온라인 게임 등에서 실시간 촉각 전달에 적용될 수 있고, 자동차 산업에서 차선이탈 경고 시스템, 전면 추돌 방지 시스템, 과속방지 시스템 등 운전 보조 정보 피드백 시스템 등에 적용될 수 있으며, 의료 분야에서도 맥진기, 사람 이의 압력 분포 측정, 수술용 로봇 등에 적용될 수 있다.In addition, the magnetic tactile provision device may be applied to real-time tactile transmission in mobile devices, touch screens, and online games in the IT field, and driving assistance information feedback systems such as a lane departure warning system, a front collision prevention system, and a speeding prevention system in the automotive industry. It can be applied, and also in the medical field can be applied to the pulsator, pressure distribution measurement of human teeth, surgical robots and the like.
이와 같은 구성으로, 자기유변유체 또는 자기유변탄성체의 물리적 성질을 이용하여 사용자에게 다양한 촉감을 피드백할 수 있다. 또한, 촉각 전달부가 셀 형태를 가지고, 복수의 셀로 구성되어, 자기장의 세기에 의해 전체적 또는 국부적으로 다양한 촉각 정보를 장치의 사용자에게 효과적으로 전달할 수 있다.With such a configuration, it is possible to feed back various touches to the user by using the physical properties of the magnetorheological fluid or the magnetorheological elastic body. In addition, the tactile transmission unit has a cell shape and is composed of a plurality of cells, thereby effectively transmitting various tactile information globally or locally to the user of the device by the strength of the magnetic field.
이상과 같이 본 발명에서는 구체적인 구성 요소 등과 같은 특정 사항들과 한정된 실시예 및 도면에 의해 설명되었으나 이는 본 발명의 보다 전반적인 이해를 돕기 위해서 제공된 것이다. 또한, 본 발명이 상술한 실시예들에 한정되는 것은 아니며, 본 발명이 속하는 분야에서 통상적인 지식을 가진 자라면 이러한 기재로부터 다양한 수정 및 변형이 가능하다. 그러므로, 본 발명의 사상은 상술한 실시예에 국한되어 정해져서는 아니 되며, 후술하는 특허청구범위뿐 아니라 특허청구범위와 균등하거나 등가적 변형이 있는 모든 것들은 본 발명 사상의 범주에 속한다고 할 것이다.As described above, the present invention has been described by specific embodiments, such as specific components, and limited embodiments and drawings, but this is provided to help a more general understanding of the present invention. In addition, the present invention is not limited to the above-described embodiments, and various modifications and variations are possible to those skilled in the art to which the present invention pertains. Therefore, the spirit of the present invention should not be limited to the above-described embodiment, and all the things that are equivalent to or equivalent to the scope of the claims as well as the following claims will belong to the scope of the present invention.

Claims (11)

  1. 자성 입자를 포함하는 촉각 전달부를 포함하며, 상기 촉각 전달부는 인가된 외부 자기장에 의한 변형을 통해 사용자에게 촉감을 제공하는 것을 특징으로 하는 자성 촉각 제공 장치.And a tactile transmission unit comprising magnetic particles, wherein the tactile transmission unit provides a tactile feeling to the user through deformation by an applied external magnetic field.
  2. 제1항에 있어서,The method of claim 1,
    하우징; 및housing; And
    상기 하우징 내 구비되며, 자기장을 생성하는 자기장 발생부A magnetic field generating unit provided in the housing and generating a magnetic field
    를 더 포함하는 것을 특징으로 하는 자성 촉각 제공 장치.Magnetic tactile providing device further comprises.
  3. 제2항에 있어서,The method of claim 2,
    상기 자기장 발생부에서 교류 자기장이 발생되면 상기 촉각 전달부가 진동하고, 직류 자기장이 발생되면 상기 촉각 전달부의 강성이 변화하는 것을 특징으로 하는 자성 촉각 제공 장치.The tactile transmission unit vibrates when an alternating magnetic field is generated in the magnetic field generating unit, and the rigidity of the tactile transmission unit changes when a DC magnetic field is generated.
  4. 제1항에 있어서,The method of claim 1,
    상기 자성 입자는 매트릭스 소재 내에 분포되어 상기 촉각 전달부를 구성하는 것을 특징으로 하는 자성 촉각 제공 장치.And the magnetic particles are distributed in a matrix material to constitute the tactile transmission part.
  5. 제4항에 있어서,The method of claim 4, wherein
    상기 촉각 전달부는 자기유변유체 또는 자기유변탄성체를 포함하는 것을 특징으로 하는 자성 촉각 제공 장치.The tactile transmission unit is a magnetic tactile fluid, characterized in that it comprises a magnetorheological fluid.
  6. 제2항에 있어서,The method of claim 2,
    상기 촉각 전달부는 적어도 하나의 셀을 점유하고, The tactile transmission occupies at least one cell,
    상기 자기장 발생부는 상기 셀에 대응되는 크기 또는 형태의 평면 또는 솔레노이드 코일을 포함하는 것을 특징으로 하는 자성 촉각 제공 장치.The magnetic field generating unit includes a flat or solenoid coil of a size or shape corresponding to the cell.
  7. 제1항에 있어서,The method of claim 1,
    상기 촉각 전달부는 반구형, 사각형 또는 다면체 형상을 가지는 것을 특징으로 하는 자성 촉각 제공 장치.The haptic transmitting unit has a hemispherical, rectangular or polyhedral shape, characterized in that the magnetic tactile providing device.
  8. 제1항에 있어서,The method of claim 1,
    상기 촉각 전달부는, 적어도 일부가 탄성체로 구성되는 외피의 내부 공간에 자기유변유체를 밀봉한 것을 특징으로 하는 자성 촉각 제공 장치.The haptic transmitting unit, the magnetic tactile providing device, characterized in that the magnetorheological fluid is sealed in the inner space of the outer shell at least a portion composed of an elastic body.
  9. 제1항에 있어서,The method of claim 1,
    상기 자성 입자는 직경 0.01μm 내지 100μm의 강자성(Ferromagnetic) 또는 페리자성 페리자성(Ferrimagnetic) 입자인 것을 특징으로 하는 자성 촉각 제공 장치.The magnetic particles are magnetic tactile provision device, characterized in that the ferromagnetic (Ferrimagnetic) or ferrimagnetic Ferrimagnetic particles of 0.01μm to 100μm in diameter.
  10. 제1항 내지 제9항 중 어느 한 항의 자성 촉각 제공 장치가 내부에 배치되어 진동을 제공하는 것을 특징으로 하는 촉각 기기.10. A haptic device according to any one of claims 1 to 9, wherein the magnetic tactile providing device is arranged inside to provide vibration.
  11. 제1항 내지 제9항 중 어느 한 항의 자성 촉각 제공 장치가 표면에 배치되어 사용자와 접촉하는 부분에 진동, 두드림 또는 강성 변화를 제공하는 것을 특징으로 하는 촉각 기기.10. A haptic device according to any one of claims 1 to 9, wherein the magnetic tactile device according to any one of claims 1 to 9 is disposed on a surface to provide a vibration, tapping or stiffness change in a portion contacting the user.
PCT/KR2014/010978 2014-10-02 2014-11-14 Magnetic apparatus for providing tactile sensation WO2016052803A1 (en)

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EP14903233.6A EP3203353B1 (en) 2014-10-02 2014-11-14 Magnetic apparatus for providing tactile sensation
US15/516,141 US10467868B2 (en) 2014-10-02 2014-11-14 Magnetic apparatus for providing tactile sensation
CN201480082285.6A CN107077194B (en) 2014-10-02 2014-11-14 Magnetic tactile sensation providing device
US16/564,352 US10559175B2 (en) 2014-10-02 2019-09-09 Magnetic apparatus for providing tactile sensation

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