WO2017119190A1 - Tactile sensation reproduction device - Google Patents

Abstract

[Problem] To provide a tactile sensation reproduction device capable of supplying to the fingers a reaction force and a tactile sensation simulating the operation of grasping a virtual object being contacted with the fingers. [Solution] A first opposing operating body 33A, a second opposing operating body 33B, and a thumb operating body 43 protrude from a case 21 of an input device 20. By holding the thumb operating body 43 with the thumb and holding the opposing operating bodies 33A and 33B respectively with the index finger and the middle finger, an operation identical to the operation of grasping an object being contacted is performed. A control signal is supplied from a control unit to a motor inside the case 21, and reaction force is supplied to the fingers from the opposing operating bodies 33A and 33B and the thumb operating body 43. Furthermore, the operating bodies 33A, 33B, and 43 are provided respectively with second detection units 54A, 54B, and 59, which are capable of detecting sliding of the finger on the surface of the operating body.

Description

Tactile reproduction device

The present invention provides a tactile sensation that allows the user to feel softness and hardness, as well as movement and temperature, imitating touching a virtual contacted object with a finger when an operator provided on the input device is grasped with the finger. It relates to a reproduction device.

Patent Document 1 describes an invention related to a virtual space display device.
This virtual space display device can communicate with a terminal communication unit and a server, and the terminal communication unit is equipped with a touch panel including a liquid crystal display and an input unit.

The shopping mall image is displayed on the LCD of the touch panel through communication from the server. When the user drags the touch panel, the displayed scene in the shopping mall can be moved, and when the user taps a product thumbnail in the shopping mall screen, detailed information on the product is displayed on the screen. The user can temporarily collect the products to be purchased in the stock area, and can purchase the products by performing a settlement process on the stock products.

JP 2012-234355 A

In the virtual space display device described in Patent Document 1, it is possible to check the price and color of a product displayed in a store of a shopping mall, and further search for a product to be purchased with reference to detailed product information.

However, since the product cannot actually be touched, the size and texture of the product cannot be felt by hand. In addition, when the product is deformed or moves, it is impossible to feel by hand how much force is required for the deformation and movement. Furthermore, you cannot feel the soft texture or movement of the product, and you cannot feel the temperature.

The present invention solves the above-described conventional problems, and gives an input device an operation force in a plurality of directions with a finger so that a soft touch and a hard feeling when a predetermined contacted object is operated by hand. It is an object of the present invention to provide a tactile reproduction device that can mechanically generate a reaction force that mimics the above, and can also obtain a feeling such as movement and temperature of an object.

The tactile reproduction device of the first aspect of the present invention has an input device and a control unit,
The input device includes an operation body that can move forward and backward and can be pressed with a finger, a first detection unit that detects a movement position of the operation body, a forward / backward drive unit that applies a force in the forward / backward direction to the operation body, A second detection unit that is provided on the operating body and detects a movement of a finger touching the operating body in a direction that intersects the forward / backward moving direction;
In the control unit, based on detection information from the first detection unit, a first reaction force application control that drives the advance / retreat drive unit and applies a force to the finger from the operating body, and from the second detection unit Based on this detection information, second reaction force application control is performed in which the advance / retreat driving unit is driven and force is applied to the finger from the operating body.

The tactile reproduction device of the second aspect of the present invention has an input device and a control unit,
The input device includes an operation body that can move forward and backward and can be pressed with a finger, a first detection unit that detects a movement position of the operation body, a forward / backward drive unit that applies a force in the forward / backward direction to the operation body, A touch generation unit that is provided on the operating body and gives a touch to a finger that touches the operating body, and a movement of the finger that is provided on the operating body and touches the operating body in a direction crossing the forward / backward movement direction is detected. A second detection unit is provided,
In the control unit, reaction force application control for driving the advance / retreat driving unit based on detection information from the first detection unit and applying force to the finger from the operating body, and detection information from the second detection unit Based on the above, a feeling imparting control for giving a feeling to the finger by operating the feeling generating part is performed.

In the tactile sensation reproducing device according to the second aspect of the present invention, the touch generating part is a vibration generating part. In this case, the frequency of the vibration generated in the vibration generating unit is higher than the frequency of the reciprocating motion that can be given to the operating body by the advance / retreat driving unit.

In the tactile sensation reproducing device according to the second aspect of the present invention, the touch generating part may be a heat variable element, and both a vibration generating part and a heat variable element may be provided as the touch generating part.

The tactile sensation reproducing device of the present invention can be configured as a plurality of the operating bodies.
For example, the input device is provided with a thumb operating body that is pressed with a thumb, a first opposing operating body and a second opposing operating body that are individually pressed with an index finger and a middle finger,
The first opposing operating body and the second opposing operating body protrude in opposite directions with respect to the protruding direction of the thumb operating body.

In the haptic reproduction apparatus according to the present invention, information related to the contacted object is held in the control unit, and based on the information, the reaction force application control that simulates contacting the contacted object with a finger is performed. .

Alternatively, in the haptic reproduction apparatus according to the present invention, the control unit holds information about the contacted object, and based on the information, the reaction force application control that imitates touching the contacted object with a finger. The feeling imparting control is performed.

The tactile reproduction device of the present invention is provided with a display device,
The control unit displays a virtual image of the contacted object and a hand image on the display screen of the display device,
When the operation body of the input device is pressed, a display for changing the state of the contacted object with the image of the hand can be performed.

In this case, it is preferable that a sounding device associated with a change in the display screen of the input device is provided.

In the tactile sensation reproduction device of the present invention, the softness and hardness of the contacted object are reproduced in the reaction force application control, and the movement and temperature of the contacted object are reproduced in the touch application control. .

The tactile sensation reproduction device of the present invention generates a reaction force according to the advance / retreat movement of the operation body when the operation body is pressed with a finger, and further moves the finger touching the operation body in a direction crossing the forward / backward movement direction. Thus, it is possible to give the finger a soft texture or a hard feeling imitating that the finger is touching the virtual contacted object.

Furthermore, by giving an operating force in a different direction to the operating body, it is possible to give the finger a feeling of movement and temperature imitating the contacted object.

Explanatory drawing which shows the example which uses the haptic reproduction apparatus of the 1st Embodiment of this invention, Explanatory drawing which shows the example which uses the haptic reproduction apparatus of the 2nd Embodiment of this invention, FIG. 2 illustrates an input device provided in the tactile reproduction device shown in FIG. 1, (A) is a perspective view seen from above, (B) is a perspective view seen from below, FIG. 3 is an exploded perspective view of the input device shown in FIG. The perspective view which shows the tactile sense generation unit provided in the input device shown in FIG. The block diagram which shows the structure of the tactile reproduction apparatus of embodiment of this invention, Explanatory drawing which shows the usage example of the tactile sense reproduction device of an embodiment, and shows the display image imitating the operation which grasps the hand of an animal as a virtual contacted object, Explanatory drawing which shows the usage example of the tactile sense reproduction device of an embodiment, and shows the display image imitating the operation which massages the skin of the person who is a virtual contacted object with a finger, (A) is explanatory drawing which shows operation | movement of each operation body when grasping the hand of an animal as a virtual to-be-contacted object, (B) shows operation | movement of each operation body when massaging skin as a to-be-contacted virtual object. Illustration, (A) shows the reaction force application control when imitating the action of grabbing the hand of the animal, (B) shows the vibration application control of the feeling application control,

<Overall structure>
1A and 1B show a state in which the haptic reproduction apparatuses 1A and 1B of the present invention are used.

A haptic reproduction apparatus 1A according to the first embodiment shown in FIG. 1A includes an apparatus main body 10A and an input apparatus 20. In FIG. 1A, one input device 20 is used, and this input device 20 is operated with the right hand.

The input device 20 is connected to the apparatus main body 10A by a cord 52. A display device 13 is provided in the apparatus main body 10A. The display device 13 is a color liquid crystal display panel, an electroluminescence display panel, or the like. The apparatus main body 10A is a personal computer, a demonstration display apparatus having a relatively large display screen, or the like.

As shown in FIG. 5, the apparatus main body 10 </ b> A is provided with a display driver 14 for driving the display device 13 and a control unit 15 for controlling the display form of the display driver 14. The control unit 15 is composed mainly of a CPU and a memory. In addition, an interface 16 is provided for exchanging signals between the control unit 15 and each input device 20.

The tactile reproduction device 1B according to the second embodiment shown in FIG. 1B includes a device main body 10B and an input device 20. In FIG. 1B, two identical input devices 20 are used, and the input device 20 is operated with the right hand and the left hand.

The apparatus main body 10B has a mask type main body 11 to be mounted in front of the eyes and a strap 12 for mounting the mask type main body 11 on the head.

A display device 13 is provided on the mask-type main body 11 of the apparatus main body 10B. This display device 13 is installed in front of the eyes of the operator and is visible. The display driver 14, the control unit 15, the interface 16, and the like illustrated in FIG. 5 are mounted on the mask type main body 11.

2A is a perspective view showing the external appearance of the input device 20 from above, and FIG. 2B is a perspective view showing the external appearance of the input device 20 viewed from below. FIG. 3 is an exploded perspective view of the input device 20. FIG. 4 shows the structure of the first tactile sensation generating unit 30 </ b> A among the three sets of tactile sensation generating units built in the input device 20. 2A, FIG. 3 and FIG. 4 show XYZ coordinates based on the input device 20. FIG. In the input device 20, the Z direction is the pressing direction of each operating body.

In the usage example shown in FIGS. 1A and 1B, the input device 20 is held by a human hand in a posture in which the Y direction is directed up and down.

As shown in FIG. 2, the input device 20 has a case 21 made of synthetic resin. The case 21 is large enough to be held with one hand. The case 21 is configured by combining an upper case 22 and a lower case 23. As shown in FIG. 3, the upper case 22 and the lower case 23 can be divided in the Z direction. The upper case 22 and the lower case 23 are fixed to each other by screwing means or the like, and a mechanism housing space is formed inside the two cases 22 and 23.

The surface of the upper case 22 facing the Z direction is the first surface 22a, and the surface of the lower case 23 facing the Z direction is the second surface 23a. As shown in FIG. 3, the upper case 22 has operation holes 24, 24 penetrating in the Z direction on the first surface 22a. The lower case 23 has an operation hole 25 penetrating the second surface 23a in the Z direction. The operation holes 24 and 24 are formed side by side in the Y direction, and the opening size in the Y direction is larger in the operation holes 25 than in the individual operation holes 24.

A connector mounting hole 26 is opened on the end surface of the upper case 22 facing the Y direction, and a power plug mounting hole 27 is opened on the end surface of the lower case 23 facing the Y direction.

As shown in FIG. 3, a mechanism chassis 28 is stored in a mechanism storage space inside the case 21. The mechanism chassis 28 is bent from a metal plate to form a mounting plate portion 28a parallel to the XY plane and a partition plate portion 28b parallel to the YZ plane.

The first tactile sensation generating unit 30A and the second tactile sensation generating unit 30B are fixed to one side in the X direction across the sorting plate portion 28b. The first tactile sensation generating unit 30A and the second tactile sensation generating unit 30B are arranged side by side in the Y direction. One set of the third tactile sensation generating unit 40 is provided on the other side in the X direction across the sorting plate portion 28b.

<Structure of tactile generating unit>
FIG. 4 shows the structure of the first tactile sensation generating unit 30A.

The first tactile sensation generating unit 30A has a frame 31 in which a metal plate 30 is bent. The first tactile sensation generating unit 30A is mounted on the mechanism chassis 28 by fixing the frame 31 to the sorting plate portion 28b.

The moving member 32A is provided on the frame 31. The moving member 32A is made of a synthetic resin material, and the first opposing operation body 33A is fixed to the tip thereof. The first opposing operation body 33A is formed of a synthetic resin material. As shown in FIG. 2, the first opposing operation body 33 </ b> A protrudes outward from the operation hole 24 formed in the upper case 22.

As shown in FIG. 1A and FIG. 1B, when the input device 20 is held with the right hand, the first opposing operation body 33A is pushed with the index finger, and as shown in FIG. When the device 20 is held with the left hand, the first opposing operation body 33A is operated with the middle finger.

As shown in FIG. 4, a guide long hole 31 c extending in the Z direction is formed in one side plate portion 31 a of the frame 31. A sliding protrusion 32a is integrally formed on the side of the moving member 32A, and the moving member 32A slides on the frame 31 in the Z direction by sliding the sliding protrusion 32a inside the guide slot 31c. It is supported to move freely. The moving member 32A has a recess 32b. A compression coil spring 34 is interposed between the moving member 32A and the lower end portion of the frame 31 inside the recess 32b. Due to the elastic force of the compression coil spring 34, the moving member 32 </ b> A is biased upward in the figure in the Z direction, which is the direction in which the first opposing operation body 33 </ b> A protrudes from the upper case 22.

The motor 35A is fixed to one side wall portion 31a of the frame 31. An output gear 36a is fixed to the output shaft of the motor 35A. A reduction gear 36b is rotatably supported on the outer surface of the side wall 31a, and the output gear 36a and the reduction gear 36b are engaged with each other. A gear box 37 is fixed to the side wall 31 a of the frame 31, and a speed reduction mechanism is housed inside the gear box 37. The rotational force of the reduction gear 36 b is reduced by a reduction mechanism in the gear box 37. The speed reduction mechanism in the gear box 37 includes a sun gear and a planetary gear.

The pinion gear 37a is fixed to the reduction output shaft of the gear box 37. A rack part 32c is formed on the surface of the thick part of the moving member 32A, and the pinion gear 37a and the rack part 32c are engaged with each other. The tooth part of the pinion gear 38a and the tooth part of the rack part 32c are helical teeth inclined with respect to the Y direction orthogonal to the moving direction of the moving member 32A.

By providing the compression coil spring 34, it is possible to eliminate backlash between the pinion gear 38a and the rack portion 32c. However, the compression coil spring 34 may not be provided in each tactile sensation generating unit.

In this embodiment, the motor 35A, the gears 36a, 36b, the gear box 37, the pinion gear 37a, and the rack portion 32c constitute an advance / retreat drive unit.

The first detection unit 38A is fixed to the other side wall 31b of the frame 31. 38 A of 1st detection parts are advance / retreat movement detection parts, and have the stator part fixed to the side wall part 31b, and the rotor part rotated facing a stator part. The rotor shaft provided in the rotor portion rotates together with the pinion gear 37a. The first detection unit 38A is a resistance change type, and an arc-shaped resistor pattern is provided in the stator portion, and a slider that slides the resistor pattern is provided in the rotor portion. The first detection unit 38A is a magnetic detection type, and a rotating magnet is fixed to the rotor unit, a magnetic detection element such as a GMR element is provided in the stator unit, and the rotation angle of the rotor unit is determined by the magnetic detection element. It may be detected. Alternatively, the first detection unit 38A may be an optical advance / retreat movement detection unit.

As shown in FIG. 3, the second tactile sensation generating unit 30B is fixed alongside the first tactile sensation generating unit 30A on one side in the X direction across the sorting plate portion 28b. Since the structure of the second tactile sensation generating unit 30B is the same as that of the first tactile sensation generating unit 30A, detailed description of the structure is omitted.

In the second tactile sensation generating unit 30B, the second opposing operation body 33B is fixed to the upper part on the Z side of the moving member 32B. The second opposing operating body 33B has the same shape and dimensions as the first opposing operating body 33A.

In the second tactile sensation generating unit 30B, the motor is indicated by 35B, and the first detection unit is indicated by 38B. These are the motor 35A and the first tactile sensation generating unit 30A. The structure is the same as that of the detection unit 38A.

As shown in FIG. 1A and FIG. 1B, when the input device 20 is held with the right hand, the second opposing operation body 33B is pushed with the middle finger, and as shown in FIG. When the device 20 is held with the left hand, the second opposing operation body 33B is operated with the index finger.

As shown in FIG. 3, a third tactile sensation generating unit 40 is provided on the other side of the partition plate portion 28 b of the mechanism chassis 28.

The third tactile generating unit 40 has the same basic structure as the first tactile generating unit 30A and the second tactile generating unit 30B, but the third tactile generating unit 40 is configured to be slightly larger. Yes. In the third tactile sensation generating unit 40, a moving member 42 is supported by a frame 41 so as to be movable in the Z direction, and a thumb operating body 43 is fixed to the front portion of the moving member 42. The thumb operation body 43 projects downward from the operation hole 25 of the lower case 23 in the figure. The moving member 42 is biased by a compression coil spring 44 in a direction in which the thumb operating body 43 protrudes from the operation hole 25. As described above, the compression coil spring 44 can be omitted.

The thumb operating body 43 has a width dimension in the Y direction that is larger than that of the first opposing operating body 33A and the second opposing operating body 33B, and the first opposing operating body 33A and the second opposing operating body. Both 33B oppose the thumb operating body 43 in the Z direction. As shown in FIGS. 1A and 1B, the thumb operating body 43 is operated with the thumb both when the input device 20 is held with the right hand and with the left hand.

Also in the third tactile sensation generating unit 40, the motor 45 is fixed to the frame 41, and the output gear 46a fixed to the output shaft of the motor 45 is engaged with the reduction gear 46b. The rotational force of the reduction gear 46b is reduced by a reduction mechanism in the gear box 47, and the reduction output is transmitted from the pinion gear to the rack portion formed on the moving member 42. Then, the rotation of the pinion gear is detected by the first detection unit 48.

As shown in FIG. 2, the first feel generating portion 56A is fixed to the end face of the first opposing operation body 33A, and the second touch generation portion 56B is fixed to the end face of the second opposing operation body 33B. . In addition, a third feel generating portion 55 is fixed to the end face of the thumb operating body 43.

As shown in FIG. 4, the first feel generation unit 56A includes a vibration generation unit 57 fixed to the end face of the first opposing operation body 33A, and a heat variable element 58 superimposed on the vibration generation unit 57. Have. The second touch generation unit 56B also has a vibration generation unit 57 and a heat variable element 58 superimposed thereon. Similarly, the third touch generating unit 55 also includes a vibration generating unit 57 and a heat variable element 58 superimposed thereon.

The vibration generator 57 has a vibrator housed in a cubic case. The vibrator is supported in the case so as to freely vibrate in the Z direction by an elastic member such as a leaf spring. A coil is wound around the vibrator, and a magnet facing the coil is fixed in the case. The vibrator vibrates by applying an alternating current to the coil. Conversely, the vibrator may be formed of a magnet, and a coil facing the vibrator may be fixed in the case. Or the vibration generation part 57 may be comprised with the piezoelectric element.

The vibration generating unit 57 can generate a vibration having a relatively high frequency, and the vibration frequency is determined by the first tactile sensation generating unit 30A, the second tactile sensation generating unit 30B, and the third tactile sensation generating unit 40. The frequency of the reciprocating motion that can be generated by the driving force of the motors 35A, 35B, and 45 can be made higher.

The heat variable element 58 is a so-called Peltier element, and utilizes the heat transfer of the Peltier effect when a direct current is applied to two opposing metal plates, and the surface side in the Z direction according to the current direction. The amount of heat of the metal plate changes. By controlling the current direction and the amount of current, it is possible to make the finger touching the heat variable element 58 feel a warm temperature or a cold temperature.

Further, as shown in FIGS. 3 and 4, a second detection unit (sliding detection unit) 54 </ b> A is provided on the first touch generation unit 56 </ b> A provided at the tip of the first opposing operation body 33 </ b> A. Overlaid and fixed. Similarly, at the tip of the second opposing operation body 33B, a second detection unit (sliding detection unit) 54B is superimposed and fixed on the second touch generation unit 56B. Further, a second detection unit (sliding detection unit) 59 is overlaid and fixed on the third touch generation unit 55 at the tip of the thumb operation body 43.

The second detectors 54A, 54B, 59 are all fixed to the surface of the thermal variable element 58 provided in each of the touch generators 55, 56A, 56B. Therefore, the second detection units 54A, 54B, 59 have a thin structure so that the heat of the heat variable element 58 can be transmitted to the finger.

The second detection units 54A, 54B, 59 have a plurality of X electrodes extending in the X direction and a plurality of Y electrodes extending in the Y direction on the resin film substrate, and the X electrodes and the Y electrodes are insulated from each other. Intersect. The surfaces of the X electrode and the Y electrode are covered with an insulating layer. By sequentially applying a voltage to one of the X electrode and the Y electrode and detecting the current value of the other electrode in order, it is possible to detect a change in capacitance between the electrodes when a finger touches. Therefore, the second detectors 54A, 54B, 59 can detect movement (sliding) in the X direction and Y direction of the finger touching the surface.

Note that the second detection units 54A, 54B, and 59 may be configured by a variable resistance sensor or the like whose resistance value changes when the touched finger moves.

As shown in FIG. 3, a signal connector 17 and a power plug 29 are built in the case 21. The signal connector 17 is exposed inside a connector mounting hole 26 formed in the upper case 22, and the power plug 29 is exposed inside a power plug mounting hole 27 formed in the lower case 23.

As shown in the block diagram of FIG. 5, a motor driver 51 is provided in each of the first tactile sensation generating unit 30A, the second tactile sensation generating unit 30B, and the third tactile sensation generating unit 40. The motor 35A provided in the first tactile sensation generating unit 30A, the motor 35B provided in the second tactile sensation generating unit 30B, and the motor 45 provided in the third tactile sensation generating unit 40 are rotated by respective motor drivers 51. Driven.

Each motor driver 51 is connected to the signal connector 17 via an interface 17a.

The first detection unit 38A mounted on the first tactile generation unit 30A, the first detection unit 38B mounted on the second tactile generation unit 30B, and the first detection unit 38B mounted on the third tactile generation unit 40. The detectors 48 are connected to the signal connector 17 via the interface 17a.

The first tactile generating unit 30A mounted on the first tactile generating unit 30A, the second tactile generating unit 56B mounted on the second tactile generating unit 30B, and the third tactile generating unit 40 are mounted. In addition, the third touch generating portion 55 is also connected to the signal connector 17 via the interface 17a. Further, the respective second detectors 54A, 54B, 59 are also connected to the signal connector 17 via the interface 17a.

As shown in FIG. 5, an attitude detection unit 53 is provided inside the case 21 of the input device 20. The posture detection unit 53 is, for example, a magnetic sensor that detects a geomagnetic sensor or a vibration type gyro device, and can detect the posture of the input device 20 in the operation space and the position in the operation space. The attitude detection unit 53 is connected to the signal connector 17 via the interface 17a.

As shown in FIG. 5, an interface 16 is provided in the apparatus main bodies 10 </ b> A and 10 </ b> B, and a signal connector to which each interface 16 is connected and the signal connector 17 to which each interface 17 a is connected are represented by a cord 52. It is connected. The cord 52 includes a power line, and the power line is connected to the power plug 29. Power is supplied to the input device 20 from the apparatus main bodies 10A and 10B through the power supply line.

Note that the apparatus main bodies 10A and 10B and the respective input devices 20 can communicate with each other by an RF signal, and the input device 20 may include a battery. In this case, the cord 52 that connects the apparatus main bodies 10A and 10B and the input device 20 is not necessary.

Further, the apparatus main bodies 10A and 10B may further have a communication function with the server.

Further, both the apparatus main body 10A shown in FIG. 1A and the apparatus main body 10B shown in FIG. 1B are provided with a sounding device. The sound generation device is a speaker that emits sound in space, or a receiver that applies sound to an operator's ear.

Next, an operation method and operation of the haptic reproduction apparatus 1 will be described.
<Operation of Input Device 20 and First Reaction Force Application Control>
As shown in FIG. 2, in the input device 20, the first opposing operation body 33A and the second opposing operation body 33B protrude from the first surface 22a of the case 21, and one thumb operation is performed on the second surface 22b. The body 43 protrudes, and the two opposing operation bodies 33A and 33B and the thumb operation body 43 protrude in opposite directions in the Z direction. As shown in FIGS. 1A and 1B, one input device 20 is held by one hand, the thumb operating body 43 is pressed by the thumb, and the first opposing operating body 33A and the second are operated by the index and middle fingers. The opposite operation body 33B is pressed.

In the input device 20, a control command is given to each motor driver 51 by the first reaction force application control of the control unit 15, and the motor 35A of the first tactile sensation generating unit 30A and the motor 35B of the second tactile sensation generating unit 30B. The motor 45 of the third tactile sensation generating unit 40 is operated based on the control command.

By controlling the rotation of the motors 35A and 35B and the motor 45, the moving members 32A and 32B and the moving member 42 can be moved to arbitrary positions and stopped at those positions. For example, the first opposing operating body 33A, the second opposing operating body 33B, and the thumb operating body 43 can be stopped at a position where they protrude from the case 21 to the maximum extent, or the operating bodies 33A, 33B, 43 can be stopped. The case 21 can be stopped at the maximum retracted position. Further, the operating bodies 33A and 33B and the operating body 43 can be stopped at any position between the maximum projecting position and the maximum retracted position.

Further, by controlling the electric power applied to the motors 35A, 35B and the motor 45, the motors 35A, 35B, 45 are controlled so that they do not move even if the operating bodies 33A, 33B, 40 protruding from the case 21 are pushed with a finger. The motor can be held with a strong force.

In the first reaction force application control, when each of the moving members 32A, 32B, 42 is in a movable state, any one of the first opposing operating body 33A, the second opposing operating body 33B, and the thumb operating body 43 is pressed. When the moving members 32A, 32B, and 42 are moved in the pushing direction, the movement positions are detected by the first detection units 38A, 38B or the first detection unit 48, and the detection output is given to the control unit 15. It is done. The control unit 15 holds data on a reaction force action line (reaction force action coefficient) indicating the relationship between the moving distance and the reaction force for reaction force application control, and controls the operating bodies 33A, 33B, and 43. Depending on the push-in position, the motors 35A, 35B or the motor 45 are controlled so as to generate torque according to the reaction force action line. Accordingly, a reaction force is applied to the index finger and the middle finger pressing the opposing operation bodies 33A and 33B, and the thumb pressing the thumb operation body 43.

FIG. 9A shows an example of data of reaction force action lines (reaction force action coefficients) stored in the memory in the control unit 15. In either case, the horizontal axis represents the push amount (push position) of the operating bodies 33A, 33B, 43, and the push amount increases toward the right in the figure.

The vertical axis represents the moving force applied from the motors 35A, 35B, 45 to the moving members 32A, 32B, 42, and the moving force is applied to each finger from the opposing operating bodies 33A, 33B and the thumb operating body 43. It becomes. As the vertical axis moves upward, the force for causing the opposing operation bodies 33A and 33B and the thumb operation body 43 to protrude from the case 21 increases, and the reaction force felt by the finger increases.

In the reaction force action line indicated by a solid line in FIG. 9A, the reaction force felt on the finger in proportion to the amount of pushing when the operating bodies 33A, 33B, 43 are pushed toward the case 21 is linear function-like. Has increased. This means that the reaction force increases as the operating body is pushed in with a finger. The inclination of the solid line in this case corresponds to the elastic coefficient when a virtual contacted object that is an elastic body is pushed with a finger.

The reaction force action line indicated by a broken line in FIG. 9A is a horizontal straight line. This means that when each operating body 33A, 33B, 43 is pushed toward the case 21, the reaction force felt by the finger is constant no matter where it is pushed. This mimics the action of pressing a soft object that exhibits little elasticity with a finger.

Thus, by controlling the motors 35A, 35B, and 45, it is possible to give a hard feeling and a soft texture to the fingers holding the operating bodies 33A, 33B, and 43.

<Operation of Input Device 20 and Second Reaction Force Application Control>
As shown in FIG. 1A or 1B, the thumb is touched to the tip of the thumb operation body 43, and the index finger and the middle finger are touched to the tip of the first counter operation body 33A and the tip of the second counter operation body 33B. While holding the input device 20, either finger is slid along the XY plane while pushing each operating body 33A, 33B, 43, or without pushing each operating body 33A, 33B, 43. When the finger is slid along the XY plane, the movement of the finger is detected by the second detectors 54A, 54B, 59, and a detection signal is given to the controller 15.

In the second detectors 54A, 54B, 59, it is detected that the finger has been slid in the XY plane at the tip of the operating bodies 33A, 33B, 43, and the amount of sliding is also detected. The control unit 15 determines which finger has slid, and gives a control signal to the tactile sensation generating unit having the operating body on which the finger has slid. For example, when the second detection unit 59 detects that the thumb has been slid at the tip of the thumb operation body 43, the motor 45 of the third tactile sensation generating unit 40 is operated, and the thumb operation body 43 A reaction force is given to the thumb.

The tactile reproduction devices 1A and 1B according to the present invention do not provide the touch generating portions 55, 55A, and 56B at the front portions of the operation bodies 33A, 33B, and 43, but are provided at the front portions of the operation bodies 33A, 33B, and 43. The second detectors 54A, 54B, 59 may be directly fixed.

<Operation of Input Device 20 and Feeling Control>
When a touch control signal is generated from the control unit 15 when the thumb touches the thumb operation body 43 and the index finger and middle finger touch the first opposing operation body 33A and the second opposing operation body 33B, The touch control signals are sent to the first touch generation unit 56A provided in the first touch generation unit 30A, the second touch generation unit 56B and the third touch generation unit 40 provided in the second touch generation unit 30B. Is provided to a third touch generating unit 55 provided in

When the vibration generators 57 of the touch generators 55, 56A, and 56B are individually or simultaneously controlled by the touch control signal, vibration is applied to the finger. In addition, when the thermal variable elements 58 of the touch generation units 55, 56A, and 56B are individually or simultaneously controlled by the touch control signal, the temperature felt by the finger is changed. The vibration generator 57 and the heat variable element 58 may be driven and controlled simultaneously by the touch control signal, or only one of the vibration generator 57 and the heat variable element 58 may be driven and controlled. .

Therefore, each of the touch generation units 55, 56A, and 56B may be configured by only the vibration generation unit 57 or may be configured by only the thermal variable element 58.

In the feeling imparting control, the control unit 15 monitors the detection signals from the first detection units 38A, 38B, and 48, and according to the pressing amount when the operating bodies 33A, 33B, and 43 are pressed by the finger, The frequency of the vibration generated by the vibration generating unit 57 and the duty ratio of the vibration are changed, and the temperature felt by the finger from the heat variable element 58 is changed according to the amount of pressing.

Alternatively, when any of the second detection units 54A, 54B, 59 detects the sliding of the finger, the frequency of vibration generated by the vibration generating unit 57 and the duty of the vibration corresponding to the sliding operation are detected. The ratio is changed, and the heat (temperature) that the finger feels from the heat variable element 58 is changed.

Alternatively, the control unit 15 changes the frequency of vibration generated by the vibration generation unit 57 and the duty ratio of the vibration in accordance with the change in the posture of the input device 20 based on the detection signal from the posture detection unit 53 to change the heat. The heat (temperature) felt by the finger from the element 58 can also be changed.

Furthermore, the information of the contacted object that is the target of the simulated contact operation is called from the memory of the control unit 15, and the display image of the contacted object is displayed on the display screen 13a. When the object to be contacted has a specific posture or shape, the frequency of vibration generated by the vibration generating unit 57 or the duty ratio of the vibration is changed, and the heat (temperature) that is felt by the finger from the heat variable element 58 is changed. You may let them. Alternatively, any one of the operating bodies 33A, 33B, and 43 is pressed while the information on the contacted object that is the target of the simulated contact operation is called, or the finger slides the operating bodies 33A, 33B, and 43. When the movement is detected, the frequency of vibration generated by the vibration generator 57 and the duty ratio of the vibration are changed according to the operation, and the heat (temperature) that the thermal variable element 58 makes the finger feel is changed. May be.

At this time, the frequency of vibration generated by the vibration generator 57 and the duty ratio of the vibration may be changed with the passage of time, and the heat felt by the finger from the heat variable element 58 may be changed with the passage of time. You may let them.

<Operations simulating the action of grabbing animals and stuffed animals>
In the tactile sensation reproducing apparatuses 1A and 1B, it is possible to cause the operator's hand to feel a reaction force and a touch imitating holding a plurality of types of virtual contacted objects with a hand or touching with a finger. Data of reaction force action lines (reaction force action coefficients) and touch control information of a plurality of types of virtual contacted objects are stored in a memory provided in the control unit 15. Further, the display driver 14 is controlled by the control unit 15, and images of a plurality of types of virtual touched objects are selected and displayed on the display device 13 shown in FIG. 1A or 1B, and a hand image is also displayed. These displays are based on computer graphics.

In FIG. 6, an animal 61 (animal leg or stuffed leg) is displayed on the display screen 13a of the display device 13 as a virtual contacted object.

The image of the hand H is displayed on the display screen 13a, and by performing a predetermined operation, the image of the hand H appearing on the display screen 13a moves, and the image of the hand H grabs the leg of the animal 61. The display state changes to the state. For example, when the input device 20 is moved while being held by hand, the movement posture is detected by the posture detection unit 53 and information on the posture is given to the control unit 15. The display driver 14 is controlled by this information, and the image of the hand H appearing on the display screen 13a is moved and displayed so as to go to grab the animal 61. Alternatively, when the animal 61 is selected as an object to be contacted with another operation member such as a keyboard, the display state changes so that the hand H appearing on the display screen 13a holds the image of the animal 61.

Further, the orientation (orientation) of the input device 20 held by the hand is detected by the orientation detection unit 53, whereby the orientation of the hand image in the display screen 13a also changes.

When the leg of the animal 61 is selected as a virtual contacted object to be held by the virtual hand H, the motors 35A, 35B, and 45 are controlled, and the opposing operation bodies 33A and 33B and the thumb operation body 43 are initially set. The position is set. When the virtual contacted object can be held by three fingers like the leg of the animal 61, the opposing operation bodies 33A and 33B and the thumb operation body 43 are maximally removed from the case 21 as shown in FIG. The protruding initial position is set.

The control unit 15 reads out, for example, data of the reaction force action line (reaction force action coefficient) shown in FIG. 9A from the memory, and the control unit 15 selects each motor 35A, 35B, 45 is controlled. In the third tactile sensation generating unit 40, the reaction force Fa applied from the motor 45 to the moving member 42 and the thumb operating body 43, and in the first tactile sensation generating unit 30A, the moving member 32A and the first opposing operating body are supplied from the motor 35A. The reaction force Fb applied to 33A and the reaction force Fc applied from the motor 35B to the moving member 32B and the second opposing operation body 33B in the second tactile sensation generating unit 30B are set as shown in FIG. The

In the first reaction force application control, the reaction forces Fa, Fb, and Fc applied to the fingers are almost linear as the push amount by the three fingers increases based on the reaction force action line shown in FIG. Controlled to increase with function. That is, when a leg that is a part of the body of the animal 61 is held by the three fingers holding the input device 20, it can be felt that the animal 61 receives an elastic reaction force.

As shown in FIG. 9A, when the image of the hand H displayed on the display screen 13a is displayed, for example, when the thumb is moved up and down, the thumb of the input device 20 is displayed. The second detection unit 59 provided at the tip of the operating body 43 detects the sliding of the thumb in the Y direction, and the information is given to the control unit 15 to perform the second reaction force application control. .

In the second reaction force application control, when the position where the thumb 61 is slid and the animal 61 is touched is changed, the reaction force Fa applied to the thumb from the thumb operation body 43 changes according to the contact position. For example, when the position where the thumb touches the surface of the animal 61 is moved, the inclination of the reaction force action line indicated by the solid line in FIG. 9A changes, and the hardness of the surface of the animal 61 varies depending on the place where the thumb touches. A tactile sensation that changes can be obtained. For example, the finger feels hard when the finger moves to a part where the bone exists, and feels soft when the finger moves to the other part.

Furthermore, the feeling imparting control is performed in the state where the display shown in FIG. 6 is performed. In this feeling imparting control, first, when an image holding the animal 61 with a finger is displayed, the heat variable elements 58 of the feeling generating portions 55, 56 A, and 56 B are controlled, and each finger warms up the body temperature of the animal 61. I feel it. Further, when any of the operating bodies 33A, 33B, and 43 is pressed with any finger, the image changes as if the finger is pressing the surface of the animal 61 in the image displayed on the display screen 13a shown in FIG. When the amount of pressing with the finger increases, the heat variable element 58 is controlled so that the temperature felt by the finger becomes slightly higher.

Next, as shown by an arrow in FIG. 6, the thumb is moved, and when this movement is detected by the second detection unit 59, the control unit 15 controls the vibration generation unit 57 of the touch generation unit 55 to vibrate. The generator 57 vibrates and the vibration is given to the thumb. For example, as shown in FIG. 9C, vibration is generated at a relatively high frequency f by the vibration generator 57, and the vibration is generated according to the sliding stroke of the thumb as shown in FIG. 9B. Control is performed so that the period t is repeated. When this vibration is transmitted to the thumb, a rough feeling equivalent to that of the thumb touching the surface of the animal can be obtained.

Further, by changing the length of the vibration generation period t and the interval thereof, it is possible to obtain a feel that can distinguish whether the finger is sliding on the surface of the fur or the surface of the skin. .

In addition, the sounding device may be operated to generate a sound simulating the feeling of rough fur according to the movement of the finger, or an animal call may be generated.

<Operation imitating massaging skin with fingers>
FIG. 8 shows a display example when imitating an action of selecting skin such as a person as a virtual contacted object and massaging with a finger.

By moving the input device 20 held with the right hand and moving the image of the hand H displayed in the display screen 13a onto the skin of the image of the person 62, the finger presses the skin on the display screen 13a. The displayed image is displayed.

When the operation mode of massaging with one finger is selected, the moving member 42 is moved in the retracting direction by the motor 45, and the moving member 32B is moved in the retracting direction by the motor 35B. As a result, as shown in FIG. 8B, the initial state of the input device 20 is a state in which the thumb operating body 43 and the second opposing operating body 33B have retreated toward the case 21, and the first opposing operating body Only 33A protrudes from the case 21.

A thumb operation body 43 that is retracting toward the case 21 is held by the thumb, and a second counter operation body 33B that is also retracting is held by the middle finger, and the first counter operation body protruding from the case 21 When 33A is pushed in with an index finger, an image that massages a person by moving the index finger displayed on the display screen 13a shown in FIG. 8 is displayed. When an operation mode for massage with two fingers is selected, the first opposing operation body 33A and the second opposing operation body 33B protrude from the case 21, and the image changes to massage with the index finger and the middle finger.

The first reaction force application control and the second reaction force application control are the same as when the animal 61 is displayed as shown in FIG. When the first opposing operating body 33A (and the second opposing operating body 33B) is pressed with a finger, an elastic reaction force acts on the finger, and when the finger is slid at the tip of the operating body, the finger touches it. The position of the skin changes, and the hardness of the elastic reaction force felt by the hand changes.

The touch imparting control is the same as in FIG. 6, and the finger feels the heat of the human skin. Further, the finger is slid on the surface of the operating body 33A (33B), and when this is detected by the second detection unit 54A (54B), the finger is vibrated from the vibration generating unit 57, and the finger feels the touch. Can do.

<Examples of other contacted objects>
Further, as the contacted object displayed on the display screen 13a when the input device 20 is held, various objects such as an image of a balloon containing liquid and an image simulating a smartphone operation can be handled.

1A, 1B Tactile reproduction device 10A, 10B Device main body 11 Mask type main body 13 Display device 15 Control unit 20 Input device 21 Case 28 Mechanism chassis 30A First tactile generation unit 30B Second tactile generation unit 32A, 32B Moving member 33A First 1st opposing operation body 33B 2nd opposing operation body 35A, 35B Motor 38A, 38B 1st detection part 40 3rd tactile sense generation unit 42 Moving member 43 Thumb operation body 45 Motor 48 1st detection part 54A, 54B 1st 2nd detection part 55 3rd touch generation part 56A 1st touch generation part 56B 2nd touch generation part 57 Vibration generation part 58 Thermal conversion element 59 2nd detection part

Claims (13)

1. An input device and a control unit;
   In the input device,
   An operating body that can move forward and backward and can be pressed with a finger, a first detection unit that detects a moving position of the operating body, an advancing / retreating driving unit that applies a force in a moving direction to the operating body, A second detection unit that detects movement of the finger touching the operation body in a direction intersecting the forward / backward movement direction;
   In the control unit,
   Based on first reaction force application control that drives the advance / retreat drive unit based on detection information from the first detection unit and applies force to the finger from the operating body, and detection information from the second detection unit And a second reaction force application control for driving the advance / retreat driving unit and applying a force to the finger from the operating body.
2. An input device and a control unit;
   In the input device,
   An operating body that can move forward and backward and can be pressed with a finger, a first detection unit that detects a moving position of the operating body, an advancing / retreating driving unit that applies a force in a moving direction to the operating body, A feeling generating unit that gives a touch to a finger that touched the operating body, and a second detecting unit that is provided on the operating body and detects movement of the finger that touched the operating body in a direction crossing the advancing / retreating moving direction. And
   In the control unit,
   Reaction force application control for driving the advance / retreat drive unit based on detection information from the first detection unit and applying force to the finger from the operating body, and the touch based on detection information from the second detection unit A tactile sensation reproducing apparatus characterized in that a feeling imparting control is performed to make a finger feel by operating a generator.
3. The tactile sensation reproducing device according to claim 2, wherein the tactile generating unit is a vibration generating unit.
4. The tactile sensation reproducing device according to claim 2, wherein the tactile generating part is a heat variable element.
5. The tactile reproduction device according to claim 2, wherein both the vibration generating unit and the heat variable element are provided in the touch generating unit.
6. 6. The tactile reproduction device according to claim 3, wherein a frequency of vibration generated by the vibration generating unit is higher than a frequency of reciprocating motion that can be given to the operating body by the advance / retreat driving unit.
7. The haptic reproduction apparatus according to any one of claims 1 to 6, wherein a plurality of the operating bodies are provided.
8. The input device includes a thumb operating body that is pressed with a thumb, a first opposing operating body and a second opposing operating body that are individually pressed with an index finger and a middle finger,
   The tactile reproduction device according to claim 7, wherein the first opposing operation body and the second opposing operation body protrude in opposite directions with respect to the protruding direction of the thumb operation body.
9. The tactile reproduction device according to claim 1, wherein information related to the contacted object is held in the control unit, and based on the information, the reaction force application control imitating touching the contacted object with a finger is performed. .
10. The information related to the contacted object is held in the control unit, and based on the information, the reaction force application control and the feel control control simulating touching the contacted object with a finger are performed. The tactile reproduction device described.
11. A display device is provided,
    The control unit displays a virtual image of the contacted object and a hand image on the display screen of the display device,
    The haptic reproduction device according to claim 9 or 10, wherein when the operation body of the input device is pressed, a display for changing a state of the contacted object is performed by an image of the hand.
12. 12. The tactile reproduction device according to claim 11, further comprising a sounding device associated with a change in the display screen of the input device.
13. The softness and hardness of the contacted object are reproduced in the reaction force application control, and the movement and temperature of the contacted object are reproduced in the touch application control. Tactile reproduction device.

Images