WO2017159032A1 - Dispositif de reproduction de tactilité et procédé de commande associé - Google Patents

Dispositif de reproduction de tactilité et procédé de commande associé Download PDF

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Publication number
WO2017159032A1
WO2017159032A1 PCT/JP2017/001734 JP2017001734W WO2017159032A1 WO 2017159032 A1 WO2017159032 A1 WO 2017159032A1 JP 2017001734 W JP2017001734 W JP 2017001734W WO 2017159032 A1 WO2017159032 A1 WO 2017159032A1
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WO
WIPO (PCT)
Prior art keywords
operating body
driving force
control
finger
pressing operation
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Application number
PCT/JP2017/001734
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English (en)
Japanese (ja)
Inventor
萩原　康嗣
Original Assignee
アルプス電気株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by アルプス電気株式会社 filed Critical アルプス電気株式会社
Priority to JP2018505291A priority Critical patent/JP6554605B2/ja
Publication of WO2017159032A1 publication Critical patent/WO2017159032A1/fr

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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 tactile reproduction device that can feel a reaction force imitating that a virtual object to be handled is handled with a finger when the operation body provided in the input device is grasped with the finger, and a control method thereof. .
  • 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.
  • 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.
  • the present invention solves the above-described conventional problems, and provides a tactile reproduction device and a control method thereof that can mechanically generate a reaction force imitating a touch when a predetermined object is handled by hand. It is intended to provide.
  • the present invention relates to a tactile reproduction device having an input device and a control unit.
  • An operating body that can move forward and backward and can be pressed with a finger
  • a position detection unit that detects a moving position of the operating body
  • an advancing / retreating driving unit that applies a force in the advancing / retreating direction to the operating body
  • the control unit (A) When the position detecting unit detects that the operating body has been pushed by a finger and moved in the pressing operation direction, the advance / retreat driving unit is operated, and the pressing operation direction with respect to the operating body Give the finger a reaction force of pressing operation by giving a positive driving force in the opposite direction, (B) After that, the drive direction of the advancing / retreating drive unit is reversed, and control for giving a minus driving force in the same direction as the pressing operation direction to the operating body is performed. .
  • control (a) As the moving distance of the operating body in the pressing operation direction increases, control for increasing the plus driving force is performed.
  • the rate of increase in the plus driving force with respect to the moving distance in the pressing operation direction is increased in the subsequent stage, and then the control shifts to the control (b). Is preferred.
  • the tactile sensation reproducing device of the present invention further applies a plus driving force to the operating body after giving the minus driving force by the control of (b).
  • a display device is provided,
  • the control unit displays an image of a virtual object to be operated and an image of a hand on the display screen of the display device,
  • the controls (a) and (b) are performed, it is possible to configure the display so as to change the state of the operated object with the image of the hand.
  • the tactile reproduction device of the present invention is
  • 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, and the thumb operating body.
  • the first opposing operation body and the second opposing operation body protrude in opposite directions with respect to the protruding direction of
  • the controls (a) and (b) are performed on the thumb operating body, the first opposing operating body, and the second opposing operating body, respectively.
  • the object to be operated is a cutting tool that is operated by being sandwiched between fingers, for example, and the cutting tool cuts the workpiece on the display screen when the controls (a) and (b) are performed. The operation is displayed.
  • the control of (a) and (b) is performed when one operating body provided in the input device is pressed. Further, when the plurality of operating bodies provided in the input device are pushed in the same direction, the controls (a) and (b) are performed on the respective operating bodies.
  • the present invention provides a control method for a haptic reproduction device having an input device and a control unit.
  • the input device An operating body that can move forward and backward and can be pressed with a finger, a position detection unit that detects a moving position of the operating body, and an advancing / retreating driving unit that applies a force in the advancing / retreating direction to the operating body are provided,
  • the control unit By the control unit, (A) When the position detecting unit detects that the operating body has been pushed by a finger and moved in the pressing operation direction, the advance / retreat driving unit is operated, and the pressing operation direction with respect to the operating body Give the finger a reaction force of pressing operation by giving a positive driving force in the opposite direction, (B) After that, the drive direction of the advance / retreat drive unit is reversed to perform control to give the operating body a minus driving force in the same direction as the pressing operation direction.
  • the control (a) The positive driving force is increased as the moving distance of the operating body in the pressing operation direction increases.
  • the increase rate of the plus driving force with respect to the moving distance in the pressing operation direction is increased in the subsequent stage, and then the (b That which shifts to control of () is preferable.
  • the tactile reproduction device and the control method thereof according to the present invention can make a finger feel an operation reaction force imitating the handling of a virtual object, and the operation reaction force at this time is as if the work is actually performed with a cutting tool. Can be felt as being cut, or the object can be felt as if it has been broken.
  • 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 example of use of the tactile sense reproduction device of an embodiment, and shows a display picture when operating a cutting tool as a virtual operated object, A diagram showing a change in an operation reaction force exhibited in a control method of a tactile reproduction device, (A) shows the position of the operating body of the input device, (B) is an explanatory view of a control method showing a display image when operating the cutting tool as a virtual object to be operated, (A) shows the position of the operating body of the input device, (B) is an explanatory view of a control method showing a display image when operating the cutting tool as a virtual object to be operated, (A) shows the position of the operating body of the input device, (B) is an explanatory view of a control method showing a display image when operating the cutting tool as a virtual object to be operated, (A) shows the position of the operating body of the input device, (B) is an explanatory view of a 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.
  • an 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.
  • 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.
  • 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.
  • a device main body 10B and an input device 20.
  • 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.
  • FIG. 2A is a perspective view showing the external appearance of the input device 20 from above
  • 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 operation direction of each operating body.
  • the input device 20 is held by a human hand in a posture in which the Y direction is directed up and down.
  • 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.
  • 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
  • the surface of the lower case 23 facing the Z direction is the second surface 23a.
  • 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.
  • 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.
  • 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.
  • the first opposing operation body 33A is pushed with the index finger, and as shown in FIG.
  • the first opposing operation body 33A is operated with the middle finger.
  • 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.
  • the compression coil spring 34 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.
  • the position detection unit 38A is fixed to the other side wall 31b of the frame 31.
  • 38 A of position detection parts 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 position 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 position detection unit 38A is a magnetic detection type.
  • a rotating magnet is fixed to the rotor unit, and a magnetic detection element such as a GMR element is provided on the stator unit.
  • the rotation angle of the rotor unit is detected by the magnetic detection element. It may be a thing.
  • the position detection unit 38A may be an optical position detection unit.
  • 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.
  • 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.
  • the motor is indicated by 35B and the position detecting unit is indicated by 38B. These are the motor 35A and the position detecting unit 38A provided in the first tactile generating unit 30A. The same.
  • the second opposing operation body 33B is pushed with the middle finger, and as shown in FIG.
  • the second opposing operation body 33B is operated with the index finger.
  • 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.
  • 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.
  • 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 position detector 48.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the cord 52 that connects the apparatus main bodies 10A and 10B and the input device 20 is not necessary.
  • apparatus main bodies 10A and 10B may further have a communication function with the server.
  • 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.
  • a control command is given from the control unit 15 to each motor driver 51, and the motor 35A of the first tactile sensation generating unit 30A, the motor 35B of the second tactile sensation generating unit 30B, and the third tactile sensation generating unit 40 are provided.
  • the motor 45 is operated based on the control command.
  • the moving members 32A and 32B and the moving member 42 can be moved to arbitrary positions and stopped at those positions.
  • 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.
  • 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.
  • the motors 35A, 35B and the motor 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 rotor can be held with a strong force.
  • any one of the first opposing operating body 33A, the second opposing operating body 33B, and the thumb operating body 43 is pressed to move the moving members 32A, 32B.
  • the movement position is detected by the position detection units 38A, 38B or the position detection unit 48, and the detection output is given to the control unit 15.
  • the control unit 15 holds reaction force setting data indicating the relationship between the moving distances of the operating bodies 33A, 33B, and 43 and the operating driving force applied to the moving members 32A, 32B, and 42.
  • 33B and 43 are controlled so that the motors 35A and 35B or the motor 45 generate torque corresponding to the reaction force setting data.
  • an operation 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. 7 shows an example of reaction force setting data stored in the memory in the control unit 15.
  • the horizontal axis indicates the movement stroke (or time) of the pressing operation of the operating bodies 33A, 33B, 43.
  • the origin of the horizontal axis is set arbitrarily. In the operation examples shown in FIG. 6 and FIG. 8 and subsequent figures, the position where the operating bodies 33A, 33B, and 43 are pushed down to FIG. 9A is the origin of the horizontal axis in FIG. However, the origin may be the state in which the operating bodies 33A, 33B, 43 protrude most from the case 21.
  • the vertical axis represents the driving force f applied from the motors 35A, 35B, 45 to the moving members 32A, 32B, 42.
  • the upper side from the origin is a plus driving force f (+).
  • the plus driving force f (+) is a force in the direction opposite to the pressing operation direction when the operating bodies 33A, 33B, and 43 are pressed with a finger, and is a force that causes the operating bodies 33A, 33B, and 43 to protrude from the case 21. It is.
  • a minus driving force f ( ⁇ ) is a minus driving force f (+).
  • the minus driving force f ( ⁇ ) is a force in the same direction as the pressing operation direction with respect to the operating bodies 33A, 33B, and 43, and is a force that tries to pull the operating bodies 33A, 33B, and 43 into the case 21.
  • the increase rate of the positive driving force f (+) with respect to the moving distance of the moving members 32A, 32B, 42 becomes large, and the positive driving force f (+) becomes the maximum value at the peak time (iii).
  • the positive driving force f (+) is suddenly increased from the end of the period (i), and the peak time (iii) ), And the plus driving force f (+) may be a maximum value.
  • the motors 35A, 35B, and 45 are reversely rotated to shift to the minus peak time (v) to apply the minus driving force f ( ⁇ ) to the moving members 32A, 32B, and 42. Therefore, in the period (iv), the driving force acting on the moving members 32A, 32B, 42 is suddenly converted from the plus direction to the minus direction, and the moving members 32A, 32B, 42 are moved toward the minus peak time (v). Is rapidly drawn into the case 21.
  • the driving force acting on the moving members 32A, 32B, 42 becomes zero.
  • the motors 35A, 35B and the motor 45 may be braked to stop the moving members 32A, 32B, 42 from temporarily moving.
  • the reverberation period (vii) is set after the return period (vi).
  • a plus driving force f (+) is applied to the moving members 32A, 32B, and 42.
  • the plus driving force f (+) is controlled to increase linearly.
  • Example of a cutting tool displayed as a virtual operated object In the tactile reproduction devices 1A and 1B, the operator can feel the reaction force imitating holding various virtual objects to be operated by hand.
  • Reaction force setting data corresponding to a plurality of types of virtual manipulated objects is stored in a memory provided in the control unit 15.
  • the display driver 14 is controlled by the control unit 15, and an image of the virtual object to be operated is selected and displayed on the display device 13 shown in FIG. 1A or 1B, and an image of the hand is also displayed. These displays are based on computer graphics.
  • the cutting tool 60 is displayed on the display screen 13a of the display device 13 as a virtual operated object.
  • the cutting tool 60 is a nipper, and is provided with a pair of handles 61 and 61 and a cutting unit 62 that performs cutting by operating the handles 61 and 61.
  • a work 63 to be cut by the cutting tool 60 is displayed on the display screen 13a.
  • the work 63 is an image of a metal wire.
  • the image of the hand H is displayed on the display screen 13a, and the image of the hand H appearing on the display screen 13a is moved by a predetermined operation, and the handles 61 and 61 of the image of the cutting tool 60 are moved by the image of the hand H.
  • the display changes so that is held. 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. Based on this information, the display driver 14 is controlled, and the image of the hand H appearing on the display screen 13a moves to go to grip the handles 61, 61.
  • the cutting tool 60 is selected as the operated object with another operation member such as a keyboard, the display changes so that the hand H appearing on the display screen 13a holds the image of the cutting tool 60.
  • the motors 35A, 35B, and 45 are controlled, and the initial positions of the opposing operation bodies 33A and 33B and the thumb operation body 43 are set.
  • the virtual object to be operated is the cutting tool 60
  • the opposing operation bodies 33A and 33B and the thumb operation body 43 are set to the initial positions protruding from the case 21 as much as possible, as shown in FIG. .
  • the control unit 15 When the cutting tool 60 is selected as the virtual object to be operated, the control unit 15 reads the reaction force setting data shown in FIG. 7 from the memory, and the control unit 15 reads the motors 35A and 35B based on the reaction force setting data. , 45 are controlled.
  • the motors 35A, 35B, 45 are controlled based on the common reaction force setting data shown in FIG.
  • the thumb operating body 43 pressed by the thumb, the first opposing operating body 33A pressed by the index finger and the middle finger, and the second opposing operating body 33B pressed by the middle finger are shown in FIG.
  • 8 to 13 show the operations of operating the input device 20 with a finger in order.
  • 8A to 13A show changes in the position of the operating body and the direction of the reaction force in the input device 20 being operated.
  • the display of the hand H is omitted in FIG. (B) of each figure of FIG. 8 thru
  • or 13 has shown the change of the display image corresponding to operation with respect to the input device 20.
  • FIG. 6 On the display screen 13a, an image holding the handles 61 and 61 of the cutting tool 60 with the hand H is displayed. As shown in FIG. 8B, in the initial image, The two blades of the cutting part 62 are separated from the work 63.
  • the display changes so that the handles 61, 61 held by the thumb F1, the index finger F2, and the middle finger F3 of the image of the hand H come close to each other.
  • FIG. 9B an image in which the two blades of the cutting unit 62 are separated from the work 63 is shown in FIG. 9B.
  • the image changes to an image that approaches and touches the work 63.
  • the thumb operating body 43, the first opposing operating body 33A, and the second opposing operating body 33B are pushed by the finger and retracted to the case 21.
  • the motors 35A, 35B, and 45 are not energized, and the load of the moving members 32A, 32B, and 42 is light only by the load of the compression coil spring 34. Therefore, the resistance force hardly acts on the finger pressing each operation body 33A, 33B, 43.
  • the moving members 32A, 32B and 42 are pushed in until the position shown in FIG. 9A is the origin of the horizontal axis of the reaction force setting data shown in FIG. Therefore, in the operation after FIG. 9A, the output torque of each motor 35A, 35B, 45 is controlled based on the reaction force setting data shown in FIG.
  • the moving member 32A, 32B, 42 is added with a reverberation period (vii) even after the workpiece has been cut.
  • the driving force f (+) acts to give each finger an elastic sense of resistance, making it possible to further feel the finish after cutting the workpiece.
  • the sounding unit when the work 63 is cut by the cutting unit 62, the sounding unit generates a cutting sound such as “click” or “click”, so that the operator actually operates the cutting tool 60. It becomes easy to recognize a feeling.
  • ⁇ Example of virtual object to be operated similar to cutting tool> As a virtual operation object that can be displayed on the display screen by the same operation as the cutting tool 60 shown in FIGS. 6 and 8 to 13, a cutting tool having a return spring, a stapler, and the like are cited. be able to. These are returned by the return spring after being pressed between the three fingers, but by increasing the rate of increase of the positive driving force f (+) shown in the reverberation period (vii) in FIG. The operation using the return spring can be simulated.
  • the input device 20 causes the motor with the thumb operating body 43 protruding from the case 21 as shown in FIG. A brake is applied to 45, and the thumb operating body 43 is fixed so as not to retreat into the case 21.
  • control is performed using the reaction force setting data shown in FIG. 7 for the tactile sensation generating unit corresponding to one of the first opposing operating body 33A and the second opposing operating body 33B.
  • the two operating bodies of the first opposing operating body 33A and the second opposing operating body 33B are controlled to move in the same direction using the reaction force setting data shown in FIG.
  • FIG. 15 shows an example of an image of the operated object 70 operated by the operation shown in FIG.
  • An object to be operated 70 shown in FIG. 15 is a wire or plate that is broken or broken when pressed strongly with a finger.
  • the operation reaction force is shown in FIG. It changes like ii) (iii) (iv) (v) (Vi), and can obtain the same operation feeling as if a hard object was folded or broken with a finger.

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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

L'invention concerne un dispositif de reproduction de tactilité pouvant conférer une force de réaction simulée en vue de la manipulation d'un objet virtuel par des doigts, et un procédé de commande associé. Un dispositif d'entrée est pourvu d'objets de manipulation qui font saillie depuis un boîtier. Lorsqu'un objet de manipulation est pressé par un pouce, une force de réaction augmente progressivement selon la pression vers le bas de l'objet de manipulation pendant une période initiale (i). La force de réaction agissant sur le doigt augmente pendant une période (ii), et atteint une valeur maximale à un moment maximal (iii). Si l'objet de manipulation est pressé encore plus fortement par le doigt, l'objet de manipulation se retire dans le boîtier à un moment maximal (v). À ce moment, il y a une sensation dans le doigt de découpe d'un métal dur à l'aide d'un outil de découpe.
PCT/JP2017/001734 2016-03-14 2017-01-19 Dispositif de reproduction de tactilité et procédé de commande associé WO2017159032A1 (fr)

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Cited By (1)

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WO2019107207A1 (fr) * 2017-11-30 2019-06-06 株式会社ソニー・インタラクティブエンタテインメント Unité de traitement d'informations, procédé de traitement d'informations et programme

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JPH07146751A (ja) * 1993-05-11 1995-06-06 Matsushita Electric Ind Co Ltd 力覚呈示デバイス、データ入力デバイス、及びデータ入力装置
JP2002157087A (ja) * 2000-11-20 2002-05-31 Sony Corp 入力装置
JP2003330585A (ja) * 2002-05-09 2003-11-21 Nissan Motor Co Ltd 操作装置
JP2004536409A (ja) * 2001-07-16 2004-12-02 イマージョン　コーポレーション 枢動可能なコンピュータインタフェース
JP2007316936A (ja) * 2006-05-25 2007-12-06 Gifu Univ 触覚インターフェイス及びその制御方法
WO2010095372A1 (fr) * 2009-02-17 2010-08-26 日本電気株式会社 Dispositif de présentation de détection de force tactile, terminal de dispositif électronique appliqué avec un dispositif de présentation de force tactile, et procédé de présentation de détection de force tactile
JP2013105415A (ja) * 2011-11-16 2013-05-30 Nagoya Institute Of Technology 三次元仮想環境システムにおける香り発生方法及び三次元仮想環境システム

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JPH07146751A (ja) * 1993-05-11 1995-06-06 Matsushita Electric Ind Co Ltd 力覚呈示デバイス、データ入力デバイス、及びデータ入力装置
JP2002157087A (ja) * 2000-11-20 2002-05-31 Sony Corp 入力装置
JP2004536409A (ja) * 2001-07-16 2004-12-02 イマージョン　コーポレーション 枢動可能なコンピュータインタフェース
JP2003330585A (ja) * 2002-05-09 2003-11-21 Nissan Motor Co Ltd 操作装置
JP2007316936A (ja) * 2006-05-25 2007-12-06 Gifu Univ 触覚インターフェイス及びその制御方法
WO2010095372A1 (fr) * 2009-02-17 2010-08-26 日本電気株式会社 Dispositif de présentation de détection de force tactile, terminal de dispositif électronique appliqué avec un dispositif de présentation de force tactile, et procédé de présentation de détection de force tactile
JP2013105415A (ja) * 2011-11-16 2013-05-30 Nagoya Institute Of Technology 三次元仮想環境システムにおける香り発生方法及び三次元仮想環境システム

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WO2019107207A1 (fr) * 2017-11-30 2019-06-06 株式会社ソニー・インタラクティブエンタテインメント Unité de traitement d'informations, procédé de traitement d'informations et programme
JPWO2019107207A1 (ja) * 2017-11-30 2020-04-30 株式会社ソニー・インタラクティブエンタテインメント 情報処理装置、情報処理方法、及びプログラム
US11314332B2 (en) 2017-11-30 2022-04-26 Sony Interactive Entertainment Inc. Information processing apparatus, information processing method, and program

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