WO2018042718A1 - Operation device and tactile sensation reproduction device using operation device - Google Patents

Operation device and tactile sensation reproduction device using operation device Download PDF

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Publication number
WO2018042718A1
WO2018042718A1 PCT/JP2017/008443 JP2017008443W WO2018042718A1 WO 2018042718 A1 WO2018042718 A1 WO 2018042718A1 JP 2017008443 W JP2017008443 W JP 2017008443W WO 2018042718 A1 WO2018042718 A1 WO 2018042718A1
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WIPO (PCT)
Prior art keywords
operating body
operating
unit
hand
image
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PCT/JP2017/008443
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French (fr)
Japanese (ja)
Inventor
譲 川名
萩原　康嗣
俊彦 齊藤
渉 佐藤
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アルプス電気株式会社
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Publication of WO2018042718A1 publication Critical patent/WO2018042718A1/en

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/25—Output arrangements for video game devices
    • A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
    • A63F13/285—Generating tactile feedback signals via the game input device, e.g. force feedback
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/50—Controlling the output signals based on the game progress
    • A63F13/52—Controlling the output signals based on the game progress involving aspects of the displayed game scene
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/55—Controlling game characters or game objects based on the game progress
    • 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 an operating device that performs an input operation by bringing two operating bodies close to and away from each other, and a tactile reproduction device that uses the operating device.
  • Patent Document 1 describes an invention related to a game machine gun unit.
  • This game machine gun unit is supported so that the gun body can slide back and forth on the support.
  • a motor is housed in the support portion, and the gun body is reciprocated back and forth by rotating the eccentric cam with the motor.
  • a trigger is provided on the gun body, and when the trigger is pulled, the motor is started, the eccentric cam rotates, and an operation reaction force of reciprocating motion is applied to the gun body.
  • the stroke interval of the reciprocating motion is controlled by the drive command of the game machine body, and the speed of the reciprocating motion can be changed according to the type of gun and game development.
  • the gun unit for a game machine described in Patent Document 1 makes the hand feel the operational reaction force by moving the entire gun body back and forth when the trigger is pulled.
  • a reaction force cannot be directly applied to the finger that operates the trigger, and the palm that holds the gun body and the finger that operates the trigger repel each other. It is not possible to give such an operational feeling.
  • the present invention solves the above-described conventional problems, and an operation device capable of applying an operation reaction force that is simultaneously contradictory to an operated finger and a hand by relatively moving two operation bodies and the operation
  • An object of the present invention is to provide a haptic reproduction device using the device.
  • the operating device of the present invention includes a first operating body and a second operating body that approach and separate from each other, and a mechanism unit that operates in conjunction with the first operating body and the second operating body,
  • the mechanism unit includes a support unit, a moving unit supported by the support unit so as to be movable forward and backward, a position detection unit that detects a relative position between the support unit and the moving unit, and the moving unit and the support unit.
  • a driving source that gives power to both sides,
  • the support portion is fixed to one of the first operating body and the second operating body, and the moving portion is fixed to the other.
  • the approach and separation of the operating bodies are detected by the position detection unit.
  • the force applied from the drive source to the moving unit and the supporting unit acts on both the first operating body and the second operating body.
  • the first operating body and the second operating body have the same outer shape.
  • the first operating body and the second operating body have a hemispherical outer shape.
  • the operating device of the present invention is configured such that an intermediate case is provided between the first operating body and the second operating body so as to cover a gap between the two cases when the two cases are separated from each other. Is done.
  • a tactile reproduction device of the present invention includes the operation device according to any one of the above, a control unit, and a display device, An image of an object and an image of a hand are displayed on the display device, When the movement of the hand holding the operation device is detected by the position detection unit, the image of the hand changes based on the detection output.
  • the force imitating the reaction force that the image of the object displayed on the display device gives to the image of the hand is applied from the drive source to the first operating body and the second operating body. It is given to.
  • the operating device of the present invention can perform an input operation by holding the first operating body and the second operating body with one hand and bringing the first operating body and the second operating body closer to each other. Further, when the driving source provided in the mechanism unit is operated, the same operation reaction force can be given to both the first operating body and the second operating body in opposite directions, and the entire operating device can An operation reaction force feeling can be transmitted to the finger.
  • the tactile reproduction device of the present invention changes the image of the hand displayed on the display device and the image of the object held by the hand in accordance with the input operation of the operation device. It is possible to reproduce and give a tactile sensation with a sense of presence as if holding the object from the entire operating device to the finger or the finger.
  • FIG. 2 is an exploded perspective view of the operating device shown in FIG.
  • the perspective view which shows the mechanism unit provided in the operating device from the opposite side to FIG. Sectional drawing which cut
  • FIG. 1A shows a haptic reproduction apparatus 1A according to the first embodiment of the present invention
  • FIG. 1B shows a haptic reproduction apparatus 1B according to the second embodiment of the present invention
  • a tactile sensation reproducing device 1A shown in FIG. 1A includes a device main body 10A and an operation device 20.
  • the operating device 20 is connected to the device main body 10A by a cord 18.
  • the apparatus main body 10A and the operation apparatus 20 may be connected by wireless communication means.
  • 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.
  • an operator extends his arm to the back of the display device 13 and operates the operation device 20 with one hand.
  • the operator grasps the operation device 20 with the back of the display device 13 while visually observing the image of the hand H and the image of the object O displayed on the display screen 13 a of the display device 13.
  • By moving the finger it is possible to obtain a feeling that the object O is actually grasped by the hand H.
  • the tactile reproduction device 1B according to the second embodiment shown in FIG. 1B includes a device body 10B and an operation device 20.
  • the operating device 20 is operated with the right 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 operating device 20 and the device main body 10A are connected by the cord 18, the device main body 10A and the operating device 20 may be connected by wireless communication means.
  • the apparatus main bodies 10 ⁇ / b> A and 10 ⁇ / b> B are 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.
  • the apparatus main bodies 10A and 10B are provided with an interface 16 for exchanging signals between the control unit 15 and the operation device 20.
  • the display driver 14, the control unit 15, the interface 16, and the like are mounted on the mask-type main body 11.
  • FIG. 2 and 3 are perspective views showing the operation device 20 according to operation.
  • FIG. 4 shows an exploded perspective view of the operating device 20
  • FIG. 6 shows a cross-sectional view of the operating device 20 taken along line VI-VI.
  • the operating device 20 includes a first operating body 21 and a second operating body 22.
  • the first operating body 21 and the second operating body 22 have the same outer shape and the same dimensions.
  • the first operating body 21 and the second operating body 22 are both hemispherical.
  • a recess 24 is provided in part on the surface of the first operating body 21, and a connector 23 is provided in the recess 24.
  • the cord 18 is coupled to the connector 23.
  • the recess 24 and the connector 23 of the first operating body 21 are unnecessary.
  • the cord 18 is used, power is supplied to the connector 23 via the cord 18 from the apparatus main body 10A or 10B.
  • the wiring board 26 is equipped with a battery.
  • the shapes of the first operating body 21 and the second operating body 22 various shapes other than the hemispherical shape can be selected.
  • the whole may have an egg shape, and one of the two outer shapes of the egg may be the first operating body 21 and the other may be the second operating body 22.
  • both the 1st operation body 21 and the 2nd operation body 22 may be a cube, a rectangular parallelepiped, a cone, a triangular pyramid, etc.
  • the first operating body 21 and the second operating body 22 have the same dimensions, but the first operating body 21 and the second operating body 22 may be the first one as long as both the operating bodies 21 and 22 can be pressed in the Z direction by the hand or finger force.
  • the external dimensions of the operating body 21 and the second operating body 22 may be different.
  • An intermediate case 25 is provided between the first operating body 21 and the second operating body 22.
  • the intermediate case 25 has a cylindrical shape. As shown in FIG. 6, the lower end portion 25 a of the intermediate case 25 is fixed to the second operating body 22.
  • the cylindrical portion of the intermediate case 25 can slide with a cylindrical sliding inner wall surface 21 a formed inside the first operation body 21.
  • the operating device 20 has the Z direction oriented almost horizontally, one of the first operating body 21 and the second operating body 22 supported by the thumb, and the other mainly the index finger. Supported by middle finger.
  • the first operating body 21 and the second operating body 22 operate so as to approach each other.
  • ⁇ Structure of mechanism unit 30> As shown in FIG. 6, a mechanism storage space is formed in the first operation body 21, the second operation body 22, and the intermediate case 25, and the mechanism unit 30 is stored in the mechanism storage space.
  • FIG. 5 is a perspective view showing the mechanism unit 30 shown in FIG.
  • the mechanism unit 30 is provided with a support portion 31 that is a base molded from a synthetic resin material. As shown in FIG. 4, a guide groove 31 a extending in the Z direction is formed in the support portion 31, and the moving portion 32 is guided and supported in the guide groove 31 a so as to be relatively movable in the Z direction.
  • a compression coil spring 33 is accommodated in the guide groove 31a. The moving portion 32 is urged by the compression coil spring 33 in a direction protruding from the support portion 31. That is, the support portion 31 and the moving portion 32 are urged away from each other by the compression coil spring 33.
  • a motor 34 as a drive source is fixed to the lower portion of the support portion 31.
  • a first gear box 35 and a second gear box 36 are provided side by side on the motor 34.
  • a drive gear is fixed to the output shaft of the motor 34, and the rotational power of the drive gear is transmitted to the gear in the second gear box 36 by the gear train in the first gear box 35.
  • a pinion gear is fixed to the output shaft of the second gear box 36.
  • the rotational output of the motor 34 is decelerated by the gear train inside the first gear box 35 and the second gear box 36 and transmitted to the pinion gear.
  • a rack portion 32a is formed on the surface of the moving portion 32, and a pinion gear fixed to the output shaft of the second gear box 36 is engaged with the rack portion 32a.
  • the tooth portion of the rack portion 32a and the tooth portion of the pinion gear that meshes with the tooth portion are helical teeth having an inclination angle with respect to a direction orthogonal to the Z direction that is the moving direction of the moving portion 32.
  • a position detection unit 37 is provided on the side of the support unit 31.
  • the position detection unit 37 includes a stator unit fixed to the support unit 31 and a rotor unit that rotates to face the stator unit.
  • the rotor shaft provided in the rotor portion rotates together with the pinion gear meshing with the rack portion 32a.
  • the position detection unit 37 is a resistance change type, and an arc-shaped resistor pattern is provided in the stator unit, and a slider that slides the resistor pattern is provided in the rotor unit to resist the rotation angle of the pinion gear. It can be detected by a change in value, and as a result, the moving direction and moving position of the moving unit 32 can be detected.
  • the position detection unit 37 is a magnetic detection type, a rotating magnet is fixed to the rotor unit, a magnetic detection element such as a GMR element is provided on the stator unit, and the rotation angle of the rotor unit is detected by the magnetic detection element. It may be a thing. Alternatively, the position detection unit 37 may be an optical position detection unit.
  • a positioning part 31 b is integrally formed at the lower part of the support part 31 constituting the mechanism unit 30, and attachment parts 31 c are respectively formed on the left and right of the upper part of the support part 31.
  • the positioning portion 31 b of the support portion 31 is inserted into the positioning recess 22 a at the bottom of the second operating body 22, and the mounting portion 31 c formed on the support portion 31 is It is fixed with screws to a fixed wall (not shown) formed integrally with the operating body 22.
  • a connecting hole 32 c is formed in the tip 32 b of the moving part 32. As shown in FIG. 6, the tip 32 b of the moving part 32 is inserted into a connecting recess 21 b formed in the upper part of the first operating body 21. A connecting pin is inserted into the connecting hole 32c and the first operating body 21, or a connecting screw inserted into the connecting hole 32c is screwed into the first operating body 21, and the leading portion 32b of the moving part 32 and the first operation The body 21 is connected. Or it is fixed.
  • the mechanism unit 30 relatively moves in a direction in which the support unit 31 and the moving unit 32 are separated from each other and in a direction in which the support unit 31 and the moving unit 32 approach each other.
  • the moving part 32 is fixed to the other side.
  • a substantially circular wiring board 26 is housed and fixed inside the first operating body 21.
  • the connector 23 is fixed to the wiring board 26.
  • Various circuit components are mounted on the wiring board 26. As the circuit components, the interface 17, the motor driver 41, and the attitude detection unit 42 illustrated in FIG. 7 are mounted.
  • the position detection unit 37 mounted on the mechanism unit 30 is connected to the connector 23 via the interface 17.
  • a motor driver 41 that drives a motor that is a drive source of the mechanism unit 30 is also connected to the connector 23 via the interface 17.
  • the posture detection unit 42 is, for example, a configuration in which geomagnetic sensors for detecting geomagnetism are arranged in three axial directions, or a vibration gyro device.
  • the posture detection unit 42 can detect the posture and movement of the controller device 20 in the space.
  • the detection output of the posture detection unit 42 is connected to the connector 23 via the interface 17.
  • the interface 16 of the apparatus main body 10A or 10B and the interface of the operation apparatus 20 are connected via a cord 18.
  • the circuit mounted on the wiring board 26 includes a transmission / reception circuit.
  • the operating device 20 is held by one hand, for example, the right hand.
  • An operation in which one of the first operating body 21 and the second operating body 22 is held by a thumb and the other is mainly held by an index finger and a middle finger to bring the first operating body 21 and the second operating body 22 closer to each other. Done.
  • the moving unit 32 When no force is applied to the first operating body 21 and the second operating body 22, the moving unit 32 is projected from the support unit 31 by the elastic force of the compression coil spring 33 in the mechanism unit 30. Therefore, as shown in FIG. 2, the first operating body 21 and the second operating body 22 are stabilized at positions separated from each other by the force of the compression coil spring 33.
  • the moving unit 32 from the support unit 31 moves.
  • the protruding position can be set arbitrarily. Thereby, for example, as shown in FIG. 2, the first operating body 21 and the second operating body 22 can be stopped at positions separated from each other in an initial state where no operating force is applied.
  • the motor 34 is operated to stabilize the moving unit 32 in the state of being pulled into the support unit 31, as shown in FIG. It is also possible to stop the second operating body 22 at a position where they are close to each other.
  • the relative position of the first operating body 21 and the second operating body 22 can be stopped at an intermediate position between FIG. 2 and FIG.
  • reaction force action line reaction force action coefficient
  • the attitude of the operating device 20 held by hand is detected by the attitude detector 42 mounted on the wiring board 26.
  • the detection output of the attitude detection unit 42 is also given to the control unit 15.
  • the control unit 15 recognizes the inclination of the operating tool 20 based on the detection output of the posture detection unit 42 and controls the display image of the display device 13 based on this.
  • FIG. 8 shows a display example of the display screen 13 a of the display device 13.
  • an image of a vegetable tomato and a hand H is displayed as an image of the virtual object O.
  • FIG. 1A the right hand is moved to the back of the display device 13 while looking at the display screen 13a, and the operation device 20 is gripped.
  • FIG. 1B the mask type main body 11 is mounted and the operating device 20 is grasped with one hand. Both use examples are blind operations.
  • the fact that the hand has grasped the operating device 20 is recognized by the position detecting unit 37 detecting that the first operating body 21 and the second operating body 22 pressed by the finger are close to each other. Alternatively, it is recognized by detecting that the operation device 20 has been moved by the posture detection unit 42.
  • the image displayed on the display screen 13a changes to a state in which the image of the object O is grasped by the image of the hand H.
  • the display driver 14 is controlled by the control unit 15, and the image of the hand H displayed on the display screen 13a and the object O are displayed. The image moves to follow the actual hand movement.
  • the control unit 15 reads data of a reaction force action line (reaction force action coefficient) assuming that the object O is a tomato from the memory, and the control unit 15 determines the mechanism unit 30 based on the reaction force action line data.
  • the motor 34 is controlled. At this time, the reaction force applied to the first operating body 21 and the second operating body 22 by the rotational force of the motor 34 is set to be soft as if the tomato is being pushed by the hand. Further, when the first operating body 21 and the second operating body 22 are pressed strongly against the reaction force, a light impact such as the tomato being crushed is given to the first operating body 21 and the second operating body 22.
  • the reaction force applied to the first operating body 21 and the second operating body 22 by the rotation of the motor 34 is a change in rotational force according to the relative positions of the operating bodies 21 and 22 or the operating forces of the operating bodies 21 and 22. It is expressed by the intensity of rotational vibration according to the relative position or a change in the period of rotational vibration. Due to the change in the reaction force, it is possible to give the hand holding the operating device 20 as if it is touching the object O displayed on the display screen 13a.
  • the object O when the object O is an egg, the initial reaction force when the first operating body 21 and the second operating body 22 are pressed is strong, and when both the operating bodies 21 and 22 are pressed a little more, the reaction force suddenly becomes lighter.
  • the first operating body 21 and the second operating body 22 can be lightly pushed in with the power of the hand, thereby giving the hand a feel as if the egg is broken.
  • the object 34 may be a metal sphere, and the motor 34 may exert a strong holding force so that the object O does not move at all even if the operating bodies 21 and 22 are pressed.
  • the object O is soft like a small animal, and a soft reaction force can be applied to both the operating bodies 21 and 22.

Abstract

[Problem] To provide an operation device which is capable of imparting to a finger a reaction and a sensation which simulate grasping and manipulating a virtual object with the finger, and a tactile sensation reproduction device which uses the operation device. [Solution] Provided is an operation device 20, comprising a first operation body 21, a second operation body 22, and a middle case 25 which is positioned between both of the operation bodies 21, 22. A mechanism unit 30 is housed within the operation device 20. The mechanism unit 30 comprises a support part 31, a moving part 32, a motor which is a drive source which imparts a movement force to the moving part 32, and a position sensing part 37 which senses the relative positions of the support part 31 and the moving part 32. The support part 31 is anchored to the second operation body 22, and the moving part 32 is anchored to the first operation body 21.

Description

操作装置および前記操作装置を使用した触覚再現装置Operating device and tactile reproduction device using the operating device
　本発明は、２つの操作体を互いに接近し離反させることで入力操作を行う操作装置および前記操作装置を使用した触覚再現装置に関する。 The present invention relates to an operating device that performs an input operation by bringing two operating bodies close to and away from each other, and a tactile reproduction device that uses the operating device.
　ゲーム装置などには各種構造の操作装置が使用されている。特許文献１には、ゲーム機用ガンユニットに関する発明が記載されている。 Operation devices with various structures are used for game machines and the like. Patent Document 1 describes an invention related to a game machine gun unit.
　このゲーム機用ガンユニットは、ガン本体が支持部上で前後にスライドできるように支持されている。支持部にモータが収納されており、モータで偏心カムを回転させることでガン本体が前後に往復運動させられる。ガン本体に引き金が設けられており、引き金を引く操作を行うと、前記モータが始動し、偏心カムが回転して、ガン本体に往復運動の操作反力が与えられる。 This game machine gun unit is supported so that the gun body can slide back and forth on the support. A motor is housed in the support portion, and the gun body is reciprocated back and forth by rotating the eccentric cam with the motor. A trigger is provided on the gun body, and when the trigger is pulled, the motor is started, the eccentric cam rotates, and an operation reaction force of reciprocating motion is applied to the gun body.
　往復動作のストロークの間隔は、ゲーム機本体の駆動指令によって制御され、ガンの種類やゲーム展開に応じて往復運動の速さを変えることができるようになっている。 The stroke interval of the reciprocating motion is controlled by the drive command of the game machine body, and the speed of the reciprocating motion can be changed according to the type of gun and game development.
特開平７－２４１４７号公報Japanese Patent Laid-Open No. 7-24147
　特許文献１に記載されたゲーム機用ガンユニットは、引き金を引いたときにガン本体の全体が前後に動くことで、手に操作反力を感じさせるようになっている。この構造では、引き金を操作している指に対して直接に反力を与えることができず、ガン本体を保持している手のひらと、引き金を操作している指との間に、互いに反発させるような操作感触を与えることもできない。 The gun unit for a game machine described in Patent Document 1 makes the hand feel the operational reaction force by moving the entire gun body back and forth when the trigger is pulled. In this structure, a reaction force cannot be directly applied to the finger that operates the trigger, and the palm that holds the gun body and the finger that operates the trigger repel each other. It is not possible to give such an operational feeling.
　したがって、ゲームなどで臨場感をある操作を行うことができない。また、特許文献１に記載された構造の反力付与構造を、ガンユニット以外の形状の各種操作装置に応用したとしても、やはり、表示画像に関連させた臨場感のある操作入力を行うことは難しい。 Therefore, it is impossible to perform realistic operations in games and the like. In addition, even if the reaction force imparting structure described in Patent Document 1 is applied to various types of operation devices other than the gun unit, it is still possible to perform realistic operation inputs related to the display image. difficult.
　本発明は、上記従来の課題を解決するものであり、２つの操作体を相対的に移動させることにより、操作する指と手に同時に相反する操作反力を与えることができる操作装置および前記操作装置を使用した触覚再現装置を提供することを目的としている。 The present invention solves the above-described conventional problems, and an operation device capable of applying an operation reaction force that is simultaneously contradictory to an operated finger and a hand by relatively moving two operation bodies and the operation An object of the present invention is to provide a haptic reproduction device using the device.
　本発明の操作装置は、互いに接近し離反する第１操作体および第２操作体と、前記第１操作体および前記第２操作体と連動する機構ユニットとを有しており、
　前記機構ユニットは、支持部と、前記支持部に進退自在に支持された移動部と、前記支持部と前記移動部との相対位置を検知する位置検知部と、前記移動部と前記支持部の双方に力を与える駆動源と、を有しており、
　前記第１操作体と前記第２操作体の一方に前記支持部が固定され、他方に前記移動部が固定されていることを特徴とするものである。 The operating device of the present invention includes a first operating body and a second operating body that approach and separate from each other, and a mechanism unit that operates in conjunction with the first operating body and the second operating body,
The mechanism unit includes a support unit, a moving unit supported by the support unit so as to be movable forward and backward, a position detection unit that detects a relative position between the support unit and the moving unit, and the moving unit and the support unit. And a driving source that gives power to both sides,
The support portion is fixed to one of the first operating body and the second operating body, and the moving portion is fixed to the other.
　本発明の操作装置は、前記第１操作体と前記第２操作体を片手で保持して、両操作体を接近させると、両操作体の接近と離反動作が前記位置検知部で検知される。 In the operating device of the present invention, when the first operating body and the second operating body are held with one hand and the two operating bodies are brought close to each other, the approach and separation of the operating bodies are detected by the position detection unit. .
　また、本発明の操作装置は、前記駆動源から前記移動部と前記支持部に与えられる力が、前記第１操作体と前記第２操作体の双方に作用するものとなる。 Further, in the operating device of the present invention, the force applied from the drive source to the moving unit and the supporting unit acts on both the first operating body and the second operating body.
　本発明の操作装置では、前記第１操作体と前記第２操作体は、外形が同じ形状であることが好ましい。 In the operating device of the present invention, it is preferable that the first operating body and the second operating body have the same outer shape.
　本発明の操作装置は、例えば、前記第１操作体と前記第２操作体は、外形が半球形状である。 In the operating device of the present invention, for example, the first operating body and the second operating body have a hemispherical outer shape.
　さらに、本発明の操作装置は、前記第１操作体と前記第２操作体との間に、両ケースが互いに離れたときに、両ケースの隙間を覆う中間ケースが設けられているものとして構成される。 Furthermore, the operating device of the present invention is configured such that an intermediate case is provided between the first operating body and the second operating body so as to cover a gap between the two cases when the two cases are separated from each other. Is done.
　本発明の触覚再現装置は、前記いずれかに記載の前記操作装置と、制御部と、表示装置とを有し、
　前記表示装置に、物体の画像と手の画像とが表示され、
　前記操作装置を保持している手の動きが前記位置検知部で検知されると、その検知出力に基づいて、前記手の画像が変化することを特徴とするものである。 A tactile reproduction device of the present invention includes the operation device according to any one of the above, a control unit, and a display device,
An image of an object and an image of a hand are displayed on the display device,
When the movement of the hand holding the operation device is detected by the position detection unit, the image of the hand changes based on the detection output.
　本発明の触覚再現装置は、前記表示装置に表示されている前記物体の画像が前記手の画像に与える反力を模した力が、前記駆動源から前記第１操作体と前記第２操作体に与えられるものである。 In the tactile reproduction device of the present invention, the force imitating the reaction force that the image of the object displayed on the display device gives to the image of the hand is applied from the drive source to the first operating body and the second operating body. It is given to.
　本発明の操作装置は、第１操作体と第２操作体を片手で保持して、第１操作体と第２操作体を互いに接近させることで、入力操作を行うことができる。また、機構ユニットに設けられた駆動原を動作させると、第１操作体と第２操作体の双方に対して相反する向きで同等の操作反力を与えることができ、操作装置全体から手や指に操作反力感触を伝達することができる。 The operating device of the present invention can perform an input operation by holding the first operating body and the second operating body with one hand and bringing the first operating body and the second operating body closer to each other. Further, when the driving source provided in the mechanism unit is operated, the same operation reaction force can be given to both the first operating body and the second operating body in opposite directions, and the entire operating device can An operation reaction force feeling can be transmitted to the finger.
　本発明の触覚再現装置は、操作装置の入力操作に応じて、表示装置に表示されている手の画像と、手で保持されている物体の画像を変化させているため、操作している手や指に対して、操作装置全体から、あたかも前記物体を保持しているかのような臨場感の有る触覚を再現して与えることができる。 The tactile reproduction device of the present invention changes the image of the hand displayed on the display device and the image of the object held by the hand in accordance with the input operation of the operation device. It is possible to reproduce and give a tactile sensation with a sense of presence as if holding the object from the entire operating device to the finger or the finger.
本発明の実施の形態の触覚再現装置の第1の使用例を示す説明図、Explanatory drawing showing a first usage example of the tactile reproduction device of the embodiment of the present invention, 本発明の実施の形態の触覚再現装置の第2の使用例を示す説明図、Explanatory drawing which shows the 2nd usage example of the tactile reproduction apparatus of embodiment of this invention, 図１に示す触覚再現装置に設けられた操作装置を示すものであり、第１操作体と第２操作体が互いに離れている状態を示す斜視図、The perspective view which shows the operating device provided in the tactile reproduction apparatus shown in FIG. 1, and shows the state from which the 1st operating body and the 2nd operating body are mutually separated. 図１に示す触覚再現装置に設けられた操作装置を示すものであり、第１操作体と第２操作体が互いに接近している状態を示す斜視図、The perspective view which shows the operating device provided in the tactile reproduction apparatus shown in FIG. 1, and shows the state where the 1st operating body and the 2nd operating body are mutually approaching, 図２に示す操作装置の分解斜視図、FIG. 2 is an exploded perspective view of the operating device shown in FIG. 操作装置に設けられた機構ユニットを図４と逆側から示す斜視図、The perspective view which shows the mechanism unit provided in the operating device from the opposite side to FIG. 図２に示す操作装置をＶＩ－ＶＩ線で切断した断面図、Sectional drawing which cut | disconnected the operating device shown in FIG. 2 by the VI-VI line, 実施の形態の触覚再現装置の回路ブロック図、Circuit block diagram of tactile reproduction device of the embodiment, 実施の形態の触覚再現装置の表示装置の表示画像の一例を示す説明図、Explanatory drawing which shows an example of the display image of the display apparatus of the tactile reproduction apparatus of embodiment.
＜全体の構造＞
　図１Ａに本発明の第１の実施の形態の触覚再現装置１Ａが示され、図１Ｂに本発明の第２の実施の形態の触覚再現装置１Ｂが示されている。
　図１Ａに示す触覚再現装置１Ａは、装置本体１０Ａと操作装置２０とから構成されている。 <Overall structure>
FIG. 1A shows a haptic reproduction apparatus 1A according to the first embodiment of the present invention, and FIG. 1B shows a haptic reproduction apparatus 1B according to the second embodiment of the present invention.
A tactile sensation reproducing device 1A shown in FIG. 1A includes a device main body 10A and an operation device 20.
　操作装置２０はコード１８によって装置本体１０Ａに接続されている。あるいは、装置本体１０Ａと操作装置２０とが無線通信手段で接続されていてもよい。装置本体１０Ａには表示装置１３が設けられている。表示装置１３はカラー液晶表示パネルやエレクトロルミネッセンス表示パネルなどである。装置本体１０Ａはパーソナルコンピュータや、比較的大きな表示画面を有するデモンストレーション用の表示装置などである。 The operating device 20 is connected to the device main body 10A by a cord 18. Alternatively, the apparatus main body 10A and the operation apparatus 20 may be connected by wireless communication means. 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.
　図１Ａに示す操作触覚再現装置１Ａでは、操作者が表示装置１３の背部に腕を伸ばし、片手で操作装置２０を操作する。操作者は、図８に示すように、表示装置１３の表示画面１３ａに表示された手Ｈの画像と物体Ｏの画像を目視しながら、表示装置１３の背部で、操作装置２０を掴み、手と指を動かすことで、実際に手Ｈで物体Ｏを掴んでいるような感触を得ることができる。 In the operation tactile reproduction device 1A shown in FIG. 1A, an operator extends his arm to the back of the display device 13 and operates the operation device 20 with one hand. As shown in FIG. 8, the operator grasps the operation device 20 with the back of the display device 13 while visually observing the image of the hand H and the image of the object O displayed on the display screen 13 a of the display device 13. By moving the finger, it is possible to obtain a feeling that the object O is actually grasped by the hand H.
　図１Ｂに示す第２の実施の形態の触覚再現装置１Ｂは、装置本体１０Ｂと操作装置２０とから構成されている。操作装置２０は右手で操作されている。 The tactile reproduction device 1B according to the second embodiment shown in FIG. 1B includes a device body 10B and an operation device 20. The operating device 20 is operated with the right hand.
　装置本体１０Ｂは、目の前方に装着するマスク型本体１１と、このマスク型本体１１を頭部に装着するためのストラップ１２を有している。装置本体１０Ｂのマスク型本体１１に、表示装置１３が設けられている。この表示装置１３は、操作者の目の前方に設置されて目視可能となっている。操作装置２０と装置本体１０Ａはコード１８で接続されているが、装置本体１０Ａと操作装置２０とが無線通信手段で接続されていてもよい。 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. Although the operating device 20 and the device main body 10A are connected by the cord 18, the device main body 10A and the operating device 20 may be connected by wireless communication means.
　図７に示すように、装置本体１０Ａと１０Ｂには、表示装置１３を駆動するための表示ドライバー１４と、表示ドライバー１４の表示形態を制御する制御部１５とが設けられている。制御部１５はＣＰＵとメモリを主体として構成されている。また、装置本体１０Ａと１０Ｂには、制御部１５と操作装置２０との間で信号を授受するためのインターフェース１６が設けられている。図１Ｂに示す触覚再現装置１Ｂでは、表示ドライバー１４と制御部１５およびインターフェース１６などが、マスク型本体１１に搭載されている。 As shown in FIG. 7, the apparatus main bodies 10 </ b> A and 10 </ b> B are 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, the apparatus main bodies 10A and 10B are provided with an interface 16 for exchanging signals between the control unit 15 and the operation device 20. In the haptic reproduction apparatus 1B shown in FIG. 1B, the display driver 14, the control unit 15, the interface 16, and the like are mounted on the mask-type main body 11.
　図２と図３は、操作装置２０を動作別に示す斜視図である。図４に操作装置２０の分解斜視図が示され、図６に、操作装置２０をＶＩ－ＶＩ線で切断した断面図が示されている。 2 and 3 are perspective views showing the operation device 20 according to operation. FIG. 4 shows an exploded perspective view of the operating device 20, and FIG. 6 shows a cross-sectional view of the operating device 20 taken along line VI-VI.
　操作装置２０は、第１操作体２１と第２操作体２２を有している。第１操作体２１と第２操作体２２は、外形が同じであり、寸法も同じである。実施の形態の操作装置２０では、第１操作体２１と第２操作体２２が共に半球形状である。第１操作体２１の表面には一部に窪み２４が設けられ、窪み２４内にコネクタ２３が設けられている。 The operating device 20 includes a first operating body 21 and a second operating body 22. The first operating body 21 and the second operating body 22 have the same outer shape and the same dimensions. In the operating device 20 according to the embodiment, the first operating body 21 and the second operating body 22 are both hemispherical. A recess 24 is provided in part on the surface of the first operating body 21, and a connector 23 is provided in the recess 24.
　図１Ａと図１Ｂに示すように、装置本体１０Ａまたは１０Ｂと操作装置２０とがコード１８で接続されるときは、コネクタ２３にコード１８が連結される。ただし、装置本体１０Ａまたは１０Ｂと操作装置２０とが無線通信手段で接続されるときは、第１操作体２１の窪み２４およびコネクタ２３は不要である。前記コード１８が使用されるときは、装置本体１０Ａまたは１０Ｂからコード１８を介してコネクタ２３に電力が供給される。また、無線通信手段が使用されるときは、配線基板２６に電池が装備される。 As shown in FIGS. 1A and 1B, when the apparatus main body 10A or 10B and the operation apparatus 20 are connected by the cord 18, the cord 18 is coupled to the connector 23. However, when the apparatus main body 10A or 10B and the operating device 20 are connected by wireless communication means, the recess 24 and the connector 23 of the first operating body 21 are unnecessary. When the cord 18 is used, power is supplied to the connector 23 via the cord 18 from the apparatus main body 10A or 10B. Further, when the wireless communication means is used, the wiring board 26 is equipped with a battery.
　第１操作体２１と第２操作体２２の形状としては、半球形状以外の多様な形状を選択できる。例えば、全体が卵形状であり、卵の外形を二分した一方が第１操作体２１で、他方が第２操作体２２であってもよい。または、第１操作体２１と第２操作体２２が、共に立方体や直方体または円錐体や三角錐体などであってもよい。第１操作体２１と第２操作体２２は、同じ寸法であることが好ましいが、手や指の力で両操作体２１，２２の双方をＺ方向に押圧操作できるものであれば、第１操作体２１と第２操作体２２の外形寸法が相違していてもよい。 As the shapes of the first operating body 21 and the second operating body 22, various shapes other than the hemispherical shape can be selected. For example, the whole may have an egg shape, and one of the two outer shapes of the egg may be the first operating body 21 and the other may be the second operating body 22. Or both the 1st operation body 21 and the 2nd operation body 22 may be a cube, a rectangular parallelepiped, a cone, a triangular pyramid, etc. It is preferable that the first operating body 21 and the second operating body 22 have the same dimensions, but the first operating body 21 and the second operating body 22 may be the first one as long as both the operating bodies 21 and 22 can be pressed in the Z direction by the hand or finger force. The external dimensions of the operating body 21 and the second operating body 22 may be different.
　第１操作体２１と第２操作体２２の間に中間ケース２５が設けられている。中間ケース２５は円筒形状である。図６に示すように、中間ケース２５の下端部２５ａは第２操作体２２に固定されている。中間ケース２５の円筒部分は、第１操作体２１の内部に形成された円筒状の摺動内壁面２１ａと摺動できるようになっている。中間ケース２５を設けることで、図２に示すように、第１操作体２１と第２操作体２２がＺ方向へ離れているときに、両操作体２１，２２の間で、操作装置２０の内部が露出しないように覆うことが可能になる。 An intermediate case 25 is provided between the first operating body 21 and the second operating body 22. The intermediate case 25 has a cylindrical shape. As shown in FIG. 6, the lower end portion 25 a of the intermediate case 25 is fixed to the second operating body 22. The cylindrical portion of the intermediate case 25 can slide with a cylindrical sliding inner wall surface 21 a formed inside the first operation body 21. By providing the intermediate case 25, as shown in FIG. 2, when the first operating body 21 and the second operating body 22 are separated in the Z direction, the operating device 20 is placed between the operating bodies 21 and 22. It is possible to cover the inside so as not to be exposed.
　図１Ａと図１Ｂに示す使用例では、操作装置２０は、Ｚ方向がほぼ水平に向けられ、第１操作体２１と第２操作体２２の一方が親指で支持され、他方が主に人指し指と中指で支持される。親指と、人指し指および中指を互いに接近させるようにして、操作装置２０を押すと、第１操作体２１と第２操作体２２が互いに接近するように動作する。 In the usage example shown in FIG. 1A and FIG. 1B, the operating device 20 has the Z direction oriented almost horizontally, one of the first operating body 21 and the second operating body 22 supported by the thumb, and the other mainly the index finger. Supported by middle finger. When the operating device 20 is pressed with the thumb, the index finger, and the middle finger approaching each other, the first operating body 21 and the second operating body 22 operate so as to approach each other.
＜機構ユニット３０の構造＞
　図６に示すように、第１操作体２１と第２操作体２２および中間ケース２５の内部に機構収納空間が形成されており、機構収納空間内に機構ユニット３０が収納されている。 <Structure of mechanism unit 30>
As shown in FIG. 6, a mechanism storage space is formed in the first operation body 21, the second operation body 22, and the intermediate case 25, and the mechanism unit 30 is stored in the mechanism storage space.
　図４の分解斜視図に機構ユニット３０が示されている。図５は、図４に示す機構ユニット３０をＶ矢視で示した斜視図である。 The mechanism unit 30 is shown in the exploded perspective view of FIG. FIG. 5 is a perspective view showing the mechanism unit 30 shown in FIG.
　機構ユニット３０には、合成樹脂材料から成形された基台である支持部３１が設けられている。図４に示すように、支持部３１には、Ｚ方向に延びる案内溝３１ａが形成されており、案内溝３１ａ内で、移動部３２が、Ｚ方向へ相対移動自在に案内支持されている。案内溝３１ａの内部に圧縮コイルばね３３が収納されている。圧縮コイルばね３３によって、移動部３２が支持部３１から突出する方向へ付勢されている。すなわち、圧縮コイルばね３３によって、支持部３１と移動部３２が互いに離れる方向へ付勢されている。 The mechanism unit 30 is provided with a support portion 31 that is a base molded from a synthetic resin material. As shown in FIG. 4, a guide groove 31 a extending in the Z direction is formed in the support portion 31, and the moving portion 32 is guided and supported in the guide groove 31 a so as to be relatively movable in the Z direction. A compression coil spring 33 is accommodated in the guide groove 31a. The moving portion 32 is urged by the compression coil spring 33 in a direction protruding from the support portion 31. That is, the support portion 31 and the moving portion 32 are urged away from each other by the compression coil spring 33.
　図４に示すように、支持部３１の下部に駆動源であるモータ３４が固定されている。支持部３１では、モータ３４の上に第１ギヤボックス３５と第２ギヤボックス３６が並んで設けられている。モータ３４の出力軸には、駆動歯車が固定されており、駆動歯車の回転動力が第１ギヤボックス３５内の歯車列によって第２ギヤボックス３６内の歯車に伝達される。第２ギヤボックス３６の出力軸にピニオン歯車が固定されている。第１ギヤボックス３５と第２ギヤボックス３６の内部の歯車列により、モータ３４の回転出力が減速されてピニオン歯車に伝達される。 As shown in FIG. 4, a motor 34 as a drive source is fixed to the lower portion of the support portion 31. In the support portion 31, a first gear box 35 and a second gear box 36 are provided side by side on the motor 34. A drive gear is fixed to the output shaft of the motor 34, and the rotational power of the drive gear is transmitted to the gear in the second gear box 36 by the gear train in the first gear box 35. A pinion gear is fixed to the output shaft of the second gear box 36. The rotational output of the motor 34 is decelerated by the gear train inside the first gear box 35 and the second gear box 36 and transmitted to the pinion gear.
　移動部３２の表面にラック部３２ａが形成されており、第２ギヤボックス３６の出力軸に固定されたピニオン歯車がラック部３２ａに噛み合っている。ラック部３２ａの歯部とこれに噛み合うピニオン歯車の歯部は、移動部３２の移動方向であるＺ方向と直交する方向に対して傾き角度を有するはす歯である。 A rack portion 32a is formed on the surface of the moving portion 32, and a pinion gear fixed to the output shaft of the second gear box 36 is engaged with the rack portion 32a. The tooth portion of the rack portion 32a and the tooth portion of the pinion gear that meshes with the tooth portion are helical teeth having an inclination angle with respect to a direction orthogonal to the Z direction that is the moving direction of the moving portion 32.
　図４に示す圧縮コイルばね３３を設けることで、ラック部３２ａと、これに噛み合うピニオン歯車とのバックラッシュを解消することができる。ただし、ラック部３２ａとピニオン歯車の歯部をはす歯とすることで、噛み合い部のバックラッシュが低減されるため、圧縮コイルばね３３を設けない構造とすることも可能である。 By providing the compression coil spring 33 shown in FIG. 4, backlash between the rack portion 32a and the pinion gear meshing with the rack portion 32a can be eliminated. However, since the backlash of the meshing portion is reduced by using the teeth of the rack portion 32a and the pinion gear, the structure that does not include the compression coil spring 33 is also possible.
　図５に示すように、支持部３１の側部に位置検知部３７が設けられている。位置検知部３７は、支持部３１に固定されたステータ部と、ステータ部に対向して回転するロータ部とを有している。ロータ部に設けられたロータ軸が、ラック部３２ａと噛み合っているピニオン歯車と一緒に回転する。位置検知部３７は抵抗変化式であり、ステータ部に円弧状の抵抗体パターンが設けられ、ロータ部に前記抵抗体パターンを摺動する摺動子が設けられて、ピニオン歯車の回転角度を抵抗値の変化で検知でき、その結果、移動部３２の移動方向と移動位置を検知できるようになっている。 As shown in FIG. 5, a position detection unit 37 is provided on the side of the support unit 31. The position detection unit 37 includes a stator unit fixed to the support unit 31 and a rotor unit that rotates to face the stator unit. The rotor shaft provided in the rotor portion rotates together with the pinion gear meshing with the rack portion 32a. The position detection unit 37 is a resistance change type, and an arc-shaped resistor pattern is provided in the stator unit, and a slider that slides the resistor pattern is provided in the rotor unit to resist the rotation angle of the pinion gear. It can be detected by a change in value, and as a result, the moving direction and moving position of the moving unit 32 can be detected.
　なお、位置検知部３７が磁気検知型であって、ロータ部に回転マグネットが固定され、ステータ部にＧＭＲ素子などの磁気検知素子が設けられて、ロータ部の回転角度が磁気検知素子によって検知されるものであってもよい。または、位置検知部３７が、光学式の位置検知部であってもよい。 The position detection unit 37 is a magnetic detection type, a rotating magnet is fixed to the rotor unit, a magnetic detection element such as a GMR element is provided on the stator unit, and the rotation angle of the rotor unit is detected by the magnetic detection element. It may be a thing. Alternatively, the position detection unit 37 may be an optical position detection unit.
　図４と図５に示すように、機構ユニット３０を構成する支持部３１の下部に、位置決め部３１ｂが一体に形成され、支持部３１の上部の左右にそれぞれ取付け部３１ｃが形成されている。図６に示すように、支持部３１の位置決め部３１ｂが、第２操作体２２の底部の位置決め凹部２２ａに差し込まれ、支持部３１に形成された取付け部３１ｃが、固定ねじ３８によって、第２操作体２２と一体に形成された固定壁（図示省略している）にねじ止め固定されている。 As shown in FIGS. 4 and 5, a positioning part 31 b is integrally formed at the lower part of the support part 31 constituting the mechanism unit 30, and attachment parts 31 c are respectively formed on the left and right of the upper part of the support part 31. As shown in FIG. 6, the positioning portion 31 b of the support portion 31 is inserted into the positioning recess 22 a at the bottom of the second operating body 22, and the mounting portion 31 c formed on the support portion 31 is It is fixed with screws to a fixed wall (not shown) formed integrally with the operating body 22.
　移動部３２の先部３２ｂに連結穴３２ｃが形成されている。図６に示すように、移動部３２の先部３２ｂは、第１操作体２１の上部に形成された連結凹部２１ｂに挿入されている。連結穴３２ｃと第１操作体２１に、連結ピンが挿通され、または連結穴３２ｃに挿通された連結ねじが第１操作体２１に螺着されて、移動部３２の先部３２ｂと第１操作体２１とが連結されている。あるいは固定されている。 A connecting hole 32 c is formed in the tip 32 b of the moving part 32. As shown in FIG. 6, the tip 32 b of the moving part 32 is inserted into a connecting recess 21 b formed in the upper part of the first operating body 21. A connecting pin is inserted into the connecting hole 32c and the first operating body 21, or a connecting screw inserted into the connecting hole 32c is screwed into the first operating body 21, and the leading portion 32b of the moving part 32 and the first operation The body 21 is connected. Or it is fixed.
　機構ユニット３０は、支持部３１と移動部３２が互いに離れる方向と接近する方向へ相対移動するものであり、第１操作体２１と第２操作体２２の、一方に支持部３１が固定され、他方に移動部３２が固定されている。 The mechanism unit 30 relatively moves in a direction in which the support unit 31 and the moving unit 32 are separated from each other and in a direction in which the support unit 31 and the moving unit 32 approach each other. The moving part 32 is fixed to the other side.
　図４と図６に示すように、第１操作体２１の内部にほぼ円形の配線基板２６が収納されて固定されている。前記コネクタ２３は、配線基板２６に固定されている。配線基板２６には、各種回路部品が実装されている。回路部品として、図７に示すインターフェース１７とモータドライバ４１、および姿勢検知部４２が実装されている。 As shown in FIGS. 4 and 6, a substantially circular wiring board 26 is housed and fixed inside the first operating body 21. The connector 23 is fixed to the wiring board 26. Various circuit components are mounted on the wiring board 26. As the circuit components, the interface 17, the motor driver 41, and the attitude detection unit 42 illustrated in FIG. 7 are mounted.
　図７に示すように、機構ユニット３０に搭載された位置検知部３７は、インターフェース１７を介してコネクタ２３に接続されている。また、機構ユニット３０の駆動源であるモータを駆動するモータドライバ４１もインターフェース１７を介してコネクタ２３に接続されている。姿勢検知部４２は、例えば地磁気を検知する地磁気センサを３軸方向に配置したもの、あるいは振動型ジャイロ装置である。姿勢検知部４２によって、操作装置２０の空間内での姿勢や移動を検知することができる。姿勢検知部４２の検知出力はインターフェース１７を介してコネクタ２３に接続されている。 As shown in FIG. 7, the position detection unit 37 mounted on the mechanism unit 30 is connected to the connector 23 via the interface 17. A motor driver 41 that drives a motor that is a drive source of the mechanism unit 30 is also connected to the connector 23 via the interface 17. The posture detection unit 42 is, for example, a configuration in which geomagnetic sensors for detecting geomagnetism are arranged in three axial directions, or a vibration gyro device. The posture detection unit 42 can detect the posture and movement of the controller device 20 in the space. The detection output of the posture detection unit 42 is connected to the connector 23 via the interface 17.
　装置本体１０Ａまたは１０Ｂのインターフェース１６と、操作装置２０のインターフェースは、コード１８を介在して接続されている。 The interface 16 of the apparatus main body 10A or 10B and the interface of the operation apparatus 20 are connected via a cord 18.
　なお、装置本体１０Ａまたは１０Ｂと操作装置２０とが無線通信手段で接続される場合には、配線基板２６に実装される回路に、送受信回路が含まれる。 When the apparatus main body 10A or 10B and the operation apparatus 20 are connected by wireless communication means, the circuit mounted on the wiring board 26 includes a transmission / reception circuit.
＜操作装置２０の動作＞
　図２と図３に示すように、操作装置２０は、形状と大きさが同じ第１操作体２１と第２操作体２２が、対称に配置されており、いずれも同じ操作体として使用される。 <Operation of operation device 20>
As shown in FIG. 2 and FIG. 3, in the operating device 20, the first operating body 21 and the second operating body 22 having the same shape and size are arranged symmetrically, and both are used as the same operating body. .
　図１Ａと図１Ｂに示すように、操作装置２０は片方の手で、例えば右手で保持される。第１操作体２１と第２操作体２２の一方が親指で保持され、他方が主に人差し指と中指で保持されて、第１操作体２１と第２操作体２２を互いに接近させるような操作が行われる。 As shown in FIGS. 1A and 1B, the operating device 20 is held by one hand, for example, the right hand. An operation in which one of the first operating body 21 and the second operating body 22 is held by a thumb and the other is mainly held by an index finger and a middle finger to bring the first operating body 21 and the second operating body 22 closer to each other. Done.
　第１操作体２１と第２操作体２２に力を与えないときは、機構ユニット３０において、圧縮コイルばね３３の弾性力で、支持部３１から移動部３２が突出させられている。そのため、図２に示すように、第１操作体２１と第２操作体２２は、圧縮コイルばね３３の力によって、互いに離れた位置で安定する。 When no force is applied to the first operating body 21 and the second operating body 22, the moving unit 32 is projected from the support unit 31 by the elastic force of the compression coil spring 33 in the mechanism unit 30. Therefore, as shown in FIG. 2, the first operating body 21 and the second operating body 22 are stabilized at positions separated from each other by the force of the compression coil spring 33.
　装置本体１０Ａまたは１０Ｂに設けられた制御部１５の反力付与制御に基づいて、モータドライバ４１に制御指令を与え、機構ユニット３０のモータ３４を動作させると、支持部３１からの移動部３２の突出位置を任意に設定することができる。これにより、例えば、図２に示すように、操作力を与えない初期状態で、第１操作体２１と第２操作体２２を互いに離れた位置で停止させることができる。または、モータ３４を動作させて、移動部３２を支持部３１の内部に引き込んだ状態で安定させれば、操作力を与えない初期状態で、図３に示すように、第１操作体２１と第２操作体２２を互いに接近させた位置で停止させることもできる。さらに、第１操作体２１と第２操作体２２の相対位置を、図２と図３の中間の位置で停止させることも可能である。 Based on the reaction force application control of the control unit 15 provided in the apparatus main body 10A or 10B, when a control command is given to the motor driver 41 and the motor 34 of the mechanism unit 30 is operated, the moving unit 32 from the support unit 31 moves. The protruding position can be set arbitrarily. Thereby, for example, as shown in FIG. 2, the first operating body 21 and the second operating body 22 can be stopped at positions separated from each other in an initial state where no operating force is applied. Alternatively, if the motor 34 is operated to stabilize the moving unit 32 in the state of being pulled into the support unit 31, as shown in FIG. It is also possible to stop the second operating body 22 at a position where they are close to each other. Furthermore, the relative position of the first operating body 21 and the second operating body 22 can be stopped at an intermediate position between FIG. 2 and FIG.
　図２に示すように、互いに離れている第１操作体２１と第２操作体２２を親指と人差し指および中指で挟んで押し込むことで操作信号を生成することが可能である。圧縮コイルばね３３のみの弾性力で、図２の初期状態にあるときに、第１操作体２１と第２操作体２２を押すと、比較的弱い力で両操作体２１，２２を互いに接近する方向へ移動させることができる。モータ３４に駆動電流が与えられて、第１操作体２１と第２操作体２２が図２の状態で停止させられているときは、比較的強い力で、第１操作体２１と第２操作体２２をモータ３４の力に対抗して強引に押し込むことで、両操作体２１，２２を互いに接近する方向へ移動させることができる。 As shown in FIG. 2, it is possible to generate an operation signal by pressing the first operating body 21 and the second operating body 22 that are separated from each other with the thumb, the index finger, and the middle finger. When the first operating body 21 and the second operating body 22 are pushed with the elastic force of only the compression coil spring 33 in the initial state of FIG. 2, the two operating bodies 21 and 22 approach each other with a relatively weak force. It can be moved in the direction. When a drive current is applied to the motor 34 and the first operating body 21 and the second operating body 22 are stopped in the state shown in FIG. 2, the first operating body 21 and the second operating body are relatively strong. By forcibly pushing the body 22 against the force of the motor 34, both the operating bodies 21 and 22 can be moved toward each other.
　第１操作体２１と第２操作体２２が互いに接近する方向へ動き出すと、機構ユニット３０では、支持部３１と移動部３２との相対位置の変化が位置検知部３７で検知されて、その検知出力が装置本体１０Ａまたは１０Ｂの制御部１５に与えられる。制御部１５には、支持部３１と移動部３２との相対距離と、両操作体２１，２２に与えるべき反力との関係を示す反力作用線（反力作用係数）に関するデータが保持されている。第１操作体２１と第２操作体２２が押されると、両操作体２１，２２の相対位置に応じて、モータ３４が反力作用線に応じたトルクを発生するように制御される。これによって、第１操作体２１と第２操作体２２に同等の操作反力が作用し、この操作反力が、親指と、主に人差し指および中指に与えられる。 When the first operating body 21 and the second operating body 22 start to move toward each other, in the mechanism unit 30, a change in the relative position between the support unit 31 and the moving unit 32 is detected by the position detection unit 37, and the detection is performed. An output is given to the control unit 15 of the apparatus main body 10A or 10B. The control unit 15 holds data relating to a reaction force action line (reaction force action coefficient) indicating the relationship between the relative distance between the support unit 31 and the moving unit 32 and the reaction force to be applied to the operating bodies 21 and 22. ing. When the first operating body 21 and the second operating body 22 are pressed, the motor 34 is controlled so as to generate torque according to the reaction force action line according to the relative positions of the operating bodies 21 and 22. Accordingly, an equivalent reaction force acts on the first operation body 21 and the second operation body 22, and this operation reaction force is applied to the thumb, mainly the index finger and the middle finger.
　また、手で保持している操作装置２０の姿勢は、配線基板２６に実装された姿勢検知部４２で検知される。姿勢検知部４２の検知出力も、制御部１５に与えられる。制御部１５では、姿勢検知部４２の検知出力で操作体２０の傾きを認識し、これに基づいて表示装置１３の表示画像を制御する。 Also, the attitude of the operating device 20 held by hand is detected by the attitude detector 42 mounted on the wiring board 26. The detection output of the attitude detection unit 42 is also given to the control unit 15. The control unit 15 recognizes the inclination of the operating tool 20 based on the detection output of the posture detection unit 42 and controls the display image of the display device 13 based on this.
＜操作装置２０の操作と画像の表示例＞
　図８に、表示装置１３の表示画面１３ａの表示例を示している。この表示例では、仮想の物体Ｏの画像として野菜のトマトと、手Ｈの画像が表示されている。 <Operation of Operation Device 20 and Display Example of Image>
FIG. 8 shows a display example of the display screen 13 a of the display device 13. In this display example, an image of a vegetable tomato and a hand H is displayed as an image of the virtual object O.
　図１Ａの使用例では、表示画面１３ａを見ながら、右手を表示装置１３の背部に移動させて、操作装置２０を掴む。図１Ｂでは、マスク型本体１１を装着して、片手で操作装置２０を掴む。いずれの使用例もブラインド操作である。 In the example of use in FIG. 1A, the right hand is moved to the back of the display device 13 while looking at the display screen 13a, and the operation device 20 is gripped. In FIG. 1B, the mask type main body 11 is mounted and the operating device 20 is grasped with one hand. Both use examples are blind operations.
　手が操作装置２０を掴んだことは、指で押された第１操作体２１と第２操作体２２が互いに接近したことを位置検知部３７で検知することで認識される。または、姿勢検知部４２で、操作装置２０が動いたことを検知することで認識される。手で操作装置２０が掴まれたことが認識されると、表示画面１３ａに表示されている画像は、手Ｈの画像で物体Ｏの画像を掴んだ状態に変化する。操作装置２０を保持した手を動かすと、その動きは姿勢検知部４２で検知され、制御部１５で表示ドライバー１４が制御されて、表示画面１３ａに表示されている手Ｈの画像と、物体Ｏの画像が実際の手の動きに倣うようにして動く。 The fact that the hand has grasped the operating device 20 is recognized by the position detecting unit 37 detecting that the first operating body 21 and the second operating body 22 pressed by the finger are close to each other. Alternatively, it is recognized by detecting that the operation device 20 has been moved by the posture detection unit 42. When it is recognized that the controller device 20 is grasped by the hand, the image displayed on the display screen 13a changes to a state in which the image of the object O is grasped by the image of the hand H. When the hand holding the operation device 20 is moved, the movement is detected by the posture detection unit 42, the display driver 14 is controlled by the control unit 15, and the image of the hand H displayed on the display screen 13a and the object O are displayed. The image moves to follow the actual hand movement.
　操作装置２０を保持した手で、第１操作体２１と第２操作体２２を押して、互いに接近させると、機構ユニット３０の支持部３１と移動部３２との相対位置の変化が位置検知部３７で検知され、その検知出力が制御部１５に与えられる。制御部１５は、メモリから物体Ｏがトマトであることを想定した反力作用線（反力作用係数）のデータを読み出し、制御部１５は前記反力作用線のデータに基づいて機構ユニット３０のモータ３４を制御する。このときにモータ３４の回転力で第１操作体２１と第２操作体２２に与えられる反力は、あたかも手でトマトを押しているかのように柔らかく設定される。さらに、第１操作体２１と第２操作体２２を、反力に対抗して強く押すと、トマトが潰れたような軽い衝撃が、第１操作体２１と第２操作体２２に与えられる。 When the first operating body 21 and the second operating body 22 are pushed by the hand holding the operating device 20 to approach each other, a change in the relative position between the support unit 31 and the moving unit 32 of the mechanism unit 30 is detected. And the detection output is given to the control unit 15. The control unit 15 reads data of a reaction force action line (reaction force action coefficient) assuming that the object O is a tomato from the memory, and the control unit 15 determines the mechanism unit 30 based on the reaction force action line data. The motor 34 is controlled. At this time, the reaction force applied to the first operating body 21 and the second operating body 22 by the rotational force of the motor 34 is set to be soft as if the tomato is being pushed by the hand. Further, when the first operating body 21 and the second operating body 22 are pressed strongly against the reaction force, a light impact such as the tomato being crushed is given to the first operating body 21 and the second operating body 22.
　モータ３４の回転で、第１操作体２１と第２操作体２２に与えられる反力は、両操作体２１，２２の相対位置に応じた回転力の変化、あるいは、両操作体２１，２２の相対位置に応じた回転振動の強弱、あるいは回転振動の周期の変化などで表現される。この反力の変化により、操作装置２０を掴んでいる手に対して、表示画面１３ａに表示されている物体Ｏをあたかも触っているような感触を与えることができる。 The reaction force applied to the first operating body 21 and the second operating body 22 by the rotation of the motor 34 is a change in rotational force according to the relative positions of the operating bodies 21 and 22 or the operating forces of the operating bodies 21 and 22. It is expressed by the intensity of rotational vibration according to the relative position or a change in the period of rotational vibration. Due to the change in the reaction force, it is possible to give the hand holding the operating device 20 as if it is touching the object O displayed on the display screen 13a.
　例えば、物体Ｏが卵の場合には、第１操作体２１と第２操作体２２を押した初期の反力が強く、両操作体２１，２２をもう少し押すと、反力が急に軽くなって、手の力で第１操作体２１と第２操作体２２を軽く押し込むことができ、これにより、卵が割れたかのような感触を手に与えることができる。あるいは、物体Ｏが金属球であり、両操作体２１，２２を押しても全く動かないように、モータ３４で強い保持力を発揮させてもよいし。または物体Ｏが小動物のように柔らかいものであって、両操作体２１，２２に柔らかな反力を与えることもできる。 For example, when the object O is an egg, the initial reaction force when the first operating body 21 and the second operating body 22 are pressed is strong, and when both the operating bodies 21 and 22 are pressed a little more, the reaction force suddenly becomes lighter. Thus, the first operating body 21 and the second operating body 22 can be lightly pushed in with the power of the hand, thereby giving the hand a feel as if the egg is broken. Alternatively, the object 34 may be a metal sphere, and the motor 34 may exert a strong holding force so that the object O does not move at all even if the operating bodies 21 and 22 are pressed. Alternatively, the object O is soft like a small animal, and a soft reaction force can be applied to both the operating bodies 21 and 22.
１Ａ，１Ｂ　触覚再現装置
１０Ａ，１０Ｂ　装置本体
１１　マスク型本体
１３　表示装置
１３ａ　表示画面
１５　制御部
２０　操作装置
２１　第１操作体
２２　第２操作体
２５　中間ケース
３０　機構ユニット
３１　支持部
３２　移動部
３４　モータ（駆動源）
３７　位置検知部
４２　姿勢検知部
Ｈ　  手
Ｏ　  物体 1A, 1B Tactile reproduction device 10A, 10B Device main body 11 Mask type main body 13 Display device 13a Display screen 15 Control unit 20 Operating device 21 First operating body 22 Second operating body 25 Intermediate case 30 Mechanism unit 31 Supporting unit 32 Moving unit 34 Motor (drive source)
37 Position detection unit 42 Posture detection unit H Hand O Object

Claims (8)

  1. 　互いに接近し離反する第１操作体および第２操作体と、前記第１操作体および前記第２操作体と連動する機構ユニットとを有しており、
    　前記機構ユニットは、支持部と、前記支持部に進退自在に支持された移動部と、前記支持部と前記移動部との相対位置を検知する位置検知部と、前記移動部と前記支持部の双方に力を与える駆動源と、を有しており、
    　前記第１操作体と前記第２操作体の一方に前記支持部が固定され、他方に前記移動部が固定されていることを特徴とする操作装置。     A first operating body and a second operating body that approach and separate from each other, and a mechanism unit that operates in conjunction with the first operating body and the second operating body,
    The mechanism unit includes a support unit, a moving unit supported by the support unit so as to be movable forward and backward, a position detection unit that detects a relative position between the support unit and the moving unit, and the moving unit and the support unit. And a driving source that gives power to both sides,
    The operating device, wherein the support portion is fixed to one of the first operating body and the second operating body, and the moving portion is fixed to the other.
  2. 　前記第１操作体と前記第２操作体を片手で保持して、両操作体を接近させると、両操作体の接近と離反動作が前記位置検知部で検知される請求項１記載の操作装置。 2. The operating device according to claim 1, wherein when the first operating body and the second operating body are held with one hand and the two operating bodies are brought close to each other, the position detector detects an approaching and separating operation of both operating bodies. .
  3. 　前記駆動源から前記移動部と前記支持部に与えられる力が、前記第１操作体と前記第２操作体の双方に作用する請求項１または２記載の操作装置。 3. The operating device according to claim 1, wherein a force applied from the driving source to the moving unit and the supporting unit acts on both the first operating body and the second operating body.
  4. 　前記第１操作体と前記第２操作体は、外形が同じ形状である請求項１ないし３のいずれかに記載の操作装置。 The operating device according to any one of claims 1 to 3, wherein the first operating body and the second operating body have the same outer shape.
  5. 　前記第１操作体と前記第２操作体は、外形が半球形状である請求項４記載の操作装置。 The operating device according to claim 4, wherein the first operating body and the second operating body have a hemispherical outer shape.
  6. 　前記第１操作体と前記第２操作体との間に、両ケースが互いに離れたときに、両ケースの隙間を覆う中間ケースが設けられている請求項１ないし５のいずれかに記載の操作装置。 The operation according to any one of claims 1 to 5, wherein an intermediate case is provided between the first operating body and the second operating body so as to cover a gap between the two cases when the two cases are separated from each other. apparatus.
  7. 　請求項１ないし６のいずれかに記載の前記操作装置と、制御部と、表示装置とを有し、
    　前記表示装置に、物体の画像と手の画像とが表示され、
    　前記操作装置を保持している手の動きが前記位置検知部で検知されると、その検知出力に基づいて、前記手の画像が変化することを特徴とする触覚再現装置。     It has the operation device according to any one of claims 1 to 6, a control part, and a display device,
    An image of an object and an image of a hand are displayed on the display device,
    When the movement of the hand holding the operating device is detected by the position detection unit, the image of the hand changes based on the detection output.
  8. 　前記表示装置に表示されている前記物体の画像が前記手の画像に与える反力を模した力が、前記駆動源から前記第１操作体と前記第２操作体に与えられる請求項７記載の触覚再現装置。 The force imitating a reaction force that the image of the object displayed on the display device gives to the image of the hand is applied from the drive source to the first operating body and the second operating body. Tactile reproduction device.
PCT/JP2017/008443 2016-08-31 2017-03-03 Operation device and tactile sensation reproduction device using operation device WO2018042718A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07219704A (en) * 1994-02-02 1995-08-18 Namco Ltd Virtual world expression device and game machine
JP2001282448A (en) * 2000-03-30 2001-10-12 Rikogaku Shinkokai Three-dimensional input device
JP2005267174A (en) * 2004-03-18 2005-09-29 National Institute Of Advanced Industrial & Technology Ball type touch device
JP2008113719A (en) * 2006-11-01 2008-05-22 Sony Computer Entertainment Inc Controller
JP2011110156A (en) * 2009-11-25 2011-06-09 Mega Chips Corp Game system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07219704A (en) * 1994-02-02 1995-08-18 Namco Ltd Virtual world expression device and game machine
JP2001282448A (en) * 2000-03-30 2001-10-12 Rikogaku Shinkokai Three-dimensional input device
JP2005267174A (en) * 2004-03-18 2005-09-29 National Institute Of Advanced Industrial & Technology Ball type touch device
JP2008113719A (en) * 2006-11-01 2008-05-22 Sony Computer Entertainment Inc Controller
JP2011110156A (en) * 2009-11-25 2011-06-09 Mega Chips Corp Game system

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