WO2018070275A1 - Dispositif de présentation tactile - Google Patents

Dispositif de présentation tactile Download PDF

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Publication number
WO2018070275A1
WO2018070275A1 PCT/JP2017/035538 JP2017035538W WO2018070275A1 WO 2018070275 A1 WO2018070275 A1 WO 2018070275A1 JP 2017035538 W JP2017035538 W JP 2017035538W WO 2018070275 A1 WO2018070275 A1 WO 2018070275A1
Authority
WO
WIPO (PCT)
Prior art keywords
tactile
biological information
presentation
occupant
unit
Prior art date
Application number
PCT/JP2017/035538
Other languages
English (en)
Japanese (ja)
Inventor
博満 濱島
健司 鳴海
Original Assignee
株式会社東海理化電機製作所
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 株式会社東海理化電機製作所 filed Critical 株式会社東海理化電機製作所
Publication of WO2018070275A1 publication Critical patent/WO2018070275A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/024—Detecting, measuring or recording pulse rate or heart rate
    • A61B5/0245—Detecting, measuring or recording pulse rate or heart rate by using sensing means generating electric signals, i.e. ECG signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/04—Hand wheels
    • B62D1/06—Rims, e.g. with heating means; Rim covers
    • 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 presentation device, and more particularly to a tactile presentation device that performs tactile presentation using biological information.
  • This tactile sense presentation device is provided on an elastic film that expands and contracts in an in-plane direction, on a main surface side of the elastic film, a contacted portion connected to the elastic film, and on the other main surface side of the elastic film. And a plate-like portion supported by an external structure connected to the stretchable film in a state where bending stress is generated from the stretchable film.
  • the stretchable film has elasticity in the normal direction of the main surface, and since the contacted part is provided on the stretchable film, the contacted part is actually pushed in by the user's finger or the like. It is possible to give the user a feeling of pushing the contacted portion.
  • the plate-like portion vibrates in the thickness direction due to the vibration of the stretch film in the in-plane direction
  • the plate-like portion is supported by the external structure, so not only the plate-like portion but also the stretch film has a main surface normal.
  • Directional vibration is caused.
  • the contacted part works as a weight against the vibration in the main surface normal direction of the stretchable film, so that this amplifies the vibration in the main surface normal direction of the stretchable film so that the contacted part is Can be vibrated greatly in the normal direction of the main surface of the stretchable film.
  • the contacted part generally vibrates in the normal direction of the main surface of the stretchable film, so that variation in vibration amount at each position of the contacted part can be reduced. Therefore, it is said that when a user's finger or the like comes into contact with the contacted portion, a large tactile feedback can be reliably transmitted to the user.
  • the haptic presentation device of Patent Document 1 can reliably transmit a large haptic feedback to the operation of the operator, but there is a problem whether the strength of the haptic feedback is suitable for the operator. That is, there is a problem that the operator is not aware if the strength of the tactile sensation is small, and conversely, if the strength of the tactile sensation is large, the operator may feel uncomfortable.
  • An object of the present invention is to provide a haptic presentation device that can present haptic feedback suitable for an operator.
  • the present invention provides the following tactile sense presentation devices [1] to [8] as an embodiment.
  • Tactile sensation presentation means for presenting tactile sensation to a vehicle occupant, biological information detection means for detecting biological information of the occupant, and the tactile presentation so that the detection result of the biological information detection means falls within a prescribed range.
  • a tactile sensation presentation apparatus comprising: a control unit configured to control the strength of presentation to the occupant by means.
  • the control unit presents the tactile sensation so that the difference between the intensity signal indicating the intensity of the tactile sensation presenting means and the feedback signal from the biological information detecting means via the feedback coefficient converges within the specified range.
  • the tactile sense presentation device according to any one of [1] to [6], which is controlled.
  • a haptic presentation device capable of presenting haptic feedback suitable for an operator.
  • FIG. 1 is a schematic diagram showing an example of the inside of a vehicle on which a tactile sense presentation device according to an embodiment of the present invention is mounted.
  • FIG. 2 is a block configuration diagram showing a schematic configuration of the tactile sense presentation device according to the embodiment of the present invention.
  • FIG. 3 is a flowchart showing the operation of the tactile sensation presentation apparatus according to the embodiment of the present invention.
  • FIG. 4 is a block diagram of the control system showing the configuration of the tactile sense presentation device according to the embodiment of the present invention.
  • FIG. 5A is a graph showing a waveform signal of a presentation amplitude in tactile presentation by vibration.
  • FIG. 5B is a graph showing a waveform signal of a presentation amplitude after control.
  • the tactile sense presentation device 1 includes a vibration generating unit 10 as tactile sense presenting means for performing tactile sense presentation to an occupant 90 (operator) of a vehicle 8, and biometric information detection for detecting biometric information of the occupant 90.
  • a biological information detection unit 20 as a means, and a control unit 30 that controls the intensity of presentation to the occupant 90 by the vibration generation unit 10 so that the biological information detection unit 20 is within a specified range. Yes.
  • the steering 12 of the vehicle 8 is equipped with a vibration generating unit 10 that presents vibrations for tactile feedback to the grasped occupant 90.
  • the driver's seat 81 on which the occupant 90 is seated is equipped with a biological information detection unit 20 for detecting biological information of the occupant 90.
  • the occupant 90 can grasp the operation state of the in-vehicle device corresponding to the vibration presentation by receiving the vibration presentation from the vibration generation unit 10. The strength of the vibration presentation is appropriate based on the biological information of the occupant 90.
  • the tactile presentation device 1 includes a vibration generation unit 10 as a tactile presentation unit.
  • the tactile sense presenting means is for notifying the operating state of the in-vehicle device by tactile feedback to the occupant 90.
  • the vibration generating unit 10 for presenting vibration is described as being provided in the steering wheel 12, but other means such as light, sound, etc. may be used, and vibration, light, It may be a combination of two or more selected from sounds and the like.
  • the mounting location of the vibration generating unit 10 is not limited to the steering 12 and may be, for example, a touch pad or a driver's seat seat disposed on the center console.
  • a vibration actuator using a piezoelectric element mounted inside the steering 12 can be used.
  • the vibration actuator is, for example, a monomorph type piezoelectric actuator including a metal plate and a piezoelectric element.
  • This monomorph type piezoelectric actuator is a vibration actuator having a structure that bends with only one piezoelectric element.
  • the material for the piezoelectric element include lithium niobate, barium titanate, lead titanate, lead zirconate titanate (PZT), lead metaniobate, and polyvinylidene fluoride (PVDF).
  • a bimorph piezoelectric actuator in which two piezoelectric elements are provided on both surfaces of a metal plate may be used.
  • a vibration actuator using a laminated piezoelectric element can also be used.
  • the tactile sensation providing apparatus 1 includes a biological information detecting unit 20.
  • the biological information detection means is feedback information for detecting biological information and controlling the presentation strength of the tactile sense presenting means as indicating the degree of tension of the object (occupant 90) that performs tactile feedback.
  • the biological information detection unit 20 detects at least one biological information such as a heart rate, blood pressure, respiration, skin potential, skin current, skin temperature, and the like as indicating the degree of tension of the occupant 90.
  • the heart rate is used to see the change in the degree of tension of the occupant 90.
  • This biological information detection unit functions as a tension level estimation sensor.
  • a method for detecting a heart rate as biological information a method of detecting a heart rate in a non-contact manner by a minute movement of an occupant 90 measured by an RF (high frequency) transmission / reception unit 22 is known.
  • the heart rate can be measured by measuring minute displacements such as the chest and legs of the occupant 90 and removing running vibration and body movement.
  • the vehicle 8 includes an RF (high frequency) transmission / reception unit 22 in a driver seat 81.
  • the RF transmitting / receiving unit 22 measures the heart rate by transmitting a high-frequency radar and receiving the Doppler radar reflected by the occupant 90.
  • the control unit 30 includes, for example, a CPU (Central Processing Unit) that performs operations and processing on acquired data according to a stored program, a RAM (Random Access Memory) that is a semiconductor memory, a ROM (Read Only Memory), and the like. Microcomputer.
  • the RAM is used as a storage area for temporarily storing calculation results and the like.
  • the ROM stores, for example, a program for operating the control unit 30 and a threshold value Sth.
  • the control unit 30 includes an interface unit for signal input / output processing.
  • control unit 30 is connected to the vibration generating unit 10 and performs vibration control using the vibration drive signal Sv.
  • biological information such as the heart rate of the occupant 90 is taken from the RF transmission / reception unit 22 described above, and is output to the control unit 30 as a biological information signal Sh.
  • the control unit 30 When the operation of the tactile sense presentation device 1 starts, the control unit 30 outputs a vibration drive signal Sv to the vibration generation unit 10 to generate vibration. Thereby, the steering 12 is vibrated to present the vibration to the occupant 90 (Step 1).
  • the control unit 30 acquires the biological information signal Sh by the biological information detection unit 20 (Step 2).
  • This biological information signal Sh is a heart rate.
  • the control unit 30 determines whether or not the biological information signal Sh is greater than or equal to the threshold value Sth (Step 3).
  • the threshold value Sth is set to a predetermined heart rate suitable for driving, for example, the heart rate of the occupant 90. This threshold value Sth (heart rate) can be set arbitrarily.
  • Step 3: Yes When the biological information signal Sh is equal to or greater than the threshold value Sth, the control unit 30 proceeds to Step 4 (Step 3: Yes), and proceeds to Step 5 when the biological information signal Sh is less than the threshold value Sth (Step 3: No).
  • the control unit 30 weakens the vibration intensity (Step 4). That is, the control unit 30 decreases the vibration drive signal Sv and weakens the vibration intensity generated by the vibration generation unit 10. Thereby, when the tension
  • control unit 30 increases the vibration intensity (Step 5). That is, the control unit 30 increases the vibration drive signal Sv to increase the vibration intensity generated by the vibration generation unit 10. As a result, the vibration intensity can be increased when the occupant 90 has low tension or no response.
  • the tactile sensation presentation apparatus 1 controls the vibration intensity generated by the vibration generator 10 so that the detection result of the biological information detection means is within the specified range by performing the above-described series of flows. can do.
  • control is performed so that the biological information signal Sh of the occupant 90 converges to the threshold value Sth and falls within the specified range.
  • the control unit 30 reduces the strength of presentation to the occupant 90 by the tactile sense presenting means when the detection result by the biological information detecting means exceeds the specified range.
  • the control part 30 enlarges the presentation intensity
  • vibration is input from the vibration generating unit 10, and a vibration presentation as a control amount is fed back via the biological information detection unit 20.
  • the biological information signal Sh that is an output of the biological information detection unit 20 is fed back by a feedback coefficient K.
  • the control unit 30 presents the vibration so that the difference between the signal Sv of the vibration generating unit 10 and the feedback signal K ⁇ Sv from the biological information detecting unit 20 converges within a specified range.
  • a presenting amplitude based on the signal Sv is A1, and as shown in FIG. 5A, the vibration generating unit 10 is driven from time t1 to time t3 to perform vibration presenting.
  • the control unit 30 presents an appropriate presentation for the occupant's tension in the period from time t2 to t3 through the transition period from time t1 to t2, as shown in FIG. 5B, by the feedback control shown in FIG. The vibration can be presented with the amplitude A2.
  • the operation of the tactile sensation presentation apparatus according to the embodiment of the present invention is capable of discrete feedback control as shown in FIG. 3, and continuous as shown in FIGS. 4, 5A, and 5B. Feedback control is also possible.
  • feedback control can be performed not on the continuous vibration waveform as shown in FIGS. 5A and 5B but also on the vibration waveform sequence discretized in time series.
  • a tactile sense presentation device 1 according to an embodiment of the present invention includes a vibration generating unit 10 as tactile sense presenting means for presenting tactile sense to an occupant 90 of a vehicle 8 and biometric information detecting means for detecting biometric information of the occupant 90. And a control unit 30 for controlling the intensity of presentation to the occupant 90 by the vibration generation unit 10 so that the detection result of the biological information detection unit 20 falls within a specified range.
  • the tactile sense presentation device 1 includes the biological information detection unit 20 as a feedback element, the strength of vibration presentation by the vibration generation unit 10 can be made suitable based on the biological information of the occupant 90.
  • the biological information detection unit 20 detects at least one biological information such as a heart rate, blood pressure, respiration, skin potential, skin current, skin temperature, and the like as indicating the degree of tension of the occupant 90.
  • the heart rate is used to see the change in the degree of tension of the occupant 90.
  • This biological information detection unit functions as a tension level estimation sensor. Thereby, the tactile sense presentation intensity
  • in order to provide appropriate tactile sensation presentation strength there is an effect that the occupant is not aware of tactile feedback and is not surprised by the strength and does not hinder driving.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Cardiology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Mechanical Engineering (AREA)
  • Physiology (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Signal Processing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • User Interface Of Digital Computer (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Steering Controls (AREA)
  • Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
  • Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)

Abstract

L'invention concerne un dispositif de présentation tactile 1 qui comprend : une unité de génération de vibrations 10 en tant que moyen de présentation tactile qui réalise une présentation tactile pour un passager d'un véhicule ; une unité de détection d'informations corporelles 20 en tant que moyen de détection d'informations corporelles qui détecte des informations corporelles du passager ; et une unité de commande 30 qui commande l'intensité de la présentation au passager par l'unité de génération de vibrations 10 de telle sorte que les résultats de détection provenant de l'unité de détection d'informations corporelles 20 sont dans une plage définie.
PCT/JP2017/035538 2016-10-11 2017-09-29 Dispositif de présentation tactile WO2018070275A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016200345A JP2018063490A (ja) 2016-10-11 2016-10-11 触覚呈示装置
JP2016-200345 2016-10-11

Publications (1)

Publication Number Publication Date
WO2018070275A1 true WO2018070275A1 (fr) 2018-04-19

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PCT/JP2017/035538 WO2018070275A1 (fr) 2016-10-11 2017-09-29 Dispositif de présentation tactile

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WO (1) WO2018070275A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005270570A (ja) * 2004-03-26 2005-10-06 Canon Inc 生体情報モニタ装置
JP2012093867A (ja) * 2010-10-26 2012-05-17 Denso Corp 報知システム
JP2015027551A (ja) * 2006-11-01 2015-02-12 レスメッド センサー テクノロジーズ リミテッド 心肺パラメータモニタ用システム
WO2016143415A1 (fr) * 2015-03-12 2016-09-15 ソニー株式会社 Appareil de traitement d'informations, procédé de traitement d'informations et programme

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005270570A (ja) * 2004-03-26 2005-10-06 Canon Inc 生体情報モニタ装置
JP2015027551A (ja) * 2006-11-01 2015-02-12 レスメッド センサー テクノロジーズ リミテッド 心肺パラメータモニタ用システム
JP2012093867A (ja) * 2010-10-26 2012-05-17 Denso Corp 報知システム
WO2016143415A1 (fr) * 2015-03-12 2016-09-15 ソニー株式会社 Appareil de traitement d'informations, procédé de traitement d'informations et programme

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JP2018063490A (ja) 2018-04-19

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