WO2018097176A1

WO2018097176A1 - Tactile sensation presenting device

Info

Publication number: WO2018097176A1
Application number: PCT/JP2017/042000
Authority: WO
Inventors: 佐藤　邦生; 高井　大輔; 譲川名; 萩原　康嗣; ▲すすむ▼ 舘; 孝太南澤; 克成佐藤
Original assignee: アルプス電気株式会社; 国立大学法人東京大学; 学校法人慶應義塾; 国立大学法人奈良女子大学
Priority date: 2016-11-28
Filing date: 2017-11-22
Publication date: 2018-05-31
Also published as: JP2020016436A

Abstract

Provided is a tactile sensation presenting device equipped with a vibration element for presenting vibration information and a hot-cold presentation element for presenting hot and cold information, wherein the hot-cold presentation element is disposed in a plurality upon the vibration element, a contact region which can be touched by a manipulating body is provided to at least two hot-cold presentation elements from among the plurality of hot-cold presentation elements, and a tactile sensation which includes the vibration information and at least two pieces of the hot and cold information is presented to the manipulating body that touches the contact region.

Description

Tactile presentation device

The present invention relates to a tactile sense presentation device that presents temperature / cooling information and vibration information when an operating body such as a finger comes into contact.

Patent Document 1 discloses a device in which a tactile sensation presenting device that generates vibration such as a voice coil or a piezoelectric body, a Peltier element that exhibits temperature sensation, and a sensor that measures skin temperature are placed on a pedestal. . The tactile presentation device and the sensor are directly placed on the pedestal, and the Peltier element is placed on the tactile presentation device. From this configuration, it is said that it is possible to realize a tactile sensation transmission device with higher expressive power by adding not only vibration but also the influence of temperature to the presentation of tactile sensation.

Japanese Patent Laid-Open No. 7-72018

However, since the apparatus described in Patent Document 1 has a configuration in which one Peltier element is placed on the tactile presentation device, the Peltier element is presented for one tactile presentation due to vibration generated in the tactile presentation device. Since only one thermal sensation can be done, for example, to express the texture, temperature sensation corresponding to the actual item, and the movement and deformation of the item when force is applied, the fineness of the tactile sensation is shown. , Richness of expressiveness, accuracy, etc. were insufficient.

Therefore, an object of the present invention is to provide a tactile sensation presentation apparatus that can realize a finer tactile sensation presentation.

In order to solve the above problems, a tactile sensation presentation apparatus according to the present invention is a tactile sensation presentation apparatus including a vibration element that presents vibration information and a temperature / cooling presentation element that presents temperature / cooling information. A plurality of elements are arranged on the vibration element, and among the plurality of temperature / cooling presentation elements, at least two of the temperature / cooling presentation elements have a contact area where the operation body can come into contact, and the operation body contacting the contact area vibrates. A tactile sensation including at least two pieces of thermal information together with information is presented.

Thereby, since it becomes possible to combine a plurality of temperature / cool information with respect to the vibration information, it is possible to realize a finer tactile sensation presentation. It is preferable to provide a control unit for controlling, and the control unit presents at least two types of temperature / cooling information.

As a result, the thermal response speed can be increased, the presentation speed of the temperature / cool information can be increased, and the temperature / cool information and the vibration information can be controlled according to the contact state of the operating body such as a finger with the Peltier element. Can do. In addition, power efficiency can be increased and the presentation speed can be increased by using multiple Peltier elements compared to changing the presentation of warmth information to the presentation of cooling information in one Peltier element. can do.

In the tactile sensation presentation apparatus according to the present invention, it is preferable that the temperature-cooling presentation element has four temperature-cooling presentation elements and the contact area is divided into four, and at least a part of the temperature-cooling presentation element is arranged in each divided area.

Here, each of the temperature / cooling presentation elements is arranged so as to be opposed to two axes orthogonal to each other, and the pair of temperature / cooling presentation elements at the point-symmetrical positions presents the same information and each pair of temperature / temperature presentation elements. The cold presentation element preferably presents different information. Furthermore, it is preferable that one pair of temperature-cooling presentation elements presents a warm feeling among the pair of temperature-cooling presentation elements, and the other pair of temperature-cooling presentation elements presents a cold feeling.

Thereby, since the temperature / cooling information can be presented from each of the four temperature / cooling presentation elements with respect to the operating body touching the contact area, it is possible to present a tactile sensation that is more detailed and expressive.

Here, one pair of temperature-cooling presentation elements (temperature stimulation part) presents a warm touch, and the other pair of temperature-cooling presentation elements (cold stimulation part) presents a cold feeling, so that no pain sensation occurs. Pain sensation occurs even with a combination of stimuli (20 ° C and 40 ° C, etc.) (Thermal Grill Illusion). For example, by presenting a strong thermal stimulus and a cold stimulus of a certain degree or more, such as 4 ° C./s or more, simultaneously from each of the above-described warm stimulus portion and cold stimulus portion, it is possible to generate pain.

In the tactile sense presentation device according to the present invention, the temperature / cooling presentation element is preferably a Peltier element.

This makes it possible to present hot / cold information efficiently.

In the tactile sense presentation device according to the present invention, a conductive member is disposed between each of the plurality of Peltier elements and the vibration element, and the conductive member is generated when each of the plurality of Peltier elements presents temperature / cooling information. It is preferable to include a heat conduction member that conducts heat to the vibration element and a vibration conduction member that conducts vibration information presented by the vibration element to each of the plurality of Peltier elements.

Thereby, the vibration information presented by the vibration element can be efficiently transmitted to the Peltier element, and further, heat generated by the Peltier element can be efficiently conducted to increase the heat radiation efficiency.

In the tactile sense presentation device according to the present invention, it is preferable that the conductive member has adhesiveness, and the Peltier element is coupled to the vibration element.

Thereby, the vibration information presented by the vibration element can be reliably transmitted to the Peltier element, and the heat generated by the Peltier element can be efficiently dissipated.

In the tactile sensation presentation apparatus according to the present invention, the vibration element preferably includes a metal cover, and the conductive member preferably combines the metal cover and the Peltier element.

This makes it possible to dissipate the heat generated in the Peltier element more efficiently.

According to the present invention, it is possible to provide a tactile sensation presentation apparatus that can realize a finer tactile sensation presentation.

It is a side view showing a schematic structure of a tactile sense presentation device concerning a 1st embodiment of the present invention. It is a top view of the tactile sense presentation apparatus shown in FIG. It is a functional block diagram of a tactile sense presentation device according to an embodiment of the present invention. It is a side view which shows schematic structure of the tactile sense presentation apparatus which concerns on 2nd Embodiment of this invention. It is a top view of the tactile sense presentation apparatus shown in FIG.

<First Embodiment>
Hereinafter, a tactile sense presentation device according to a first embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a side view showing a schematic configuration of a haptic presentation device 10 according to the first embodiment of the present invention, FIG. 2 is a plan view of the haptic presentation device 10 shown in FIG. 1, and FIG. It is a functional block diagram. In the following description, a state in which the lower side is viewed from the upper side in the Z direction may be referred to as a plan view, and the Z direction is a direction orthogonal to the XY plane.

As shown in FIG. 1, in the tactile sense presentation device 10, a vibration element 12 is placed on a base material 11 made of a synthetic resin material, and a first Peltier element 14 is placed on the vibration element 12 via a conductive member 13. And the second Peltier element 15 are mounted. The substrate 11 may be a push button or the like provided on the operating device. The control unit 20 outputs a control signal to each of the vibration element 12 and the first Peltier

elements

14 and 15.

The vibration element 12 has a configuration in which, for example, the vibrator is supported in a freely vibrated manner by an elastic member such as a leaf spring in a metal case (cover). A coil is wound around the vibrator, and a magnet facing the coil is fixed in the case. By applying an alternating current as a control signal from the control unit 20 to the coil, the vibrator vibrates, whereby the vibration element 12 can present predetermined vibration information. That is, the vibration element 12 presents predetermined vibration information under the control of the control unit 20. The control signal supplied from the control unit 20 can control vibration intensity, period, and the like.

Here, as the vibration element 12, the vibrator may be formed of a magnet, and a coil facing the vibrator may be fixed in the case. Alternatively, the vibration element 12 may be formed of a piezoelectric element and vibrate according to a control signal from the control unit 20.

The conductive member 13 is an adhesive tape material such as a double-sided tape, and is disposed on the upper surface of the vibration element 12. The conductive member 13 is fixed on the vibration element 12 by the adhesive property and is disposed thereon. The first Peltier element 14 and the second Peltier element 15 are fixed. By the conductive member 13, the vibration element 12 and the first Peltier element 14 are coupled to each other, and the vibration element 12 and the second Peltier element 15 are coupled to each other.

The conductive member 13 conducts heat generated when each of the first Peltier element 14 and the second Peltier element 15 presents thermal information as a heat conductive member to the metal case of the vibration element 12 (FIG. 1). Down arrow). Moreover, the conductive member 13 conducts the vibration information presented by the vibration element 12 to each of the first Peltier element 14 and the second Peltier element 15 as an oscillation conduction member (upward arrow in FIG. 1).

As described above, since the conductive member 13 has adhesiveness and vibration conductivity, vibration information presented by the vibration element 12 can be efficiently transmitted to the surfaces of the first Peltier element 14 and the second Peltier element 15. Furthermore, since the conductive member 13 has thermal conductivity, the heat generated in the first Peltier element 14 and the second Peltier element 15 can be diffused by itself, and vibration can be generated from the back surfaces of the first Peltier element 14 and the second Peltier element 15. The heat dissipation efficiency can be improved by efficiently conducting heat to the metal case of the element 12 and using the metal case as a heat sink.

The first Peltier element 14 and the second Peltier element 15 are respectively disposed on the conductive member 13. These Peltier elements use, for example, the heat transfer of the Peltier effect when a direct current is applied from the control unit 20 to the joint between two metal plates facing each other in the Z direction. The amount of heat at the surfaces of the two metal plates changes. By controlling the direction and amount of current to be applied, it is possible to make the finger touching the first Peltier element 14 or the second Peltier element 15 feel a warm temperature or a cold temperature, and present the temperature / cool information. Can do. Here, the surface 14a of the first Peltier element 14 and the surface 15a of the second Peltier element 15 constitute a contact portion that can be contacted by a finger as an operating body.

The first Peltier element 14 and the second Peltier element 15 are arranged on the conductive member 13 so as to be independent from each other. This makes it less susceptible to the temperature / cooling information presented by the neighboring Peltier elements, and can efficiently present the temperature / cooling information. In order to make it less susceptible to influence from the neighboring Peltier element, it is preferable to arrange a heat insulating material between the first Peltier element 14 and the second Peltier element 15.

As shown in FIG. 2, each of the first Peltier element 14 and the second Peltier element 15 is connected to the control unit 20 and is temperature-controlled independently of each other. For example, each of the Peltier elements provides warm / cool information such that a finger touching one of the first Peltier element 14 and the second Peltier element 15 feels a warm temperature, and a finger touching the other feels a cold temperature. Can be presented. Further, in both the first Peltier element 14 and the second Peltier element 15, it is possible to make the finger touching this feel a warm temperature and make the temperatures different from each other.

In addition, three or more Peltier elements may be provided. For example, by arranging each element in a matrix and controlling the temperature, it is possible to present temperature / cooling information having a desired temperature gradient.

Here, a Peltier element as a thermal stimulation unit that gives a warm stimulus so that the touched hand or finger (operating body) feels a warm temperature, and a Peltier as a cold stimulus unit that gives a cold stimulus so as to feel a cold temperature When the elements are arranged side by side, pain sensation occurs even with a combination of temperature stimuli (20 ° C. and 40 ° C., etc.) that does not cause pain sensation (Thermal Grill Illusion). For example, by presenting a strong thermal stimulus and a cold stimulus of a certain degree or more, such as 4 ° C./s or more, simultaneously from each of the above-described warm stimulus portion and cold stimulus portion, it is possible to generate pain.

Further, a temperature sensor is provided on each of the surface 14a of the first Peltier element 14 and the surface 15a of the second Peltier element 15, and the surface temperatures of the first Peltier element 14 and the second Peltier element 15 are measured. It is preferable to adjust the control signal given to each of the first Peltier element 14 and the second Peltier element 15 based on the difference between the first Peltier element 14 and the second Peltier element 15.

Furthermore, the skin temperature (adaptation temperature) of the finger before the warming / stimulation due to contact with the Peltier element affects the sensation of warmth and coolness (threshold). Here, the adaptation temperature means that when a warm feeling is desired, the higher the temperature of the fingertip that is in contact with the Peltier element, the higher the temperature of the fingertip, the easier to feel the warmth. The lower the temperature, the easier it is to feel cool. In other words, the finger is more likely to feel a warm stimulus as the adaptation temperature is higher, and the finger is more likely to feel a cold stimulus as the adaptation temperature is lower. Therefore, when the skin temperature of the finger is accurately grasped by a temperature detection element (not shown), and the skin temperature is raised or lowered by driving the Peltier element based on the result, the warm and cold stimulus is clearly clarified with a small temperature change. Can be presented. For example, if a fingertip temperature is 32 ° C, the user feels warm when the fingertip temperature is 34 ° C higher by 2 ° C, and 1 ° C when the fingertip temperature is 35 ° C. Feeling "warm" just by high 36 ° C. On the other hand, if the fingertip temperature is 32 ° C, the user feels “cold” if the fingertip temperature is 31 ° C, which is 1 ° C lower, and 0.5 ° C if the fingertip temperature is 29 ° C. It feels “cold” just by setting the temperature to 28.5 ° C.

As shown in FIG. 2, in a plan view, the outer shape of the region in which the first Peltier element 14 and the second Peltier element 15 are provided substantially matches the contact area A corresponding to the operation surface of the finger as the operation body. Yes. Here, the operation surface of the finger is the belly of the finger, and the contact area A corresponds to a range where the belly of the finger contacts the first Peltier element 14 and the second Peltier element 15. The contact area A is divided into two areas, an area A1 corresponding to the first Peltier element 14 and an area A2 corresponding to the second Peltier element 15. These regions A1 and A2 are provided so as to be symmetric with respect to the YZ plane including the Y axis and Z axis orthogonal to each other. With this configuration, when a finger as an operating body contacts the surface 14 a of the first Peltier element 14, the finger also contacts the surface 15 a of the second Peltier element 15 at the same time.

Here, the regions A1 and A2 and the corresponding first Peltier element 14 and second Peltier element 15 have a symmetrical shape with respect to the YZ plane, but the shape and area may be different from each other. Good.

Further, looking at the entire region where the first Peltier element 14 and the second Peltier element 15 are provided, it is most preferable that the contact area A has the same area and outer shape, but the finger is the same as the first Peltier element 14 and the first Peltier element 14. The contact area A may be wider if the two Peltier elements 15 are simultaneously accessible, or the area where the first Peltier element 14 and the second Peltier element 15 are larger. Also good. However, it is preferable that the area where the finger contacts each of the first Peltier element 14 and the second Peltier element 15 is 50% or more.

Next, the operation of the tactile presentation device 10 and an example of tactile presentation will be described.

First, the control unit 20 uses a temperature / cooling control signal for causing the first Peltier element 14 and the second Peltier element 15 to present temperature / cooling information as a tactile control signal, and a vibration for causing the vibration element 12 to present vibration information. And a control signal.

The heating / cooling control signal is given to the first Peltier element 14 and the second Peltier element 15, respectively. The amount of heat changes on the surface 14a of the first Peltier element 14 and the surface 15a of the second Peltier element 15, and the temperature felt by the finger is changed. Go up and down. The presentation of the temperature / cooling information in the first Peltier element 14 and the presentation of the temperature / cooling information in the second Peltier element 15 are controlled independently of each other, and both may be performed simultaneously or separately. good. A finger touching one of the first Peltier element 14 and the second Peltier element 15 may feel a warm temperature, and the other may feel a cold temperature, or both may have the same temperature sensation. Since the first Peltier element 14 and the second Peltier element 15 can present hot / cold information with different hot / cold temperatures, it is possible to increase the thermal response speed as a whole and increase the presentation speed of the hot / cold information. In other words, the power efficiency can be increased by using a plurality of Peltier elements as compared to the case of changing from the presentation of warmth information to the presentation of cooling information in one Peltier element, and the presentation speed can be increased. The speed can be increased.

For example, when the surface 14a of the first Peltier element 14a is set to a high temperature, the amount of heat moves from the back surface of the first Peltier element 14 in contact with the vibration element 12 toward the surface 14a. In the second Peltier element 15, when the surface 15a is set to a low temperature, the amount of heat moves from the surface 15a to the back surface in the second Peltier element 15. At this time, the amount of heat moves from the back surface of the second Peltier element 15 to the metal case of the vibration element 12, and the amount of heat moves from the metal case to the back surface of the first Peltier element 14. It becomes easy to set the temperature difference of the surface with the element 15. In this way, the first Peltier element 14 and the second Peltier element 15 have one surface set to a high temperature (warm side) and the other surface set to a low temperature (cold side), thereby changing the temperature of the surface. It is possible to increase the response speed of the change of the temperature felt by the finger.

On the other hand, the vibration control signal is given to the vibration element 12, and vibration is generated in the vibration element 12 according to this signal. This vibration is given to the finger via the first Peltier element 14 and via the second Peltier element 15. . The presentation of temperature / cooling information in the first Peltier element 14 and the second Peltier element 15 and the presentation of vibration information in the vibration element 12 may be performed simultaneously or separately.

Further, the control unit 20 can be connected to an external application or a measurement side system via an interface (not shown). Even in the state connected to the application or the measurement side system, the temperature / cooling information in the first Peltier element 14 and the second Peltier element 15 and the vibration information in the vibration element 12 can be changed.
Second Embodiment
FIG. 4 is a side view showing a schematic configuration of the haptic presentation device 110 according to the second embodiment, and FIG. 5 is a plan view of the haptic presentation device 110 shown in FIG.

In the tactile sense presentation device 110 according to the second embodiment, four

Peltier elements

114, 115, 116, and 117 are provided as temperature / cooling presentation elements. These Peltier elements are fixed on one vibration element 112 via a conductive member 113. The vibration element 112 and the conductive member 113 have the same configuration as the vibration element 12 and the conductive member 13 of the first embodiment, and the vibration element 112 is mounted on the substrate 111 having the same configuration as the substrate 11 of the first embodiment. Is placed.

As shown in FIG. 5, in a plan view, the outer shape of the area where the four

Peltier elements

114, 115, 116, 117 are provided substantially coincides with the contact area B corresponding to the operation surface of the finger as the operating body. Yes. This contact area B corresponds to a range where the belly of the finger, which is the operation surface of the finger, contacts the four

Peltier elements

114, 115, 116, 117. The contact region B includes a region B1 corresponding to the first Peltier element 114, a region B2 corresponding to the second Peltier element 115, a region B3 corresponding to the third Peltier element 116, and a region corresponding to the fourth Peltier element 117. It is divided into four with B4. These regions B1 to B4 are regions formed when the surface of the vibration element 112 is divided into four parts by the X axis and the Y axis orthogonal to each other, and the four

Peltier elements

114, 115, 116, 117 are X It arrange | positions so that an axis | shaft and a Y-axis may be opposed. With this configuration, the finger as the operation body simultaneously contacts the four

Peltier elements

114, 115, 116, and 117.

Here, the four

Peltier elements

114, 115, 116, 117 corresponding to the respective regions B1 to B4 preferably have a symmetric shape with respect to the YZ plane or the XZ plane, but the shapes and areas thereof are mutually different. It may be different.

In addition, when the entire region in which the four

Peltier elements

114, 115, 116, and 117 are provided, it is most preferable that the contact area B has the same area and outer shape, but the four

Peltier elements

114, 115, and 116 are the same. If the finger can contact all the regions provided with 117 simultaneously, the contact region B may be wider, and the region provided with the four

Peltier elements

114, 115, 116, 117 may be wider. Also good. However, it is preferable that the area where the finger contacts each of the four

Peltier elements

114, 115, 116, 117 is 50% or more.

In driving the tactile sensation presentation device 110 having the above-described configuration, for example, the same temperature / cooling information is presented by a pair (first pair) of two

Peltier elements

114 and 116 that are point-symmetric in a plan view. The same temperature-cooling information is also presented in a pair (second pair) of two

Peltier elements

115 and 117 that are in another point-symmetrical relationship. In this case, different temperature information is presented in the first pair and the second pair. For example, in the first pair, the

surface

114a, 116a of the two

Peltier elements

114, 116 is presented with warm feeling information to give the touched finger a warm feeling, and in the second pair, the two Peltier elements 115, The

surface

115a, 117a of 117 is presented with cold feeling information to give the touched finger a cold feeling. Note that the Peltier element corresponding to the first pair may be presented with cooling sensation information, and the Peltier element corresponding to the second pair may be presented with warm sensation information. Moreover, warm information may be presented in both of the two pairs, and the presented temperatures may be different. Similarly, cooling information may be presented in both of the two pairs, and the presented temperatures may be different. Further, the present invention is not limited to the above two pairs, and the four

Peltier elements

114, 115, 116, 117 may be arbitrarily combined, or the heating / cooling information may be presented under separate conditions one by one.

Although the present invention has been described with reference to the above embodiment, the present invention is not limited to the above embodiment, and can be improved or changed within the scope of the purpose of the improvement or the idea of the present invention.

As described above, the tactile sensation presenting apparatus according to the present invention is useful in that a finer tactile sensation can be realized.

This patent application claims priority based on Japanese Patent Application No. 2016-230443 filed on November 28, 2016, and the entire contents of Japanese Patent Application No. 2016-230443 are incorporated herein by reference. To do.

DESCRIPTION OF SYMBOLS 10 Tactile sense presentation apparatus 11 Base material 12 Vibration element 13 Conductive member 14 1st Peltier element 14a Surface (contact part)
15 2nd Peltier element 15a Surface (contact part)
20 Control unit

Claims

A vibration element for presenting vibration information;
A tactile sensation presentation device comprising a temperature / cooling presentation element for presenting temperature / cooling information,
A plurality of the temperature-cooling presentation elements are arranged on the vibration element,
Among the plurality of temperature-cooling presentation elements, a contact region where the operating body can contact at least two temperature-cooling presentation elements,
The tactile sensation providing apparatus, wherein the tactile sensation including the vibration information and the at least two pieces of hot / cold information is presented to the operating body in contact with the contact area.
A control unit for controlling the vibration information and the temperature / cooling information;
The tactile sense presentation device according to claim 1, wherein the control unit presents at least two types of temperature / cooling information in the contact area.
3. The device according to claim 1, wherein the contact region is divided into four, and at least a part of the temperature / cooling presentation element is arranged in each of the divided regions. The tactile sense presentation device according to claim 1.
Each of the temperature / cooling presentation elements is arranged so as to be opposed to two axes orthogonal to each other, and the pair of temperature / cooling presentation elements at the point symmetry position presents the same information, and each of the pair of temperature / cooling presentation elements. The tactile sense presentation device according to any one of claims 1 to 3, wherein the presentation element presents different information.
The tactile sensation presentation device according to claim 4, wherein one pair of temperature / cooling presentation elements presents a warm touch, and the other pair of temperature / cooling presentation elements presents a cold feeling among the pair of temperature / cooling presentation elements.
The tactile sense presentation device according to any one of claims 1 to 5, wherein the temperature / cooling presentation element is a Peltier element.
A conductive member is disposed between each of the plurality of Peltier elements and the vibration element,
The conductive member includes a heat conductive member that conducts heat generated when each of the plurality of Peltier elements exhibits temperature / cooling information to the vibration element, and vibration information exhibited by the vibration element. The tactile sensation presentation apparatus according to claim 6, further comprising: a vibration conducting member that conducts to each of the vibration conducting members.
The tactile sense presentation device according to claim 7, wherein the conductive member has adhesiveness, and the Peltier element is coupled to the vibration element.
The tactile sensation presentation apparatus according to any one of claims 7 to 8, wherein the vibration element includes a metal cover, and the conductive member couples the metal cover and the Peltier element.