WO2018143418A1 - Dispositif de présentation de sensation tactile - Google Patents

Dispositif de présentation de sensation tactile Download PDF

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Publication number
WO2018143418A1
WO2018143418A1 PCT/JP2018/003625 JP2018003625W WO2018143418A1 WO 2018143418 A1 WO2018143418 A1 WO 2018143418A1 JP 2018003625 W JP2018003625 W JP 2018003625W WO 2018143418 A1 WO2018143418 A1 WO 2018143418A1
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WO
WIPO (PCT)
Prior art keywords
vibration
elements
temperature
peltier element
peltier
Prior art date
Application number
PCT/JP2018/003625
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English (en)
Japanese (ja)
Inventor
佐藤　邦生
譲 川名
高井　大輔
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アルプス電気株式会社
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Filing date
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Application filed by アルプス電気株式会社 filed Critical アルプス電気株式会社
Publication of WO2018143418A1 publication Critical patent/WO2018143418A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • 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
    • 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
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means

Definitions

  • the present invention relates to a tactile presentation device.
  • 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.
  • an object of the present invention is to provide a tactile sensation presentation apparatus that can realize a finer tactile sensation presentation.
  • a tactile sensation presentation device has a contact area that is touched by an operating body, and is disposed on the plurality of vibration elements and the plurality of vibration elements.
  • a plurality of temperature-cooling presentation elements that present information, and a vibration control unit that independently controls the plurality of vibration elements.
  • FIG. 1 It is a side view showing a schematic structure of a tactile sense presentation device according to an 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 the tactile sense presentation device shown in FIG. It is a top view which shows schematic structure of the tactile sense presentation apparatus which concerns on a modification. It is a top view of the tactile sense presentation apparatus shown in FIG.
  • FIG. 1 is a side view showing a schematic configuration of a haptic presentation device 10 according to an embodiment of the present invention
  • FIG. 2 is a plan view of the haptic presentation device 10 shown in FIG. 1
  • FIG. 3 is a functional block diagram of the haptic presentation device 10. It is.
  • the direction of the arrow Z indicates the height direction of the tactile presentation device 10, and in the following description, viewing from above the tactile presentation device 10 in the direction opposite to the Z direction may be referred to as a plan view.
  • the tactile sensation presentation apparatus 10 includes a base material 11 made of a synthetic resin material and two tactile sensation generation units 20 and 30 disposed on the base material 11.
  • the tactile sense generating units 20 and 30 are spaced apart from each other.
  • the tactile sensation generating unit 20 includes a first vibration element 21 placed on the base material 11, and a hot and cold presentation placed on the first vibration element 21 via a conductive member 22.
  • a first Peltier element 23 as an element and a first detector 24 provided on the surface 23a of the first Peltier element 23 are included.
  • the tactile sensation generating unit 30 includes a second vibration element 31 placed on the substrate 11 and a second Peltier element serving as a temperature / cooling presentation element placed on the second vibration element 31 via a conductive member 32. 33 and a second detector 34 provided on the surface 33a of the second Peltier element 33.
  • the base material 11 may be a push button provided in the operation device.
  • generation part mounted on the base material 11 is mutually independent, the number and arrangement
  • the detection results by the first and second detection units 24 and 34 are output to the control unit 12, and the control unit 12 includes the first vibration element drive circuit 25, the first Peltier element drive circuit 26, the first Control signals independent of each other are output to each of the two vibration element driving circuit 35 and the second Peltier element driving circuit 36.
  • Each of the first and second vibrating elements 21 and 31 includes, for example, metal cases or covers (hereinafter “covers”) 21a and 31a, and the vibrator is an elastic member such as a leaf spring inside the cases 21a and 31a. Is supported so as to freely vibrate. A coil is wound around the vibrator, and a magnet facing the coil is fixed in the cases 21a and 31a.
  • the control unit 12 as the vibration control unit gives independent control signals to the first vibration element drive circuit 25 and the second vibration element drive circuit 35
  • the first vibration element drive circuit 25 generates the first vibration element.
  • An alternating current as a drive signal is applied to the coil in the element 21, and the second vibration element drive circuit 35 applies an alternating current as a drive signal to the coil in the second vibration element 31.
  • the vibrators of the first vibration element 21 and the second vibration element 31 vibrate, and the first and second vibration elements 21 and 31 can present vibration information independent of each other. That is, the first and second vibrating elements 21 and 31 are controlled independently of each other by the control of the control unit 12, and each presents predetermined vibration information.
  • the control signals given to the first vibration element drive circuit 25 and the second vibration element drive circuit 35 by the control unit 12 are independent signals and can be different from each other.
  • the drive signals given to the first vibration element 21 and the second vibration element 31 based on different control signals are, for example, signals having different drive pulse frequencies, pulse widths, and amplitudes.
  • the second vibration element 31 is driven under different driving conditions. As a result, different tactile sensations are presented on the surfaces of the tactile sensation generating units 20 and 30, and a finger that touches them simultaneously can present a tactile sensation that is fine and expressive that cannot be obtained with a single device. It becomes.
  • control signal given to the first vibration element drive circuit 25 by the control unit 12 can be changed according to the detection result in the first detection unit 24, and the control signal given to the second vibration element drive circuit 35 is The second detection unit 34 can change the detection result.
  • the vibrator may be formed of a magnet, and a coil facing the vibrator may be fixed in the case.
  • the first and second vibrating elements 21 and 31 may be configured by piezoelectric elements, and may vibrate according to a control signal from the control unit 12.
  • the conductive members 22 and 32 are each an adhesive tape material such as a double-sided tape.
  • the conductive member 22 is disposed so as to cover the upper surface of the first vibration element 21, and the conductive member 32 is disposed so as to cover the upper surface of the second vibration element 31.
  • the conductive members 22 and 32 are fixed on the first and second vibrating elements 21 and 31 by the adhesive property, and the first Peltier element 23 and the second Peltier element 33 disposed on the first and second vibrating elements 21 and 31, respectively. Fix each one.
  • the first vibration element 21 and the first Peltier element 23 are coupled to each other by the conductive member 22, and the second vibration element 31 and the second Peltier element 33 are coupled to each other by the conductive member 32.
  • the conductive members 22 and 32 are heat conductive members that conduct heat generated when the first Peltier element 23 presents temperature / cooling information to the metal case 21a of the first vibration element 21, and the second Peltier element.
  • the heat generated when the element 33 presents the temperature / cooling information is conducted to the metal case 31a of the second vibration element 31, respectively.
  • the conduction members 22 and 32 conduct vibration information presented by the first and second vibration elements 21 and 31 to the first Peltier element 23 and the second Peltier element 33, respectively, as vibration conduction members.
  • the conductive members 22 and 32 have adhesiveness and vibration conductivity, the surface of the first detection unit 24 (the upper surface in the Z direction) and the second detection through the first Peltier element 23 and the second Peltier element 33.
  • the vibration information presented by the first and second vibrating elements 21 and 31 is efficiently transmitted to the surface of the portion 34.
  • the conductive members 22 and 32 have thermal conductivity, the conductive members 22 and 32 can diffuse the heat generated by the first Peltier element 23 and the second Peltier element 33 and also the first Peltier element 23 and the second Peltier element.
  • Heat is efficiently conducted from the back surface (the lower surface in the Z direction) of the element 33 to the first and second vibrating elements 21 and 31, particularly the metal cases 21 a and 31 a, and the metal cases 21 a and 31 a are used as heat sinks.
  • the heat dissipation efficiency can be increased by using it.
  • the first Peltier element 23 and the second Peltier element 33 serving as the temperature-cooling presentation element are respectively connected to the joint portion of two metal plates facing each other in the Z direction by driving the first Peltier element driving circuit 26 or the second Peltier element.
  • the heat transfer of the Peltier effect when a direct current is applied from the circuit 36 is utilized, and the amount of heat on the surfaces of the two metal plates changes according to the current direction.
  • the current as the drive signal given from the first Peltier element drive circuit 26 to the first Peltier element 23 and the current as the drive signal given from the second Peltier element drive circuit 36 to the second Peltier element 33 are Are generated independently of each other on the basis of the control signals given by By controlling the direction and amount of current applied to the first Peltier element 23 and the second Peltier element 33, the finger touching the first Peltier element 23 or the second Peltier element 33 feels a warm or cold temperature. It is possible to present warm and cool information with high expressiveness to the finger touching these simultaneously.
  • thermoelectric element using the Thomson effect
  • an element that presents warmth information for example, a heater is used. It can also be used.
  • the first vibration element 21 and the second vibration element 31 are arranged on the base material 11 so as to be independent from each other.
  • the second detectors 34 are also independent of each other and are spaced apart from each other.
  • each of the first vibration element 21 and the second vibration element 31 is less susceptible to the vibration information generated by the adjacent vibration element, so that vibration information can be presented efficiently.
  • each of the first Peltier element 23 and the second Peltier element 33 is less affected by the temperature / cooling information presented by the neighboring Peltier element, and therefore can efficiently present the temperature / cooling information. it can.
  • An elastic material is disposed between the first vibration element 21 and the second vibration element 31 in order to make it less susceptible to influence from the adjacent vibration element or Peltier element, and the first Peltier element 23 and the second Peltier element 33 It is preferable to arrange a heat insulating material between them. Or you may arrange
  • the first Peltier element 23 is connected to the control unit 12 via a first Peltier element driving circuit 26, and the second Peltier element 33 is connected to the control unit via a second Peltier element driving circuit 36.
  • the first Peltier element 23 and the second Peltier element 33 are temperature-controlled independently from each other by the control unit 12 as a temperature control unit.
  • the first Peltier element 23 is provided with warm / cool information that causes a finger touching one of the first Peltier element 23 and the second Peltier element 33 to feel a warm temperature, and a finger touching the other to feel a cold temperature.
  • the second Peltier element 33 can be made to feel different warm temperatures from the fingers touching the first Peltier element 23 and the second Peltier element 33.
  • 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
  • a Peltier as a cold stimulus unit that gives a cold stimulus so as to feel a cold temperature
  • the skin temperature (adaptation temperature) of the finger before touching the hot and cold stimulus due to contact with the Peltier element affects the sensation of warmth and coolness (threshold).
  • the adaptation temperature is such a temperature. 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.
  • 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.
  • a temperature detection element not shown
  • 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.
  • 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.
  • 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.
  • a first detection unit 24 and a second detection unit 34 are fixed to the surface 23a of the first Peltier element 23 and the surface 33a of the second Peltier element 33, respectively.
  • the 1st and 2nd detection parts 24 and 34 have a thin structure so that the heat of the 1st Peltier element 23 and the 2nd Peltier element 33 can be transmitted to the finger as an operation object.
  • the 1st detection part 24 and 2nd detection part 34 constitute the contact part in which the upper surface can contact a finger as an operation object.
  • the 1st detection part 24 and the 2nd detection part 34 have the board
  • the resin film substrate is thin so as to facilitate heat conduction.
  • the first detection unit 24 and the second detection unit 34 are electrostatic detection units, each of which is a self-capacitance detection type in which a single electrode layer is provided on the substrate, or a plurality of substrates that are insulated from each other on the substrate. It is a mutual capacitance detection type provided with an electrode layer.
  • the finger has touched the first detection unit 24 or the second detection unit 34 based on a change in capacitance between the electrode and the finger as the operation body or a change in capacitance between the plurality of electrodes. .
  • the mutual capacitance detection type it is also possible to detect which coordinate position of the first detection unit 24 or the second detection unit 34 is touched by the finger.
  • the detection results of the first detection unit 24 and the second detection unit 34 are output to the control unit 12, respectively.
  • the control unit 12 is configured to display the vibration information based on the detection result with the first vibration element driving circuit 25.
  • a control signal is given to each of the second vibration element drive circuit 35, and a control signal is given to each of the first Peltier element drive circuit 26 and the second Peltier element drive circuit 36 in order to present the temperature / cool information.
  • a tactile sensation including vibration information generated by driving the first vibration element 21 and temperature information generated by the first Peltier element 23 is presented to the finger touching the first detection unit 24, and
  • the tactile sensation including the vibration information generated by driving the second vibration element 31 and the temperature / cooling information generated by the second Peltier element 33 is presented to the finger touching the second detection unit 34.
  • the 1st detection part 24 and the 2nd detection part 34 may be comprised with the variable resistance sensor etc. from which resistance value changes, when a finger contacts. Further, when the base material 11 is provided on a push button provided in the operating device, pressing the push button detects that the push button has been pressed by operating a switch or a sensor inside the operating device. It may be a thing. In this case, since the switches and sensors inside the controller device function as a detection unit, even if the first detection unit 24 and the second detection unit 34 on the surface of the first Peltier element 23 and the second Peltier element 33 are omitted. Good.
  • the temperature sensor is provided in the 1st detection part 24 and the 2nd detection part 34, respectively, the surface temperature of the 1st Peltier element 23 and the 2nd Peltier element 33 is measured, and based on the difference of the measured temperature and preset temperature It is preferable to adjust the control signal given to each of the first Peltier element 23 and the second Peltier element 33.
  • the outer shape of the region where the first detection unit 24 and the second detection unit 34 are provided substantially matches the contact region A corresponding to the operation surface of the finger as the operation body.
  • the operation surface of the finger is the stomach of the finger
  • the contact area A corresponds to a range where the stomach of the finger contacts both the first detection unit 24 and the second detection unit 34.
  • the second detection unit 34 also contacts the finger at the same time. It is most preferable that the area where the first detection unit 24 and the second detection unit 34 are provided has the same area and outer shape as the contact region A, but the fingers are the first detection unit 24 and the second detection unit.
  • the contact area A may be wider, or the areas of the first detection unit 24 and the second detection unit 34 may be wider as long as both can be touched simultaneously. However, it is preferable that the area where the finger contacts each of the first detection unit 24 and the second detection unit 34 is 50% or more.
  • the control unit 12 When it is detected that a finger has touched the first detection unit 24 and the second detection unit 34, the control unit 12 causes each of the first Peltier element 23 and the second Peltier element 33 to present temperature / cooling information.
  • the first vibration is applied to the first Peltier element driving circuit 26 and the second Peltier element driving circuit 36 so that the first vibration element 21 and the second vibration element 31 exhibit vibration information.
  • a vibration control signal is given to the element drive circuit 25 and the second vibration element drive circuit 35.
  • first Peltier element drive circuit 26 and the second Peltier element drive circuit 36 drive signals are respectively generated in accordance with the supplied temperature / cooling control signal and are supplied to the first Peltier element 23 and the second Peltier element 33, respectively.
  • the amount of heat changes on the surface 23a of the first Peltier element 23 and the surface 33a of the second Peltier element 33, whereby the temperature felt by the finger through the first detection unit 24 and the second detection unit 34 increases and decreases. To do.
  • a drive signal is generated according to the given vibration control signal, and is provided to the first vibration element 21 and the second vibration element 31, respectively.
  • vibration is generated in the first vibration element 21 and the second vibration element 31, and the vibration in the first vibration element 21 passes through the conductive member 22, the first Peltier element 23, and the first detection unit 24, and The vibration in the second vibration element 31 is applied to the finger through the conductive member 32, the second Peltier element 33, and the second detection unit 34, respectively.
  • presentation of vibration information in the first vibration element 21, presentation of temperature / cooling information in the first Peltier element 23, presentation of vibration information in the second vibration element 31, and presentation of temperature / cooling information in the second Peltier element 33 are controlled independently of each other in accordance with a control signal from the control unit 12. Moreover, presentation of these vibration information and temperature / cool information may all be performed simultaneously, or may be performed separately or in combination of two or more.
  • temperature information presented by the first Peltier element 23 and the second Peltier element 33, or the first vibration element 21 may be changed.
  • the vibration information presented by the second vibration element 31 may be changed. For example, as the contact time becomes longer, the raised temperature is further raised, the lowered temperature is further lowered, or the vibration intensity is further increased. Further, the movement of the finger is detected, and the frequency and duty ratio of vibration are changed or the temperature is changed based on the direction and distance of the movement.
  • the control unit 12 can be connected to an external application or a measurement side system, for example, a display device, via the interface I / F.
  • the display device When connected to the display device, the information on the object that is the target of the simulated contact operation is called on the display device, and either or both of the first detection unit 24 and the second detection unit 34 are instructed.
  • temperature / cooling information in the first Peltier element 23 and the second Peltier element 33 and vibration information in the first vibration element 21 and the second vibration element 31 are appropriately selected according to the detection result.
  • a signal corresponding to the strength and time of finger contact may be given from the control unit 12 to the display device, and the image of the object displayed on the display device may be changed based on this signal.
  • the configuration in which one Peltier element is arranged on one vibration element in each of the tactile sense generation units 20 and 30 is shown. It can also be set as the structure which has arrange
  • FIG. 4 is a side view showing a schematic configuration of a haptic presentation device 50 according to a modification
  • FIG. 5 is a plan view of the haptic presentation device 50 shown in FIG.
  • the two vibration elements 61 and 81 are disposed on the base material 51 so as to be independent from each other.
  • the base material 51 and the vibration elements 61 and 81 have the same configuration as the base material 11 and the first and second vibration elements 21 and 31 of the above embodiment.
  • Two conductive members 62 and 72 are arranged on the vibration element 61 so as to be separated from each other.
  • a Peltier element 63 is placed on the conductive member 62, and a detection unit 64 is provided on the surface 63 a of the Peltier element 63.
  • a Peltier element 73 is placed on the conductive member 72, and a detection unit 74 is provided on the surface 73 a of the Peltier element 73.
  • a Peltier element 83 is placed on the conductive member 82, and a detection unit 84 is provided on the surface 83 a of the Peltier element 83. Is provided.
  • a Peltier element 93 is placed on the conductive member 92, and a detection unit 94 is provided on the surface 93 a of the Peltier element 93.
  • the conductive members 62, 72, 82, and 92 have the same configuration as the conductive members 22 and 32 of the above embodiment, and the Peltier elements 63, 73, 83, and 93 are the first and second Peltier elements of the above embodiment.
  • the detection units 64, 74, 84, and 94 have the same configuration as the first and second detection units 24 and 34 of the above embodiment.
  • the outer shape of the area where the detection units 64, 74, 84, and 94 are provided substantially matches the contact area B corresponding to the operation surface of the finger as the operating body.
  • the operation surface of the finger is the belly of the finger
  • the contact region B corresponds to a range in which the belly of the finger contacts the detection units 64, 74, 84, and 94.
  • a finger touches one of the detection units it touches the other detection unit at the same time.
  • the area provided with the detection units 64, 74, 84, and 94 has the same area and outer shape as the contact region B, but the finger is attached to all the detection units 64, 74, 84, and 94.
  • the contact area B may be wider, or the areas of the detection units 64, 74, 84, and 94 may be wider. However, it is preferable that the area where the finger contacts each of the detection units 64, 74, 84, 94 is 50% or more.
  • a tactile sensation presentation device has a contact area that is touched by an operating body, and is disposed on the plurality of vibration elements and the plurality of vibration elements.
  • a plurality of temperature-cooling presentation elements that present information, and a vibration control unit that independently controls the plurality of vibration elements.
  • vibration information from multiple vibration elements and thermal information from multiple thermal display elements can be presented simultaneously to the operating body touching the contact area, realizing a more complex and detailed tactile display. can do.
  • the tactile sensation presentation apparatus it is preferable that one or a plurality of warm / cool presentation elements are arranged on each of the plurality of vibration elements. Furthermore, it is preferable that one hot / cold presentation element is disposed on each of the plurality of vibration elements.
  • the plurality of vibration elements are driven under different driving conditions.
  • the plurality of warm / cool presentation elements are Peltier elements.
  • the tactile sensation presentation apparatus further includes a conductive member disposed between the plurality of Peltier elements and the plurality of vibration elements, and each of the plurality of Peltier elements is heated and cooled. It is preferable to include a heat conductive member that conducts heat generated when information is presented to the plurality of vibration elements, and a vibration conduction member that conducts vibration information presented by the plurality of vibration elements to the plurality of Peltier elements.
  • vibration information from the vibration element can be efficiently transmitted to the surface of the Peltier element, and the heat radiation effect can be enhanced by efficiently conducting heat from the Peltier element to the vibration element. Presentation is possible.
  • the conductive member has adhesiveness, and a plurality of Peltier elements are coupled to a plurality of vibration elements.
  • 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.
  • each of the plurality of vibration elements includes a metal cover, and the conductive member combines the metal cover and the plurality of Peltier elements.
  • the tactile sensation providing apparatus is useful in that a finer tactile sensation can be realized.

Abstract

L'invention concerne un dispositif de présentation de sensation tactile comprenant : une région de contact avec laquelle un corps d'actionnement vient en contact ; une pluralité d'éléments de vibration disposés dans la région de contact ; une pluralité d'éléments de présentation de température qui sont disposés sur la pluralité d'éléments de vibration et qui présentent des informations de température ; et une unité de commande de vibration qui commande indépendamment chaque élément de la pluralité d'éléments de vibration.
PCT/JP2018/003625 2017-02-06 2018-02-02 Dispositif de présentation de sensation tactile WO2018143418A1 (fr)

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JP2017-019192 2017-02-06
JP2017019192A JP2020057030A (ja) 2017-02-06 2017-02-06 触覚呈示装置

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WO2018143418A1 true WO2018143418A1 (fr) 2018-08-09

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
FR3116923A1 (fr) * 2020-12-01 2022-06-03 Commissariat A L'energie Atomique Et Aux Energies Alternatives Dispositif haptique multimodal

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JPH0772018A (ja) * 1993-09-03 1995-03-17 Olympus Optical Co Ltd 温覚呈示装置
JP2003091233A (ja) * 2001-09-17 2003-03-28 Toru Saito 画像表示装置および画像入力装置
JP2005234881A (ja) * 2004-02-19 2005-09-02 Nec Corp 触圧覚提示携帯端末及び方法
JP2007026297A (ja) * 2005-07-20 2007-02-01 Ntt Docomo Inc 振動制御装置、温度制御装置及び移動制御装置
WO2013073234A1 (fr) * 2011-11-17 2013-05-23 Ｎｅｃトーキン株式会社 Dispositif vibrant
WO2014046279A1 (fr) * 2012-09-24 2014-03-27 京セラ株式会社 Dispositif vibrant et instrument électronique
WO2016036443A1 (fr) * 2014-09-04 2016-03-10 Intel Corporation Rétroaction contextuelle tridimensionnelle
WO2017006670A1 (fr) * 2015-07-08 2017-01-12 アルプス電気株式会社 Dispositif de reproduction de sensations tactiles

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0772018A (ja) * 1993-09-03 1995-03-17 Olympus Optical Co Ltd 温覚呈示装置
JP2003091233A (ja) * 2001-09-17 2003-03-28 Toru Saito 画像表示装置および画像入力装置
JP2005234881A (ja) * 2004-02-19 2005-09-02 Nec Corp 触圧覚提示携帯端末及び方法
JP2007026297A (ja) * 2005-07-20 2007-02-01 Ntt Docomo Inc 振動制御装置、温度制御装置及び移動制御装置
WO2013073234A1 (fr) * 2011-11-17 2013-05-23 Ｎｅｃトーキン株式会社 Dispositif vibrant
WO2014046279A1 (fr) * 2012-09-24 2014-03-27 京セラ株式会社 Dispositif vibrant et instrument électronique
WO2016036443A1 (fr) * 2014-09-04 2016-03-10 Intel Corporation Rétroaction contextuelle tridimensionnelle
WO2017006670A1 (fr) * 2015-07-08 2017-01-12 アルプス電気株式会社 Dispositif de reproduction de sensations tactiles

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3116923A1 (fr) * 2020-12-01 2022-06-03 Commissariat A L'energie Atomique Et Aux Energies Alternatives Dispositif haptique multimodal
EP4009145A1 (fr) * 2020-12-01 2022-06-08 Commissariat à l'Energie Atomique et aux Energies Alternatives Dispositif haptique multimodal
US11693481B2 (en) 2020-12-01 2023-07-04 Commissariat A L'energie Atomique Et Aux Energies Alternatives Multimodal haptic device

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