WO2018151039A1 - Dispositif de présentation de sensations tactiles - Google Patents

Dispositif de présentation de sensations tactiles Download PDF

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Publication number
WO2018151039A1
WO2018151039A1 PCT/JP2018/004584 JP2018004584W WO2018151039A1 WO 2018151039 A1 WO2018151039 A1 WO 2018151039A1 JP 2018004584 W JP2018004584 W JP 2018004584W WO 2018151039 A1 WO2018151039 A1 WO 2018151039A1
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WO
WIPO (PCT)
Prior art keywords
load
actuator
region
operation surface
presentation device
Prior art date
Application number
PCT/JP2018/004584
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English (en)
Japanese (ja)
Inventor
泰弘 小野
誠也 村瀬
治彦 橋本
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 WO2018151039A1 publication Critical patent/WO2018151039A1/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
    • 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
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
    • 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
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
    • 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 sense presentation device.
  • a tactile transmission device comprising: an input unit; a plurality of vibration units provided in the input unit; and a control unit that vibrates a part of the plurality of vibration units according to the pressed input position. It is known (for example, refer to Patent Document 1).
  • This tactile sensation transmission device uses a piezoelectric element as a vibration part, and is configured to detect a load applied to the input part by the piezoelectric element.
  • the haptic transmission device disclosed in Patent Document 1 detects a load and presents vibrations using a plurality of piezoelectric elements. Therefore, if the piezoelectric element is made smaller in order to reduce the size, the load detection accuracy decreases or vibrations occur. May not be able to provide sufficient tactile feedback.
  • An object of the present invention is to provide a haptic presentation device capable of presenting sufficient haptic feedback while suppressing a decrease in load detection accuracy even if the size is reduced.
  • a tactile sensation presentation apparatus includes a detection unit that detects a position of an operation finger that is in contact with an operation surface, an actuator that detects a load applied to the operation surface and vibrates the operation surface, and an operation surface.
  • a load threshold determined for each region based on a load detected by adding a reference load to each of a plurality of defined regions, and a drive signal for each region for driving the actuator.
  • a control unit that determines an operation based on a load threshold value of the region in which the detection is detected and drives the actuator with a drive signal corresponding to the region to present tactile feedback.
  • a tactile sensation presentation apparatus capable of presenting sufficient tactile feedback while suppressing a decrease in load detection accuracy even if the apparatus is downsized.
  • FIG. 1A is a top view showing a tactile sensation presentation apparatus according to an embodiment.
  • 1B is a cross-sectional view of the cross section taken along line I (b) -I (b) in FIG. 1A as viewed from the direction of the arrow.
  • FIG. 2A is an explanatory diagram illustrating an actuator of the tactile sense presentation device according to the embodiment.
  • FIG. 2B is a block diagram illustrating the tactile sense presentation device.
  • FIG. 2C is an explanatory diagram illustrating a database included in the tactile sense presentation device.
  • FIG. 3 is a flowchart showing the operation of the tactile sense presentation device according to the embodiment.
  • a tactile sensation presentation apparatus is defined by a detection unit that detects the position of an operation finger that touches the operation surface, an actuator that detects a load applied to the operation surface and vibrates the operation surface, and the operation surface. It has a load threshold determined for each area based on the load detected by adding a reference load to each of the multiple areas, and a drive signal for each area for driving the actuator, and is detected by the operating finger.
  • a control unit that determines an operation based on the load threshold value of the region, and drives the actuator with a drive signal corresponding to the region to present tactile feedback.
  • This tactile sensation presentation apparatus performs load detection and vibration presentation by a single actuator, and sets a load threshold for each region and suppresses position variation in order to suppress variation in load detection due to a difference in position where an operation is detected. In order to suppress variation in tactile feedback due to the difference between the two, a drive signal is determined for each region. Therefore, this tactile sensation presentation apparatus can present sufficient tactile feedback while suppressing a decrease in load detection accuracy even when the tactile sensation presentation apparatus is downsized.
  • FIG. 1A is a top view showing a tactile sensation presentation apparatus according to an embodiment
  • FIG. 1B is a cross-sectional view taken along line I (b) -I (b) in FIG.
  • 2A is an explanatory diagram illustrating an actuator of the haptic presentation device according to the embodiment
  • FIG. 2B is a block diagram illustrating the haptic presentation device
  • FIG. 2C is an explanatory diagram illustrating a database included in the haptic presentation device. is there. Note that, in each drawing according to the embodiment described below, the ratio between figures may be different from the actual ratio.
  • main signals and information flows are indicated by arrows.
  • the tactile sense presentation device 1 is arranged, for example, on the steering of a vehicle, and is configured to operate an electronic device mounted on the vehicle.
  • the tactile sense presentation device 1 is a small operation device that is operated by an operation finger such as a thumb while holding a steering wheel.
  • positioning of the tactile sense presentation apparatus 1 is not limited to this, For example, you may arrange
  • the tactile sensation presentation apparatus 1 is configured to detect a load applied to the operation unit 2 and present tactile feedback by vibration. However, even if the operator performs a push operation on the operation unit with the same load, the voltage output by the actuator differs depending on the region, and the sensation felt by the operator's finger differs even when tactile feedback is presented in the same manner.
  • the tactile sensation presentation apparatus 1 suppresses the variation in the load detection and the variation in the sense of feeling tactile feedback.
  • the tactile sense presentation device 1 is added to the operation surface 200 and the touch sensor 3 as a detection unit that detects the position of the operation finger in contact with the operation surface 200.
  • the actuator 4 that detects the generated load and vibrates the operation surface 200, and a load determined for each region based on the load detected by adding a reference load to each of the plurality of regions defined on the operation surface 200. It has a threshold and a drive signal S3 for each area for driving the actuator 4, and determines the operation based on the load threshold value of the area where the operation finger is detected, and by the drive signal S3 corresponding to the area
  • a control unit 8 that drives the actuator 4 to present tactile feedback.
  • the operation surface 200 is, for example, the surface of the operation unit 2 shown in FIGS. 1A and 1B.
  • the operation surface 200 is defined by a central region (central region 27) and a plurality of regions (upper region 23 to right region 26) located across the central region.
  • the definition of the area of the operation surface 200 is not limited to this, and can be arbitrarily set according to the specification of the tactile sense presentation device 1.
  • the tactile presentation device 1 can instruct the movement of the cursor displayed on the display device, for example, the operator moves the cursor upward by pressing the upper area 23, and moves the cursor downward by pressing the lower area 24. It is possible to move in the left direction by pushing the direction and the left region 25, and in the right direction by pushing the right region 26. For example, when the operator presses the central area 27 while selecting a desired icon or the like with the cursor, execution of the function of the selected icon is determined.
  • the tactile sense presenting apparatus 1 presents tactile feedback imitating a click feeling when a button is pushed.
  • the tactile feedback is not limited to this, and may be a tactile sense indicating that an operation has been accepted.
  • the operation unit 2 includes, for example, a touch sensor 3 and a base unit 20. Moreover, the operation part 2 has the presser 5 between the actuators 4, as shown to FIG. 1B, for example.
  • the load applied to the operation unit 2 acts on the actuator 4 via the pusher 5.
  • the vibration generated by the actuator 4 is transmitted to the operation unit 2 via the pusher 5.
  • the touch sensor 3 is bonded to the base 20.
  • the base 20 is formed in a disk shape using a resin, and the operation surface 200 which is the surface thereof is formed with arrows and characters in the vertical and horizontal directions by printing, laser, or the like. Yes.
  • the base 20 is formed of a transparent resin in which a light-blocking region that blocks light and a light-transmitting region that transmits light are formed on the surface, and a substrate having a light emitting unit is disposed between the touch sensor 3 May be.
  • the transmissive area is illuminated.
  • the operation unit 2 is not limited to a circular shape or a symmetric shape in a top view, and may have another shape.
  • the touch sensor 3 includes a substrate 30 and an electrode unit 31.
  • the touch sensor 3 has a disk shape according to the shape of the operation unit 2.
  • the substrate 30 is, for example, a rigid substrate.
  • the electrode portion 31 of the touch sensor 3 is attached to the front surface 30a side of the substrate 30, and the presser 5 is attached to the back surface 30b side.
  • the touch sensor 3 is, for example, a capacitive touch sensor.
  • the touch sensor 3 is configured to output a detection signal S1 for determining whether at least one of the upper region 23 to the central region 27 defined on the operation surface 200 is in contact with the operation finger. Yes.
  • the electrode unit 31 of the touch sensor 3 includes, for example, detection electrodes having shapes corresponding to the shapes of the upper region 23 to the central region 27.
  • the touch sensor 3 is configured to output a detection signal S1, which is a capacitance signal detected for each region, to the control unit 8.
  • the touch sensor 3 includes a plurality of drive electrodes and a plurality of detection electrodes that intersect and are insulated from the drive electrodes, and the capacitance detected by all combinations of the drive electrodes and the detection electrodes. it may be configured to output to the control unit 8 as a detection signal S 1.
  • the control unit 8 is, for example, determines an area from coordinates the operation finger is detected in the coordinate system set on the operating face 200 on the basis of the detection signal S 1.
  • the upper area 23 is an area surrounded by a dotted line around an upward arrow on the paper surface of FIG. 1A.
  • the lower region 24 is a region surrounded by a dotted line around a downward arrow.
  • the left region 25 is a region surrounded by a dotted line around the left-pointing arrow.
  • the right area 26 is an area surrounded by a dotted line around a right-pointing arrow.
  • the central area 27 is an area surrounded by a dotted circle at the center of the operation unit 2.
  • a circle surrounded by dotted lines having a wider interval than the other dotted lines indicates the outer shape of the actuator 4.
  • the above-described pusher 5 is formed in a cylindrical shape with, for example, resin, and transmits the load of the operation unit 2 to the actuator 4.
  • the presser 5 is configured such that a surface in contact with a piezoelectric element 40 described later is smaller than the surface of the piezoelectric element 40.
  • the pusher 5 may have a hemispherical end portion in contact with the actuator 4.
  • the actuator 4 is a unimorph type piezoelectric actuator provided with a piezoelectric element 40 and a metal shim 41 as shown in FIG. 1B, for example.
  • the actuator 4 may be, for example, a bimorph type piezoelectric actuator in which two piezoelectric elements are provided on both surfaces of the metal shim 41. In this case, the load is detected by the piezoelectric element in contact with the pusher 5, and only the back side piezoelectric element or both piezoelectric elements vibrate.
  • the actuator 4 is attached to an attachment portion 14 formed on the support portion 10.
  • the attachment portion 14 has a shape into which the metal shim 41 of the actuator 4 is fitted.
  • the mounting portion 14 is formed with a recess 12 that allows the actuator 4 to bend due to the load applied to the operation surface 200 and the vibration applied to the operation surface 200.
  • the recess 12 is formed on the bottom surface of the mounting portion 14.
  • the piezoelectric element 40 has, for example, a disk shape, and is configured by sandwiching a piezoelectric body between an upper electrode and a lower electrode.
  • Examples of the material of the piezoelectric body include lithium niobate, barium titanate, lead titanate, lead zirconate titanate (PZT), lead metaniobate, and polyvinylidene fluoride (PVDF).
  • the piezoelectric body is, for example, a laminated piezoelectric body formed by laminating films formed using these materials.
  • the piezoelectric body is configured to be polarized in the thickness direction so that the piezoelectric constant is d33, and the output is increased with respect to deformation in the thickness direction.
  • the upper electrode is electrically connected to the control unit 8 through wiring.
  • the lower electrode is electrically connected to the control unit 8 through the metal shim 41 and wiring.
  • the metal shim 41 has a disk shape with a radius larger than that of the piezoelectric element 40.
  • the metal shim 41 is formed of, for example, conductive phosphor bronze or stainless steel.
  • the actuator 4 when a load is applied to the operation surface 200, the load is applied to the piezoelectric element 40 by the pusher 5 via the operation unit 2 and the piezoelectric element 40 is deformed.
  • the piezoelectric element 40 outputs a voltage corresponding to this deformation. Further, when a voltage is applied between the upper electrode and the lower electrode, the piezoelectric element 40 is deformed according to the voltage.
  • Actuator 4 a voltage output according to the load and output to the control unit 8 as a load signal S 2, oscillates together with the metal shim 41 is deformed in accordance with a voltage based on the driving signal S 3 output from the control unit 8 It is configured as follows.
  • the control unit 8 includes, for example, a CPU (Central Processing Unit) that performs operations and processes 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.
  • ROM Random Access Memory
  • a program for operating the control unit 8 and a database 80 are stored.
  • the RAM is used as a storage area for temporarily storing calculation results and the like.
  • the control unit 8 has a means for generating a clock signal therein, and operates based on the clock signal.
  • the control unit 8 is configured to convert the load the load signals S 2 output from the actuator 4.
  • Database 80 for example, as shown in FIG. 2C, the load threshold and the driving waveform of each area, and a touch threshold Th 10.
  • the load threshold Th 1 to the load threshold Th 5 are thresholds determined based on the load detected by the actuator 4 as a result of adding a reference load for each region. Specifically, the load threshold Th 1 of the upper region 23 is determined based on the load detected when the reference load is added to the upper region 23. Similarly, the load threshold Th 2 to the load threshold Th 5 of the lower region 24 to the central region 27 are determined based on the load detected when the reference load is applied to each of the lower region 24 to the central region 27. It is done.
  • the drive waveforms Wa 1 to Wa 5 are information regarding the drive signal S 3 for each region.
  • the drive waveform Wa 1 is a waveform determined so that the operator can fully recognize the haptic feedback by changing the amplitude, the frequency, and the like based on the haptic feedback generated by the drive signal S 3 having the reference waveform. is there.
  • the driving waveforms Wa 2 to Wa 5 are each changed in amplitude, frequency, etc. based on the haptic feedback generated by the driving signal S 3 having the reference waveform, so that the operator can fully recognize the haptic feedback. It is a waveform determined so as to be able to.
  • control unit 8 may store the driving signal S 3 of each area in the database 80.
  • the control unit 8 may store the drive waveform or drive signal for each region as a function in the database 80.
  • the touch threshold Th 10 is a threshold for determining contact with the touch sensor 3.
  • Control unit 8 determines a region where the touch threshold Th 10 or more electrostatic capacitance is detected on the basis of the detection signals S 1 to be input.
  • Control unit 8 determines by comparing the touch threshold value Th 10 read from the capacitance and the database 80 for each area based on the detection signal S 1 is operated finger touches area. Next, the control unit 8, when the region is determined and compared to the load based on the load signal S 2 reads the load threshold value corresponding to the region from the database 80. The control unit 8, the load is greater than or equal to the load threshold, when the push operation on the region is determined, in order to generate haptic feedback, the drive signal S 3 reads a driving waveform of the area from the database 80 Generate and drive the actuator 4 to present tactile feedback.
  • Control unit 8 outputs in electronic devices connected generated by the operation information S 4 including the region information push operation is performed based on the determination result.
  • the control unit 8 of the tactile sensation presentation device 1 compares the capacitance for each region based on the detection signal S 1 acquired from the touch sensor 3 with the touch threshold Th 10 read from the database 80, and the operation finger Monitor for contact.
  • Step 1 When “Yes” in Step 1 is established, that is, when the touch of the operating finger is detected (Step 1: Yes), the control unit 8 reads the load threshold value of the region where the touch is detected from the database 80 and reads the load signal. compared to the load based on S 2, it monitors whether or not the push operation is performed (Step2).
  • the control unit 8 reads the drive waveform of the area where contact is detected from the database 80 and generates the drive signal S3. It outputs to the actuator 4 and presents tactile feedback (Step 4).
  • step 3 the control unit 8 ends the process when the push operation is not determined (Step 3: No) and the operation is not continued, that is, the contact of the operation finger is not detected (Step 5: No). To do. Further, in step 5, when the contact of the operation finger is continuously detected (Step 5: Yes), the control unit 8 advances the process to step 3 and determines the push operation.
  • the tactile sensation presentation apparatus 1 Even if the tactile sensation presentation apparatus 1 according to the present embodiment is miniaturized, it can present sufficient tactile feedback while suppressing a decrease in load detection accuracy.
  • the tactile sensation presentation device 1 performs load detection and vibration presentation by a single actuator 4, and loads each region in order to suppress variation in load detection due to a difference in position where an operation is detected. A drive signal is determined for each region in order to determine a threshold value and to suppress variation in tactile feedback due to a difference in position. Since the upper region 23 to the right region 26 of the present embodiment are located symmetrically with respect to the central region 27, ideally, the load detected by the actuator 4 and the vibration feedback to be presented are the same in each region. Actually different.
  • the tactile sensation presentation apparatus 1 can be easily downsized because there is one actuator 4. Therefore, the tactile sense presentation device 1 can present sufficient tactile feedback while suppressing a decrease in load detection accuracy even when the tactile sense presentation device 1 is downsized.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Position Input By Displaying (AREA)

Abstract

L'invention concerne un dispositif de présentation de sensations tactiles (1), qui comporte, par exemple : un capteur tactile (3) en tant qu'unité de détection qui détecte la position d'un doigt de manipulation touchant une surface de manipulation (200) ; un actionneur (4) qui détecte une charge appliquée à la surface de manipulation (200) et fait vibrer la surface de manipulation (200) ; et une unité de commande (8) qui comprend des seuils de charge ayant été déterminés pour chaque région d'une pluralité de régions délimitées sur la surface de manipulation (200) sur la base d'une charge détectée par ajout d'une charge de référence à chaque région, et un signal d attaque S3 pour chaque région destiné attaquer l'actionneur (4), et qui détermine une manipulation sur la base du seuil de charge de la région dans laquelle le doigt de manipulation a été détecté tout en présentant une rétroaction tactile par l'attaque de l'actionneur (4) à l'aide du signal d'attaque S3 correspondant à ladite région.
PCT/JP2018/004584 2017-02-14 2018-02-09 Dispositif de présentation de sensations tactiles WO2018151039A1 (fr)

Applications Claiming Priority (2)

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JP2017-024672 2017-02-14
JP2017024672A JP6817838B2 (ja) 2017-02-14 2017-02-14 触覚呈示装置

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2611087A (en) * 2021-09-27 2023-03-29 Cambridge Mechatronics Ltd Method for providing haptic feedback

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Publication number Priority date Publication date Assignee Title
JP7559699B2 (ja) 2021-07-21 2024-10-02 トヨタ自動車株式会社 車両用空調装置

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JP2005258666A (ja) * 2004-03-10 2005-09-22 Sony Corp 入力装置および電子機器並びに電子機器の感触フィードバック入力方法
JP2011048846A (ja) * 2010-10-27 2011-03-10 Kyocera Corp 入力装置及び入力装置の制御方法
JP2012014340A (ja) * 2010-06-30 2012-01-19 Kyocera Corp 触感呈示装置及び触感呈示装置の制御方法

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DE112014002643T5 (de) * 2013-05-30 2016-04-28 Nextinput, Inc. Multi-dimensionales Trackpad
JP6117075B2 (ja) * 2013-10-10 2017-04-19 株式会社東海理化電機製作所 触覚呈示装置
JP6386952B2 (ja) * 2015-03-18 2018-09-05 アルプス電気株式会社 電子機器及び振動制御方法

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Publication number Priority date Publication date Assignee Title
JP2005258666A (ja) * 2004-03-10 2005-09-22 Sony Corp 入力装置および電子機器並びに電子機器の感触フィードバック入力方法
JP2012014340A (ja) * 2010-06-30 2012-01-19 Kyocera Corp 触感呈示装置及び触感呈示装置の制御方法
JP2011048846A (ja) * 2010-10-27 2011-03-10 Kyocera Corp 入力装置及び入力装置の制御方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2611087A (en) * 2021-09-27 2023-03-29 Cambridge Mechatronics Ltd Method for providing haptic feedback
GB2611087B (en) * 2021-09-27 2024-07-03 Cambridge Mechatronics Ltd Method for providing haptic feedback

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JP2018132851A (ja) 2018-08-23

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