WO2019150737A1 - Tactile presentation system, computer program and storage medium - Google Patents

Abstract

This tactile presentation system (1) is provided with: a vibration target (3) having a touch surface (3a) that can be pressed by a user; a tactile presentation device (4) having a movable yoke (11) connected to the vibration target via an elastic member (12) and a fixed yoke (6) that suctions the movable yoke; and a control unit (17) that presents a tactile sensation by vibrating the vibration target by generating a suctioning force by supplying drive current to the tactile presentation device. The control unit controls the current value and duration of the drive current separately for each tactile presentation device.

Description

Tactile presentation system, computer program, and storage medium Cross-reference of related applications

This application is based on Japanese Application No. 2018-018327 filed on Feb. 5, 2018, the contents of which are incorporated herein by reference.

The present disclosure relates to a tactile presentation system, a computer program, and a storage medium.

A configuration is provided in which a tactile sensation is presented when the user touches the touch surface of the touch panel. In a configuration that presents a tactile sense, a frequency at which a person can easily detect a tactile sense is about several tens of Hz. As a configuration for generating vibrations of about several tens of Hz, a configuration is disclosed in which a vibrating body is disposed below a vibrating target that is a target to be vibrated, the vibration of the vibrating body is propagated to the vibrating target, and the vibrating target is vibrated indirectly (For example, refer to Patent Document 1).

Japanese Patent No. 6078935

In the configuration of Patent Document 1 described above, since the vibration target is indirectly vibrated using resonance, the steep vibration rising characteristic cannot be realized, and the tactile sensation cannot be appropriately presented. There's a problem. In order to realize the steep vibration rising characteristic, it is necessary to directly vibrate the vibration target without using resonance. As a configuration for directly vibrating the vibration target, a configuration in which the vibration target is vibrated using an actuator can be considered. Specifically, in a configuration in which the touch panel is a vibration target, a configuration in which the touch panel is suspended by a leaf spring and connected to the movable yoke, an electromagnetic force is generated in the fixed yoke, and the movable yoke is attracted.

In such a configuration, the actuator suction force that sucks the movable yoke is significantly affected by the yoke gap distance that is the gap distance in the suction direction between the fixed yoke and the movable yoke, thus reducing the influence of the yoke gap distance. There is a need to. In a configuration in which the touch panel is suspended by a plate spring at a plurality of positions by an actuator, variations in yoke gap distance due to individual differences occur during assembly. Further, when the service period is extended, the yoke gap distance may vary due to the sag of the leaf spring due to aging.

In the configuration in which the touch panel is supported by the actuator, the yoke gap distance of each actuator depends on the pressing force and the pressing position when the user touches the touch surface. In this case, unless correction is performed individually according to each yoke gap distance, even if the current value of the drive current supplied to each actuator is the same, if the yoke gap distance is relatively small, the actuator attraction force is relatively If the yoke gap distance is relatively large, the actuator attractive force becomes relatively small. Therefore, the position displacement and acceleration of the movable yoke of each actuator become non-uniform, the touch panel is pulled non-uniformly by the actuator, and the touch panel tilts. In order to appropriately present a tactile sensation when the user touches the touch surface, there is a mechanism that makes the displacement and acceleration of the movable yoke constant regardless of variations in the pressing position and yoke gap distance where the user touches the touch surface. is necessary.

The present disclosure can make the positional displacement and acceleration of the movable yoke constant by reducing the influence of variations in the pressing position where the user touches the touch surface and the yoke gap distance, and appropriately presents a stable tactile sensation. It is an object to provide a tactile sensation presentation system, a computer program, and a storage medium.

According to one aspect of the present disclosure, the vibration target has a touch surface that can be pressed by the user. The tactile sensation presentation apparatus has a movable yoke connected to a vibration target via an elastic member and a fixed yoke that sucks the movable yoke. The control unit generates a suction force by supplying a drive current to the tactile sensation presentation device, thereby vibrating the vibration target and presenting the haptic sense. The control unit individually controls the current value or energization time of the drive current for each tactile sensation presentation apparatus.

By individually controlling the current value or energization time of the drive current for each tactile presentation device, the suction force generated by the tactile presentation device can be individually controlled for each tactile presentation device. As a result, the positional displacement and acceleration of the movable yoke can be made constant by reducing the influence of the variation of the pressing position where the user touches the touch surface and the yoke gap distance, and a stable tactile sensation can be appropriately presented. Can do.

The above and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings. The drawing
FIG. 1 is a perspective view schematically showing the overall configuration of an embodiment. FIG. 2 is a longitudinal side view showing the configuration of the actuator, FIG. 3 is an exploded perspective view showing components of the actuator, FIG. 4 is a functional block diagram. FIG. 5 is a diagram showing the relationship between the actuator attractive force and spring reaction force and the yoke clearance distance, FIG. 6 is a diagram showing the movement of the movable yoke, FIG. 7 is a flowchart (part 1) showing the tactile sense presenting process. FIG. 8 is a flowchart (part 2) illustrating the tactile sense presenting process.

Hereinafter, an embodiment will be described with reference to the drawings. As shown in FIG. 1, the tactile sensation presentation system 1 includes a display 2 having a square display surface 2 a, a touch panel 3 (corresponding to a vibration target) covering the entire display surface 2 a, and four corners of the display 2 And four actuators 4a to 4d (corresponding to a tactile sensation presentation device) arranged below. The touch panel 3 is supported at four corners of the display 2 by four actuators 4a to 4d. The touch panel 3 is made of a transparent material so that the user can visually recognize icons and the like displayed on the display surface 2a, and the surface portion thereof is a touch surface 3a.

In the present embodiment, the configuration in which the number of actuators is “4” is exemplified. However, when the area of the display surface 2a or the touch surface 3a is large or the weight of the display 2 or the touch panel 3 is large, the actuators You may increase the number. That is, any number of actuators may be designed as long as the display 2 and the touch panel 3 are supported uniformly. The four actuators 4a to 4d have the same configuration, and the actuator 4a will be described as a representative.

2 and 3, the actuator 4a includes a case 5, a fixed yoke 6 disposed in a fixed state on the case 5, a bobbin 8 around which a winding coil 7 is wound, and a sensor circuit board. 9, a gap distance sensor 10 mounted on the sensor circuit board 9, a movable yoke 11 disposed above the fixed yoke 6, and a leaf spring 12 (corresponding to an elastic member). One end of the leaf spring 12 is fixed to the case 5 by a bolt 13 and a nut 14, and the movable yoke 11 is caulked and integrated at the other end. The four corners of the lower surface of the display 2 and the other end of the movable yoke 11 are connected via a stay 15. That is, the four corners of the lower surface portion of the display device 2 are suspended by the leaf spring 12, and the movable yoke 11 is connected to the touch panel 3 via the leaf spring 12.

When a driving current flows through the winding coil 7 and the driving current is supplied to the fixed yoke 6, a magnetic field is generated around the winding coil 7, an electromagnetic force is generated in the fixed yoke 6, and an actuator attractive force is generated. . When the actuator attracting force is generated, the movable yoke 11 is attracted and the leaf spring 12 integrated with the movable yoke 11 is displaced. When the drive current to the winding coil 7 stops and the drive current is no longer supplied to the fixed yoke 6, the actuator attractive force disappears. When the actuator attractive force disappears, the leaf spring 12 tries to return to the original position, that is, the position before the actuator attractive force is generated. At this time, since the leaf spring 12 is connected to the display device 2 via the stay 15, the display device 2 and the touch panel 3 integrally vibrate in the vertical direction, and the user touches the touch surface 3 a of the touch panel 3. In the state, the vertical vibration is presented as a tactile sensation.

The gap distance sensor 10 is disposed below the movable yoke 11. The light emitting unit emits infrared light toward the lower surface of the movable yoke 11, and the emitted infrared light is reflected by the lower surface of the movable yoke 11. And a light receiving portion that receives the reflected light. The light receiving unit is a phototransistor, for example. When the gap light sensor 10 receives the reflected light by the light receiving unit, the gap distance sensor 10 measures the amount of the received reflected light, converts it to a current value, and outputs the current value as a sensor current value. A sensor gap distance (“Xa” in FIG. 2), which is a gap distance in the vertical direction between the gap distance sensor 10 and the lower surface portion of the movable yoke 11, is a gap in the suction direction between the fixed yoke 6 and the movable yoke 11. It is wider than the yoke gap distance ("Xb" in FIG. 2), which is the distance, and the following relationship is established between the sensor gap distance and the yoke gap distance.
Sensor clearance distance = yoke clearance distance + offset distance

The tactile sensation presentation system 1 has a functional block shown in FIG. 4 as an electrical configuration. The tactile sensation presentation system 1 includes a host 16, a control microcomputer 17, and the four actuators 4a to 4d described above. The control microcomputer 17 has a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and I / O (Input / Output), and is stored in a non-transitional physical storage medium. By executing the computer program, processing corresponding to the computer program is executed, and the overall operation of the tactile sense presentation system 1 is controlled.

Each of the actuators 4a to 4d has a drive circuit 18 for passing a drive current through the winding coil 7 and a gap distance sensor 10. When the user touches the touch surface 3a, the gap distance sensor 10 measures the amount of reflected light according to the user's operation, converts it to a current value, and outputs the current value to the control microcomputer 17 as a sensor current value. . The control microcomputer 17 identifies the actuators 4a to 4d by ID. When the sensor current value is input from the gap distance sensor 10, the control microcomputer 17 specifies that the user has touched the touch surface 3a, and the sensor current values of the actuators 4a to 4d. Then, an operation detection signal that can specify the output source of the gap distance specified from the above is output to the host 16.

When an operation detection signal is input from the control microcomputer 17, the host 16 specifies a pressed position where the user touches the touch surface 3a by a touch panel controller (not shown), associates the specified pressed position with a display object, and how Decide whether to present a tactile sensation. In the present embodiment, since the actuators 4a to 4d are arranged below the four corners of the display 2, the touch panel controller detects the displacement of the gap distance specified from the sensor current value output from each gap distance sensor 10. The pressing position where the user touches the touch surface 3a can be specified by proportionally allocating according to the arrangement of the actuators 4a to 4d. When the host 16 determines the tactile sensation to be presented to the user, the host 16 outputs to the control microcomputer 17 a vibration command signal that can specify data defining the tactile presentation based on the determined tactile sense.

When the control microcomputer 17 receives a vibration command signal from the host 16, the control microcomputer 17 specifies data defining tactile presentation from the input vibration command signal. The control microcomputer 17 specifies a pressure detection value corresponding to the pressing force applied to the touch surface 3a when the user touches the touch surface 3a due to the displacement of the gap distance specified from the sensor current value input from the gap distance sensor 10. When the specified pressure detection value has a predetermined relationship with the threshold value, a drive signal corresponding to the specified data is output to the drive circuit 18. That is, the control microcomputer 17 provides a threshold value for each button switch area displayed on the touch panel 3, for example, and outputs a drive signal to the drive circuit 18 when the detected pressure value exceeds the threshold value. In this case, the threshold value distinguishes operations such as the user pressing the touch surface 3a lightly for a short time, lightly pressing for a long time, deeply pressing for a short time, and deeply pressing for a long time. It is a threshold for. A drive signal output from the control microcomputer 17 to the drive circuit 18 is a PWM signal. The detected pressure value is a total value of values obtained by multiplying the output change amount from the state where no pressing force is applied in each gap distance sensor 10 by a constant determined from the mechanical structure.

When the drive signal is input from the control microcomputer 17, the drive circuit 18 outputs a drive current specified by the input drive signal to the winding coil 7, generates a magnetic field around the winding coil 7, and generates the fixed yoke 6. An electromagnetic force is generated in the actuator to generate an actuator suction force.

Here, the relationship between the yoke clearance distance and the actuator suction force will be described. The yoke clearance distance is desirably 1 mm or less in order to effectively use the actuator suction force. When the actuator suction force increases, the moving distance of the movable yoke 11 increases, and when the movable yoke 11 collides with the fixed yoke 6, a collision sound is generated. If a collision sound is generated, the user feels uncomfortable. Therefore, the control microcomputer 17 needs to control the actuator suction force so that the movable yoke 11 does not collide with the fixed yoke 6. That is, the control microcomputer 17 needs to measure the yoke gap distance, feedback control the drive current flowing through the winding coil 7 using the measured yoke gap distance, and control the actuator attraction force.

The relationship between the actuator suction force and spring reaction force (equivalent to the elastic force) and the yoke clearance distance has the characteristics shown in FIG. In FIG. 5, the solid line indicates the relationship between the actuator attractive force and the yoke clearance distance, and the broken line indicates the relationship between the spring reaction force and the yoke clearance distance. The spring reaction force is an elastic force generated with the displacement of the leaf spring 12 from the neutral state, and the neutral state is a state where no actuator suction force is generated.

The actuator attractive force is inversely proportional to the yoke clearance distance and proportional to the square of the current flowing through the winding coil 7 in a range where no magnetic saturation of the electromagnet occurs. The actuator attractive force is “Fcoil”, the magnet constant (equivalent to the electromagnetic force generation coefficient) is “M”, the current value of the drive current flowing through the winding coil 7 is “i”, and the yoke gap distance is “L”. Then, the following relationship is established.
Fcoil = M × i∧2 / L (∧ indicates power)

On the other hand, the spring reaction force is proportional to the positional displacement from the neutral state of the leaf spring 12. When the spring reaction force is “Fk”, the spring constant (equivalent to the elastic coefficient) is “K”, and the displacement is “ΔL”, the following relationship is established.
Fk = −K × △ L
In a state where the actuator attractive force and the spring reaction force are balanced and the leaf spring 12 is stopped, the following relationship is established.
Fcoil + Fk = 0

In FIG. 5, the characteristic when the current value of the drive current flowing through the winding coil 7 is “i1” on the solid line A1 and the current value of the drive current flowing through the winding coil 7 is “i2” on the solid line A2 If the characteristic and the solid line A3 are the characteristics when the current value of the drive current flowing through the winding coil 7 is “i3”, the following relationship is established.
i1 <i2 <i3

In this case, when the drive current is less than the current value “i3”, the movable yoke 11 does not collide with the fixed yoke 6. However, when the drive current is greater than the current value “i3”, the movable yoke 11 collides with the fixed yoke 6. In other words, the maximum current value of the drive current at which the movable yoke 11 does not collide with the fixed yoke 6 is the current value “i3”.

Next, the gap distance sensor 10 will be described. As described above, when the reflected light is received by the light receiving unit, the gap distance sensor 10 measures the light amount of the received reflected light and converts it into a current value, and outputs the current value as a sensor current value to the control microcomputer 17. To do. When the control microcomputer 17 inputs the sensor current value from the gap distance sensor 10, the input sensor current value is converted into a distance, and the vertical gap distance between the gap distance sensor 10 and the lower surface portion of the movable yoke 11 is calculated. It is specified as the sensor gap distance. In this case, the following relationship is established between the sensor gap distance and the yoke gap distance as described above.
Sensor clearance distance = yoke clearance distance + offset distance

That is, in this embodiment, it is possible to specify the yoke gap distance by specifying the sensor gap distance and subtracting the offset distance from the specified sensor gap distance.

In the configuration in which the touch panel 3 is supported by the actuators 4a to 4d, the yoke gap distance depends on the pressing force and the pressing position when the user touches the touch surface 3a. That is, if the user presses near the center of the touch surface 3a, the forces received by the actuators 4a to 4d are equal, but if the user presses the corner of the touch surface 3a, the user The movable yoke 11 bends downward in an actuator relatively close to the pressed portion, and the movable yoke 11 bends upward in an actuator relatively far from the portion pressed by the user. In this state, when a drive current is supplied to each actuator 4a to 4d, the actuator attractive force generated from each actuator 4a to 4d varies depending on the yoke gap distance, and the position displacement and acceleration of the movable yoke 11 are ineffective. It becomes uniform. The present embodiment solves such a problem by individually controlling the current value of the drive current for each of the actuators 4a to 4d.

First, the yoke gap distance when presenting a tactile sensation will be described. The movement of the movable yoke 11 when presenting a tactile sensation exhibits characteristics as shown in FIG. In FIG. 6, when the user touches the touch surface 3a (t1), the yoke gap distance is reduced by the pressing force from the user, and then when the drive current is started (t2), the actuator attractive force is generated. In addition, the yoke gap distance is further reduced. When the supply of the drive current is completed (t3), the actuator attractive force disappears, and the movable yoke 11 starts damped vibration according to the frequency determined by the spring constant of the leaf spring 12 and the mass of the movable yoke 11. FIG. 6 illustrates the case where the actuator driving period is provided only once immediately after the user touches the touch surface 3a. However, by providing the actuator driving period even after the damped vibration of the movable yoke 11 is started, The damping vibration of the movable yoke 11 can be accelerated or delayed. The actuator driving period is a period during which a driving current is supplied.

If the position of the movable yoke 11 is feedback-controlled during the actuator driving period, variations in the yoke gap distance can be reduced. In other words, during the actuator driving period, the yoke gap distance is sequentially specified, and the actuator is touched by correcting the drive current in accordance with the yoke gap distance that is sequentially specified by utilizing the fact that the actuator suction force is inversely proportional to the yoke gap distance. It is possible to reduce the influence of variations in the pressing position touching the surface 3a and the yoke gap distance.

However, in actuality, the electromagnet response time is generated with respect to the actuator driving period, and therefore it is difficult to sequentially specify the yoke gap distance and correct the driving current in the actuator driving period. Using the operation model described using the mass of the movable yoke 11, the spring constant, the drive current command value, the magnet constant, and the yoke gap distance in the neutral state, the yoke gap distance is specified in advance from the current waveform data during the actuator drive period. Then, the neutral yoke clearance distance is compared with the reference value, and when the neutral yoke clearance distance is different from the reference value, the drive current command value for commanding the current value of the drive current is determined as the actual yoke clearance distance. By correcting according to the difference from the reference value, the corrected drive current command value is specified, and the actuators 4a to 4d are driven according to the specified corrected drive current command value, so that the pressing position where the user touches the touch surface 3a In addition, the influence of variations in the yoke gap distance can be reduced.

In the above-described method, a state equation representing the relationship among the drive current command value, the actuator suction force, the spring reaction force, and the mass of the movable yoke 11 when the initial yoke gap distance is the neutral yoke gap distance is solved and corrected. The drive current command value may be specified and the drive current may be corrected.

Next, the operation of the above configuration will be described with reference to FIGS. 7 and 8 show the tactile sense presenting process executed by the control microcomputer 17, respectively. There are two methods for the control microcomputer 17 to correct the current command value of the drive current: a first correction method and a second correction method. Hereinafter, each method will be described.

(1) First Correction Method The first correction method is defined as follows.
Neutral yoke gap distance = standard value D1 + push amount Movable yoke 11 acceleration = (magnet constant M x drive current command value 2 / yoke gap distance-spring constant K x (yoke gap distance-standard value D1)) / movable Mass of yoke 11 Mass (∧ indicates power)
Depression amount = dent amount until the actuator is driven after the user touches the touch surface 3a

At t = 0 in the initial state where the user does not touch the touch surface 3a, the pushing amount = 0, so that the yoke gap distance in the neutral state = standard value D1 and the acceleration of the movable yoke 11 = 0.
The pushing force generated when the user touches the touch surface 3a is not easily affected by the change in the position of the movable yoke 11, so that it is considered that a constant spring displacement is always generated. Absent.

The speed V (D1, t) of the movable yoke 11 after Δt seconds can be specified from the previous speed + the acceleration of the movable yoke 11 × Δt.
The position P (D1, t) of the movable yoke 11 after Δt seconds can be specified from the previous position + the speed of the movable yoke 11 × Δt.
When the yoke clearance distance in the neutral state = standard value D2 + the pushing amount, the pushing amount = 0 at the initial state t = 0 when the user is not touching the touch surface 3a, so the yoke gap distance in the neutral state = standard value D2
Thus, the drive current at time t is P (D2, t) / P (D1, t) times. Hereafter, the definition is as follows.

A (D, T) = gap distance D in neutral state, acceleration of movable yoke 11 at time T V (D, T) = gap distance D in neutral state, speed of movable yoke 11 at time T P (D, T) = Gap distance D in neutral state, position of movable yoke 11 at time T (reference position is a position where movable yoke 11 and fixed yoke 6 are in contact)
Force acting on movable yoke 11 in response to generation of actuator attraction force = magnet constant M × drive current command value ∧2 / P (D, t) (∧ indicates power)
Force acting on the movable yoke 11 according to the deformation of the leaf spring 12 = −spring constant K × (P (D, t) −D)

Since the actually measured yoke gap distance in the neutral state differs from the central value of the yoke gap distance in the neutral state during design due to tolerances during assembly, the standard values D1 and D2 described above are defined as follows.
Standard value D1 = center value of yoke gap distance at the time of design in the neutral state−pushing amount Standard value D2 = actual yoke gap distance in the neutral state−pushing amount When the control microcomputer 17 starts the tactile sense presenting process, The initial state necessary for the trajectory calculation is set as follows (S1).
A (D1, 0) = 0, V (D1, 0) = 0, P (D1, 0) = D1
A (D2,0) = 0, V (D2,0) = 0, P (D2,0) = D2

Next, the control microcomputer 17 sets the read position of the drive current command value stored in the drive waveform data to the top (S2).
Next, the control microcomputer 17 reads the drive current command value stored in the drive waveform data according to the set read position (S3).

Next, the control microcomputer 17 defines the acceleration, speed, and position of the movable yoke 11 after Δt seconds as follows (S4).
A (D1, t + Δt) = (M × drive current command value ∧2 / P (D1, t) −K × (P (D1, t) −D1) / Mass (∧ indicates power))
V (D1, t + Δt) = V (D1, t) + A (D1, t) × Δt
P (D1, t + Δt) = P (D1, t) + V (D1, t) × Δt
A (D2, t + Δt) = (M × corrected driving current command value ∧2 / P (D2, t) −K × (P (D2, t) −D2) / Mass (∧ indicates a power))
V (D2, t + Δt) = V (D2, t) + A (D2, t) × Δt
P (D2, t + Δt) = P (D2, t) + V (D2, t) × Δt

Next, the control microcomputer 17 specifies the correction drive current command value to be used at the next time as follows using the defined acceleration, speed, and position of the movable yoke 11 after Δt seconds (S5).
Corrected drive current command value = P (D2, t) / P (D1, t) × drive current command value

Next, the control microcomputer 17 determines whether or not the reading of the drive current command value has been completed to the end (S6). If the control microcomputer 17 determines that the reading of the drive current command value has not been completed (S6: NO), the control microcomputer 17 updates the read position of the drive current command value stored in the drive waveform data (S7). Returning to step S3, step S3 and subsequent steps are repeated. If the control microcomputer 17 determines that the reading of the drive current command value has been completed to the end (S6: YES), the tactile sense presenting process is terminated.

By performing the processing described above, the actuator attraction force in each actuator 4a to 4d can be balanced by controlling the drive current supplied to each actuator 4a to 4d according to the yoke gap distance.

(2) Second Correction Method The second correction method is in a standard state in which there is no variation in the actuator suction force when the movable yoke 11 is at the center position and the standard gap distance, that is, assembly, etc. during the actuator driving period. The correction drive current command value is specified so that the actuator attracting force at that time becomes the same.
In this case, the standard values D1 and D2 described above are defined as follows.
Standard value D1 = Gap distance design value in neutral state−Standard indentation amount Standard value D2 = Gap distance estimated value in neutral state−Standard indentation amount Standard indentation amount is the amount of change in the gap that detects the pressure when the vibration waveform is generated. is there.
When starting the tactile sense presentation process, the control microcomputer 17 specifies the maximum displacement VA during the actuator driving period (S11).

Next, the control microcomputer 17 sets the read position of the drive current command value stored in the drive waveform data to the top (S12).
Next, the control microcomputer 17 reads the drive current command value stored in the drive waveform data according to the set read position (S13).

Next, the control microcomputer 17 specifies a corrected drive current command value to be used at the next time as follows (S14).
Corrected drive current command value = drive current command value × ((D2-VA / 2) / (D1-VA / 2))） 0.5
= Drive current command value × (Estimated gap distance at start of tactile sense−VA / 2) / (D1−VA / 2)) ∧0.5 (∧ indicates a power)

Next, the control microcomputer 17 determines whether or not the reading of the drive current command value has been completed to the end (S15). If the control microcomputer 17 determines that the reading of the drive current command value has not been completed (S15: NO), the control microcomputer 17 updates the read position of the drive current command value stored in the drive waveform data (S16). Returning to step S3, step S3 and subsequent steps are repeated. When the control microcomputer 17 determines that the reading of the drive current command value has been completed to the end (S15: YES), the tactile sense presenting process is terminated.

The first correction method is complicated in calculation, and if the drive waveform data is complicated, there is a problem that it is difficult to consider trajectory errors due to frictional forces and the like. As a simple method, the second correction method can be adopted.

By performing the processing described above, the drive current supplied to the actuators 4a to 4d is controlled according to the center position of the movable yoke 11, so that the actuators 4a to 4d are controlled in the same manner as in the first correction method. The actuator suction force can be balanced. Note that steps S1 to S7 of the first correction method and steps S11 to S16 of the second correction method correspond to control procedures.

In the above, the current value of the drive current is adjusted to balance the actuator attractive force. However, the drive capability of the drive circuit 18 is insufficient, and if the corrected drive current command value is large, the corrected drive is performed. There is a possibility that the drive current having the current value commanded by the current command value cannot be supplied to the actuators 4a to 4d. In that case, it is sufficient to adjust the energization time, which is the time width for supplying the drive current, to balance the actuator attractive force. That is, if the current value of the drive current supplied to the actuators 4a to 4d is X (X <1) times the current value commanded by the corrected drive current command value, the actuator attractive force at that time is X∧2 times ( Since 示 す indicates a power), the energization time may be 1 / X∧2 times. The control microcomputer 17 calculates Δt, but when adjusting the energization time, it may be calculated as Δt / X∧2.

In addition, the configuration described above starts supplying the drive current after the user touches the touch surface 3a, reduces the influence of the pressing position where the user touches the touch surface 3a, and reduces the influence of the variation in the yoke gap distance. However, the drive current supply is started before the user touches the touch surface 3a, the influence of the variation in the yoke gap distance is reduced, and the user touches the touch surface 3a after touching the touch surface 3a. You may reduce the influence of a position. That is, the actuator suction force before the user touches the touch surface 3a is generated as an offset force before the tactile sensation is presented, and the influence of the variation in the yoke gap distance is reduced by the offset force. In this state, the drive current command value of the drive current is changed after the user touches the touch surface 3a, and the influence of the pressing position where the user touches the touch surface 3a is reduced. The offset force before the user touches the touch surface 3a is continuously generated even after the user touches the touch surface 3a.

As described above, according to the present embodiment, the following effects can be obtained.
In the tactile sensation presentation system 1, the current value or energization time of the drive current is individually controlled for each of the actuators 4a to 4d. By individually controlling the actuator suction force for each of the actuators 4a to 4d, the influence of variations in the pressing position and yoke gap distance that the user touches the touch surface 3a is reduced, and the position displacement and acceleration of the movable yoke 11 are made constant. And a stable tactile sensation can be appropriately presented.

The locus of the movable yoke 11 is specified, and the current value or energization time of the drive current is controlled using the specified locus of the movable yoke 11. A stable tactile sensation can be appropriately presented using the trajectory of the movable yoke 11.
In the first correction method, the yoke gap distance in the drive period is sequentially specified, and the current value or energization time of the drive current is controlled according to the specified yoke gap distance. By sequentially specifying the yoke gap distance, accuracy can be improved.
In the second correction method, the central position of the movable yoke 11 in the driving period is specified, and the current value or energization time of the driving current is controlled according to the specified central position of the movable yoke. Calculation can be simplified by omitting the process of sequentially specifying the yoke gap distance and using the center position of the movable yoke 11 during the driving period.

Although the present disclosure has been described based on an embodiment, it is understood that the present disclosure is not limited to the embodiment or the structure. The present disclosure includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, as well as other combinations and forms including only one element, more or less, are within the scope and spirit of the present disclosure.

The configuration is not limited to the configuration applied to the vehicle, but may be a configuration applied to other purposes.
The processing performed by the control microcomputer 17 may be performed by the host 16, or the processing performed by the host 16 may be performed by the control microcomputer 17, and how the processing performed by the host 16 and the processing performed by the control microcomputer 17 is distributed. May be.
Although the touch panel 3 is supported by a plurality of actuators 4a to 4d and the current value or the energization time of the drive current supplied to each actuator is individually controlled, the control target may be one. . In other words, the present invention may be applied to a configuration in which the vibration target is supported by one actuator.

Claims (8)

A vibrating object (3) having a touch surface (3a) that can be pressed by the user;
A tactile sense presentation device (4) having a movable yoke (11) connected to the vibration object via an elastic member (12) and a fixed yoke (6) for sucking the movable yoke;
A tactile sense presentation system (1) comprising: a control unit (17) that vibrates the object to be vibrated to generate a tactile force by supplying a driving current to the tactile sense presentation device to generate a suction force;
The said control part is a haptic presentation system which controls the electric current value or energization time of a drive current separately for every said haptic presentation apparatus. The haptic presentation system according to claim 1, wherein the control unit starts supplying a driving current after the user touches the touch surface, and individually controls a current value or an energization time of the driving current for each haptic presentation device. . The control unit identifies a locus of the movable yoke after the user touches the touch surface, and uses the identified locus of the movable yoke to determine a current value or energization time of a drive current for each tactile sensation presentation device. The tactile sensation presentation system according to claim 2, which is individually controlled. The control unit sequentially specifies a yoke gap distance that is a gap distance in the suction direction between the fixed yoke and the movable yoke during a driving period using the trajectory of the movable yoke, and according to the specified yoke gap distance The tactile sense presentation system according to claim 3, wherein a current value or energization time of a drive current is individually controlled for each tactile sense presentation device. The control unit specifies a central position of the movable yoke in a driving period using the trajectory of the movable yoke, and determines a current value or energization time of a driving current according to the specified central position of the movable yoke. The tactile sense presentation system according to claim 3, wherein the tactile sense presentation system is individually controlled for each. The tactile sense presentation system according to claim 1, wherein the control unit starts supplying a drive current before the user touches the touch surface, and individually controls a current value or energization time of the drive current for each tactile sense presentation device. . A vibration target (3) having a touch surface (3a) that can be pressed by a user, a movable yoke (11) connected to the vibration target via an elastic member (12), and a fixed that sucks the movable yoke. A tactile presentation device (4) having a yoke (6), and a control unit (17) for presenting a tactile sensation by vibrating the vibration target by generating a suction force by supplying a drive current to the tactile presentation device. In the control unit of the tactile sense presentation system (1) including
A computer program for executing a control procedure for individually controlling a current value or energization time of a drive current for each of the tactile sense presentation devices. A non-transitory computer-readable storage medium for storing the computer program according to claim 7.

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