WO2019163196A1

WO2019163196A1 - Haptic sensation presentation device and haptic sensation presentation method

Info

Publication number: WO2019163196A1
Application number: PCT/JP2018/038788
Authority: WO
Inventors: 良平河野; 田中　剛; 優人小林; 幸寛設楽; 征太郎金子; 裕之梶本
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2018-02-22
Filing date: 2018-10-18
Publication date: 2019-08-29
Also published as: JP2019144964A

Abstract

Provided is a haptic sensation presentation device (10) comprising: an input part (12) for a user to input an operation; a haptic sensation presentation part (20) for presenting a haptic sensation to the user via the input part (12); and a control part (25) for being electrically connected to the input part (12) and the haptic sensation presentation part (20), and for controlling the haptic sensation presentation part (20) on the basis of the operation having been inputted into the input part (12). The control part (25) controls a haptic sensation oscillation presented by the haptic sensation presentation part (20) on the basis of a contact position whereat the user has touched the input part (12) and the movement direction of the contact position.

Description

Tactile sensation presentation device and haptic presentation method

The present disclosure relates to a haptic sense presentation apparatus and a haptic sense presentation method for presenting a haptic sense to a user who performs an input operation to a UI (User Interface).

Patent Document 1 discloses a haptic effect compatible device that gives a tactile sensation to a user's finger based on a contact input to the surface of an interface device that is a touchpad.

JP 2014-112357 A

When the haptic effect compatible device according to the prior art is applied to a vehicle GUI (Graphic User Interface), for example, the operation function differs depending on the pointer position of the GUI, so position determination based on the tracing operation during driving is important. However, the conventional technique only gives a sense of touch according to the position of the pointer, and there is a problem that the position of the pointer is highly dependent on the visual sense.

Therefore, the present disclosure provides a haptic sense presentation device and a haptic sense presentation method that can reduce the dependency of visual position determination when an operation is input to a device.

A haptic sense presentation device according to an aspect of the present disclosure includes an input unit through which a user inputs an operation, a haptic sense presentation unit that presents a haptic sense to the user via the input unit, the input unit, A control unit that is electrically connected to the haptic sense presentation unit and controls the haptic sense presentation unit based on an operation input to the input unit. The tactile force sensation vibration presented from the tactile force sense presenting unit is controlled based on the contact position touched by and the moving direction of the contact position.

In addition, a haptic sense presentation method according to an aspect of the present disclosure is a haptic sense presentation method of a haptic sense presentation device, and the haptic sense presentation device includes: an input unit through which a user inputs an operation; A tactile force sense presentation unit that vibrates the input unit; and a control unit that is electrically connected to the input unit and the tactile force sense presentation unit. The control unit touches the input unit by the user Detecting a contact position; detecting a movement direction of the contact position; and controlling haptic vibration of the haptic sense presentation unit based on the contact position and the movement direction.

These general or specific aspects may be realized by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM. The system, method, integrated circuit, computer program Also, any combination of recording media may be realized.

The tactile force sense presentation device and the tactile force sense presentation method of the present disclosure can reduce the dependency of visual position determination when an operation is input to the device.

FIG. 1 is a diagram illustrating an example of a configuration of a vehicle compartment in which a haptic sense presentation device and a haptic sense presentation device according to Embodiment 1 are arranged. FIG. 2 is an external perspective view of the tactile force sense presentation device according to Embodiment 1 when viewed in plan. FIG. 3 is a block diagram illustrating an example of a functional configuration of the haptic sense presentation apparatus according to Embodiment 1. FIG. 4 is a schematic configuration diagram showing the configuration of the haptic sense presentation device according to Embodiment 1. FIG. 5A is a diagram illustrating an example of an operation performed on the in-vehicle device via the input unit of the haptic sense presentation device according to Embodiment 1. FIG. 5B is a diagram illustrating an example of an operation performed by the user on the input unit of the haptic sense presentation apparatus according to Embodiment 1. FIG. 6 is a flowchart illustrating an example of the operation of the haptic sense presentation apparatus according to Embodiment 1. FIG. 7A is a diagram illustrating an example of a relationship between a moving direction of a contact position of a user's finger and a tactile force sense in the tactile force sense presenting apparatus according to Embodiment 1. FIG. 7B is a diagram showing another example of the relationship between the moving direction of the contact position of the user's finger and the haptic sense in the haptic sense presentation apparatus according to Embodiment 1. FIG. 8 is a diagram for explaining the haptic sense presentation operation of the haptic sense presentation device according to the first embodiment. FIG. 9 is a diagram for explaining a haptic sense presentation operation of the haptic sense presentation device according to the second embodiment. FIG. 10A is a diagram for explaining a haptic sense presentation operation of the haptic sense presentation device according to the third embodiment. FIG. 10B is a diagram for explaining a haptic sense presentation operation of the haptic sense presentation device according to the third embodiment. FIG. 11 is a diagram for explaining the haptic sense presentation operation of the haptic sense presentation device according to the fourth embodiment. FIG. 12A is a diagram for explaining a haptic sense presentation operation of the haptic sense presentation device according to the fifth embodiment. FIG. 12B is a diagram for explaining the haptic sense presentation operation of the haptic sense presentation device according to the fifth embodiment. FIG. 13A is a diagram for explaining a haptic sense presentation operation of the haptic sense presentation device according to the sixth embodiment. FIG. 13B is a diagram for explaining the haptic sense presentation operation of the haptic sense presentation device according to the sixth embodiment. FIG. 14 is a diagram for explaining the haptic sense presentation operation of the haptic sense presentation device according to the seventh embodiment. FIG. 15A is a diagram illustrating an example of a moving direction of a contact position of a user's finger in the haptic sense presentation device according to Embodiment 2. FIG. 15B is a diagram showing another example of the moving direction of the contact position of the user's finger in the haptic sense presentation device according to Embodiment 2. FIG. 16 is a flowchart illustrating an example of the operation of the haptic sense presentation apparatus according to Embodiment 2. FIG. 17 is a diagram for explaining a haptic sense presentation operation of the haptic sense presentation device according to the eighth embodiment. FIG. 18 is a diagram for explaining the haptic sense presentation operation of the haptic sense presentation device according to the ninth embodiment. FIG. 19 is a diagram illustrating an example of an input unit of a tactile force sense presentation device according to another embodiment.

According to this, since the user is presented with a tactile force sense from the tactile force sense presenting unit based on the moving direction of the finger, it is recognized whether or not the finger is moving in the intended operation direction or the correct operation direction. can do. Therefore, according to the haptic sense presentation device, it is possible to reduce the dependence of the position determination on the vision when an operation is input to the device. Thereby, even when the user is performing another work, the user can move the finger in the intended operation direction or the correct operation direction, and can easily operate the device with high accuracy.

Further, the control unit may control the magnitude of the haptic vibration presented from the haptic presentation unit based on a moving direction of the contact position. Here, the tactile force sense vibration is defined below as a vibration for the tactile force sense presenting unit to present a tactile force sense.

According to this, since the user can recognize the intended operation direction or the correct operation direction depending on whether the haptic vibration presented from the haptic sense presentation unit is large or small, the intended operation direction or the correct operation direction can be recognized. You can move your finger in the direction. Alternatively, it is possible to feel the tactile sensation (shape and texture) that is felt when the actual object is touched.

In addition, the control unit may control the frequency of the haptic vibration presented from the haptic sense presenting unit based on the moving direction of the contact position.

According to this, the user can recognize the intended operation direction or the correct operation direction depending on whether the frequency of the haptic vibration presented from the haptic sense presentation unit is high or low. The finger can be moved in the correct operation direction. Alternatively, it is possible to feel the tactile sensation that is felt when the actual object is touched.

Further, the control unit may control the haptic vibration pattern presented from the haptic presentation unit based on the moving direction of the contact position.

According to this, since the user can recognize the intended operation direction or the correct operation direction by the difference in the pattern of the haptic vibration presented from the haptic sense presentation unit, the intended operation direction or the correct operation direction You can move your finger. Alternatively, it is possible to feel the tactile sensation that is felt when the actual object is touched.

The control unit has a target position for moving the contact position in the input unit, and determines whether the contact position is toward the target position from the contact position and the moving direction. The haptic vibration presented from the haptic presentation unit may be controlled based on the result.

According to this, since the tactile force sense presentation unit presents a tactile force sense based on the direction of movement of the finger relative to the direction of the target position, the user can determine whether or not the direction of movement of the finger is toward the target position. Can be recognized. Thereby, even when the user is performing another work, the user can move the finger in the direction of the target position and easily operate the device with high accuracy.

In addition, the control unit may detect a haptic sensation presented from the haptic sense presentation unit when the contact position is directed toward the target position and when the contact position is not directed toward the target position. It may be controlled differently.

According to this, the tactile force sense presenting unit presents a different tactile force sense depending on whether the contact position is toward the target position or not, and thus the user can determine the contact position based on the tactile force sense. It is possible to recognize whether or not the vehicle is moving toward the target position.

In addition, the control unit is more sensitive to a tactile force sense presented from the tactile force sense presenting unit when the contact position is not toward the target position than when the contact position is toward the target position. You may control so that it may become large.

According to this, the user can recognize whether or not the contact position is toward the target position based on whether the haptic vibration presented from the haptic presentation unit is large or small.

Further, the control unit obtains a deviation angle in the movement direction with respect to the target position from a straight line connecting the target position and the contact position and the movement direction, and the haptic sense presentation unit increases as the deviation angle increases. Control may be performed so that the haptic vibration presented from is increased.

According to this, since the magnitude of the tactile sensation vibration changes based on the deviation angle between the direction of the target position and the direction of movement of the finger, the user determines whether the direction of movement of the finger and the direction of the target position are misaligned. Can be recognized. Thereby, even when the user is performing another work, the user can move the finger in the direction of the target position and easily operate the device with high accuracy.

In addition, the control unit provides the tactile force sense presented from the tactile force sense presenting unit when the contact position is not toward the target position than when the contact position is toward the target position. You may control so that the frequency of vibration may become low.

According to this, the user can recognize whether or not the contact position is toward the target position based on whether the frequency of the haptic vibration presented from the haptic sense presentation unit is high or low.

Further, the control unit obtains a deviation angle in the movement direction with respect to the target position from a straight line connecting the target position and the contact position and the movement direction, and the haptic sense presentation unit increases as the deviation angle increases. Control may be performed so that the frequency of the haptic vibration presented from is reduced.

According to this, since the frequency of the tactile sensation vibration changes based on the deviation angle between the direction of the target position and the movement direction of the finger, the user can check whether the movement direction of the finger and the direction of the target position are deviated. Can be recognized. Thereby, even when the user is performing another work, the user can move the finger in the direction of the target position and easily operate the device with high accuracy.

In addition, the control unit does not present a tactile force sense from the tactile force sense presentation unit when the contact position is toward the target position, and when the contact position is not toward the target position, Control may be performed so that a haptic sense is presented from the haptic sense presentation unit.

According to this, when the haptic sense is presented from the haptic sense presentation unit, the user does not move the finger toward the target position, and the haptic sense presentation unit does not present the haptic sense. It can be recognized that the moving direction of the finger is toward the target position. Therefore, the user can easily reach the target position by moving the finger in a direction in which no tactile force sense is presented.

Further, the input unit may be a capacitance type, an optical type, or a resistance film type input unit.

According to this, the contact position of the finger can be detected with high accuracy by the change in the capacitance between the finger and the input unit. Alternatively, the contact position of the finger can be easily detected based on the reflected light from the finger or the shadow of the finger when the light is irradiated. Alternatively, the contact position of the finger can be easily detected based on a change in the resistance value of the input unit due to the contact of the finger.

The tactile force sense presentation unit includes a tactile force sense generating element that generates the tactile force sense vibration to be given to a user, and the tactile force sense generating element includes a piezoelectric body or electromagnetically. You may have the structure which operate | moves.

According to this, a tactile sensation can be presented to the user by vibration generated from the piezoelectric body. Alternatively, a tactile force sense can be presented to the user by vibration generated by electromagnetic force.

Further, a conductive plate may be provided between the input unit and the haptic sense presentation unit.

According to this, the input unit can reduce noise generated by the electric field from the haptic sense presentation unit.

According to this, since the user is presented with a tactile force sense from the tactile force sense presenting unit based on the moving direction of the finger, it is recognized whether or not the finger is moving in the intended operation direction or the correct operation direction. can do. Therefore, it is possible to reduce the dependence of the position determination on the vision when inputting an operation to the device. Thereby, even if the user is performing another work, the user can easily and accurately operate the device.

The control unit determines whether or not the contact position is directed toward the target position from the step of determining a target position for moving the contact position in the input unit, and the contact position and the moving direction. And a step of controlling the haptic vibration of the haptic sense presentation unit based on a result of the determination.

According to this, since the tactile force sense is presented based on the movement direction of the finger relative to the direction of the target position, the user can recognize whether or not the movement direction of the finger is toward the target position. it can. Thereby, even when the user is performing another work, the user can move the finger in the direction of the target position and easily operate the device with high accuracy.

Hereinafter, a haptic sense presentation device and a haptic sense presentation method according to an aspect of the present disclosure will be specifically described with reference to the drawings.

Note that each of the embodiments described below shows a specific example of the present disclosure. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements.

(Embodiment 1)
[1-1. Configuration of haptic presentation device]
First, with reference to FIG. 1, a configuration of a haptic sense presentation device 10 and a vehicle compartment in which the haptic sense presentation device 10 according to the present embodiment is arranged will be described. FIG. 1 is a diagram showing an example of a configuration of a vehicle compartment in which a haptic sense presentation device 10 and a haptic sense presentation device 10 according to the present embodiment are arranged. In the following, the forward direction, the backward direction, the right direction, and the left direction are defined based on the traveling direction of the vehicle. Further, in a state where the vehicle wheel is on the ground, the upward direction, the downward direction, the horizontal direction, and the vertical direction are defined.

1, an in-vehicle device (not shown) and a tactile sensation presentation device 10 are mounted in the cabin of the automobile 1 (an example of a vehicle) shown in FIG. Further, a shift lever 40 steering 50 and a seat 60 are further arranged in the compartment of the automobile 1.

The in-vehicle device is a device mounted on a vehicle such as the automobile 1 and is, for example, a car navigation system, an audio device for reproducing an optical disk, or a video reproduction device. The in-vehicle device has a display unit 30. The display unit 30 displays a map for performing car navigation, a reproduced video, a UI for operating an in-vehicle device, a UI for controlling another in-vehicle device, and the like. The display unit 30 is realized by, for example, a liquid crystal display, an organic EL (Electro Luminescence) display, or the like. The in-vehicle device may be connected to a speaker (not shown) and output sound to the speaker. In addition, as another vehicle-mounted device, for example, there is an air-conditioning device or the like, and the operation of the air-conditioning device may be controlled by inputting an operation using a tactile sense presentation device. .

The tactile sensation presentation device 10 is a device that performs input for operating a UI (User Interface) displayed on the display unit 30 of the in-vehicle device, and gives the user who is operating the stimulus according to the input content. Device.

The haptic sense presentation device 10 includes an input unit 12 having a touch pad 11, a haptic sense presentation unit 20 that gives a haptic sense to a user by a stimulus generated by the haptic sense generation element 21, and a haptic sense presentation unit 20. And a control unit 25 for controlling the operation.

In the haptic sense presentation device 10, the input unit 12 is an input interface for operating a UI displayed on the display unit 30. The user can control the in-vehicle device mounted on the automobile 1 by operating the UI using the input unit 12. The detailed configuration of the haptic sense presentation device 10 will be described in detail later.

In the passenger compartment of the automobile 1, the haptic sense presentation device 10 is in a position within the reach of the user's hand when the user who is on the automobile 1 is sitting on the seat 60, and excludes the steering wheel 50. Placed in position. For example, the haptic sense presentation device 10 is arranged behind the shift lever 40 as shown in FIG. A driver who is a user operates the in-vehicle device by inputting to the input unit 12 of the haptic sense presentation device 10 disposed behind the shift lever 40 with the left hand. Note that the haptic sense presentation device 10 does not have to be arranged at the above position as long as the haptic sense presentation device 10 is located at a position within the reach of the user's hand and at a position other than the steering 50.

In FIG. 1, the right-hand drive car 1 is taken as an example, but the left-right car is only opposite in the case of a left-hand drive car, so the same can be said for the right-hand drive car 1.

The steering 50 is for steering the automobile 1, and includes a rim 51 having a ring shape, a substantially T-shaped spoke 52 integrally formed on the inner peripheral surface of the rim 51, and a central portion of the spoke 52. And a horn switch cover 53 that covers a horn switch (not shown) disposed on the head.

Next, the configuration of the haptic sense presentation device 10 will be described. FIG. 2 is an external perspective view of the haptic sense presentation device 10 according to the present embodiment when viewed in plan.

The haptic sense presentation device 10 includes an input unit 12 for a user to input an operation, a haptic sense presentation unit 20 (see FIG. 3) for stimulating the haptic sense of the user, and an operation input to the input unit 12. And a control unit 25 (see FIG. 3) that controls the haptic sense presentation unit 20 based on the control unit 25.

As shown in FIG. 2, the input unit 12 of the haptic sense presentation device 10 has a touch pad 11 and touch switches 13 to 15 when viewed externally. The user can operate the UI displayed on the display unit 30 of the in-vehicle device by performing input to the touch pad 11 or the touch switches 13 to 15.

The touch pad 11 is an input unit that receives a touch by a user. As will be described later, the touch pad 11 has an electrostatic IC (Integrated Circuit) 18 (see FIG. 4) on the surface opposite to the surface touched by the user. The electrostatic IC 18 detects a position in the detection region of the touch pad 11 that is touched by a part of the user's body (for example, a finger). The touch pad 11 may be a sensor that accepts a plurality of touches by the user, that is, multi-touch. That is, the touch pad 11 may be configured to accept two touch positions with two fingers and three touch positions with three fingers at the same timing in addition to the touch position with one finger.

The touch switches 13 to 15 are arranged in front of the touch pad 11 and arranged side by side in the left-right direction. Each of the touch switches 13 to 15 is a switch that detects whether or not a touch has been made in an area where the touch switches 13 to 15 are arranged.

The touch switch 13 is, for example, a return switch. When a touch on the touch switch 13 is detected, the UI displayed on the display unit 30 is changed to the previously displayed UI.

The touch switch 14 is, for example, a menu switch. When a touch on the touch switch 14 is detected, a menu is displayed on the UI displayed on the display unit 30.

The touch switch 15 is, for example, a map switch. When a touch on the touch switch 15 is detected, a map is displayed on the UI displayed on the display unit 30.

The input to the touch switches 13 to 15 is, for example, an area that overlaps the touch switches 13 to 15 and is arranged on a surface opposite to the surface that the user touches and is detected by a pressure-sensitive sensor (not shown). The pressure-sensitive sensor is a sensor that detects a change in pressing force due to pressing into the touch switches 13 to 15. For example, an input of a pressing force greater than a predetermined pressing force to the pressure sensor is accepted as an input indicating determination.

Note that the input unit 12 may be configured without the touch switches 13 to 15 or may be configured with one or a plurality of touch switches. The touch switches 13 to 15 are not limited to the front of the touch pad 11, and may be disposed behind the touch pad 11. Further, the touch switches 13 to 15 may be customized switches, for example. In this case, the user can assign shortcut inputs to the touch switches 13 to 15 in advance. Then, when a touch on the touch switches 13 to 15 is detected, an application based on the shortcut assigned by the user may be activated, or a predetermined operation indicated by the shortcut may be executed.

FIG. 3 is a block diagram illustrating an example of a functional configuration of the haptic sense presentation device 10 according to the present embodiment. FIG. 4 is a schematic configuration diagram showing the configuration of the haptic sense presentation device 10 according to the present embodiment.

As shown in FIG. 3, the haptic sense presentation device 10 includes an input unit 12, a haptic presentation unit 20, and a control unit 25.

The input unit 12 includes the touch pad 11 and the electrostatic IC 18 as described above. The touch pad 11 is an input unit that performs an input operation when the user touches with a finger or the like. The touch pad 11 is a capacitive touch pad, for example, and is connected to the electrostatic IC 18. The touch pad 11 has a conductive film. The electrostatic IC 18 is a sensor that detects a position where the user's finger is in contact with a change in capacitance when the user contacts the conductive film on the touch pad 11. According to this, the contact position of the finger can be detected with high accuracy by the change in the capacitance between the user's finger and the conductive film. In addition, if the change in capacitance between the user's finger and the conductive film can be detected, the position of the finger can be detected without contact.

Note that the touch pad 11 is not limited to the capacitance-type input unit described above, and may be, for example, an optical input unit that irradiates light on the user's finger to detect the contact position of the finger. According to this, the contact position of the finger can be easily detected from the reflected light from the finger or the shadow of the finger when the light is irradiated. The touch pad 11 may be a resistive film type that detects a contact position using a resistive film provided on the touch pad 11. According to this, the contact position of the finger can be easily detected by the change in the resistance value of the resistance film of the touch pad 11 due to the finger touching.

Further, the touch pad 11 is not limited to these, and may be one using another method such as an ultrasonic method or an electromagnetic induction method. Further, as the non-contact touch pad 11, an ultrasonic type or an optical type (for example, a camera) may be used. Further, as will be described later, the touch pad 11 may be a touch panel having both functions of an input unit and a display unit.

Note that the input unit 12 may include the touch switches 13 to 15 as described above. When the electrostatic IC 18 detects that the user has made an input to the touch pad 11, an input signal indicating the input is output to the control unit 25 via the microcomputer 22 of the haptic sense presentation unit 20 described later. .

The haptic sense presentation unit 20 includes a haptic sense generating element 21 and a microcomputer 22.

The tactile force sense generating element 21 is an element that is a source of generating a tactile force sense given to the user in accordance with the user's input. The tactile force sense generating element 21 presents a tactile force sense to the user based on the vibration waveform input from the microcomputer 22.

The tactile force sense generating element 21 may be a vibrator that gives a direct contact force sense to the user who touches the touch pad 11 by vibration, or may be an element that gives a tactile force sense without contact. Further, the tactile force sense generating element 21 is not limited to vibration, and may be an element that gives the user a tactile force sense such as another force sense or a feeling of friction, or gives a tactile force sense to a sensory nerve such as a current stimulus. It may be an element.

For example, the vibrator may be a piezoelectric element formed of a piezoelectric body, or may be configured to operate electromagnetically, such as a motor, a solenoid, or a voice coil. The vibrator may be a linear resonant actuator, an artificial muscle, a shape memory actuator, or the like.

Further, the element that gives a tactile sensation without contact may be an element that generates ultrasonic waves or airflow. The element that gives a sense of tactile force to the sensory nerve may be an element that generates an electrostatic friction feeling.

The control unit 25 obtains position information that the user has touched on the touch pad 11 from the input signal input from the input unit 12 via the microcomputer 22, and controls the in-vehicle device according to the input signal. In addition, the control unit 25 controls the haptic sense presentation unit 20 according to the input signal to give the haptic sense to the user.

Specifically, the control unit 25 causes the display unit 30 of the in-vehicle device to display a display screen including an operation screen. In addition, when an input signal indicating that a menu is displayed is input by the input unit 12, the control unit 25 displays the menu on the operation screen of the display unit 30. Further, the control unit 25 has a tactile force presented from the tactile force sense generating element 21 of the tactile force sense presenting unit 20 based on the contact position where the user touches the touch pad 11 of the input unit 12 and the moving direction of the contact position. Controls olfactory vibration. Specifically, the control unit 25 transmits the control status of the in-vehicle device and the screen condition of the display unit 30 to the microcomputer 22, and the tactile force vibration of a predetermined size, frequency, or pattern is transmitted to the tactile force sense generating element 21. Is generated.

The control unit 25 may be realized by, for example, a processor that executes a predetermined program and a memory that stores the predetermined program, or may be realized by a dedicated circuit. For example, the control unit 25 may be realized by an ECU (Electronic Control Unit). Details of the control by the control unit 25 will be described later.

FIG. 4 shows a cross-sectional view of the configuration of the touch pad 11 of the haptic sense presentation device 10. As shown in FIG. 4, a tactile force sense generating element 21 is mechanically fixed under the touch pad 11. The tactile force sense generating element 21 is supported by the holder 27. The holder 27 is accommodated in a box-shaped main body 28. A control board 26 on which the microcomputer 22 is arranged is provided on the bottom surface inside the main body 28. The control board 26 is provided with terminals and other wirings connected to an external power source.

Note that a conductive plate may be provided between the touch pad 11 and the tactile force sense generating element 21. By providing a conductive plate between the touch pad 11 and the tactile force generating element 21, the touch pad 11 can reduce noise due to an electric field received from the tactile force generating element 21. Note that the conductive plate is not shown in FIG.

Furthermore, an electrostatic IC 18 is disposed on the surface of the touch pad 11 opposite to the surface on which the user performs an input operation. The touch pad 11 is connected to the control board 26 by a wiring 29a. The tactile force sense generating element 21 is connected to the control board 26 by a wiring 29b. The electrostatic IC 18 and the tactile force sense generating element 21 are connected to the control unit 25.

[1-2. Operation of the haptic presentation device]
Next, the operation of the haptic sense presentation device 10 will be described. FIG. 5A is a diagram illustrating an example of an operation performed on the in-vehicle device via the input unit 12 of the haptic sense presentation device 10 according to the present embodiment. FIG. 5B is a diagram illustrating an example of an operation performed by the user on the input unit 12 of the haptic sense presentation device 10 according to the present embodiment.

The user can adjust the audio volume of the in-vehicle device by using the input unit 12 of the haptic sense presentation device 10, for example. In this case, as shown in FIG. 5A, the display unit 30 shows an adjustment gauge 31 for adjusting the volume. As shown in FIG. 5B, the user moves the knob 32 of the adjustment gauge 31 of the display unit 30 left and right by bringing the finger 35 into contact with the touch pad 11 of the input unit 12 and moving the finger 35 left and right. Thereby, the user can adjust the volume of the audio.

At this time, the control unit 25 controls the tactile force generating element 21 based on the moving direction of the user's finger 35 to generate a predetermined tactile force sense such as vibration, and the user's finger 35 via the touch pad 11. Give a tactile sensation to For example, when the user moves the finger 35 along the adjustment gauge 31 in the region where the adjustment gauge 31 is provided, the control unit 25 does not give a tactile sensation (tactile sensation vibration) due to vibration. When the moving direction of the finger 35 is a direction deviating from the region where the adjustment gauge 31 is provided, tactile sensation vibration may be applied.

FIG. 6 is a flowchart showing an example of the operation of the haptic sense presentation device 10 according to the present embodiment. 7A and 7B are diagrams illustrating an example of the relationship between the moving direction of the contact position of the user's finger 35 and the tactile force sense in the tactile force sense presenting apparatus 10 according to the present embodiment.

When the user moves the finger 35 in contact with the touch pad 11 of the input unit 12, the electrostatic IC 18 arranged on the touch pad 11 changes the capacitance of the touch pad 11 due to the finger 35 touching. The position where the finger 35 touches the touch pad 11 is detected. Thereby, the contact position of the finger | toe 35 which the user contacted the touchpad 11 is detected (step S10). Information on the detected contact position of the finger 35 is output from the electrostatic IC 18 to the control unit 25 via the microcomputer 22 disposed on the control board 26.

Detecting the contact position of the finger 35 is performed periodically. And the control part 25 detects the moving direction of the contact position of the finger 35 to the touchpad 11 from the time change of the contact position of the finger 35 (step S11).

Further, the control unit 25 controls the operation of the tactile force sense generating element 21 of the tactile force sense presenting unit 20 based on the moving direction of the finger 35 (step S12).

For example, as shown in FIG. 7A, when the finger 35 moves in a direction including a component in the ± X direction, the operation of the tactile force generation element 21 is increased and the finger 35 moves ±. When moving only in the Y direction, control may be performed such that the operation of the tactile force generation element 21 is reduced or the tactile force generation element 21 is not operated.

Further, as shown in FIG. 7B, when the finger 35 moves in the + Y direction, the control unit 25 reduces the operation of the tactile force sense generating element 21, and moves between the movement direction of the finger 35 and the + Y direction. You may perform control which enlarges operation | movement of the tactile-force sense generation element 21 as an angle (deviation angle) becomes large. In this case, when the finger 35 moves in the −Y direction where the angle between the moving direction of the finger 35 and the + Y direction is the maximum (180 °), the control unit 25 operates the tactile force generating element 21. You may control so that it may become the maximum.

Further, the control unit 25 reduces the operation of the tactile sensation generating element 21 when the movement direction of the finger 35 is along the adjustment gauge such as the volume, and the movement direction of the finger 35 is orthogonal to the adjustment gauge. You may perform control which enlarges operation | movement of the tactile force sense generation element 21 in the case of a direction. The movement direction of the finger 35 and the control mode of the tactile force sense generating element 21 will be described in detail later.

Note that the flowchart shown in FIG. 6 is an example, and the haptic sense presentation device 10 may perform the processing described in the functional configuration column of the haptic sense presentation device. Steps need not be performed, and all steps need not be performed. Further, the moving direction of the finger 35 and the moving direction of the knob 32 of the adjustment gauge 31 are not limited to a linear direction such as the X direction or the Y direction, but a rotation direction or a curve such as a clockwise direction or a counterclockwise direction. It may be a direction.

[1-3. Example]
Hereinafter, a specific example of the haptic sense presentation operation by the haptic sense presentation device 10 according to the present embodiment will be described. Note that arrows A, B, C, and D in FIGS. 8 to 11, 13, 14, and 18 indicate directions in which the finger is operated with respect to the display unit 30, and are not actually displayed on the display unit 30. .

[1-3-1. Example 1]
FIG. 8 is a diagram for explaining the haptic sense presentation operation of the haptic sense presentation device 10 according to the first embodiment. In the tactile sensation presentation device 10 according to the present embodiment, the user turns the dial type adjustment gauge 31a displayed on the display unit 30 of the in-vehicle device clockwise or counterclockwise as shown in FIG. The vehicle-mounted device is operated by tracing. For example, when the adjustment gauge 31a is a gauge that adjusts the volume of the audio, as shown in FIG. 8, the volume is increased by tracing the adjustment gauge 31a in the direction A, and the adjustment gauge 31a is traced in the direction B. As a result, the volume is reduced.

The user moves the finger on the touch pad 11 so as to rotate the adjustment gauge 31a in the direction A or the direction B. At this time, the control unit 25 causes the haptic sensation presentation unit 20 to differ depending on whether the user's finger moves in the direction A in which the volume increases or in the direction B in which the volume decreases. The tactile force sense generating element 21 may be controlled so as to present For example, the control unit 25 controls the amplitude of the haptic vibration based on the moving direction of the contact position of the user's finger on the touch pad 11. Specifically, the control unit 25 increases the amplitude of the haptic vibration generated by the haptic sensation generating element 21 when the user's finger moves in the direction A, and the user's finger moves in the B direction. When moved, the amplitude of tactile vibration is reduced. According to this, the user can recognize the intended operation direction or the correct operation direction depending on whether the haptic vibration presented from the haptic sense presentation unit 20 is large or small. The finger can be moved in the operation direction.

Note that the control unit 25 may gradually increase or decrease the amplitude of the haptic vibration according to the movement distance of the user's finger. In addition, the control unit 25 may gradually increase or decrease the amplitude of the haptic vibration in accordance with the moving speed of the user's finger.

Further, the control unit 25 may control the frequency of the haptic vibration based on the moving direction of the contact position of the user's finger on the touch pad 11 without being limited to the amplitude of the haptic vibration. Specifically, when the user's finger moves in the direction A, the control unit 25 increases the frequency of the haptic vibration generated by the haptic sensation generating element 21 so that the user's finger moves in the B direction. When it moves, the frequency of the vibration is lowered. According to this, the user can recognize the intended operation direction or the correct operation direction depending on whether the frequency of the haptic vibration presented from the haptic sense presentation unit 20 is high or low. Alternatively, the finger can be moved in the correct operation direction.

Further, the control unit 25 may control the haptic vibration pattern based on the moving direction of the contact position of the user's finger on the touch pad 11 without being limited to the amplitude and frequency of the haptic vibration. Specifically, the control unit 25 sets the pattern of the haptic vibration generated by the haptic sensation generating element 21 when the user's finger moves in the direction A to a pattern 1 called “ton, ton, ton”, When the user's finger moves in the direction B, the pattern of tactile sensation vibration may be a pattern 2 called “tototon, tototon, tototon”. According to this, since the user can recognize the intended operation direction or the correct operation direction by the difference in the pattern of the haptic vibration presented from the haptic sense presentation unit, the intended operation direction or the correct operation direction You can move your finger.

Further, the control unit 25 is not limited to the tactile force sense by vibration, and may provide other types of tactile force sense such as current stimulation to the user's finger.

[1-3-2. Example 2]
FIG. 9 is a diagram for explaining the haptic sense presentation operation of the haptic sense presentation device 10 according to the second embodiment. In the haptic sense presentation device 10 according to the present embodiment, the haptic sense presentation unit 20 responds to a texture such as an image displayed on the display unit 30 of the in-vehicle device based on the moving direction of the contact position of the user's finger. Present the sense of touch. Here, the texture refers to a tactile sensation (shape or texture) that will be felt when the actual object is touched, such as the roughness or smoothness of the surface of the object represented in the image or the like.

As shown in FIG. 9, an image of the hedgehog 31b is displayed on the display unit 30 of the in-vehicle device. Here, in the haptic sense presentation device 10 according to the present embodiment, when the user touches the displayed hedgehog 31b via the touch pad 11, the haptic sense presentation unit 20 has the user's finger of the hedgehog 31b. Different tactile sensations are presented when moving in the direction along the hair flow and when moving in the direction against the hair flow of the hedgehog 31b.

For example, when the user's finger moves in the direction A against the flow of the hair of the hedgehog 31b, the control unit 25 increases the amplitude of the haptic vibration generated by the haptic sensation generating element 21, and the user feels You may give a tactile sensation to remember. Further, when the user's finger moves in the direction B along the hair flow of the hedgehog 31b, the amplitude of the haptic vibration generated by the haptic sensation generating element 21 is reduced so that the user does not feel the friction. A tactile sensation may be given.

In addition, in the haptic sense presentation device 10 according to the present embodiment, the frequency of the haptic vibration is not limited to the amplitude of the haptic vibration as in the haptic presentation device 10 illustrated in the first embodiment. The pattern or the type of haptic sense may be controlled and presented to the user's finger.

[1-3-3. Example 3]
10A and 10B are diagrams for explaining the haptic sense presentation operation of the haptic sense presentation device 10 according to the third embodiment. In the haptic sense presentation device 10 according to the present embodiment, the user operates the in-vehicle device by moving the adjustment gauge 31c displayed on the display unit 30 of the in-vehicle device in the vertical direction as illustrated in FIG. 10A. . For example, when the adjustment gauge 31c is a gauge that adjusts the volume of the audio, the volume is increased by moving the adjustment gauge 31c in the direction A shown in FIG. 10A, and the adjustment gauge 31a is moved in the direction B shown in FIG. 10A. The volume is reduced by moving it. When the user's finger moves in the direction C or D in the adjustment gauge 31c, the user cannot adjust the volume of the audio.

Here, the control unit 25 causes the tactile force sense presentation unit 20 to present different tactile force senses when the user's finger is within the adjustment gauge 31c region and when the user's finger protrudes from the adjustment gauge 31c region. The tactile force sense generating element 21 may be controlled. For example, the control unit 25 reduces the amplitude of the haptic vibration generated by the haptic sensation generating element 21 when the user's finger moves in the direction A or B in the region of the adjustment gauge 31c. Alternatively, control is performed so that the haptic sense generating element 21 does not generate haptic vibration. Further, as shown in FIG. 10B, when the user's finger moves in the direction C or D and protrudes from the region of the adjustment gauge 31c, the control unit 25 causes the tactile force generation element 21 to Control is performed so as to generate haptic vibration having a larger amplitude than when the finger moves in the A direction and the B direction.

Thus, the user can recognize whether or not the finger has protruded from the region of the adjustment gauge 31c from the adjustment gauge 31c without moving the finger while visually confirming the display unit 30 or the touch pad 11.

Note that the control unit 25 is not limited to the case where the user's finger protrudes from the area of the adjustment gauge 31c, but the tactile force generating element 21 is moved to the direction C or the direction D by the user's finger A. Control may be performed so as to generate a haptic vibration having a larger amplitude than that in the case of moving in the directions B and B. Thereby, before a user's finger protrudes from the area | region of the adjustment gauge 31c, a user can be made to recognize that there exists a possibility that a user's finger may protrude from the adjustment gauge 31c.

Further, the control unit 25 further detects the tactile force sensation vibration in which the tactile force generating element 21 is different depending on whether the user's finger moves in the direction A or B in the region of the adjustment gauge 31c. It may be controlled to generate For example, when the user's finger moves in the direction A, the amplitude of the tactile vibration generated by the tactile force generating element 21 is increased, and when the user's finger moves in the direction B, the tactile force sense. The amplitude of the haptic vibration generated by the generating element 21 may be reduced. Further, when the user's finger moves in the direction A and in the direction B, the frequency of the haptic vibration is the same, and when the user's finger moves in the direction C or D The tactile force sense generating element 21 may perform control so as to generate a tactile force sense vibration having a frequency different from that when the user's finger moves in the direction A or the direction B.

Accordingly, the user can recognize whether or not the finger protrudes from the adjustment gauge 31c without adjusting the finger while moving the finger while visually checking the display unit 30 or the touch pad 11. The direction can be recognized.

Note that, also in the haptic sense presentation device 10 according to the present embodiment, the amplitude of the haptic vibration may be gradually increased or gradually decreased according to the movement distance of the user's finger. Further, the amplitude of the tactile sensation vibration may be gradually increased or decreased gradually according to the moving speed of the user's finger. Further, the control unit 25 is not limited to the amplitude or frequency of the haptic vibration generated by the haptic sensation generating element 21 but may control the pattern of the haptic vibration or the type of the haptic sensation.

[1-3-4. Example 4]
FIG. 11 is a diagram for explaining a haptic sense presentation operation of the haptic sense presentation device 10 according to the fourth embodiment.

In the haptic sense presentation apparatus 10 according to the present embodiment, the haptic sense presentation unit 20 is based on the moving direction of the contact position of the user's finger, and the unevenness and three-dimensional shape of the object displayed on the display unit 30 of the in-vehicle device. Or present the tactile sensation according to the ease of putting force.

As shown in FIG. 11, an image of a sphere 31d having a three-dimensional shape is displayed on the display unit 30 of the in-vehicle device. Here, in the haptic sense presentation device 10 according to the present embodiment, the haptic sense presentation unit 20 is configured such that when the user touches the sphere 31d via the touch pad 11, the user's finger is in the vertical direction along the gravity. Different tactile sensations are presented when moving and when moving in the horizontal direction perpendicular to the vertical direction.

For example, when the user's finger moves in the direction A against the direction of gravity, the control unit 25 increases the amplitude of the haptic vibration generated by the haptic sensation generating element 21, and the user's finger moves in the direction of gravity. , The amplitude of the haptic vibration generated by the haptic sensation generating element 21 is reduced. In addition, when the user's finger moves in the horizontal direction C or D, the control unit 25 determines the amplitude of the haptic vibration generated by the haptic sensation generating element 21 when the user's finger is A. It is controlled to an intermediate size between when moving in the direction and when moving in the direction of B.

Further, the control unit 25 adjusts to the shape of the sphere 31d so that the gradient of the change in the amplitude of the tactile sensation vibration increases as it moves from near the center of the height of the sphere 31d toward the zenith or bottom of the sphere 31d. In addition, the amplitude of the tactile force vibration generated by the tactile force sense generating element 21 may be controlled.

[1-3-5. Example 5]
12A and 12B are diagrams for explaining the haptic sense presentation operation of the haptic sense presentation device 10 according to the fifth embodiment. In the haptic sense presentation device 10 according to the present embodiment, as shown in FIGS. 12A and 12B, the user increases (pinch-in) or narrows (pinch-in) or narrows (a pinch-in) an interval between two fingers 35 that are in contact with the touchpad 11 ( Operate on-board equipment by pinching out). In the haptic sense presentation device 10, the control unit 25 has a haptic sensation presented by the haptic sense presentation unit 20 when the user widens and narrows the distance between the two fingers 35 brought into contact with the touchpad 11. The tactile force sense generating element 21 is controlled differently.

Specifically, as shown in FIG. 12A, the control unit 25 detects the haptic vibration generated by the haptic sensation generating element 21 when the two fingers 35 of the user move in the direction E that increases the interval. Increase the amplitude. Further, as shown in FIG. 12A, the control unit 25 reduces the amplitude of the haptic vibration generated by the haptic sensation generating element 21 when the two fingers 35 of the user move in the direction F that increases the interval. To do.

[1-3-6. Example 6]
13A and 13B are diagrams for explaining the haptic sense presentation operation of the haptic sense presentation device 10 according to the sixth embodiment. In the haptic sense presentation device 10 according to the present embodiment, when the image displayed on the display unit 30 of the in-vehicle device is moving, the user is in a direction along the moving direction of the image or a direction against the moving direction of the image. The on-vehicle device is operated by moving the finger.

At this time, in the haptic sense presentation device 10 according to the present embodiment, the haptic sense presentation unit 20 moves the contact position of the user's finger relative to the moving direction of the image displayed on the display unit 30 of the in-vehicle device. Present tactile sensation based on direction. For example, when the contact position of the user's finger moves in a direction along the moving direction of the image, the haptic sense presentation unit 20 presents a haptic vibration having a small amplitude. When the contact position of the user's finger moves in a direction opposite to the moving direction of the image, the haptic sense presentation unit 20 presents haptic sensation vibration having a large amplitude.

Specifically, as shown in FIG. 13A, an image of a drum roll that can be rotated downward is displayed on the display unit 30 of the in-vehicle device. When the user's finger moves in the direction A against the rotation direction of the drum roll, the control unit 25 increases the amplitude of the haptic vibration generated by the haptic sensation generating element 21 so that the user feels a friction. Give a sense of force. Further, when the user's finger moves in the direction B along the rotation direction of the drum roll, the amplitude of the haptic vibration generated by the haptic sensation generating element 21 is reduced so that the user does not feel friction. Give a sense of force.

Similarly, as shown in FIG. 13B, when a drum roll that can be rotated upward is displayed on the display unit 30 of the in-vehicle device, the control unit 25 indicates that the user's finger is in the rotation direction of the drum roll. When moving in the direction A along the direction, the amplitude of the haptic vibration generated by the haptic sensation generating element 21 is reduced to give a haptic sensation that the user does not feel friction. Further, when the user's finger moves in the direction B opposite to the rotation direction of the drum roll, the amplitude of the haptic vibration generated by the haptic sensation generating element 21 is increased, and a haptic sensation that allows the user to feel a friction feeling is increased. give.

Note that, in the haptic sense presentation device 10 according to the present embodiment as well, as with the haptic sense presentation device 10 shown in the first embodiment, the user is not limited to the amplitude of the haptic vibration, and the user moves in the moving direction of the image. Based on the relative movement direction of the finger, the frequency of the haptic vibration, the pattern, or the type of the haptic sensation may be controlled and presented to the user's finger.

[1-3-7. Example 7]
FIG. 14 is a diagram for explaining the haptic sense presentation operation of the haptic sense presentation device 10 according to the seventh embodiment. In the haptic sense presentation device 10 according to the present embodiment, as in the haptic sense presentation device 10 according to the sixth embodiment, the haptic sense presentation unit 20 moves the user's finger relative to the moving direction of the image. A sense of touch is presented to the user's finger based on the direction.

Specifically, in the present embodiment, the in-vehicle device is a car navigation system, and a map is displayed on the display unit 30 as shown in FIG. As shown in FIG. 14, the map is moving diagonally to the left. Here, when the contact position of the user's finger moves in a direction having a component A in the direction opposite to the moving direction of the map, the haptic sense presentation unit 20 presents haptic sensation vibration having a large amplitude. Further, when the user's finger moves in a direction having a component in the B direction along the moving direction of the map, the haptic sense presentation unit 20 presents haptic sensation vibration having a small amplitude. Further, when the user's finger moves in the direction C or D that is orthogonal to the moving direction of the map, the haptic sense presentation unit 20 does not present the haptic vibration. Thereby, the user can recognize in which direction the map is moved.

[1-4. Effect etc.]
As described above, according to the haptic sense presentation device 10 according to the present embodiment, the user is presented with the haptic sense from the haptic sense presentation unit 20 based on the movement direction of the finger. It is possible to recognize whether or not the finger is moving in the operation direction. Therefore, according to the tactile sensation presentation device according to the present embodiment, it is possible to reduce the dependency of the position determination on the vision when inputting an operation to a device such as an in-vehicle device.

(Embodiment 2)
[2-1. Configuration of haptic presentation device]
Next, the haptic sense presentation device 10 according to Embodiment 2 will be described. The haptic presentation device 10 according to the present embodiment is different from the haptic presentation device 10 according to the first embodiment in that the control unit 25 has a target position where the user's finger 35 is moved on the touchpad 11. Then, it is determined from the contact position and the moving direction of the user's finger 35 with respect to the touch pad 11 whether or not the contact position is toward the predetermined target position, and presented from the haptic sense presentation unit 20 based on the determination result. This is the point that controls tactile vibration. Note that the configuration of the haptic sense presentation device 10 according to the present embodiment is the same as that of the haptic sense presentation device 10 shown in the first embodiment, and thus detailed description thereof is omitted.

[2-2. Operation of the haptic presentation device]
Next, the operation of the haptic sense presentation device 10 will be described. 15A and 15B are diagrams illustrating examples of the moving direction of the contact position of the user's finger 35 in the haptic sense presentation device 10 according to the present embodiment.

As shown in FIGS. 15A and 15B, the user performs an operation of moving the user's finger 35 to a predetermined target position 37 on the touch pad 11 in order to operate the in-vehicle device. A target position is the target position 37 in the touchpad 11 corresponding to the target position displayed on the display part 30 of vehicle equipment, for example. The target position displayed on the display unit 30 is, for example, a destination input as a destination when a vehicle-mounted device is a car navigation system and a map is displayed on the display unit 30, or a treasure is placed in a treasure hunt game. The position that was made.

In the haptic sense presentation device 10 according to the present embodiment, the haptic sense presentation unit 20 includes a case where the user's finger 35 is moving toward the target position 37 as shown in FIG. As shown in FIG. 3, the user's finger 35 presents a different tactile force sense when moving in a direction different from the direction of the target position 37.

More specifically, the control unit 25 determines whether the contact position of the finger 35 on the touch pad 11 is directed toward the target position 37 from the contact position of the user's finger 35 on the touch pad 11 and the moving direction of the finger 35. To do. Then, the control unit 25 controls the haptic vibration presented from the haptic presentation unit 20 based on the determination result. At this time, the control unit 25 includes a case where the user's finger 35 is moving in the direction of the target position 37 and a case where the user's finger 35 is moving in a direction different from the direction of the target position 37. It controls so that the tactile force sense presented from the tactile force sense presenting unit 20 is different. Based on the determination result, the control unit 25 determines the magnitude, frequency, pattern, or type of tactile force sense of the tactile force vibration generated by the tactile force sense generating element 21 provided in the tactile force sense presenting unit 20. Control to be different.

Thereby, the tactile force sense presentation unit 20 presents a tactile force sense based on the relative moving direction of the finger 35 with respect to the direction of the target position 37, so that the user moves the moving direction of the finger 35 toward the target position. It can be recognized whether or not. Therefore, even when the user is performing another work, the user can move the finger 35 in the direction of the target position 37 and easily operate the device with high accuracy.

For example, the control unit 25 touches the touch pad 11 when the contact position of the user's finger 35 is not directed toward the target position 37 than when the contact position of the user's finger 35 is directed toward the target position 37. The haptic sense presentation unit 20 is controlled so that the amplitude of the haptic vibration presented from the haptic presentation unit 20 is increased. More specifically, the control unit 25 is configured such that the contact position of the user's finger 35 is not directed toward the target position 37 than the contact position of the user's finger 35 is directed toward the target position 37 on the touch pad 11. In this case, control is performed so that the amplitude of the tactile force sense vibration generated by the tactile force sense generating element 21 is increased. According to this, the user can recognize whether or not the contact position is toward the target position 37 depending on whether the haptic vibration presented from the haptic presentation 20 is large or small.

The control unit 25 is not limited to the amplitude of the haptic vibration presented from the haptic presentation unit 20, and may control the frequency of the haptic vibration. For example, the control unit 25 has a tactile force when the contact position of the user's finger 35 is not directed toward the target position than when the contact position of the user's finger 35 is directed toward the target position 37 on the touch pad 11. You may control so that the frequency of the tactile-force sensation vibration presented from the haptic presentation part 20 may become small. According to this, the user can recognize whether or not the contact position is toward the target position 37 depending on whether the frequency of the haptic vibration presented from the haptic sense presentation unit 20 is high or low.

Further, the control unit 25 is not limited to the amplitude and frequency of the tactile force vibration presented from the tactile force sense presenting unit 20, and may control the tactile force vibration pattern or the type of tactile force sense. In addition, when the contact position of the user's finger 35 is directed toward the target position 37 on the touch pad 11, the control unit 25 does not present the tactile force sense from the tactile force sense presenting unit 20 and makes contact with the user's finger 35. When the position is not toward the target position 37, control may be performed so that the tactile force sense presentation unit 20 presents a tactile force sense. According to this, when the tactile force sense is presented from the tactile force sense presentation unit 20, the user does not move the finger 35 toward the target position 37, and the tactile force sense presentation unit 20 provides the tactile force sense. Is not presented, it can be recognized that the moving direction of the finger 35 is toward the target position 37. Therefore, the user can easily reach the target position by moving the finger 35 in a direction in which the sense of touch is not presented.

FIG. 16 is a flowchart showing an example of the operation of the haptic sense presentation device 10 according to the present embodiment. When the user moves the finger 35 in contact with the touch pad 11 of the input unit 12, the electrostatic IC 18 arranged on the touch pad 11 changes the capacitance of the touch pad 11 due to the finger 35 touching. The position where the finger 35 touches the touch pad 11 is detected. Thereby, the contact position of the finger | toe 35 which the user contacted the touchpad 11 is detected (step S20). Information on the detected contact position of the finger 35 is output from the electrostatic IC 18 to the control unit 25 via the microcomputer 22 disposed on the control board 26.

Next, the target position 37 is determined by the control unit 25 (step S21). For example, when the in-vehicle device is a car navigation system, the target position 37 is a destination input as a destination by the user, a treasure position in the case of a treasure hunt game, or a current position in a car navigation system that is being navigated. The direction that the road is followed. The control unit 25 calculates and determines the position of the input target position on the display unit 30 or the predicted target position on the display unit 30 on the touch pad 11 as the target position 37.

Next, the contact position of the user's finger 35 is detected. The detection of the contact position of the finger 35 is performed periodically. And the control part 25 detects the moving direction of the contact position of the finger 35 to the touchpad 11 from the time change of the contact position of the finger 35 (step S22).

Further, the control unit 25 determines whether or not the detected contact position of the finger 35 is directed toward the target position 37 (step S23). When the contact position of the finger 35 is in the direction of the target position 37 (Yes in step S23), the control unit 25 changes the haptic sensation generated by the haptic sensation generating element 21 to the first haptic sensation. Control (step S24). When the contact position of the finger 35 is not in the direction of the target position 37 (No in step S23), the control unit 25 changes the tactile force sense generated by the tactile force sense generating element 21 to the second tactile force. Control is performed (step S25).

Here, the first tactile force sense is, for example, when the tactile force sense generating element 21 is a piezoelectric element that generates vibration, the vibration frequency is the same as that of the second tactile force sense, and the vibration amplitude is The vibration is smaller than the second tactile force sense. Note that the control unit 25 may not present the first tactile force sense when the contact position of the finger 35 is toward the target position 37.

[2-3. Example]
Hereinafter, a specific example of the haptic sense presentation operation by the haptic sense presentation device 10 according to the present embodiment will be described.

[2-3-1. Example 8]
FIG. 17 is a diagram for explaining the haptic sense presentation operation of the haptic sense presentation device 10 according to the eighth embodiment. In the haptic sense presentation device 10 according to the present embodiment, the user operates the in-vehicle device by moving the finger 35 relatively toward the target position 38 on the touch pad 11. In the haptic sense presentation device 10 shown in FIG. 17, the treasure hunting game treasure position is shown as the target position 38. Therefore, the user does not know which position the target position 38 is.

The haptic sense presentation device 10 is presented with a haptic sense from the haptic sense presentation unit 20 by moving the position of the user's finger 35 on the touch pad 11. At this time, when the moving direction of the user's finger 35 approaches the target position 38, the control unit 25 does not cause the tactile force sense presenting unit 20 to present a tactile force sense, and the moving direction of the user's finger 35 is When moving away from the target position 38, control is performed to cause the tactile force sense presentation unit 20 to present a tactile force sense. More specifically, when the moving direction of the user's finger 35 is the direction A approaching the target position 38, the control unit 25 does not generate haptic vibration in the haptic sensation generating element 21, and When the movement direction of the finger 35 is different from the direction of the target position 38 in the B direction, the C direction, and the D direction, the tactile force sense generating element 21 is caused to generate a tactile force sense vibration.

Therefore, the user can reach the target position 38 by moving the finger 35 in the direction A in which the haptic sense is not presented from the haptic sense presentation unit 20.

In addition, when the moving direction of the user's finger 35 approaches the target position 38, the control unit 25 causes the tactile force sense generating element 21 to generate a tactile force vibration having a small amplitude so that the user's finger 35 moves. When the direction moves away from the target position 38, the haptic sensation generating element 21 may generate a haptic vibration having a large amplitude. The control unit 25 is not limited to the amplitude of the haptic vibration, and may control the frequency, pattern, or type of the haptic vibration.

[2-3-2. Example 9]
FIG. 18 is a diagram for explaining the haptic sense presentation operation of the haptic sense presentation device 10 according to the ninth embodiment. In the present embodiment, when the in-vehicle device is a car navigation system, the user performs an operation of displaying the direction in which the road that is currently running on the map displayed on the display unit 30 continues. In the haptic sense presentation device 10 according to the present embodiment, the continuation direction of the road that is not yet displayed on the display unit 30 is unknown, but the haptic sense presentation device 10 guides the user's finger in the continuation direction of the road. Present haptic sensation as you do.

In the tactile sensation presentation device 10 according to the present embodiment, the target position 38 is a position where the currently running road and the end of the display unit 30 intersect as the target position. Similar to the haptic presentation device 10 shown in the eighth embodiment, in the haptic presentation device 10 according to the present embodiment, the user moves the position of the user's finger on the touch pad 11, thereby presenting the haptic presentation. A tactile sensation is presented from the unit 20. At this time, when the moving direction of the user's finger is approaching the target position 38, the control unit 25 does not cause the tactile force sense presenting unit 20 to present the tactile force sense, and the moving direction of the user's finger is the target position. When moving away from 38, control is performed to cause the tactile force sense presentation unit 20 to present a tactile force sense. Specifically, when the moving direction of the user's finger approaches the target position 38, the control unit 25 does not generate the haptic vibration in the haptic force generating element 21 and moves the moving direction of the user's finger. When moving away from the target position 38, the tactile force sense generating element 21 generates tactile force sense vibration.

Therefore, the user can reach the target position 38 by moving the finger in a direction in which the haptic sense is not presented from the haptic sense presentation unit 20. As a result, the user can move the map in the direction in which the currently traveling road continues.

When the moving direction of the user's finger is approaching the target position 38, the control unit 25 causes the haptic force generating element 21 to generate a haptic vibration having a small amplitude so that the moving direction of the user's finger is When moving away from the target position 38, the haptic sensation generating element 21 may generate haptic sensation vibration having a large amplitude. The control unit 25 is not limited to the amplitude of the haptic vibration, and may control the frequency, pattern, or type of the haptic vibration.

[2-4. Effect etc.]
As described above, according to the haptic sense presentation device 10 according to the present embodiment, the user touches the haptic sense presentation unit 20 depending on whether or not the finger 35 is directed toward the target position 37. Since the sense of force is different, the user can recognize whether or not the finger 35 is moved in the intended operation direction or the correct operation direction. Therefore, according to the tactile sensation presentation device according to the present embodiment, it is possible to reduce the dependency of the position determination on the vision when inputting an operation to a device such as an in-vehicle device. Even if the user does not recognize the target position, it is possible to cause the user to perform a correct operation by guiding the user's finger in the correct direction.

(Modification of Embodiment 2)
In the haptic sense presentation device 10 according to the second embodiment described above, the haptic sense presentation unit 20 presents a different haptic sense depending on whether or not the moving direction of the user's finger is toward the target position. However, the present invention is not limited to this, and the haptic sense presentation unit 20 may present different haptic sensations according to the deviation angle between the direction of the target position and the direction of movement of the user's finger.

For example, as illustrated in FIG. 15B, the control unit 25 determines the position relative to the target position 37 from the straight line connecting the target position 37 and the contact position of the user's finger 35 on the touch pad 11 and the moving direction of the user's finger 35. The shift angle θ in the moving direction of the user's finger 35 is obtained. Then, the haptic sense presentation unit 20 may be controlled so that the amplitude of the haptic vibration presented from the haptic sense presentation unit 20 increases as the deviation angle θ increases. According to this, since the magnitude of the tactile sensation vibration changes based on the deviation angle between the direction of the target position 37 and the movement direction of the finger, does the user deviate from the direction of movement of the finger and the direction of the target position 37? You can recognize whether or not. Thereby, even when the user is performing another work, the user can move the finger in the direction of the target position and easily operate the device with high accuracy.

Further, the control unit 25 determines, with respect to the target position 37, as shown in FIG. 15B from the straight line connecting the target position 37 and the contact position of the user's finger 35 on the touch pad 11 and the moving direction of the user's finger 35. The shift angle θ in the moving direction of the user's finger 35 is obtained. Then, the haptic sense presentation unit 20 may be controlled so that the frequency of the haptic vibration presented from the haptic sense presentation unit 20 decreases as the deviation angle θ increases. According to this, since the frequency of the tactile sensation vibration changes based on the deviation angle between the direction of the target position 37 and the movement direction of the finger 35, the user determines whether or not the movement direction of the finger and the direction of the target position are shifted. Can be recognized. Therefore, the haptic sense presentation device 10 can more accurately guide the user's finger 35 in the correct direction.

(Other embodiments)
As described above, the haptic sense presentation device and the haptic sense presentation method according to the embodiments of the present disclosure have been described. However, the haptic sense presentation device and the haptic sense presentation method are not limited to the above-described embodiments, and are modified. May be.

For example, in the above-described embodiment, the tactile sensation presentation device has a configuration in which a touch pad is provided in the input unit. However, the function of the input unit and the display unit is not limited to the touch pad, as illustrated in FIG. A touch panel 111 may also be provided. FIG. 19 is a diagram illustrating an example of an input unit of the haptic sense presentation device.

In the above-described embodiment, the capacitive touch pad is used as the input unit. However, the input unit is not limited to the capacitive type, and other methods such as an optical type, a resistive film type, an ultrasonic type, and an electromagnetic induction type. An input unit using may be used. Moreover, you may use the touchpad of the structure which can be detected non-contacting also including an electrostatic capacitance type.

Further, the tactile force sense generating element may be a vibrator composed of a piezoelectric element, or may be an electromagnetically operated vibrator such as a motor, a solenoid, or a voice coil, a linear resonant actuator, an artificial muscle, or a shape memory actuator. It may be. The tactile force generation element may be a non-contact element that provides tactile force, such as an element that generates ultrasonic waves or airflow, or a sensory nerve such as an element that generates an electrostatic friction feeling. It may be an element that gives a sense of force.

In the haptic sense presentation device, the control unit may control the magnitude of the haptic vibration presented from the haptic sense presentation unit, and the frequency, pattern, and touch of the haptic vibration. The type of force sense may be controlled. The control unit may perform control that does not generate haptic vibration.

In the above-described embodiment, the haptic sense presentation device is disposed behind the shift lever in the vehicle interior of the vehicle. It should just be arrange | positioned in the position of the range which reaches.

In the above-described embodiments, the haptic sense presentation device is used for operation input of a car navigation system, an in-vehicle device such as an audio device or a video reproduction device for reproducing an optical disc, but the haptic sensation is used. You may use a presentation apparatus for other vehicle equipment, such as an air-conditioner. The tactile sensation presentation device is not limited to the in-vehicle device, and may be used for operation input of other devices that the user performs operations while performing other operations.

As described above, the haptic sense presentation device and the haptic sense presentation method according to one or more aspects of the present disclosure have been described based on the embodiments. However, the present disclosure is not limited to the embodiments. Absent. Unless it deviates from the gist of the present disclosure, one or more of the present disclosure may be applied to various modifications conceived by those skilled in the art in the present embodiment, or forms configured by combining components in different embodiments. It may be included within the scope of the embodiments.

This disclosure is useful as an input device that can be easily and accurately operated even when the user is performing other work, an input device for in-vehicle devices, and the like.

DESCRIPTION OF SYMBOLS 1 Car 10 Tactile-force sense presentation apparatus 11 Touch pad 12

Input part

13, 14, 15 Touch switch 18 Electrostatic IC
DESCRIPTION OF SYMBOLS 20 Tactile sense presentation part 21 Tactile sense generating element 22 Microcomputer 25 Control part 26 Control board 27 Holder 28

Main body

29a, 29b Wiring 30

Display part

31, 31a, 31c Adjustment gauge 31b Hedgehog 31d Sphere 32 Knob 35 Finger 40 Shift lever 50 Steering 51 Rim 52 Spoke 53 Horn switch cover 60 Seat 111 Touch panel

Claims

An input unit for a user to input an operation;
A tactile sensation presentation unit that presents a tactile sensation to the user via the input unit;
A controller that is electrically connected to the input unit and the haptic sense presentation unit, and that controls the haptic sense presentation unit based on an operation input to the input unit;
The control unit is configured to control a haptic vibration presented from the haptic sense presentation unit based on a contact position where the user touches the input unit and a moving direction of the contact position.
The haptic sense presentation device according to claim 1, wherein the control unit controls the magnitude of the haptic vibration presented from the haptic sense presentation unit based on a moving direction of the contact position.
The haptic sense presentation device according to claim 1, wherein the control unit controls a frequency of the haptic vibration presented from the haptic sense presentation unit based on a moving direction of the contact position.
The tactile force according to any one of claims 1 to 3, wherein the control unit controls a pattern of the tactile force sense vibration presented from the tactile force sense presenting unit based on a moving direction of the contact position. Sense presentation device.
The control unit has a target position for moving the contact position in the input unit, determines whether the contact position is toward the target position from the contact position and the moving direction, and determines the determination result. The haptic sense presentation device according to claim 1, wherein the haptic sense vibration presented from the haptic sense presentation unit is controlled based on the haptic sense vibration.
The controller is configured such that the haptic sensation presented by the haptic sensation presentation unit differs between when the contact position is toward the target position and when the contact position is not toward the target position. The haptic sense presentation device according to claim 5.
In the control unit, the haptic sensation presented from the haptic sense presentation unit is greater when the contact position is not toward the target position than when the contact position is toward the target position. The haptic sense presentation device according to claim 5.
The control unit obtains a deviation angle in the movement direction with respect to the target position from a straight line connecting the target position and the contact position and the movement direction, and presents from the tactile force sense presentation unit as the deviation angle increases. The haptic sense presentation device according to claim 7, wherein the haptic sense vibration is controlled to be increased.
The control unit detects the haptic vibration presented from the haptic sense presentation unit when the contact position is not toward the target position than when the contact position is toward the target position. The haptic sense presentation device according to claim 5, wherein the haptic sense presentation device is controlled so as to have a low frequency.
The control unit obtains a deviation angle in the movement direction with respect to the target position from a straight line connecting the target position and the contact position and the movement direction, and presents from the tactile force sense presentation unit as the deviation angle increases. The haptic sense presentation device according to claim 9, wherein the haptic sense vibration frequency is controlled to be low.
When the contact position is toward the target position, the control unit does not present a tactile force sense from the tactile force sense presenting unit, and when the contact position is not toward the target position, the tactile force The tactile force sense presentation device according to claim 5, wherein the tactile force sense unit is controlled to present a tactile force sense.
The tactile sensation presentation device according to any one of claims 1 to 11, wherein the input unit is a capacitance type, an optical type, or a resistance type input unit.
The haptic sense presentation unit includes a haptic sense generating element that generates the haptic vibration given to a user,
The tactile force sense presentation device according to any one of claims 1 to 12, wherein the tactile force sense generating element is configured by a piezoelectric body or electromagnetically operated.
The tactile force sense presentation device according to any one of claims 1 to 13, further comprising a conductive plate between the input unit and the tactile force sense presentation unit.
A tactile sensation presentation method for a haptic presentation device,
The haptic sense presentation device includes:
An input unit for a user to input an operation;
A tactile sensation presentation unit that vibrates the input unit;
A control unit electrically connected to the input unit and the haptic sense presentation unit,
The controller is
Detecting a contact position where the user touches the input unit;
Detecting a moving direction of the contact position;
Controlling a haptic vibration of the haptic sense presentation unit based on the contact position and the moving direction.
The controller is
Determining a target position for moving the contact position in the input unit;
Determining from the contact position and the movement direction whether the contact position is toward the target position;
The haptic sense presentation method according to claim 15, further comprising: controlling the haptic sense vibration of the haptic sense presentation unit based on the determination result.