WO2019187182A1 - Tactile sensation presentation device and operation input device - Google Patents

Tactile sensation presentation device and operation input device Download PDF

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Publication number
WO2019187182A1
WO2019187182A1 PCT/JP2018/025891 JP2018025891W WO2019187182A1 WO 2019187182 A1 WO2019187182 A1 WO 2019187182A1 JP 2018025891 W JP2018025891 W JP 2018025891W WO 2019187182 A1 WO2019187182 A1 WO 2019187182A1
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piezoelectric element
plate
annular piezoelectric
operator
tactile sensation
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PCT/JP2018/025891
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French (fr)
Japanese (ja)
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元俊 南部
貢 野崎
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Smk株式会社
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Publication of WO2019187182A1 publication Critical patent/WO2019187182A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/04—Constructional details
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N30/00—Piezoelectric or electrostrictive devices
    • H10N30/20—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N30/00—Piezoelectric or electrostrictive devices
    • H10N30/30—Piezoelectric or electrostrictive devices with mechanical input and electrical output, e.g. functioning as generators or sensors

Definitions

  • the present invention relates to a tactile sensation presentation device and an operation input device, and more particularly to a device in which a piezoelectric element is applied as means for generating a tactile sensation.
  • the portable electronic device has accepted the operation by generating vibration in response to an operation by the operator. It has become common to attach a function to perceive scent.
  • the cited document 1 includes a combination of a cylindrical actuator 100 and a pressure plate 200, and the actuator 100 and the pressure plate.
  • a configuration is disclosed in which a liquid medium 300 is sealed inside 200 and the pressure plate 200 is vibrated through the medium 300 as the diameter of the actuator 100 expands and contracts (see the figure of the present application). 5).
  • the tactile sense presentation device disclosed in the cited document 1 has a structure in which the pressure plate 200 is displaced via the medium 300, and therefore the volume of the medium 300 pushed out from the inner diameter portion of the actuator 100 due to the contraction of the diameter of the actuator 100. Therefore, each of the pressure plates 300 on both sides is displaced outward. That is, the displacement generated in the pressure plate 200 as the diameter of the actuator 100 contracts is dispersed in the two pressure plates 200.
  • the tactile sense presentation device disclosed in the cited document 1 is used by being fixed to a plate-like member that forms an operation surface of the device, the pressure plate 200 positioned on the fixed side is provided with a pressure plate 200.
  • a load for displacing the plate member is added.
  • the medium 300 pushed out from the inner diameter portion of the actuator 100 exclusively pushes out the pressure plate 200 located on the side opposite to the fixed side.
  • the tactile sense presentation device disclosed in the cited document 1 has a complicated configuration in which a liquid medium is sealed by a pressure plate, it is difficult to reduce the cost, and further, there is a problem such as leakage of the medium. May occur.
  • the present invention has been made in view of such a problem, and is capable of generating a sufficiently large displacement with respect to the operation surface while having a simple configuration. It is an object of the present invention to provide a tactile sense presentation device and an operation input device that can clearly perceive acceptance of an operation.
  • a tactile sense presentation device has an annular piezoelectric element fixed to the other main surface of a flexible plate-like member having one main surface as an operation surface that an operator touches.
  • the annular piezoelectric element has an electrode for applying a voltage, and when the voltage is applied to the electrode, a deformation that reduces or expands the diameter is generated. A tactile sensation is presented to the operator by the bending of the plate-like member caused by the deformation of the piezoelectric element.
  • the annular piezoelectric element If the annular piezoelectric element is deformed so that the diameter or diameter of the annular piezoelectric element is reduced or expanded in a state where the annular piezoelectric element is fixed to the flexible plate-like member, it is directly bent with respect to the plate-like member. Can be generated. The bending of the plate-like member at this time is forcibly generated along with the deformation of the annular piezoelectric element, and is generated three-dimensionally around the annular piezoelectric element. It becomes larger than the displacement caused indirectly through the medium or the pressure plate as in the prior art.
  • a plurality of the annular piezoelectric elements may be fixed to one plate-like member.
  • the tactile sense presentation apparatus which can present a more complicated tactile sensation can be provided by integrating and controlling a plurality of annular piezoelectric elements.
  • the plate-like member is translucent, and is disposed on the other main surface side of the plate-like member so as to correspond to the inner diameter range of the annular piezoelectric element.
  • the light emitting element may be further provided, and the range of the inner diameter of the annular piezoelectric element may be illuminated by the light emitting element.
  • the translucent mark can be made visible to the operator. For this reason, it is possible to provide a tactile sensation presentation device that is easy to understand the position where the operator should contact a finger or the like and that has high decorating properties.
  • the operation input device may include the above-described tactile sense presentation device and contact detection means for detecting an operator's contact with the plate-like member.
  • an operation input device having a function of presenting a haptic sense can be configured.
  • the contact detection means for example, a detection electrode for detecting the capacitance is arranged inside or around the annular piezoelectric element, and the contact of the operator is detected based on the detected change in the capacitance.
  • a so-called capacitive touch switch can be suitably applied.
  • the contact detection means in the operation input device detects contact based on a voltage generated in the electrode of the annular piezoelectric element in accordance with the bending of the plate-like member caused by the contact of the operator. It may be.
  • the piezoelectric element generates a voltage between the electrodes in response to deformation due to external force. Based on this voltage generated at the electrode of the annular piezoelectric element in the present invention, it is configured to detect the operator's contact, so that the annular piezoelectric element can be used for both the tactile presentation and the contact detection. Therefore, an operation input device having a reasonable configuration can be provided.
  • a presentation device and an operation input device can be provided.
  • a tactile sense presentation device 1 and an operation input device 2 according to an embodiment of the present invention will be described with reference to FIGS.
  • FIG. 1 is a diagram showing the configuration of the tactile sense presentation device 1 in plan view from the operation surface side.
  • FIG. 2 is a cross-sectional view of the haptic presentation device shown in FIG. For convenience of illustration, the dimensions of each part shown in FIG. 2 may be different from the actual ones.
  • the tactile sense presentation device 1 includes a plate-like member 11 and an annular piezoelectric element 12.
  • One surface of the plate-like member 11 (the upper surface in FIG. 2) is a flat surface, which is an operation surface that the operator touches.
  • the annular piezoelectric element 12 is firmly fixed to the other surface (the lower surface in FIG. 2) of the plate-like member 11 with an adhesive 13 such as an epoxy resin adhesive.
  • the plate-like member 11 is formed by forming a thin plate of an insulating resin such as acrylic or polycarbonate, and has flexibility.
  • the plate-like member 11 is not limited to a resin-made member, and various flexible thin plates such as a glass thin plate and a metal thin plate can be suitably applied.
  • a metal thin plate it is necessary to ensure insulation between the first electrode 12b of the annular piezoelectric element 12 to be described later by forming a layer of the adhesive 13 described above.
  • the annular piezoelectric element 12 has a base body 12a obtained by forming a known piezoelectric material such as lead zirconate titanate or lithium niobate in an annular shape, and upper and lower annular surfaces of the base body 12a.
  • the first electrode 12b and the second electrode 12c made of a metal such as silver or tin are formed to face each other.
  • the annular piezoelectric element 12 formed in this way is deformed so as to be reduced in diameter or expanded in accordance with the polarity of the voltage applied between the first electrode 12b and the second electrode 12c.
  • the electrodes of the annular piezoelectric element 12 are arranged on the inner circumferential wall surface and the outer circumferential wall surface of the annular piezoelectric element 12 in addition to the arrangement arranged on each of the opposed annular surfaces as in this embodiment. There may be a mode in which electrodes arranged on the annular surface, the inner peripheral wall surface, and the outer peripheral wall surface are used in combination.
  • the annular piezoelectric element 12 When a voltage of a predetermined polarity obtained by a drive voltage generation circuit (not shown) is applied between the first electrode 12b and the second electrode 12c of the annular piezoelectric element 12, the annular piezoelectric element 12 is deformed so as to be reduced in diameter. To do. Accordingly, the plate-like member 11 to which the annular piezoelectric element 12 is firmly fixed is forcibly bent. The bending of the plate-like member 11 at this time becomes a shape that forms a convex three-dimensional curved surface in which the central portion of the annular piezoelectric element 12 protrudes most.
  • the annular piezoelectric element 12 When a voltage having a polarity opposite to that of the above-described example is applied between the first electrode 12b and the second electrode 12c of the annular piezoelectric element 12, the annular piezoelectric element 12 is deformed so as to expand its diameter.
  • the bending of the plate-like member 11 at this time has a shape that forms a concave three-dimensional curved surface in which the central portion of the annular piezoelectric element 12 is depressed most.
  • the annular piezoelectric element 12 fixed to the flexible plate-like member 11 is deformed to reduce or expand its diameter.
  • the plate-like member 11 is directly and forcibly bent. Therefore, the amount of deflection of the plate-like member 11 at this time, that is, the amount of displacement is larger than the amount of displacement when the plate-like member 11 is indirectly generated via a medium or a pressure plate as in the prior art. Become. Therefore, a tactile sense can be clearly presented to the operator.
  • the biasing force generated by the bent plate-like member 11 against the operator's finger or the like in contact with the operation surface is larger than that of the conventional one. Become. Therefore, even when the operator is in a relatively strong contact and pressing the contact surface, the tactile sense can be clearly presented to the operator against the pressing force.
  • FIG. 3 is a diagram showing the configuration of the operation input device 2 in plan view from the operation surface side.
  • 4 is a BB cross-sectional view of the operation input device 2 shown in FIG.
  • the dimensions of each part shown in FIG. 4 may be different from the actual ones.
  • annular piezoelectric elements 22 are firmly fixed to one plate-like member 21 with an adhesive in the same manner as in the first embodiment.
  • a substrate 23 is provided. Since the annular piezoelectric element 22 has the same configuration as that described in detail in the first embodiment, description thereof is omitted.
  • the plate-like member 21 of the operation input device 2 is formed by forming a light-transmitting insulating resin such as acrylic or polycarbonate into a thin plate shape, and has flexibility.
  • the plate-like member 21 is not limited to a resin-made member, and for example, a flexible thin plate having various translucency, such as a glass thin plate, can be suitably applied. Moreover, if the illumination function mentioned later is unnecessary, the plate-shaped member 21 does not necessarily need to be a translucent thing, and all flexible thin plates can be applied suitably.
  • Arbitrary translucent marks may be arranged within the range of the inner diameter of each annular piezoelectric element 22 in the plate-like member 21.
  • the translucent mark By allowing the translucent mark to be transmitted and illuminated by the LED 24 as a light emitting element to be described later, the translucent mark can be visually recognized by the operator. Alternatively, the desired function can be easily understood and can be highly decorated.
  • the printed wiring board 23 is a known one, and is formed, for example, by etching a predetermined circuit pattern made of copper foil on a glass fiber cloth base epoxy resin laminated board.
  • the LED 24 illuminates the area of the inner diameter of the annular piezoelectric element 22.
  • the translucent mark is arranged within the range of the inner diameter of the annular piezoelectric element 22 as described above, the mark is transmitted and illuminated.
  • the printed wiring board 23 is formed with a voltage detection circuit (not shown) as a contact detection means, and is connected to the annular piezoelectric element 22.
  • the voltage detection circuit is a circuit for detecting a potential difference generated between the first electrode 12b and the second electrode 12c described above when the annular piezoelectric element 22 is deformed by an external force.
  • the voltage detection circuit detects a contact between the operator and the operation surface by detecting a potential difference generated in the annular piezoelectric element 22 at this time.
  • the contact detection means is not limited to the voltage detection circuit described above.
  • the contact detection means is detected by disposing a detection electrode for detecting electrostatic capacity inside or around the annular piezoelectric element 22.
  • a so-called capacitance type touch switch that detects an operator's contact based on a change in capacitance can be suitably applied.
  • various known contact detection methods can be suitably applied.
  • the printed wiring board 23 further includes a drive voltage generation circuit for generating a predetermined voltage to be applied to the annular piezoelectric element 22, and drive control for controlling the waveform and period of the voltage applied to the annular piezoelectric element 22.
  • a circuit and a connection switching circuit that selects a target to which a voltage is applied from among the four annular piezoelectric elements 22 and selects a target whose contact is to be detected by the voltage detection circuit are formed. (Neither shown)
  • the drive control circuit is configured to be able to set a specific voltage waveform or voltage application period corresponding to each annular piezoelectric element 22, and corresponds to each annular piezoelectric element 22. Can be assigned a unique tactile sense. This is preferable in that the operator can perceive the operation corresponding to which annular piezoelectric element 22 is accepted without visually recognizing the operation surface through the sense of touch.
  • the drive control circuit and the connection switching circuit integrally control the plurality of annular piezoelectric elements 22 in cooperation with each other, for example, supply voltages having different waveforms to the respective annular piezoelectric elements 22 or By providing a voltage having a predetermined waveform sequentially with a slight time difference to each annular piezoelectric element 22, a complicated tactile sensation that cannot be presented by one annular piezoelectric element is presented to the operator. be able to.
  • the present invention can be suitably used in tactile presentation devices and operation input devices used in various electronic devices or various home appliances.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Position Input By Displaying (AREA)
  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)

Abstract

Provided is a tactile sensation presentation device with which an operator can be made aware of an acceptance of an operation or the like by causing a displacement to occur in an operation screen. The tactile sensation presentation device is configured such that ring-shaped piezoelectric elements, in which a deformation of contracting or expanding the diameters thereof occurs by a voltage being applied to an electrode, are fastened to a flexible plate-shaped member which an operator touches so that the plate-shaped member is caused to bend in accordance with the deformation of the ring-shaped piezoelectric elements. A sufficiently large displacement can thereby be caused in the operation screen, and an operator can thus be made more clearly aware of an acceptance of an operation or the like.

Description

触覚提示装置および操作入力装置Tactile sense presentation device and operation input device
　本発明は、触覚提示装置および操作入力装置に関し、さらに詳しくは、触覚を発生させる手段として圧電素子を応用したものに関する。 The present invention relates to a tactile sensation presentation device and an operation input device, and more particularly to a device in which a piezoelectric element is applied as means for generating a tactile sensation.
　例えばスマートフォンなどのような、操作用のタッチパネルを備える携帯用電子機器の分野では、操作者による操作に応じて振動を発生させることで、操作者に対して携帯用電子機器が操作を受け付けたことを知覚させる機能を付帯させることが一般的になっている。 For example, in the field of portable electronic devices having a touch panel for operation, such as a smartphone, the portable electronic device has accepted the operation by generating vibration in response to an operation by the operator. It has become common to attach a function to perceive scent.
　近年、このようなタッチパネルを備える携帯用電子機器の分野と同様に、平坦な操作面に触れる、あるいは、押圧することで操作を行う、いわゆるタッチスイッチを備える各種機器においても、操作面を変位あるいは変形させることによって、操作者に対して操作を受け付けたことを知覚させる機能を付帯させることの要求がある。 In recent years, as in the field of portable electronic devices including such a touch panel, even in various devices including so-called touch switches that operate by touching or pressing a flat operation surface, the operation surface is displaced or There is a demand to add a function to make the operator perceive that the operation is accepted by changing the shape.
　このような要求を実現するために適用可能なものであると思料される触覚提示装置の一例として、引用文献１には、筒形のアクチュエータ１００と圧力板２００とを組み合わせ、アクチュエータ１００と圧力板２００の内部に液体の媒質３００を封入して、アクチュエータ１００の径の拡大と収縮に伴って、媒質３００を介して圧力板２００を振動させるように構成したものが開示されている（本願の図５を参照）。 As an example of a tactile sensation presentation apparatus that is considered to be applicable to realize such a requirement, the cited document 1 includes a combination of a cylindrical actuator 100 and a pressure plate 200, and the actuator 100 and the pressure plate. A configuration is disclosed in which a liquid medium 300 is sealed inside 200 and the pressure plate 200 is vibrated through the medium 300 as the diameter of the actuator 100 expands and contracts (see the figure of the present application). 5).
国際公開２０１０／０５８５３８号（段落００１５，図３Ｂ）International Publication No. 2010/058538 (paragraph 0015, FIG. 3B)
　ところで、操作者に対して機器が操作を受け付けたことを知覚させるに際して、より明瞭に操作者が知覚できるようにするためには、より大きい変位を操作面に生じさせることが必要となる。 By the way, in order to make the operator perceive that the device has accepted the operation, it is necessary to cause a larger displacement on the operation surface so that the operator can perceive the device more clearly.
　引用文献１に開示されている触覚提示装置は、媒質３００を介して圧力板２００に変位を生じさせるという構造上、アクチュエータ１００の径の収縮によって、アクチュエータ１００の内径部分から押し出される媒質３００の体積に相当する分、両側の圧力板３００のそれぞれが外側へ向けて変位することとなる。すなわち、アクチュエータ１００の径の収縮に伴って圧力板２００に生じる変位は、二つの圧力板２００に分散して生じる。 The tactile sense presentation device disclosed in the cited document 1 has a structure in which the pressure plate 200 is displaced via the medium 300, and therefore the volume of the medium 300 pushed out from the inner diameter portion of the actuator 100 due to the contraction of the diameter of the actuator 100. Therefore, each of the pressure plates 300 on both sides is displaced outward. That is, the displacement generated in the pressure plate 200 as the diameter of the actuator 100 contracts is dispersed in the two pressure plates 200.
　この引用文献１に開示されている触覚提示装置を、機器の操作面をなす板状部材に固着させて用いることを想定した場合、固着させた側に位置する圧力板２００には、圧力板２００それ自体を変位させるための負荷に加えて、板状部材を変位させるための負荷が上乗せされる。このような状況においては、アクチュエータ１００の内径部分から押し出される媒質３００は、専ら、固着させた側とは反対側に位置する圧力板２００を押し出すことになると思料され、この結果、板状部材に対しては、十分に大きい変位を発生させることができず、操作者に対して操作の受け付けを十分に知覚させることができない事態となることが懸念される。 When it is assumed that the tactile sense presentation device disclosed in the cited document 1 is used by being fixed to a plate-like member that forms an operation surface of the device, the pressure plate 200 positioned on the fixed side is provided with a pressure plate 200. In addition to a load for displacing itself, a load for displacing the plate member is added. In such a situation, it is assumed that the medium 300 pushed out from the inner diameter portion of the actuator 100 exclusively pushes out the pressure plate 200 located on the side opposite to the fixed side. On the other hand, there is a concern that a sufficiently large displacement cannot be generated and the operator cannot be sufficiently perceived to accept the operation.
　加えて、引用文献１に開示されている触覚提示装置は、圧力板によって液体の媒質を封入するという複雑な構成であるため、コストの低減が難しく、さらには、媒質の漏れ出しなどの不具合が発生する虞がある。 In addition, since the tactile sense presentation device disclosed in the cited document 1 has a complicated configuration in which a liquid medium is sealed by a pressure plate, it is difficult to reduce the cost, and further, there is a problem such as leakage of the medium. May occur.
　本発明は、このような課題を鑑みてなされたものであって、簡素な構成でありながら、操作面に対して十分に大きい変位を発生させることが可能であり、操作者に対して、より明瞭に操作の受け付けを知覚させることのできる触覚提示装置および操作入力装置を提供することを目的とする。 The present invention has been made in view of such a problem, and is capable of generating a sufficiently large displacement with respect to the operation surface while having a simple configuration. It is an object of the present invention to provide a tactile sense presentation device and an operation input device that can clearly perceive acceptance of an operation.
　上述の課題を解決するために、本発明による触覚提示装置は、一方の主面を操作者が触れる操作面とする可撓性の板状部材における他方の主面に円環状圧電素子を固着させたものであって、前記円環状圧電素子は、電圧を印加するための電極を有し、前記電極に電圧を印加することによって、縮径もしくは拡径する変形を生じるものであり、前記円環状圧電素子の変形に伴って生じる前記板状部材の撓みによって、前記操作者に触覚を提示することを特徴とする。 In order to solve the above-described problems, a tactile sense presentation device according to the present invention has an annular piezoelectric element fixed to the other main surface of a flexible plate-like member having one main surface as an operation surface that an operator touches. The annular piezoelectric element has an electrode for applying a voltage, and when the voltage is applied to the electrode, a deformation that reduces or expands the diameter is generated. A tactile sensation is presented to the operator by the bending of the plate-like member caused by the deformation of the piezoelectric element.
　円環状圧電素子を可撓性の板状部材に固着した状態で、円環状圧電素子が縮径もしくは拡径するように変形すると、その変形に伴って、板状部材に対して直接的に撓みを生じさせることができる。このときの板状部材の撓みは、円環状圧電素子の変形に伴って強制的に生じるものであるとともに、円環状圧電素子を中心として三次元的に生じるものであるため、その変位量は、従来のように媒質や圧力板を介して間接的に生じさせる変位よりも大きくなる。 If the annular piezoelectric element is deformed so that the diameter or diameter of the annular piezoelectric element is reduced or expanded in a state where the annular piezoelectric element is fixed to the flexible plate-like member, it is directly bent with respect to the plate-like member. Can be generated. The bending of the plate-like member at this time is forcibly generated along with the deformation of the annular piezoelectric element, and is generated three-dimensionally around the annular piezoelectric element. It becomes larger than the displacement caused indirectly through the medium or the pressure plate as in the prior art.
　本発明による触覚提示装置において、一つの前記板状部材に、複数の前記円環状圧電素子を固着させた態様であってよい。 In the tactile sense presentation device according to the present invention, a plurality of the annular piezoelectric elements may be fixed to one plate-like member.
　例えば、それぞれの円環状圧電素子に対応して固有の触覚を割り付けた態様のユニット状の触覚提示装置を提供することができる。また、複数の円環状圧電素子を連携させて統合的に制御することで、より複雑な触覚を提示することができる触覚提示装置を提供することができる。 For example, it is possible to provide a unit-like tactile sensation presentation apparatus in which a unique tactile sensation is assigned to each annular piezoelectric element. Moreover, the tactile sense presentation apparatus which can present a more complicated tactile sensation can be provided by integrating and controlling a plurality of annular piezoelectric elements.
　本発明による触覚提示装置において、前記板状部材は透光性のものであり、前記板状部材の他方の主面側に、前記円環状圧電素子の内径の範囲に対応して配設される発光素子をさらに有し、前記発光素子によって、前記円環状圧電素子の内径の範囲が照光される態様であってよい。 In the tactile sense presentation device according to the present invention, the plate-like member is translucent, and is disposed on the other main surface side of the plate-like member so as to correspond to the inner diameter range of the annular piezoelectric element. The light emitting element may be further provided, and the range of the inner diameter of the annular piezoelectric element may be illuminated by the light emitting element.
　例えば、円環状圧電素子の内径の範囲に任意の透光マークを配置して、その透光マークが透過照光されるようにすることで、操作者に対して透光マークを視認させることができるため、操作者が指等を接触させるべき位置が分かりやすいとともに、加飾性の高い触覚提示装置を提供することができる。 For example, by arranging an arbitrary translucent mark in the range of the inner diameter of the annular piezoelectric element so that the translucent mark is transmitted and illuminated, the translucent mark can be made visible to the operator. For this reason, it is possible to provide a tactile sensation presentation device that is easy to understand the position where the operator should contact a finger or the like and that has high decorating properties.
　本発明による操作入力装置は、上述した触覚提示装置と、前記板状部材への操作者の接触を検出する接触検出手段とを備えてよい。 The operation input device according to the present invention may include the above-described tactile sense presentation device and contact detection means for detecting an operator's contact with the plate-like member.
　上述した本願発明による触覚提示装置と、接触検出手段とを組み合わせることによって、触覚を提示する機能を付帯した操作入力装置を構成することができる。接触検出手段としては、例えば、円環状圧電素子の内部や周囲に静電容量を検出するための検出電極を配設して、検出される静電容量の変化に基づいて操作者の接触を検出する、いわゆる静電容量方式タッチスイッチを好適に応用することができる。 By combining the tactile sensation presentation device according to the present invention described above and the contact detection means, an operation input device having a function of presenting a haptic sense can be configured. As the contact detection means, for example, a detection electrode for detecting the capacitance is arranged inside or around the annular piezoelectric element, and the contact of the operator is detected based on the detected change in the capacitance. Thus, a so-called capacitive touch switch can be suitably applied.
　また、本発明による操作入力装置における前記接触検出手段は、前記操作者の接触によって生じる前記板状部材の撓みに伴って前記円環状圧電素子の電極に生じる電圧に基づいて接触を検出するものであってよい。 Further, the contact detection means in the operation input device according to the present invention detects contact based on a voltage generated in the electrode of the annular piezoelectric element in accordance with the bending of the plate-like member caused by the contact of the operator. It may be.
　圧電素子は、外力による変形に応じて電極間に電圧が発生する。本願発明における円環状圧電素子の電極に生じるこの電圧に基づいて、操作者の接触を検出するように構成することで、円環状圧電素子を、触覚の提示と接触の検出の二つの用途で兼用できるため、合理的な構成の操作入力装置を提供することができる。 The piezoelectric element generates a voltage between the electrodes in response to deformation due to external force. Based on this voltage generated at the electrode of the annular piezoelectric element in the present invention, it is configured to detect the operator's contact, so that the annular piezoelectric element can be used for both the tactile presentation and the contact detection. Therefore, an operation input device having a reasonable configuration can be provided.
　本発明によれば、簡素な構成でありながら、操作面に対して十分に大きい変位を発生させることが可能であり、操作者に対して、より明瞭に操作の受け付けを知覚させることのできる触覚提示装置および操作入力装置を提供することができる。 According to the present invention, it is possible to generate a sufficiently large displacement with respect to the operation surface while having a simple configuration, and it is possible for the operator to perceive the acceptance of the operation more clearly. A presentation device and an operation input device can be provided.
本発明の第１実施例に係る触覚提示装置の構成を示した図である。It is the figure which showed the structure of the tactile sense presentation apparatus which concerns on 1st Example of this invention. 図１に示す触覚提示装置の要部断面図である。It is principal part sectional drawing of the tactile sense presentation apparatus shown in FIG. 本発明の第２実施例に係る操作入力装置の構成を示した図である。It is the figure which showed the structure of the operation input apparatus which concerns on 2nd Example of this invention. 図２に示す操作入力装置の要部断面図である。It is principal part sectional drawing of the operation input apparatus shown in FIG. 従来の触覚提示装置の構成を示した図である。It is the figure which showed the structure of the conventional tactile sense presentation apparatus.
　本発明の実施例に係る触覚提示装置１および操作入力装置２について、図１から図４を用いて説明する。 A tactile sense presentation device 1 and an operation input device 2 according to an embodiment of the present invention will be described with reference to FIGS.
　まず、本発明の第１実施例に係る触覚提示装置１について説明する。 First, the tactile presentation device 1 according to the first embodiment of the present invention will be described.
　図１は、触覚提示装置１の構成について、操作面側から平面視して示した図である。図２は、図１に示す触覚提示装置のＡ－Ａ断面図である。なお、図示の都合上、図２に示す各部位の寸法は実際のものとは異なる場合がある。 FIG. 1 is a diagram showing the configuration of the tactile sense presentation device 1 in plan view from the operation surface side. FIG. 2 is a cross-sectional view of the haptic presentation device shown in FIG. For convenience of illustration, the dimensions of each part shown in FIG. 2 may be different from the actual ones.
　触覚提示装置１は、板状部材１１と円環状圧電素子１２とを備えている。板状部材１１の一方の面（図２における上側の面）は平坦面であって、操作者が触れる操作面である。板状部材１１の他方の面（図２における下側の面）には、例えばエポキシ樹脂系接着剤などの接着剤１３によって、円環状圧電素子１２が強固に固着されている。 The tactile sense presentation device 1 includes a plate-like member 11 and an annular piezoelectric element 12. One surface of the plate-like member 11 (the upper surface in FIG. 2) is a flat surface, which is an operation surface that the operator touches. The annular piezoelectric element 12 is firmly fixed to the other surface (the lower surface in FIG. 2) of the plate-like member 11 with an adhesive 13 such as an epoxy resin adhesive.
　板状部材１１は、例えばアクリルやポリカーボネートなどの絶縁性樹脂を薄板状に形成したものであって、可撓性を有するものである。なお、板状部材１１は樹脂製のものに限定されず、例えば、ガラス製薄板、金属製薄板などのような、種々の可撓性の薄板を好適に応用できる。なお、金属製薄板を用いる場合には、上述した接着剤１３による層を形成するなどして、後述する円環状圧電素子１２の第１電極１２ｂとの間の絶縁性を確保する必要がある。 The plate-like member 11 is formed by forming a thin plate of an insulating resin such as acrylic or polycarbonate, and has flexibility. The plate-like member 11 is not limited to a resin-made member, and various flexible thin plates such as a glass thin plate and a metal thin plate can be suitably applied. When a metal thin plate is used, it is necessary to ensure insulation between the first electrode 12b of the annular piezoelectric element 12 to be described later by forming a layer of the adhesive 13 described above.
　円環状圧電素子１２は、チタン酸ジルコン酸鉛、ニオブ酸リチウムなどの公知な圧電材料を円環状に形成して得た基体１２ａを有しており、その基体１２ａの上下の円環状をなす面のそれぞれに、銀や錫などの金属からなる第１電極１２ｂと第２電極１２ｃとを対向させて形成して構成されたものである。このように形成された円環状圧電素子１２は、第１電極１２ｂと第２電極１２ｃとの間に印加する電圧の極性に応じて、縮径もしくは拡径するように変形する。なお、円環状圧電素子１２の電極は、本実施例のように対向する円環状面のそれぞれに配置する態様の他に、円環状圧電素子１２の内周壁面および外周壁面にそれぞれ配置する態様であってもよく、円環状面と内周壁面および外周壁面に配置した電極を併用する態様であってもよい。 The annular piezoelectric element 12 has a base body 12a obtained by forming a known piezoelectric material such as lead zirconate titanate or lithium niobate in an annular shape, and upper and lower annular surfaces of the base body 12a. The first electrode 12b and the second electrode 12c made of a metal such as silver or tin are formed to face each other. The annular piezoelectric element 12 formed in this way is deformed so as to be reduced in diameter or expanded in accordance with the polarity of the voltage applied between the first electrode 12b and the second electrode 12c. The electrodes of the annular piezoelectric element 12 are arranged on the inner circumferential wall surface and the outer circumferential wall surface of the annular piezoelectric element 12 in addition to the arrangement arranged on each of the opposed annular surfaces as in this embodiment. There may be a mode in which electrodes arranged on the annular surface, the inner peripheral wall surface, and the outer peripheral wall surface are used in combination.
　上述した触覚提示装置１の動作について説明する。 The operation of the above-described tactile sense presentation device 1 will be described.
　円環状圧電素子１２の第１電極１２ｂと第２電極１２ｃとの間に、図示しない駆動電圧発生回路によって得た所定の極性の電圧を印加すると、円環状圧電素子１２が縮径するように変形する。これに伴って、円環状圧電素子１２が強固に固着されている板状部材１１に強制的に撓みが生じる。このときの板状部材１１の撓みは、円環状圧電素子１２の中心部分が最も突出した凸状の三次元的な曲面をなす形状となる。 When a voltage of a predetermined polarity obtained by a drive voltage generation circuit (not shown) is applied between the first electrode 12b and the second electrode 12c of the annular piezoelectric element 12, the annular piezoelectric element 12 is deformed so as to be reduced in diameter. To do. Accordingly, the plate-like member 11 to which the annular piezoelectric element 12 is firmly fixed is forcibly bent. The bending of the plate-like member 11 at this time becomes a shape that forms a convex three-dimensional curved surface in which the central portion of the annular piezoelectric element 12 protrudes most.
　円環状圧電素子１２の第１電極１２ｂと第２電極１２ｃとの間に、上述した例とは逆の極性の電圧を印加すると、円環状圧電素子１２が拡径するように変形する。このときの板状部材１１の撓みは、円環状圧電素子１２の中心部分が最も陥没した凹状の三次元的な曲面をなす形状となる。 When a voltage having a polarity opposite to that of the above-described example is applied between the first electrode 12b and the second electrode 12c of the annular piezoelectric element 12, the annular piezoelectric element 12 is deformed so as to expand its diameter. The bending of the plate-like member 11 at this time has a shape that forms a concave three-dimensional curved surface in which the central portion of the annular piezoelectric element 12 is depressed most.
　板状部材１１が凸状に撓む場合と凹状に撓む場合、いずれも、可撓性の板状部材１１に固着された円環状圧電素子１２の縮径もしくは拡径する変形に伴って、板状部材１１に対して直接的かつ強制的に撓みが生じる。そのため、このときの板状部材１１の撓み量、すなわち、変位量は、従来のように媒質や圧力板を介して板状部材１１に対して間接的に生じさせた場合の変位量よりも大きくなる。したがって、操作者に対して明瞭に触覚を提示することができる。 When the plate-like member 11 is bent in a convex shape and when it is bent in a concave shape, the annular piezoelectric element 12 fixed to the flexible plate-like member 11 is deformed to reduce or expand its diameter. The plate-like member 11 is directly and forcibly bent. Therefore, the amount of deflection of the plate-like member 11 at this time, that is, the amount of displacement is larger than the amount of displacement when the plate-like member 11 is indirectly generated via a medium or a pressure plate as in the prior art. Become. Therefore, a tactile sense can be clearly presented to the operator.
　また、板状部材１１が凸状に撓む場合について、操作面に接触している操作者の指等に対して、撓んだ板状部材１１が生じる付勢力は、従来のものよりも大きくなる。したがって、操作者が比較的強く接触して、接触面を押圧している状態であっても、その押圧力に抗して、操作者に対して明瞭に触覚を提示することができる。 Further, when the plate-like member 11 is bent in a convex shape, the biasing force generated by the bent plate-like member 11 against the operator's finger or the like in contact with the operation surface is larger than that of the conventional one. Become. Therefore, even when the operator is in a relatively strong contact and pressing the contact surface, the tactile sense can be clearly presented to the operator against the pressing force.
　次に、本発明の第２実施例に係る操作入力装置２について説明する。 Next, the operation input device 2 according to the second embodiment of the present invention will be described.
　図３は、操作入力装置２の構成について、操作面側から平面視して示した図である。図４は、図３に示す操作入力装置２のＢ－Ｂ断面図である。なお、図示の都合上、図４に示す各部位の寸法は実際のものとは異なる場合がある。 FIG. 3 is a diagram showing the configuration of the operation input device 2 in plan view from the operation surface side. 4 is a BB cross-sectional view of the operation input device 2 shown in FIG. For convenience of illustration, the dimensions of each part shown in FIG. 4 may be different from the actual ones.
　操作入力装置２は、一つの板状部材２１に、四つの円環状圧電素子２２を、第１実施例と同様に接着剤で強固に固着させ、さらに、板状部材２１と対向させて印刷配線基板２３を配設してなるものである。なお、円環状圧電素子２２については、第１実施例において詳述したものと同一の構成であるので説明を省略する。 In the operation input device 2, four annular piezoelectric elements 22 are firmly fixed to one plate-like member 21 with an adhesive in the same manner as in the first embodiment. A substrate 23 is provided. Since the annular piezoelectric element 22 has the same configuration as that described in detail in the first embodiment, description thereof is omitted.
　操作入力装置２の板状部材２１は、例えばアクリルやポリカーボネートなどの透光性の絶縁性樹脂を薄板状に形成したものであって、可撓性を有するものである。なお、板状部材２１は樹脂製のものに限定されず、例えば、ガラス製薄板などのような、種々の透光性を有する可撓性の薄板を好適に応用できる。また、後述する照光機能が不要であれば、板状部材２１を必ずしも透光性のものとする必要はなく、あらゆる可撓性の薄板を好適に応用できる。 The plate-like member 21 of the operation input device 2 is formed by forming a light-transmitting insulating resin such as acrylic or polycarbonate into a thin plate shape, and has flexibility. The plate-like member 21 is not limited to a resin-made member, and for example, a flexible thin plate having various translucency, such as a glass thin plate, can be suitably applied. Moreover, if the illumination function mentioned later is unnecessary, the plate-shaped member 21 does not necessarily need to be a translucent thing, and all flexible thin plates can be applied suitably.
　板状部材２１における、それぞれの円環状圧電素子２２の内径の範囲内には、図示しない任意の透光マークを配置してもよい。後述する発光素子としてのＬＥＤ２４によって、透光マークが透過照光されるようにすることで、操作者に対して透光マークを視認させることができるため、操作者が指等を接触させるべき位置、あるいは、所望する機能が分かりやすいとともに、加飾性の高いものとすることができる。 Arbitrary translucent marks (not shown) may be arranged within the range of the inner diameter of each annular piezoelectric element 22 in the plate-like member 21. By allowing the translucent mark to be transmitted and illuminated by the LED 24 as a light emitting element to be described later, the translucent mark can be visually recognized by the operator. Alternatively, the desired function can be easily understood and can be highly decorated.
　印刷配線基板２３は公知なものであって、例えば、ガラス繊維布基材エポキシ樹脂積層板の基板上に、銅箔からなる所定の回路パターンをエッチングによって形成してなるものである。印刷配線基板２３の板状部材２１と対向する側の面上には、それぞれの円環状圧電素子２２の内径のほぼ中心に位置するように、発光素子としての四つのＬＥＤ２４が配設されている。このＬＥＤ２４によって、円環状圧電素子２２の内径の範囲内が照光される。円環状圧電素子２２の内径の範囲内に、上述したように透光マークが配置されている場合は、そのマークが透過照光される。 The printed wiring board 23 is a known one, and is formed, for example, by etching a predetermined circuit pattern made of copper foil on a glass fiber cloth base epoxy resin laminated board. On the surface of the printed wiring board 23 facing the plate-like member 21, four LEDs 24 as light emitting elements are arranged so as to be positioned approximately at the center of the inner diameter of each annular piezoelectric element 22. . The LED 24 illuminates the area of the inner diameter of the annular piezoelectric element 22. When the translucent mark is arranged within the range of the inner diameter of the annular piezoelectric element 22 as described above, the mark is transmitted and illuminated.
　印刷配線基板２３には、接触検出手段としての図示しない電圧検出回路が形成されており、円環状圧電素子２２と接続されている。電圧検出回路は、円環状圧電素子２２が外力による変形することに伴って、上述した第１電極１２ｂと第２電極１２ｃとの間に生じる電位差を検出するための回路である。操作者が板状部材２１の操作面に接触して押圧すると、板状部材２１に撓みが生じ、これに伴って、円環状圧電素子２２が変形する。電圧検出回路は、このときに円環状圧電素子２２に生じる電位差を検出することで、操作者による操作面への接触を検出する。このようにすることで、円環状圧電素子２２を、触覚の提示と、接触の検出の二つの用途で兼用できるため、操作入力装置２の構成が簡素化され、操作入力装置２の原価の低減に寄与する。 The printed wiring board 23 is formed with a voltage detection circuit (not shown) as a contact detection means, and is connected to the annular piezoelectric element 22. The voltage detection circuit is a circuit for detecting a potential difference generated between the first electrode 12b and the second electrode 12c described above when the annular piezoelectric element 22 is deformed by an external force. When the operator contacts and presses the operation surface of the plate-like member 21, the plate-like member 21 is bent, and the annular piezoelectric element 22 is deformed accordingly. The voltage detection circuit detects a contact between the operator and the operation surface by detecting a potential difference generated in the annular piezoelectric element 22 at this time. By doing in this way, since the annular piezoelectric element 22 can be used for two purposes of tactile presentation and contact detection, the configuration of the operation input device 2 is simplified, and the cost of the operation input device 2 is reduced. Contribute to.
　なお、接触検出手段は、上述した電圧検出回路に限定されるものではなく、例えば、円環状圧電素子２２の内部や周囲に静電容量を検出するための検出電極を配設して、検出される静電容量の変化に基づいて操作者の接触を検出する、いわゆる静電容量方式タッチスイッチであっても好適に応用することができる。これ以外にも、種々の公知な接触検出方法を好適に応用することができる。 Note that the contact detection means is not limited to the voltage detection circuit described above. For example, the contact detection means is detected by disposing a detection electrode for detecting electrostatic capacity inside or around the annular piezoelectric element 22. Even a so-called capacitance type touch switch that detects an operator's contact based on a change in capacitance can be suitably applied. In addition to this, various known contact detection methods can be suitably applied.
　印刷配線基板２３には、さらに、円環状圧電素子２２へ印加する所定の電圧を生じさせるための駆動電圧発生回路、円環状圧電素子２２へ印加する電圧の波形や期間を制御するための駆動制御回路、および、四つの円環状圧電素子２２の中から、電圧を印加する対象を選択するとともに、電圧検出回路によって接触を検出する対象を選択する接続切替回路、などが形成されている。（いずれも図示しない） The printed wiring board 23 further includes a drive voltage generation circuit for generating a predetermined voltage to be applied to the annular piezoelectric element 22, and drive control for controlling the waveform and period of the voltage applied to the annular piezoelectric element 22. A circuit and a connection switching circuit that selects a target to which a voltage is applied from among the four annular piezoelectric elements 22 and selects a target whose contact is to be detected by the voltage detection circuit are formed. (Neither shown)
　駆動制御回路は、それぞれの円環状圧電素子２２に対応して固有の電圧の波形、あるいは、電圧の印加期間を設定することができるように構成されており、それぞれの円環状圧電素子２２に対応した固有の触覚を割り付けることができる。このようにすることで、操作者が触覚を通じて、操作面を視認することなく、どの円環状圧電素子２２に対応した操作が受け付けられたのかを知覚できる点で好ましい。 The drive control circuit is configured to be able to set a specific voltage waveform or voltage application period corresponding to each annular piezoelectric element 22, and corresponds to each annular piezoelectric element 22. Can be assigned a unique tactile sense. This is preferable in that the operator can perceive the operation corresponding to which annular piezoelectric element 22 is accepted without visually recognizing the operation surface through the sense of touch.
　また、駆動制御回路と接続切替回路とによって、複数の円環状圧電素子２２を連携させて統合的に制御して、例えば、それぞれの円環状圧電素子２２に同時に異なる波形の電圧を供給する、あるいは、それぞれの円環状圧電素子２２に若干の時間差をもって、順次、所定の波形の電圧を供給するなどすることで、一つの円環状圧電素子では提示することのできない複雑な触覚を操作者に提示することができる。 Further, the drive control circuit and the connection switching circuit integrally control the plurality of annular piezoelectric elements 22 in cooperation with each other, for example, supply voltages having different waveforms to the respective annular piezoelectric elements 22 or By providing a voltage having a predetermined waveform sequentially with a slight time difference to each annular piezoelectric element 22, a complicated tactile sensation that cannot be presented by one annular piezoelectric element is presented to the operator. be able to.
　本発明は、各種の電子機器、あるいは、各種家電製品等に用いられる触覚提示装置および操作入力装置において好適に利用することができる。 The present invention can be suitably used in tactile presentation devices and operation input devices used in various electronic devices or various home appliances.
　１　触覚提示装置
　　１１　板状部材
　　１２　円環状圧電素子
　　　１２ａ　基体
　　　１２ｂ　第１電極
　　　１２ｃ　第２電極
　　１３　接着剤
　２　操作入力装置
　　２１　板状部材
　　２２　円環状圧電素子
　　２３　印刷配線基板
　　２４　ＬＥＤ（発光素子） DESCRIPTION OF SYMBOLS 1 Tactile sense presentation apparatus 11 Plate-shaped member 12 Circular piezoelectric element 12a Base body 12b 1st electrode 12c 2nd electrode 13 Adhesive 2 Operation input device 21 Plate-shaped member 22 Circular piezoelectric element 23 Printed wiring board 24 LED (light emitting element)

Claims (5)

  1. 一方の主面を操作者が触れる操作面とする可撓性の板状部材における他方の主面に円環状圧電素子を固着させた触覚提示装置であって、
    前記円環状圧電素子は、
    　電圧を印加するための電極を有し、
    　前記電極に電圧を印加することによって、縮径もしくは拡径する変形を生じるものであり、
    前記円環状圧電素子の変形に伴って生じる前記板状部材の撓みによって、前記操作者に触覚を提示することを特徴とする触覚提示装置。     A tactile sensation presentation device in which an annular piezoelectric element is fixed to the other main surface of a flexible plate-like member having one main surface as an operation surface touched by an operator,
    The annular piezoelectric element is
    Having an electrode for applying a voltage,
    By applying a voltage to the electrode, it causes a deformation to be reduced or expanded,
    A tactile sensation presentation apparatus that presents a tactile sensation to the operator by the bending of the plate-like member caused by the deformation of the annular piezoelectric element.
  2. 一つの前記板状部材に、複数の前記円環状圧電素子を固着させたことを特徴とする請求項１に記載の触覚提示装置。 The tactile sense presentation device according to claim 1, wherein a plurality of the annular piezoelectric elements are fixed to one plate-like member.
  3. 前記板状部材は透光性のものであり、
    前記板状部材の他方の主面側に、前記円環状圧電素子の内径の範囲に対応して配設される発光素子をさらに有し、
    前記発光素子によって、前記円環状圧電素子の内径の範囲が照光されることを特徴とする請求項１または請求項２に記載の触覚提示装置。     The plate member is translucent,
    A light-emitting element disposed on the other main surface side of the plate-shaped member corresponding to the inner diameter range of the annular piezoelectric element;
    The tactile sensation presentation apparatus according to claim 1, wherein a range of an inner diameter of the annular piezoelectric element is illuminated by the light emitting element.
  4. 請求項１から請求項３のいずれか１項に記載の触覚提示装置と、
    前記板状部材への操作者の接触を検出する接触検出手段と、
    を備えることを特徴とする操作入力装置。     The tactile sense presentation device according to any one of claims 1 to 3,
    Contact detection means for detecting an operator's contact with the plate member;
    An operation input device comprising:
  5. 前記接触検出手段は、前記操作者の接触によって生じる前記板状部材の撓みに伴って前記円環状圧電素子の前記電極に生じる電圧に基づいて前記接触を検出することを特徴とする請求項４に記載の操作入力装置。
          The contact detection means detects the contact based on a voltage generated in the electrode of the annular piezoelectric element in accordance with the bending of the plate-shaped member caused by the contact of the operator. The operation input device described.
PCT/JP2018/025891 2018-03-24 2018-07-09 Tactile sensation presentation device and operation input device WO2019187182A1 (en)

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Citations (6)

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JP2007334857A (en) * 2006-05-15 2007-12-27 Seiko Epson Corp Operation signal creating apparatus
WO2010058538A1 (en) * 2008-11-21 2010-05-27 日本電気株式会社 Force feedback device
JP2012069042A (en) * 2010-09-27 2012-04-05 Stanley Electric Co Ltd Method of manufacturing touch panel input device, piezoelectric element, and touch panel input device
JP2015153406A (en) * 2014-02-19 2015-08-24 Fdk株式会社 tactile transmission device
JP2017162468A (en) * 2016-03-07 2017-09-14 イマージョン コーポレーションＩｍｍｅｒｓｉｏｎ Ｃｏｒｐｏｒａｔｉｏｎ Systems and methods for haptic surface elements

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11212725A (en) * 1998-01-26 1999-08-06 Idec Izumi Corp Information display device and operation input device
JP2007334857A (en) * 2006-05-15 2007-12-27 Seiko Epson Corp Operation signal creating apparatus
WO2010058538A1 (en) * 2008-11-21 2010-05-27 日本電気株式会社 Force feedback device
JP2012069042A (en) * 2010-09-27 2012-04-05 Stanley Electric Co Ltd Method of manufacturing touch panel input device, piezoelectric element, and touch panel input device
JP2015153406A (en) * 2014-02-19 2015-08-24 Fdk株式会社 tactile transmission device
JP2017162468A (en) * 2016-03-07 2017-09-14 イマージョン コーポレーションＩｍｍｅｒｓｉｏｎ Ｃｏｒｐｏｒａｔｉｏｎ Systems and methods for haptic surface elements

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