WO2019220869A1 - Tactile feeling presentation device - Google Patents

Tactile feeling presentation device Download PDF

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Publication number
WO2019220869A1
WO2019220869A1 PCT/JP2019/016934 JP2019016934W WO2019220869A1 WO 2019220869 A1 WO2019220869 A1 WO 2019220869A1 JP 2019016934 W JP2019016934 W JP 2019016934W WO 2019220869 A1 WO2019220869 A1 WO 2019220869A1
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WIPO (PCT)
Prior art keywords
tactile sensation
dea
sensation presentation
dielectric elastomer
presentation device
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PCT/JP2019/016934
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French (fr)
Japanese (ja)
Inventor
悠二 米原
藤原　武史
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豊田合成株式会社
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Publication of WO2019220869A1 publication Critical patent/WO2019220869A1/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
    • H02N11/00—Generators or motors not provided for elsewhere; Alleged perpetua mobilia obtained by electric or magnetic means
    • 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
    • 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
    • H10N30/80—Constructional details
    • H10N30/85—Piezoelectric or electrostrictive active materials
    • H10N30/857—Macromolecular compositions

Definitions

  • This disclosure relates to a tactile sensation presentation device.
  • Patent Document 1 discloses a tactile sensation presentation apparatus having a motor as a drive unit.
  • the tactile sensation presentation apparatus of Patent Literature 1 can change a pseudo force sense (tactile sensation) given to a user wearing the tactile sensation presentation apparatus by controlling the rotation of the motor.
  • the tactile sensation presentation device is preferably lightweight from the viewpoint of reducing the burden on the user when worn. Further, weight reduction of the tactile sensation presentation device is important from the viewpoint of expressing a delicate tactile sensation. For example, in the case of the tactile sensation presentation apparatus of Patent Document 1, it is difficult to express a light tactile sensation equal to or less than the weight of the motor because the weight of the motor, which is the drive unit, always acts on the user when worn.
  • the purpose of the present disclosure is to reduce the weight of the tactile sensation presentation device.
  • a tactile sensation presentation device that solves the above-described problem is a sheet-like dielectric elastomer actuator that changes in length in the first direction along the surface direction according to an applied voltage, and one main surface of the dielectric elastomer actuator elastically.
  • a pressing portion to be pressed; and a holding portion for holding the dielectric elastomer actuator on at least both sides in the first direction across a portion pressed by the pressing portion.
  • the drive unit is configured by the sheet-like dielectric elastomer actuator and the pressing unit that elastically presses the dielectric elastomer actuator, the drive unit is compared with a conventional tactile sensation presentation device in which the drive unit is a motor. And lightweight device. By reducing the weight of the tactile sensation presentation device, it becomes easier to express a more delicate tactile sensation.
  • the dielectric elastomer actuator has a rectangular shape extending in the first direction, and both ends of the dielectric elastomer actuator in the first direction are fixed to the holding portion.
  • the tactile sensation presentation device preferably includes a plurality of structural units each including the dielectric elastomer actuator, the pressing unit, and the holding unit. According to the said structure, tactile sensation can be given with respect to several places in mounting parts, such as a finger
  • the tactile sensation presentation device is preferably made of a bendable soft material, and preferably includes a connecting portion that connects the plurality of structural units. According to the above configuration, when the user performs an operation such as bending a finger while wearing the tactile sensation presentation device, the flexible connecting portion bends, so that the device deforms following the user's operation. . Therefore, it is suitable as a wearable device.
  • the tactile sensation presentation apparatus it is preferable that a plurality of the dielectric elastomer actuators of the structural units are integrated. According to the said structure, the assembly operation
  • the holding units of a plurality of the structural units are integrated. According to the said structure, the assembly operation
  • the tactile sensation presentation device can be reduced in weight.
  • FIG. 2 is a sectional view taken along line 2-2 of FIG. Schematic of a dielectric elastomer actuator.
  • A is sectional drawing of the tactile sensation presentation apparatus before voltage application
  • (b) is sectional drawing of the tactile sensation presentation apparatus after voltage application.
  • the disassembled perspective view of the tactile sense presentation apparatus of 3rd Embodiment. (A), (b) is sectional drawing of the tactile sense presentation apparatus of the example of a change.
  • a tactile sensation presentation device 10 ⁇ / b> A includes a U-shaped holding unit 11 in a side view and sheet-like dielectric elastomer actuators 12 (DEA: Dielectric Elastomer Actuator) stretched at both ends of the holding unit 11. ).
  • DEA Dielectric Elastomer Actuator
  • the holding part 11 is made of a hard resin such as PP or ABS, and includes a flat bottom part 11a and a pair of arm parts 11b extending upward from both ends of the bottom part 11a.
  • the dielectric elastomer actuator 12 has a rectangular shape extending in the first direction A.
  • the ratio of the long side to the short side (long side / short side) of the dielectric elastomer actuator 12 is, for example, 2 to 5.
  • the dielectric elastomer actuator 12 has a first main surface 12a and a second main surface 12b opposite to the first main surface 12a.
  • the dielectric elastomer actuator 12 is held by the holding portion 11 by fixing both ends of the first main surface 12a in the first direction A to the tips of the arm portions 11b of the holding portion 11.
  • the dielectric elastomer actuator 12 includes a sheet-like dielectric portion 20 made of a dielectric elastomer and a positive electrode 21 and a negative electrode 22 made of a conductive elastomer and disposed on both sides of the dielectric portion 20 in the thickness direction.
  • a multilayer structure in which one or a plurality of sets consisting of An insulating layer 23 is laminated on the outermost layer of the dielectric elastomer actuator 12.
  • the dielectric portion 20 when a DC voltage is applied between the positive electrode 21 and the negative electrode 22, the dielectric portion 20 is compressed in the thickness direction according to the magnitude of the applied voltage, and the dielectric portion 20 It deform
  • the dielectric elastomer constituting the dielectric portion 20 is not particularly limited, and a dielectric elastomer used for a known dielectric elastomer actuator can be used.
  • Examples of the dielectric elastomer include cross-linked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer.
  • One of these dielectric elastomers may be used, or a plurality of types may be used in combination.
  • the conductive elastomer constituting the positive electrode 21 and the negative electrode 22 is not particularly limited, and a conductive elastomer used for a known dielectric elastomer actuator can be used.
  • Examples of the conductive elastomer include a conductive elastomer containing an insulating polymer and a conductive filler.
  • Examples of the insulating polymer include cross-linked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these insulating polymers may be used, or a plurality of these may be used in combination.
  • Examples of the conductive filler include ketjen black (registered trademark), carbon black, and metal particles. Examples of the metal particles include copper and silver. One of these conductive fillers may be used, or a plurality of types may be used in combination.
  • the insulating elastomer constituting the insulating layer 23 is not particularly limited, and a known insulating elastomer used for an insulating portion of a known dielectric elastomer actuator can be used.
  • the insulating elastomer include a crosslinked polyrotaxane, a silicone elastomer, an acrylic elastomer, and a urethane elastomer.
  • One of these insulating elastomers may be used, or a plurality of them may be used in combination.
  • the thickness of the dielectric part 20 is, for example, 20 to 200 ⁇ m.
  • the thicknesses of the positive electrode 21 and the negative electrode 22 are, for example, 10 to 100 ⁇ m.
  • the thickness of the insulating layer 23 is, for example, 10 to 100 ⁇ m.
  • dielectric elastomer actuator 12 is simply referred to as “DEA12”.
  • a pressing portion 13 made of a spring is disposed between the bottom portion 11 a of the holding portion 11 and the DEA 12.
  • One end of the pressing portion 13 is fixed to the central portion of the first main surface 12a of the DEA 12 in the first direction A.
  • the other end of the pressing part 13 is fixed to the bottom part 11 a of the holding part 11.
  • the pressing portion 13 is arranged in a compressed state, and elastically presses the first main surface 12a of the DEA 12 in a direction away from the holding portion 11. Accordingly, the holding unit 11 holds the DEA 12 on both sides in the first direction A across the portion pressed by the pressing unit 13.
  • the tactile sensation presentation device 10A presents a tactile sensation in the central portion of the second main surface 12b of the DEA 12 and opposite to the position where the pressing portion 13 is fixed and pressed. It has a portion 12c.
  • the tactile sensation presentation device 10A is worn by the user so that the tactile sensation presentation unit 12c is in contact with the finger.
  • the DEA 12 expands in the first direction A.
  • FIG.4 (b) based on the restoring force of the press part 13 in a compression state, DEA12 is pushed up to the 2nd main surface 12b side.
  • the DEA 12 is deformed so that the pressing force of the pressing unit 13 and the tension of the DEA 12 are balanced, and the tactile sensation providing unit 12c of the DEA 12 bulges. Then, the tactile sensation presentation unit 12c of the DEA 12 bulges out and presses the contact portion of the user, so that a pseudo force sense (tactile sensation) is presented to the user.
  • the stroke of the tactile sensation presentation device 10A that can be defined as the bulge amount of the tactile sensation presentation unit 12c of the DEA 12 is an amount corresponding to the length of the DEA 12 in the first direction A that changes according to the applied voltage. Therefore, the stroke of the tactile sensation presentation device 10A can be finely adjusted by controlling the applied voltage. Further, when a voltage is applied to the DEA 12, the voltage may be applied in a pulse manner. In this case, the difference in hardness can be expressed by changing the pulse interval (frequency).
  • the tactile sensation presentation device 10 ⁇ / b> A includes a sheet-like DEA 12 whose length in the first direction A along the surface direction changes according to the applied voltage, and a pressing unit that elastically presses the first main surface 12 a of the DEA 12. 13 and a holding portion 11 that holds the DEA 12 on both sides in the first direction A across the portion pressed by the pressing portion 13.
  • the driving unit is configured by the sheet-like DEA 12 and the pressing unit 13 that elastically presses the DEA 12, the driving unit is lighter than a conventional tactile sensation presentation device in which the driving unit is a motor. It becomes a device. And it becomes easy to express more delicate tactile sense by 10A of tactile sense presentation apparatuses being reduced in weight.
  • the output (stroke and pressing force) that can be recognized by the user is secured by combining the DEA 12 and the pressing portion 13 that elastically presses the DEA 12.
  • a stroke of 1 mm or more and 0. A pressing force of 5N or more can be secured.
  • the drive unit since there are few components of the drive unit and the structure is simple, it is easy to reduce the size of the device (particularly, to make it thin). By reducing the size of the tactile sensation presentation device 10A, the burden on the user when the device is worn can be reduced.
  • the DEA 12 has a rectangular shape extending in the first direction A, and both ends of the DEA 12 in the first direction A are fixed to the holding unit 11. According to the above configuration, when a plurality of tactile sensation presentation devices 10A are attached to a finger, it is easy to arrange many tactile sensation presentation devices 10A within a certain range. Therefore, the arrangement density of the tactile sensation presentation device 10A can be increased.
  • the tactile sensation presentation device 10B of the second embodiment includes a plurality of structural units 14 each including a holding unit 11, a DEA 12, and a pressing unit 13, and a connecting unit 15 that connects the structural units 14.
  • the connecting portion 15 is a bag-like (for example, glove-like) member that is made of a soft material that can be bent, such as a cloth material, and that can be used by placing it on a finger.
  • Each structural unit 14 is the tactile sensation presentation device 10 ⁇ / b> A of the first embodiment, and is fixed to the inner surface of the connecting portion 15.
  • the structural units 14 are arranged so that the DEA 12 faces inward and is arranged in a direction perpendicular to the first direction A with an interval.
  • the outer surface of the holding portion 11 of each structural unit 14 is fixed to the inner surface of the connecting portion 15.
  • the tactile sensation presentation device 10 ⁇ / b> B covers the user with the bag-like connecting portion 15 placed on the finger so that the second main surface 12 b of the DEA 12 of each structural unit 14 is in contact with the finger. It is attached to.
  • a voltage to the DEA 12 of each structural unit 14 a tactile sensation can be given to a plurality of locations on the finger.
  • the stroke of each structural unit 14 can be varied by varying the voltage applied to the DEA 12 of each structural unit 14. As a result, a pressure gradient with respect to the finger can be generated to express a complex tactile sensation.
  • the tactile sensation presentation device 10 ⁇ / b> B includes a plurality of structural units 14 each including a holding unit 11, a DEA 12, and a pressing unit 13.
  • tactile sensation can be given to a plurality of locations on the finger. Further, by making the stroke of each structural unit 14 different and creating a pressure gradient with respect to the mounting site, a complex tactile sensation can be expressed.
  • the tactile sensation presentation device 10 ⁇ / b> B is made of a bendable soft material, and includes a connecting portion 15 that connects a plurality of structural units 14. According to the above configuration, when the user performs an operation such as bending a finger while wearing the tactile sensation presentation device 10B, the device follows the user's operation by bending the soft connecting portion 15. Deform. Therefore, it is suitable as a wearable device.
  • the tactile sensation presentation apparatus 10C of the third embodiment is different from the second embodiment in that the holding units 11 and the DEAs 12 are integrated with each other and the connecting unit 15 is not provided.
  • the holding portion 11 of the tactile sensation presentation device 10C is made of an elastomer such as urethane or silicone, and is formed long in a direction orthogonal to the first direction A.
  • the holding unit 11 of the third embodiment is configured as one member shared by the respective structural units 14.
  • the tactile sensation presentation device 10C includes a DEA complex 16 in which the DEAs of the respective structural units 14 are integrated.
  • the DEA complex 16 includes a plurality of rectangular main body portions 16a extending in the first direction A, and a plurality of rectangular connection portions 16b extending in the first direction A, respectively. That is, the DEA complex 16 is formed in a sheet shape in which the main body portions 16 a and the connection portions 16 b are alternately arranged in a direction orthogonal to the first direction A.
  • a slit 16c extending in the first direction A is provided at the center of each connection portion 16b.
  • the DEA composite 16 is a multilayer structure in which a plurality of pairs of the dielectric portion 20, the positive electrode 21, and the negative electrode 22 are stacked in the same manner as the DEA 12 of the first embodiment shown in FIG. 3.
  • the positive electrode 21 of the DEA composite 16 is located only on the main body portion 16a as shown by the broken lines in FIGS. That is, the positive electrodes 21 located on each main body portion 16a are provided in a state of being insulated from each other.
  • the negative electrode 22 is connected to each other at the connection portion 16b to be a common electrode.
  • each main body 16a can function as an independent DEA. Therefore, in the third embodiment, each main body portion 16 a is a DEA that constitutes one structural unit 14.
  • the pressing part 13 is arranged in a compressed state between the bottom part 11a of the holding part 11 and each main body part 16a of the DEA complex 16. One end of the pressing portion 13 is fixed to the central portion of the main body portion 16a in the first direction A. The other end of the pressing part 13 is fixed to the bottom part 11 a of the holding part 11.
  • the tactile sensation presentation device 10 ⁇ / b> C is worn by the user such that each main body portion 16 a of the DEA complex 16 is in contact with a finger.
  • a tactile sensation can be given to a plurality of portions of the finger by applying a voltage to the main body portion 16a which is the DEA of each structural unit 14.
  • the stroke of each structural unit 14 can be made different to generate a pressure gradient with respect to the finger, and a more complex tactile sensation can be expressed.
  • the effects (1) to (3) can be obtained. Moreover, according to 3rd Embodiment, the effect described below is acquired. (5) The DEAs of the plurality of structural units 14 are integrated.
  • the integrated DEA complex 16 is formed in a sheet shape in which the main body portion 16a and the connection portion 16b are alternately arranged in a direction orthogonal to the first direction A.
  • a slit 16c extending in the first direction A is provided at the center of the connection portion 16b.
  • the main-body parts 16a located adjacent become easy to move independently, respectively.
  • the holding portions 11 of the plurality of structural units 14 are integrated.
  • each said embodiment can be changed and implemented as follows.
  • Each embodiment and the following modification examples can be implemented in combination with each other within a technically consistent range.
  • the tactile sensation presentation device of each of the above embodiments may be attached to a part other than a finger.
  • a spring is used as the pressing portion 13, but another elastic member that can elastically press the DEA may be used instead of the spring.
  • other elastic members include rubber, foam, and leaf spring. A specific example in which the pressing portion 13 is changed is shown in FIG.
  • the pressing portion 13 is configured by a wave washer 17 attached to the bottom portion 11 a of the holding portion 11 and a contact plate 18 disposed between the wave washer 17 and the DEA 12.
  • the abutting plate 18 includes a disk-shaped base 18a that contacts the wave washer 17, and a protrusion 18b that protrudes from the base 18a toward the DEA 12 and contacts the DEA 12. Even when an elastic member having a large outer diameter such as the wave washer 17 is employed, the size of the tactile sensation providing portion 12 c in the DEA 12 can be adjusted to an arbitrary size by arranging the contact plate 18.
  • the backing plate 18 is not limited to the case where the wave washer 17 is used, but may be combined with an elastic member such as a spring or rubber.
  • the holding part 11 is formed of an elastic material such as urethane or silicone.
  • a part of the holding portion 11 is formed in a conical leaf spring shape, and the pressing portion 13 is configured by the leaf spring portion.
  • the tactile sensation providing unit 12c is positioned at a predetermined distance with respect to the surface of the user's body at a predetermined timing such as when the tactile sensation presentation device 10A is worn or when the wearing part is moved in the wearing state.
  • the position of the tactile sensation providing unit 12c may be adjusted (zero point correction) by applying a voltage to the DEA 12. Note that the distance between the surface of the user's body and the tactile sensation providing unit 12c can be estimated based on, for example, the capacitance generated when the surface of the user's body approaches the DEA 12. The same applies to the second embodiment and the third embodiment.
  • the shape of the DEA 12 is not limited to a rectangular shape.
  • the DEA 12 having a square shape, a polygonal shape, a circular shape, an elliptical shape, or the like may be used.
  • the DEA only needs to be held by the holding unit 11 at least on both sides in the first direction A across the portion pressed by the pressing unit 13. For example, even if the entire circumference is held by the holding unit 11 Good.
  • connection part 15 is not limited to bag shape, It can change suitably according to the site
  • the electrode provided only on the main body 16a out of the main body 16a and the connection portion 16b may be the negative electrode 22 or both of the positive electrode 21 and the negative electrode 22 It may be.
  • a plurality of DEA 12 of the first embodiment may be arranged instead of the DEA complex 16.

Abstract

This tactile feeling presentation device is provided with: a sheet-like dielectric elastomer actuator (12) in which the length in a first direction (A) along a surface direction varies in accordance with an applied voltage; a pressing unit (13) that elastically presses one main surface (12a) of the dielectric elastomer actuator (12); and a holding unit (11) that holds the dielectric elastomer actuator (12) at least on both sides, in the first direction (A), having a part pressed by the pressing unit (13) therebetween.

Description

触感提示装置Tactile presentation device
　本開示は、触感提示装置に関する。 This disclosure relates to a tactile sensation presentation device.
　相互作用コンピュータアプリケーション、遠隔ロボット工学、娯楽、及び医療等の技術分野において、使用者に対して触感をフィードバックする触感提示装置を適用する研究が進められている。特許文献１には、モータを駆動部として有する触感提示装置が開示されている。特許文献１の触感提示装置は、モータの回転を制御することにより、触感提示装置を装着した使用者に与える疑似力覚（触感）を変化させることができる。 In the technical fields such as interactive computer application, remote robot engineering, entertainment, and medical care, research on applying a tactile sensation presentation device that feeds back tactile sensation to a user is in progress. Patent Document 1 discloses a tactile sensation presentation apparatus having a motor as a drive unit. The tactile sensation presentation apparatus of Patent Literature 1 can change a pseudo force sense (tactile sensation) given to a user wearing the tactile sensation presentation apparatus by controlling the rotation of the motor.
特開２０１０－００３３１２号公報JP 2010-003312 A
　触感提示装置は、装着時の使用者の負担を軽減する観点から、軽量なものであることが好ましい。また、触感提示装置の軽量化は、繊細な触感を表現する観点においても重要である。例えば、特許文献１の触感提示装置の場合、装着時において、駆動部であるモータの重量が常に使用者に作用するため、モータの重量以下の軽い触感を表現することが難しい。 The tactile sensation presentation device is preferably lightweight from the viewpoint of reducing the burden on the user when worn. Further, weight reduction of the tactile sensation presentation device is important from the viewpoint of expressing a delicate tactile sensation. For example, in the case of the tactile sensation presentation apparatus of Patent Document 1, it is difficult to express a light tactile sensation equal to or less than the weight of the motor because the weight of the motor, which is the drive unit, always acts on the user when worn.
　本開示の目的は、触感提示装置の軽量化を図ることにある。 The purpose of the present disclosure is to reduce the weight of the tactile sensation presentation device.
　上記課題を解決する触感提示装置は、印加電圧に応じて面方向に沿った第１方向の長さが変化するシート状の誘電エラストマーアクチュエータと、前記誘電エラストマーアクチュエータの一方の主面を弾性的に押圧する押圧部と、少なくとも、前記押圧部により押圧される部分を挟んだ前記第１方向の両側において、前記誘電エラストマーアクチュエータを保持する保持部とを備える。 A tactile sensation presentation device that solves the above-described problem is a sheet-like dielectric elastomer actuator that changes in length in the first direction along the surface direction according to an applied voltage, and one main surface of the dielectric elastomer actuator elastically. A pressing portion to be pressed; and a holding portion for holding the dielectric elastomer actuator on at least both sides in the first direction across a portion pressed by the pressing portion.
　上記構成によれば、シート状の誘電エラストマーアクチュエータと、誘電エラストマーアクチュエータを弾性的に押圧する押圧部とによって駆動部が構成されているため、駆動部がモータである従来の触感提示装置と比較して軽量な装置となる。触感提示装置が軽量化されることにより、より繊細な触感を表現することが容易になる。 According to the above configuration, since the drive unit is configured by the sheet-like dielectric elastomer actuator and the pressing unit that elastically presses the dielectric elastomer actuator, the drive unit is compared with a conventional tactile sensation presentation device in which the drive unit is a motor. And lightweight device. By reducing the weight of the tactile sensation presentation device, it becomes easier to express a more delicate tactile sensation.
　上記触感提示装置において、前記誘電エラストマーアクチュエータは、前記第１方向に延びる矩形状であり、前記誘電エラストマーアクチュエータにおける前記第１方向の両端部が前記保持部に固定されていることが好ましい。 In the tactile sensation presentation device, it is preferable that the dielectric elastomer actuator has a rectangular shape extending in the first direction, and both ends of the dielectric elastomer actuator in the first direction are fixed to the holding portion.
　上記構成によれば、指等の装着部位に対して複数の触感提示装置を装着させる場合に、一定範囲内に多くの触感提示装置を配置することが容易である。したがって、触感提示装置の配置密度を高めることができる。 According to the above configuration, when a plurality of tactile sensation presentation devices are attached to an attachment site such as a finger, it is easy to arrange many tactile sensation presentation devices within a certain range. Therefore, the arrangement density of the tactile sensation presentation device can be increased.
　上記触感提示装置は、前記誘電エラストマーアクチュエータ、前記押圧部、及び前記保持部をそれぞれ備える複数の構成単位を備えることが好ましい。
　上記構成によれば、指等の装着部位における複数の箇所に対して触感を与えることができる。また、各構成単位のストロークを異ならせて、装着部位に対する圧力勾配を生み出すことにより、複雑な触感を表現できる。 The tactile sensation presentation device preferably includes a plurality of structural units each including the dielectric elastomer actuator, the pressing unit, and the holding unit.
According to the said structure, tactile sensation can be given with respect to several places in mounting parts, such as a finger | toe. In addition, a complex tactile sensation can be expressed by creating a pressure gradient with respect to the mounting site by varying the stroke of each structural unit.
　上記触感提示装置は、湾曲可能な軟質材料により構成され、複数の前記構成単位同士を連結する連結部を備えることが好ましい。
　上記構成によれば、触感提示装置を装着した状態で使用者が指を曲げる等の動作を行った場合に、軟質な連結部が曲がることにより、使用者の動作に追従して装置が変形する。したがって、ウェアラブルデバイスとして適している。 The tactile sensation presentation device is preferably made of a bendable soft material, and preferably includes a connecting portion that connects the plurality of structural units.
According to the above configuration, when the user performs an operation such as bending a finger while wearing the tactile sensation presentation device, the flexible connecting portion bends, so that the device deforms following the user's operation. . Therefore, it is suitable as a wearable device.
　上記触感提示装置において、複数の前記構成単位の前記誘電エラストマーアクチュエータ同士が一体化されていることが好ましい。
　上記構成によれば、複数の箇所に対して触感を与えることができる触感提示装置を製造する際の組み立て作業が簡単になる。 In the tactile sensation presentation apparatus, it is preferable that a plurality of the dielectric elastomer actuators of the structural units are integrated.
According to the said structure, the assembly operation | work at the time of manufacturing the tactile sense presentation apparatus which can give a tactile sensation with respect to a several location becomes easy.
　上記触感提示装置において、複数の前記構成単位の前記保持部同士が一体化されていることが好ましい。
　上記構成によれば、複数の箇所に対して触感を与えることができる触感提示装置を製造する際の組み立て作業が簡単になる。 In the tactile sensation presentation apparatus, it is preferable that the holding units of a plurality of the structural units are integrated.
According to the said structure, the assembly operation | work at the time of manufacturing the tactile sense presentation apparatus which can give a tactile sensation with respect to a several location becomes easy.
　本開示によれば、触感提示装置の軽量化を図ることができる。 According to the present disclosure, the tactile sensation presentation device can be reduced in weight.
第１実施形態の触感提示装置の斜視図。The perspective view of the tactile sense presentation apparatus of 1st Embodiment. 図１の２－２線断面図。FIG. 2 is a sectional view taken along line 2-2 of FIG. 誘電エラストマーアクチュエータの概略図。Schematic of a dielectric elastomer actuator. （ａ）は、電圧印加前の触感提示装置の断面図、（ｂ）は、電圧印加後の触感提示装置の断面図。(A) is sectional drawing of the tactile sensation presentation apparatus before voltage application, (b) is sectional drawing of the tactile sensation presentation apparatus after voltage application. 第２実施形態の触感提示装置の説明図。Explanatory drawing of the tactile sense presentation apparatus of 2nd Embodiment. 第３実施形態の触感提示装置の斜視図。The perspective view of the tactile sense presentation apparatus of 3rd Embodiment. 第３実施形態の触感提示装置の分解斜視図。The disassembled perspective view of the tactile sense presentation apparatus of 3rd Embodiment. （ａ），（ｂ）は、変更例の触感提示装置の断面図。(A), (b) is sectional drawing of the tactile sense presentation apparatus of the example of a change.
　（第１実施形態）
　以下、第１実施形態の触感提示装置１０Ａについて説明する。
　図１及び図２に示すように、触感提示装置１０Ａは、側面視Ｕ字状の保持部１１と、保持部１１の両端に張設されたシート状の誘電エラストマーアクチュエータ１２（ＤＥＡ：Dielectric Elastomer Actuator）とを備えている。 (First embodiment)
Hereinafter, the tactile sensation presentation apparatus 10A of the first embodiment will be described.
As shown in FIGS. 1 and 2, a tactile sensation presentation device 10 </ b> A includes a U-shaped holding unit 11 in a side view and sheet-like dielectric elastomer actuators 12 (DEA: Dielectric Elastomer Actuator) stretched at both ends of the holding unit 11. ).
　保持部１１は、ＰＰ、ＡＢＳ等の硬質樹脂製で、平板状の底部１１ａと、底部１１ａの両端部から上方に延びる一対の腕部１１ｂとを備えている。
　誘電エラストマーアクチュエータ１２は、第１方向Ａに延びる矩形状である。誘電エラストマーアクチュエータ１２の長辺と短辺の比（長辺／短辺）は、例えば、２～５である。誘電エラストマーアクチュエータ１２は、第１主面１２ａと、第１主面１２ａとは反対側の第２主面１２ｂとを有している。誘電エラストマーアクチュエータ１２は、第１主面１２ａにおける第１方向Ａの両端部が保持部１１の各腕部１１ｂの先端に固定されることにより、保持部１１に保持されている。 The holding part 11 is made of a hard resin such as PP or ABS, and includes a flat bottom part 11a and a pair of arm parts 11b extending upward from both ends of the bottom part 11a.
The dielectric elastomer actuator 12 has a rectangular shape extending in the first direction A. The ratio of the long side to the short side (long side / short side) of the dielectric elastomer actuator 12 is, for example, 2 to 5. The dielectric elastomer actuator 12 has a first main surface 12a and a second main surface 12b opposite to the first main surface 12a. The dielectric elastomer actuator 12 is held by the holding portion 11 by fixing both ends of the first main surface 12a in the first direction A to the tips of the arm portions 11b of the holding portion 11.
　図３に示すように、誘電エラストマーアクチュエータ１２は、誘電エラストマーからなるシート状の誘電部２０と、導電エラストマーからなり、誘電部２０の厚さ方向の両側に配置された正極電極２１及び負極電極２２とからなる組が一つ又は複数、積層された多層構造体である。誘電エラストマーアクチュエータ１２の最外層には絶縁層２３が積層されている。誘電エラストマーアクチュエータ１２において、正極電極２１と負極電極２２との間に直流電圧が印加されると、印加電圧の大きさに応じて、誘電部２０が厚さ方向に圧縮されるとともに誘電部２０の面に沿って第１方向Ａに伸張するように変形する。すなわち、正極電極２１と負極電極２２との間に直流電圧が印加されると、印加電圧の大きさに応じて、誘電エラストマーアクチュエータ１２は第１方向Ａに伸張するように変形する。 As shown in FIG. 3, the dielectric elastomer actuator 12 includes a sheet-like dielectric portion 20 made of a dielectric elastomer and a positive electrode 21 and a negative electrode 22 made of a conductive elastomer and disposed on both sides of the dielectric portion 20 in the thickness direction. A multilayer structure in which one or a plurality of sets consisting of An insulating layer 23 is laminated on the outermost layer of the dielectric elastomer actuator 12. In the dielectric elastomer actuator 12, when a DC voltage is applied between the positive electrode 21 and the negative electrode 22, the dielectric portion 20 is compressed in the thickness direction according to the magnitude of the applied voltage, and the dielectric portion 20 It deform | transforms so that it may extend in the 1st direction A along a surface. That is, when a DC voltage is applied between the positive electrode 21 and the negative electrode 22, the dielectric elastomer actuator 12 is deformed so as to expand in the first direction A according to the magnitude of the applied voltage.
　誘電部２０を構成する誘電エラストマーは特に限定されるものではなく、公知の誘電エラストマーアクチュエータに用いられる誘電エラストマーを用いることができる。上記誘電エラストマーとしては、例えば、架橋されたポリロタキサン、シリコーンエラストマー、アクリルエラストマー、及びウレタンエラストマーが挙げられる。これら誘電エラストマーのうちの一種を用いてもよいし、複数種を併用してもよい。 The dielectric elastomer constituting the dielectric portion 20 is not particularly limited, and a dielectric elastomer used for a known dielectric elastomer actuator can be used. Examples of the dielectric elastomer include cross-linked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these dielectric elastomers may be used, or a plurality of types may be used in combination.
　正極電極２１及び負極電極２２を構成する導電エラストマーは特に限定されるものではなく、公知の誘電エラストマーアクチュエータに用いられる導電エラストマーを用いることができる。上記導電エラストマーとしては、例えば、絶縁性高分子及び導電性フィラーを含有する導電エラストマーが挙げられる。 The conductive elastomer constituting the positive electrode 21 and the negative electrode 22 is not particularly limited, and a conductive elastomer used for a known dielectric elastomer actuator can be used. Examples of the conductive elastomer include a conductive elastomer containing an insulating polymer and a conductive filler.
　上記絶縁性高分子としては、例えば、架橋されたポリロタキサン、シリコーンエラストマー、アクリルエラストマー、及びウレタンエラストマーが挙げられる。これら絶縁性高分子のうちの一種を用いてもよいし、複数種を併用してもよい。上記導電性フィラーとしては、例えば、ケッチェンブラック（登録商標）、カーボンブラック、及び金属粒子が挙げられる。金属粒子としては、例えば、銅及び銀が挙げられる。これら導電性フィラーのうちの一種を用いてもよいし、複数種を併用してもよい。 Examples of the insulating polymer include cross-linked polyrotaxane, silicone elastomer, acrylic elastomer, and urethane elastomer. One of these insulating polymers may be used, or a plurality of these may be used in combination. Examples of the conductive filler include ketjen black (registered trademark), carbon black, and metal particles. Examples of the metal particles include copper and silver. One of these conductive fillers may be used, or a plurality of types may be used in combination.
　絶縁層２３を構成する絶縁エラストマーは特に限定されるものではなく、公知の誘電エラストマーアクチュエータの絶縁部分に用いられる公知の絶縁エラストマーを用いることができる。上記絶縁エラストマーとしては、例えば、架橋されたポリロタキサン、シリコーンエラストマー、アクリルエラストマー、及びウレタンエラストマーが挙げられる。これら絶縁エラストマーのうちの一種を用いてもよいし、複数種を併用してもよい。 The insulating elastomer constituting the insulating layer 23 is not particularly limited, and a known insulating elastomer used for an insulating portion of a known dielectric elastomer actuator can be used. Examples of the insulating elastomer include a crosslinked polyrotaxane, a silicone elastomer, an acrylic elastomer, and a urethane elastomer. One of these insulating elastomers may be used, or a plurality of them may be used in combination.
　誘電部２０の厚さは、例えば、２０～２００μｍである。正極電極２１及び負極電極２２の厚さは、例えば、１０～１００μｍである。絶縁層２３の厚さは、例えば、１０～１００μｍである。なお、以下では、「誘電エラストマーアクチュエータ１２」を単に「ＤＥＡ１２」として記載する。 The thickness of the dielectric part 20 is, for example, 20 to 200 μm. The thicknesses of the positive electrode 21 and the negative electrode 22 are, for example, 10 to 100 μm. The thickness of the insulating layer 23 is, for example, 10 to 100 μm. In the following, “dielectric elastomer actuator 12” is simply referred to as “DEA12”.
　図１及び図２に示すように、保持部１１の底部１１ａとＤＥＡ１２との間には、スプリングからなる押圧部１３が配置されている。押圧部１３の一端は、ＤＥＡ１２の第１主面１２ａにおける第１方向Ａの中央部に固定されている。押圧部１３の他端は、保持部１１の底部１１ａに固定されている。 As shown in FIGS. 1 and 2, a pressing portion 13 made of a spring is disposed between the bottom portion 11 a of the holding portion 11 and the DEA 12. One end of the pressing portion 13 is fixed to the central portion of the first main surface 12a of the DEA 12 in the first direction A. The other end of the pressing part 13 is fixed to the bottom part 11 a of the holding part 11.
　また、押圧部１３は圧縮状態で配置されており、ＤＥＡ１２の第１主面１２ａを保持部１１から離間する方向に弾性的に押圧している。したがって、保持部１１は、押圧部１３により押圧される部分を挟んだ第１方向Ａの両側においてＤＥＡ１２を保持している。 Further, the pressing portion 13 is arranged in a compressed state, and elastically presses the first main surface 12a of the DEA 12 in a direction away from the holding portion 11. Accordingly, the holding unit 11 holds the DEA 12 on both sides in the first direction A across the portion pressed by the pressing unit 13.
　次に、第１実施形態の作用について説明する。
　図４（ａ）に示すように、触感提示装置１０Ａは、ＤＥＡ１２の第２主面１２ｂの中央部であって、押圧部１３が固定されて押圧している位置の反対側の部分に触感提示部１２ｃを有している。触感提示装置１０Ａは、触感提示部１２ｃが指に接触した状態となるようにして使用者に装着される。この状態において、触感提示装置１０ＡのＤＥＡ１２に電圧を印加するとＤＥＡ１２は第１方向Ａに伸張する。これにより、図４（ｂ）に示すように、圧縮状態にある押圧部１３の復元力に基づいて、ＤＥＡ１２が第２主面１２ｂ側に押し上げられる。 Next, the operation of the first embodiment will be described.
As shown in FIG. 4 (a), the tactile sensation presentation device 10A presents a tactile sensation in the central portion of the second main surface 12b of the DEA 12 and opposite to the position where the pressing portion 13 is fixed and pressed. It has a portion 12c. The tactile sensation presentation device 10A is worn by the user so that the tactile sensation presentation unit 12c is in contact with the finger. In this state, when a voltage is applied to the DEA 12 of the tactile sense presentation device 10A, the DEA 12 expands in the first direction A. Thereby, as shown in FIG.4 (b), based on the restoring force of the press part 13 in a compression state, DEA12 is pushed up to the 2nd main surface 12b side.
　すなわち、押圧部１３の押圧力とＤＥＡ１２の張力とが均衡するようにＤＥＡ１２が変形して、ＤＥＡ１２の触感提示部１２ｃが膨出する。そして、ＤＥＡ１２の触感提示部１２ｃが膨出して使用者の接触部位を押し付けることにより、使用者に疑似力覚（触感）が提示される。 That is, the DEA 12 is deformed so that the pressing force of the pressing unit 13 and the tension of the DEA 12 are balanced, and the tactile sensation providing unit 12c of the DEA 12 bulges. Then, the tactile sensation presentation unit 12c of the DEA 12 bulges out and presses the contact portion of the user, so that a pseudo force sense (tactile sensation) is presented to the user.
　また、ＤＥＡ１２の触感提示部１２ｃの膨出量として規定できる触感提示装置１０Ａのストロークは、印加電圧に応じて変化するＤＥＡ１２の第１方向Ａの長さに応じた量となる。そのため、印加電圧を制御することによって、触感提示装置１０Ａのストロークを細かく調整できる。また、ＤＥＡ１２に電圧を印加する際に、パルス的に電圧を印加してもよい。この場合、パルスの間隔（周波数）を変更することにより、硬さの違いを表現できる。 Also, the stroke of the tactile sensation presentation device 10A that can be defined as the bulge amount of the tactile sensation presentation unit 12c of the DEA 12 is an amount corresponding to the length of the DEA 12 in the first direction A that changes according to the applied voltage. Therefore, the stroke of the tactile sensation presentation device 10A can be finely adjusted by controlling the applied voltage. Further, when a voltage is applied to the DEA 12, the voltage may be applied in a pulse manner. In this case, the difference in hardness can be expressed by changing the pulse interval (frequency).
　次に、第１実施形態の効果について説明する。
　（１）触感提示装置１０Ａは、印加電圧に応じて面方向に沿った第１方向Ａの長さが変化するシート状のＤＥＡ１２と、ＤＥＡ１２の第１主面１２ａを弾性的に押圧する押圧部１３と、押圧部１３により押圧される部分を挟んだ第１方向Ａの両側においてＤＥＡ１２を保持する保持部１１とを備える。 Next, effects of the first embodiment will be described.
(1) The tactile sensation presentation device 10 </ b> A includes a sheet-like DEA 12 whose length in the first direction A along the surface direction changes according to the applied voltage, and a pressing unit that elastically presses the first main surface 12 a of the DEA 12. 13 and a holding portion 11 that holds the DEA 12 on both sides in the first direction A across the portion pressed by the pressing portion 13.
　上記構成によれば、シート状のＤＥＡ１２と、ＤＥＡ１２を弾性的に押圧する押圧部１３とによって駆動部が構成されているため、駆動部がモータである従来の触感提示装置と比較して軽量な装置となる。そして、触感提示装置１０Ａが軽量化されることにより、より繊細な触感を表現することが容易になる。 According to the above configuration, since the driving unit is configured by the sheet-like DEA 12 and the pressing unit 13 that elastically presses the DEA 12, the driving unit is lighter than a conventional tactile sensation presentation device in which the driving unit is a motor. It becomes a device. And it becomes easy to express more delicate tactile sense by 10A of tactile sense presentation apparatuses being reduced in weight.
　なお、駆動部として、ＤＥＡ１２をそのまま用いた場合には、使用者が認知できる程度の出力（ストローク及び押し付け力）を得ることは難しい。この点、上記構成では、ＤＥＡ１２と、ＤＥＡ１２を弾性的に押圧する押圧部１３とを組み合わせることによって、使用者が認知できる程度の出力（ストローク及び押し付け力）を確保している。例えば、ＤＥＡ１２の大きさが長辺１０ｍｍ×短辺２ｍｍであり、触感提示部１２ｃの外径が１．７ｍｍである小型の触感提示装置１０Ａとした場合においても、１ｍｍ以上のストロークと、０．５Ｎ以上の押し付け力とを確保できる。 When the DEA 12 is used as it is as the drive unit, it is difficult to obtain an output (stroke and pressing force) that can be recognized by the user. In this regard, in the above configuration, the output (stroke and pressing force) that can be recognized by the user is secured by combining the DEA 12 and the pressing portion 13 that elastically presses the DEA 12. For example, in the case of a small tactile sensation presentation apparatus 10A in which the size of the DEA 12 is 10 mm long side × 2 mm short side and the outer diameter of the tactile sensation presentation unit 12c is 1.7 mm, a stroke of 1 mm or more and 0. A pressing force of 5N or more can be secured.
　また、上記構成によれば、駆動部の構成要素が少なく、構造が簡素であるため、装置の小型化を図ること（特に、薄く形成すること）が容易である。触感提示装置１０Ａが小型化されることによって、その装置を装着した際の使用者の負担を軽減できる。 Further, according to the above configuration, since there are few components of the drive unit and the structure is simple, it is easy to reduce the size of the device (particularly, to make it thin). By reducing the size of the tactile sensation presentation device 10A, the burden on the user when the device is worn can be reduced.
　（２）ＤＥＡ１２は、第１方向Ａに延びる矩形状であり、当該ＤＥＡ１２における第１方向Ａの両端部は保持部１１に固定されている。
　上記構成によれば、指に対して複数の触感提示装置１０Ａを装着させる場合に、一定範囲内に多くの触感提示装置１０Ａを配置することが容易である。したがって、触感提示装置１０Ａの配置密度を高めることができる。 (2) The DEA 12 has a rectangular shape extending in the first direction A, and both ends of the DEA 12 in the first direction A are fixed to the holding unit 11.
According to the above configuration, when a plurality of tactile sensation presentation devices 10A are attached to a finger, it is easy to arrange many tactile sensation presentation devices 10A within a certain range. Therefore, the arrangement density of the tactile sensation presentation device 10A can be increased.
　（第２実施形態）
　以下、第２実施形態の触感提示装置１０Ｂについて説明する。
　図５に示すように、触感提示装置１０Ｂは、各々が保持部１１、ＤＥＡ１２、及び押圧部１３を備える複数の構成単位１４と、各構成単位１４を連結する連結部１５とを備えている。 (Second Embodiment)
Hereinafter, the tactile sensation presentation device 10B of the second embodiment will be described.
As illustrated in FIG. 5, the tactile sensation presentation device 10 </ b> B includes a plurality of structural units 14 each including a holding unit 11, a DEA 12, and a pressing unit 13, and a connecting unit 15 that connects the structural units 14.
　連結部１５は、布材等の湾曲可能な軟質材料により構成され、指に被せて使用可能な袋状（例えば、手袋状）の部材である。各構成単位１４は、第１実施形態の触感提示装置１０Ａであり、連結部１５の内面に固定されている。連結部１５内において、各構成単位１４は、ＤＥＡ１２が内側を向く状態、かつ第１方向Ａに直交する方向に間隔をあけて並ぶ状態となるように配置されている。各構成単位１４の保持部１１の外面は連結部１５の内面に固定されている。 The connecting portion 15 is a bag-like (for example, glove-like) member that is made of a soft material that can be bent, such as a cloth material, and that can be used by placing it on a finger. Each structural unit 14 is the tactile sensation presentation device 10 </ b> A of the first embodiment, and is fixed to the inner surface of the connecting portion 15. In the connecting portion 15, the structural units 14 are arranged so that the DEA 12 faces inward and is arranged in a direction perpendicular to the first direction A with an interval. The outer surface of the holding portion 11 of each structural unit 14 is fixed to the inner surface of the connecting portion 15.
　次に、第２実施形態の作用について説明する。
　図５に示すように、触感提示装置１０Ｂは、袋状の連結部１５を指に被せて、各構成単位１４のＤＥＡ１２の第２主面１２ｂが指に接触した状態となるようにして使用者に装着される。この状態において、各構成単位１４のＤＥＡ１２に電圧を印加することにより、指の複数の箇所に対して触感を与えることができる。また、各構成単位１４のＤＥＡ１２に対する印加電圧を異ならせることにより、各構成単位１４のストロークを異ならせることができる。これにより、指に対する圧力勾配を生み出して、複雑な触感を表現できる。 Next, the operation of the second embodiment will be described.
As shown in FIG. 5, the tactile sensation presentation device 10 </ b> B covers the user with the bag-like connecting portion 15 placed on the finger so that the second main surface 12 b of the DEA 12 of each structural unit 14 is in contact with the finger. It is attached to. In this state, by applying a voltage to the DEA 12 of each structural unit 14, a tactile sensation can be given to a plurality of locations on the finger. Moreover, the stroke of each structural unit 14 can be varied by varying the voltage applied to the DEA 12 of each structural unit 14. As a result, a pressure gradient with respect to the finger can be generated to express a complex tactile sensation.
　第２実施形態の場合にも、上記（１）～（２）の効果が得られる。また、第２実施形態によれば以下に記載する効果が得られる。
　（３）触感提示装置１０Ｂは、各々が保持部１１、ＤＥＡ１２、及び押圧部１３を備える複数の構成単位１４を備えている。 In the case of the second embodiment, the effects (1) to (2) can be obtained. Moreover, according to 2nd Embodiment, the effect described below is acquired.
(3) The tactile sensation presentation device 10 </ b> B includes a plurality of structural units 14 each including a holding unit 11, a DEA 12, and a pressing unit 13.
　上記構成によれば、指における複数の箇所に対して触感を与えることができる。また、各構成単位１４のストロークを異ならせて、装着部位に対する圧力勾配を生み出すことにより、複雑な触感を表現できる。 According to the above configuration, tactile sensation can be given to a plurality of locations on the finger. Further, by making the stroke of each structural unit 14 different and creating a pressure gradient with respect to the mounting site, a complex tactile sensation can be expressed.
　（４）触感提示装置１０Ｂは、湾曲可能な軟質材料により構成され、複数の構成単位１４同士を連結する連結部１５を備えている。
　上記構成によれば、触感提示装置１０Ｂを装着した状態で使用者が指を曲げる等の動作を行った場合に、軟質な連結部１５が曲がることにより、使用者の動作に追従して装置が変形する。したがって、ウェアラブルデバイスとして適している。 (4) The tactile sensation presentation device 10 </ b> B is made of a bendable soft material, and includes a connecting portion 15 that connects a plurality of structural units 14.
According to the above configuration, when the user performs an operation such as bending a finger while wearing the tactile sensation presentation device 10B, the device follows the user's operation by bending the soft connecting portion 15. Deform. Therefore, it is suitable as a wearable device.
　（第３実施形態）
　以下、第３実施形態の触感提示装置１０Ｃについて説明する。
　触感提示装置１０Ｃは、保持部１１同士及びＤＥＡ１２同士がそれぞれ一体化されている点、及び連結部１５を備えていない点において第２実施形態と異なっている。 (Third embodiment)
Hereinafter, the tactile sensation presentation apparatus 10C of the third embodiment will be described.
The tactile sensation presentation device 10 </ b> C is different from the second embodiment in that the holding units 11 and the DEAs 12 are integrated with each other and the connecting unit 15 is not provided.
　図６及び図７に示すように、触感提示装置１０Ｃの保持部１１は、ウレタン、シリコーン等のエラストマー製であり、第１方向Ａに直交する方向に長く形成されている。第３実施形態の保持部１１は、各構成単位１４が共用する一つの部材として構成されている。 6 and 7, the holding portion 11 of the tactile sensation presentation device 10C is made of an elastomer such as urethane or silicone, and is formed long in a direction orthogonal to the first direction A. The holding unit 11 of the third embodiment is configured as one member shared by the respective structural units 14.
　また、触感提示装置１０Ｃは、各構成単位１４のＤＥＡ同士が一体化されたＤＥＡ複合体１６を備えている。ＤＥＡ複合体１６は、第１方向Ａにそれぞれ延びる矩形状の複数の本体部１６ａと、第１方向Ａにそれぞれ延びる矩形状の複数の接続部分１６ｂとを備えている。すなわち、ＤＥＡ複合体１６は、本体部１６ａと、接続部分１６ｂとが第１方向Ａに直交する方向に交互に配置されたシート状に形成されている。各接続部分１６ｂの中央部には、第１方向Ａに延びるスリット１６ｃが設けられている。 Further, the tactile sensation presentation device 10C includes a DEA complex 16 in which the DEAs of the respective structural units 14 are integrated. The DEA complex 16 includes a plurality of rectangular main body portions 16a extending in the first direction A, and a plurality of rectangular connection portions 16b extending in the first direction A, respectively. That is, the DEA complex 16 is formed in a sheet shape in which the main body portions 16 a and the connection portions 16 b are alternately arranged in a direction orthogonal to the first direction A. A slit 16c extending in the first direction A is provided at the center of each connection portion 16b.
　ＤＥＡ複合体１６は、図３に示す第１実施形態のＤＥＡ１２と同様に、誘電部２０と、正極電極２１及び負極電極２２との組が複数、積層された多層構造体である。ただし、ＤＥＡ複合体１６の正極電極２１は、図６及び図７において破線で示すように、本体部１６ａにのみに位置している。すなわち、各本体部１６ａに位置する正極電極２１は互いに絶縁された状態で設けられている。一方、負極電極２２は、接続部分１６ｂにて互いに接続され共通の電極とされている。 The DEA composite 16 is a multilayer structure in which a plurality of pairs of the dielectric portion 20, the positive electrode 21, and the negative electrode 22 are stacked in the same manner as the DEA 12 of the first embodiment shown in FIG. 3. However, the positive electrode 21 of the DEA composite 16 is located only on the main body portion 16a as shown by the broken lines in FIGS. That is, the positive electrodes 21 located on each main body portion 16a are provided in a state of being insulated from each other. On the other hand, the negative electrode 22 is connected to each other at the connection portion 16b to be a common electrode.
　これにより、一つの本体部１６ａの正極電極２１と負極電極２２との間に印加する印加電圧と、別の本体部１６ａの正極電極２１と負極電極２２との間に印加する印加電圧とを異ならせることが可能になり、各本体部１６ａをそれぞれ独立したＤＥＡとして機能させることができる。したがって、第３実施形態においては、各本体部１６ａが一つの構成単位１４を構成するＤＥＡとなる。 Thereby, the applied voltage applied between the positive electrode 21 and the negative electrode 22 of one main body 16a is different from the applied voltage applied between the positive electrode 21 and the negative electrode 22 of another main body 16a. Thus, each main body 16a can function as an independent DEA. Therefore, in the third embodiment, each main body portion 16 a is a DEA that constitutes one structural unit 14.
　保持部１１の底部１１ａと、ＤＥＡ複合体１６の各本体部１６ａとの間にはそれぞれ、押圧部１３が圧縮状態で配置されている。押圧部１３の一端は、本体部１６ａにおける第１方向Ａの中央部に固定されている。押圧部１３の他端は、保持部１１の底部１１ａに固定されている。 The pressing part 13 is arranged in a compressed state between the bottom part 11a of the holding part 11 and each main body part 16a of the DEA complex 16. One end of the pressing portion 13 is fixed to the central portion of the main body portion 16a in the first direction A. The other end of the pressing part 13 is fixed to the bottom part 11 a of the holding part 11.
　次に、第３実施形態の作用について説明する。
　触感提示装置１０Ｃは、ＤＥＡ複合体１６の各本体部１６ａが指に接触した状態となるようにして使用者に装着される。この状態において、各構成単位１４のＤＥＡである本体部１６ａに電圧を印加することにより、指の複数の箇所に対して触感を与えることができる。また、各本体部１６ａに対する印加電圧を異ならせることにより、各構成単位１４のストロークを異ならせて、指に対する圧力勾配を生み出すことが可能であり、より複雑な触感を表現できる。 Next, the operation of the third embodiment will be described.
The tactile sensation presentation device 10 </ b> C is worn by the user such that each main body portion 16 a of the DEA complex 16 is in contact with a finger. In this state, a tactile sensation can be given to a plurality of portions of the finger by applying a voltage to the main body portion 16a which is the DEA of each structural unit 14. In addition, by changing the applied voltage to each main body portion 16a, the stroke of each structural unit 14 can be made different to generate a pressure gradient with respect to the finger, and a more complex tactile sensation can be expressed.
　第３実施形態の場合にも、上記（１）～（３）の効果が得られる。また、第３実施形態によれば以下に記載する効果が得られる。
　（５）複数の構成単位１４のＤＥＡ同士が一体化されている。 In the case of the third embodiment, the effects (1) to (3) can be obtained. Moreover, according to 3rd Embodiment, the effect described below is acquired.
(5) The DEAs of the plurality of structural units 14 are integrated.
　上記構成によれば、複数の箇所に対して触感を与えることができる触感提示装置を製造する際の組み立て作業が簡単になる。
　（６）一体化されたＤＥＡ複合体１６は、本体部１６ａ及び接続部分１６ｂが第１方向Ａに直交する方向に交互に配置されたシート状に形成されている。接続部分１６ｂの中央部には、第１方向Ａに延びるスリット１６ｃが設けられている。 According to the said structure, the assembly operation | work at the time of manufacturing the tactile sense presentation apparatus which can give a tactile sensation with respect to a several location becomes easy.
(6) The integrated DEA complex 16 is formed in a sheet shape in which the main body portion 16a and the connection portion 16b are alternately arranged in a direction orthogonal to the first direction A. A slit 16c extending in the first direction A is provided at the center of the connection portion 16b.
　上記構成によれば、隣に位置する本体部１６ａ同士がそれぞれ独立して動きやすくなる。
　（７）複数の構成単位１４の保持部１１同士が一体化されている。 According to the said structure, the main-body parts 16a located adjacent become easy to move independently, respectively.
(7) The holding portions 11 of the plurality of structural units 14 are integrated.
　上記構成によれば、複数の箇所に対して触感を与えることができる触感提示装置を製造する際の組み立て作業が簡単になる。
　なお、上記の各実施形態は、以下のように変更して実施することができる。各実施形態及び以下の変更例は、技術的に矛盾しない範囲で互いに組み合わせて実施することができる。 According to the said structure, the assembly operation | work at the time of manufacturing the tactile sense presentation apparatus which can give a tactile sensation with respect to a several location becomes easy.
In addition, each said embodiment can be changed and implemented as follows. Each embodiment and the following modification examples can be implemented in combination with each other within a technically consistent range.
　・上記各実施形態の触感提示装置は、指以外の部位に装着されるものであってもよい。
　・上記各実施形態では、押圧部１３としてスプリングを用いていたが、スプリングに代えて、ＤＥＡを弾性的に押圧可能な他の弾性部材を用いてもよい。他の弾性部材としては、例えば、ゴム、発泡体、及び板バネが挙げられる。押圧部１３を変更した具体例を図８に示す。 -The tactile sensation presentation device of each of the above embodiments may be attached to a part other than a finger.
In each of the above embodiments, a spring is used as the pressing portion 13, but another elastic member that can elastically press the DEA may be used instead of the spring. Examples of other elastic members include rubber, foam, and leaf spring. A specific example in which the pressing portion 13 is changed is shown in FIG.
　図８（ａ）に示す例では、保持部１１の底部１１ａに取り付けられたウェーブワッシャ１７と、ウェーブワッシャ１７及びＤＥＡ１２の間に配置された当て板１８とによって押圧部１３が構成されている。 In the example shown in FIG. 8A, the pressing portion 13 is configured by a wave washer 17 attached to the bottom portion 11 a of the holding portion 11 and a contact plate 18 disposed between the wave washer 17 and the DEA 12.
　当て板１８は、ウェーブワッシャ１７に接触する円板状の基部１８ａと、基部１８ａからＤＥＡ１２に向けて突出してＤＥＡ１２に接触する突出部１８ｂとを備えている。ウェーブワッシャ１７のように外径の大きい弾性部材を採用した場合であっても、当て板１８を配置することにより、ＤＥＡ１２における触感提示部１２ｃの大きさを任意の大きさに調整できる。なお、当て板１８は、ウェーブワッシャ１７を用いた場合に限らず、スプリングやゴム等の弾性部材と組み合わせてもよい。 The abutting plate 18 includes a disk-shaped base 18a that contacts the wave washer 17, and a protrusion 18b that protrudes from the base 18a toward the DEA 12 and contacts the DEA 12. Even when an elastic member having a large outer diameter such as the wave washer 17 is employed, the size of the tactile sensation providing portion 12 c in the DEA 12 can be adjusted to an arbitrary size by arranging the contact plate 18. The backing plate 18 is not limited to the case where the wave washer 17 is used, but may be combined with an elastic member such as a spring or rubber.
　図８（ｂ）に示す例では、保持部１１がウレタンやシリコーン等の弾性材により形成されている。保持部１１の一部は、円錐型の板バネ状に成形されており、その板バネ状の部分により押圧部１３が構成されている。 In the example shown in FIG. 8B, the holding part 11 is formed of an elastic material such as urethane or silicone. A part of the holding portion 11 is formed in a conical leaf spring shape, and the pressing portion 13 is configured by the leaf spring portion.
　・触感提示装置１０Ａを装着した際や装着状態で装着部位を動かした際等の所定のタイミングにおいて、使用者の体の表面に対して予め設定された所定距離に触感提示部１２ｃが位置するように、ＤＥＡ１２に電圧を印加して触感提示部１２ｃの位置を調整（ゼロ点補正）してもよい。なお、使用者の体の表面と触感提示部１２ｃとの距離は、例えば、使用者の体の表面がＤＥＡ１２に近接した際に生じる静電容量に基づいて推定できる。第２実施形態及び第３実施形態についても同様である。 The tactile sensation providing unit 12c is positioned at a predetermined distance with respect to the surface of the user's body at a predetermined timing such as when the tactile sensation presentation device 10A is worn or when the wearing part is moved in the wearing state. In addition, the position of the tactile sensation providing unit 12c may be adjusted (zero point correction) by applying a voltage to the DEA 12. Note that the distance between the surface of the user's body and the tactile sensation providing unit 12c can be estimated based on, for example, the capacitance generated when the surface of the user's body approaches the DEA 12. The same applies to the second embodiment and the third embodiment.
　・第１実施形態及び第２実施形態に関して、ＤＥＡ１２の形状は、矩形状に限定されるものではない。例えば、正方形状、多角形状、円形状、楕円形状等のＤＥＡ１２であってもよい。第３実施形態のＤＥＡ複合体１６の本体部１６ａについても同様である。さらにＤＥＡは、少なくとも、押圧部１３により押圧される部分を挟んだ第１方向Ａの両側を保持部１１に保持されていればよく、例えば、その全周を保持部１１に保持されていてもよい。 -Regarding the first embodiment and the second embodiment, the shape of the DEA 12 is not limited to a rectangular shape. For example, the DEA 12 having a square shape, a polygonal shape, a circular shape, an elliptical shape, or the like may be used. The same applies to the main body portion 16a of the DEA complex 16 of the third embodiment. Further, the DEA only needs to be held by the holding unit 11 at least on both sides in the first direction A across the portion pressed by the pressing unit 13. For example, even if the entire circumference is held by the holding unit 11 Good.
　・第２実施形態に関して、各構成単位１４の配置を変更してもよい。
　・第２実施形態に関して、連結部１５の形状は袋状に限定されるものではなく、触感提示装置が装着される部位に応じて適宜、変更できる。 -With respect to the second embodiment, the arrangement of the structural units 14 may be changed.
-Regarding 2nd Embodiment, the shape of the connection part 15 is not limited to bag shape, It can change suitably according to the site | part by which a tactile sense presentation apparatus is mounted | worn.
　・第３実施形態のＤＥＡ複合体１６に関して、本体部１６ａ及び接続部分１６ｂのうち、本体部１６ａのみに設ける電極は、負極電極２２であってもよいし、正極電極２１及び負極電極２２の両方であってもよい。 In the DEA composite 16 of the third embodiment, the electrode provided only on the main body 16a out of the main body 16a and the connection portion 16b may be the negative electrode 22 or both of the positive electrode 21 and the negative electrode 22 It may be.
　・第３実施形態に関して、保持部１１が一体化されていない構成としてもよい。
　・第３実施形態に関して、ＤＥＡ複合体１６に代えて、第１実施形態のＤＥＡ１２を複数、配置してもよい。 -Regarding 3rd Embodiment, it is good also as a structure where the holding | maintenance part 11 is not integrated.
Regarding the third embodiment, a plurality of DEA 12 of the first embodiment may be arranged instead of the DEA complex 16.
　１０Ａ，１０Ｂ，１０Ｃ…触感提示装置、１１…保持部、１２…誘電エラストマーアクチュエータ（ＤＥＡ）、１３…押圧部、１４…構成単位、１５…連結部、１６…ＤＥＡ複合体。 DESCRIPTION OF SYMBOLS 10A, 10B, 10C ... Tactile sense presentation apparatus, 11 ... Holding part, 12 ... Dielectric elastomer actuator (DEA), 13 ... Pressing part, 14 ... Structural unit, 15 ... Connection part, 16 ... DEA complex.

Claims (6)

  1. 　印加電圧に応じて面方向に沿った第１方向の長さが変化するシート状の誘電エラストマーアクチュエータと、
    　前記誘電エラストマーアクチュエータの一方の主面を弾性的に押圧する押圧部と、
    　少なくとも、前記押圧部により押圧される部分を挟んだ前記第１方向の両側において、前記誘電エラストマーアクチュエータを保持する保持部とを備えることを特徴とする触感提示装置。     A sheet-like dielectric elastomer actuator whose length in the first direction along the surface direction changes according to the applied voltage;
    A pressing portion that elastically presses one main surface of the dielectric elastomer actuator;
    A tactile sensation presentation apparatus comprising: a holding unit that holds the dielectric elastomer actuator at least on both sides in the first direction across a portion pressed by the pressing unit.
  2. 　前記誘電エラストマーアクチュエータは、前記第１方向に延びる矩形状であり、
    　前記誘電エラストマーアクチュエータにおける前記第１方向の両端部が前記保持部に固定されていることを特徴とする請求項１に記載の触感提示装置。     The dielectric elastomer actuator has a rectangular shape extending in the first direction,
    The tactile sensation presentation apparatus according to claim 1, wherein both end portions in the first direction of the dielectric elastomer actuator are fixed to the holding portion.
  3. 　前記誘電エラストマーアクチュエータ、前記押圧部、及び前記保持部をそれぞれ備える複数の構成単位を備えることを特徴とする請求項１又は請求項２に記載の触感提示装置。 The tactile sensation presentation device according to claim 1, comprising a plurality of structural units each including the dielectric elastomer actuator, the pressing portion, and the holding portion.
  4. 　湾曲可能な軟質材料により構成され、複数の前記構成単位同士を連結する連結部を備えることを特徴とする請求項３に記載の触感提示装置。 The tactile sensation presentation apparatus according to claim 3, comprising a connecting portion that is made of a bendable soft material and connects a plurality of the structural units.
  5. 　複数の前記構成単位の前記誘電エラストマーアクチュエータ同士が一体化されていることを特徴とする請求項３又は請求項４に記載の触感提示装置。 The tactile sensation presentation apparatus according to claim 3 or 4, wherein the dielectric elastomer actuators of a plurality of the structural units are integrated with each other.
  6. 　複数の前記構成単位の前記保持部同士が一体化されていることを特徴とする請求項３～５のいずれか一項に記載の触感提示装置。 The tactile sensation presentation device according to any one of claims 3 to 5, wherein the holding units of a plurality of the structural units are integrated with each other.
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