WO2019240001A1 - Dispositif de présentation de sensation tactile - Google Patents

Dispositif de présentation de sensation tactile Download PDF

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Publication number
WO2019240001A1
WO2019240001A1 PCT/JP2019/022489 JP2019022489W WO2019240001A1 WO 2019240001 A1 WO2019240001 A1 WO 2019240001A1 JP 2019022489 W JP2019022489 W JP 2019022489W WO 2019240001 A1 WO2019240001 A1 WO 2019240001A1
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WO
WIPO (PCT)
Prior art keywords
piezoelectric element
touch
presentation device
detected
control unit
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Application number
PCT/JP2019/022489
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English (en)
Japanese (ja)
Inventor
治彦 橋本
多佳朗 新家
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株式会社東海理化電機製作所
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Publication of WO2019240001A1 publication Critical patent/WO2019240001A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices

Definitions

  • the present invention relates to a tactile sense presentation device.
  • a substrate, a copper layer provided on the substrate, a piezoelectric element disposed on the copper layer, a conductive foil disposed on the piezoelectric element, and a surface portion on which the conductive foil is bonded and operated are known (for example, refer to Patent Document 1).
  • dots are formed on the conductive foil by printing in order to ensure contact between the piezoelectric element and the conductive foil.
  • pretension is applied to the pressure element by the dots.
  • Patent Document 1 cannot maintain contact between the piezoelectric element and the dot due to changes in the dimensional relationship between the piezoelectric element and the dot due to, for example, environmental factors due to temperature changes, variation in dimensions, displacement due to assembly, and the like. There is a possibility that the load is not sufficiently transmitted to the piezoelectric element and the detection of the touch operation and the presentation of the tactile sensation are not stable.
  • An object of the present invention is to provide a tactile sensation presentation apparatus capable of stably detecting a touch operation and presenting a tactile sensation.
  • a tactile sensation presentation apparatus includes a panel having an operation surface on which a touch operation is performed, at least one piezoelectric element that detects a load associated with the touch operation and applies vibration to the operation surface, and the panel and the piezoelectric A control unit that controls and deforms the piezoelectric element so that no gap is generated between the element and the element.
  • a haptic presentation device that stably detects a touch operation and presents a haptic sense.
  • FIG. 1A is an explanatory diagram illustrating a tactile sensation providing apparatus according to an embodiment.
  • FIG. 1B is an explanatory diagram illustrating a piezoelectric element before a touch position is detected in the tactile sense presentation device according to the embodiment.
  • FIG. 1C is an explanatory diagram illustrating the piezoelectric element after the touch position is detected in the tactile sense presentation device according to the embodiment.
  • FIG. 2 is a block diagram of the tactile sense presentation device according to the embodiment.
  • FIG. 3 is a flowchart showing the operation of the tactile sense presentation device according to the embodiment.
  • a tactile sense presentation device includes a panel having an operation surface on which a touch operation is performed, at least one piezoelectric element that detects a load associated with the touch operation and applies vibration to the operation surface, and the panel and the piezoelectric element.
  • a control unit that controls and deforms the piezoelectric element so that no gap is generated between the two.
  • This tactile sensation presentation device deforms the piezoelectric element and keeps contact with the panel. Therefore, compared to the case where the piezoelectric element is not deformed, the panel and the piezoelectric element Therefore, the touch operation can be detected and the tactile sense can be presented stably.
  • FIG. 1A is an explanatory diagram illustrating a tactile sensation presentation apparatus according to an embodiment
  • FIG. 1B is an explanatory diagram illustrating a piezoelectric element before detecting a touch position in the haptic presentation apparatus according to the embodiment
  • 1C is an explanatory diagram illustrating a piezoelectric element after detecting a touch position in the tactile sense presentation device according to the embodiment
  • FIG. 2 is a block diagram of the tactile sense presentation device according to the embodiment. Note that, in each drawing according to the embodiment described below, the ratio between figures may be different from the actual ratio. In FIG. 2, main signals and information flows are indicated by arrows. Furthermore, “A to B” indicating a numerical range is used in the meaning of A or more and B or less.
  • the tactile sense presenting apparatus 1 detects a load F accompanying the touch operation and a panel 12 having an operation surface 120 on which the touch operation is performed. And at least one piezoelectric element that applies vibration to the surface 120, and a control unit 7 that controls and deforms the piezoelectric element so that the gap 16 does not occur between the panel 12 and the piezoelectric element.
  • the tactile sensation providing apparatus 1 includes a touch sensor 3 that detects the touch position of the operation finger on the operation surface 120. Then, when the detection value of the touch sensor 3 is equal to or greater than the predetermined touch threshold value 71, the control unit 7 deforms the piezoelectric element corresponding to the detected touch position to change between the panel 12 and the piezoelectric element. The gap 16 is controlled so as not to occur.
  • the tactile sense presentation device 1 includes a first piezoelectric element 5a and a second piezoelectric element 5b as piezoelectric elements as shown in FIGS. 1A to 1C.
  • the number of piezoelectric elements is not limited to this, and may be one or more.
  • a pusher that transmits a load F applied to the operation surface 120 to the piezoelectric element is disposed between the panel 12 and the piezoelectric element.
  • the tactile sensation presentation apparatus 1 includes the first piezoelectric element 5a and the second piezoelectric element 5b, a pusher is provided according to the first piezoelectric element 5a and the second piezoelectric element 5b. 14a and a pusher 14b.
  • the control unit 7 deforms the piezoelectric element to be deformed in the direction opposite to the load F applied to the operation surface 120. That is, for example, as illustrated in FIG. 1C, the control unit 7 deforms the second piezoelectric element 5b to be deformed into a convex shape so that the gap 16 does not occur, and the second piezoelectric element 5b and the pusher 14b are deformed. Make contact.
  • the control unit 7 receives the touch operation by applying vibration to the operation surface 120 from a state where the piezoelectric element is deformed so that the gap 16 is not generated. It is comprised so that the tactile sense which shows may be shown. This tactile sensation is presented for a predetermined period.
  • the tactile sense presentation device 1 is configured to detect a touch operation performed on the first operation area 12 a and the second operation area 12 b set on the operation surface 120.
  • the tactile sensation providing apparatus 1 is electrically connected to an electronic device to be operated, for example.
  • This electronic device executes a function set in the first operation area 12a or the second operation area 12b in which a touch operation is performed.
  • the electronic device is an air conditioner, a navigation device, a switch device, or the like mounted on a vehicle.
  • the touch position indicates a position on the operation surface 120 where the touch sensor 3 detects the operation finger 9.
  • the touch operation indicates an operation in a direction of pushing down the operation surface 120 detected by the first piezoelectric element 5a or the second piezoelectric element 5b.
  • the touch sensor 3 is a sensor that detects the touched position on the operation surface 120 by, for example, touching the operation surface 120 with a part of the operator's body (for example, an operation finger) or a dedicated pen.
  • a resistive film type, infrared type, electrostatic capacity type sensor or the like can be used as the touch sensor 3.
  • the touch sensor 3 is, for example, a capacitive sensor.
  • the touch sensor 3 includes, for example, a plurality of drive electrodes and a plurality of detection electrodes, and is disposed on the sheet-like substrate so as to be insulated from and intersect with each other. And the touch sensor 3 is attached to the back surface 121 of the panel 12, as shown to FIG. 1B and FIG. 1C, for example.
  • the touch sensor 3 scans a plurality of drive electrodes and a plurality of detection electrodes to detect a capacitance, and controls the control unit 7 using the capacitance for one cycle as the touch information S 1. It is configured to output to.
  • the touch information S 1 is set to the position whose point of intersection between the driving electrode and the detection electrode, and the capacitance detected at the intersection, which is information associated.
  • the first piezoelectric element 5a and the second piezoelectric element 5b have the same configuration. Therefore, hereinafter, the configuration of the first piezoelectric element 5a will be described.
  • the first piezoelectric element 5a includes a metal shim 50 having a disk shape, and a piezoelectric body 51 having a disk shape having a smaller radius than the metal shim 50.
  • This is a unimorph type piezoelectric element.
  • An upper wiring that is electrically connected to the piezoelectric body 51 and a lower wiring that is electrically connected to the metal shim 50 are connected to the first piezoelectric element 5a.
  • the first piezoelectric element 5a and the second piezoelectric element 5b are disposed on the bottom surface 100 of the base 10 as shown in FIGS. 1B and 1C, for example.
  • Two circular recesses 102 are formed on the bottom surface 100 of the base 10.
  • the first piezoelectric element 5 a and the second piezoelectric element 5 b are disposed on the recess 102.
  • the first piezoelectric element 5 a and the second piezoelectric element 5 b are easily deformed by the recess 102 as compared to the case where the first piezoelectric element 5 a and the second piezoelectric element 5 b are disposed on the bottom surface 100 without the recess 102.
  • the metal shim 50 is formed of, for example, conductive phosphor bronze or stainless steel.
  • Examples of the material of the piezoelectric body 51 include lithium niobate, barium titanate, lead titanate, lead zirconate titanate (PZT), lead metaniobate, and polyvinylidene fluoride (PVDF).
  • the piezoelectric body 51 is, for example, a stacked piezoelectric body formed by stacking films formed using these materials.
  • the piezoelectric body 51 is configured to be polarized in the thickness direction so that the piezoelectric constant is d33, and the output is increased with respect to the deformation in the thickness direction.
  • the first piezoelectric element 5a and the second piezoelectric element 5b are, for example, a single-layer bimorph type metal shim 50 in which films formed using the above materials are formed on both surfaces of the metal shim 50.
  • a piezoelectric element such as a laminated bimorph type may also be used.
  • the first piezoelectric element 5a and the second piezoelectric element 5b are piezoelectric bodies via the panel 12, the touch sensor 3, and the pusher (the pusher 14a and the pusher 14b).
  • a load F is applied to 51 to deform it.
  • the piezoelectric body 51 outputs a voltage corresponding to this deformation via the upper wiring and the lower wiring.
  • the piezoelectric bodies 51 of the first piezoelectric element 5a and the second piezoelectric element 5b are deformed according to the voltage when a voltage is applied through the upper wiring and the lower wiring.
  • the first piezoelectric element 5 a and the second piezoelectric element 5 b output to the control unit 7 as a first load signal S 2 and a second load signal S 3 according to the load F.
  • the first piezoelectric element 5a and the second piezoelectric element 5b for example, as deformed vibrates in response to a first driving signal S 4 and the second driving signal S 5 output from the control section 7 It is configured.
  • the base 10 is formed using, for example, a resin material or a metal material.
  • the panel 12 is formed using, for example, a resin material.
  • the presser 14a and the presser 14b are formed in a cylindrical shape using, for example, a resin material or a metal material.
  • the presser 14a and the presser 14b have a gap 16 of about 0.1 to 0.2 mm with the piezoelectric element.
  • the gap 16 is caused by environmental factors due to temperature changes, dimensional variations, displacement due to assembly, and the like. Therefore, the gap 16 may be determined by measurement, may be determined at the design stage, or may be determined by a method such as simulation.
  • the control unit 7 includes, for example, a CPU (Central Processing Unit) that performs operations and processes on acquired data according to a stored program, a RAM (Random Access Memory) that is a semiconductor memory, a ROM (Read Only Memory), and the like. Microcomputer.
  • ROM Read Only Memory
  • a program for operating the control unit 7 voltage application information 70, a touch threshold value 71, and a load threshold value 72 are stored.
  • the RAM is used as a storage area for temporarily storing calculation results and the like.
  • the control unit 7 has means for generating a clock signal therein, and operates based on this clock signal.
  • the control unit 7 deforms the piezoelectric element corresponding to the detected touch position to change between the panel 12 and the piezoelectric element. Control is performed so that no gap 16 is generated between them, and if the load detected by the piezoelectric element is equal to or greater than a predetermined load threshold value 72, it is determined that a touch operation has been performed at the detected touch position. It is configured.
  • the control unit 7, the touch operation is output to the electronic device connected generated by the operation information S 6 containing information on the detected operation area.
  • control unit 7 outputs a drive signal to the piezoelectric element in the operation region where the operation finger 9 is detected, deforms it into a convex shape, and controls the piezoelectric body 51 to contact the pusher and maintain the contact state.
  • Control unit 7 for example, as shown in FIG. 1C, when the operation finger 9 in the second operation area 12b is detected, a second driving signal S 5 to deform the second piezoelectric element 5b convexly It outputs and contacts with the pusher 14b, and the contact state is maintained.
  • control part 7 measures the time which deform
  • the predetermined time is about 1 to 2 seconds.
  • Control unit 7 generates based on the first driving signal S 4 and the second driving signal S 5 for deforming the first piezoelectric element 5a and the second piezoelectric element 5b convexly voltage application information 70.
  • That voltage application information 70 is information relating to a first driving signal S 4 and the second driving signal S 5 to form a convex deformation of the piezoelectric element after the touch position detection by the touch sensor 3.
  • the voltage application information 70 is information relating to a first driving signal S 4 and the second driving signal S 5 for performing tactile presentation after the touch operation detection by the first piezoelectric element 5a and the second piezoelectric element 5b.
  • the gap 16 may be the same for all the piezoelectric elements, for example, or may be different depending on the arrangement position. Therefore, the amount of change in the convex shape may be the same for each piezoelectric element, for example, or may be different depending on the arrangement position.
  • the first driving signal S 4 and the second driving signal S 5 for vibrating the first piezoelectric element 5a and the second piezoelectric element 5b are, for example, or changing the piezoelectric element in a convex shape, or may not be deformed Drive signal to be changed, or a drive signal to be alternately deformed into a convex shape and a concave shape.
  • the touch threshold value 71 is a threshold value for detecting a touch position on the operation surface 120.
  • the capacitive touch sensor 3 may detect, for example, the operation finger 9 that is away from the operation surface 120.
  • the control unit 7 instead of determining the presence or absence of the touch operation, the touch threshold value 71 or more based on the capacitance of the touch information S 1 acquired first from the touch sensor 3 and the touch threshold value 71
  • the touch position is calculated from the capacitance.
  • the calculation of the touch position is performed using, for example, a weighted average.
  • the control unit 7 deforms the piezoelectric element corresponding to the operation region including the touch position into a convex shape.
  • the convex deformation is continuously performed until a predetermined time or a time when the detected load becomes equal to or greater than the load threshold 72, whichever is earlier.
  • the control unit 7 of the tactile sensation presentation apparatus 1 periodically acquires touch information S 1 from the touch sensor 3. Controller 7 monitors whether the touch position of the capacitance and by comparing the touch threshold 71 operated finger 9 based on the touch information S 1 is detected. When “Yes” in Step 1 is established, that is, when the touch position of the operation finger 9 is detected (Step 1: Yes), the control unit 7 determines the operation area including the touch position.
  • the control unit 7 deforms the piezoelectric element below the operation area including the touch position, that is, the piezoelectric element corresponding to the touch position (Step 2). For example, when the touch position is included in the first operation area 12a, the control unit 7 generates a first driving signal S 4 based on the voltage applied information 70, and outputs to the first piezoelectric element 5a .
  • the first piezoelectric element 5a is deformed in a convex shape on the basis of the first driving signal S 4 to enter into contact with the push rod 14a.
  • the control unit 7 measures the time during which the deformation is performed in a convex shape, and monitors whether the deformation target piezoelectric element detects a load that is equal to or greater than the load threshold value 72.
  • the piezoelectric element detects a load greater than or equal to the load threshold value 72 within a predetermined time, that is, when a touch operation is detected within a predetermined time (Step 3: Yes)
  • the piezoelectric element is driven to present a tactile sensation (Step 4).
  • the control unit 7 when the load resulting from the first load signal S 2 is the load threshold 72 or more, based on the voltage applied information 70 Te and generates a first driving signal S 4 for presenting a tactile output, presenting a tactile sensation indicating acceptance of the touch operation.
  • the control unit 7 generates operation information S 6 including information of the operation area where the touch operation is performed, and outputs to the connected electronic equipment.
  • step 3 when the touch operation is not detected within a predetermined time (Step 3: No), the control unit 7 advances the process to step 1.
  • the tactile sense presentation device 1 can stably detect a touch operation and present a tactile sense.
  • the tactile sense presentation device 1 deforms the first piezoelectric element 5a or the second piezoelectric element 5b that has detected the touch position into a convex shape, and detects the touch position with the panel 12 via the pusher 14a or the pusher 14b.
  • a contact state with the piezoelectric element is generated.
  • the tactile sense presentation device 1 when the gap 16 is generated between the piezoelectric element and the pusher, not only accurate load detection is possible, but also vibration is difficult to be transmitted to the panel 12, and the tactile sense varies.
  • the tactile sensation presentation device 1 is configured such that the load is applied to the piezoelectric element in a state in which the loss is suppressed as compared with the case where a gap is generated between the panel and the piezoelectric element due to environmental factors and dimensional variations due to temperature changes and the like and displacement due to assembly. Since the vibration of the piezoelectric element is transmitted to the panel 12, the touch operation can be detected and the tactile sense can be stably presented.
  • the tactile sensation presentation apparatus 1 deforms the corresponding piezoelectric element into a convex shape after the touch position is detected. Therefore, compared to the case where this configuration is not employed, the pusher is applied when the load is applied in the direction in which the operation surface 120 is pushed down. The panel 12 and the piezoelectric element come into contact with each other, and efficient load detection and tactile sensation can be performed.
  • the tactile sensation providing apparatus 1 deforms only the piezoelectric element that has detected the touch position into a convex shape, it saves power compared to the case where this configuration is not adopted.
  • the tactile sensation providing apparatus 1 can detect the operation finger 9 at a position away from the operation surface 120 by relaxing the touch threshold value 71, the operation finger 9 can be compared with a case where this configuration is not adopted.
  • the piezoelectric element in the target operation region can be deformed into a convex shape, and the touch operation can be detected and the sense of touch can be stably presented.
  • the tactile sense presentation device 1 When the tactile sense presentation device has a plurality of piezoelectric elements, it is difficult to bring all the piezoelectric elements into contact with the panel. However, the tactile sense presentation device 1 according to the present embodiment deforms the piezoelectric element into a convex shape according to the detected touch position, and detects the load and presents the tactile sense with the piezoelectric element and the panel 12 in contact with each other. be able to. Therefore, even if the tactile sense presentation device 1 is configured to include a plurality of piezoelectric elements, it can stably detect a touch operation and present a tactile sense.
  • the tactile sense presentation device 1 as another embodiment is configured to always deform the piezoelectric element into a convex shape.
  • Control unit 7 of this embodiment the first driving signal S 4 and the second driving signal S 5 for deforming the first piezoelectric element 5a and the second piezoelectric element 5b convexly continuously output To do.
  • the tactile sense presentation device 1 as another embodiment is configured not to include the touch sensor 3 but to detect a touch operation by a load detected by the piezoelectric element and to constantly deform the piezoelectric element into a convex shape. Yes.

Abstract

L'invention concerne un dispositif de présentation de sensation tactile 1 qui comprend un panneau 12 ayant une surface fonctionnelle 120 fonctionnant par toucher, au moins un élément piézoélectrique pour détecter une charge F accompagnant une opération de toucher et conférer une vibration à la surface fonctionnelle 120, et une unité de commande 7 pour commander l'élément piézoélectrique et amener l'élément piézoélectrique à se déformer de telle sorte qu'un espace 16 ne se forme pas entre le panneau 12 et l'élément piézoélectrique. Le dispositif de présentation de sensation tactile 1 peut détecter de manière stable une opération tactile et présenter une sensation tactile.
PCT/JP2019/022489 2018-06-11 2019-06-06 Dispositif de présentation de sensation tactile WO2019240001A1 (fr)

Applications Claiming Priority (2)

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JP2018-111103 2018-06-11
JP2018111103A JP2019215179A (ja) 2018-06-11 2018-06-11 触覚呈示装置

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WO2019240001A1 true WO2019240001A1 (fr) 2019-12-19

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010015514A (ja) * 2008-07-07 2010-01-21 Sony Corp 入力装置、その制御方法及び電子機器
JP2012150794A (ja) * 2010-12-29 2012-08-09 Ricoh Co Ltd ユーザインターフェイス装置、画像形成装置、ユーザインターフェイス制御方法およびプログラム
JP2013530398A (ja) * 2010-06-15 2013-07-25 アイト ベスローテンヴェンノーツハップ 少なくとも１つの人間の指の表面上での存在を検出する検出装置、及び機械、装置（特に携帯装置）又はシステムのユーザインターフェース内において当該検出装置を使用する方法
JP2014509028A (ja) * 2011-03-21 2014-04-10 アップル インコーポレイテッド フレキシブルディスプレイを伴う電子装置
EP3018825A1 (fr) * 2014-11-10 2016-05-11 Aito Interactive Oy Capteur piézoélectrique, appareil et procédé pour générer simultanément un signal tactile et un signal acoustique
US20180113510A1 (en) * 2016-10-24 2018-04-26 Preh Car Connect Gmbh Display device having a touch-sensitive display unit

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010015514A (ja) * 2008-07-07 2010-01-21 Sony Corp 入力装置、その制御方法及び電子機器
JP2013530398A (ja) * 2010-06-15 2013-07-25 アイト ベスローテンヴェンノーツハップ 少なくとも１つの人間の指の表面上での存在を検出する検出装置、及び機械、装置（特に携帯装置）又はシステムのユーザインターフェース内において当該検出装置を使用する方法
JP2012150794A (ja) * 2010-12-29 2012-08-09 Ricoh Co Ltd ユーザインターフェイス装置、画像形成装置、ユーザインターフェイス制御方法およびプログラム
JP2014509028A (ja) * 2011-03-21 2014-04-10 アップル インコーポレイテッド フレキシブルディスプレイを伴う電子装置
EP3018825A1 (fr) * 2014-11-10 2016-05-11 Aito Interactive Oy Capteur piézoélectrique, appareil et procédé pour générer simultanément un signal tactile et un signal acoustique
US20180113510A1 (en) * 2016-10-24 2018-04-26 Preh Car Connect Gmbh Display device having a touch-sensitive display unit

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