WO2020235364A1 - Dispositif de présentation haptique, procédé d'étalonnage et programme - Google Patents

Dispositif de présentation haptique, procédé d'étalonnage et programme Download PDF

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Publication number
WO2020235364A1
WO2020235364A1 PCT/JP2020/018747 JP2020018747W WO2020235364A1 WO 2020235364 A1 WO2020235364 A1 WO 2020235364A1 JP 2020018747 W JP2020018747 W JP 2020018747W WO 2020235364 A1 WO2020235364 A1 WO 2020235364A1
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WIPO (PCT)
Prior art keywords
unit
vibration
tactile presentation
user
presentation device
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PCT/JP2020/018747
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English (en)
Japanese (ja)
Inventor
竜太 堀江
伊藤　鎮
中川　俊之
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ソニー株式会社
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Publication of WO2020235364A1 publication Critical patent/WO2020235364A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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

Definitions

  • This disclosure relates to a tactile presentation device, a calibration method and a program.
  • a master-slave system that enables an approach to the affected area without making a large incision in the patient's body is known.
  • an operator such as a doctor operates a master device provided with an input interface, a forceps or a forceps or the like is used according to the force of the operator's input operation measured by a force sensor provided in the master device.
  • a slave device equipped with medical equipment is remotely controlled.
  • the slave device is configured as, for example, an arm device in which the surgical tool is held at the tip, and the position or posture of the surgical tool can be changed in the abdominal cavity.
  • the operator may not be aware that the instrument is in contact with the patient and may damage the patient's tissue. is there. Therefore, it is desirable that the tactile sensation when the surgical tool comes into contact with the patient is transmitted to the operator.
  • a sensor for measuring the tactile sensation is provided in the slave device, and information on the tactile sensation measured by the sensor is transmitted to the master device side to vibrate. There is a method of transmitting the sense of touch to the operator by means of such means.
  • the vibration of the vibration actuator may be transmitted to the force sensor of the master device.
  • the vibration of such a vibration actuator becomes noise in the control of the master / slave system, and there is a possibility that it becomes difficult to reproduce the target vibration waveform.
  • the tactile presentation device of one form according to the present disclosure makes it possible to displace the vibrating portion, the contact portion that transmits the vibration by the vibrating portion to the user, and the contact portion. It is provided with a supporting installation portion and an acceleration sensor provided on the contact portion.
  • FIG. 1 It is sectional drawing which shows the structural example of the floating structure part in the II cross section of the tactile presentation apparatus which concerns on 1st Embodiment. It is a simplified figure which shows the tactile presentation device which concerns on 1st Embodiment. It is explanatory drawing which shows the example of the initial position of the 1st contact surface which concerns on 1st Embodiment (the 1). It is explanatory drawing which shows the example of the initial position of the 1st contact surface which concerns on 1st Embodiment (the 2). It is a flowchart which shows the operation example of the signal processing part which concerns on 1st Embodiment. FIG.
  • FIG. 3 is a schematic cross-sectional view showing a configuration example in which a configuration for executing gain adjustment is additionally described with respect to the configuration of the tactile presentation device shown in FIG. It is a waveform diagram which shows the waveform example of the command value which concerns on 1st Embodiment.
  • 6 is a waveform diagram showing an example of a vibration waveform detected by an acceleration sensor when the command value shown in FIG. 18 is input to the vibration unit without adjustment according to the first embodiment.
  • FIG. 5 is a waveform diagram showing an example of a vibration waveform detected by an acceleration sensor when the command value shown in FIG. 18 is adjusted according to the first embodiment and input to the vibration unit.
  • FIG. 1 is a schematic diagram for explaining an outline of the tactile presentation system including the tactile presentation device according to the first embodiment.
  • the tactile presentation system 1 includes a master device 10 (10R and 10L) and a slave device 50.
  • the master device 10 is a device provided with an input interface operated by an operator such as a doctor (hereinafter, also referred to as a user).
  • the slave device 50 is a device provided with medical surgical tools such as forceps or knives that are remotely controlled according to the user's operation in the master device 10.
  • Bilateral control is adopted as an example in the tactile presentation system 1.
  • the bilateral control is a feedback control in which the position of the input interface and the surgical instrument and the state of the force are matched between the master device 10 and the slave device 50. For example, when the user operates the input interface, the surgical tool moves according to the operation. When the surgical instrument moves and comes into contact with the patient, the force at the time of contact is fed back to the input interface.
  • the master device 10 and the slave device 50 are connected by an arbitrary communication method.
  • the master device 10 and the slave device 50 are connected by wired communication or wireless communication.
  • the master device 10 and the slave device 50 may be configured to directly communicate with each other, or may be configured to communicate via a network (or another device).
  • the master device 10 is a tactile presentation device having a function of driving control of the slave device 50 and presenting a vibration signal (first signal) measured by a sensor of the slave device 50 to the user.
  • the master device 10 is, for example, a device having one or more joints including a passive joint and a link connected to the joint (a device having a link mechanism including a passive joint).
  • the passive joint is a joint that is not driven by a motor, an actuator, or the like.
  • the master device 10 includes operating devices 100 (100R and 100L) that the user grips and operates.
  • the operating device 100 corresponds to a tactile presentation device that conveys to the user the feeling when the surgical tool of the slave device 50 (corresponding to the tip portion described later) comes into contact with the affected part of the patient or the like.
  • a monitor 30 for displaying the surgical field is connected to the master device 10, and a support base 32 on which the user rests both arms or elbows is provided.
  • the master device 10 is composed of a master device 10R for the right hand and a master device 10L for the left hand. Further, the master device 10R for the right hand is provided with the operating device 100R for the right hand, and the master device 10L for the left hand is provided with the operating device 100L for the left hand.
  • the user places both arms or elbows on the support base 32 and grips the operating devices 100R and 100L with the right and left hands, respectively. In this state, the user operates the operating devices 100R and 100L while looking at the monitor 30 on which the surgical field is displayed. By displacing the positions and orientations of the respective operating devices 100R and 100L, the user can remotely control the position or orientation of the surgical tool attached to the slave device 50, or perform a gripping operation by the respective surgical tools. May be good.
  • the slave device 50 is a force and vibration when the affected part of the patient (hereinafter, also referred to as an object) in the operation and the part of the slave device 50 in contact with the object come into contact with each other. Is presented to the master device 10.
  • the slave device 50 is, for example, a device having one or more active joints for moving in response to the movement of the master device 10 and a link connected to the active joint (a device having a link mechanism including the active joint). ).
  • the active joint is a joint driven by a motor, an actuator, or the like.
  • various sensors for example, an origin sensor, a limit sensor, an encoder, a microphone, an acceleration sensor, etc.
  • a force sensor (B shown in FIG. 1) is provided at the tip of the arm of the slave device 50.
  • the force sensor B measures the force applied to the tip portion of the arm when the tip portion of the arm comes into contact with the patient.
  • the place where the above-mentioned various sensors are provided is not particularly limited, and the various sensors may be provided at any place at the tip of the arm.
  • the slave device 50 is provided with, for example, a motion sensor for measuring the motion of the active joint at a position corresponding to each active joint.
  • the motion sensor include a potentiometer and an encoder.
  • the slave device 50 is provided with, for example, a drive mechanism for driving the active joint at a position corresponding to each of the active joints. Examples of the drive mechanism include a motor and a driver thereof.
  • Such a tactile presentation system 1 may be applied to a virtual reality environment.
  • an image showing the environment on the virtual slave device 50 side may be projected on the monitor 30, and the user may operate the master device 10 based on the image.
  • the master device 10 according to the present embodiment will be described in more detail below with reference to FIGS. 2 to 6.
  • FIG. 2 is an explanatory diagram showing an example of an external configuration of the master device according to the first embodiment.
  • the master device 10 shown in FIG. 2 includes a support arm portion 40, a main body portion 20, a base portion 34, and an operation device 100.
  • the base portion 34 is a base portion of the master device 10, and may be formed by combining, for example, an aluminum frame material. However, the configuration of the base portion 34 is not limited to such an example.
  • a support base 32 is attached to the base portion 34. The user can obtain the stability of the operation by operating the operation device 100 with the elbow or the arm resting on the support base 32.
  • the support base 32 may not be attached to the base portion 34, and may not be included in the components of the master device 10.
  • the support arm portion 40 is supported by the main body portion 20 on the base end side.
  • An operating device 100 is attached to the tip end side of the support arm portion 40.
  • the support arm portion 40 has a first arm portion 40a, a second arm portion 40b, a third arm portion 40c, and a fourth arm portion 40d.
  • the tip end side of each of the first arm portion 40a, the second arm portion 40b, and the third arm portion 40c is connected to the fourth arm portion 40d, and the base end side is connected to the main body portion 20.
  • the main body 20 includes three motors 36 (one not shown) that control the rotation of the first arm 40a, the second arm 40b, and the connecting portion between the third arm 40c and the main body 20. ) Is provided.
  • the first arm portion 40a, the second arm portion 40b, and the third arm portion 40c are configured by connecting a plurality of link portions in series so as to be rotatable with each other. Further, the connecting portions of the first arm portion 40a, the second arm portion 40b, the third arm portion 40c, and the fourth arm portion 40d are also rotatably connected to each other. Further, the connecting portions of the first arm portion 40a, the second arm portion 40b, the third arm portion 40c, and the main body portion 20 are also rotatably connected to each other.
  • the connecting portion of these plurality of link portions or arm portions serves as a joint portion, and the angle of each link portion or arm portion can be freely changed around the joint portion.
  • the position of the operating device 100 attached to the tip end side of the support arm portion 40 in space can be freely changed.
  • the fourth arm portion 40d is configured by connecting a plurality of arms, and each arm is axially rotatable. As a result, the orientation of the operating device 100 attached to the tip end side of the support arm portion 40 can be freely changed.
  • Encoders for detecting the rotation angle of each arm portion are provided at each connecting portion between the first arm portion 40a, the second arm portion 40b, the third arm portion 40c, and the main body portion 20. ing. Further, the fourth arm portion 40d is provided with a plurality of encoders for detecting the axis rotation angle of each arm.
  • the encoder is an example of a sensor that detects the rotation angle, and may be replaced with another sensor. The signal indicating the rotation angle detected by these encoders is provided in the master device 10 and transmitted to the control unit 160 described later.
  • the operating device 100 functions as a gripping interface for operating the surgical instrument supported by the slave device 50.
  • the posture of the support arm portion 40 changes, and the rotation angle of the joint portion and the axis rotation angle of the arm change.
  • a force sensor 152 is provided at a connection portion between the operating device 100 and the fourth arm portion 40d. The force sensor 152 detects the force input by the user to the operating device 100.
  • the support arm portion 40 including the rotation angle sensor that detects the rotation angle of the joint portion and the shaft rotation angle of the arm can be configured by using a conventionally known support arm device, and the configuration of the support arm portion 40. The detailed description of is omitted.
  • FIG. 3 is a block diagram showing an example of internal configuration of the master device according to the first embodiment.
  • the master device 10 includes a vibration unit 120, a sensor unit 150, and a control unit 160.
  • the vibrating unit 120 is a vibrating device for presenting the vibration of the operation target of the operating device 100, and is provided in the operating device 100.
  • the vibrating unit 120 vibrates in response to an input from the signal processing unit 170 based on the vibration generated when the operation target touches the object.
  • a voice coil motor (VCM: Voice Coil Motor) type vibration actuator is used as the vibration unit 120, but other vibration devices may be used.
  • VCM Voice Coil Motor
  • an LRA Linear Resonant Actuator
  • a piezoelectric element or the like may be used as the vibration device.
  • the sensor unit 150 has a function of measuring information for driving control and force sense presentation of the slave device 50.
  • the sensor unit 150 includes a force sensor 152 (torque sensor) and a rotation angle sensor.
  • the force sensor 152 is provided, for example, at a connection portion between the support arm portion 40 and the operating device 100 attached to the tip of the support arm portion 40.
  • the force sensor 152 may be a 6-axis sensor that measures a force acting in three axial directions orthogonal to each other and a torque in a rotational direction centered on each of the three axes.
  • the force sensor 152 measures the force and torque (hereinafter, the force and torque are collectively referred to as a force) input to the operating device 100 by the user. Further, the rotation angle sensor is provided at a plurality of joints of the support arm 40, and measures the rotation angle of each joint.
  • the rotation angle sensor may be, for example, an encoder.
  • the force sensor 152 attempts to measure the user's force applied when the user operates the operating device 100.
  • the force measured by the force sensor 152 includes not only the force of the user but also the gravity generated by the own weight of the operating device 100 and the inertial force generated by the movement of the operating device 100.
  • the force measured by the force sensor 152 may include vibration generated by the vibrating unit 120 as noise.
  • the force measured by the force sensor 152 which includes at least one of gravity, inertial force, and noise in addition to the user's force, is also referred to hereinafter as an external force. Further, in the following description, it is assumed that the external force includes the user's force, gravity, inertial force, and noise.
  • the information measured by the sensor unit 150 as described above is output to the control unit 160.
  • Control unit 160 has a function of controlling the operation of the slave device 50.
  • the control unit 160 controls the posture of the arm of the slave device 50 based on the information of the rotation angle detected by the encoder provided in the master device 10, and determines the position of the surgical tool supported by the slave device 50. Change the orientation.
  • the control unit 160 detects an external force acting on the surgical tool of the slave device 50, and drives and controls three motors 36 (one not shown) based on the external force, thereby operating by the user.
  • a reaction force is applied to the movement of the operating device 100 to be performed. As a result, the user is presented with a sense of force regarding the moving operation of the operating device 100.
  • control unit 160 acquires a signal indicating the operation amount of the gripping operation from the operating device 100 by the user performing the gripping operation of the operating device 100, and is attached to the slave device 50 based on the signal. Have the tool perform a gripping motion. At this time, the control unit 160 detects a reaction force of the surgical tool attached to the slave device 50 during the gripping operation, and drives and controls a motor (not shown) provided in the operation device 100 based on the reaction force. , The user may be presented with a sense of force regarding the gripping operation of the operating device 100.
  • control unit 160 has a function of controlling a process of transmitting the vibration measured by the slave device 50 to the user.
  • the control unit 160 includes a signal processing unit 170, a storage unit 180, and an upper control unit 190, as shown in FIG.
  • the signal processing unit 170 has a function of controlling the vibration of the vibrating unit 120 based on the signal received from the slave device 50. For example, the signal processing unit 170 receives the vibration signal measured by the sensor of the slave device 50 via the upper control unit 190 described later, performs signal processing for removing noise from the vibration signal, and converts the processed vibration signal into a vibration signal. Based on this, control is performed to vibrate the vibrating unit 120.
  • the signal processing unit 170 has a function of controlling a process of outputting a force corresponding to the force measured by the sensor unit 150 to the upper control unit 190. For example, the signal processing unit 170 removes the vibration component presented by the vibration unit 120 from the external force measured by the force sensor 152.
  • the signal processing unit 170 has a band limiting unit 171, a DRI (DRIVER) 172, an A / D 173, and an inverse kinetic calculation unit 174, as shown in FIG. , A signal processing circuit including a noise estimation unit 175, an adder 178, and an adder 179.
  • DRIVER DRI
  • a / D 173 DRI
  • inverse kinetic calculation unit 174 A signal processing circuit including a noise estimation unit 175, an adder 178, and an adder 179.
  • the band limiting unit 171 has a function of removing a specific band from the input signal.
  • the band limiting unit 171 uses a filter to remove low-frequency components that may affect the force sensor 152 of the master device 10 as vibration noise, and frequency components corresponding to vibrations such as sounds that the user does not perceive as tactile sensations. , Or removes a predetermined frequency component stored in advance from the vibration signal. More specifically, the band limiting unit 171 removes a predetermined frequency band component by passing an input signal through a filter.
  • the band limiting unit 171 uses a high-pass filter (HPF: High-Pass Filter) that blocks low-frequency signals and passes only high-frequency signals, and uses a vibration signal having a frequency below a predetermined frequency. Removes a specific band from the input signal by blocking.
  • the predetermined frequency here is a lower limit value of a low frequency component that may affect the force sensor 152 of the master device 10 as vibration noise.
  • the predetermined frequency may be about 30 Hz.
  • the above-mentioned predetermined frequency may be registered in the storage unit 180 in advance.
  • the band limiting unit 171 uses, for example, a low-pass filter (LPF: Low-Pass Filter) that blocks high-frequency signals and passes only low-frequency signals to block vibration signals having a predetermined frequency or higher. Then, a specific band may be removed from the input signal.
  • the predetermined frequency here is an upper limit value of a frequency that can be perceived by the user as a tactile sensation.
  • the predetermined frequency may be about 700 Hz.
  • the predetermined frequency may be controlled according to the age, gender, skin condition, whether or not gloves are worn, and the like of the user. The above-mentioned predetermined frequency may be registered in the storage unit 180 in advance.
  • the band limiting unit 171 removes, for example, a predetermined frequency component stored in advance from the vibration signal. More specifically, the storage unit 180 stores the frequency corresponding to the predetermined frequency component in advance, and the band limiting unit 171 stores the frequency component from the input signal when the frequency component corresponding to the frequency is input. Remove. Then, the band limiting unit 171 outputs an input signal from which a specific band has been removed to the DRI 172 and the noise estimation unit 175.
  • the vibration in the frequency domain that does not correspond to the tactile sensation and the vibration whose frequency is known in advance are output from the vibration unit 120 provided in the master device 10. Is prevented.
  • the filter used by the band limiting unit 171 is not limited to the HPF or LPF, and may be any filter. Further, the method in which the band limiting unit 171 removes a specific band is not limited to the method using a filter, and may be any method.
  • the DRI172 is a drive circuit and has a function of driving the vibrating unit 120 of the master device 10 based on the input signal. For example, the DRI 172 vibrates the vibrating unit 120 based on the vibration signal after removing a specific band input from the band limiting unit 171. As a result, the vibration corresponding to the tactile sensation detected by the slave device 50 is generated by the vibrating unit 120, and the tactile vibration generated in the surgical instrument is transmitted to the user.
  • the A / D173 is an analog-to-digital conversion circuit (A / D conversion circuit), and has a function of converting an analog signal into a digital signal.
  • a / D conversion circuit receives an input signal from the force sensor 152 of the sensor unit 150, converts the analog signal into a digital signal, and outputs the converted vibration signal to the adder 178.
  • the A / D 173 receives from the force sensor 152 an external force including a user's force, gravity, inertial force, and noise (hereinafter, also expressed as force + gravity + inertial force + noise) as an input signal.
  • the inverse dynamics calculation unit 174 has a function of performing an inverse dynamics calculation on the operation information of the master device 10.
  • the operation information is the measurement result of the motion sensor included in the master device 10.
  • the inverse dynamics calculation unit 174 corrects the force measured by the force sensor 152 by the inverse dynamics calculation.
  • the force measured by the force sensor 152 is an external force that includes at least one of gravity, inertial force, and noise in addition to the user's force. Therefore, it cannot be said that the force measured by the force sensor 152 indicates an accurate user force. Therefore, since the inverse dynamics calculation unit 174 can obtain the gravity and the inertial force by the inverse dynamics calculation, it is possible to calculate a more accurate user's force from the force measured by the force sensor 152. it can.
  • the inverse dynamics calculation unit 174 performs an inverse dynamics calculation on ( ⁇ , ⁇ ′, ⁇ ′′) which is a measurement result (that is, operation information) of the motion sensor provided in the master device 10.
  • ( ⁇ , ⁇ ′′, ⁇ ′′) indicates (joint angle, joint angular velocity, joint angular acceleration).
  • Equation 1 the dynamics of a robot such as the master device 10 is represented by Equation 1 below.
  • the left side of the above formula 1 shows the torque value of each joint in the robot.
  • the first term, the second term, and the third term on the right side of the above equation 1 indicate an inertial term, a centrifugal force / Coriolis force term, and a gravity term, respectively.
  • the inverse dynamics calculation unit 174 calculates the gravity / inertial force applied to the force sensor unit by providing a virtual joint in the force sensor unit by a method using the inverse dynamics calculation, and subtracts it from the external force to make it more accurate. Calculate the power of various users.
  • the inverse dynamics calculation unit 174 calculates the gravity generated by the own weight of the operating device 100 by the inverse dynamics calculation, and outputs the gravity to the adder 178 as a negative value. Further, the inverse dynamics calculation unit 174 calculates the inertial force generated by the movement of the operating device 100, and outputs the inertial force to the adder 178 as a negative value.
  • the noise estimation unit 175 has a function of estimating noise based on the input signal. For example, the noise estimation unit 175 estimates the noise due to the vibration of the vibration unit 120 included in the external force measured by the force sensor 152 based on the vibration signal after removing the specific band input from the band limiting unit 171.
  • the noise estimation unit 175 may estimate noise based on the transfer function H ( ⁇ ) estimated in advance.
  • the noise estimation unit 175-1 shown in FIG. 5 obtains the transfer function H ( ⁇ ) of the operating device 100 in advance by system identification. Then, the noise estimation unit 175-1 estimates the noise due to the vibration of the vibration unit 120 included in the external force measured by the force sensor 152 based on the vibration signal input from the transfer function H ( ⁇ ) and the band limiting unit 171.
  • the transfer function (H) is a function showing the relationship between the input and the output.
  • the noise estimation unit 175 may estimate the noise included in the external force by using an adaptive filter for the vibration signal input from the band limiting unit 171.
  • noise estimation when the noise estimation unit 175 uses an adaptive filter will be described.
  • FIG. 6 shows an example of a noise estimation unit 175-2 in which the signal processing unit 170 uses an ADF (Adaptive Digital Filter) as the noise estimation unit 175.
  • ADF Adaptive Digital Filter
  • FIR Finite Impulse Response
  • the adaptive filter is a filter that self-adapts the transfer function (H).
  • the noise estimation unit 175-2 outputs the noise estimated based on the vibration signal input from the band limiting unit 171 to the adder 179.
  • the adder 179 to which the noise is input performs addition using the addition result of the adder 178 and the noise, and outputs the addition result. Then, the error signal corresponding to the addition result is fed back to the noise estimation unit 175-2 by the feedback circuit, and the ADF of the noise estimation unit 175-2 has a transfer function (H) based on the feedback so that the error becomes small. Can be adjusted.
  • the noise estimation unit 175 outputs the noise estimated by any of the above methods to the adder 179 as a negative value.
  • the adder 178 and the adder 179 are arithmetic units that perform addition. For example, the adder 178 and the adder 179 perform addition based on a plurality of input values. Specifically, the adder 178 adds the gravity and the inertial force input as negative values from the inverse dynamics calculation unit 174 to the external force (force + gravity + inertial force + noise) input from the A / D 173. Then, the adder 178 outputs the external force (force + noise) calculated by the addition to the adder 179.
  • the adder 179 adds the noise input as a negative value from the noise estimation unit 175 to the external force (force + noise) input from the adder 178. Then, the control unit 160 outputs the external force (force) calculated by the adder 179 to the upper control unit 190 as a signal (second signal).
  • the storage unit 180 is a device for storing information about the master device 10.
  • the storage unit 180 stores data output in the processing of the signal processing unit 170 and data of various applications and the like.
  • the upper control unit 190 has a function related to controlling the operation of the slave device 50.
  • the upper control unit 190 receives the vibration signal measured by the sensor of the slave device 50 from the slave device 50, and outputs the drive signal to the band limiting unit 171 of the signal processing unit 170. Further, the upper control unit 190 inputs a signal calculated by the signal processing unit 170 based on the drive signal from the adder 179 of the signal processing unit 170, and drives the slave device 50 in response to the signal.
  • the master device 10 of the embodiment of the present disclosure has been described above with reference to FIGS. 2 to 6. Subsequently, the first embodiment will be described.
  • a stylus-type gripping interface is taken as an example of the operating device 100 which is a tactile presentation device.
  • FIG. 7 is a perspective view showing a schematic configuration example of the tactile presentation device according to the first embodiment.
  • FIG. 8 is an explanatory diagram showing an operation example of the tactile presentation device according to the first embodiment.
  • the operating device 100 shown in FIG. 7 has a housing 101 that houses a motor and an encoder inside.
  • the housing 101 has a long rod-shaped outer shape as a whole so that the user can easily grasp it. That is, the operating device 100 is a so-called stylus-type gripping interface.
  • the operating device 100 is attached to the fourth arm portion 40d of the master device 10 on the tip side.
  • a force sensor 152 is provided at a connection portion between the tip end side of the operating device 100 and the fourth arm portion 40d.
  • a rotating shaft member 151 is provided on the rear end side of the housing 101. Both ends of the rotating shaft member 151 are supported by a bearing portion 155 and a housing 101.
  • a master frame 108 as a frame portion is rotatably connected to the rotary shaft member 151 around the rotary shaft member 151.
  • the master frame 108 is a long member arranged on one side surface side of the operating device 100 along the longitudinal direction of the operating device 100, and extends along a direction intersecting the axial direction of the rotating shaft member 151. Exists.
  • An installation portion 140 having a surface that intersects the rotation direction of the master frame 108 and extends along the longitudinal direction of the operating device 100 is provided at an appropriate position on the tip end side of the master frame 108. ..
  • the installation portion 140 is attached to the master frame 108 via the holes 114 (holes 114a, 114b and 114c) by means of fixing means such as screws or bolts.
  • the front surface of the installation unit 140 is the second contact surface 105 with which the user's finger comes into contact.
  • the second contact surface 105 has an arched recessed shape to facilitate the shape of the user's finger.
  • the user grips the operating device 100 by grasping the writing pen, and at that time, for example, the index finger is pressed against the second contact surface 105 to push the master frame 108. It can be rotated.
  • the surface on which the second contact surface 105 is provided can also be regarded as the surface of the installation portion 140 in the direction opposite to the pushing direction.
  • a vibrating unit 120 is provided in the vicinity of the installation unit 140. Specifically, the vibrating portion 120 is provided on the back side of the installation portion 140 via the contact portion 130. Further, the contact portion 130 has a first contact surface 111 with which the user's finger comes into contact. Therefore, if the vibrating unit 120 vibrates while the user's finger is in contact with the first contact surface, the vibration of the vibrating unit 120 is transmitted to the user's finger via the first contact surface 111.
  • the first contact surface 111 contacts a portion of the user's finger that is in contact with the second contact surface 105 and that is not in contact with the second contact surface 105.
  • the pad of the index finger comes into contact with the first contact surface 111, and a portion other than the pad of the index finger comes into contact with the second contact surface 105. Therefore, the contact portion 130 transmits the vibration generated by the vibrating portion 120 to the portion of the user's finger that is partially in contact with the first contact surface 111.
  • the vibrating unit 120 generates a vibration corresponding to the tactile vibration acting on the surgical tool of the slave device 50, and the vibration is generated to the user through the first contact surface 111 of the contact unit 130.
  • a rail portion 123 extending in the rotation direction of the master frame 108 is provided.
  • the rail portion 123 has a substantially arcuate outer shape, and rotates along the extending direction of the rail portion 123 as the master frame 108 rotates. That is, the rail portion 123 rotates about the rotation shaft member 151.
  • the wire 135 arranged on the rail portion 123 functions as a member for transmitting power, and the drive torque generated by the motor is transmitted to the rail portion 123 via the wire 135.
  • the rotational torque of the rail portion 123 can be transmitted to the motor via the wire 135.
  • the end portion of the wire 135 is fixed to one end of the spring 124 fixed to the rail portion 123 via a hole provided in the rail portion 123.
  • tension is applied to the wire 135 by utilizing the elastic force of the spring 124, and the looseness of the wire 135 on the rail portion 123 can be suppressed.
  • the spring 124 is an example of a configuration for applying tension to the wire 135, and another tension generating portion may be adopted.
  • the force sensor 152 is provided at the connecting portion between the operating device 100 and the fourth arm portion 40d of the support arm portion 40.
  • the force sensor 152 may be a 6-axis force sensor that detects the force and twist of the 3-direction 6-axis component input to the operating device 100 operated by the user.
  • the force sensor 152 When a translational force or a force in the twisting direction is applied to the operating device 100, the force sensor 152 generates an output corresponding to the moment of the force.
  • the above-mentioned control unit 160 detects the force moment input to the operation device 100 by the force sensor 152, and the slave device 50 is based on the force moment. Control the posture of the arm. As a result, the position and orientation of the surgical instrument attached to the slave device 50 can be smoothly controlled.
  • the motor and the encoder are electrically connected to the above-mentioned control unit 160 by a cable or the like (not shown).
  • the force sensor 152 that detects the force input to the operating device 100 is also electrically connected to the control unit 160.
  • the vibrating unit 120 is also electrically connected to the control unit 160.
  • the detection signals of the encoder and the force sensor 152 are output to the control unit 160, and the drive signal is input from the control unit 160 to the motor. Further, a drive signal is input from the drive circuit of the control unit 160 to the vibration unit 120.
  • the above-mentioned cable or the like may be wired so as to pass through the inside of the operating device 100, or may be wired so as to pass through the outside of the operating device 100.
  • FIG. 9 is an explanatory diagram showing a partial configuration example of the tactile presentation device according to the first embodiment.
  • FIG. 10 is an explanatory diagram showing an assembly example of the tactile presentation device according to the first embodiment as viewed from the front side of the installation portion in FIG.
  • FIG. 11 is an explanatory view showing an assembly example of the tactile presentation device according to the first embodiment as viewed from the back side of the installation portion in FIG.
  • FIG. 12 is a cross-sectional view showing a structural example of the floating structure portion in the I-I cross section of the tactile presentation device according to the first embodiment.
  • the front side is the side opposite to the pushing direction of the master frame 108.
  • the back side is the side of the master frame 108 in the pushing direction.
  • the operation device 100 according to the first embodiment is roughly composed of four parts. Specifically, the operation device 100 is composed of an operation unit 110, a vibration unit 120, a contact unit 130, and an installation unit 140.
  • the floating structure portion according to the first embodiment is composed of a vibrating portion 120, a contact portion 130, and an installation portion 140.
  • the floating structure according to the first embodiment is a structure for suppressing the vibration generated by the vibrating portion 120 from being transmitted to the force sensor 152.
  • the operation unit 110 is a unit operated by the user in the operation device 100.
  • the housing 101 described above and the master frame 108 that rotates around the rotation shaft member 151 correspond to the operation unit in the first embodiment.
  • a force sensor 152 is connected to the tip end side of the housing 101 of the operation unit 110. When the user grips and operates the operation unit 110, the force sensor 152 measures the user's force input to the operation unit 110.
  • the installation unit 140 is a unit that the user's finger comes into contact with.
  • the installation portion 140 is attached to the master frame 108 by bolts 115 (bolts 115a, bolts 115b and 115c) via the respective holes of the holes 114 (holes 114a, 114b and 114c) shown in FIG. ..
  • the installation unit 140 has a second contact surface 105 with which the user's finger comes into contact.
  • the installation portion 140 has an opening that penetrates the second contact surface 105 with which the user's finger contacts, and the side of the second contact surface 105 and the back side of the second contact surface. It has 107.
  • the shape of the opening 107 is not limited to the circular shape shown in FIG.
  • the shape of the opening 107 may be a polygon such as a quadrangle.
  • the opening 107 may be not only near the center of the installation portion 140 as shown in FIG. 9, but also the opening 107 from the vicinity of the center of the installation portion 140 to the outer circumference.
  • the contact unit 130 is a unit that transmits the vibration generated by the vibration unit 120 to the user.
  • the contact portion 130 has a first contact surface 111 that comes into contact with the user's finger.
  • the contact portion 130 can directly transmit vibration to the user's finger by the first contact surface 111.
  • the convex portion of the contact portion 130 is inserted into the opening 107 provided in the installation portion 140 from the back side of the second contact surface 105.
  • the surface of the portion of the convex portion that comes into contact with the user's finger on the front side of the installation portion 140 (that is, the side on which the second contact surface 105 is provided) is the first contact surface 111.
  • both the first contact surface 111 and the second contact surface 105 come into contact with the same finger of the user. Therefore, when the user pushes the second contact surface 105 with a finger to rotate the master frame 108, the finger pushing the second contact surface 105 receives the vibration generated by the vibrating unit 120. Be transmitted. Thereby, for example, when the forceps grab an object, the tactile sensation is transmitted to the finger operating the forceps, and the same feedback can be realized.
  • the contact portion 130 is slidably arranged on the back side of the installation portion 140. Specifically, the contact portion 130 is fixed in the holes 122 (holes 122a, 122b, and 122c) provided in the contact portion 130 with a columnar fixture 118 (fixing tool 118a, fixing) having a cross-sectional shape smaller than that of the hole 122. The tool 118b and the fixture 118c) are inserted and slidably arranged along the fixture 118.
  • the fixture 118 is provided with the installation portion 140 by the screws 117 (screws 117a, screws 117b, and screws 117c) inserted through the holes 116 (holes 116a, 116b, and 116c) on the front side of the installation portion 140 shown in FIG. Is fixed to. With such a configuration, the contact portion 130 can slide along the fixture 118 when vibrating together with the vibrating portion 120.
  • the contact portion 130 is attached to the installation portion 140 via an elastic body so as not to come into direct contact with the installation portion 140.
  • the contact portion 130 is attached to the installation portion 140 in a state of being sandwiched by two elastic springs 119 (springs 119a and 119b) with respect to the hole 122c.
  • the spring 119a is attached between the front side of the contact portion 130 where the first contact surface 111 is located and the back side of the installation portion 140 (the surface opposite to the second contact surface 105).
  • the spring 119b is attached between the back side of the contact portion 130 (the surface opposite to the first contact surface 111) and the head of the fixture 118c.
  • the holes 122a and 122b not shown).
  • the actuator can be miniaturized.
  • Fixture 118 is inserted in the space inside the spring 119.
  • the direction in which the spring 119 expands and contracts coincides with the sliding direction of the contact portion 130, and the sliding direction of the contact portion 130 can be fixed to one axis.
  • the contact portion 130 can be slid to change the position so as to fit the user's finger.
  • the number of elastic bodies is not limited to the number used in the above example, and any number of elastic bodies may be used.
  • two springs 119 are used in the above-mentioned hole 122c, only one spring 119 may be used by directly connecting the installation portion 140 and the contact portion 130 with a spring. If the same applies to the holes 122a and 122b (not shown), three springs 119 will be used in total.
  • one spring 119 may be used for the entire contact portion 130 and the installation portion 140.
  • the elastic body is arranged in a well-balanced manner around the convex portion of the contact portion 130 so as to come into contact with the contact portion 130.
  • two elastic bodies are arranged one by one at positions facing each other with the convex portion of the contact portion 130 interposed therebetween. Since the elastic bodies are arranged in a well-balanced manner, the contact portion 130 is stably installed without tilting. Then, when the user pushes the convex portion of the contact portion 130 toward the back side of the installation portion 140, the contact portion 130 can be translated without tilting.
  • the elastic body is not limited to the above-mentioned spring, and any elastic body may be used.
  • any elastic body may be used.
  • rubber, a flexible material, or the like may be used as the elastic body.
  • the hole 122 used for attaching the contact portion 130 has four holes 122 including the hole 122d, but at least two of the four holes 122 may be used.
  • two holes 122 facing each other with the convex portion of the contact portion 130 interposed therebetween may be used.
  • two holes 122 which are a combination of the holes 122a and 122c or a combination of the holes 122b and 122d, may be used. In this way, of the four holes 122, the contact portion 130 is stably installed by using the two holes 122 facing each other with the convex portion of the contact portion 130 interposed therebetween.
  • a structure in which the contact portion 130 is attached to the installation portion 140 via an elastic body and the contact portion 130 and the installation portion 140 are not in contact with each other is referred to as a floating structure. Since the contact portion 130 is attached to the installation portion 140 via an elastic body, the contact portion 130 and the operation portion 110 are not in contact with each other, so that the contact portion 130 and the operation portion 110 are separated from each other.
  • the vibrating portion 120 is provided on the back side of the first contact surface of the contact portion 130.
  • the screw 112 screw 112 (screw 112a, screw 112b, and screw 112c) shown in FIG. 11 is penetrated from the back side into the hole 125 (hole 125a, hole 125b, and hole 125c) of the vibrating portion 120 shown in FIG. ..
  • the screw 112 is fixed to the screw hole 126 (screw hole 126a, screw hole 126b, and screw hole 126c) of the contact portion 130. In this way, the vibrating portion 120 is fixedly attached to the back side of the contact portion 130.
  • the vibrating portion 120 vibrates in a direction corresponding to the direction in which the elastic body expands and contracts.
  • the vibrating portion 120 vibrates in a direction that coincides with or substantially coincides with the direction in which the elastic body expands and contracts.
  • the vibrating unit 120 vibrates in the direction of the vibration direction 121 shown in FIG.
  • the vibration direction 121 coincides with the direction in which the spring 119a and the spring 119b, which are elastic bodies shown in FIG. 12, expand and contract.
  • the vibration absorbing capacity of the elastic body is exhibited so high that the direction of the force applied to the elastic body coincides with the stretching direction. Therefore, the vibrating portion 120 vibrates in a direction that coincides with or substantially coincides with the direction in which the elastic body expands and contracts, so that the elastic body can efficiently absorb the vibration caused by the vibrating portion 120.
  • FIG. 13 is a simplified diagram showing a tactile presentation device according to the first embodiment.
  • the operation unit 110 and the installation unit 140 are shown together.
  • the contact portion 130 is provided with a vibrating portion 120.
  • a contact portion 130 is provided in the installation portion 140 via an elastic body (springs 119a to 119d).
  • the installation unit 140 is provided on the operation unit 110.
  • the contact portion 130 is slidably arranged on the installation portion 140 along the fixture 118 by the fixture 118 (fixer 118a and fixture 118b). Further, the contact portion 130 is attached to the installation portion 140 in a state of being sandwiched by elastic bodies (spring 119a and spring 119b) with respect to the fixture 118a. Further, the contact portion 130 is attached to the installation portion 140 in a state of being sandwiched by elastic bodies (spring 119c and spring 119d) with respect to the fixture 118b. Therefore, when the contact portion 130 and the vibrating portion 120 vibrate together, at least a part of the vibration is absorbed by the elastic body. Therefore, it is possible to suppress the vibration transmitted from the contact portion 130 to the installation unit 140, and as a result, the vibration transmitted to the force sensor 152 via the operation unit 110 to which the installation unit 140 is attached is also suppressed. It becomes possible.
  • FIGS. 9 to 13 also show an acceleration sensor 401 used for calibrating the voltage waveform input to the vibrating unit 120.
  • the acceleration sensor 401 may have a configuration included in the sensor unit 150 described above. Further, the calibration using the acceleration sensor 401 will be described in detail later.
  • the contact portion 130 also vibrates in the direction of the vibrating direction 121.
  • the first contact surface 111 of the contact portion 130 may not come into contact with the user's finger. Therefore, in realizing the above configuration, it is preferable to set the initial position of the first contact surface of the contact portion 130 in consideration of the amplitude of the vibrating portion 120.
  • the initial position is the position of the first contact surface 111 when the vibrating portion 120 is stopped (that is, stationary). In other words, the initial position is the position of the first contact surface 111 when the contact portion 130 is attached to the installation portion 140.
  • the first contact surface 111 is located at a position where the first contact surface 111 and the second contact surface 105 in the vibration direction of the vibrating portion 120 coincide with or substantially coincide with each other when the vibrating portion 120 is stopped.
  • the position that coincides with the second contact surface 105 is, for example, a position that coincides with the edge of the opening 107 on the front side (second contact surface side) of the installation portion 140 with respect to the vibration direction 121.
  • the edge of the opening 107 is the end of the second contact surface 105 that forms the opening 107. More specifically, in the case of the example shown in FIG.
  • the position corresponding to the second contact surface 105 vibrates with the end portion 127a of the second contact surface 105a or the end portion 127b of the second contact surface 105b. It is a position that coincides with the direction 121.
  • the position of the pad of the user's finger 131 typically coincides with at least one of the ends 127 with respect to the vibration direction 121. Therefore, if the initial position of the first contact surface 111 coincides with at least one of the end portions 127, the first contact surface 111 comes into contact with the user's finger 131 when the vibrating portion 120 vibrates. be able to.
  • the position substantially coincident with the second contact surface 105 is a position where the shortest distance in the vibration direction between the first contact surface 111 and the end portion 127 is within the range of the value corresponding to the amplitude of the vibration unit 120. .. Considering the movement of the first contact surface 111 per cycle when the vibrating unit 120 vibrates, first, the first contact surface 111 moves in the front side direction of the installation unit 140 by the amplitude of the vibrating unit 120 from the initial value. To do. Next, the first contact surface 111 moves in the back side direction of the installation portion 140 by twice the amplitude of the vibrating portion 120. Finally, the first contact surface 111 moves in the front side direction of the installation unit 140 by the amplitude of the vibration unit 120 and returns to the initial value.
  • the first contact surface 120 will vibrate when the vibrating portion 120 vibrates.
  • the contact surface 111 can come into contact with the user's finger.
  • FIG. 14 shows an example in which the end portion 127a and the end portion 127b are positioned at the same positions with respect to the vibration direction 121, but depending on the position of the opening 107, the end portion 127c and the end portion shown in FIG. As in 127d, the position of the end portion 127 may not match with respect to the vibration direction 121. In that case, the first position is at a position corresponding to the end portion 127c where the distance from the first contact surface 111 is the shortest, or at a position within the amplitude distance 129 of the vibrating portion 120 in the back side direction of the installation portion 140 from the end portion 127c.
  • the initial position of the contact surface 111 of the above may be set.
  • FIG. 16 is a flowchart showing an operation example of the signal processing unit according to the first embodiment.
  • the signal processing unit 170 performs a specific band removal process on the input signal.
  • the signal processing unit 170 performs a process in which the upper control unit 190 removes a specific band from the signal received from the slave device 50.
  • the band limiting unit 171 of the signal processing unit 170 uses, for example, an HPF to remove the low frequency band from the signal (step S1000). ..
  • the band limiting unit 171 outputs the signal after removing the low frequency band to the noise estimation unit 175 (step S1004).
  • the signal processing unit 170 performs noise reduction processing on the signal input from the force sensor 152.
  • the signal processing unit 170 converts it with A / D173, acquires a digital signal related to an external force (force + gravity + inertial force + noise), and outputs it to the adder 178.
  • the inverse dynamics calculation unit 174 calculates the gravity due to the own weight of the operating device 100 and the inertial force generated by the movement of the operating device 100 by the inverse dynamics calculation, and outputs it as a negative value to the adder 178 (step S1012).
  • Adder 178 calculates external force (force + noise) by adding negative gravity and inertial force to external force (force + gravity + inertial force + noise) and outputs it to adder 179 (step S1016). ..
  • the noise estimation unit 175 acquires noise by noise estimation based on the low-frequency band-removed signal input from the band limiting unit 171.
  • the noise is output to the adder 179 as a negative value (step S1020).
  • the adder 179 adds the noise as a negative value input to the noise estimation unit 175 to the external force (force + noise) input to the adder 178 to calculate the external force (force) (step S1024). Then, the control unit 160 transmits a signal regarding the external force (force) to the slave device 50 (step S1028).
  • FIG. 17 is a schematic cross-sectional view showing a configuration example in which a configuration for executing gain adjustment is additionally described with respect to the configuration of the tactile presentation device shown in FIG.
  • FIG. 18 is a waveform diagram showing a waveform example of the command value according to the first embodiment
  • FIG. 19 is a waveform diagram showing the command value shown in FIG. 18 without adjusting the command value according to the first embodiment.
  • It is a waveform diagram which shows an example of the vibration waveform which is detected by an acceleration sensor when input
  • FIG. 20 is a waveform figure which made adjustment according to 1st Embodiment with respect to the command value shown in FIG. It is a waveform diagram which shows the example of the vibration waveform detected by the acceleration sensor when inputting to.
  • an acceleration sensor 401 for detecting vibration is provided for the contact portion 130 mechanically separated from the operation portion 110 and the installation portion 140.
  • the vibration waveform detected by the acceleration sensor 401 is input to, for example, the signal processing unit 170 of the control unit 160.
  • the signal processing unit 170 generates a digital voltage waveform given to the vibrating unit 120 based on a command value input from the outside such as the upper control unit 190.
  • the command value may be, for example, a waveform such as a sine wave in which the amplitude and / or frequency changes constantly, linearly, or stepwise.
  • the driver 402 is composed of, for example, a D / A (Digital-to Analog) converter and a power amplifier, and applies the digital voltage waveform input from the signal processing unit 170 to the vibration unit 120 by D / A conversion.
  • An analog voltage waveform (hereinafter referred to as an input waveform) is generated, and the voltage waveform is input to the vibration unit 120.
  • the signal processing unit 170 feedback-controls the voltage waveform given to the vibration unit 120 based on the vibration waveform (hereinafter referred to as an output waveform) detected by the acceleration sensor 401 with respect to the input waveform, so that the acceleration sensor 401 Bring the vibration waveform detected in step closer to the waveform of the command value.
  • an output waveform the vibration waveform
  • the acceleration sensor 401 detects the output waveform of the distorted waveform.
  • characteristic values such as a transfer function, frequency characteristics, and distortion factor are calculated from the output waveform obtained with respect to the input waveform, and output is performed based on the calculated characteristic values.
  • the amount of correction for bringing the waveform closer to the waveform of the command value is calculated.
  • the output waveform detected by the acceleration sensor 401 is brought closer to the waveform of the command value (feedback control).
  • the cause of the distortion of the output waveform with respect to the input waveform is considered to be mechanical resonance in the vibration transmission path from the vibrating unit 120 to the human finger 131, improper drive gain of the vibrating unit 120, or the like.
  • 21 and 22 are diagrams showing an example of mechanical resonance in the vibration transmission path from the vibrating part to the human finger.
  • FIG. 21 shows the frequency dependence of the amplitude of mechanical resonance
  • FIG. 22 shows the frequency dependence of the phase of mechanical resonance. As shown in FIGS. 21 and 22, when mechanical resonance occurs, the amplitude increases or decreases and the phase shift occurs.
  • the gain correction amount when generating the input waveform is calculated from the command value so that the amplitude of the vibration generated by the vibrating unit 120 is within the amplitude that does not generate harmonics.
  • chatter vibration due to resonance based on the natural frequency in the system formed by the vibrating portion 120, the contact portion 130, and the skin of the user's finger 131 is prevented, so that the user can obtain more accurate tactile information.
  • the slave device can be remotely controlled more accurately.
  • the frequency characteristic of the output waveform with respect to the input waveform changes depending on the frequency of the input waveform, that is, the frequency of the command value, as well as the mechanical impedance of the skin of the user's finger 131.
  • the users U2 and U3 having a thick skin on the finger 131 have the skin on the finger 131.
  • the gain of the output waveform with respect to the input waveform is lower than that of the user U1 having a thin skin. It is considered that this is because the thicker the skin of the finger 131, the higher the mechanical impedance, and the higher the mechanical impedance, the more the vibration applied from the vibrating portion 120 to the contact portion 130 is attenuated.
  • the gain correction amount for the command value is specified for each user, and the specified correction amount is used as a parameter for each user, for example, in the storage unit 180. Save it.
  • the gain correction amount for the command value is specified for each user, and the specified correction amount is used as a parameter for each user, for example, in the storage unit 180.
  • the hardness of the skin of the finger 131 changes depending on the environment (temperature, humidity, season, etc.) in which the tactile presentation device is used. Therefore, as shown in FIG. 26, the correction amount under each condition such as temperature, humidity, date and time may be stored in the storage unit 180 for each user.
  • FIG. 27 is a waveform diagram showing an example of a test signal used as a command value in the calibration according to the first embodiment.
  • calibration is performed using a test signal having a waveform in which the frequency gradually increases. That is, in the calibration according to the first embodiment, by sweeping the frequency of the test signal, gain correction by feedback control is performed in each wavelength band.
  • the range for sweeping the frequency in the test signal can be, for example, a range of about 30 Hz (hertz) to 700 Hz. However, this range may be appropriately changed depending on the frequency band of the vibration covered by the vibrating unit 120. Further, the step width when sweeping the frequency may be appropriately set, for example, from several tens of Hz to several hundreds of Hz.
  • the amplitude of the test signal in each frequency band may be changed so as to gradually increase, for example.
  • the present invention is not limited to this, and the amplitude of the test signal in each frequency band may be changed linearly as in the modified example of the test signal shown in FIG. 28.
  • the width for changing the amplitude of the test signal in each frequency band is generated in the vibrating unit 120, for example, the width in which the amplitude of the vibration generated in the vibrating unit 120 is in the range of about 1 ⁇ m (micrometer) to 3 mm (millimeter). It may be within the range of amplitude obtained and within the range in which the user can perceive the stimulus with the finger 131.
  • FIG. 29 is a flowchart showing an example of the calibration operation flow according to the first embodiment.
  • the operation shown in FIG. 29 may be executed, for example, in the initiation process at each start of the tactile presentation device or the tactile presentation system 1, or may be executed periodically or based on the elapsed time from the previous execution. It may be executed when the user manually requests the calibration to be performed. Further, in FIG. 29, the operation of the signal processing unit 170 will be described.
  • the signal processing unit 170 of the tactile presentation device inputs a user ID for identifying the user who is currently using the tactile presentation device (step S101).
  • the input of the user ID may be requested to the user in step S101, or may be input by a process different from the calibration process when the tactile presentation device is activated.
  • the signal processing unit 170 sets the variable i to '1' (step S102). Subsequently, the signal processing unit 170 inputs the voltage waveform of the test signal fi (here, the test signal f1) to the driver 402 (step S103). As a result, the input waveform of the test signal fi is input from the driver 402 to the vibrating unit 120. Then, the signal processing unit 170 inputs the vibration waveform (corresponding to the output waveform) detected with respect to the input of the test signal f1 from the acceleration sensor 401 (step S104).
  • the test signal fi here, the test signal f1
  • the signal processing unit 170 inputs the vibration waveform (corresponding to the output waveform) detected with respect to the input of the test signal f1 from the acceleration sensor 401 (step S104).
  • the signal processing unit 170 calculates the distortion factor d1 of the output waveform with respect to the test signal f1 from the difference between the waveform of the test signal f1 and the output waveform input from the acceleration sensor 401 (step S105).
  • the signal processing unit 170 determines whether or not the calculated distortion factor d1 is equal to or less than the preset threshold value D (step S106).
  • the threshold value D may be set to a value at which it can be determined that the waveform of the test signal and the output waveform are sufficiently close to each other.
  • the signal processing unit 170 changes the gain correction value for the command value (here, the test signal fi) in the signal processing unit 170 (step S107), and steps. Return to S103. As a result, in the new step S103, the input waveform after the gain correction is input to the vibration unit 120.
  • the signal processing unit 170 updates the gain correction amount for each user in the storage unit 180 with the current correction amount (step S108).
  • the signal processing unit 170 increments the variable i by 1 (step S109), and determines whether or not the variable i after the increment is larger than the maximum value ‘n’ (step S110).
  • the signal processing unit 170 returns to step S103 and executes the subsequent processing.
  • calibration for the test signals f1 to fn is executed.
  • the signal processing unit 170 ends this operation.
  • the acceleration sensor 401 is mounted on the vibration unit 120, and the vibration waveform in a state where the user's finger 131 is touched is fed back to the control unit 160, and the skin of the user's finger 131 is fed back.
  • Calibration is automatically performed with a gain that takes into account the hardness. By such calibration, chatter vibration due to resonance is prevented, so that unnecessary signal bands can be limited and more accurate tactile information can be presented to the user. As a result, the slave device can be remotely controlled more accurately.
  • the signal processing unit 170 adds the above calibration to the motor 36.
  • Etc. may perform phase adjustment between the tactile presentation band and the tactile presentation band by the vibrating unit 120.
  • the acceleration sensor 401 that detects the acceleration of the contact portion 130 depending on the posture or displacement of the operation portion 110 (hereinafter referred to as the posture or the like). Therefore, in the above calibration, the output waveform may be measured in consideration of the posture of the operation unit 110 and the like.
  • the force sensor 152 can be used to detect the posture of the operation unit 110.
  • FIG. 30 is an explanatory view showing a first modification according to the first embodiment as viewed from the back side of the installation portion.
  • FIG. 31 is an explanatory view showing a first modification according to the first embodiment as viewed from the side surface of the installation portion.
  • FIG. 32 is an explanatory view showing a structural example in the II-II cross section of the first modification according to the first embodiment.
  • VCM is used as the vibrating unit 120
  • LRA may be used as the vibrating unit 120.
  • an example of assembling the tactile presentation device when the LRA is used as the vibrating unit 120 will be described.
  • the VCM vibrates in a direction perpendicular to the first contact surface 111 (vibration direction 121).
  • the LRA vibrates in a direction horizontal to the first contact surface 111. Specifically, the LRA vibrates in the vibration direction 221 shown in FIG.
  • the shape of the contact portion 230 and the method of attaching the contact portion 230 to the installation portion 140 in this modified example are described in the first described above. Is different from the embodiment of.
  • the contact portion 230 is attached to the installation portion 140 so that when the vibrating portion 220 vibrates in the vibration direction 221 the contact portion 230 also vibrates in the vibration direction 221.
  • the contact portion 230 is attached to the fixing portion 218 (fixing portion 218a, fixing portion 218b, and fixing portion 218c) of the installation portion 140 shown in FIGS. 30 to 32 with a spring 219 (spring 219a, spring 219b, spring 219c). , And a spring 219d) that is slidably attached.
  • the contact portion 230 is attached to the fixed portion 218c by two springs 219 (spring 219c and spring 219d).
  • the installation portion 140 may divide the fixing portion 218c to further provide the fixing portion 218d, the spring 219c may be used for the fixing portion 218c, and the spring 219d may be used for the fixing portion 218d.
  • the contact portion 230 Since the contact portion 230 is attached to the installation portion 140 via the spring 219 which is an elastic body as described above, the contact portion 230 does not come into direct contact with the installation portion 140 as in the above-described embodiment. ..
  • a predetermined space 222 (space 222a, space 222b, space) is inside the fixed portion 218. 222c and space 222d) are secured. If the space 222 is secured from the end of the contact portion 230 inside the fixed portion 218 to a distance exceeding at least the amplitude of the vibrating portion 220, the contact portion 230 and the fixed portion 218 are prevented from coming into contact with each other. ..
  • the shape of the contact portion 230 and the structure for attaching the contact portion 230 to the installation portion 140 of the vibrating device It is possible to realize a floating structure by adopting a structure according to the vibration direction.
  • the acceleration sensor 401 for calibration is attached to the contact portion 230, for example, as shown in FIGS. 30 and 32. Similar to the first embodiment described above, the signal processing unit 170 calculates a gain correction amount for the command value based on the output waveform detected by the acceleration sensor 401 at the time of calibration, and stores this in the storage unit 180. Store for each user.
  • FIG. 33 is an explanatory diagram showing a second modification according to the first embodiment.
  • the first contact surface 111 may have irregularities.
  • the first contact surface 111 may have a slit. Since the first contact surface 111 has a slit, the corner of the slit comes into contact with the user's finger when vibrating, so that the user can make the first contact as compared with the case where the first contact surface 111 is flat. The vibration transmitted from the surface 111 to the finger can be felt more sensitively.
  • the calibration acceleration sensor 401 may be provided in the contact portion 130.
  • FIG. 34 is an explanatory diagram showing a third modification according to the first embodiment.
  • a case where a VCM or the like is used for the vibrating portion 120 which is a vibration source for reproducing the tactile sensation is illustrated.
  • the pneumatic actuator 420 is used as the vibration source instead of the vibration unit 120 such as VCM will be illustrated.
  • the pneumatic actuator 420 as a vibration source has a hollow structure 421 filled with air inside, and generates vibration by changing the internal air pressure.
  • Such a pneumatic actuator 420 is provided at a position where it comes into direct contact with the user. Therefore, in the configuration exemplified in FIG. 34, the pneumatic actuator 420 is arranged on the first contact surface 111 in the contact portion 130.
  • the acceleration sensor 401 for calibration may be provided in the contact portion 130 in which the pneumatic actuator 420 is provided.
  • FIG. 35 is an explanatory diagram showing a fourth modification according to the first embodiment.
  • the pneumatic actuator 420 illustrated in the third modification is provided as a vibration source for reproducing the tactile sensation, in addition to the vibrating portion 120 such as VCM. ..
  • the band of tactile presentation by the vibrating unit 120 such as VCM and the band of tactile presentation by the pneumatic actuator 420 are different.
  • the band for tactile presentation by the vibrating unit 120 such as VCM is a band of about 30 to 700 Hz
  • the band for tactile presentation by the pneumatic actuator 420 is a band of about 0 to 30 Hz.
  • the vibrating unit 120 such as VCM in combination with the pneumatic actuator 420, it is possible to present the tactile sensation in a wider band to the user.
  • the acceleration sensor 401 for calibration may be provided in the contact portion 130 in which the pneumatic actuator 420 and the vibrating portion 120 are provided.
  • the signal processing unit 170 performs the tactile sensation by the pneumatic actuator 420 in addition to the above calibration. Phase adjustment may be performed between the presented band and the tactile presented band by the vibrating unit 120.
  • FIG. 36 is a diagram showing the appearance of the vibrating device according to the second embodiment
  • FIG. 37 is a diagram showing a cross section of the vibrating device according to the second embodiment.
  • the vibrating device 500 has an outer housing 501 with an elliptical cross section. Since the cross section of the outer housing 501 is elliptical in this way, even if the angle at which the vibrating device 500 touches the user's body changes, the vibration device 500 comes into contact with the user's body with the same pressure.
  • An opening 502 is provided in the upper part (the side that contacts the user) of the outer housing 501.
  • the first contact surface 111 of the contact portion 130 in the first embodiment described above projects from the opening 502.
  • the inside of the outer housing 501 has a hollow structure. Inside the outer housing 501, for example, a structure similar to the vibration generating structure exemplified in the first embodiment is housed. Specifically, as shown in FIG. 37, a contact portion 130 that contacts the user, a vibrating portion 120 that generates vibration, and springs 119a to 119d that instruct the contact portion 130 to vibrate are provided.
  • the holes 122 (see the first embodiment) provided in the contact portion 130 are provided in the columnar shaft members 519A and 319B (corresponding to the fixture 118 in the first embodiment) provided inside the outer housing 501. It is inserted so that it can slide.
  • the contact portion 130 is inserted into the shaft members 518A and 518B in a state of being sandwiched by the springs 119 (springs 119a and 119b, 119c and 119d) inserted through the shaft members 518A and 518B.
  • One end of the springs 119a to 119d is in contact with the locking portions 518a to 518d provided inside the outer housing 501, respectively. That is, in the present embodiment, the external housing 501 including the locking portions 518a to 518d corresponds to the installation portion 140 in the first embodiment. As a result, the contact portion 130 is displaceably supported by the springs 119a to 119d.
  • the accelerometer 401 for calibration is attached to the contact portion 130 as in the first embodiment. Similar to the first embodiment described above, the signal processing unit 170 calculates a gain correction amount for the command value based on the output waveform detected by the acceleration sensor 401 at the time of calibration, and stores this in the storage unit 180. Store for each user.
  • FIG. 38 is a block diagram showing an example of the hardware configuration of the master device according to the embodiment of the present disclosure.
  • the information processing by the master device 10 may be realized by the collaboration between the software and the hardware described below.
  • the master device 10 includes a CPU (Central Processing Unit) 901, a ROM (Read Only Memory) 903, and a RAM (Random Access Memory) 905. Further, the master device 10 includes an input device 907, a storage device 909, and a communication device 911.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the CPU 901 functions as an arithmetic processing device and a control device, and controls the overall operation in the master device 10 according to various programs. Further, the CPU 901 may be a microprocessor.
  • the ROM 903 stores programs, calculation parameters, and the like used by the CPU 901.
  • the RAM 905 temporarily stores a program used in the execution of the CPU 901, parameters that are appropriately changed in the execution, and the like. These are connected to each other by a host bus composed of a CPU bus or the like.
  • the CPU 901, ROM 903, and RAM 905 can realize, for example, the function of the signal processing unit 170 described with reference to FIG.
  • the input device 907 includes input means for the user to input information such as a touch panel, a button, a camera, a microphone, a sensor, a switch, and a lever, and an input control circuit that generates an input signal based on the input by the user and outputs the input signal to the CPU 901. It is composed of such as.
  • the user operates the master device 10 to operate the slave device 50, and the input device 907 acquires data to input various data to the slave device 50 or instruct the slave device 50 to perform a processing operation.
  • the input device 907 can realize, for example, the function of the sensor unit 150 described with reference to FIG.
  • the storage device 909 is a device for storing data.
  • the storage device 909 may include a storage medium, a recording device for recording data on the storage medium, a reading device for reading data from the storage medium, a deleting device for deleting the data recorded on the storage medium, and the like.
  • the storage device 909 is composed of, for example, an HDD (Hard Disk Drive) or an SSD (Solid Stage Drive), or a memory having an equivalent function.
  • the storage device 909 drives the storage and stores programs and various data executed by the CPU 901.
  • the storage device 909 can realize, for example, the function of the storage unit 180 described with reference to FIG.
  • the communication device 911 is, for example, a communication interface composed of a communication device or the like for connecting the master device 10 and the slave device 50.
  • Such communication interfaces include, for example, a short-range wireless communication interface such as Bluetooth (registered trademark) or ZigBee (registered trademark), a wireless LAN (Local Area Network), Wi-Fi (registered trademark), or a mobile communication network (LTE, LTE,). It is a communication interface such as 3G).
  • the communication device 911 may be a wired communication device that performs wired communication.
  • the present technology can also have the following configurations.
  • the tactile presentation device according to (1) above.
  • the signal processing unit generates the voltage waveform from the command value based on the vibration waveform detected by the acceleration sensor while the user touches the contact portion and the waveform indicated by the command value.
  • the tactile presentation device according to (2) above (4) The tactile presentation device according to (2) or (3) above, wherein the waveform indicated by the command value is a waveform in which at least one of frequency and amplitude changes.
  • the tactile presentation device according to (4) or (5) above, wherein the amplitude of the waveform indicated by the command value changes stepwise or linearly from the first amplitude to the second amplitude larger than the first amplitude.
  • a storage unit that stores the correction amount when the gain is corrected for each user is further provided.
  • the signal processing unit generates the voltage waveform based on the command value by using the correction amount stored for each user.
  • the tactile presentation device according to any one of (2) to (6) above.
  • the storage unit stores the correction amount when the gain is corrected for each user and for each environmental condition including at least one of temperature, humidity and date and time.
  • the signal processing unit uses the correction amount stored in the storage unit that corresponds to the current environmental conditions.
  • the tactile presentation device according to (7) above. (9) (2) to the above, further comprising a control unit that executes calibration to bring the vibration waveform detected by the acceleration sensor closer to the waveform indicated by the command value by inputting the command value to the signal processing unit.
  • the tactile presentation device according to any one of (8). (10) The tactile presentation device according to (9) above, wherein the control unit executes the calibration when the tactile presentation device is activated. (11) The tactile presentation device according to (9) above, wherein the control unit executes the calibration again after a lapse of a predetermined time from the previous execution of the calibration.
  • the tactile presentation device (12) The tactile presentation device according to (9) above, wherein the control unit executes the calibration based on an instruction input from the user. (13)
  • the contact portion has a first contact surface that comes into contact with the user.
  • the vibrating unit transmits the vibration to the user through the first contact surface.
  • the tactile presentation device according to any one of (1) to (12).
  • the tactile presentation device (14)
  • the tactile presentation device 13), wherein the first contact surface has irregularities.
  • the vibrating unit includes at least one of a voice coil motor and a pneumatic actuator.
  • the signal processing unit corrects the gain when generating the voltage waveform from the command value based on the difference between the waveform indicated by the command value and the vibration waveform detected by the acceleration sensor.
  • Calibration method (19) Based on a vibrating part that presents vibration, a contact part that transmits the vibration by the vibrating part to the user, an installation part that supports the contact part in a displaceable manner, an acceleration sensor provided in the contact part, and a command value.
  • a program for operating a tactile presentation device including a signal processing unit that generates a voltage waveform to be input to the vibrating unit.
  • the signal processing unit is made to execute a process of correcting the gain when the voltage waveform is generated from the command value based on the difference between the waveform indicated by the command value and the vibration waveform detected by the acceleration sensor. Program for.

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Abstract

L'objectif de la présente invention est de reproduire plus précisément une forme d'onde de vibration d'intérêt. Un dispositif de présentation haptique selon un mode de réalisation de la présente invention est pourvu : d'une partie vibrante (120) pour présenter des vibrations ; d'une partie de contact (130) pour transporter les vibrations de l'unité de vibration jusqu'à un utilisateur ; d'une partie d'installation (140) pour supporter de manière déplaçable la partie de contact ; et d'un capteur d'accélération (150) disposé dans la partie de contact.
PCT/JP2020/018747 2019-05-17 2020-05-08 Dispositif de présentation haptique, procédé d'étalonnage et programme WO2020235364A1 (fr)

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JP2019-093657 2019-05-17
JP2019093657A JP2020187688A (ja) 2019-05-17 2019-05-17 触覚提示装置、キャリブレーション方法及びプログラム

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017126222A (ja) * 2016-01-14 2017-07-20 富士通テン株式会社 入力装置、表示装置、および、入力装置の振動状態検出方法
WO2018061683A1 (fr) * 2016-09-30 2018-04-05 ソニー株式会社 Dispositif de présentation de détection de force
WO2018193650A1 (fr) * 2017-04-18 2018-10-25 株式会社ソニー・インタラクティブエンタテインメント Dispositif de commande de vibration
WO2019092821A1 (fr) * 2017-11-08 2019-05-16 富士通株式会社 Dispositif de commande d'entraînement, dispositif électronique et procédé de commande d'entraînement

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017126222A (ja) * 2016-01-14 2017-07-20 富士通テン株式会社 入力装置、表示装置、および、入力装置の振動状態検出方法
WO2018061683A1 (fr) * 2016-09-30 2018-04-05 ソニー株式会社 Dispositif de présentation de détection de force
WO2018193650A1 (fr) * 2017-04-18 2018-10-25 株式会社ソニー・インタラクティブエンタテインメント Dispositif de commande de vibration
WO2019092821A1 (fr) * 2017-11-08 2019-05-16 富士通株式会社 Dispositif de commande d'entraînement, dispositif électronique et procédé de commande d'entraînement

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