WO2021038935A1 - 操作装置 - Google Patents

操作装置 Download PDF

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Publication number
WO2021038935A1
WO2021038935A1 PCT/JP2020/011733 JP2020011733W WO2021038935A1 WO 2021038935 A1 WO2021038935 A1 WO 2021038935A1 JP 2020011733 W JP2020011733 W JP 2020011733W WO 2021038935 A1 WO2021038935 A1 WO 2021038935A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
force
driving force
operation unit
resistance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/011733
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
祥宏 久家
達弘 冨山
未鈴 ▲高▼橋
高橋　一成
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alps Alpine Co Ltd
Original Assignee
Alps Alpine Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alps Alpine Co Ltd filed Critical Alps Alpine Co Ltd
Priority to JP2021541985A priority Critical patent/JP7297072B2/ja
Priority to CN202080044692.3A priority patent/CN114008557B/zh
Priority to DE112020004035.6T priority patent/DE112020004035T5/de
Publication of WO2021038935A1 publication Critical patent/WO2021038935A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
    • A63F13/218—Input arrangements for video game devices characterised by their sensors, purposes or types using pressure sensors, e.g. generating a signal proportional to the pressure applied by the player
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/25—Output arrangements for video game devices
    • A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
    • A63F13/285—Generating tactile feedback signals via the game input device, e.g. force feedback
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04714—Mounting of controlling member with orthogonal axes
    • G05G2009/04718—Mounting of controlling member with orthogonal axes with cardan or gimbal type joint
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/015—Force feedback applied to a joystick

Definitions

  • the present invention relates to an operating device, and more particularly to an operating device that controls a driving force and a resistance force for an operating unit that can be operated in at least the first direction and the second direction.
  • the operation device In operating devices used in automobiles, industrial machines, game machines, etc., intuitive operation by tilting the stick (lever) in each direction of the two axes of freedom, such as the movement of the cursor displayed on the graphic. May be useful. Further, the operation device is often required to be an interface from the operator to the operation target, and at the same time, an interface for feeding back some information reflecting the state of the operation target to the operator.
  • Patent Document 1 describes a control handle gimbal support mechanism for use with a joystick having haptic feedback. Is disclosed.
  • Patent Document 2 discloses a method and an apparatus for giving a tactile effect to a user interface apparatus by utilizing a low bandwidth connection to a host computer.
  • Patent Document 3 discloses a radio control system that changes the operational feeling of a transmitter by receiving feedback from a controlled body.
  • Patent Document 4 discloses a game system that effectively applies a load to an operation unit.
  • an active actuator element such as a motor can give the operator a feeling of pulling in or pushing back, but it is difficult to stabilize at a specific stick position.
  • a passive element such as a brake can not move against the force of the operator and can give a feeling of operation to stop the stick that was moving, but cannot move the stopped stick.
  • the present invention has been made in view of such circumstances, and by applying a driving force and a resistance force to an operation unit that can be operated in at least the first direction and the second direction, a precise and stable operation and fineness are provided. It is an object of the present invention to provide an operation device capable of giving a comfortable operation feeling.
  • One aspect of the present invention is an operating unit that can be operated in at least the first direction and a second direction orthogonal to the first direction, and a first driving unit that gives the operating unit a first driving force that is a driving force in the first direction.
  • a first braking unit that gives a first resistance force to resist the movement of the operation unit in the first direction
  • a first position detection unit that detects the position of the operation unit in the first direction
  • a second direction to the operation unit.
  • the position of the second driving unit that gives the second driving force which is the driving force of the operating unit
  • the second braking unit that gives the second braking force that resists the movement of the operating unit in the second direction, and the operating unit in the second direction.
  • the first driving force and the first resistance force are adjusted according to the position of the second position detection unit to be detected and the position in the first direction detected by the first position detection unit, and the second position detection unit detects the second position.
  • the operation device is provided with a control unit that adjusts a second driving force and a second resistance force according to a position in a direction.
  • the position of the operation unit in the first direction is detected by the first position detection unit
  • the position in the second direction is detected by the second position detection unit
  • the operation is performed according to the detected positions.
  • Second resistance is adjusted.
  • the control unit may adjust the first driving force and the first resistance force, and the second driving force and the second resistance force in consideration of the frictional force in the movement of the operating unit. Since the frictional force caused by the mechanism for moving the operating unit changes according to the position of the operating unit, the driving force and resistance to the operating unit can be adjusted based on the relationship between the position of the operating unit and the frictional force. It is possible to perform control that gives a precise and stable operation and a fine operation feeling.
  • the reaction force of the operating unit when the control unit detects a preset stop position in the first direction by the first position detecting unit, the reaction force of the operating unit is larger than that in a position other than the stop position in the first direction.
  • the first driving force and / or the first resistance force is adjusted so as to be
  • the preset stop position in the second direction is detected by the second position detection
  • the reaction force of the operation unit stops in the second direction.
  • At least one of the second driving force and / or the second resistance force may be adjusted so as to be larger than the case of the position other than the position.
  • the operating device further includes an urging means for returning the operating unit to the origin, and the control unit has a first driving force, a first resistance force, and a second so as to have a position different from the origin of the urging means as the origin. Control may be performed to adjust the driving force and the second resistance force. As a result, the change in the reaction force according to the position of the operating portion can be shifted so that the origin is a position different from the origin by the urging means.
  • the operation device further includes an urging means for returning the operation unit to the origin, and the control unit sets the first resistance force and the second resistance force at the origin of the operation unit to the first resistance force and the second resistance force near the origin. Control may be performed so as to be larger than the force. As a result, when the operating unit is returned to the origin by the urging means, the resistance force at the origin becomes larger than the resistance force near the origin, and it is possible to convey with a sense of resistance that the origin is surely.
  • the control unit intermittently changes at least one of the first driving force and the first resistance force, and intermittently changes at least one of the second driving force and the second resistance force. You may try to do at least one. As a result, the operation unit can be given a feeling of vibration.
  • the control unit intermittently and gradually changes at least one of the first driving force and the first resistance force, and intermittently and gradually changes at least one of the second driving force and the second resistance force. You may try to do at least one of them. As a result, it is possible to give the operation unit a feeling that the strength of vibration gradually changes.
  • the control unit uses the output signals from the first position detecting unit and the second position detecting unit as the stable points of the first driving unit and the second driving unit, which are the stable points in the operation of the operating unit. It may be corrected to the position.
  • the driving force and the resistance force can be controlled based on the position of the stable point of the operation unit in consideration of the stability point based on the characteristics of the first drive unit and the second drive unit and the frictional force in the movement of the operation unit. It can be carried out.
  • the first braking unit and the second braking unit may have a magnetic viscous fluid and a magnetic field generating unit that applies a magnetic field to the magnetic viscous fluid.
  • the resistance forces of the first braking portion and the second braking portion can be adjusted by the magnetic field applied to the ferrofluid.
  • an operating device capable of giving a precise and stable operation and a fine operational feeling by applying a driving force and a resistance force to an operating unit that can be operated in at least the first direction and the second direction. Can be provided.
  • FIG. 3 It is a perspective view which illustrates the structure of the operation apparatus which concerns on this embodiment.
  • (A) and (b) are perspective views illustrating a braking portion.
  • (A) and (b) are cross-sectional views taken along the line AA of FIG. 3 (a).
  • (A) and (b) are diagrams illustrating an example of adjusting the driving force when tilting.
  • (A) and (b) are diagrams illustrating an example of adjusting the driving force when returning.
  • (A) and (b) are diagrams illustrating an example of adjusting the driving force and the resistance force when tilting.
  • (A) and (b) are diagrams illustrating an example of adjusting the driving force and the resistance force when returning.
  • (A) to (c) are diagrams illustrating an example of adjusting the driving force and the resistance force. It is a figure which illustrates the adjustment example of a reference position. It is a figure which illustrates the adjustment example of the driving force and the resistance force in a neutral position.
  • (A) and (b) are diagrams illustrating an example of adjusting the intermittent driving force and resistance force. It is a figure which illustrates the adjustment example of the movable range. It is a figure which illustrates the adjustment example of the stability point. It is a figure which shows the application example of the operation apparatus which concerns on this embodiment.
  • FIG. 1 is a perspective view illustrating the configuration of the operating device according to the present embodiment.
  • the operation device 1 according to the present embodiment is an interface device including a stick-type operation unit 10.
  • the first direction is the X direction
  • the second direction is the Y direction
  • the third direction is the Z direction.
  • the X, Y and Z directions are orthogonal to each other.
  • the various forces used in the following description are defined as follows.
  • the operating force refers to the force required to operate (move, stop) the operating unit 10.
  • the reaction force refers to a force transmitted from the operation unit 10 to the operator (for example, a finger) when the operation unit 10 is operated.
  • the driving force refers to a driving force (assist force) applied from the driving unit to the operating unit 10.
  • the resistance force refers to a force (braking force) that hinders the movement of the operation unit 10 applied from the braking unit to the operation unit 10.
  • the urging force refers to a force that urges the operation unit 10 by the urging means and tries to return the operation unit 10 to a predetermined origin. The origin is a place where the operating unit 10 is located when no operating force is applied to the operating unit 10.
  • the frictional force refers to the frictional force generated by the movement of the operation unit 10. The frictional force acts to keep the operating unit 10 in a predetermined position and hinders the movement of the operating unit 10.
  • the reaction force transmitted from the operation unit 10 to the operator is "the urging force by the urging means + friction. It becomes “power”.
  • the frictional force acts so that the operation unit 10 remains in a predetermined position, so that the reaction force transmitted from the operation unit 10 to the operator is "urging".
  • the urging force by means + frictional force-friction force is a plus (+) drive.
  • the force is defined as the driving force in which the urging force acts in the same direction as the direction in which the operating unit 10 is pushed back to the origin, and is defined as a minus ( ⁇ ) driving force. Therefore, when a positive (+) driving force is applied to the operation unit 10, the reaction force becomes weak, and when a negative ( ⁇ ) driving force is transmitted, the reaction force becomes strong.
  • the operation device 1 includes an operation unit 10, a first drive unit 21, a first braking unit 31, a first position detection unit 41, a second drive unit 22, a second braking unit 32, a second position detection unit 42, and a control unit 50.
  • the operation unit 10 is provided so as to be operable in at least two directions, the X direction and the Y direction.
  • the operation unit 10 is provided on the gimbal mechanism 11, and the gimbal mechanism 11 tilts in the X direction (rotational movement around the Y axis) and tilts in the Y direction (rotational movement around the X axis). ) Is possible.
  • the tilt in the X direction is included in the movement in the X direction
  • the tilt in the Y direction is included in the movement in the Y direction.
  • the operation unit 10 may be capable of moving in the Z direction (advancing / retreating operation in the Z direction).
  • a position that cannot be moved any further is referred to as a stop position.
  • the stop position may be set by a mechanical stopper or by the action of a drive unit or a braking unit.
  • the operation unit 10 may be provided with an urging means (not shown).
  • a urging means for example, a coil spring is used.
  • the coil spring contracts, and by releasing or weakening the tilting, the coil spring expands and the operating unit 10 is returned to the neutral position.
  • the neutral position is an example of the origin.
  • the first drive unit 21 applies a driving force in the X direction to the operation unit 10.
  • the forward driving force is a positive (+) driving force acting in a direction away from the neutral position
  • the backward driving force is a negative (-) driving force acting in a direction returning to the neutral position.
  • the first drive unit 21 has, for example, a motor, and transmits the rotational force of the motor from the motor shaft to the gimbal mechanism 11 to transmit the drive force in the X direction to the operation unit 10.
  • the first drive unit 21 may have a gearbox that reduces the rotational force of the motor.
  • the first braking unit 31 gives a resistance force that resists the movement (tilting operation) of the operating unit 10 in the X direction.
  • the first braking unit 31 has, for example, a ferrofluid and a magnetic field generating unit.
  • the viscosity of the ferrofluid can be adjusted by the magnetic field applied from the magnetic field generator.
  • the first braking unit 31 is provided outside the first driving unit 21, and the resistance force due to the viscosity of the magnetic viscous fluid of the first braking unit 31 is transmitted to the gimbal mechanism 11. Therefore, when the viscosity of the ferrofluid increases, the resistance increases, and when the viscosity of the ferrofluid decreases, the resistance decreases.
  • the first position detection unit 41 detects the position of the operation unit 10 in the X direction.
  • the first position detection unit 41 has, for example, a magnetic detection type encoder.
  • the first position detection unit 41 is provided between, for example, the first drive unit 21 and the gimbal mechanism 11, and is an operation unit by detecting the rotation angle (position in the rotation direction) of the gimbal mechanism 11 around the Y axis. The position of 10 in the X direction is detected.
  • the first position detection unit 41 may be a resistance change type or optical type encoder.
  • the second drive unit 22 applies a driving force in the Y direction to the operation unit 10.
  • the forward driving force is a positive (+) driving force acting in a direction away from the neutral position
  • the backward driving force is a negative (-) driving force acting in a direction returning to the neutral position.
  • the second drive unit 22 has, for example, a motor, and transmits the rotational force of the motor from the motor shaft to the gimbal mechanism 11 to transmit the drive force in the Y direction to the operation unit 10.
  • the second drive unit 22 may have a gearbox that reduces the rotational force of the motor.
  • the second braking unit 32 provides a resistance force that resists the movement (tilting operation) of the operating unit 10 in the Y direction.
  • the second braking unit 32 has, for example, a ferrofluid and a magnetic field generating unit.
  • the viscosity of the ferrofluid can be adjusted by the magnetic field applied from the magnetic field generator.
  • the second braking unit 32 is provided outside the second driving unit 22, and the resistance force due to the viscosity of the magnetic viscous fluid of the second braking unit 32 is transmitted to the gimbal mechanism 11. Therefore, when the viscosity of the ferrofluid increases, the resistance increases, and when the viscosity of the ferrofluid decreases, the resistance decreases.
  • the second position detection unit 42 detects the position of the operation unit 10 in the Y direction.
  • the second position detection unit 42 has, for example, a magnetic detection type encoder.
  • the second position detection unit 42 is provided, for example, between the second drive unit 22 and the gimbal mechanism 11, and is an operation unit by detecting the rotation angle (position in the rotation direction) of the gimbal mechanism 11 around the X axis. The position of 10 in the Y direction is detected.
  • the second position detection unit 42 may be a resistance change type or optical type encoder.
  • the control unit 50 controls the first drive unit 21, the first braking unit 31, the second drive unit 22, and the second braking unit 32. That is, since the control unit 50 changes the driving force (first driving force) and the resistance force (first resistance force) in the X direction according to the output signal from the first position detection unit 41, the first driving unit 21 And the first braking unit 31 is controlled. Further, since the control unit 50 changes the driving force (second driving force) and the resistance force (second resistance force) in the Y direction according to the output signal from the second position detecting unit 42, the second driving unit 22 And the second braking unit 32 is controlled.
  • first braking unit 31 and the second braking unit 32 will be described.
  • the configurations of the first braking unit 31 and the second braking unit 32 are the same as each other.
  • FIG. 2 (a) and 2 (b) are perspective views illustrating the braking portion.
  • 3A and 3B are cross-sectional views taken along the line AA of FIG. 2A, and
  • FIG. 3B is an explanatory view conceptually showing the magnetic field generated by the exciting coil.
  • the first braking unit 31 and the second braking unit 32 include a holding unit 420 and a braking operation unit 4100.
  • the holding portion 420 is a substantially cylindrical case, and accommodates each portion.
  • the shape of the holding portion 420 may be a substantially rectangular parallelepiped.
  • the braking operation unit 4100 includes a shaft unit 4110 and a magnetic disc 4120, and is supported by a holding unit 420 so as to be rotatable in both directions about a central shaft 411 (rotational shaft).
  • the braking operation unit 4100 is supported by the holding unit 420 in a rotatable state via the support member 4140 and the radial bearing 4150. Further, the gap 480 provided in the braking portion 40 is filled with the ferrofluid 4160.
  • the shaft portion 4110 of the braking operation unit 4100 is connected to the drive unit (first drive unit 21, second drive unit 22) (see FIG. 1).
  • the holding portion 420 includes a first yoke 430, a second yoke 440, an exciting coil 450 as a magnetic field generating portion, an annular member 460, and a third yoke 470 as an upper case.
  • the first yoke 430, the second yoke 440, and the third yoke 470 are each separately processed and formed. However, any one of the first yoke 430, the second yoke 440, and the third yoke 470 may be combined and integrally formed.
  • the first yoke 430 includes an annular portion 431 and a cylindrical portion 432 integrally provided so as to extend upward from the upper surface of the annular portion 431 concentrically with the annular portion 431.
  • the annular portion 431 and the cylindrical portion 432 have a circular shape centered on the central axis 411 in a plan view, and the outer diameter thereof of the cylindrical portion 432 is smaller than that of the annular portion 431. Due to the difference in outer diameter between the annular portion 431 and the cylindrical portion 432, a step portion 433 is formed on the outer side of the outer peripheral surface of the cylindrical portion 432.
  • the first yoke 430 has an inner peripheral surface 434 having a circular shape in a plan view centered on the central axis 411. The inner peripheral surface 434 penetrates the annular portion 431 and the cylindrical portion 432 along the central axis 411, and its inner diameter is set so as to change according to the position in the vertical direction.
  • an exciting coil 450 as a magnetic field generating portion is arranged in the stepped portion 433 of the first yoke 430.
  • the inner circumference of the exciting coil 450 has an annular shape along the outer peripheral surface of the cylindrical portion 432, and the outer circumference of the exciting coil 450 is located outside the outer peripheral surface of the annular portion 431 in the radial direction. Therefore, the exciting coil 450 overlaps the annular portion 431 as an extending portion in a plan view.
  • the exciting coil 450 is a coil including a conducting wire wound around the central axis 411.
  • a connecting member 451 is electrically connected to the exciting coil 450, and a current is supplied to the input portion 451a of the connecting member 451 exposed from the upper part of the third yoke 470 by a path (not shown). A magnetic field is generated when an electric current is supplied to the exciting coil 450.
  • An annular member 460 is fixed to the annular portion 431 of the first yoke 430 along the outer peripheral surface thereof.
  • the annular member 460 has an annular shape and is made of a non-magnetic material such as a synthetic resin.
  • the annular member 460 fixed to the first yoke 430 has a circular shape having substantially the same outer diameter as the exciting coil 450 arranged on the step portion 433 in a plan view.
  • the planar shape of the yokes 440 and 470 does not necessarily have to be circular. Further, the division of the yoke does not have to be a combination as described above for the third yoke 470 and the second yoke 440, and may be a rectangular planar shape depending on the division position.
  • the magnetic viscous fluid 4160 is a substance whose viscosity changes when a magnetic field is applied.
  • it is a fluid in which particles (magnetic particles) made of a magnetic material are dispersed in a non-magnetic liquid (solvent).
  • the magnetic particles are dispersed in the solvent when the magnetic field generated by the exciting coil 450 is not generated. Therefore, when the shaft portion 4110 is operated, the holding portion 420 rotates relative to the braking operation portion 4100 without receiving a large resistance force.
  • FIG. 4 is a diagram illustrating a block configuration of the operating device according to the present embodiment.
  • FIG. 5 is a diagram illustrating a block configuration of the control device.
  • the operation device 1 includes the operation unit 10, the first drive unit 21, the first braking unit 31, the first position detection unit 41, the second drive unit 22, the second braking unit 32, and the second position detection unit 42 described above.
  • a control unit 50 includes a first drive control circuit 51, a first braking control circuit 52, a second drive control circuit 53, a second braking control circuit 54, a calculation unit 55, a storage unit 56, and a power supply circuit 57.
  • the first drive control circuit 51 is, for example, a motor driver.
  • the first drive control circuit 51 outputs drive power (voltage control, PWM control, etc.) given to the motor of the first drive unit 21 based on the calculation result of the calculation unit 55.
  • the first braking control circuit 52 is, for example, a magnetic field control circuit.
  • the first braking control circuit 52 outputs braking power to be applied to the first braking unit 31 based on the calculation result of the calculation unit 55.
  • the second drive control circuit 53 is, for example, a motor driver.
  • the second drive control circuit 53 outputs drive power (voltage control, PWM control, etc.) given to the motor of the second drive unit 22 based on the calculation result of the calculation unit 55.
  • the second braking control circuit 54 is, for example, a magnetic field control circuit.
  • the second braking control circuit 54 outputs braking power to be applied to the second braking unit 32 based on the calculation result of the calculation unit 55.
  • the calculation unit 55 calculates the output value for the driving force and the resistance force based on the data transmitted from the external system 500 and received by the communication unit 58. That is, the information on the position of the operation unit 10 in the X direction output from the first position detection unit 41 is sent to the external system 500 via the communication unit 58. The calculation unit 55 calculates an output value for obtaining a driving force and a resistance force according to the position of the operation unit 10 in the X direction based on the data transmitted from the external system 500. Further, the information on the position of the operation unit 10 in the Y direction output from the second position detection unit 42 is sent to the external system 500 via the communication unit 58. The calculation unit 55 calculates an output value for obtaining a driving force and a resistance force according to the position of the operation unit 10 in the Y direction based on the data transmitted from the external system 500.
  • the calculation unit 55 may calculate an output value according to the driving force and the resistance force by a predetermined calculation formula with the positions of the operation unit 10 in the X direction and the Y direction as parameters, or a preset table.
  • the output value for obtaining the driving force and the resistance force according to the moving position may be obtained by referring to the data.
  • the storage unit 56 stores the operations (functions) and operation parameters used by the operation unit 55.
  • the power supply circuit 57 is a circuit that produces electric power to be sent to each part.
  • the communication unit 58 inputs / outputs information to / from the external system 500 by wire or wirelessly. Calculation parameters may be obtained from the external system 500 via the communication unit 58 and stored in the storage unit 56.
  • the first drive control circuit 51, the first braking control circuit 52, the second drive control circuit 53, and the second braking control circuit 54 receive the output value of the calculation unit 55 to obtain a predetermined driving force and resistance force. Output power.
  • the control unit 50 obtains a driving force and a resistance force to be adjusted based on the position of the operation unit 10 detected by the first position detection unit 41 in the X direction. Calculate the output value. This calculation result is sent to the first drive control circuit 51 and the first braking control circuit 52 via the communication unit 58, the driving force applied from the first drive unit 21 to the operation unit 10, and the operation unit from the first braking unit 31. Adjust the resistance applied to 10. Further, the control unit 50 calculates an output value for obtaining a driving force and a resistance force to be adjusted based on the position of the operation unit 10 detected by the second position detection unit 42 in the Y direction.
  • the calculation result is sent to the second drive control circuit 53 and the second braking control circuit 54 via the communication unit 58.
  • the driving force applied from the second driving unit 22 to the operating unit 10 and the resistance force applied from the second braking unit 32 to the operating unit 10 are adjusted.
  • the control of applying the driving force from the first driving unit 21 and the second driving unit 22 according to the positions of the operating unit 10 in the X direction and the Y direction, and the control from the first braking unit 31 and the second braking unit 32 By switching or balancing the control that gives resistance, it is possible to perform control that gives precise and stable operation and fine operation.
  • the operation unit 10 when the operation unit 10 is operated, the data transmitted from the external system 500 is input according to the respective positions in the X direction and the Y direction detected by the first position detection unit 41 and the second position detection unit 42.
  • the output value for obtaining the driving force and the resistance force based on the calculation is calculated by the calculation unit 55.
  • the output value for obtaining the driving force in the X direction calculated by the calculation unit 55 is sent to the first drive control circuit 51, and the output value for obtaining the resistance force in the X direction is sent to the first braking control circuit 52.
  • the first drive control circuit 51 based on the output value sent from the calculation unit 55, electric power for obtaining a driving force corresponding to the output value is sent to the first drive unit 21.
  • the first braking control circuit 52 based on the output value sent from the calculation unit 55, electric power for obtaining a resistance force corresponding to the output value is sent to the first braking unit 31.
  • the first drive unit 21 receives the electric power sent from the first drive control circuit 51 to rotate the motor, and transmits the driving force to the operation unit 10.
  • the first braking unit 31 receives the electric power sent from the first braking control circuit 52 and applies a magnetic field for obtaining a predetermined viscous force to, for example, a ferrofluid. As a result, the viscous force generated by the first braking unit 31 is transmitted to the operation unit 10 as a resistance force.
  • the output value for obtaining the driving force in the Y direction calculated by the calculation unit 55 is sent to the second drive control circuit 53, and the output value for obtaining the resistance force in the Y direction is sent. Is sent to the second braking control circuit 54.
  • the second drive control circuit 53 based on the output value sent from the calculation unit 55, electric power for obtaining a driving force corresponding to the output value is sent to the second drive unit 22.
  • the second braking control circuit 54 based on the output value sent from the calculation unit 55, electric power for obtaining a resistance force corresponding to the output value is sent to the second braking unit 32.
  • the second drive unit 22 receives the electric power sent from the second drive control circuit 53 to rotate the motor, and transmits the driving force to the operation unit 10.
  • the second braking unit 32 receives the electric power sent from the second braking control circuit 54 and applies a magnetic field for obtaining a predetermined viscous force to, for example, a ferrofluid. As a result, the viscous force generated by the second braking unit 32 is transmitted to the operating unit 10 as a resistance force.
  • the control unit 50 adjusts the driving force according to the moving position in consideration of the frictional force when the operation unit 10 is tilted down.
  • the frictional force depends on the dimensional accuracy of each member constituting the operating device 1, the assembled state, the operating temperature, and the like. Therefore, individual data should be acquired and stored in the storage unit 56. Is preferable.
  • 6 (a) and 6 (b) are diagrams illustrating an example of adjusting the driving force when tilting.
  • the horizontal axis of the graph shown in FIG. 6A is the moving position of the operating unit 10
  • the vertical axis is the reaction force of the operating unit 10.
  • the horizontal axis of the graph shown in FIG. 6B is the moving position of the operation unit 10, and the vertical axis is the driving force.
  • the operation unit 10 is provided with an urging means such as a coil spring so that it returns to the neutral position C1 when not operated.
  • an urging means such as a coil spring so that it returns to the neutral position C1 when not operated.
  • a reaction force is generated from the urging means, so that the reaction force increases as the distance from the neutral position C1 increases (see Fs1 in the figure).
  • a frictional force Ff1 is generated by a mechanism related to movement (such as a gimbal mechanism 11), and this frictional force Ff1 changes depending on the moving position of the operating unit 10. Therefore, the actual reaction force (see Fr1 in the figure) given to the operator from the operation unit 10 is the sum of the reaction force Fs1 due to the urging force and the frictional force Ff1.
  • a positive (+) driving force is applied as shown in FIG. 6 (b). Since the frictional force Ff1 changes depending on the position of the operation unit 10, the control unit 50 is a drive unit according to the position of the operation unit 10 detected by the position detection unit (first position detection unit 41, second position detection unit 42). The positive (+) driving force given from (first driving unit 21, second driving unit 22) to the operating unit 10 is adjusted. As a result, the increase in the reaction force due to the frictional force Ff1 is canceled, and only the reaction force Fs1 due to the urging force can be given to the operator from the operation unit 10.
  • FIG. 7 (a) and 7 (b) are diagrams illustrating an example of adjusting the driving force when returning.
  • the horizontal axis of the graph shown in FIG. 7A is the moving position of the operating unit 10, and the vertical axis is the reaction force of the operating unit 10.
  • the reaction force due to the urging force of the urging means becomes weaker as the operation unit 10 returns (FIG. 7). See Medium Fs1).
  • a frictional force Ff2 is generated by a mechanism related to movement (such as a gimbal mechanism 11), and this frictional force Ff2 changes depending on the moving position of the operating unit 10.
  • a negative (-) driving force is applied as shown in FIG. 7 (b). Since the frictional force Ff2 changes depending on the position of the operation unit 10, the control unit 50 drives the drive unit according to the position of the operation unit 10 detected by the position detection unit (first position detection unit 41, second position detection unit 42). The minus ( ⁇ ) driving force given from (the first driving unit 21 and the second driving unit 22) to the operating unit 10 is adjusted. As a result, the decrease in the reaction force due to the frictional force Ff2 is compensated, and only the reaction force Fs1 due to the urging force can be given to the operator from the operation unit 10.
  • the control unit 50 adjusts the driving force and the resistance force so that the reaction force of the operation unit 10 when the operation unit 10 is tilted and returned has a constant operation feel.
  • 8 (a) and 8 (b) are diagrams illustrating an example of adjusting the driving force and the resistance force when tilting.
  • the horizontal axis of the graph shown in FIG. 8A is the moving position of the operating unit 10, and the vertical axis is the reaction force of the operating unit 10.
  • the horizontal axis of the graph shown in FIG. 8B is the moving position of the operation unit 10, and the vertical axis is the driving force and the resistance force.
  • the control unit 50 adjusts the driving force and the resistance force in order to set the reaction force applied to the operator from the operating unit 10 to the target value Ft.
  • the control unit 50 is a position detection unit (first position detection unit 41, second position detection unit 42).
  • the resistance force applied to the operation unit 10 from the braking unit is adjusted according to the position of the operation unit 10 detected in step 1.
  • the reaction force when the operation unit 10 is tilted is increased by the resistance force, and the reaction force given to the operator from the operation unit 10 becomes the target value Ft.
  • the control unit 50 makes adjustments to give a positive (+) driving force. Since the difference between the actual reaction force Fr1 and the target value Ft changes depending on the moving position of the operation unit 10, the control unit 50 detects it by the position detection unit (first position detection unit 41, second position detection unit 42). The positive (+) driving force applied from the driving unit (first driving unit 21, second driving unit 22) to the operating unit 10 is adjusted according to the position of the operating unit 10. As a result, the reaction force when pushing the operation unit 10 is suppressed by the positive (+) driving force, and the reaction force given to the operator from the operation unit 10 becomes the target value Ft.
  • FIG. 9 (a) and 9 (b) are diagrams illustrating an example of adjusting the driving force and the resistance force when returning.
  • the horizontal axis of the graph shown in FIG. 9A is the moving position of the operating unit 10, and the vertical axis is the reaction force of the operating unit 10.
  • the horizontal axis of the graph shown in FIG. 9B is the moving position of the operation unit 10, and the vertical axis is the driving force and the resistance force.
  • the urging force by the urging means becomes weaker as the operation unit 10 returns, and the movement position of the operation unit 10 is adjusted.
  • the influence of the frictional force on the mechanism acts in the opposite direction to the case of pushing in, and the actual reaction force Fr2 is given to the operator.
  • the control unit 50 adjusts the driving force and the resistance force in order to set the reaction force applied to the operator from the operating unit 10 to the target value Ft.
  • the control unit 50 moves the operation unit 10.
  • the control unit 50 is a position detection unit (first position detection unit 41, second position detection unit 42).
  • the resistance force applied to the operation unit 10 from the braking unit is adjusted according to the moving position of the operating unit 10 detected in step 1.
  • the reaction force when returning the operation unit 10 is suppressed by the resistance force, and the reaction force given to the operator from the operation unit 10 becomes the target value Ft.
  • a positive (+) driving force by the driving unit first driving unit 21, second driving unit 22
  • the braking unit first braking unit 31
  • the resistance force of the second braking unit 32) and the positive (+) driving force of the driving unit first driving unit 21, second driving unit 22
  • the control unit 50 makes adjustments to give the driving force of (-). Since the difference between the actual reaction force Fr2 and the target value Ft changes depending on the moving position of the operation unit 10, the control unit 50 detects it by the position detection unit (first position detection unit 41, second position detection unit 42). The negative ( ⁇ ) driving force given from the driving unit (first driving unit 21, second driving unit 22) to the operating unit 10 is adjusted according to the position of the operating unit 10. As a result, the reaction force when returning the operation unit 10 is increased by the negative ( ⁇ ) driving force, and the reaction force given to the operator from the operation unit 10 becomes the target value Ft.
  • the reaction force (operation) is constant when the operation unit 10 is tilted or returned.
  • Feeling can be given to the operator.
  • the target value Ft of the reaction force may be changed linearly, curvedly, or stepwise according to the moving position of the operation unit 10.
  • the control unit 50 adjusts the driving force or the resistance force so as to cancel the difference between the target value Ft and the actual reaction force with respect to the moving position of the operation unit 10, and thereby an arbitrary target value Ft.
  • Reaction force (operation feeling) can be given to the operator.
  • the control unit 50 adjusts the driving force and the resistance force so as to have a preset reaction force.
  • 10 (a) to 10 (c) are diagrams illustrating an example of adjusting the driving force and the resistance force.
  • the horizontal axis of the graphs shown in FIGS. 10A to 10C is the moving position of the operating unit 10, and the vertical axis is the reaction force of the operating unit 10.
  • the stop position may be, for example, a position determined by a mechanical stopper or a position set by applying a driving force or a resistance force.
  • the operation unit 10 tries to return to the neutral position according to the urging force of the urging means. Then, the operation unit 10 stops at a position where the urging force of the urging means becomes zero, and the stop position becomes the origin. In this case, the reaction force becomes particularly low from the vicinity of the origin, and the position where the reaction force becomes zero becomes the origin.
  • the reaction force is as shown by the solid line of the graph line L1. That is, the operation unit 10 is tilted down from the position C1 (neutral position) where the reaction force is zero, and when the position of the operation unit 10 reaches S1, the stop position is reached and the reaction force increases.
  • a reaction force as shown by the broken line of the graph line L1 can be applied. That is, the operation unit 10 is tilted down from the position C1 in the same manner as before, and when the position of the operation unit 10 reaches S2 before reaching S1 (for example, the position of the mechanical stopper), the drive unit (first). 1
  • the drive unit 21, the second drive unit 22) and / or the braking unit (the first braking unit 31, the second braking unit 32) are operated to sharply increase the reaction force.
  • a reaction force can be applied with a predetermined position S2 different from the stop position S1 by the mechanical stopper as the stop position.
  • the resistance can make it feel like a mechanical stopper.
  • a reaction force is applied in a pulse shape in the middle of the operation position of the operation unit 10.
  • the reaction force applied in a pulse shape may be at a plurality of operating positions or at a predetermined one.
  • the operator can be given a click feeling at a position where the pulse-like reaction force passes through. If a pulse-like reaction force is applied at a plurality of locations, a multi-stage click feeling can be given.
  • FIG. 11 is a diagram illustrating an example of adjusting the reference position.
  • the horizontal axis of the graph shown in FIG. 11 is the moving position of the operation unit 10, and the vertical axis is the reaction force applied to the operation unit 10.
  • the operation unit 10 is provided with, for example, a urging means by a coil spring, and the origin return position C1 is set near the center when moving.
  • the reaction force is as shown in the graph line L4. That is, when the position of the operation unit 10 is C1, it is in the neutral position and the reaction force is the smallest.
  • the position (neutral position) C1 of the operation unit 10 is the origin in the operation of the operation unit 10.
  • a reaction force as shown in the graph line L4b can be applied. That is, when the operation unit 10 is moved in the same manner as before, the driving force and the resistance force are adjusted so that the reaction force is minimized at the position C2 different from the position C1. As a result, the change in reaction force can be shifted so that the position C2 different from the position C1 is used as a reference (neutral position).
  • FIG. 12 is a diagram illustrating an example of adjusting the driving force and the resistance force in the neutral position.
  • the horizontal axis of the graph shown in FIG. 12 is the moving position of the operation unit 10, and the vertical axis is the reaction force applied to the operation unit 10.
  • the operation unit 10 is provided with, for example, a urging means by a coil spring, and the origin return position C1 is set near the center when moving.
  • the reaction force is as shown in the graph line L5. That is, when the operation unit 10 is at the position C1 for returning to the origin, the force by the urging means is balanced and the reaction force becomes the smallest. However, since the reaction force becomes the smallest at the home position return position C1, the position of the operation unit 10 becomes unstable in the home position return state.
  • a reaction force as shown in the graph line L6 can be applied. That is, when the position of the operation unit 10 is at the position C1 for returning to the origin, the driving force and the resistance force are adjusted so as to give a reaction force larger than the reaction force near the origin. As a result, when the operation unit 10 is in the position C1 for returning to the origin, the operation position can be fixed in a stable state by a large reaction force. For example, it is preferable to apply a reaction force so as to fix the position by a resistance force when the position is C1, and to apply a driving force in the direction of returning to the origin when the position is about to change from the position C1.
  • the control unit 50 intermittently applies a resistance force in the X direction and a driving force or resistance force in at least one of the Y directions to the first driving unit 21 and the second driving unit 22, or the first driving unit 1. It controls the braking unit 31 and the second braking unit 32.
  • 13 (a) and 13 (b) are diagrams illustrating an example of adjusting the intermittent driving force and resistance force. The horizontal axis of the graphs shown in FIGS. 13A and 13B is time, and the vertical axis is driving force or resistance force.
  • the control unit 50 continuously applies a constant driving force or resistance force to the operation unit 10 at regular time intervals (for example, 10 ms intervals).
  • a constant driving force or resistance force for example, 10 ms intervals.
  • the driving force is turned ON / OFF at a fixed cycle (or the direction of the driving force is changed) while the operation unit 10 is continuously held at a predetermined position. Switch at regular intervals).
  • the operation unit 10 that is continuously held at the predetermined position a feeling of a predetermined vibration.
  • the resistance force is turned ON / OFF at a fixed cycle when the operation unit 10 is tilted from the neutral position or returns from the tilted position to the neutral position.
  • the moving operation unit 10 can be given a feeling of vibration at a constant cycle.
  • the control unit 50 applies a driving force or a resistance force to the operation unit 10 so as to gradually increase with time and gradually narrow with time.
  • the driving force is gradually increased and gradually applied at narrow intervals
  • the driving force is gradually increased and gradually applied at narrow intervals while the operation unit 10 is continuously held at a predetermined position. (Or, the direction of the driving force is reversed when the above is turned off). As a result, it is possible to give the operation unit 10 that is being held at a predetermined position a feeling of vibration that gradually increases.
  • the resistance force is gradually increased and gradually applied at narrow intervals
  • the resistance force is gradually increased and gradually increased when the operation unit 10 is tilted from the neutral position or returned from the tilted position to the neutral position.
  • the moving operation unit 10 can be given a feeling of changing from a weak vibration to a gradually increasing vibration.
  • the types of the control unit 50 continuously applying the resistance to the operation unit 10 include at least the time interval (pitch) of the resistance to be given, the width of the resistance to be given (pulse width), and the strength of the resistance to be given. It is one. Further, the continuous change of the given resistance force is at least one of the change of the time interval (pitch) of the given resistance force, the change of the width (pulse width) of the given resistance force, and the change of the strength of the given resistance force. By combining these, various vibration patterns can be given to the operation unit 10.
  • FIG. 14 is a diagram illustrating an example of adjusting the movable range.
  • the horizontal axis of the graph shown in FIG. 14 is the moving position of the operation unit 10, and the vertical axis is the reaction force applied to the operation unit 10.
  • the moving range W1 of the operating unit 10 is the range that hits the mechanical stopper (stop position).
  • the movement range W2 of the operation unit 10 can be arbitrarily set by applying a resistance force from the first braking unit 31 and the second braking unit 32 to the operation unit 10 under the control of the control unit 50. That is, when the operation unit 10 reaches each end (stop position) of the movement range W2, the first braking unit 31 and the second braking unit 32 give a larger resistance force than other than the stop position. As a result, it is possible to set a movement range W2 different from the movement range W1 regulated by the mechanical stopper. That is, the operating range of the operating unit 10 can be adjusted by controlling at least one of the first braking unit 31 and the second braking unit 32.
  • FIG. 15 is a diagram illustrating an example of adjusting the stability point.
  • the horizontal axis of the graph shown in FIG. 15 is the moving position of the operation unit 10, and the vertical axis is the driving torque.
  • a stepping motor is used as the first drive unit 21 and the second drive unit 22, there are stability points peculiar to the motor as shown in graph line L7.
  • the operating unit 10 since the operating unit 10 has an urging force, for example, a coil spring, which is an urging means, the stable point of the motor does not always match the stable point of the operating unit 10 (see graph line L8). Therefore, the position P1 that becomes the stable point of the motor is corrected to the position P2 in which the driving torque of the stepping motor and the urging force by the urging means are balanced (offset).
  • an urging force for example, a coil spring, which is an urging means
  • the actual position of the stability point of the operation unit 10 is P2. Since the computational reference position set by the control unit 50 is the position P1 of the stable point of the motor, there is a deviation from the position P2 of the stable point of the actual operation unit 10. Therefore, the control unit 50 corrects the position information detected by the first position detection unit 41 and the second position detection unit 42 by the difference between the position P1 and the position P2. As a result, the control reference and the position P2 of the stable point of the operation unit 10 in consideration of the urging force in the movement of the operation unit 10 are matched, and highly accurate control can be performed.
  • FIG. 16 is a diagram showing an application example of the operation device according to the present embodiment.
  • the operation device 1 of the present embodiment is applied to, for example, a top surface position of the controller main body 110.
  • sticks provided on the left and right sides of the upper surface of the controller main body 110 are the operation units 10 of the operation device 1.
  • the reference position may move over time so as to inform the operator of the appropriate operation of the stick type controller 100. That is, in FIG. 11, C2, which is the reference position of the reaction force, may move with time so that the operator can easily recognize the position where the stick should be.
  • C2 which is the reference position of the reaction force
  • the force corresponding to the direction of each axis can be distributed. If it is possible to apply a reaction force in the same direction as the operating direction by dividing the force along the operating direction, change the ratio to a direction different from the operating direction, for example, a direction orthogonal to the operating direction.
  • the present invention is not limited to these examples.
  • those skilled in the art appropriately adding, deleting, or changing the design of each of the above-described embodiments, or combining the features of the constituent examples of each embodiment as appropriate are also gist of the present invention.
  • the position is held at the current position of the operation unit 10 when no operation force is applied to the operation unit 10, and the position is only when the operation force is applied to the operation unit 10.
  • a reaction force that draws into C2 may be generated.
  • the resistance force is controlled in FIG. 13 to give a feeling of vibration, the vibration may be caused by the driving force, or the resistance force and the driving force may be combined to vibrate.

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US20240246554A1 (en) * 2023-01-19 2024-07-25 Hyundai Motor Company Vehicle and control method thereof
US12611591B2 (en) 2023-05-17 2026-04-28 Thomas Müller Device and method for generating control signals

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EP4535135A4 (en) * 2022-05-27 2026-03-18 Sony Interactive Entertainment Inc CONTROL DEVICE
DE102022134686A1 (de) 2022-12-22 2024-06-27 Inventus Engineering Gmbh Bedieneinrichtung mit wenigstens einem schwenkbaren Bedienhebel
FR3154515A1 (fr) * 2023-10-20 2025-04-25 Apem Interface homme-machine à module de freinage magnétorhéologique

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US20240246554A1 (en) * 2023-01-19 2024-07-25 Hyundai Motor Company Vehicle and control method thereof
US12611591B2 (en) 2023-05-17 2026-04-28 Thomas Müller Device and method for generating control signals

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JP7297072B2 (ja) 2023-06-23

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