WO2022113225A1 - Haptic device and system - Google Patents

Haptic device and system Download PDF

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Publication number
WO2022113225A1
WO2022113225A1 PCT/JP2020/043934 JP2020043934W WO2022113225A1 WO 2022113225 A1 WO2022113225 A1 WO 2022113225A1 JP 2020043934 W JP2020043934 W JP 2020043934W WO 2022113225 A1 WO2022113225 A1 WO 2022113225A1
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Prior art keywords
electrode
tactile
subject
unit
selection information
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PCT/JP2020/043934
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French (fr)
Japanese (ja)
Inventor
敏輝 和田
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日本電信電話株式会社
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Priority to PCT/JP2020/043934 priority Critical patent/WO2022113225A1/en
Publication of WO2022113225A1 publication Critical patent/WO2022113225A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer

Definitions

  • the present invention relates to a tactile device and a system that gives an electrical stimulus as a tactile stimulus to the body surface of a subject.
  • Non-Patent Document 1 Tactile sensation can be given by various means, but electrical stimulation by electrical signals is attracting attention because it can increase the amount of stimulation (information amount) without increasing the physical size of the device. ing.
  • the tactile sensation caused by electrical stimulation may be accompanied by tingling or tingling discomfort depending on the site and method of applying the electrical stimulation.
  • the present invention has been made to solve the above problems, and an object of the present invention is to provide a tactile sensation by electrical stimulation without discomfort.
  • the tactile device has a mounting portion mounted on the forearm of the subject, a housing fixed to the mounting portion and fixed to the body surface of the subject, and housed in the housing from one of the electrodes.
  • a stimulus generation that is composed of a first pulse signal flowing to the side of the other electrode and a second pulse signal flowing from the other electrode to the side of one electrode, and generates an electrical stimulation signal that is output first from the first pulse signal.
  • the circuit, the first electrode and the second electrode provided in the housing and applying the electrical stimulation signal to the body surface of the subject, and the electrical stimulation signal housed in the housing and transmitted from the terminal device via the network.
  • a reception unit that receives control information related to output, a controller that is housed in a housing and controls the output of an electrical stimulation signal by a stimulus generation circuit based on the control information received by the reception unit, and a mounting state of the mounting unit by the target person.
  • the control information includes information on whether or not an electrical stimulation signal can be output, and information on selecting whether to use one electrode as the first electrode or the second electrode. Is attached to the forearm and the housing is fixed to the subject's body surface. They are arranged apart in a direction orthogonal to the existing direction.
  • the tactile system includes the above-mentioned tactile device and a terminal device connected to the tactile device via a network. It includes a second input unit that accepts input of selection information by a person, and a transmission unit that transmits the input possibility information and selection information to the reception unit.
  • the subject provides a mark for confirming the wearing state of the mounting portion, and controls the output of the electrical stimulation signal based on the control information received by the receiving portion. Tactile sensation by electrical stimulation is given without discomfort.
  • FIG. 1A is an explanatory diagram showing a configuration of a tactile system according to an embodiment of the present invention.
  • FIG. 1B is a plan view showing the configuration of the tactile device 100 according to the embodiment of the present invention.
  • FIG. 2A is a configuration diagram showing the configuration of the tactile device 100 according to the embodiment of the present invention.
  • FIG. 2B is a configuration diagram showing a configuration of a terminal device 150 of a tactile system according to an embodiment of the present invention.
  • FIG. 3A is an explanatory diagram showing an example of arrangement of the first electrode 104 and the second electrode 105.
  • FIG. 3B is an explanatory diagram showing an example of arrangement of the first electrode 104 and the second electrode 105.
  • FIG. 1A is an explanatory diagram showing a configuration of a tactile system according to an embodiment of the present invention.
  • FIG. 1B is a plan view showing the configuration of the tactile device 100 according to the embodiment of the present invention.
  • FIG. 2A is a configuration diagram showing the configuration of the tactile
  • FIG. 4A is an explanatory diagram showing a signal A that is output first from the first pulse signal (direction a).
  • FIG. 4B is an explanatory diagram showing a signal A that is output first from the second pulse signal (direction b).
  • FIG. 5 is an explanatory diagram showing the configuration of another tactile system according to the embodiment of the present invention.
  • FIG. 6 is an explanatory diagram showing the configuration of another tactile system according to the embodiment of the present invention.
  • This tactile system includes a tactile device 100 and a terminal device 150 connected to the tactile device 100 via a predetermined network.
  • the tactile device 100 includes a mounting unit 101, a housing 102, a stimulus generation circuit 103, a first electrode 104, a second electrode 105, a reception unit 106, a controller 107, and a mark 108.
  • the mounting portion 101 is mounted on the forearm of the subject.
  • the mounting portion 101 is, for example, a belt.
  • the housing 102 is fixed to the mounting portion 101 and fixed to the body surface of the subject.
  • the housing 102 houses the stimulus generation circuit 103, the reception unit 106, and the controller 107. Further, the housing 102 is provided with a first electrode 104, a second electrode 105, and a mark 108.
  • the stimulus generation circuit 103 is composed of a first pulse signal flowing from one electrode to the side of the other electrode and a second pulse signal flowing from the other electrode to the side of one electrode, and outputs the first pulse signal first. Generates an electrical stimulation signal to be generated.
  • the first electrode 104 and the second electrode 105 apply the electrical stimulation signal generated by the stimulation generation circuit 103 to the body surface of the subject.
  • the first electrode 104 and the second electrode 105 are on the side where the arm flexor muscles of the forearm are arranged.
  • the subject's arms are arranged at intervals in a direction orthogonal to the extending direction. Further, in this state, the first electrode 104 is arranged on the side of the ring finger, and the second electrode 105 is arranged on the side of the thumb.
  • the first electrode 104 and the second electrode 105 can be arranged at a position where the arm flexor muscle is sandwiched.
  • the arm flexor muscle is one of the largest muscles in the forearm and is the site of constant bulging. Therefore, by arranging the first electrode 104 and the second electrode 105 along the arm flexor muscle, the first electrode 104 and the second electrode 105 can be stably arranged. Further, the first electrode 104 and the second electrode 105 can have a rectangular shape in a plan view with the direction along the arm flexor muscle as the longitudinal direction.
  • the reception unit 106 receives control information regarding the output of the electrical stimulation signal transmitted from the terminal device 150 via the network.
  • the control information includes information on whether or not to output an electrical stimulation signal, and selection information for selecting whether one electrode is the first electrode 104 or the second electrode 105.
  • the network is, for example, a wireless network such as Bluetooth (Bluetooth: registered trademark).
  • the controller 107 controls the output of the electrical stimulation signal by the stimulation generation circuit 103 based on the control information received by the reception unit 106.
  • the controller 107 is, for example, a microcomputer composed of a CPU (Central Processing Unit), and the CPU operates (executes the program) by a program expanded in the storage unit 109, as described above. The function is realized.
  • the mark 108 is used by the subject to confirm the wearing state of the mounting portion 101.
  • the mark 108 can be, for example, a rectangular parallelepiped structure provided on the outside of a predetermined side surface of the housing 102. Further, the mark 108 may be a mark formed on the outside of a predetermined side surface. Further, the mark 108 may be a portion of a color different from other regions formed on the outside of a predetermined side surface.
  • the terminal device 150 includes a first input unit 151, a second input unit 152, and a transmission unit 153.
  • the first input unit 151 accepts input of availability information by the target person.
  • the second input unit 152 accepts input of selection information by the target person.
  • the terminal device 150 is provided with, for example, a touch panel 157, and approval / disapproval information and selection information are input by an input operation on the touch panel 157 of the target person.
  • the transmission unit 153 transmits the input / acceptability information and the selection information to the reception unit 106 of the tactile device 100.
  • the target person operates the terminal device 150 and inputs whether the arm (upper arm) equipped with the tactile device 100 is right or left (input of selection information).
  • the input information is received by the second input unit 152, and the terminal device 150 grasps the arrangement state of the first electrode 104 and the second electrode 105 based on the input information, and one of the above-mentioned electrodes. Is determined to be the first electrode 104 or the second electrode 105, and this selection information is transmitted to the tactile device 100.
  • the selection information is transmitted from the transmission unit 153.
  • the subject operates the terminal device 150 and inputs that the tactile device 100 is correctly attached to the arm (input of availability information).
  • the subject operates the terminal device 150 and inputs that the electrical stimulation signal can be output.
  • the input information is received by the first input unit 151, and is transmitted from the transmission unit 153 to the tactile device 100.
  • the mark 108 will be arranged at a position visible to the subject with the back of the hand facing up.
  • the subject can grasp that the tactile device 100 is correctly attached to the right arm, and can perform the above-mentioned input by operating the terminal device 150.
  • the second electrode 105 is arranged on the side of the housing 102 where the mark 108 is provided, the second electrode 105 is placed on the outside with the back of the hand facing up and the arm flexor muscle of the right arm.
  • One electrode 104 is arranged, and the second electrode 105 is arranged inside.
  • the mark 108 is arranged at a position that can be seen by the subject with the back of the hand facing up. Also in this case, with the back of the hand facing up, the first electrode 104 is arranged on the outside and the second electrode 105 is arranged on the inside by sandwiching the arm flexor muscle of the left arm.
  • the stimulus generation circuit 103 controls the first pulse signal and the second pulse signal of the tactile device 100, which can output the electrical stimulation signal from the terminal device 150 and receives the selection information described above. It is composed of, and generates an electrical stimulation signal that is output first from the first pulse signal.
  • the first pulse signal is a signal flowing from the first electrode 104 to the side of the second electrode 105.
  • the second pulse signal is a signal flowing from the second electrode 105 to the side of the first electrode 104.
  • the first electrode 104 and the second electrode 105 are arranged, and the direction in which an electric signal flows from the first electrode 104 to the second electrode 105 through the body surface of the living body (upper arm) is a.
  • the direction in which the first pulse signal flows is a, and the direction in which the second pulse signal flows is b.
  • the electrical stimulation signal that produces the sense of touch is configured with a bipolar signal as shown in FIGS. 4A and 4B as a basic unit.
  • the signal A shown in FIG. 4A flows in the a direction (first pulse signal) and then in the b direction (second pulse signal).
  • the signal A is an electrical stimulation signal output first from the first pulse signal.
  • the signal B shown in FIG. 4B flows in the b direction (second pulse signal) and then in the a direction (first pulse signal).
  • the signal B is an electrical stimulation signal output first from the second pulse signal.
  • the electrical stimulation signal is output in the pattern of signal A, so that pain is reduced and no discomfort is accompanied.
  • Table 1 shows the results of tests performed on multiple subjects. In the test, the discomfort that occurred when the signal A was sent to the area A, the signal B was sent to the area A, the signal A was sent to the area B, and the signal B was sent to the area B for each subject.
  • the region A is the side on which the arm flexor muscles of the forearm are arranged, and the region B is the opposite side of the region A of the forearm.
  • the condition for giving the signal A to the region A is that the electrical stimulation signal is generated from the stimulation generation circuit 103 in a state where the tactile device 100 is correctly attached to the upper arm (a state in which one electrode is the first electrode 104). It is a condition.
  • the tactile device 100 is attached to the right arm (or left arm), but the tactile device 100 is in a position where the mark 108 is not visible to the subject with the back of the hand facing up. If this state is accepted as selection information, an electrical stimulation signal is generated from the stimulation generation circuit 103 with one of the electrodes as the second electrode 105.
  • the terminal device 150 can also include a camera 154, a selection information generation unit 155, and a pass / fail information generation unit 156.
  • the camera 154 photographs the mounting portion 101 mounted on the forearm of the subject.
  • the selection information generation unit 155 generates selection information from the wearing state of the wearing unit 101 taken by the camera 154 on the forearm of the subject.
  • the selection information generation unit 155 generates selection information based on the relative position of the mark 108 of the mounting unit 101 taken by the camera 154 with respect to the forearm of the target person.
  • the availability information generation unit 156 generates availability information from the attachment state of the attachment unit 101 taken by the camera 154 on the forearm of the subject. From the image taken by the camera 154, it is possible to recognize in which region of the arm and in which direction the tactile device 100 (housing 102) is arranged by image recognition. For example, when it is recognized that the tactile device 100 (housing 102) is arranged in the area B, information that the output of the electrical stimulation signal is negative is generated and transmitted to the tactile device 100. On the other hand, when it is recognized that the tactile device 100 (housing 102) is arranged in the region A, information that the electrical stimulation signal can be output is generated and transmitted to the tactile device 100.
  • the transmission unit 153 transmits the selection information generated by the selection information generation unit 155 to the reception unit 106, and also transmits the possibility information generated by the possibility information generation unit 156 to the reception unit 106.
  • a display may be provided on the tactile device 100, and an arrow may be displayed on the display to serve as a mark 108a.
  • the subject can confirm the mounting state of the mounting portion 101.
  • two arrow-shaped icons pointing in different directions are displayed, and by selecting one of the arrow icons, selection information can be input and determined (FIG. 5).
  • the terminal device 150 includes the camera 154, the selection information generation unit 155, and the pass / fail information generation unit 156, a state in which an arrow is displayed on the display of the tactile device 100 as a mark 108a is photographed by the camera 154.
  • image recognition of the state of the arrow in the captured image it is possible to recognize in which region of the arm and in which direction the tactile device 100 (housing 102) is arranged (FIG. 6). From this recognition result, the selection information generation unit 155 generates the selection information, and the possibility information generation unit 156 generates the possibility information.
  • the subject provides a mark for confirming the wearing state of the mounting portion, and controls the output of the electrical stimulation signal based on the control information received by the receiving portion. , The tactile sensation by electrical stimulation will be given without discomfort.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

A first electrode (104) and a second electrode (105) are used to apply, to a bodily surface of a target person, an electrostimulation signal that comprises a first pulse signal flowing from one electrode toward the other electrode and a second pulse signal flowing from the other electrode toward the one electrode, said first pulse signal being outputted first. A housing (102) is provided with a marker (108) that is used by the target person in order to confirm a wearing condition of a wearable part (101).

Description

触覚装置およびシステムTactile devices and systems
　本発明は、対象者の体表面に触覚刺激として電気刺激を与える触覚装置およびシステムに関する。 The present invention relates to a tactile device and a system that gives an electrical stimulus as a tactile stimulus to the body surface of a subject.
　近年、電気信号や、機械的振動、空気圧、温度変化などを与えることで人に触覚を与える触覚装置が提案されている（非特許文献1）。触覚は、様々な手段で与えることが可能であるが、電気信号による電気刺激は、装置の物理的なサイズを大きくすることなく、与える刺激の量（情報量）を増やすことができるため注目されている。 In recent years, a tactile device that gives a tactile sensation to a person by giving an electric signal, mechanical vibration, air pressure, temperature change, etc. has been proposed (Non-Patent Document 1). Tactile sensation can be given by various means, but electrical stimulation by electrical signals is attracting attention because it can increase the amount of stimulation (information amount) without increasing the physical size of the device. ing.
　しかしながら、電気刺激による触覚は、電気刺激を与える部位や方法によって、ピリピリやチクチクとした不快感を伴うことがある。 However, the tactile sensation caused by electrical stimulation may be accompanied by tingling or tingling discomfort depending on the site and method of applying the electrical stimulation.
　本発明は、以上のような問題点を解消するためになされたものであり、不快感なく電気刺激による触覚が与えられるようにすることを目的とする。 The present invention has been made to solve the above problems, and an object of the present invention is to provide a tactile sensation by electrical stimulation without discomfort.
　本発明に係る触覚装置は、対象者の前腕に装着される装着部と、装着部に固定されて、対象者の体表面に固定される筐体と、筐体に収容され、一方の電極から他方の電極の側に流れる第１パルス信号、および他方の電極から一方の電極の側に流れる第２パルス信号から構成され、第１パルス信号から先に出力される電気刺激信号を生成する刺激生成回路と、筐体に設けられ、電気刺激信号を対象者の体表面に印加する第１電極および第２電極と、筐体に収容され、ネットワークを介して端末装置から送信された電気刺激信号の出力に関する制御情報を受け付ける受付部と、筐体に収容され、受付部が受け付けた制御情報に基づいて、刺激生成回路による電気刺激信号の出力を制御するコントローラと、対象者が装着部の装着状態を確認するための目印とを備え、制御情報は、電気刺激信号の出力の可否情報、および一方の電極を第１電極とするか第２電極とするかを選択する選択情報を含み、装着部が前腕に装着されて筐体が対象者の体表面に固定された状態で、第１電極および第２電極は、前腕の腕撓骨筋が配置されている側で、対象者の腕が延在する方向に直交する方向に離間して配列される。 The tactile device according to the present invention has a mounting portion mounted on the forearm of the subject, a housing fixed to the mounting portion and fixed to the body surface of the subject, and housed in the housing from one of the electrodes. A stimulus generation that is composed of a first pulse signal flowing to the side of the other electrode and a second pulse signal flowing from the other electrode to the side of one electrode, and generates an electrical stimulation signal that is output first from the first pulse signal. The circuit, the first electrode and the second electrode provided in the housing and applying the electrical stimulation signal to the body surface of the subject, and the electrical stimulation signal housed in the housing and transmitted from the terminal device via the network. A reception unit that receives control information related to output, a controller that is housed in a housing and controls the output of an electrical stimulation signal by a stimulus generation circuit based on the control information received by the reception unit, and a mounting state of the mounting unit by the target person. The control information includes information on whether or not an electrical stimulation signal can be output, and information on selecting whether to use one electrode as the first electrode or the second electrode. Is attached to the forearm and the housing is fixed to the subject's body surface. They are arranged apart in a direction orthogonal to the existing direction.
　本発明に係る触覚システムは、上述した触覚装置と、ネットワークを介して触覚装置に接続する端末装置とを備え、端末装置は、対象者による、可否情報の入力を受け付ける第１入力部と、対象者による、選択情報の入力を受け付ける第２入力部と、入力された可否情報および選択情報を受付部に送信する送信部とを備える。 The tactile system according to the present invention includes the above-mentioned tactile device and a terminal device connected to the tactile device via a network. It includes a second input unit that accepts input of selection information by a person, and a transmission unit that transmits the input possibility information and selection information to the reception unit.
　以上説明したように、本発明によれば、対象者が装着部の装着状態を確認するための目印を設け、受付部が受け付けた制御情報に基づいて、電気刺激信号の出力を制御するので、不快感なく電気刺激による触覚が与えられる。 As described above, according to the present invention, the subject provides a mark for confirming the wearing state of the mounting portion, and controls the output of the electrical stimulation signal based on the control information received by the receiving portion. Tactile sensation by electrical stimulation is given without discomfort.
図１Ａは、本発明の実施の形態に係る触覚システムの構成を示す説明図である。FIG. 1A is an explanatory diagram showing a configuration of a tactile system according to an embodiment of the present invention. 図１Ｂは、本発明の実施の形態に係る触覚装置１００の構成を示す平面図である。FIG. 1B is a plan view showing the configuration of the tactile device 100 according to the embodiment of the present invention. 図２Ａは、本発明の実施の形態に係る触覚装置１００の構成を示す構成図である。FIG. 2A is a configuration diagram showing the configuration of the tactile device 100 according to the embodiment of the present invention. 図２Ｂは、本発明の実施の形態に係る触覚システムの端末装置１５０の構成を示す構成図である。FIG. 2B is a configuration diagram showing a configuration of a terminal device 150 of a tactile system according to an embodiment of the present invention. 図３Ａは、第１電極１０４および第２電極１０５の配置の例を示す説明図である。FIG. 3A is an explanatory diagram showing an example of arrangement of the first electrode 104 and the second electrode 105. 図３Ｂは、第１電極１０４および第２電極１０５の配置の例を示す説明図である。FIG. 3B is an explanatory diagram showing an example of arrangement of the first electrode 104 and the second electrode 105. 図４Ａは、第１パルス信号（ａ方向）から先に出力される信号Ａを示す説明図である。FIG. 4A is an explanatory diagram showing a signal A that is output first from the first pulse signal (direction a). 図４Ｂは、第２パルス信号（ｂ方向）から先に出力される信号Ａを示す説明図である。FIG. 4B is an explanatory diagram showing a signal A that is output first from the second pulse signal (direction b). 図５は、本発明の実施の形態に係る他の触覚システムの構成を示す説明図である。FIG. 5 is an explanatory diagram showing the configuration of another tactile system according to the embodiment of the present invention. 図６は、本発明の実施の形態に係る他の触覚システムの構成を示す説明図である。FIG. 6 is an explanatory diagram showing the configuration of another tactile system according to the embodiment of the present invention.
　以下、本発明の実施の形態に係る触覚システムについて図１Ａ、図１Ｂ、図２Ａ、図２Ｂを参照して説明する。この触覚システムは、触覚装置１００と、所定のネットワークを介して触覚装置１００に接続する端末装置１５０とを備える。 Hereinafter, the tactile system according to the embodiment of the present invention will be described with reference to FIGS. 1A, 1B, 2A, and 2B. This tactile system includes a tactile device 100 and a terminal device 150 connected to the tactile device 100 via a predetermined network.
　触覚装置１００は、装着部１０１、筐体１０２、刺激生成回路１０３、第１電極１０４、第２電極１０５、受付部１０６、コントローラ１０７、および目印１０８を備える。 The tactile device 100 includes a mounting unit 101, a housing 102, a stimulus generation circuit 103, a first electrode 104, a second electrode 105, a reception unit 106, a controller 107, and a mark 108.
　装着部１０１は、対象者の前腕に装着される。装着部１０１は、例えば、ベルトである。筐体１０２は、装着部１０１に固定されて、対象者の体表面に固定される。筐体１０２には、刺激生成回路１０３、受付部１０６、コントローラ１０７が収容されている。また、筐体１０２には、第１電極１０４，第２電極１０５，および目印１０８が設けられている。 The mounting portion 101 is mounted on the forearm of the subject. The mounting portion 101 is, for example, a belt. The housing 102 is fixed to the mounting portion 101 and fixed to the body surface of the subject. The housing 102 houses the stimulus generation circuit 103, the reception unit 106, and the controller 107. Further, the housing 102 is provided with a first electrode 104, a second electrode 105, and a mark 108.
　刺激生成回路１０３は、一方の電極から他方の電極の側に流れる第１パルス信号、および他方の電極から一方の電極の側に流れる第２パルス信号から構成され、第１パルス信号から先に出力される電気刺激信号を生成する。第１電極１０４および第２電極１０５は、刺激生成回路１０３が生成した電気刺激信号を対象者の体表面に印加する。 The stimulus generation circuit 103 is composed of a first pulse signal flowing from one electrode to the side of the other electrode and a second pulse signal flowing from the other electrode to the side of one electrode, and outputs the first pulse signal first. Generates an electrical stimulation signal to be generated. The first electrode 104 and the second electrode 105 apply the electrical stimulation signal generated by the stimulation generation circuit 103 to the body surface of the subject.
　装着部１０１が前腕に装着されて筐体１０２が対象者の体表面に固定された状態で、第１電極１０４および第２電極１０５は、前腕の腕撓骨筋が配置されている側で、対象者の腕が延在する方向に直交する方向に離間して配列される。また、この状態で、第１電極１０４は、薬指の側に配置され、第２電極１０５は、親指の側に配置される。 With the mounting portion 101 mounted on the forearm and the housing 102 fixed to the body surface of the subject, the first electrode 104 and the second electrode 105 are on the side where the arm flexor muscles of the forearm are arranged. The subject's arms are arranged at intervals in a direction orthogonal to the extending direction. Further, in this state, the first electrode 104 is arranged on the side of the ring finger, and the second electrode 105 is arranged on the side of the thumb.
　例えば、第１電極１０４および第２電極１０５は、腕撓骨筋を挾む位置に配置することができる。腕撓骨筋は前腕における最も大きな筋肉の一つであり、一定の膨らみがある部位である。このため、第１電極１０４および第２電極１０５を、腕撓骨筋に沿わせることで、安定して配置することができる。また、第１電極１０４および第２電極１０５は、平面視の形状を、腕撓骨筋に沿う方向を長手方向とした長方形とすることができる。 For example, the first electrode 104 and the second electrode 105 can be arranged at a position where the arm flexor muscle is sandwiched. The arm flexor muscle is one of the largest muscles in the forearm and is the site of constant bulging. Therefore, by arranging the first electrode 104 and the second electrode 105 along the arm flexor muscle, the first electrode 104 and the second electrode 105 can be stably arranged. Further, the first electrode 104 and the second electrode 105 can have a rectangular shape in a plan view with the direction along the arm flexor muscle as the longitudinal direction.
　受付部１０６は、ネットワークを介して端末装置１５０から送信された電気刺激信号の出力に関する制御情報を受け付ける。制御情報は、電気刺激信号の出力の可否情報、および一方の電極を第１電極１０４とするか第２電極１０５とするかを選択する選択情報を含む。ネットワークは、例えば、ブルートゥース（Bluetooth：登録商標）などの無線ネットワークである。 The reception unit 106 receives control information regarding the output of the electrical stimulation signal transmitted from the terminal device 150 via the network. The control information includes information on whether or not to output an electrical stimulation signal, and selection information for selecting whether one electrode is the first electrode 104 or the second electrode 105. The network is, for example, a wireless network such as Bluetooth (Bluetooth: registered trademark).
　コントローラ１０７は、受付部１０６が受け付けた制御情報に基づいて、刺激生成回路１０３による電気刺激信号の出力を制御する。コントローラ１０７は、例えば、ＣＰＵ（Central Processing Unit；中央演算処理装置）から構成されたマイクロコンピュータであり、記憶部１０９に展開されたプログラムによりＣＰＵが動作する（プログラムを実行する）ことで、上述した機能が実現される。目印１０８は、対象者が装着部１０１の装着状態を確認するために用いられる。目印１０８は、例えば、筐体１０２の所定の側面の外側に設けられた直方体状の構造体とすることができる。また、目印１０８は、所定の側面の外側に形成された刻印とすることもできる。また、目印１０８は、所定の側面の外側に形成された、他の領域とは異なる色の部分とすることもできる。 The controller 107 controls the output of the electrical stimulation signal by the stimulation generation circuit 103 based on the control information received by the reception unit 106. The controller 107 is, for example, a microcomputer composed of a CPU (Central Processing Unit), and the CPU operates (executes the program) by a program expanded in the storage unit 109, as described above. The function is realized. The mark 108 is used by the subject to confirm the wearing state of the mounting portion 101. The mark 108 can be, for example, a rectangular parallelepiped structure provided on the outside of a predetermined side surface of the housing 102. Further, the mark 108 may be a mark formed on the outside of a predetermined side surface. Further, the mark 108 may be a portion of a color different from other regions formed on the outside of a predetermined side surface.
　また、端末装置１５０は、第１入力部１５１、第２入力部１５２、および送信部１５３を備える。第１入力部１５１は、対象者による、可否情報の入力を受け付ける。第２入力部１５２は、対象者による、選択情報の入力を受け付ける。端末装置１５０は、例えば、タッチパネル１５７を備え、対象者のタッチパネル１５７に対する入力操作により、可否情報や選択情報が入力される。送信部１５３は、入力されて受け付けられた可否情報および選択情報を、触覚装置１００の受付部１０６に送信する。 Further, the terminal device 150 includes a first input unit 151, a second input unit 152, and a transmission unit 153. The first input unit 151 accepts input of availability information by the target person. The second input unit 152 accepts input of selection information by the target person. The terminal device 150 is provided with, for example, a touch panel 157, and approval / disapproval information and selection information are input by an input operation on the touch panel 157 of the target person. The transmission unit 153 transmits the input / acceptability information and the selection information to the reception unit 106 of the tactile device 100.
　対象者（ユーザ）は、端末装置１５０を操作し、触覚装置１００を装着した腕（上腕）が右であるか左であるかを入力する（選択情報の入力）。入力された情報は、第２入力部１５２で受け付けられ、端末装置１５０は、入力された情報を元に、第１電極１０４と第２電極１０５との配置状態を把握し、前述した一方の電極を第１電極１０４とするか、第２電極１０５とするかの選択情報を決定し、この選択情報を触覚装置１００に送信する。選択情報は、送信部１５３から送信される。 The target person (user) operates the terminal device 150 and inputs whether the arm (upper arm) equipped with the tactile device 100 is right or left (input of selection information). The input information is received by the second input unit 152, and the terminal device 150 grasps the arrangement state of the first electrode 104 and the second electrode 105 based on the input information, and one of the above-mentioned electrodes. Is determined to be the first electrode 104 or the second electrode 105, and this selection information is transmitted to the tactile device 100. The selection information is transmitted from the transmission unit 153.
　また、対象者は、端末装置１５０を操作し、触覚装置１００が、正しく腕に装着されたことを入力する（可否情報の入力）。正しく腕に装着されていることが確認できた場合、対象者は、端末装置１５０を操作し、電気刺激信号の出力が可であることを入力する。入力されたかの情報は、第１入力部１５１で受け付けられ、送信部１５３から触覚装置１００に送信される。 In addition, the subject operates the terminal device 150 and inputs that the tactile device 100 is correctly attached to the arm (input of availability information). When it is confirmed that the subject is properly attached to the arm, the subject operates the terminal device 150 and inputs that the electrical stimulation signal can be output. The input information is received by the first input unit 151, and is transmitted from the transmission unit 153 to the tactile device 100.
　例えば、図１Ａに示すように、触覚装置１００が、正しく右腕に装着されていれば、目印１０８は、手の甲を上にした状態で対象者から見える位置に配置されることになる。対象者は、このようにして目印１０８を確認することで、触覚装置１００が、正しく右腕に装着されたことを把握でき、端末装置１５０を操作することで、上述した入力が行える。この例では、筐体１０２の目印１０８が設けられている側に、第２電極１０５が配置されているため、手の甲を上にした状態で、右腕の腕撓骨筋を挾んで、外側に第１電極１０４が配置され、内側に第２電極１０５が配置される状態である。 For example, as shown in FIG. 1A, if the tactile device 100 is correctly attached to the right arm, the mark 108 will be arranged at a position visible to the subject with the back of the hand facing up. By confirming the mark 108 in this way, the subject can grasp that the tactile device 100 is correctly attached to the right arm, and can perform the above-mentioned input by operating the terminal device 150. In this example, since the second electrode 105 is arranged on the side of the housing 102 where the mark 108 is provided, the second electrode 105 is placed on the outside with the back of the hand facing up and the arm flexor muscle of the right arm. One electrode 104 is arranged, and the second electrode 105 is arranged inside.
　また、触覚装置１００が、正しく左腕に装着されていても、目印１０８は、手の甲を上にした状態で対象者から見える位置に配置されることになる。この場合も、手の甲を上にした状態で、左腕の腕撓骨筋を挾んで、外側に第１電極１０４が配置され、内側に第２電極１０５が配置される状態となる。 Further, even if the tactile device 100 is correctly attached to the left arm, the mark 108 is arranged at a position that can be seen by the subject with the back of the hand facing up. Also in this case, with the back of the hand facing up, the first electrode 104 is arranged on the outside and the second electrode 105 is arranged on the inside by sandwiching the arm flexor muscle of the left arm.
　端末装置１５０から、電気刺激信号の出力が可であること、および上述した選択情報を受け付けた触覚装置１００は、コントローラ１０７の制御により、刺激生成回路１０３が、第１パルス信号および第２パルス信号から構成され、第１パルス信号から先に出力される電気刺激信号を生成する。この例において、第１パルス信号は、第１電極１０４から第２電極１０５の側に流れる信号である。また、第２パルス信号は、第２電極１０５から第１電極１０４の側に流れる信号である。 The stimulus generation circuit 103 controls the first pulse signal and the second pulse signal of the tactile device 100, which can output the electrical stimulation signal from the terminal device 150 and receives the selection information described above. It is composed of, and generates an electrical stimulation signal that is output first from the first pulse signal. In this example, the first pulse signal is a signal flowing from the first electrode 104 to the side of the second electrode 105. The second pulse signal is a signal flowing from the second electrode 105 to the side of the first electrode 104.
　図３Ａ、図３Ｂに示すように、第１電極１０４、第２電極１０５が配置され、第１電極１０４から、生体（上腕）の体表面を通して第２電極１０５へ電気信号が流れる方向をａ、逆の方向をｂとする。第１パルス信号が流れる方向がａであり、第２パルス信号が流れる方向がｂである。 As shown in FIGS. 3A and 3B, the first electrode 104 and the second electrode 105 are arranged, and the direction in which an electric signal flows from the first electrode 104 to the second electrode 105 through the body surface of the living body (upper arm) is a. Let b be the opposite direction. The direction in which the first pulse signal flows is a, and the direction in which the second pulse signal flows is b.
　触覚を生み出す電気刺激信号は、図４Ａ、図４Ｂに示すような両極性信号を基本単位として構成される。図４Ａに示す信号Ａは、ａ方向に流れてから（第１パルス信号）、ｂ方向に流れる（第２パルス信号）。言い換えると、信号Ａは、第１パルス信号から先に出力される電気刺激信号である。一方、図４Ｂに示す信号Ｂは、ｂ方向に流れてから（第２パルス信号）、ａ方向に流れる（第１パルス信号）。言い換えると、信号Ｂは、第２パルス信号から先に出力される電気刺激信号である。 The electrical stimulation signal that produces the sense of touch is configured with a bipolar signal as shown in FIGS. 4A and 4B as a basic unit. The signal A shown in FIG. 4A flows in the a direction (first pulse signal) and then in the b direction (second pulse signal). In other words, the signal A is an electrical stimulation signal output first from the first pulse signal. On the other hand, the signal B shown in FIG. 4B flows in the b direction (second pulse signal) and then in the a direction (first pulse signal). In other words, the signal B is an electrical stimulation signal output first from the second pulse signal.
　電気刺激信号は、信号Ａのパターンで出力されることにより、痛みが軽減されるなど、不快感が伴わないことが判明している。以下の表１に、複数の被験者に対し実施したテスト結果を示す。テストでは、各々の被験者に対し、領域Ａに信号Ａを流す場合、領域Ａに信号Ｂを流す場合、領域Ｂに信号Ａを流す場合、領域Ｂに信号Ｂを流す場合について、発生した不快感について調査した。なお、領域Ａは、前腕の腕撓骨筋が配置されている側であり、領域Ｂは、前腕の領域Ａの反対側である。 It has been found that the electrical stimulation signal is output in the pattern of signal A, so that pain is reduced and no discomfort is accompanied. Table 1 below shows the results of tests performed on multiple subjects. In the test, the discomfort that occurred when the signal A was sent to the area A, the signal B was sent to the area A, the signal A was sent to the area B, and the signal B was sent to the area B for each subject. Was investigated. The region A is the side on which the arm flexor muscles of the forearm are arranged, and the region B is the opposite side of the region A of the forearm.
　また、不快感については、・痛みを感じることがあったか？、・４つのうち快の順に順位を付けるとしたら？、・感覚を表現するとしたら？、という項目について回答してもらった。なお、与えた電気刺激信号のエネルギーは全て同じである。 Regarding discomfort, ・ Did you feel pain? , ・ What if you want to rank in the order of comfort out of the four? What if you want to express your senses? I was asked to answer about the item. The energies of the given electrical stimulation signals are all the same.
Figure JPOXMLDOC01-appb-T000001
Figure JPOXMLDOC01-appb-T000001
　表１に示すテスト結果からわかるように、領域Ａに信号Ａを与える条件のみにおいて、全ての被験者に対し、痛みを感じさせず、最も快であるということがわかった。また、電気刺激信号が与えられたときの特徴として、振動しているようなぶるぶるという感覚を回答する被験者がいた。これに対し、領域Ｂに信号Ｂを与えた場合は、全員が最も不快と回答し、電気特有のピリピリ感や針でさすような感覚と答える被験者もいた。領域Ａに信号Ｂを提示した場合も不快と回答する被験者が多く、ピリピリという回答もあった。 As can be seen from the test results shown in Table 1, it was found that all the subjects did not feel pain and were the most comfortable only under the condition of giving the signal A to the region A. In addition, there was a subject who answered that the sensation of shaking was a characteristic when the electrical stimulation signal was given. On the other hand, when the signal B was given to the region B, all responded that it was the most unpleasant, and some subjects answered that it had a tingling sensation peculiar to electricity or a sensation of sticking with a needle. Many subjects answered that they were uncomfortable when the signal B was presented to the area A, and some responded that they were tingling.
　これらの結果から明らかなように、領域Ａに対して信号Ａを与えることで、不快感なく電気刺激による触覚が与えられることがわかる。領域Ａに対して信号Ａを与える条件は、触覚装置１００が、正しく上腕に装着された状態（一方の電極を第１電極１０４とした状態）で、刺激生成回路１０３から電気刺激信号が生成される条件である。 As is clear from these results, it can be seen that by giving the signal A to the region A, the tactile sensation due to the electrical stimulation is given without discomfort. The condition for giving the signal A to the region A is that the electrical stimulation signal is generated from the stimulation generation circuit 103 in a state where the tactile device 100 is correctly attached to the upper arm (a state in which one electrode is the first electrode 104). It is a condition.
　なお、図１Ａに示した状態とは異なり、触覚装置１００が右腕（または左腕）に装着されているが、触覚装置１００が、目印１０８が、手の甲を上にした状態で対象者から見えない位置となっている場合、この状態が、選択情報として受け付けられていれば、一方の電極を第２電極１０５として、刺激生成回路１０３から電気刺激信号が生成される。 Note that, unlike the state shown in FIG. 1A, the tactile device 100 is attached to the right arm (or left arm), but the tactile device 100 is in a position where the mark 108 is not visible to the subject with the back of the hand facing up. If this state is accepted as selection information, an electrical stimulation signal is generated from the stimulation generation circuit 103 with one of the electrodes as the second electrode 105.
　ところで、端末装置１５０は、カメラ１５４、選択情報生成部１５５、および可否情報生成部１５６を備えることもできる。 By the way, the terminal device 150 can also include a camera 154, a selection information generation unit 155, and a pass / fail information generation unit 156.
　カメラ１５４は、対象者の前腕に装着された装着部１０１を撮影する。選択情報生成部１５５は、カメラ１５４が撮影した装着部１０１の対象者の前腕における装着状態より、選択情報を生成する。選択情報生成部１５５は、カメラ１５４が撮影した装着部１０１の目印１０８の対象者の前腕に対する相対的な位置を元に選択情報を生成する。 The camera 154 photographs the mounting portion 101 mounted on the forearm of the subject. The selection information generation unit 155 generates selection information from the wearing state of the wearing unit 101 taken by the camera 154 on the forearm of the subject. The selection information generation unit 155 generates selection information based on the relative position of the mark 108 of the mounting unit 101 taken by the camera 154 with respect to the forearm of the target person.
　また、可否情報生成部１５６は、カメラ１５４が撮影した装着部１０１の対象者の前腕における装着状態より、可否情報を生成する。カメラ１５４が撮影した画像から、画像認識により、腕のどの領域でどの方向に触覚装置１００（筐体１０２）が配置されているかを認識することができる。例えば、領域Ｂに触覚装置１００（筐体１０２）が配置されていること認識された場合は、電気刺激信号の出力が否である情報が生成され、触覚装置１００に送信される。一方、領域Ａに触覚装置１００（筐体１０２）が配置されていること認識されると、電気刺激信号の出力が可である情報が生成され、触覚装置１００に送信される。 Further, the availability information generation unit 156 generates availability information from the attachment state of the attachment unit 101 taken by the camera 154 on the forearm of the subject. From the image taken by the camera 154, it is possible to recognize in which region of the arm and in which direction the tactile device 100 (housing 102) is arranged by image recognition. For example, when it is recognized that the tactile device 100 (housing 102) is arranged in the area B, information that the output of the electrical stimulation signal is negative is generated and transmitted to the tactile device 100. On the other hand, when it is recognized that the tactile device 100 (housing 102) is arranged in the region A, information that the electrical stimulation signal can be output is generated and transmitted to the tactile device 100.
　送信部１５３は、選択情報生成部１５５が生成した選択情報を受付部１０６に送信し、また、可否情報生成部１５６が生成した可否情報を受付部１０６に送信する。 The transmission unit 153 transmits the selection information generated by the selection information generation unit 155 to the reception unit 106, and also transmits the possibility information generated by the possibility information generation unit 156 to the reception unit 106.
　また、触覚装置１００にディスプレイを設け、このディスプレイに矢印を表示して、目印１０８ａとすることもできる。ディスプレイに表示される矢印を目視することで、対象者は、装着部１０１の装着状態が確認できる。例えば、端末装置１５０のタッチパネル１５７に、各々異なる方向を向く２つの矢印状のアイコンを表示し、いずれかの矢印アイコンを選択することで、選択情報の入力および決定が行える（図５）。 Further, a display may be provided on the tactile device 100, and an arrow may be displayed on the display to serve as a mark 108a. By visually observing the arrow displayed on the display, the subject can confirm the mounting state of the mounting portion 101. For example, on the touch panel 157 of the terminal device 150, two arrow-shaped icons pointing in different directions are displayed, and by selecting one of the arrow icons, selection information can be input and determined (FIG. 5).
　また、端末装置１５０は、カメラ１５４、選択情報生成部１５５、および可否情報生成部１５６を備える場合、目印１０８ａとして触覚装置１００のディスプレイに矢印が表示されている状態が、カメラ１５４に撮影され、撮影された画像における矢印の状態の画像認識により、腕のどの領域でどの方向に触覚装置１００（筐体１０２）が配置されているかを認識することができる（図６）。この認識結果より、選択情報生成部１５５が選択情報を生成し、可否情報生成部１５６が、可否情報を生成する。 Further, when the terminal device 150 includes the camera 154, the selection information generation unit 155, and the pass / fail information generation unit 156, a state in which an arrow is displayed on the display of the tactile device 100 as a mark 108a is photographed by the camera 154. By image recognition of the state of the arrow in the captured image, it is possible to recognize in which region of the arm and in which direction the tactile device 100 (housing 102) is arranged (FIG. 6). From this recognition result, the selection information generation unit 155 generates the selection information, and the possibility information generation unit 156 generates the possibility information.
　以上に説明したように、本発明によれば、対象者が装着部の装着状態を確認するための目印を設け、受付部が受け付けた制御情報に基づいて、電気刺激信号の出力を制御するので、不快感なく電気刺激による触覚が与えられるようになる。 As described above, according to the present invention, the subject provides a mark for confirming the wearing state of the mounting portion, and controls the output of the electrical stimulation signal based on the control information received by the receiving portion. , The tactile sensation by electrical stimulation will be given without discomfort.
　なお、本発明は以上に説明した実施の形態に限定されるものではなく、本発明の技術的思想内で、当分野において通常の知識を有する者により、多くの変形および組み合わせが実施可能であることは明白である。 It should be noted that the present invention is not limited to the embodiments described above, and many modifications and combinations can be carried out by a person having ordinary knowledge in the art within the technical idea of the present invention. That is clear.
　１００…触覚装置、１０１…装着部、１０２…筐体、１０３…刺激生成回路、１０４…第１電極、１０５…第２電極、１０６…受付部、１０７…コントローラ、１０８…目印、１０９…記憶部、１５０…端末装置、１５１…第１入力部、１５２…第２入力部、１５３…送信部、１５４…カメラ、１５５…選択情報生成部、１５６…可否情報生成部、１５７…タッチパネル。 100 ... tactile device, 101 ... mounting part, 102 ... housing, 103 ... stimulus generation circuit, 104 ... first electrode, 105 ... second electrode, 106 ... reception part, 107 ... controller, 108 ... mark, 109 ... storage unit , 150 ... Terminal device, 151 ... First input unit, 152 ... Second input unit, 153 ... Transmission unit, 154 ... Camera, 155 ... Selection information generation unit, 156 ... Possibility information generation unit, 157 ... Touch panel.

Claims (7)

  1. 　対象者の前腕に装着される装着部と、
    　前記装着部に固定されて、前記対象者の体表面に固定される筐体と、
    　前記筐体に収容され、一方の電極から他方の電極の側に流れる第１パルス信号、および他方の電極から一方の電極の側に流れる第２パルス信号から構成され、前記第１パルス信号から先に出力される電気刺激信号を生成する刺激生成回路と、
    　前記筐体に設けられ、前記電気刺激信号を前記対象者の体表面に印加する第１電極および第２電極と、
    　前記筐体に収容され、ネットワークを介して端末装置から送信された前記電気刺激信号の出力に関する制御情報を受け付ける受付部と、
    　前記筐体に収容され、前記受付部が受け付けた制御情報に基づいて、前記刺激生成回路による前記電気刺激信号の出力を制御するコントローラと、
    　前記対象者が前記装着部の装着状態を確認するための目印と
    　を備え、
    　前記制御情報は、前記電気刺激信号の出力の可否情報、および前記一方の電極を前記第１電極とするか前記第２電極とするかを選択する選択情報を含み、
    　前記装着部が前腕に装着されて前記筐体が前記対象者の体表面に固定された状態で、前記第１電極および前記第２電極は、前腕の腕撓骨筋が配置されている側で、前記対象者の腕が延在する方向に直交する方向に離間して配列される
    　ことを特徴とする触覚装置。     The attachment part attached to the subject's forearm and
    A housing fixed to the mounting portion and fixed to the body surface of the subject,
    It is housed in the housing and is composed of a first pulse signal flowing from one electrode to the side of the other electrode and a second pulse signal flowing from the other electrode to the side of one electrode, and precedes the first pulse signal. A stimulus generation circuit that generates an electrical stimulus signal output to
    A first electrode and a second electrode provided on the housing and applying the electrical stimulation signal to the body surface of the subject,
    A reception unit housed in the housing and receiving control information regarding the output of the electrical stimulation signal transmitted from the terminal device via the network.
    A controller housed in the housing and controlling the output of the electrical stimulation signal by the stimulation generation circuit based on the control information received by the reception unit.
    The subject is provided with a mark for confirming the wearing state of the mounting portion.
    The control information includes information on whether or not to output the electrical stimulation signal, and selection information for selecting whether the one electrode is the first electrode or the second electrode.
    With the mounting portion mounted on the forearm and the housing fixed to the body surface of the subject, the first electrode and the second electrode are on the side where the arm flexor muscles of the forearm are arranged. , A tactile device characterized in that the subject's arms are arranged apart in a direction orthogonal to the extending direction.
  2. 　請求項１記載の触覚装置において、
    　前記装着部は、ベルトから構成されていることを特徴とする触覚装置。     In the tactile device according to claim 1,
    The mounting portion is a tactile device characterized in that it is composed of a belt.
  3. 　請求項１または２の触覚装置と、
    　ネットワークを介して前記触覚装置に接続する端末装置と
    　を備え、
    　前記端末装置は、
    　前記対象者による、前記可否情報の入力を受け付ける第１入力部と、
    　前記対象者による、前記選択情報の入力を受け付ける第２入力部と、
    　入力された前記可否情報および前記選択情報を前記受付部に送信する送信部と
    　を備えることを特徴とする触覚システム。     The tactile device of claim 1 or 2, and
    It is equipped with a terminal device that connects to the tactile device via a network.
    The terminal device is
    A first input unit that accepts input of the possibility information by the target person, and
    A second input unit that accepts input of the selection information by the target person,
    A tactile system including a transmission unit that transmits the input possibility information and the selection information to the reception unit.
  4. 　請求項３記載の触覚システムにおいて、
    　前記端末装置は、
    　前記対象者の前腕に装着された前記装着部を撮影するカメラと、
    　前記カメラが撮影した前記装着部の前記対象者の前腕における装着状態より、前記選択情報を生成する選択情報生成部と
    　を備え、
    　前記送信部は、前記選択情報生成部が生成した前記選択情報を前記受付部に送信する
    　ことを特徴とする触覚システム。     In the tactile system according to claim 3,
    The terminal device is
    A camera that photographs the mounting portion mounted on the forearm of the subject, and
    It is provided with a selection information generation unit that generates the selection information from the mounting state of the mounting unit taken by the camera on the forearm of the subject.
    The transmission unit is a tactile system characterized in that the selection information generated by the selection information generation unit is transmitted to the reception unit.
  5. 　請求項４記載の触覚システムにおいて、
    　前記選択情報生成部は、
    　前記カメラが撮影した前記装着部の前記目印の前記対象者の前腕に対する相対的な位置を元に前記選択情報を生成する
    　ことを特徴とする触覚システム。     In the tactile system according to claim 4,
    The selection information generation unit is
    A tactile system characterized in that the selection information is generated based on the relative position of the mark of the attachment portion taken by the camera with respect to the forearm of the subject.
  6. 　請求項４または５記載の触覚システムにおいて、
    　前記端末装置は、
    　前記カメラが撮影した前記装着部の前記対象者の前腕における装着状態より、前記可否情報を生成する可否情報生成部を備え、
    　前記送信部は、前記可否情報生成部が生成した前記可否情報を前記受付部に送信する
    　ことを特徴とする触覚システム。     In the tactile system according to claim 4 or 5.
    The terminal device is
    It is provided with a possibility information generation unit that generates the possibility information from the wearing state of the wearing part taken by the camera on the forearm of the subject.
    The transmission unit is a tactile system characterized in that the possibility information generated by the possibility information generation unit is transmitted to the reception unit.
  7. 　請求項４～６のいずれか１項に記載の触覚システムにおいて、
    　前記端末装置は、無線ネットワークを介して前記触覚装置に接続する
    　ことを特徴とする触覚システム。     In the tactile system according to any one of claims 4 to 6.
    The terminal device is a tactile system characterized in that it is connected to the tactile device via a wireless network.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000172406A (en) * 1998-12-02 2000-06-23 Sony Corp Control method for force tactile presenting device
JP6334588B2 (en) * 2016-03-10 2018-05-30 H2L株式会社 Electrical stimulation system
JP2018101243A (en) * 2016-12-20 2018-06-28 日本電信電話株式会社 Bioelectrical stimulation device, bioelectrical stimulation system and electrical stimulation presentation method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000172406A (en) * 1998-12-02 2000-06-23 Sony Corp Control method for force tactile presenting device
JP6334588B2 (en) * 2016-03-10 2018-05-30 H2L株式会社 Electrical stimulation system
JP2018101243A (en) * 2016-12-20 2018-06-28 日本電信電話株式会社 Bioelectrical stimulation device, bioelectrical stimulation system and electrical stimulation presentation method

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