WO2022158224A1 - 触覚提示装置及び触覚提示システム - Google Patents
触覚提示装置及び触覚提示システム Download PDFInfo
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- WO2022158224A1 WO2022158224A1 PCT/JP2021/047295 JP2021047295W WO2022158224A1 WO 2022158224 A1 WO2022158224 A1 WO 2022158224A1 JP 2021047295 W JP2021047295 W JP 2021047295W WO 2022158224 A1 WO2022158224 A1 WO 2022158224A1
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- presentation device
- peripheral
- tactile
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- contact surface
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Classifications
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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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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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
- 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
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03547—Touch pads, in which fingers can move on a surface
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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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0414—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using force sensing means to determine a position
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/041—Indexing scheme relating to G06F3/041 - G06F3/045
- G06F2203/04105—Pressure sensors for measuring the pressure or force exerted on the touch surface without providing the touch position
Definitions
- the present technology relates to a tactile presentation device and a tactile presentation system that present a tactile sensation to a user.
- Patent Document 1 by varying the viscosity of an electrorheological fluid with electrodes arranged in a matrix and controlling the inflow and outflow of the electrorheological fluid from holes provided in the vicinity of each electrode, A shape presentation device capable of presenting various shapes is disclosed.
- an object of the present technology is to provide a tactile sense presentation device and a tactile sense presentation system capable of presenting a high-quality tactile sense to a contacting object whose shape and pressure distribution are controlled. be.
- a fluid control device includes a contact portion, a peripheral portion, a holding portion, a first drive portion, and a second drive portion.
- the contact portion has a central portion having a first contact surface, and a connection portion having flexibility and a second contact surface continuous with the first contact surface.
- the peripheral portion is connected to the central portion by the connecting portion.
- the holding portion supports the contact portion and the peripheral portion.
- the first driving part is configured to increase the height of the central part from the holding part along a first direction in which the central part is separated from the holding part and a second direction opposite to the first direction.
- the pressing force along the first direction to the central portion is changed according to the height of the central portion from the holding portion.
- the second driving section changes the height of the peripheral section from the holding section along the first direction and the second direction, and changes the height of the peripheral section from the holding section according to the height of the peripheral section. to change the pressing force along the first direction on the peripheral portion.
- At least one of the first driving section and the second driving section may drive the central section or the peripheral section by fluid control.
- Both the first driving section and the second driving section may drive the central section and the peripheral section by fluid control.
- the first driving section drives the central section such that a pressing force to the central section and a height of the central section from the holding section have a first correlation
- the second driving section drives the peripheral section such that the pressing force applied to the peripheral section and the height of the front peripheral section from the holding section have a second correlation different from the first correlation.
- the hardness of the connecting portion may differ between the vicinity of the central portion and the vicinity of the peripheral portion.
- the connecting portion may be harder in the vicinity of the central portion than in the vicinity of the peripheral portion.
- connection portion may have a different thickness in the vicinity of the central portion and in the vicinity of the peripheral portion.
- connection portion may be thicker in the vicinity of the central portion than in the vicinity of the peripheral portion.
- the holding portion includes a side wall portion that contacts the peripheral portion, At least one of the peripheral portion and the side wall portion may have flexibility toward the contact portion.
- the tactile sense presentation device may have a spaced portion extending from the outer circumference of the peripheral portion toward the central portion and separated from the peripheral portion.
- the tactile sense presentation device may have a bent portion extending from the outer periphery of the peripheral portion toward the central portion and bending the peripheral portion.
- At least a partial region of the first contact surface and the second contact surface may have a coefficient of friction of 0.3 or more.
- the amount of movement of the central portion in the first direction and the second direction may be smaller than the amount of movement of the peripheral portion in the first direction and the second direction.
- the amount of movement of the central portion in the first direction and the second direction may be greater than the amount of movement of the peripheral portion in the first direction and the second direction.
- At least part of the central portion and the peripheral portion may be deformable by folding and unfolding.
- the central portion may have a peripheral edge where the connecting portion and the peripheral portion do not exist on the outer peripheral side, or a peripheral edge where the peripheral portion does not exist on the outer peripheral side.
- the boundary line between the central portion and the connection portion may not have a corner with a radius of curvature of less than 1 mm, and the boundary line between the connection portion and the peripheral portion may not have a corner with a radius of curvature of less than 1 mm.
- a fluid control system includes a contact portion, a peripheral portion, a holding portion, a first drive portion, a second drive portion, and a control portion.
- the contact portion has a central portion having a first contact surface, and a connection portion having flexibility and a second contact surface continuous with the first contact surface.
- the peripheral portion is connected to the central portion by the connecting portion.
- the holding portion supports the contact portion and the peripheral portion.
- the first driving part is configured to increase the height of the central part from the holding part along a first direction in which the central part is separated from the holding part and a second direction opposite to the first direction. The pressing force along the first direction to the central portion is changed according to the height of the central portion from the holding portion.
- the second driving section changes the height of the peripheral section from the holding section along the first direction and the second direction, and changes the height of the peripheral section from the holding section according to the height of the peripheral section. to change the pressing force along the first direction on the peripheral portion.
- the control section independently controls the first driving section and the second driving section.
- the tactile sense presentation system further comprises a sensor that senses at least one of presence/absence of contact by the contact object on the first contact surface and the second contact surface, contact area, pressing force, and pressing amount,
- the control section may control the first driving section and the second driving section based on the output of the sensor.
- the tactile sense presentation system further comprises a sensor that senses shapes of the first contact surface and the second contact surface,
- the control section may control the first driving section and the second driving section based on the output of the sensor.
- FIG. 1 is a cross-sectional view of a tactile presentation device according to a first embodiment of the present technology
- FIG. It is a top view of the said tactile sense presentation apparatus. It is a sectional view of a contact part with which the above-mentioned tactile sense presentation device is provided.
- It is a schematic diagram which shows the change of the height of the center part by the 1st drive part with which the said tactile sense presentation apparatus is provided.
- It is a schematic diagram which shows the change of the pressing force to the center part by a said 1st drive part.
- It is a graph which shows the correlation of the height of the center part by a said 1st drive part, and pressing force.
- It is a schematic diagram which shows the concrete structure of a said 1st drive part.
- FIG. 1 It is a schematic diagram which shows the change of the height of the peripheral part by the 2nd drive part with which the said tactile sense presentation apparatus is provided. It is a schematic diagram which shows the change of the pressing force to the peripheral part by a said 2nd drive part. It is a graph which shows the height of the peripheral part by a said 2nd drive part, and the correlation of pressing force. It is a schematic diagram which shows the concrete structure of a said 2nd drive part. It is a schematic diagram which shows operation
- FIG. 4 is a schematic diagram showing a finger in contact with the contact surface of the tactile sense presentation device;
- FIG. 4 is a schematic diagram showing pressure from the contact surface to a finger that contacts the contact surface of the tactile sense presentation device; It is a graph which shows the height from the holding
- 4 is a graph showing the correlation of pressure from the first contact surface and the second contact surface with respect to a finger contacting the contact surface of the tactile sense presentation device;
- 19 is a schematic diagram showing the operation of the tactile sense presentation device in state A of FIG. 18.
- FIG. 19 is a schematic diagram showing the operation of the tactile sense presentation device in state B of FIG. 18.
- FIG. 19 is a schematic diagram showing the operation of the tactile sense presentation device in state C of FIG. 18.
- FIG. 19 is a schematic diagram showing the operation of the tactile sense presentation device in state D of FIG. 18.
- FIG. 19 is a schematic diagram showing the operation of the tactile sense presentation device in state E of FIG. 18.
- FIG. 19 is a graph showing the relationship between the pressure difference and the shape of the contact surface when the pressures from the first contact surface and the second contact surface have the correlation shown in FIG. 18 in the tactile sense presentation device.
- FIG. 4 is a graph showing the correlation of pressure from the first contact surface and the second contact surface with respect to a finger contacting the contact surface of the tactile sense presentation device; 26 is a graph showing the relationship between the pressure difference and the shape of the contact surface when the pressures from the first contact surface and the second contact surface have the correlation shown in FIG. 25 in the tactile sense presentation device. It is a graph which shows the height from the holding
- FIG. 4 is a graph showing the correlation of pressure from the first contact surface and the second contact surface with respect to a finger contacting the contact surface of the tactile sense presentation device; 28 is a graph showing the relationship between the pressure difference and the shape of the contact surface when the pressures from the first contact surface and the second contact surface have the correlation shown in FIG. 27 in the tactile sense presentation device.
- FIG. 3 is a schematic diagram showing portions of the tactile sense presentation device according to the first embodiment of the present technology, in which the hardness of the connecting portion is different; It is a schematic diagram which shows the thickness of the connection part of the said tactile sense presentation apparatus. It is a schematic diagram which shows the thickness of the connection part of the said tactile sense presentation apparatus. It is a schematic diagram which shows the movable amount of the center part and peripheral part of the said tactile sense presentation apparatus. It is a schematic diagram which shows the movable amount of the center part and peripheral part of the said tactile sense presentation apparatus. It is a schematic diagram which shows the deformation
- FIG. 4 is a schematic diagram showing contraction due to deformation of the holding portion of the tactile sense presentation device.
- FIG. 1 is a schematic diagram of a tactile presentation device including a spacing portion according to a first embodiment of the present technology; FIG. It is a schematic diagram which shows deformation
- 1A and 1B are schematic diagrams of a tactile presentation device including a bent portion according to a first embodiment of the present technology; It is a schematic diagram which shows deformation
- 1A and 1B are schematic diagrams of a tactile presentation device including a restricting unit according to a first embodiment of the present technology; It is a schematic diagram which shows operation
- FIG. 2 is a schematic diagram showing friction of a contact surface of the tactile presentation device according to the first embodiment of the present technology
- 1 is a schematic diagram of a tactile presentation device in which a peripheral portion has a deformed shape due to folding and unfolding, according to the first embodiment of the present technology
- FIG. 1 is a schematic diagram of a tactile presentation device according to a first embodiment of the present technology, in which a peripheral portion and a central portion have deformed shapes due to folding and unfolding
- FIG. 1 is a schematic diagram of a tactile presentation device having a flexible central portion according to a first embodiment of the present technology
- FIG. 1 is a plan view showing a planar shape of a tactile presentation device according to a first embodiment of the present technology
- FIG. 1 is a plan view showing a planar shape of a tactile presentation device according to a first embodiment of the present technology
- FIG. 1 is a plan view showing a planar shape of a tactile presentation device according to a first embodiment of the present technology
- FIG. 1 is a plan view showing a planar shape of a tactile presentation device according to a first embodiment of the present technology
- FIG. 1 is a plan view showing a planar shape of a tactile presentation device according to a first embodiment of the present technology
- FIG. 1 is a plan view showing a planar shape of a tactile presentation device according to a first embodiment of the present technology
- FIG. 1 is a plan view showing a planar shape of a tactile presentation device according to a first embodiment of the present technology
- FIG. 1 is a plan view showing a planar shape of a tactile presentation device according to a first embodiment of the present technology
- FIG. 1 is a plan view showing a planar shape of a tactile presentation device according to a first embodiment of the present technology
- FIG. 1 is a schematic diagram of a tactile presentation device including a third driving section and a fourth driving section according to a first embodiment of the present technology
- FIG. 1 is a schematic diagram of a tactile presentation device including a fifth driving section and a sixth driving section according to a first embodiment of the present technology
- FIG. 1 is a schematic diagram of a tactile presentation system according to a first embodiment of the present technology
- FIG. 1 is a schematic diagram of a tactile presentation system including a contact sensor according to a first embodiment of the present technology
- FIG. 4 is a flow chart showing the operation of the tactile sense presentation system;
- FIG. 4 is a schematic diagram showing the operation of the control unit based on the output of the contact sensor in the tactile sense presentation system;
- 1 is a schematic diagram of a tactile presentation system including a shape sensor according to a first embodiment of the present technology;
- FIG. 4 is a flow chart showing the operation of the tactile sense presentation system; It is a block diagram which shows the hardware constitutions of the control part with which the said tactile sense presentation system is provided.
- FIG. 10 is a cross-sectional view of a tactile presentation device according to a second embodiment of the present technology; It is a top view of the said tactile sense presentation apparatus.
- FIG. 10 is a cross-sectional view of a tactile presentation device according to a second embodiment of the present technology.
- FIG. 4 is a cross-sectional view of an upper membrane included in the tactile presentation device; It is a schematic diagram which shows raising/lowering of the raising/lowering part with which the said tactile sense presentation apparatus is provided. It is a schematic diagram which shows the 1st drive part with which the said tactile sense presentation apparatus is provided. It is a schematic diagram which shows the 2nd drive part with which the said tactile sense presentation apparatus is provided. It is a schematic diagram which shows the distance which the distance sensor with which the said tactile sense presentation apparatus has detects. It is a schematic diagram which shows deformation
- FIG. 10 is a cross-sectional view of a tactile presentation device having a different shape of an elevating unit according to a second embodiment of the present technology; It is a schematic diagram which shows operation
- FIG. 10 is a cross-sectional view of a tactile presentation device that does not have an elevating unit, according to a second embodiment of the present technology; It is a schematic diagram which shows operation
- the tactile sense presentation device presents a tactile sense to a "contact object" that comes into contact with the tactile sense presentation device.
- the contact object is not particularly limited, but can be a user's finger, hand, or other body part.
- FIG. 1 is a cross-sectional view of a tactile presentation device 100 according to this embodiment
- FIG. 2 is a plan view of the tactile presentation device 100.
- the three mutually orthogonal directions are the X direction, the Y direction, and the Z direction.
- the tactile presentation device 100 includes a holding portion 101 , a contact portion 102 , a peripheral portion 103 , a first driving portion 104 and a second driving portion 105 .
- the holding portion 101 supports the contact portion 102 and the peripheral portion 103 .
- the holding portion 101 has a bottom portion 101a and side wall portions 101b as shown in FIG.
- the bottom portion 101a has a flat plate shape and has a bottom surface 101c parallel to the XY plane.
- the side wall portion 101b is provided along the direction perpendicular to the bottom surface 101c from the periphery of the bottom surface 101c. Note that the side wall portion 101b may not necessarily be provided.
- the material of the holding portion 101 is not particularly limited, and can be made of synthetic resin, metal, or the like.
- the contact portion 102 is a portion with which a contact object contacts.
- FIG. 3 is a cross-sectional view showing the contact portion 102. As shown in FIG. As shown in the figure, the contact portion 102 has a central portion 106 and a connection portion 107 .
- the central portion 106 has a first contact surface 106a, which is the surface opposite to the bottom surface 101c.
- the first contact surface 106a can be a plane parallel to the XY plane, but it may also be a curved surface.
- the central portion 106 may have a circular shape when viewed in the Z direction, as shown in FIG.
- the central portion 106 is driven by the first driving portion 104, as will be described later.
- the material of the central portion 106 is not particularly limited, and can be made of synthetic resin, metal, or the like.
- the connecting portion 107 connects the central portion 106 and the peripheral portion 103 and has a second contact surface 107a which is the surface opposite to the bottom surface 101c.
- the second contact surface 107a is a surface continuous with the first contact surface 106a, there is no step at the boundary between the first contact surface 106a and the second contact surface 107a, and the first contact surface 106a and the second contact surface 107a are smoothly connected.
- the first contact surface 106a and the second contact surface 107a are hereinafter referred to as a contact surface M.
- the connecting portion 107 can have an annular shape surrounding the outer circumference of the central portion 106 when viewed in the Z direction.
- the connecting portion 107 has flexibility and can be made of synthetic resin, cloth, or the like, for example.
- the connecting portion 107 is preferably made of an elastically deformable material such as elastomer.
- the characteristics of the central portion 106 may be different from those of the connection portion 107 in order to distinguish between the first contact surface 106a and the second contact surface 107a.
- the first contact surface 106a and the second contact surface 107a may have different appearances such as color and reflection characteristics, or may have different shapes such as protrusions or recesses.
- the first contact surface 106a and the second contact surface 107a may have different surface characteristics such as fine shape and friction coefficient.
- the peripheral portion 103 sandwiches the contact portion 102 in a cross section parallel to the Z direction, and is connected to the central portion 106 by the connecting portion 107 .
- the surface of the peripheral portion 103 opposite to the bottom surface 101c is referred to as a surface 103a.
- the peripheral portion 103 can have an annular shape surrounding the connecting portion 107 when viewed from the Z direction.
- the peripheral portion 103 is driven by a second driving portion 105 as will be described later.
- the first driving section 104 drives the central section 106 to change the height of the central section 106 from the holding section 101 and the pressing force applied to the central section 106 .
- FIG. 4 is a schematic diagram showing changes in the height of the central portion 106.
- the first driving section 104 moves the central section 106 in a direction in which the central section 106 separates from the holding section 101 and in a direction in which the central section 106 approaches the holding section 101 .
- the direction (+Z direction) in which the center portion 106 moves away from the holding portion 101 is defined as a first direction D1
- the direction ( ⁇ Z direction) in which the center portion 106 approaches the holding portion 101 is defined as a second direction D2.
- the height of the central portion 106 from the holding portion 101 is Hc
- the height of the central portion 106 when 106 is separated from the holding portion 101 is defined as height Hc2.
- the first driving section 104 changes the height of the center section 106 from the holding section 101 along the first direction D1 and the second direction D2.
- FIG. 5 is a schematic diagram showing changes in the pressing force applied to the central portion 106.
- the pressing force exerted by the first drive unit 104 on the central portion 106 along the first direction D1 is referred to as a pressing force Fc.
- the pressing force applied to the center portion 106 along the first direction D1 when the height of the center portion 106 is low is defined as a pressing force Fc1.
- the pressing force applied to the center portion 106 along the first direction D1 when the height of the center portion 106 is high is defined as a pressing force Fc2.
- the pressing force Fc When nothing is in contact with the central portion 106, the pressing force Fc is balanced with the resistance force of a sealing film, a spring, etc., which will be described later, and the central portion 106 stands still. Also, when the central portion 106 is pressed by a contact (user's finger or the like), the pressing force Fc balances the resistance force and the pressing force of the contact, and the central portion 106 remains stationary.
- FIG. 6 is a graph showing an example of the relationship between the height Hc of the central portion 106 from the holding portion 101 and the pressing force Fc applied to the central portion 106 .
- the pressing force Fc changes according to the height Hc, and the height Hc and the pressing force Fc have a certain correlation.
- the correlation shown in FIG. 6 is a positive correlation in which the pressing force Fc increases as the height Hc increases, it may be a negative correlation in which the pressing force Fc decreases as the height Hc increases.
- the first driving section 104 changes the pressing force Fc to the central portion 106 according to the height Hc of the central portion 106 .
- FIG. 7 is a schematic diagram showing an example of a specific configuration of the first driving section 104.
- the first drive unit 104 can be a fluid control mechanism including a sealing film 111 , a fluid 112 and a first drive source 113 .
- the first drive source 113 is a fluid control device such as a pump that can control fluid, and controls the amount and pressure of the fluid 112 inside the sealing film 111 .
- the sealing film 111 expands or contracts as shown in FIGS.
- the fluid 112 can be, for example, air, nitrogen gas, water, a magnetic fluid, or an electro-rheological (ER) fluid.
- ER electro-rheological
- the first drive unit 104 is not limited to the fluid control mechanism as described above, and may be any device that can change the height of the central portion 106 and the pressing force to the central portion 106 while maintaining a correlation therebetween.
- the first drive unit 104 may be a drive mechanism using a dielectric elastomer, a drive mechanism combining a motor and a spring, or a drive mechanism combining a motor and an elastic body.
- the positive correlation of the central portion 106 as shown in FIG. 6 can be realized by a driving mechanism using fluid pressure or the like, and the negative correlation can be realized by a driving mechanism using a spring or the like.
- the second driving section 105 drives the peripheral section 103 to change the height of the peripheral section 103 from the holding section 101 and the pressing force applied to the peripheral section 103 .
- FIG. 8 is a schematic diagram showing changes in the height of the peripheral portion 103.
- the second driving section 105 moves the peripheral section 103 in a direction in which the peripheral section 103 is separated from the holding section 101 and in a direction in which the peripheral section 103 approaches the holding section 101 .
- the second driving section 105 moves the peripheral section 103 along the first direction D1 (+Z direction) and the second direction D2 ( ⁇ Z direction).
- the height of the peripheral portion 103 from the holding portion 101 is Hs
- the height of the peripheral portion 103 when 103 is separated from the holding portion 101 is defined as a height Hs2.
- the second driving section 105 changes the height of the peripheral section 103 from the holding section 101 along the first direction D1 and the second direction D2.
- FIG. 9 is a schematic diagram showing changes in the pressing force applied to the peripheral portion 103.
- the pressing force applied to the peripheral portion 103 along the first direction D1 by the second driving portion 105 is referred to as a pressing force Fs.
- the pressing force applied to the peripheral portion 103 along the first direction D1 when the height of the peripheral portion 103 is low is assumed to be a pressing force Fs1.
- the pressing force applied to the peripheral portion 103 along the first direction D1 when the height of the peripheral portion 103 is high is assumed to be a pressing force Fs2.
- the pressing force Fs is balanced with the resistance force of a sealing film and a spring, which will be described later, and the peripheral portion 103 stands still.
- FIG. 10 is a graph showing an example of the relationship between the height Hs of the peripheral portion 103 from the holding portion 101 and the pressing force Fs applied to the peripheral portion 103.
- the pressing force Fs changes according to the height Hs, and the height Hs and the pressing force Fs have a certain correlation.
- the correlation shown in FIG. 10 is a positive correlation in which the pressing force Fs increases as the height Hs increases, it may be a negative correlation in which the pressing force Fs decreases as the height Hs increases.
- the second driving section 105 changes the pressing force Fs to the peripheral section 103 according to the height Hs of the peripheral section 103 .
- FIG. 11 is a schematic diagram showing an example of a specific configuration of the second driving section 105.
- the second driving section 105 can be a fluid control mechanism comprising a sealing film 121 , a fluid 122 and a second driving source 123 .
- the second driving unit 105 is a fluid control device such as a pump capable of controlling fluid, and controls the amount and pressure of the fluid 122 inside the sealing film 121 .
- the sealing film 121 expands or contracts as shown in FIGS.
- the fluid 122 can be, for example, air, nitrogen gas, water, a magnetic fluid, or an electro-rheological (ER) fluid.
- ER electro-rheological
- the second drive unit 105 is not limited to the fluid control device as described above, and may be any device that can change the height of the peripheral portion 103 and the pressing force to the peripheral portion 103 while maintaining a correlation therebetween.
- the second drive unit 105 may be a drive mechanism using a dielectric elastomer, a drive mechanism combining a motor and a spring, or a drive mechanism combining a motor and an elastic body.
- the positive correlation of the peripheral portion 103 as shown in FIG. 10 can be realized by a drive mechanism using fluid pressure or the like, and the negative correlation can be realized by a drive mechanism using a spring or the like.
- first drive unit 104 and the second drive unit 105 may be the same type of drive mechanism, or may be different types of drive mechanism.
- one of the first drive unit 104 and the second drive unit 105 may be a fluid control mechanism, the other may be another drive mechanism, or both may be fluid control mechanisms.
- the correlation between the height Hc of the central portion 106 and the pressing force Fc (FIG. 6) and the correlation between the height Hs of the peripheral portion 103 and the pressing force Fs (FIG. 10) may be the same or different. However, it is preferable that they are different as described later.
- FIG. 12 to 14 are schematic diagrams showing the operation of the tactile sense presentation device 100.
- the tactile sense presentation device 100 can change the height Hc of the central portion 106 and the height Hs of the peripheral portion 103 as described above.
- FIG. 12 is a schematic diagram showing changes in the height of the central portion 106.
- FIG. FIG. 12(a) shows a state in which both the central portion 106 and the peripheral portion 103 are high.
- the contact surface M forms a concave shape. 12(b) and 12(a) can be obtained by increasing the height of the central portion 106 from the state of FIG. 12(c).
- FIG. 13 is a schematic diagram showing changes in height of the peripheral portion 103.
- FIG. FIG. 13(a) shows a state in which both the central portion 106 and the peripheral portion 103 are high.
- the contact surface M forms a convex shape.
- 13(b) and 13(a) can be obtained by increasing the height of the peripheral portion 103 from the state of FIG. 13(c).
- FIG. 14 is a schematic diagram showing changes in height between the peripheral portion 103 and the central portion 106.
- the tactile sense presentation device 100 can change both the heights of the peripheral portion 103 and the central portion 106, for example, as shown in FIG. 14(b).
- the contact surface M can also be a flat surface.
- the tactile sense presentation device 100 can change the heights of the peripheral portion 103 and the central portion 106 independently to change the contact surface M into various shapes. It is possible.
- the tactile sense presentation device 100 can change the pressing force Fc applied to the central portion 106 and the pressing force Fs applied to the peripheral portion 103 as described above.
- the pressing force Fc has a correlation with the height Hc of the central portion 106 (FIG. 6), and the pressing force Fs has a correlation with the height Hs of the peripheral portion 103 (FIG. 10).
- the pressing force Fc and the pressing force Fs can be defined respectively by the height.
- FIG. 15 is a schematic diagram showing a user's finger Y in contact with the contact surface M. As shown in FIG. As shown in FIGS. 15A and 15B, the tactile sense presentation device 100 can present the shape of the contact surface M and changes thereof to the user who touches the contact surface M. It is also possible to control the area.
- FIG. 16 is a schematic diagram showing the pressing force Fc applied to the central portion 106, the pressing force Fs applied to the peripheral portion 103, and the pressure that the finger Y receives from the contact surface M.
- the pressure that the finger Y receives from the first contact surface 106a is pressure P1
- the pressure that the finger Y receives from the second contact surface 107a is pressure P2.
- the pressing force Fc is defined by the height Hc of the central portion 106
- the pressing force Fs is defined by the height Hs of the peripheral portion 103. Therefore, depending on the shape of the contact surface M, the pressure P1 and the pressure P2 changes.
- the sum of the heights of the central portion 106 and the peripheral portion 103 has a correlation with the reaction force (the sum of the pressure P1 and the pressure P2) by the contact portion 102, and the height difference between the central portion 106 and the peripheral portion 103 is the contact force. Correlates with area. Therefore, while controlling the contact area between the finger Y and the contact surface M, the reaction force (the sum of the pressure P1 and the pressure P2) of the contact portion 102 can be changed. Further, the height of the contact surface M from the holding portion 101 can be changed while controlling the contact area between the finger Y and the contact surface M.
- the height Hc of the central portion 106 and the pressing force Fc have a certain correlation (see FIG. 6) by the first driving section 104, and the peripheral portion 103 by the second driving section 105.
- the height Hs and the pressing force Fs have a certain correlation (see FIG. 10).
- FIG. 17 is a graph showing the correlation between the height Hc of the central portion 106 and the pressing force Fc, and the correlation between the height Hc of the peripheral portion 103 and the pressing force Fc. As shown in the figure, the correlation in the central portion 106 and the correlation in the peripheral portion 103 differ in the amount of change in height with respect to the amount of change in the pressing force. are different.
- FIG. 18 is a graph showing changes in pressure P1 and pressure P2 when the correlation between central portion 106 and peripheral portion 103 is different as shown in FIG.
- the correlation between the central portion 106 and the peripheral portion 103 is different, the correlation between the pressure P1 and the pressure P2 is also different, as shown in FIG. 19 to 23 are schematic diagrams showing changes in the pressure P1 and the pressure P2 applied to the finger Y.
- FIG. 19 to 23 are schematic diagrams showing changes in the pressure P1 and the pressure P2 applied to the finger Y.
- FIG. 19 shows the pressure P1 in state A in FIG. 18, and FIG. 20 shows the pressures P1 and P2 in state B in FIG. Similarly, FIG. 21 shows pressures P1 and P2 in state C, FIG. 22 in state D, and state E in FIG.
- FIGS. 19 to 23 when the height of the central portion 106 and the peripheral portion 103 and the pressing force (the pressing force Fc and the pressing force Fs) change, the pressure P1 and the pressure P2 also change. and pressure P2 are different.
- FIG. 24 is a graph showing the relationship between the pressure difference ⁇ P and the shape of the contact surface M when the pressure P1 and the pressure P2 have the correlation shown in FIG.
- the pressure difference ⁇ P is the difference between the pressure P2 and the pressure P1 (pressure P2 ⁇ pressure P1).
- the range L1 is the range of the shape of the contact surface M that can be presented by the tactile sense presentation device 100 and the pressure difference ⁇ P.
- the range L2 is a range in which the pressure difference ⁇ P is smaller than the range L1. Within the range L2, it is possible to change the shape of the contact surface M while keeping the pressure P1 and the pressure P2 equal. .
- FIG. 25 is a graph showing changes in pressure P1 and pressure P2 when the correlation between pressure P1 and pressure P2 is the same.
- FIG. 26 is a graph showing the relationship between the pressure difference ⁇ P (pressure P2 ⁇ pressure P1) and the shape of the contact surface M when the pressures P1 and P2 have the correlation shown in FIG.
- the range L1 is the range between the contact surface M and the pressure difference ⁇ P that can be presented by the tactile sense presentation device 100
- the range L2 is the range where the pressure difference ⁇ P is small within the range L1.
- the pressure P1 and the pressure P2 are made equal, the shape of the contact surface M can hardly be changed.
- FIG. 17 by differentiating the correlation between the central portion 106 and the peripheral portion 103, the pressure P1 and the pressure P2 are made equal to each other as shown in FIG. can be changed.
- FIG. 17 shows a case where both the correlation between the height Hc of the central portion 106 and the pressing force Fc and the correlation between the height Hc of the peripheral portion 103 and the pressing force Fc are positive correlations. and at least one of the correlations of the peripheral portion 103 may have a negative correlation.
- FIG. 27 is a graph showing the relationship between the height Hc of the central portion 106 and the pressing force Fc having a negative correlation and the height Hs of the peripheral portion 103 and the pressing force Fs having a positive correlation. is.
- FIG. 28 is a graph showing changes in pressure P1 and pressure P2 when the correlation between central portion 106 and peripheral portion 103 has the correlation shown in FIG. 29 is a graph showing the relationship between the pressure difference ⁇ P (pressure P2 ⁇ pressure P1) and the shape of the contact surface M when the pressures P1 and P2 have the correlation shown in FIG.
- the range L1 is the range between the contact surface M and the pressure difference ⁇ P that can be presented by the tactile sense presentation device 100
- the range L2 is the range where the pressure difference ⁇ P is small within the range L1.
- FIG. 30 is a schematic diagram showing a tactile sense presentation device 300 in which a bulging portion 302 is provided on a supporting portion 301 for comparison.
- the bulging portion 302 is provided in a region in contact with the periphery of the finger Y, and is configured to be expandable and contractible by air pressure or the like.
- the bulging portion 302 is not provided in the area where the center of the finger Y contacts, and the center of the finger Y contacts the support portion 301 .
- FIG. 31 is a schematic diagram showing changes in the pressure R1 that the finger Y receives from the supporting portion 301 and the pressure R2 that the finger Y receives from the bulging portion 302.
- FIG. 31 When the finger Y is pressed against the supporting portion 301 and the bulging portion 302, the center of the finger Y receives a constant pressure R1 from the supporting portion 301 according to the pressing force of the finger Y. As shown in FIG. When the bulging portion 302 expands, the internal pressure of the bulging portion 302 increases as the height of the bulging portion 302 increases, so the pressure R2 received from the bulging portion 302 gradually increases.
- the pressure R2 has a pressure difference ⁇ R1 from the pressure R1. Further, when the height of the bulging portion 302 is the height Hb2, the pressure R2 has a pressure difference ⁇ R2 from the pressure R1.
- the pressure received from the support portion 301 is greater
- the height of the swelling portion 302 is high (height Hb2)
- the pressure received by the swelling portion 302 is greater. greater pressure from Therefore, depending on the shape of the bulging portion 302, the finger Y receives different pressures at the center and at the periphery, resulting in non-uniform pressure distribution.
- the tactile sense presentation device 100 As shown in FIGS. 24 and 29, it is possible to change the shape of the contact surface M while keeping the pressure distribution uniform.
- the user can be presented with a natural pressure distribution according to the shape of the .
- the configuration of the tactile sense presentation device 100 is not limited to that described above, and the following configuration is also possible.
- FIG. 32 is a schematic diagram showing another configuration of the tactile sense presentation device 100.
- the connecting portion 107 has a first portion 107 b near the central portion 106 and a second portion 107 c near the peripheral portion 103 .
- the hardness of the first portion 107b and the second portion 107b can be different.
- the hardness of the connecting portion 107 may be defined by any physical value representing hardness, such as Shore hardness, Asker C, Young's modulus, or durometer.
- the shape of the contact surface M can be adjusted.
- the first portion 107b is harder than the second portion 107c
- the curvature of the contact surface M becomes smooth (there is no point of inflection), and a natural contact feeling can be realized, which is preferable.
- a portion of the connection portion 107 between the first portion 107b and the second portion 107b can have hardness intermediate between the hardness of the first portion 107b and the hardness of the second portion 107c. , the hardness may gradually change between the first portion 107b and the second portion 107c, or may change stepwise.
- the thickness of the connecting portion 107 may be different. As shown in these figures, if the thickness of the connecting portion 107 near the central portion 106 is T1 and the thickness of the connecting portion 107 near the peripheral portion 103 is T2, the thickness T1 and the thickness T2 are different. can do. Thereby, the shape of the contact surface M can be adjusted. In particular, when the thickness T1 is larger than the thickness T2 as shown in FIG. 33, the curvature of the contact surface M becomes smooth (there is no point of inflection), and a natural contact feeling can be realized, which is preferable. Also, as shown in FIG. 34, the thickness T2 can be made larger than the thickness T1.
- the movable amount of the central portion 106 and the peripheral portion 103 can be different.
- 35 and 36 are schematic diagrams showing the movable amount K1 of the central portion 106 and the movable amount K2 of the peripheral portion 103.
- the movable amount K1 of the central portion 106 is the maximum possible moving distance of the contact surface 106a along the first direction D1 and the second direction D2 (see FIG. 4)
- the movable amount K2 of the peripheral portion 103 is the It is the maximum possible movement distance of the surface 103a along the first direction D1 and the second direction D2 (see FIG. 8).
- the movable amount K2 can be larger than the movable amount K1.
- the movable amount K2 is larger than the movable amount K1, it is possible to increase the realizable range of the uneven shape of the contact surface M.
- the movable amount K1 can be larger than the movable amount K2.
- the height of the side wall portion 101b can be lowered to reduce the height of the outer peripheral portion of the tactile presentation device 100.
- At least one of the peripheral portion 103 and the side wall portion 101b of the tactile sense presentation device 100 can have flexibility toward the contact portion 102 side.
- FIG. 37 shows an example in which the side wall portion 101b is flexible.
- the peripheral portion 103 bends inward due to the pressing force and frictional force from the contacting object, further increasing the contact area between the contact surface M and the contacting object. be able to.
- the peripheral portion 103 bends inward, and the contact area between the contact surface M and the contact object can be further increased.
- FIG. 38 is a schematic diagram showing deformation of the peripheral portion 103 and the side wall portion 101b.
- the peripheral portion 103 bends inward from the state shown in FIG. 38(a)
- the outer peripheral length of the peripheral portion 103 normally shrinks as shown in FIG. 38(b).
- the force received from the contacting object is uneven, unintended uneven deformation may occur as shown in FIG. 38(c). This uneven deformation can be prevented as follows.
- the tactile presentation device 100 can be provided with a spaced portion.
- FIG. 39 is a schematic diagram of the tactile sense presentation device 100 having the spacing portion 108.
- the spaced portion 108 extends from the outer periphery of the peripheral portion 103 toward the central portion 106 and is a portion where the peripheral portion 103 is spaced apart. Note that the separating portion 108 may also partially separate the connecting portion 107 as shown in FIG. It is preferable that the spacing portions 108 are arranged at regular intervals on the outer circumference of the peripheral portion 103 .
- FIG. 40A and 40B are schematic diagrams showing the shape change of the contact surface M in the tactile sense presentation device 100 including the spacing portion 108.
- FIG. 40(a) shows a flat contact surface M
- FIG. 40(b) shows a concave contact surface M
- FIG. 40(c) shows a convex contact surface M.
- FIG. 40 As shown in FIG. 40, by providing the spaced portion 108 on the outer circumference of the peripheral portion 103, the width of the spaced portion 108 is reduced during contraction (see FIG. 38), and is contracted evenly as shown in FIG. 38(b). be able to.
- FIG. 41 is a schematic diagram of the tactile sense presentation device 100 having the bent portion 109.
- the bent portion 109 extends from the outer periphery of the peripheral portion 103 toward the central portion 106 and is a portion where the peripheral portion 103 is bent.
- the bent portion 109 has a lower Young's modulus than the other peripheral portions 103, a thinner thickness, or the like, and is formed to easily bend.
- the bent portion 109 may also be partially formed in the connecting portion 107 as shown in FIG.
- the bent portions 109 are preferably arranged at equal intervals on the outer circumference of the peripheral portion 103 .
- FIG. 42A and 42B are schematic diagrams showing shape changes of the contact surface M in the tactile sense presentation device 100 having the bent portion 109.
- FIG. 42(a) shows a flat contact surface M
- FIG. 42(b) shows a concave contact surface M
- FIG. 42(c) shows a convex contact surface M.
- FIG. 42 As shown in FIG. 42, by providing the bent portion 109 on the outer circumference of the peripheral portion 103, the bent portion 109 bends during contraction (see FIG. 38), and is contracted evenly as shown in FIG. 38(b). can be done.
- FIG. 43 is a plan view of a tactile sense presentation device 100 having a regulation section 110
- FIG. 44 is a schematic diagram showing the operation of this tactile sense presentation device 100.
- the restricting portion 110 is joined to the peripheral portion 103 and the connecting portion 107 and is a member harder than the peripheral portion 103 .
- the restricting portion 110 can have a higher Young's modulus than the peripheral portion 103 .
- the restricting portion 110 maintains its shape against the deformation of the contact surface M, thereby preventing excessive shrinkage in the circumferential direction and uniformly shrinking as shown in FIG. 38(b). can.
- the restricting portion 110 may be joined to at least one of the peripheral portion 103 and the connecting portion 107 .
- At least a part of the contact surface M (the first contact surface 106a and the second contact surface 107a) of the tactile presentation device 100 preferably has a friction coefficient of 0.3 or more.
- 45 is a schematic diagram showing the contact surface M and the finger Y.
- FIG. As shown in the figure, when the contact surface M has a region with a coefficient of friction of 0.3 or more, the frictional force (black arrow) that the contact surface M receives from the finger Y increases the force that the connection portion 107 receives from the finger Y. This is because the finger Y is easily deformed in contact with the finger Y.
- the coefficient of friction of the contact surface M can be set to 0.3 or more by using a material with fine unevenness or a smooth and highly tacky material for the central portion 106 and the connecting portion 107 .
- At least one of the peripheral portion 103 and the central portion 106 may be deformable by folding and unfolding in the first direction D1 and the second direction D2 (see FIG. 4). good.
- a deformed shape due to folding and unfolding includes a bellows shape.
- FIG. 46 shows an example of the tactile presentation device 100 in which the peripheral portion 103 has a deformed shape due to folding and unfolding, and FIG. For example.
- the central portion 106 of the tactile presentation device 100 may be flexible.
- FIG. 48 is a schematic diagram showing the tactile sense presentation device 100 in which the central portion 106 is flexible.
- the central portion 106 receives a tensile force from the connecting portion 107 and deforms so that the first contact surface 106a becomes a concave surface or a convex surface. Thereby, it is possible to widen the realizable range of the uneven shape of the contact surface M.
- the tactile sense presentation device 100 can be configured such that the connecting portion 107 surrounds the peripheral edge of the central portion 106 when viewed in the Z direction, and the peripheral portion 103 surrounds the peripheral edge of the connecting portion 107 .
- the tactile sense presentation device 100 may have the following configuration.
- FIG. 49 is a plan view showing another configuration of the tactile presentation device 100.
- the central portion 106 has a peripheral edge H where the connecting portion 107 and the peripheral portion 103 do not exist on the outer peripheral side.
- 50 and 51 are schematic diagrams showing a state in which a finger Y is brought into contact with the contact surface M of the tactile sense presentation device 100.
- FIG. 52 is a plan view showing another configuration of the tactile presentation device 100.
- the central portion 106 has two peripheral edges H where the connecting portion 107 and the peripheral portion 103 do not exist on the outer peripheral side.
- 53 and 54 are schematic diagrams showing a state in which a finger Y is brought into contact with the contact surface M of the tactile sense presentation device 100.
- FIG. As shown in these figures, since the side wall portion 101b is not required at the peripheral edge H, even when the finger Y makes contact with the finger Y at an angle close to the horizontal, the finger Y can be pushed down to the base, and the side wall portion 101b can be pushed down to the base of the finger Y. It is possible to prevent unnecessary tactile sensation from being caused by the portion 101b.
- the tactile sense presentation device 100 may have a side in which only the connecting portion 107 exists on the outer peripheral side and the peripheral portion 103 does not exist. 49 and 52, it is possible to prevent unnecessary tactile sensation from being caused by the side wall portion 101b.
- the contact portion 102 and the peripheral portion 103 can have various shapes.
- 55 to 58 are schematic diagrams showing various shapes of the contact portion 102 and the peripheral portion 103.
- the boundary lines G1 and G2 do not have corners with a radius of curvature of less than 1 mm.
- the contact portion 102 and the peripheral portion 103 may have shapes other than those shown in FIGS.
- the tactile presentation device 100 can have the first driving section 104 that drives the central section 106 and the second driving section 105 that drives the peripheral section 103 .
- the driving units of the central portion 106 and the peripheral portion 103 can be configured as follows.
- FIG. 59 is a schematic diagram of the tactile sense presentation device 100 including a third driving section 151 and a fourth driving section 152 instead of the first driving section 104 and the second driving section 105.
- the third driving section 151 is fixed to the holding section 101 and drives the central section 106 .
- the fourth driving section 152 is fixed to the central section 106 and drives the peripheral section 103 .
- the central portion 106 is driven by the third driving portion 151 and the peripheral portion 103 is driven by the third driving portion 151 and the fourth driving portion 152 .
- the third driving section 151 functions in the same manner as the first driving section 104, changes the height Hc (see FIG. 4) of the central portion 106, and changes the pressing force Fc (see FIG. 5) according to the height Hc. ) can be changed.
- the third driving section 151 and the fourth driving section 152 function in the same manner as the second driving section 105, change the height Hs (see FIG. 8) of the peripheral portion 103, and change the pressing force according to the height Hs. Fs (see FIG. 9) can be varied.
- FIG. 60 is a schematic diagram of the tactile presentation device 100 including a fifth driving section 153 and a sixth driving section 154 instead of the first driving section 104 and the second driving section 105.
- the fifth driving section 153 is fixed to the holding section 101 and drives the peripheral section 103 .
- the sixth driving section 154 is fixed to the peripheral section 103 and drives the central section 106 .
- the peripheral portion 103 is driven by the fifth driving portion 153 and the central portion 106 is driven by the fifth driving portion 153 and the sixth driving portion 154 .
- the fifth driving section 153 and the sixth driving section 154 function in the same manner as the first driving section 104, change the height Hc (see FIG. 4) of the central portion 106, and push the pressure according to the height Hc.
- the pressure Fc (see FIG. 5) can be varied.
- the fifth driving section 153 functions in the same manner as the second driving section 105, changes the height Hs (see FIG. 8) of the peripheral portion 103, and changes the pressing force Fs (see FIG. 9) according to the height Hs. can be changed.
- FIG. 61 is a schematic diagram of the tactile presentation system 10 according to this embodiment.
- the tactile sense presentation system 10 includes a tactile sense presentation device 100 and a controller 160 .
- the control unit 160 is connected to the first driving unit 104 and the second driving unit 105 and controls the first driving unit 104 and the second driving unit 105 independently. Specifically, when control unit 160 receives an instruction regarding a tactile sensation to be presented to the user from an information processing device or the like that provides content including tactile sensation presentation, control unit 160 controls first driving unit 104 and second driving unit 105 respectively. , defines the shape of the contact surface M and the pressure on the contact object as described above.
- the tactile presentation system 10 may be equipped with a contact sensor.
- FIG. 62 is a schematic diagram of the tactile presentation system 10 including the contact sensor 161.
- the contact sensor 161 is a sensor that senses at least one of the presence or absence of contact with the contact surface M by the contact object, the contact area, the pressing force, and the amount of pressing. Such as a camera (optical sensor) or a conductive sensor.
- the contact sensor 161 is connected to the controller 160 and supplies sensing results to the controller 160 .
- FIG. 63 is a flow chart showing the operation of the tactile sense presentation system 10 having the contact sensor 161.
- the contact sensor 161 senses at least one of the presence or absence of contact with the contact surface M, contact area, pressing force, and amount of pressing, and generates contact-related information including the sensing result (St101).
- the control unit 160 determines whether deformation of the contact surface M is necessary based on the contact-related information (St102).
- the control unit 160 drives the first driving unit 104 and the second driving unit 105 to deform the contact surface M (St103).
- FIG. 64 is an example of the operation of the control unit 160 based on the output of the contact sensor 161, and is a graph showing changes in the contact area with respect to the amount of pressing of the contact surface M.
- the control unit 160 deforms the contact surface M according to the output of the contact sensor 161, which can be used as input feedback for changes in the contact area related to the amount of pressing and UI (User Interface). is.
- the tactile presentation system 10 may be equipped with a shape sensor.
- FIG. 65 is a schematic diagram of the tactile presentation system 10 including the shape sensor 162.
- the shape sensor 162 is a sensor that senses the shape of the contact surface M, and is specifically a camera (optical sensor), bending sensor, or the like.
- the shape sensor 162 is connected to the controller 160 and supplies sensing results to the controller 160 .
- FIG. 66 is a flow chart showing the operation of the tactile presentation system 10 having the shape sensor 162.
- the shape sensor 162 senses the shape of the contact surface M and generates shape-related information including the sensing result (St111).
- the control unit 160 determines whether deformation of the contact surface M is necessary based on the shape-related information (St112).
- the control unit 160 drives the first driving unit 104 and the second driving unit 105 to deform the contact surface M (St113). By deforming the contact surface M according to the output of the shape sensor 162, the control unit 160 can deform the shape of the contact surface M with higher accuracy.
- the tactile sense presentation system 10 includes both the contact sensor 161 and the shape sensor 162, and the control unit 160 controls the first driving unit 104 and the second driving unit 105 based on the outputs of both the contact sensor 161 and the shape sensor 162. may be controlled respectively.
- FIG. 67 is a schematic diagram showing this hardware configuration.
- control unit 160 incorporates a CPU (Central Processing Unit) 1001 and a GPU (Graphics Processing Unit) 1002 .
- An input/output interface 1006 is connected to the CPU 1001 and GPU 1002 via a bus 1005 .
- a ROM (Read Only Memory) 1003 and a RAM (Random Access Memory) 1004 are connected to the bus 1005 .
- the input/output interface 1006 includes an input unit 1007 including input devices such as a keyboard and a mouse for the user to input operation commands, an output unit 1008 for outputting a processing operation screen and images of processing results to a display device, and programs and various data.
- a removable storage medium 1012 such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory.
- the CPU 1001 is read from a program stored in the ROM 1003 or a removable storage medium 1012 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, installed in the storage unit 1009, and loaded from the storage unit 1009 to the RAM 1004. Various processes are executed according to the program.
- the RAM 1004 also stores data necessary for the CPU 1001 to execute various types of processing.
- the GPU 1002 receives control from the CPU 1001 and executes calculation processing necessary for image drawing.
- the CPU 1001 loads, for example, a program stored in the storage unit 1009 into the RAM 1004 via the input/output interface 1006 and the bus 1005, and executes the above-described program. A series of processes are performed.
- the program executed by the control unit 160 can be provided by being recorded on a removable storage medium 1012 such as a package medium, for example. Also, the program can be provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital satellite broadcasting.
- the program can be installed in the storage unit 1009 via the input/output interface 1006 by loading the removable storage medium 1012 into the drive 1011 . Also, the program can be received by the communication unit 1010 and installed in the storage unit 1009 via a wired or wireless transmission medium. In addition, programs can be installed in the ROM 1003 and the storage unit 1009 in advance.
- control unit 160 may be a program in which processing is performed in chronological order according to the order described in the present disclosure, or in parallel or at a necessary timing such as when a call is made. It may be a program in which processing is performed in
- control unit 160 may not be entirely mounted on one device, and the control unit 160 may be configured by a plurality of devices. Alternatively, it may be installed in a plurality of devices connected via a part of the hardware configuration of the control unit 160 or a network.
- the tactile sense presentation device presents a tactile sense to a "contact object" that comes into contact with the tactile sense presentation device.
- the contact object is not particularly limited, but can be a user's finger, hand, or other body part.
- FIG. 68 is a cross-sectional view of the tactile presentation device 200 according to this embodiment
- FIG. 69 is a plan view of the tactile presentation device 200.
- the tactile presentation device 200 includes a holding portion 201, a contact portion 202, a peripheral portion 203, a first driving portion 204, a second driving portion 205, an elevating portion 231, and a distance sensor 232.
- the holding portion 201 supports the contact portion 202 and the peripheral portion 203 .
- the holding portion 201 has a bottom portion 201a, a side wall portion 201b and a fixing portion 201c as shown in FIG.
- the bottom portion 201a has a flat plate shape and has a bottom surface 201d parallel to the XY plane.
- the side wall portion 201 b extends from the periphery of the bottom surface 201 d along the direction perpendicular to the bottom surface 201 d , has a cylindrical shape surrounding the outer periphery of the peripheral portion 203 , and contacts the peripheral portion 203 .
- the fixing portion 201 c is joined to the tip of the side wall portion 201 b , sandwiches the peripheral portion 203 together with the side wall portion 201 b , and fixes the peripheral portion 203 to the holding portion 201 .
- the material of the holding portion 101 is not particularly limited, and can be made of synthetic resin, metal, or the like.
- the contact portion 202 is a portion with which a contact object contacts.
- 70 is a cross-sectional view showing the contact portion 202 and the peripheral portion 203.
- FIG. As shown in the figure, the contact portion 202 and the peripheral portion 203 are formed of an upper film 233 .
- the upper membrane 233 is made of a stretchable, fluid-impermeable material, such as silicone, urethane, or rubber. Alternatively, the upper film 233 may be a laminate of a fluid-impermeable film such as silicon and a fluid-permeable film such as mesh fabric.
- the contact portion 202 comprises a central portion 206 and a connecting portion 207. As shown in FIG.
- the central portion 206 has a first contact surface 206a, which is the surface opposite to the bottom surface 201d.
- the first contact surface 206a can be a plane parallel to the XY plane, but it may also be a curved surface.
- the central portion 206 may have a circular shape when viewed in the Z direction, as shown in FIG.
- the connecting portion 207 connects the central portion 206 and the peripheral portion 203 and has a second contact surface 207a which is the surface opposite to the bottom surface 201d.
- the second contact surface 207a is a surface continuous with the first contact surface 206a, and there is no step at the boundary between the first contact surface 206a and the second contact surface 207a. are smoothly connected.
- the first contact surface 206a and the second contact surface 207a are hereinafter referred to as a contact surface M.
- the connecting portion 207 may have an annular shape surrounding the outer periphery of the central portion 206 when viewed in the Z direction.
- the characteristics of the central portion 206 may be different from those of the connection portion 207 in order to distinguish between the first contact surface 206a and the second contact surface 207a.
- the first contact surface 206a and the second contact surface 207a may have different appearances such as color and reflection characteristics, or may have different shapes such as protrusions or recesses.
- the first contact surface 206a and the second contact surface 207a may have different surface characteristics such as fine shape and friction coefficient.
- the peripheral portion 203 sandwiches the contact portion 202 in a cross section parallel to the Z direction, and is connected to the central portion 206 by the connecting portion 207 .
- the surface of the peripheral portion 203 opposite to the bottom surface 201d is referred to as a surface 203a.
- the peripheral portion 203 can have an annular shape surrounding the connecting portion 207 when viewed from the Z direction.
- the planar shape of the contact portion 202 and the peripheral portion 203 is not limited to the circular shape shown in FIG. 69, and various planar shapes (see FIGS. 49 to 58) can be used as in the first embodiment.
- FIG. 71 is a schematic diagram showing elevation of the elevation unit 231.
- FIG. 71 is a schematic diagram showing elevation of the elevation unit 231.
- the lifting section 231 moves in the Z direction with respect to the holding section 201 .
- the raising/lowering part 231 is provided in the side wall part 201b, engages with a guide groove (not shown) extending in the Z direction, and can be movable along the guide groove.
- the width of the guide groove is, for example, 10 ⁇ m to 200 ⁇ m, and the inner peripheral surface of the guide groove may be coated with a low-friction material such as PTFE (polytetrafluoroethylene) or POM (polyoxymethylene). Also, the inner peripheral surface of the guide groove may be coated with oil, wax, or the like. Also, the portion of the lifting portion 231 that engages with the guide groove may be coated with the low-friction material, or may be coated with oil, wax, or the like.
- a through-hole 231 a is provided in the lifting section 231 . The number of through-holes 231a may be one or more.
- the first driving section 204 drives the central section 206 to change the height of the central section 206 from the holding section 201 and the pressing force applied to the central section 206 .
- the "height from the holding portion 201" can be replaced with the "height from the bottom surface 201d", and so on.
- FIG. 72 is a schematic diagram showing the configuration of the first driving section 204.
- the first drive unit 204 can be a fluid control mechanism comprising a lower membrane 211 , a fluid 212 and a first drive source 213 .
- the lower membrane 211 is elastic and made of a fluid-impermeable material, such as silicone, urethane, or rubber.
- the lower film 211 may be a laminate of a fluid-impermeable film such as silicon and a fluid-permeable film such as mesh fabric.
- the first drive source 213 is a fluid control device such as a pump that can control the fluid, and controls the pressure of the fluid 212 in the lower membrane 211 .
- the pressure of the fluid 212 in the lower membrane 211 by the first drive source 213 will be referred to as an internal pressure Q1.
- the fluid 212 can be, for example, air, nitrogen gas, water, a magnetic fluid, or an electro-rheological (ER) fluid.
- the second driving section 205 drives the peripheral section 203 to change the height of the peripheral section 203 from the holding section 201 and the pressing force applied to the peripheral section 203 .
- FIG. 73 is a schematic diagram showing the configuration of the second driving section 205.
- the second drive section 205 can be a fluid control mechanism comprising a fluid 222 and a second drive source 223 .
- the fluid 222 is housed in a space sealed by the upper film 233 and the lower film 221 and can flow through the through holes 231 a of the elevating section 231 .
- the second drive source 223 is a fluid control device, such as a pump, capable of controlling fluid, and controls the pressure of the fluid 222 in the space.
- the pressure of the fluid 222 in the space sealed by the upper film 233 and the lower film 221 due to the second drive source 213 will be referred to as internal pressure Q2.
- fluid 222 can be, for example, air, nitrogen gas, water, magnetic fluid, or electrorheological fluid.
- the elevating part 231 and the lower film 211 are joined by a joining part 234 at their central regions.
- the elevation unit 231 and the upper film 233 are joined by a joining portion 235 at their central regions.
- the joining portion 234 and the joining portion 235 are not particularly limited as long as they can join two members, such as double-sided tape, adhesive, welding, crimping, or screwing. It should be noted that if the area of the joints 234 and 235 is smaller than the pad of a finger (for example, 2 mm to 20 mm in width), it is less likely that the contact section 202 will feel uncomfortable when touched with a finger, which is preferable.
- the distance sensor 232 detects the distance between the distance sensor 232 and the lifting section 231 .
- FIG. 74 is a schematic diagram showing distance detection by the distance sensor 232.
- the distance sensor 232 detects a distance J between the distance sensor 232 and the lifting section 231 in the Z direction.
- the principle of distance detection by the distance sensor 232 is not particularly limited, and for example, a sensor that detects distance by reflecting light can be used.
- the first driving section 204 drives the central section 206 to change the height of the central section 206 from the holding section 201 and the pressing force applied to the central section 206 .
- FIG. 75 is a schematic diagram showing driving by the first driving section 204.
- the first driving section 204 increases the pressure (internal pressure Q1) of the fluid 212 in the lower membrane 211 to expand the lower membrane 211 and move the elevating section 231 and the central section 206 . It is moved in a direction away from the holding portion 201 .
- the upper film 233 is brought into contact with the elevating portion 231 from the central portion 206 to the peripheral portion 203 and is deformed according to the shape of the elevating portion 231 .
- the first driving section 204 reduces the internal pressure Q1 to contract the lower membrane 211 and move the lifting section 231 and the central section 206 in a direction approaching the holding section 201.
- the central portion 206 of the upper film 233 which is joined to the lifting portion 231, is depressed, and the upper film 233 is deformed into a concave shape.
- FIG. 76 is a schematic diagram showing the shape change of the upper film 233 by the first driving section 204.
- the central portion 206 is moved in a direction away from the holding portion 201 and in a direction approaching the holding portion 201 by the first driving portion 204 .
- the direction (+Z direction) in which the center portion 206 moves away from the holding portion 201 is defined as a first direction D1
- the direction ( ⁇ Z direction) in which the center portion 206 approaches the holding portion 201 is defined as a second direction D2.
- the height of the central portion 206 from the holding portion 201 is Hc, the height of the central portion 206 when the central portion 206 is close to the holding portion 201 as shown in FIG.
- the height of the central portion 206 when the 206 is separated from the holding portion 201 is defined as a height Hc2.
- the first driving section 204 changes the height of the central section 206 from the holding section 201 along the first direction D1 and the second direction D2.
- FIG. 77 is a schematic diagram showing changes in the pressing force applied to the central portion 206 by the first driving portion 204.
- FIG. Hereinafter, the pressing force exerted by the first drive unit 204 on the central portion 206 along the first direction D1 is referred to as a pressing force Fc.
- the pressing force applied to the center portion 206 along the first direction D1 when the height of the center portion 206 is low is defined as a pressing force Fc1.
- the pressing force applied to the central portion 206 along the first direction D1 when the height of the central portion 206 is high is defined as a pressing force Fc2.
- the pressing force Fc is balanced with the resistance force of the upper film 233, and the central portion 206 remains stationary.
- the pressing force Fc balances the resistance force and the pressing force of the contact, and the central portion 206 remains stationary.
- the relationship between the height Hc of the central portion 206 from the holding portion 201 and the pressing force Fc applied to the central portion 206 can have the same correlation as in the first embodiment (see FIG. 6).
- the correlation shown in FIG. 6 is a positive correlation in which the pressing force Fc increases as the height Hc increases, it may be a negative correlation in which the pressing force Fc decreases as the height Hc increases.
- the first driving section 204 changes the pressing force Fc to the central portion 206 according to the height Hc of the central portion 206 .
- the second driving section 205 drives the peripheral section 203 to change the height of the peripheral section 203 from the holding section 201 and the pressing force applied to the peripheral section 203 .
- 78A and 78B are schematic diagrams showing the driving by the second driving unit 205.
- FIG. 78A shows a state in which the underlying membrane 211 is inflated, and FIG. show.
- the upper film 233 contracts as shown in FIG. At this time, the fluid 222 flows through the through holes 231 a of the lifting section 231 . As a result, the upper film 233 is brought into contact with the elevating portion 231 from the central portion 206 to the peripheral portion 203 and is deformed according to the shape of the elevating portion 231 .
- the second drive section 205 increases the internal pressure Q2 to expand the upper membrane 233 and separate the peripheral section 203 from the holding section 201 as shown in FIG. 78(b). move in the desired direction.
- the central portion 206 of the upper film 233 which is joined to the elevating portion 231, is greatly depressed, and the periphery of the central portion 206 is deformed into a concave shape that protrudes.
- the upper film 233 contracts as shown in FIG. At this time, the fluid 222 flows through the through holes 231 a of the lifting section 231 . As a result, the central portion 206 of the upper film 233, which is joined to the lifting portion 231, is depressed, and the upper film 233 is deformed into a concave shape.
- FIG. 79 is a schematic diagram showing the shape change of the upper film 233 by the first driving section 204 and the second driving section 205.
- FIG. As shown in the figure, the peripheral portion 203 is moved along the first direction D1 (+Z direction) and the second direction D2 ( ⁇ Z direction) by the first driving portion 204 and the second driving portion 205 .
- Hs is the height of the peripheral portion 203 from the holding portion 201
- Hs1 is the height of the peripheral portion 203 when the peripheral portion 203 is close to the holding portion 201 as shown in FIG.
- the height of the peripheral portion 203 when the portion 203 is separated from the holding portion 201 is defined as a height Hs2.
- FIG. 80 is a schematic diagram showing changes in pressing force applied to the peripheral portion 203 by the first driving section 204 and the second driving section 205.
- the pressing force applied to the peripheral portion 203 along the first direction D1 by the first driving portion 204 and the second driving portion 205 is referred to as a pressing force Fs.
- the pressing force applied to the peripheral portion 203 along the first direction D1 when the height of the peripheral portion 203 is low is assumed to be a pressing force Fs1.
- the pressing force applied to the central portion 206 along the first direction D1 when the height of the central portion 206 is high is defined as a pressing force Fs2. Note that the pressing force Fs is balanced with the resistance force of the upper film 233, and the peripheral portion 203 remains stationary.
- the relationship between the height Hs of the peripheral portion 203 from the holding portion 201 and the pressing force Fs to the central portion 206 can have the same correlation as in the first embodiment (see FIG. 10).
- the correlation shown in FIG. 10 is a positive correlation in which the pressing force Fs increases as the height Hs increases, it may be a negative correlation in which the pressing force Fs decreases as the height Hs increases.
- the first driving section 204 and the second driving section 205 change the pressing force Fs to the peripheral portion 203 according to the height Hs of the peripheral portion 203 .
- FIG. 81 to 84 are schematic diagrams showing the operation of the tactile sense presentation device 200.
- the tactile sense presentation device 200 can change the height Hc of the central portion 206 and the height Hs of the peripheral portion 203 as described above, and the pressing force Fc on the central portion 206 and the pressing force Fs on the peripheral portion 203 can be changed. can also be changed.
- These heights and pressing forces are the pressure in the lower membrane 211 (internal pressure Q1) by the first drive source 213 and the pressure in the space sealed by the upper membrane 233 and the lower membrane 221 by the second drive source 223 (internal pressure Q1). Q2) can be controlled.
- FIG. 81 is a schematic diagram showing the shape of the upper film 233 when the internal pressure Q1 is positive pressure and the internal pressure Q2 is negative pressure.
- the upper film 233 abuts on the lifting portion 231 from the central portion 206 to the peripheral portion 203 and deforms into a shape corresponding to the shape of the lifting portion 231 .
- the lifting part 231 can have a shape in which the contact surface M is a flat surface. A finger Y in contact with the contact surface M can perceive the flat shape of the contact surface M.
- the upper film 233 is deformed such that the periphery of the central portion 206 protrudes as shown in FIG. A finger Y in contact with the contact surface M can perceive the concave shape of the contact surface M. Further, when the internal pressure Q2 is changed from the state shown in FIG. 82 to a positive pressure, the central portion 206 of the upper film 233 is greatly depressed and deformed so that the periphery of the central portion 206 protrudes as shown in FIG.
- the upper membrane 233 can be deformed into the shape shown in FIG. 84 by decreasing the internal pressure Q1 or increasing the pressing force of the finger Y on the upper membrane 233 from the state shown in FIG.
- the first drive source 213 can control the internal pressure Q1 based on the distance J (see FIG. 74) detected by the distance sensor 232 so that the amount of depression by the finger Y becomes a predetermined amount.
- a finger Y in contact with the contact surface M can perceive the concave shape of the contact surface M and a reaction force according to the amount of pressing.
- the tactile sense presentation device 200 can control the shape of the contact surface M by changing the heights of the peripheral portion 203 and the central portion 206 . Accordingly, the tactile sense presentation device 200 can present the shape of the contact surface M and its change to the user who touches the contact surface M, and can also control the contact area of the contact surface M with respect to the finger Y. FIG.
- the tactile sense presentation device 200 can change the pressing forces of the central portion 206 and the peripheral portion 203 respectively.
- the pressing force Fc is defined by the height Hc of the central portion 206
- the pressing force Fs is defined by the height Hs of the peripheral portion 203.
- the reaction force received from M changes. Thereby, the reaction force by the contact surface M can be changed while controlling the contact area between the contact object and the contact surface M. Further, the height of the contact surface M from the holding portion 201 can be changed while controlling the contact area between the contact object and the contact surface M.
- the configuration of the tactile sense presentation device 200 is not limited to that described above, and the following configuration is also possible.
- FIG. 85 is a schematic diagram showing another configuration of the tactile presentation device 200.
- the lifting section 231 may have an uneven shape.
- FIG. 86 is a schematic diagram showing the shape of the upper film 233 when the internal pressure Q1 is a positive pressure and the internal pressure Q2 is a negative pressure. As shown in the figure, the upper film 233 abuts on the lifting portion 231 from the central portion 206 to the peripheral portion 203 and deforms into a shape along the shape of the lifting portion 231 .
- the tactile sense presentation device 200 can control the shape of the upper film 233 when the upper film 233 comes into contact with the lifting section 231 by the shape of the lifting section 231 .
- the upper film 233 can be made concave (see FIG. 78), and the height of the central portion 206 and the reaction force to the contact can be controlled by the internal pressure Q1.
- the shape of the lifting portion 231 is not limited to that shown in FIG. 85, and may be of any shape.
- FIG. 87 is a schematic diagram showing another configuration of the tactile sense presentation device 200.
- the tactile sense presentation device 200 may not have the lifting section 231 and the upper membrane 233 and the lower membrane 211 may be directly joined by the joining section 236 .
- the joining portion 236 is not particularly limited as long as it can join two members, such as double-sided tape, adhesive, welding, crimping, or screwing.
- FIG. 88 is a schematic diagram showing the shape of the upper film 233 when the internal pressure Q1 is a positive pressure and the internal pressure Q2 is a negative pressure. As shown in the figure, in this configuration, the upper film 233 can be deformed into a convex shape. When the internal pressure Q2 is positive, the upper film 233 can be made concave (see FIG. 78), and the height of the central portion 206 and the reaction force to the contact can be controlled by the internal pressure Q1.
- the tactile sense presentation device 200 can configure a tactile sense presentation system together with a control unit that controls the first driving unit 204 and the second driving unit 205, as in the first embodiment.
- the control unit is connected to the first driving unit 204 and the second driving unit 205 and controls the first driving unit 204 and the second driving unit 205 independently.
- the control unit when the control unit receives an instruction regarding the tactile sensation to be presented to the user from an information processing device or the like that provides content including tactile sensation presentation, the control unit controls the first driving unit 204 and the second driving unit 205, respectively,
- the shape of the contact surface M and the pressure on the contact object are defined as described above.
- the hardware configuration of the controller can be the same as that of the first embodiment (see FIG. 67).
- the tactile sense presentation system according to this embodiment may include the contact sensor or shape sensor described in the first embodiment.
- the tactile presentation device 100 according to the first embodiment of the present technology and the tactile presentation device 200 according to the second embodiment of the present technology are used to reproduce the hardness and shape of a virtual object and the state of contact with the virtual object on the skin.
- a system that cooperates with a sensor that acquires the position and orientation of the device may not be necessary, and presents the contact area and contact shape with an object in the virtual space on the skin. It is possible to
- the tactile sense presentation device 100 and the tactile sense presentation device 200 cooperate (or may not) cooperate with an external system that senses the position and movement of the skin in an encounter type tactile sense presentation device, for example, and interact with objects in the virtual space.
- a system that presents the contact area and contact shape to the skin is possible.
- sandwiching the structure of the tactile sense presentation device 100 or the tactile sense presentation device 200 between a physical object it is also possible to change the sensation obtained by the sense of touch, such as the hardness, shape, movement, and contact state of the actual object.
- the tactile sense presentation device 100 and the tactile sense presentation device 200 can also be used as an input device with a tactile sense FB (feedback) that gives different shapes and hardness on the same surface in response to a touch or push operation (a game controller). , UI, etc.). Furthermore, it is also possible to arrange a large number of tactile sense presentation devices 100 or 200 in an array to use a large-area, high-resolution tactile sense presentation.
- a tactile sense FB feedback
- UI UI
- the present technology can also have the following configuration. (1) a contact portion having a central portion having a first contact surface and a flexible connecting portion having a second contact surface continuous with the first contact surface; a peripheral portion connected to the central portion by the connecting portion; a holding portion that supports the contact portion and the peripheral portion; changing the height of the central portion from the holding portion along a first direction in which the central portion is spaced apart from the holding portion and a second direction opposite to the first direction; a first drive unit that changes the pressing force along the first direction toward the central portion according to the height of the from the holding portion; The height of the peripheral portion from the holding portion is changed along the first direction and the second direction, and the height of the peripheral portion from the holding portion is adjusted according to the height of the peripheral portion from the holding portion.
- a tactile sense presentation device comprising: a second driving unit that changes a pressing force along one direction; (2) The tactile presentation device according to (1) above, At least one of the first driving section and the second driving section drives the central section or the peripheral section by fluid control. A tactile sense presentation device. (3) The tactile presentation device according to (2) above, Both the first driving section and the second driving section drive the central section and the peripheral section by fluid control. A tactile presentation device.
- the tactile presentation device drives the central section such that a pressing force to the central section and a height of the central section from the holding section have a first correlation
- the second driving section drives the peripheral section such that the pressing force applied to the peripheral section and the height of the front peripheral section from the holding section have a second correlation different from the first correlation.
- a tactile presentation device (5) The tactile presentation device according to any one of (1) to (4) above, The tactile sense presentation device, wherein the connecting portion has different hardness in the vicinity of the central portion and in the vicinity of the peripheral portion.
- the tactile presentation device is harder near the central portion than near the peripheral portion.
- the tactile presentation device according to any one of (1) to (4) above, The tactile sense presentation device, wherein the connecting portion has a different thickness near the central portion and near the peripheral portion.
- the tactile presentation device (7) above, The tactile presentation device, wherein the connecting portion is thicker in the vicinity of the central portion than in the vicinity of the peripheral portion.
- the holding portion includes a side wall portion that contacts the peripheral portion, At least one of the peripheral portion and the side wall portion has flexibility toward the contact portion.
- a tactile sense presentation device (10) The tactile presentation device according to (9) above, A tactile sense presentation device having a spaced portion extending from an outer circumference of the peripheral portion toward the central portion and separated from the peripheral portion.
- the tactile presentation device according to (9) above, A tactile sense presentation device having a bent portion extending from an outer periphery of the peripheral portion toward the central portion and bending the peripheral portion. (12) The tactile presentation device according to any one of (1) to (11) above, A tactile presentation device, wherein at least a partial region of the first contact surface and the second contact surface has a coefficient of friction of 0.3 or more. (13) The tactile presentation device according to any one of (1) to (12) above, The amount of movement of the central portion in the first direction and the second direction is smaller than the amount of movement of the peripheral portion in the first direction and the second direction. A tactile sense presentation device.
- the tactile presentation device according to any one of (1) to (12) above, The amount of movement of the central portion in the first direction and the second direction is greater than the amount of movement of the peripheral portion in the first direction and the second direction.
- a tactile sense presentation device (15) The tactile presentation device according to any one of (1) to (14) above, A tactile presentation device, wherein at least a part of the central portion and the peripheral portion is deformable by folding and unfolding. (16) The tactile presentation device according to any one of (1) to (15) above, The tactile sense presentation device, wherein the central portion has a peripheral edge on which the connecting portion and the peripheral portion do not exist, or a peripheral edge on which the peripheral portion does not exist on the outer peripheral side.
- a boundary line between the central portion and the connection portion does not have a corner with a radius of curvature of less than 1 mm, and a boundary line between the connection portion and the peripheral portion does not have a corner with a radius of curvature of less than 1 mm.
- a tactile sense presentation device further comprising: a restricting portion joined to at least one of the peripheral portion and the connecting portion and harder than the peripheral portion.
- At least part of the central portion and the peripheral portion has a bellows structure. A tactile presentation device.
- the tactile presentation device according to any one of (1) to (19) above, The tactile sense presentation device, wherein the central portion is flexible.
- a contact portion having a central portion having a first contact surface and a flexible connecting portion having a second contact surface continuous with the first contact surface; a peripheral portion connected to the central portion by the connecting portion; a holding portion that supports the contact portion and the peripheral portion; changing the height of the central portion from the holding portion along a first direction in which the central portion is spaced apart from the holding portion and a second direction opposite to the first direction; a first drive unit that changes the pressing force along the first direction toward the central portion according to the height of the from the holding portion; The height of the peripheral portion from the holding portion is changed along the first direction and the second direction, and the height of the peripheral portion from the holding portion is adjusted according to the height of the peripheral portion from the holding portion.
- a tactile presentation system comprising: a control section that independently controls the first drive section and the second drive section.
- a control section that independently controls the first drive section and the second drive section.
- the tactile presentation system according to (21) above a sensor that senses at least one of the presence or absence of contact with the first contact surface and the second contact surface by the contact object, the contact area, the pressing force, and the amount of pressing, The tactile sense presentation system, wherein the control section controls the first driving section and the second driving section based on the output of the sensor.
- the tactile presentation system according to (21) above further comprising a sensor for sensing shapes of the first contact surface and the second contact surface; The tactile sense presentation system, wherein the control section controls the first driving section and the second driving section based on the output of the sensor.
- Tactile sense presentation system 100 200... Tactile sense presentation apparatus 101, 201... Holding part 102, 202... Contact part 103, 203... Peripheral part 104, 204... First drive part 105, 205... Second drive part 106, 206... Central portion 107, 207 Connection portion 108 Spacing portion 109 Bending portion 110 Regulating portion 160 Control portion 161 Contact sensor 162 Shape sensor 211 Lower film 231 Lifting portion 232 Distance sensor 233 Upper film
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Abstract
Description
上記接触部は、第1の接触面を有する中央部と、可撓性を有し、上記第1の接触面に連続する第2の接触面を有する接続部とを有する。
上記周辺部は、上記接続部によって上記中央部と接続されている。
上記保持部は、上記接触部と上記周辺部を支持する。
上記第1の駆動部は、上記中央部が上記保持部から離間する第1の方向と上記第1の方向とは反対方向の第2の方向に沿って上記中央部の上記保持部からの高さを変化させ、上記中央部の上記保持部からの高さに応じて上記中央部への上記第1の方向に沿った押圧力を変化させる。
上記第2の駆動部は、上記第1の方向と上記第2の方向に沿って上記周辺部の上記保持部からの高さを変化させ、上記周辺部の上記保持部からの高さに応じて上記周辺部への上記第1の方向に沿った押圧力を変化させる。
上記第2の駆動部は、上記周辺部への押圧力と、前周辺部の上記保持部からの高さが上記第1の相関とは異なる第2の相関となるように上記周辺部を駆動してもよい。
上記周辺部及び上記側壁部の少なくとも一方は、上記接触部側への可撓性を有してもよい。
触覚提示装置。
上記接触部は、第1の接触面を有する中央部と、可撓性を有し、上記第1の接触面に連続する第2の接触面を有する接続部とを有する。
上記周辺部は、上記接続部によって上記中央部と接続されている。
上記保持部は、上記接触部と上記周辺部を支持する。
上記第1の駆動部は、上記中央部が上記保持部から離間する第1の方向と上記第1の方向とは反対方向の第2の方向に沿って上記中央部の上記保持部からの高さを変化させ、上記中央部の上記保持部からの高さに応じて上記中央部への上記第1の方向に沿った押圧力を変化させる。
上記第2の駆動部は、上記第1の方向と上記第2の方向に沿って上記周辺部の上記保持部からの高さを変化させ、上記周辺部の上記保持部からの高さに応じて上記周辺部への上記第1の方向に沿った押圧力を変化させる。
上記制御部は、上記第1の駆動部と上記第2の駆動部を独立に制御する。
上記制御部は、上記センサの出力に基づいて上記第1の駆動部及び上記第2の駆動部を制御してもよい。
上記制御部は、上記センサの出力に基づいて上記第1の駆動部及び上記第2の駆動部を制御してもよい。
本技術の第1の実施形態に係る触覚提示装置について説明する。
本実施形態に係る触覚提示装置は、同触覚提示装置に接触する「接触物」に対して触覚を提示する。接触物は特に限定されないが、ユーザの指、手やその他の身体の部位とすることができる。
触覚提示装置100の動作について説明する。図12乃至図14は触覚提示装置100の動作を示す模式図である。触覚提示装置100は、上述のように中央部106の高さHcと周辺部103の高さHsをそれぞれ変化させることが可能である。
触覚提示装置100による効果について説明する。上記のように触覚提示装置100は、周辺部103と中央部106の高さを変化させることにより、接触面Mの形状を制御することが可能である。図15は、接触面Mに接触するユーザの指Yを示す模式図である。図15(a)及び(b)に示すように、触覚提示装置100は、接触面Mに触れるユーザに接触面Mの形状やその変化を提示することができ、指Yに対する接触面Mの接触面積を制御することも可能である。
上記のように、触覚提示装置100では、第1駆動部104により中央部106の高さHcと押圧力Fcは一定の相関(図6参照)を有し、第2駆動部105により周辺部103の高さHsと押圧力Fsは一定の相関(図10参照)を有する。この中央部106の相関と周辺部103の相関を異なるものとすることにより、接触面Mの圧力分布を均一とすることが可能となる。
触覚提示装置100の構成は上述のものに限られず、以下のような構成とすることも可能である。
図32は、触覚提示装置100の他の構成を示す模式図である。図32に示すように接続部107は、中央部106の近傍である第1部分107bと周辺部103の近傍である第2部分107cを有する。ここで、第1部分107bと第2部分107bは硬さが異なるものとすることができる。なお、接続部107の硬さは、ショア硬度、アスカーC、ヤング率又はデュロメーター等の、硬さを表すいずれの物性値で規定されるものであってもよい。
触覚提示装置100は、中央部106と周辺部103の可動量が異なるものとすることができる。図35及び図36は中央部106の可動量K1と周辺部103の可動量K2を示す模式図である。なお、中央部106の可動量K1は第1方向D1及び第2方向D2(図4参照)に沿った、接触面106aのとり得る最大の移動距離であり、周辺部103の可動量K2は第1方向D1及び第2方向D2(図8参照)に沿った、表面103aのとり得る最大の移動距離である。
触覚提示装置100は、周辺部103及び側壁部101bのうち少なくとも一方が、接触部102側への可撓性を有するものとすることができる。図37は側壁部101bが可撓性を有する例である。同図に示すように、側壁部101bが可撓性を有すると、接触物からの押圧力や摩擦力により、周辺部103が内側へ撓み、接触面Mと接触物の接触面積をさらに増加させることができる。また、周辺部103が可撓性を有する場合も同様に、周辺部103が内側へ撓み、接触面Mと接触物の接触面積をさらに増加させることができる。
触覚提示装置100が備える接触面M(第1接触面106a及び第2接触面107a)は、少なくとも一部が摩擦係数0.3以上の領域を有するものが好適である。図45は接触面Mと指Yを示す模式図である。同図に示すように、接触面Mが摩擦係数0.3以上の領域を有すると、接触面Mが指Yから受ける摩擦力(黒矢印)により、接続部107が指Yから受ける力が大きくなり、指Yに接して変形しやすくなるためである。なお、接触面Mの摩擦係数は、中央部106と接続部107の素材を細かい凹凸のある素材や滑らかでタック性の高い素材等にすることにより、0.3以上とすることができる。
触覚提示装置100において、周辺部103及び中央部106の少なくともいずれか一方は、第1方向D1及び第2方向D2(図4参照)に対して折り畳み及び展開による変形が可能なものであってもよい。折り畳み及び展開による変形な形状としては蛇腹形状が挙げられる。図46は周辺部103が折り畳み及び展開による変形な形状を有する触覚提示装置100の例であり、図47は周辺部103及び中央部106が折り畳み及び展開による変形な形状を有する触覚提示装置100の例である。周辺部103又は中央部106を折り畳み及び展開による変形が可能な構造とすることにより、第1駆動部104及び第2駆動部105が発生させる力が小さくても、接触面Mに大変形を発生させることが可能である。
触覚提示装置100において中央部106は可撓性を有してもよい。図48は中央部106が可撓性を有する触覚提示装置100を示す模式図である。同図に示すように中央部106が可撓性を有する場合、中央部106は接続部107から引張力を受け、第1接触面106aが凹面又は凸面となるように変形する。これにより、接触面Mの凹凸形状の実現可能範囲を大きくすることが可能である。
触覚提示装置100は、図2に示すように、Z方向から見て中央部106の周縁を接続部107が囲み、接続部107の周縁を周辺部103が囲むものすることができる。また、触覚提示装置100は、以下のような構成を有するものであってもよい。図49は、触覚提示装置100の他の構成を示す平面図である。同図に示すように、中央部106は、外周側に接続部107及び周辺部103が存在しない周縁Hを有する。図50及び図51は、この触覚提示装置100において接触面Mに指Yを接触させた状態を示す模式図である。
触覚提示装置100では、接触部102及び周辺部103は各種形状を有するものとすることができる。図55乃至図58は、接触部102及び周辺部103の各種形状を示す模式図である。これらの図において、中央部106と接続部107の境界線を境界線G1として示し、接続部107と周辺部103の境界を境界線G2として示す。この境界線G1及び境界線G2は、曲率半径1mm未満の角を有しないものが好適である。曲率半径1mm未満の角を有しない場合、触感として目立つノイズが低減でき、変形による応力集中が無いので耐久性も優れるためである。なお、接触部102及び周辺部103は図55乃至図58に示す形状以外の形状とすることも可能である。
上述のように触覚提示装置100は、中央部106を駆動する第1駆動部104と周辺部103を駆動する第2駆動部105を有するものとすることができる。ここで、中央部106と周辺部103の駆動部は以下の様な構成とすることも可能である。図59は、第1駆動部104及び第2駆動部105に替えて第3駆動部151及び第4駆動部152を備える触覚提示装置100の模式図である。同図に示すように、第3駆動部151は、保持部101に固定され、中央部106を駆動する。また、第4駆動部152は中央部106に固定され、周辺部103を駆動する。
本実施形態に係る触覚提示システムについて説明する。
触覚提示システム10が備える制御部160の機能的構成を実現することが可能なハードウェア構成について説明する。図67はこのハードウェア構成を示す模式図である。
本技術の第2の実施形態に係る触覚提示装置について説明する。
本実施形態に係る触覚提示装置は、同触覚提示装置に接触する「接触物」に対して触覚を提示する。接触物は特に限定されないが、ユーザの指、手やその他の身体の部位とすることができる。
第1駆動部204は、中央部206を駆動し、中央部206の保持部201からの高さと、中央部206への押圧力を変化させる。図75は、第1駆動部204による駆動を示す模式図である。図75(a)に示すように第1駆動部204は、下膜211内の流体212の圧力(内圧Q1)を増加させることにより、下膜211を膨張させ、昇降部231及び中央部206を保持部201から離間する方向に移動させる。これにより、上膜233は中央部206から周辺部203にわたって昇降部231に当接し、昇降部231の形状にしたがって変形する。
触覚提示装置200の動作について説明する。図81乃至図84は触覚提示装置200の動作を示す模式図である。触覚提示装置200は、上述のように中央部206の高さHcと周辺部203の高さHsをそれぞれ変化させることができ、中央部206への押圧力Fcと周辺部203への押圧力Fsもそれぞれ変化させることができる。これらの高さと押圧力は、第1駆動源213による下膜211内の圧力(内圧Q1)と、第2駆動源223による上膜233と下膜221により封止された空間内の圧力(内圧Q2)により制御することができる。
触覚提示装置200による効果について説明する。上記のように触覚提示装置200は、周辺部203と中央部206の高さを変化させることにより、接触面Mの形状を制御することが可能である。これにより触覚提示装置200は、接触面Mに触れるユーザに接触面Mの形状やその変化を提示することができ、指Yに対する接触面Mの接触面積を制御することも可能である。
触覚提示装置200の構成は上述のものに限られず、以下のような構成とすることも可能である。
本実施形態に係る触覚提示システムについて説明する。
本技術の第1の実施形態に係る触覚提示装置100及び第2の実施形態に係る触覚提示装置200は、仮想物体の硬軟感や形状、仮想物体との接触の状態を皮膚に再現するために用いることができる。例えば、皮膚への装着型または把持型デバイスにおいて、デバイスの位置姿勢を取得するセンサと連携し(しなくてもよい)、仮想空間上の物体との接触面積や接触形状を皮膚に提示するシステムとすることが可能である。
本開示中に記載された効果はあくまで例示であって限定されるものでは無く、また他の効果があってもよい。上記の複数の効果の記載は、それらの効果が必ずしも同時に発揮されるということを意味しているのではない。条件等により、少なくとも上記した効果のいずれかが得られることを意味しており、本開示中に記載されていない効果が発揮される可能性もある。また、本開示において説明した特徴部分のうち、少なくとも2つの特徴部分を任意に組み合わせることも可能である。
(1)
第1の接触面を有する中央部と、可撓性を有し、上記第1の接触面に連続する第2の接触面を有する接続部とを有する接触部と、
上記接続部によって上記中央部と接続された周辺部と、
上記接触部と上記周辺部を支持する保持部と、
上記中央部が上記保持部から離間する第1の方向と上記第1の方向とは反対方向の第2の方向に沿って上記中央部の上記保持部からの高さを変化させ、上記中央部の上記保持部からの高さに応じて上記中央部への上記第1の方向に沿った押圧力を変化させる第1の駆動部と、
上記第1の方向と上記第2の方向に沿って上記周辺部の上記保持部からの高さを変化させ、上記周辺部の上記保持部からの高さに応じて上記周辺部への上記第1の方向に沿った押圧力を変化させる第2の駆動部と
を具備する触覚提示装置。
(2)
上記(1)に記載の触覚提示装置であって、
上記第1の駆動部と上記第2の駆動部の少なくとも一方は、流体の制御により上記中央部又は上記周辺部を駆動する
触覚提示装置。
(3)
上記(2)に記載の触覚提示装置であって、
上記第1の駆動部と上記第2の駆動部の両方は、流体の制御により上記中央部及び上記周辺部を駆動する
触覚提示装置。
(4)
上記(1)から(3)のうちいずれか1つに記載の触覚提示装置であって、
上記第1の駆動部は、上記中央部への押圧力と、上記中央部の上記保持部からの高さが第1の相関となるように上記中央部を駆動し、
上記第2の駆動部は、上記周辺部への押圧力と、前周辺部の上記保持部からの高さが上記第1の相関とは異なる第2の相関となるように上記周辺部を駆動する
触覚提示装置。
(5)
上記(1)から(4)のうちいずれか1つに記載の触覚提示装置であって、
上記接続部は、上記中央部の近傍と上記周辺部の近傍で硬さが異なる
触覚提示装置。
(6)
上記(5)に記載の触覚提示装置であって、
上記接続部は、上記中央部の近傍が上記周辺部の近傍より硬い
触覚提示装置。
(7)
上記(1)から(4)のうちいずれか1つに記載の触覚提示装置であって、
上記接続部は、上記中央部の近傍と上記周辺部の近傍の厚みが異なる
触覚提示装置。
(8)
上記(7)に記載の触覚提示装置であって、
上記接続部は、上記中央部の近傍が上記周辺部の近傍より厚い
触覚提示装置。
(9)
上記(1)から(8)のうちいずれか1つに記載の触覚提示装置であって、
上記保持部は、上記周辺部に接触する側壁部を備え、
上記周辺部及び上記側壁部の少なくとも一方は、上記接触部側への可撓性を有する
触覚提示装置。
(10)
上記(9)に記載の触覚提示装置であって、
上記周辺部の外周から上記中央部に向かって延伸し、上記周辺部が離間した離間部を有する
触覚提示装置。
(11)
上記(9)に記載の触覚提示装置であって、
上記周辺部の外周から上記中央部に向かって延伸し、上記周辺部が屈曲する屈曲部を有する
触覚提示装置。
(12)
上記(1)から(11)のうちいずれか1つに記載の触覚提示装置であって、
上記第1の接触面と上記第2の接触面の少なくとも一部の領域は摩擦係数が0.3以上である
触覚提示装置。
(13)
上記(1)から(12)のうちいずれか1つに記載の触覚提示装置であって、
上記中央部の上記第1の方向及び上記第2の方向における可動量は、上記周辺部の上記第1の方向及び上記第2の方向における可動量より小さい
触覚提示装置。
(14)
上記(1)から(12)のうちいずれか1つに記載の触覚提示装置であって、
上記中央部の上記第1の方向及び上記第2の方向における可動量は、上記周辺部の上記第1の方向及び上記第2の方向における可動量より大きい
触覚提示装置。
(15)
上記(1)から(14)のうちいずれか1つに記載の触覚提示装置であって、
上記中央部及び上記周辺部の少なくとも一部は、折り畳み及び展開による変形が可能である
触覚提示装置。
(16)
上記(1)から(15)のうちいずれか1つに記載の触覚提示装置であって、
上記中央部は、外周側に上記接続部及び上記周辺部が存在しない周縁又は、外周側に上記周辺部が存在しない周縁を有する
触覚提示装置。
(17)
上記(1)から(16)のうちいずれか1つに記載の触覚提示装置であって、
上記中央部と上記接続部の境界線は曲率半径1mm未満の角を有さず、上記接続部と上記周辺部の境界線は曲率半径1mm未満の角を有さない
触覚提示装置。
(18)
上記(9)に記載の触覚提示装置であって、
上記周辺部及び上記接続部の少なくとも一方に接合され、上記周辺部より硬い規制部
をさらに具備する触覚提示装置。
(19)
上記(15)に記載の触覚提示装置であって、
上記中央部及び上記周辺部の少なくとも一部は、蛇腹構造を有する
触覚提示装置。
(20)
上記(1)から(19)のうちいずれか一つに記載の触覚提示装置であって、
上記中央部は可撓性を有する
触覚提示装置。
(21)
第1の接触面を有する中央部と、可撓性を有し、上記第1の接触面に連続する第2の接触面を有する接続部とを有する接触部と、
上記接続部によって上記中央部と接続された周辺部と、
上記接触部と上記周辺部を支持する保持部と、
上記中央部が上記保持部から離間する第1の方向と上記第1の方向とは反対方向の第2の方向に沿って上記中央部の上記保持部からの高さを変化させ、上記中央部の上記保持部からの高さに応じて上記中央部への上記第1の方向に沿った押圧力を変化させる第1の駆動部と、
上記第1の方向と上記第2の方向に沿って上記周辺部の上記保持部からの高さを変化させ、上記周辺部の上記保持部からの高さに応じて上記周辺部への上記第1の方向に沿った押圧力を変化させる第2の駆動部と、
上記第1の駆動部と上記第2の駆動部を独立に制御する制御部と
を具備する触覚提示システム。
(22)
上記(21)に記載の触覚提示システムであって、
接触物による上記第1の接触面及び上記第2の接触面への接触の有無、接触面積、押圧力及び押し込み量の少なくともいずれかをセンシングするセンサ
をさらに具備し、
上記制御部は、上記センサの出力に基づいて上記第1の駆動部及び上記第2の駆動部を制御する
触覚提示システム。
(23)
上記(21)に記載の触覚提示システムであって、
上記第1の接触面及び上記第2の接触面の形状をセンシングするセンサ
をさらに具備し、
上記制御部は、上記センサの出力に基づいて上記第1の駆動部及び上記第2の駆動部を制御する
触覚提示システム。
100、200…触覚提示装置
101、201…保持部
102、202…接触部
103、203…周辺部
104、204…第1駆動部
105、205…第2駆動部
106、206…中央部
107、207…接続部
108…離間部
109…屈曲部
110…規制部
160…制御部
161…接触センサ
162…形状センサ
211…下膜
231…昇降部
232…距離センサ
233…上膜
Claims (20)
- 第1の接触面を有する中央部と、可撓性を有し、前記第1の接触面に連続する第2の接触面を有する接続部とを有する接触部と、
前記接続部によって前記中央部と接続された周辺部と、
前記接触部と前記周辺部を支持する保持部と、
前記中央部が前記保持部から離間する第1の方向と前記第1の方向とは反対方向の第2の方向に沿って前記中央部の前記保持部からの高さを変化させ、前記中央部の前記保持部からの高さに応じて前記中央部への前記第1の方向に沿った押圧力を変化させる第1の駆動部と、
前記第1の方向と前記第2の方向に沿って前記周辺部の前記保持部からの高さを変化させ、前記周辺部の前記保持部からの高さに応じて前記周辺部への前記第1の方向に沿った押圧力を変化させる第2の駆動部と
を具備する触覚提示装置。 - 請求項1に記載の触覚提示装置であって、
前記第1の駆動部と前記第2の駆動部の少なくとも一方は、流体の制御により前記中央部又は前記周辺部を駆動する
触覚提示装置。 - 請求項2に記載の触覚提示装置であって、
前記第1の駆動部と前記第2の駆動部の両方は、流体の制御により前記中央部及び前記周辺部を駆動する
触覚提示装置。 - 請求項1に記載の触覚提示装置であって、
前記第1の駆動部は、前記中央部への押圧力と、前記中央部の前記保持部からの高さが第1の相関となるように前記中央部を駆動し、
前記第2の駆動部は、前記周辺部への押圧力と、前周辺部の前記保持部からの高さが前記第1の相関とは異なる第2の相関となるように前記周辺部を駆動する
触覚提示装置。 - 請求項1に記載の触覚提示装置であって、
前記接続部は、前記中央部の近傍と前記周辺部の近傍で硬さが異なる
触覚提示装置。 - 請求項5に記載の触覚提示装置であって、
前記接続部は、前記中央部の近傍が前記周辺部の近傍より硬い
触覚提示装置。 - 請求項1に記載の触覚提示装置であって、
前記接続部は、前記中央部の近傍と前記周辺部の近傍の厚みが異なる
触覚提示装置。 - 請求項7に記載の触覚提示装置であって、
前記接続部は、前記中央部の近傍が前記周辺部の近傍より厚い
触覚提示装置。 - 請求項1に記載の触覚提示装置であって、
前記保持部は、前記周辺部に接触する側壁部を備え、
前記周辺部及び前記側壁部の少なくとも一方は、前記接触部側への可撓性を有する
触覚提示装置。 - 請求項9に記載の触覚提示装置であって、
前記周辺部の外周から前記中央部に向かって延伸し、前記周辺部が離間した離間部を有する
触覚提示装置。 - 請求項9に記載の触覚提示装置であって、
前記周辺部の外周から前記中央部に向かって延伸し、前記周辺部が屈曲する屈曲部を有する
触覚提示装置。 - 請求項9に記載の触覚提示装置であって、
前記第1の接触面と前記第2の接触面の少なくとも一部の領域は摩擦係数が0.3以上である
触覚提示装置。 - 請求項1に記載の触覚提示装置であって、
前記中央部の前記第1の方向及び前記第2の方向における可動量は、前記周辺部の前記第1の方向及び前記第2の方向における可動量より小さい
触覚提示装置。 - 請求項1に記載の触覚提示装置であって、
前記中央部の前記第1の方向及び前記第2の方向における可動量は、前記周辺部の前記第1の方向及び前記第2の方向における可動量より大きい
触覚提示装置。 - 請求項1に記載の触覚提示装置であって、
前記中央部及び前記周辺部の少なくとも一部は、折り畳み及び展開による変形が可能である
触覚提示装置。 - 請求項1に記載の触覚提示装置であって、
前記中央部は、外周側に前記接続部及び前記周辺部が存在しない周縁又は、外周側に前記周辺部が存在しない周縁を有する
触覚提示装置。 - 請求項1に記載の触覚提示装置であって、
前記中央部と前記接続部の境界線は曲率半径1mm未満の角を有さず、前記接続部と前記周辺部の境界線は曲率半径1mm未満の角を有さない
触覚提示装置。 - 第1の接触面を有する中央部と、可撓性を有し、前記第1の接触面に連続する第2の接触面を有する接続部とを有する接触部と、
前記接続部によって前記中央部と接続された周辺部と、
前記接触部と前記周辺部を支持する保持部と、
前記中央部が前記保持部から離間する第1の方向と前記第1の方向とは反対方向の第2の方向に沿って前記中央部の前記保持部からの高さを変化させ、前記中央部の前記保持部からの高さに応じて前記中央部への前記第1の方向に沿った押圧力を変化させる第1の駆動部と、
前記第1の方向と前記第2の方向に沿って前記周辺部の前記保持部からの高さを変化させ、前記周辺部の前記保持部からの高さに応じて前記周辺部への前記第1の方向に沿った押圧力を変化させる第2の駆動部と、
前記第1の駆動部と前記第2の駆動部を独立に制御する制御部と
を具備する触覚提示システム。 - 請求項18に記載の触覚提示システムであって、
接触物による前記第1の接触面及び前記第2の接触面への接触の有無、接触面積、押圧力及び押し込み量の少なくともいずれかをセンシングするセンサ
をさらに具備し、
前記制御部は、前記センサの出力に基づいて前記第1の駆動部及び前記第2の駆動部を制御する
触覚提示システム。 - 請求項18に記載の触覚提示システムであって、
前記第1の接触面及び前記第2の接触面の形状をセンシングするセンサ
をさらに具備し、
前記制御部は、前記センサの出力に基づいて前記第1の駆動部及び前記第2の駆動部を制御する
触覚提示システム。
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EP21921325.3A EP4283438A4 (en) | 2021-01-19 | 2021-12-21 | TACTILE SENSING DISPLAY APPARATUS AND TACTILE SENSING DISPLAY METHOD |
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JP2011508935A (ja) * | 2008-01-04 | 2011-03-17 | タクタス テクノロジー,インク. | ユーザインタフェースシステム |
WO2016075901A1 (ja) * | 2014-11-14 | 2016-05-19 | ソニー株式会社 | 入力装置、キーボードおよび電子機器 |
JP2017162468A (ja) * | 2016-03-07 | 2017-09-14 | イマージョン コーポレーションImmersion Corporation | 触覚表面要素のためのシステム及び方法 |
JP2019212169A (ja) | 2018-06-07 | 2019-12-12 | パナソニックIpマネジメント株式会社 | マトリックス電気粘性弁、形状提示装置およびマトリックス電気粘性弁の駆動方法 |
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JP2011508935A (ja) * | 2008-01-04 | 2011-03-17 | タクタス テクノロジー,インク. | ユーザインタフェースシステム |
WO2016075901A1 (ja) * | 2014-11-14 | 2016-05-19 | ソニー株式会社 | 入力装置、キーボードおよび電子機器 |
JP2017162468A (ja) * | 2016-03-07 | 2017-09-14 | イマージョン コーポレーションImmersion Corporation | 触覚表面要素のためのシステム及び方法 |
JP2019212169A (ja) | 2018-06-07 | 2019-12-12 | パナソニックIpマネジメント株式会社 | マトリックス電気粘性弁、形状提示装置およびマトリックス電気粘性弁の駆動方法 |
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