JP2016173774A - Haptic feedback device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a haptic feedback device that does not require a complex mechanism, structure, or the like in a portion that provides haptic sensation.SOLUTION: A haptic feedback device comprises: a haptic feedback unit 2 having a fluid accommodation unit 7 for accommodating a magnetic viscous fluid 6; a fluid channel 3 coupled to the fluid accommodation unit 7; a first magnetic field generator 4 configured to apply a magnetic field to the magnetic viscous fluid 6 flowing through the fluid channel 3; a second magnetic field generator 5 configured to apply a magnetic field to the magnetic viscous fluid 6 in the fluid accommodation unit 7; and a fluid absorbing unit 8 configured to absorb a volume of the magnetic viscous fluid that flows out of the fluid accommodation unit 7 when the fluid accommodation unit 7 is pressed.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a tactile sense presentation device that presents a tactile sense obtained when a surface of an object (such as a touch panel) is pressed.

  Various devices have been proposed as devices for presenting a tactile sensation when touching a touch panel or the like of an electronic device. Among them, a tactile sensation presentation device that changes a tactile sensation using a change in the state of a fluid is known as a device that does not require a complicated mechanism or structure.

  For example, the touch panel disclosed in Patent Document 1 is composed of a sheet structure in which an electrolytic solution and an electrode are enclosed, and the electrolytic solution is vaporized by applying a voltage to the electrode to expand the sheet structure. Thus, the load when the operator presses the touch panel with a fingertip is increased. Thereafter, the sheet structure expanded by liquefying the gas generated by cutting off the voltage is contracted, and the load when the operator presses the touch panel with a fingertip is returned to the original state.

JP 2002-157087 A

  However, since the touch panel disclosed in Patent Document 1 changes the tactile sensation by utilizing the evaporation / liquefaction of the electrolytic solution, the desired tactile sensation can be obtained by being affected by the surrounding environment (for example, temperature). It is considered difficult to reproduce stably.

  Therefore, the present invention provides a tactile sensation presentation device that does not require a complicated mechanism, structure, or the like in a portion that presents a tactile sensation and that presents a tactile sensation by utilizing a state change of a fluid other than an electrolyte solution. Objective.

  A tactile sense presentation device according to the present invention includes a tactile sense providing unit having a fluid container that contains a fluid, a fluid passage connected to the fluid container, and a magnetic field generation that applies a magnetic field to the fluid flowing through the fluid passage. And the fluid is a magnetorheological fluid (first invention).

  According to the haptic presentation device having such a configuration, when the fluid container of the haptic presentation unit is pressed by the user's fingertip or the like, the magnetic viscous fluid flows out from the fluid container to the fluid passage. By applying a magnetic field by the generator, a resistance corresponding to the strength of the magnetic field is generated in the flow of the magnetorheological fluid. The flow resistance of the magnetorheological fluid is reflected as a tactile sensation (load) when the fluid container of the tactile sense presentation unit is pressed with a fingertip or the like.

  In another tactile sense presentation device according to the present invention, a tactile sense providing unit having a fluid container that contains a fluid, a fluid passage connected to the fluid container, and a magnetic field applied to the fluid flowing through the fluid passage. And a magnetic field generating device for applying, wherein a piston is fitted in the fluid passage so as to be movable along the passage, and the fluid container and the piston in the fluid passage are magnetized on the fluid container side. A fluid other than a viscous fluid is filled, and a magnetorheological fluid is filled on a side of the fluid passage opposite to the fluid container side of the piston, and the magnetic field generator applies a magnetic field to the magnetorheological fluid. Provided (second invention).

  According to the tactile sense presentation having such a configuration, it is possible to eliminate the inconvenience caused by the fact that the fluid in the fluid container of the tactile sense presenting unit is a magnetorheological fluid.

  In the tactile sense presentation device according to the second invention, it is preferable that the fluid other than the magnetorheological fluid is a transparent or translucent liquid (third invention).

  According to the haptic presentation having such a configuration, for example, by making the fluid container of the haptic presentation unit transparent or translucent, it is possible to arrange a display board or the like that is desired to show a watermark on the back surface of the fluid container. Become.

  In the tactile sense presentation device according to the first invention, it is preferable that the tactile sense presentation device further includes a magnetic field generation device that applies a magnetic field to the magnetorheological fluid in the fluid container (fourth invention).

  According to the tactile presentation having such a configuration, even when a magnetic field is applied to the magnetorheological fluid in the fluid container, a tactile sensation (load) corresponding to the strength of the magnetic field is applied when the fluid container is pressed with a fingertip or the like. Presented. Further, by pressing the fluid container with a fingertip or the like and applying a strong magnetic field of a certain level or more to the magnetorheological fluid in the fluid container in a state where the shape, thickness, etc. of the fluid container has changed, The state of the fluid container, such as the shape and thickness, can be maintained.

  Still another haptic presentation device according to the present invention includes a haptic presentation unit having a fluid container that contains a magnetorheological fluid, and a fluid passage connected to the fluid container, and the magnetic viscosity in the fluid container. A magnetic field generator for applying a magnetic field to the fluid is further provided (fifth invention).

  According to the haptic presentation having such a configuration, the magnetic sensation according to the strength of the magnetic field when the fluid container of the haptic presentation unit is pressed with a fingertip or the like by applying a magnetic field to the magnetorheological fluid in the fluid container. (Load) can be presented. In addition, the fluid container of the tactile sense presentation unit is pressed with a fingertip or the like, and a strong magnetic field of a certain level or higher is applied to the magnetorheological fluid in the fluid container while the shape, thickness, etc. of the fluid container are changed. By doing so, the state of the shape and thickness of the fluid container can be maintained.

  In the tactile sense presentation device according to the fourth or fifth invention, the magnetic field generator for applying a magnetic field to the magnetorheological fluid in the fluid container has both ends serving as magnetic poles on both sides of the fluid container. Provided to generate a magnetic field between the main yoke arranged opposite to each other, one or more relay yokes arranged between the both ends of the main yoke via a gap, and both ends of the main yoke It is preferable that the coil has a coil (sixth invention).

  According to the tactile presentation having such a configuration, the magnetic resistance of the magnetic circuit can be kept low by the relay yoke while securing the area of the fluid container (the area of the portion pressed by the fingertip or the like) to some extent.

  In the tactile sensation presentation device according to the first to sixth inventions, a fluid absorbing portion that absorbs the volume of fluid flowing out of the fluid container when the fluid container is pressed is provided. It is preferable (seventh invention).

  According to the haptic presentation having such a configuration, when the fluid container of the haptic presentation unit is pressed, the volume of the fluid flowing out from the fluid container is absorbed by the fluid absorption unit, so the fluid container of the haptic presentation unit The tactile sensation (load) at the time of pressing with a fingertip or the like can be presented exclusively by the viscosity of the magnetorheological fluid.

  According to the tactile sense presentation device according to the present invention, it is possible to present a desired tactile sense without using a complicated mechanism, structure, or the like in a portion that presents a tactile sense by using a magnetorheological fluid.

It is a top view which shows the tactile sense presentation apparatus which concerns on the 1st Embodiment of this invention. It is BB sectional drawing of FIG. It is AA sectional drawing of FIG. It is CC sectional drawing of FIG. 3 and FIG. However, the illustration behind the cross section is omitted. It is sectional drawing which shows the tactile sense presentation apparatus which concerns on the 2nd Embodiment of this invention. FIG.5 (b) is the D section enlarged view in Fig.5 (a).

[First Embodiment]
Hereinafter, a tactile sense presentation device according to a first embodiment of the present invention will be described with reference to the drawings. As shown in FIGS. 1 to 3, a tactile sense presentation device 1 according to this embodiment includes a tactile sense presentation unit 2, a fluid passage 3, a first magnetic field generation device 4, a second magnetic field generation device 5, and a magnetorheological fluid 6. The fluid absorbing portion 8 and the like.

  The tactile sense presenting unit 2 presents a tactile sense when the user presses with a fingertip or the like. The tactile sense presenting unit 2 includes a fluid container 7 that contains a magnetorheological fluid 6. For example, as shown in FIG. 2, the fluid container 7 includes a touch surface layer 7 a and a base layer 7 b. The touch surface layer 7a forms a touch surface pressed by a user with a fingertip or the like, and a thin flexible material such as a silicon film is used for the touch surface layer 7a. The base layer 7b is disposed on the back side of the touch surface layer 7 via the magnetorheological fluid 6, and a thin plate material such as a plastic plate is used for the base layer 7b. In the present embodiment, the base layer 7b and the touch surface layer 7a have a rectangular shape in plan view, and are joined to each other at the edge portion 7c to form a bag. The planar size of the fluid container 7 is, for example, a rectangular shape having a side of 5 mm to 10 mm, and is such that the entire surface of the fluid container 7 is pressed by a human fingertip. It is not limited.

  A predetermined support surface 11 is provided on the back side of the fluid container 7 to support the fluid container 7 from the back surface when the surface of the fluid container 7 is pressed by a user's fingertip or the like. This support surface 11 is comprised by the member (for example, switch sheet for touch panels etc.) which comprises a touch panel, for example.

  The fluid passage 3 is connected to the fluid container 7, and when the fluid container 7 is pressed, the magnetorheological fluid 6 flows into the fluid passage 3 from the fluid container 7. Further, when the pressure of the fluid container 7 is released, the magnetorheological fluid 6 flows back from the fluid passage 3 to the fluid container 7. The fluid passage 3 is formed by, for example, a pipe made of a nonmagnetic material (for example, a resin pipe). In the present embodiment, the fluid passage 3 includes first to third fluid passages 3a to 3c. The first to third fluid passages 3a to 3c are connected at one end to each other, the other end of the first fluid passage 3a is connected to one of the fluid containers 7, and the other end of the second fluid passage 3b is a fluid. The other end of the third fluid passage 3c is connected to a fluid absorbing portion 8 described later.

  The 1st magnetic field generator 4 provides a magnetic field with respect to the magnetorheological fluid 6 which flows through the fluid channel | path 3 (3rd fluid channel | path 3c). For example, as shown in FIG. 4, the first magnetic field generator 4 includes a yoke 4a, a coil 4b, a tube holding member 4c, and the like.

  In the yoke 4a, both end portions 4a1 and 4a2 serving as magnetic poles are disposed to face each other with the fluid passage 3 therebetween. When a current is applied to the coil 4b, a magnetic path is formed along the direction indicated by the arrow P, and a magnetic field in a direction perpendicular to the flow direction is applied to the magnetorheological fluid 6 flowing through the fluid passage 3.

  The tube holding member 4c is formed so as to fill a gap between the yoke 4a, the fluid passage 3, and the coil, and is made of a nonmagnetic material. The pipe that forms the fluid passage 3 in the yoke 4a is held by the pipe holding member 4c. The coil 4b is supplied with an arbitrary current from a current supply device (not shown).

  The second magnetic field generator 5 applies a magnetic field to the magnetorheological fluid 6 in the fluid container 7. As shown in FIGS. 1 to 3, the second magnetic field generator 5 includes a main yoke 5 a, a coil 5 b, a relay yoke 5 c, and the like.

  The main yoke 5a is formed by bending a rectangular flat plate made of a magnetic material, and both end portions 5a1 and 5a2 are opposed to each other. As shown in FIG. 3, both end portions 5a1 and 5a2 of the main yoke 5a are inserted into the inside through openings 7d formed at both end portions of the fluid container 7, and a magnetic field is formed between the both end portions 5a1 and 5a2. A viscous fluid 6 is interposed. The opening 7d of the fluid container 7 and the main yoke 5a are in close contact with each other so that the magnetorheological fluid 6 does not leak from the fluid container 7.

  The coil 5b is wound around an intermediate portion of the main yoke 5a. An arbitrary current is supplied to the coil 5b from a current supply device (not shown).

  The relay yoke 5c is composed of a large number of wires arranged perpendicular to the magnetic path formed between both end portions 5a1 and 5a2 of the main yoke 5a and parallel to the contact surface of the fluid container 7. The relay yoke 5c is made of a magnetic material and serves to reduce the magnetic resistance of the magnetic circuit formed by the second magnetic field generator 5. When a current is applied to the coil 5b, a magnetic path is formed in the direction along the arrow Q (see FIG. 3), and the magnetic viscosity between each of the end portions 5a1 and 5a2 of the main yoke 5a and the multiple relay yokes 5c. A magnetic field is applied to the fluid 6. In the present embodiment, the relay yoke 5c is provided so as to penetrate the fluid container 7, and both ends are fixed to the frames 9 and 10 made of a nonmagnetic material such as stainless steel (see FIG. 1). In FIG. 3, the gaps between the ends 5a1 and 5a2 of the main yoke 5a and the relay yokes 5c are widely described. However, in order to reduce the magnetic resistance, the gaps between the above-mentioned parts should be as small as possible. desirable. In the present embodiment, a wire having a circular cross section is used as the relay yoke 5c. However, other wires such as a wire having a rectangular cross section may be used.

  The magnetorheological fluid 6 is a liquid in which magnetic particles are dispersed in a dispersion medium, and in particular, a magnetic particle composed of nano-sized metal particles (metal nanoparticles) can be used. The magnetic particles are made of a magnetizable metal material, and the metal material is not particularly limited, but a soft magnetic material is preferable. Examples of the soft magnetic material include alloys such as iron, cobalt, nickel, and permalloy. The dispersion medium is not particularly limited, and a hydrophobic silicone oil can be given as an example. The blending amount of the magnetic particles in the magnetorheological fluid may be, for example, 3 to 40 vol%. Various additives can also be added to the magnetorheological fluid in order to obtain various desired properties.

  The fluid absorber 8 absorbs the volume of the magnetorheological fluid that flows out of the fluid container 7 when the fluid container 7 is pressed by a user's fingertip or the like. That is, when the fluid container 7 is pressed, the magnetorheological fluid 6 flows out from the fluid container 7 to the fluid passage 3 as the internal volume decreases, and the magnetorheological fluid 6 in the fluid passage 3 absorbs the fluid. It flows into part 8. When the fluid container 7 is not pressed, the fluid absorbing portion 8 is contracted in its internal volume so that the fluid container 7 is filled with a predetermined amount of the magnetorheological fluid 6 and maintains a predetermined thickness and shape. Thus, a predetermined pressure is applied to the fluid passage 3. On the other hand, when the fluid container 7 is pressed and the pressure in the fluid passage 3 exceeds a predetermined pressure, the fluid absorption unit 8 expands the internal volume and reduces the volume of the magnetic viscous fluid 6 that has flowed out of the fluid container 7. Absorb. For example, an accumulator can be used as the fluid absorbing portion 8 that operates as described above.

  In the tactile sense presentation device 1 described above, when a current is applied to the coil 4b of the first magnetic field generator 4 by a current supply device (not shown) (current is applied to the coil 5b of the second magnetic field generator 5). 4), a magnetic path is formed in the yoke 4a along the direction indicated by the arrow P in FIG. 4, and the viscosity corresponding to the strength of the magnetic field in the magnetorheological fluid 6 interposed between the both ends 4a1, 4a2 of the yoke 4 (Shear stress) appears. At this time, when the surface of the fluid container 7 (see FIG. 3) is pressed by the user's fingertip or the like, the magnetorheological fluid 6 in the fluid passage 3 flows toward the fluid absorbing portion 8. Therefore, since the viscosity corresponding to the strength of the magnetic field is expressed in the magnetorheological fluid 6, a flow resistance corresponding to the viscosity is generated in the entire fluid passage 3. This flow resistance is reflected as a reaction force when pressing the surface of the fluid container 7. In short, the tactile sensation (load) when pressing the fluid container 7 with a fingertip or the like can be freely changed according to the current value applied to the coil 4 b of the first magnetic field generator 4. When the user's fingertip or the like is released from the surface of the fluid container 7 and the pressed state is released, the fluid absorbing portion 8 contracts the internal volume and returns the magnetic viscous fluid 6 to the fluid container 7. The shape, thickness and the like of the fluid container 7 including the viscous fluid 6 are restored to the initial state.

  In the tactile sense presentation device 1, when a current is applied to the coil 5b of the second magnetic field generator 5 by a current supply device (not shown) (no current is applied to the coil 4b of the first magnetic field generator 4). 3, a magnetic path is formed in the main yoke 5 a along the direction indicated by the arrow Q in FIG. 3, and a magnetic field is applied to the magnetorheological fluid 6 interposed between the yoke ends 5 a 1 and 5 a 2 and the relay yokes 5 c. Viscosity (shear stress) corresponding to the strength appears. At this time, when the surface of the fluid container 7 is pressed by a user's fingertip or the like, a force corresponding to the viscosity of the magnetorheological fluid 6 in the fluid container 7 appears as a reaction force when pressing the fluid container 7. . In short, the tactile sensation (load) when pressing the fluid container 7 with a fingertip or the like can be freely changed according to the current value applied to the coil 5b of the second magnetic field generator 5.

  Further, in the state where the surface of the fluid container 7 is pressed by a user's fingertip or the like and the shape, thickness, etc. of the fluid container 7 including the magnetorheological fluid 6 is changed, the current value applied to the coil 5b is increased, By further increasing the viscosity of the magnetorheological fluid 6 in the fluid container 7, it is possible to maintain the state of the fluid container 7 whose shape and thickness have changed. This is convenient when, for example, it is desired to leave a trace of the fluid container 7 being pressed. When the user's fingertip or the like is released from the surface of the fluid container 7 and the pressing state is released, and the current application to the coil 5b is stopped, the fluid absorber 8 contracts the internal volume to contain the magnetorheological fluid 6. In order to recirculate to the body 7, the shape, thickness, etc. of the fluid container 7 including the magnetorheological fluid 6 are restored to the initial state.

  Further, the tactile sensation (load) when the surface of the fluid container 7 is pressed by the user's fingertip or the like is controlled and adjusted only by the current value applied to the coil 4b of the first magnetic field generator 4, and the second The magnetic field generator 5 can be used only for maintaining the state of the fluid container 7 whose shape, thickness, etc. have changed.

  According to the haptic presentation device 1 described above, the current value applied to the coils 4b and 5b is adjusted and controlled without requiring a complicated mechanism and structure in the haptic presentation unit 2 (fluid container 7). By doing so, a desired tactile sensation can be presented.

[Second Embodiment]
Hereinafter, a tactile sensation presentation device according to a second embodiment of the present invention will be described with reference to FIG. The haptic presentation device 1A according to the second embodiment is different from the haptic presentation device 1 according to the first embodiment (see FIG. 3) in each of the first fluid passage 3a and the second fluid passage 3b. Pistons 12 and 13 that are movable along the fluid passages 3a and 3b are fitted. Furthermore, in the fluid passages 3a and 3b, the fluid container 7 side of the piston 12 (right side of the piston 12 in FIG. 5), the fluid container 7 side of the piston 13 (left side of the piston 13 in FIG. 5), and the fluid container 7 is filled with a transparent or translucent liquid 14 (a fluid other than the magnetorheological fluid) instead of the magnetorheological fluid. On the other hand, the side opposite to the fluid container 7 side of the pistons 12 and 13 in the fluid passages 3a and 3b (on the left side of the piston 12 and the right side of the piston 13 in FIG. 5), the third fluid passage 3c is filled with the magnetic viscous fluid 6 Has been.

  Each of the pistons 12 and 13 is movable along the fluid passage 3, and the magnetorheological fluid 6 existing on one side and the transparent or translucent liquid 14 existing on the other side are not mixed. Yes. That is, the pistons 12 and 13 are provided with a sealing material 15 that seals the gap between the inner surface of the pipe that forms the fluid passage 3 and the pistons 12 and 13. In the example shown in FIG. 5, a sealing material 15 made of an O-ring is fitted in a circumferential groove formed in the piston. One piston 12 has a movable range restricted within a predetermined range L1 of the first fluid passage 3a, and the other piston 13 has a movable range restricted within a predetermined range L2 of the second fluid passage 3b. Thereby, the transparent or translucent liquid 14 does not flow into the position where the magnetic field is applied by the first magnetic field generator 4.

  In addition, in the tactile sense presentation device 1A according to the second embodiment, the touch surface layer 7a and the base layer 7b of the fluid container 7 are made of a transparent or translucent material (the material itself is the same as that of the first embodiment). The second magnetic field generator 5 is omitted, the opening 7d of the fluid container 7 is eliminated, and the fluid passage 3 is connected to both side surfaces of the fluid container 7, This is different from the tactile sense presentation device 1 according to the first embodiment. However, the connection position of the fluid passage 3 with respect to the fluid container 7 is not limited to the above, and may be the same as in the first embodiment.

  Portions other than the above-described configuration of the haptic presentation device 1A according to the second embodiment are the same as those of the haptic presentation device 1 according to the first embodiment. About the same structure, in FIG. 5, the same code | symbol as 1st Embodiment (FIG. 3) is attached | subjected, and the description is abbreviate | omitted.

  In the tactile sense presentation device 1A according to the second embodiment, when current is applied to the coil 4b of the first magnetic field generation device 4 by a current supply device (not shown), both ends of the yoke 4 are shown in FIG. Viscosity (shear stress) corresponding to the strength of the magnetic field appears in the magnetorheological fluid 6 interposed between the portions 4a1 and 4a2. At this time, when the surface of the fluid container 7 is pressed by a user's fingertip or the like, the liquid 14 flows out of the fluid container 7 and presses the magnetorheological fluid 6 together with the pistons 12 and 13 in the fluid passages 3a and 3b. Move. Although the magnetorheological fluid 6 flows into the fluid absorbing portion 8 through the third fluid passage 3c, a magnetic field is applied in the middle of the fluid passage 3c, and the viscosity according to the strength of the magnetic field is expressed. The generated flow resistance is generated in the entire fluid passage 3. This flow resistance is reflected as a reaction force when pressing the fluid container 7. In short, the tactile sensation (load) when the fluid container 7 is pressed with a fingertip or the like can be freely changed according to the current value applied to the coil 4b of the magnetic field generator 4. When the user's fingertip or the like is released from the surface of the fluid container 7 and the pressing state is released, the fluid absorbing portion 8 contracts the internal volume and the magnetorheological fluid 6 presses the pistons 12 and 13, and the piston Since 12, 13 presses the liquid 14 and recirculates it to the fluid container 7, the shape, thickness, etc. of the fluid container 7 including the liquid 14 are restored to the initial state.

  In addition, according to the tactile sense presentation device 1A according to the second embodiment, the liquid 14 contained in the fluid container 7 is transparent or translucent, and the touch surface layer 7a and the base layer 7b of the fluid container 7 are also transparent. Or since it is translucent, it becomes possible to arrange | position the display board etc. which want to show a watermark to a user on the back surface (between the fluid accommodating part 7 and the support surface 11) of the fluid accommodating part 7. FIG. In the tactile sense presentation device 1 according to the first embodiment, since the non-transparent (black) magnetorheological fluid 6 is included in the fluid storage unit 7, a display board or the like is disposed on the back surface of the fluid storage unit 7. However, the display board cannot be seen from the outside. However, according to the tactile sense presentation device 1A according to the second embodiment, this is possible.

[Other Embodiments]
In the above-described embodiment, the volume of the magnetorheological fluid 6 or the liquid 14 flowing out from the fluid container 7 is absorbed by the fluid absorber 8 made of an accumulator, but the fluid absorber 8 is limited to that made of an accumulator. Alternatively, the fluid absorbing portion may be formed of other means as long as the above action can be realized.

  The present invention is applicable to, for example, a tactile sense presentation device that presents a tactile sense obtained when a touch panel is pressed.

DESCRIPTION OF SYMBOLS 1,1A Tactile sense presentation apparatus 2 Tactile sense presentation part 3 Fluid passage 3a 1st fluid passage 3b 2nd fluid passage 3c 3rd fluid passage 4 1st magnetic field generator (giving a magnetic field with respect to the fluid which flows through a fluid passage) What to do)
5 Second magnetic field generator (applying a magnetic field to the magnetorheological fluid of the fluid container)
5a Yoke 5a1, 5a2 End of yoke 5b Coil 5c Relay yoke 6 Magnetorheological fluid 7 Fluid container 8 Fluid absorber 12 Piston 13 Piston 14 Transparent or translucent liquid (fluid other than magnetorheological fluid)

Claims (7)

A tactile sense presentation unit having a fluid container for containing a fluid;
A fluid passage connected to the fluid container;
A magnetic field generator for applying a magnetic field to the fluid flowing through the fluid passage;
With
Any of the fluids is a magnetorheological fluid,
A tactile sense presentation device characterized by the above. A tactile sense presentation unit having a fluid container for containing a fluid;
A fluid passage connected to the fluid container;
A magnetic field generator for applying a magnetic field to the fluid flowing through the fluid passage;
With
A piston is fitted in the fluid passage so as to be movable along the passage.
A fluid other than the magnetorheological fluid is filled in the fluid container and the fluid container side of the piston in the fluid passage, and a magnetorheological fluid is filled in the fluid passage on the opposite side of the piston from the fluid container side. And
The tactile sense presentation device, wherein the magnetic field generation device is provided to apply a magnetic field to the magnetorheological fluid. In the tactile sense presentation device according to claim 2,
The fluid other than the magnetorheological fluid is a transparent or translucent liquid.
A tactile presentation device characterized by the above. The tactile presentation device according to claim 1,
The tactile sense presentation device further comprising a magnetic field generator for applying a magnetic field to the magnetorheological fluid in the fluid container. A tactile presentation unit having a fluid container for containing a magnetorheological fluid;
A fluid passage connected to the fluid container;
With
The tactile sense presentation device further comprising a magnetic field generator for applying a magnetic field to the magnetorheological fluid in the fluid container. In the tactile sense presentation device according to claim 4 or 5,
A magnetic field generator for applying a magnetic field to the magnetorheological fluid in the fluid container,
A main yoke in which both ends serving as magnetic poles are arranged opposite to each other on both sides of the fluid container;
One or more relay yokes disposed between the both ends of the main yoke with a gap between them,
A coil provided to generate a magnetic field between both ends of the main yoke;
Having
A tactile presentation device characterized by the above. In the tactile sense presentation device according to any one of claims 1 to 6,
A fluid absorption part is provided for absorbing the volume of fluid flowing out of the fluid container when the fluid container is pressed;
A tactile presentation device characterized by the above.

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