JP6702651B2 - Tactile presentation device - Google Patents

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 that present a tactile sensation when touching a touch panel or the like of an electronic device. Among them, there is a tactile sense presentation device that changes a tactile sense by utilizing a change in the state of a fluid as a device that does not require a complicated mechanism, structure, and the like.

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 by applying a voltage to the electrode, the electrolytic solution is vaporized and the sheet structure is expanded. By doing so, the load of the operator pressing the touch panel with his fingertip is increased. After that, the gas generated by shutting off the voltage is liquefied and the expanded sheet structure is contracted, so that the load when the operator presses the touch panel with his 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 vaporization and liquefaction of the electrolytic solution, a 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 presentation device that does not require a complicated mechanism, structure, or the like in a portion that presents a tactile sense, and that presents a tactile sense by utilizing a state change of a fluid other than an electrolytic solution. To aim.

A tactile presentation device according to the present invention includes a tactile presentation 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 a fluid flowing through the fluid passage. An apparatus is provided, and any of the fluids is a magnetic viscous fluid (first invention).

According to the tactile presentation device having such a configuration, when the fluid container of the tactile 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 magnetic viscous 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.

A tactile presentation device according to another aspect of the present invention provides a tactile presentation part having a fluid container for containing a fluid, a fluid passage connected to the fluid container, and a magnetic field for the fluid flowing through the fluid passage. A magnetic field generating device for applying a magnetic field, a piston is fitted into the fluid passage so as to be movable along the passage, and the fluid container and the fluid passage side of the piston in the fluid passage are magnetized. A fluid other than a viscous fluid is filled, and a magnetic viscous fluid is filled in 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 magnetic viscous fluid. It is 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 presentation unit is a magnetorheological fluid.

In the tactile presentation device according to the second aspect of the invention, it is preferable that the fluid other than the magnetic viscous fluid is a transparent or semitransparent liquid (third aspect).

According to the tactile presentation having such a configuration, for example, by making the fluid container of the tactile presentation unit transparent or translucent, it is possible to dispose a display plate or the like on which the watermark is to be shown on the back surface of the fluid container. Become.

It is preferable that the tactile presentation device according to the first invention further includes a magnetic field generation device that applies a magnetic field to the magneto-rheological 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 magneto-rheological fluid in the fluid container, when the fluid container is pressed with a fingertip or the like, a tactile sensation (load) corresponding to the strength of the magnetic field is generated. 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 magneto-rheological fluid in the fluid container in a state where the shape, thickness, etc. of the fluid container have changed, The shape and thickness of the fluid container can be maintained.

A tactile presentation device according to still another aspect of the present invention includes a tactile presentation unit having a fluid container for containing a magnetic viscous fluid, and a fluid passage connected to the fluid container, and a magnetic viscous substance in the fluid container. It further comprises a magnetic field generator for applying a magnetic field to the fluid (fifth invention).

According to the tactile presentation having such a configuration, by applying a magnetic field to the magnetorheological fluid in the fluid container, the tactile sense according to the strength of the magnetic field when the fluid container of the tactile presentation unit is pressed with a fingertip or the like. (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 magnetic field of a certain magnitude or more is applied to the magneto-rheological fluid in the fluid container while the shape and thickness of the fluid container are changed. By doing so, the shape and thickness of the fluid container can be maintained.

In the tactile presentation device according to the fourth or fifth aspect of the invention, in the magnetic field generation device that applies a magnetic field to the magneto-rheological fluid in the fluid container, both ends of the fluid container that are magnetic poles are mutually A main yoke arranged to face each other, one or more relay yokes arranged with a gap between the both ends of the main yoke, and a magnetic field generated between the both ends of the main yoke. It is preferable to have the above-mentioned coil (6th invention).

According to the tactile sensation having such a configuration, it is possible to suppress the magnetic resistance of the magnetic circuit to a low level 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 presentation device according to the first to sixth aspects of the present invention, a fluid absorbing portion that absorbs the volume of the fluid flowing out from the fluid container when the fluid container is pressed is provided. It is preferable (the seventh invention).

According to the tactile presentation having such a configuration, when the fluid container of the tactile presentation part is pressed, the volume of the fluid flowing out from the fluid container is absorbed by the fluid absorbing part, so that the fluid container of the tactile presentation part. It is possible to present the tactile sensation (load) when pressing with the fingertip or the like, exclusively by the viscosity of the magnetic viscous fluid.

According to the tactile sense presentation device of the present invention, by using the magnetic viscous fluid, it is possible to present a desired tactile sense without requiring a complicated mechanism, structure, or the like in the part that presents the tactile sense.

It is a top view showing the tactile sense presentation device concerning a 1st embodiment of the present invention. It is a BB sectional view of FIG. It is an AA sectional view 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. 5B is an enlarged view of part D in FIG.

[First Embodiment]
Hereinafter, a tactile 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, the haptic presentation device 1 according to the present embodiment includes a haptic presentation unit 2, a fluid passage 3, a first magnetic field generation device 4, a second magnetic field generation device 5, and a magnetic viscous fluid 6. , The fluid absorbing portion 8 and the like.

The tactile sense presentation unit 2 presents a tactile sense when the user presses with a fingertip or the like. The tactile sense presentation unit 2 is composed of a fluid container 7 containing a magnetorheological fluid 6. The fluid container 7 is composed of a contact surface layer 7a and a base layer 7b, as shown in FIG. 2, for example. The touch surface layer 7a forms a touch surface that a user presses with a fingertip or the like, and a thin and flexible material such as a silicon film is used for the touch surface layer 7a. The base layer 7b is arranged on the back side of the touch surface layer 7 with the magnetic viscous fluid 6 interposed therebetween, 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 contact surface layer 7a are rectangular in plan view and are joined to each other at the edges 7c to form a bag. The planar size of the fluid container 7 is, for example, a rectangular shape with one side of 5 mm to 10 mm, and is such that the entire surface of the fluid container 7 is pressed by the fingertip of a person. Not limited.

A predetermined support surface 11 that supports 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 is provided on the back side of the fluid container 7. The support surface 11 is composed of, for example, a member that constitutes a touch panel (for example, a touch panel switch sheet).

The fluid passage 3 is connected to the fluid container 7, and when the fluid container 7 is pressed, the magnetic viscous 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 magnetic viscous fluid 6 flows back from the fluid passage 3 to the fluid container 7. The fluid passage 3 is formed of, for example, a pipe (for example, a resin pipe) made of a non-magnetic material. In the present embodiment, the fluid passage 3 is composed of first to third fluid passages 3a to 3c. One ends of the first to third fluid passages 3a to 3c are connected 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 connected to the fluid. It is connected to the other side of the container 7, and the other end of the third fluid passage 3c is connected to a fluid absorbing portion 8 described later.

The first magnetic field generator 4 applies a magnetic field to the magnetorheological fluid 6 flowing through the fluid passage 3 (third fluid passage 3c). The first magnetic field generator 4 is composed of, for example, a yoke 4a, a coil 4b, a tube holding member 4c, etc., as shown in FIG.

Both ends 4a1 and 4a2, which are magnetic poles, of the yoke 4a are arranged to face each other with the fluid passage 3 interposed 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 orthogonal to the flow direction is given to the magneto-rheological fluid 6 flowing through the fluid passage 3.

The tube holding member 4c is formed so as to fill the gap between the yoke 4a, the fluid passage 3 and the coil, and is made of a non-magnetic material. The pipe holding member 4c holds the pipe forming the fluid passage 3 in the yoke 4a. An arbitrary current is supplied to the coil 4b from a current supply device (not shown).

The second magnetic field generation device 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 is composed of a main yoke 5a, a coil 5b, a relay yoke 5c, and the like.

The main yoke 5a is formed by bending a rectangular flat plate made of a magnetic material, and has both ends 5a1 and 5a2 opposed to each other. As shown in FIG. 3, both ends 5a1 and 5a2 of the main yoke 5a are inserted inside through openings 7d formed at both ends of the fluid container 7, and a magnetic field is provided between both ends 5a1 and 5a2. The viscous fluid 6 intervenes. The opening 7d of the fluid container 7 and the main yoke 5a are in close contact with each other without a gap so that the magnetorheological fluid 6 does not leak from the fluid container 7.

The coil 5b is wound around the middle 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 wire rods which are orthogonal to the magnetic path formed between both ends 5a1 and 5a2 of the main yoke 5a and which are arranged in parallel to the contact surface of the fluid container 7. The relay yoke 5c is made of a magnetic material and plays a role of reducing 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 a direction along the arrow Q (see FIG. 3), and the magnetic viscous particles existing between the both ends 5a1 and 5a2 of the main yoke 5a and the multiple relay yokes 5c are formed. 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 thereof are fixed to the frames 9 and 10 made of a non-magnetic material such as stainless steel (see FIG. 1). In FIG. 3, the gaps between both ends 5a1 and 5a2 of the main yoke 5a and the multiple relay yokes 5c are widely described. desirable. Further, in the present embodiment, the wire having a circular cross section is used as the relay yoke 5c, but it is also possible to use other wire, for example, a wire having a rectangular cross section.

The magnetorheological fluid 6 is a liquid in which magnetic particles are dispersed in a dispersion medium, and in particular, the magnetic particles composed of nano-sized metal particles (metal nanoparticles) can be used. The magnetic particles are made of a magnetizable metallic material, and the metallic 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, but a hydrophobic silicone oil can be given as an example. The compounding amount of magnetic particles in the magnetorheological fluid may be, for example, 3 to 40 vol %. It is also possible to add various additives to the magnetorheological fluid in order to obtain various desired properties.

The fluid absorbing section 8 absorbs the volume of the magnetic viscous fluid flowing out from the fluid container 7 when the fluid container 7 is pressed by the 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 inner volume of the fluid container 7 decreases, and the magnetorheological fluid 6 in the fluid passage 3 absorbs the fluid. Pour into part 8. When the fluid container 7 is not pressed, the fluid absorbing portion 8 contracts the 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. Then, 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 absorbing portion 8 expands the internal volume and reduces the volume of the magnetic viscous fluid 6 flowing out from the fluid container 7. Absorb. An accumulator, for example, can be used as the fluid absorber 8 that operates as described above.

In the tactile 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) (the current is applied to the coil 5b of the second magnetic field generator 5). No), a magnetic path is formed in the yoke 4a along the direction shown by the arrow P in FIG. 4, and the magnetic viscous fluid 6 interposed between the both ends 4a1 and 4a2 of the yoke 4 has a viscosity corresponding to the strength of the magnetic field. (Shear stress) develops. 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, but in the middle of the fluid passage 3. Since the viscosity corresponding to the strength of the magnetic field is developed in the magnetic viscous 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 value of the current applied to the coil 4b of the first magnetic field generator 4. When the user's fingertip or the like is separated from the surface of the fluid container 7 and the pressed state is released, the fluid absorbing portion 8 contracts the internal volume and causes the magneto-rheological fluid 6 to flow back to the fluid container 7. The shape, thickness, etc. of the fluid container 7 containing the viscous fluid 6 return 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) (current is not applied to the coil 4b of the first magnetic field generator 4). , A magnetic path is formed in the main yoke 5a along the direction shown by the arrow Q in FIG. 3, and the magnetic viscous fluid 6 present between the both ends 5a1 and 5a2 of the yoke and the multiple relay yokes 5c generates magnetic fields. A viscosity (shear stress) corresponding to the strength is developed. At this time, when the surface of the fluid container 7 is pressed by the fingertip of the user 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 the fingertip or the like can be freely changed according to the value of the current applied to the coil 5b of the second magnetic field generator 5.

Further, the current value applied to the coil 5b is increased in a state where the surface of the fluid container 7 is pressed by the user's fingertip or the like and the shape, thickness, etc. of the fluid container 7 containing the magnetorheological fluid 6 are changed, By further increasing the viscosity of the magnetic viscous 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, for example, when it is desired to leave a trace that the fluid container 7 has been pressed. When the user's fingertip or the like is released from the surface of the fluid container 7 and the pressed state is released, and the application of the current to the coil 5b is stopped, the fluid absorbing unit 8 contracts the internal volume to contain the magnetic viscous fluid 6. Since the fluid is returned to the body 7, the shape, thickness, etc. of the fluid container 7 containing the magnetic viscous fluid 6 are returned to the initial state.

In addition, 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 also be used only for maintaining the state of the fluid container 7 whose shape, thickness, etc. have changed.

According to the tactile sense presentation device 1 described above, the tactile sense presentation unit 2 (fluid container 7) does not require a complicated mechanism, structure, or the like, and the current value applied to the coils 4b and 5b is adjusted and controlled. By doing so, a desired tactile sensation can be presented.

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

The pistons 12 and 13 are respectively movable along the fluid passage 3, and prevent the magneto-rheological fluid 6 existing on one side from mixing with the transparent or translucent liquid 14 existing on the other side. There is. That is, the pistons 12 and 13 are provided with the sealing material 15 that seals the gap between the inner surface of the pipe forming the fluid passage 3 and the pistons 12 and 13. In the example shown in FIG. 5, the sealing material 15 made of an O-ring is fitted in the circumferential groove formed in the piston. The movable range of one piston 12 is restricted within a predetermined range L1 of the first fluid passage 3a, and the other piston 13 is restricted within a predetermined range L2 of the second fluid passage 3b. As a result, the transparent or semitransparent liquid 14 is prevented from flowing 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). That the second magnetic field generator 5 is omitted, that the opening 7d of the fluid container 7 is eliminated, and that the fluid passage 3 is connected to both sides of the fluid container 7, It is different from the tactile sense presentation device 1 according to the first embodiment. However, the connection position of the fluid passage 3 to the fluid container 7 is not limited to the above, and may be the same as in the first embodiment.

The parts other than the above-described configuration of the tactile sense presentation device 1A according to the second embodiment are the same as the tactile sense 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 presentation device 1A according to the second embodiment, when a 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, as shown in FIG. Viscosity (shear stress) corresponding to the strength of the magnetic field is developed in the magnetic viscous fluid 6 interposed between the portions 4a1 and 4a2. At this time, when the surface of the fluid container 7 is pressed by the user's fingertip or the like, the liquid 14 flows out from the fluid container 7 and presses the magnetic viscous fluid 6 together with the pistons 12 and 13 in the fluid passages 3a and 3b. To 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 a viscosity corresponding to the strength of the magnetic field is developed. The 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 pressing the fluid container 7 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 separated from the surface of the fluid container 7 and the pressed state is released, the fluid absorbing part 8 contracts the internal volume and the magnetic viscous fluid 6 presses the pistons 12 and 13, and the piston Since the liquids 12 and 13 press the liquid 14 to flow back to the fluid container 7, the shape, thickness, etc. of the fluid container 7 containing the liquid 14 return to the initial state.

Further, 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. Alternatively, since it is semi-transparent, it is possible to dispose a display plate or the like, which the user wants to see through the watermark, on the back surface of the fluid storage portion 7 (between the fluid storage portion 7 and the support surface 11). In the tactile presentation device 1 according to the first embodiment, since the non-transparent color (black) magneto-rheological fluid 6 is contained in the fluid container 7, a display plate or the like is arranged on the back surface of the fluid container 7. However, the display board etc. cannot be seen from the outside. However, according to the tactile sense presentation device 1A according to the second embodiment, that is possible.

[Other Embodiments]
In the above-described embodiment, the volume of the magnetic viscous fluid 6 or the liquid 14 flowing out from the fluid container 7 is absorbed by the fluid absorbing portion 8 including the accumulator, but the fluid absorbing portion 8 is limited to the one including the accumulator. However, the fluid absorbing portion may be formed of other means as long as the above-mentioned 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.

1, 1A Tactile presentation device 2 Tactile presentation unit 3 Fluid passage 3a First fluid passage 3b Second fluid passage 3c Third fluid passage 4 First magnetic field generator (giving magnetic field to fluid flowing through fluid passage) What to do)
5 Second magnetic field generator (applies magnetic field to magnetorheological fluid in fluid container)
5a Yoke 5a1, 5a2 Yoke end 5b Coil 5c Relay yoke 6 Magnetorheological fluid 7 Fluid container 8 Fluid absorbing part 12 Piston 13 Piston 14 Transparent or translucent liquid (fluid other than magnetic viscous fluid)

Claims (6)

A tactile presentation unit having a fluid container that contains 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,
Equipped with
A piston is fitted in the fluid passage so as to be movable along the passage,
A fluid other than a 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 side opposite to the fluid container side of the piston. And
The tactile sense presentation device, wherein the magnetic field generation device is provided so as to apply a magnetic field to the magneto-rheological fluid. The tactile presentation device according to claim 1 ,
Fluids other than the magnetic viscous fluid are transparent or translucent liquids,
A tactile presentation device characterized by the above. A tactile presentation unit having a fluid container that contains 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,
Equipped with
Any of the fluids is a magnetorheological fluid,
The tactile presentation device further comprising a magnetic field generation device that applies a magnetic field to the magneto-rheological fluid in the fluid container. The tactile presentation device according to claim 3 ,
A magnetic field generator for applying a magnetic field to the magnetorheological fluid in the fluid container,
Main yokes having opposite ends, which are magnetic poles, arranged on both sides of the fluid container so as to face each other,
One or more relay yokes arranged with a gap between both ends of the main yoke;
A coil provided to generate a magnetic field between both ends of the main yoke,
Is to have
A tactile presentation device characterized by the above. A tactile presentation unit having a fluid container that contains a magnetic viscous fluid;
A fluid passage connected to the fluid container,
Equipped with
Further comprising a magnetic field generator for applying a magnetic field to the magnetorheological fluid in the fluid container,
A magnetic field generator for applying a magnetic field to the magnetorheological fluid in the fluid container,
Main yokes having opposite ends, which are magnetic poles, arranged on both sides of the fluid container so as to face each other,
One or more relay yokes arranged with a gap between both ends of the main yoke;
A coil provided to generate a magnetic field between both ends of the main yoke,
Is to have
A tactile presentation device characterized by the above. In tactile sense presentation device according to any one of claim 1 to 5
A fluid absorbing portion is provided that absorbs the volume of fluid flowing out from the fluid container when the fluid container is pressed.
A tactile presentation device characterized by the above.

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