JP6955229B2 - Tactile information presentation system - Google Patents

Description

The present invention relates to a tactile force sensation information presentation system utilizing sensory characteristics.

Japanese Patent Application Laid-Open No. 2005-190465 describes only the physical characteristics of a tactile sensation presenter in a conventional non-grounded man-machine interface that gives a person the presence of a virtual object or the impact force of a collision and has no base in the body. Discloses a system that can continuously present tactile sensations such as torque and force in the same direction, which cannot be presented by.

This patent application has the following structure. Tactile force presenter In the tactile force presenter, the displacement of one or more actuators in the tactile force presenter is controlled by a control device, and the physical characteristics such as displacement, force, and torque are controlled. Allows the user to perceive various tactile sensation information such as displacement, force, and torque. This tactile information presentation system gives humans a force that cannot physically exist, or a tactile sensory physical characteristic, by appropriately controlling physical quantities using human sensory characteristics or illusions. Experience it.

Japanese Unexamined Patent Publication No. 2005-190465

In view of the above points, the prior art has drawbacks in the case of presenting tactile sensation information only by a physical method, sensory intensity, clarity, etc., and an object of the present invention is displacement, displacement pattern, and waveform. By the combination, an induced illusion phenomenon is realized, the tactile directional discrimination is poor, and the displacement, displacement pattern, and waveform in the Y direction are illusioned as the displacement, displacement pattern, and waveform in the Z direction due to the finger pressing pressure in the Z direction. The purpose is to provide synergistic effects related to illusions, consonant / vowel waveform configurations, and illusion phenomenon databases for trigger displacement, characteristic-induced stimuli / trigger stimuli, and misunderstandings (misunderstandings).

The tactile force sense information presentation system according to the present invention is an object and the object is a real object or a virtual object, and the position, speed, acceleration, shape, displacement, deformation, amplitude, rotation, depending on the object and / or to the object. A sensor that detects a stimulus having at least one of vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity, and applying the operator's sensory characteristics and / or illusion to the object to give the operator an actual effect. A tactile force sense presenting device that presents a tactile force sense as if the object was operated, a tactile force sense presentation control device that controls the tactile force sense presenting device based on a stimulus from a sensor, and the tactile force sense. The presentation control device presents tactile force sensation information by controlling the stimulus by utilizing the fact that the sensory characteristic indicating the relationship between the stimulus amount applied to the human body and the sensory amount is non-linear and / or illusion. The sensory characteristic includes at least one stimulus amount of a stimulus amount given to the operator and a stimulus amount brought about by the operator's operation, and a sensation amount presented to the operator, and the sensation amount is physically present. It is an impossible amount of sensation, and here, the tactile force sense presenting device presents a stimulus by the object and / or to the object, and controls the stimulus applied to the object according to the operation of the operator. It produces a sense of tactile force.

In the tactile force sense system, the touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is independently controlled.

In the tactile force information presentation system, the object is a touch panel, and different tactile sensations and / or force sensations are generated for each touch panel.

The tactile force sense information presentation system according to the present invention is an object and the object is a real object or a virtual object, and the position, speed, acceleration, shape, displacement, deformation, amplitude, rotation, depending on the object and / or to the object. A sensor that detects a stimulus having at least one of vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity, and applying the operator's sensory characteristics and / or illusion to the object to give the operator an actual effect. A tactile force sense presenting device that presents a tactile force sense as if the object was operated, a tactile force sense presentation control device that controls the tactile force sense presenting device based on a stimulus from a sensor, and the tactile force sense. The presentation control device presents tactile force sensation information by controlling the stimulus by utilizing the fact that the sensory characteristic indicating the relationship between the stimulus amount applied to the human body and the sensory amount is non-linear and / or illusion. The sensory characteristic includes at least one stimulus amount of a stimulus amount given to the operator and a stimulus amount brought about by the operator's operation, and a sensory amount presented to the operator, and the sensory amount is physically present. It is an impossible amount of sensation, and here, the tactile force sense presenting device presents at least one of amplitude, displacement, and deformation to the object.

In the tactile force sense information presentation system, the touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is independently controlled.

In the tactile force sense information presenting system, the tactile force sense presenting device presents the tactile force sense according to the amplitude, displacement, and / or deformation of the object.

In the tactile force sense information presenting system, the tactile force sense presenting device induces the object to induce at least one of amplitude, displacement, and deformation in six dimensions for at least one position, phase, and time.

In a tactile information presenting system, the tactile presenter produces at least one amplitude, displacement, or deformation at right angles, parallels, or at any angle to the tangent of an object.

The tactile force sense information presentation system according to the present invention is an object and the object is a real object or a virtual object, and the position, speed, acceleration, shape, displacement, deformation, amplitude, rotation, depending on the object and / or to the object. A sensor that detects a stimulus having at least one of vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity, and applying the operator's sensory characteristics and / or illusion to the object to give the operator an actual effect. A tactile force sense presenting device that presents a tactile force sense as if the object was operated, a tactile force sense presentation control device that controls the tactile force sense presenting device based on a stimulus from a sensor, and the tactile force sense. The presentation control device presents tactile force sensation information by controlling the stimulus by utilizing the fact that the sensory characteristic indicating the relationship between the stimulus amount applied to the human body and the sensory amount is non-linear and / or illusion. The sensory characteristic includes at least one stimulus amount of a stimulus amount given to the operator and a stimulus amount brought about by the operator's operation, and a sensation amount presented to the operator, and the sensation amount is physically present. The tactile force sense presenting device is a sensory synthesis / guidance device that synthesizes the sensation of the guidance sensation, and the sensory synthesis / guidance device is a displacement having a sweep displacement on the object. A tactile electronic device that produces at least one of pressure, force, and illusion.

By combining displacements, induced illusion phenomena can be realized, and trigger displacement, characteristic-induced stimulus / trigger stimulus, misunderstanding (misidentification) displacement, synergistic effect on illusion, consonant / vowel displacement / vibration composition, and illusion phenomenon database are provided. can do.

Schematic diagram showing a tactile display system Schematic diagram showing the configuration of the tactile force information presentation system Shows control of displacement of tactile actuator Schematic diagram explaining the illusion phenomenon Schematic diagram explaining the illusion phenomenon Schematic diagram explaining the illusion phenomenon Schematic diagram explaining the illusion phenomenon Schematic diagram explaining the illusion phenomenon Schematic diagram explaining the illusion phenomenon Schematic diagram explaining the illusion phenomenon Schematic diagram illustrating a finger pressing method Schematic diagram illustrating a finger pressing method Schematic diagram illustrating a finger pressing method Schematic diagram illustrating a finger pressing method Schematic diagram illustrating a finger pressing method Schematic diagram illustrating a finger pressing method Schematic diagram illustrating a finger pressing method Schematic diagram explaining how to control displacement / amplitude Schematic diagram explaining how to control displacement / amplitude Schematic diagram explaining how to control displacement / amplitude Schematic diagram explaining how to control displacement / amplitude Schematic diagram explaining how to control displacement / amplitude Schematic diagram explaining how to control displacement / amplitude Schematic diagram explaining how to control displacement / amplitude Schematic diagram illustrating vibration control of a tactile actuator Schematic diagram explaining how to control the waveform Schematic diagram explaining how to control the waveform Schematic diagram explaining how to control the waveform Schematic diagram explaining how to control the waveform Schematic diagram illustrating an actuator control method Schematic diagram illustrating an actuator control method Schematic diagram illustrating an actuator control method Schematic diagram illustrating tactile force sensation generation Schematic diagram illustrating sensory characteristics Schematic diagram illustrating sensory characteristics Schematic diagram illustrating sensory characteristics Schematic diagram illustrating sensory characteristics Schematic diagram illustrating sensory characteristics Schematic diagram illustrating a method for controlling sensory characteristics Schematic diagram illustrating non-linear control of physical properties Schematic diagram illustrating the configuration of the actuator Schematic diagram explaining the mounting method Schematic diagram explaining the mounting method Schematic diagram explaining the mounting method Schematic diagram illustrating the configuration of the tactile actuator Schematic diagram illustrating the basic unit of the tactile actuator Schematic diagram illustrating a table type of tactile actuator Schematic diagram illustrating a table type of tactile actuator Schematic diagram illustrating a handle type of a tactile actuator Schematic diagram illustrating a handle type of a tactile actuator Schematic diagram illustrating a handle type of a tactile actuator Schematic diagram illustrating a handle type of a tactile actuator Schematic diagram illustrating the surface type of the tactile actuator Schematic diagram illustrating the ring type of the tactile actuator Schematic diagram illustrating the wristband type of the tactile actuator Schematic diagram illustrating an arm ring type of a tactile actuator Schematic diagram explaining the mounting site Schematic diagram illustrating control wiring Schematic diagram illustrating control wiring Schematic diagram explaining the system and parts Schematic diagram illustrating module integration Schematic diagram illustrating module integration Schematic diagram explaining the illusion phenomenon Schematic diagram illustrating a module of a tactile force device Schematic diagram illustrating a module of a tactile force device Schematic diagram illustrating a tactile force device Schematic diagram illustrating a tactile force device Schematic diagram illustrating a panel module Schematic diagram illustrating a panel module Schematic diagram illustrating a panel module Schematic diagram illustrating a panel module Schematic diagram illustrating a panel module Schematic diagram illustrating a liquid crystal touch panel type module Schematic diagram illustrating a liquid crystal touch panel type module Schematic diagram illustrating a liquid crystal touch panel type module Schematic diagram for explaining a touch panel type module Schematic diagram illustrating the multimodal effect Schematic diagram illustrating an array unit for multi-touch Schematic diagram illustrating sensory synthesis control Schematic diagram illustrating multi-touch sensory synthesis control Schematic diagram illustrating sensory synthesis control Schematic diagram illustrating sensory synthesis control Schematic diagram illustrating sensory synthesis control Schematic diagram illustrating sensory synthesis control Schematic diagram illustrating sensory synthesis control Schematic diagram illustrating sensory synthesis control Schematic diagram illustrating sensory synthesis control Schematic diagram illustrating button shape sensation generation Schematic diagram illustrating button shape sensation generation Schematic diagram illustrating button sensation generation Schematic diagram illustrating guidance sensation control between buttons Schematic diagram illustrating guidance sensation control between buttons Schematic diagram illustrating guidance sensation control between buttons Schematic diagram illustrating tactile force control by a slider Schematic diagram illustrating tactile force control by a slider Schematic diagram illustrating tactile force control by a slider Schematic diagram explaining the static friction / dynamic friction control method Schematic diagram for explaining dynamic friction control Schematic diagram illustrating static friction control Schematic diagram illustrating static friction control Schematic diagram illustrating static friction control Schematic diagram for explaining dynamic friction control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating push-feel button control Schematic diagram illustrating tactile dial control Schematic diagram illustrating tactile dial control Schematic diagram illustrating tactile dial control Schematic diagram illustrating tactile dial control Schematic diagram illustrating tactile dial control Schematic diagram illustrating tactile dial control Schematic diagram illustrating tactile dial control Schematic diagram illustrating tactile dial control Schematic diagram illustrating tactile dial control Schematic diagram illustrating tactile dial control Schematic diagram illustrating waveform control Schematic diagram explaining device size and shape characteristics Schematic diagram explaining device size and shape characteristics Schematic diagram explaining the texture structure Schematic diagram illustrating a database of texture structures Schematic diagram illustrating waveform control Schematic diagram illustrating a digital mouse Schematic diagram illustrating measurement of personal characteristics Schematic diagram illustrating actuator control Schematic diagram illustrating profiling Schematic diagram illustrating a diagnostic simulation Schematic diagram illustrating remote synchronization

The tactile force sense information presentation system according to the present invention includes the following. The tactile information presentation system is an object and the object is a real object or a virtual object, and the position, speed, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, by the object and / or to the object. A sensor that detects a stimulus having at least one of torque, pressure, humidity, temperature, viscosity, and elasticity, and an operator's sensory characteristics and / or illusion are applied to the object to operate the actual object by the operator. The tactile force sense presenting device that presents the tactile force sense as if it were done, the tactile force sense presenting control device that controls the tactile force sense presenting device based on the stimulus from the sensor, and the tactile force sense presenting control device. , The sensory characteristic showing the relationship between the amount of stimulation applied to the human body and the amount of sensory is non-linear and / or illusion, and the stimulation is controlled to present the tactile force sense information. , The stimulus amount given to the operator, at least one stimulus amount of the stimulus amount brought about by the operator's operation, and the sensation amount presented to the operator, and the sensation amount is a sensation that cannot physically exist. The amount.

The tactile force sense presenting device presents a stimulus to and / or to the object, and controls the stimulus applied to the object according to the operation of the operator to generate a tactile force sense.

The touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is controlled independently.

The object is a touch panel, and each touch panel generates a different sense of touch and / or force.

The tactile force sense presenting device presents the object with at least one of amplitude, displacement, and deformation.

The touch panel is divided into a plurality of sections and arranged in at least one of an array shape, a dot shape, and a pixel, and each touch panel is controlled independently.

The tactile force sense presenting device presents a tactile force sense according to the amplitude, displacement, and / or deformation of the object.

The tactile force sense presenting device causes the object to six-dimensionally guide at least one of amplitude, displacement, and deformation for at least one of position, phase, and time.

The tactile force presenting device produces at least one of amplitude, displacement, and deformation at right angles, parallel to, or at any angle to the tangent of the object.

The tactile sensation presenting device is a sensory synthesis / guidance device that synthesizes a sensation of guidance sensation, and the sensation synthesis / guidance device is at least one of pressure sensation, force sensation, and illusion due to displacement of the object having a sweep displacement. Is generated.

FIG. 2 shows a configuration diagram of a tactile display panel system. The system of the tactile sensation display reproduces the tactile sensation having the tactile sensation pressure sensation, the tactile sensation, and the force sensation on the panel and the display. Displacement, displacement pattern, and waveform are controlled according to the movement of the finger. Although it is a flat object, it gives a three-dimensional feel with a sense of depth. Displacements, displacement patterns, and waveforms in different directions present pressure and force sensations. It may be applied to buttons, sliders, dials and switches.

The tactile display panel system includes a controller and tactile actuators. The tactile actuator supplies a sensor signal to the controller, and the controller supplies a control signal to the tactile actuator. The sensor signal is a stimulus with at least one of position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity to and from the object. Be prepared.

The controller is driven by a control algorithm and changes the stimulus intensity including displacement, momentum, vibration, amplitude, and displacement with time according to the movement of the finger. The control signal is generated by the drive voltage of the force information and the amplitude information.

Actuators include motors, eccentric motors, linear motors, electrostatic motors, molecular motors, piezos, artificial muscles, memory alloys, coils, voice coils, piezoelectric elements, magnetic forces, static electricity, and other actuators that generate displacement or vibration. good.

The tactile display panel can be worn on any part of the body (see Figure 58).

This system applies the sensory characteristics and illusions of the operator to present the operator with tactile force sensation information as if he / she operated an actual object. Specifically, the stimulus is controlled based on the stimulus detected by the sensor, and the stimulus is generated by utilizing the fact that the sensory characteristics indicating the relationship between the stimulus amount applied to the human body and the sensory amount are non-linear or illusion. Tactile sensory information is presented under control. The sensory characteristics include at least one stimulus amount given to the operator and a stimulus amount brought about by the operator's operation, and a sensory amount presented to the operator, and the sensory amount can physically exist. There is no sense.

Here, the system presents a stimulus from or to the object, and the stimulus applied to the operator is controlled according to the operation of the operator. The minimal tactile information presentation system consists of a tactile actuator and a controller. The sensor attached to the tactile actuator measures the position, speed, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity of the sensor. Is sent to the controller to calculate a control signal for controlling the tactile actuator and sent to the tactile actuator to control the tactile actuator.

The tactile force sensor has panel-type and display-type sensor and presentation functions, and in the controller, the displacement, momentum, vibration amplitude, displacement stimulus, vibration stimulus, and stimulus intensity associated with the movement of the body such as fingers and palms. Time changes are calculated, and based on the control algorithm, the position, speed, acceleration, shape, displacement, deformation, and amplitude of the tactile actuator are adjusted according to the movement and pressure of the body such as fingers and palms monitored by the sensor. , Rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are controlled, and tactile force sensation information such as pressure sensation, tactile sensation, and force sensation is presented to humans and the like.

In the control signal, force information (t), amplitude information (t), etc. are expressed by drive voltage, etc., and actuators include motors, piezos, artificial muscles, memory alloys, molecular motors, electrostatics, coils, magnetic forces, and static electricity. In addition, if it generates displacement / vibration, the device / operating principle does not matter. As a result, even though panels and displays composed of flat, curved, and three-dimensional shapes are installed in a housing or the like so as to be fixed or slightly vibrate, there is a feeling of insertion, a feeling of pushing, a feeling of being sunk, and a depth. There is a feeling of being pushed back, a feeling of lifting, a feeling of convergence of vibration / amplitude, a feeling of reverberation of vibration / amplitude, a feeling of direction of displacement / movement, a feeling of squishyness, a feeling of hardness, a feeling of softness, and a three-dimensional feeling. Physically, even though such a sensation is not reproduced / presented, the sensation and the physical reaction / reflex are experienced sensuously.

As a result, in an information terminal or the like, it is possible to realistically obtain the operation feel of an object such as a button, a slider, a dial, a switch, or an operation panel in spite of a flat or flat panel.

FIG. 3 shows a schematic view of displacement control of the tactile force sensation actuator. The tactile actuator has 6 degrees of freedom for translation and rotation, and can freely control displacement, amplitude, velocity, acceleration, and phase difference. In addition to displacement, displacement pattern, waveform, and vibration stimulation, stimulation such as electrical stimulation and Coulomb force can be controlled.

4 to 10 show a schematic view of an apparatus showing an illusion phenomenon. In the figure, this device includes an actuator on a base material, a touch panel on the touch panel, and a sensor that detects displacement, pressure, acceleration, etc. of an object and measures a position, rotation, and tensor. The touch panel is displaced in the y direction, but a dent / push is felt in the z direction of the button.

FIG. 4 shows a normal operation without an illusion phenomenon. The basic unit of the tactile actuator consists of a touch panel, a sensor, and an actuator. Position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are measured as scalars, vectors, or tensors on touch panels and sensors. NS.

The actuator is presented with position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. as a scalar, vector, or tensor. The touch panel is usually hard and does not deform, and when the operator pushes the touch panel with the pressing pressure P, the touch panel is displaced in the Z direction and Z = 0 is maintained without being deformed. As the pushing pressure P increases, the operator's fingertips are deformed and the pushing pressure is perceived, but the sinking displacement Z (= 0) and the sinking sensation Sz (= 0) are not felt.

In this patent, the perception of tactile force sensation information at the fingertips is explained, but it is not limited to the fingertips, but the whole body and the whole body of the operator are assumed.

FIG. 5 shows an operation when there is an illusion phenomenon. The touch panel is usually hard and does not deform, and when the operator pushes the touch panel with the pressing pressure P, the touch panel is displaced in the Z direction and Z = 0 is maintained without being deformed.

Here, unlike the usual case, when the touch panel is displaced (Y) in the Y direction by the actuator, the indentation pressure P is perceived to increase and the indentation pressure P is perceived to increase in the Z direction even though there is no sinking displacement Z (= 0). A feeling of sinking Sz is felt. When the touch panel is displaced (X) in the X direction, the sinking sensation Sz is also felt in the Z direction. However, if the direction (Y) pointed by the fingertip and the displacement direction of the touch panel do not match, the movement in the displacement direction may be weakly perceived. The illusion becomes effective when the displacement direction of the touch panel is adjusted according to the direction of the fingertip and the sinking of the finger.

The phenomenon here is an illusion that the displacement in the Y direction is perceived by the sensation of sinking in the Z direction, and is an illusion phenomenon (Cross-Direction effect) that transcends the axis and the movement direction. There are various displacement patterns for the displacement in the Y direction according to the desired tactile sensation and feel. Not only linear increase / decrease, sinusoidal vibration, and combination of fundamental frequency components, but also arbitrary waveform design, amplitude modulation, frequency modulation, and convolution, as if creating the tone and music of an instrument with a synthesizer. , And their combinations, etc., can express various tactile sensations and tactile sensations.

The illusion pattern is provided by a combination of 9 patterns of pushing pressure method (3 directions) x actuator displacement direction (3 directions). Further, it has a rotation pattern. There is also an intermediate direction, so the combinations are infinite. In addition to translational displacement, there are also cases of rotational displacement.

FIG. 6 shows the operation of the latch / continuous illusion phenomenon. Here, when the touch panel is displaced (Y) stepwise in the Y direction by the actuator, the displacement (Y) is perceived as an increase in the indentation pressure P even though there is no subduction displacement Z (= 0). Along with the step-like change, a step-like sinking sensation Sz is felt in the Z direction.

FIG. 7 shows the operation of the latch / continuous illusion phenomenon. Here, when the touch panel is repeatedly displaced (Y) in the Y direction by the actuator, the displacement (Y) changes with the perception of an increase in the indentation pressure P even though there is no sinking displacement Z (= 0). Along with this, a feeling of sinking Sz is felt in the Z direction. There is a condition in which the indentation displacement (Y) is hard to be felt.

The figure shows the pushing, pushing pressure, displacement, and sinking sensation, respectively. In FIG. 8 , the phase is delayed and the displacement appears. The touch panel is usually hard and does not deform, and when the operator pushes the touch panel with the pressing pressure P, the touch panel is displaced in the Z direction and Z = 0 is maintained without being deformed. Here, unlike usual, when the touch panel is displaced (Y) in the Y direction by delaying the phase with respect to the increase in the indentation pressure P by the actuator, there is no sinking displacement Z (= 0). Along with the displacement (Y) in the Y direction, a sinking sensation Sz is felt in the Z direction. Until the increase in displacement (Y) starts, the drag against the pressing of the virtual button is presented, and the pressing sensation Sz (≠ 0), which is the maximum value of the drag, is presented as the hardness of the virtual button.

In FIG. 9 , the displacement does not continue and shows a peak, and then the displacement becomes zero. Here, when the touch panel is reciprocally displaced (Y) in the Y direction by the actuator, the pressing pressure P increases and the displacement (Y) changes even though there is no sinking displacement Z (= 0). , You can feel the sinking feeling Sz like a button like "click" in the Z direction.

In FIG. 10 , the displacement becomes zero after showing a positive peak and a negative peak. Here, when the touch panel is reciprocally displaced (Y) in the Y direction by the actuator, the pressing pressure P increases and the displacement (Y) changes even though there is no sinking displacement Z (= 0). , You can feel the sinking feeling Sz like a button like "click" in the Z direction.

11 to 17 are schematic views showing a method of pressing a finger by an object (panel) and / or a stimulus to the object. In FIG. 11 , when the operator pushes the touch panel with the pushing pressure P and the touch panel is displaced in the Z direction by the actuator, a sinking sensation Sp is felt in the Z direction. 12 and 13 show a slight button resistance stimulus on the panel, an instant response, a responsive stimulus, a click stimulus after the button feel, and a stimulus in which only the wall is felt without the button being pressed by the stepwise button pressing. The presentations of are shown respectively. 14 and 15 show the presentation of a panel moving stimulus, a panel resting stimulus, and a finger-panel sensory stimulus, respectively, by stepwise pressing a button. FIG. 17 shows the presentation of the stimulation of the triangular wave and the sine wave generated on the panel by pressing the button.

19 to 24 are schematic views showing the control of displacement / amplitude applied to the panel as a stimulus. In FIG. 19 , when the panel is pushed down directly below, the panel is displaced to form a triangular wave. This displacement presents a sensory finger depth stimulus, a physical finger tension stimulus, and a sensory finger resistance stimulus. In FIG. 20 , when the panel is unknowingly moved and pushed down, the panel is displaced to form a triangular wave. This displacement presents a sensory finger progression stimulus, a physical finger tension stimulus, and a sensory finger depth stimulus. In FIG. 21 , when a viscoelastic stimulus, which is a button characteristic, is applied to the panel, the panel is displaced to form a triangular wave. This displacement presents the panel with a sensory finger progression stimulus, a physical finger tension stimulus, and a sensory finger response.

In FIG. 22 , when a viscoelastic stimulus, which is an artificial skin sensation, is applied to the panel, the panel is displaced to form a triangular wave. This displacement presents the panel with a sensory finger progression stimulus, a physical finger tension stimulus, and a sensory finger reaction force.

In FIG. 23 , when the panel is stimulated, the panel is displaced to form a triangular wave. The displacement of each panel is shown. Here, when the touch panel is displaced (Y) in the Y direction by the actuator, the pressing pressure P increases and the displacement (Y) changes in the Z direction even though there is no sinking displacement Z (= 0). You can feel the sinking feeling Sz like a button. Depending on how the displacement (Y) is made in the Y direction, a feeling of sinking in the Z direction and a button-like feeling Sz such as "click" and "click" can be felt.

In FIG. 24 , the displacement of the panel forms a sine wave when the panel is stimulated. The displacement of each panel is shown. Here, when the touch panel is displaced (Y) in the Y direction and changed in a sinusoidal manner by the actuator, the indentation pressure P increases and the displacement (Y) increases even though there is no sinking displacement Z (= 0). Along with the change, a button-like sinking sensation Sz is felt in the Z direction. Depending on how the displacement (Y) is made in the Y direction, a feeling of sinking in the Z direction and a button-like feeling Sz such as "click" and "click" can be felt.

25 to 29 show a schematic diagram of waveform control, which is an example of displacement, displacement pattern, waveform, and vibration of the tactile actuator. The tactile force sensation actuator can generate an arbitrary displacement / waveform pattern in an arbitrary direction by freely controlling the waveform amplitude, vibration amplitude, velocity, acceleration, and phase difference.

FIG. 26 shows a displacement waveform that generates a force sensation by asymmetrically accelerating and decelerating the waveform. FIG. 27 shows an acceleration / deceleration waveform that generates a force sense that can accelerate / decelerate the waveform asymmetrically. FIG. 28 shows an acceleration sweep (click feeling) waveform that changes the feel by changing the frequency for each waveform when the panel is changed in waveform for a short time to give a click feeling. Generates a pattern deceleration waveform and a pattern acceleration waveform. FIG. 29 shows a schematic diagram of an acceleration / deceleration shift waveform in which the phase of the waveform is fixed and the acceleration / deceleration positions are exchanged, and a phase shift waveform in which the acceleration / deceleration position is fixed and the phases of the waveform are exchanged. The velocity and phase waveform of the waveform are controlled.

FIG. 30 is a diagram showing a method of presenting tactile force sensation information in which displacements are synthesized by phase-locking the rotations of two eccentric rotors A912 and eccentric rotor B913 using sensory characteristics related to force sensation.

Here, (FIG. 30 (b)) is a schematic case in which the two eccentric rotors A912 and the eccentric rotor B913 of (FIG. 30 (a)) are synchronously rotated in the same direction with a phase delay of 180 degrees. It is a thing. As a result of this synchronous rotation, torque rotation without eccentricity can be synthesized.

( FIG. 30 (c)) is a schematic representation of the case where the sensory characteristic 931 is a logarithmic characteristic, and the sensory characteristic 931 has the same sensory quantity 933 as the physical quantity 932 which is a stimulus like the sensory characteristic 211. It shows that it is a non-linear characteristic such as logarithm. Considering the case where a positive torque is generated at the operating point A934 and a negative torque in the opposite direction is generated at the operating point B935 on the sensory characteristic 931, the torque sense 944 is as shown in (FIG. 30 (d)). Represented. The torque 943 is proportional to the time derivative of the rotation speed 942 of the rotor. When operated at the operating point A934 and the operating point B935, the torque sensation 944 is perceived.

The torque 943 physically returns to the initial state 948 in one cycle, and its integral value is zero. However, the sensory integral value of the torque sense 944, which is a sensory quantity, is not always zero. By appropriately selecting the operating point A934 and the operating point B935 and appropriately setting the operating point A duration 945 and the operating point B duration 946, it is possible to freely continue to present the torque sensation in any direction. ..

The above is true not only for torque rotation but also for rotation and translational displacement, and when the sensory characteristic 931 exhibits non-linear characteristics such as when it is exponential. When the sensory characteristic 931 in FIG. 30 (c) has a threshold value, the same torque sensation is generated, and the torque sensation can be continuously presented only in one direction.

FIG. 31 (a) shows the direction of the illusionary force sense induced and perceived by the initial phase (θi) of the phase pattern. The illusionary force sensation device 107 changes the direction 1202 of the illusionary force sensation induced by the change in the momentum synthesized by the eccentric rotor by changing the initial phase (θi) of the rotation start in FIG. 31 (b). It can be controlled in the direction of the initial phase (θi). For example, by changing the initial phase (θi) as shown in FIG. 31 (c), it can be induced in an arbitrary direction of 360 ° in the plane. At this time, when the weight of the illusion force sensation interface device 101 itself is heavy, it is difficult to obtain the buoyancy sensation 1202 that floats by canceling the upward force sensation 1202 due to the illusion force and the downward force sensation 1202 due to gravity, and it is heavy. It may be felt. At that time, by slightly shifting the upward direction due to the illusionary force sensation from the direction opposite to the gravitational direction to induce the illusionary force sensation 1203, it is possible to suppress the decrease / inhibition of the sensation of levitation due to gravity. If you want to present in the direction opposite to the direction of gravity, there is also a method of inducing a sense of illusion force alternately in the direction of gravity and 180 ° + α ° and 180 ° −α °, which are slightly deviated from the vertical direction.

32 (a) to 32 (f) show an example of control of an illusionary force device (tactile force device) that presents a basic sensation of tactile force and a sensation of illusionary force. FIG. 32 (a) schematically shows a method of generating a rotational force in the illusionary force sensation device 107, and FIG. 32 (d) schematically shows a method of generating a translational force. Is. The rotations of the two eccentric weights 814 in FIG. 32 (a) are delayed by 180 ° in phase and rotate in the same direction. On the other hand, in FIG. 32 (d), they rotate in opposite directions.

(1) As shown in FIG. 32 (b), when two eccentric rotors are synchronously rotated in the same direction with a phase delay of 180 degrees, the two eccentric rotors become point-symmetric and the center of gravity and the center of rotation axis coincide with each other. As a result, rotation of equal torque without eccentricity is synthesized. This makes it possible to present a sense of rotational force. However, the time derivative of the angular momentum is torque, and in order to continuously present torque in a certain direction, it is necessary to continuously accelerate the rotation speed of the motor, and in reality, it is continuously presented. It's difficult to do.

(2) As shown in FIG. 32 (c), synchronous control by the angular velocity ω1 and the angular velocity ω2 induces an illusionary force sensation (continuous torque sensation) of continuous rotational force in a certain direction. (3) As shown in FIG. 32 (e), when synchronous rotation is performed in the opposite direction at a constant angular velocity, a force (simple vibration) that linearly vibrates in an arbitrary direction can be synthesized by controlling the initial phase θi1201.

(4) As shown in FIG. 32 (f), when the angular velocity ω1 and the angular velocity ω2 are synchronously rotated in opposite directions according to the sensory characteristics related to the illusionary force sensation, the illusionary force sensation of continuous translational force in a fixed direction. (Continuous force sensation) is induced. In the illusionary force sense interface device 101, if the rotational speed (angular velocity) and the phase synchronization are accurately controlled according to the human sensory characteristics as shown in FIGS. 32 (c) and 32 (f), two types of angular velocities are used. Since the illusionary force sensation can be induced only by the combination of (ω1 and ω2), the control circuit can be simplified.

FIG. 33 schematically shows the phenomenon of FIG. 30 and its effect. Vibration that periodically accelerates and decelerates around the equilibrium point by controlling the rotation pattern of the eccentric motor 815 to change the combined momentum of the two eccentric rotors over time in consideration of the sensory characteristics related to the eccentric force sensation. From 904, it is possible to induce the illusion 905 in which a force acting continuously in a certain direction is perceived. That is, although there is no physical component such as a force acting in a certain direction, an illusion that the force is acting in a certain direction is induced.

When the operating point A and the operating point B are alternately accelerated and decelerated at every 180 ° phase, the force sensation 905 in a certain direction is continuously perceived. The force physically returns to the initial state in one cycle, and its momentum and the integral value of the force are zero. That is, it stays around the equilibrium point and the acceleration / deceleration mechanism does not move to the left. However, the sensory integral value of the force sensation, which is the amount of sensation, does not become zero. At this time, the perception of the integral 908 of the force in the positive direction is reduced, and only the integral 909 of the force in the negative direction is perceived.

Here, the time derivative of the angular momentum is the torque, and the time derivative of the momentum is the force. In order to continuously generate the torque and the force in a certain direction, the rotation speed of the motor or the linear motor is continuously accelerated. Therefore, the method of periodically rotating the rotating body or the like is not suitable for continuously presenting the sense of force in a certain direction. In particular, in a non-base interface used in mobile devices and the like, it is physically impossible to present continuous force in one direction.

However, humans have non-linear sensory characteristics, and if the method of the present invention is used, a force / force pattern different from the physical characteristics can be obtained by using the perceptual sensitivity related to the illusion force sensory characteristics and controlling the acceleration / deceleration pattern of the momentum. Can be perceived as an illusion. For example, the ratio of the magnitude of the perceived stimulus to the intensity of the given stimulus is the sensitivity, but the human sensory characteristics are different in sensitivity to the intensity of the given stimulus and more sensitive to the weak stimulus. Insensitive to strong stimuli. Therefore, by controlling the acceleration / deceleration phase of the motor rotation and repeating the acceleration / deceleration periodically, we have succeeded in presenting a continuous force sense in the direction in which the weak stimulus is presented. Further, by selecting the appropriate operating points A and B of the sensory characteristics, it is possible to present a continuous force sense in the direction in which the strong stimulus is presented.

A driving simulator is associated with a similar device, but in a driving simulator, the feeling of acceleration of a car is achieved by slowly returning it to its original position with a small acceleration that is not noticed after applying the desired force (feeling of acceleration). Is presented. Therefore, the presentation of force becomes intermittent, and in such a biased acceleration type method, it is not possible to continuously present a sense of force or a sense of acceleration in a certain direction. The same applies to the conventional tactile interface device. However, in the present invention, the illusion is used to present a continuous translational force sensation 905 in a certain direction. In particular, the feature of the illusion force sensation interface device 101 using the illusion is that a continuous force is perceived in a direction opposite to the direction of the intermittent force presented by the driving simulator by a physical method. Is.

In other words, by utilizing the human non-linear sensory characteristic that the sensitivity differs depending on this intensity, even though the integral of the force generated by periodic acceleration / deceleration and vibration is physically zero, it is perceptually Not only are they not offset, the force 908 in the positive direction is not perceived, and a translational force sense 905 and a sense of torque can be continuously presented in the negative direction 909, which is the target direction. (See FIG. 19 (c) for a method of generating a continuous torque sensation.) These phenomena are non-linear characteristics even when the sensation quantity is not logarithmic with respect to the physical quantity 832 whose sensation characteristic 831 is a stimulus. The same effect can be obtained. This effect is obtained not only in the non-base type but also in the base type.

In FIG. 3 , by making the rotation duration Ta at the operation point A close to zero, the momentum in each section of the rotation duration Ta and the rotation duration Tb is equal. The momentum increases and the force also increases, but the force sensation changes logarithically and the sensitivity decreases, so that the integral of the sensation value in the section of the rotation duration Ta approaches zero. Therefore, the force sensation in the section of the rotation duration Tb becomes relatively large, and the continuity of the force sensation 905 in one direction is improved. As a result, the operating point A and the operating point B are appropriately selected, the operating point A duration and the operating point B duration are appropriately set, and the synchronous phases of the two eccentric rotors A and the eccentric rotor B are adjusted. By doing so, it is possible to continue to freely present the sense of force in any direction.

FIG. 34 shows the non-linear characteristics used in the illusionary force sensation interface device, which are the sensory characteristics ( FIGS. 34 (a) and 34 (b)) and the non-linear characteristics of the viscoelastic material ( FIG. 34 (c), respectively). )), The hysteresis characteristics of the viscoelastic material (FIG. 21 (d)) are shown. FIG. 34 (b) is a schematic view showing a human sensory characteristic having a threshold value of 2206 with respect to a physical quantity, as in FIG. 2, and by controlling the illusion force sense interface device in consideration of this characteristic. It shows that a sensation that does not physically exist is induced as an illusionary force sensation. As shown in Fig. 34 (c), a material having physical properties whose stress characteristics with respect to the applied force show non-linear characteristics is placed between a device that generates driving forces such as displacement, vibration, torque, and force, and human skin and sensory organs. A similar sense of illusion force is induced when pinched. Further, as shown in FIG. 34 (d), the sensory characteristics are not isotropic when the displacement increases and decreases, such as when the muscle is stretched and contracted, and often exhibits a hysteresis-like sensory characteristic. Immediately after the muscle is pulled, the muscle contracts strongly. By generating such a strong hysteresis characteristic, the induction of a similar illusionary force sensation is promoted.

FIG. 35 is a diagram showing a method of presenting tactile force sensation information using a method of changing the sensory characteristics by a masking effect on force sensation as an example of a method of changing the sensory characteristics.

The sensory characteristics are masked by the masking displacement (vibration) and the torque sensation 434 is reduced. Examples of this masking method include simultaneous masking 424 (proven in visual and auditory masking), anterior masking 425, and posterior masking 426. ( FIG. 35 (a)) is a schematic representation of the muskellunge torque 413, and the torque sensation 434 perceived at this time is represented as (FIG. 35 (c)). The torque 413 is proportional to the time derivative of the rotation speed 412 of the rotor.

At this time, the initialization time 415 for initializing the rotation speed 412 of the rotor and the corresponding masking duration 425 are shown in FIG. 6 ( FIG. 35 (d)), and the initialization time 445 and the masking duration 455 are shown in FIG. When it becomes shorter than a certain period of time, it feels like the torque is continuously presented like the torque sensation 464, even though the negative torque due to initialization physically exists. Critical fusion occurs.

The masker that generates the masking displacement (vibration) may be a rotor different from the rotor that is the muskey whose torque is masked by the masker, or the rotor itself that is the muskey. When the muskellunge rotor is also a masker, it means that the rotor is controlled by the control device to generate masking displacement (vibration) at the time of masking. The displacement (vibration) direction of the masker may or may not be the same as the rotation direction of the muskellunge rotor. The above can occur even when the muskellunge and the masker have the same stimulus (when the muskellunge rotor is also the masker).

FIG. 36 is a diagram illustrating this case. As shown in FIG. 36 , the torque sensation 484 is reduced by the front masking 485 and the rear masking 486 before and after the strong torque sensations 485 and 486.

As for the sensory characteristics, the sensitivity of the torque sensation 517 changes depending on the state of muscle tension or one or more of physical, physiological, and psychological states. For example, when a muscle is instantly stretched with a presentation torque 514 (strong torque 524 in a short time), which is an external force, a sensor called a muscle spindle in the muscle senses this, and the muscle has a power that is not defeated by this external force. At torque 515 (torque caused by muscle reflex 525), the muscle contracts quickly in a conditioned reflex. At this time, myoelectricity 511 is generated. The control circuit 512 that detects this changes the sensitivity of the torque sensation 517 by controlling the tactile sensation presenter 513 and exerting the presentation torque 516 (gentle and medium torque 526) in synchronization with the contraction of the muscle. ..

The above is true not only in the state of muscle tension but also in the case of a change in sensory sensitivity due to any one or more of the states of respiration, posture, and nerve firing.

The sensitivity of the palm varies depending on the direction of the palm due to the anatomical structure of its skeleton, joints, tendons, muscles, etc. By correcting the intensity of the presented physical quantity (rotational speed ω612) according to the sensitivity depending on the direction of the palm (anisotropic sensitivity curve 611), it is possible to present the direction with high accuracy.

FIG. 37 shows masking related to force sensation as an example of a control method for continuously and intermittently presenting tactile force sensation information of any one or more of displacement sensation, vibration sensation, force sensation, and torque sensation in an arbitrary direction. It is a figure which shows the vibration tactile force sense information presentation method in an arbitrary direction by using the method of changing the sensory characteristic by an effect.

The sensory characteristics are masked by the masking displacement (vibration) 1216 and the force sensation 1224 is reduced. This masking displacement (vibration) is generated by displacing (vibrating) the rotation speed 1022 of the eccentric rotor A and the rotation speed 1023 of the eccentric rotor A in (FIG. 30 (b)). Can be done. ( FIG. 37 (a)) is a schematic representation of this, and the force sensation 1224 perceived at this time is represented as (FIG. 37 (b)). The force 1213 is proportional to the time derivative of the magnitude 1212 of the combined rotational speeds of the two eccentric rotors.

At this time, the initialization time 1215 for initializing the rotation speed 1212 of the rotor is shortened, and when it becomes shorter than a certain time as shown in FIG. 37 (c), a negative force due to the initialization physically exists. Nevertheless, a critical fusion occurs in which the force is felt to be continuously presented, as in the force sensation 1244.

The above occurs when the muskey and the masker use different rotors, and the same continuous presentation sensation occurs not only in the case of force but also in the case of torque.

As shown in FIGS. 38 (a) to 38 (c), the sensory characteristics of each user are different. For this reason, there are those who can clearly perceive the illusionary force, those who are difficult to perceive, and those who are more likely to be perceived by learning. The present invention has a device for correcting this individual difference. In addition, when the same stimulus is continuously presented, the sensation may be dull to the stimulus. Therefore, it is effective to prevent habituation by giving fluctuations in the intensity / cycle and direction of the stimulus.

FIG. 38 (d) shows an example of a force presentation method in a certain direction using an illusionary force sense. In the method of synthesizing the displacement component and the vibration component by rotating the two eccentric oscillators in opposite rotation directions, the high-speed rotation speed ω1 (high frequency f1) 1002a at the operating point A and the low-speed rotation speed ω2 (low) at the operating point B. When the frequencies f2) 1002b are presented alternately every 180 ° of the phase, the illusion force sensation intensity (II) is proportional to the logarithm of the acceleration / deceleration ratio Δf / f of the frequency which is the rotation speed of the eccentric rotor ( FIG. 38). (E)). However, (f = (f1 + f2) / 2, Δf = f1-f2). The slope n when plotting the logarithmic force sensation intensity and Δf / f indicates individual differences.

The sensory intensity (VI) indicates the intensity of the displacement component / vibration component perceived at the same time as the force sensation in a certain direction due to the illusion, and the relationship between the intensity of the displacement component / vibration component and the physical quantity f (log) is approximately inversely proportional. The sensory intensity (VI) is relatively reduced by increasing the frequency f ( FIG. 38 (f)). By controlling the content strength of the displacement component and vibration component, the texture of the force when the illusionary force sensation is presented changes. The slope m when plotted logarithmically indicates individual differences. The n and m indicating individual differences change as the learning progresses, and converge to a constant value when the learning is saturated.

39 (a) to 39 (c) show the texture expression method of the virtual flat plate 1100. The movement (position / attitude angle, velocity, acceleration) of the illusionary force sensation interface device 101 monitored by sensing represents the movement of the virtual object 1101, and the movement of the virtual object. By controlling the direction / strength and the texture parameter (containing vibration component) of the drag force 1102 due to the illusionary force sense, the friction sensation 1109 and the roughness sensation 1111 and the shape, which are the textures of the virtual flat plate, are controlled. FIG. 39 (a) shows the drag force 1103 from the virtual flat plate to the virtual object and the drag force 1102 against the movement that works when the virtual object (illusion force sensor interface device 101) is moved on the virtual flat plate 1100.

FIG. 39B shows that the frictional force 1104 acting between the two objects when the illusionary force sensation interface device 101 and the virtual flat plate 1100 are in contact vibrates repeatedly with dynamic friction and static friction. Further, the existence and shape of the virtual flat plate are perceived by presenting the drag force 1106 that pushes back the illusion force sensor interface device 101 so as to stay within the error thickness 1107 of the virtual flat plate by feedback control. When the illusionary force sensory interface device 101 does not exist in the virtual flat plate 1100, the drag force to push back is not presented, and the presence of the wall is perceived by presenting it only when it exists.

FIG. 39 (c) shows a method of expressing the surface roughness. By presenting the drag force in the direction opposite to the direction 1101 in which the illusionary force sense interface device 101 is moved in accordance with the moving speed / acceleration, the feeling of resistance and the feeling of viscousness 1108 are perceived. By presenting a negative drag force in the same direction as the moving direction (acceleration force 1113), it is possible to emphasize the smoothness 1110 of the virtual flat plate that slides on ice. This feeling of acceleration and smoothness 1110 is difficult to present with a non-base type tactile force interface device using a conventional vibrator, and the texture and texture realized by the illusionary tactile force interface device 101 using an illusion. It is an effect. Further, by vibrating the drag (vibration drag 1112), the surface roughness sensation 1111 of the virtual flat plate is perceived.

FIG. 40 shows a control algorithm using a viscoelastic material whose characteristics change depending on the applied voltage. In the method using a viscoelastic material, materials with different stress-deformation characteristics (2403, 2404) are attached, but as shown in FIG. 40 (a), a material 1707 whose viscoelastic property changes with an applied voltage may be used. .. By controlling the applied voltage, the viscoelastic coefficient is changed ( Fig. 40 (b)), and the transmission rate of the cyclically changing momentum generated by the eccentric rotor to the palm is defined as the rotation phase of the eccentric rotor. by varying in synchronism, even eccentric rotor was rotating (constant speed rotation) at a constant rotational speed as in FIG. 40 (c), the viscoelastic properties as shown in FIG. 40 (d) Since the amount of motion transmitted to the palm and fingertips can be controlled by changing the characteristic values at the operating points B and A in time, the same effect as accelerating or decelerating the rotational speed of the eccentric rotor can be obtained.

In addition, this method has the same effect as quasi-changing the physical characteristics of the skin, and has the effect of quasi-changing the sensory characteristic curve ( FIG. 40 (e)). It can be used for absorption and control to increase the induction efficiency of the illusion force sensation. Further, as in the case where the viscoelastic material is attached to the surface of the illusion force sensation device as shown in FIG. 40 (a), FIG. 40 ( The viscoelastic material may be attached to the fingertip or the body as in f). Here, the viscoelastic material is a material / characteristic as long as the stress-strain characteristic can be controlled non-linearly by the applied voltage. Further, if non-linear control is possible, the control method is not limited to the control by the applied voltage.

Repeated acceleration / deceleration of motor rotation as shown in Fig. 40 (b) causes large energy loss and heat generation, but in this method, the rotation speed of the motor is constant ( Fig. 40 (c)) or the acceleration ratio f1. Since / f2 is a value close to 1, and the characteristics are changed by the applied voltage, the energy consumption of this method can be suppressed to be smaller than the energy consumption by acceleration / deceleration of the motor.

FIG. 41 shows an example of control of the illusion force sense interface device 101. In this device, the control of the motor 1704 is divided into a motor feedback (FB) characteristic controller that controls the feedback characteristics of the motor 1704 and a control signal generator that converts an illusionary force sensation induced pattern into a motor control signal. In the present invention, it is important to control the synchronization of the phase pattern θ (t) = F (u, II, VI, R) of the motor rotation, and it is necessary to perform the synchronization control with high time accuracy. Therefore, as an example of the method, the position control by the control pulse train of the servomotor is shown here. When a step motor is used for position control, it is often difficult to step out or control due to sudden acceleration / deceleration. Therefore, here, the pulse position control by the servomotor will be described. In the present invention in which a large number of illusionary force sensation interface devices 101 are synchronously controlled and used by separating the control of the motor feedback (FB) control characteristic and the motor control by the pulse position control method, the motor when different motors are used. Scalability is ensured that can easily cope with the consistency of control signals, the speeding up of illusion force sensation-induced pattern generation, and the increase in the number of control motors to be controlled synchronously. In addition, it becomes easy to correct individual differences.

In the illusion force sensation induced function generator 1701, the pulse signal sequence gi is separated into control signals for controlling the motor FB characteristic controller and the motor control signal generator, and controls the phase position of the motor in the motor control signal generator. (T) = gi (f (t)) is generated, and the phase pattern θ (t) of the motor is controlled. In this method, the rotation phase of the motor is feedback-controlled by the number of pulses. For example, one pulse rotates the 1.8 ° motor. As for the rotation direction, forward rotation or reverse rotation is selected by the direction control signal. By using this pulse control method, an arbitrary acceleration / deceleration pattern (rotational speed, rotational acceleration) is controlled at an arbitrary phase timing while maintaining a phase relationship between two or more motors.

FIGS. 42 (a) to 42 (a) show an implementation example of the illusion force sense interface device 101. As shown in FIGS. 42 (a) and 42 (b), it is attached to the fingertip 533 by using the adhesive tape 1301 or the finger insertion portion 1303 of the housing 1302. Further, it may be worn between the fingers 533 (43 (c)) or sandwiched between the fingers 533 (43 (d)). The housing 1302 may be a hard material with little deformation, a material that is easily deformed, or a slime-like material having viscoelasticity. FIG. 43 is also conceivable as a variation of these mounting methods. By controlling the phases of the two basic units of the illusionary force sensation device by flexible adhesion and housing, it is possible to express the sensation of expansion and the sensation of compression / compression in addition to the sense of force of left, right, up and down. Such a housing having an adhesive tape and a finger insertion portion, in which the illusionary force sensory interface device 101 is attached to the body or the like, is referred to as a attachment portion. In addition to the above-mentioned adhesive tape and housing having a finger insertion portion, the attachment portion may have any form such as a sheet type, a belt type, and tights as long as it can be attached to an object or a body. In a similar manner, it is worn throughout the body, including fingertips, palms, arms, and thighs. The terms viscoelastic material and viscoelastic property used herein refer to those having viscous and / or elastic properties.

FIG. 43 shows another mounting example of the illusionary force sensory interface device 101. In FIG. 43 (a), since the illusion force sense device 107 is detected as noise vibration by the acceleration sensor 108, the influence of the vibration on the acceleration sensor 108 by arranging them in the opposite direction to the finger 533. Is being reduced. Further, the noise mixing is reduced by canceling the noise vibration detected by the acceleration sensor 108 based on the control signal of the illusion force sense device 107.

In FIGS. 43 (c) to 43 (e) , the mixing of noise vibration is suppressed by interposing the seismic resistance material 1405 between the illusion force sense device 107 and the acceleration sensor 108. FIG. 43 (d) is an illusionary force sensation interface device 101 that perceives an illusionary force sensation while touching a real object. A sense of illusionary force is added to the tactile sensation with a real object. In the conventional data glove, the force sense is presented by attaching a wire to the finger and pulling the finger to present the force sense. When the tactile force is presented while touching the real object using the data glove, it is difficult to combine the feel of the real object and the virtual object, such as the finger moving away from the real object and the grip being hindered. The illusionary tactile force sensation interface device 101 does not have such a situation, and realizes a complex sensation (mixed reality) in which a virtual feel is added while firmly grasping and touching a real object.

In FIG. 43 (e), the gripping / contact feeling of the real object can be edited or the virtual object 531 can be edited by adding a sensation of illusion according to the contact and gripping pressure with the real object measured by the pressure sensor 110. Replace with the feel of. In FIG. 43 (f), the shape / surface shape of the gripped object related to the tactile sensation is measured by using a shape sensor (for example, a photo sensor) that measures the surface shape or shape deformation instead of the pressure sensor shown in FIG. 43 (e). , And the gripping force, distortion elasticity, and contact due to deformation are measured. As a result, a tactile magnifying glass that emphasizes the measured stress / elasticity and surface shape is realized. It is possible to visually confirm the fine surface shape on a display like a microscope and also to confirm the shape tactilely. Further, if a photo sensor is used as the shape sensor, the shape can be measured without contact, so that the shape of the object can be experienced by holding a hand over a distant object.

Also, in the case of variable touch buttons whose commands on the touch panel change depending on the usage status and context, especially when the buttons are hidden by the finger when pressed like a mobile phone, the commands of the variable button Is hidden and cannot be read. Similarly, in the case of a variable button in the virtual space in VR content, the menu notation and the command change depending on the context, so when the button is pressed, the content of the button to be pressed cannot be known. Therefore, by displaying it on the display 1406 on the illusionary force sensation interface device 101 as shown in FIG. 43 (e), the illusionary force sensation button can be pushed while confirming the command content of the button.

In order for the virtual object 531 and the virtual button to feel and operate the virtual button pressing information and the pressing reaction force in the same way as the real object, there is a problem of a time delay between the pressing and the presentation of the pressing reaction force. Become. For example, in the case of an arm-type ground-based force sensor, the position of the gripping finger is measured by the angle of the arm, etc., and after contact / interference judgment with the digital model is performed, the stress to be presented is calculated and the motor Since the rotation is controlled and the movement and stress of the arm are presented, a response delay may occur. In particular, since the button operation during the game is reflexively performed at high speed, it may not be in time if the content side monitors and controls it. Therefore, the illusionary force sensation interface device side 101 is also equipped with a CPU and a memory that monitor the sensors (108, 109, 110) and control the illusionary force sensation device 107 and the viscoelastic material 1404 to perform real-time control. By doing so, the responsiveness such as pressing the virtual button is improved, and the reality and operability are improved.

In addition, it has a communication device 205 and communicates with another illusionary force sensory interface device 101. For example, when the illusionary force sensation interface device 101 is attached to five fingers, the illusionary force sensation interface device is deformed by the shape deforming material ( 1403 in FIG. 43B) in conjunction with the movement of each finger. Reality and operability are improved by deforming and feeling the shape of the virtual controller and operating the virtual buttons in real time.

In FIG. 43 (a), in order to effectively utilize the hysteresis characteristics of the senses and muscles, the myoelectric response is measured by the myoelectric sensor 110, and the illusion force sense is increased so that the time and intensity of muscle contraction are increased. The induced function is corrected in a feedback manner. One of the factors that influence the induction of the illusionary force sensation is how to attach the illusionary force sensation interface device 101 to the fingers and palms (pinching method / pinching strength), and to receive the force from the illusionary force sensation interface device 101. There is a way for the user to put force on the arm. There are individual differences in the sensitivity of the sensation of illusionary force, and some people feel the sensation of illusionary force more sensitively when they hold it lightly, while others feel it more sensitive when they hold it firmly. Similarly, the sensitivity changes depending on the tightening method at the time of mounting. In order to absorb this individual difference, the state of grip is monitored by the pressure sensor 109 or the myoelectric sensor 110, the individual difference is measured, and the illusion force sensation induction function is corrected in real time. By getting used to and learning the physics simulation in the content, the learning progresses in the direction in which the grip is appropriate, and this correction has the effect of promoting this. In FIGS. 43 (a) to 43 (e), the illusion force sensation interface device 101 is thickened in order to show the component configuration, but each component can be made thin like a sheet.

In FIG. 44 (a), in addition to the illusionary force sensation induced by the illusionary force sensation device, the shape 3001 of the illusionary force sensation interface device is deformed by the shape deformation motor 3002 in synchronization with the illusionary force. Shows a device that emphasizes the induced illusion force sensation 905. For example, as shown in FIG. 44 (b), when applied to a fishing game, the tension sensation of the fishing line induced by the illusion force sense 905 is further emphasized by bending the interface shape 3001 in accordance with the pulling of the fishing rod by the fish. Will be done. At this time, it is not possible to experience such a realistic pulling of a fish simply by deforming the interface without the sensation of illusionary force, and the reality is improved by adding the deformation of the interface to the sensation of illusionary force. Further, by spatially arranging the basic units of the illusionary force sensation device as shown in FIG. 29 (c), the deformation effect can be generated without the shape deformation motor 3002. The shape deformation is not limited to the shape deformation motor 3002, and any mechanism that can change the shape, such as a shape memory alloy or a drive device using a piezoelectric element, may be used.

FIG. 45 shows an alternative device for the illusionary force sensation device 107. Instead of the eccentric weight 814 of the eccentric rotor of FIG. 45 (a) and the eccentric motor 815 for driving the eccentric weight 814, the weight 2302 and the telescopic material 2303 are used in FIGS. 45 (b) to 45 (e). For example, FIGS. 45 (b) and 45 (d) show a plan view, a front view, and a side view of eight cases and four cases of the elastic member 2303 supporting the weight 2302, respectively. In each figure, the weight can be moved in an arbitrary direction by contracting and expanding the pair of elastic members 2303. As a result, translational and rotational displacement / vibration can be generated. Any structure can be used as a substitute as long as it has an acceleration / deceleration mechanism that can generate and control the translational movement of the center of gravity and rotational torque.

46 to 56 show various configurations of a tactile display or a touch panel. The tactile display or touch panel is an actuator provided on the base material and a sensor that detects the displacement, pressure, acceleration, etc. of the touch panel and touch panel and measures the position, rotation, tensor, etc. of the displacement, pressure, acceleration, etc. To be equipped.

46, 47, and 48 show various configurations of a table-type tactile display or touch panel.

FIG. 46 shows the basic unit of the tactile force sensation actuator, which is composed of a touch panel, a sensor, and an actuator. Position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are measured as scalars, vectors, or tensors on touch panels and sensors. NS. The actuator is presented with position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. as a scalar, vector, or tensor. Here, the perception of tactile force sensation information at the fingertips will be explained, but it is assumed that the entire body and body of the operator are not particularly limited to the fingertips. FIG. 47 shows an example in which the basic unit of the tactile actuator is used for a table type and a table. It can be operated with the palm as well as with the fingertips.

FIG. 48 is a table type, and has a virtual button on the wall or the like for the operator to operate. You can operate with body parts such as elbows, and you can operate objects such as virtual buttons through body parts.

49, 51 , and 52 are of the steering wheel type, and are provided with an actuator such as a steering wheel of an automobile and a virtual button near the steering wheel for the operator to operate. An example is shown in which the basic unit of the tactile actuator is used for a handle type and a handle. In FIG. 49 , a body part such as a finger or a palm can be operated, and an object such as a virtual button can be operated through the body part. In FIG. 50 , a liquid crystal display is provided on the handle. Even if the steering wheel is turned while driving, the posture of the liquid crystal display is maintained as it is. You can operate with body parts such as fingers and palms, and you can operate objects such as virtual buttons through the body parts. At this time, in the presentation of visual information such as a liquid crystal display, the posture of the liquid crystal display is maintained constant even if the handle is rotated so that the viewpoint and the visual field can be secured.

In FIG. 51 , a body part such as a finger or a palm can be operated, and an object such as a virtual button can be operated through the body part. The tactile actuator is arranged on the entire handle, and the tactile actuator can be used regardless of the position of the finger, palm, or arm by rotating the handle.

In FIG. 52 , a body part such as a finger or a palm can be operated, and an object such as a virtual button can be operated through the body part. The entire handle is a tactile actuator, so you can rotate the handle and use the tactile actuator regardless of the position of your finger, palm, or arm.

In FIG. 53 , a body part such as a finger or a palm can be operated, and an object such as a virtual button can be operated through the body part. This makes it possible to feel and operate the doorknob without the doorknob. A curved liquid crystal panel and a tactile force panel are provided on the window glass. The same can be done with buttons, sliders, dials, switches, control panels, etc. of objects.

FIG. 54 shows a tactile actuator attached to a finger, FIG. 55 shows an actuator attached to a wrist, and FIG. 56 shows an actuator attached and operated by pressing a virtual button with a finger. FIG. 54 shows an example in which the basic unit of the tactile actuator is used for a ring type and a ring. You can operate with body parts such as fingers and palms, and you can operate objects such as virtual buttons through the body parts. This makes it possible to feel and operate the doorknob without the doorknob. The same can be done with buttons, sliders, dials, switches, control panels, etc. of objects.

FIG. 55 shows an example in which the basic unit of the tactile force sensation actuator is used for a list type and a list. You can operate with body parts such as fingers and palms, and you can operate objects such as virtual buttons through the body parts. This makes it possible to feel and operate the doorknob without the doorknob. The same can be done with buttons, sliders, dials, switches, control panels, etc. of objects.

FIG. 56 shows an example in which the basic unit of the tactile force sensation actuator is used for an arm ring type and an arm ring. You can operate with body parts such as fingers and palms, and you can operate objects such as virtual buttons through the body parts. This makes it possible to feel and operate the doorknob without the doorknob. The same can be done with buttons, sliders, dials, switches, control panels, etc. of objects.

FIG. 57 shows an example in which the basic unit of the tactile force sensation actuator is used for the whole body. You can operate with body parts such as fingers and palms, and you can operate objects such as virtual buttons through the body parts. This makes it possible to feel and operate the doorknob without the doorknob. The same can be done with buttons, sliders, dials, switches, control panels, etc. of objects.

58 and 59 show an outline of how to wire the controller and the tactile actuator. FIG. 58 shows the case where the tactile sensation actuators are connected in a parallel arrangement, and FIG. 59 shows the case where they are connected in a cross arrangement.

FIG. 60 shows a schematic diagram of a system for exchanging information by communication between a tactile display panel and a computer (PC). The touch panel is equipped with an actuator array or is provided integrally.

This system applies the sensory characteristics and illusions of the operator to present the operator with tactile force sensation information as if he / she operated an actual object. Specifically, the stimulus is controlled based on the stimulus detected by the sensor, and the stimulus is generated by utilizing the fact that the sensory characteristics indicating the relationship between the stimulus amount applied to the human body and the sensory amount are non-linear or illusion. Tactile sensory information is presented under control. The sensory characteristics include at least one stimulus amount given to the operator and a stimulus amount brought about by the operator's operation, and a sensory amount presented to the operator, and the sensory amount can physically exist. There is no sense.

Here, the system presents a stimulus from or to the object, and the stimulus applied to the operator is controlled according to the operation of the operator. The minimum component consists of a tactile actuator and a controller and can be used as a component. By integrating these parts into an actuator array, a video touch panel having a tactile force sense information presentation function is configured. In the tactile force sense information presentation system, a system such as a touch display is configured by using this component and other modules. By integrating as an actuator array in this way, it is possible to configure a tactile force sense information presentation system having various shapes and sizes such as a flat surface, a curved surface, and a three-dimensional shape.

The sensor attached to the tactile actuator measures the position, speed, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity of the sensor. Is sent to the controller to calculate a control signal for controlling the tactile actuator and sent to the tactile actuator to control the tactile actuator. The tactile force sensor has panel-type and display-type sensor and presentation functions, and in the controller, the displacement, momentum, vibration amplitude, displacement stimulus, vibration stimulus, and stimulus intensity associated with the movement of the body such as fingers and palms. Time changes are calculated, and based on the control algorithm, the position, speed, acceleration, shape, displacement, deformation, and amplitude of the tactile actuator are adjusted according to the movement and pressure of the body such as fingers and palms monitored by the sensor. , Rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity, etc. are controlled, and tactile force sensation information such as pressure sensation, tactile sensation, and force sensation is presented to humans and the like.

In the control signal, force information (t), amplitude information (t), etc. are expressed by drive voltage, etc., and actuators include motors, piezos, artificial muscles, memory alloys, molecular motors, electrostatics, coils, magnetic forces, and static electricity. In addition, if it generates displacement / vibration, the device / operating principle does not matter.

As a result, even though the panels and displays composed of flat, curved, and three-dimensional shapes are installed in the housing or the like so as to be fixed, slightly displaced, or slightly vibrated, a feeling of insertion, a feeling of pushing, and a feeling of being sunk are achieved. , Depth, push-back, lift, vibration / amplitude convergence, vibration / amplitude reverberation, displacement / movement direction, squishy, hardness, softness, three-dimensional feel .. Physically, even though such a sensation is not reproduced / presented, the sensation and the physical reaction / reflex are experienced sensuously. Further, in an information terminal or the like, it is possible to obtain a realistic operation feel of an object such as a button, a slider, a dial, a switch, or an operation panel in spite of a flat or flat panel.

In addition to the above, stationery, notebooks, pens, home appliances, signboards, signage, kiosk terminals, walls, tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (surgery, driving, massage, sports, walking, It can be used for musical instruments, crafts, paintings, arts, etc.

FIG. 61 shows various integrated configurations of a tactile display panel system. A plurality of actuators are attached to the touch panel. The actuator may be in an array. The actuator may be integrated on the touch panel. Examples include a unit composed of multiple modules, an integrated array type, a sphere / three-dimensional type arranged on the surface, and a solid type packed in the sphere / three-dimensional. By integrating as an actuator array in this way, it is possible to configure a tactile force sense information presentation system having various shapes and sizes such as a flat surface, a curved surface, and a three-dimensional shape.

In FIG. 62 , actuators provided with a tactile display panel are arranged in an array, and these are attached via a link mechanism, a vibration buffer, or a buffer mechanism. It does not have to go through a vibration buffer or a buffer mechanism. Multiple modules are simply arranged in a plane, curved surface, or three-dimensional shape, each module is connected by a link mechanism, a vibration buffer / buffer mechanism is connected, or an independent module. There is.

64 to 67 show a schematic diagram of the basic module of the tactile sensation device. The basic module of the tactile sensation device digitizes and digitally expresses the tactile sensation of buttons, friction, unevenness, pain, presence of virtual objects, and expressiveness. It presents the sense of tactile force and the sense of illusionary tactile force due to physical quantities and stimuli such as contact with fingers and the body, displacement according to movement, rotation, deformation, and vibration. Then, displacement such as contact and movement, rotation, velocity, acceleration, pressure, and force are measured by a sensor using a photodevice, strain, bending, resistance, conductivity, capacitance, sound wave, laser, or the like. The sensor signal is a stimulus with at least one of position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity to and from the object. Be prepared. As a result, the sensation of tactile force such as button feeling, friction feeling, and unevenness, pain sensation, and presence / feeling of virtual object are expressed.

The panel can be used in any plane and shape. This allows for free design. Digital representation of momentary changes in tactile sensation is possible. By monitoring the operation near the touch panel before touching the touch panel, it is possible to improve the real-time response characteristics when the touch panel is touched. Displacement such as movement, rotation, velocity, acceleration, pressure, and force are measured with a non-contact sensor or the like. Therefore, a feeling of collision and a feeling of impact are expressed. It is possible to digitally express the contact state related to the sense of tactile force. It is possible to monitor the contact state of the finger such as the contact angle of the finger, the contact area, the dampness of the finger, etc., and control that reflects the state, thereby improving the expression of the trace feeling.

68 to 78 are schematic views of the panel type module. The basic module of the tactile sensation device digitizes and digitally expresses the tactile sensation of buttons, friction, unevenness, pain, presence of virtual objects, and expressiveness. It presents the sense of tactile force and the sense of illusionary force due to physical quantities and stimuli such as contact with fingers and body, contact position, displacement according to movement, rotation, deformation, and vibration. Then, the contact, the contact position, the physical quantity such as displacement, rotation, deformation, and vibration according to the movement, the spatial balance of the stimulus and the stimulus on the touch panel, the intensity distribution, and the tactile force sense and the illusionary force sense due to the time change are presented. .. Therefore, the spatial balance of the stimulus, the intensity distribution, the movement and propagation of the force, the object, and the presence due to the time change, and the sensation of the shape change (phantom sensation) become possible, and the object and the presence in the hard panel can be presented. In addition, despite the rigid panel, it is possible to present an object, a three-dimensional object, and its presence.

FIG. 69 shows a touch panel structure in which a photo interrupt is placed on a base material. The photo interrupt detects distance and change, and perceives the feeling of pressing a button (sinking pitch, depth). Therefore, by digitally expressing the button sensation on the hard panel, the texture and tactile expression can be instantly changed according to the application and preference.

70 , 71 and 72 show a structure in which an actuator is attached to a touch panel in a suspended structure. FIG. 70 shows a structure in which an actuator is attached to a suspended structure substantially in the center of the touch panel.

FIG. 71 shows a structure in which actuators are attached to both ends of a touch panel in a suspended structure. In the structures of FIGS . 70 and 71, it is preferable to provide a viscoelastic material or a vibration buffer on the side wall between the panel and the wall.

FIG. 72 shows a structure in which actuators are attached to both ends of a touch panel in a suspended structure. In the structure of FIG. 72 , it is preferable to provide a low friction material on the side wall between the panel and the wall. With these structures, the sensory strength of the tactile sensation and its effect can be increased. In the structure of FIG. 71 , the physical quantity and the stimulus amount transmitted to the finger and the body can be increased through the touch panel by the 3D speaker mechanism of displacement / vibration with 6 degrees of freedom in which the touch panel and the actuator portion are floated, and the physical quantity and the stimulus amount can be increased. With the increase, the physical quantity propagated to the finger and the body through the touch panel by providing the structure in which the actuator portion of FIG. 71 is attached to both ends of the touch panel and in FIG. 72, the inertial actuators are attached to both ends of the touch panel. , The amount of stimulation can be increased. It increases the amount of tactile sensation, and further increases the amount of pushing sensation, subduction pitch, and depth sensation. Applicable to IoT devices. You can increase the amount of feeling and efficiency without choosing the mounting location.

73 to 77 show a schematic view of a touch panel module in which a liquid crystal display is incorporated in a touch panel. FIG. 73 In the touch panel module, a liquid crystal panel is arranged in a space portion of a pair of modules arranged on both sides of the touch panel. Since the touch panel and the actuator are separated from each other, the image on the liquid crystal panel does not blur and does not vibrate. The tactile sensation, the presentation of the feel, and the presence of the object projected on the liquid crystal panel are presented. It is possible to express the tactile sensation and tactile sensation of a 3D object by a 2D model.

74 and 75 show a schematic view of a thin touch panel module. FIG. 74 shows the same arrangement as in FIG. 73. Since the actuators are arranged at both ends of the touch panel in FIG. 75 , it can be mounted on a thin device such as a smartphone.

FIG. 76 shows a schematic view of a touch panel module system in which a screen is provided on the surface of the touch panel of the touch panel modules of FIGS . 73 to 75 and a projector is arranged above the screen. As a result, the digital tactile force function of the image can be realized. The image projection by the projector and the tactile touch panel are controlled.

FIG. 77 is a schematic view in which the five senses information presenter is arranged on the touch panel modules of FIGS . 73 to 76. By installing a five-sense information presenter, reality can be improved by utilizing the five senses such as sight, hearing, and touch. In addition, the five senses such as image, sound, touch, smell, and taste can be used. The illusion can be enhanced and promoted by the mutual effect with the five sense information that matches or does not match (mismatch) with the tactile force sense information as an object, and the sensation that does not exist in reality can be expanded.

FIG. 78 shows a schematic view of the multi-touch array unit. Presents basic movement and kinesthetic sensations. By controlling the phase of the displacement direction for each panel, it is possible to express movement / motion sensations other than mere displacement by movement stimuli. It presents a sense of rotation with a fixed panel.

FIG. 79 presents a complex kinesthetic sensation. For each panel, phase control in the displacement direction and sensory synthesis control with the fingertips are performed to present a feeling of expansion, a feeling of oppression, a feeling of twisting, a feeling of expansion, and a feeling of oppression. It presents a sense of deformation with a fixed panel.

FIG. 80 presents a complex kinesthetic sensation. For each panel, phase control in the displacement direction and sensory synthesis in the perceptual / cognitive layer are performed to synthesize and control the multi-touch sensation to obtain a sensation of swelling, oppression, and twist, and present a sensation of swelling and oppression. Get a sense of deformation with a fixed panel.

FIG. 81 presents the sense of touch and force by one device. It controls the sensory synthesis that reproduces different components [tactile / force] for each panel. The Z-direction pressure sense drive by acupressure and the control by the XY displacement trigger are performed, and the tactile sense and the force sense in the Z direction are simultaneously presented. Achieve multiple resonance peaks.

FIG. 82 presents the sense of touch and force by one device. Reproduce different components (tactile and force) for each panel. Z-direction pressure sensation drive by acupressure, control by XY displacement trigger, generation and control of Z-direction pressure sensation are performed, and tactile sensation and force sensation are simultaneously presented by the panel. Achieve multiple resonance peaks.

FIG. 83 presents the sense of touch and force by one device. Different components (tactile and force sensations) are reproduced at different timings for each panel. The method of synthesis is not limited to this. Avoid mutual effects such as mutual masking of tactile and force senses. Present consonants and vowels.

FIG. 84 controls the induced pattern to control the anterior displacement and the posterior displacement. FIG. 85 presents the sense of touch and force by one device. Different components (tactile and force sensations) are reproduced at different timings for each panel. When there are overlapping parts and when there are parts that do not overlap. The method of synthesis is not limited to this. Avoid comprehensive effects such as mutual masking of tactile and force sensations. Present consonants and vowels.

FIG. 86 presents the sense of touch and force by one device. Different components (intensity / amplitude, frequency, waveform, phase) are presented for each panel. Waveform comparison, difference, phase difference, and synergistic effect generate a sensation different from the components. FIG. 87 presents the sense of touch and force by one device. Different components (intensity / amplitude, frequency, waveform, phase) are presented for each panel. Waveform comparison, difference, phase difference, and synergistic effect generate a sensation different from the components.

FIG. 88 generates and presents a button-shaped sensation of a sharp peak convex sensation in the tactile force sensation. The closer to the center, the larger the panel amplitude. It gets smaller as you move away. Present the feeling at the top of the mountain (feeling of pulling back / overtaking). It presents a sharp gradient convex sensation by the panel. FIG. 89 presents a semi-cylindrical convex sensation in tactile sensation. Control the intensity and amplitude of stimulation and displacement. Present mountain crossing (pulling back / overtaking). Presents a convex sensation by the panel.

FIG. 90 presents a concave gap sensation in tactile sensation. It eliminates the feeling of resistance for a moment and presents a sense of gap. Presents a dented gap sensation due to the panel.

FIG. 91 controls the guided sensation of finger movement (crossing sensation) between buttons. Control the intensity and amplitude of stimulation and displacement. It is hard to stay between the buttons, and you are guided to the buttons. On a flat panel, it guides finger movement like an attractor in a potential field. Operate the pointer from the panel to move between the buttons. When the pointer exits the button area, it is guided to the next pointer. The panel amplitude increases as it approaches the center of the induction section (it decreases as it moves away). The force sense direction switches at the center of the guidance section.

FIG. 92 controls the guidance sensation between the buttons to present the edge sensation and the end point sensation. Click displacement at the end of the guidance section. You can get the presence of the edge and the raised feeling of the button. Operate the pointer from the panel to move between the buttons. When the pointer exits the button area, it is guided to the next pointer. The panel amplitude increases as it approaches the center of the induction section (it decreases as it moves away). The force sense direction switches at the center of the guidance section.

FIG. 93 A masking displacement (vibration) is generated at an edge portion that controls the guidance sensation of the button and presents an edge sensation. Get the presence of edges and the feeling of steps and dents on the buttons on a flat panel. Operate the pointer from the panel to move between the buttons. When the pointer exits the button area, it is guided to the next pointer. The panel amplitude increases as it approaches the center of the induction section (it decreases as it moves away). The force sense direction switches at the center of the guidance section.

FIG. 94 shows a stable tactile force sensation by controlling the tactile force of the slider. Operate the pointer from the panel to move between buttons, guide to the next button when exiting the pointer or button area, @panel amplitude increases as it gets closer to the center of the guidance section (it decreases as it goes away), and force sensation at the center of the guidance section. Switch direction. Get a slider feel.

In FIG. 95 , the slider is controlled by tactile force to present a stable tactile force sense, and a click displacement is generated at the end point of the slider. Get a slider feel. FIG. 96 shows sensory control of the slider.

FIG. 97 presents a stable tactile sensation during a sweep. Control is performed separately for cases during static friction and dynamic friction. Presents a stable tactile sensation. Stable presentation in different control modes. FIG. 98 presents a stable tactile force sensation by controlling dynamic friction (equal periodicity) during sweeping. Controls the coherent phase due to cutting displacement. Presents a stable tactile sensation. Presents stability in different control modes.

FIG. 99 presents a stable tactile force sensation by controlling static friction during sweeping. Fix your finger (body) and move the virtual slider. Fix the virtual slider, slide your finger, and reciprocate. It feels like a slider. FIG. 100 presents a stable tactile force sensation by controlling static friction during sweeping. Fix your finger (body) and move the virtual slider. Fix the virtual slider, slide your finger, and reset your finger when you reach the end (float your finger from the panel surface). It feels like a slider.

FIG. 101 presents a stable tactile force sensation by controlling static friction during sweeping. Fix your finger (body) and move the virtual slider. Fix the virtual slider, slide your finger, and reset your finger when you reach the end (cutting displacement). It feels like a slider. FIG. 102 presents a stable tactile force sensation by controlling dynamic friction during sweeping. Fix your finger (body) and move the virtual slider. Fix the virtual slider and slide your finger. When the friction exceeds the tension limit, the contact fixation is released. It feels like a slider.

These sweep waveforms, click waveforms, and cut waveforms may be vibrations or arbitrary waveforms. As the arbitrary waveform, there are various waveform patterns that match the desired tactile sensation and feel. Not only linear increase / decrease, sinusoidal vibration, and combination of fundamental frequency components, but also arbitrary waveform design, amplitude modulation, frequency modulation, and convolution, as if creating the tone and music of an instrument with a synthesizer. , And their combinations, etc., can express various tactile sensations and tactile sensations.

FIG. 103 controls and presents the feeling of pressing a button. -Displacement is applied to the panel at the timing when the threshold value 1 when the pressing pressure rises and the threshold value 2 when the pressing pressure falls are exceeded. -The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency. Even though it is a panel that does not dent, you can experience the feeling of pushing depth. Feeling of dents without physical dents.

FIG. 104 controls the push of a button to present a push button sensation. -Displacement is applied to the panel at the timing when the threshold value 1 when the pressing pressure rises and the threshold value 2 when the pressing pressure falls are exceeded. -The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency. Even though it is a panel that does not dent, you can experience the feeling of pushing depth. Feeling of dents without physical dents.

FIG. 105 controls and presents the feeling of pressing a button. By setting multiple threshold values, a feeling such as half-pressing is expressed. It feels like a half-press like a camera shutter. The feeling of holding the shutter focus. FIG. 106 controls and presents the feeling of pressing the shutter button. By setting multiple threshold values, a feeling such as half-pressing is expressed. It feels like a half-press like a camera shutter. The feeling of holding the shutter focus.

FIG. 107 controls and presents the feeling of pressing a button. Separate push and release (first time without release, second time with release). FIG. 108 shows the feeling of pressing the button by latch control. Separate push and release (first time without release, second time with release)

FIG. 109 controls the notch pulse thresholds at equal intervals. Millefeuille, the feeling of putting a knife in ice cream covered with chocolate. FIG. 110 controls the notch pulse threshold value in an unequal sense. FIG. 111 controls the notch pulse thresholds at equal intervals. Millefeuille, the feeling of putting a knife in ice cream covered with chocolate.

FIG. 112 controls the notch pulse thresholds at equal intervals. Millefeuille, the feeling of putting a knife in ice cream covered with chocolate. FIG. 113 controls the notch pulse thresholds at equal intervals. Millefeuille, the feeling of putting a knife in ice cream covered with chocolate. FIG. 114 controls the notch pulse thresholds at unequal intervals. Millefeuille, the feeling of putting a knife in ice cream covered with chocolate.

FIG. 115 shows hysterical control of the push-feel button. Amplitude is added to the panel at the timing when the threshold value at the time of pressing pressure and the threshold value at the time of descending are exceeded. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency.

FIG. 116 controls the acupressure function of the push sensation button. Amplitude is added to the panel at the timing when the threshold value 1 when the pressing pressure rises and the threshold value 2 when the pressing pressure falls are exceeded. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency . FIG. 117 shows that the amplitude is added to the panel at the timing when the threshold value 1 when the pressing pressure rises and the threshold value 2 when the pressing pressure falls are exceeded. Controls waveform adaptation. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency.

In FIG. 118 , the displacement amplitude surface (phase) is pushed in 3D by pushing the push feeling button, and the push feeling button is controlled according to the threshold value. Amplitude is added to the panel at the timing when the threshold value 1 when the pressing pressure rises and the threshold value 2 when the pressing pressure falls are exceeded. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency.

In FIG. 119 , the push-in sensation button is controlled according to the situation by applying an amplitude to the panel at a timing when the threshold value 1 when the push-down pressure rises and the threshold value 2 when the push-down pressure falls are exceeded. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency. Amplitude is applied to the panel at the timing when the threshold value for pushing down pressure rises and the threshold value for pushing down pressure are exceeded. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency.

In FIG. 120 , the amplitude is applied to the panel at the timing when the threshold value 1 when the pushing pressure rises and the threshold value 2 when the pushing pressure falls are exceeded. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency. The push-in feeling button is controlled according to the situation by adding amplitude to the panel at the timing when the threshold value 1 when the push-down pressure rises and the threshold value 2 when the push-down pressure falls are exceeded.

FIG. 121 controls the push-feeling button in a time pattern. FIG. 122 controls the notch pulse thresholds at equal intervals. FIG. 123 controls the pulse width amplitude at equal intervals for the notch pulse threshold value. FIG. 124 shows that the notch pulse threshold value is waveform-controlled at equal intervals. In FIG. 125 , the notch pulse threshold value is masked and controlled at equal intervals.

In FIG. 126 , the pressing sensation button is controlled by dynamic and static friction to add amplitude to the panel at a timing when the threshold value 1 when the pressing pressure rises and the threshold value 2 when the pressing pressure decreases are exceeded. The hardness of the button is expressed by the threshold value, the amplitude of the panel, and the frequency. FIG. 127 shows the hardness of the button by controlling the phase of the push-feeling button and adding the amplitude to the panel at the timing when the threshold value 1 when the pressing pressure rises and the threshold value 2 when the pressing pressure falls exceeds the threshold value, the amplitude of the panel, and the frequency. Expression

In FIG. 128 , the pressing equal intervals are controlled, and the panel is oscillated at the timing when a plurality of threshold values are exceeded only when the pressing pressure rises. High frequency is used for the notch amplitude. Express a notch button in combination with a button. In FIG. 129 , the pressing unequal intervals are controlled, and the panel is oscillated at the timing when a plurality of threshold values are exceeded only when the pressing pressure rises. High frequency is used for the notch amplitude. Express a notch button in combination with a button

In FIG. 130 , the threshold equal intervals are controlled, and the panel is oscillated at a timing exceeding a plurality of thresholds provided only when the pressing pressure rises. High frequency is used for the notch amplitude. Express a notch button in combination with a button.

FIG. 131 shows that the tactile force dial is controlled by a control function. The displacement direction is controlled for each position and phase. Displacement can be controlled in the 3D direction. Achieves various dial feels. Realistic dial feel with flat panel. No need for physical or analog dial mechanism. In FIG. 132 , the pointer is operated from the panel to rotate the dial with a feeling of acceleration. The panel is oscillated parallel to the tangent of the dial to achieve a feeling of acceleration. In the sliding expression, it is further controlled to give a sense of force in the dial rotation direction.

In FIG. 133 , the pointer is operated from the panel to turn the dial with a sense of resistance. A feeling of resistance is realized by swinging the panel at right angles to the tangent of the dial. In FIG. 134 , the pointer is operated from the panel to turn the dial with a feeling of horizontal acceleration. The panel is oscillated at right angles to the tangent of the dial to express a feeling of horizontal acceleration. In FIG. 135 , the pointer is operated from the panel to rotate the dial with a variable feel. The panel is oscillated to an arbitrary angle with the tangent of the dial to express a variable feel. Various feels are generated by changing the phase in the displacement direction for each position. In FIG. 136 , the pointer is operated from the panel to rotate the dial with a random feeling. The panel is oscillated at right angles to the tangent of the dial to express a sense of randomness.

In FIG. 137 , the dial is clicked to cause a click displacement at a fixed position and phase to realize a flat panel loader encoder-like feel, a digital dial feel, and a volume knob feel.

FIG. 138 shows the feeling of guiding the circumference of the volume on the circumference, the feeling that the finger stays in the circumference, the feeling that the finger moves on the circumference, and the circumference when the actual rotation volume is rotated. It presents a sense of afferent tactile force at a certain position and phase. In FIG. 139 , the operation sensation can be expressed by the operation feeling on the circumference of the volume, the circumference guidance feeling when the rotating volume is actually rotated, and the resistance feeling. The afferent tactile sensation and the resistance tactile sensation are alternately or time-exclusively presented for each fixed position phase, and at the same time, a circumferential motion sensation when rotating the volume is realized.

FIG. 140 represents the tactile force sensation of volume adjustment and confirmation operation. A click displacement is given for each fixed position phase, and a rotary volume feeling due to the click displacement, a button pressing feeling due to the click displacement for confirmation, and a volume operation / confirmation / switch feeling on a flat panel are realized.

FIG. 141 increases the tactile variation of the tactile force dial. The displacement direction and displacement method are controlled for each position and phase. The displacement can be controlled in the 3D direction. Achieve various dial feels and responses, and use different directions to warn and call attention. The open panel presents various dial feels and responses in the right place at the appropriate time. Control the feel and response in a timely manner according to the situation.

FIG. 142 shows that the illusion of force changes non-linearly with weight by changing the size and shape of the device. Variable perceived sound pressure and perceived torque intensity. In FIG. 143 , the threshold value and the perceived amount of the tactile force sense are changed depending on the device size. Perceived torque intensity is obtained by subtracting weight from torque. There is an optimal device size for the amount of perception.

In FIG. 144 , the texture is formed by pressure sensation (contact feeling); pressure, hot / cold, tactile sensation; micro time structure, force sensation; macro time structure, vibration sensation; frequency. FIG. 145 shows a database of texture structures in which various macro and micro time structures express texture.

FIG. 146 controls the waveform to control the 2D amplitude direction. Amplitude with respect to an arbitrary axis of the panel surface is generated by waveform synthesis of the X-axis and the Y-axis.

In FIG. 147 , a large number of touch panels are arranged in an array, and an actuator is provided for each touch panel. As a result, the position in the displacement direction can be controlled for each panel, a feeling of pitch, a feeling of grip, a feeling of tearing, and a feeling of rotation can be realized, and a delicate adjustment of mouse operation can be intuitively realized. FIG. 148 shows a system for measuring an individual's characteristics using an illusion force induced function generator.

FIG. 149 is a flowchart showing a control method of the actuator.

Examples of applications and their effects are shown in FIGS . 150 to 152. FIG. 150 implements personal profiling using dials and pointers. The individual ID, psychological state, health state, and fatigue level are estimated by analyzing with the operation profile and physiological information as in the case of handwriting judgment.

In FIG. 151 , a large number of touch panels are arranged in an array, and an actuator is provided for each touch panel. As a result, the position in the displacement direction can be controlled for each panel, and a feeling of forward movement, a feeling of backward movement, a feeling of shearing / tearing, a feeling of enlargement / pinch, a feeling of squeezing, and a feeling of rotation can be realized. Palpation training can be realized by providing physical conditions (hardness, softness, shape, etc.) such as organs according to how to move and apply force.

In FIG. 152 , remote synchronization operation is possible by connecting the VR environment generators by communication. As in the application example, in an information terminal or the like, it is possible to realistically obtain the operation feel of an object such as a button, a slider, a dial, a switch, or an operation panel in spite of a flat or flat panel. Stationery, notebooks, pens, home appliances, signboards, signage, kiosk terminals, walls, tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (surgery, driving, It can be used for massage, sports, walking, musical instruments, crafts, paintings, arts), etc. It is possible to add added value to the product such as squishy feeling, hardness feeling, soft feeling, slippery feeling, slimy feeling, slimy feeling, rough feeling, bumpy feeling, tingling feeling, chewy feeling, rugged feeling, punyupnu feeling. can.

By implementing the present invention, devices used in the field of virtual reality, devices used in the field of games, amusement and entertainment, mobile communication devices used in the IT field, information terminal devices, navigation devices, mobile information terminal devices, It is possible to realize a useful man-machine interface that can be mounted on equipment used in the fields of automobiles and robots, equipment used in the fields of medical care and welfare, equipment used in the field of space development, and the like.

More specifically, for example, in the fields of virtual reality and information appliances, tactile sensation information such as tactile sensation and tactile sensation can be presented to a person via a man-machine interface to which the present invention is applied, and drag or reaction force can be presented. By giving and restricting the movement of a person, it is possible to present the presence of an object in virtual space and real space, the impact of a collision, and the sense of operation of a device. In addition, by equipping a mobile phone, a portable navigation device, or the like with the above interface, it is possible to realize various instructions and guidance that have not been seen in the past through the skin of the operator.

Despite the flat and flat panel, it is possible to obtain a realistic operation feel of objects such as buttons, sliders, dials, switches, and operation panels. Stationery, notebooks, pens, home appliances, signboards, signage, kiosk terminals, walls, tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (surgery, driving, It can be used for massage, sports, walking, musical instruments, crafts, paintings, arts), etc. It is possible to add added value to the product such as squishy feeling, hardness feeling, soft feeling, slippery feeling, slimy feeling, slimy feeling, rough feeling, bumpy feeling, tingling feeling, chewy feeling, rugged feeling, punyupnu feeling. can.

Claims (6)

A display body equipped with a physical quantity generator and
A controller that controls the drive of the physical quantity generator and
An illusionary force interface with human sensory characteristics,
It is a device that induces a sense of illusionary force in a display body equipped with
The sensory characteristic comprises at least one of non-linearity, hysteresis, masking, and threshold value, and the controller controls sensory synthesis of tactile force sense and / or illusionary force sense and / or physical quantity to control the display body. The sensation amount is presented through the sensation amount, and the sensation induced by the shape or position of one or more display objects displayed on the display body is controlled to control the sensation amount different from the sensation amount and / or the physical quantity. Presenting a feeling that does not exist
Sensations the induced, saw including a sensation induced on the display object,
Presentation of sensations the induced, it becomes strong sense closer to the center between the plurality of the display object, or the centrally including that force direction is switched between the display object device. The device of claim 1, wherein the sensations that differ from the sensations and / or the sensations that are not physically present are presented by at least one of the comparison, difference, synthesis, and synergistic effects of the sensations. .. The induction drives the controller to control at least one of a physical quantity, a stimulus amount, a momentum, an angular momentum, a velocity, and an angular velocity, change it over time, or a threshold, sensory characteristic, or masking for the physical quantity. The apparatus according to claim 1, wherein at least one of a characteristic and a hysteresis characteristic is used. The device according to claim 1, wherein the device includes a device for generating an illusionary force sensation-induced function. The controller has speed, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, temperature, humidity, viscosity, elasticity, physical quantity, displacement, vibration, amplitude, strength, frequency, waveform, phase, The apparatus according to claim 1, wherein the apparatus is characterized by controlling at least one of the stimuli. The display is arranged on at least one of a plurality of partitioned arrays, dots and pixels, and is controlled independently and / or subordinately, and the display is presented with a sense of movement and / or a sense of motion. The device according to claim 1, wherein the device is characterized by the above.

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