JP7366961B2 - Method and device for driving illusionary tactile force sense - Google Patents

Description

TECHNICAL FIELD The present invention generally relates to virtual reality environment generation devices and controller devices that utilize illusions and sensory properties.

More specifically, the present invention provides a man-machine interface installed in devices used in the field of VR (Virtual Reality), devices used in the field of games, mobile phones, PDAs (personal digital assistants), etc. The present invention relates to an illusion tactile force sensation interface device, an illusion tactile force sensation information presentation method, and a virtual reality environment generation device.

Conventional tactile interface devices in VR are those in which the tactile device in contact with human sensory organs and the tactile interface device are connected by wires or arms in the presentation of tension or reaction forces. There is (Non-patent Document 1). In addition, as a non-ground type haptic interface device that does not have a base inside the body, it can be used in any direction or in any direction by independently controlling the rotation of three flywheels arranged in three-axis orthogonal coordinates. A non-based tactile interface device that can present torque in terms of size has been proposed (Non-Patent Document 2). In addition, in non-based man-machine interfaces that provide a person with the presence of virtual objects and reaction forces, tactile sensations such as torque and force that cannot be presented solely by the physical characteristics of the haptic interface device can be used. A device and method for continuously perceiving sensations in the same direction have been proposed (Patent Document 1). This tactile interface device allows people to experience forces that cannot physically exist by appropriately controlling physical quantities using human sensory characteristics.

In addition, by using a "twin eccentric rotor system" consisting of two eccentric rotors in place of the torque-generating flywheel, a three-degree-of-freedom hybrid force sense that can simultaneously present the sensation of translational force in addition to the sensation of rotational force. An interface device (Non-Patent Document 3) has been developed. This is a haptic interface device with a hybrid function that can continuously present the sensations of both translational force and rotational force in any direction within a plane with a single interface. By skillfully utilizing the nonlinear sensory characteristics of humans, the Gyro Cube Census in your hand becomes heavier, lighter, and finally feels like it is floating, creating the illusion of a force sensation.

Norio Nakamura, “Experience the illusion of “pushing, pulling, and floating” with a non-ground force sensation display interface,” Inspection Technology, Nihon Kogyo Shuppan, Vol. 11, No. 2, pp. 6-11 (2006/02) Yokichi Tanaka, Katsutaka Sakai, Yuka Kono, Yukio Fukui, Juri Yamashita, Norio Nakamura, “Mobile Torque Display and Haptic Characteristics of Human Palm”, INTERNATIONAL CONFERENCE ON ARTIFICIAL REALITY AND TELEXISTENCE, pp.115-120 (2001/12) Nakamura, N., Fukui, Y.: “An Innovative Non-grounding Haptic Interface ‘GyroCubeSensuous’ displaying Illusion Sensation of Push, Pull, and Lift“, Proceedings. of ACM Siggraph2005, 2005.

Japanese Patent Application Publication No. 2005-190465

When wires and arms are used, their presence restricts human movement, and they can only be used in an effective space where the force sense presentation system body and the force sense presentation unit are connected by wires or arms, so it is difficult to expand the usable space. There is a limit. The method of generating torque by controlling the angular momentum resultant vector generated by three gyro motors does not require restraint by wires or arms, has a relatively simple structure, and is easy to control. However, there are also problems in that it is not possible to continuously present tactile sensations or to present force sensations other than torque.

Furthermore, conventional haptic interface devices have problems such as poor interface response to user movements and insufficient interaction to express the shape and texture of virtual objects. In addition, in the conventional acceleration/deceleration mechanism using an eccentric rotor using a motor, reducing heat generation and energy consumption is a major issue in practical application and commercialization, and due to individual differences among users in sensory characteristics, hand size, and preferences. It is also essential to improve operability and ease of use.

In view of the above, the first object of the present invention is to utilize illusionary tactile force sensation to provide a full experience of tactile contact with virtual objects and game characters in a non-based interface. A virtual reality environment that can express the presence, shape, and texture of virtual objects, such as friction and roughness, in addition to 3D images and 3D sound by controlling the drag caused by illusionary tactile force according to movement. An object of the present invention is to provide a generating device and method.

The second purpose of the present invention is to reduce the heat generated by the acceleration/deceleration mechanism in the practical application and commercialization of the interface in order to realize a virtual reality environment with audio and tactile sensations that combines virtual space and real space that can be used in daily life. It is also an object of the present invention to provide a device and method that reduce energy consumption and are easily miniaturized and mobile. In addition, we provide a device and method with good operability and responsiveness while freely designing an interface that matches the user's individual characteristics and uses, considering the large individual differences in user hand size, preferences, and sensations. That's true.

In order to achieve the above object, a first aspect of the present invention provides an illusion tactile force sense interface device including an illusion tactile force sense device, and an illusion tactile force sense device drive control that drives and controls the illusion tactile force sense device. A virtual reality environment generation device includes:

A second embodiment of the present invention provides an illusion tactile force sensation inducing device that generates an illusion tactile force sensation induction function tailored to content using illusion tactile force sensation data, and an illusion tactile force sensation device that includes an illusion tactile force sensation device. This is a virtual reality environment generation device that includes an interface device and an illusion tactile force sense device drive control device that drives and controls an illusion tactile force sense device.

A third aspect of the present invention includes a content creation device that creates content based on information from various sensors and content data, and an illusionary tactile force sensation induction function tailored to the content using illusionary tactile force sensation data. A virtual reality environment generation device that includes an illusion tactile force sensation inducing device that generates an illusion tactile force sensation, an illusion tactile force sensation interface device that includes an illusion tactile force sensation device, and an illusion tactile force sensation device drive control device that drives and controls the illusion tactile force sensation device. It is.

A fourth embodiment of the present invention includes a content creation device that creates content based on information and content data from various sensors, and a learning device and/or a corrector, and induces illusionary tactile force sensations tailored to the content. An illusion tactile force sensation induction device that generates a function using illusion tactile force sensation data, an illusion tactile force sensation interface device that includes an illusion tactile force sensation device, and an illusion tactile force sensation device drive that drives and controls the illusion tactile force sensation device. A virtual reality environment generation device includes a control device.

A fifth embodiment of the present invention is provided with a content creation device that creates content based on information and content data from various sensors, and a learning device and/or a corrector, which induces illusionary tactile force sensations tailored to the content. An illusion tactile force sensation induction device that generates a function using illusion tactile force sensation data, an illusion tactile force sensation interface device that includes an illusion tactile force sensation device, and an illusion tactile force sensation device drive that drives and controls the illusion tactile force sensation device. and a control device, the illusionary tactile force sensation inducing device generates a learning illusionary tactile force sensation induction function after a learning instruction, and according to this function, the user's reaction to the presented illusionary tactile force sensation information. This is a virtual reality environment generation device that senses the user's behavior, estimates the user's illusionary tactile force sensation characteristics as an amount of illusionary tactile force sensation, and calculates data for correcting individual differences regarding the illusionary tactile force sensation induction function and control.

A sixth embodiment of the present invention is provided with a content creation device that creates content based on information and content data from various sensors, and a learning device and/or a corrector, which induces illusionary tactile force sensations tailored to the content. An illusion tactile force sensation induction device that generates a function using illusion tactile force sensation data, an illusion tactile force sensation interface device that includes an illusion tactile force sensation device, and an illusion tactile force sensation device drive that drives and controls the illusion tactile force sensation device. The illusionary tactile force sensation inducing device senses the user's reaction/behavior to the illusionary tactile force sensation information in each content, and estimates the user's illusionary tactile force sensation characteristics with respect to the feature amount in the content. , a virtual reality environment generation device that calculates and uses data for correcting individual differences regarding illusionary tactile force sensation induction functions and control.

According to the seventh aspect of the present invention, the illusionary tactile force sensing device includes an acceleration/deceleration mechanism.

According to the eighth aspect of the present invention, the illusionary tactile force sense device drive control device controls the speed of the acceleration/deceleration mechanism via the oscillation circuit.

According to the ninth aspect of the present invention, the illusion tactile force sensation device drive control device controls the motor of the illusion tactile force sensation device according to the illusion tactile force sensation induction function generated by the illusion tactile force sensation inducing device. Control the phase, direction, rotation speed, or phase, direction, speed of an actuator.

According to the tenth aspect of the present invention, the virtual reality environment generation device includes a sensor, and the sensor includes a position sensor that detects and measures the movement of the part to which the illusion tactile force interface device is attached, and a position sensor that detects and measures the shape and shape of the real object. The sensor is at least one of a shape sensor that measures the surface shape, a pressure sensor that detects and measures the contact and grip force between the real object and the user, a biological signal sensor, and an acceleration sensor.

According to the eleventh aspect of the present invention, the illusion tactile force sense interface device has a mounting section, and includes a member having nonlinear stress characteristics between the illusion tactile force sensation device and the mounting section.

According to a twelfth aspect of the present invention, the illusion tactile force sense interface device includes an earthquake-resistant member between the illusion tactile force sense device and the acceleration sensor.

According to a thirteenth aspect of the present invention, the illusion tactile force sense interface device includes an acceleration sensor, and a finger attachment part between the illusion tactile force sense device and the acceleration sensor.

According to the fourteenth aspect of the present invention, the illusionary tactile force sense interface device includes at least one of a CPU, a memory, and a communication device.

According to the fifteenth aspect of the present invention, the content creation device performs physical simulation calculations based on information from the sensor, generates and updates a virtual reality space, creates and displays computer graphics, and information on illusionary tactile haptic information. Perform processing.

According to the sixteenth aspect of the present invention, the illusion tactile force sense interface device includes two or more sets of illusion tactile force sense devices driven at different frequencies and/or different accelerations and decelerations.

According to the seventeenth aspect of the present invention, the illusionary tactile force sense interface device has a mounting section for mounting on a finger or body.

An eighteenth aspect of the present invention is a controller device including a base portion including deformable means and an illusion tactile force sense interface device including an illusion tactile force sense device device.

A nineteenth aspect of the present invention is a virtual controller comprising: an illusionary tactile force interface device that creates a virtual motion and provides a virtual presence, tactile sensation, and button operation sensation; and an audiovisual display that presents a virtual object. It is a device.

By implementing the virtual reality environment generation device and method according to the present invention, the following special effects can be obtained.

(1) With conventional non-based haptic interfaces, only the sensation of vibration can be perceived from the repetition of periodic motion such as vibration, and there is not enough interaction through force feedback to understand the shape and texture of virtual objects. I couldn't get it. In contrast, in the present invention, by using illusionary tactile force sense, force and motion components that do not physically exist are perceived, so that force acts continuously in a certain direction psychophysically. It can cause sensations to be perceived. Furthermore, this illusion actually causes a physical phenomenon in which the arm holding the interface lifts up against gravity, even though it is a non-based interface that is used while being held in the air without any force support. .

(2) By controlling the drag caused by the illusion tactile force sense according to the movement of the finger and body wearing the illusion tactile force interface device, the presence, shape, and texture of virtual objects such as friction and roughness can be sensed. can be expressed. In particular, by presenting negative drag (acceleration) against movement, a smooth feeling as if sliding on ice is achieved. Furthermore, by controlling the sense of illusionary tactile force while monitoring the grip pressure with the real object, it becomes possible to edit the feel of the real object or replace it with the feel of a virtual object.

(3) By deforming the shape of the illusion tactile force sense interface device in synchronization with the illusion tactile force sense, the force sensation induced by the illusion tactile force sense is emphasized and reality is improved.

(4) Although the sensory characteristics of illusionary tactile force sense differ from user to user, and there are large individual differences in the perceived intensity and texture, by having a learning device and a corrector, the illusionary tactile force interface device can be used to It can be handled in the same way as a physical interface device. Furthermore, since individual differences can be corrected in real time by measuring myoelectric responses, learning of illusionary tactile force sensations can be improved and control can be optimized for each user.

(5) In the conventional acceleration/deceleration mechanism using an eccentric rotor using a motor, heat generation and energy consumption are major problems. On the other hand, by controlling the speed of the acceleration/deceleration mechanism using an oscillation circuit or by using multiple sets of illusion tactile force sensing devices driven at different frequencies, it is possible to achieve the same illusion of tactile sensation as the acceleration/deceleration mechanism while rotating at a constant speed. By realizing force sensation, heat generation and energy consumption can be suppressed, making it easier to downsize and become mobile.

(6) In conventional arm-type tactile interface devices, the position and orientation are measured by the angle of the arm attached to the fingertip, and the contact/interference with a virtual object and the stress to be presented are determined in response to minute movements of the fingertip. There was a problem in that response delays occurred due to repeated recalculations. In contrast, in the present invention, the CPU and memory are installed in the illusionary tactile force interface device, which is the erasing part, rather than the content generation device, which is the central part, and performs real-time control, such as pressing a virtual button. The responsiveness is improved, and the reality and operability are improved.

(7) In conventional driving simulators, it was not possible to experience a continuous sense of acceleration other than by using gravity, so the user could visually see the surroundings and perceive that his or her body was tilted diagonally. In such an environment, the feeling of acceleration feels strange. In contrast, with the present invention, even arcade-type game machines that repeat periodic movements in a narrow space on a pedestal can experience a continuous acceleration sensation, and even non-based interfaces such as mobile devices and game controllers can experience continuous acceleration. You can feel the power.

(8) Conventional game controllers are "pseudo-experience" games that involve moving the user's own body, and force feedback through vibrations does not provide sufficient interaction. In contrast, in the present invention, by using an illusionary tactile force interface device, a "full tactile controller" that can haptically touch virtual objects and game characters is realized.

(9) Game controllers of various shapes, sizes, and button arrangements are on sale, but it is often difficult to find an easy-to-use controller that matches the user's hand size and preferences. In contrast, the present invention utilizes virtual controller technology that freely designs the shape and button layout of the controller to suit the palm of the individual's palm, eliminating the need to purchase a dedicated controller to suit the content of the game and allowing the content to be adjusted. You can freely transform and change the controller to suit the scenes and stories within.

(10) In contrast to conventional virtual reality, which was biased toward audiovisual, a non-based practical technology for making virtual objects tangible has been provided, and audio-tactile technology that combines virtual space and real space that can be used in daily life A virtual reality environment is provided.

FIG. 2 is an explanatory diagram showing a basic unit of a virtual reality environment generation device. FIG. 2 is an explanatory diagram showing a processing flowchart of the virtual reality environment generation device. It is an explanatory diagram showing a processing flow chart of calibration. FIG. 3 is an explanatory diagram showing a sensing processing flowchart. FIG. 2 is an explanatory diagram showing a processing flowchart of the content creation device. It is an explanatory diagram showing a processing flow chart of presentation. It is an explanatory diagram showing a processing flow chart of learning. FIG. 2 is an explanatory diagram showing an example of a method of controlling a device that induces an illusionary tactile force sensation. It is a figure showing the shape of an eccentric weight. FIG. 9 is an explanatory diagram schematically showing the phenomenon of FIG. 8 and its effects. FIG. 2 is an explanatory diagram regarding individual differences in illusionary tactile force sensation. It is an explanatory view showing texture representation of a virtual flat plate. FIG. 3 is an explanatory diagram showing the direction of an illusionary tactile force sensation based on the initial phase of a phase pattern. FIG. 2 is an explanatory diagram showing an example of an illusionary tactile force sensation interface device. FIG. 2 is an explanatory diagram showing an example of an illusionary tactile force sensation interface device. FIG. 2 is an explanatory diagram showing an example of an illusionary tactile force sensation interface device. FIG. 2 is an explanatory diagram showing an example of implementation of an illusionary tactile force sense interface device. FIG. 2 is an explanatory diagram showing an example of implementation of an illusionary tactile force sense interface device. FIG. 2 is an explanatory diagram showing an example of a control system of the illusionary tactile force sense interface device 101. FIG. It is an explanatory view showing a processing flow chart of an illusionary tactile force sense device. FIG. 2 is an explanatory diagram showing a motor control device using a pulse train. FIG. 3 is an explanatory diagram showing the effect of the illusionary tactile force sensation interface device. FIG. 3 is an explanatory diagram showing a control algorithm regarding initial phase delay. FIG. 2 is an explanatory diagram showing nonlinear characteristics used in an illusionary tactile force sense interface device. FIG. 2 is an explanatory diagram showing an alternative/illusory tactile force sensing device. It is an explanatory view showing a control algorithm using different viscoelastic materials. It is an explanatory view showing the effect of using different viscoelastic materials. FIG. 2 is an explanatory diagram showing a control algorithm using a hysteresis material. FIG. 2 is an explanatory diagram showing a control algorithm using a viscoelastic material whose characteristics change depending on applied voltage. FIG. 2 is an explanatory diagram showing a control algorithm using an oscillation circuit. It is an explanatory view showing an example of arrangement and an example of application of an illusionary tactile force sense device. It is an explanatory view showing an example of arrangement and an example of application of an illusionary tactile force sense device. It is an explanatory view showing an example of arrangement and an example of application of an illusionary tactile force sense device. FIG. 2 is an explanatory diagram showing a modified illusion tactile force sense interface device. FIG. 2 is an explanatory diagram showing a method of implementing a virtual controller. FIG. 2 is an explanatory diagram showing an illusionary tactile force sense device and control method using one set of units. FIG. 2 is an explanatory diagram showing an illusionary tactile force sense device and control method using one set of units. FIG. 2 is an explanatory diagram showing an illusionary tactile force sense device and control method using one set of units. FIG. 2 is an explanatory diagram showing an illusionary tactile force sense device and control method using multiple sets of units. FIG. 2 is an explanatory diagram showing an illusionary tactile force sense device and control method using multiple sets of units. FIG. 2 is an explanatory diagram showing an illusionary tactile force sense device and control method using multiple sets of units. FIG. 2 is an explanatory diagram showing an illusionary tactile force sense device and control method using multiple sets of units. FIG. 2 is an explanatory diagram showing an illusionary tactile force sense device and control method using multiple sets of units. FIG. 2 is an explanatory diagram showing an illusionary tactile force sensation device and control method using a plurality of units having eccentric weights of different weights. It is an explanatory view showing a mounting part. FIG. 2 is an explanatory diagram showing an example using a virtual reality environment generation device.

Embodiments of the present invention will be described below based on the drawings.

FIG. 1 shows a hardware block diagram of an illusionary tactile force sensation interface device 101 used in a virtual reality environment generation device (VR environment generation device) 100. Here, an example will be described in which the illusion tactile force sensation interface device 101 is attached to the fingertip 533, but the attachment location of the illusion tactile force sensation interface device 101 is not limited to the fingertip. The figure also shows an acceleration sensor 108, a pressure sensor 109, and a myoelectric sensor 110, which are integrated with an illusion tactile force sense device 107 and arranged in an illusion tactile force sense interface device 101 attached to a fingertip 533. Although an example is shown, these sensors may be worn at a different body location than the illusionary tactile force sensing device 107. In this specification, even when the illusionary tactile force sensing device 107 and the sensor are separately attached to different parts of the body, they are collectively referred to as the illusionary tactile force sensing interface device 101.

Content is created based on information from various sensors and content data 104, and an illusionary tactile force sensation induction function 1713 tailored to this content is generated by an illusionary tactile force sensation induction function generator 115 using illusionary tactile force sensation data 106. The illusion tactile force sense device 107 is controlled by the illusion tactile force sense device drive control device 112.

According to the illusion tactile force sensation induction function generated by the illusion tactile force sensation induction function generator 115, the phase, direction, and rotational speed of the eccentric motor 815 of the illusion tactile force sensation device 107 are controlled. The change in momentum (acceleration/deceleration pattern) generated by the rotation of the eccentric weight 814 by the eccentric motor in the illusion tactile force sensation device 107 induces an illusion related to the tactile force sensation (illusory tactile force sensation). By using this illusionary tactile force sensation induction function, it is possible to make the user perceive a sensation different from the force (physical information) generated by a change in the amount of momentum presented, by utilizing an illusion that is a nonlinear sensory characteristic. In other words, forces and motion components that do not physically exist can be perceived. For example, physically, periodically repeated vibrations do not have force information only in a fixed direction because the direction of the force changes periodically, but the momentum acceleration/deceleration pattern according to the illusionary tactile force sensation induction function Psychophysically, by controlling the tactile force sensation, it is possible to perceive a continuous force in only one direction. The illusionary tactile force sensation inducing device 103 includes a learning device 116 and a corrector 117, and is optimized according to the user's individual characteristics.

The movement of the fingertip 533 wearing the illusionary tactile force interface is sensed by the position sensor 111 and the acceleration sensor 108, and the physical simulator 113 in the content creation device 102 uses the position, velocity, and acceleration information obtained by the position sensor and the acceleration sensor. The contact determination between the virtual object generated by the finger 533 and the finger 533 and the force acting on the virtual object are calculated. Further, the contact/grip force between the real object and the user is detected by the pressure sensor 109 and the myoelectric sensor 110. The content is converted into a video/sound image by a computer graphics 114 and a sound source simulator 119 and displayed on an audiovisual display 105. This provides a practical non-based tactile interface for virtual reality, which has traditionally been biased toward audiovisuals, and provides an audiotactile virtual reality environment that can be used in daily life.

The illusionary tactile force sensation inducing device 103 can be created by using simulation data from a physics simulator of another device (for example, a conventional game console) or by manually setting physical quantities without using a content creation device. It can also be controlled and used.

Although control is generally performed via the content generation device which is the central part, the CPU installed in the illusion tactile force sensation interface device which is the cancellation part does not use the content generation device and the illusion tactile force sensation induction device 103. By performing real-time control using memory and memory, the responsiveness, reality, and operability of virtual button presses, etc., are improved. It can also be used by connecting it to conventional equipment.

Note that if the illusionary tactile force sense interface device 101 is used, information regarding conventional tactile force senses can also be presented.

Information exchange and/or connections between devices such as devices, peripheral devices, databases, and sensors may be performed by wire or wirelessly.

FIG. 2A shows a processing flowchart of the VR environment generation device 100. In the VR environment generation device 100, calibration is performed, content of the VR environment is generated by modeling to form a virtual space and virtual objects based on sensing information from the connected peripheral devices 118 and sensors, and content information is generated. Content is generated and updated based on the sensed movement of the user and information from the peripheral device 118, and information based on the content is presented to the user. The user perceives and recognizes this presented information, and the results of his/her reactions and actions are further monitored by sensing.

Calibration is performed on the illusion tactile force sensation interface device and the illusion tactile force sensation inducing device. Sensing is performed using an illusionary tactile force interface device (acceleration sensor, pressure sensor, myoelectric sensor) and a position sensor. Content generation is performed by a content generation device.
The presentation is performed by an illusion tactile force sensation interface device and an illusion tactile force sensation inducing device.

Information is also exchanged with the real space through the peripheral device 118, and a virtual reality environment that handles the virtual space and real space in a composite manner is generated and controlled.

In FIG. 2(b), the VR environment generation device 100 has a communication device, and each VR environment generation device 100 owned by a plurality of users and the VR environment generation device 100 located in a separate space communicate with each other. It is shown that two large VR environments are generated. By sharing content and sensing information through communication, multiple users in remote locations can coexist and share information in the same VR environment, and can operate and feel the same virtual object. In addition, a wearable VR environment is created by cooperatively operating a plurality of illusion tactile force sense interface devices 101 worn by the same user.

FIG. 3 shows a flowchart of calibration processing for various sensors, the tactile interface device, and the illusion tactile interface device 101.

In each calibration flow, a calibration signal is generated, various sensors, tactile force interface, and illusion tactile force interface device 101 are controlled according to the signal, and calibration is performed by sensing the control results. be exposed.

FIG. 4 shows a flowchart of sensing processing. In sensing, the position, posture, and acceleration of the illusion tactile force interface device 101, as well as the pressure between the interface and the skin, and myoelectricity are measured. This information is used in calibration, learning, content creation, and presentation. Instead of this myoelectric sensor, a biosignal sensor that measures biosignals such as brain waves, heartbeat, respiration, blood pressure, blood flow, blood gas, and skin resistance may be used, and an illusionary tactile force sensing interface device for biosignals may be used. 101 control and biofeedback control facilitate calibration, learning and effective illusion induction. For the biosignal sensor and biofeedback control, existing measurement sensors and control methods used in medical care etc. may be used. Note that the biosignal sensor may be attached to the body at a location apart from the illusion tactile force sensing device. For example, an electroencephalogram sensor as a biosignal sensor that forms part of an illusion tactile force interface device is attached to the head, and at the same time, an illusion tactile force sensor that forms part of the illusion tactile force interface device is attached to the fingertip. It may also take the form of being worn.

FIG. 5(a) shows a processing flowchart for content generation. In content creation, based on the loaded content data 104 and sensing information, physical simulation calculations, and other model calculations, a VR space is generated and updated, CG is created and displayed, and an illusionary tactile force sensation is generated. and haptic information are processed.

FIG. 5B shows, as an example of content, a physical simulation 520 in which a freely deforming hollow sphere is modeled using a spring-damper physical model 528 using a wire frame representation.

When grid point p1 is connected to adjacent grid points p2 to p4, the force vector f12 that grid point p1 receives from grid point p2 is
f12 =−k×(∥p2−p1∥−L ₀ )×(p2−p1)／∥p2−p1∥−c×(v2−v1) (1)
It is expressed as however,
pi: Position vector of grid point pi
vi: Velocity vector of grid point pi
k: elastic modulus of spring,
c: Damper viscosity coefficient,
L ₀ : Length of the spring in equilibrium If f1 is the resultant force of the forces that lattice point p1 of mass m1 receives from surrounding lattice points p2 to p4, then the equation of motion of lattice point p1 is
m1×d ² p1/dt ² =f1=f12+f13+f14 (2)
It is expressed as

When the fingertip 533 on which the illusionary tactile force interface device 101 is attached comes into contact with the grid point p1 of this virtual object/physical model 520, the grid point p1 changes to the fingertip position p'1, and the reaction force acting on the fingertip (-f) is
-f=(f12+f13+f14)-m1×d ² p'1/dt ² (3)
It is expressed as Movement of the fingertip 533 for determining contact is sensed by the position sensor 111 and the acceleration sensor 108.

In the actual numerical simulation, the position p'1, velocity v'1, and force f'1 of the grid point p1 at time t' are determined from the variables p1, v1, and f1 at the previous time t.

In other words,
Velocity vector: v'1=v1+(f1/m1)×Δt (4)
Position vector: p'1=p1+v1×Δt (5)
Similarly, the position and velocity of p2 of mass m2 are calculated.

Velocity vector: v'2=v2+(f2/m2)×Δt (6)
Position vector: p'2=p2+v2×Δt (7)
Finally, the force vector acting between grid point p1 and grid point p2
f'12=－k×(∥p'2－p'1∥－L ₀ )×(p'2－p'1)／∥p'2－p'1∥－c×(v'2－v '1) (8)
is calculated.

For each calculation, the position, velocity, and force of each grid point are calculated and stored in memory. These stored values are used to calculate the position, velocity, and force for the next time. As a result, a reaction force is presented to the fingertip 533, and a virtual object converted into a three-dimensional sound image and a three-dimensional image can be made tangible on an audiovisual display.

Similar to the physical simulation regarding the virtual object 531 described above, the VR environment is created based on the real object in the real space sensed by the peripheral device and the user's movement information sensed by the position sensor 111 and the acceleration sensor 108. are modeled in the same VR environment, and the force of contact and grip with the content is calculated to generate a VR space that is a fusion of virtual space and real space.

FIG. 5C shows the deformation of the virtual object 531 when the illusionary tactile force sensation interface device 101 attached to the fingertip 533 is moved. The movement of the illusionary tactile force interface device 101 is monitored by a sensor, contact with the virtual object 531 is detected, and the deformation of the model, the deformation force, and the reaction force transmitted to the fingertip are calculated by physical simulation of the virtual object/physical model 520. and the tactile sensation is presented through the illusionary tactile force interface device 101. Based on the calculation results of the physical simulator 113, the illusion of tactile force from the virtual object 531 that deforms according to the movement of the finger 533 to the fingertip 533 is controlled. The virtual object 531 can be deformed and moved while feeling a viscous sensation similar to when slime is stretched.

FIGS. 6(a) and 6(b) show flowcharts of the presentation process.

The content data 104 related to the illusionary tactile force sensation and tactile force sensation in the VR space created by the content creation device 102 is read, the illusionary tactile force sensation induction function and the tactile force sensation function are generated, and the information obtained by sensing and each Correction is performed by a corrector 117 according to the user's characteristics. According to this function, the illusion tactile force sensing device 107 is feedback-controlled.

Since the illusion tactile force interface device uses illusion, there are large individual differences in sensitivity to illusion tactile force sensation and improvement in sensitivity through learning. Therefore, even if the same stimulus is presented, the intensity of sensation differs depending on the user. Therefore, in order to make the user perceive a stimulus of the same intensity regardless of the user, learning and correction for the stimulus are required.

7(a) and 7(b) show processing flowcharts of the learning device 116, which include active learning and unconscious learning. In the active learning method, after a learning instruction is given, the following learning illusion tactile sensation induction function is generated. The intensity of the illusionary tactile force sensation obtained by sensing the user's reactions and actions to the illusionary tactile force information presented according to this function indicates the user's illusionary tactile force sensation characteristics. An illusion tactile force sensation induction function is created based on data of illusion tactile force sensation characteristics measured in advance on a large number of subjects. This illusionary tactile force sensation induction function is compared with the illusionary tactile force sensation characteristics of each user, and correction data 1714 indicating individual differences is calculated and stored in the memory or user characteristic database.

Specifically, in active learning, after wearing the illusion tactile force interface device 101, a constant force is applied by illusion tactile force sense in the directions of 0°, 180°, 90°, and 270° sequentially according to the instructions. is presented. The illusionary tactile force sense is different from the tactile sense; by presenting the illusionary tactile force sensation while discretely changing the presentation direction, habituation and learning to the illusionary tactile force sense progresses, and as the presentation time progresses, the threshold decreases and the sensory sensitivity increases. The direction of the force becomes clear. After 1 minute of learning, the intensity of the illusionary tactile force sensation is gradually weakened, and the intensity at which no perception is possible is estimated as the sensory threshold of the illusionary tactile force sensation. This sensory threshold value differs depending on the presenting direction and each user, and this sensory threshold value is stored in a memory or database as correction data for correcting individual static characteristics. As learning progresses, the threshold value converges to a certain value, which is the illusionary tactile force sensation characteristic, and the degree of learning is determined by the convergence time constant, which is the rate of convergence. Next, the iso-sensitivity level curve is determined by the psychophysical paired comparison method.

Similarly, in the unconscious learning method, the user's reaction/behavior to the illusionary tactile force information in each content is sensed, and the features (illusory tactile force intensity and time pattern) related to the illusionary tactile force information in the content are sensed. The illusionary tactile force sensation characteristics of the user are measured, and the response characteristics (dynamic characteristics) are estimated by estimating the transfer function. The response characteristics for each user are stored in a memory or database as data for individual difference correction as an illusionary tactile force sensation induction function.

In this way, the characteristics of illusionary tactile force sensation vary greatly between individuals, but by using learning and correction, even when using an illusionary tactile force interface device, it is possible to achieve the same stimulation intensity as a conventional tactile force interface device. It can be treated as a presentation device.

The characteristics of illusionary tactile force sensation are shown below.
In conventional tactile interface devices, forces and movements that physically reproduce the physical phenomena related to tactile sensation are presented and perceived at the fingertips and palms, but with the present invention・It is a phenomenon in which a force or motion that is different from motion or does not exist is perceived or recognized. For example, a sensation of floating is perceived even though the interface does not actually (physically) float.

In conventional tactile interface devices, a base is essential to support the reaction force when force is applied to a fingertip or the like in order to give the user the feeling that an external force is being applied. On the other hand, with a haptic interface device that uses a non-base type vibration motor, the device only vibrates around the center of gravity, which is the vibration equilibrium point, and you do not feel any external pushing force. could not. In contrast, the optical illusion tactile force interface device 101 of the present invention is a device that uses an illusion to present a tactile force sensation that can present the sensation of being pressed from the outside, although it is of a non-based type. There is (Non-patent Document 3).

Illusionary tactile force sensation is not only an illusory sensory perception, but also causes a physical phenomenon in which the arm holding the interface actually lifts up. This is because the user moves his or her arm unconsciously due to the senses deceived by the illusion, or the muscles of the arm move due to reflexes. In this respect, the present invention is significantly different from conventional haptic interfaces that have been invented and developed to reproduce the physical forces that act between objects and the human body. This invention relates to a device that effectively induces an illusionary tactile force sensation.

Furthermore, the illusionary tactile force interface device 101 of the present invention also has the functions and effects of a conventional tactile force interface device, and can achieve a synergistic effect between both presentation sensations.

FIGS. 8-1(a) to 8-1(d) show an example of a method for controlling a device that induces an illusionary tactile force sensation.

FIG. 8-1(a) shows an acceleration/deceleration mechanism, which is composed of two eccentric rotors A and B. FIG. 8-1(b) schematically shows a case where these two eccentric rotors are synchronously rotated in opposite directions. As a result of this synchronous rotation in opposite directions, forces that linearly accelerate and decelerate in any direction within a plane can be synthesized. FIG. 8-1(c) schematically shows a case where sensory characteristics such as vibration, force, and torque are logarithmic characteristics. Based on this sensory characteristic, if we consider the case where a positive force is generated at operating point A and a negative force in the opposite direction is generated at operating point B, the force sensation is expressed as shown in Figure 8-1 (d). . The magnitude of the composite momentum of the two eccentric rotors is the composite of the angular momentums of eccentric rotor A and eccentric rotor B, and the force is proportional to the time derivative of the magnitude of the composite momentum of the two eccentric rotors.

Figures 8-2(a) to 8-2(c) show the shapes of eccentric weights. By arranging materials with different values in a non-uniform manner, rotational resistance is reduced and large rotational acceleration/deceleration can be obtained.

FIG. 9 schematically shows the phenomenon shown in FIG. 8 and its effects. By controlling the rotation pattern of the eccentric motor 815 and temporally changing the combined momentum of the two eccentric rotors, taking into account the sensory characteristics related to illusionary tactile force sensation, vibrations that periodically accelerate and decelerate around the equilibrium point are generated. From 904, it is possible to induce an illusion 905 in which a force acting continuously in a certain direction is perceived. In other words, although physically there is no such component as a force acting in a fixed direction, an illusion is induced in which the force is perceived as acting in a fixed direction.

When acceleration and deceleration are alternately performed at each phase of 180° at operating points A and B, a force sensation 905 in a fixed direction is continuously perceived. The force physically returns to its initial state in one cycle, and the integral value of the momentum and force is zero. In other words, it remains around the equilibrium point and the acceleration/deceleration mechanism does not move to the left. However, the sensory integral value of force sensation, which is a sensory quantity, does not become zero. At this time, the perception of the positive force integral 908 is reduced and only the negative force integral 909 is perceived.

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

However, humans have non-linear sensory characteristics, and by using the method of the present invention, it is possible to create force/force patterns that differ from physical characteristics by utilizing perceptual sensitivity related to illusionary tactile force sensing characteristics and controlling acceleration/deceleration patterns of momentum. can be perceived as an illusion. For example, sensitivity is the ratio of the magnitude of the perceived stimulus to the intensity of the stimulus given, but human sensory characteristics differ in sensitivity to the strength of the stimulus given, and are more sensitive to weak stimuli. Insensitive to strong stimuli. Therefore, by controlling the phase of acceleration and deceleration of the motor rotation and repeating the acceleration and deceleration periodically, we succeeded in presenting a continuous force sensation in the direction in which weak stimulation was presented. Furthermore, by selecting operating points A and B with appropriate sensory characteristics, it is also possible to present a continuous force sensation in the direction in which strong stimulation is presented.

Driving simulators are associated with similar devices, but in driving simulators, after applying a desired force (feeling of acceleration), the vehicle is slowly returned to its original position with a small acceleration that is unnoticeable. is presenting. Therefore, the presentation of force becomes intermittent, and in such a biased acceleration type method, it is not possible to continuously present the sensation of force or acceleration in a fixed direction. The same applies to conventional tactile interface devices. However, in the present invention, despite the driving method 904 that continuously repeats acceleration and deceleration in the forward and reverse directions above the sensory threshold at a short cycle of 50 Hz, for example, by using an illusion, the A translational force sensation 905 is presented. In particular, a feature of the illusion-based tactile force sense interface device 101 is that a continuous force is perceived in the opposite direction to the direction of the intermittent force presented in the driving simulator using a physical method. It is.

In other words, by utilizing the human nonlinear sensory characteristic that sensitivity varies depending on the intensity, even though the integral of the force generated by periodic acceleration/deceleration or vibration is physically zero, it can be perceived as Not only are they not canceled out, but the force 908 in the positive direction is not perceived, and a translational force sensation 905 or torque sensation can be continuously presented in the negative direction 909, which is the desired direction. (See Fig. 20(c) for the method of generating a continuous torque sensation.) These phenomena occur even if the sensory characteristic 831 is non-logarithmic with respect to the physical quantity 832 that is the stimulus, or is a nonlinear characteristic. The same effect can be obtained if This effect can be obtained not only in the non-base type but also in the base type.

In Fig. 9, by bringing the rotation duration Ta at the operating point A close to zero, the momentum in each section of the rotation duration Ta and rotation duration Tb is equal, so the combination in the section of the rotation duration Ta is The momentum increases and the force also increases, but the force sensation changes logarithmically and the sensitivity decreases, so the integral of the sensation value in the interval of rotation duration Ta approaches zero. Therefore, the force sensation in the period of rotation duration Tb becomes relatively large, and the continuity of the force sensation 905 in one direction improves. As a result, the operating point A and the operating point B are appropriately selected, the operating point A duration time and the operating point B duration time are appropriately set, and the synchronous phase of the two eccentric rotors A and B is adjusted. By doing so, it is possible to continue to freely present the sensation of force in any direction.

As shown in the sensory characteristics shown in FIGS. 10(a) to 10(c), the sensory characteristics differ from user to user. For this reason, some people are able to clearly perceive the illusionary tactile force sensation, others are less able to do so, and some people's ability to perceive it improves through learning. The present invention includes a device that corrects this individual difference. Furthermore, if the same stimulus is continuously presented, the sensitivity to that stimulus may become dull. Therefore, it is effective to prevent habituation by varying the intensity, period, and direction of stimulation.

FIG. 10(d) shows an example of a method of presenting force in a fixed direction using illusionary tactile force sensation. In a method of combining vibration components by rotating two eccentric vibrators in opposite rotational directions, a high rotational speed ω1 (high frequency f1) 1002a at operating point A and a low rotational speed ω2 (low frequency f2) at operating point B are used. When 1002b is presented alternately at every 180° phase, the illusionary tactile force sensation intensity (II) is proportional to the logarithm of the frequency acceleration/deceleration ratio Δf/f, which is the rotational speed of the eccentric rotor (Fig. 10(e) ). However, (f=(f1+f2)/2, Δf=f1-f2). The slope n when the logarithm value of the illusionary tactile force sensation intensity and Δf/f is plotted indicates individual differences.

In addition, the vibration sensation intensity (VI) indicates the strength of a vibration component that is perceived at the same time as a force sensation in a certain direction due to an illusion.The strength of the vibration component and the physical quantity f (logarithm) are approximately inversely proportional, and the frequency f By increasing , the vibration sensitivity intensity (VI) is relatively reduced (FIG. 10(f)). By controlling the intensity of this vibration component, the texture of the force when presenting an illusionary tactile force sensation changes. The slope m when plotted logarithmically indicates individual differences. Note that n and m, which indicate individual differences, change as learning progresses, and converge to a constant value when learning is saturated.

FIGS. 11(a) to 11(c) show a method of expressing the texture of the virtual flat plate 1100. The movement (position/posture angle, velocity, acceleration) of the illusion tactile force sense interface device 101 monitored by sensing represents the movement 1101 of the virtual object, and the movement of the virtual object In addition, by controlling the direction and strength of the drag force 1102 and the texture parameters (contained vibration components) due to the illusionary tactile force sensation, the friction sensation 1109 and roughness sensation 1111, which are the textures of the virtual flat plate, and the shape are controlled.

FIG. 11A shows a drag force 1103 from the virtual plate to the virtual object that acts when the virtual object (illusory tactile force sensation interface device 101) is moved on the virtual plate 1100, and a drag force 1102 against the movement.

FIG. 11(b) shows that when the illusionary tactile force sense interface device 101 and the virtual flat plate 1100 come into contact with each other, the frictional force 1104 that acts between the two objects repeats dynamic friction and static friction in an oscillatory manner. Further, by feedback-controlling and presenting a drag force 1106 that pushes back the illusionary tactile force sense interface device 101 so that it remains within the error thickness 1107 of the virtual flat plate, the existence and shape of the virtual flat plate are perceived. When the illusionary tactile force sense interface device 101 does not exist in the virtual flat plate 1100, it does not present a pushing-back force, but only when it exists, the presence of the wall is perceived.

FIG. 11(c) shows a method of expressing surface roughness. By presenting a drag force in a direction opposite to the direction 1101 in which the illusionary tactile force sense interface device 101 is moved, in accordance with the moving speed and acceleration, a feeling of resistance or viscosity 1108 is caused to be perceived. By presenting a negative drag force (acceleration force 1113) in the same direction as the moving direction, it is possible to emphasize the smooth feeling 1110 of the virtual flat plate as if it were sliding on ice. This sensation of acceleration and smoothness 1110 is difficult to present with a conventional non-based tactile interface device using a vibrator, and the texture and smoothness achieved by the illusion tactile interface device 101 that uses an illusion is difficult to provide. It is an effect. Furthermore, by vibratingly changing the drag force (vibratory drag force 1112), a surface roughness sensation 1111 of the virtual flat plate is perceived.

FIG. 12(a) shows the direction of the illusionary tactile force sensation induced and perceived by the initial phase (θi) of the phase pattern.

The illusionary tactile force sensation device 107 changes the direction 1202 of the illusionary tactile force sensation induced by the change in momentum synthesized by the eccentric rotor by changing the initial phase (θi) of the rotation start in FIG. 12(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. 12(c), it is possible to induce the light in any direction within the plane of 360°.

At this time, if the illusionary tactile force interface device 101 itself is heavy, the upward force sensation 1202 due to the illusionary tactile force and the downward force sensation 1204 due to gravity are canceled out, making it difficult to obtain the buoyancy sensation 1202 of floating. Sometimes I can feel it. At that time, by inducing the illusion tactile force sensation 1203 by slightly shifting the upward direction caused by the illusion tactile force sense from the direction opposite to the direction of gravity, it is possible to suppress the decrease or inhibition of the sensation of floating due to gravity.

If it is desired to present the object in a direction opposite to the direction of gravity, there is also a method of inducing the illusionary tactile force sensation alternately in directions slightly deviated from the vertical direction, such as 180°+α° and 180°−α° from the direction of gravity.

FIGS. 13-1(a) to 13-2(g) show implementation examples of the illusionary tactile force sensation interface device 101.

As shown in FIGS. 13-1(a) and 13-1(b), it is attached to the fingertip 533 using the adhesive tape 1301 and the finger insertion part 1303 of the housing 1302. Further, it may be used by being worn between the fingers 533 (FIG. 13-1(c), FIG. 13-1(e)) or by being held between the fingers 533 (FIG. 13-1(d)). The housing 1302 may be made of a hard material that hardly deforms, a material that is easily deformed, or a slime-like material having viscoelasticity. As modifications of these mounting methods, FIGS. 13-2(a) to 13-2(g) can also be considered. In Figures 13-2(e) to 13-2(g), by controlling the phase of the two basic units of the illusion tactile force sensing device using flexible adhesive and housing, It can also express sensations of expansion, compression, and pressure. As described above, a component such as an adhesive tape or a housing having a finger insertion part, which allows the illusionary tactile force sense interface device 101 to be mounted on the body, is called a mounting part. In addition to the above-mentioned adhesive tape and the housing having the finger insertion part, the attachment part may be of any type, such as a sheet type, a belt type, or tights, as long as it can be attached to an object or the body. In a similar way, it can be worn anywhere on the body, including the fingertips, palms, arms, and thighs.

Note that the terms viscoelastic material and viscoelastic properties used in this specification refer to materials having viscous and/or elastic properties.

FIG. 14 shows another implementation example of the illusion tactile force sense interface device 101.

In FIG. 14A, since the illusionary tactile force sensing device 107 that generates vibrations is detected as noise vibration by the acceleration sensor 108, by arranging them in the opposite direction to the finger 533, the vibration acceleration sensor 108 is reduced. Furthermore, noise contamination is also reduced by canceling noise vibrations detected by the acceleration sensor 108 based on the control signal of the illusionary tactile force sensing device 107.

In FIGS. 14(c) to 14(e), an earthquake-resistant material 1405 is interposed between the illusionary tactile force sensing device 107 and the acceleration sensor 108 to suppress the incorporation of noise vibrations.

FIG. 14(d) shows an illusionary tactile force interface device 101 that also senses an illusionary tactile force sensation while touching a real object. It adds the sensation of illusionary tactile force to the tactile sensation of a real object. In conventional data gloves, tactile sensations are presented by attaching wires to the fingers and pulling the fingers. If a data glove is used to present a tactile sensation while touching a real object, it is difficult to combine the sensations of the real object and the virtual object, as the fingers may move away from the real object or the grip may be inhibited. The illusionary tactile force interface device 101 eliminates this problem and realizes a mixed sensation (mixed reality) in which a virtual sensation is added while firmly grasping and touching a real object.

In FIG. 14(e), by adding an illusionary tactile force sensation according to the contact and grip pressure with the real object measured by the pressure sensor 109, the grip and contact feel of the real object can be edited, and the virtual object 531 Replace it with the feeling of In FIG. 14(f), a shape sensor (for example, a photo sensor) that measures the surface shape and shape deformation is used instead of the pressure sensor in FIG. 14(e) to measure the shape and surface shape of the gripped object related to tactile sensation. , and measuring the gripping force, strain shear elasticity, and contact caused by deformation. These provide a tactile magnifier that emphasizes the measured stress, shear force, and surface shape. Not only can you visually check the minute surface shape on a display like a microscope, you can also check the shape tactilely. In addition, if a photo sensor is used as a shape sensor, the shape can be measured without contact, so you can experience the shape of a distant object by placing your hand over it.

In addition, in the case of variable touch buttons whose commands on the touch panel change depending on the usage situation and context, especially when the button is hidden by your finger like on a mobile phone, the command of the variable button is hidden and cannot be read. Similarly, in the case of a variable button in a virtual space in VR content, the menu notation and commands change depending on the context, so when pressing the button, it becomes unclear what the button is about to be pressed. For this purpose, by displaying it on the display 1406 on the illusion tactile force interface device 101 as shown in FIG. 14(e), the user can press the illusion tactile force button while confirming the command content of the button.

In order for the virtual object 531 or the virtual button push information and push reaction force on the virtual controller to be felt and operated without any discomfort in the same way as the real object, the time delay between the push and the presentation of the push reaction force is a problem. Become. For example, in the case of an arm-type ground-type haptic interface, the position of the grasping finger is measured by the angle of the arm, etc., contact/interference with the digital model is determined, and the stress to be presented is calculated. Since rotation is controlled and arm movement/stress is presented, a response delay may occur. In particular, button operations during games are reflexively performed at high speed, so monitoring and controlling the content on the content side may not be enough. Therefore, the illusion tactile force sense interface device side 101 is also equipped with a CPU and memory that monitors the sensors (108, 109, 110) and controls the illusion tactile force sense device 107 and the viscoelastic material 1404 to perform real-time control. By doing so, the responsiveness of virtual button presses, etc. will be improved, and the reality and operability will be improved.

It also has a communicator 205 and communicates with other illusionary tactile force sense interface devices 101 . For example, when the illusion tactile force interface device 101 is attached to five fingers, the illusion tactile force interface device deforms with the shape deforming material (1403 in FIG. 14(b)) in conjunction with the movement of each finger. Reality and operability are improved by changing the shape and feel of the virtual controller, and operating virtual buttons in real time.

In FIG. 14(a), in order to effectively utilize the hysteresis characteristics of the senses and muscles, a myoelectric sensor 110 measures myoelectric responses, and an illusionary tactile force sensation is created to increase the time and strength of muscle contraction. The induced function is corrected in a feedback manner. One of the factors that influences the induction of illusionary tactile force sensation is how the illusionary tactile force interface device 101 is attached to the fingers or palm (how to pinch and how hard to pinch), and how the force from the illusionary tactile force interface device 101 is received. There is a way for the user to apply force to the arm. There are individual differences in the sensitivity of the illusionary tactile force sensation, with some people feeling the illusionary tactile force sensation more sensitive when gripping the object lightly, and others feeling it more sensitive when gripping the object tightly. Similarly, the sensitivity changes depending on how you tighten it when wearing it. In order to absorb this individual difference, the state of the grip is monitored by the pressure sensor 109 and the myoelectric sensor 110 to measure the individual difference and correct the illusionary tactile force sensation induction function in real time. As people get used to and learn from the physical simulations in the content, they learn to grip the grip more appropriately, and this correction has the effect of promoting this.

In FIGS. 14(a) to 14(e), the illusionary tactile force sense interface device 101 is thick to show the component configuration, but each component can also be made thin in the form of a sheet.

FIG. 15 shows an example of implementation when the device is attached to the fingertips 533 of five fingers.

The feature of this implementation example is that the haptic interface device implemented in the controller of conventional game consoles simply changes the strength and frequency of vibration, but this implementation method can present illusionary tactile force sensation. The point is that it is possible to continuously perceive force in a fixed direction using this method. Using this, the direction and magnitude of the illusionary tactile force are feedback-controlled according to the movement of the fingers 533 and palm using the method shown in FIG. Present the feel. In addition, by detecting the movement of the finger 533 using the acceleration sensor 108, position sensor 111, etc. and controlling the illusionary tactile force sensation as feedback, the sensation of gravity, mass, and force can be continuously presented in a fixed direction. Although it is a base type interface, it is possible to present the presence, shape, and tactile sensation of the virtual object 531.

FIG. 16 shows a different implementation example from that shown in FIG. 15, in which each illusion tactile force sense interface device 101 is equipped with a CPU, a memory, and a communication device 205. The respective illusion tactile force sense interface devices 101 can communicate with each other at high speed and cooperate to present information on each other's illusion tactile force sense.

When used as a device for inputting selections and intentions using gestures, interactive gesture input with the virtual object 531 enables intuitive gesture input and operation.

In addition to the finger 533 and people, it can be attached to all kinds of objects, such as writing utensils such as pencils and brushes, daily necessities such as toothbrushes, and toys such as stuffed animals and toys. For example, by attaching it to or incorporating it into a stuffed animal's hand, it is possible to present the feeling of being pulled or pushed when the stuffed animal's hand is held. It can also be used for training on how to use and move pencils and brushes.

Each controller is also a controller, and the aggregate also becomes one large controller, so various types of controllers can be realized.

FIG. 17(a) shows an example of a control system for the illusionary tactile force sensation interface device 101.

An illusionary tactile force sensation induction function is generated based on information accumulated in the illusionary tactile force sensation database 1710 in accordance with the tactile sensation to be presented in the content information. The generated function is used by the corrector 1702
After correction is performed based on the user characteristics and the position, acceleration, and pressure information of the illusion tactile force sense interface device 101, the motor controller 1703, which is the controller of the illusion tactile force sense device 107, outputs a control signal. The motor 1704 connected to the eccentric weight is driven. The rotational phase is monitored by an encoder 1705, and feedback control is performed by a motor controller 1703 so that the rotation of the motor becomes an appropriate rotation. This rotation/phase pattern induces an illusionary tactile force sensation.

In addition, in order to improve the effect of inducing the illusion tactile force sensation, as an alternative method for the illusion tactile force sensation device 107 that generates an acceleration/deceleration pattern, the viscoelastic property controller 1706 converts the signal into a control signal to 1407 characteristics are controlled. By temporally changing the viscoelastic properties of the viscoelastic material 1407, the same effect as the rotational/phase pattern described above is induced by the motion characteristics via the viscoelastic material 1407 even in an eccentric rotor rotating at a constant speed.

The method is not limited to the above two methods, but any material or method may be used as long as it can change the vibration and momentum with a control pattern that induces an illusionary tactile force sensation.

FIG. 17B shows an isosensory level curve related to the illusionary tactile force sensation recorded in the illusionary tactile force sensation database 1710. The sensory amount for the reaction force (-f) found in the physical simulation of the content, for example, 30 dB, is equivalent to this using the illusion tactile force sensation isosensory level curve stored in the illusion tactile force sensation database. A physical strength of 15 dB (1725) that induces an illusionary tactile force sensation level is calculated, and an illusionary tactile force sensation induction function F is generated.

The illusion tactile force sensation induction function F1713 generated by the illusion tactile force sensation induction function generator includes the direction vector u(x,y,z) in which force should be presented, the illusion tactile force sensation intensity II, the vibration sensation intensity VI, and the response. The phase pattern θ(t)=F(u, II, VI, R) is obtained from the characteristic R(P, I, D) and is used to control the rotational acceleration/deceleration of the eccentric rotor. However, P, I, and D indicate the proportional gain, integral gain, and differential gain of PID control (the specific calculation method is shown in the example of FIG. 35).
Correction data 1714 obtained from the above-mentioned illusion tactile force sensation/isosensory level curve and the user's individual illusion tactile force sensation/isosensory level curve is stored in the user characteristics database 1711, and is read out by the corrector 1702 using this data. individual differences are corrected. In addition, the illusionary tactile force sensation is determined by the sensitivity S (S= S (CP, PG, FI)) are different. This sensitivity S is obtained through a prior subject experiment and stored in the illusion tactile force sensation data 1710, and is corrected by adding the sensitivity S and correction data 1714 as a threshold increase of the illusion tactile force sensation/isosensory level curve. is performed, and as a result, a corrected illusionary tactile force sensation induction function is obtained.

FIG. 18 shows a processing flowchart of the illusionary tactile force sensing device and the haptic force sensing device.

In the illusion tactile force sensation device 107, a motor 1704 that presents illusion tactile force sensation information is feedback-controlled based on the illusion tactile force sensation induction function and the illusion tactile force sensation function data 1710, and a desired sensation is presented.

The illusionary tactile force sense device 107 also has a function of presenting a tactile sense (tactile force sense device). By simultaneously presenting the illusionary tactile force sensation and the tactile force sensation, a synergistic effect of improving the texture can be obtained.

FIG. 19 shows an example of control of the illusion tactile 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 the illusionary tactile force sensation induction pattern into a motor control signal. In the present invention, it is important to control the synchronization of the motor rotation phase pattern θ(t)=F(u, II, VI, R), and it is necessary to perform synchronization control with high temporal accuracy. Therefore, as an example of the method, position control using a control pulse train of a servo motor is shown here. When a step motor is used for position control, it often easily loses synchronization and becomes uncontrollable due to sudden acceleration/deceleration. Therefore, pulse position control using a servo motor will be explained here. In the present invention, in which a large number of illusion tactile force sense interface devices 101 are synchronously controlled and utilized by separating control of motor feedback (FB) control characteristics and motor control using a pulse position control method, motor control when using different motors is possible. Consistency of control signals, high-speed generation of illusionary tactile force sensation-inducing patterns, and scalability that can easily cope with an increase in the number of control motors to be synchronously controlled are ensured. In addition, it becomes easy to correct individual differences.

In the illusionary tactile force sensation induction function generator 1701, a pulse signal train is separated into a control signal for controlling a motor FB characteristic controller and a motor control signal generator, and a pulse signal train for controlling the phase position of the motor in the motor control signal generator. (t)=gi(f(t)) is generated, and the motor phase pattern θ(t) is controlled.

In this method, the rotation phase of the motor is feedback-controlled by the number of pulses, and for example, one pulse rotates the motor by 1.8 degrees. Note that the rotation direction is selected between normal rotation and reverse rotation by a direction control signal. By using this pulse control method, any acceleration/deceleration pattern (rotational speed, rotational acceleration) can be controlled at any phase timing while maintaining the phase relationship between two or more motors.

FIGS. 20(a) to 20(f) show an example of control of an illusion tactile force device (tactile force device) that presents a basic tactile sensation and an illusion tactile force sensation.

FIG. 20(a) schematically shows a method of generating rotational force in the illusion tactile force sense device 107, and FIG. 20(d) schematically shows a method of generating a translational force. It is. The two eccentric weights 814 in FIG. 20(a) rotate in the same direction with a phase delay of 180°. On the other hand, in FIG. 20(d), they are rotating in opposite directions.

(1) As shown in Fig. 20(b), when two eccentric rotors are rotated synchronously in the same direction with a phase lag of 180 degrees, the two eccentric rotors become point symmetrical and the center of gravity and the center of the rotation axis coincide. As a result, rotations with equal torque without eccentricity are synthesized. This makes it possible to present the sensation of rotational force. However, the time derivative of angular momentum is torque, and in order to continuously present torque in a certain direction, it is necessary to continue accelerating the rotational speed of the motor, and in reality, it is necessary to continuously accelerate the rotation speed of the motor. It is difficult to do so.

(2) As shown in FIG. 20(c), by performing synchronous control using the angular velocity ω1 and the angular velocity ω2, an illusionary tactile force sensation (continuous torque sensation) of continuous rotational force in a fixed direction is induced.

(3) As shown in FIG. 20(e), when synchronously rotating in opposite directions at a constant angular velocity, a linearly vibrating force (simple harmonic motion) in any direction can be synthesized by controlling the initial phase θi 1201.

(4) As shown in Figure 20(f), when synchronously rotated in opposite directions with angular velocity ω1 and angular velocity ω2, according to the sensory characteristics related to illusionary tactile force sensation, the illusionary tactile force sensation of continuous translational force in a certain direction (continuous force sensation) is induced.

In the illusion tactile force interface device 101, as shown in FIGS. 20(c) and 20(f), if the rotation speed (angular velocity) and phase synchronization are accurately controlled according to the human sensory characteristics, two types of angular velocities can be achieved. Since it is possible to induce an illusionary tactile force sensation just by combining (ω1, ω2), the control circuit can be simplified.

FIG. 21 shows changes in the sensory intensity regarding the illusion tactile force sensation when the initial phase delay of the eccentric weight 814 of the illusion tactile force sensation device 107 is changed. 21(a) and 21(b) show the case where there is no initial phase lag, and FIGS. 21(d) and 21(e) show the case where there is an initial phase lag. (d) schematically shows the phase relationship between two eccentric weights 814. FIG. 21(c) is a sensory characteristic showing the relationship between the vibration amplitude generated by the illusion tactile force device and the sensory intensity of the illusion tactile force sensation induced by the illusion tactile force device.

21(b) and 21(e) are cases where the initial phase delay during acceleration/deceleration of each eccentric rotor is 0° and -90°, and the combined acceleration/deceleration patterns are different. Since (e) can generate a larger change in acceleration/deceleration intensity (physical quantity (amplitude)), a larger sensory intensity of the illusionary tactile force sensation is presented. As shown in FIG. 21(f), the sensory intensity of the illusionary tactile force sensation can be controlled by controlling the initial phase delay.

Figure 22 shows the nonlinear characteristics used in the illusionary tactile force interface device, including the sensory characteristics (Figs. 22(a) and 22(b)) and the nonlinear characteristics of the viscoelastic material (Fig. 22(c)). )), which shows the hysteresis characteristics of the viscoelastic material (FIG. 22(d)).

Similar to FIG. 8, FIG. 22(b) is a schematic diagram showing human sensory characteristics that have a threshold value 2206 for physical quantities such as vibration and force. It has been shown that by controlling this, a sensation that does not physically exist can be induced as an illusionary tactile force sensation.

As shown in Figure 22(c), a material with physical properties that exhibits nonlinear stress characteristics with respect to applied force is sandwiched between a device that generates driving force such as vibration, torque, and force, and the human skin and sensory organs. Similar tactile force sensations are sometimes induced.

Further, as shown in FIG. 22(d), the sensory characteristics are not isotropic when the displacement increases and decreases, such as when the muscle is lengthened and contracted, but often exhibit hysteretic sensory characteristics. When a muscle is pulled, it immediately contracts strongly. By generating such a strong hysteresis characteristic, induction of a similar illusionary tactile force sensation is promoted.

FIG. 23 shows an alternative device to illusion tactile force sensing device 107.

Instead of the eccentric weight 814 of the eccentric rotor in FIG. 23(a) and the eccentric motor 815 that drives it, a weight 2302 and an elastic member 2303 are used in FIGS. 23(b) to 23(e). For example, FIGS. 23(b) and 23(d) show a plan view, a front view, and a side view of cases in which the number of elastic members 2303 supporting the weights 2302 is eight and four, respectively. In each figure, the weight can be moved in any direction by contracting and expanding the pair of elastic members 2303. As a result, translational and rotational vibrations 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 translational movement of the center of gravity and rotational torque.

Figure 24 shows a control algorithm using different viscoelastic materials.

As shown in Figure 24(g), materials (2403, 2404) having physical properties whose stress characteristics with respect to applied force exhibit nonlinear characteristics (Figure 24(c)) are used as devices that generate driving forces such as vibrations, torque, and force. A similar illusionary tactile force sensation 905 occurs when it is sandwiched between human skin and sensory organs.

For example, as shown in FIG. 24(a), by pasting materials (2403, 2404) with different stress-deformation characteristics on the phase -90 to 90° region and 90 to 270° region of the surface of the illusionary tactile force sense device, Even if the eccentric rotor rotates at a constant angular velocity (FIG. 24(b)), it can nonlinearly transmit the force transmitted through the viscoelastic deformable material (FIG. 24(d)). As a result, just like when accelerating or decelerating the eccentric rotor, different forces (physical quantities) are presented in the phase -90 to 90° region and 90 to 270° region, and the biased change in the center of gravity position x (2402) is With the addition of nonlinear sensory characteristics (FIG. 24(f)), an illusionary tactile force 905 can be felt in one direction (FIG. 24g). The direction of the force caused by the illusionary tactile force sensation is determined by the position at which different viscoelastic deformable materials are pasted. This makes it possible to reduce energy consumption compared to a method in which the rotational speed is accelerated or decelerated. Furthermore, when the rotational speed is not kept constant and is accelerated or decelerated, the effect of the illusionary tactile force sensation can be increased by the viscoelastic materials (2403, 2404). Note that FIG. 24(d) and FIG. 24(e) are the same diagram.

FIG. 25 shows the directions of the parts to which two different viscoelastic deformable materials are attached in FIG. 24 and the direction of the perceived illusionary tactile force sensation.

25(a)(b)(c)(d) shows materials A and B having viscoelastic properties acting at operating points A and B in FIG. 24(a). ) When material A is used in a phase range of 180 to 360° and material B is used in a phase range of 0 to 180°. (2) When material A is used in a phase range of 90 to 270° and material B is used in a -90 to 90° range. , (3) When material A is used in the phase 0 to 180° region and material B is used in the 180 to 360° region, (4) Material A is used in the phase -90 to 90° region and material B is used in the 90 to 270° region. Compatible when used. In FIG. 25(a), an upward illusionary tactile force acts, giving the user the sensation that the interface is floating. In FIG. 25(b), a leftward illusionary tactile force acts, and the user can feel that the interface is being pulled to the left. In FIG. 25(c), a downward illusionary tactile force acts, giving the user a feeling that the weight of the interface has increased. In FIG. 25(d), a rightward illusionary tactile force acts, and the user can feel that the interface is being pulled to the right.

FIG. 26 shows a control algorithm using hysteresis material.

As shown in FIG. 26(c), when the force-displacement hysteresis stress characteristics are different at the operating point B where the force increases and the operating point A where the force decreases, the force transmitted through the hysteresis stress characteristic material (2601, 2602) also has this property. Varies according to stress characteristics. As a result, when the eccentric rotor is accelerated or decelerated as shown in FIG. 26(b), the hysteresis stress characteristics materials 2601 and 2602 in FIG. 26(a) reach operating point B and operating point A in FIG. 26(c). The user with the sensory characteristics shown in FIG. 26(d) perceives an illusionary tactile force sensation due to the acceleration/deceleration motion. As a result, each nonlinear effect enhances the nonlinear effect of the system as a whole, and a large illusionary tactile force sensation can be obtained. In this way, by inserting a material with hysteresis characteristics between a device that generates driving force such as vibration, torque, or force and human skin and sensory organs, the effect of acceleration and deceleration is enhanced, creating an illusionary tactile force sensation. inducing effect increases. The case of having hysteresis stress characteristics as shown in FIG. 26(e) is also similar to the case of FIG. 26(c). In addition, similar to the case where a hysteresis stress characteristic material is attached to the surface of an illusion tactile force sense device as shown in Fig. 26(a), a hysteresis stress characteristic material is attached to a fingertip or body as shown in Fig. 26(f). Good too.

FIG. 27 shows a control algorithm using a viscoelastic material whose properties change depending on the applied voltage.

In the method using a viscoelastic material in FIG. 24, materials (2403, 2404) with different stress-deformation characteristics were pasted, but as shown in FIG. 27(a), a material 1707 whose viscoelastic characteristics change depending on the applied voltage was used. It's okay. By controlling the applied voltage, the viscoelastic coefficient is changed (Fig. 27(b)), and the transmission rate of the periodically changing momentum generated by the eccentric rotor to the palm is determined by the rotation phase of the eccentric rotor. By synchronizing the changes, even if the eccentric rotor is rotating at a constant rotation speed (constant speed rotation) as shown in Fig. 27(c), the viscoelastic characteristics can be changed as shown in Fig. 27(d). Since the momentum transmitted to the palm and fingertips can be controlled by temporally changing the characteristic values at operating points B and A, 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 changing the physical properties of the skin in a pseudo manner, and has the effect of pseudo changing the sensory characteristic curve (Fig. 27(e). Therefore, individual differences in sensory characteristics are It can be used for control to increase the efficiency of inducing illusionary tactile force sensation.Also, as in the case where a viscoelastic material is attached to the surface of the illusionary tactile force sensation device as shown in Fig. 27(a), A viscoelastic material may be attached to the fingertips or body as in f).Here, the viscoelastic material is a material whose material/characteristics can be controlled non-linearly by the applied voltage. In addition, as long as nonlinear control is possible, the control method is not limited to control using applied voltage.

As shown in Fig. 26(b), repeated acceleration and deceleration of the motor rotation causes large energy loss and heat generation, but in this method, the motor rotational speed is constant (Fig. 27(c)) or the acceleration ratio f1 /f2 is a value close to 1, and since the characteristics are changed depending on the applied voltage, the energy consumption of this method can be suppressed to be smaller than the energy consumption due to acceleration and deceleration of the motor.

FIG. 28 shows a control algorithm using an oscillation circuit.

FIG. 28(a) shows an example of an energy-efficient optical illusion tactile force interface device using an oscillation circuit. Generally, when a motor is repeatedly accelerated or decelerated, such as repeatedly rotating at high speed 1002a and low speed rotation 1002b, large energy loss and heat generation occur. Energy loss and heat generation are major obstacles when considering mobile and wireless usage. Therefore, energy consumption can be reduced by controlling the rotational speed of the eccentric rotary motor to generate an illusionary tactile force sensation (Fig. 28(b)) through an oscillation circuit that combines a coil, a capacitor, and a resistor. becomes possible. In particular, oscillation with nonlinear characteristics and hysteresis is desirable. The transmitting circuit shown in FIG. 28(a) is an example, and the transmitting circuit may be a combination of parallel circuits or the like, or a transmitting circuit using a semiconductor element for power control.

Figures 29-1 to 29-3 show devices that use a plurality of basic units of illusionary tactile force sensing devices depending on the purpose of use of the application and controller.

FIG. 29-1(a) shows the basic unit of an illusion tactile force sense device arranged in a facing manner.

FIG. 29-1(b) shows the basic units of the illusionary tactile force sensing device arranged to face each other.

FIG. 29-1(c) shows the basic unit of the illusionary tactile force sensing device arranged in parallel.

FIG. 29-1(d) shows the basic unit of an illusion tactile force sensing device arranged in a facing and parallel manner.

FIG. 29-1(e) shows the basic unit of an illusion tactile force sensing device arranged in a facing and parallel manner.
FIG. 29-1(f) shows the basic unit of the illusionary tactile force sense device arranged in parallel.

FIG. 29-1(g) shows the basic unit of the illusionary tactile force sensing device arranged in parallel.

FIG. 29-1(h) shows the basic unit of the illusionary tactile force sense device arranged three-dimensionally at the vertices of a regular tetrahedron.

FIG. 29-1(i) shows the basic unit of an illusion tactile force sensing device arranged in a facing and parallel manner.

FIG. 29-1(j) shows the basic unit of an illusion tactile force sense device arranged in a facing and parallel manner.

FIG. 29-1(k) shows the basic unit of the illusionary tactile force sensing device arranged in parallel.

FIG. 29-2(a) shows a basic unit of an illusion tactile force sensing device in which opposing types are arranged two-dimensionally.

FIG. 29-2(b) shows a basic unit of an illusion tactile force sensing device in which facing and parallel types are arranged two-dimensionally.

FIG. 29-2(c) shows a basic unit of an illusion tactile force sense device in which facing and parallel types are arranged two-dimensionally.

FIG. 29-2(d) shows a basic unit of an illusion tactile force sensing device in which facing types are arranged three-dimensionally.

FIG. 29-2(e) shows a basic unit of an illusion tactile force sense device in which facing types and parallel types are arranged three-dimensionally.

FIG. 29-2(f) shows a basic unit of an illusion tactile force sensing device in which facing and parallel types are arranged three-dimensionally.

FIGS. 29-3(a) and 29-3(b) show the basic unit of the illusionary tactile force sensing device placed in a cylindrical game controller.

FIGS. 29-3(c) and 29-3(d) show the basic unit of the illusionary tactile force sense device three-dimensionally arranged in a twisted position.

FIG. 29-3(e) shows the basic unit of the illusionary tactile force sensing device placed within the game controller.

FIG. 30(a) shows that in addition to the illusionary tactile force sensation induced by the illusionary tactile force sensation device, the shape 3001 of the illusionary tactile force interface device is deformed by the shape deforming motor 3002 in synchronization with the illusionary tactile force. shows a device that emphasizes the induced illusionary tactile force sensation 905.

For example, when applied to a fishing game as shown in FIG. 30(b), by warping the interface shape 3001 in accordance with the pulling of the fishing rod by the fish, the feeling of tension in the fishing line induced by the illusionary tactile force sense 905 is further emphasized. be done. At this time, if the interface is simply deformed without the illusionary tactile force sensation, it is not possible to experience such a realistic fish pull, but the reality is improved by adding the deformation of the interface to the illusionary tactile force sensation. Furthermore, by spatially arranging the basic units of the illusionary tactile force sensing device as shown in FIG. 30(c), a deformation effect can be produced without the need for the shape deformation motor 3002.

The shape deformation is not limited to the shape deformation motor 3002, but any mechanism that can change the shape may be used, such as a drive device using a shape memory alloy or a piezoelectric element.

FIG. 31 shows a virtual controller 3101 using the illusionary tactile force sense interface device 101.

Visually, the virtual controller 3101 generated in the content creation device 102 is visualized in the palm of the hand using the audiovisual display 105 such as a hologram, an autostereoscopic display, or a head mantle display. In terms of haptics, a virtual controller 3101 is created using the illusionary tactile haptic interface device 101, and the presence, tactile sensation, and button operation sensation of the virtual controller are presented. Conventional methods using vibrations have not been able to haptically express the shape of virtual objects, but by using an illusion tactile force interface device, it is possible to detect the presence of the virtual button 3102, when the button is pressed, and when the button is pressed. The returned reaction force is expressed.

Conventional game controllers allow users to enjoy tactile games by moving their own bodies, and are ``pseudo-tactile'' types that do not provide feedback through haptic information, except for vibrations. On the other hand, if the illusionary tactile force interface device 101 is used, it is possible to realize a "full tactile controller" that can haptically touch the virtual object 531 or the game character.

The effect of the virtual controller 3101 using the illusionary tactile force interface device 101 is that the shape and button arrangement of the controller can be freely designed depending on the content of the game. In particular, since the length of the palm and fingers differs between men and women of all ages, it is possible to design and transform the virtual controller 3101 in a shape that matches the palm of the individual. In addition, it is possible to form a shape that matches the content or change the shape to match the development of the story. For example, in conventional game controllers, game controllers tailored to game content have been released. On the other hand, when operating a variety of content with a single game controller, it may not be possible to operate it intuitively because it is not the best controller for the content, or the content creation content may be limited depending on the game controller. There was a problem. In contrast, in this implementation example, it is possible to virtually create a controller that matches the content, so there is no need to repurchase a dedicated controller, and the controller can be freely transformed to match the scene or story within the content.・Can be changed.

In particular, when new game software is released, virtual controller information can be included in the software, so a virtual controller optimized for the game content can be used. Since virtual controllers can be distributed as items via the network, version upgrades and sales can be done easily and at low cost.

In the case of a real game controller, it is difficult to press multiple buttons in quick succession while holding the housing with the ring finger and little finger, but with a virtual controller, there is no need to hold the housing. Additionally, since there is no inertia due to the weight of the game controller, the controller can be moved quickly. On the other hand, if the virtual controller 3101 uses illusionary tactile force sensation, the weight and inertial force of the controller can be generated as necessary.

With conventional game controllers, all input is done using buttons on the controller. Therefore, when operating switches, door knobs, etc. in the VR space, they were selected and operated using buttons on the controller. Therefore, it takes time for users who are not accustomed to games to learn the functions and operating methods assigned to the game controller buttons, and to learn the operating methods for each game. However, with the virtual controller 3101, the functions of the game controller can be placed on the virtual buttons 3102 in the original VR space, so the buttons in the VR space can be directly operated using the operation method that the user is familiar with. Therefore, there is no need for learning time, and intuitive operation is possible.

FIGS. 32-1 to 32-8 and 33 show an illusionary tactile force sense device and control method using one set of units or multiple sets of units. Figures 32-1 to 32-3 are when one set of units is used, Figures 32-4, Figure 32-5, Figure 32-7, Figure 32-8, and Figure 33 are when two sets of units are used. It shows.

FIG. 32-1(a) schematically shows the phase relationship of eccentric weights. FIG. 32-1(b) shows the phase pattern of rotation of the eccentric weight. FIG. 32-1(c) shows a temporal change in the displacement of the center of gravity of the illusion tactile force sense device synthesized using the phase pattern of FIG. 32-1(b). As shown in Figure 32-1(c), the fundamental period of vibration (duration of operating point A + duration of operating point B) can be controlled by changing the phase delay θd, which indicates the timing of accelerating the rotation speed. The ratio of acceleration/deceleration on the plus side and minus side of the displacement of the center of gravity is controlled as shown in FIG. 32-1(c) while remaining constant. However, when θd is negative, it means a phase lag, and when it is positive, it means a phase lead. As a result, as shown in FIG. 32-1(d), even if the period of vibration remains constant, the sensory intensity and direction of the illusionary tactile force sensation can be changed. When the phase delay θd=0 and π, the direction of the force of the illusionary tactile force sense is not felt and is perceived as mere vibration.

Furthermore, as shown in Figure 32-1(e), by changing the ratio of the duration of operating point A to the duration of operating point B (duration of operating point A/duration of operating point B), , changes the temporal transition of the center of gravity displacement as shown in FIG. 32-1(f). In other words, by changing the angular velocity ratio (duration of operating point B/duration of operating point A), even if the fundamental period of vibration and the maximum amplitude of the center of gravity displacement remain constant, the The sensory intensity of the illusionary force sensation can be changed as shown. As described above, the sensory intensity and texture of the illusionary tactile force sensation can be changed while independently controlling the period, eccentric amplitude, and acceleration/deceleration.

32-2 (a) to (h) are the phase relationships (phase θ: 0 to 7π/4) of the eccentric weight when the 0° and 180° directions are the vibration directions in FIG. 32-1, This is a linear vibration that does not include rotational vibration. On the other hand, Figures 32-3(a) to (h) show the phase relationship (phase θ: π/2 to 9π/4) of the eccentric weight when the 90° and 270° directions are the vibration directions. , is a linear vibration that includes rotational vibration. This rotational vibration dulls the sense of direction in inducing the illusionary tactile force sensation.

Therefore, by using two sets of units as shown in FIG. 32-4, this rotational vibration can be reduced. FIG. 32-4(a) shows the phase relationship when the 0° direction is the direction of the illusionary tactile force sensation. FIG. 32-4(b) shows the phase relationship when the 90° direction is the direction of the illusionary tactile force sensation. FIG. 32-4(c) shows the phase relationship when the 180° direction is the direction of the illusionary tactile force sensation. FIG. 32-4(d) shows the phase relationship when the 270° direction is the direction of the illusionary tactile force sensation. Similarly, rotational vibration can be reduced by increasing the number of units.

Here, when changing the phases θ1 and θ2 between the two sets of units, as shown in Figure 32-5(c) and Figure 32-5(d), by adjusting the phase difference θ2-θ1, , the sensory intensity of illusionary tactile force sensation can be changed.

As shown in Figure 32-6, by adjusting the phase relationship of multiple units, translational illusion tactile force sensation (Figure 32-6 (a) and Figure 32-6 (b)), rotational illusion A tactile sensation (FIGS. 32-6(c) and 32-6(d)) can be presented.

An energy-efficient illusion tactile force sense control device is also possible by using multiple sets of units, and an example of this is shown in FIGS. 32-7 and 32-8.

Two pairs of illusion tactile force sensing devices 107a and 107b each composed of two eccentric rotors are prepared as shown in FIG. 32-7(a), and the rotational speed of each pair is as shown in FIG. 32-7(b). When rotated by ω ₀ and 2ω ₀ , the displacement of the center of gravity as shown in FIG. 32-7(c) is synthesized. In particular, when the phase is shifted by 90 degrees (3203), the difference between the maximum value and the minimum value becomes maximum. As a result, even if each motor continues to rotate at a constant speed, acceleration and deceleration vibrations that induce an illusion of tactile force can be synthesized without using an oscillation circuit as shown in Figure 28(a). .

Here, such a synthesis method is applicable not only when the rotational speeds of the two basic units are ω ₀ and 2ω ₀ but also when they have a natural number ratio relationship such as mω ₀ and nω ₀ (m and n are natural numbers). Bye.

On the other hand, as shown in Figures 32-7(d) to 32-7(f), by temporally changing the motor rotational speeds ω and 2ω, the same effect as in Figure 32-1 can be obtained. Obtainable. Further, as in FIG. 32-4, the direction of the illusionary tactile force sensation can be selected as shown in FIG. 32-8.

FIG. 33 shows an illusion tactile force sense device and control method using multiple units having eccentric weights of different weights. In FIG. 32-7(d), a plurality of the same eccentric weights are used, but as shown in FIG. 33(a), the weights and shapes of the eccentric weights may be different between the two sets. Furthermore, regarding the above-mentioned method, by using this method using two sets of illusion tactile force sense devices, energy efficient illusion tactile force sense control becomes possible.

As shown in FIG. 34, the illusionary tactile force interface device 101 can be attached to any part of the body 3400 using an attachment part such as an adhesive tape or a housing having a finger insertion part.

FIG. 35 shows a case where a plurality of users cooperate to perform virtual pottery in remote locations as an example using a virtual reality environment generation device.

After all the devices of VR environment generation device A and VR environment generation device B are calibrated, communication between the VR environment generation devices is ensured. Users exist in different spaces corresponding to respective VR environment generation devices, and information about each other's VR environments is shared via communication devices.

Hereinafter, sensing by the sensor will be explained based on FIG. 1.

As data content data, the initial information of the model regarding the virtual clay lump (the position Po of the model vertex) is read from the content data 104.

Next, a group of information vectors Mu' (position Xu', posture Pu', velocity Vu', angular velocity Ru', acceleration Au', angular acceleration Tu') regarding each part of the user's body is generated by the plurality of position sensors 111 and acceleration sensor 108. is measured. Here, the position sensor used is one that can also measure posture information. Velocity, angular velocity, acceleration, and angular acceleration are obtained by differential and second-order differential of position information, and at the same time, for fast movements, information from the acceleration sensor is used. In addition, in the physics simulator 113, a group of information vectors Mo regarding the vertices of the physical model of virtual clay (position Xo, velocity Vo, acceleration Ao, force Fo acting between each vertex), a group of virtual force vectors Fuo acting on the vertices from the user, Sound source data, information vector group Mu (position Xu, posture Pu, velocity Vu, angular velocity Ru, acceleration Au, angular acceleration Tu) regarding the user model (virtual user), and the virtual information that acts on the virtual user from the top of the virtual clay. A memory space for storing the force vector group Fou is secured in the content creation device 102. Based on the information vector group in the memory space that is updated every moment, the physical simulation of the virtual clay that is the content and the virtual user is repeated, and the information in the memory space is updated.

The physical simulation will be explained below using the model shown in FIG.

In the physical simulator, the virtual clay is represented by the spring-damper model shown in FIG. 5(b), and the information vector groups Mu and Mo are calculated and updated. From the posture Pu1 of the first measurement point p1 (for example, fingertip) of the virtual user and the virtual force vector Fou1 acting on this finger, the direction vector u1 of the force to be presented in the illusion tactile force sensation interface is:
u1=Fou1/∥Fou1∥－Pu1
is required. It is calculated similarly at other measurement points pi.

As shown in FIG. 12, the initial phase θi is determined using the relationship u= (cosθi, sinθi, 0) between the initial phase θi and the direction vector u in which force should be presented. The initial phase lag θd is set at −90°, which gives the maximum sensory intensity. Note that the initial phase delay θd may be adjusted according to the dynamic range of sensory intensity that is desired to be provided.

The above was a case in which force was presented in an arbitrary direction within the cross-section of the fingertip using one set of illusion tactile force sense devices, but in this case, by using three sets of illusion tactile force sense devices, It can be expanded to a method that presents force in any direction in all directions.

As for the physical strength to be presented, the physical strength corresponding to the illusionary tactile force sensation intensity II to be presented is referred to using the numerical table representing the illusionary tactile force sensation/isosensory level curve shown in FIG. 17(b). The physical quantity Δf/f is determined from the characteristic graph of the illusionary tactile force sensation intensity shown in FIG. 10(e). As for the vibration sensation intensity VI representing the roughness sensation 1111 in FIG. 11(c) as a texture, the physical quantity f is obtained from the characteristic graph of the vibration sensitivity intensity in FIG. 10(f). Angular velocities ω1 and ω2 are obtained from these physical quantities Δf/f and physical quantity f. When obtaining values from the above characteristic curve, an interpolation function such as a spline function is used. The angular velocities ω1 and ω2 are obtained as follows.
ω1= 2π/f1, ω2= 2π/ f2 However, f1= f+Δf/2, f2= f－Δf/2
The phase pattern θ(t) is expressed using the initial phase θi and the angular velocities ω1 and ω2 as shown in FIG. 12(b).

For the response characteristic R of the motor, P, I, and D parameters are selected that provide a good convergence response without causing vibration due to overshoot. The control method using P, I, and D parameters is a servo motor control method commonly used by those in the same industry, and the P, I, and D parameters are selected according to the selection method provided by the motor manufacturer. If you want to emphasize the vibration sensitivity intensity VI that represents the roughness sensation 1111, change the parameters in the motor FB characteristic controller in a feedback manner while monitoring with the acceleration sensor so that the P and D parameters become large so that vibration occurs. Set.

As described above, the phase pattern θ(t) is obtained from the illusionary tactile force sensation induction function F as f(t)=F(u, II, VI, R).

When the motor control resolution is 1.8°, using the above phase pattern θ(t), the 360° phase on the vertical axis is divided into 200 points in 1.8° increments, and these 200 points are Find the corresponding time on the horizontal axis. This time becomes the timing for generating the control pulse train. As described above, the control pulse train g(t) is obtained from the phase pattern θ(t).

The difference between the deformable damper model and the spring/damper model in Figure 5(b) is that Figure 5(b) is a hollow model with only the surface, whereas this case uses a solid model that supports structural springs and shear springs. It is a point.

Another difference is that the length L ₀ of the spring in the equilibrium state in Fig. 5(b) is not a fixed value, and in the physical simulation calculation, the distance between the grid points after time Δt is the length of the spring in the equilibrium state. It will be updated accordingly. However, if this process is repeated many times and the material is folded and deformed in a complex manner like clay, the length of the spring becomes infinitely long.
Therefore, we will re-divide the lattice points during modeling so that the lengths of the springs are equal each time the model is deformed.

When grid point 1 is connected to adjacent grid points 2 to 4, the force vector f12 that grid point 1 receives from grid point 2 is
f12 =−k×(∥p2−p1∥− L12)×(p2−p1)／∥p2−p1∥−c×(v2−v1) (9)
It is expressed as however,
pi: Position vector of grid point pi
vi: Velocity vector of grid point pi
k: elastic modulus of spring,
c: Damper viscosity coefficient,
Lij: Natural length of the spring between lattice point i and lattice point j If f1 is the resultant force of the forces that lattice point 1 of mass m1 receives from surrounding lattice points 2 to 4, then the equation of motion of lattice point 1 is
m1×d ² p1/dt ² =f1=f12+f13+f14 (10)
It is expressed as

When the fingertip equipped with the illusionary tactile force interface device touches grid point 1 (p1) of this virtual object/physical model, grid point 1 (p1) changes to fingertip position 1 (p'1). , the reaction force (-f) acting on the fingertip is
-f=(f12+f13+f14)-m1×d ² p'1/dt ² (11)
It is expressed as The movement of the fingertip for determining contact is sensed by a position sensor and an acceleration sensor.

In the actual numerical simulation, the position p'1, velocity v'1, and force f'1 of grid point 1 at time t' are obtained from the variables p,1 v1, f1 one time t before. In other words,
Velocity vector: v'1=v1+(f1/m1)×Δt (12)
Position vector: p'1=p1+v1×Δt (13)

Similarly, the position and velocity of grid point 2 with mass m2 are calculated.
Velocity vector: v'2=v2+(f2/m2)×Δt (14)
Position vector: p'2=p2+v2×Δt (15)
Finally, the force acting between lattice point 1 and lattice point 2 is different from that in Fig. 5(b).
f'12=0 (16)
It is calculated as follows.

Through the above physical simulation, the force acting on the virtual clay from the fingertips of the virtual user is calculated, and the virtual clay is deformed. Also, the stress exerted from the virtual clay on the virtual user's fingertips is calculated. Based on the calculation results of this stress, in the presentation, the illusion tactile force sensation interface device is controlled by the illusion tactile force sensation inducing device and the illusion tactile force sensation device drive control device, so that the user (entity) can see the audiovisual display. The user experiences the feel of the virtual clay in conjunction with the 3D video and 3D sound image, and transforms the virtual clay while confirming the shape of the virtual object through the touch to complete the virtual vase. At this time, if virtual object A and virtual object B are the same in the VR space, the virtual vase will be completed through collaboration.

Note that virtual object A and virtual object B may be real objects, and the images and shapes of the real objects are measured by peripheral equipment, and the results are transmitted to VR environment generation device A and VR environment generation device B via communication equipment. Data is shared. When virtual object A is a real object, user B will share user A's pottery experience.

For each calculation, the position, velocity, and force of each grid point are calculated and stored in memory. These stored values are used to calculate the position, velocity, and force for the next time. These present a reaction force to the fingertip and make the virtual object tangible.

Similar to the above-mentioned physical simulation regarding virtual objects, the VR environment is based on real objects in real space sensed by peripheral devices and user movement information sensed by position sensors and acceleration sensors. The content is modeled in a VR environment, the contact/grip force of the content is calculated, and a VR space is generated that is a fusion of virtual space and real space.

The virtual controller shown in FIG. 31 can also be realized in the same manner as the virtual pottery described above.

This device can be applied to various fields other than the virtual reality field.

In the presentation and expression of information using virtual reality technology, there are many people who do not get motion sickness when using a real vehicle but get motion sickness when using a simulator, and there are many people who cannot feel the three-dimensional effect when using stereoscopic virtual reality. However, the perception of reality differs greatly from person to person. In addition, physical differences such as the size of the palm and muscle strength, differences in the weight and shape of the interface, and user proficiency in how to use the interface can reduce the susceptibility to being deceived by virtual reality technology. Feelings vary greatly between men and women of all ages. Therefore, the effects of learning and correction differ depending on the application.

If applied to information terminals such as mobile phones and PDAs, the amount of haptic information, ease of understanding, and operability will be improved by matching it to individual characteristics.

For example, by using this device in place of a vibrator for silent mode, it is possible to effectively present the direction of travel in navigation and warnings that are easily overlooked using tactile sensation, in contrast to conventional vibrations that do not provide direction information. .

When an illusionary tactile force sensing device or a tactile force sensing device is built into an information terminal, the strength and sensation of the tactile force will differ depending on the relative relationship between the weight and shape of the terminal and the size and muscle strength of the palm. It's coming. Furthermore, in the case of a non-base type device that is held in the palm of the hand and shaken, the same tactile information may be perceived differently due to the inertial force caused by the mass and moment of inertia. Therefore, the correction function of the present device is effective for appropriately presenting haptic information.

When used in mobile phone games using motion sensors, force output can be effectively obtained in response to force input, improving interactivity, realism, and intuitive operability. When used with a touch pen (stylus) or tablet PC, it improves the click feeling when clicking on icons with a finger or touch pen, and by changing the frictional resistance for each window in the display, it is possible to distinguish between overlapping windows, thereby reducing visual impairment. Improves usability for users.

In addition, if applied to various training devices such as surgical simulators, it can be adjusted according to individual characteristics and learning level, and information such as characteristic points to be learned and points that are easily overlooked can be haptically emphasized and expressed. This improves operability, ease of understanding, and learning effectiveness.

Since it involves emphasis due to an illusion, it is not enough to simply increase the physical quantity or strengthen the contrast as in the presentation of haptic information, but it is necessary to correct the emphasis based on the human sensory characteristics. In addition, in order to express the variety of surgical tools and the tools that are divided into those for beginners and those for experts, we have adjusted the sense of reality that changes depending on the frequency of use and level of proficiency, and the ease of being fooled by virtual reality technology. conduct.

101 Illusionary tactile force sensation interface device 102 Content creation device 103 Illusionary tactile force sensation inducing device 104 Content data 105 Audiovisual display 106 Haptic force sensation data and illusion tactile force sensation data 107 Illusionary tactile force sensation device 107a Illusionary tactile force sensation device 107b Illusionary touch Force device 108 Acceleration sensor 109 Pressure sensor 110 Myoelectric sensor 111 Position sensor 112 Controller 113 Physical simulator 114 Computer graphics 115 Illusionary tactile force sensation induction function generator 116 Learning device 117 Corrector 118 Peripheral device 119 Sound source simulator 205 Communication device 520 Virtual object (physical model)
528 Spring damper physical model 531 Virtual object 533 Finger 535 Stress acting from virtual object 814 Eccentric weight 815 Eccentric motor 901 Physical phenomenon 902 Nonlinear sensory characteristics 903 Psychological phenomenon 904 Lateral vibration 905 Illusionary tactile force sensation 908 Duration of operating point A Ta Integral amount of force sensation at 909 Integral amount of force sensation at duration Tb of operating point B 1002a High speed rotation speed ω1
1002b Low speed rotation speed ω2
1100 Virtual flat plate 1101 Movement of virtual object 1102 Resistance against movement 1103 Resistance from virtual flat plate 1104 Frictional force 1105 Viscous drag 1106 Resistance force pushing virtual flat plate back into the surface 1107 Error thickness of virtual flat plate 1108 Resistance/viscous feeling 1109 Frictional feeling 1110 Smooth Sensation/Acceleration 1111 Roughness Sensation 1112 Vibratory Drag 1113 Acceleration Force (Negative Drag)
1201 Initial phase θi
1202 Floating sensation due to illusionary tactile force sensation 1203 Floating sensation due to illusionary tactile force sensation 1204 Gravity sensation due to illusionary tactile force sensation 1301 Adhesive tape 1302 Housing 1303 Finger insertion portion 1403 Shape deformable material 1404 Viscoelastic material 1405 Earthquake-resistant material 1406 Display 1702 Corrector 1703 Motor controller 1704 Motor 1705 Encoder 1706 Viscoelastic property controller 1707 Viscoelastic material 1713 Illusory tactile force sensation induction function 1714 Correction data 1725 Physical strength 15 dB
1901 Motor FB characteristic controller 1902 Control signal generator 2206 Threshold 2302 Weight 2303 Elastic material 2400 Constant speed rotation 2403 Viscoelastic material A
2404 Viscoelastic material B
2601 Hysteresis material A
2602 Hysteresis material B
3001 Shape of illusionary tactile force interface device 3002 Shape deformation motor 3003 Flexible deformation material 3101 Virtual controller 3102 Virtual button 3202 Center of gravity displacement (phase difference 0°)
3203 Center of gravity displacement (phase difference 180°)

Claims (6)

The illusion tactile force sensation device or the illusion tactile force interface is driven by a control algorithm to induce an illusion tactile force sensation by changing the physical quantity of the driving device of the illusion tactile force sensation device or the illusion tactile force interface,
The illusionary tactile force sensation is induced through a plurality of different viscoelastic materials,
The method, wherein the plurality of different viscoelastic materials are provided in the -90 to 90° phase region and the 90 to 270° phase region of the surface of the illusionary tactile force sensation device or illusionary tactile force interface. The method according to claim 1, wherein the physical quantity includes at least one of direction, phase, angle, angular velocity, angular acceleration, or momentum. The method according to claim 1 or 2 , wherein the plurality of different viscoelastic materials are arranged facing each other. The illusion tactile force sensation device or the illusion tactile force interface is driven by a control algorithm to induce an illusion tactile force sensation by changing the physical quantity of the driving device of the illusion tactile force sensation device or the illusion tactile force interface,
The illusionary tactile force sensation is induced through a plurality of different viscoelastic materials ,
The device, wherein the plurality of different viscoelastic materials are provided in a phase range of -90 to 90° and a phase range of 90 to 270° on the surface of the illusionary tactile force sense device or illusionary tactile force interface. The apparatus according to claim 4 , wherein the physical quantity includes at least one of direction, phase, angle, angular velocity, angular acceleration, or momentum. The device according to claim 4 or 5 , wherein the plurality of different viscoelastic materials are arranged facing each other.