JPH06230890A - Coordinate input device - Google Patents

Abstract

PURPOSE:To provide the coordinate input device of virtual reality capable of inputting more real movement of hands by making the movement of the hands react corresponding to the material of an object when the object is present there in a virtual space. CONSTITUTION:This device is provided with pressure sensors 44-46 for detecting the movement of a human body, joint means 41-43 with built-in DC motors 34 and 35 capable of following up the movement of the human body and an MPU for inputting coordinates based on the detected result of the pressure sensors, issuing feedback commands to the joint means and driving the joint means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coordinate input device for realizing virtual reality.

[0002]

2. Description of the Related Art Conventionally, when a hand is moved in an imaginary space, a method for inputting the coordinates of the hand movement is to detect the movement of each joint by a sensor and calculate and input the coordinate based on this detection. What is known is.

Further, as a structure of the joint means to be operated according to the movement of each joint, as shown in FIG.
Along the surface of the joint means having one degree of freedom constituted by 3 and the arm 74, the arms 73, 7 when in a horizontal state
4, an arcuate rail 75 is provided so as not to go down from the upper surface of the arm 4, and the arms 71 and 72 are engaged with it, and as shown in FIG. 12, the arm is provided along the rail 75 according to the bending of the joint means. There is something that moves 72.

[0004]

In the conventional coordinate input device of this type, even if an object is grabbed in a virtual space by a computer, feedback is not applied so as to suppress the movement of the hand in an imaginary space. There was a drawback that I could not get a real feeling.

Further, the joint means capable of following the movement of the human body for adjusting the movement of the hand in accordance with the imaginary space is arranged so that the movement angle of the arm is below the upper surface of the arms 73 and 74 shown in FIG. There was a drawback that it was not possible to secure 90 degrees or more under non-existing conditions.

The present invention has been made in view of the above points, and its main purpose is to, when an object is present in a virtual space, give a reaction to the movement of the hand in accordance with the material of the object. Accordingly, it is to provide a coordinate input device that enables more realistic input of hand movements.

Another object of the present invention is to provide a joint means capable of ensuring an operation angle of the hinge of 90 degrees or more and capable of following the movement of the human body for adjusting the movement of the hand in an imaginary space. It is to provide a coordinate input device provided with.

[0008]

According to the present invention, the main purpose is to provide a detection means for detecting a motion of a human body,
Joint means capable of following the movement of the human body and having a built-in drive means, and control means for inputting coordinates based on the detection result of the detection means and for giving a feedback command to the joint means to drive the joint means. And a coordinate input device including.

Further, according to the present invention, the other object mentioned above is that the indirect means in the coordinate input device has a structure shown in FIGS.
, A pair of arms 11 and 12 having two sides forming an acute angle, a rod 16, and a connecting portion for slidably and rotatably attaching the tip of the arm to the rod 16. 111, 121, and the connection block 15, which is located between the arm and attached to the rod, connects the arm and the connection block,
Auxiliary arm 1 that can rotate at each connection point
3 and 14 and a drive motor for driving the arm.

[0010]

In the coordinate input device of the present invention, coordinate input is performed by moving the arm in accordance with the movement of the finger according to the direction of pressure applied to the pressure sensor attached to the fingertip, and when an object is present in the virtual space, Since the movement of the arm is controlled based on the data of the pressure sensor so that the movement of the hand reacts depending on the material of the object, more realistic movement of the hand can be input.

Further, in the joint means according to the present invention, the connecting portion attached to the tips of the pair of arms having two sides forming an acute angle slides on the rod, whereby the pair of arms are Since it can rotate around the connection block, the operation angle of the hinge can be secured at 90 degrees or more.

The operating principle of the joint means according to the present invention will be described below with reference to FIGS. 7 and 8.

An isosceles triangle DBE which is a congruent shape having a straight line GH as a part of its base and sharing one point E of its vertices.
And form an isosceles triangle FEC (DB = DE = FE
= FC).

However, the base length of this isosceles triangle is variable.

Here, a straight line is straightly extended from the sides BD and CF of the isosceles triangle DBE and the isosceles triangle FEC, and a point where the straight lines intersect is defined as a point A.

A triangle ADF having this point A as one of the vertices
think of.

First, a perpendicular line is drawn from the vertex D and the vertex F of the triangle DBE and the triangle FEC to the straight line GH,
The points at which they intersect the straight line GH are point I and point J.

At this point, triangle DBE and triangle F
Since EC is a congruent isosceles triangle, the straight line DI,
And the length of the straight line FJ is the same.

Since both of these straight lines are perpendicular to the straight line GH, the straight line connecting the points D and F is parallel to the straight line GH.

Therefore, ∠DBE, ∠ADF, ∠FCE,
And the angles of ∠AFD are all the same.

The points I and J are sides BE and E.
Since it is the midpoint of C, side BE = side EC = side DF.

Therefore, it can be said that the triangle DBE, the triangle FEC, and the triangle ADF are congruent triangles. From these facts, the points D and F are points that move along the arc of the radius AD or the radius AF centering on the point A by changing the length of the base, and the sides DB and FC Is an extension of a straight line extending from the center point A of the arc to the points D and F of the arc.

Here, points A, B in FIG. 7 and FIG.
C, D, E, and F are points A, B, C, and D in FIG. 2 and FIG.
The arm 11 corresponding to E and F and attached at a constant angle to the side BD is always parallel to the arm 17, and the arm 12 attached at a constant angle to the side CF is It is always parallel to the arm 18.

As described above, the joint means can be constructed which does not exert its structure even on the point A of the center of rotation.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings.

FIG. 6 shows a state in which the coordinate input device according to the present invention is attached so as to correspond only to the movement of the finger, and the pressure sensors 44, 45 and 46 are attached between the joints of the respective fingers. And joint means 41, 42, 43 are attached to the joints of each finger.

In FIG. 6, the pressure sensor 44 corresponds to the movement of the joint means 41. When pressure is applied to the upper pressure sensor 44, the joint means 41 responds to it, and when there is no obstacle at that position in the virtual space, it operates in the direction to extend the joint. When pressure is applied to the lower pressure sensor 44, the joint means 41 moves in the direction of bending the joint unless there is an obstacle at that position in the virtual space.

That is, unless there is an obstacle at that position in the virtual space, the joint means 41 is operated so that the pressures applied to the upper and lower sides of the pressure sensor 44 are balanced, and when there is an obstacle in the virtual space, The movement of the joint means 41 is controlled so as to generate a reaction force corresponding to the obstacle.

The same operation is performed for the other joints, the pressure sensor 45 corresponds to the joint means 42, and the joint means 43.
A pressure sensor 46 corresponds to the pressure sensor 46, and such a device is attached to each finger used for input.

By these operations, it is possible to more realistically input the movement of the finger in the virtual space.

Next, the structure of the joint means will be described.

As shown in FIG. 1, the indirect means is composed of main arms 1 and 2 each having two sides forming an acute angle and an indirect part connecting them flexibly, and the indirect part is an auxiliary arm 3, 4, rod 5, and connection block 8.

The connection between the rod 5 and the main arm 1 is made through a connecting portion 6 rotatably attached to the tip of the arm 1, and the connecting portion 6 allows the arm 1 to slide along the rod 5. In addition, when the connection angle between the rod 15 and the arm 11 changes as shown in FIG. 3, the connection portion 6 of FIG. 1 rotates and can follow it.

The connection between the rod 5 and the main arm 2 is made through a connecting portion 7 rotatably attached to the tip of the arm 2, and the connecting portion 7 allows the arm 2 to slide along the rod 5. When the connecting angle between the rod 15 and the arm 12 changes as shown in FIG. 3, the connecting portion 7 of FIG. 1 rotates and can follow it.

The main arm 1 and the auxiliary arm 3 are the arm 1
The bent portion and the tip of the arm 3 are rotatably connected, and the arm 3 can rotate with respect to the arm 1 about the connection point as shown in FIG.

The main arm 2 and the auxiliary arm 4 are the arm 2
The bent portion and the tip of the arm 4 are rotatably connected, so that the arm 4 can rotate with respect to the arm 2 around the connection point as shown in FIG.

The connection block 8 and the auxiliary arm 3 are rotatably connected at the side surface of the connection block 8 and the tip of the arm 3, and the arm 3 is connected to the connection block 8 as shown in FIG. It can rotate around the connection point.

The connection block 8 and the auxiliary arm 4 are rotatably connected at the side surface of the connection block 8 and the tip of the arm 4, and the arm 4 is connected to the connection block 8 as shown in FIG. It can rotate around the connection point.

The connection between the connecting block 8 and the rod 5 is such that the rod 5 serves as the connecting block and the arms 1, 2 of the rod 5 are always connected.
This is done by piercing the center of the connecting block 8 so as to come to the center of the connecting block 8, so that the center of the arms 1 and 2 of the rod 5 does not shift left and right from the center of the connecting block 8.

What is important here is that the distance from the center of the connecting block 8 to the connecting portion of the rod 5 and the arm 1 and the distance from the center of the connecting block 8 to the connecting portion of the rod 5 and the arm 2 are joint parts. It is necessary to provide a mechanism that is always equal regardless of bending and stretching. There may be some existing methods for this, but in the present embodiment,
According to the purpose of use, the left and right reverse screws are cut on the rod 5 with the connection block 8 as a boundary to connect the arms 1 and 2,
7 also realizes the operation by cutting the corresponding screw thread.

In order to operate the joint means, as shown in FIG. 4, the drive motor 34,
35, the rod 28 via the drive gears 32, 33,
29 by rotating the driving motors 34 and 35.

Further, since the lead screw is used for transmitting the power, the structure has almost no holding force.
When the joint means of this structure is attached to a finger, the rods 28 and 29 interfere with each other. Therefore, as shown in FIGS. 4 and 5, the rod 28 and the rod 29 of the adjacent joint means interfere with each other. To avoid this, it is necessary to shift the centers of the joint means and stagger them.

The coordinate position is detected by the rotation direction and the rotation speed of the drive motors 34 and 35.

Next, the configuration of the coordinate input device according to the present invention will be described with reference to the block diagram of FIG.

The coordinate input device shown in the figure comprises three joint means 51, 52, 53, each of which has a pressure sensor, a DC motor and a rotary encoder attached thereto. , Pressure sensor 5
8, a DC motor 61, a rotary encoder 64, a pressure sensor 59, a DC motor 62, a rotary encoder 65 in the joint means 52, and a pressure sensor 60, a DC motor 63, a rotary encoder 66 in the joint means 53.
Is attached.

Further, the coordinate input device is an A / D converter /
The selector 55, the motor controller 56, the position detector 57, and the MPU 54 are provided. Each of the pressure sensors 58, 59, 60 has an A / D converter / selector 55.
Controlled by each DC motor 61, 62, 63,
It is controlled by the motor controller 56.

The rotation directions and the numbers of rotations of the DC motors 61, 62 and 63 are the rotary encoders 64 and 6, respectively.
5, 66 detected by the position detector 57
The coordinate position is detected by.

Signals from the A / D converter / selector 55, the motor controller 56, and the position detector 57 are sent to the MPU 54 which controls the whole. Next, a series of control flow of the coordinate input device of the present invention is shown in FIG.
This will be described with reference to the flowchart of FIG.

As shown in FIG. 6, with the coordinate input device of the present invention attached to a finger, the finger is moved in an arbitrary direction (S
1).

Next, the pressure sensors 58 and 59 shown in FIG.
The direction and strength of the finger movement are detected by 60, and the current coordinate position is detected by the rotary encoders 64, 65, 66 connected to the DC motors 61, 62, 63 (S2).

Next, it is determined whether or not there is an obstacle in the virtual space in the direction in which the finger is about to move (S3),
When there is no obstacle, the DC motors 61, 62, 63 of FIG. 9 attached to the joint means are controlled so as to respond to the movement of the finger without hindering the movement of the finger (S
4) If there is an obstacle, the DC motors 61, 62, 63 of FIG. 9 attached to the joint means are controlled so that the hardness of the object in the virtual space and the pressure balance of the finger can be balanced (S5). . The above is repeated to input coordinates. Here, in steps S2 to S5, the MPU 54 is previously set by a microprogram or the like.
The information such as obstacles in the virtual space is passed from the system that constructs the virtual space, but of course, the MPU 54 is the MPU of the system itself that constructs the virtual space. It goes without saying that it is okay.

As described above, the coordinate input device of the present embodiment does not hinder the movement of the finger when there is no obstacle in the virtual space in the direction in which the finger is about to move.
When there is an obstacle, the DC motors 61, 62 and 63 of FIG. 9 attached to the joint means are controlled so that the hardness of the object in the virtual space and the pressure of the finger can be balanced.
Coordinates can be input with sufficient realism, and more realistic hand movements can be input.

Further, in the coordinate input device of this embodiment, since the coordinate input device itself has power and can move by itself,
The hand does not feel the weight of the coordinate input device more than necessary, and it is possible to instruct the hand to move from the computer.

[0054]

According to the present invention, since the coordinate input is performed on the basis of the detection result of the detecting means, and the joint means is provided with the control means for driving the joint means, the virtual space is provided. When there is an obstacle on the top, the driving means attached to the joint means can be controlled so that the rigidity of the object in the virtual space and the pressure of the finger can be balanced, and more realistic hand movement can be input. Become.

Further in accordance with the present invention, the indirect means comprises a pair of arms having two sides forming an acute angle, a rod,
A connecting portion for attaching the tip of the arm to the rod so as to be slidable and rotatable, a connecting block that is between the arm and is attached to the rod, and connects the arm and the connecting block. Therefore, by comprising an auxiliary arm that is rotatable at each connection point and a drive motor for driving the arm, it is possible to secure an operating angle of the joint of 90 degrees or more.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of joint means used in a coordinate input device according to the present invention.

FIG. 2 is a diagram showing a state of joint means of the coordinate input device according to the present invention.

FIG. 3 is a diagram showing another state of the joint means of the coordinate input device according to the present invention.

FIG. 4 is a side view showing an embodiment of joint means used in the coordinate input device according to the present invention.

FIG. 5 is a top view showing an embodiment of joint means used in the coordinate input device according to the present invention.

FIG. 6 is a schematic side view showing the embodiment of the coordinate input device according to the present invention, which is worn on a finger.

FIG. 7 is an explanatory diagram for explaining the operation principle of the joint means used in the coordinate input device according to the present invention.

FIG. 8 is an explanatory diagram for explaining the operating principle of the joint means used in the coordinate input device according to the present invention.

FIG. 9 is a block diagram showing a configuration of an embodiment of a coordinate input device according to the present invention.

FIG. 10 is a flowchart for explaining the operation of an embodiment of the coordinate input device according to the present invention.

FIG. 11 is an operation explanatory view of a conventional coordinate input device.

FIG. 12 is an operation explanatory diagram of a conventional coordinate input device.

[Explanation of symbols]

 1, 2, 11, 12, 21-23 Arm 3, 4, 13, 14, 24-27 Auxiliary Arm 5, 16, 28, 29 Rod 6, 7, 111, 121 Connection part 8, 15, 30, 31 Connection Blocks 32, 33 Drive gears 34, 35 Motors 41-43 Joint means 44-46 Pressure sensor 51-53 Joint means 54 MPU 55 A / D converter / selector 56 Motor controller 57 Position detector 58-60 Pressure sensor 61-63 DC motor 64-66 rotary encoder

Claims (2)

[Claims] 1. A detecting means for detecting a motion of a human body, a joint means capable of following the motion of a human body and having a built-in drive means, coordinate input based on a detection result of the detecting means, and A coordinate input device comprising: a control means for driving the joint means by giving a feedback command to the joint means. 2. A pair of arms, wherein the indirect means has a pair of arms having two sides forming an acute angle, a rod, and a connecting portion for attaching a tip of the arm to the rod in a slidable and rotatable manner. And a connecting block mounted between the arm and the rod, an auxiliary arm that connects the arm and the connecting block, and is rotatable at each connection point, and drives the arm. The coordinate input device according to claim 1, further comprising a drive motor for driving the coordinate input device.