KR102129214B1 - Haptic system comprising wearable haptic feedback device and magnetic field generating device - Google Patents

Abstract

The present invention provides a haptic system including: a magnetic field generating device having a plurality of magnetic field generating means; a wearable haptic feedback device including a receiving portion into which a part of a human body is inserted, and a magnetorheological elastic body surrounding the receiving portion; and a control unit for controlling the power connection to the plurality of magnetic field generating means, wherein a force felt by a user can be controlled by changing the rigidity of the magnetorheological elastic body using a magnetic field generated by the magnetic field generating device. According to the present invention, when a wearable device worn by a user approaches the magnetic field generating device having a plurality of electromagnets (or electronic permanent magnets), the rigidity of the magnetorheological elastic body installed in the wearable device varies due to the magnetic field so that the user may feel the force. In addition, when the alternating magnetic field is generated, vibration is generated by contraction and restoration of the magnetorheological elastic body, and thus a feeling of vibration may be provided to the user. In addition, according to the present invention, a haptic feedback can be provided to a user by using only the magnetorheological elastic body provided in the wearable device. Therefore, there is no need to connect power or install wires to the wearable device, so that the configuration of the wearable device can be simplified and the wearable device can be easily carried.

Description

A haptic system comprising a wearable haptic feedback device and a magnetic field generating device.

The present invention relates to a haptic system, and specifically, to a system for providing haptic feedback to a user using a wearable device including a magnetorheological elastomer (MRE) and a magnetic field generating device installed in a display.

Recently, haptic actuators are increasingly installed in portable electronic devices, virtual reality (VR) devices, etc. in order to provide various and vivid tactile feedback to users.

Haptic actuators are used to generate vibrations when receiving a call or message from a mobile phone, for example, to generate a tactile feedback when selecting a menu through a keypad or a touch screen, or to generate a specific tactile feedback during game program execution. Is used.

There are many different types of haptic actuators. Eccentric Rotating Mass (ERM) using an eccentric vibrator, linear resonant actuator (LRA) reciprocating a vibrator connected to a spring using electromagnetic force, and piezoelectric elements using a piezo element Element actuators and the like are mainly used. In addition, haptic actuators using electrostatic friction or ultrasonic surface friction, haptic actuators using electroactive polymer (EAP), and the like are also known.

However, this type of haptic actuator can provide a sense of vibration or texture to a user, but there is a limitation that it cannot provide a sense of inverse.

In addition, the conventional haptic actuator is a method of vibrating the housing of the electronic device in most cases, so there is a problem in that it is difficult to provide local feedback by targeting a specific area.

Republic of Korea Registered Patent No. 10-1277270 (2013.06.20 announcement)

The present invention has been devised in this background, and its purpose is to provide a haptic system in which a user can feel various backlash as well as vibration. It is also an object of the present invention to provide a haptic system capable of local feedback to a specific area that the user has touched or accessed.

In order to achieve this object, an aspect of the present invention, a magnetic field generating device having a plurality of magnetic field generating means; A wearable haptic feedback device having a receiving portion into which a part of the human body is inserted and a magnetorheological elastic body surrounding the receiving portion; It includes a control unit for controlling the power connection to the plurality of magnetic field generating means, using the magnetic field generated by the magnetic field generating device to change the stiffness of the magnetorheological elastic body to adjust the user's sense of haptic haptic Provide a system.

In the haptic system according to an aspect of the present invention, the magnetic field generating means may be an electromagnet or an electromagnet permanent magnet (EPM).

In addition, in the haptic system according to an aspect of the present invention, the control unit may vibrate the magnetorheological elastic body by generating an alternating magnetic field by controlling a switching unit connecting the power supply unit and the plurality of magnetic field generating means.

In addition, in the haptic system according to an aspect of the present invention, the control unit controls the first group of magnetic field generating means selected from the plurality of magnetic field generating means to generate a DC magnetic field, and controls the second group of magnetic field generating means To generate an alternating magnetic field.

In addition, in the haptic system according to an aspect of the present invention, the magnetic field generating means may be installed under the display panel of the electronic device. At this time, the controller selects a group of magnetic field generating means selected based on coordinates where a user touches the display panel, and controls the group of magnetic field generating means to simultaneously generate a magnetic field or set a set direction. Accordingly, magnetic fields can be sequentially generated.

In addition, in the haptic system according to an aspect of the present invention, the magnetorheological elastic body may be installed between an inner shell and an outer shell surrounding the receiving portion of the wearable haptic feedback device.

In addition, in the haptic system according to an aspect of the present invention, the magnetorheological elastic body may be coupled to the outside of the outer shell surrounding the receiving portion of the wearable haptic feedback device.

In addition, in the haptic system according to an aspect of the present invention, an uneven portion may be formed on at least one surface of the magnetorheological elastic body.

According to the present invention, when a wearable device worn by a user approaches a magnetic field generating device equipped with a plurality of electromagnets (or electro-permanent magnets), the magnetic field changes the stiffness of the magnetorheological elastic body installed in the wearable device due to the magnetic field. I can feel it. In addition, when an alternating magnetic field is generated, vibration occurs due to contraction and restoration of the magnetorheological elastic body, thereby providing a sense of vibration to the user.

In addition, according to the present invention, it is possible to generate a magnetic field by connecting power to a whole number of electromagnets or to generate a magnetic field by connecting power to only some selected electromagnets, to generate a DC magnetic field in some electromagnets and to generate an AC magnetic field in some electromagnets. You can also implement a wide variety of haptic feedback as needed.

In addition, according to the present invention, since only the magnetorheological elastic body provided in the wearable device can provide haptic feedback to the user, there is no need to connect power to the wearable device or install a wire, so the configuration of the wearable device is not only simple but also convenient to carry. have.

1 is a schematic configuration diagram of a haptic system according to a first embodiment of the present invention.
2 is a diagram illustrating an electromagnet array of a magnetic field generating device
3 is a partial cross-sectional view showing an embodiment of a wearable haptic feedback device.
4 is a partial cross-sectional view showing another embodiment of a wearable haptic feedback device.
5 is a partial cross-sectional view showing another embodiment of a wearable haptic feedback device.
6 is a schematic configuration diagram of a haptic system according to a second embodiment of the present invention.
7 and 8 are diagrams showing the operation principle of the permanent magnet.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

For reference, the drawings attached to this specification have portions marked with dimensions or ratios different from the actual ones, but this is for convenience of explanation and understanding, so it is revealed in advance that the scope of the present invention should not be limitedly interpreted. In addition, when one element (element) is connected to, coupled to, or electrically connected to another component in the present specification, not only when directly connected, coupled, or electrically connected to another component, but also between other elements in the middle. It also includes the case of indirect connection, coupling, or electrical connection. Also, when one element is directly connected or combined with another component, it means that the element is connected or combined without another element in the middle. In addition, if a part includes a certain component, unless otherwise stated, it means that the other component may be further included instead of excluding the other component. Also, in this specification, expressions such as before, after, left, right, up, down, etc. are relative concepts that may vary depending on the viewing position, and thus the scope of the present invention is not necessarily limited to the corresponding expressions.

Embodiment 1

The haptic system according to the first embodiment of the present invention includes a magnetic field generating device 100 and a wearable haptic feedback device 200, as shown in the schematic configuration diagram of FIG. 1.

The magnetic field generating device 100 includes a plurality of electromagnets 110, a switching unit 170 selectively connecting each electromagnet 110 and a power supply unit 190, and a control unit 180 for controlling the switching unit 170 It includes.

The plurality of electromagnets 110 may include a magnetic rod and a coil wound around the magnetic rod, respectively. The plurality of electromagnets 110 may be arranged in a matrix form as illustrated in FIG. 2. However, the arrangement form of the electromagnet 110 is not limited to this.

Also, a plurality of electromagnets 110 are installed under the cover plate 10, and a user can experience predetermined haptic feedback by touching or approaching the wearable haptic feedback device 200 on the top surface of the cover plate 10. .

The type of the cover plate 10 is not limited. The cover plate 10 may be, for example, a display panel of an electronic device, and the display panel may include a touch screen.

When a plurality of electromagnets 110 are arranged in a matrix form on the lower portion of the touch screen, the controller 180 identifies the coordinates that the user has contacted through the touch screen, and the electromagnets corresponding to the corresponding coordinates among the plurality of electromagnets 110 ( By selecting 110) and connecting power, local feedback may be provided to an area touched by the user.

The switching unit 170 serves to selectively connect the power supply unit 190 and the electromagnet 110, and a specific switching method is not particularly limited. For example, the switching unit 170 may be implemented using a semiconductor device, or the switching unit 170 may be implemented in other ways.

The controller 180 serves to transmit an on/off command to the switching unit 170. The control unit 180 and the switching unit 170 may be individually installed, or may be manufactured and installed as a one-chip type processor.

The control unit 180 may control the switching unit 170 to connect only some of the electromagnets 110 selected from the plurality of electromagnets 110 to the power supply unit 190.

In addition, the controller 180 may control the switching unit 170 to supply direct current to the electromagnet 110 to generate a direct current magnetic field, or supply alternating current to generate an alternating magnetic field.

In addition, the controller 180 controls the switching unit 170 to supply a DC to the first group of electromagnets selected from the plurality of electromagnets 110 to provide a predetermined backlash to the user, or sequentially to the second group of electromagnets. It is possible to generate vibration by supplying an alternating current, thereby providing more various haptic feedback to a user of the wearable haptic feedback device 200.

The power supply unit 190 may be a battery or may include an interface connected to external power.

The wearable haptic feedback device 200 is worn by the user on a body, and a specific shape is not particularly limited. For example, it may have a shape of thimble, gloves, socks, and the like.

Wearable haptic feedback device 200 according to an embodiment of the present invention, as shown in a partial cross-sectional view of Figure 2, the receiving body 210 is inserted into the human body, the outer shell 221 surrounding the receiving portion 210 and It may include an endothelial 222 and a magnetorheological elastic body 230 positioned between the outer skin 221 and the inner skin 222.

The receiving unit 210 provides a space into which a body such as a finger, hand, toe, or foot can be inserted.

The material of the outer skin 221 and the inner skin 222 is not particularly limited, and may be configured by selecting and/or combining natural fibers, synthetic fibers, natural leather, artificial leather, and the like.

The magnetorheological elastomer (MRE) 230 includes magnetic particles in an elastic material such as natural rubber, silicone rubber, etc., and is relatively flexible when a magnetic field is not applied. When a magnetic field is applied, the magnetic particles influence the magnetic field. Since it has a property of being hardened by receiving it, the stiffness can be controlled using a magnetic field.

That is, when DC power is supplied to the electromagnet 110 at a corresponding position in the state where the wearable haptic feedback device 200 approaches the magnetic field generating device 100, the magnetorheological elastic body 230 is rigid due to the influence of the DC magnetic field. Lose. In this state, when a user wearing the wearable haptic feedback device 200 moves a finger, a wrist, or the like, a new backlash is felt unlike when there is no magnetic field.

In addition, when an AC magnetic field is generated by connecting AC power to the electromagnet 110 of the magnetic field generating device 100 or by switching the polarity of the DC power at high speed, when the wearable haptic feedback device 200 approaches, the magnetorheological elastic body 230 Vibration occurs as the contraction and restoration are repeated at a high speed, and vibration feedback can be provided to the user.

As described above, according to an embodiment of the present invention, since the haptic feedback can be provided to the user only by the magnetorheological elastic body provided in the wearable device, there is no need to connect a separate power source or install a wire. Therefore, the configuration of the wearable device is very simple and convenient to carry.

Meanwhile, FIG. 3 shows that the magnetorheological elastic body 230 is completely filled between the outer skin 221 and the inner skin 222 of the wearable haptic feedback device 200, but is not limited thereto. Therefore, the magnetorheological elastic body 230 may be installed only in a part of the entire space between the outer skin 221 and the inner skin 222.

In addition, as illustrated in FIG. 4, an uneven magnetic rheological elastic body 240 may be installed between the outer skin 221 and the inner skin 222 of the wearable haptic feedback device 200a.

The concave-convex magnetorheological elastic body 240 is formed with concavo-convex portions in which a plurality of concave portions and convex portions alternately appear on the top and/or bottom surfaces. The concave-convex magnetorheological elastic body 240 does not completely adhere to the outer shell 221 or the inner shell 222, and thus forms a plurality of spaces, and thus has a property of being more deformed than the flat plate when the magnetic field is applied. In particular, when an alternating magnetic field is applied, as the vibration width is greatly increased, a much stronger vibration can be generated compared to the planar magnetorheological elastic body 230 shown in FIG. 3.

Therefore, the wearable haptic feedback device 200a on which the uneven magnetic rheological elastic body 240 is installed may provide a stronger sense of backlash or vibration to the user.

Although it is shown in the drawings that the uneven portion of the uneven magnetic rheological elastic body 240 is wavy based on the cross section, it is not necessarily limited thereto, and thus may have various shapes such as a pyramid and an arch.

The wearable haptic feedback devices 200 and 200a of FIGS. 3 and 4 show that the magnetorheological elastic bodies 230 and 240 are installed between the outer skin 221 and the inner skin 222, but are not limited thereto.

For example, a concave-convex magnetorheological elastic body 240 may be installed outside the outer shell 221, such as the wearable haptic feedback device 200b illustrated in FIG. 5.

The wearable haptic feedback device 200b has an advantage of providing various friction feelings to the user.

That is, the position of the magnetic field is different because the friction feeling felt when the magnetorheological elastic body 240 is brought into contact with the cover plate 10 while the magnetic field is applied through the magnetic field generating device 100 is different from the friction feeling felt when the magnetic field is released, By appropriately controlling the intensity and the like, various friction feelings can be provided to the user.

Even in this case, when an alternating magnetic field is applied through the magnetic field generating device 100, the uneven magnetic rheological elastic body 240 of the wearable haptic feedback device 200b may generate vibration.

On the other hand, in FIG. 5, it is shown that the uneven magnetic rheological elastic body 240 is used, but is not limited thereto. This is because even when the plate type magnetorheological elastic body 230 is used, it is possible to feel a change in friction due to a magnetic field.

Example 2

The haptic system according to the second embodiment of the present invention includes a magnetic field generating device 100a and a wearable haptic feedback device 200, as shown in the schematic configuration diagram of FIG. 6, and the magnetic field generating device 100a has a large number It includes an electro-permanent magnet 140, a switching unit 170 for selectively connecting each of the permanent magnets 140 and the power supply 190, and a control unit 180 for controlling the switching unit 170.

The switching unit 170, the control unit 180, the power supply unit 190, and the wearable haptic feedback device 200 are the same as in the first embodiment, so a description thereof will be omitted.

The haptic system according to the second embodiment of the present invention is different from the first embodiment in that the electro-permanent magnet 140 is used instead of the electromagnet.

The electro-permanent magnet 140 may be arranged in a matrix form like the electromagnet 110 of FIG. 2.

The permanent magnet 140 is a device capable of turning on or off the external magnetic field by controlling the current supplied to the coil wound around the permanent magnet.

In an embodiment of the present invention, when the external magnetic field of the electromagnetic permanent magnet 140 is turned on, a magnetic field is formed up to the upper portion of the cover plate 10, so that the rigidity of the magnetorheological elastic bodies 230 and 240 of the wearable haptic feedback device 200 It will change or vibration will occur.

The electro-permanent magnet 140, as illustrated in Figure 7 (a), the first permanent magnet 141 and the second permanent magnet 142, the first and second permanent magnets (141,142) arranged side by side The coil 143 wound around the periphery may include a first core 145 and a second core 146 made of a magnetic material installed at one end and the other end of the first and second permanent magnets 141 and 142, respectively.

In addition, a support plate 149 for maintaining the distance between the first core 145 and the second core 146 and coupling to the cover plate 10 or the like may be installed on one side of the permanent magnet 140. The support plate 149 is preferably non-magnetic. The support plate 149 may be omitted.

The first permanent magnet 141 may be a neodymium (NdFeB) magnet having a relatively high coercive force, and the second permanent magnet 141 may be an AlNiCo magnet having a very low coercive force compared to neodymium. However, the present invention is not limited thereto, and the first and second permanent magnets 141 and 142 may be replaced with different types of magnets.

The first permanent magnet 141 and the second permanent magnet 142 are arranged side by side so that the polarities are opposite to each other. Therefore, the N pole of the first permanent magnet 141 is adjacent to the S pole of the second permanent magnet 142, and the S pole of the first permanent magnet 141 is adjacent to the N pole of the second permanent magnet 142 Is done.

In the drawings, the first permanent magnet 141 and the second permanent magnet 142 are shown to be in contact with each other, but are not limited thereto, and may be spaced apart from each other.

In addition, although the coil 143 is shown as winding both the first permanent magnet 141 and the second permanent magnet 142 in the drawing, the coil 143 is not limited to the second permanent magnet 142 having a small coercive force. You can also wind up.

The first core 145 and the second core 146 disposed at both ends of the first and second permanent magnets 141 and 142 are ferromagnetic, for example, iron (Fe) or an iron-cobalt alloy.

A method of changing the stiffness or generating vibration of the magnetorheological elastic bodies 230 and 240 of the wearable haptic feedback devices 200 and 200a using the electro-permanent magnet 140 is as follows.

First, FIG. 7(a) shows a state in which the connection between the coil 143 of the permanent magnet 140 and the power supply unit 190 is blocked.

In this state, since the first permanent magnet 141 and the second permanent magnet 142 are disposed in opposite polarities, the magnetic force lines from the N pole of the first permanent magnet 141 pass through the second core 146 and are adjacent to each other. 2 Enter the S pole of the permanent magnet 142, and the magnetic force line from the N pole of the second permanent magnet 142 enters the S pole of the adjacent first permanent magnet 141 through the first core 145.

Therefore, this state is a state in which the external magnetic field that can affect the upper magnetorheological elastic body (230, 240) is off (off), the stiffness change or vibration of the magnetorheological elastic body (230, 240) does not occur.

However, in this state, when the power supply unit 190 is connected to the coil 143 to supply a current of a predetermined intensity in the first direction as shown in FIG. 7(b), the second permanent magnet 142 having weak coercive force The polarity is reversed by the induced magnetic field formed inside the coil 143.

That is, the S-pole of the second permanent magnet 142 is changed to the N-pole, and thereby, the polarity directions of the first permanent magnet 141 and the second permanent magnet 142 are the same.

In this case, since the magnetic force lines from the N pole of the first permanent magnet 141 and the N pole of the second permanent magnet 142 pass through the second core 146 to the first core 145 on the opposite side, an external magnetic field is formed. do.

When such an external magnetic field is formed, the user feels a certain backlash as the stiffness of the magnetorheological elastic bodies 230 and 240 provided in the wearable haptic feedback devices 200 and 200a located at the top changes.

After the polarity of the second permanent magnet 142 is changed as described above, even if the coil 143 is disconnected from the power supply 130 as shown in FIG. Polarity remains altered.

Therefore, in order to release the magnetic field applied to the magnetorheological elastic bodies 230 and 240, as shown in FIG. 8(b), it is necessary to supply the coil 143 with a current in the second direction opposite to the first direction. In this way, as the polarity of the second permanent magnet 142 is changed to be the same as the first time, the external magnetic field is removed and the rigidity of the magnetorheological elastic bodies 230 and 240 is also restored.

In order to operate the electromagnetic permanent magnet 140 in this manner, it is needless to say that the direction of the current supplied to the coil 143 through the switching unit 170 and the controller 180 can be changed in the forward/reverse direction.

In addition, if the switching operation is repeated at high speed, vibration may be generated in the magnetorheological elastic bodies 230 and 240.

Meanwhile, it has been described above that local feedback is provided to an area touched by a user by using a plurality of electromagnets 110 or a plurality of electromagnetism magnets 140 installed in the magnetic field generating devices 100 and 100a.

However, the method of providing haptic feedback is not limited thereto.

As an example, even if a user touches only one point of the cover plate 10 with a finger tip while wearing the glove-type wearable haptic feedback device 200, the entire electromagnet 110 or all the electrons installed in the magnetic field generating device 100 The permanent magnet 140 may be turned on to provide strong backlash to a user wearing the wearable haptic feedback device 200.

As another example, a group of electromagnets 110 or a group of permanent magnets 140 located within a range set based on coordinates touched by a user may be turned on.

As another example, when the plurality of electromagnets 110 or the permanent magnets 140 are turned on, the whole may be turned on at the same time, or sequentially turned on in a set direction. . If the electromagnet is sequentially turned on, the user can feel as if the backlash is moving.

As described above, the present invention is not limited to the above-described embodiments, but may be modified or modified in various forms, and the modified or modified embodiments may also include the technical spirit of the present invention disclosed in the following claims. It would be natural to be in scope.

10: cover plate 100, 100a: magnetic field generating device
110: electromagnet 140: permanent magnet 141: first permanent magnet
142: second permanent magnet 143: coil 145: first core
146: second core 149: support plate 170: switching unit
180: control unit 190: power supply unit
200, 200a, 200b: wearable haptic feedback device 210: receiving unit
221: outer shell 222: inner shell 230: magnetorheological elastic body
240: uneven type magnetorheological elastic body

Claims (9)

A magnetic field generating device having a plurality of magnetic field generating means;
A wearable haptic feedback device having a receiving portion into which a part of the human body is inserted and a magnetorheological elastic body surrounding the receiving portion;
Control unit for controlling power connection to the plurality of magnetic field generating means
Including,
The magnetorheological elastic body is installed between an inner shell and an outer shell surrounding the receiving portion of the wearable haptic feedback device, and an uneven portion is formed on at least one surface of the magnetorheological elastic body,
A haptic system, characterized in that by adjusting the stiffness of the magnetorheological elastic body by using the magnetic field generated by the magnetic field generating device to control the user's sense of backlash. A magnetic field generating device having a plurality of magnetic field generating means;
A wearable haptic feedback device having a receiving portion into which a part of the human body is inserted and a magnetorheological elastic body surrounding the receiving portion;
Control unit for controlling power connection to the plurality of magnetic field generating means
Including,
The magnetorheological elastic body is coupled to the outside of the outer shell surrounding the receiving portion of the wearable haptic feedback device, and an uneven portion is formed on at least one surface of the magnetorheological elastic body,
A haptic system, characterized in that by adjusting the stiffness of the magnetorheological elastic body by using the magnetic field generated by the magnetic field generating device to control the user's sense of backlash. The method according to claim 1 or 2,
The magnetic field generating means is an electromagnet or an electro permanent magnet (EPM). The method according to claim 1 or 2,
The control unit is a haptic system, characterized in that to vibrate the magnetorheological elastic body by generating an alternating magnetic field by controlling a switching unit connecting the power supply unit and the plurality of magnetic field generating means. The method according to claim 1 or 2,
The control unit controls the first group of magnetic field generating means selected from the plurality of magnetic field generating means to generate a DC magnetic field, while controlling the second group of magnetic field generating means to generate an alternating magnetic field. . The method according to claim 1 or 2,
The magnetic field generating means is installed in the lower portion of the display panel of the electronic device haptic system. The method of claim 6,
The control unit selects a group of magnetic field generating means based on coordinates where a user touches the display panel, and controls the group of magnetic field generating means to simultaneously generate a magnetic field or sequentially in a set direction. A haptic system characterized by generating a magnetic field. delete delete

Images