Tactile sense presentation device and tactile sense presentation system

Abstract

To provide a tactile sense presentation device capable of imparting a comfortable tactile sense stimulus that makes a user feel as if he / she were caressed.SOLUTION: A tactile sense presentation device includes: a tactile sense presentation part having a presentation surface S1 of the tactile sense; and a drive part driving the tactile sense presentation part. The tactile sense presentation part is arranged along the presentation surface S1, and a wall on the presentation surface S1 side is configured to have a plurality of air chambers 9 formed of an elastic membrane that can swell and deform in a normal line direction to the presentation surface S1. The drive part is provided every air chamber 9 and has a plurality of drive units 13 adjusting air pressure in the air chambers 9 so that the elastic membrane swells and is restored. The drive unit 13 has: a pressurization chamber communicating with the air chamber 9; a diaphragm 15 which forms a wall of the pressurization chamber and swells inward from outside the pressurization chamber when a pressing surface opposite the pressurization chamber side is pressed; and an actuator which is disposed against the pressing surface and presses the pressing surface.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a tactile presentation device and a tactile presentation system. [Background technology]

[0002] Conventionally, for example, a chair device is known in which an air vibration speaker is embedded in the back cushion of a chair (see, for example, Patent Document 1). In the chair device described in Patent Document 1, the air vibration speaker generates 1 / f fluctuation vibration of 20 Hz to 60 Hz to provide a tactile stimulus (vibration stimulus) to the back of the person sitting, improving blood circulation and helping to relieve fatigue. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 6-284943 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the chair device described in Patent Document 1 uses vibration stimulation from an air vibration speaker, so it is difficult to impart a comfortable tactile stimulation like being stroked by a person. An object of the present invention is to provide a tactile presentation device and a tactile presentation system that can impart a comfortable tactile stimulation, similar to that of being stroked by a person. [Means for solving the problem]

[0005] One embodiment of the tactile presentation device of the present invention comprises (a) a tactile presentation unit having a tactile presentation surface and a drive unit that drives the tactile presentation unit; (b) the tactile presentation unit has a plurality of air chambers arranged along the presentation surface, the wall of which on the presentation surface side is formed of an elastic membrane that can bulge and deform in the normal direction of the presentation surface; (c) the drive unit is provided for each air chamber and has a plurality of air pressure adjustment units that adjust the air pressure in the air chamber so that the elastic membrane bulges and restores; (d) the air pressure adjustment unit has a pressure chamber connected to the air chamber; (e) a diaphragm that forms a wall of the pressure chamber and bulges inward from the outside of the pressure chamber when a pressing surface, which is the surface opposite the pressure chamber side, is pressed; and (f) an actuator that is arranged opposite the pressing surface and presses the pressing surface.

[0006] Another aspect of the tactile presentation device of the present invention is characterized in that it comprises (a) a tactile presentation unit having a tactile presentation surface and a drive unit that drives the tactile presentation unit, (b) the tactile presentation unit has a plurality of air chambers arranged along the presentation surface, the wall of which on the presentation surface side is formed of an elastic membrane that can bulge and deform in the normal direction of the presentation surface, (c) the drive unit is provided for each air chamber and has a plurality of air pressure adjustment units that adjust the air pressure in the air chamber so that the elastic membrane bulges and restores, (d) the air chamber has a diaphragm that forms the wall of the air chamber and bulges inward from the outside of the air chamber when a pressing surface, which is the surface opposite the air chamber side, is pressed, and (e) an actuator that is arranged opposite the pressing surface and presses the pressing surface.

[0007] The tactile presentation system of the present invention comprises: (a) a tactile presentation unit having a tactile presentation surface; and a drive unit for driving the tactile presentation unit; (b) the tactile presentation unit has a plurality of air chambers arranged along the presentation surface, the wall of which on the presentation surface side is formed of an elastic membrane that can bulge and deform in the normal direction of the presentation surface; (c) the drive unit is provided for each air chamber, and has a plurality of air pressure adjustment units for adjusting the air pressure in the air chamber so that the elastic membrane bulges and returns to its original shape; (d) the air pressure adjustment unit comprises a pressure chamber connected to the air chamber; (e) a diaphragm that forms a wall of the pressure chamber and bulges inward from the outside of the pressure chamber when a pressing surface, which is the surface opposite to the pressure chamber side, is pressed; (f) a tactile presentation device having an actuator arranged opposite to the pressing surface and pressing the pressing surface; and (g) a control unit that acquires time series data of contact pressure distribution and controls each of the actuators of the air pressure adjustment units based on the acquired time series data of contact pressure distribution so that the time series data of contact pressure distribution is reproduced in the tactile presentation unit. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram showing an overall configuration of a tactile presentation system according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing a configuration of a tactile presentation device. [Diagram 3] FIG. 2 is a diagram showing a cross-sectional configuration of a presentation unit and a drive unit. [Figure 4] FIG. 2 is a diagram showing a cross-sectional configuration of a presentation unit and a drive unit. [Diagram 5] FIG. 2 is a diagram showing a configuration of a tactile input device. [Figure 6] FIG. 2 is an exploded view showing the tactile presentation device according to the embodiment. [Figure 7] 11 is a diagram showing the relationship between the pressure difference between the air pressure in the air chamber and the atmospheric pressure, and the amplitude of the force output from the presentation unit. FIG. [Figure 8] 11 is a diagram showing the relationship between an input current of an actuator and a force output from a presentation unit. FIG. [Figure 9] FIG. 11 is a diagram showing the frequency characteristics of the tactile presentation device of Example 2. [Figure 10] FIG. 11 is a diagram illustrating a configuration of a tactile presentation device according to a second embodiment. [Figure 11] FIG. 2 is a diagram showing a cross-sectional configuration of a presentation unit and a drive unit. [Figure 12] FIG. 2 is a diagram showing a cross-sectional configuration of a presentation unit and a drive unit. [Figure 13] 13 is a diagram showing a configuration of a presentation unit according to a modified example. FIG. [Figure 14] 13A to 13C are diagrams illustrating performance evaluation results of a presentation unit according to a modified example. [Figure 15] 13 is a diagram showing a configuration of a presentation unit according to a modified example. FIG. [Figure 16] 13 is a diagram showing a configuration of a tactile sense providing unit according to a modified example. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An example of a tactile presentation device and a tactile presentation system according to an embodiment of the present invention will be described below with reference to Figs. 1 to 15. The embodiment of the present invention will be described in the following order. Note that the present invention is not limited to the following example. Also, the effects described in this specification are merely examples and are not limiting, and other effects may be present. 1. First embodiment 1-1 Overall configuration of the tactile presentation system 1-2 Example 2. Second embodiment 2-1 Main components 2-2 Variations

[0010] 1. First embodiment [1-1 Overall configuration of the tactile presentation system] Hereinafter, the configuration of the tactile presentation system according to the first embodiment will be described with reference to the drawings. FIG. 1 is a diagram showing an example of the configuration of the tactile presentation system 1. The tactile presentation system 1 shown in FIG. 1 is a system for providing a comfortable tactile stimulus to relax a person, and is also capable of recording a tactile stimulus pattern resulting from tactile communication between people and reproducing the recorded tactile stimulus pattern. More specifically, it is a system that can present a comfortable tactile stimulus that feels like being stroked by a person.

[0011] As shown in Fig. 1, the tactile presentation system 1 includes a tactile presentation device 2, a tactile input device 3, a storage device 4 (also referred to as a "storage unit" in a broad sense), and a control device 5 (also referred to as a "control unit" in a broad sense). As shown in Figs. 2, 3, and 4, the tactile presentation device 2 includes a tactile presentation unit 6 having a tactile presentation surface S1, and a drive unit 7 that drives the tactile presentation unit 6. The tactile presentation unit 6 and the drive unit 7 are formed separately as separate entities. As shown in FIG. 2, the tactile presentation unit 6 is a device that provides a tactile stimulus to a user. FIG. 2 shows, as an example, a case where the tactile presentation units 6 are arranged on a flat surface such as a desk so that the user can touch the tactile presentation units 6 with their palms during breaks in work, etc., to provide the tactile stimulus to the palms of the user. The tactile presentation unit 6 has a plurality of presentation units 8 arranged along a tactile presentation surface S1. The presentation unit 8 has an outer shape of a flat hexagonal prism whose upper and bottom surfaces are parallel to the presentation surface S1. FIG. 2 shows, as an example, a case where the presentation surface S1 is an upward-facing flat surface, and three presentation units 8 (i.e., flat hexagonal prisms) are arranged without gaps along the plane (plane filling).

[0012] In addition, inside the presentation unit 8, an air chamber 9 having a hexagonal columnar space similar in shape to the outer shape of the presentation unit 8 is formed. That is, an air chamber 9 is formed in each presentation unit 8. As a result, the tactile presentation unit 6 is configured such that a plurality of air chambers 9 are arranged along the tactile presentation surface S1. Also, as shown in FIG. 3 and FIG. 4, an opening 10 is formed in the side wall of the air chamber 9, penetrating from the inside to the outside of the air chamber 9. Also, an opening 17 of the drive unit 7 is connected to the opening 10 via a connection tube 11. As a result, the air pressure in the air chamber 9 and the air pressure in the pressurizing chamber 14 are the same. Therefore, the air pressure in the air chamber 9 can be adjusted by adjusting the air pressure in the pressurizing chamber 14.

[0013] The wall of the air chamber 9 on the presentation surface S1 side is formed of an elastic membrane 12 that can bulge and deform in the normal direction of the presentation surface S1 (upward in FIG. 3). The elastic membrane 12 becomes flat when the air pressure in the air chamber 9 is the same as the atmospheric pressure. As shown in FIG. 4, the elastic membrane 12 bulges from the inside to the outside of the air chamber 9 when the air pressure in the air chamber 9 rises above the atmospheric pressure. The degree of bulging of the elastic membrane 12 increases as the air pressure in the air chamber 9 increases. The bulging elastic membrane 12 presses the palm of the user that is touching the presentation surface S1, so that a tactile stimulus (compressive stimulus) can be applied to the palm of the user. In addition, since a plurality of air chambers 9 (presentation units 8) that can apply such a compressive stimulus are arranged without gaps, it is possible to express the movement of the compressive stimulus on the presentation surface S1. The surface of the elastic membrane 12 constituting the presentation surface S1 (hereinafter also referred to as the "upper surface S1." Since it is the same surface as the presentation surface S1, the symbol for the upper surface is also S1) is a smooth surface without any irregularities. For example, silicone rubber can be used as the material for the elastic membrane 12. By using silicone rubber, it is possible to realize a tactile stimulation that has the flexibility and warmth of human skin. The side walls and bottom wall of the air chamber 9 are formed integrally with the wall on the top surface S1 side (hereinafter also referred to as the "top wall"). That is, the presentation unit 8 is in the shape of a balloon made of silicone rubber. The thickness of the side walls and the bottom wall of the air chamber 9 are made thicker than the thickness of the top wall so that they do not bulge and deform even when the air pressure in the air chamber 9 is increased.

[0014] As shown in FIG. 2, the driving section 7 has a plurality of driving units 13 (also called "air pressure adjusting section" in a broad sense) provided for each air chamber 9. That is, one driving unit 13 is provided for one air chamber 9 (presentation unit 8). The driving unit 13 is a unit that adjusts the air pressure in the air chamber 9 so that the elastic membrane 12 of the air chamber 9 expands and returns to its original state. As shown in FIG. 3 and FIG. 4, a flat cylindrical pressure chamber 14 with an axial direction oriented vertically is formed inside the driving unit 13. In addition, the bottom wall of the pressure chamber 14 is formed of a diaphragm 15 (diaphragm) that can expand and deform from the outside to the inside of the pressure chamber 14. In addition, an actuator 16 is arranged inside the driving unit 13 so as to face the lower surface of the diaphragm 15 (the surface opposite to the surface on the pressure chamber 14 side; hereinafter, also called the "pressing surface S2"). The actuator 16 is controlled by the control device 5 and presses the pressing surface S2 of the diaphragm 15. As the actuator 16, for example, a voice coil motor (VCM) can be used from the viewpoints of improving thrust performance and miniaturization.

[0015] As shown in Fig. 3, the diaphragm 15 is flat when the pressing surface S2 is not pressed by the actuator 16. Also, as shown in Fig. 4, when the pressing surface S2 of the diaphragm 15 is pressed by the actuator 16, the pressed portion of the diaphragm 15 bulges from the outside to the inside of the pressurizing chamber 14 (from the lower side to the upper side in Fig. 4). As the diaphragm 15 bulges inward of the pressurizing chamber 14, the volume of the pressurizing chamber 14 decreases by the amount of bulging, and the air pressure in the pressurizing chamber 14 increases. 3 and 4, an opening 17 is formed in the side wall of the pressurizing chamber 14, penetrating from the inside to the outside of the pressurizing chamber 14. The opening 17 is connected to the opening 10 of the air chamber 9 via a connecting tube 11. This makes the air pressure in the air chamber 9 and the air pressure in the pressurizing chamber 14 the same. Therefore, by controlling the actuator 16 of the drive unit 13, the elastic membrane 12 of the presentation unit 8 can be deformed to bulge.

[0016] As shown in Fig. 5, the tactile input device 3 is a device for inputting a tactile stimulus (pressure stimulus pattern) to be presented by the tactile presentation device 2. Fig. 5 illustrates, as an example, a case in which the tactile input device 3 is a device that has an inputter stroke the input surface S3 and sequentially measures the contact pressure distribution of the input surface S3. As will be described later, the contact pressure distribution is reproduced by the tactile presentation unit 6, and therefore it can also be said to be the distribution of contact pressure applied to the user by the presentation surface S1 of the tactile presentation unit 6. The measured contact pressure distribution is sequentially output to the control device 5. The storage device 4 is an auxiliary storage device configured by, for example, a memory such as a hard disk drive or a solid state drive. The storage device 4 stores various data (for example, time series data of contact pressure distribution) required for processing executed by the control device 5. Note that, as the time series data of contact pressure distribution stored in the storage device 4, for example, time series data obtained by measurement using the tactile input device 3, or time series data created by a computer can be used. Here, in order for a tactile stimulus to be a comfortable tactile stimulus, like being stroked by a person, it needs to satisfy the following requirements. (a) The comfortable force should be between 0.22N and 0.5N. (b) Since 98% of the various daily physical movements of humans have a vibration frequency of 10 Hz or less, the frequency must be 10 Hz or less. Therefore, it is preferable that the storage device 4 stores only time-series data of the contact pressure distribution that satisfies the above requirements (a) and (b).

[0017] As shown in FIG. 1, the control device 5 includes a computer having, for example, a processor 18 and peripheral components such as a storage unit 19. For example, a CPU or an MPU can be used as the processor 18. For example, the storage unit 19 can be a register, a cache memory, or a memory such as a ROM or RAM used as a main storage unit. The control device 5 sequentially acquires the contact pressure distribution output from the tactile input device 3 and stores the acquired time series data of the contact pressure distribution in the storage unit 4. The control device 5 also controls the actuators 16 of each drive unit 13 based on the time series data of the contact pressure distribution stored in the storage unit 4 so that the time series data of the contact pressure distribution is reproduced in the tactile presentation unit 6. As a result, the time series data of the contact pressure distribution that satisfies the above requirements (a) and (b) is reproduced, making it possible to present a comfortable tactile stimulation as if being stroked by a person. In addition, if the storage device 4 also stores time series data of contact pressure distribution that does not satisfy the above requirements (a) and (b), the control device 5 may modify the time series data of contact pressure distribution played back by the tactile presentation unit 6 so that the time series data of contact pressure distribution satisfies the above requirements (a) and (b).

[0018] Here, in order for the tactile presentation system 1 to be a system capable of presenting a comfortable tactile stimulus as if being stroked by a person, the tactile presentation device 2 needs to satisfy the following requirements. (c) It is capable of outputting a comfortable force of 0.22N to 0.5N. (d) Since 98% of the various everyday human physical movements have a vibration frequency of 10 Hz or less, the sensor must be capable of outputting a force at 10 Hz or less. In contrast, the tactile presentation system 1 according to the first embodiment can (c) output a force exceeding 0.5 N, and (d) make the cutoff frequency greater than 10 Hz, as shown in the performance evaluation of the examples described later. Therefore, it is possible to output a force that satisfies the above requirements, and to present a comfortable tactile stimulus, as if being stroked by a person.

[0019] In the first embodiment, silicone rubber is used as the material of the elastic film 12. This allows the presentation surface S1 to have a tactile sensation with the flexibility and warmth of human skin. This further improves the comfort of the tactile stimulation, as if someone were stroking the user. In the first embodiment, the presentation surface S1 is formed by arranging a plurality of presentation units 8 without gaps (plane tessellation). That is, a plurality of channels are densely arranged and can be linked. Therefore, the movement of the hand of the person stroking can be expressed on the presentation surface S1, and the sensation of a person stroking can be more appropriately imparted. In addition, the presentation surface S1 can be formed in various sizes and shapes (for example, flat, curved) depending on the number and arrangement of the presentation units 8. In the first embodiment, the presentation unit 8 is configured to have a balloon shape in which the walls (top wall, side wall, bottom wall) surrounding the air chamber 9 are integrally formed from silicone rubber. This allows the presentation unit 8 to be lightweight, and the tactile presentation section 6 can be attached to the human body. In the presentation unit 8 of Example 2 described later, the total weight of the presentation unit 8 is 149.9 g. Furthermore, in the first embodiment, a voice coil motor is used as the actuator 16, so that the driving noise can be reduced and it is possible to carry out work or housework while receiving tactile stimulation.

[0020] [1-2 Example] An example of the tactile presentation device 2 of the first embodiment will be described. Example 1 FIG. 6 is an exploded view of the tactile presentation device 2 of the embodiment. The presentation unit 8 was formed by pouring silicone rubber (Ecoflex00-30) into a mold and solidifying it. The thickness of the upper wall of the air chamber 9 was 2.5 mm, the thickness of the side wall was 4 mm, and the thickness of the bottom was 6 mm. The total thickness of the presentation unit 8 was 19 mm. The total weight of the presentation unit 8 was 225.9 g. The upper housing 20 and the lower housing 21 of the drive unit 7 were formed using a 3D printer. Resin (Clear Resin V3) was used as the material for the housings 20 and 21. A recess (not shown) that constitutes the air chamber 9 was formed on the lower surface of the upper housing 20. The diaphragm 15 was fixed by being sandwiched between the edge of the lower housing 21 and the edge of the upper housing 20. A silicone sheet (EC-BH) was used as the diaphragm 15. A recess 22 that accommodates the actuator 16 was formed on the upper surface of the lower housing 21. A voice coil motor (AVM30-15) with a stroke of ±5 mm was used as the actuator 16. In addition, a hat-shaped member 23 having a recess in the center into which the upper end of the actuator 16 fits and a flange portion around the periphery was placed between the diaphragm 15 and the actuator 16. A plurality of springs 24 supporting the hat-shaped member 23 were placed between the underside of the flange portion and the lower housing 21 so that the diaphragm 15 was in the shape of a flat plate.

[0021] Example 2 In Example 2, a voice coil motor (AVM24-10) that is smaller, lighter, and has a lower rated output than the voice coil motor (AVM30-15) in Example 1 was used as the actuator 16. Other than that, the configuration was the same as in Example 1. The total weight of the presentation unit 8 was 149.9 g. The features of the tactile presentation device 2 of Examples 1 and 2 are summarized in Table 1 below. [Table 1]

[0022] (Performance evaluation) In addition, performance evaluations 1 and 2 were performed on the tactile presentation devices 2 of Examples 1 and 2. In the performance evaluation 1, a sine wave of 0.3 A and 1 Hz was input to the actuator 16 using the tactile presentation device 2 of Examples 1 and 2, the pressure difference between the air pressure in the air chamber 9 and the atmospheric pressure was changed from 0 kPa to 1.0 kPa, and the amplitude of the force output from the presentation unit 8 was measured. FIG. 7 is a diagram showing the relationship between the pressure difference between the air pressure in the air chamber 9 and the atmospheric pressure, and the amplitude of the force output from the presentation unit 8. According to FIG. 7, it was confirmed that the tactile presentation device 2 of Example 1 can output a force of about 1.7 N at 0.8 kPa, and the tactile presentation device 2 of Example 2 can output a force of about 1.3 N at 0.4 kPa. Therefore, it was confirmed that the tactile presentation device 2 of Examples 1 and 2 can output a force exceeding 0.22 N to 0.5 N.

[0023] In performance evaluation 2, the tactile presentation device 2 of Example 2 was used to change the input current of the actuator 16 and measure the force output from the presentation unit 8. FIG. 8 is a diagram showing the relationship between the input current of the actuator 16 and the force output from the presentation unit 8. According to FIG. 8, the correlation function between the current and the force was 0.98, confirming high linearity. Therefore, it was confirmed that, according to the tactile presentation device 2 of Example 2, the force output from the presentation unit 8 can be adjusted by adjusting the magnitude of the input current of the actuator 16. 9(a) and 9(b) are diagrams showing the frequency characteristics of the tactile presentation device 2 of Example 2. According to Fig. 9(a) and Fig. 9(b), it was confirmed that the cutoff frequency was about 60 Hz. Therefore, according to the tactile presentation device 2 of Example 2, it was confirmed that the cutoff frequency (the boundary between the passband and the attenuation band) was greater than 10 Hz.

[0024] 2. Second embodiment [2-1 Configuration of main parts] Next, a tactile presentation system 1 according to a second embodiment of the present disclosure will be described. The overall configuration of the tactile presentation system 1 of the second embodiment is the same as that of FIG. 1, and is therefore omitted from the illustration. FIG. 10 corresponds to FIG. 2 of the first embodiment, and is a diagram showing the configuration of a tactile presentation device 2 of the second embodiment. FIG. 11 and FIG. 12 correspond to FIG. 3 and FIG. 4 of the first embodiment, and are diagrams showing cross-sectional configurations of a presentation unit 8 and a drive unit 13 of the second embodiment. In FIG. 10, FIG. 11, and FIG. 12, parts corresponding to FIG. 2, FIG. 3, and FIG. 4 are given the same reference numerals, and duplicated explanations will be omitted.

[0025] As shown in Figures 10, 11, and 12, the tactile presentation system 1 according to the second embodiment differs from the tactile presentation system 1 according to the first embodiment in the configuration of the tactile presentation device 2. In the second embodiment, a drive unit 13 is integrated on the lower surface side of the presentation unit 8. In the presentation unit 8, the bottom wall of the air chamber 9 is formed of a diaphragm 15. In the second embodiment, the diaphragm 15 is an elastic membrane that can bulge and deform from the outside to the inside of the air chamber 9. Also, the opening 10 of the air chamber 9 is omitted, and the air chamber 9 is an enclosed space. In addition, the pressurizing chamber 14 is omitted from the drive unit 13, and the actuator 16 presses the diaphragm 15 on the lower surface of the presentation unit 8 instead of the diaphragm 15 of the pressurizing chamber 14. As shown in Fig. 11, the diaphragm 15 becomes flat when the surface opposite to the surface on the air chamber 9 side (pressing surface S2) is not pressed by the actuator 16. Also, as shown in Fig. 12, the diaphragm 15 bulges from the outside to the inside of the air chamber 9 when the pressing surface S2 is pressed by the actuator 16. When the diaphragm 15 bulges inward into the air chamber 9, the volume of the air chamber 9 decreases by the amount of bulging, and the air pressure in the air chamber 9 increases. When the air pressure in the air chamber 9 becomes higher than atmospheric pressure, the elastic membrane 12 bulges from the inside to the outside of the air chamber 9. The degree of bulging of the elastic membrane 12 increases as the air pressure in the air chamber 9 increases.

[0026] [2-2 Modified Example] (1) In the first and second embodiments, the upper surface S1 of the elastic membrane 12 is a smooth surface, but other configurations can be adopted. For example, as shown in FIG. 13, the upper surface S1 of the elastic membrane 12 may be an uneven surface having an uneven pattern. FIG. 13 illustrates an example in which the uneven pattern has seven cylindrical convex portions 25. Here, a performance evaluation was performed using a tactile presentation device 2 in which the upper surface S1 of the elastic membrane 12 is a smooth surface (hereinafter also referred to as "flat") and a tactile presentation device 2 in which the upper surface S1 is an uneven surface (hereinafter also referred to as "knobby"). In this performance evaluation, the contact force between the presentation surface S1 and the palm was set to two types, 100 gf and 500 gf. FIG. 14(a) is a diagram showing the relationship between the input current of the actuator 16 and the perceived intensity. According to FIG. 14(a), the sensitivity of flat (the ratio of change in the vertical axis to the horizontal axis) was greater than the sensitivity of knobby. Therefore, with flat (a tactile presentation device 2 in which the upper surface S1 of the elastic membrane 12 is a smooth surface), the perceived intensity can be increased with a small amount of current. FIG. 14(b) is a diagram showing the relationship between the force output from the presentation unit 8 (hereinafter also referred to as the "presented force") and the perceived intensity. According to FIG. 14(b), the sensitivity of knobby is greater than the sensitivity of flat. Therefore, with knobby (a tactile presentation device 2 in which the upper surface S1 of the elastic membrane 12 is an uneven surface), the perceived intensity can be increased with a small amount of presented force.

[0027] (2) In the first and second embodiments, the entire top wall of the air chamber 9 (presentation unit 8) is formed as the elastic membrane 12, but other configurations can also be adopted. For example, as shown in FIG. 15, the elastic membrane 12 may be formed only in the center of the top wall. In this case, the portion of the top wall other than the center (elastic membrane 12) is formed of a material with higher rigidity than the elastic membrane 12 so as not to bulge and deform even when the air pressure in the air chamber 9 is increased. FIG. 15 shows, as an example, a case where the present invention is applied to the presentation unit 8 of the first embodiment.

[0028] (3) In the first and second embodiments, the tactile sensation providing unit 6 provides a tactile sensation to the palm of the user, but other configurations may be adopted. For example, as shown in FIG. 16, the tactile sensation providing unit 6 may be configured as a piece of clothing that covers the back of the user, providing a tactile sensation to the back of the user. For example, the tactile sensation providing unit 6 may be configured as a sheet that is stepped on or sat on, providing a tactile sensation to the soles of the feet or buttocks of the user. For example, the tactile sensation providing unit 6 may be configured as a sheet that is wrapped around the arms or legs, providing a tactile sensation to the arms or legs. For example, the tactile sensation providing unit 6 may be configured as a mouse pad, providing a tactile sensation to the hand of the user operating the mouse. For example, the tactile sensation providing unit 6 may be configured to be embedded in furniture such as a chair.

[0029] (4) In the first and second embodiments, the tactile presentation system 1 is described as a system for relaxing a person, but other configurations may be adopted. For example, the tactile presentation system 1 may be a system for recording and reproducing massages. For example, the tactile presentation system 1 may be a system for providing a contact stimulus that expands a conventional experience by designing a tactile stimulus. For example, the tactile presentation system 1 may be a system for reminding a schedule or the like by providing a tactile stimulus that feels like being stroked by a person. For example, the tactile presentation system 1 may be a highly realistic communication system that generates time-series data of contact pressure distribution at a remote location, receives the generated time-series data by real-time communication, and reproduces the received time-series data. For example, when the tactile presentation unit 6 is configured as a mouse pad, the tactile presentation unit 6 may be configured to operate in response to video content or mouse operation.

[0030] (5) In the first and second embodiments, examples have been shown in which a comfortable tactile stimulus is given, as if someone were stroking it, and which satisfies the above requirements (a) and (b), but other configurations may be used. For example, a gentle, slow tactile stimulus may be given, with (e) a pressing force of about 0.2 N and (f) a speed at which the center of pressure moves of about 1 to 10 cm / sec. By satisfying the above requirements (e) and (f), it is possible to efficiently stimulate the C fibers that convey comfort, and to promote secretion of cytokines into saliva. Here, promoting secretion of cytokines means activating the activity of the immune system. In addition, by satisfying the above requirements (e) and (f), it is expected that the sense of happiness, comfort, and the feeling of wanting to be stroked continuously will each be increased. When presenting tactile stimuli that satisfy the above requirements (e) and (f), it is desirable to place the presentation unit 8 on various parts of the body, including hairy parts where C fibers are present, such as the back, neck, head, arms, legs, backs of the feet, and backs of the hands. The palms and soles of the feet are hairless parts, and although they do not contain C fibers, they can receive comfortable tactile stimuli. Therefore, the possible placement locations of the presentation unit 8 are not limited to hairy parts, and it may be placed on hairless parts. [Explanation of symbols]

[0031] Reference Signs List 1...tactile presentation system, 2...tactile presentation device, 3...tactile input device, 4...memory device, 5...control device, 6...tactile presentation section, 7...drive section, 8...presentation unit, 9...air chamber, 10...opening, 11...connection tube, 12...elastic membrane, 13...drive unit, 14...pressurization chamber, 15...diaphragm, 16...actuator, 17...opening, 18...processor, 19...memory section, 20...upper housing, 21...lower housing, 22...recess, 23...hat-shaped member, 24...spring, 25...protrusion

Claims

1. A tactile sensation providing unit having a tactile sensation providing surface and a driving unit that drives the tactile sensation providing unit, the tactile sense presentation unit has a plurality of air chambers arranged along the presentation surface, the walls of which on the presentation surface side are formed of elastic membranes capable of expanding and deforming in a normal direction of the presentation surface, the drive unit has a plurality of air pressure adjusting units provided for each of the air chambers, the air pressure adjusting units adjusting the air pressure in the air chambers so that the elastic membrane expands and returns to its original state; The air pressure adjusting unit is a pressurizing chamber communicating with the air chamber; a diaphragm that forms a wall of the pressurizing chamber and bulges inward from the outside of the pressurizing chamber when a pressing surface, which is a surface opposite to the pressurizing chamber side, is pressed; an actuator disposed opposite the pressing surface and pressing the pressing surface; Tactile presentation device.

2. The actuator is a voice coil motor. The tactile presentation device according to claim 1 .

3. The material of the elastic membrane is silicone rubber. The tactile presentation device according to claim 1 .

4. The surface of the elastic film constituting the presentation surface is a smooth surface. The tactile presentation device according to claim 1 .

5. The surface of the elastic film constituting the presentation surface is an uneven surface having an uneven pattern. The tactile presentation device according to claim 1 .

6. The tactile sense providing unit and the driving unit are separate and independent from each other, A connecting tube is provided to connect the air chamber and the pressurizing chamber. A tactile presentation device according to claim 1 .

7. A tactile sensation providing unit having a tactile sensation providing surface and a driving unit that drives the tactile sensation providing unit, the tactile sense presentation unit has a plurality of air chambers arranged along the presentation surface, the walls of which on the presentation surface side are formed of elastic membranes capable of expanding and deforming in a normal direction of the presentation surface, the drive unit has a plurality of air pressure adjusting units provided for each of the air chambers, the air pressure adjusting units adjusting the air pressure in the air chambers so that the elastic membrane expands and returns to its original state; The air chamber includes a diaphragm that forms a wall of the air chamber and bulges inward from the outside of the air chamber when a pressing surface, which is a surface opposite to the air chamber side, is pressed; an actuator disposed opposite the pressing surface and pressing the pressing surface; Tactile presentation device.

8. a tactile presentation device comprising a tactile presentation unit having a tactile presentation surface, and a drive unit for driving the tactile presentation unit, the tactile presentation unit having a plurality of air chambers arranged along the presentation surface, the walls of which on the presentation surface side are formed of an elastic membrane capable of expanding and deforming in a normal direction of the presentation surface, the drive unit having a plurality of air pressure adjustment units provided for each of the air chambers and adjusting the air pressure in the air chamber so that the elastic membrane expands and returns to its original shape, the air pressure adjustment unit having a pressurizing chamber communicating with the air chamber, a diaphragm which forms a wall of the pressurizing chamber and expands from the outside to the inside of the pressurizing chamber when a pressing surface, which is the surface opposite to the surface on the pressurizing chamber side, is pressed, and an actuator arranged opposite to the pressing surface and pressing the pressing surface; a control unit that acquires time series data of contact pressure distribution and controls each of the actuators of each of the air pressure adjusting units based on the acquired time series data of contact pressure distribution so that the time series data of contact pressure distribution is reproduced by the tactile sense providing unit. Tactile presentation system.

9. A storage unit that stores the time series data of the contact pressure distribution; The control unit acquires the time series data of the contact pressure distribution from the storage unit, and controls each of the actuators of each of the air pressure adjusting units based on the acquired time series data of the contact pressure distribution so that the time series data of the contact pressure distribution is reproduced by the tactile sense providing unit. Tactile presentation system.

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