Center of gravity change module using bellows structure and its control method

Abstract

The present invention relates to a center of gravity change module using a bellows structure and a method for controlling the same. More specifically, the center of gravity change module using a bellows structure comprises: a housing forming the exterior of the center of gravity change module; a high-mass material disposed at the internal center position of the housing and moved to change the center of gravity; a bellows structure disposed respectively at the upper and lower portions of the high-mass material, which undergoes compression and deformation by an external force to move the high-mass material; and a shape memory alloy spring disposed respectively with a support plate supporting the end portion of the bellows structure, which undergoes tensile or compressive deformation when current is applied. In addition, a method for controlling a center of gravity change module using a bellows structure according to the features of the present invention is a method for controlling a center of gravity change module using a bellows structure, comprising: (1) a housing forming the exterior of the center of gravity change module; a high-mass material disposed at the internal center position of the housing and moved for a change in the center of gravity; a bellows structure disposed respectively at the upper and lower portions of the high-mass material and undergoing compression and deformation by an external force for the movement of the high-mass material; and a shape memory alloy spring disposed respectively with a support plate supporting the end portion of the bellows structure, wherein tension or compression deformation occurs when current is applied, wherein a step of applying current to one of a pair of shape memory alloy springs disposed separately at both ends centered on the high-mass material; (2) a step of compressing the shape memory alloy spring to which current is applied together with tension of the shape memory alloy spring to which current is applied as a result of applying current to one of the pair of shape memory alloy springs in step (1); (3) a step in which, after the process of step (2) above, the support plate presses against the bellows structure while the current is applied in the tensioned state of the shape-mechanical alloy tension spring, and the position of the high-mass material is moved; and (4) a step in which, after the process of step (3) above, the shape with the center of gravity changed is maintained while the current is released. According to the center of gravity change module using a bellows structure and the control method thereof proposed in the present invention, the center of gravity change module is configured to include a housing forming the exterior of the center of gravity change module, a high-mass material positioned at the internal center of the housing and moved to change the center of gravity, a bellows structure positioned at the upper and lower portions of the high-mass material and compressed and deformed by an external force to move the high-mass material, and a shape memory alloy spring positioned at the end portion of the bellows structure and tensile or compressive deformation occurring when current is applied. By configuring the structure such that compression and deformation occur in the bellows structure due to the applied force of the shape memory alloy spring that extends upon the application of current, the position of the center of gravity of the high-mass material can be changed accordingly. In addition, according to the center of gravity change module using the bellows structure of the present invention and the control method thereof, in the center of gravity change module, compression and deformation occur in the bellows structure by the applied force of a shape memory alloy spring that extends by the application of current, and the position of the center of gravity of a high-mass material can be changed accordingly, thereby enabling the implementation of various virtual controllers that allow a user to experience the change in the center of gravity while holding the housing in their hand, and the haptic performance of the user's sensation through the movement of the center of gravity can be provided more effectively, and the immersion of the user experience can be further enhanced.

Description

Technology Field

[0001] The present invention relates to a center of gravity change module using a bellows structure and a control method thereof, and more specifically, to a center of gravity change module using a bellows structure and a control method thereof in which compression and deformation occur in a bellows structure by an applied force of a shape memory alloy spring that is extended or compressed by the application of an electric current, and the position of the center of gravity of a high-mass material can be changed accordingly. Background Technology

[0002] The content described in this section merely provides background information regarding an embodiment of the present invention and does not constitute prior art.

[0004] Conventional computer technology has primarily utilized audiovisual information for the exchange of information between humans and computers. However, as users increasingly desire more concrete and realistic information through virtual reality, haptic technology—which conveys touch and force—has been developed to satisfy this need. Haptics is a field of research aimed at conveying information to users through the sense of touch. While most information transmission has traditionally been achieved through sight or hearing, research on haptics is rapidly advancing due to the growing user demand for alternative sensory information driven by advancements in computer interfaces and virtual environments.

[0006] In electronic devices that provide conventional haptics, vibrations are transmitted by driving the vibration motor along with audiovisual information generated by the electronic device. This haptic technology can be widely applied in various fields, such as game simulators, medical simulators, aircraft simulators, and vehicle simulators.

[0008] Recently, efforts have been made to introduce and apply haptic technology to digital devices. These digital devices include those that emphasize convenience, such as smartphones, mobile phones, PDAs, PMPs, digital cameras, portable game consoles, MP3 players, and smart TVs. Following the trend toward lighter and smaller digital devices, various wearable devices are being developed.

[0010] Smart glasses or head-mounted displays, which are a type of wearable device currently in use, refer to devices that allow users to receive multimedia content and the like by wearing them on their heads. Here, smart glasses or head-mounted displays (HMDs) are worn on the user's body and can provide images to the user in various environments as the user moves, thereby enabling virtual reality-based services. In other words, conventional VR controllers for providing VR-based services are used to operate and control the execution of virtual reality services provided through smart glasses or head-mounted displays, which are display devices that provide images of virtual reality-based services being executed.

[0012] These conventional VR controllers are used only for functions that allow the user to operate the execution of virtual reality services, and there was a problem in that they could not provide a more realistic vibration sensation to the user by simply providing haptics of a simple and fixed form of vibration suitable for the execution of virtual reality services. Korean Registered Patent Publication No. 10-2551380 is disclosed as a prior art document.

[0014] The aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot be considered as publicly known technology disclosed to the general public prior to the filing of the present invention. The problem to be solved

[0015] The present invention is proposed to solve the aforementioned problems of previously proposed methods, and aims to provide a center of gravity change module using a bellows structure and a control method thereof, comprising: a housing forming the exterior of the center of gravity change module; a high-mass material positioned at the internal center of the housing and moved to change the center of gravity; a bellows structure positioned at the upper and lower portions of the high-mass material, respectively, which undergoes compression and deformation by an external force to move the high-mass material; and a shape memory alloy spring positioned at the end portion of the bellows structure, which undergoes tensile or compressive deformation when current is applied, thereby causing compression and deformation in the bellows structure by the applied force of the shape memory alloy spring that extends by the application of current, and thereby allowing the position of the center of gravity of the high-mass material to change accordingly.

[0017] In addition, another objective of the present invention is to provide a center of gravity change module using a bellows structure and a control method thereof, wherein in the center of gravity change module, compression and deformation occur in the bellows structure by the applied force of a shape memory alloy spring that extends by the application of current, and thereby the position of the center of gravity of a high-mass material can be changed accordingly, so that the user can experience the change in the center of gravity while holding the housing in their hand, thereby providing more effective haptic performance of user perception through the movement of the center of gravity and further enhancing the immersion of the user experience.

[0019] However, the technical problem that the present invention aims to solve is not limited to the technical problem described above, and other technical problems may exist. means of solving the problem

[0020] A center of gravity change module using a bellows structure according to the features of the present invention for achieving the above-mentioned purpose is,

[0021] As a center of gravity change module using a bellows structure,

[0022] Housing forming the exterior of the center of gravity change module;

[0023] A high-mass material positioned at the internal center of the above-mentioned housing and moved to change the center of gravity;

[0024] A bellows structure disposed respectively at the upper and lower portions of the high-mass material, which undergoes compression and deformation by an external force for the movement of the high-mass material; and

[0025] The structural feature is that it includes shape memory alloy springs that are each arranged with a support plate supporting the end portion of the bellows structure and undergo tensile or compressive deformation when current is applied.

[0027] Preferably, the housing is,

[0028] The center of gravity change module can be configured to form an external shape, such as a rod that a user can grasp with their hand.

[0030] More preferably, the high-mass material is,

[0031] The position within the housing can be moved according to the compressive deformation occurring in the bellows structures positioned at both ends at the internal center position of the housing.

[0033] Even more preferably, the bellows structure is,

[0034] Compression and deformation occur due to the force applied through the support plate, thereby moving the position of the high-mass material inside the housing, and functioning to maintain the deformed state even when the force applied through the support plate is removed.

[0036] Even more preferably, the shape memory alloy spring is,

[0037] It can function to move the position of the high-mass material by driving it in such a way that current is applied to one of the shape memory alloy springs, which are each placed at the end of the bellows structure with the above support plate.

[0039] A method for controlling a center of gravity change module using a bellows structure according to the features of the present invention for achieving the above-mentioned purpose is,

[0040] As a control method for a center of gravity change module using a bellows structure,

[0041] (1) A center of gravity change module comprising: a housing forming the exterior of the center of gravity change module; a high-mass material disposed at the internal center position of the housing and moved to change the center of gravity; a bellows structure disposed respectively at the upper and lower portions of the high-mass material and compressed and deformed by an external force to move the high-mass material; and a shape memory alloy spring disposed respectively with a support plate supporting the end portion of the bellows structure and which undergoes tensile or compressive deformation when current is applied, wherein current is applied to one of a pair of shape memory alloy springs disposed separately at both ends centered on the high-mass material;

[0042] (2) A step in which, as current is applied to one of the pair of shape memory alloy springs in step (1), the shape memory alloy spring to which current is applied is tensile, and the shape memory alloy spring to which current is not applied is compressed;

[0043] (3) After the process of step (2) above, in the tensioned state of the shape-mechanical alloy tension spring to which current is applied, the support plate presses the bellows structure and the position of the high-mass material is moved; and

[0044] (4) After the process of step (3) above, the configuration is characterized by including a step in which the center of gravity is changed and maintained in a state where the current is released.

[0046] Preferably, the housing is,

[0047] The center of gravity change module can be configured to form an external shape, such as a rod that a user can grasp with their hand.

[0049] More preferably, the high-mass material is,

[0050] The position within the housing can be moved according to the compressive deformation occurring in the bellows structures positioned at both ends at the internal center position of the housing.

[0052] Even more preferably, the bellows structure is,

[0053] Compression and deformation occur due to the force applied through the support plate, thereby moving the position of the high-mass material inside the housing, and functioning to maintain the deformed state even when the force applied through the support plate is removed.

[0055] Even more preferably, the shape memory alloy spring is,

[0056] It can function to move the position of the high-mass material by driving it in such a way that current is applied to one of the shape memory alloy springs, which are each placed at the end of the bellows structure with the above support plate. Effects of the invention

[0057] According to the center of gravity change module using a bellows structure and the control method thereof proposed in the present invention, the center of gravity change module is configured to include a housing forming the exterior of the center of gravity change module, a high-mass material positioned at the internal center of the housing and moved to change the center of gravity, a bellows structure positioned at the upper and lower portions of the high-mass material and compressed and deformed by an external force to move the high-mass material, and a shape memory alloy spring positioned at the end portion of the bellows structure and tensile or compressive deformation occurring when current is applied. By configuring the structure such that compression and deformation occur in the bellows structure due to the applied force of the shape memory alloy spring that extends upon the application of current, the position of the center of gravity of the high-mass material can be changed accordingly.

[0059] In addition, according to the center of gravity change module using the bellows structure of the present invention and the control method thereof, in the center of gravity change module, compression and deformation occur in the bellows structure by the applied force of a shape memory alloy spring that extends by the application of current, and the position of the center of gravity of a high-mass material can be changed accordingly, thereby enabling the implementation of various virtual controllers that allow a user to experience the change in the center of gravity while holding the housing in their hand, and the haptic performance of the user's sensation through the movement of the center of gravity can be provided more effectively, and the immersion of the user experience can be further enhanced.

[0061] Furthermore, the various and beneficial advantages and effects of the present invention are not limited to those described above and may be more easily understood in the process of explaining specific embodiments of the present invention. Brief explanation of the drawing

[0062] FIG. 1 is a diagram illustrating the configuration of a center of gravity change module using a bellows structure according to an embodiment of the present invention as a functional block. FIG. 2 is a drawing illustrating an example configuration of a bellows structure of a center of gravity change module using a bellows structure according to an embodiment of the present invention. FIG. 3 is a diagram illustrating the schematic configuration of a center of gravity change module using a bellows structure according to an embodiment of the present invention. FIG. 4 is a drawing illustrating an example of operation of a center of gravity change module using a bellows structure according to an embodiment of the present invention, wherein current is applied to the lower spring and the upper spring is compressed. FIG. 5 is a drawing illustrating an example of operation of a center of gravity change module using a bellows structure according to an embodiment of the present invention, showing an example of operation in which the bellows structure is compressed while current is applied to the lower spring. FIG. 6 is a drawing illustrating an example of operation of a center of gravity change module using a bellows structure according to an embodiment of the present invention, wherein the center of gravity is maintained in a changed state in a current release state. FIG. 7 is a drawing illustrating a test configuration of a shape memory alloy spring applied to a center of gravity change module using a bellows structure according to an embodiment of the present invention. FIG. 8 is a drawing illustrating the initial state configuration of another example of a center of gravity change module using a bellows structure according to one embodiment of the present invention. FIG. 9 is a diagram illustrating the configuration of operating state 1 of another example of a center of gravity change module using a bellows structure according to one embodiment of the present invention. FIG. 10 is a diagram illustrating the configuration of operating state 2 of another example of a center of gravity change module using a bellows structure according to one embodiment of the present invention. FIG. 11 is a drawing illustrating the configuration of another embodiment of a center of gravity change module using a bellows structure according to one embodiment of the present invention. FIG. 12 is a diagram illustrating the flow of a control method for a center of gravity change module using a bellows structure according to an embodiment of the present invention. Specific details for implementing the invention

[0063] Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement the invention. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals.

[0065] Throughout the specification, when a part is described as being "connected" to another part, this includes not only cases where they are "directly connected" but also cases where they are "indirectly connected" with other elements interposed between them. Furthermore, when a part is described as "including" a component, this means that, unless specifically stated otherwise, it does not exclude other components but rather allows for the inclusion of additional components; it should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0067] The following examples are detailed descriptions to aid in understanding the present invention and are not intended to limit the scope of the present invention. Accordingly, inventions within the same scope that perform the same function as the present invention will also fall within the scope of the present invention.

[0069] In addition, each component, process, procedure, or method included in each embodiment of the present invention may be shared within a scope that is not technically contradictory to one another.

[0071] FIG. 1 is a diagram illustrating the configuration of a center of gravity change module using a bellows structure according to an embodiment of the present invention as a functional block, FIG. 2 is a diagram illustrating an example configuration of a bellows structure of a center of gravity change module using a bellows structure according to an embodiment of the present invention, and FIG. 3 is a diagram illustrating the schematic configuration of a center of gravity change module using a bellows structure according to an embodiment of the present invention. As illustrated in FIGS. 1 to 3, a center of gravity change module (100) using a bellows structure according to an embodiment of the present invention may be configured to include a housing (110) forming the exterior of the center of gravity change module (100), a high-mass material (120) positioned at the internal center of the housing (110) and moved to change the center of gravity, a bellows structure (130) positioned above and below the high-mass material (120) respectively, which undergoes compression and deformation by an external force for the movement of the high-mass material (120), and a shape memory alloy spring (140) positioned above a support plate (141) that supports the end portion of the bellows structure (130), wherein tensile or compressive deformation occurs when current is applied. Hereinafter, the specific configuration of the center of gravity change module using a bellows structure according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

[0073] FIG. 4 is a drawing illustrating an example of operation of a center of gravity change module using a bellows structure according to an embodiment of the present invention, wherein current is applied to the lower spring and the upper spring is compressed; FIG. 5 is a drawing illustrating an example of operation of a center of gravity change module using a bellows structure according to an embodiment of the present invention, wherein the bellows structure is in a compressed state while current is applied to the lower spring; FIG. 6 is a drawing illustrating an example of operation of a center of gravity change module using a bellows structure according to an embodiment of the present invention, wherein the center of gravity is maintained in a state where the current is released; and FIG. 7 is a drawing illustrating a test configuration of a shape memory alloy spring applied to a center of gravity change module using a bellows structure according to an embodiment of the present invention.

[0075] In addition, FIG. 8 is a diagram illustrating the initial state configuration of another example of a center of gravity change module using a bellows structure according to one embodiment of the present invention, FIG. 9 is a diagram illustrating the operating state 1 configuration of another example of a center of gravity change module using a bellows structure according to one embodiment of the present invention, FIG. 10 is a diagram illustrating the operating state 2 configuration of another example of a center of gravity change module using a bellows structure according to one embodiment of the present invention, and FIG. 11 is a diagram illustrating the configuration of yet another embodiment of a center of gravity change module using a bellows structure according to one embodiment of the present invention.

[0077] The housing (110) is a component that forms the exterior of the center of gravity change module (100). This housing (110) forms the exterior of the center of gravity change module (100) and can be configured in the form of a rod that a user can grasp with their hand. Here, as shown in FIGS. 3 to 6, the housing (110) can function to allow the user to feel the change in the center of gravity as the position of the high-mass material (120), which will be described later, moves while the user is grasping it with their hand.

[0079] Additionally, the housing (110) can function to provide a haptic effect through a change in the center of gravity that is moved as the position of the high-mass material (120) is moved. Here, the housing (110) can be configured as a housing for an experiential AR or VR controller that allows the change in the center of gravity to be experienced. At this time, the housing (110) can be implemented as a rod structure having a shape memory alloy spring (140) having a high-mass material (120), a bellows structure (130), and a base plate (141) inside.

[0081] The high-mass material (120) is positioned at the internal center of the housing (110) and is configured to move to change the center of gravity. The position of this high-mass material (120) within the housing (110) can be moved according to the compressive deformation occurring in the bellows structure (130) positioned at both ends at the internal center of the housing (110). Here, the high-mass material (120) is a moving body having mass, and is a moving body that allows the user to feel a change in the center of gravity through the movement of its position inside the housing (110). At this time, the high-mass material (120) can be positioned at the internal center of the housing (110) by a pair of bellows structures (130) positioned at both ends in the initial state.

[0083] The bellows structure (130) is positioned above and below the high-mass material (120), respectively, and is configured to undergo compression and deformation by an external force for the movement of the high-mass material (120). This bellows structure (130) undergoes compression and deformation by a force applied through a support plate (141), thereby moving the position of the high-mass material (120) within the housing (110), and can function to maintain the deformed state even after the force applied through the support plate (141) is removed. Here, the bellows structure (130) has the property that its shape changes when it receives external pressure exceeding a certain level in its initial state, and maintains its shape even after the external pressure is released.

[0085] Additionally, as shown in FIG. 2, the bellows structure (130) is made of a special rubber material and can function to be compressed when external pressure is applied in an initial state and to maintain its shape after the external pressure is applied. As shown in FIG. 3 to FIG. 6, this bellows structure (130) may be placed inside the housing (110) and may be composed of a pair of structures placed at both ends with a high-mass material (120) located at the center.

[0087] The shape memory alloy springs (140) are configured such that they are each positioned with a support plate (141) supporting the end portion of the bellows structure (130), and tensile deformation occurs when current is applied. These shape memory alloy springs (140) can function to move the position of a high-mass material (120) by driving them in such a way that current is applied to one of the shape memory alloy springs (140) each positioned with a support plate (141) at the end portion of the bellows structure (130). Here, the shape memory alloy springs (140) may be configured as a pair installed with a support plate (141) at both ends of the housing (110), as shown in FIGS. 3 to 6. At this time, the support plate (141) can be moved by being pressed by the shape memory alloy spring (140) which is tensile by the applied current.

[0089] Additionally, the shape memory alloy spring (140) can change the initial state of the shape memory alloy spring as needed to change the tension strength of the spring, compress the spring, or change the operating method depending on the position of the spring to which current is applied. That is, the shape memory alloy spring (140) can be configured to be compressed or tensile by utilizing the initial properties of the shape memory alloy. That is, as shown in FIG. 7, the shape memory alloy tension spring (140) generates heat and undergoes deformation as current is applied.

[0091] In this way, the center of gravity change module (100) comprises a housing (110) forming the exterior of the center of gravity change module (100), a high-mass material (120) positioned at the internal center of the housing (110) and moved for the center of gravity change, a bellows structure (130) positioned at the upper and lower portions of the high-mass material (120) respectively, which undergoes compression and deformation by an external force for the movement of the high-mass material (120), and a shape memory alloy spring (140) positioned at the end portion of the bellows structure (130) respectively, which undergoes tensile or compressive deformation when current is applied. In this center of gravity change module (100), the bellows structure (130) has the property that its shape changes when it receives external pressure greater than a certain amount in the initial state, and maintains its shape even after the external pressure is released. In addition, shape memory alloys have the property of returning to their initial state as heat is generated when current is applied, and the shape that changes when current is applied may differ depending on what the initial state is.

[0093] FIG. 3 shows an example of operation of a center of gravity change module using a bellows structure according to an embodiment of the present invention, illustrating an initial state before operation; FIG. 4 shows an example of operation of a center of gravity change module using a bellows structure according to an embodiment of the present invention, illustrating an example of operation in which current is applied to the lower spring and the upper spring is compressed; FIG. 5 shows an example of operation of a center of gravity change module using a bellows structure according to an embodiment of the present invention, illustrating an example of operation in which the bellows structure is in a compressed state while current is applied to the lower spring; and FIG. 6 shows an example of operation of a center of gravity change module using a bellows structure according to an embodiment of the present invention, illustrating an example of operation in which the center of gravity is maintained in a state where the current is released. As such, in the operation of a center of gravity change module using a bellows structure according to an embodiment of the present invention, as illustrated in FIG. 3 to FIG. 6, when current is applied to the lower shape memory alloy spring (140) as illustrated in FIG. 4, the upper shape memory alloy spring (140) is compressed first, and then, as illustrated in FIG. 5, the bellows structure (130) is compressed under pressure exceeding a certain level, causing the high-mass material (120) to move upward and change the center of gravity. Subsequently, as illustrated in FIG. 6, even after the applied current is released, the shape with the changed center of gravity can be maintained according to the shape-maintaining characteristics of the bellows structure (130).

[0095] FIG. 8 shows the configuration of an initial state of another example of a center of gravity change module using a bellows structure according to an embodiment of the present invention, FIG. 9 shows the configuration of an operating state 1 of another example of a center of gravity change module using a bellows structure according to an embodiment of the present invention, and FIG. 10 shows the configuration of an operating state 2 of another example of a center of gravity change module using a bellows structure according to an embodiment of the present invention. As shown in FIG. 8 to FIG. 10, the center of gravity change module (100) using a bellows structure according to an embodiment of the present invention is configured as another example of an embodiment, and shows a configuration in which a DC motor and a high-mass material (120) are connected by a thread to move the high-mass material (120) instead of a shape memory alloy spring (140).

[0097] FIG. 11 illustrates the configuration of another embodiment of a center of gravity change module using a bellows structure according to an embodiment of the present invention. As shown in FIG. 11, the center of gravity change module (100) using a bellows structure according to an embodiment of the present invention may be configured by connecting and combining at least one or more components. That is, the center of gravity change module (100) may be connected in various directions to form a module that changes the center of gravity in two or three dimensions, not just in one dimension.

[0099] FIG. 12 is a diagram illustrating the flow of a control method for a center of gravity change module using a bellows structure according to an embodiment of the present invention. As shown in FIG. 12, the control method for a center of gravity change module using a bellows structure according to an embodiment of the present invention may be implemented by including the following steps in the center of gravity change module: a step (S110) in which current is applied to one of a pair of shape memory alloy springs separated and arranged at both ends centered on a high-mass material; a step (S120) in which, as current is applied to one of the pair of shape memory alloy springs, the shape memory alloy spring to which current is applied is tensioned and the shape memory alloy spring to which current is not applied is compressed; a step (S130) in which a support plate presses the bellows structure while the shape memory alloy tension spring to which current is applied is tensioned and the position of the high-mass material is moved; and a step (S140) in which the shape of the center of gravity change is maintained while the current is released.

[0101] In step S110, in a center of gravity change module (100) comprising a housing (110) forming the exterior of the center of gravity change module (100), a high-mass material (120) positioned at the internal center of the housing (110) and moved for the center of gravity change, a bellows structure (130) positioned at the upper and lower portions of the high-mass material (120) respectively and compressed and deformed by an external force for the movement of the high-mass material (120), and a shape memory alloy spring (140) positioned at the end portion of the bellows structure (130) respectively and which undergoes tensile or compressive deformation when current is applied, current is applied to one of a pair of shape memory alloy springs (140) separated and positioned at both ends centered on the high-mass material (120). In this step S110, the shape memory alloy springs (140) are each positioned with a support plate (141) supporting the end portion of the bellows structure (130), and are configured such that tensile deformation occurs when current is applied. The shape memory alloy springs (140) are driven by applying current to one of the shape memory alloy springs (140) positioned with the support plate (141) at the end portion of the bellows structure (130), thereby functioning to move the position of the high-mass material (120). Here, the shape memory alloy springs (140) may be composed of a pair installed with a support plate (141) at both ends of the housing (110), as shown in FIGS. 3 to 6. At this time, the support plate (141) may be moved by being pressed by the shape memory alloy spring (140) which is tensioned by the applied current.

[0103] Additionally, the housing (110) is configured to form the exterior of the center of gravity change module (100), and may be configured in the form of a rod that a user can grasp with their hand. Here, as shown in FIGS. 3 to 6, the housing (110) may function to allow the user to feel the change in the center of gravity as the position of the high-mass material (120), which will be described later, moves while the user is grasping it with their hand.

[0105] Additionally, the housing (110) can function to provide a haptic effect through a change in the center of gravity that is moved as the position of the high-mass material (120) is moved. Here, the housing (110) can be configured as a housing for an experiential AR or VR controller that allows the change in the center of gravity to be experienced. At this time, the housing (110) can be implemented as a rod structure having a shape memory alloy spring (140) having a high-mass material (120), a bellows structure (130), and a base plate (141) inside.

[0107] In step S120, as current is applied to one of the pair of shape memory alloy springs (140) in step S110, the shape memory alloy spring (140) to which current is applied is tensile, and the shape memory alloy spring (140) to which current is not applied is compressed. Here, the shape memory alloy spring (140) can change the tension strength of the spring, compress the spring, or change the operating method depending on the position of the spring to which current is applied by changing the initial state of the shape memory alloy spring as needed. That is, the shape memory alloy spring (140) may be configured to be compressed or tensile by utilizing the initial properties of the shape memory alloy. That is, as shown in FIG. 7, heat is generated and deformation occurs in the shape memory alloy tension spring (140) as current is applied.

[0109] In step S130, after the process of step S120, the support plate (141) presses the bellows structure (130) while the current is applied to the shape-memory alloy tension spring (140) in a tensioned state, and the position of the high-mass material (120) is moved. In this step S130, the high-mass material (120) is positioned at the internal center of the housing (110) and is configured to move to change the center of gravity, so that the position within the housing (110) can be moved according to the compressive deformation occurring in the bellows structure (130) positioned at both ends of the internal center of the housing (110). Here, the high-mass material (120) is a moving body having mass, and is a moving body that allows the user to feel a change in the center of gravity through the movement of its position inside the housing (110). At this time, the high-mass material (120) can be positioned at the center inside the housing (110) by a pair of bellows structures (130) placed at both ends during the initial state.

[0111] In step S140, after the process of step S130, the shape with the center of gravity changed is maintained while the current is released. Here, the bellows structure (130) is placed at the top and bottom of the high-mass material (120), respectively, and is configured to undergo compression and deformation by an external force for the movement of the high-mass material (120). Compression and deformation occur due to the force applied through the support plate (141), thereby moving the position of the high-mass material (120) inside the housing (110), and it functions to maintain the deformed state even after the force applied through the support plate (141) is removed. At this time, the bellows structure (130) has the property that its shape changes when it receives external pressure exceeding a certain level in the initial state, and maintains its shape even after the external pressure is released.

[0113] Additionally, as shown in FIG. 2, the bellows structure (130) is made of a special rubber material and can function to be compressed when external pressure is applied in an initial state and to maintain its shape after the external pressure is applied. As shown in FIG. 3 to FIG. 6, this bellows structure (130) may be placed inside the housing (110) and may be composed of a pair of structures placed at both ends with a high-mass material (120) located at the center.

[0115] As described above, according to a center of gravity change module using a bellows structure and a control method thereof according to an embodiment of the present invention, the module is configured to include a housing forming the exterior of the center of gravity change module, a high-mass material disposed at the internal center position of the housing and moved to change the center of gravity, a bellows structure disposed respectively at the upper and lower portions of the high-mass material and subjected to compression and deformation by an external force for the movement of the high-mass material, and a shape memory alloy spring disposed respectively with a support plate supporting the end portion of the bellows structure and subjected to tensile or compressive deformation when current is applied. By such a configuration, compression and deformation occur in the bellows structure due to the applied force of the shape memory alloy spring that extends upon the application of current, and the position of the center of gravity of the high-mass material can be changed accordingly. In particular, in the center of gravity change module, compression and deformation occur in the bellows structure due to the applied force of the shape memory alloy spring that extends upon the application of current, and the position of the center of gravity of the high-mass material accordingly By enabling changes, it can be implemented as various virtual controllers that allow the user to experience changes in the center of gravity while holding the housing in their hand, and the haptic performance of the user's perception through the movement of the center of gravity can be provided more effectively, and the immersion of the user experience can be further enhanced.

[0117] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will understand that other specific forms can be easily modified without altering the technical spirit or essential features of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form.

[0119] The scope of the present invention is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts thereof should be interpreted as being included within the scope of the present invention. Explanation of the symbols

[0120] 100: Center of gravity change module using a bellows structure according to an embodiment of the present invention 110: Housing 120: High-mass matter 130: Bellows structure 140: Shape memory alloy spring (tension or compression) 141: Base plate S110: In the center of gravity change module, a step of applying current to one of a pair of shape memory alloy springs separated and positioned at both ends centered on a high-mass material. S120: A step in which, as current is applied to one of a pair of shape memory alloy springs, the shape memory alloy spring to which current is applied is tensile, and the shape memory alloy spring to which current is not applied is compressed. S130: A step in which a support plate presses against a bellows structure while the current-applied shape-molecular-alloy tension spring is in a tensioned state, and the position of a high-mass material is moved. S140: A step in which the shape with the center of gravity changed is maintained when the current is released.

Claims

Claim 1 A center of gravity change module (100) utilizing a bellows structure, comprising: a housing (110) forming the exterior of the center of gravity change module (100); a high-mass material (120) positioned at the internal center of the housing (110) and moved to change the center of gravity; and a bellows structure (130) positioned above and below the high-mass material (120), respectively, which undergoes compression and deformation by an external force to move the high-mass material (120). The structure includes a shape memory alloy spring (140) that is respectively positioned with respect to a support plate (141) supporting the end portion of the bellows structure (130) and undergoes tensile or compressive deformation when current is applied, wherein the high-mass material (120) moves its position within the housing (110) according to the compressive deformation occurring in the bellows structure (130) positioned at both ends of the internal center position of the housing (110), and the bellows structure (130) undergoes compression and deformation due to the force applied through the support plate (141) to move the position of the high-mass material (120) inside the housing (110), and functions to maintain the deformed state even when the force applied through the support plate (141) is removed, and the shape memory alloy spring (140) is respectively positioned at the end portion of the bellows structure (130) with respect to the support plate (141). A center of gravity change module using a bellows structure, wherein the center of gravity change module (100) using the bellows structure functions to move the position of the high-mass material (120) by applying current to one of the shape memory alloy springs (140), and the center of gravity change module using the bellows structure is characterized by being configured such that the DC motor and the high-mass material (120) are connected by a thread within the bellows structure (130) in place of the shape memory alloy springs (140) to move the high-mass material (120). Claim 2 A center of gravity change module using a bellows structure, wherein, in claim 1, the housing (110) forms the exterior of the center of gravity change module (100) and is configured in a rod shape that can be grasped by a user with a hand. Claim 3 delete Claim 4 delete Claim 5 delete Claim 6 A method for controlling a center of gravity change module (100) using a bellows structure, comprising: (1) a housing (110) forming the exterior of the center of gravity change module (100); a high-mass material (120) positioned at the internal center of the housing (110) and moved to change the center of gravity; a bellows structure (130) positioned at the upper and lower portions of the high-mass material (120), respectively, which undergoes compression and deformation by an external force for the movement of the high-mass material (120); and a shape memory alloy spring (140) positioned at each portion with a support plate (141) supporting the end portion of the bellows structure (130), wherein tensile or compressive deformation occurs when current is applied, wherein a center of gravity change module (100) comprises: a step of applying current to one of a pair of shape memory alloy springs (140) separated and positioned at both ends centered on the high-mass material (120); (2) a pair of A step in which, as current is applied to one of the shape memory alloy springs (140), the shape memory alloy spring (140) to which current is applied is tensile, and the shape memory alloy spring (140) to which current is not applied is compressed; (3) after the process of step (2), a step in which, while the shape memory alloy tension spring (140) to which current is applied is in a tensile state, the support plate (141) presses the bellows structure (130), and the position of the high-mass material (120) is moved;and (4) a step in which, after the process of step (3) above, the shape with the center of gravity changed is maintained while the current is released, wherein the high-mass material (120) moves its position within the housing (110) according to the compressive deformation occurring in the bellows structure (130) disposed at both ends of the internal center position of the housing (110), and the bellows structure (130) is compressed and deformed by the force applied through the support plate (141) to move the position of the high-mass material (120) inside the housing (110), and functions to maintain the deformed state even when the force applied through the support plate (141) is removed, and the shape memory alloy spring (140) is driven by applying current to one of the shape memory alloy springs (140) disposed at the ends of the bellows structure (130) with respect to the support plate (141), and the high-mass A method for controlling a center of gravity change module using a bellows structure, wherein the center of gravity change module (100) using the bellows structure functions to move the position of a material (120), and is characterized in that the shape memory alloy spring (140) is replaced with a structure that moves the high-mass material (120) by connecting a DC motor and the high-mass material (120) with a thread within the bellows structure (130).

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