Sensation presentation device and sensation presentation system

Abstract

A sensation presentation device (3) comprises: an attachment member (31) that is attached to an attachment site that is a part of a body; sensation presentation units (32, 33) that are provided to the attachment member and that present a prescribed sensation at the attachment site; and a first stretching member (34) that is provided to the attachment member, that is composed of a stretchable material, and that contracts the attachment member to bring the attachment member into contact with the attachment site.

Description

Sensory Cue Device and Sensory Cue System

[0001] The present invention relates to a sensory cue device and a sensory cue system.

[0002] Conventionally, a tactile cue device that presents a sense of pressure to a user's finger has been known (see, for example, Patent Document 1). The tactile cue device described in Patent Document 1 presents a tactile sensation to a part of the body such as a finger or a palm. The tactile cue device includes an upper layer and a lower layer. The upper layer has three upper-layer accommodation spaces capable of accommodating a fluid and three outflow inlets through which the fluid flows into and out of the corresponding upper-layer accommodation spaces. Among the wall portions of the upper-layer accommodation space that are exposed to the outside, only the presentation surface formed by the wall portion that the user contacts elastically deform by the inflow and outflow of the fluid. The tactile cue device includes a supply / discharge unit that supplies fluid to each upper-layer accommodation space through an outflow inlet. When the fluid flows into and out of the upper-layer accommodation space by the supply / discharge unit, the presentation surface elastically deforms and protrudes, and thereby, a tactile sensation is presented to the user. On the other hand, when the fluid is discharged from the upper-layer accommodation space by the supply / discharge unit, the presentation surface changes from a state of protruding with respect to the user to a flat state.

[0003] Such a tactile cue device can be provided in a clip-type or ring-type wearing device that can be worn on a user's finger. By wearing the wearing device so that the tactile cue device touches the pad of the user's finger, the user can feel the tactile sensation presented by the tactile cue device while moving the finger.

[0004] Japanese Patent Application Laid-Open No. 2024-68348

[0005] However, in the configuration described in Patent Document 1, since it is difficult to maintain the contact state between the tactile cue device and the user's body, there is a problem that it is difficult to present a sense of pressure of sufficient strength to the user.

[0006] The sensory cue device according to the first aspect of the present invention includes a wearing member that is worn on a wearing part that is a part of the body, a sensory cue part that is provided on the wearing member and presents a predetermined sensation to the wearing part, and a first expansion / contraction member that is provided on the wearing member, is composed of an expandable and contractible material, and contracts the wearing member to bring the wearing member into contact with the wearing part.

[0007] A pressure sensation presentation system according to a second aspect of the present invention comprises a sensory presentation device according to the first aspect described above, and a control device for controlling the pump and the valve of the sensory presentation device.

[0008] A block diagram showing the configuration of a sensory presentation system according to one embodiment. A diagram showing the mounting locations of the first sensory presentation device, second sensory presentation device, and third sensory presentation device for a user according to one embodiment. A perspective view showing the first sensory presentation device according to one embodiment. A perspective view showing the first sensory presentation device according to one embodiment. A front view showing the first sensory presentation device according to one embodiment. A bottom view showing the first sensory presentation device according to one embodiment. An exploded perspective view showing the first sensory presentation device according to one embodiment. An exploded perspective view showing the first sensory presentation device according to one embodiment. A cross-sectional view showing the first sensory presentation device according to one embodiment. A perspective view showing the second sensory presentation device according to one embodiment. A perspective view showing the second sensory presentation device according to one embodiment. A plan view showing the third sensory presentation device according to one embodiment. A perspective view showing the third sensory presentation device according to one embodiment. A perspective view showing the third sensory presentation device according to one embodiment. A block diagram showing the functional parts of the processor according to one embodiment. A block diagram showing a deformation of the first adjustment device according to one embodiment. A block diagram showing a deformation of the first adjustment device according to one embodiment.

[0009] One embodiment of the present invention will be described below. [Schematic Configuration of the Sensory Presentation System] Figure 1 is a block diagram showing the configuration of the sensory presentation system 1 according to this embodiment. As shown in Figure 1, the sensory presentation system 1 according to this embodiment includes a motion detection device 2, a first sensory presentation device 3, a second sensory presentation device 4, a third sensory presentation device 5, a control device 6, an image display device 7, and an audio output device 8. In the sensory presentation system 1, the control device 6 presents predetermined sensations to the user using the respective sensory presentation devices 3, 4, and 5 attached to the user, in response to the user's actions detected by the motion detection device 2. The configurations of the sensory presentation system 1 will be described below.

[0010] [Configuration of Image Display Device and Audio Output Device] The image display device 7 generates and displays an image corresponding to the image signal input from the control device 6. The image display device 7 can be configured, for example, as a stationary display, or as an HMD (Head Mounted Display) worn on the user's head. The audio output device 8 outputs audio corresponding to the audio signal input from the control device 6. The audio output device 8 may be, for example, a device having an audio output unit such as a speaker provided on a stationary display or HMD, or it may be headphones.

[0011] [Configuration of Motion Detection Device] The motion detection device 2 detects the movements and posture of the user to whom each of the sensory presentation devices 3 to 5 is attached. Specifically, the motion detection device 2 detects the movements and posture of the user's fingers to whom each of the sensory presentation devices 3 to 5 is attached. Examples of such motion detection devices 2 include a VR camera and a magnetic motion tracker. When the motion detection device 2 is a VR camera, the motion detection device 2 detects the movements and posture of the user's fingers in three-dimensional space using multiple cameras and sends the detected movements and postures of the fingers to the control device 6. When the motion detection device 2 is a magnetic motion tracker, the motion detection device 2, although not shown in the figure, includes a magnetic generator that generates a magnetic field around the fingers to be detected and a plurality of magnetic sensors attached to the fingers. Each of the plurality of magnetic sensors is a sensor whose resistance value changes according to the strength and direction of the magnetic field generated by the magnetic field generator, and outputs the detected strength and direction of the magnetic field to the control device 6. The control device 6 identifies the movements and postures of the fingers based on the input detection results. Possible locations for attaching the magnetic sensors include, for example, the fingertips of each finger, the back of the hand, and the palm.

[0012] [Attachment Sites of Sensory Presentation Devices] Figure 2 shows the attachment sites of the first sensory presentation device 3, the second sensory presentation device 4, and the third sensory presentation device 5 on the user. Each of the first sensory presentation device 3, the second sensory presentation device 4, and the third sensory presentation device 5 is attached to the user to present the user with sensations such as pressure. Specifically, the first sensory presentation device 3 is attached to the user's fingertip, and the second sensory presentation device 4 is attached to the base of the finger to which the first sensory presentation device 3 is attached. In the example in Figure 2, the first sensory presentation device 3 is attached to the fingertip of the index finger RH2 of the user's right hand RH, and the second sensory presentation device 4 is attached to the base of the index finger RH2. The third sensory presentation device 5 is attached across the palm RHP and back of the hand RHB of the user's right hand RH. The following describes each of the sensory presentation devices 3 to 5 in detail.

[0013] [Configuration of the First Sensory Presentation Device] Figure 3 is a perspective view of the first sensory presentation device 3 as seen from the fingertip side, and Figure 4 is a perspective view of the first sensory presentation device 3 as seen from the opposite side of Figure 3. Figure 5 is a front view of the first sensory presentation device 3 as seen from the fingertip side, and Figure 6 is a bottom view of the first sensory presentation device 3. The first sensory presentation device 3, under the control of the control device 6, applies pressure and vibration to the fingertips of the user to whom it is attached, presenting sensations such as pressure and vibration to the fingertips. As shown in Figures 3 to 6, the first sensory presentation device 3 includes a mounting member 31, a vibration generating unit 32, a pressure sensation presentation unit 33, and an expandable / contractible member 34. In addition, as shown in Figure 1, the first sensory presentation device 3 includes an adjustment device 35, a sensor 36, and a cold / temperature sensation presentation unit 37. The vibration generating unit 32 and the pressure sensation presentation unit 33 constitute a sensory presentation unit that presents predetermined sensations to the attachment site. The direction in which the finger is inserted into the first sensory presentation device 3 is defined as the +D1 direction, and the two directions perpendicular to the +D1 direction and mutually perpendicular are defined as the +D2 and +D3 directions. Although not shown in the diagram, the direction opposite to the +D1 direction is defined as the -D1 direction, the direction opposite to the +D2 direction is defined as the -D2 direction, and the direction opposite to the +D3 direction is defined as the -D3 direction.

[0014] [Configuration of the mounting member] The mounting member 31 supports the vibration generating unit 32 and the pressure sensation presentation unit 33 and is attached to the fingertip of one of the user's fingers. In this embodiment, the mounting member 31 is attached to the index finger of the user's right hand. As shown in Figures 3 to 6, the mounting member 31 has a cylindrical body 311 and mounting parts 314, fixing parts 315, 316, locking parts 317, 318 and positioning part 319 provided on the cylindrical body 311.

[0015] The cylindrical body 311 is shaped like a finger cot into which a fingertip is inserted, and covers the area around the inserted fingertip. The cylindrical body 311 has an insertion opening 312 and a slit 313. The insertion opening 312 is an opening in the cylindrical body 311 into which a fingertip is inserted. The slit 313 is located in the -D2 direction in the cylindrical body 311 and is a cutout in the cylindrical body 311 along the +D1 direction, which is parallel to the central axis of the cylindrical body 311. When a fingertip is inserted into the cylindrical body 311, the ends of the slit 313 move apart from each other, causing the cylindrical body 311 to expand in diameter. When a finger is removed from the cylindrical body 311, the ends of the slit 313 move closer together, causing the cylindrical body 311 to contract in diameter. This makes it possible to insert a finger into the cylindrical body 311 regardless of the size of the finger being inserted. In other words, the cylindrical body 311 is configured to be expandable and contractible by the slit 313.

[0016] Furthermore, when viewed along the central axis of the cylindrical body 311, of the portion in the +D3 direction and the portion in the -D3 direction that sandwich the slit 313, the portion in the +D3 direction is the first contact portion 311A ​​that contacts the fingertip, and the portion in the -D3 direction is the second contact portion 311B that contacts the fingertip. In other words, the cylindrical body 311 of the attachment member 31 has a first contact portion 311A ​​and a second contact portion 311B that sandwich the attachment area in the first direction, the +D3 direction, and contact the attachment area. The first expandable member 341, which will be described later, is attached to the outside of the cylindrical body 311 so as to straddle the slit 313.

[0017] The mounting portion 314 is located in the +D2 direction of the cylindrical body 311 and is the portion to which the vibration generating portion 32 is attached. The fixing portions 315 and 316 are located in the -D2 direction of the cylindrical body 311 and are the portions to which the pressure sensation presenting portion 33 is fixed. Of the fixing portions 315 and 316, fixing portion 315 is positioned in the +D3 direction relative to fixing portion 316, and fixing portions 315 and 316 are spaced apart from each other in the +D3 direction. The first pressure sensation presenting portion 331 of the pressure sensation presenting portion 33, which will be described later, is fixed to fixing portion 315, and the second pressure sensation presenting portion 332 of the pressure sensation presenting portion 33 is fixed to fixing portion 316. The locking portions 317 and 318 are the portions to which the ends of the expandable member 34 are locked. The locking portion 317 consists of two protrusions projecting from the cylindrical body 311 in the +D2 direction, and locks the first expandable member 341 of the expandable member 34. The locking portion 318 is fixed to the fixing portions 315 and 316 respectively and provided on the pressure-sensitive presentation portions 331 and 332, and locks the second expandable member 342 of the expandable member 34. The positioning portion 319 is fixed to the cylindrical body 311 so as to project from the portion in the +D1 and +D2 directions in the -D2 direction on the inner edge of the insertion opening 312. The end of the fingertip comes into contact with the positioning portion 319 when the fingertip is inserted into the insertion opening 312. This defines the position of the finger on the cylindrical body 311, that is, the position of the finger on the attachment member 31.

[0018] [Configuration of the Vibration Generating Unit] The vibration generating unit 32 generates vibrations under the control of the control device 6, providing the user with vibrations that simulate force sensation. More specifically, the vibration generating unit 32 generates eccentrically accelerated vibrations to present the user with a vibration force sensation, which is a simulated force sensation. The vibration generating unit 32 allows for individual adjustment of the magnitude of the vibration and the magnitude of the vibration force sensation. The vibration generating unit 32 is positioned at the fingernail of the fingertip in the cylindrical body 311 when the first sensory presentation device 3 is attached to the user's fingertip.

[0019] [Configuration of the pressure sensation presentation unit] The pressure sensation presentation unit 33 is fixed to fixing parts 315 and 316 provided on the cylindrical body 311 of the attachment member 31, and presses on the attachment area to which the first sensory presentation device 3 is attached, presenting pressure sensation to the user. Specifically, the pressure sensation presentation unit 33 presses on the pad of the user's fingertip. The pressure sensation presentation unit 33 has a first pressure sensation presentation unit 331 and a second pressure sensation presentation unit 332. The first pressure sensation presentation unit 331 is fixed to the fixing part 315 and presses on one end of the pad of the fingertip in the width direction. The second pressure sensation presentation unit 332 is fixed to the fixing part 316 and presses on the other end of the pad of the fingertip in the width direction. That is, the first pressure sensation presentation unit 331 is provided spaced apart from the second pressure sensation presentation unit 332 in the +D3 direction relative to the second pressure sensation presentation unit 332.

[0020] Figures 7 and 8 are exploded perspective views showing the first sensory presentation device 3 with the base 3311 of the first pressure sensation presentation unit 331 separated from the cylindrical body 311. Of these, Figure 7 is an exploded perspective view showing the first sensory presentation device 3 as seen from the -D1 direction, and Figure 8 is an exploded perspective view showing the first sensory presentation device 3 as seen from the +D1 direction. Figure 9 is a view of a cross-section of the first sensory presentation device 3 perpendicular to the +D1 direction, as seen from the +D1 direction. Note that the elastic sheet 3317 and the second expandable member 342 are not shown in Figures 7 and 8. The first pressure sensation presentation unit 331 has a base 3311 and a frame 3315 as shown in Figures 7 to 9, and also has an elastic sheet 3317 as shown in Figure 9.

[0021] The base 3311, together with the frame 3315, sandwiches the elastic sheet 3317 and is fixed to the fixing part 315. The base 3311 has a flow port 3312, an annular projection 3313, and an inlet chamber 3314. A flow pipe DP2, which will be described later, is connected to the flow port 3312. The flow port 3312 penetrates the plate-shaped base 3311 and communicates with the inlet chamber 3314. The annular projection 3313 protrudes in an annular shape from the surface of the base 3311 facing the elastic sheet 3317, forming the inlet chamber 3314 inside. The tip surface of the annular projection 3313 is in contact with the elastic sheet 3317, and the inside of the annular projection 3313 is closed by the elastic sheet 3317. The inlet chamber 3314 is a space formed inside the annular projection 3313. The inlet chamber 3314 is in communication with the flow port 3312, and fluid flows into the inlet chamber 3314 from the flow pipe DP2 via the flow port 3312.

[0022] The frame 3315, together with the base 3311, holds the elastic sheet 3317. The frame 3315 has an opening 3316 that penetrates the frame 3315. The opening 3316 is an opening through which a part of the elastic sheet 3317 passes when the elastic sheet 3317 expands. When the first pressure-sensitive display unit 331 is fixed to the fixing part 315, the opening 3316 communicates with the space inside the insertion opening 312 of the cylindrical body 311. In this embodiment, the frame 3315 is integrated with the cylindrical body 311. However, it is not limited to this, and the frame 3315 may be configured separately from the cylindrical body 311 and fixed to the fixing part 315 of the cylindrical body 311.

[0023] The elastic sheet 3317 corresponds to an elastic body. The elastic sheet 3317 is sandwiched between the annular protrusion 3313 and the frame 3315, and expands from the opening 3316 in response to the pressure in the inlet chamber 3314, protruding into the insertion opening 312 and pressing against the user's fingertips. Specifically, when the pressure in the inlet chamber 3314 increases due to the fluid pumped from the pump PN via the valve VL of the adjustment device 35 (described later), the elastic sheet 3317 expands into the insertion opening 312, as shown by the dotted line in Figure 9, and presses against the user's fingertips. On the other hand, when the pressure in the inlet chamber 3314 decreases, the elastic sheet 3317 retracts from the insertion opening 312, and the pressure on the user's fingertips is released. The elastic sheet 3317 can be made of, for example, an elastomer sheet. However, it is not limited to this, and the material of the elastic sheet 3317 can be changed as appropriate. Alternatively, the elastic sheet 3317 may not be sandwiched between the base 3311 and the frame 3315, but may be adhesively fixed to the annular projection 3313 of the base 3311, or to the surface surrounding the annular projection 3313.

[0024] The second pressure-sensitive display unit 332, like the first pressure-sensitive display unit 331, has a base 3321, a frame 3325, and an elastic sheet 3327, as shown in Figure 9. The base 3321, frame 3325, and elastic sheet 3327 have the same configuration as the base 3311, frame 3315, and elastic sheet 3317 of the first pressure-sensitive display unit 331. That is, the base 3321 has a flow port 3322, an annular protrusion 3323, and an inlet chamber 3324, similar to the flow port 3312, annular protrusion 3313, and inlet chamber 3314, and the frame 3325 has an opening 3326, similar to the opening 3316. The elastic sheet 3317 may be sandwiched between the base 3321 and the frame 3325, or it may be adhesively fixed to the base 3321. In this embodiment, the base 3321 is fixed to the fixing part 316, and the frame 3315 is integrated with the cylindrical body 311.

[0025] [Structure of the expandable member] As shown in Figures 3 to 6, the expandable member 34 is formed in a strip shape from an expandable material and is arranged along the circumferential direction centered on the central axis of the cylindrical body 311. The expandable member 34 reduces the diameter of the cylindrical body 311 to fit the cylindrical body 311 to the fingertip. The expandable member 34 includes a first expandable member 341 and a second expandable member 342. The first expandable member 341 is provided on the cylindrical body 311 of the attachment member 31 and contracts the cylindrical body 311 into which the fingertip is inserted, bringing the inner surface of the cylindrical body 311 into contact with the fingertip. More specifically, the first expandable member 341 contracts the cylindrical body 311 in a direction in which the first contact portion 311A ​​and the second contact portion 311B are close to each other. The first expandable member 341 is provided on the outer circumferential surface of the cylindrical body 311 in the -D1 direction portion, so as to be wound around the cylindrical body 311. More specifically, the first expandable member 341 is provided on the outer circumferential surface of the cylindrical body 311, along the circumferential direction centered on the central axis of the cylindrical body, so as to straddle the slit 313. One end and the other end of the first expandable member 341 are locked together by the locking portion 317. Therefore, when a fingertip is inserted into the insertion opening 312, the first expandable member 341 suppresses the widening of the slit 313, thereby allowing the cylindrical body 311 to fit snugly against the fingertip.

[0026] The second expandable member 342 is provided in the +D1 direction, which is closer to the fingertip than the first expandable member 341, and is arranged along the circumferential direction centered on the central axis of the cylindrical body 311. That is, the second expandable member 342 is positioned offset from the first expandable member 341 in the +D1 direction, which is the direction of finger insertion. The second expandable member 342 is locked by two locking parts 318 and is positioned to suspend the two pressure-sensitive presentation parts 331 and 332. The expansion of the slit 313 is also suppressed by this second expandable member 342, so that the cylindrical body 311 fits the fingertip inserted into it. In this way, the expansion and contraction of each expandable member 341 and 342 wound around the outer circumferential surface of the cylindrical body 311 of the attachment member 31 allows the cylindrical body 311 to fit the inserted fingertip without hindering the insertion of the fingertip into the insertion opening 312 of the cylindrical body 311. This reduces the feeling of tightness caused by the attachment member 31, prevents the attachment member 31 from slipping off the fingertip, and can also absorb differences in the size of the inserted finger. Each of the expandable members 341 and 342 can be made of a soft material with a hardness of 75, for example, an olefin polymer. However, it is not limited to this, and each of the expandable members 341 and 342 may be made of other materials, and the material of the first expandable member 341 and the material of the second expandable member 342 may be different.

[0027] [Adjustment device] As shown in Figure 1, the adjustment device 35 includes a pump PN, a valve VL, and flow pipes DP1 and DP2, and supplies fluid to the pressure sensing unit 33 to adjust the pressing force of the pressure sensing unit 33. The flow pipes DP1 and DP2 are tubular members through which fluid can flow.

[0028] Pump PN delivers the fluid supplied to the pressure sensor 33. Specifically, pump PN delivers the fluid to valve VL, which is connected via flow pipe DP1. In this embodiment, pump PN is an air pump that sucks in and delivers ambient gas. However, it is not limited to this, and pump PN may be a pump that delivers liquid, which is a fluid. Valve VL is connected to the pressure sensor 33 via flow pipe DP2 and adjusts the amount of fluid supplied from pump PN via flow pipe DP1 to the pressure sensor 33. That is, valve VL is provided in the flow path of the fluid delivered from pump PN and flowing to the inlet chambers of each pressure sensor 331, 332. Valve VL can be switched between an OPEN state and a CLOSE state. When in the OPEN state, the fluid can flow, and when in the CLOSE state, the fluid flow is restricted.

[0029] In this embodiment, the flow pipe DP2 has a branching section, and the fluid delivered from the pump PN via the valve VL is divided and distributed to the first pressure sensor 331 and the second pressure sensor 332. That is, the adjustment device 35 delivers fluid to the first pressure sensor 331 and the second pressure sensor 332, respectively. However, the configuration is not limited to this, and adjustment devices for delivering fluid to the first pressure sensor 331 and adjustment devices for delivering fluid to the second pressure sensor 332 may be provided separately. The pump PN and valve VL of such an adjustment device 35 are controlled by the control device 6.

[0030] [Sensor Configuration] Sensor 36 is a pressure sensor that detects the pressure in the inlet chambers 3314 and 3324. The placement of sensor 36 can be at least one of the following: valve VL, flow pipe DP2, and inlet chambers 3314 and 3324. Sensor 36 may also be a flow sensor that detects the flow rate of the fluid flowing into the inlet chambers 3314 and 3324. In this case as well, the pressure in the inlet chambers 3314 and 3324 can be calculated from the flow rate of the fluid flowing into the inlet chambers 3314 and 3324.

[0031] [Configuration of the Cold / Warm Sensation Presentation Unit] The cold / warm sensation presentation unit 37 presents cold / warm sensations to the fingertip to which the first sensory presentation device 3 is attached. The cold / warm sensation presentation unit 37 is composed of a thermoelectric conversion element such as a Peltier element. The cold / warm sensation presentation unit 37 may be provided, for example, on the elastic sheets 3317, 3327 of each pressure sensation presentation unit 331, 332, or it may be provided in the inflow chambers 3314, 3324. When the cold / warm sensation presentation unit 37 is provided on the elastic sheets 3317, 3327, cold / warm sensations can be directly presented to the fingertip along with the pressure on the fingertip by the elastic sheets 3317, 3327. Furthermore, if the cold / temperature sensation presenting unit 37 is provided in the inflow chambers 3314 and 3324, by cooling or heating the fluid in the inflow chambers 3314 and 3324, the cold / temperature sensation can be presented to the fingertips via the elastic sheets 3317 and 3327 without deforming the cold / temperature sensation presenting unit 37, along with the pressure on the fingertips by the elastic sheets 3317 and 3327. On the other hand, the cold / temperature sensation presenting unit 37 may be provided on the inner circumferential surface of the cylindrical body 311. In this case, the cold / temperature sensation presenting unit 37 may be positioned between the first pressure sensation presenting unit 331 and the second pressure sensation presenting unit 332. When the cold / temperature sensation presenting unit 37 is positioned in this location, the cold / temperature sensation can be presented to the user's fingertips separately from the pressure sensation presenting unit 33.

[0032] [Configuration of the Second Sensory Presentation Device] Figure 10 is a perspective view showing the second sensory presentation device 4 as seen from the fingertip side, and Figure 11 is a perspective view showing the second sensory presentation device 4 as seen from the wrist side. As described above, the second sensory presentation device 4 is attached, for example, to the base of the user's index finger and presents the user with vibration sensation. As shown in Figures 10 and 11, the second sensory presentation device 4 has a mounting member 41, a vibration generating part 42, and an expandable / contractible member 44. The direction of finger insertion into the second sensory presentation device 4 is defined as the +D4 direction, and the two directions perpendicular to the +D4 direction and mutually perpendicular are defined as the +D5 direction and the +D6 direction. Although not shown, the direction opposite to the +D4 direction is defined as the -D4 direction, the direction opposite to the +D5 direction is defined as the -D5 direction, and the direction opposite to the +D6 direction is defined as the -D6 direction.

[0033] [Configuration of the mounting member] The mounting member 41 supports the vibration generating unit 42 and is attached to the base of one of the user's fingers. In this embodiment, the mounting member 41 is attached to the base of the user's right index finger. The mounting member 41 has the same configuration as the mounting member 31, which lacks the fixing parts 315, 316, locking part 318 and positioning part 319. That is, the mounting member 41 has a cylindrical body 411, an attachment part 414 and a locking part 417.

[0034] The cylindrical body 411 is configured as a ring-like cylindrical shape into which the base of a finger is inserted, and covers the circumference of the inserted finger. The cylindrical body 411 has an insertion opening 412 and a slit 413. The insertion opening 412 is an opening in the cylindrical body 411 into which a finger is inserted, and penetrates the cylindrical body 411 in the +D4 direction along the central axis of the cylindrical body 411. The slit 413 is located in the -D5 direction in the cylindrical body 411 and is formed in the cylindrical body 411 along the central axis of the cylindrical body 411. When a finger is inserted into the cylindrical body 411, the ends of the slit 413 move apart from each other, causing the cylindrical body 411 to expand in diameter, and when a finger is removed from the cylindrical body 411, the ends of the slit 413 move closer together, causing the cylindrical body 411 to contract in diameter. This makes it possible to insert a finger into the cylindrical body 411 regardless of the size of the finger being inserted. In other words, the cylindrical body 411 is configured to be expandable and contractible by the slit 413.

[0035] Furthermore, when viewed along the central axis of the cylindrical body 411, of the portion in the +D6 direction and the portion in the -D6 direction that sandwich the slit 413, the portion in the +D6 direction is the first contact portion 411A that contacts the finger, and the portion in the -D6 direction is the second contact portion 411B that contacts the finger. In other words, the cylindrical body 411 of the attachment member 41 has a first contact portion 411A and a second contact portion 411B that sandwich the attachment area in the first direction, the +D6 direction, and contact the attachment area. The expandable member 44, which will be described later, is attached to the outside of the cylindrical body 411 so as to straddle the slit 413.

[0036] The mounting portion 414 is located in the +D5 direction on the cylindrical body 411 and is the portion to which the vibration generating portion 42 is attached. The locking portion 417 is the portion to which the end of the expandable member 44 is locked. The locking portion 417 protrudes from two locations on the outer circumferential surface of the cylindrical body 411 and locks both ends of the expandable member 44 which is positioned to straddle the slit 413. That is, one of the two locking portions 417 protrudes from a portion on the outer circumferential surface of the cylindrical body 411 facing the +D6 direction and locks one end of the expandable member 44. The other locking portion 417 protrudes from a portion on the outer circumferential surface of the cylindrical body 411 facing the -D6 direction and locks the other end of the expandable member 44.

[0037] [Configuration of Vibration Generating Unit and Expandable Member] The vibration generating unit 42, like the vibration generating unit 32, generates vibrations under the control of the control device 6 to provide the user with vibrations that simulate force sensation, and is an example of a sensory presentation unit. The expandable member 44, like the expandable member 34, is formed in a strip shape from an expandable material and is arranged on the outer circumferential surface of the cylindrical body 411 along the circumferential direction centered on the central axis of the cylindrical body 411. More specifically, the expandable member 44, like the first expandable member 341, is arranged along the outer circumferential surface of the cylindrical body 411 so as to straddle the slit 413 and is locked by two locking parts 417. The expandable member 44 contracts the cylindrical body 411 in a direction in which the first contact part 411A and the second contact part 411B move closer to each other. That is, the expandable member 44 biases the cylindrical body 411 in a direction that reduces its diameter, making the cylindrical body 411 fit to the finger.

[0038] [Configuration of the Third Sensory Presentation Device] Figure 12 is a plan view showing the third sensory presentation device 5. Figure 13 is a perspective view showing the third sensory presentation device 5 as seen from the wrist side when it is attached to the hand, and Figure 14 is a perspective view showing the third sensory presentation device 5 as seen from the fingertip side. As shown in Figure 2, the third sensory presentation device 5 is attached to the user's hand and presents sensations such as vibration and pressure to the user. As shown in Figures 13 to 15, the third sensory presentation device 5 has an attachment member 51, a vibration generating unit 52, a pressure sensation presentation unit 53, and an expandable / contractible member 54. In addition, as shown in Figure 1, the third sensory presentation device 5 has an adjustment device 55, a sensor 56, and a cold / temperature sensation presentation unit 57.

[0039] [Configuration of the mounting member] The mounting member 51 supports the vibration generating unit 52 and the pressure sensation presentation unit 53, and is mounted so as to straddle the palm RHP and the back of the hand RHB. In this embodiment, the mounting member 51 is mounted on the user's right hand RH. The mounting member 51 has a palm-side clamping piece 511, a back-of-hand clamping piece 512, a connecting part 513, and a locking part 514. The +D7 direction is defined as the direction in which the hand is inserted into the insertion opening 51B formed by the combination of the palm-side clamping piece 511 and the back-of-hand clamping piece 512 of the mounting member 51, and the +D8 and +D9 directions are two directions that are perpendicular to the +D7 direction and are also perpendicular to each other. Of these, the +D8 direction is defined as the direction from the palm-side clamping piece 511 toward the back-of-hand clamping piece 512, and the +D9 direction is defined as the direction from the locking part 514 toward the connecting part 513. In other words, when the third sensory presentation device 5 is attached to the right hand, the direction from the wrist to the fingertips is defined as the +D7 direction, the direction from the palm to the back of the hand is defined as the +D8 direction, and the direction from the little finger to the thumb is defined as the +D9 direction. Furthermore, the direction opposite to the +D7 direction is defined as the -D7 direction, the direction opposite to the +D8 direction is defined as the -D8 direction, and the direction opposite to the +D9 direction is defined as the -D9 direction.

[0040] Each of the palmar gripping piece 511 and the dorsal gripping piece 512 extends along the +D9 direction and, when combined with each other, forms a cylindrical body 51A into which a hand can be inserted. The palmar gripping piece 511 is positioned along the palmar RHP, and the dorsal gripping piece 512 is positioned along the dorsal RHB of the hand. The ends of each of the palmar gripping piece 511 and the dorsal gripping piece 512 in the +D9 direction are connected by a connecting portion 513. The ends of each of the palmar gripping piece 511 and the dorsal gripping piece 512 in the -D9 direction are locked by a locking portion 514. The palmar gripping piece 511 and the dorsal gripping piece 512 grip the hand, which is the attachment site, in the +D8 direction and make contact with the hand. Therefore, the palmar gripping piece 511 corresponds to the first contact portion of the cylindrical body 51A, and the hand-side gripping piece 512 corresponds to the second contact portion of the cylindrical body 51A.

[0041] The palmar gripping piece 511 has a flat extended portion 5111, as well as curved portions 5114, 5115, mounting portions 5116, 5117, and fixing portion 5118. The extended portion 5111 extends along a plane defined by the +D7 direction and the +D9 direction. The extended portion 5111 has a first surface 5112 facing the hand-clasping piece 512, and a second surface 5113 opposite to the first surface 5112. Of the curved portions 5114 and 5115, the curved portion 5114 is provided on the portion of the first surface 5112 in the +D9 direction, and the curved portion 5115 is provided on the portion of the first surface 5112 in the -D9 direction. The curved portion 5114 is formed in a curved shape that matches the curved shape between the thumb and index finger of the palm, and the curved portion 5115 is formed in a curved shape that matches the curved shape of the palm on the opposite side from the thumb. The curved portions 5114 and 5115 position the palm-side clamping piece 511 along the palm RHP. The mounting portions 5116 and 5117 are the parts to which the two vibration generating parts 52 are attached to the palm-side clamping piece 511. The mounting portion 5116 is provided at the end of the second surface 5113 in the +D9 direction, and the mounting portion 5117 is provided at the end of the second surface 5113 in the -D9 direction. The fixing portion 5118 is the part to which the first pressure sensation presentation part 531 is fixed, and is provided approximately in the center of the first surface 5112 in the +D9 direction.

[0042] As described above, the hand-clasping piece 512, when combined with the palm-clasping piece 511, forms a cylindrical body 51A having an insertion opening 51B into which the user's hand can be inserted, and together with the palm-clasping piece 511, it clamps the user's hand. Specifically, the hand-clasping piece 512 extends in the +D9 direction along the RHB of the back of the hand and is positioned along the RHB of the back of the hand. The hand-clasping piece 512 has a main body portion 5121, attachment portions 5124, 5125 and a fixing portion 5126. The main body portion 5121 is formed in a curved shape along the RHB of the back of the hand. That is, the main body portion 5121 is formed in an arc shape so that its ends in the ±D9 direction are close to the palm-clasping piece 511. The main body portion 5121 has a first surface 5122 facing the palm-clasping piece 511 and a second surface 5123 opposite to the first surface 5122. Although not shown in the illustration, the first surface 5122 is provided with a cushioning material that contacts the back of the hand (RHB). The mounting portions 5124 and 5125 are the parts to which the two vibration generating portions 52 are attached to the back-of-hand clamping piece 512. Mounting portion 5124 is provided at the end of the second surface 5123 in the +D9 direction, and mounting portion 5125 is provided at the end of the second surface 5123 in the -D9 direction. The fixing portion 5126 is the part to which the second pressure-sensing presentation portion 532 is fixed, and is provided approximately in the center of the first surface 5122 in the +D9 direction.

[0043] The connecting portion 513 is provided at the +D9 direction ends of the palm-side clamping piece 511 and the back-side clamping piece 512, respectively. The connecting portion 513 includes a palm-side connecting portion 5131 provided at the +D9 direction end of the palm-side clamping piece 511, a back-side connecting portion 5132 provided at the +D9 direction end of the back-side clamping piece 512, and a fixing device 5133 that fixes the palm-side connecting portion 5131 and the back-side connecting portion 5132 in a connected state. The connecting portion 513 connects the palm-side clamping piece 511 and the back-side clamping piece 512 so that one of them moves away from the other. That is, the palm-side clamping piece 511 and the back-side clamping piece 512 are movable in a direction that moves them away from each other with respect to the connecting portion 513. As a result, the cylindrical body 51A can be expanded in diameter when a hand is inserted into it.

[0044] The locking part 514 is provided at the end in the -D9 direction of each of the palm-side clamping piece 511 and the nail-side clamping piece 512. The locking part 514 detachably locks the palm-side clamping piece 511 and the nail-side clamping piece 512 to one of the palm-side clamping piece 511 and the nail-side clamping piece 512. That is, when inserting the hand into the insertion port 51B, the locking part 514 separates the ends in the -D9 direction of the respective clamping pieces 511 and 512 from each other, and when clamping the hand with the respective clamping pieces 511 and 512, the locking part 514 locks the ends in the -D9 direction of the respective clamping pieces 511 and 512.

[0045] The locking part 514 has a palm-side locking part 5141 provided at the end in the -D9 direction of the palm-side clamping piece 511 and a nail-side locking part 5143 provided at the end in the -D9 direction of the nail-side clamping piece 512. As shown in FIG. 15, the palm-side locking part 5141 has an insertion part 5142 protruding in the -D9 direction. The nail-side locking part 5143 has a configuration in which a plurality of groove parts 5144 into which the insertion part 5142 can be inserted are arranged along the +D8 direction. That is, the nail-side locking part 5143 has a plurality of groove parts 5144 arranged in the +D8 direction in which the palm-side clamping piece 511 and the nail-side clamping piece 512 face each other. A user who inserts a hand into the insertion port 51B can attach the third sensory presentation device 5 to the hand by inserting the insertion part 5142 into one of the plurality of groove parts 5144. At this time, since the plurality of groove parts 5144 are arranged along the +D8 direction, by selecting the groove part 5144 into which the insertion part 5142 is inserted, the distance between the first surface 5112 of the palm-side clamping piece 511 and the first surface 5122 of the nail-side clamping piece 512 can be adjusted. Thereby, the third sensory presentation device 5 can be made to closely adhere to the hand.

[0046] [Configuration of the Vibration Generating Unit] The vibration generating unit 52, like the vibration generating units 32 and 42, generates vibrations under the control of the control device 6, providing the user with vibrations that simulate force sensation individually. The vibration generating unit 52 includes two first vibration generating units 521 and two second vibration generating units 522. The two first vibration generating units 521 are attached to the palmar gripping piece 511. Of the two first vibration generating units 521, one is attached to a mounting part 5116 provided in the +D9 direction, and the other first vibration generating unit 521 is attached to a mounting part 5117 provided in the -D9 direction. The two second vibration generating units 522 are attached to the back-of-hand gripping piece 512. Of the two second vibration generating units 522, one is attached to a mounting portion 5124 provided in the +D9 direction, and the other second vibration generating unit 522 is attached to a mounting portion 5125 provided in the -D9 direction.

[0047] [Configuration of the pressure sensation presentation unit] The pressure sensation presentation unit 53 presents pressure sensation by pressing on the back of the user's hand under the control of the control device 6. The pressure sensation presentation unit 53 includes a first pressure sensation presentation unit 531 shown in Figures 1 and 12-14, and a second pressure sensation presentation unit 532 shown in Figure 1. The first pressure sensation presentation unit 531 has a base 5311, a frame 5315, and an elastic sheet 5317. The elastic sheet 5317 corresponds to an elastic body and closes the inlet chamber 5314 of the base 5311. It has the same configuration as the elastic sheet 3317 of the first pressure sensation presentation unit 331.

[0048] The base 5311 is fixed to the fixing portion 5118 of the palm-side clamping piece 511. Although not shown in the figure, the base 5311 has a circulation port and an annular convex portion similar to the circulation port 3312 and the annular convex portion 3313, and also has an inflow chamber 5314 similar to the inflow chamber 3314. In addition, if the base 5311 has a recess into which fluid flows and is covered by the elastic sheet 3317, it may not have an annular convex portion. The frame body 5315 sandwiches the elastic sheet 5317 together with the base 5311. The frame body 5315 has an opening 5316 that penetrates the frame body 5315 along the +D8 direction. The opening 5316 is an opening through which a part of the elastic sheet 5317 passes when the pressure in the inflow chamber in the base 5311 increases and the elastic sheet 5317 bulges. Note that the frame body 5315 is a different member from the palm-side clamping piece 511 that supports the first pressure sensation presentation portion 531, unlike the frame body 3315. Although detailed illustration is omitted, the second pressure sensation presentation portion 532 provided on the back-side clamping piece 512 also has the same configuration as the first pressure sensation presentation portion 531, and presses the back of the user's hand under the control of the control device 6 to present a pressure sensation.

[0049] [Configuration of the telescopic member] As shown in FIGS. 12 to 14, the telescopic member 54 is provided in the portion in the +D9 direction in the insertion port 51B so as to suspend the palm-side clamping piece 511 and the back-side clamping piece 512. That is, the telescopic member 54 suspends the first surface 5112 of the palm-side clamping piece 511 and the first surface 5122 of the back-side clamping piece 512, and is provided in the portion on the connecting portion 513 side in the insertion port 51B. The telescopic member 54 is a belt-like body that can be telescoped in the same manner as the telescopic members 341, 342, and 44, and biases the clamping pieces 511 and 512 in the direction in which the first surface 5112 and the first surface 5122 approach each other. With such a telescopic member 54, it is possible to easily bring the palm-side clamping piece 511 into close contact with the user's palm, and it is also possible to easily bring the back-side clamping piece 512 into close contact with the back of the user's hand.

[0050] [Configuration of the Adjustment Device] The adjustment device 55 shown in Figure 1, similar to the adjustment device 35 of the first sensory presentation device 3, supplies fluid to the pressure presentation units 531 and 532 and adjusts the pressing force of the pressure presentation unit 53. The adjustment device 55 includes a first adjustment device 551 that supplies fluid to the first pressure presentation unit 531 and a second adjustment device 552 that supplies fluid to the second pressure presentation unit 532. Each of the first adjustment device 551 and the second adjustment device 552 has a pump PN, a valve VL, and a flow pipe DP1, similar to the adjustment device 35, as well as a flow pipe DP3. The flow pipe DP3 of the first adjustment device 551 connects the valve VL of the first adjustment device 551 and the base 5311 of the first pressure presentation unit 531 so that fluid can flow through them. Thus, the valve VL of the first control device 551 is located in the fluid path that flows from the pump PN of the first control device 551 to the inlet chamber 5314 of the first pressure sensor 531. Similarly, the valve VL of the second control device 552 is located in the fluid path that flows from the pump PN of the second control device 552 to the inlet chamber of the second pressure sensor 532. The flow pipe DP3 of the second control device 552 connects the valve VL of the second control device 552 to the base of the second pressure sensor 532 so that fluid can flow through it. The pump PN and valve VL of each control device 551 and 552 are controlled by the control device 6.

[0051] [Sensor Configuration] The two sensors 56 shown in Figure 1 include a first sensor 561 that detects the pressure in the inlet chamber 5314 of the first pressure sensing indicator 531, and a second sensor 562 that detects the pressure in the inlet chamber of the second pressure sensing indicator 532. The placement locations of each sensor 561, 562 include at least one of the valve VL, the flow pipe DP3, and the inlet chamber. Each sensor 56 may also be a flow sensor that detects the flow rate of the fluid flowing into the inlet chamber.

[0052] [Configuration of the Thermal Sensation Presentation Unit] Each of the two thermal sensation presentation units 57 shown in Figure 1 presents thermal sensation to the hand to which the third sensory presentation device 5 is attached, and is composed of a thermoelectric conversion element such as a Peltier element. Of the two thermal sensation presentation units 57, the first thermal sensation presentation unit 571 is provided on the palmar gripping piece 511, and the second thermal sensation presentation unit 572 is provided on the back-of-hand gripping piece 512. The positions of each thermal sensation presentation unit 571 and 572 can be the same as those of the thermal sensation presentation unit 37 described above.

[0053] [Configuration of the control device] The control device 6 shown in Figure 1 controls the sensory presentation system 1. For example, the control device 6 controls the operation of each sensory presentation device 3 to 5 attached to the user's fingers based on the movement of the user's fingers detected by the motion detection device 2, and also transmits image signals to the image display device 7 and audio signals to the audio output device 8. The control device 6 has a memory 61 and at least one processor 62.

[0054] Memory 61 stores programs and data necessary for the control device 6 to control the sensory presentation system 1. For example, memory 61 stores control programs for the processor 62 to control each of the sensory presentation devices 3 to 5 and generate images to be displayed on the image display device 7 and sounds to be output to the sound output device 8.

[0055] Figure 15 is a block diagram showing the functional components of the processor 62. At least one processor 62 reads programs and data stored in the memory 61 to control the operation of the sensory presentation system 1. As shown in Figure 15, the processor 62 includes a posture determination unit 621, a vibration control unit 622, a force sensation control unit 623, a pressure sensation control unit 624, an image generation unit 625, and a sound generation unit 626.

[0056] The posture determination unit 621 determines the user's posture based on the detection results of the motion detection device 2. For example, the posture determination unit 621 determines whether the user's posture is a first posture or a second posture. In this embodiment, the posture determination unit 621 determines whether the first posture is one in which the index finger to which the sensory presentation devices 3 and 4 are attached is raised, and also determines whether the second posture is one in which the index finger is laid flat. Furthermore, the posture determination unit 621 determines whether the first posture is one in which the palm of the hand to which the sensory presentation device 5 is attached is spread forward, and also determines whether the palm has moved forward.

[0057] The vibration control unit 622, the force sensation control unit 623, and the pressure sensation control unit 624 function according to the posture of the attachment site determined by the posture determination unit 621. For example, the vibration control unit 622, the force sensation control unit 623, and the pressure sensation control unit 624 function when, for example, the posture determination unit 621 determines that the posture of the fingers to which the sensory presentation devices 3 and 4 are attached is the first posture or the second posture, when the posture of the hand to which the sensory presentation device 5 is attached is determined to be the first posture, and when it is determined that the hand in the first posture has moved forward in the first direction. The vibration control unit 622 controls the magnitude of vibration generated by the vibration generating units 32, 42, and 52 of each sensory presentation device 3 to 5, for each vibration generating unit 32, 42, and 52. The force sensation control unit 623 controls the magnitude of vibration force generated by the vibration generating units 32, 42, and 52 of each sensory presentation device 3 to 5, for each vibration generating unit 32, 42, and 52.

[0058] The pressure control unit 624 individually controls the operation of the pressure presentation units 33 and 53 of each sensory presentation device 3 and 5. Specifically, the pressure control unit 624 controls the pump PN and valve VL of the regulating device 35 that supplies fluid to the first pressure presentation unit 331 and the second pressure presentation unit 332 of the pressure presentation unit 33, thereby controlling the operation of the first pressure presentation unit 331 and the second pressure presentation unit 332. In addition, the pressure control unit 624 controls the pump PN and valve VL of the first regulating device 551 that supplies fluid to the first pressure presentation unit 531, thereby controlling the operation of the first pressure presentation unit 531, and controls the pump PN and valve VL of the second regulating device 552 that supplies fluid to the second pressure presentation unit 532, thereby controlling the operation of the second pressure presentation unit 532.

[0059] The image generation unit 625 generates an image signal to be output to the image display device 7. The generated image signal is output to the image display device 7, and an image based on the image signal is displayed on the image display device 7. An example of an image generated by the image generation unit 625 is an image showing virtual fingers whose movement and posture change according to the movement and posture of the user's fingers detected by the motion detection device 2. The sound generation unit 626 generates an audio signal to be output to the audio output device 8. The generated audio signal is output to the audio output device 8, and audio based on the audio signal is output by the audio output device 8. An example of an audio generated by the sound generation unit 626 is a sound effect corresponding to the movement and posture of the user's fingers detected by the motion detection device 2. The processor 62 may also include a temperature sensation control unit that individually controls the operation of the cold / warm sensation presentation unit 37 of the sensory presentation device 3, the operation of the first cold / warm sensation presentation unit 571 of the cold / warm sensation presentation unit 57 of the sensory presentation device 5, and the operation of the second cold / warm sensation presentation unit 572 of the cold / warm sensation presentation unit 57. In this case, the temperature sensation control unit individually controls the Peltier elements in each of the cold / heat sensation presentation units 37, 571, and 572.

[0060] [Effects of the Embodiment] The sensory presentation system 1 according to the embodiment described above provides the following effects. The sensory presentation device 3 comprises a mounting member 31, a vibration generating unit 32, a pressure sensation presentation unit 33, and a first expandable / contractible member 341. The mounting member 31 is attached to the fingertip of a finger, which is part of the body. In the sensory presentation device 3, the mounting site is the fingertip of a finger, and in this embodiment, it is the fingertip of the index finger of the right hand. The vibration generating unit 32 and the pressure sensation presentation unit 33 are provided on the cylindrical body 311 of the mounting member 31 and correspond to sensory presentation units that present predetermined sensations. The vibration generating unit 32 presents vibration sensation to the fingertip, and the pressure sensation presentation unit 33 presents pressure sensation to the fingertip. The first expandable / contractible member 341 is made of an expandable / contractible material and is provided on the cylindrical body 311 of the mounting member 31. The first expandable / contractible member 341 contracts the cylindrical body 311 into which the fingertip is inserted, bringing the inner surface of the cylindrical body 311 into contact with the fingertip.

[0061] The sensory presentation device 4 comprises a mounting member 41, a vibration generating unit 42, and an expandable / contractible member 44. The mounting member 41 is attached to the base of a finger, which is a part of the body. In this embodiment, the mounting site for the sensory presentation device 3 is the base of the index finger of the right hand. The vibration generating unit 42 is provided on the cylindrical body 411 of the mounting member 41 and corresponds to the sensory presentation unit that presents a predetermined sensation, namely vibration, in the sensory presentation device 4. The expandable / contractible member 44 corresponds to the first expandable / contractible member in the sensory presentation device 4. The expandable / contractible member 44 is made of an expandable / contractible material and is provided on the cylindrical body 411 of the mounting member 41. The expandable / contractible member 44 contracts the cylindrical body 411 into which the finger is inserted, bringing the inner surface of the cylindrical body 411 into contact with the fingertip.

[0062] The sensory presentation device 5 comprises a mounting member 51, a vibration generating unit 52, a pressure sensation presentation unit 53, and an expandable / contractible member 54. The mounting member 51 is attached to one hand, which is a part of the body. In this embodiment, the mounting site for the sensory presentation device 5 is the palm and back of the right hand. The vibration generating unit 52 and the pressure sensation presentation unit 53 are provided on the mounting member 51 and correspond to sensory presentation units that present predetermined sensations. The vibration generating unit 52 presents vibration sensation to the hand, and the pressure sensation presentation unit 53 presents pressure sensation to the hand. The expandable / contractible member 54 corresponds to the first expandable / contractible member in the sensory presentation device 5. The expandable / contractible member 54 is made of an expandable / contractible material and is provided on the mounting member 51. The expandable / contractible member 54 contracts the cylindrical body 51A into which the hand is inserted, bringing the inner surface of the cylindrical body 51A into contact with the fingertips.

[0063] With this configuration, the expandable members 341, 44, and 54 contract the attachment members 31, 41, and 51 attached to the attachment area, thereby allowing the attachment members 31, 41, and 51 to adhere closely to the attachment area. This makes it easier to maintain contact between the attachment members 31, 41, and 51 and the attachment area. As a result, it becomes easier to transmit the sensations presented by the sensory presentation unit to the attachment area. Specifically, it becomes easier to transmit vibration sensations from the vibration generating units 32, 42, and 52 to the attachment area, as well as pressure sensations from the pressure presentation units 33, and 53 to the attachment area. Furthermore, since the expandable members 34, 44, and 54 are stretchable, when it is necessary to expand the cylindrical bodies 311, 411, and 51A of the attachment members 31, 41, and 51 when attaching them to the attachment area, the expandable members 34, 44, and 54 can prevent the expansion of the cylindrical bodies 311, 411, and 51A from being restricted. Therefore, the feeling of wearing the sensory presentation devices 3 to 5 on the attachment site can be enhanced, and it becomes easier to present the user with the desired sensation.

[0064] In the first sensory presentation device 3, the attachment member 31 has a first contact portion 311A ​​and a second contact portion 311B that sandwich the fingertip, which is the attachment area, in the +D3 direction and come into contact with the fingertip. The +D3 direction corresponds to the first direction. The first expandable member 341 contracts the cylindrical body 311 in a direction in which the first contact portion 311A ​​and the second contact portion 311B come closer to each other. With this configuration, the first expandable member 341 contracts the cylindrical body 311 in a direction in which the first contact portion 311A ​​and the second contact portion 311B that come into contact with the fingertip come closer to each other, thereby increasing the degree of contact between the attachment member 31 and the fingertip. Therefore, the wearing sensation of the first sensory presentation device 3 can be improved.

[0065] In the second sensory presentation device 4, the attachment member 41 has a first contact portion 411A and a second contact portion 411B that pinch the finger, which is the attachment site, in the +D6 direction and come into contact with the finger. The +D6 direction corresponds to the first direction. The expandable / contractible member 44 contracts the cylindrical body 411 in a direction that brings the first contact portion 411A and the second contact portion 411B closer to each other. With this configuration, the same effects as the first sensory presentation device 3 can be achieved.

[0066] In the first sensory presentation device 3, the attachment member 31 includes a cylindrical body 311 into which a fingertip, which is the attachment site, can be inserted, and a slit 313 provided in the cylindrical body 311 along the +D1 direction, which is the direction in which the fingertip is inserted. The first expandable member 341 is provided on the cylindrical body 311, straddling the slit 313 along the circumferential direction centered on the central axis of the cylindrical body 311. With this configuration, by positioning the first expandable member 341 on the cylindrical body 311, straddling the slit 313, the widening of the slit 313 can be suppressed. In other words, by restricting the widening of the slit 313, the first expandable member 341 can make it easier to bring the inner surface of the cylindrical body 311 into close contact with the fingertip. Therefore, the wearing comfort of the first sensory presentation device 3 can be improved.

[0067] In the second sensory presentation device 4, the attachment member 41 has a cylindrical body 411 into which a finger, which is the attachment site, can be inserted, and a slit 413 provided in the cylindrical body 411 along the +D4 direction, which is the direction in which the finger is inserted. The expandable member 44 is provided in the cylindrical body 411, straddling the slit 413 along the circumferential direction centered on the central axis of the cylindrical body 411. With this configuration, the same effects as the first sensory presentation device 3 can be achieved.

[0068] The attachment site for the first sensory presentation device 3 is the finger, and more specifically, the attachment site for the first sensory presentation device 3 is the fingertip. The pressure sensation presentation unit 33 included in the sensory presentation unit has a first pressure sensation presentation unit 331 and a second pressure sensation presentation unit 332 provided on the pad side of the finger. The first pressure sensation presentation unit 331 corresponds to the first sensory presentation unit, and the second pressure sensation presentation unit 332 corresponds to the second sensory presentation unit. The first pressure sensation presentation unit 331 and the second pressure sensation presentation unit 332 are aligned along the +D3 direction which intersects the +D1 direction, which is the direction in which the finger is inserted into the cylindrical body 311, and are spaced apart from each other. With this configuration, the first pressure sensation presentation unit 331 and the second pressure sensation presentation unit 332 can present pressure sensation over a wide area of ​​the fingertip. Furthermore, since the first pressure-sensing display unit 331 and the second pressure-sensing display unit 332 are spaced apart from each other along the +D3 direction, it is possible to easily expose a part of the finger between the first pressure-sensing display unit 331 and the second pressure-sensing display unit 332.

[0069] The first sensory presentation device 3 includes a second expandable member 342. The second expandable member 342 is made of an expandable material and connects the first pressure-sensing presentation unit 331 and the second pressure-sensing presentation unit 332, causing the cylindrical body 311 of the attachment member 31 to contract. The first expandable member 341 and the second expandable member 342 are positioned offset from each other in the +D1 direction, which is the direction of finger insertion. With this configuration, the cylindrical body 311 is contracted by the second expandable member 342, which further enhances the wearing comfort of the attachment member 31 and, consequently, the first sensory presentation device 3. In this case, since the first expandable member 341 and the second expandable member 342 are offset from each other in the +D1 direction, the cylindrical body 311 and, consequently, the first sensory presentation device 3 can be stably attached to the finger in the +D1 direction.

[0070] In the third sensory presentation device 5, the attachment member 51 has a palmar gripping piece 511, a back-of-hand gripping piece 512, a connecting part 513, and a locking part 514. The palmar gripping piece 511 corresponds to the first gripping piece. The back-of-hand gripping piece 512 corresponds to the second gripping piece. The back-of-hand gripping piece 512 is positioned opposite the palmar gripping piece 511 and, together with the palmar gripping piece 511, grips the hand, which is the attachment site. The connecting part 513 is provided on one end of the palmar gripping piece 511 and the back-of-hand gripping piece 512, respectively. The connecting part 513 connects the palmar gripping piece 511 and the back-of-hand gripping piece 512 so that they can move in a direction that separates one of the palmar gripping piece 511 from the other. The locking portion 514 is provided on the other end of the palmar gripping piece 511 and the back-of-hand gripping piece 512, respectively. The locking portion 514 detachably locks the palmar gripping piece 511 and the back-of-hand gripping piece 512. The expandable / contractible member 54 corresponds to the first expandable / contractible member in the third sensory presentation device 5. The expandable / contractible member 54 brings the palmar gripping piece 511, which is the first gripping piece, and the back-of-hand gripping piece 512, which is the second gripping piece, closer together.

[0071] With this configuration, by releasing the locking portion 514 between the palmar clamping piece 511 and the back-of-hand clamping piece 512, the gap between the palmar clamping piece 511 and the back-of-hand clamping piece 512, which are connected by the connecting portion 513, can be widened. This makes it easier to attach the attachment member 51 to the hand. Furthermore, after attaching the attachment member 51 to the hand, the attachment state of the attachment member 51 to the hand can be maintained by locking the palmar clamping piece 511 and the back-of-hand clamping piece 512 with the locking portion 514. Therefore, the wearability of the third sensory presentation device 5 can be improved.

[0072] In the third sensory presentation device 5, the locking portion 514 has an insertion portion 5142 and a plurality of grooves 5144. The plurality of grooves 5144 are provided on the back-side clamping piece 512, which is the other clamping piece of the palm-side clamping piece 511 and the back-side clamping piece 512. The plurality of grooves 5144 are arranged in the +D8 direction, where the palm-side clamping piece 511 and the back-side clamping piece 512 face each other. The insertion portion 5142 is provided on the palm-side clamping piece 511, which is one of the clamping pieces of the palm-side clamping piece 511 and the back-side clamping piece 512. The insertion portion 5142 is inserted into one of the plurality of grooves 5144 to lock the palm-side clamping piece 511 and the back-side clamping piece 512. With this configuration, when attaching the attachment member 51, the distance between the palmar gripping piece 511 and the back-of-hand gripping piece 512 can be adjusted by selecting the groove 5144 into which the insertion piece 5142 is inserted from among the multiple grooves 5144. This makes it easier to make the attachment member 51 fit snugly against the hand by selecting the groove 5144 into which the insertion piece 5142 is inserted according to the thickness or diameter of the hand where the attachment is made. Therefore, the feeling of wearing the third sensory presentation device 5 on the hand can be further enhanced.

[0073] In the third sensory presentation device 5, the vibration generating unit 52, which is one of the sensory presentation units, includes a first vibration generating unit 521 provided on the palmar gripping piece 511 and a second vibration generating unit 522 provided on the dorsal gripping piece 512. The pressure sensation presentation unit 53, which is one of the sensory presentation units, includes a first pressure sensation presentation unit 531 provided on the palmar gripping piece 511 and a second pressure sensation presentation unit 532 provided on the dorsal gripping piece 512. The first vibration generating unit 521 and the first pressure sensation presentation unit 531 correspond to the first sensory presentation unit, and the second vibration generating unit 522 and the second pressure sensation presentation unit 532 correspond to the second sensory presentation unit. With this configuration, the first vibration generating unit 521 and the second vibration generating unit 522 can present vibration sensation to opposite sides of the hand, and the first pressure sensation presentation unit 531 and the second pressure sensation presentation unit 532 can present pressure sensation to opposite sides of the hand. Therefore, the versatility of the third sensory presentation device 5 can be increased.

[0074] In the third sensory presentation device 5, the pressure sensation presentation unit 53, which presents pressure sensation to the hand where the device is attached, is included in the sensory presentation unit. Of the pressure sensation presentation unit 53, the first pressure sensation presentation unit 531 has a base 5311 having an inlet chamber 5314 into which fluid can flow, an elastic sheet 5317 that closes the inlet chamber 5314, and a frame 5315 that holds the elastic sheet 5317 together with the base 5311. The elastic sheet 5317 is equivalent to an elastic body. The second pressure sensation presentation unit 532 is similar. With this configuration, the elastic sheet 5317 can be elastically deformed by introducing fluid into the inlet chamber 5314 of the base 5311. By bringing the elastically deformed elastic sheet 5317 into contact with the hand, pressure sensation can be presented to the hand. In this case, since the elastic sheet 5317 is elastically deformed by the fluid supplied to the base 5311, the first pressure sensation presentation unit 531 can be made smaller and lighter compared to a configuration in which the attachment site is pressed by an actuator. Therefore, the wearability of the third sensory presentation device 5 can be improved. Furthermore, the same effect can be achieved by a second pressure sensation presentation unit 532 having the same configuration as the first pressure sensation presentation unit 531.

[0075] The first sensory presentation device 3 includes a pump PN that supplies fluid to the inlet chamber 3314 of the first pressure sensation presentation unit 331 and the inlet chamber 3324 of the second pressure sensation presentation unit 332. The third sensory presentation device 5 includes a pump PN that supplies fluid to the inlet chamber 5314 of the first pressure sensation presentation unit 531 and the inlet chamber of the second pressure sensation presentation unit 532. With this configuration, in the first sensory presentation device 3, the elastic sheets 3317 and 3327 of each pressure sensation presentation unit 331 and 332 can be made elastically deformed by supplying fluid to the inlet chamber 5314 by the pump PN of the first adjustment device 551. Similarly, by supplying fluid to the inflow chamber with the pump PN of the second adjustment device 552, the elastic sheet of the second pressure sensation presentation unit 532 can be made more elastically deformed. When such a pump PN is located away from the mounting members 31 and 51, the weight of the components mounted on the mounting members 31 and 51 can be reduced compared to when the pump PN is provided on the mounting members 31 and 51, and consequently, the weight of each sensory presentation device 3 and 5 can be reduced.

[0076] The first sensory presentation device 3 includes a valve VL for adjusting the amount of fluid supplied from the pump PN to the pressure sensation presentation units 331 and 332. The first adjustment device 551 of the third sensory presentation device 5 includes a valve VL for adjusting the amount of fluid supplied from the pump PN to the first pressure sensation presentation unit 531, and the second adjustment device 552 includes a valve VL for adjusting the amount of fluid supplied from the pump PN to the second pressure sensation presentation unit 532. With this configuration, in the first sensory presentation device 3, the amount of deformation of the elastic sheets 3317 and 3327 can be adjusted by the valve VL, and consequently, the pressing force applied to the fingertips by the elastic sheets 3317 and 3327 can be easily adjusted. Similarly, in the third sensory presentation device 5, the amount of deformation of the elastic sheet 5317 of the first pressure sensation presentation unit 531 can be adjusted by the valve VL of the first adjustment device 551, and the amount of deformation of the elastic sheet of the second pressure sensation presentation unit 532 can be adjusted by the valve VL of the second adjustment device 552. This makes it easier to adjust the pressure applied to the palm and back of the hand. Therefore, the versatility of each sensory presentation device 3 and 5 can be increased.

[0077] Each sensory presentation device 3 to 5 is provided on the attachment members 31, 41, and 51 and has vibration generating units 32, 42, and 52 that present vibration sensation to the attachment site. The vibration generating units 32, 42, and 52 are included in the sensory presentation unit. With this configuration, vibration sensation can be presented to the user by the vibration generating units 32, 42, and 52. Therefore, the versatility of the sensory presentation devices 3 to 5 can be increased.

[0078] The sensory presentation system 1 comprises a first sensory presentation device 3 and a third sensory presentation device 5, and a control device 6 that controls the pump PN and valve VL of each sensory presentation device 3 and 5. With this configuration, it is possible to achieve the same effects as the sensory presentation devices described above, and by controlling the pump PN and valve VL with the control device 6, the pressing pattern of the pressure presentation unit on the attachment site can be varied in various ways.

[0079] [Modifications of Embodiments] The present invention is not limited to the above embodiments, and modifications and improvements that can achieve the objectives of the present invention are included in the present invention. In the above embodiments, the adjustment device 35 is provided with one pump PN and one valve VL for two pressure sensing units 331 and 332. The first adjustment device 551 is provided with one pump PN and one valve VL for the first pressure sensing unit 531. However, it is not limited to this. The number of pump PNs and the number of valve VLs can be changed as appropriate.

[0080] Figure 16 is a block diagram showing the configuration of the first control device 551A, which is a variation of the first control device 551. For example, the first control device 551A shown in Figure 16 may be used in place of the first control device 551. The first control device 551A has a plurality of pumps PN, one valve VL, and flow pipes DP3 and DP4. In the example of Figure 16, the first control device 551A has three pumps PN. Flow pipe DP4 connects the plurality of pumps PN and valve VL so that fluid can flow through them. Therefore, the fluid sent from the plurality of pumps PN flows to valve VL via flow pipe DP4. The fluid that has flowed through valve VL can flow to the first pressure sensing display unit 531 via flow pipe DP3.

[0081] With this first adjustment device 551A, the fluids sent from multiple pumps PN flow through the inlet chamber 5314 of the first pressure sensor 531, so the flow rate of the fluid flowing through the first pressure sensor 531 can be increased, and the elastic sheet 5317 of the first pressure sensor 531 can be rapidly expanded. Alternatively, small pumps can be used for each of the multiple pumps PN employed in the first adjustment device 551A. Therefore, the first adjustment device 551A can be miniaturized. This configuration of the first adjustment device 551A is also applicable to the adjustment device 35 and the second adjustment device 552.

[0082] Figure 17 is a block diagram showing the configuration of the first control device 551B, which is a variation of the first control device 551. For example, the first control device 551B shown in Figure 17 may be used in place of the first control device 551. The first control device 551B includes one pump PN, two valves VL1 and VL2, and flow pipes DP1 and DP5. Flow pipe DP5 connects the two valves VL1 and VL2 to the first pressure sensing indicator 531. More specifically, in addition to connecting valve VL1 to the first pressure sensing indicator 531, flow pipe DP5 branches off from between valve VL1 and the first pressure sensing indicator 531 and connects to valve VL2.

[0083] Of the two valves VL1 and VL2, valve VL1, which is connected to pump PN via flow pipe DP1, is a discharge valve that allows the fluid discharged from pump PN to flow to the first pressure sensing indicator 531 via flow pipe DP5. Of the two valves VL1 and VL2, valve VL2, which is connected to the first pressure sensing indicator 531 via flow pipe DP5, is a discharge valve that discharges the fluid discharged from the first pressure sensing indicator 531.

[0084] In such a first adjustment device 551B, when the fluid delivered from the pump PN is to flow to the first pressure sensing indicator 531, the discharge valve VL1 is set to the OPEN state and the discharge valve VL2 is set to the CLOSE state. This allows the fluid flowing from the discharge valve VL1 to the first pressure sensing indicator 531 to flow to the first pressure sensing indicator 531 without being discharged from the discharge valve VL2.

[0085] On the other hand, when discharging fluid from the first pressure sensor 531, the discharge valve VL1 is set to the CLOSE state and the discharge valve VL2 is set to the OPEN state. In this configuration, when discharging fluid from the first pressure sensor 531 without the discharge valve VL2, even if the discharge valve VL1 is set to the OPEN state, the flow resistance of the pump PN is large, making it difficult to quickly discharge the fluid discharged from the first pressure sensor 531 from the pump PN. In contrast, by setting the discharge valve VL2 to the OPEN state and discharging the fluid discharged from the first pressure sensor 531 to the outside through valve VL2, the fluid can be quickly discharged. At this time, by setting not only the discharge valve VL2 but also the discharge valve VL1 to the OPEN state and further stopping the pump PN, the fluid can be discharged from the first pressure sensor 531 even more quickly. This configuration of the first adjustment device 551B is also applicable to the adjustment device 35 and the second adjustment device 552.

[0086] In the above embodiment, the sensory presentation system 1 is said to include a first sensory presentation device 3, a second sensory presentation device 4, and a third sensory presentation device 5. However, it is not limited to this, and the sensory presentation system 1 may include at least one of the sensory presentation devices 3 to 5, or it may include multiple sensory presentation devices of at least one of the sensory presentation devices 3 and 4. Furthermore, the sensory presentation system 1 is said to include a motion detection device 2, an image display device 7, and an audio output device 8. However, it is not limited to this, and the sensory presentation system 1 may not include at least one of the motion detection device 2, the image display device 7, and the audio output device 8.

[0087] Furthermore, the mounting site for the first sensory presentation device 3 was defined as the fingertip of one finger on the hand, the mounting site for the second sensory presentation device 4 was defined as the base of one finger on the hand, and the mounting site for the third sensory presentation device 5 was defined as the palm and back of the hand. However, the mounting sites for each sensory presentation device 3 to 5 are not limited to the above. For example, the mounting sites for the first sensory presentation device 3 and the second sensory presentation device 4 may be the toes, arms, or legs. The mounting site for the third sensory presentation device 5 may be the soles and tops of the feet, arms, or legs. Note that the arms include the upper arms and forearms, and the legs include the thighs, lower legs, and calves. In other words, each sensory presentation device 3 to 5 can be attached to any part of the user's body. Moreover, each sensory presentation device 3 to 5 is not limited to being attached to one hand; each sensory presentation device 3 to 5 may be attached to different parts of the body. For example, the first sensory presentation device 3 and the second sensory presentation device 4 may be attached to different fingers, and the third sensory presentation device 5 may be attached to a different hand or a different body part than the hand to which the sensory presentation devices 3 and 4 are attached. In other words, the sensory presentation system of the present invention only needs to include at least one sensory presentation device attached to a part of the body, and the number of sensory presentation devices included in the sensory presentation system and the attachment sites can be changed as appropriate.

[0088] In the above embodiments, the first sensory presentation device 3 and the second sensory presentation device 4 are positioned on the outside of the mounting members 31 and 41. However, the invention is not limited to this, and the expandable member 34 may be provided inside the cylindrical body 311 of the mounting member 31, along the inner circumferential surface of the cylindrical body 311, and the expandable member 44 may be provided inside the cylindrical body 411 of the mounting member 41, along the inner circumferential surface of the cylindrical body 411. In the third sensory presentation device 5, the expandable member 54 is positioned inside the cylindrical body 51A of the mounting member 51. However, the invention is not limited to this, and the expandable member 54 may be provided outside the cylindrical body 51A, along the outer circumferential surface of the cylindrical body 51A, so as to straddle the locking portion 514.

[0089] In the above embodiment, the mounting members 31 and 41 are assumed to have cylindrical bodies 311 and 411 and slits 313 and 413 provided in the cylindrical bodies 311 and 411. However, the embodiment is not limited to this, and depending on the material of the cylindrical bodies 311 and 411, for example, the slits 313 and 413 may not be necessary.

[0090] In the above embodiment, the first sensory presentation device 3 is provided with a first pressure sensation presentation unit 331 and a second pressure sensation presentation unit 332 arranged side by side in the +D3 direction. However, the device is not limited to this, and the first sensory presentation device 3 may also provide one pressure sensation presentation unit provided according to the center of the fingertip instead of the first pressure sensation presentation unit 331 and the second pressure sensation presentation unit 332, or it may provide three or more pressure sensation presentation units. Furthermore, the first pressure sensation presentation unit 331 and the second pressure sensation presentation unit 332 may be arranged side by side in the +D1 direction, or they may be arranged adjacent to each other.

[0091] In the above embodiment, the first sensory presentation device 3 is provided with a first expandable member 341 and a second expandable member 342. However, it is not limited to this, and the first sensory presentation device 3 may be provided with only one of the first expandable member 341 and the second expandable member 342. The second sensory presentation device 4 is provided with an expandable member 44. However, it is not limited to this, and the second sensory presentation device 4 may be provided with multiple expandable members.

[0092] In the above embodiment, the mounting member 51 of the third sensory presentation device 5 comprises a palmar clamping piece 511 as a first clamping piece, a back-of-the-hand clamping piece 512 as a second clamping piece, a connecting portion 513, and a locking portion 514. However, the mounting member 51 is not limited to this, and may be made of an expandable material and include a cylindrical body 51A without a locking portion 514.

[0093] In the above embodiment, the palmar gripping piece 511 has an insertion portion 5142, and the back-of-hand gripping piece 512 has a plurality of grooves 5144. However, the embodiment is not limited to this, and the palmar gripping piece 511 may have a plurality of grooves 5144, and the back-of-hand gripping piece 512 may have an insertion portion 5142. Furthermore, the locking portion 514, which can adjust the spacing between each gripping piece 511, 512, is not limited to the above and may have other configurations.

[0094] In the above embodiment, the pressure sensation presentation unit 53 of the third sensory presentation device 5 includes a first pressure sensation presentation unit 531 provided on the palmar gripping piece 511 and a second pressure sensation presentation unit 532 provided on the dorsal gripping piece 512. However, the third sensory presentation device 5 is not limited to this, and may include only one of the first pressure sensation presentation unit 531 and the second pressure sensation presentation unit 532, and the number of first pressure sensation presentation units 531 provided on the palmar gripping piece 511 and the number of second pressure sensation presentation units 532 provided on the dorsal gripping piece 512 can be changed as appropriate.

[0095] In the above embodiment, each pressure-sensing display unit 331, 332 of the pressure-sensing display unit 33 and each pressure-sensing display unit 531, 532 of the pressure-sensing display unit 53 expands an elastic sheet, which is an elastic body, in response to the pressure in the inlet chamber through which fluid can flow, and presses the attachment site with the expanded elastic sheet. However, the configuration of the pressure-sensing display unit is not limited to this, as long as it is capable of providing pressure sensation to the attachment site.

[0096] In the above embodiment, the sensory presentation units were described as vibration generating units 32, 42, and 52, and pressure sensation presentation units 33 and 53. However, the sensory presentation units are not limited to these, and may also include thermal sensation presentation units 37 and 57 that present thermal sensations to the attachment site. In addition, other sensory presentation units that present other sensations to the attachment site may also be used.

[0097] [Summary of the present invention] The following is a summary of the present invention. [1] A sensory presentation device comprising: an attachment member that is attached to an attachment site which is a part of the body; a sensory presentation unit provided on the attachment member that presents a predetermined sensation to the attachment site; and a first stretchable member provided on the attachment member that is made of a stretchable material and causes the attachment member to contract, bringing the attachment member into contact with the attachment site.

[0098] With this configuration, the first expandable member contracts the attachment member attached to the attachment site, thereby making the attachment member adhere closely to the attachment site. This makes it easier to maintain contact between the attachment member and the attachment site. As a result, it becomes easier to transmit the sensations presented by the sensory presentation unit to the attachment site. Furthermore, since the first expandable member is stretchable, when it is necessary to spread the attachment member when attaching it to the attachment site, the expansion of the attachment member is not restricted by the first expandable member. Therefore, the feeling of attachment of the sensory presentation device to the attachment site can be enhanced, and it becomes easier to present the predetermined sensations to the user.

[0099] [2] The sensory presentation device described in [1], wherein the attachment member has a first contact portion and a second contact portion that sandwich the attachment portion in a first direction and contact the attachment portion, and the first expandable member contracts the attachment member in a direction in which the first contact portion and the second contact portion are closer to each other. With such a configuration, the first expandable member contracts the attachment member in a direction in which the first contact portion and the second contact portion that contact the attachment portion are closer to each other, so the adhesion between the attachment portion and the attachment member can be further enhanced. Therefore, the feeling of wearing the sensory presentation device can be enhanced.

[0100] A sensory presentation device according to [3], [1], or [2], wherein the attachment member comprises a cylindrical body into which the attachment portion can be inserted, and a slit provided in the cylindrical body along the insertion direction of the attachment portion, and the first expandable member is provided in the cylindrical body straddling the slit along the circumferential direction centered on the central axis of the cylindrical body. With such a configuration, the expansion of the slit can be suppressed by positioning the first expandable member across the slit in the cylindrical body. In other words, by restricting the expansion of the slit, the inner surface of the cylindrical body can be made to adhere more closely to the attachment portion. Therefore, the feeling of wearing the sensory presentation device can be improved.

[0101] A sensory presentation device as described in [4] and [3], wherein the attachment site is a finger, the sensory presentation unit has a first sensory presentation unit and a second sensory presentation unit provided on the palm side of the finger, and the first sensory presentation unit and the second sensory presentation unit are arranged in a direction intersecting the direction of insertion of the finger into the cylindrical body and spaced apart from each other. With such a configuration, the first sensory presentation unit and the second sensory presentation unit can present the above sensation to a wide area of ​​the finger, which is the attachment site. Furthermore, because the first sensory presentation unit and the second sensory presentation unit are spaced apart from each other in the intersecting direction, it is possible to easily expose a part of the finger between the first sensory presentation unit and the second sensory presentation unit.

[0102] A sensory presentation device as described in [5] and [4], comprising a second expandable member made of an expandable material that connects the first sensory presentation part and the second sensory presentation part and contracts the attachment member, wherein the first expandable member and the second expandable member are positioned offset from each other in the direction of finger insertion. With such a configuration, the attachment member is contracted by the second expandable member, so the feeling of wearing the attachment member, and by extension the sensory presentation device, can be further enhanced. In this case, since the first expandable member and the second expandable member are offset from each other in the direction of finger insertion into the cylindrical body, the cylindrical body, and by extension the sensory presentation device, can be stably attached to the finger in that insertion direction.

[0103] A sensory presentation device according to [6], [1], or [2], wherein the attachment member comprises: a first clamping piece; a second clamping piece positioned opposite the first clamping piece and clamping the attachment area together with the first clamping piece; a connecting portion provided on one end of each of the first and second clamping pieces, which connects the first and second clamping pieces so as to be movable in a direction that separates one of the first and second clamping pieces from the other; and a locking portion provided on the other end of each of the first and second clamping pieces, which locks the first and second clamping pieces so as to be detachably locked together, wherein the first expandable member brings the first and second clamping pieces closer together. With such a configuration, the gap between the first and second clamping pieces connected by the connecting portion can be widened by releasing the locking between the first and second clamping pieces by the locking portion. This makes it easier to attach the attachment member to the attachment site. Furthermore, after attaching the attachment member to the attachment site, the attachment state of the attachment member to the attachment site can be maintained by locking the first clamping piece and the second clamping piece with the locking part. Therefore, the ease of attachment of the sensory presentation device can be improved.

[0104] The sensory presentation device described in [7] and [6], wherein the locking portion has an insertion portion provided in one of the first clamping piece and the second clamping piece, and a plurality of grooves provided in the other of the first clamping piece and the second clamping piece, the plurality of grooves being arranged in a direction in which the first clamping piece and the second clamping piece face each other, and the insertion portion being inserted into one of the plurality of grooves to lock the first clamping piece and the second clamping piece, characterized in that the sensory presentation device. With such a configuration, when attaching the attachment member, the distance between the first clamping piece and the second clamping piece can be adjusted by selecting the groove into which the insertion portion is inserted from the plurality of grooves. As a result, by selecting the groove into which the insertion portion is inserted according to the thickness or diameter of the attachment area, it is possible to make the attachment member adhere closely to the attachment area. Accordingly, the feeling of the sensory presentation device being attached to the attachment area can be further enhanced.

[0105] A sensory presentation device according to [8], [6], or [7], wherein the sensory presentation unit comprises a first sensory presentation unit provided on the first clamping piece and a second sensory presentation unit provided on the second clamping piece. With such a configuration, the first sensory presentation unit and the second sensory presentation unit can present the above sensation to opposite sides of the attachment site. Therefore, the versatility of the sensory presentation device can be increased.

[0106] A sensory presentation device according to any one of [9], [1] to [8], wherein the sensory presentation unit includes a pressure sensation presentation unit that presents pressure sensation to the attachment site, and the pressure sensation presentation unit comprises a base having an inlet chamber into which fluid can flow, an elastic body that closes the inlet chamber, and a frame that clamps the elastic body together with the base. With such a configuration, the elastic body can be elastically deformed by introducing fluid into the inlet chamber of the base. By bringing the elastically deformed elastic body into contact with the attachment site, pressure sensation can be presented to the attachment site. In this case, since the elastic body that contacts the attachment site is elastically deformed by the fluid supplied to the base, the pressure sensation presentation unit can be made smaller and lighter compared to a configuration in which the attachment site is pressed by an actuator. Therefore, the wearability of the sensory presentation device can be improved.

[0107] A sensory presentation device according to

[10] and [9], characterized in that it is provided with a pump that supplies the fluid to the inflow chamber. With such a configuration, the elastic body can be made elastically deformed by supplying the fluid to the inflow chamber with the pump. When such a pump is located away from the mounting member, the weight of the configuration attached to the mounting part can be reduced compared to when the pump is provided on the mounting member.

[0108] A sensory presentation device as described in

[11] and

[10] , characterized in that it is provided with a valve for adjusting the amount of fluid supplied from the pump to the pressure presentation unit. With such a configuration, the amount of deformation of the elastic body can be adjusted by the valve, and consequently, the pressing force applied by the elastic body to the attachment site can be easily adjusted. Therefore, the versatility of the sensory presentation device can be increased.

[0109] A sensory presentation device according to any one of [1] to

[11] , wherein the sensory presentation unit includes a vibration generating unit provided on the attachment member for presenting vibration sensation to the attachment site. With such a configuration, vibration sensation can be presented to the attachment site by the vibration generating unit. Therefore, the versatility of the sensory presentation device can be increased.

[0110] A sensory presentation system comprising the sensory presentation device described in

[13] and

[11] , and a control device for controlling the pump and the valve. With such a configuration, the same effects as the sensory presentation device described above can be achieved.

[0111] 1...Sensory presentation system, 2...Motion detection device, 3...First sensory presentation device (sensory presentation device), 31...Mounting member, 311...Cylindrical body, 312...Insertion port, 313...Slit, 32...Vibration generating part (sensory presentation part), 33...Pressure sensation presentation part (sensory presentation part), 331...First pressure sensation presentation part (first sensory presentation part), 3311...Base, 3312...Flow port, 3313...Annular protrusion, 3314...Inflow chamber, 3315...Frame, 3316...Opening, 3317...Elastic sheet (elastic body), 332...No 2. Pressure-sensing display unit (second sensory display unit), 3321...base, 3322...flow port, 3323...annular protrusion, 3324...inflow chamber, 3325...frame, 3326...opening, 3327...elastic sheet (elastic body), 34...expandable member, 341...first expandable member, 342...second expandable member, 35...adjustment device, 36...sensor, 37...cold / temperature-sensing display unit, 4...second sensory display device (sensory display device), 41...attachment member, 411...cylindrical body, 412...insertion port, 413...slit, 42...vibration generation Part, 44...Stretchable member (first stretchable member), 5...Third sensory presentation device, 51...Attachment member, 511...Palm-side clamping piece (first clamping piece), 512...Back-side clamping piece (second clamping piece), 513...Connecting part, 514...Locking part, 5142...Insertion part, 5144...Groove part, 51A...Cylindrical body, 51B...Insertion opening, 52...Vibration generating part (sensory presentation part), 521...First vibration generating part, 522...Second vibration generating part, 53...Pressure sensation presentation part (sensory presentation part), 531...First pressure sensation presentation part, 5311...Base, 531 4...Inlet chamber, 5315...Frame, 5316...Opening, 5317...Elastic sheet (elastic body), 532...Second pressure sensor, 54...Expandable member (first expandable member), 55...Adjustment device, 551...First adjustment device, 552...Second adjustment device, 56...Sensor, 561...First sensor, 562...Second sensor, 57...Cold / hot sensor sensor, 571...First cold / hot sensor sensor, 572...Second cold / hot sensor sensor, DP1, DP2, DP3, DP4, DP5...Flow pipe, PN...Pump, VL...Valve.

Claims

1. A sensory presentation device comprising: an attachment member that is attached to an attachment site which is a part of the body; a sensory presentation unit provided on the attachment member that presents a predetermined sensation to the attachment site; and a first stretchable member provided on the attachment member that is made of a stretchable material and contracts the attachment member to bring the attachment member into contact with the attachment site.

2. A sensory presentation device according to claim 1, wherein the attachment member has a first contact portion and a second contact portion that sandwich the attachment portion in a first direction and contact the attachment portion, and the first expandable member contracts the attachment member in a direction in which the first contact portion and the second contact portion are closer to each other.

3. A sensory presentation device according to claim 1, wherein the attachment member comprises a cylindrical body into which the attachment portion can be inserted, and a slit provided in the cylindrical body along the insertion direction of the attachment portion, and the first expandable member is provided in the cylindrical body along the circumferential direction with respect to the central axis of the cylindrical body and straddling the slit.

4. A sensory presentation device according to claim 3, wherein the attachment site is a finger, the sensory presentation part has a first sensory presentation part and a second sensory presentation part provided on the palpable side of the finger, and the first sensory presentation part and the second sensory presentation part are arranged in a direction intersecting the direction of insertion of the finger into the cylindrical body and spaced apart from each other.

5. A sensory presentation device according to claim 4, comprising a second expandable member made of an expandable material that connects the first sensory presentation unit and the second sensory presentation unit and contracts the attachment member, wherein the first expandable member and the second expandable member are positioned offset from each other in the direction of finger insertion.

6. A sensory presentation device according to claim 1, wherein the attachment member comprises: a first clamping piece; a second clamping piece disposed opposite to the first clamping piece and clamping the attachment area together with the first clamping piece; a connecting portion provided on one end of each of the first and second clamping pieces, which connects the first and second clamping pieces so as to be movable in a direction that separates one of the first and second clamping pieces from the other; and a locking portion provided on the other end of each of the first and second clamping pieces, which locks the first and second clamping pieces together so as to be detachable, and the first expandable member brings the first and second clamping pieces closer together.

7. A sensory presentation device according to claim 6, wherein the locking portion has an insertion portion provided on one of the first clamping piece and the second clamping piece, and a plurality of grooves provided on the other of the first clamping piece and the second clamping piece, the plurality of grooves being arranged in a direction in which the first clamping piece and the second clamping piece face each other, and the insertion portion being inserted into one of the plurality of grooves to lock the first clamping piece and the second clamping piece.

8. A sensory presentation device according to claim 6, wherein the sensory presentation unit comprises a first sensory presentation unit provided on the first clamping piece and a second sensory presentation unit provided on the second clamping piece.

9. A sensory presentation device according to any one of claims 1 to 6, wherein the sensory presentation unit includes a pressure sensation presentation unit that presents pressure sensation to the attachment site, and the pressure sensation presentation unit comprises a base having an inlet chamber into which fluid can flow, an elastic body that closes the inlet chamber, and a frame that clamps the elastic body together with the base.

10. A sensory presentation device according to claim 9, characterized in that it is provided with a pump for supplying the fluid to the inflow chamber.

11. A sensory presentation device according to claim 10, characterized in that it is provided with a valve for adjusting the amount of fluid supplied from the pump to the pressure presentation unit.

12. A sensory presentation device according to any one of claims 1 to 6, wherein the sensory presentation unit includes a vibration generating unit provided on the attachment member for presenting vibration sensation to the attachment site.

13. A sensory presentation system comprising: a sensory presentation device according to claim 11; and a control device for controlling the pump and the valve.

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