Tactile prompt device

Abstract

Provided is a tactile prompting device that reduces the transmission of vibration to a base. The tactile prompting device comprises: a vibrating body; an excitation object elastically connected to the vibrating body and excited according to the vibration of the vibrating body; and a base elastically connected to the excitation object, wherein the tactile prompting device prompts a biological body with a tactile sense based on the vibration of the excitation object, the base being configured separately from the vibrating body, and the resonance frequency of a first vibration system including the base and the excitation object being less than 2 / 3 times the resonance frequency of a second vibration system including the excitation object and the vibrating body.

Description

Technical Field

[0001] The invention relates to a tactile prompting device. Background Art

[0002] Conventionally, there is an electronic device in which a vibration element is mounted on a touch panel and the touch panel and a housing are fixed with a double-sided tape (see, for example, Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2014 / 207855 Summary of the invention

[0006] Technical problem to be solved by the invention

[0007] In conventional electronic devices, since the touch panel on which the vibration element is mounted and the housing are fixed by double-sided tape, the vibration of the vibration element is easily transmitted to the base portion such as the housing.

[0008] Therefore, an object is to provide a tactile feedback device that reduces the transmission of vibration to the base.

[0009] Means for solving technical problems

[0010] A tactile prompting device according to an embodiment of the present invention comprises: a vibrating body; an excitation object elastically connected to the vibrating body and excited according to the vibration of the vibrating body; and a base elastically connected to the excitation object, wherein the tactile prompting device prompts a tactile sensation based on the vibration of the excitation object to a biological body, the base being configured separately from the vibrating body, and a resonance frequency of a first vibration system including the base and the excitation object being less than 2 / 3 times a resonance frequency of a second vibration system including the excitation object and the vibrating body.

[0011] Effects of the Invention

[0012] A tactile prompting device can be provided in which the transmission of vibration to the base is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a perspective view showing the haptic feedback device 100 according to the embodiment.

[0014] Figure 2 yes Figure 1 A-A cross-sectional view.

[0015] Figure 3 is an exploded view of the tactile prompting device 100 .

[0016] Figure 4It is a diagram showing the base 110 and the gap sensor 120 .

[0017] Figure 5 It is a diagram showing the actuator 130 and the movable part 140 .

[0018] Figure 6 It is an exploded view showing the actuator 130 .

[0019] Figure 7 It is a diagram schematically showing the configuration of the haptic feedback device 100 .

[0020] Fig. 8A It is a diagram showing the relationship between the vibration frequency and acceleration of the object to be vibrated and the base.

[0021] Figure 8B It is a diagram showing the relationship between the vibration frequency and acceleration of the object to be vibrated and the base.

[0022] Fig. 9 This is a diagram showing the relationship between the vibration frequency and acceleration of the object to be excited when the mass of the vibrating body is changed.

[0023] Fig.10 This is a diagram showing the relationship between the vibration frequency and acceleration of the base when the mass of the vibrating body is changed.

[0024] Fig.11A It is a diagram showing the characteristics of the acceleration of the object to be vibrated and the base with respect to the vibration frequency.

[0025] Fig. 11B It is a diagram showing the characteristics of the acceleration of the object to be vibrated and the base with respect to the vibration frequency. DETAILED DESCRIPTION

[0026] Hereinafter, an embodiment of a haptic feedback device to which the present invention is applied will be described.

[0027] <Implementation Method>

[0028] Figure 1 It is a perspective view showing the haptic feedback device 100 according to the embodiment. Figure 2 yes Figure 1 A-A cross-sectional view. Figure 3 is an exploded view of the tactile prompting device 100 .

[0029] In the following, for convenience of explanation, the top view is referred to as XY plane observation, the negative Z-axis side is referred to as the lower side or bottom, and the positive Z-axis side is referred to as the upper side or top, but this does not mean a general up-down relationship.

[0030] The tactile prompting device 100 includes a base 110 , a gap sensor 120 , an actuator 130 , a movable portion 140 , an electrostatic sensor 150 , an operation panel 160 , a frame 170 , and screws 175 .

[0031] In addition, the following Figures 1 to 3 Based on this, we also use Figures 4 to 6 Provide explanation. Figure 4 It is a diagram showing the base 110 and the gap sensor 120 . Figure 5 It is a diagram showing the actuator 130 and the movable part 140 . Figure 6 It is an exploded view showing the actuator 130 .

[0032] The tactile feedback device 100 further includes rubber members 180S, 180L, and 180U (see Figure 4 as well as Figure 5 ).

[0033] Here, the base 110 and the frame 170 are examples of a base of an object that is attached to the outside as a base of the tactile feedback device 100. The magnet 134 and the holder 135 of the actuator 130 (see Figure 6 ) is an example of a vibrating body. The parts of the actuator 130 other than the magnet 134 and the holder 135 (the top yoke 131, the bottom yoke 132, the drive coil 133, the spring 136, the screw 137 and the washer 137A (see Figure 6 )), the movable part 140, the electrostatic sensor 150 and the operation panel 160 are examples of the excitation objects.

[0034] A vibration system including a base and an object to be excited is referred to as a first vibration system. A vibration system consisting of an example of a base (base 110 and frame 170), an example of an object to be excited (top yoke 131, bottom yoke 132, drive coil 133, spring 136, screw 137, washer 137A, movable part 140, electrostatic sensor 150 and operation panel 160 of actuator 130), and an example of an elastic body elastically connecting the base and the object to be excited (rubber parts 180S, 180L, 180U) is an example of a first vibration system.

[0035] In addition, a vibration system including a vibrating body and an excitation object is referred to as a second vibration system. A vibration system consisting of an example of a vibrating body (magnet 134 and holder 135 of actuator 130) and an example of an excitation object (top yoke 131, bottom yoke 132, drive coil 133, spring 136, screw 137, washer 137A, movable part 140, electrostatic sensor 150 and operation panel 160 of actuator 130) is an example of a second vibration system. In other words, an example of a second vibration system is actuator 130, movable part 140, electrostatic sensor 150 and operation panel 160.

[0036] The base 110 is made of resin as an example. The base 110 is a rectangular member in a plan view, and has a housing portion 110A that is recessed from the upper side to the lower side. The base 110 has a bottom plate 111 , a side wall 112 , a guide 113 , a step portion 114 , and a protrusion 115 .

[0037] The storage section 110A is a substantially rectangular parallelepiped space surrounded by the bottom plate 111 and the side wall 112 of the base 110. The storage section 110A stores the gap sensor 120, the actuator 130, and a portion of the lower side of the movable section 140. Among them, the gap sensor 120 is provided on the upper surface of the bottom plate 111.

[0038] The bottom plate 111 is a rectangular plate-shaped portion in a plan view, and has an opening 111A provided in the center, openings 111B provided at both ends in the X direction, and openings 111C provided at both ends in the Y direction. The lower end of the actuator 130 is inserted into the opening 111A. The actuator 130 does not contact the bottom plate 111, and a gap is formed therebetween.

[0039] The lower end of the guide 145 of the movable part 140 is inserted into the opening 111B. In the opening 111B, the guide 145 is not in contact with the bottom plate 111, and a gap is formed therebetween.

[0040] The side wall 112 is a wall portion that rises upward from the four sides of the bottom plate 111 and is rectangular in shape when viewed from above. A guide 113 is provided on the inner side of the side wall 112 extending in the Y direction on the ±X direction side. In addition, a step portion 114 is provided at the boundary between the inner side of the side wall 112 and the bottom plate 111, and the upper surface of the step portion 114 is located above the bottom plate 111, and the upper surface is located below the upper surface 112A of the side wall 112. In addition, a protrusion 115 that protrudes upward from the upper surface 112A is provided on the upper surface 112A of the side wall 112.

[0041] When the tactile feedback device 100 is assembled, the guide 113 is inserted into the groove 145A of the guide 145 of the movable part 140, and the lower end of the guide 145 is inserted into the opening 111B. The guide 113 is provided for aligning the base 110 and the movable part 140. When the tactile feedback device 100 is assembled, the guide 113 of the base 110 and the guide 145 of the movable part 140 do not abut against each other, and a gap is formed therebetween.

[0042] The step portion 114 is formed in a rectangular ring shape in a plan view at the boundary between the bottom plate 111 and the side wall 112 in the storage portion 110A. A rubber member 180L is provided on the upper surface of the step portion 114 (see Figure 4 as well as Figure 5 ). The rubber member 180L is a small rectangular member made of rubber (rubber, gom), and is a block of elastic rubber. In addition, the rubber member 180L is not limited to being composed of a rubber block, and may be composed of, for example, a spring. However, since it is not preferable that the rubber member 180L generates sound, it is preferable to be composed of rubber rather than a structure including a metal spring or the like.

[0043] exist Figure 4 as well as Figure 5 As an example, eight rubber members 180L are shown. Two rubber members 180L are provided in the area corresponding to each side of the rectangular ring-shaped step portion 114. Figure 3 In the embodiment, the rubber member 180L is omitted.

[0044] The rubber member 180L is provided between the upper surface of the step portion 114 and the lower surface of the movable portion 140 in an elastically deformed state when the haptic feedback device 100 is assembled, and elastically supports the movable portion 140 on the base 110 .

[0045] In addition, a rubber member 180U (see Figure 4 as well as Figure 5 ). The rubber component 180U is a small rectangular component made of rubber (rubber, gom), and is a block of elastic rubber. The rubber component 180U is not limited to being composed of a rubber block, and may be composed of, for example, a spring. However, since it is not preferable that the rubber component 180U generates sound, it is preferable to be composed of rubber rather than a structure including a metal spring or the like. Figure 4 2 shows the positions of the eight rubber members 180U in a state where the haptic feedback device 100 is assembled.

[0046] The rubber member 180U is provided between the upper surface of the movable portion 140 and the offset surface 172 of the frame 170 in an elastically deformed state when the tactile feedback device 100 is assembled, and is elastically supported between the frame 170 and the movable portion 140. Figure 4 In the figure, since the frame 170 and the movable portion 140 are omitted, the rubber member 180U is shown in a suspended manner.

[0047] Protrusion 115 is a wall-like portion protruding upward from upper surface 112A of side wall 112 and is provided in a rectangular ring shape on upper surface 112A in plan view. Protrusion 115 is narrower than side wall 112 in plan view and is provided inside upper surface 112A (storage portion 110A side).

[0048] A rubber member 180S is provided on the inner surface of the protrusion 115 extending in the Y direction on the ±X direction side (see Figure 2 , Figure 4 as well as Figure 5 ). The rubber member 180S is a small rectangular member made of rubber (gom), and is a block of elastic rubber. The rubber member 180S is not limited to being made of a block of rubber, and may be made of, for example, a spring. However, since it is not preferable to generate sound from the rubber member 180S, it is preferable to be made of rubber rather than a metal spring. Figure 4 as well as Figure 5 In the embodiment, as an example, four rubber members 180S are provided on the inner surface of the protrusion 115 extending in the Y direction on the ±X direction side. Figure 3 In the embodiment, the rubber member 180S is omitted.

[0049] The rubber member 180S is provided in an elastically deformed state between the inner surface of the protrusion 115 extending in the Y direction on the ±X direction side and the side surface extending in the Y direction on the ±X direction side of the movable part 140 when the tactile feedback device 100 is assembled, and elastically supports the movable part 140 on the base 110. The rubber member 180S is provided in the gap between the base 110 and the movable part 140 in the X direction, and supports the movable part 140 so as to be vibrable in the ±X directions relative to the base 110.

[0050] The gap sensor 120 is an example of a detection unit that detects the pressing of the operation panel 160 in the -Z direction. The gap sensor 120 is a sensor that detects the gap with the lower surface of the movable part 140 in the Z direction. As an example, the gap sensor 120 is an optical type sensor with a built-in light source and a light receiving element, which receives the reflected light of the light irradiated to the lower surface of the movable part 140, and detects the displacement of the movable part 140 in the -Z direction based on the change in the position where the reflected light is imaged on the light receiving element. When the movable part 140 is displaced in the -Z direction, the electrostatic sensor 150 and the operation panel 160 are also displaced in the -Z direction. Therefore, by detecting the displacement of the lower surface of the movable part 140 in the -Z direction, it is possible to detect the pressing of the electrostatic sensor 150 and the operation panel 160 in the -Z direction. If the operation panel 160 is pressed in the -Z direction, the movable part 140 is displaced by several tens of μm in the -Z direction.

[0051] The detection unit that detects the pressing of the operation panel 160 in the −Z direction is not limited to the gap sensor 120 . The detection unit may be a non-contact position detection sensor such as an electrostatic sensor. The detection unit may be a pressure-sensitive sensor that detects the pressure applied to the upper surface of the operation panel 160 .

[0052] The actuator 130 is fixed to the lower surface side of the movable part 140 by screws 137. A recessed portion recessed upward is provided on the lower surface of the movable part 140, and the actuator 130 is mounted in the recessed portion. In addition, the movable part 140 may not have a recessed portion, and the actuator 130 may be mounted on the lower surface.

[0053] like Figure 6 As shown, the actuator 130 has a top yoke 131, a bottom yoke 132, a drive coil 133, a magnet 134, a retainer 135, a spring 136, a screw 137, and a washer 137A. Figure 5 In the embodiment, the top yoke 131 is located inside the recessed portion of the lower surface of the movable portion 140 and is hidden.

[0054] The top yoke 131 is a magnetic body and is a plate-shaped yoke attached to a recessed portion of the lower surface of the movable portion 140. The top yoke 131 has through holes 131A formed at both ends in the X direction for inserting screws 137 in the Z direction.

[0055] The bottom yoke 132 is a magnetic body, and is a "U"-shaped yoke when viewed from the XZ plane. The bottom yoke 132 is preferably the same magnetic body as the top yoke 131. Two drive coils 133 are fixed to a portion of the bottom plate 132A of the bottom yoke 132 in a state arranged along the X direction. A step portion 132B1 is provided on the inner surface of the side wall 132B of the bottom yoke 132 in such a way that the thickness in the X direction on the upper side becomes thinner. The upper ends of the side walls 132B of the bottom yoke 132 are fixed to the two end sides of the top yoke 131. As a result, the top yoke 131 and the bottom yoke 132 form a magnetic circuit that is closed in a ring shape when viewed from the XZ plane.

[0056] In addition, the bottom plate 132A of the bottom yoke 132 located at the bottom among the components of the actuator 130 is inserted into the inside of the opening 111A of the bottom plate 111 of the base 110 in the state where the tactile prompting device 100 is assembled. In this state, the bottom yoke 132 does not contact the base 110. Therefore, the actuator 130 is arranged separately from the base 110, in other words, the base 110 is arranged separately from the actuator 130. This is to form a structure in which the vibration is difficult to be transmitted to the base 110 when the actuator 130 is vibrated.

[0057] The drive coil 133 is a coil wound in the XY plane, and is fixed to the upper surface of the bottom plate 132A of the bottom yoke 132 by bonding or screwing. If a clockwise current flows through the drive coil 133 when viewed from above, a magnetic flux is generated that passes through the center of the drive coil 133 downward. On the other hand, if a counterclockwise current flows through the drive coil 133 when viewed from above, a magnetic flux is generated that passes through the center of the drive coil 133 upward.

[0058] The magnet 134 is a multi-pole magnetization type permanent magnet having four poles (N pole 134A, S pole 134B, N pole 134C, S pole 134D) arranged from the -X direction side to the +X direction side. The boundary between the N pole 134A and the S pole 134B is offset toward the +X direction side compared to the X direction center of the drive coil 133 on the -X direction side. In addition, the boundary between the N pole 134C and the S pole 134D is offset toward the -X direction side compared to the X direction center of the drive coil 133 on the +X direction side.

[0059] The holder 135 is made of a non-magnetic body and is a member for holding the magnet 134. The holder 135 is fixed to the step portion 132B1 of the side wall 132B of the bottom yoke 132 by screwing or the like via the spring 136 while holding the magnet 134.

[0060] The spring 136 elastically holds the holder 135 on the bottom yoke 132 and is expandable and contractible in the X direction.

[0061] The screws 137 are provided to fix the top yoke 131 to the recessed portion on the lower surface of the movable portion 140 , and are screwed to the recessed portion on the lower surface of the movable portion 140 via washers 137A.

[0062] In such an actuator 130, when a clockwise current flows through the drive coil 133 in a plan view, a magnetic flux is generated that passes downward through the center of the drive coil 133. Therefore, the upper end side of the drive coil 133 becomes an S pole, and a magnetic attraction force is generated between the N pole 134A and the N pole 134C, and a force in the +X direction is applied to the magnet 134.

[0063] When a counterclockwise current flows through the drive coil 133 in a plan view, a magnetic flux is generated that passes through the center of the drive coil 133. Therefore, the upper end of the drive coil 133 becomes an N pole, and a magnetic attraction is generated between the S pole 134B and the S pole 134D, and a force in the -X direction is applied to the magnet 134.

[0064] By alternately passing a clockwise current and a counterclockwise current in a plan view through the drive coil 133, a force in the +X direction and a force in the -X direction can be alternately applied to the magnet 134. The magnet 134 is integrated with the holder 135 and attached to the bottom yoke 132 via a spring 136, which can be extended and retracted in the X direction.

[0065] Therefore, by alternately passing a clockwise current and a counterclockwise current through the driving coil 133 in a plan view, the magnet 134 and the holder 135 can be vibrated in the X direction relative to the top yoke 131 and the bottom yoke 132 .

[0066] The top yoke 131 of the actuator 130 is fixed to the lower surface side of the movable part 140 to excite the movable part 140. Since the electrostatic sensor 150 and the operation panel 160 are installed on the upper side of the movable part 140, the actuator 130 excites the excitation object composed of the movable part 140, the electrostatic sensor 150 and the operation panel 160.

[0067] The movable part 140 is made of resin, for example, and is a rectangular thin plate-shaped member in a plan view. The movable part 140 has the actuator 130 mounted on the lower surface, and the electrostatic sensor 150 and the operation panel 160 are sequentially stacked on the upper surface.

[0068] In addition, a rubber member 180S is provided in a compressed state between the two side surfaces in the X direction of the movable portion 140 and the inner surface of the protrusion 115 on the ±X direction side of the base 110. Therefore, when viewed from above, only the side surfaces on the ±X direction side of the movable portion 140 along the four sides are in contact with the base 110 via only the rubber member 180S.

[0069] In addition, rubber members 180L are provided between the end portions along the four sides of the lower surface of the movable portion 140 and the step portion 114 of the base 110. Therefore, the lower surface of the movable portion 140 is in contact with the base 110 only via the rubber members 180L.

[0070] In addition, rubber members 180U are provided between the ends along the four sides of the upper surface of the movable portion 140 and the offset surface 172 of the frame 170. Therefore, the upper surface of the movable portion 140 is in contact with the frame 170 only via the rubber members 180U.

[0071] The guide 113 is inserted into the groove 145A of the guide 145 of the movable part 140 for alignment with the base 110 , and the lower end of the guide 145 is inserted into the opening 110B of the base 110 , but the guide 145 and the guide 113 do not contact each other.

[0072] Therefore, the movable portion 140 is in contact with the base 110 and the frame 170 only through the rubber members 180S, 180L, and 180U. That is, the base 110 and the movable portion 140 are elastically connected.

[0073] The electrostatic sensor 150 is fixed to the upper surface of the movable part 140. The upper surface and side surfaces of the electrostatic sensor 150 are covered by the operation panel 160, and the operation panel 160 is fixed to the movable part 140 by screws or the like, whereby the electrostatic sensor 150 is fixed to the upper surface of the movable part 140.

[0074] The electrostatic sensor 150 is, for example, a touch panel, and detects the presence or absence of an operation on the operation panel 160 and the position of the operation based on changes in electrostatic capacitance. The operation body is, for example, a finger or hand of a living being, or an implement such as a stylus pen.

[0075] Operation panel 160 may be operated directly by an operating body on operation panel 160 or may be operated indirectly via a cover or the like when a cover or the like is further provided on operation panel 160 .

[0076] The operation panel 160 is a panel made of resin and has a rectangular shape in a plan view, and is provided to cover the upper surface and side surfaces of the electrostatic sensor 150. The electrostatic sensor 150 detects operation via the operation panel 160. Therefore, the operation panel 160 is made of non-metal, and is made of resin as an example.

[0077] The frame 170 is a rectangular ring-shaped frame component when viewed from above. Figure 2As shown, the cross section is L-shaped. The frame 170 has a lower surface 171 and an offset surface 172. The offset surface 172 is offset to the inside and the top of the lower surface 171. Both the lower surface 171 and the offset surface 172 are rectangular ring-shaped surfaces when viewed from the -Z direction side.

[0078] The frame 170 is mounted so as to surround the operation panel 160 separately from the operation panel 160, with the offset surface 172 being in contact with the upper surface 112A of the side wall 112 of the base 110 via a rubber member (not shown). The frame 170 is separated from the operation panel 160 and therefore does not contact the operation panel 160. In addition, the frame 170 does not contact the movable portion 140 either.

[0079] The frame 170 is fixed to the base 110 by screws 175 in a state where the offset surface 172 abuts against the upper surface 112A of the side wall 112 of the base 110. Figure 3 In the figure, four screws 175 are shown as an example for fixing the base 110 and the four corners of the frame 170, but more screws 175 may be used for fixing and fewer screws 175 may be used for fixing.

[0080] In the tactile feedback device 100 , as condition (1), the resonance frequency of the first vibration system is set to be less than 2 / 3 times the resonance frequency of the second vibration system. This is to sufficiently excite the object to be excited when the actuator 130 is vibrated and to reduce the vibration transmitted to the base 110 .

[0081] In order to increase this effect, as condition (2), the mass of the vibrating body may be set to be less than the mass of the object to be vibrated.

[0082] In addition, as condition (3), the resonant frequency of the first vibration system may be set to be greater than 50 Hz. As an example, considering that the tactile prompting device 100 is mounted on a vehicle, it can be known that the road noise (vibration) generated during the driving of the vehicle is mainly at a frequency below 50 Hz. Therefore, even if the tactile prompting device 100 is mounted on a vehicle by installing the base 110 on the center console in the interior of the vehicle, etc., the resonant frequency of the first vibration system is set to be greater than 50 Hz in order to suppress the vibration of the excitation object of the first vibration system transmitted by the road noise. In other words, this is to prevent the vibration of the first vibration system from being affected by the vehicle vibration caused by the road noise.

[0083] In addition, as condition (4), the resonance frequency of the second vibration system may be set to a range of 80 Hz to 320 Hz, because human sensory organs can most easily sense vibrations in the frequency band from 80 Hz to 320 Hz.

[0084] Furthermore, as condition (5), a vibration system may be set such that the excitation target is excited in the X direction and the first vibration system and the second vibration system are vibrated in the X direction. The X direction is an example of a predetermined direction.

[0085] In addition, as condition (6), the resonant frequency of the first vibration system may be set to be less than 1 / 3 times the resonant frequency of the second vibration system. This is a condition for setting the resonant frequency of the first vibration system to a more preferred range than condition (1), and is a condition provided for more effectively exciting the excitation object and more effectively reducing the vibration transmitted to the base 110 when the actuator 130 is vibrated.

[0086] In addition, as condition (7), the Q value (Quality Factor) expressed by the following equation (1) using the spring constant K, viscosity loss C, and mass M of the excited object in the first vibration system may be 1 to 10.

[0087] Q=(MK) 1 / 2 / C (1)

[0088] Figure 7 1 is a diagram schematically showing the structure of the tactile prompting device 100. The first vibration system 10 is a vibration system including a base 11, an excitation object 12, and an elastic body 13. The excitation object 12 is connected to the base 11 via the elastic body 13. The base 11, as an example, includes a base 110 and a frame 170. Here, the base 11 is represented as a plate-like component. The excitation object 12, as an example, includes a top yoke 131, a bottom yoke 132, a drive coil 133, a spring 136, a screw 137, a washer 137A, a movable part 140, an electrostatic sensor 150, and an operation panel 160. Here, the top yoke 131, the bottom yoke 132, the drive coil 133, the screw 137, and the washer 137A in the excitation object 12 are collectively represented as a frame-shaped component having an opening 12A in the center when viewed from the XZ plane. The spring 136 in the excitation object 12 is represented as a pair of coils and dampers. In addition, the movable part 140, the electrostatic sensor 150 and the operation panel 160 in the excitation object 12 are represented as plate-like components. A frame-like component including a top magnetic yoke 131, a bottom magnetic yoke 132, a driving coil 133, a screw 137, and a washer 137A is fixed under the plate-like component including the movable part 140, the electrostatic sensor 150 and the operation panel 160. The elastomer 13 elastically connects the base 11 and the excitation object 12, and as an example, includes rubber components 180S, 180L, and 180U. Here, the rubber components 180S, 180L, and 180U are represented as a pair of coils and dampers.

[0089] In addition, the second vibration system 20 is a vibration system including a vibration body 21 and an object 12 to be vibrated. The vibration body 21, as an example, includes a magnet 134 and a retainer 135. Here, the vibration body 21 is represented as one component, and the vibration body 21 is represented as being retained by a spring 136 in an opening portion 12A of the object 12 to be vibrated. The object 12 to be vibrated, as an example, includes a top magnetic yoke 131, a bottom magnetic yoke 132, a drive coil 133, a spring 136, a screw 137, a washer 137A, a movable portion 140, an electrostatic sensor 150, and an operation panel 160, and thus the second vibration system 20 is composed of an actuator 130 (refer to Figure 6 etc.), a movable part 140, an electrostatic sensor 150 and an operation panel 160.

[0090] If a clockwise current flows through the drive coil 133 when viewed from above, a force in the +X direction is applied to the magnet 134 as described above, and if a counterclockwise current flows through the drive coil 133 when viewed from above, a force in the -X direction is applied to the magnet 134 as described above. By alternately passing a clockwise current and a counterclockwise current through the drive coil 133 when viewed from above, forces in the +X direction and the -X direction can be applied to the magnet 134 alternately, and the excitation object 12 can be excited in the ±X directions.

[0091] Fig. 8A as well as Figure 8B It is a diagram showing the relationship between the vibration frequency and acceleration of the object to be vibrated and the base. Fig. 8A The acceleration of the excited object relative to the vibration frequency Fa of the excited object is shown in FIG. Figure 8B The acceleration of the base relative to the vibration frequency Fb of the base is shown in . The vibration frequency Fa of the excitation object is the frequency when the excitation object vibrates in the X direction. In addition, the vibration frequency Fb of the base is the frequency when the base vibrates in the X direction.

[0092] Fig. 8A , Figure 8B The characteristics shown are obtained by setting the resonance frequency Fc1 of the first vibration system to four resonance frequencies of 50 Hz, 75 Hz, 100 Hz, and 150 Hz and setting the resonance frequency Fc2 of the second vibration system to 150 Hz in the simulation. That is, when the resonance frequency Fc1 of the first vibration system is 50 Hz, 75 Hz, 100 Hz, and 150 Hz, it becomes 1 / 3 times, 1 / 2 times, 2 / 3 times, and 1 times the resonance frequency Fc2 of the second vibration system, respectively. Fig. 8A , Figure 8B 2 shows the simulation results when the mass of the vibrator is set to 0.06 kg, the mass of the object to be vibrated is set to 0.4 kg, and the mass of the base is set to 1 kg.

[0093] The resonant frequency Fc1 of the first vibration system is set to a specified frequency, for example, 50 Hz, 75 Hz, 100 Hz, and 150 Hz, mainly by setting the spring constant of the elastic body (for example, rubber components 180S, 180L, and 180U) that elastically connects the excitation object contained in the first vibration system to the base. In addition, since the vibration direction of the first vibration system is the X-axis direction, the resonant frequency Fc1 of the first vibration system is mainly determined by the spring constant of the rubber component 180S, 180L, and 180U, which is easy to elastically deform in the X direction. This is because the rubber components 180L and 180U produce shear deformation in the X direction, and the spring constant in the X direction is about 1 / 10 times the spring constant of the rubber component 180S in the X direction. Strictly speaking, the excitation object and the base (eg, movable portion 140 , electrostatic sensor 150 , and operation panel 160 ) included in the first vibration system also have elasticity, but the elasticity is negligible compared to the elasticity of rubber members 180S, 180L, and 180U.

[0094] The resonant frequency Fc2 of the second vibration system is set to a predetermined frequency, for example, 150 Hz, mainly by setting the vibration characteristics of the actuator 130 and the dimensions and Young's modulus of the movable portion 140 , the electrostatic sensor 150 , and the operation panel 160 .

[0095] like Fig. 8A As shown in FIG. 1 , the acceleration of the excited object exhibits the following characteristics: it takes a maximum value when the vibration frequency Fa is between 40 Hz and 65 Hz, takes a minimum value when it is between 50 Hz and 160 Hz, takes a second maximum value (peak value) of about 30 dB when it is between 200 Hz and 500 Hz, and decreases gently on the high frequency side. The acceleration of the excited object is suppressed to about 6 dB to 8 dB relative to the peak value on the high frequency side of the vibration frequency Fa, and the change in the acceleration of the excited object caused by the change in the vibration frequency Fa is relatively small, so the excited object can be fully excited and it is easy to design to excite with the desired intensity. That is, the region of the vibration frequency Fa from the vicinity of the peak value to the high frequency is a frequency band suitable for the excitation of the excited object. In addition, as the resonance frequency Fc1 increases to 50 Hz, 75 Hz, 100 Hz, and 150 Hz, the vibration frequency Fa that takes a maximum value, a minimum value, and a peak value shows a tendency to shift to the high frequency side.

[0096] The human sense organs can easily perceive vibrations in the frequency band from 80 Hz to 500 Hz, and can more easily perceive vibrations in the frequency band from 80 Hz to 320 Hz. The vibration mode with a resonance frequency Fc1 of 150 Hz is not preferred because the minimum value occurs at about 150 Hz, and it is difficult to excite the excitation object in the frequency band that is easily perceived by the human sense organs. On the other hand, as the resonance frequency Fc1 decreases in the order of 100 Hz, 75 Hz, and 50 Hz, the minimum value of the vibration frequency Fa decreases toward less than 80 Hz, so it becomes easier to excite the excitation object in the frequency band that is easily perceived by humans, which is more preferred. In addition, as the resonance frequency Fc1 decreases, the peak value of the vibration frequency Fa decreases within the range below 500 Hz, so it is possible to flexibly use the area from the vicinity of the peak value suitable for the excitation of the excitation object to the high frequency over a wider frequency band. In other words, from the perspective of effectively exciting the excitation object, the resonance frequency Fc1 is preferably below 100 Hz, more preferably below 75 Hz, and even more preferably below 50 Hz.

[0097] In addition, if Figure 8B As shown, the acceleration of the base exhibits the following characteristics: it takes a maximum value when the vibration frequency Fb of the base is 40 Hz to 65 Hz, takes a minimum value when it is 90 Hz to 200 Hz, takes a second maximum value of about 10 dB when it is 200 Hz to 500 Hz, and then decreases on the high frequency side. When the vibration frequency Fb is 80 Hz to 500 Hz, the acceleration of the base is 10 dB or less when the resonance frequency Fc1 is 50 Hz, 75 Hz, and 100 Hz.

[0098] It can be seen that in the frequency band of 80Hz to 500Hz that is easily perceived by human sensory organs, the vibration intensity of the base is attenuated by about 20dB compared with the vibration intensity of the excited object. In other words, it can be seen that when the resonance frequency Fc2 of the second vibration system is 150Hz, the vibration of the base is attenuated when the resonance frequency Fc1 of the first vibration system is 50Hz, 75Hz, and 100Hz.

[0099] In addition, if Figure 8B As shown, it can be seen that in the frequency band of 80 Hz to 500 Hz that is easily perceived by human sensory organs, as the resonance frequency Fc1 of the first vibration system decreases, the vibration intensity of the base decreases. In other words, from the perspective of reducing the vibration transmission to the base, it is preferred that the resonance frequency Fc1 is 100 Hz or less, more preferably 75 Hz or less, and further preferably 50 Hz or less.

[0100] From the above, it can be seen that, as shown as condition (1), if the resonance frequency Fc1 of the first vibration system is less than 2 / 3 times the resonance frequency Fc2 of the second vibration system, that is, the resonance frequency Fc1 of the first vibration system is less than 100 Hz, then when the actuator 130 is driven to vibrate the vibrating body, the excitation object can be fully excited and the vibration transmitted to the base can be reduced.

[0101] In addition, it can be seen that if the resonance frequency Fc1 of the first vibration system is less than 1 / 2 times the resonance frequency Fc2 of the second vibration system, that is, the resonance frequency Fc1 of the first vibration system is less than 75 Hz, the object to be excited can be excited more effectively, and the vibration transmitted to the base can be further reduced. Moreover, it can be seen that, as shown in condition (6), if the resonance frequency Fc1 of the first vibration system is less than 1 / 3 times the resonance frequency Fc2 of the second vibration system, that is, the resonance frequency Fc1 of the first vibration system is less than 50 Hz, the object to be excited can be further effectively excited, and the vibration transmitted to the base can be further reduced.

[0102] In addition, human sensory organs can sense vibrations in the frequency band of 80 Hz to 500 Hz, and are most likely to sense vibrations in the frequency band of 80 Hz to 320 Hz. Therefore, the resonant frequency Fc2 of the second vibration system can be set in the range of 80 Hz to 500 Hz, but as shown in condition (4), it is better to set the resonant frequency Fc2 of the second vibration system in the range of 80 Hz to 320 Hz.

[0103] In addition, the tactile prompting device 100 has a vibration system in which the excitation object is excited in the X direction and the first vibration system and the second vibration system vibrate in the X direction. This is as shown in condition (5). Figure 6 With the driving coil 133 and the magnet 134 arranged in this way, it is easy to realize a configuration in which the object to be excited is excited in the X direction and the first vibration system and the second vibration system are vibrated in the X direction.

[0104] Fig. 9 This is a diagram showing the relationship between the vibration frequency Fa and the acceleration of the excited object when the mass of the vibrating body is changed. Fig.10 This is a diagram showing the relationship between the vibration frequency Fb of the base and the acceleration when the mass of the vibrating body is changed. Fig. 9 as well as Fig.10 The characteristics shown are obtained by setting the resonance frequency Fc1 of the first vibration system to four types, 50 Hz, 75 Hz, 100 Hz, and 150 Hz, and setting the resonance frequency Fc2 of the second vibration system to 150 Hz in the simulation.

[0105] Fig. 9 as well as Fig.10 5 simulation results are shown in which the mass of the vibrator is increased stepwise to 0.01 kg, 0.05 kg, 0.2 kg, 0.8 kg, and 4 kg, respectively. In addition, the mass of the base is set to 10 kg, assuming that it is installed in a vehicle, and the mass of the object to be vibrated is set to 0.2 kg.

[0106] like Fig. 9 As shown, when the mass of the vibrating body is increased stepwise to 0.01kg, 0.05kg, 0.2kg, 0.8kg, and 4kg, the acceleration of the excited object changes to 0.2kg relative to the change in the resonance frequency Fc1 of the first vibration system, and almost no change is observed in the cases of 0.8kg and 4kg. This means that if the mass of the vibrating body exceeds 0.2kg, that is, if the mass of the vibrating body exceeds the mass of the excited object, it is difficult to be affected by the spring constant of the elastic body (rubber components 180S, 180L, 180U) that elastically connects the base and the excited object, which is the main factor determining the resonance frequency Fc1 of the first vibration system.

[0107] Furthermore, as the mass of the vibrating body increases, the acceleration of the object of vibration decreases overall regardless of the vibration frequency Fa. This is believed to be because the greater the mass of the vibrating body relative to the mass of the object of vibration, the greater the energy accumulated in the vibrating body relative to the energy accumulated in the object of vibration.

[0108] Therefore, from the viewpoint of effectively exciting the object to be vibrated, the smaller the mass of the vibrating body is relative to the mass of the object to be vibrated, the better. It is particularly preferred that the mass of the vibrating body is less than the mass of the object to be vibrated.

[0109] like Fig.10 As shown in FIG. 1 , it can be seen that when the mass of the vibrating body is gradually increased to 0.01 kg, 0.05 kg, 0.2 kg, 0.8 kg, and 4 kg, the acceleration of the base changes with respect to the change in the resonance frequency Fc1 of the first vibration system in all masses. In addition, it can be seen that in the frequency band of 80 Hz to 500 Hz, with respect to Fig. 9 The acceleration of the excited object is shown, Fig.10 The acceleration of the base shown is sufficiently reduced. Therefore, it can be seen that in the relationship between the vibration frequency Fb of the base 110 and the acceleration, the mass of the vibrating body can be set to any one of 0.01 kg, 0.05 kg, 0.2 kg, 0.8 kg, and 4 kg.

[0110] Therefore, according to Fig. 9 as well as Fig.10 It can be seen that, as shown as condition (2), the mass of the vibrating body is preferably less than or equal to the mass of the object to be vibrated.

[0111] Fig.11A as well as Fig. 11B It is a diagram showing the characteristics of the acceleration of the object to be vibrated and the base with respect to the vibration frequency. Fig.11A as well as Fig. 11B , multiple characteristics obtained when the Q value of the first vibration system is changed stepwise to 15, 10, 5, 2, and 1. In addition, Fig.11A as well as Fig. 11B The characteristics shown are obtained by setting the resonance frequency Fc1 of the first vibration system to 50 Hz and the resonance frequency Fc2 of the second vibration system to 150 Hz in the simulation.

[0112] The Q value of the first vibration system is expressed by the following equation (1) using the spring constant K, the viscosity loss C, and the mass M of the object to be vibrated in the first vibration system.

[0113] Q=(MK) 1 / 2 / C (1)

[0114] Fig.11A The characteristic of the acceleration of the excited object relative to the vibration frequency Fa is shown in FIG. Fig.11A It can be seen that if the Q value is changed step by step to 15, 10, 5, 2, and 1, there is a trend that the larger the Q value, the greater the acceleration. In addition, it can be seen that there is almost no difference when the Q value is 15 and 10. These trends are particularly significant in the range of 80Hz to 500Hz, which is easily perceived by human sensory organs. From this, it can be seen that according to the characteristics of the acceleration of the excited object relative to the vibration frequency Fa, the larger the Q value, the better, but even if the Q value is greater than 10, the effect is small, and even if the Q value is 1, it can be fully excited.

[0115] Fig. 11B The characteristics of the acceleration of the base relative to the vibration frequency Fb are shown in FIG. Fig. 11B In the figure, it can be seen that if the Q value is changed step by step to 15, 10, 5, 2, and 1, there is a tendency that the acceleration of the base decreases when the Q value is large. This tendency is particularly significant in the range of 80 Hz to 500 Hz, which is easily perceived by human sensory organs. However, it can be seen that in the frequency band below 50 Hz, which is easily affected by road noise, when the Q value is 15, a maximum value of acceleration is generated, which is large. In addition, it can be seen that in the range of 80 Hz to 500 Hz, relative to Fig.11A The acceleration of the excited object is shown, Fig. 11B The acceleration of the base shown is sufficiently reduced. Therefore, according to the characteristics of the acceleration of the base with respect to the vibration frequency Fb, it can be seen that the larger the Q value is within the range of 10 or less, the better, but even if the Q value is 1, the vibration of the base can be reduced.

[0116] Above, according to Fig.11A , Fig. 11BAs a result, it can be seen that the Q value of the first vibration system is preferably greater than or equal to 1 and less than or equal to 10, as shown in condition (7).

[0117] As described above, by setting the resonance frequency Fc1 of the first vibration system to be 2 / 3 times or less of the resonance frequency Fc2 of the second vibration system, it is possible to realize a configuration in which the object to be vibrated can be sufficiently excited and the vibration is unlikely to be transmitted to the base.

[0118] Therefore, it is possible to provide the tactile feedback device 100 which can sufficiently vibrate the excitation target and reduce the transmission of vibration to the base.

[0119] In addition, although the electrostatic sensor 150 is described above, a touch panel that can transmit light may be used instead of the electrostatic sensor 150 , and a display panel may be superimposed on the touch panel to perform a pressing operation on a GUI (Graphical User Interface) displayed on the display panel.

[0120] In addition, FIG. 8A to FIG. 11B , the vibration frequency Fb and the acceleration in the excitation object and / or the base when the resonance frequency Fc2 of the second vibration system is set to 150 Hz are described, but the same is true when the resonance frequency Fc2 is other than 150 Hz.

[0121] In the above, the embodiment in which the vibration direction of the actuator 130 is the X direction has been described, but the vibration direction of the actuator 130 is not limited to the X direction, and may be, for example, the Z direction or other directions.

[0122] As mentioned above, the haptic feedback device according to the exemplary embodiment of the present invention has been described, but the present invention is not limited to the specifically disclosed embodiment, and various modifications and changes can be made without departing from the scope of the claims.

[0123] In addition, the present international application claims priority based on Japanese Patent Application No. 2019-239833, filed on December 27, 2019, the entire contents of which are incorporated herein by reference.

[0124] Description of Reference Numerals

[0125] 100 Tactile prompt device

[0126] 110 Base

[0127] 130 Actuator

[0128] 131 Top yoke

[0129] 132 Bottom yoke

[0130] 133 drive coil

[0131] 134 Magnet

[0132] 135 Retaining parts

[0133] 136 Spring

[0134] 137 Screw

[0135] 137A Washer

[0136] 140 Moving parts

[0137] 150 Electrostatic Sensor

[0138] 180S, 180L, 180U rubber parts

Claims

1. A tactile prompting device for providing a living body with a tactile sense based on the vibration of an exciting object, comprising: vibrating body; The excitation object is elastically connected to the vibrating body and is excited according to the vibration of the vibrating body; and A base is elastically connected to the excitation object, The base is arranged separately from the vibrating body, The resonance frequency of the first vibration system including the base and the excitation object is less than 2 / 3 times the resonance frequency of the second vibration system including the excitation object and the vibrating body. The mass of the vibrating body is less than the mass of the object to be vibrated.

2. The tactile prompting device according to claim 1, The resonance frequency of the first vibration system is greater than 50 Hz.

3. The tactile prompting device according to claim 1, The resonance frequency of the second vibration system is greater than or equal to 80 Hz and less than or equal to 320 Hz.

4. The tactile prompting device according to claim 1, The excitation object is excited in a direction including a specified direction, The first vibration system and the second vibration system are vibration systems that vibrate in the predetermined direction.

5. The tactile prompting device according to claim 1, The resonance frequency of the first vibration system is less than 1 / 3 times the resonance frequency of the second vibration system.

6. The tactile prompting device according to any one of claims 1 to 5, The Q value expressed by the following formula 1 using the spring constant K in the first vibration system, the viscosity loss C, and the mass M of the object to be vibrated is greater than or equal to 1 and less than or equal to 10. Formula 1: Q=(MK) 1 / 2 / C.

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