Reaction force control device and reaction force control system

Abstract

[Problem] To provide a reaction force control device and a reaction force control system having excellent reaction force controllability. [Solution] A reaction force control device according to the present technology comprises a first deformable body, a base, and a second deformable body. The first deformable body includes a first space inside the first deformable body, and the volume of the first space is variable. The base portion includes a second space communicating with the first space through a flow hole and a third space not communicating with the first space and the second space. And a second deformable body that partitions the second space and the third space, and that changes the opening area of the flow-through hole by deforming the fluid flowing into the third space or flowing out of the third space.

Description

Technical Field

[0001] The present technical content relates to a reaction force control device and a reaction force control system for controlling the reaction force. Background Art

[0002] When a user touches or operates an object, the user feels a reaction force that depends on the physical properties or shape of the object. Appropriate control of the reaction force can artificially provide various tactile sensations. The method of providing a reaction force using an electromagnetic force, i.e., a motor, is one of the most commonly used methods for providing such a reaction force. However, the use of a motor not only makes it difficult to provide a reaction force immediately after input, but also the type of reaction force that can be provided is limited. For example, it is difficult to provide a reaction force that represents a sticky feeling.

[0003] On the other hand, a method of providing a reaction force by a principle other than the electromagnetic force principle has also been developed. This is a method of using air pressure, which is a method of providing any force to a user by causing the flexible body to deform due to a change in air pressure by sucking air into the sealed space of the flexible body or exhausting air from the sealed space of the flexible body.

[0004] For example, Patent Document 1 discloses a flow hole connected to a space in a flexible membrane body, wherein the flow hole causes flow resistance to act on air passing through the flow hole, thereby generating a specified spring characteristic and vibration range damping performance of the flexible membrane body. In addition, Patent Document 2 discloses using an electromagnetic actuator to change the opening amount of an orifice valve arranged in a flow path, and Patent Document 3 discloses using an iris-type diaphragm as a mechanism for changing the cross-sectional area of ​​a fluid flow hole.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Laid-Open No. 2008-115959

[0008] Patent Document 2: Japanese Patent Application Laid-Open No. 5-002215

[0009] Patent Document 3: Japanese Patent Application No. 2008-522319 Summary of the invention

[0010] Technical Problems to be Solved by the Invention

[0011] There are a spring constant component and a damping component as reaction force factors required for tactile sensation. The spring constant component refers to the coefficient of the reaction force with respect to the pressing amount, and the damping component refers to the coefficient of the reaction force with respect to the pressing speed. Providing a reaction force control device with excellent controllability of the spring constant component and the damping component can provide various tactile sensations. However, in the case of the configuration disclosed in Patent Document 1, the spring constant component and the damping component are determined by the diameter of the flow hole, and therefore, arbitrary adjustment is not allowed.

[0012] In addition, in the case of the configuration disclosed in Patent Document 2, it is difficult to control the electromagnetic switch valve between the open state and the closed state and to control slight changes in the damping component. It is difficult to control the operating speed of the electromagnetic switch valve. In particular, low-speed operation is difficult, and high-speed operation is prone to vibration or noise due to collision. In addition, in the case of the configuration disclosed in Patent Document 3, there are problems with the operating speed, noise, and reliability of the mechanical mechanism part. Therefore, it is difficult to provide a reaction force control device with excellent controllability of the spring constant component and the damping component.

[0013] In view of the above circumstances, an object of the present technical content is to provide a reaction force control device and a reaction force control system with excellent controllability of the reaction force.

[0014] Means of solving the problem

[0015] In order to achieve the above-mentioned object, a reaction force control device according to an embodiment of the present technical content includes a first deformable body, a base, and a second deformable body.

[0016] The first deformation body includes a first space inside the first deformation body, and the first space has a variable volume.

[0017] The base includes a second space communicating with the first space through a flow hole, and a third space not communicating with the first space or the second space.

[0018] The second deformation body partitions the second space from the third space and is deformed by fluid flowing into the third space or fluid flowing out of the third space, thereby changing the opening area of ​​the flow hole.

[0019] The second deformation body may expand when fluid flows into the third space to block a part or all of the flow hole, and may shrink when fluid flows out of the third space to be separated from the flow hole.

[0020] The reaction force control mechanism may allow the fluid to flow into the third space, and may allow the fluid to flow out of the third space.

[0021] The second space may communicate with the external space through a first flow path, and the third space may be connected to the first fluid control mechanism through a second flow path.

[0022] The reaction force control device may further include a second fluid control mechanism that allows the fluid to flow into the first space and allows the fluid to flow out of the first space, wherein the first space may be connected to the second fluid control mechanism through a third flow path.

[0023] A plurality of the flow holes may be provided, and the number of the flow holes blocked by the second deformation body may be changed according to the deformation amount of the second deformation body.

[0024] The flow hole may have a shape such that an area of ​​the flow hole blocked by the second deformation body varies according to an amount of deformation of the second deformation body.

[0025] The first deformation body may have a bellows structure.

[0026] The first deformation body may have a piston structure.

[0027] The first deformation body may have a balloon structure.

[0028] The second deformable body may be a deformable film having stretchability.

[0029] In order to achieve the above-mentioned object, a reaction force control system according to an embodiment of the present technical content includes a reaction force control device and a controller.

[0030] The reaction force control device comprises:

[0031] a first deformable body, the first deformable body comprising a first space inside the first deformable body, the first space having a variable volume;

[0032] a base, the base comprising a second space communicating with the first space through a flow hole, and a third space not communicating with the first space or the second space;

[0033] a second deformable body that separates the second space from the third space and deforms when a fluid flows into or out of the third space, thereby changing an opening area of ​​the flow hole; and

[0034] A first fluid control mechanism is provided, wherein the first fluid control mechanism causes the fluid to flow into the third space and causes the fluid to flow out of the third space.

[0035] The controller controls the first fluid control mechanism to adjust the internal pressure in the third space.

[0036] The controller may maintain a relationship between an amount of deformation of the second deformation body and an internal pressure in the third space, and may adjust the internal pressure in the third space so that the amount of deformation of the second deformation body becomes a prescribed amount.

[0037] The reaction force control system may further include a load sensor that detects a load applied to the first deformation body, wherein the controller may adjust the internal pressure in the third space based on an output of the load sensor.

[0038] The controller may change the internal pressure in the third space at any time according to the load.

[0039] The reaction force control system may further include: a distance sensor that detects a deformation amount of the first deformation body, wherein the controller may adjust the internal pressure in the third space based on an output of the distance sensor.

[0040] The controller may change the internal pressure in the third space at any time according to the deformation amount.

[0041] The controller may adjust the internal pressure in the third space based on a user's input.

[0042] The controller may adjust the internal pressure in the third space based on designation of an application program.

[0043] The reaction force control device may further include a second fluid control mechanism, which allows the fluid to flow into the first space and flow out of the first space. The first space can be connected to the second fluid control mechanism via a third flow path, and the controller can further control the second fluid control mechanism to adjust the internal pressure in the first space. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] FIG. 1 is a schematic diagram showing a reaction force control device according to an embodiment of the present technology.

[0045] FIG. 2 is a schematic diagram showing deformation of a first deformation body included in the reaction force control device.

[0046] FIG. 3 is a schematic diagram showing a base included in the reaction force control device.

[0047] FIG. 4 is a schematic diagram showing deformation of a second deformation body included in the reaction force control device.

[0048] FIG. 5 is a graph showing the spring effect of the reaction force control device.

[0049] FIG. 6 is a graph showing the damping effect of the reaction force control device.

[0050] FIG. 7 is a schematic diagram showing the operation of the reaction force control device.

[0051] FIG. 8 is a schematic diagram showing the operation of the reaction force control device.

[0052] FIG. 9 is an exploded perspective view showing a specific configuration of the reaction force control device.

[0053] FIG. 10 is an exploded sectional view showing a specific configuration of the reaction force control device.

[0054] FIG. 11 is a cross-sectional view of a specific configuration of a first deformation body included in the reaction force control device.

[0055] FIG. 12 is a perspective view of a first deformation body included in the reaction force control device.

[0056] FIG. 13 is a schematic diagram showing a modified example of the first deformation body included in the reaction force control device.

[0057] FIG. 14 is a cross-sectional view showing a specific configuration of a base included in the reaction force control device.

[0058] 15 is a plan view of a flow orifice plate included in the reaction force control device.

[0059] FIG. 16 is a schematic diagram showing engagement of a first deformation body and a flow orifice plate included in the reaction force control device.

[0060] FIG. 17 is an exploded cross-sectional view of a base included in the reaction force control device.

[0061] FIG. 18 is a schematic diagram showing deformation of a deformable film as a second deformation body included in the reaction force control device.

[0062] FIG. 19 is a schematic diagram showing the relationship between the deformation of a deformable membrane included in the reaction force control device and the flow hole.

[0063] FIG. 20 is a schematic diagram showing the relationship between the deformation of a deformable membrane included in the reaction force control device and the flow hole.

[0064] FIG. 21 is a schematic diagram showing the relationship between the deformation of a deformable membrane included in the reaction force control device and the flow hole.

[0065] FIG. 22 is a schematic diagram showing another shape of the flow hole included in the reaction force control device.

[0066] FIG. 23 is a schematic diagram showing another shape of the flow hole included in the reaction force control device.

[0067] FIG. 24 is a schematic diagram showing another shape of the flow hole included in the reaction force control device.

[0068] 25 is a cross-sectional view showing another configuration of the first deformation body included in the reaction force control device.

[0069] FIG. 26 is a cross-sectional view showing another configuration of the second deformation body included in the reaction force control device.

[0070] FIG. 27 is a cross-sectional view showing another configuration of the second deformation body included in the reaction force control device.

[0071] FIG. 28 is a cross-sectional view showing another configuration of the second deformation body included in the reaction force control device.

[0072] FIG. 29 is a cross-sectional view showing another configuration of the second deformation body included in the reaction force control device.

[0073] FIG. 30 is a schematic diagram showing the dimensions of a bellows constituting a first deformation body included in the reaction force control device.

[0074] FIG. 31 is a schematic diagram showing the dimensions of a fluid orifice plate constituting a base included in the reaction force control device.

[0075] FIG. 32 is a schematic diagram showing the dimensions of various members constituting a base included in the reaction force control device.

[0076] FIG. 33 shows the results of measuring the pressing amount of the bellows and the static reaction force of the bellows in the reaction force control device according to the example of the present technology.

[0077] FIG. 34 shows the results of measuring the pressing amount of the bellows and the reaction force of the bellows in the reaction force control device according to the example of the present technology (2 kPa, 1 mm / s).

[0078] FIG. 35 shows the results of measuring the pressing amount of the bellows and the reaction force of the bellows in the reaction force control device according to the example of the present technology (2 kPa, 10 mm / s).

[0079] FIG. 36 shows the results of measuring the pressing amount of the bellows and the reaction force of the bellows in the reaction force control device according to the example of the present technology (2 kPa, 50 mm / s).

[0080] FIG. 37 shows the results of measuring the pressing amount of the bellows and the reaction force of the bellows in the reaction force control device according to the example of the present technology (10 kPa, 1 mm / s).

[0081] FIG. 38 shows the results of measuring the pressing amount of the bellows and the reaction force of the bellows in the reaction force control device according to the example of the present technology (10 kPa, 10 mm / s).

[0082] FIG. 39 shows the results of measuring the pressing amount of the bellows and the reaction force of the bellows in the reaction force control device according to the example of the present technology (10 kPa, 50 mm / s).

[0083] FIG. 40 is a schematic diagram showing a reaction force control system according to an embodiment of the present technology.

[0084] FIG. 41 is a graph showing an example of reaction force control of the first deformation body by the controller in the reaction force control system described above.

[0085] FIG. 42 is a graph showing an example of reaction force control of the first deformation body by the controller in the reaction force control system described above.

[0086] FIG. 43 is a graph showing an example of reaction force control of the first deformation body by the controller in the reaction force control system described above.

[0087] FIG. 44 is a graph showing an example of reaction force control of the first deformation body by the controller in the reaction force control system described above.

[0088] FIG. 45 is a flowchart showing the operation of the controller utilizing the output of the sensor in the above-described reaction force control system.

[0089] 46 is a graph showing an example of reaction force control of the first deformation body performed by the controller based on the output of the sensor in the reaction force control system described above.

[0090] 47 is a graph showing an example of reaction force control of the first deformation body performed by the controller based on the output of the sensor in the reaction force control system described above.

[0091] 48 is a graph showing an example of reaction force control of the first deformation body performed by the controller based on the output of the sensor in the reaction force control system described above.

[0092] 49 is a graph showing an example of reaction force control of the first deformation body performed by the controller based on the output of the sensor in the reaction force control system described above.

[0093] FIG. 50 is a schematic diagram showing a deformed state of a bellows constituting a first deformation body included in the reaction force control device.

[0094] FIG. 51 is a schematic diagram showing a deformed state of a bellows constituting a first deformable body included in the reaction force control device.

[0095] FIG. 52 is a schematic diagram showing an oscillation mechanism using a reaction force control device.

[0096] FIG. 53 is a schematic diagram showing a joint mechanism using a reaction force control device.

[0097] FIG. 54 is a schematic diagram showing a reaction force control device according to a modified example of the present technology.

[0098] FIG. 55 is a schematic diagram showing a reaction force control device according to a modified example of the present technology.

[0099] FIG. 56 is a schematic diagram showing a reaction force control device according to a modified example of the present technology.

[0100] FIG. 57 is a schematic diagram showing a reaction force control device according to a modified example of the present technology.

[0101] FIG. 58 is a schematic diagram showing a reaction force control device according to a modified example of the present technology.

[0102] FIG. 59 is a block diagram showing a hardware configuration of a controller included in a reaction force control system according to an embodiment of the present technology. DETAILED DESCRIPTION

[0103] A reaction force control device according to an embodiment of the present technical content will be described.

[0104] [Configuration of reaction force control device]

[0105] 1 is a schematic diagram showing a reaction force control device 100 according to the present embodiment. As shown in the figure, the reaction force control device 100 includes a first deformable body 101 , a base 102 , a first fluid control mechanism 103 , and a second deformable body 104 .

[0106] The first deformable body 101 can be deformed, and a space is provided inside the first deformable body 101. As described below, the first deformable body 101 can have a bellows structure. Hereinafter, the internal space of the first deformable body 101 is referred to as the first space 111. FIG. 2 is a schematic diagram showing the deformation of the first deformable body 101. The volume of the first space 111 is variable. The volume of the first space 111 changes with the deformation of the first deformable body 101, as shown in FIG. 2.

[0107] The base 102 is joined to the first deformation body 101, and a space is provided inside the base 102. FIG. 3 is a cross-sectional view of the base 102. As shown in the figure, the base 102 includes an internal space 102a, and the internal space 102a is surrounded by a top surface 102b, a bottom surface 102c, and a side surface 102d. The top surface 102b and the bottom surface 102c are surfaces facing each other, and the side surface 102d is a surface connecting the top surface 102b and the bottom surface 102c. The internal space 102a is divided into two spaces by the second deformation body 104, as shown in FIG. 1. Hereinafter, the two spaces are referred to as the second space 112 and the third space 113. The second space 112 is a space located on one side of the first space 111, and is a space located between the second deformation body 104 and the top surface 102b. The third space 112 is a space opposite to the first space 111, and is a space located between the second deformation body 104 and the bottom surface 102c.

[0108] As shown in FIG1 , the base 102 includes a circulation hole 131, a first flow path 132, and a second flow path 133. The circulation hole 131 is disposed between the first space 111 and the second space 112, and the circulation hole 131 allows the first space 111 and the second space 112 to communicate with each other. As shown in FIG3 , the circulation hole 131 may be disposed on the top surface 102b. A single circulation hole 131 or a plurality of circulation holes 131 may be provided.

[0109] The first flow path 132 is disposed between the second space 112 and the external space, and the first flow path 132 enables the second space 112 and the external space to communicate with each other. As shown in FIG3 , the first flow path 132 may be disposed on the side surface 102d. The flow path area of ​​the first flow path 132 is formally larger than the total opening area of ​​the circulation hole 131. The second flow path 133 connects the third space 113 and the first fluid control mechanism 103. As shown in FIG3 , the second flow path 133 may be disposed on the bottom surface 102c. As described above, the first space 111 and the second space 112 are communicated with each other through the circulation hole 131. On the other hand, the third space 113 is not communicated with the first space 111 or the second space 112.

[0110] The first fluid control mechanism 103 allows the fluid to flow into the third space 113 through the second flow path 133, and allows the fluid to flow out of the third space 113 through the second flow path 133. The fluid may be air, or a gas or liquid other than air. For example, the first fluid control mechanism 103 is a pump.

[0111] The second deformable body 104 is arranged between the second space 112 and the third space 113 to separate the second space 112 from the third space 113. The second deformable body 104 is stretchable, and the peripheral edge of the second deformable body 104 is joined to the bottom surface 102c. The second deformable body 104 expands due to the flow of fluid into the third space 113, and contracts due to the flow of fluid out of the third space 113. FIG. 4 schematically shows the expansion of the second deformable body 104.

[0112] When the first fluid control mechanism 103 causes the fluid to flow into the third space 112, the internal pressure in the third space 112 increases, and the second deformable body 104 expands, as shown in FIG4 . The second deformable body 104 contacts the top surface 102b to block a part or all of the flow holes 131. In addition, when the first fluid control mechanism 103 causes the fluid to flow out of the third space 112, the internal pressure in the third space 112 decreases, and the second deformable body 104 contracts, as shown in FIG1 . The second deformable body 104 moves to separate from the top surface 102b and the flow hole 131, thereby opening the flow hole 131. In other words, the second deformable body 104 is deformed to change the opening area of ​​the flow hole 131, and the deformation is caused by the fluid flowing into the third space 113 or the fluid flowing out of the third space 113. It should be noted that, as described below, the number of flow holes 131 blocked by the second deformable body 104 can vary according to the deformation amount of the second deformable body 104, and the shape of the flow holes 131 can make the area of ​​the portion of the flow holes 131 blocked by the second deformable body 104 vary according to the deformation amount of the second deformable body 104.

[0113] [Operation of the reaction force control device]

[0114] The reaction force control device 100 can control the spring constant component and damping component of the reaction force generated by pushing with a finger, for example. FIG5 is a graph showing the spring effect. As shown in the figure, the spring constant component is called the reaction force coefficient for the amount of pressing, and there are usually a large number of examples in which the reaction force is linearly proportional to the amount of pressing. However, real objects have spring constants that exhibit nonlinearity or discontinuity. FIG6 is a graph showing the damping effect. As shown in the figure, the damping component is called the reaction force coefficient for the pressing speed, and the reaction force generally tends to increase as the pressing speed increases. In the reaction force control device 100, the control of the spring constant component and the damping component makes it possible to simulate the feeling of providing the reaction force of various objects, as described below.

[0115] 7 and 8 schematically illustrate the operation of the reaction force control device 100. In FIG7 and FIG8, the force applied to the first deformable body 101 is referred to as force M1, and the reaction force on the first deformable body 101 is referred to as reaction force M2. The force M1 is a force applied to the first deformable body 101 using, for example, a user's finger, and the reaction force M2 is a force that presses, for example, the finger back from the first deformable body 101.

[0116] FIG. 7 shows a state in which the internal pressure in the third space 112 is low. When the internal pressure in the third space 112 is low, the second deformable body 104 contracts and does not block the circulation hole 131, as described above. When a force M1 is applied to the first deformable body 101 in this state, the air in the first space 111 flows into the second space 112 through the circulation hole 131, and flows out of the second space 112 through the first flow path 132 to flow into the external space, as shown by arrow A1. Here, the flow path resistance of the air passing through the circulation hole 131 is low. Therefore, the reaction force on the first deformable body 101 is generated due to the spring constant component and the damping component of the first deformable body 101.

[0117] On the other hand, FIG. 8 shows a state in which the internal pressure in the third space 112 is high. When the internal pressure in the third space 112 is high, the second deformable body 104 expands and blocks a portion of the circulation hole 131, as described above. When the force M1 is applied to the first deformable body 101 in this state, the air in the first space 111 flows into the second space 112 through the circulation hole 131, and since the circulation hole 131 is partially blocked by the second deformable body 104, the flow path resistance increases. This causes the reaction force M2 to change according to the pressing speed (damping effect). When the pressing speed is high, the reaction force M2 increases, and when the pressing speed is low, the reaction force M2 decreases.

[0118] When the internal pressure in the third space 112 is further increased in this state, the second deformable body 104 further expands and completely blocks the circulation hole 131. When the force M1 is applied to the first deformable body 101 in this state, since the air in the first space 111 is not allowed to pass through the circulation hole 131, the first deformable body 101 becomes a sealed air spring body. This results in a significant increase in the spring constant. Here, although high pressure is also applied to the second deformable body 104 through the circulation hole 131, when the area of ​​the second deformable body 104 is sufficiently larger than the sum of the opening areas of the circulation holes 131, this enables the circulation holes 131 to remain sealed without significantly increasing the supply pressure applied to the third space 113.

[0119] In the reaction force control device 100, controlling the internal pressure in the third space 113 using the first fluid control mechanism 103 can increase or decrease the opening area of ​​the flow hole 131 and change the spring constant separation and damping component of the first deformation body 101, as described above. It should be noted that in this configuration, the second deformation body 104 has an area significantly larger than the opening area of ​​the flow hole 131. This can increase the reaction force M2 without increasing the internal pressure in the third space 113.

[0120] In addition, when the force M1 is excessively applied to the first deformable body 101 in a state where a part or all of the flow holes 131 are blocked by the second deformable body 104, the internal pressure in the first space 111 increases to press back the second deformable body 104 blocking the flow holes 131, and the gas passes through the flow holes 131. Therefore, the second deformable body 104 functions as a pressure reducing valve, which can prevent the reaction force control device 100 from being damaged or impacted due to the force M1 excessively applied to the reaction force control device 100. This helps ensure safety when the reaction force control device 100 is worn on a human body.

[0121] [Effect provided by the reaction force control device]

[0122] As described above, the reaction force control device 100 can change the spring constant component and the damping component obtained by pushing the first deformation body 101. This change can be made by adjusting the internal pressure in the third space 113 using the first fluid control mechanism 103. The internal pressure in the third space 113 can be adjusted with a lower supply pressure. This makes it possible to change the spring constant component and the damping component with excellent responsiveness. In addition, the operation of the first fluid control mechanism 103 can make the spring constant component exhibit the various characteristics shown in Figure 5, and make the damping component exhibit the various characteristics shown in Figure 6. This makes the spring constant component and the damping component very well controlled.

[0123] In addition, the reaction force control device 100 enables the spring constant component and the damping component to be controlled by the fluid provided by the first fluid control mechanism 103. This results in that, for example, a motor is not required. Therefore, the spring constant component and the damping component can be controlled without generating mechanical operation noise. In addition, the reaction force control device 100 is flexible in design, and this makes it possible to easily provide reaction force characteristics suitable for the purpose according to, for example, the characteristics of the first deformation body 101 and the opening area and arrangement of the flow hole 131.

[0124] [Application fields of reaction force control device]

[0125] When the reaction force control device 100 is incorporated into a tactile sense generating device, this enables the representation of an object that provides a sense of hardness or softness of an object, that is, an object that exhibits a nonlinear spring effect or damping effect such as a rubber material or a foam material. The reaction force control device 100 can be applied, for example, to remotely check the softness of a cushion to determine whether to purchase the cushion, to diagnose by touching, for example, a bump or lump, to learn the appropriate time of the mixing degree or hardening degree when manufacturing various objects, and to improve the performance relative to the sense of reaction force.

[0126] In addition, when the reaction force control device 100 is incorporated into an input device to which a tactile sense is assigned, this enables the switching sense of the reaction force to be changed. The reaction force control device 100 can be applied to, for example, a purpose for enabling a user to select a desired operation sense by changing the distribution of the reaction force according to the application when operating using the pressing amount, changing the pressing sense according to the type of equipment used during a game, notifying the user of the selected props by the pressing sense, or arranging a reward (ease of use) with a tactile sense such as the reaction becoming lighter each time a game is cleared, etc.

[0127] In addition, for example, by being applied to a manipulator, it is possible to use changes in elastic properties, such as a change from a light spring to a damper and a change from a damper to a spring exhibiting a high spring constant. The reaction force control device 100 is incorporated into a joint actuator and can be used as a mechanism for facilitating the operation of the main actuator or ensuring safety. In addition, by being applied to an anti-vibration base, it is possible to increase the anti-vibration frequency by controlling the opening area of ​​the circulation hole 131. Here, since the second deformable body 104 is flexible, mechanical oscillations or noise during operation are reduced. In addition, changing the opening area of ​​the circulation hole 131 can change the anti-vibration characteristics.

[0128] Moreover, the reaction force control device 100 can be used, for example, in the form of a mounted device (such as a link-type force sensing device, an operating panel, and a drive device); in the form of a holdable device (such as a controller including a mouse, a game controller, and various remote control devices); in the form of a wearable device (such as a hand wearable device and an arm wearable device); in the form of various robots; or in the form of a support leg of an anti-vibration base.

[0129] [Specific configuration of the reaction force control device]

[0130] A more specific configuration of the reaction force control device 100 is described. FIG9 is an exploded perspective view of the reaction force control device 100, and FIG10 is an exploded cross-sectional view of the reaction force control device 100. As shown in FIG9 and FIG10, the reaction force control device 100 includes an upper plate 121, a bellows 122, a flow orifice plate 123, a spacer 124, an air flow plate 125, a retaining plate 126, and a deformable membrane 127. Note that the illustration of the first fluid control mechanism 103 is omitted in FIG9.

[0131] The upper plate 121 and the bellows 122 form the above-mentioned first deformation body 101. Fig. 11 is a cross-sectional view of the first deformation body 101 formed by the upper plate 121 and the bellows 122. As shown in the figure, the upper plate 121 is joined to one end of the bellows 122.

[0132] Preferably, a material harder than the bellows 122 is used as the material of the upper plate 121. For example, the upper plate 121 is made of metal (such as stainless steel, aluminum or brass), or plastic material (such as polycarbonate (PC) or acrylonitrile-butadiene-styrene (ABS)). The upper plate 121 is tightly joined to the bellows 122 to keep the first space 111 sealed.

[0133] A curved portion having a desired angle is formed in the outer peripheral portion of the bellows 122, and the bellows 122 is stretchable. FIGS. 12 and 13 are perspective views of the first deformation body 101. As shown in FIG. 12, the bellows 122 has a certain height. However, when pressure is applied to the bellows 122, the bellows 122 is compressed, as shown in FIG. 13, and when no pressure is applied to the bellows 122, the shape of the bellows 122 returns to the initial state, as shown in FIG. 12. There is no particular restriction on the number of curved portions and the angle of the curved portions. When a large spring constant is required, the middle portion of the bellows 122 is narrowed, so that the area of ​​a portion of the bellows 122 located on one side of the upper plate 121 becomes larger, as shown in FIG. 11. The reason is that when P represents the internal pressure in the first space 111 and S represents the area of ​​the bellows, the force F generated by the bellows 122 satisfies F=P∙S. The bellows 122 may be made of an elastic material such as silicone rubber or nitrile rubber.

[0134] The flow hole plate 123, the spacer 124, and the air circulation plate 125 form the base 102. FIG. 14 is a cross-sectional view of the base 102 formed by the flow hole plate 123, the spacer 124, and the air circulation plate 125. As shown in the figure, the flow hole plate 123 is bonded to one surface of the annular spacer 124, and the air circulation plate 125 is bonded to the other surface of the annular spacer 124, thereby forming the base 102. Therefore, an internal space 102a is formed. The surface of the flow hole plate 123 located on one side of the spacer 124 forms the top surface 102b, and the surface of the air circulation plate 125 located on one side of the spacer 124 forms the bottom surface 102c. The inner peripheral surface of the spacer 124 forms the side surface 102d.

[0135] The circulation orifice plate 123 is a plate provided with circulation holes 131. FIG. 15 is a plan view of the circulation orifice plate 123 observed from the second space 112. In the figure, three circulation holes 131 are provided in the central portion of the circulation orifice plate 123. The number of the circulation holes 131 is not limited to three, and may be two or less, or four or more. The respective circulation holes 131 may have the same opening area or different opening areas. The circulation holes 131 may have any shape, such as a circle, a square, a rectangle, or a polygon.

[0136] Fig. 16 schematically shows the joining of the flow orifice plate 123 and the bellows 122. As shown in the figure, the flow orifice plate 123 is joined to the bellows 122 to seal the first space 111. There is no particular limitation on the method for joining the flow orifice plate 123 and the bellows 122. Therefore, the flow orifice plate 123 separates the first space 111 from the second space 112, and only the flow hole 131 allows the first space 111 and the second space 112 to communicate with each other.

[0137] The spacer 124 separates the flow hole plate 123 and the air flow plate 125 from each other at a prescribed interval. As shown in FIG9 , the spacer 124 is an annular member and is provided with an opening 124a at the center portion of the spacer 124, and a cutout serving as the first flow path 132 is provided on the spacer 124. The number of the first flow paths 132 may be one, two, or more.

[0138] The air circulation plate 125 is a plate provided with a second flow path 133, as shown in FIG9. The second flow path 133 may be a flow path passing through the air circulation plate 125, or may be a flow path extending to an end surface of the air circulation plate 125.

[0139] As shown in FIG9 , the holding plate 126 is a frame-type member and is provided with an opening 126a at the central portion of the holding plate 126, and the holding plate 126 fixes the deformable membrane 127 to the base 102. FIG17 is a schematic diagram showing the fixing of the deformable membrane 127 using the holding plate 126. The peripheral portion of the deformable membrane 127 is referred to as a fixing portion 127a, as shown in the figure. The area of ​​the fixing portion 127a located on one side of the holding plate 126 is referred to as an area 127b, and the area of ​​the fixing portion 127a opposite to the holding plate 126 is referred to as an area 127c. The holding plate 126 is in contact with the area 127b, and the area 127c is bonded to the air circulation plate 125 using an adhesive material. When the air circulation plate 125 and the spacer 124 are bonded to each other, the holding plate 126 is sandwiched between the air circulation plate 125 and the spacer 124 to be fixed to the base 102.

[0140] The deformable membrane 127 is a stretchable membrane, and is the above-mentioned second deformable body 104. The deformable membrane 127 separates the second space 112 from the third space 113. FIG18 is a schematic diagram showing deformation of the deformable membrane 127. As shown in FIG17, the fixed portion 127a of the deformable membrane 127 is fixed using the retaining plate 126. When a fluid is supplied through the second flow path 133 in FIG18, the deformable membrane 127 expands according to the internal pressure in the third space 113, as shown in FIG18.

[0141] The material of the deformable membrane 127 has a relatively low elastic modulus, and a stretchable material is suitable for the deformable membrane 127. For example, a flexible material such as nitrile rubber or silicone rubber, or a highly stretchable elastomeric material can be used for the deformable membrane 127. In particular, when the supply pressure applied using the first fluid control mechanism 103 is low, a material that produces a large deformation with a minimum pressure is suitable for the deformable membrane 127. The deformation sensitivity to pressure is determined by the fixing structure of the deformable membrane 127, the elastic modulus of the material used to form the deformable membrane 127, or the thickness of the membrane. In the reaction force control device 100, it is necessary to change the area of ​​a portion of the deformable membrane 127 that contacts the flow hole based on the deformation amount of the deformable membrane 127. The deformation characteristics of the deformable membrane 127 are closely related to the formation position of the flow hole 131.

[0142] [About the flow hole]

[0143] The position of the flow hole 131 is determined in consideration of the shape of the deformable membrane 127 when expanded. FIG. 19 and FIG. 20 are schematic diagrams showing the shape of the deformable membrane 127 when expanded, and FIG. 21 is a schematic diagram showing the positional relationship between the deformable membrane 127 and the flow hole 131. In FIG. 19 to FIG. 21, the flow holes 131 are referred to as flow holes 131a, flow holes 131b, and flow holes 131c in the order of proximity to the center of the flow hole plate 123. When the internal pressure in the third space 113 reaches the prescribed pressure, the deformable membrane 127 expands into a hemispherical shape, and the top of the deformable membrane 127 contacts the flow hole plate 123, as shown in FIG. 19.

[0144] In FIG. 21 , range H1 indicates the contact range of the deformable membrane 127 in contact with the flow orifice plate 123 at this time. In this case, only the flow hole 131a located in range H1 is blocked by the deformable membrane 127. In addition, when the internal pressure in the third space 113 increases, the deformable membrane 127 further expands, and a portion of the deformable membrane 127 in contact with the flow orifice plate 123 has a shape extending along the plate surface of the flow orifice plate 123, as shown in FIG. 20 . In FIG. 21 , range H2 indicates the contact range of the deformable membrane 127 in contact with the flow orifice plate 123 at this point. In this case, the flow holes 131a to 131c located in range H2 are blocked by the deformable membrane 127. As described above, according to the deformation amount of the deformable membrane 127, the number of flow holes 131 blocked by the deformable membrane 127 changes.

[0145] The loss generated when air passes through the circulation hole 131 is substantially proportional to the opening area of ​​the circulation hole 131. Therefore, the flow path resistance increases as the circulation hole 131 is gradually blocked due to the expansion of the deformable membrane 127. This causes the damping effect of the first deformable body 101 to begin to appear. When the deformable membrane 127 blocks all the circulation holes 131, the first space 111 is sealed and exhibits a large spring constant due to the air spring action. As described above, for example, the area and position of the circulation hole 131 can be designed in consideration of the required damping effect and the deformation characteristics of the deformable membrane 127.

[0146] FIG. 21 shows a circular flow hole 131. However, the flow hole 131 is not limited to a circular shape. FIG. 22 to FIG. 24 show examples of flow holes 131 having other shapes. In each of FIG. 22 to FIG. 24, at least one flow hole 131 is provided on a portion included in the flow hole plate 123 and in contact with the deformable membrane 127, and a portion of the at least one flow hole 131 blocked by the deformable membrane 127 increases as the deformable membrane 127 is deformed. As described above, the shape of the flow hole 131 may be such that the area of ​​the flow hole 131 blocked by the deformable membrane 127 varies according to the amount of deformation of the deformable membrane 127.

[0147] [About other configurations]

[0148] Other configurations of reaction force control device 100 will be described. Fig. 25 is a cross-sectional view showing another configuration of first deformation body 101. As shown in the figure, one surface of bellows 122 may be integrally formed without upper plate 121 included in bellows 122.

[0149] 26 to 29 are cross-sectional views showing other configurations of the second deformable body 104. As shown in FIG. 26, the fixed portion 127a of the deformable membrane 127 may be arranged to extend to a position on the deformable membrane 127 that is further inside than the range occupied by the spacer 124. In addition, as shown in FIG. 27, the second deformable body 104 may be formed by joining portions 127d of two deformable membranes 127 joined to each other, the joined portions 127d corresponding to the outer peripheral portions of the two deformable membranes 127, respectively. An opening 127e connected to the second flow path 133 is provided on the side of the deformable membrane 127 located on the air circulation plate 125, and the second flow path 133 is communicated with the third space 113 provided between the two deformable membranes 127. A portion of the deformable membrane 127 located on the side of the air circulation plate 125 and located around the opening 127e is joined to the air circulation plate 125.

[0150] In addition, the deformable membrane 127 may include a thin film portion 127f having a smaller thickness and a thick film portion 127g having a larger thickness, as shown in FIGS. 28 and 29. The thin film portion 127f is located on the inner peripheral side of the deformable membrane 127, and the thick film portion 127g is located on the outer peripheral side of the deformable membrane 127. When the deformable membrane 127 expands, the deformation amount of the thick film portion 127g is small, and the deformation amount of the thin film portion 127f is large. Therefore, the curvature of a portion of the deformable membrane 127 in contact with the flow hole 131 can be reduced relative to the internal pressure in the third space 113. This makes it possible to reduce the volume of the third space 113 when expanding, and at the same time ensure the thrust applied by the deformable membrane 127 to the flow hole plate 123 due to the internal pressure in the third space 113.

[0151] [About Example]

[0152] A reaction force control device according to an embodiment of the present technical content is described.

[0153] It is assumed that the reaction force control device according to the embodiment of the present technical content has the configuration of the reaction force control device 100 shown in FIG9 and has the following dimensions. FIG30 is a schematic diagram showing an example of the dimensions of the bellows 122. As shown in the figure, the outer diameter of the bellows 122 is 30 mm, the inner diameter is 20.59 mm, the height is 10 mm, the curved portion of the bellows 122 includes a pleated portion, the thickness is 0.5 mm, and the hardness is 30.

[0154] Fig. 31 is a schematic diagram showing an example of the size of the flow orifice plate 123 and an example of the arrangement of the flow holes 131. As shown in the figure, the flow orifice plate 123 has a diameter of 30 mm and a thickness of 0.2 mm, the flow holes 131 having a diameter of 1 mm are arranged at the central portion of the flow orifice plate 123, and the flow holes 131 having a diameter of 0.4 mm are arranged at a portion of the flow orifice plate 123 away from the central portion.

[0155] FIG. 32 is a schematic diagram showing the dimensions of the spacer 124, the air circulation plate 125, the retaining plate 126, and the deformable membrane 127. As shown in the figure, the spacer 124 includes an opening 124a with a diameter of 16 mm. The outer diameter of the air circulation plate 125 is 30 mm and the thickness is 0.2 mm. The retaining plate 126 includes an opening 126a with a diameter of 16 mm and a thickness of 0.2 mm. The deformable membrane 127 is made of silicone rubber, and the hardness of the deformable membrane 127 is 40, the diameter is 30 mm, and the thickness is 0.5 mm. The peripheral area of ​​the deformable membrane 127 is fixed together with the retaining plate 126. Therefore, the diameter of the deformable area is 18 mm. Considering the deformation amount of the deformable membrane 127, the distance between the deformable membrane 127 and the flow hole plate 123 is 2 mm.

[0156] FIG33 shows the results of measuring the pressing amount of the bellows 122 and the static reaction force of the bellows 122 in the reaction force control device 100 according to the embodiment. The pressing speed of pressing the bellows 122 is low enough that the measurement result does not include the damping effect. In the figure, "circulation hole opening" shows the measurement result when none of the circulation holes 131 is blocked by the deformable membrane 127, where the internal pressure in the third space 113 is 0 kPa. "Circulation hole blocking" shows the measurement result when all the circulation holes 131 are blocked by the deformable membrane 127, where the internal pressure in the third space 113 is 15 kPa.

[0157] In the case of "circulation hole open", the reaction force increases as the amount of pressing increases. The reason is that the resistance to the deformation of the bellows 122 increases. In the case of "circulation hole blocked", the reaction force increases rapidly relative to the amount of pressing compared to the case of "circulation hole open". The reason is that because the first space 111 is sealed, the reaction force generated by the air increases. When the internal pressure in the third space 113 is higher, this leads to a further improvement in the sealing ability of the first space 111.

[0158] As described above, the reaction force control device 100 exhibits a large difference in spring constant (reaction force / pressing amount) between "opening of the flow hole" and "blocking of the flow hole". When the user pushes the bellows 122, appropriately changing the supply pressure applied to the third space 113 can provide the user with a very soft spring-like feeling or a very hard spring-like feeling.

[0159] 34 to 39 show the results of measuring the pressing amount of the bellows 122 and the reaction force of the bellows 122 in the reaction force control device 100 according to the embodiment. In each of FIG. 34 to FIG. 36, the internal pressure in the third space 113 is 2 kPa. FIG. 34 shows the measurement result when the pressing speed of the bellows 122 is 1 mm / s, FIG. 35 shows the measurement result when the pressing speed is 10 mm / s, and FIG. 36 shows the measurement result when the pressing speed is 50 mm / s. When the internal pressure in the third space 113 is 2 kPa, a part of the flow hole 131 is blocked by the deformable membrane 127.

[0160] In each of Figures 37 to 39, the internal pressure in the third space 113 is 10 kPa. Figure 37 shows the measurement results when the pressing speed of the bellows 122 is 1 mm / s, Figure 38 shows the measurement results when the pressing speed is 10 mm / s, and Figure 39 shows the measurement results when the pressing speed is 50 mm / s. When the internal pressure in the third space 113 is 10 kPa, all the flow holes 131 are closed by the deformable membrane 127. It should be noted that in Figures 34 to 39, "pressing" refers to the reaction force generated when the bellows 122 is pressed, and "back pressure" refers to the reaction force generated when the pressed bellows 122 returns to the initial state.

[0161] When comparing between Figures 34 to 36, the curve of the reaction force is different due to the pressing speed, which shows the damping effect. In Figures 35 and 36, "pressing" and "back pressure" show different reaction forces. The reason is that due to high-speed pressing, the air in the first space 111 is discharged to the outside through the second space 112, and when the bellows 122 returns to the initial state, the air is delayed and sucked into the first space 111. In particular, in Figure 36 at a high pressing speed, the reaction force during "back pressure" is very small. Similarly, in Figures 37 to 39, the curve of the reaction force is different due to the pressing speed, which shows the damping effect.

[0162] In addition, when comparing between FIG. 35 and FIG. 38 , the curve of the reaction force is different due to the internal pressure in the third space 113, showing that the damping effect changes according to the change in the opening area of ​​the circulation hole 131. Similarly, when comparing between FIG. 36 and FIG. 39 , the curve of the reaction force is different due to the internal pressure in the third space 113, showing that the damping effect changes according to the change in the opening area of ​​the circulation hole 131.

[0163] As described above, the configuration of the reaction force control device 100 enables control of the spring effect and the damping effect provided by the push. Therefore, for example, by measuring the reaction force curve generated on various objects (such as a cushion, a human body, and a mixture), and by changing the supply pressure applied to the third space 113 to match the curve profile of the reaction force, a user can be provided with a feeling close to a hard or soft feeling or a repulsive feeling provided by the object.

[0164] [About the reaction force control system]

[0165] A reaction force control system according to the present embodiment is described. FIG. 40 is a schematic diagram showing a reaction force control system 150 according to the present embodiment. As shown in the figure, the reaction force control system 150 includes a reaction force control device 100 and a controller 160. The reaction force control device 100 has the above configuration. The controller 160 has a functional configuration implemented by the cooperation of hardware and software, and controls the first fluid control mechanism 103 to adjust the internal pressure in the third space 113.

[0166] The controller 160 maintains the relationship between the deformation amount of the second deformable body 104 and the internal pressure in the third space 113, and can adjust the internal pressure in the third space 113 so that the deformation amount of the second deformable body 104 becomes a specified amount. Specifically, the controller 160 can increase or decrease the opening area of ​​a portion of the flow hole 131 blocked by the second deformable body 104 by controlling the internal pressure in the third space 113. Therefore, the controller 160 can adjust the internal pressure in the third space 113 based on, for example, the designation of the user or the application, and control the spring effect and the damping effect provided to the reaction force control device 100.

[0167] Figures 41 to 44 are graphs of examples of reaction force control of the first deformable body 101 controlled by the controller 160. As shown in Figure 41, the controller 160 can make the reaction force characteristic a linear characteristic, and can also switch between characteristic (a) and characteristic (b) (also used in the following figures). In addition, as shown in Figure 42, the controller 160 can also make the reaction force characteristic a nonlinear characteristic. It should be noted that in Figures 42 and 43, the reaction force when pressing is represented by a solid line, and the reaction force when back pressure is represented by a dotted line. In addition, the controller 160 can also make the reaction force characteristic a discontinuous characteristic, as shown in Figure 44.

[0168] [About the use of sensor output]

[0169] The reaction force control system 150 includes a sensor, and the controller 160 may also control the first fluid control mechanism 103 based on the output of the sensor. Specifically, the reaction force control system 150 may include at least one of a load sensor that detects a load applied to the first deformable body 101 or a distance sensor that detects the deformation amount of the first deformable body 101. FIG. 45 is a flowchart showing the operation of the controller 160 based on the sensor output. As shown in the figure, when the first deformable body 101 is pushed, the controller 160 obtains the output (St101) from the sensor.

[0170] Based on the output of the sensor, the controller 160 determines the opening area (St102) of the circulation hole 131. The controller 160 can determine the opening area according to the sensor output by referring to a preset reaction force characteristic library. The controller 160 controls the first fluid control mechanism 103 to adjust the internal pressure in the third space 113 so that the circulation hole 131 has a determined opening area (St103). When the output of the sensor reaches a threshold value, the controller 160 can change the third internal pressure, and can change the third internal pressure at any time according to the output of the sensor. Therefore, the reaction force control system 150 can change the internal pressure in the third space 113 according to the load applied to the first deformable body 101 or the pressing amount of the first deformable body 101, and can change the spring effect and damping effect provided by the reaction force.

[0171] Figures 46 to 49 are graphs of examples of reaction force control of the first deformable body performed by the controller 160 based on the output of the sensor. The controller 160 can provide a reaction force characteristic that rapidly reduces the reaction force when the pressing amount becomes a specified amount and then increases the reaction force, as shown in Figure 46. Specifically, when the sensor detects the first pressing relative to the first deformable body 101, the controller 160 increases the internal pressure in the third space 113. This causes the circulation hole 131 to be blocked by the second deformable body 104. Therefore, a larger reaction force is caused. When the pressing amount of the first deformable body 101 reaches a threshold value, the controller 160 reduces the internal pressure in the third space 113. Therefore, the circulation hole 131 is not blocked by the second deformable body 104, and when the pressing amount exceeds the threshold value, the reaction force generated by pressing the first deformable body 101 is greatly reduced.

[0172] Here, first of all, a feeling of hardness is provided to the user. When pressing is performed to a certain extent, the reaction force suddenly decreases. This makes the user feel that the reaction force decreases rapidly, for example, the feeling of cutting an object with scissors without resistance from the moment the cutting starts, or the feeling of firing a gun. As described above, the controller 160 can change the reaction force characteristics of the first deformable body 101 by controlling the first fluid control mechanism 103 based on the output of the sensor. In addition, the controller 160 can make a more complex representation of the reaction force by performing a finer pressure control relative to the pressing amount. This also makes it possible to change the reaction force during the pressing process in the order of "weak reaction force", "strong reaction force" and "weak reaction force".

[0173] In addition, the controller 160 can provide a reaction force characteristic such as a feeling provided by a damping feeling pedal, as shown in FIG47, and can provide a reaction force characteristic such as a click feeling, as shown in FIG48. In addition, the controller 160 can provide a reaction force characteristic such as a crushing feeling or a rupture feeling by reducing the reaction force of each specific pressing amount, as shown in FIG49. As described above, based on the output of the load sensor or the distance sensor, the controller 160 changes the internal pressure in the third space 113. Therefore, the controller 160 can provide various reaction force characteristics.

[0174] [About application examples]

[0175] The configuration of the reaction force control device 100 and the reaction force control system 150 enables the user to feel various reaction forces when the user performs a pressing operation on the first deformation body 101. In addition, providing the reaction force control system 150 with a load sensor or a distance sensor enables the detection of the thrust of the first deformation body 101 or the pressing amount of the first deformation body 101, and performs control to change the damping component or the spring constant component according to the thrust or the pressing amount.

[0176] This enables the reaction force control device 100 and the reaction force control system 150 to be used for a switch in which the reaction force varies according to the amount of pressure, the feeling of the reaction force generated when cutting or crushing an object, the feeling of the reaction force generated when breaking an object, and the feeling of hardness of a composite of soft and hard materials such as the human body (which includes a flexible structure of bones).

[0177] In addition, the reaction force control device 100 and the reaction force control system 150 can also be used not only to provide the reaction force generated when the user pushes, but also for other purposes. For example, the reaction force control device 100 and the reaction force control system 150 can be used in an actuator mechanism, such as a robot. Figures 50 and 51 schematically show the deformation of the bellows 122. As shown in Figures 50 and 51, the bellows 122 is flexible in deformation in directions other than the vertical direction, and can provide an oscillation mechanism as shown in Figure 52 and a joint mechanism as shown in Figure 53. For example, using the reaction force control device 100 in an actuator mechanism can change the hardness (resistance) relative to the tensile movement or the hardness (resistance) relative to the bending movement. The reaction force control device 100 can also be used as an active shock absorber that can change the damping effect.

[0178] In addition, the reaction force control device 100 and the reaction force control system 150 can also be used for an actuator of an anti-vibration base. Adjusting the opening area of ​​the flow hole 131 can also eliminate vibrations caused by a specific vibration frequency.

[0179] [About Modifications]

[0180] A modification of the reaction force control device 100 will be described. Fig. 54 to Fig. 56 are cross-sectional views of the reaction force control device 100 according to the modification.

[0181] As shown in FIG. 54 , the first deformable body 101 may have a piston structure and may include a cylinder 171, a piston 172, a spring 173, and an O-ring 174. The piston 172 is connected to the cylinder 171 by the spring 173 and may move up and down in the cylinder 171. The O-ring 174 is arranged between the piston 172 and the cylinder 171 to seal the space between the piston 172 and the cylinder 171. In this configuration, the space between the piston 172 and the cylinder 171 is the first space 111. In this configuration, the second deformable body 104 also changes the opening area of ​​the flow hole 131 to control the flow of air from the first space 111 into the second space 112. This makes it possible to change the spring effect and the damping effect provided by pressing the piston 172.

[0182] In addition, as shown in FIG. 55 , the first deformable body 101 may have a balloon structure, and may be a balloon 181. The balloon 181 is bag-shaped and is formed using a thin film made of an elastic material. The balloon 181 is connected to the base 102. The internal space of the balloon 181 is a first space 111. An opening 181a communicating with the circulation hole 131 is provided on the balloon 181, and the first space 111 is communicated with the second space 112 through the opening 181a and the circulation hole 131. In this configuration, the second deformable body 104 also changes the opening area of ​​the circulation hole 131 to control the flow of air from the first space 111 into the second space 112. This makes it possible to change the spring effect and the damping effect provided by pressing the balloon 181.

[0183] In addition, the reaction force control device 100 may include a third flow path 134 and a second fluid control mechanism 105, as shown in Figure 56. The third flow path 134 is provided between the first space 1112 and the external space. The second fluid control mechanism 105 allows air to flow into the first space 111 through the third flow path 134, and allows air to flow out of the first space 111. For example, the second fluid control mechanism 105 is a pump.

[0184] 57 and 58 are schematic diagrams showing the operation of the reaction force control device 100. In the case of this structure, the second fluid control mechanism 105 allows air to flow into the first space 111 through the third flow path 134 when the circulation hole 131 is blocked by the second deformable body 104, as shown by the arrow A2 in FIG. 57. This enables the first deformable body 101 to expand. In addition, the second fluid control mechanism 105 allows air to flow into the first space 111 through the third flow path 134 when the circulation hole 131 is blocked by the second deformable body 104, as shown by the arrow A3 in FIG. 58. This enables the first deformable body 101 to contract. In addition, the first fluid control mechanism 103 changes the deformation amount of the second deformable body 104. This also makes it possible to adjust the internal pressure in the first space 111. The reaction force control device 100 can also form a reaction force control system 150 by connecting the controller 160 to the reaction force control device 100. In this case, the controller 160 may control the first fluid control mechanism 103 and the second fluid control mechanism 105 to simultaneously adjust the internal pressure in the first space 111 and the internal pressure in the third space 113 .

[0185] [Hardware configuration of the controller]

[0186] There is described a hardware configuration that can realize the functional configuration of the controller 160. Fig. 59 is a diagram showing the hardware configuration.

[0187] As shown, the controller 160 includes a central processing unit (CPU) 1001 and a graphics processing unit (GPU) 1002. An input / output interface 1006 is connected to the CPU 1001 and the GPU 1002 via a bus 1005. A read only memory (ROM) 1003 and a random access memory (RAM) 1004 are connected to the bus 1005.

[0188] An input section 1007, an output section 1008, a storage device 1009, and a communication section 1010 are connected to the input / output interface 1006. The input section 1007 includes an input device, such as a keyboard and a mouse used by a user to input an operation instruction. The output section 1008 outputs an image of a processing operation screen and a processing result to a display device. For example, the storage device 1009 includes a hard disk drive in which programs and various data are stored. For example, the communication section 1010 includes a local area network (LAN) adapter and performs communication processing through a network represented by the Internet. In addition, a drive 1011 is connected to the input / output interface 1006. The drive 1011 reads data from a removable storage medium 1012 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory and writes data therein.

[0189] The CPU 1001 performs various processes according to the program stored in the ROM 1003, or according to the program read from a removable storage medium 1012 (such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory) mounted on the storage device 1009 and loaded from the storage device 1009 into the RAM 1004. Data required by the CPU 1001 to perform various processes is also stored as necessary in the RAM 1004. The GPU 1002 performs required calculation processing to draw an image under the control of the CPU 1001.

[0190] In the controller 160 having the above configuration, the above series of processing is performed by the CPU 1001 loading a program stored in, for example, the storage device 1009 into the RAM 1004 and executing the program via the input / output interface 1006 and the bus 1005 .

[0191] For example, the program executed by the controller 160 may be provided by being recorded in the removable storage medium 1012 serving as, for example, a program package medium. In addition, the program may be provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital satellite broadcasting.

[0192] In the controller 160, the program can be installed on the storage device 1009 via the input / output interface 1006 through the removable storage medium 1012 installed on the drive 1011. In addition, the program can be received by the communication section 1010 via a wired or wireless transmission medium installed on the storage device 1009. Moreover, the program can be installed in advance on the ROM 1003 or the storage device 1009.

[0193] It should be noted that the program executed by the controller 160 may be a program that is processed in time in the order described in the present disclosure, or may be a program that is processed in parallel or processed at a necessary timing (such as a call timing). In addition, the entire hardware configuration of the controller 160 does not need to be included in a single device, and the controller 160 may include multiple devices. In addition, part or all of the hardware configuration of the controller 160 may be included in multiple devices connected to each other via a network.

[0194] [About this disclosure]

[0195] The effects described in the present disclosure are not restrictive but merely illustrative, and other effects may be provided. The above description of multiple effects does not necessarily mean that multiple effects are provided simultaneously. The above description means that at least one of the above effects is provided according to, for example, conditions. There is a possibility of providing an effect not described in the present disclosure. In addition, at least two of the features described in the present disclosure may also be used in combination.

[0196] It should be noted that the present technical content can also adopt the following configuration.

[0197] (1) A reaction force control device, comprising:

[0198] a first deformable body, the first deformable body comprising a first space inside the first deformable body, the volume of the first space being variable;

[0199] a base, the base comprising a second space and a third space, the second space being connected to the first space through a flow hole, and the third space being not connected to the first space or the second space; and

[0200] The second deformable body separates the second space from the third space and is deformed by fluid flowing into the third space or fluid flowing out of the third space, thereby changing the opening area of ​​the flow hole.

[0201] (2) The reaction force control device according to (1), wherein:

[0202] The second deformation body expands when fluid flows into the third space to block a part or all of the flow hole, and contracts when fluid flows out of the third space to separate from the flow hole.

[0203] (3) The reaction force control device according to (1) or (2), further comprising:

[0204] A first fluid control mechanism allows the fluid to flow into the third space and allows the fluid to flow out of the third space.

[0205] (4) The reaction force control device according to (3), wherein:

[0206] The second space is communicated with the external space through the first flow path, and

[0207] The third space is connected to the first fluid control mechanism through a second flow path.

[0208] (5) The reaction force control device according to (4), further comprising:

[0209] a second fluid control mechanism, wherein the second fluid control mechanism allows the fluid to flow into the first space and allows the fluid to flow out of the first space, wherein

[0210] The first space is connected to the second fluid control mechanism through a third flow path.

[0211] (6) The reaction force control device according to any one of (1) to (5), wherein:

[0212] A plurality of the flow holes are provided, and the number of the flow holes blocked by the second deformation body varies according to the deformation amount of the second deformation body.

[0213] (7) The reaction force control device according to any one of (1) to (5), wherein:

[0214] The flow hole has a shape such that an area of ​​the flow hole blocked by the second deformation body varies according to an amount of deformation of the second deformation body.

[0215] (8) The reaction force control device according to any one of (1) to (7), wherein:

[0216] The first deformation body has a bellows structure.

[0217] (9) The reaction force control device according to any one of (1) to (7), wherein:

[0218] The first deformation body has a piston structure.

[0219] (10) The reaction force control device according to any one of (1) to (7), wherein:

[0220] The first deformation body has a balloon structure.

[0221] (11) The reaction force control device according to any one of (1) to (10), wherein:

[0222] The second deformable body is a deformable film having stretchability.

[0223] (12) A reaction force control system comprising:

[0224] A reaction force control device, the reaction force control device comprising:

[0225] a first deformable body, the first deformable body comprising a first space inside the first deformable body, the volume of the first space being variable;

[0226] A base, the base comprising a second space and a third space, the second space being connected to the first space through a flow hole, and the third space being not connected to the first space or the second space;

[0227] a second deformable body, the second deformable body separating the second space from the third space, the second deformable body being deformed by fluid flowing into the third space or fluid flowing out of the third space, thereby changing the opening area of ​​the flow hole, and

[0228] a first fluid control mechanism that allows the fluid to flow into the third space and allows the fluid to flow out of the third space; and

[0229] A controller controls the first fluid control mechanism to adjust the internal pressure in the third space.

[0230] (13) The reaction force control system according to (12), wherein:

[0231] The controller maintains a relationship between a deformation amount of the second deformation body and an internal pressure in the third space, and adjusts the internal pressure in the third space so that the deformation amount of the second deformation body becomes a prescribed amount.

[0232] (14) The reaction force control system according to (12), further comprising:

[0233] a load sensor for detecting a load applied to the first deformable body, wherein:

[0234] The controller adjusts the internal pressure in the third space based on the output of the load sensor.

[0235] (15) The reaction force control system according to (14), wherein:

[0236] The controller changes the internal pressure in the third space at any time according to the load.

[0237] (16) The reaction force control system according to (12), further comprising:

[0238] A distance sensor is used to detect the deformation of the first deformable body, wherein:

[0239] The controller adjusts the internal pressure in the third space based on the output of the distance sensor.

[0240] (17) The reaction force control system according to (16), wherein:

[0241] The controller changes the internal pressure in the third space at any time according to the deformation amount.

[0242] (18) The reaction force control system according to any one of (12) to (17), wherein:

[0243] The controller adjusts the internal pressure in the third space based on a user's input.

[0244] (19) The reaction force control system according to any one of (12) to (17), wherein:

[0245] The controller adjusts the internal pressure in the third space based on designation of an application program.

[0246] (20) The reaction force control system according to any one of (12) to (19), wherein:

[0247] The reaction force control device further includes a second fluid control mechanism, which allows the fluid to flow into the first space and to flow out of the first space.

[0248] The first space is connected to the second fluid control mechanism through a third flow path, and

[0249] The controller further controls the second fluid control mechanism to adjust the internal pressure in the first space.

[0250] Reference numerals

[0251] 100 Reaction force control device

[0252] 101 First Deformation

[0253] 102 Base

[0254] 103 First fluid control mechanism

[0255] 104 Second Deformation

[0256] 105 Second fluid control mechanism

[0257] 111 First Space

[0258] 112 Second Space

[0259] 113 Third Space

[0260] 131 Flow hole

[0261] 132 First flow path

[0262] 133 Second flow path

[0263] 134 Third flow path

[0264] 150 Reaction force control system

[0265] 160 Controller

Claims

1. A reaction force control device, comprising: a first deformable body, the first deformable body comprising a first space inside the first deformable body, the volume of the first space being variable; a base, the base comprising a second space and a third space, the second space being connected to the first space through a flow hole, and the third space being not connected to the first space or the second space; and The second deformable body separates the second space from the third space and is deformed by fluid flowing into the third space or fluid flowing out of the third space, thereby changing the opening area of ​​the flow hole.

2. The reaction force control device according to claim 1, wherein: The second deformation body expands when fluid flows into the third space to block a part or all of the flow hole, and contracts when fluid flows out of the third space to separate from the flow hole.

3. The reaction force control device according to claim 1, further comprising: A first fluid control mechanism allows the fluid to flow into the third space and allows the fluid to flow out of the third space.

4. The reaction force control device according to claim 3, wherein: The second space is communicated with the external space through the first flow path, and The third space is connected to the first fluid control mechanism through a second flow path.

5. The reaction force control device according to claim 4, further comprising: a second fluid control mechanism, wherein the second fluid control mechanism allows the fluid to flow into the first space and allows the fluid to flow out of the first space, wherein The first space is connected to the second fluid control mechanism through a third flow path.

6. The reaction force control device according to claim 1, wherein: A plurality of the flow holes are provided, and the number of the flow holes blocked by the second deformation body varies according to the deformation amount of the second deformation body.

7. The reaction force control device according to claim 1, wherein: The flow hole has a shape such that an area of ​​the flow hole blocked by the second deformation body varies according to an amount of deformation of the second deformation body.

8. The reaction force control device according to claim 1, wherein: The first deformation body has a bellows structure.

9. The reaction force control device according to claim 1, wherein: The first deformation body has a piston structure.

10. The reaction force control device according to claim 1, wherein: The first deformation body has a balloon structure.

11. The reaction force control device according to claim 1, wherein: The second deformable body is a deformable film having stretchability.

12. A reaction force control system, comprising: A reaction force control device, the reaction force control device comprising: a first deformable body, the first deformable body comprising a first space inside the first deformable body, the volume of the first space being variable; A base, the base comprising a second space and a third space, the second space being connected to the first space through a flow hole, and the third space being not connected to the first space or the second space; a second deformable body, the second deformable body separating the second space from the third space, the second deformable body being deformed by fluid flowing into the third space or fluid flowing out of the third space, thereby changing the opening area of ​​the flow hole, and a first fluid control mechanism that allows the fluid to flow into the third space and allows the fluid to flow out of the third space; and A controller controls the first fluid control mechanism to adjust the internal pressure in the third space.

13. The reaction force control system according to claim 12, wherein: The controller maintains a relationship between a deformation amount of the second deformation body and an internal pressure in the third space, and adjusts the internal pressure in the third space so that the deformation amount of the second deformation body becomes a prescribed amount.

14. The reaction force control system according to claim 12, further comprising: a load sensor for detecting a load applied to the first deformable body, wherein: The controller adjusts the internal pressure in the third space based on the output of the load sensor.

15. The reaction force control system according to claim 14, wherein: The controller changes the internal pressure in the third space at any time according to the load.

16. The reaction force control system according to claim 12, further comprising: A distance sensor is used to detect the deformation of the first deformable body, wherein: The controller adjusts the internal pressure in the third space based on the output of the distance sensor.

17. The reaction force control system according to claim 16, wherein: The controller changes the internal pressure in the third space at any time according to the deformation amount.

18. The reaction force control system according to claim 12, wherein: The controller adjusts the internal pressure in the third space based on a user's input.

19. The reaction force control system according to claim 12, wherein: The controller adjusts the internal pressure in the third space based on designation of an application program.

20. The reaction force control system according to claim 12, wherein: The reaction force control device further includes a second fluid control mechanism, which allows the fluid to flow into the first space and to flow out of the first space. The first space is connected to the second fluid control mechanism through a third flow path, and The controller further controls the second fluid control mechanism to adjust the internal pressure in the first space.

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