Tactile presentation device and tactile presentation system

Abstract

[Problem] To provide a tactile presentation device and tactile presentation system having excellent pressure stimulation controllability. [Solution] A haptic presentation device according to the present technology includes a housing unit, a plurality of operation units, and an exposure unit. The plurality of operation units includes a first operation unit whose height changes in a first direction with respect to the housing unit and a second operation unit whose height changes in the first direction with respect to the housing unit. The exposure unit includes a first contact portion in contact with the first operation unit, a second contact portion in contact with the second operation unit, and an intermediate portion as a portion between the first contact portion and the second contact portion, the first operating unit and the second operating unit are arranged in the first direction and deform along with displacement of the middle portion according to height changes of the first operating unit and the second operating unit in the first direction, and the displacement of the middle portion comprises a component in the first direction.

Description

Technical Field

[0001] The present technical content relates to a tactile presentation device and a tactile presentation system for presenting tactile sensation to a user. Background Art

[0002] A tactile presentation device is a device that generates a sense of touch on a part touched by a user's finger or the like, and is increasingly used in fields such as VR (virtual reality). In fact, some tactile presentation devices deform a part touched by a user's finger or the like, thereby generating a pressure stimulus to the user. For example, Patent Document 1 discloses a system in which a plurality of displacement devices are arranged. The displacement device is configured to cause a fluid to flow into a space covered with an elastic member to expand the elastic member and form a pressure stimulus point.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2014-207236 Summary of the invention

[0006] Technical Problems to be Solved by the Invention

[0007] However, in the tactile sensation presentation device with multiple pressure stimulation points described in Patent Document 1, the pressure stimulation cannot be presented in the middle of the pressure stimulation points, and the pressure stimulation sensation is discrete. Therefore, it is difficult to generate a large area of ​​pressure stimulation or to move the pressure stimulation.

[0008] In view of the above situation, the purpose of the present technical content is to provide a tactile presentation device and a tactile presentation system with excellent pressure stimulation controllability.

[0009] Means of solving the problem

[0010] In order to achieve the above-mentioned object, a tactile presentation device according to an embodiment of the present technical content includes a housing unit, a plurality of operation units, and an exposure unit.

[0011] The plurality of operation units include a first operation unit whose height varies in a first direction relative to the housing unit and a second operation unit whose height varies in the first direction relative to the housing unit.

[0012] The exposure unit includes a first contact portion in contact with the first operating unit, a second contact portion in contact with the second operating unit, and an intermediate portion as a portion between the first contact portion and the second contact portion, and the exposure unit is deformed following the displacement of the intermediate portion according to a change in the height of the first operating unit and the second operating unit in the first direction, wherein the displacement of the intermediate portion includes a component in the first direction.

[0013] In the exposing unit, the displacement of the middle portion may include a component in a second direction perpendicular to the first direction.

[0014] The exposing unit may have flexibility.

[0015] The housing unit may have an arrangement surface facing the exposure unit and on which the plurality of operation units are arranged, the arrangement surface being a concave surface.

[0016] At least one of the plurality of operation units may include a driving unit that changes a height in the first direction by an electromagnetic force, and a flexible unit that is disposed between the driving unit and the exposing unit and has flexibility.

[0017] At least one of the plurality of operation units may be filled with a fluid, and a height in the first direction may vary according to a change in volume or pressure of the fluid.

[0018] The tactile presentation device may further include a boundary unit disposed between the first operation unit and the second operation unit and partitioning the fluid between the first operation unit and the second operation unit.

[0019] The boundary unit may connect the housing unit and the exposure unit.

[0020] A thickness of a portion of the boundary unit connected to the exposure unit may be 3 mm or less.

[0021] The boundary unit may have a bellows structure.

[0022] The housing unit may have a recessed portion that accommodates the boundary unit when the bellows structure of the boundary unit is folded.

[0023] The exposing unit may have a recessed portion that accommodates the boundary unit when the bellows structure of the boundary unit is folded.

[0024] The tensile strength of the exposed unit may be greater than the tensile strength of the boundary unit.

[0025] The fluid may be air.

[0026] A tactile presentation system according to an embodiment of the present technical content includes a tactile presentation device and a control device.

[0027] The tactile presentation device includes a housing unit; a plurality of operating units, the plurality of operating units including a first operating unit whose height changes in a first direction relative to the housing unit and a second operating unit whose height changes in the first direction relative to the housing unit; and an exposure unit, the exposure unit including a first contact portion in contact with the first operating unit, a second contact portion in contact with the second operating unit, and an intermediate portion as a part between the first contact portion and the second contact portion, and the exposure unit deforms following the displacement of the intermediate portion according to the change in height of the first operating unit and the second operating unit in the first direction, wherein the displacement of the intermediate portion includes a component in the first direction.

[0028] When one of the multiple operating units is farthest from the shell and another of the multiple operating units is closest to the shell, the most protruding position of the exposed unit is set as the representative position of the one of the operating units, the control device determines the respective control parameters of the multiple operating units based on the respective representative positions of the multiple operating units.

[0029] The control device may determine the respective control parameters of the plurality of operating units based on a presentation position and respective representative positions of the plurality of operating units, the presentation position being a position of the exposure unit having the highest height in the first direction.

[0030] The control means may determine the respective control parameters of the plurality of operating units based on the distances between the presentation position and the respective representative positions of the plurality of operating units.

[0031] When an area in the exposure unit whose height in the first direction is higher than a specific level is set as a presentation area, the control device can determine the respective control parameters of the multiple operating units based on the presentation position, the respective representative positions of the multiple operating units and the area of ​​the presentation area.

[0032] The control device may determine the respective control parameters of the plurality of operating units based on a presentation object shape that is a shape of an object to be presented in the exposure unit and the respective representative positions of the plurality of operating units.

[0033] The control device may determine the shape of the presentation object based on a positional relationship between a presentation object as a virtual object and the tactile presentation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] FIG. 1 is a cross-sectional view of a tactile presentation device according to an embodiment of the present technology.

[0035] FIG. 2 is a cross-sectional view of a tactile presentation device.

[0036] FIG. 3 is a cross-sectional view of a tactile presentation device.

[0037] FIG. 4 is a cross-sectional view of a tactile presentation device.

[0038] FIG. 5 is a cross-sectional view of a tactile presentation device.

[0039] FIG. 6 is a schematic diagram showing an exposure unit of a tactile presentation device.

[0040] FIG. 7 is a schematic diagram illustrating the operation of the tactile presentation device.

[0041] FIG. 8 is a schematic diagram illustrating the operation of the tactile presentation device.

[0042] FIG. 9 is a schematic diagram illustrating displacement of a middle portion of an exposure unit included in the tactile presentation device.

[0043] FIG. 10 is a schematic diagram illustrating the operation of the tactile presentation device.

[0044] FIG. 11 is a schematic diagram illustrating displacement of a middle portion of an exposure unit included in the tactile presentation device.

[0045] FIG. 12 is a cross-sectional view of a tactile presentation device having a different configuration according to an embodiment of the present technology.

[0046] FIG. 13 is a cross-sectional view of a tactile presentation device having a first specific configuration according to an embodiment of the present technology.

[0047] FIG. 14 is a cross-sectional view of a tactile presentation device.

[0048] FIG. 15 is a plan view of a tactile presentation device.

[0049] FIG. 16 is a cross-sectional view of a housing unit included in the tactile presentation device.

[0050] FIG. 17 is a schematic diagram showing the operation of the tactile presentation device.

[0051] FIG. 18 is a schematic diagram showing the operation of the tactile presentation device.

[0052] FIG. 19 is a schematic diagram showing the operation of the tactile presentation device.

[0053] FIG. 20 is a schematic diagram illustrating displacement of a middle portion of an exposure unit included in the tactile presentation device.

[0054] FIG. 21 is a schematic diagram illustrating the operation of the tactile sense presentation device according to the comparative example.

[0055] FIG. 22 is a schematic diagram illustrating the operation of the tactile presentation device having the first specific configuration according to an embodiment of the present technology.

[0056] FIG. 23 is a schematic diagram showing the operation of the tactile presentation device.

[0057] FIG. 24 is a schematic diagram showing the operation of the tactile presentation device.

[0058] FIG. 25 is a schematic diagram showing the operation of the tactile presentation device.

[0059] FIG. 26 is a schematic diagram showing the operation of the tactile presentation device.

[0060] FIG. 27 is a schematic diagram showing the operation of the tactile presentation device.

[0061] FIG. 28 is a schematic diagram illustrating the thickness of a boundary unit included in the tactile presentation device.

[0062] FIG. 29 is a schematic diagram illustrating tensile strengths of a boundary unit and an exposed unit included in the tactile presentation device.

[0063] FIG. 30 is a schematic diagram showing the arrangement of an operation unit and a boundary unit included in the tactile presentation device.

[0064] FIG. 31 is a schematic diagram showing the arrangement of an operation unit and a boundary unit included in the tactile presentation device.

[0065] FIG. 32 is a schematic diagram showing the arrangement of an operation unit and a boundary unit included in the tactile presentation device.

[0066] FIG. 33 is a schematic diagram showing the arrangement of an operation unit and a boundary unit included in the tactile presentation device.

[0067] FIG. 34 is a schematic diagram showing the arrangement of an operation unit and a boundary unit included in the tactile presentation device.

[0068] FIG. 35 is a schematic diagram showing the arrangement of an operation unit and a boundary unit included in the tactile presentation device.

[0069] 36 is a cross-sectional view of a tactile presentation device having a first specific configuration and including a periphery according to an embodiment of the present technology.

[0070] FIG. 37 is a plan view of a tactile presentation device.

[0071] 38 is a cross-sectional view of a tactile presentation device having a first specific configuration and including a periphery according to an embodiment of the present technology.

[0072] 39 is a cross-sectional view of a tactile presentation device having a first specific configuration and including a boundary unit of a different structure according to an embodiment of the present technology.

[0073] 40 is a cross-sectional view of a tactile presentation device having a first specific configuration and including a boundary unit of a different structure according to an embodiment of the present technology.

[0074] 41 is a cross-sectional view of a tactile presentation device having a first specific configuration and including a boundary unit of a different structure according to an embodiment of the present technology.

[0075] 42 is a cross-sectional view of a tactile presentation device having a first specific configuration and including an exposure unit of a different structure according to an embodiment of the present technology.

[0076] FIG. 43 is a schematic diagram showing a modification of the exposure unit of the tactile presentation device.

[0077] 44 is a cross-sectional view of a tactile presentation device having a first specific configuration and including an exposure unit of a different structure according to an embodiment of the present technology.

[0078] FIG. 45 is a schematic diagram showing a modification of the exposure unit of the tactile presentation device.

[0079] 46 is a cross-sectional view of a tactile presentation device having a first specific configuration and including an exposure unit of a different structure according to an embodiment of the present technology.

[0080] FIG. 47 is a schematic diagram showing a modification of the exposure unit of the tactile presentation device.

[0081] 48 is a cross-sectional view of a tactile presentation device having a first specific configuration and including an exposure unit of a different structure according to an embodiment of the present technology.

[0082] FIG. 49 is a schematic diagram showing a variation of the exposure unit of the tactile presentation device.

[0083] FIG. 50 is a schematic diagram showing a modification of the exposure unit of the tactile presentation device having the first specific configuration according to an embodiment of the present technology.

[0084] 51 is a cross-sectional view of a tactile presentation device having another configuration of the first specific configuration according to an embodiment of the present technology.

[0085] 52 is a cross-sectional view of a tactile presentation device having another configuration of the first specific configuration according to an embodiment of the present technology.

[0086] 53 is a cross-sectional view of a tactile presentation device having another configuration of the first specific configuration according to an embodiment of the present technology.

[0087] FIG. 54 is a cross-sectional view of a tactile presentation device having a second specific configuration according to an embodiment of the present technology.

[0088] FIG. 55 is a schematic diagram illustrating the operation of the tactile presentation device.

[0089] FIG. 56 is a schematic diagram illustrating the operation of the tactile presentation device.

[0090] FIG. 57 is a cross-sectional view of a tactile presentation device having another configuration of the second specific configuration according to an embodiment of the present technology.

[0091] FIG. 58 is a schematic diagram illustrating the operation of the tactile presentation device.

[0092] FIG. 59 is a schematic diagram illustrating the operation of the tactile presentation device.

[0093] FIG. 60 is a block diagram of a tactile presentation system according to an embodiment of the present technology.

[0094] Figure 61 is a flow chart showing the operation of the tactile rendering system.

[0095] 62 is a block diagram of a tactile presentation system with different configurations according to an implementation of the present technology.

[0096] FIG63 is a flow chart illustrating the operation of the tactile rendering system.

[0097] FIG. 64 is a schematic diagram illustrating a method of generating a control parameter of an operation unit of a tactile presentation system according to an embodiment of the present technology.

[0098] FIG. 65 is a schematic diagram illustrating a method of generating control parameters of an operation unit of a tactile presentation system.

[0099] FIG. 66 is a schematic diagram showing a method of generating a control parameter of an operation unit of a tactile presentation system.

[0100] FIG. 67 is a schematic diagram showing a representative position of each operation unit of the tactile presentation device included in the tactile presentation system.

[0101] FIG. 68 is a schematic diagram showing the shape of a presentation object presented by a tactile presentation device.

[0102] FIG. 69 is a schematic diagram showing a positional relationship between a representative position of each operation unit of the tactile presentation device and a presentation object.

[0103] FIG. 70 is a schematic diagram showing the relationship between the representative position of each operation unit of the tactile presentation device and the position of the presentation object.

[0104] FIG. 71 is a schematic diagram showing the relationship between the representative position of each operation unit of the tactile presentation device and the position of the presentation object.

[0105] FIG. 72 is a schematic diagram showing the relationship between the representative position of each operation unit of the tactile presentation device and the position of the presentation object.

[0106] FIG. 73 is a schematic diagram showing the relationship between the representative position of each operation unit of the tactile presentation device and the position of the presentation object.

[0107] FIG. 74 is a block diagram showing a hardware configuration of a control device included in the tactile presentation device.

[0108] FIG. 75 is a graph showing the operating states of the tactile presentation devices according to the embodiment and the comparative example of the present technology.

[0109] FIG. 76 is a graph showing measurement results of a tactile presentation device according to a comparative example.

[0110] FIG. 77 is a graph showing measurement results of a tactile presentation device according to an embodiment.

[0111] FIG. 78 is a graph showing measurement results of a tactile presentation device according to an embodiment.

[0112] FIG. 79 is a graph showing an operating state of a tactile presentation device according to an embodiment of the present technology.

[0113] FIG. 80 is a graph showing measurement results of a tactile presentation device. DETAILED DESCRIPTION

[0114] A tactile presentation device according to an embodiment of the present technical content.

[0115] [Schematic Configuration of Tactile Presentation Device]

[0116] 1 to 4 are cross-sectional views of a tactile presentation device 100. FIG. 1 to 4 show the tactile presentation device 100 in different operating states. FIG. 5 is a plan view of the tactile presentation device 100. As shown in these figures, the tactile presentation device 100 has a housing unit 101, an operating unit 102, and an exposing unit 103.

[0117] The housing unit 101 supports the operation unit 102. The housing unit 101 has an arrangement surface 104 facing the exposure unit 103 and on which the operation unit 102 is arranged. The shape of the housing unit 101 is not limited, but has, for example, a disc shape as shown in FIG.

[0118] The height of the operation unit 102 relative to the housing unit 101 varies. As shown in Figures 1 and 5, the tactile presentation device 100 has two operation units 102. Hereinafter, the two operation units 102 are defined as a first operation unit 102a and a second operation unit 102b. A gap 105 is provided between each of the operation units 102.

[0119] The height of each of the operating units 102 changes in a first direction D1 relative to the housing unit 101. The first direction D1 is a direction approaching the housing unit 101 and separating from the housing unit 101. In each figure, the first direction D1 corresponds to the Z direction. The direction perpendicular to the first direction D1 is defined as the second direction D2. In each figure, the second direction D2 is a direction parallel to the XY plane. In Figures 1 to 4, the height of the first operating unit 102a in the first direction D1 is defined as H1, and the height of the second operating unit 102b in the first direction D1 is defined as H2. As shown in Figures 1 to 4, the height of each of the operating units 102 changes independently in the first direction D1. The specific configuration of the operating unit 102 is described below.

[0120] The exposure unit 103 is flexible and passively deforms according to the height change of the operating unit 102. FIG. 6 is a schematic diagram showing the exposure unit 103. As shown in FIGS. 5 and 6, the exposure unit 103 has a contact portion 111 and an intermediate portion 112. The contact portion 111 is a portion of the exposure unit 103 that contacts the operating unit 102, and the intermediate portion 112 is a portion between the contact portions 111. Hereinafter, the contact portion 111 that contacts the first operating unit 102a is defined as a first contact portion 111a, and the contact portion 111 that contacts the second operating unit 102b is defined as a second contact portion 111b. When the exposure unit 103 is deformed according to the height change of the operating unit 102, it is deformed with the displacement of the intermediate portion 112.

[0121] 7 to 11 are schematic diagrams showing the displacement of the middle part 112. As shown in FIG. 7, when the height of the first operating unit 102a increases from the height H1a to the height H1b, and the height of the second operating unit 102b increases from the height H2a to the height H2b, the center point P1 of the middle part 112 moves to the center point P2. The height H1a and the height H2a are the same height, and the height H1b and the height H2b are the same height and are higher than the height H1a and the height H2a. On the contrary, when the height of the first operating unit 102a decreases from the height H1b to the height H1a, and the height of the second operating unit 102b decreases from the height H2b to the height H2a, the center point P2 of the middle part 112 moves to the center point P1. The displacement between the center point P1 and the center point P2 is shown as the displacement R1 in FIG. 7. The displacement R1 includes a component in the first direction D1, that is, the displacement of the middle part 112 includes a component in the first direction D1.

[0122] As shown in FIG8, when the height of the first operating unit 102a increases from the height H1a to the height H1b, and the height of the second operating unit 102b increases from the height H2a to the height H2c, the center point P1 of the middle part 112 moves to the center point P3. The height H2c is higher than the height H2b. On the contrary, when the height of the first operating unit 102a decreases from the height H1b to the height H1a, and the height of the second operating unit 102b decreases from the height H2c to the height H2a, the center point P3 of the middle part 112 moves to the center point P1. The displacement between the center point P1 and the center point P3 is shown as the displacement R2 in FIG8. FIG9 is a schematic diagram showing only the exposure unit 103 in FIG8. As shown in the figure, the displacement R2 includes a component S1 in the first direction D1 and a component S2 in the second direction D2, that is, the displacement of the middle part 112 includes a component S1 in the first direction D1 and a component S2 in the second direction D2.

[0123] In addition, as shown in FIG. 10 , when the height of the first operating unit 102a is maintained at the height H1a, and the height of the second operating unit 102b is increased from the height H2a to the height H2c, the center point P1 of the middle part 112 moves to the center point P4. On the contrary, when the height of the first operating unit 102a is maintained at the height H1a, and the height of the second operating unit 102b is reduced from the height H2c to the height H2a, the center point P4 of the middle part 112 moves to the center point P1. In FIG. 10 , the displacement between the center point P1 and the center point P4 is shown as a displacement R3. FIG. 11 is a schematic diagram showing only the exposure unit 103 in FIG. 10 . As shown in the figure, the displacement R3 includes a component S1 in the first direction D1 and a component S2 in the second direction D2, that is, the displacement of the middle part 112 includes a component S1 in the first direction D1 and a component S2 in the second direction D2. Compared with the case in FIG. 8 , in the displacement R3, the component S1 in the first direction D1 is smaller, and the component S2 in the second direction D2 is larger.

[0124] Therefore, the tactile presentation device 100 can passively deform the exposure unit 103 by changing the height of the operating unit 102, and control the magnitude of the component in the first direction D1 and the component in the second direction D2 in the displacement of the middle part 112. In the above example, the case where the height H2 of the second operating unit 102b is greater than the height H1 of the first operating unit 102a is described. Similarly, when the height H1 of the first operating unit 102a is greater than the height H2 of the second operating unit 102b, the magnitude of the component in the first direction D1 and the component in the second direction D2 in the displacement of the middle part 112 can also be controlled. The displacement of the middle part 112 may not include the component in the second direction D2, but only include the component in the first direction D1, or may not include the component in the first direction D1, but only include the component in the second direction D2.

[0125] FIG12 is a schematic diagram showing other configurations of the tactile presentation device 100. As shown in the figure, the tactile presentation device 100 may have a boundary unit 106 instead of the gap 105. As shown in the figure, the boundary unit 106 is arranged between each of the operation units 102. The specific configuration of the boundary unit 106 is described below. As shown in the figure, the arrangement surface 104 may be a concave surface. Concave surfaces include cylindrical surfaces, spherical surfaces, and other curved surfaces.

[0126] [Specific configuration of the tactile presentation device 1]

[0127] As a specific configuration of the tactile presentation device 100A, the tactile presentation device 120 will be described. Figures 13 and 14 are cross-sectional views of the tactile presentation device 120. Figure 15 is a plan view of the tactile presentation device 120. As shown in these figures, the tactile presentation device 120 has a housing unit 121, an operation unit 122, an exposure unit 123, and a boundary unit 124.

[0128] The housing unit 121 supports the operating unit 122. FIG. 16 is a cross-sectional view of the housing unit 121. As shown in the figure, the housing unit 121 has a placement surface 131 facing the exposure unit 123 and on which the operating unit 122 is placed. The housing unit 121 has a first flow channel 132 and a second flow channel 133 connected to the placement surface 131, respectively. The material of the housing unit 121 is not particularly limited, and is made of metal or synthetic resin, etc. The shape of the housing unit 121 is not particularly limited, but has, for example, a disc shape, as shown in FIG. 15.

[0129] The interior of the operation unit 122 is filled with a fluid, and its height relative to the housing unit 121 changes. The tactile presentation device 120 has two operation units 122, which are referred to as a first operation unit 122a and a second operation unit 122b hereinafter. The heights of the first operation unit 122a and the second operation unit 122b in a first direction D1 relative to the housing unit 121 change, respectively. The first direction D1 is a direction approaching the housing unit 121 and leaving the housing unit 121. In FIG. 14 , the height of the first operation unit 122a in the first direction D1 is defined as H1, and the height of the second operation unit 122b in the first direction D1 is defined as H2. As described below, the tactile presentation device 120 may have three or more operation units 122. Not all operation units 122 may change in height according to the fluid, and the tactile presentation device 120 may have operation units 122 whose heights change according to other configurations.

[0130] The exposure unit 123 is passively deformed according to the height change of the operating unit 122. The exposure unit 123 is a flexible film-like member and covers the periphery of the operating unit 122. The periphery of the exposure unit 123 is bonded to the housing unit 121 by bonding or other means. As shown in FIG. 14, the exposure unit 123 has a first contact portion 141a, a second contact portion 141b, and a middle portion 142. The first contact portion 141a is a portion of the exposure unit 123 that contacts the first operating unit 122a, and the second contact portion 141b is a portion of the exposure unit 123 that contacts the second operating unit 122b. The middle portion 142 is a portion of the exposure unit 123 located between the first contact portion 141a and the second contact portion 141b, and is connected to the boundary unit 124.

[0131] The boundary unit 124 is arranged between the first operating unit 122a and the second operating unit 122b, separates the fluid between the first operating unit 122a and the second operating unit 122b, and connects the middle part 142 and the housing unit 121. The boundary unit 124 has a bellows structure, as shown in Figure 14. The boundary unit 124 may be a soft elastic member and may be made of the same material as the exposure unit 123 or a different material from the exposure unit 123.

[0132] As shown in FIG. 14 , the first operating unit 122a has a first sealed space 145a surrounded by the arrangement surface 131, the first contact portion 141a and the boundary unit 124. When the fluid flows into the first sealed space 145a via the first flow channel 132, the pressure of the first sealed space 145a increases, causing the first contact portion 141a to expand. As a result, the height H1 of the first operating unit 122a increases relative to the housing unit 101. When the fluid flows out of the first sealed space 145a through the first flow channel 132, the pressure of the first sealed space 145a decreases, and the first contact portion 141a contracts. As a result, the height H1 of the first operating unit 122a decreases relative to the housing unit 101.

[0133] The second operating unit 122b has a second sealed space 145b surrounded by the arrangement surface 131, the second contact portion 141b and the boundary unit 124. When the fluid flows into the second sealed space 145b via the second flow channel 133, the pressure of the second sealed space 145b increases, causing the second contact portion 141b to expand. As a result, the height H2 of the second operating unit 122b increases relative to the housing unit 101. When the fluid flows out of the second sealed space 145b through the second flow channel 133, the pressure of the second sealed space 145b decreases, and the second contact portion 141b contracts. As a result, the height H2 of the second operating unit 122b decreases relative to the housing unit 101.

[0134] The inflow and outflow of the fluid through the first flow channel 132 and the second flow channel 133 can be performed by a fluid control device (not shown). For example, the fluid control device is a pump. The fluid is not particularly limited, for example, the fluid is air. The fluid flowing into the first sealed space 145a and the fluid flowing into the second sealed space 145b can be the same or different.

[0135] [Operation of tactile presentation device]

[0136] The operation of the tactile presentation device 120 will be described. FIGS. 17 to 20 are schematic diagrams showing the operation of the tactile presentation device 120. As shown in FIG. 17, when the pressure T1 of the first sealed space 145a and the pressure T2 of the second sealed space 145b are the same, the expansion amount G1 of the first contact portion 141a and the expansion amount G2 of the second contact portion 141b become the same, and the height H1 of the first operating unit 122a and the height H2 of the second operating unit 122b are also the same (see FIG. 14). The position of the middle portion 142 is indicated by circle B in FIGS. 17 to 20, which shows the positional relationship relative to the reference line L. The reference line L has a fixed position relative to the housing unit 121.

[0137] As shown in Fig. 18, when the pressure T2 of the second sealed space 145b is greater than the pressure T1 of the first sealed space 145a, the expansion amount G2 of the second contact portion 141b is greater than the expansion amount G1 of the first contact portion 141a, and the height H2 of the second operating unit 122b is greater than the height H1 of the first operating unit 122a. Therefore, the middle portion 142 is pulled toward the second contact portion 141b and displaced toward the second contact portion 141b.

[0138] In addition, when the pressure T2 of the second sealed space 145b increases and the pressure T1 of the first sealed space 145a decreases, the difference between the expansion amount G2 of the second contact portion 141b and the expansion amount G1 of the first contact portion 141a becomes larger, as shown in FIG19, and the difference between the height H2 of the second operating unit 122b and the height H1 of the first operating unit 122a also becomes larger. Therefore, the middle portion 142 is further pulled toward the second contact portion 141b side and further displaced toward the second contact portion 141b side.

[0139] FIG20 is a schematic diagram showing the displacement of the middle portion 142. When the difference between the pressure T2 and the pressure T1 increases from the state shown in FIG17 to the state shown in FIG19, the center point P1 of the middle portion 142 is shifted to the center point P2, as shown in FIG20. Conversely, when the difference between the pressure T2 and the pressure T1 decreases from the state shown in FIG19 to the state shown in FIG17, the center point P2 of the middle portion 142 is shifted to the center point P1, as shown in FIG20. The displacement R between the center point P1 and the center point P2 includes a component S1 in the first direction D1 and a component S2 in the second direction D2. Therefore, the displacement of the middle portion 142 includes a component S1 in the first direction D1 and a component S2 in the second direction D2, and the magnitudes of the component S1 and the component S2 vary according to the height H1 of the first contact portion 141a and the height H2 of the second contact portion 141b.

[0140] In Figures 17 to 19, the situation where the pressure T2 of the second sealed space 145b is greater than the pressure T1 of the first sealed space 145a is described. Similarly, when the pressure T2 of the first sealed space 145a is greater than the pressure T2 of the second sealed space 145b, the middle part 142 is pulled toward the side of the first contact part 141a and shifted toward the side of the first contact part 141a. In this case, the displacement of the middle part 142 also includes a component S1 in the first direction D1 and a component S2 in the second direction D2, and the size of the component S1 and the component S2 varies according to the height H1 of the first operating unit 122a and the height H2 of the second operating unit 122b.

[0141] In the above description, the heights H1 and H2 are controlled by the pressure T1 of the first sealed space 145a and the pressure T2 of the second sealed space 145b, but the heights H1 and H2 may also be controlled by the fluid volume in the first sealed space 145a and the fluid volume in the second sealed space 145b.

[0142] [Effect of tactile presentation device]

[0143] The effect of the tactile presentation device 120 compared with the comparative example is described. FIG21 is a schematic diagram showing a tactile presentation device 500 according to the comparative example. As shown in the figure, the tactile presentation device 500 has a first operating unit 501, a second operating unit 502 and a housing unit 503. The first operating unit 501 has a first sealing portion 505a sealed by a flexible film 504, and is configured to expand when a fluid flows into the first sealed space 505a and contract when the fluid flows out. The second operating unit 502 has a second sealed space 505b sealed by a flexible film 504, and is configured to expand when a fluid flows into the second sealed space 505b and contract when the fluid flows out.

[0144] When the pressure T3 of the first sealed space 505a and the pressure T4 of the second sealed space 505b change while the finger F touches the flexible film 504, the first operating unit 501 contacts the point M1 of the finger F, and the second operating unit 502 contacts the point M2. Therefore, the tactile presentation device 500 can generate pressure stimulation at two points of the point M1 and the point M2, or generate pressure stimulation at one of the points M1 and M2. On the other hand, the tactile presentation device 500 cannot generate pressure stimulation at an intermediate position between the point M1 and the point M2, and the pressure stimulation is discrete. In addition, the pressure stimulation cannot be generated on a fixed area from the point M1 to the point M2.

[0145] 22 to 27 are schematic diagrams showing the operation of the tactile presentation device 120. As shown in FIG22 , in the tactile presentation device 120, the pressure T1 of the first sealed space 145a and the pressure T2 of the second sealed space 145b are the same, and the exposing unit 123 contacts the area A of the finger F. Therefore, the tactile presentation device 120 can generate pressure stimulation at one point in the area A.

[0146] As shown in FIG23, when the pressure T1 and the pressure T2 increase more, the height H1 of the first contact portion 141a and the height H2 of the second contact portion 141b increase, and the middle portion 142 shifts accordingly. Since the displacement of the middle portion 142 includes the component S1 in the first direction D1 as described above, this increases the area of ​​the region A and the pressing force on the region A. In addition, as shown in FIG24, when the pressure T1 and the pressure T2 further increase, the height H1 and the height H2 become higher, and the middle portion 142 shifts accordingly. This further increases the area of ​​the region A and the pressing force on the region A.

[0147] Therefore, in the tactile presentation device 120, the displacement of the middle part 142 includes a component S1 in the first direction D1, so that the pressure stimulus can be generated in the region A. The area of ​​the region A and the pressing force on the region A depend on the height H1 and the height H2, and therefore can be controlled by the pressure T1 and the pressure T2.

[0148] As shown in Figure 25, when the pressure T1 is greater than the pressure T2, the height H1 becomes higher than the height H2, and the middle portion 142 is displaced toward the first contact portion 141a. Since the displacement of the middle portion 142 includes the component S2 in the second direction D2 as described above, this causes the area A to move toward the first contact portion 141a.

[0149] In addition, as shown in Figure 26, when the pressure T2 is greater than the pressure T1, the height H2 becomes higher than the height H1, and the middle portion 142 is displaced toward the second contact portion 141b. Since the displacement of the middle portion 142 includes the component S2 in the second direction D2 as described above, this causes the area A to move toward the second contact portion 141b.

[0150] Therefore, in the tactile presentation device 120, the displacement of the middle part 142 includes a component S2 in the second direction D2, which allows the area A generating the pressure stimulus to move in the second direction D2. This can make the area A be in an arbitrary position or move the area A as shown in FIG27. The position of the area A depends on the height H1 and the height H2, and can be controlled by the pressure T1 and the pressure T2. In addition, in the tactile presentation device 120, the area of ​​the area A and the pressure on the area A can also be changed by the height H1 and the height H2, wherein the area A is in an arbitrary position.

[0151] As described above, the tactile presentation device 120 can control the position, movement, area, and pressing force of the region A through the height H1 and the height H2. As a result, when the tactile sense of the virtual object is presented using the tactile presentation device, the contact position between the skin and the virtual object, the direction of the surface of the virtual object, etc. can be presented through the position of the region A. In addition, the feeling of stroking the virtual object, the interval of being stroked by the virtual object, the touch of the virtual object on the skin, etc. can be presented through the movement of the region A. In addition, the size of the touched virtual object and the hardness and softness of the pressed virtual object can be presented through the area and pressing force of the region A.

[0152] [About boundary cells]

[0153] The details of the boundary unit 124 will be described. FIG28 is an enlarged view of the boundary unit 124. As shown in the figure, the thickness K of a portion of the boundary unit 124 connected to the exposure unit 123 in the second direction D2 is appropriately 3 mm or less. If the thickness K is thick, the size of the area A cannot be reduced below a certain level, but by setting the thickness K to 3 mm or less, the size of the area K can be reduced and the tactile control area can be maximized.

[0154] FIG29 is a schematic diagram showing the tensile strength C1 of the boundary unit 124 and the tensile strength C2 of the exposure unit 123. The tensile strength is determined by the material tensile strength, thickness and structure, and is the force required to stretch the component at a certain elongation. The tensile strength C1 is the tensile strength along the first direction D1, and the tensile strength C2 is the tensile strength along the second direction D2. The tactile presentation device 120 is appropriately configured so that the tensile strength C1 is less than the tensile strength C2. This is because if the tensile strength C1 is less than the tensile strength C2, that is, the boundary unit 124 is more easily elongated than the exposure unit 123, the middle part 142 is more likely to shift in the second direction D2 according to the expansion of the first contact portion 141a and the second contact portion 141b. Small tensile strength C1 and small tensile strength C2 are suitable because the effect of the present technical content is higher, and both are appropriately less than 10Mpa.

[0155] [About the arrangement of operation units and boundary units]

[0156] The arrangement of the operation unit 122 and the boundary unit 124 in the tactile presentation device 120 will be described. Fig. 30 to Fig. 35 are plan views showing the arrangement of the operation unit 122 and the boundary unit 124. In Fig. 30 to Fig. 35, the exposure unit 123 is omitted.

[0157] As shown in FIG30 , the tactile presentation device 120 may have four operating units 122, and when viewed from the Z direction, the boundary unit 124 may have a cross shape. As shown in FIG31 , the tactile presentation device 120 may have two operating units 122, and when viewed from the Z direction, the boundary unit 124 may have a circular shape. In addition, as shown in FIG32 , the tactile presentation device 120 may have nine operating units 122 arranged in an array.

[0158] As shown in FIG33, the tactile presentation device 120 may have three operation units 122, and when viewed from the Z direction, the boundary unit 124 may have a circular shape. In addition, as shown in FIG34, the tactile presentation device 120 may have six operation units arranged in a ring shape. Moreover, as shown in FIG35, the tactile presentation device 120 may have four operation units 122, and when viewed from the Z direction, the boundary unit 124 may have a straight line and a ring shape. The arrangement of the operation unit 122 and the boundary unit 124 is not limited to the above description, and the tactile presentation device 120 may have two or more operation units 122 and a boundary unit 124 arranged between the operation units 122.

[0159] [About the periphery]

[0160] The tactile presentation device 120 may also have a periphery. FIG. 36 is a cross-sectional view of the tactile presentation device 120 having a periphery, and FIG. 37 is a plan view thereof. As shown in these figures, the periphery 125 has a cylindrical shape and is arranged around the operating unit 122. The exposure unit 123 may be bonded to one end of the periphery 125, as shown in FIG. 36, or may be bonded to the housing unit 121 through the outer surface of the periphery 125. The periphery 125 may be non-flexible or flexible. FIG. 38 is a cross-sectional view showing another configuration of the periphery 125. As shown in the figure, the periphery 125 may have a bellows structure.

[0161] [Various configurations of boundary cells]

[0162] The configuration of the boundary unit 124 may also be as follows: FIGS. 39 to 41 are cross-sectional views showing various configurations of the boundary unit 124. As shown in FIG. 39, the boundary unit 124 may be a boundary unit that separates the first sealed space 145a and the second sealed space 145b and forms the space 124a therebetween. As shown in FIG. 40, the boundary unit 124 may also be filled between the first sealed space 145a and the second sealed space 145b. In the configuration shown in FIG. 39, a portion of the space 124a protrudes and becomes soft, but this can be eliminated in the configuration shown in FIG. 40.

[0163] As shown in FIG41 , the boundary unit 124 may have a flat plate shape. In this configuration, the exposure unit 123 is more likely to shift in the second direction D2. As described above, the boundary unit 124 may have a bellows structure (see FIG14 ). In this configuration, the exposure unit 123 is more likely to shift in the first direction D1 and the second direction D2. In addition, as shown in FIG38 , the tactile presentation device 120 may include a periphery 125 having a bellows structure. In this configuration, the exposure unit 123 is more likely to shift in the first direction D1 and the second direction S2, and the overall deformation of the exposure unit 123 is easily increased.

[0164] [Various configurations of exposure units]

[0165] The configuration of the exposure unit 123 may also be as follows: Figures 42 to 50 are cross-sectional views showing various configurations of the exposure unit 123. As described above, the exposure unit 123 may cover the entire operation unit 122 (see Figure 14). In this configuration, the exposure unit 123 is required to be flexible and may have a seamless appearance and touch. As shown in Figure 42, the exposure unit 123 may cover only the upper end of the operation unit 122 touched by the finger. Figure 43 is a schematic diagram showing the displacement of the exposure unit 123. In this case, the exposure unit 123 may be flexible or non-flexible.

[0166] In addition, as shown in FIG44, the exposure unit 123 may have a deformation portion 123a and a non-deformation portion 123b. The non-deformation portion 123b is harder or thicker than the deformation portion 123a, making it less likely to deform. FIG45 is a schematic diagram showing the displacement of the exposure unit 123. In this configuration, the area of ​​region A is less likely to change (see FIG22), which allows the finger to always press a constant area and makes it easier to see the displacement of region A.

[0167] Relative to the shape of the exposure unit 123, if it is convex as shown in Figures 42 and 43, the area of ​​region A is small, and the displacement of region A can be more easily seen. On the other hand, the exposure unit 123 can be flat, as shown in Figure 46. Figure 47 is a schematic diagram showing the displacement of the exposure unit 123. In this configuration, it is easier to see the tilt change of the exposure unit 123. In addition, as shown in Figure 48, the shape of the exposure unit 123 can be concave. Figure 49 is a schematic diagram showing the displacement of the exposure unit 123. In this configuration, the exposure unit 123 follows the shape of the finger, thereby increasing the range of movement of region A.

[0168] As shown in FIG44, in the case where the exposure unit 123 has a deformed portion 123a and a non-deformed portion 123b, the non-deformed portion 123b can also have a convex shape, a flat shape, and a concave shape to change the tactile mode. As shown in FIG50, in response to the operation of the operating unit 122, the exposure unit 123 can change between a convex shape and a concave shape. When the boundary unit 124 is a ring as shown in FIG31, the exposure unit 123 changes between a convex shape and a concave shape. Therefore, the tactile presentation device 120 can change the tactile mode according to the shape of the exposure unit 123.

[0169] [About other configurations]

[0170] Other configurations of the tactile presentation device 120 will be described. 51 to 53 are cross-sectional views showing various configurations of the tactile presentation device 120.

[0171] As shown in FIG51 , the placement surface 131 of the housing unit 121 may be provided with a recess 134. When the bellows structure of the boundary unit 124 is folded, the recess 134 may accommodate the boundary unit 124, thereby making the exposure unit 123 flat. As shown in FIG52 , the recess 126 may be provided on one side of the boundary unit 124 of the exposure unit 123. Similarly, when the bellows structure of the boundary unit 124 is folded, the recess 126 may accommodate the boundary unit 124, thereby making the exposure unit 123 flat. In addition, when the bellows structure is folded, both the housing unit 121 and the exposure unit 123 may be provided with a recess for accommodating the boundary unit 124.

[0172] In addition, as shown in Figure 53, the placement surface 131 of the housing unit 121 can be a concave surface. Concave surfaces include cylindrical, spherical and other curved surfaces. By making the placement surface 131 a concave surface, the shape of the exposure unit 123 can follow the raised skin of a finger or the like.

[0173] [Specific configuration of the tactile presentation device 2]

[0174] As a specific configuration of the tactile presentation device 100, a tactile presentation device 150 will be described. 54 shows a cross-sectional view of the tactile presentation device 150. As shown in these figures, the tactile presentation device 150 has a housing unit 151, an operation unit 152, an exposure unit 153, and a boundary unit 154.

[0175] The housing unit 151 supports the operation unit 152. The housing unit 151 has a seating surface 155 facing the exposure unit 153 and on which the operation unit 152 is arranged. The material of the housing unit 151 is not limited, and is made of metal or synthetic resin, etc. The shape of the housing unit 151 is not limited, but has a disc shape, for example.

[0176] The height of the operation unit 152 relative to the housing unit 121 changes. As shown in FIG54, the tactile presentation device 150 has two operation units 152, which are a first operation unit 152a and a second operation unit 152b. The height of each of the operation units 152 in a first direction D1 relative to the housing unit 151 changes. The first direction D1 is a direction approaching the housing unit 151 and leaving the housing unit 151. In FIG54, the height of the first operation unit 152a in the first direction D1 is defined as a height H1, and the height of the second operation unit 152b in the first direction D1 is defined as a height H2. The tactile presentation device 150 may have three or more operation units 152.

[0177] As shown in FIG54 , each of the operating units 152 has a driving unit 156 and a flexible unit 157. The driving unit 156 is an extension / contraction mechanism that extends and contracts along the first direction D1 by the electromagnetic force of the solenoid actuator. The flexible unit 157 has flexibility and is arranged between the driving unit 156 and the exposure unit 153. The flexible unit 157 may be made of a flexible material, or may be made by sealing a fluid (such as air) with a flexible film. Not all operating units 152 may be provided with the driving unit 156 and the flexible unit 157, and the tactile presentation device 150 may be provided with operating units 152 that vary in height according to other configurations.

[0178] The exposure unit 153 is passively deformed according to the height change of the operating unit 152. The exposure unit 153 is a flexible film-like member and covers the periphery of the operating unit 152. The periphery of the exposure unit 153 is bonded to the housing unit 151 by bonding or other means. As shown in FIG. 54, the exposure unit 153 has a first contact portion 161a, a second contact portion 161b, and a middle portion 162. The first contact portion 161a of the exposure unit 153 is a portion that contacts the first operating unit 152a, and the second contact portion 161b is a portion of the exposure unit 153 that contacts the second operating unit 152b. The middle portion 162 is a portion between the first contact portion 161a and the second contact portion 161b, and is bonded to the boundary unit 154.

[0179] The boundary unit 154 is disposed between the first operating unit 152a and the second operating unit 152b, connects the flexible unit 157 of the first operating unit 152a and the flexible unit 157 of the second operating unit 152b, and provides and receives a tensile force therebetween.

[0180] [Operation of tactile presentation device]

[0181] The operation of the tactile presentation device 150 will be described. Figures 55 and 56 are schematic diagrams showing the operation of the tactile presentation device 150. As shown in Figure 55, when the driving unit 156 of the second operating unit 152b is driven, the height H2 of the second operating unit 152b increases. Here, since the flexible unit 157 of the first operating unit 152a and the flexible unit 157 of the second operating unit 152b are connected by the boundary unit 154, the flexible unit 157 of the first operating unit 152a and the flexible unit 157 of the second operating unit 152b receive a pulling force from the boundary unit 124, and the flexible unit 157 of the first operating unit 152a is pulled toward the second contact portion 161b side. As a result, the middle part 162 is pulled toward the second contact portion 161b side and shifted toward the second contact portion 161b side. The point of the middle part 162 is shown as a circle B in Figures 54 to 56 to indicate the positional relationship relative to the reference line L. The reference line L has a fixed position relative to the housing unit 151.

[0182] In addition, as shown in FIG56, when each driving unit 156 is driven so that the height H2 of the second operating unit 152b is higher and the height H1 of the first operating unit 152a is lower, the difference between the height H2 and the height H1 becomes larger, and the middle portion 162 is further pulled toward the second contact portion 161b side and further displaced toward the second contact portion 161b side. Therefore, the displacement of the middle portion 162 includes a component S1 in the first direction D1 and a component S2 in the second direction D2 (see FIG8), and the magnitudes of the component S1 and the component S2 vary according to the height H1 of the first operating unit 152a and the height H2 of the second operating unit 152b.

[0183] As described above, also in the tactile presentation device 150 , like the tactile presentation device 120 , the position, movement, area, and pressing force of the region A (see FIG. 22 ) touched by the finger can be controlled by the height H1 and the height H2 .

[0184] [About another configuration]

[0185] Another configuration of the tactile presentation device 150 will be described. FIG57 is a cross-sectional view of the tactile presentation device 150 having another configuration. As shown in the figure, the tactile presentation device 150 may have a first operating unit 152a and a second operating unit 152b that do not include the flexible unit 157 but only include the driving unit 156. In this configuration, the boundary unit 154 connects the driving unit 156 of the first operating unit 152a and the driving unit 156 of the second operating unit 152b, and provides and receives a tensile force therebetween.

[0186] In this configuration, as shown in Figures 58 and 59, if there is a difference between the height H1 of the first operating unit 152a and the height H2 of the second operating unit 152b, the displacement of the middle portion 162 includes only the component S1 in the first direction D1 (see Figure 8) and does not include the component S2 in the second direction D2. Therefore, in this configuration, the position and movement of the area A (see Figure 22) touched by the finger cannot be controlled by the height H1 and the height H2, but the area and pressing force of the area A can be controlled.

[0187] [About the tactile presentation system]

[0188] The tactile presentation device 100 according to this embodiment can constitute a tactile presentation system. Fig. 60 is a block diagram of a tactile presentation system 200. As shown in the figure, the tactile presentation system 200 includes the tactile presentation device 100 and a control device 300.

[0189] The tactile presentation device 100 has the configuration as described above. The tactile presentation device 100 may also have a detection unit 107. The detection unit 107 detects the displacement or pressing force of the exposure unit 103. The control device 300 has a control unit 301 and an operation generation unit 302. The control unit 301 and the operation generation unit 302 are functional configurations realized by cooperation of software and hardware.

[0190] The control unit 301 generates an operation mode for the tactile presentation device 100 based on the shape of the virtual object to be presented to the user. In this way, the control unit 301 can generate the operation mode using the detection result of the detection unit 107. The operation generation unit 302 determines a control parameter for each operation unit 102 based on the operation mode generated by the control unit 301. The control parameter is a parameter that defines the height of each operation unit 102, for example, the pressure of the sealed space in the configuration of the tactile presentation device 120 or the operation amount of the driving unit in the configuration of the tactile presentation device 150.

[0191] 61 is a flowchart showing the operation of the tactile presentation system 200. The control unit 301 determines whether the operation of the tactile presentation device 100 is required based on VR (virtual reality) content, etc. (St101). If the operation of the tactile presentation device 100 is required (St101; Yes), an operation mode is generated based on the shape of a virtual object, etc. (St102), and is provided to the operation generation unit 302. The operation generation unit 302 generates a control parameter based on the operation mode, and provides the control parameter to each operation unit 102 so that each operation unit 102 operates (St103).

[0192] The tactile presentation system according to the present embodiment may also be configured as follows: FIG62 is a block diagram of a tactile presentation system 200 having another configuration. As shown in the figure, the tactile presentation system 200 has a tactile presentation device 100 and a control device 350, and the control device 350 has an operation generation unit 302 and a communication unit 303. The operation generation unit 302 and the communication unit 303 are functional configurations implemented by the cooperation of software and hardware.

[0193] The communication unit 303 receives an operation mode from other information processing devices and provides the received operation mode to the operation generation unit 302. When the tactile presentation device 100 has the detection unit 107, the communication unit 303 transmits the detection result of the detection unit 107 to the other information processing devices. The operation generation unit 302 determines the control parameters of each operation unit 102 based on the operation mode received by the communication unit 303. The control parameters are the same as the above parameters.

[0194] 63 is a flowchart showing the operation of the tactile presentation system 200. When the communication unit 303 receives the control mode from other information processing devices (St151; Yes), it provides the operation mode to the operation generation unit 302. The operation generation unit 302 generates a control parameter based on the operation mode, and provides the control parameter to each operation unit 102 to operate each operation unit 102 (St152).

[0195] [About control parameters]

[0196] The details of the control parameters generated by the operation generation unit 302 will be described. 64 to 66 are schematic diagrams showing how to generate control parameters. As shown in these figures, the operation generation unit 302 can generate control parameters based on the presentation position E and the representative position N of each operation unit 102.

[0197] The presentation position E is a position where the pressure stimulus is presented to the user, and is the position in the exposure unit 103 where the height in the first direction D1 is the highest. The representative position N of the operation unit 102 is the most prominent position in the exposure unit 103 when the height of the operation unit 102 is the highest and the height of another operation unit 102 is the lowest. In FIGS. 65 and 66 , the representative position of the first operation unit 102a is shown as the representative position N1, and the representative position of the second operation unit 102b is shown as the representative position N2. The operation generation unit 302 may generate a control parameter based on the distance between the presentation position E and the representative position N of each operation unit 102.

[0198] In addition, in addition to the presentation position E and the representative position N of each operation unit 102, the operation generation unit 302 may also generate a control parameter based on the area of ​​the presentation region Q. The presentation region Q is an area of ​​the exposure unit 103 touched by the user's finger, and is an area of ​​the exposure unit 103 whose height in the first direction D1 is higher than a certain level.

[0199] Specifically, the operation generation unit 302 may generate the control parameter using the following (Equation 1), (Equation 2), or (Equation 3).

[0200] [Mathematics 1]

[0201]

[0202] In (Equation 1), maxP is the maximum value of the control parameter, and s is a parameter negatively correlated with the area of ​​the presentation region Q.

[0203] [Mathematics 2]

[0204]

[0205] In (Equation 2), a and b are constants.

[0206] [Mathematics 3]

[0207]

[0208] In (Equation 3), f is some function.

[0209] The method of generating control parameters by the operation generation unit 302 is not limited to the above method, and the control parameters can be generated using a data-driven modeling method, machine learning, etc. of the operation generation unit 302.

[0210] The operation generation unit 302 may also generate control parameters based on the shape of the presentation object and the representative position of each operation unit 102. Figures 67 and 68 are schematic diagrams showing a method of generating control parameters. Figure 67 shows a finger F fixed to the tactile presentation device 100 by the mounting belt 108, a representative position N1 of the first operation unit 102a, a representative position N2 of the second operation unit 102b, and a representative position N3 of the third operation unit 102c. Figure 68 is a schematic diagram showing the shape of the presentation object V. The presentation object V is an object to be presented in the exposure unit 103. As shown in the figure, by shifting the exposure unit 103 at the representative positions N1 to N3 shown in the same figure, the shape of the presentation subject V can be presented to the finger F.

[0211] The operation generation unit 302 may also determine the shape of the presentation subject V based on the positional relationship between the tactile presentation device 100 and the presentation object. The presentation object is a virtual object generated by VR content or the like. Figures 69 to 73 are schematic diagrams showing the positional relationship between the representative positions N1 to N3 and the presentation object W. At the representative positions N1 to N3, the shape of the presentation object can be presented to the finger F by displacing the exposure unit 103 as indicated by the arrow according to the positional relationship relative to the presentation object W. The displacement indicated by the arrow can be determined by the distance from each representative position of the finger to the intersection of a virtual ray emitted in a predetermined direction and the boundary surface of the presentation object. The ray may be a spatially distributed spatial group of multiple rays, in which case the presented displacement amount may be generated by the average, minimum, or weighted additional value of multiple distances.

[0212] [Application examples]

[0213] An application example of the tactile sense presentation system 200 according to the present embodiment will be described.

[0214] (Application Example 1)

[0215] The tactile presentation device 100 can be used as a fingertip tactile device as shown in FIG67. In this usage mode, the control unit 301 (see FIG60) can be combined with an HMD (head mounted display) to generate an operation mode that matches the contact position and surface direction when contacting a virtual object on VR, and present it to the fingertip. For example, the operation mode may be a narrow contact at the left side of the fingertip, a wide contact at the right side of the center, an overall contact on an inclined surface, and the like. The control unit 301 obtains the position information of the tactile presentation device 100 from the detection unit 107, and generates an operation mode based on the position information, so that the above operation can be realized.

[0216] (Application Example 2)

[0217] The tactile presentation device 100 can be used as an interface surface, such as a grip controller or a mouse. For example, a tactile presentation device 100 with a plurality of operating units arranged in an array as shown in FIG32 is suitable. In this use mode, the control unit 301 can change the operation mode according to the processing content when operating (touching or pressing). For example, the operation mode is a firing button that expands into a convex shape according to the accumulated energy, a trigger of a gun with a saddle shape, or a button whose protrusion moves to the left or right according to the rhythm or timing in a golf game. All or any operating unit 102 can be provided with a detection unit 107 that detects the contact or pressing of a finger.

[0218] (Application Example 3)

[0219] The tactile presentation device 100 can be used on the surface of a watch, which can determine the time, etc. by vision and touch. For example, a suitable tactile presentation device 100 is a device with multiple operating units arranged in a circular pattern as shown in Figure 34. In this use mode, the control unit 301 can change the operation mode according to the displayed information content. For example, the operation mode realizes navigation in which the convex shape moves toward the forward direction or the protrusion moves toward the forward direction, or a watch in which the circumferential protrusion moves according to the second hand.

[0220] [Hardware configuration of the control device]

[0221] Description will be given of a hardware configuration that can realize the functional configurations of the control device 300 and the control device 350. Fig. 74 is a schematic diagram showing the hardware configuration.

[0222] As shown in the figure, a CPU (Central Processing Unit) 1001 and a GPU (Graphics Processing Unit) 1002 are built in the control device 300 and the control device 350. An input / output interface 1006 is connected to the CPU 1001 and the GPU 1002 via a bus 1005. A ROM (Read Only Memory) 1003 and a RAM (Random Access Memory) 1004 are connected to the bus 1005.

[0223] An input unit 1007 including an input device such as a keyboard, a mouse, etc., into which a user inputs an operation instruction; an output unit 1008 that outputs a processing operation screen and an image of a processing result to a display device; a storage unit 1009 including a hard disk drive etc. storing programs and various data; and a communication unit 1010 including a LAN (Local Area Network) adapter etc. that performs communication processing via a network such as the Internet are connected to the input / output interface 1006. Furthermore, a drive 1011 that reads data from and writes data to a removable storage medium 1012 such as a magnetic disk, an optical disk, an optical magnetic disk, or a semiconductor memory is connected.

[0224] The CPU 1001 executes various processes according to a program stored in the ROM 1003, or a program read from a removable storage medium 1012 (such as a magnetic disk, an optical disk, an optical magnetic disk, or a semiconductor memory), installed in the storage unit 1009, and loaded from the storage unit 1009 into the RAM 1004. The RAM 1004 also stores data and the like required for the CPU 1001 to execute various processes. The GPU 1002 receives control of the CPU 1001 and executes calculation processing required for image rendering.

[0225] For example, in the control device 300 and the control device 350 of the above configuration, the CPU 1001 performs the above series of processing, and the CPU 1001 loads and executes the program stored in the storage unit 1009 into the RAM 1004 via the input / output interface 1006 and the bus 1005 .

[0226] For example, the program executed by control device 300 and control device 350 may be provided by being recorded as a package medium on removable storage medium 1012. Furthermore, the program may also be provided via a wired or wireless transmission medium such as a local area network, the Internet, digital satellite broadcasting, or the like.

[0227] In the control device 300 and the control device 350, the program can be installed in the storage unit 1009 by attaching the removable storage medium 1012 to the drive 1011 and via the input / output interface 1006. The program can also be received by the communication unit 1010 via a wired or wireless transmission medium and installed in the storage unit 1009. In addition, the program can be installed in the ROM 1003 or the storage section 1009 in advance.

[0228] The program executed by the control device 300 and the control device 350 may be a program that is processed in time sequence according to the sequence described in the present disclosure, or may be a program that is processed in parallel or at a necessary timing such as when called. The hardware configuration of the control device 300 and the control device 350 does not need to be installed entirely on a single device, and the control device 300 and the control device 350 may be configured by a plurality of devices. Moreover, a portion of the hardware configuration of the control device 300 and the control device 350 may be installed on a plurality of devices connected via a network.

[0229] [About this disclosure]

[0230] The effects described in this disclosure are illustrative and non-restrictive, and other effects may also exist. The description of multiple effects above does not necessarily mean that these effects will be achieved simultaneously. This means that at least one effect can be obtained according to conditions, etc., and effects not described in this disclosure can be achieved. At least two feature parts described in this disclosure can also be combined.

[0231] [Example]

[0232] A tactile presentation device according to the embodiment and a tactile presentation device according to the comparative example were manufactured. The tactile presentation device according to the embodiment has the structure shown in FIG14 , and the lengths of the boundary units are 2 mm and 4 mm, respectively. The tactile presentation device according to the comparative example has the structure shown in FIG14 , and the length of the boundary unit is 0 mm, that is, the exposed unit is directly connected to the housing unit. For these three types of tactile presentation devices, the pressure in the sealed space of the first operating unit (hereinafter referred to as the "left sealed space") and the pressure in the closed space of the second operating unit (hereinafter referred to as the "right sealed space") are varied, and a line laser is used to measure the height of the exposed unit surface in the first direction.

[0233] FIG75 is a graph showing the pressure in the right sealed space and the left sealed space. FIG76 is the measurement result of the tactile presentation device with a boundary unit of 0 mm (comparative example), FIG77 is the measurement result of the tactile presentation device with a boundary unit of 2 mm (embodiment), and FIG78 is the measurement result of the tactile presentation device with a boundary unit of 4 mm (embodiment). In FIG76 to FIG78, p1 to p7 correspond to the pressure in FIG75. As shown in FIG76, two protrusions are formed in the tactile presentation device with a boundary unit of 0 mm (comparative example), indicating that pressure stimulation points are distributed. On the contrary, as shown in FIG77 and FIG78, in the tactile presentation device with a boundary unit of 2 mm (embodiment) and the tactile presentation device with a boundary unit of 4 mm (embodiment), the protrusions are not separated, and their positions also change according to the pressure between the right sealed space and the left sealed space. It can also be seen that as the length of the boundary unit increases, the shape change of the exposed unit increases.

[0234] FIG79 is a graph showing the pressure in the right sealed space and the left sealed space, and FIG80 is a measurement result of the tactile presentation device. As shown in the figure, the shape of the exposure unit changes according to the pressure in the right sealed space and the left sealed space, and it can be seen that the shape change of the exposure unit includes a component in the second direction (the right direction and the left direction of the graph). Therefore, it can be said that the position, area and pressing force of the pressure stimulus can be controlled by the pressure in the right sealed space and the left sealed space.

[0235] The present technical content may also have the following structure.

[0236] (1) A tactile presentation device, comprising:

[0237] Housing unit;

[0238] a plurality of operating units, the plurality of operating units including a first operating unit and a second operating unit, the first operating unit changing in height in a first direction relative to the housing unit, the second operating unit changing in height in the first direction relative to the housing unit; and

[0239] An exposure unit, the exposure unit includes a first contact portion in contact with the first operating unit, a second contact portion in contact with the second operating unit, and an intermediate portion as a portion between the first contact portion and the second contact portion, and the exposure unit is deformed following the displacement of the intermediate portion according to the change in height of the first operating unit and the second operating unit in the first direction, wherein the displacement of the intermediate portion includes a component in the first direction.

[0240] (2) The tactile presentation device according to (1), wherein:

[0241] In the exposing unit, the displacement of the middle portion includes a component in a second direction perpendicular to the first direction.

[0242] (3) The tactile presentation device according to (1) or (2), wherein:

[0243] The exposing unit has flexibility.

[0244] (4) The tactile presentation device according to any one of (1) to (3), wherein:

[0245] The housing unit has an arrangement surface facing the exposure unit and having the plurality of operation units arranged thereon, the arrangement surface being a concave surface.

[0246] (5) The tactile presentation device according to any one of (1) to (4), wherein:

[0247] At least one of the plurality of operation units includes a driving unit that changes a height in the first direction by electromagnetic force, and a flexible unit that is disposed between the driving unit and the exposing unit and has flexibility.

[0248] (6) The tactile presentation device according to any one of (1) to (5), wherein:

[0249] At least one of the plurality of operation units is filled with a fluid, and a height in the first direction changes according to a change in volume or pressure of the fluid.

[0250] (7) The tactile presentation device according to any one of (1) to (6), further comprising:

[0251] A boundary unit is disposed between the first operation unit and the second operation unit and partitions the fluid between the first operation unit and the second operation unit.

[0252] (8) The tactile presentation device according to (7), wherein:

[0253] The boundary unit connects the housing unit and the exposure unit.

[0254] (9) The tactile presentation device according to (8), wherein:

[0255] The thickness of a portion of the boundary unit connected to the exposure unit is 3 mm or less.

[0256] (10) The tactile presentation device according to (8), wherein:

[0257] The boundary unit has a bellows structure.

[0258] (11) The tactile presentation device according to (10), wherein:

[0259] The housing unit has a recessed portion that accommodates the boundary unit when the bellows structure of the boundary unit is folded.

[0260] (12) The tactile presentation device according to (10), wherein:

[0261] The exposing unit has a recessed portion that accommodates the boundary unit when the bellows structure of the boundary unit is folded.

[0262] (13) The tactile presentation device according to any one of (8) to (12), wherein:

[0263] The tensile strength of the exposed unit is greater than the tensile strength of the boundary unit.

[0264] (14) The tactile presentation device according to any one of (6) to (13), wherein:

[0265] The fluid is air.

[0266] (15) A tactile presentation system comprising:

[0267] A tactile presentation device, the tactile presentation device comprising:

[0268] Housing unit,

[0269] a plurality of operating units, the plurality of operating units including a first operating unit and a second operating unit, the first operating unit changing in height in a first direction relative to the housing unit, the second operating unit changing in height in the first direction relative to the housing unit; and

[0270] an exposing unit including a first contact portion contacting the first operating unit, a second contact portion contacting the second operating unit, and an intermediate portion as a portion between the first contact portion and the second contact portion, and the exposing unit is deformed following displacement of the intermediate portion according to a change in height of the first operating unit and the second operating unit in the first direction, wherein the displacement of the intermediate portion includes a component in the first direction; and

[0271] A control device, when one of the multiple operating units is farthest from the shell unit and another operating unit among the multiple operating units is closest to the shell, the most protruding position of the exposed unit is set as the representative position of the one operating unit, and the control device determines the respective control parameters of the multiple operating units based on the respective representative positions of the multiple operating units.

[0272] (16) The tactile presentation system according to (15), wherein:

[0273] The control device determines control parameters of each of the plurality of operating units based on a presentation position, which is a position of the exposure unit having the highest height in the first direction, and representative positions of each of the plurality of operating units.

[0274] (17) The tactile presentation system according to (16), wherein:

[0275] The control means determines respective control parameters of the plurality of operating units based on distances between the presentation position and respective representative positions of the plurality of operating units.

[0276] (18) The tactile presentation system according to (16), wherein:

[0277] When an area in the exposure unit whose height in the first direction is above a specific level is set as a presentation area, the control device determines respective control parameters of the plurality of operating units based on the presentation position, respective representative positions of the plurality of operating units, and areas of the presentation area.

[0278] (19) The tactile presentation system according to (15), wherein:

[0279] The control device determines respective control parameters of the plurality of operating units based on a presentation object shape that is a shape of an object to be presented in the exposure unit and respective representative positions of the plurality of operating units.

[0280] (20) The tactile presentation system according to (19), wherein:

[0281] The control device determines the shape of the presentation object based on the positional relationship between the presentation object as a virtual object and the tactile presentation device.

[0282] Reference Mark List

[0283] 100, 120, 150 Tactile presentation device

[0284] 101, 121, 151 housing units

[0285] 102, 122, 152 operating units

[0286] 103, 123, 153 exposure units

[0287] 104, 131, 155 Placement surface

[0288] 106, 124, 154 Boundary cells

[0289] 111, 141, 161 contact parts

[0290] 112, 142, 162 middle part

[0291] 200 Tactile Presentation System

[0292] 300, 350 Control Device

[0293] 301 Control Unit

[0294] 302 Operation generation unit

[0295] 303 Communication Unit

Claims

1. A tactile presentation device, comprising: Housing unit; A plurality of operating units, the plurality of operating units comprising a first operating unit and a second operating unit, the first operating unit changes in height in a first direction relative to the housing unit, and the second operating unit changes in height in the first direction relative to the housing unit; as well as An exposure unit, the exposure unit includes a first contact portion in contact with the first operating unit, a second contact portion in contact with the second operating unit, and an intermediate portion as a portion between the first contact portion and the second contact portion, and the exposure unit is deformed following the displacement of the intermediate portion according to the change in height of the first operating unit and the second operating unit in the first direction, wherein the displacement of the intermediate portion includes a component in the first direction.

2. The tactile presentation device according to claim 1, wherein: In the exposing unit, the displacement of the middle portion includes a component in a second direction perpendicular to the first direction.

3. The tactile presentation device according to claim 1, wherein: The exposing unit has flexibility.

4. The tactile presentation device according to claim 1, wherein: The housing unit has an arrangement surface facing the exposure unit and having the plurality of operation units arranged thereon, the arrangement surface being a concave surface.

5. The tactile presentation device according to claim 1, wherein: At least one of the plurality of operation units includes a driving unit that changes a height in the first direction by electromagnetic force, and a flexible unit that is disposed between the driving unit and the exposing unit and has flexibility.

6. The tactile presentation device according to claim 1, wherein: At least one of the plurality of operation units is filled with a fluid, and a height in the first direction changes according to a change in volume or pressure of the fluid.

7. The tactile presentation device according to claim 6, further comprising: A boundary unit is disposed between the first operation unit and the second operation unit and partitions the fluid between the first operation unit and the second operation unit.

8. The tactile presentation device according to claim 7, wherein: The boundary unit connects the housing unit and the exposure unit.

9. The tactile presentation device according to claim 8, wherein: The thickness of a portion of the boundary unit connected to the exposure unit is 3 mm or less.

10. The tactile presentation device according to claim 8, wherein: The boundary unit has a bellows structure.

11. The tactile presentation device according to claim 10, wherein: The housing unit has a recessed portion that accommodates the boundary unit when the bellows structure of the boundary unit is folded.

12. The tactile presentation device according to claim 10, wherein: The exposing unit has a recessed portion that accommodates the boundary unit when the bellows structure of the boundary unit is folded.

13. The tactile presentation device according to claim 8, wherein: The tensile strength of the exposed unit is greater than the tensile strength of the boundary unit.

14. The tactile presentation device according to claim 6, wherein: The fluid is air.

15. A tactile presentation system, comprising: A tactile presentation device, the tactile presentation device comprising: Housing unit, a plurality of operating units, the plurality of operating units including a first operating unit and a second operating unit, the first operating unit changing in height in a first direction relative to the housing unit, the second operating unit changing in height in the first direction relative to the housing unit; and an exposing unit including a first contact portion contacting the first operating unit, a second contact portion contacting the second operating unit, and an intermediate portion as a portion between the first contact portion and the second contact portion, and the exposing unit is deformed following displacement of the intermediate portion according to a change in height of the first operating unit and the second operating unit in the first direction, wherein the displacement of the intermediate portion includes a component in the first direction; and A control device, when one of the multiple operating units is farthest from the shell unit and another operating unit among the multiple operating units is closest to the shell, the most protruding position of the exposed unit is set as the representative position of the one operating unit, and the control device determines the respective control parameters of the multiple operating units based on the respective representative positions of the multiple operating units.

16. The tactile presentation system according to claim 15, wherein: The control device determines control parameters of each of the plurality of operating units based on a presentation position, which is a position of the exposure unit having the highest height in the first direction, and representative positions of each of the plurality of operating units.

17. The tactile presentation system according to claim 16, wherein: The control means determines respective control parameters of the plurality of operating units based on distances between the presentation position and respective representative positions of the plurality of operating units.

18. The tactile presentation system according to claim 16, wherein: When an area in the exposure unit whose height in the first direction is above a specific level is set as a presentation area, the control device determines respective control parameters of the plurality of operating units based on the presentation position, respective representative positions of the plurality of operating units, and areas of the presentation area.

19. The tactile presentation system according to claim 15, wherein: The control device determines respective control parameters of the plurality of operating units based on a presentation object shape that is a shape of an object to be presented in the exposure unit and respective representative positions of the plurality of operating units.

20. The tactile presentation system of claim 19, wherein: The control device determines the shape of the presentation object based on the positional relationship between the presentation object as a virtual object and the tactile presentation device.

Images