Tactile presentation device

Abstract

Provided is a tactile sensation presentation device capable of presenting an accurate tactile sensation while sufficiently ensuring safety. This tactile sensation presentation device is provided with: a tactile sensation presentation unit which has a plurality of electrodes and presents tactile sensation to a specific part of a user by means of electrical stimulation; and a control unit that controls the tactile presentation unit so as to perform electrical stimulation using at least one electrode among the plurality of electrodes as an anode and at least one other electrode as a cathode. The control unit measures the mobility of the current at a specific site of the user, and adjusts the form of execution of the electrical stimulation on the basis of the result of the measurement.

Description

Technical Field

[0001] The present invention relates to a tactile presentation device, in particular to a tactile presentation device which presents tactile sensation through electrical stimulation. Background Art

[0002] In recent years, tactile presentation devices (sometimes also referred to as "haptic devices") that can present tactile sensations to users have attracted attention and have been applied to many purposes such as medical treatment, education, entertainment, and remote operation. Several methods are known as tactile presentation devices. Currently, the most widely used methods are methods of presenting tactile sensations by imparting force to the user or methods of presenting tactile sensations by imparting vibration to the user, but recently, methods of presenting tactile sensations by electrical stimulation have also been favored. A tactile presentation device using electrical stimulation has been disclosed in, for example, Patent Document 1.

[0003] In a tactile presentation device that uses electrical stimulation, multiple electrodes are arranged at a specified interval in the part that contacts the user's skin. A current path from the anode to the cathode is formed under the skin, thereby stimulating the sensory receptors under the skin (such as Meissner corpuscles) to present touch.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2006-251948 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] The ease of flow of electric current near the surface (skin) of the human body varies according to individual differences in the internal resistance inherent in a person or the environment of use. Therefore, in a tactile presentation device using electrical stimulation, it is difficult to fully ensure safety and present accurate tactile sensations. If too much current flows, it may be accompanied by danger. In addition, if it is difficult for the current to flow, sometimes the sense of touch cannot be felt at all. Even if the current flows through the surface of the human body, if the current does not reach the sensory receptors that sense the sense of touch, the sense of touch will not be felt.

[0009] The embodiments of the present invention have been made in view of the above-mentioned problems, and an object of the present invention is to provide a tactile presentation device that can present an accurate tactile sense while sufficiently ensuring safety.

[0010] Solutions for solving problems

[0011] This specification discloses a tactile presentation device described in the following items.

[0012] [Project 1]

[0013] A tactile presentation device, comprising:

[0014] a tactile sense presenting unit having a plurality of electrodes and presenting a tactile sense to a specific part of a user by electrical stimulation; and

[0015] A control unit controls the tactile presentation unit in such a manner that at least one electrode among the plurality of electrodes is used as an anode and at least one other electrode is used as a cathode to perform the electrical stimulation, wherein in the tactile presentation device,

[0016] The control unit measures the ease of flow of electric current at the site, and adjusts the execution form of the electrical stimulation based on the result of the measurement.

[0017] [Project 2]

[0018] The tactile presentation device according to item 1, wherein:

[0019] The tactile presentation unit further comprises a plurality of measurement terminals.

[0020] The control unit performs the measurement using the plurality of measurement terminals.

[0021] [Item 3]

[0022] The tactile presentation device according to item 2, wherein:

[0023] The plurality of measurement terminals include a first terminal and a second terminal having areas different from each other in a plan view.

[0024] [Item 4]

[0025] The tactile presentation device according to item 3, wherein:

[0026] When viewed from above, a distance from the center of the tactile presentation portion to the second terminal is longer than a distance from the center to the first terminal.

[0027] The area of ​​the second terminal in a plan view is larger than the area of ​​the first terminal in a plan view.

[0028] [Item 5]

[0029] The tactile presentation device according to item 1, wherein:

[0030] The control unit performs the measurement using at least two electrodes among the plurality of electrodes.

[0031] [Item 6]

[0032] The tactile presentation device according to item 5, wherein:

[0033] In the measurement, the number of electrodes functioning as positive terminals and the number of electrodes functioning as negative terminals are each 2 or more.

[0034] [Item 7]

[0035] The tactile presentation device according to item 5 or 6, wherein:

[0036] During the measurement, the number of electrodes functioning as positive terminals and the number of electrodes functioning as negative terminals are different from each other.

[0037] [Item 8]

[0038] The tactile presentation device according to any one of items 1 to 7, wherein:

[0039] The control unit adjusts the distance between the anode and the cathode when adjusting the execution mode of the electrical stimulation.

[0040] [Item 9]

[0041] The tactile presentation device according to any one of items 1 to 8, wherein:

[0042] The control unit adjusts the total area of ​​the electrodes functioning as the anodes and the total area of ​​the electrodes functioning as the cathodes when adjusting the execution mode of the electrical stimulation.

[0043] [Item 10]

[0044] The tactile presentation device according to item 9, wherein:

[0045] The control unit adjusts the ratio of the total area of ​​the electrodes functioning as the anodes to the total area of ​​the electrodes functioning as the cathodes when adjusting the execution mode of the electrical stimulation.

[0046] [Item 11]

[0047] The tactile presentation device according to items 1 to 10, wherein:

[0048] The control unit adjusts the pattern of voltage applied to the electrode functioning as the anode and the electrode functioning as the cathode when adjusting the execution mode of the electrical stimulation.

[0049] [Item 12]

[0050] The tactile presentation device according to item 11, wherein:

[0051] The control unit adjusts the application time of the voltage to the electrode functioning as the anode and the electrode functioning as the cathode when adjusting the execution mode of the electrical stimulation.

[0052] [Item 13]

[0053] The tactile presentation device according to item 11 or 12, wherein:

[0054] The control unit adjusts the frequency of the voltage applied to the electrode functioning as the anode and the electrode functioning as the cathode when adjusting the execution mode of the electrical stimulation.

[0055] [Item 14]

[0056] The tactile presentation device according to any one of items 1 to 13, wherein:

[0057] The plurality of electrodes are arranged in a matrix including a plurality of rows and a plurality of columns.

[0058] [Item 15]

[0059] The tactile presentation device according to any one of items 1 to 14, wherein:

[0060] The plurality of electrodes include a plurality of anode electrodes and a plurality of cathode electrodes.

[0061] The control unit

[0062] Each of the plurality of anode electrodes can be independently switched between a state in which an anode potential is applied and a state in which a floating potential is applied, and

[0063] Each of the plurality of cathode electrodes can be independently switched between a state in which a cathode potential is applied and a state in which a floating potential is applied.

[0064] [Item 16]

[0065] The tactile presentation device according to item 15, wherein:

[0066] Each of the plurality of cathode electrodes has a shape surrounding at least one anode electrode among the plurality of anode electrodes in a plan view.

[0067] [Item 17]

[0068] The tactile presentation device according to any one of items 1 to 16, wherein:

[0069] The specific part is the base of the user's fingertip.

[0070] Effects of the Invention

[0071] According to the embodiments of the present invention, it is possible to provide a tactile presentation device that can sufficiently ensure safety and present an accurate tactile sense. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 Schematically shows a block diagram of a VR tactile feedback system 200 including a tactile presentation device 100 according to an embodiment of the present invention.

[0073] Figure 2 It is a diagram for explaining the fingertip web fp.

[0074] Figure 3 1 is a plan view schematically showing the tactile presentation unit 10 included in the tactile presentation device 100 .

[0075] Figure 4 2 is a cross-sectional view schematically showing the tactile sense presenting unit 10 .

[0076] Figure 5 2 is a perspective view schematically showing the tactile sense presenting unit 10 .

[0077] Figure 6 1 is a diagram showing an example of voltage setting in the tactile sense presentation unit 10 when tactile sense presentation is performed by electrical stimulation.

[0078] Figure 7 1 is a plan view schematically showing the tactile sense presenting unit 10 .

[0079] Figure 8 1 is a diagram showing an example of a pattern of voltages applied to the plurality of electrodes 12 included in the tactile sense presenting unit 10 .

[0080] Fig. 9 It is a plan view showing an example of a specific configuration for measuring the flowability of electric current.

[0081] Fig.10 It is a cross-sectional view showing an example of a specific configuration for measuring the ease of flow of electric current.

[0082] Fig.11 It is a plan view showing an example of a specific configuration for measuring the flowability of electric current.

[0083] Fig.12 It is a cross-sectional view showing an example of a specific configuration for measuring the ease of flow of electric current.

[0084] Fig.13 It is a plan view showing an example of a specific configuration for measuring the flowability of electric current.

[0085] Fig.14It is a cross-sectional view showing an example of a specific configuration for measuring the ease of flow of electric current.

[0086] Fig.15 It is a plan view showing an example of a specific configuration for measuring the flowability of electric current.

[0087] Fig.16 It is a plan view showing an example of a specific configuration for measuring the flowability of electric current.

[0088] Fig.17 It is a cross-sectional view showing an example of a specific configuration for measuring the ease of flow of electric current.

[0089] Fig.18 1 is a diagram showing a setting example of the anode 12A and the cathode 12C.

[0090] Fig.19 1 is a diagram showing a setting example of the anode 12A and the cathode 12C.

[0091] Fig. 20 The distance d between the anode and cathode is adjusted according to the measured resistance value. AC The resistance value and the distance d between the anode and cathode in the case of AC A coordinate graph of an example of a relationship.

[0092] Fig.21 is the distance d between the anode and cathode AC A graph showing the relationship between resistance and voltage.

[0093] Fig. 22 1 is a diagram showing a setting example of the anode 12A and the cathode 12C.

[0094] Fig.23 1 is a diagram showing a setting example of the anode 12A and the cathode 12C.

[0095] Fig.24 This is a graph showing an example of the relationship between the resistance value and the number when the number of anodes 12A and the number of cathodes 12C are adjusted based on the measured resistance value.

[0096] Fig.25 This is a graph showing an example of the relationship between the resistance value and the number when the ratio of the number of anodes 12A to the number of cathodes 12C is adjusted based on the measured resistance value.

[0097] Fig.26 1 is a diagram showing a setting example of the anode 12A and the cathode 12C.

[0098] Fig. 271 is a diagram showing an example of a pattern of voltages applied to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C.

[0099] Fig.28 1 is a diagram showing an example of a pattern of voltages applied to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C.

[0100] Fig.29 This is a graph showing an example of the relationship between the resistance value and the application time (duty ratio) when the voltage application time is adjusted according to the measured resistance value.

[0101] Fig.30 This is a graph showing an example of the relationship between the resistance value and the frequency (Hz) when the frequency of the voltage is adjusted according to the measured resistance value.

[0102] Fig.31 1 is a plan view schematically showing the tactile sense presenting unit 10 .

[0103] Fig.32 1 is a diagram showing a setting example of the anode 12A and the cathode 12C.

[0104] Fig.33 1 is a diagram showing a setting example of the anode 12A and the cathode 12C.

[0105] Fig.34 1 is a diagram showing a setting example of the anode 12A and the cathode 12C.

[0106] Description of Reference Numerals

[0107] 10Tactile presentation unit

[0108] 11 substrate (support body)

[0109] 11a Main surface of substrate

[0110] 12 electrodes

[0111] 12A anode

[0112] 12C cathode

[0113] 12P positive terminal

[0114] 12N negative terminal

[0115] 13 Measurement terminal

[0116] 13A 1st terminal

[0117] 13B Terminal 2

[0118] 14 Resistance measurement circuit

[0119] 16 Anode electrode

[0120] 17 cathode electrode

[0121] 20. Control Unit

[0122] 100 tactile presentation device

[0123] 200VR tactile feedback system

[0124] 210 Personal Computer (PC)

[0125] 220VR Goggles

[0126] 230 current supply source. DETAILED DESCRIPTION

[0127] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following, an example in which the tactile presentation device is used in a VR (Virtual Reality) tactile feedback system is shown, but the use of the tactile presentation device is not limited thereto.

[0128] Reference Figure 1 The tactile presentation device 100 in this embodiment will be described. Figure 1 Schematically shows a block diagram of a VR tactile feedback system (hereinafter, also referred to as “system”) 200 including a tactile presentation device 100 .

[0129] like Figure 1 As shown, the system 200 includes a tactile presentation device 100 , a personal computer (PC) 210 , VR goggles 220 , and a current supply source 230 .

[0130] The tactile presentation device 100 includes a tactile presentation unit 10 and a control unit 20 for controlling the tactile presentation unit 10. The tactile presentation unit 10 has a plurality of electrodes as described below, and presents a sense of touch to a specific part of the user through electrical stimulation. Here, when the tactile presentation device 100 is used, the tactile presentation unit 10 is configured to contact the fingertips of the user's hand, and presents a sense of touch to the "bones of the fingertips" through electrical stimulation. Figure 2 As shown, the “finger tip web” refers to a region fp of the finger F that is located in front of the first joint j1 and closer to the palm side than the center when the finger F is viewed from the side.

[0131] In the example shown in the figure, the tactile presentation device 100 includes one tactile presentation unit 10, but the number of tactile presentation units 10 is not limited to 1, and may be 2 or more. For example, when the tactile presentation device 100 includes five tactile presentation units 10, tactile sensations can be presented to five fingers F of the user's hand.

[0132] The control unit 20 controls the tactile presentation unit 10. The control unit 20 controls the tactile presentation unit 10 based on a control signal sent from the PC 210 on which the VR application is installed. Data communication between the control unit 20 and the PC 210 can be performed by wireless communication or by wired communication. Wireless communication and wired communication can be performed in accordance with various well-known communication standards. The control unit 20 can be, for example, a control substrate equipped with a microcomputer.

[0133] The tactile presentation unit 10 is wired using flexible wiring or the like so as not to hinder the movement of the user's hand. The control unit 20 can be disposed, for example, at a portion corresponding to the user's arm. The tactile presentation unit 10 and the control unit 20 may be integrated as a glove.

[0134] The PC 210 outputs display data to the VR goggles 220, and the VR goggles 220 performs display based on the received display data. In addition, the VR goggles 220 outputs hand tracking information, which is information related to the position and movement of the user's hand, to the PC 210. Data communication between the PC 210 and the VR goggles 220 can be performed by wireless communication or by wired communication.

[0135] In addition, in order to present tactile sensation to the fingertip belly fp in conjunction with the hand tracking information, the PC 210 controls the current supply source 230 and the control unit 20 via the VR application. The control unit 20 controls so that a voltage is selectively applied (i.e., a current flows) to a specific electrode among the plurality of electrodes of the tactile presentation unit 10. The current supply source 230 supplies the current for flowing through the electrode to the tactile presentation unit 10 via the control unit 20. The current supply source 230 can make the current value different for each selected electrode.

[0136] Reference Figure 3 , Figure 4 as well as Figure 5 The specific structure of the tactile sense presenting unit 10 will be described. Figure 3 , Figure 4 as well as Figure 5 Schematically showing a top view, a cross-sectional view and a stereoscopic view of the tactile presentation unit 10, respectively. Figure 4 and Figure 5 The tactile sense presenting unit 10 is shown in a state where it is arranged so as to be in contact with the fingertip fp.

[0137] exist Figure 3 In the example shown, the tactile sense presenting part 10 is substantially rectangular in plan view. The ratio of the lateral width to the longitudinal width of the tactile sense presenting part 10 is not particularly limited. In addition, the shape of the tactile sense presenting part 10 is not limited to a substantially rectangular shape.

[0138] like Figure 3 , Figure 4 as well as Figure 5 As shown, the tactile sense presenting unit 10 includes a substrate (support) 11 having a main surface 11 a and a plurality of electrodes 12 .

[0139] The substrate 11 may be flexible. If the substrate 11 is flexible, the tactile sense presenting part 10 can be deformed along the roundness of the fingertip.

[0140] A plurality of electrodes 12 are provided on the main surface 11a of the substrate 11. Figure 3 In the example shown in FIG. 1 , the plurality of electrodes 12 are arranged in a matrix including a plurality of rows and a plurality of columns. In addition, each electrode 12 is roughly rectangular, and the area of ​​each electrode 12 when viewed from above is roughly the same. In addition, although not shown in the figure, the tactile presentation unit 10 also includes wiring and the like connected to the plurality of electrodes 12.

[0141] The control unit 20 controls the tactile sense presentation unit 10 so as to electrically stimulate at least one electrode 12 among the plurality of electrodes 12 as an anode and at least one other electrode 12 as a cathode. Figure 6 , an example of voltage setting in the tactile presentation unit 10 when tactile presentation is performed by electrical stimulation is shown. During tactile presentation, at least one electrode 12 among the multiple electrodes 12 is given a specified anode potential and functions as an anode 12A, and at least one other electrode 12 is given a specified cathode potential lower than the anode potential and functions as a cathode 12C. In addition, the other electrodes 12 are given a floating potential. When a finger F touches the tactile presentation unit 10 in this state, an electric current will flow from the anode 12A to the cathode 12C via the finger F, and when the electric current reaches the sensory receptors under the skin, it will be perceived as a tactile sensation. The pressing pressure (the strength of the tactile sensation) can be adjusted by the size of the current flowing, and a rough touch can also be felt by a tiny current pattern.

[0142] In addition, Figure 3 In the examples shown in FIG. 1 and FIG. 2 , a plurality of electrodes 12 are arranged in a matrix, but the arrangement of the electrodes 12 is not limited thereto. Figure 7 Another example of the arrangement of the electrodes 12 is shown in FIG. Figure 7 In the example shown, each electrode 12 is a strip extending in the column direction, and multiple electrodes 12 are arranged in one row and multiple columns. Although not shown here, each electrode 12 may be a strip extending in the row direction, and multiple electrodes 12 may be arranged in multiple rows and one column.

[0143] In addition, the mode of applying voltage to the electrodes 12 is not limited to always giving an anode potential (e.g., a positive potential) to a portion of the electrodes 12 and always giving a cathode potential (e.g., a negative potential) to another portion of the electrodes 12. Figure 8 Other examples of voltage modes are shown in FIG. Figure 8 In FIG. 1 , the potential given to a part of the electrodes 12 is shown by a solid line, and the potential given to another part of the electrodes 12 is shown by a dashed line. Figure 8 In the example shown, a part of the electrodes 12 and another part of the electrodes 12 are alternately given a positive potential and a negative potential in each predetermined cycle. The electrode 12 given a positive potential functions as an anode 12A, and the electrode 12 given a negative potential functions as a cathode 12C. Whenever the positive and negative potentials are reversed, the direction of the current is also reversed.

[0144] The type of tactile sensation presented can be dictated by the voltage pattern. Figure 8 In the case of the voltage pattern as illustrated, the voltage pattern is determined by the amplitude and frequency (positive and negative reversal cycle) of the voltage. In addition, by changing the position (voltage application position) of the electrode 12 to which the anode potential and the negative potential are given in the tactile presentation unit 10, the tactile sense can also be different. For example, it is also possible to present a delicate tactile sense by moving the voltage application position left or right or up and down in a relatively small area, and it is also possible to change the tactile sense according to the distance or speed of movement, the number of repetitions of movement, etc.

[0145] By including the tactile presentation unit 10 and the control unit 20 as described above, the position and intensity of the tactile stimulation at the fingertips can be finely controlled, and the tactile sensation as when touching an object with the fingertips can be reproduced. Therefore, a VR tactile feedback system 200 that can feel a more realistic hand and skin feel can be provided.

[0146] However, the flowability of the current at the fingertips fp varies according to individual differences in internal resistance or the usage environment (ambient temperature and humidity, dryness of the fingertips fp, etc.). The tactile presentation device 100 of this embodiment can fully ensure safety and present accurate tactile sensation by having the following configuration.

[0147] In the tactile presentation device 100 according to an embodiment of the present invention, the control unit 20 measures the flowability of the current at a specific part of the user (here, the belly of the fingertip fp), and adjusts the execution form of the electrical stimulation based on the result of the measurement. Therefore, it is possible to present accurate tactile sensation regardless of individual differences in internal resistance or the use environment. The following is a more specific description of the measurement of the flowability of the current and the adjustment of the execution form of the electrical stimulation.

[0148] [Measurement of the flowability of electric current]

[0149] Reference Fig. 9 and Fig.10 An example of a specific configuration for measuring the ease of flow of electric current will be described below.

[0150] exist Fig. 9 and Fig.10 In the illustrated example, the tactile sense presenting unit 10 has a plurality of measurement terminals 13. These measurement terminals 13 are disposed between the electrodes 12 and are electrically connected to the resistance measurement circuit 14. The control unit 20 uses the plurality of measurement terminals 13 to measure the resistance value.

[0151] In addition, although the example shown here shows that the tactile sense presenting unit 10 has four measuring terminals 13, the number of measuring terminals 13 is not limited to 4, and may be 2 or more. In addition, the arrangement of the measuring terminals 13 is not limited to the example shown in the figure.

[0152] In addition, although the illustration shows an example in which the dimensions (areas when viewed from above) of the plurality of measurement terminals 13 are the same, the dimensions of all the measurement terminals 13 do not necessarily have to be the same. Fig.11 and Fig.12 , another example of a configuration for measuring the ease of flow of electric current is shown.

[0153] exist Fig.11 and Fig.12 In the example shown, the plurality of measurement terminals 13 include first terminals 13A and second terminals 13B having different areas in a plan view. Here, the number of first terminals 13A and second terminals 13B is two each.

[0154] A distance d2 from the center cp of the tactile sense presenting part 10 to the second terminal 13B in a plan view is longer than a distance d1 from the center cp to the first terminal 13A. Also, an area of ​​the second terminal 13B in a plan view is larger than an area of ​​the first terminal 13A in a plan view.

[0155] Since the resistance of the current path increases as the distance between the measurement terminals 13 increases, it is more likely that the current flowing will need to be increased. Fig.11 and Fig.12 As shown, the area of ​​the second terminal 13B relatively far from the center cp is preferably larger than the area of ​​the first terminal 13A relatively close to the center cp. In addition, near the center cp of the tactile presentation part 10, the possibility that the center of the fingertip belly fp is in reliable contact with the tactile presentation part 10 is high, while in the part far from the center cp, due to the difference in size and roundness of the finger F or a slight deviation in the position where the finger F is placed, the fingertip belly fp may not be in sufficient contact with the tactile presentation part 10. Therefore, from this point of view, the area of ​​the second terminal 13B is also preferably larger than the area of ​​the first terminal 13A.

[0156] In addition, although the example of measuring the resistance value is shown here, a predetermined voltage may be applied between the measurement terminals 13 to measure the current value at that time. In addition, the resistance value may be measured for each of the multiple combinations of the measurement terminals 13, and the change in the resistance value caused by the difference in the distance between the terminals may be understood. The change in the resistance value caused by the difference in the applied voltage or the difference in the positional relationship of the measurement terminals 13 or the difference in the area of ​​the measurement terminals 13 may also be understood.

[0157] The measurement of the ease of flow of the current may be performed before the tactile sensation is presented, such as immediately after the power of the tactile presentation device 100 is turned on or immediately after the content is played, or may be performed periodically during a period when the tactile sensation is not presented (between periods when the tactile sensation is presented). When the tactile sensation is presented synchronously with the display frame of the image, the measurement of the ease of flow of the current may be performed all the time during the frame when the tactile sensation is not presented.

[0158] exist Figures 9 to 12 2 shows an example of measuring the ease of flow of current using the measuring terminal 13, but the tactile presentation unit 10 may not have the measuring terminal 13 and may use at least two electrodes 12 among the plurality of electrodes 12 for tactile presentation to measure the ease of flow of current.

[0159] exist Fig.13 and Fig.14 In FIG. 1 , an example of a structure for performing measurement using the electrode 12 is shown. Fig.13 and Fig.14 In the example shown, two (a pair) electrodes 12 among the plurality of electrodes 12 are used for measurement. A predetermined electrode 12P is given a relatively high potential and functions as a positive terminal. In addition, another predetermined electrode 12N is given a relatively low potential and functions as a negative terminal. The electrode 12P that functions as a positive terminal (hereinafter, sometimes referred to as "positive terminal 12P") and the electrode 12N that functions as a negative terminal (hereinafter, sometimes referred to as "negative terminal 12N") are electrically connected to the resistance measurement circuit 14.

[0160] exist Fig.13 and Fig.14 , the number of positive terminals 12P and the number of negative terminals 12N are both 1, but the number of positive terminals 12P and the number of negative terminals 12N may be both 2 or more. Fig.15 , another example of a configuration for performing measurement using the electrode 12 is shown.

[0161] exist Fig.15In the example shown, the number of positive terminals 12P and the number of negative terminals 12N are 2. By using two or more electrodes 12P as positive terminals and two or more electrodes 12N as negative terminals for averaging, the measurement accuracy can be improved. In addition, even if the contact position between the tactile presentation unit 10 and the finger F deviates from the center of the tactile presentation unit 10, it is possible to appropriately perform the measurement.

[0162] exist Figures 13 to 15 , the number of positive terminals 12P and the number of negative terminals 12N are the same, but the number of positive terminals 12P and the number of negative terminals 12N may be different from each other. Fig.16 and Fig.17 , still another example of a configuration for performing measurement using the electrode 12 is shown.

[0163] exist Fig.16 and Fig.17 In the example shown, the number of positive terminals 12P is 1, and the number of negative terminals 12N is 4. The positive terminal 12P is located at the center of the tactile presentation unit 10 when viewed from above, and the negative terminal 12N is located at a position further outward than the positive terminal 12P. The total resistance value between the positive terminal 12P and the four negative terminals 12N can be measured by connecting all four electrodes 12 that become negative terminals 12N to the resistance measurement circuit 14 at the same time, or the electrodes 12 that become negative terminals 12N can be connected to the resistance measurement circuit 14 one by one (i.e., the electrodes 12 that become negative terminals 12N are switched in sequence) to measure the resistance values ​​in sequence.

[0164] exist Figures 13 to 17 , an example of using several electrodes 12 for measurement is shown, but more electrodes 12 may be used, and the electrodes 12 at desired positions may be used for measurement according to the usage of the tactile presentation device 100. However, in this case, each electrode 12 requires a switching switch for electrically connecting to the resistance measurement circuit 14, so the circuit configuration and control may become somewhat complicated.

[0165] When measuring the flowability of electric current using the electrode 12 , the current value may be measured instead of measuring the resistance value.

[0166] Thus, the flowability of the current can be measured using the measurement terminal 13 or the tactile sense presentation electrode 12. Figures 9 to 12 As described above, using the measurement terminal 13, it is easy to achieve high-precision measurement with low noise, and no complicated control is required, and the measurement is easy. In contrast, if the tactile presentation electrode 12 is used, the measurement position can be changed relatively freely, and appropriate measurement corresponding to the contact state of the finger F can be performed.

[0167] [Adjustment of the form of electrical stimulation]

[0168] The control unit 20 adjusts the execution mode of the electrical stimulation (hereinafter sometimes referred to as "adjustment of the stimulation mode") by, for example, performing at least one of the following (1), (2), and (3). This enables optimal tactile presentation.

[0169] (1) Adjustment of the distance between the anode 12A and the cathode 12C

[0170] (2) Adjustment of the total area of ​​the electrode 12 functioning as the anode 12A and the total area of ​​the electrode 12 functioning as the cathode 12C

[0171] (3) Adjustment of the pattern of voltage applied to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C

[0172] The following describes the adjustments of (1), (2), and (3) above in order.

[0173] [About adjustment (1)]

[0174] First, refer to Fig.18 The distance between the anode 12A and the cathode 12C (hereinafter referred to as the "anode-cathode distance") d AC adjustments. Fig.18 1 is a diagram showing an example of the configuration of the anode 12A and the cathode 12C. Fig.18 The upper part of the figure shows that the measured resistance value is relatively large (i.e., the current is difficult to flow). Fig.18 The lower part of shows a case where the measured resistance value is relatively small (that is, current flows more easily).

[0175] exist Fig.18 In the example shown in the upper part of FIG. 1 , the fourth and sixth electrodes 12 from the left side in the figure are set as anode 12A and cathode 12C, respectively. Fig.18 In the example shown in the lower section of FIG. 1 , the third and seventh electrodes 12 from the left in the figure are set as anode 12A and cathode 12C, respectively. Therefore, the anode-cathode distance d AC When the resistance value is relatively large, it is relatively short, and when the resistance value is relatively small, it is relatively long.

[0176] It can be said that the distance d between the anode and the cathode is AC The shorter the distance, the easier it is for the current to flow. AC The longer the distance, the harder it is for current to flow. Therefore, when the resistance value is relatively large, the distance between the anode and cathode is shortened. AC, which allows the current to flow easily. On the other hand, when the resistance value is relatively small, the distance d between the anode and the cathode can be increased. AC In either case, by flowing a current of a predetermined value or more, the electrical stimulation can be sensed as a sense of touch. AC In the case where the tactile sensation changes due to the difference in AC To adjust the target current value.

[0177] Anode-cathode distance d AC The adjustment is based on the measured flowability of the current. If the measured resistance value is too small, there is a possibility that excessive current will flow, causing concerns about safety. If the measured resistance value is too large, there is a possibility that no current will flow at all. As long as the voltage setting range is such that the current flows stably to a certain extent, if the measured resistance value is large, the anode-cathode distance d is shortened. AC If the measured resistance value is small, the distance d between the anode and cathode is increased. AC That's it.

[0178] Furthermore, a plurality of cathodes 12C may be provided for one anode 12A. Fig.19 1 is a diagram showing another example of the configuration of the anode 12A and the cathode 12C. Fig.19 The upper part of the figure shows that the measured resistance value is relatively large. Fig.19 The lower part of shows a case where the measured resistance value is relatively small.

[0179] exist Fig.19 In the example shown in the upper section of FIG. 1 , the fifth electrode 12 from the left side in the figure is set as the anode 12A, and the third and seventh electrodes 12 are set as the cathode 12C. Fig.19 In the example shown in the lower section of FIG. 1 , the fifth electrode 12 from the left in the figure is set as the anode 12A, and the second and eighth electrodes 12 are set as the cathode 12C. Therefore, the anode-cathode distance d AC When the resistance value is relatively large, it is relatively short, and when the resistance value is relatively small, it is relatively long.

[0180] In this way, even when a plurality of cathodes 12C are provided for one anode 12A, the distance d between the anode and the cathode can be adjusted according to the measured resistance value. AC That's it.

[0181] In addition, Fig.18 and Fig.19 In order to simplify the description, an example in which nine electrodes 12 are arranged in the left-right direction in the figure is shown, but the distance d between the anode and the cathode can be adjusted in detail.AC From the perspective of the number of electrodes 12, it is preferred that the number of electrodes 12 is large. For example, in a tactile presentation unit 10, 64 electrodes 12 may be provided in each row and column. In this case, if the width of each electrode 12 along the row direction and the width along the column direction are set to 0.12 mm, and the arrangement pitch of the electrodes 12 along the row direction and the arrangement pitch along the column direction are set to 0.16 mm (that is, the gap between the electrodes 12 is set to 0.04 mm), the lateral width and the longitudinal width of the tactile presentation unit 10 become about 10.2 mm. Of course, not limited to this example, for example, in a tactile presentation unit 10, 16 electrodes 12 may be provided in each row and column. In this case, if the width of each electrode 12 along the row direction and the width along the column direction are set to 0.30 mm, and the arrangement pitch of the electrodes 12 along the row direction and the arrangement pitch along the column direction are set to 0.66 mm (i.e., the gap between the electrodes 12 is set to 0.36 mm), the lateral width and the longitudinal width of the tactile presentation unit 10 become about 10.2 mm. In addition, a TFT array substrate that can control voltage or current with pixel density, such as a liquid crystal display device or an organic EL (OLED) display device, can also be used as the tactile presentation unit 10.

[0182] exist Fig. 20 In FIG. 1 , the distance d between the anode and the cathode is adjusted according to the measured resistance value. AC The resistance value and the distance d between the anode and cathode in the case of AC An example of a relationship. Fig. 20 As shown in the example shown in FIG. 1 , the control unit 20 increases the anode-cathode distance d as the measured resistance value decreases. AC The larger the measured resistance value, the shorter the distance d between the anode and the cathode. AC By controlling the tactile sense in a manner such that a constant current can flow to the fingertip belly fp regardless of individual differences in internal resistance or the use environment. Fig. 20 The figure shows the flow rate of current (resistance value) and the distance d between the anode and cathode. AC After measuring the flowability of the current, the control unit 20 obtains the anode-cathode distance d corresponding to the measured resistance value based on the above table. AC , to obtain the anode-cathode distance d AC The electrode 12 that functions as the anode 12A and the electrode 12 that functions as the cathode 12C are set in a manner as follows. Fig. 20 As shown in the example, the anode-cathode distance d can also be set AC In addition, the distance d between the anode and cathode can be set according to the flowability of the current.AC Phased changes. You can also use different tables for each user.

[0183] Table 1 shows the distance d between the anode and cathode. AC The results of measuring the actual current flowing through the subject's finger F and the tactile value are shown in Figure 1. Here, the tactile value is a sense value obtained by subjective evaluation of a person, specifically, a value recorded by subjectively evaluating the degree of physical protrusion when electrical stimulation is applied to the fingertip.

[0184]

Table 1

[0185]

[0186] From Table 1, we can see that the distance between the anode and cathode is AC The shorter the distance between the anode and cathode, the greater the current value and the smaller the resistance value. AC When it is 2.5mm, the tactile value is the largest.

[0187] exist Fig.21 The anode-cathode distance d shown in Table 1 is shown in AC Relationship with resistance value. It can be said that the individual difference in the ease of flow of current F in a person's finger is caused by Fig.21 Therefore, the distance d between the anode and cathode is adjusted according to the measured resistance value so that a current of a desired magnitude corresponding to the desired tactile sensation can flow. AC That's it.

[0188] In addition, it can be seen from the measurement results of the tactile values ​​shown in Table 1 that the distance d between the anode and the cathode is not simply AC The shorter the distance between the anode and cathode, or the larger the current value, the stronger the tactile sensation. AC When the current value is 2.5 mm, the tactile sensation is felt most strongly. Therefore, it is preferred not only to set the current value to a desired value, but also to consider the distance d between the anode and the cathode. AC The distance d between the anode and cathode is set according to the intensity of the corresponding tactile sensation. AC (For example, create a representation of the resistance value and the distance d between the anode and the cathode AC relationship table).

[0189] In this way, the control unit 10 measures the flowability of the current and calculates the anode-cathode distance d based on the measurement result. AC Adjustment enables optimal and safe voltage / current supply regardless of individual differences in internal resistance or usage environment, enabling optimal electrical stimulation of sensory receptors under the skin.

[0190] When a plurality of electrodes 12 arranged in a matrix (matrix electrodes) are used as shown in the example, the positional relationship between the anode 12A and the cathode 12C or the distance d between the anode and the cathode can be changed. AC In addition, by using high-definition (high-density) matrix electrodes, the resolution of the set distance can be improved, and a more subtle tactile presentation can be performed.

[0191] [About Adjustment (2)]

[0192] Next, refer to Fig. 22 The following describes adjustment of the total area of ​​the electrode 12 functioning as the anode 12A (hereinafter, also referred to as the "total area of ​​the anode 12A") and the total area of ​​the electrode 12 functioning as the cathode 12C (hereinafter, also referred to as the "total area of ​​the cathode 12C"). Fig. 22 1 is a diagram showing an example of the configuration of the anode 12A and the cathode 12C. Fig. 22 The upper part of the figure shows that the measured resistance value is relatively small (i.e., the current flows more easily). Fig. 22 The lower part of shows a case where the measured resistance value is relatively large (that is, it is relatively difficult for current to flow).

[0193] exist Fig. 22 In the example shown in the upper part of FIG. 1 , the fourth and sixth electrodes 12 from the left side in the figure are set as the anode 12A and the cathode 12C, respectively. That is, a pair of electrodes 12 is used as the anode 12A and the cathode 12C. Fig. 22 In the example shown in the lower section of , the 3rd and 4th electrodes 12 from the left side in the figure are set as anodes 12A, and the 6th and 7th electrodes 12 are set as cathodes 12C. That is, two pairs of electrodes 12 are used as anodes 12A and cathodes 12C. Therefore, the number of electrodes 12 that function as anodes 12A (hereinafter, also referred to as "the number of anodes 12A") and the number of electrodes 12 that function as cathodes 12C (hereinafter, also referred to as "the number of cathodes 12C") are relatively small when the resistance value is relatively small, and are relatively large when the resistance value is relatively large. In other words, the total area of ​​the anodes 12A and the total area of ​​the cathodes 12C are relatively small when the resistance value is relatively small, and are relatively large when the resistance value is relatively large.

[0194] The larger the total area of ​​the anode 12A and the total area of ​​the cathode 12C, the more current can be increased. Therefore, when the resistance value is relatively large, by increasing the total area of ​​the anode 12A and the total area of ​​the cathode 12C, sufficient current can be ensured. On the other hand, when the resistance value is relatively small, the total area of ​​the anode 12A and the total area of ​​the cathode 12C can also be reduced.

[0195] The total area of ​​the anode 12A and the total area of ​​the cathode 12C are adjusted (the number of anodes 12A and the number of cathodes 12C are adjusted) based on the measured flowability of the current. If the measured resistance value is too small, there is a possibility that excessive current flows and safety concerns arise. If the measured resistance value is too large, there is a possibility that no current flows at all. As long as it is within the range of voltage setting where the current flows stably to a certain extent, if the measured resistance value is large, the total area of ​​the anode 12A and the total area of ​​the cathode 12C are increased (that is, the number of anodes 12A and the number of cathodes 12C are increased), and if the measured resistance value is small, the total area of ​​the anode 12A and the total area of ​​the cathode 12C are reduced (that is, the number of anodes 12A and the number of cathodes 12C are reduced).

[0196] Furthermore, a plurality of cathodes 12C may be provided for one anode 12A. Fig.23 1 is a diagram showing another example of the configuration of the anode 12A and the cathode 12C. Fig.23 The upper part of the figure shows that the measured resistance value is relatively small. Fig.23 The lower part of shows the case where the measured resistance value is relatively large.

[0197] exist Fig.23 In the example shown in the upper section of FIG. 1 , the fifth electrode 12 from the left side in the figure is set as the anode 12A, and the third and seventh electrodes 12 are set as the cathode 12C. Fig.23 In the example shown in the lower section of FIG. 1 , the fifth electrode 12 from the left side in the figure is set as the anode 12A, and the second, third, seventh, and eighth electrodes 12 are set as cathodes 12C. In this case, it can be said that the total area of ​​the anodes 12A and the total area of ​​the cathodes 12C are adjusted, or it can be said that the ratio of the total area of ​​the anodes 12A to the total area of ​​the cathodes 12C is adjusted (the ratio of the number of anodes 12A to the number of cathodes 12C is adjusted).

[0198] In addition, Fig. 22 and Fig.23In order to simplify the description, an example in which 9 electrodes 12 are arranged in the left-right direction in the figure is shown, but from the viewpoint of finely adjusting the total area of ​​the anode 12A and the total area of ​​the cathode 12C (the number of anodes 12A and the number of cathodes 12C), it is preferred that the number of electrodes 12 is large. For example, in a tactile presentation part 10, 64 electrodes 12 may be provided in each row and each column. In this case, if the width of each electrode 12 along the row direction and the width along the column direction are set to 0.12 mm, and the arrangement pitch of the electrode 12 along the row direction and the arrangement pitch along the column direction are set to 0.16 mm (that is, the gap between the electrodes 12 is set to 0.04 mm), the lateral width and the longitudinal width of the tactile presentation part 10 become about 10.2 mm. Of course, this is not limited to this example. For example, in a tactile presentation part 10, 16 electrodes 12 may be provided in each row and each column. In this case, if the width of each electrode 12 along the row direction and the width along the column direction are set to 0.30 mm, and the arrangement pitch of the electrodes 12 along the row direction and the arrangement pitch along the column direction are set to 0.66 mm (i.e., the gap between the electrodes 12 is set to 0.36 mm), the lateral width and the longitudinal width of the tactile presentation unit 10 become about 10.2 mm. In addition, a TFT array substrate that can control voltage or current with pixel density, such as a liquid crystal display device or an organic EL (OLED) display device, can also be used as the tactile presentation unit 10.

[0199] exist Fig.24 , an example of the relationship between the resistance value and the number of anodes 12A and cathodes 12C is shown in the case where the number of anodes 12A and cathodes 12C is adjusted according to the measured resistance value. Fig.24 , an example is shown in which the number of anodes 12A and the number of cathodes 12C are the same. Fig.24 As shown in the example, the control unit 20 controls in such a manner that the larger the measured resistance value, the greater the number of anodes 12A and the number of cathodes 12C, and the smaller the measured resistance value, the greater the number of anodes 12A and the number of cathodes 12C. As a result, a constant current can flow to the fingertip fp regardless of individual differences in internal resistance or usage environment.

[0200] exist Fig.25 , an example of the relationship between the resistance value and the number of cathodes 12C is shown when the ratio of the number of anodes 12A to the number of cathodes 12C is adjusted according to the measured resistance value. Fig.25 As shown in the example, the control unit 20 controls the number of anodes 12A and cathodes 12C to increase as the measured resistance value increases, but the number of cathodes 12C is greater than the number of anodes 12A. Fig.25Conversely to the example shown, the number of anodes 12A is controlled to be larger than the number of cathodes 12C, but control may be performed so that the number of either anodes 12A or cathodes 12C does not change.

[0201] As in the case of adjustment (1), for example, the tactile presentation device 100 may also pre-store Fig.24 or Fig.25 The control unit 20 measures the ease of flow of current, obtains the number of anodes 12A and cathodes 12C corresponding to the measured resistance value based on the table, and sets the electrode 12 that functions as the anode 12A and the electrode 12 that functions as the cathode 12C in such a manner as to obtain the obtained number of anodes 12A and cathodes 12C. Fig.24 or Fig.25 As in the example shown in FIG. 1 , the upper limit and lower limit of the number of anodes 12A and cathodes 12C may be set (in this case, the lower limit may be set to a number greater than 2). In addition, the number of anodes 12A and cathodes 12C may be changed in stages according to the ease of flow of the current. Different tables may be used for each user.

[0202] In this way, by measuring the ease of flow of electric current by the control unit 10 and adjusting the total area of ​​the anodes 12A and the total area of ​​the cathodes 12C based on the result of the measurement (adjusting the number of anodes 12A and the number of cathodes 12C), it is possible to provide an optimal and safe voltage / current supply regardless of individual differences in internal resistance or the usage environment, thereby achieving optimal electrical stimulation of the sensory receptors under the skin.

[0203] The number of anodes 12A and the number of cathodes 12C may be the same or different. It has been verified that there is a tendency that when the number of cathodes 12C is greater than the number of anodes 12A, tactile stimulation is more easily felt.

[0204] If a matrix electrode as shown in the example is used, the positional relationship between the anode 12A and the cathode 12C or the shape of the electrode 12 group functioning as the anode 12A and the cathode 12C can be freely changed, and a more appropriate setting can be made. In addition, by using a high-definition (high-density) matrix electrode, the resolution of the set area can be improved, and a more subtle tactile presentation can be made.

[0205] [About adjustment (3)]

[0206] Next, the adjustment of the pattern of the voltage applied to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C will be described. Fig.26 The following describes an example in which the settings are performed as shown. Fig.26 In the example shown, the third and fourth electrodes 12 from the left in the figure are set as anodes 12A, and the sixth and seventh electrodes 12 are set as cathodes 12C. Although the description is made of a case where the anodes 12A and cathodes 12C are not changed based on the measured resistance values, it is of course possible (i.e., adjustment (3) may be performed in combination with adjustment (1) and / or (2)).

[0207] Fig. 27 is a diagram showing an example of a voltage pattern. Fig. 27 The upper part of the figure shows that the measured resistance value is relatively small (i.e., the current flows more easily). Fig. 27 The lower part of shows a case where the measured resistance value is relatively large (that is, it is relatively difficult for current to flow).

[0208] from Fig. 27 Comparison of the example shown in the upper section with the example shown in the lower section shows that the time for applying voltage to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C is shorter when the resistance value is relatively small, and is longer when the resistance value is relatively large. The longer the voltage is applied, the more the current can be increased. In addition, the longer the voltage is applied, the easier it is for the current to reach deep under the skin, so it is easier to feel touch.

[0209] Fig.28 is a diagram showing another example of a voltage pattern. Fig.28 The upper part of the figure shows that the measured resistance value is relatively small. Fig.28 The lower part of shows the case where the measured resistance value is relatively large.

[0210] from Fig.28 Comparing the example shown in the upper part with the example shown in the lower part, it can be seen that the switching period of the positive and negative potential is longer when the resistance value is smaller, and shorter when the resistance value is larger. In addition, the number of switching times of the positive and negative potential is smaller when the resistance value is smaller, and is larger when the resistance value is larger. Fig.28 In the example shown, the frequency of the voltage applied to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C is adjusted. By increasing the frequency of the applied voltage, the current easily reaches deep under the skin and is easily felt as a tactile sensation.

[0211] In addition, Fig. 27 and Fig.28 The example shown in FIG. 2 is a rectangular wave mode, but the voltage mode is not limited to the rectangular wave mode, and may be a sine wave mode or the like.

[0212] In addition, if the frequency of the applied voltage changes, the sense of touch may change. In addition, there may be people who cannot feel the touch if the frequency is not high enough. Therefore, it is also possible to obtain data of various people in advance and adjust the voltage application time and frequency in combination.

[0213] exist Fig.29 An example of the relationship between the resistance value and the application time (duty ratio) when the voltage application time is adjusted according to the measured resistance value is shown in FIG. Fig.29 As shown in the example, the control unit 20 controls the voltage application time in a manner that increases as the measured resistance value increases, and shortens as the measured resistance value decreases. This allows a constant current to flow to the fingertip fp regardless of individual differences in internal resistance or usage environment.

[0214] exist Fig.30 An example of the relationship between the resistance value and the frequency (Hz) when the frequency of the voltage is adjusted according to the measured resistance value is shown in FIG. Fig.30 As shown in the example, the control unit 20 controls the voltage frequency to be increased as the measured resistance value is larger, and the voltage frequency to be decreased as the measured resistance value is smaller, thereby making it possible to flow a constant current to the fingertip fp regardless of individual differences in internal resistance or usage environment. In addition, both the application time and the frequency of the voltage can be adjusted.

[0215] As in the case of adjustment (1), for example, the tactile presentation device 100 may also pre-store Fig.29 and / or Fig.30 The control unit 20 measures the easy flow of the current, obtains the voltage application pattern corresponding to the measured resistance value based on the above table, and applies the obtained voltage application pattern to the anode 12A and / or the cathode 12C. Fig.30 As in the example shown, the upper limit and lower limit of the voltage frequency may be set. In addition, the voltage application pattern may be changed in stages according to the flowability of the current. Different tables may be used for each user.

[0216] In this way, by measuring the ease of flow of electric current by the control unit 10 and adjusting the pattern of voltage applied to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C based on the result of the measurement, it is possible to provide an optimal and safe voltage / current supply regardless of individual differences in internal resistance or the usage environment, thereby achieving optimal electrical stimulation of the sensory receptors under the skin.

[0217] By adjusting (1) (the anode-cathode distance d AC By combining adjustment (1) (adjustment of the total area of ​​anode 12A and the total area of ​​cathode 12C) and / or adjustment (2) (adjustment of the total area of ​​anode 12A and the total area of ​​cathode 12C) to adjust the voltage mode (adjustment (3)), a higher degree of freedom of adjustment can be achieved, so a more appropriate tactile sensation can be presented.

[0218] [Other electrode structures]

[0219] Reference Fig.31 Another example of the electrode structure of the tactile presentation unit 10 is described below. Fig.31 In the illustrated example, the plurality of electrodes 12 included in the tactile sense presenting unit 10 include a plurality of anode electrodes 16 and a plurality of cathode electrodes 17 .

[0220] The plurality of anode electrodes 16 are provided on a main surface of a support (not shown here). The plurality of anode electrodes 16 are arranged in a matrix.

[0221] The plurality of cathode electrodes 17 are arranged on the main surface of the support body in a manner that does not overlap with the plurality of anode electrodes 16 when viewed from above. The plurality of cathode electrodes 17 are also arranged in a matrix. In the example shown in the figure, each cathode electrode 17 has a shape that surrounds one anode electrode 16 when viewed from above. In addition, although not shown here, each cathode electrode 17 may also have a shape that surrounds two or more anode electrodes 16.

[0222] The control unit 20 can independently switch each of the plurality of anode electrodes 16 between a state in which an anode potential is applied and a state in which a floating potential is applied. In addition, the control unit 20 can independently switch each of the plurality of cathode electrodes 17 between a state in which a cathode potential is applied and a state in which a floating potential is applied.

[0223] So, in Fig.31 In the example shown, the electrode (anode electrode 16) that functions as the anode 12A and the electrode (cathode electrode 17) that functions as the cathode 12C are provided separately. Since the anode electrode 16 and the cathode electrode 17 are provided separately, it is easy to form a wiring structure and it is also easy to control the voltage applied to each electrode 12.

[0224] exist Fig.32 , Fig.33 as well as Fig.34 It is shown that the Fig.31 In the case of the electrode structure shown, the setting example of the anode 12A and the cathode 12C.

[0225] exist Fig.32 In the example shown, the anode electrode 16 located at the 3rd row and the 2nd column is given an anode potential and functions as the anode 12A, and the cathode electrode 17 located at the 3rd row and the 4th column is given a cathode potential and functions as the cathode 12C. The other anode electrodes 16 and the other cathode electrodes 17 are given a floating potential.

[0226] exist Fig.33 In the example shown, the anode electrodes 16 located at the 2nd row and 1st column, the 2nd row and 2nd column, the 3rd row and 1st column, and the 3rd row and 2nd column are given an anode potential and function as anodes 12A, and the cathode electrodes 17 located at the 4th row and 4th column, the 4th row and 5th column, the 5th row and 4th column, and the 5th row and 5th column are given a cathode potential and function as cathodes 12C. The other anode electrodes 16 and the other cathode electrodes 17 are given a floating potential.

[0227] exist Fig.34 In the example shown, the anode electrode 16 located in the 3rd row and the 3rd column is given an anode potential and functions as the anode 12A, and the cathode electrodes 17 located in the 1st row, the 5th row, the 1st column, and the 5th column are given a cathode potential and function as the cathode 12C. The other anode electrodes 16 and the other cathode electrodes 17 are given a floating potential.

[0228] from Fig.32 , Fig.33 as well as Fig.34 It can also be seen that when using Fig.31 In the case of the electrode structure shown in FIG. 1 , the distance d between the anode and the cathode can also be freely adjusted. AC adjustment, adjustment of the total area of ​​the anode 12A and the total area of ​​the cathode 12C (it can also be said to be the adjustment of the number of anodes 12A and the number of cathodes 12C), adjustment of the ratio of the total area of ​​the anode 12A to the total area of ​​the cathode 12C (it can also be said to be the adjustment of the ratio of the number of anodes 12A to the number of cathodes 12C), and adjustment of the pattern of voltage applied to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C.

[0229] Industrial Applicability

[0230] The embodiments of the present invention can be widely used in tactile presentation devices that present tactile sensations through electrical stimulation.

Claims

1. A tactile presentation device, comprising: a tactile sense presenting unit having a plurality of electrodes and presenting a tactile sense to a specific part of a user by electrical stimulation; and A control unit controls the tactile presentation unit in a manner of performing the electrical stimulation by using at least one electrode among the plurality of electrodes as an anode and at least one other electrode as a cathode, wherein the tactile presentation device is characterized in that: The control unit measures the ease of flow of electric current at the site, and adjusts the execution form of the electrical stimulation based on the result of the measurement.

2. The tactile presentation device according to claim 1, wherein: The tactile presentation unit further comprises a plurality of measurement terminals. The control unit performs the measurement using the plurality of measurement terminals.

3. The tactile presentation device according to claim 2, wherein: The plurality of measurement terminals include a first terminal and a second terminal having areas different from each other in a plan view.

4. The tactile presentation device according to claim 3, wherein: When viewed from above, a distance from the center of the tactile presentation portion to the second terminal is longer than a distance from the center to the first terminal. The area of ​​the second terminal in a plan view is larger than the area of ​​the first terminal in a plan view.

5. The tactile presentation device according to claim 1, wherein: The control unit performs the measurement using at least two electrodes among the plurality of electrodes.

6. The tactile presentation device according to claim 5, wherein: In the measurement, the number of electrodes functioning as positive terminals and the number of electrodes functioning as negative terminals are each 2 or more.

7. The tactile presentation device according to claim 5 or 6, wherein: During the measurement, the number of electrodes functioning as positive terminals and the number of electrodes functioning as negative terminals are different from each other.

8. The tactile presentation device according to any one of claims 1 to 6, wherein: The control unit adjusts the distance between the anode and the cathode when adjusting the execution mode of the electrical stimulation.

9. The tactile presentation device according to any one of claims 1 to 6, wherein: The control unit adjusts the total area of ​​the electrodes functioning as the anodes and the total area of ​​the electrodes functioning as the cathodes when adjusting the execution mode of the electrical stimulation.

10. The tactile presentation device according to claim 9, wherein: The control unit adjusts the ratio of the total area of ​​the electrodes functioning as the anodes to the total area of ​​the electrodes functioning as the cathodes when adjusting the execution mode of the electrical stimulation.

11. The tactile presentation device according to any one of claims 1 to 6, wherein: The control unit adjusts the pattern of voltage applied to the electrode functioning as the anode and the electrode functioning as the cathode when adjusting the execution mode of the electrical stimulation.

12. The tactile presentation device according to claim 11, wherein: The control unit adjusts the application time of the voltage to the electrode functioning as the anode and the electrode functioning as the cathode when adjusting the execution mode of the electrical stimulation.

13. The tactile presentation device according to claim 11, wherein: The control unit adjusts the frequency of the voltage applied to the electrode functioning as the anode and the electrode functioning as the cathode when adjusting the execution mode of the electrical stimulation.

14. The tactile presentation device according to any one of claims 1 to 6, wherein: The plurality of electrodes are arranged in a matrix including a plurality of rows and a plurality of columns.

15. The tactile presentation device according to any one of claims 1 to 6, wherein: The plurality of electrodes include a plurality of anode electrodes and a plurality of cathode electrodes. The control unit Each of the plurality of anode electrodes can be independently switched between a state in which an anode potential is applied and a state in which a floating potential is applied, and Each of the plurality of cathode electrodes can be independently switched between a state in which a cathode potential is applied and a state in which a floating potential is applied.

16. The tactile presentation device according to claim 15, wherein: Each of the plurality of cathode electrodes has a shape surrounding at least one anode electrode among the plurality of anode electrodes in a plan view.

17. The tactile presentation device according to any one of claims 1 to 6, wherein: The specific part is the base of the user's fingertip.

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