Illusion haptic presentation device

Abstract

An illusion force sensation presentation device (10) is provided with a first vibration device (21), a second vibration device (22), a third vibration device (23), and a control unit (100). The first vibration device (21), the second vibration device (22), and the third vibration device (23) are provided with a housing (30), a vibration body, and a wearing member (40). The relative position and orientation of the first vibration device (21) with respect to the second vibration device (22) can be freely changed within a range of at least a radius of 25 cm with respect to the second vibration device (22). The relative position and orientation of the second vibration device (22) with respect to the third vibration device (23) can be freely changed within a range of at least a radius of 25 cm with respect to the third vibration device (23). The relative position and orientation of the third vibration device (23) with respect to the first vibration device (21) can be freely changed within a range of at least a radius of 25 cm with respect to the first vibration device (21).

Description

Technical Field

[0001] This disclosure relates to an illusion force perception presentation device. Background Technology

[0002] The illusion force perception device described in Patent Document 1 comprises a housing and a vibrating body. The vibrating body is housed within the housing. The housing is held and used by a user. By having the vibrating body vibrate in a specific pattern while the user holds the housing, the user experiences an illusion force perception based on the vibration of the vibrating body. Furthermore, illusion force perception refers to the sensation that the illusion force perception device seems to give the user a feeling of force in a specific direction.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-102279 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] In the illusion force perception presentation device described in Patent Document 1, the user needs to hold the housing in order to perceive the illusion force perception. Therefore, it is difficult for the user to perform other actions with their fingers, such as holding objects other than the housing. Thus, the illusion force perception presentation device described in Patent Document 1 restricts the user's finger movements when presenting illusion force perception to the user.

[0008] Solution for solving the problem

[0009] To address the aforementioned issues, one aspect of this disclosure provides an illusion force perception presentation device, comprising: a first vibrating device; a second vibrating device; a third vibrating device; and a control unit that controls the first, second, and third vibrating devices. Each of the first, second, and third vibrating devices has: a housing; a vibrating body housed within the housing and capable of generating vibration; and a wearable component connected to the housing and worn on a user's finger. The control unit can present an illusion force perception to the user by controlling the vibration mode of the vibrating body. The relative position and orientation of the first vibrating device relative to the second vibrating device are freely changeable within a range of at least 25 cm relative to the second vibrating device. The relative position and orientation of the second vibrating device relative to the third vibrating device are also freely changeable within a range of at least 25 cm relative to the third vibrating device. The relative position and orientation of the third vibrating device relative to the first vibrating device are also freely changeable within a range of at least 25 cm relative to the first vibrating device.

[0010] Based on the above structure, the positional relationship and orientation of each vibrating device are unrestricted within a radius of 25cm. Therefore, each vibrating device can be worn on any finger desired by the user. Moreover, for a typical person's fingers, even when the fingers are spread to their maximum extent, the distance between the tips of the thumb and little finger is at most within 25cm. Therefore, regardless of which finger the vibrating device is worn on, the user's finger movements are not easily restricted.

[0011] The effects of the invention

[0012] Even when the various vibrating devices of the illusion force perception device are worn on the fingers, the user's finger movements are not easily restricted. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the illusion force perception device.

[0014] Figure 2 This is an external view of the vibrating device.

[0015] Figure 3 This is a diagram showing the state of the vibrating device being worn on the user's finger.

[0016] Figure 4 This is an example of the orientation of the force perceived when the hand is outstretched.

[0017] Figure 5 This is an example of the orientation of the force perceived when the hand is outstretched.

[0018] Figure 6 This is an example of the orientation of the force perceived when the hand is outstretched.

[0019] Figure 7 This is an example of the orientation of the force perceived when the hand is outstretched.

[0020] Figure 8 This is an example of the orientation of the force perceived by a clenched fist.

[0021] Figure 9 This is an example of the orientation of the force perceived by a clenched fist.

[0022] Figure 10 This is an example of the orientation of the force perceived by a clenched fist.

[0023] Figure 11 This is an example of the orientation of the force perceived by a clenched fist.

[0024] Figure 12 This is a diagram showing the state of the modified vibration device worn on the user's finger.

[0025] Figure 13 This is a diagram showing the state of the modified vibration device worn on the user's finger.

[0026] Figure 14 This is a diagram showing the state of the modified vibration device worn on the user's finger. Detailed Implementation

[0027] Hereinafter, one embodiment of the illusion force perception presentation device will be described with reference to the accompanying drawings. Furthermore, structural elements are sometimes shown enlarged for ease of understanding in the drawings. The dimensional ratios of the structural elements may sometimes differ from the actual dimensional ratios or those in other drawings.

[0028] <On the structure of the illusion force perception presentation device>

[0029] like Figure 1 As shown, the illusion force presentation device 10 includes a first vibrating device 21, a second vibrating device 22, and a third vibrating device 23. Furthermore, in the following description, when it is not necessary to distinguish between the first vibrating device 21, the second vibrating device 22, and the third vibrating device 23, it may sometimes be referred to simply as vibrating device 20. Moreover, since the structures of the three vibrating devices 20 are all identical, they will be described below using only one vibrating device 20 as an example.

[0030] like Figure 2 As shown, the vibration device 20 has a housing 30, a wearable part 40, and a vibrating body 50.

[0031] The housing 30 is cylindrical with a central axis C. The housing 30 has an internal cavity. The vibrator 50 is housed within the housing 30. The vibrator 50 is capable of generating vibration. The vibrator 50 includes a voice coil motor, counterweights corresponding to each voice coil motor, and a cylindrical outer casing housing them, but its illustration is omitted. The counterweights vibrate due to the force generated by the current flowing through the coils of the voice coil motors. When the counterweights vibrate, the outer casing vibrates due to the vibration of the counterweights. Therefore, the vibrator 50 vibrates in the direction along the central axis C of the housing 30 by controlling the current flowing through the coils of the voice coil motors. More specifically, the vibrator 50 is, for example, the vibrator described in Japanese Patent Application Publication No. 2005-190465.

[0032] The wearing piece 40 has a first strap 41 and a second strap 42. The first strap 41 is a flexible strip. One end of the first strap 41 is connected to the outer peripheral surface of the housing 30. The first strap 41 extends from the outer peripheral surface of the housing 30 in a direction perpendicular to the central axis C. That is, the width direction of the first strap 41 is parallel to the central axis C of the housing 30. One main surface of the first strap 41 is Velcro, which is omitted from the illustration.

[0033] The second strip 42 is a flexible strip. One end of the second strip 42 is connected to the outer peripheral surface of the housing 30. The second strip 42 extends from the outer peripheral surface of the housing 30 in the opposite direction to the first strip 41. That is, the width direction of the second strip 42 is parallel to the central axis C of the housing 30, just like the first strip 41. One main surface of the second strip 42 is Velcro, and its illustration is omitted.

[0034] By attaching the Velcro portion of the second strap 42 to the Velcro portion of the first strap 41, the wearer 40 is made into a cylindrical shape. When cylindrical, the central axis of the wearer 40 is approximately parallel to the central axis C of the housing 30. For example, by wrapping the first strap 41 and the second strap 42 around the user's finger and attaching the Velcro portions of the two straps together, the wearer 40 can be worn on the user's finger.

[0035] <About the Control Department>

[0036] like Figure 1 As shown, the illusion force presentation device 10 includes a control unit 100 and three communication cables 101. The control unit 100 controls the vibration mode of the vibrator 50 of each vibrating device 20 to a specific mode, enabling it to present an illusion force to the user through each vibrating device 20. In this embodiment, the control unit 100 stores multiple vibration modes for presenting force. One of the multiple vibration modes is a mode for presenting force in one direction along the central axis C of the housing 30. Another of the multiple vibration modes is a mode for presenting force in another direction along the central axis C of the housing 30. Furthermore, details of the vibration modes presenting force in a specific direction are known as described in Patent Document 1, etc., and therefore, descriptions are omitted.

[0037] The control unit 100 can be configured as a circuit including one or more processors that execute various processes according to a computer program (software). Alternatively, the control unit 100 can also be configured as one or more dedicated hardware circuits, such as application-specific integrated circuits (ASICs), or a combination thereof, that execute at least a portion of the various processes. The processor includes a CPU, RAM, and ROM, among other memories. The memories store program code or instructions configured to cause the CPU to execute processes. Memory, or computer-readable medium, includes all available media accessible by a general-purpose or special-purpose computer. Furthermore, the control unit 100 includes batteries for driving each vibration device 20; their illustration is omitted.

[0038] Each communication cable 101 is a so-called multi-axis cable. The first end of each communication cable 101 is connected to the control unit 100. The second end of each communication cable 101 is connected to the corresponding vibrating element 50. Furthermore, each communication cable 101 electrically connects the control unit 100 to the vibrating element 50. That is, the control unit 100 sends signals to each vibrating element 20 via the communication cables 101. Additionally, the battery within the control unit 100 supplies power to each vibrating element 20 via the communication cables 101.

[0039] Thus, the first vibrating device 21, the second vibrating device 22, and the third vibrating device 23 are each connected to the control unit 100 via the communication cable 101. On the other hand, the first vibrating device 21, the second vibrating device 22, and the third vibrating device 23 are not connected to each other except via the communication cable 101. That is, there are no components that directly connect the first vibrating device 21, the second vibrating device 22, and the third vibrating device 23 to each other.

[0040] Each communication cable 101 is long enough to allow the control unit 100 to be positioned outside the user's finger range. For example, each communication cable 101 is 50 cm long. Therefore, the relative position and orientation of the first vibrating device 21 relative to the second vibrating device 22 can be freely changed within a range of approximately 100 cm relative to the second vibrating device 22. Furthermore, the aforementioned 100 cm is the length of both communication cables 101. Similarly, the relative position and orientation of the second vibrating device 22 relative to the third vibrating device 23 can be freely changed within a range of approximately 100 cm relative to the third vibrating device 23. Furthermore, the relative position and orientation of the third vibrating device 23 relative to the first vibrating device 21 can be freely changed within a range of approximately 100 cm relative to the first vibrating device 21.

[0041] <Regarding how to wear vibrating devices>

[0042] An example of a case in which the first vibrating device 21, the second vibrating device 22, and the third vibrating device 23 are worn on the user's finger will be described.

[0043] like Figure 3 As shown, the first vibrating device 21 is worn on the user's thumb. Specifically, the first vibrating device 21 is worn on the thumb by wrapping the wearing part 40 of the first vibrating device 21 around the base of the thumb.

[0044] The second vibrating device 22 is worn on one of the user's fingers, selected from the index, middle, and ring fingers. In this embodiment, the second vibrating device 22 is worn on the user's index finger. Specifically, the second vibrating device 22 is worn on the index finger by wrapping the wearing part 40 of the second vibrating device 22 around the base of the index finger.

[0045] The third vibrating device 23 is worn on the user's middle, ring, and little fingers, on the little finger side compared to the finger on which the second vibrating device 22 is worn. In this embodiment, the third vibrating device 23 is worn on the user's little finger. Specifically, the third vibrating device 23 is worn on the little finger by wrapping the wearing part 40 of the third vibrating device 23 around the base of the little finger.

[0046] Here, the direction of the fingers from the user's thumb to the little finger is defined as the first direction X.

[0047] With the first vibrating device 21 worn on the user's thumb, the housing 30 of the first vibrating device 21 is positioned relative to the wearing member 40 of the first vibrating device 21 in a direction opposite to the first direction X. Furthermore, for "the housing 30 is positioned relative to the wearing member 40 in a direction opposite to the first direction X," it is sufficient that the center of gravity of the housing 30 is positioned relative to the central axis of the cylindrical wearing member 40 in a direction opposite to the first direction X. That is, it is not necessary for the entire housing 30 to be positioned relative to the entire wearing member 40 in a direction opposite to the first direction X. The same applies below to the housing 30 of the second vibrating device 22 and the housing 30 of the third vibrating device 23.

[0048] When the second vibrating device 22 is worn on the user's finger, the housing 30 of the second vibrating device 22 is located on the side opposite to the first direction X relative to the wearing part 40 of the second vibrating device 22. When the third vibrating device 23 is worn on the user's finger, the housing 30 of the third vibrating device 23 is located on the side of the first direction X relative to the wearing part 40 of the third vibrating device 23.

[0049] Furthermore, as described above, the relative position and orientation of the first vibrating device 21 relative to the second vibrating device 22 can be freely changed within a range of approximately 100 cm relative to the second vibrating device 22. That is, when the vibrating devices 20 are not worn on the user's fingers, the relative position and orientation of the first vibrating device 21 relative to the second vibrating device 22 can be freely changed within a range of at least 25 cm relative to the second vibrating device 22.

[0050] Furthermore, the relative position and orientation of the second vibrating device 22 relative to the third vibrating device 23 can be freely changed within a range of approximately 100 cm relative to the third vibrating device 23. That is, when the vibrating devices 20 are not worn on the user's fingers, the relative position and orientation of the second vibrating device 22 relative to the third vibrating device 23 can be freely changed within a range of at least 25 cm relative to the third vibrating device 23.

[0051] Furthermore, the relative position and orientation of the third vibrating device 23 relative to the first vibrating device 21 can be freely changed within a range of approximately 100 cm relative to the first vibrating device 21. That is, when the vibrating devices 20 are not worn on the user's fingers, the relative position and orientation of the third vibrating device 23 relative to the first vibrating device 21 can be freely changed within a range of at least 25 cm relative to the first vibrating device 21.

[0052] Furthermore, in a typical person's fingers, the length extending from the thumb to the little finger is approximately 25 cm or less. Therefore, each vibrating device 20 can freely change its position and orientation within the range of a single hand.

[0053] Furthermore, with the first vibrating device 21, the second vibrating device 22, and the third vibrating device 23 worn on the user's finger, an imaginary straight line is drawn connecting two of the three vibrating devices 20. Specifically, this is defined as a first imaginary straight line L1 that passes through the center of gravity of the housing 30 of the first vibrating device 21 and the center of gravity of the housing 30 of the second vibrating device 22. The third vibrating device 23 does not exist on this first imaginary straight line L1. Furthermore, this is defined as a second imaginary straight line L2 that passes through the center of gravity of the housing 30 of the second vibrating device 22 and the center of gravity of the housing 30 of the third vibrating device 23. The first vibrating device 21 does not exist on this second imaginary straight line L2. Furthermore, this is defined as a third imaginary straight line L3 that passes through the center of gravity of the housing 30 of the third vibrating device 23 and the center of gravity of the housing 30 of the first vibrating device 21. The second vibrating device 22 does not exist on this third imaginary straight line L3. That is, one of the first vibrating device 21, the second vibrating device 22 and the third vibrating device 23 does not exist on the imaginary straight line connecting the other two.

[0054] <About Vibration Modes>

[0055] The control unit 100 has eight vibration modes as vibration modes for the first vibrating device 21, the second vibrating device 22, and the third vibrating device 23. Specifically, the control unit 100 has four vibration modes that cause the vibrating bodies 50 of the second vibrating device 22 and the third vibrating device 23 to vibrate without causing the vibrating body 50 of the first vibrating device 21 to vibrate. As these four vibration modes, the control unit 100 has a first vibration mode, a second vibration mode, a third vibration mode, and a fourth vibration mode. These first to fourth vibration modes are preferred vibration modes for presenting force sensation to the user when the user's hand is open.

[0056] As described above, each vibrator 50 stores a pattern for presenting a force sensation in one direction or another along the central axis C of the housing 30. Here, as... Figure 4 and Figure 5As shown, with each vibrating device 20 installed on each finger as described above, the direction from the wrist towards the fingertip along the central axis C is designated as the first positive direction Z1. Furthermore, with each vibrating device 20 installed on each finger as described above, the direction from the fingertip towards the wrist along the central axis C is designated as the first negative direction Z2. The following explanation describes the case where each vibrating device 20 is worn on the user's left hand.

[0057] like Figure 4 As shown, in the first vibration mode, the control unit 100 causes the second vibrating device 22 to exhibit a force sensation in the first positive direction Z1. Additionally, in the first vibration mode, the control unit 100 causes the third vibrating device 23 to exhibit a force sensation in the first positive direction Z1. By controlling the direction of the force sensation exhibited by the second vibrating device 22 and the third vibrating device 23 in this way, the user experiences a force sensation as if the entire hand is moving towards the fingertips when the hand is open.

[0058] like Figure 5 As shown, in the second vibration mode, the control unit 100 causes the second vibrating device 22 to exhibit a force sensation in the first negative direction Z2. Additionally, in the second vibration mode, the control unit 100 causes the third vibrating device 23 to exhibit a force sensation in the first negative direction Z2. By controlling the direction of the force sensation exhibited by the second vibrating device 22 and the third vibrating device 23 in this way, the user feels a force sensation as if the hand as a whole is moving towards the wrist when the hand is open.

[0059] like Figure 6 As shown, in the third vibration mode, the control unit 100 causes the second vibrating device 22 to exhibit a force sensation in the first negative direction Z2. Furthermore, in the third vibration mode, the control unit 100 causes the third vibrating device 23 to exhibit a force sensation in the first positive direction Z1. By controlling the orientation of the force sensations exhibited by the second vibrating device 22 and the third vibrating device 23 in this way, the user can feel a force sensation as if the hand is rotating to the right when viewed from the back of the hand with the hand open.

[0060] like Figure 7 As shown, in the fourth vibration mode, the control unit 100 causes the second vibrating device 22 to exhibit a force sensation in the first positive direction Z1. Additionally, in the fourth vibration mode, the control unit 100 causes the third vibrating device 23 to exhibit a force sensation in the first negative direction Z2. By controlling the orientation of the force sensations exhibited by the second vibrating device 22 and the third vibrating device 23 in this way, the user experiences a force sensation as if the hand is rotating to the left when viewed from the back of the hand with the hand open.

[0061] Furthermore, the control unit 100 has four vibration modes that cause the vibrating bodies 50 of the first vibrating device 21 and the second vibrating device 22 to vibrate without causing the vibrating body 50 of the third vibrating device 23 to vibrate. As these four vibration modes, the control unit 100 has a fifth, sixth, seventh, and eighth vibration modes. These fifth to eighth vibration modes are preferred vibration modes for presenting force sensation to the user when the user clenches their fist.

[0062] like Figure 8 As shown, in the fifth vibration mode, the control unit 100 causes the first vibrating device 21 to exhibit a force sensation in the first positive direction Z1. Additionally, in the fifth vibration mode, the control unit 100 causes the second vibrating device 22 to exhibit a force sensation in the first positive direction Z1. By controlling the orientation of the force sensations exhibited by the first vibrating device 21 and the second vibrating device 22 in this way, the user experiences a force sensation as if the entire hand moves towards the opposite direction of the wrist when the fist is clenched.

[0063] like Figure 9 As shown, in the sixth vibration mode, the control unit 100 causes the first vibrating device 21 to exhibit a force sensation in the first negative direction Z2. Additionally, in the sixth vibration mode, the control unit 100 causes the second vibrating device 22 to exhibit a force sensation in the first negative direction Z2. By controlling the orientation of the force sensations exhibited by the first vibrating device 21 and the second vibrating device 22 in this way, the user experiences a force sensation similar to the hand moving towards the wrist when the fist is clenched.

[0064] like Figure 10 As shown, in the 7th vibration mode, the control unit 100 causes the first vibrating device 21 to exhibit a force sensation in the first negative direction Z2. Furthermore, in the 7th vibration mode, the control unit 100 causes the second vibrating device 22 to exhibit a force sensation in the first positive direction Z1. By controlling the orientation of the force sensations exhibited by the first vibrating device 21 and the second vibrating device 22 in this way, the user experiences a force sensation similar to the hand twisting to the right when viewed from the thumb side while the fist is clenched.

[0065] like Figure 11 As shown, in the 8th vibration mode, the control unit 100 causes the first vibrating device 21 to exhibit a force sensation in the first positive direction Z1. Additionally, in the 8th vibration mode, the control unit 100 causes the second vibrating device 22 to exhibit a force sensation in the first negative direction Z2. By controlling the orientation of the force sensations exhibited by the first vibrating device 21 and the second vibrating device 22 in this way, the user can feel a force sensation similar to the hand twisting to the left when viewed from the thumb side while the fist is clenched.

[0066] <Effects of this implementation method>

[0067] (1) According to the above embodiment, the positional relationship and orientation of each vibrating device 20 are not restricted within a radius of 25cm. Therefore, each vibrating device 20 can be worn on any finger desired by the user. Moreover, for ordinary people's fingers, even when the fingers are spread to the maximum extent, the distance between the tip of the thumb and the tip of the little finger is at most within 25cm. Therefore, no matter which finger the vibrating device 20 is worn on, the user's finger movements are difficult to restrict.

[0068] (2) According to the above embodiment, since there are no restrictions on the fingers on which each vibration device 20 is worn, it is possible to specify the fingers on which each vibration device 20 is worn to the user. In addition, since the user's finger movements are not restricted, it is possible to specify the finger posture as a predetermined shape. In this way, the fingers on which each vibration device 20 is worn and the finger posture can produce various changes, thus enabling the presentation of various changes in force sensation to the user.

[0069] (3) In the above embodiment, the first vibrating device 21, the second vibrating device 22, and the third vibrating device 23 are each connected to the control unit 100 via the communication cable 101. Therefore, it is less likely that only one vibrating device 20 will be lost. On the other hand, the first vibrating device 21, the second vibrating device 22, and the third vibrating device 23 are not connected to each other except via the communication cable 101. According to this structure, when each vibrating device 20 is worn on the finger, it will not be interfered with by other components, so each vibrating device 20 is easy to wear.

[0070] (4) In the above embodiment, the first vibration device 21 is worn on the user's thumb. The thumb has a different direction of movement than the other fingers. Therefore, by wearing the first vibration device 21 on the thumb, the change in the direction of the force sensation presented to the user can be increased.

[0071] Furthermore, in the above embodiment, the second vibrating device 22 is worn on the user's index finger, and the third vibrating device 23 is worn on the user's little finger. That is, in the above embodiment, the vibrating device 20 is worn on the finger furthest apart from the index finger to the little finger. According to this structure, it is easy for the user's hand to perceive force as a whole.

[0072] (5) In the above embodiment, when the first vibrating device 21 is worn on the user's finger, the housing 30 of the first vibrating device 21 is located on the side opposite to the first direction X relative to the wearing member 40 of the first vibrating device 21. According to this structure, even if the user moves the finger in a closed manner between the thumb and the index finger, the housing 30 of the first vibrating device 21 is not easily interfered with by the index finger.

[0073] (6) In the above embodiment, when the second vibrating device 22 is worn on the user's finger, the housing 30 of the second vibrating device 22 is located on the side opposite to the first direction X relative to the wearing member 40 of the second vibrating device 22. According to this structure, even if the user moves the finger in a closed manner between the index finger and the middle finger, the housing 30 of the second vibrating device 22 is not easily interfered with by the middle finger.

[0074] (7) In the above embodiment, when the third vibrating device 23 is worn on the user's finger, the housing 30 of the third vibrating device 23 is located on the X-side in the first direction relative to the wearing member 40 of the third vibrating device 23. According to this structure, even if the user moves the finger in a closed manner between the ring finger and the little finger, the housing 30 of the third vibrating device 23 is not easily interfered with by the ring finger.

[0075] (8) In the above embodiment, the control unit 100 has a vibration mode that causes the vibrating bodies 50 of the second vibrating device 22 and the third vibrating device 23 to vibrate without causing the vibrating body 50 of the first vibrating device 21 to vibrate. Specifically, the control unit 100 has a first vibration mode to a fourth vibration mode. According to this structure, the illusion force perception presentation device 10 can present a force perception to a user's hand in an open hand state, such as moving the hand towards the fingertips or the wrist. In addition, according to this structure, the illusion force perception presentation device 10 can present a force perception to a user's hand in an open hand state, such as rotating the hand in the left or right direction.

[0076] (9) In the above embodiment, the control unit 100 has a vibration mode that causes the vibrating bodies 50 of the first vibrating device 21 and the second vibrating device 22 to vibrate but not the vibrating body 50 of the third vibrating device 23. Specifically, the control unit 100 has a fifth to an eighth vibration mode. According to this structure, the illusion force perception device 10 can present a force perception to a user's hand in a clenched fist state, such as moving the hand towards the wrist or in the opposite direction to the wrist. In addition, according to this structure, the illusion force perception device 10 can present a force perception to a user's hand in a clenched fist state, such as twisting. Thus, according to the above structure, the user can perceive force perception in a clenched fist state. Therefore, the user can also feel the above-mentioned force perception when holding other parts with their hand.

[0077] <Example of Change>

[0078] The above-described embodiments and the following modifications can be combined with each other to implement them within the scope of technical inconsistency.

[0079] • In the above embodiments, the shape of the housing 30 is not limited to the examples of the above embodiments. For example, the housing 30 may be spherical or cuboid. The housing 30 only needs to be able to accommodate the vibrator 50 inside.

[0080] Although the three vibrating devices 20 have the same structure in the above embodiment, they can also have different structures for each vibrating device 20. For example, the size of the wearing piece 40 of the first vibrating device 21 can be larger than the size of the wearing pieces 40 of the other vibrating devices 20. In this way, if the finger on which each vibrating device 20 is worn is determined, the size and shape of the wearing piece 40 can be designed according to the size of that finger.

[0081] • If the finger on which each vibrating device 20 is worn is determined, the housing 30 or the wearing part 40 may be marked with words and symbols indicating the finger on which it should be worn. Specifically, for example, the wearing part 40 of the first vibrating device 21 may be marked with words such as "thumb". If such words and symbols are marked, the vibrating device 20 is "vibrating device 20 worn on the thumb".

[0082] In the above embodiment, the illusion force presentation device 10 may also include a component that connects the three vibrating devices 20 to each other. For example, the illusion force presentation device 10 may also include a rope-like component that connects each vibrating device 20 to each other. With this structure, it is less likely that the vibrating devices 20 will be lost. However, the component that connects the three vibrating devices 20 to each other needs to have a sufficient length that does not restrict the positional relationship and orientation of each vibrating device 20 within a radius of 25 cm.

[0083] • The structure of the wearing member 40 is not limited to the above-described embodiment. For example, the wearing member 40 may also be a ring-shaped component made of materials such as synthetic resin and metal. The wearing member 40 can be of any shape and material as long as it can be worn on the user's finger and can transmit the vibration of the vibrator 50 to the user's finger.

[0084] In the above embodiments, each vibrating device 20 may also include an additional vibrating body capable of vibrating in a different direction than the vibrating body 50 in the above embodiments. Specifically, the different direction refers to the direction intersecting the central axis C of the housing 30. For example, if the vibrating device 20 also includes a vibrating body capable of vibrating in a direction orthogonal to the user's fingertips, the user can also perceive a force similar to fanning their hand when their hand is open.

[0085] • In the above embodiments, the structure of the vibrator 50 is not limited to the structure described above. For example, the vibrator 50 may be a vibrator that uses motor-based vibration, or it may be a vibrator with a piezoelectric element.

[0086] In addition to generating vibration modes that produce force, the control unit 100 can also vibrate the vibrator 50 in vibration modes that produce tactile sensations such as roughness or unevenness. Furthermore, such tactile sensations can be presented to the user, for example, by adjusting the intensity distribution of the resistance generated by the vibrator 50.

[0087] In the above embodiment, if the control unit 100 can wirelessly transmit signals to the vibrating body 50, the illusion force presentation device 10 may not need to have a communication cable 101. In this case, each vibrating device 20 can have a built-in battery or the like.

[0088] In the above embodiments, the first vibrating device 21 can also be worn on a finger other than the thumb. In the above embodiments, the second vibrating device 22 can also be worn on a finger other than the index finger. In the above embodiments, the third vibrating device 23 can also be worn on a finger other than the little finger. Furthermore, for example, the first vibrating device 21, the second vibrating device 22, and the third vibrating device 23 can also be installed on the same finger.

[0089] In the above embodiments, the wearing position of each vibrating device 20 relative to the finger is not limited to the examples of the above embodiments. That is, the wearing position of the wearing member 40 of each vibrating device 20 is not limited to the base of the finger. Furthermore, for example, the first vibrating device 21 may be worn on the base of the finger, the second vibrating device 22 on the middle phalanx of the finger, the third vibrating device 23 on the distal phalanx of the finger, etc., and the wearing position of each vibrating device 20 may be different.

[0090] • In the above embodiment, when each vibration device 20 is worn on the user's finger, one of the first vibration device 21, the second vibration device 22, and the third vibration device 23 may also exist on an imaginary straight line connecting the other two.

[0091] In the above embodiments, the position of the housing 30 relative to the wearing member 40 when the wearing member 40 is worn on the finger in each vibration device 20 is not limited to the examples in the above embodiments.

[0092] For example, such as Figure 12As shown, the direction from the fingertip side to the back of the finger when the user's hand is open is defined as the second direction Y. Furthermore, this second direction Y is consistent with the direction from the palm side to the back of the hand when the user's hand is open. At this time, when the first vibrating device 21 is worn on the user's finger, the housing 30 of the first vibrating device 21 is located on the second direction Y side relative to the wearing member 40 of the first vibrating device 21. According to this structure, even if the user grasps another object with their fingers while wearing the first vibrating device 21, the housing 30 of the first vibrating device 21 is less likely to interfere with the object.

[0093] In addition, for example, such as Figure 13 As shown, the second vibrating device 22 is worn on the user's index finger. Furthermore, when the second vibrating device 22 is worn on the user's finger, the housing 30 of the second vibrating device 22 is located on the Y-side in the second direction relative to the wearing member 40 of the second vibrating device 22. According to this structure, even if the user holds another object with their finger while wearing the second vibrating device 22, the housing 30 of the second vibrating device 22 is less likely to interfere with the object.

[0094] In addition, Figure 13 In the example shown, when the first vibrating device 21 is worn on the user's finger, the housing 30 of the first vibrating device 21 is located on the second direction Y side relative to the wearing member 40 of the first vibrating device 21. Thus, it is also possible that when the vibrating device 20 is worn on the user's finger, among the multiple vibrating devices 20, the housing 30 is located on the second direction Y side relative to the wearing member 40.

[0095] In addition, for example, such as Figure 14 As shown, the third vibrating device 23 is worn on the user's little finger. Furthermore, when the third vibrating device 23 is worn on the user's finger, the housing 30 of the third vibrating device 23 is located on the Y-side in the second direction relative to the wearing member 40 of the third vibrating device 23. According to this structure, even if the user holds another object with their finger while wearing the third vibrating device 23, the housing 30 of the third vibrating device 23 is less likely to interfere with the object.

[0096] Alternatively, depending on the intended use, when the vibrating device 20 is worn on the user's finger, in each vibrating device 20, the housing 30 is located in the opposite direction to the second direction Y relative to the wearing member 40. That is, the positional relationship between the housing 30 and the wearing member 40 is not limited to the example described above.

[0097] (Postscript)

[0098] The following describes the technical ideas derived from the above implementation methods and variations.

[0099] [1] An illusion force perception presentation device, comprising: a first vibrating device; a second vibrating device; a third vibrating device; and a control unit that controls the first vibrating device, the second vibrating device, and the third vibrating device, wherein the first vibrating device, the second vibrating device, and the third vibrating device each have: a housing; a vibrating body housed within the housing and capable of generating vibration; and a wearable member connected to the housing and worn on the user's finger, wherein the control unit can present an illusion force perception to the user by controlling the vibration mode of the vibrating body, wherein the relative position and orientation of the first vibrating device relative to the second vibrating device can be freely changed within a range of at least 25 cm relative to the second vibrating device, the relative position and orientation of the second vibrating device relative to the third vibrating device can be freely changed within a range of at least 25 cm relative to the third vibrating device, and the relative position and orientation of the third vibrating device relative to the first vibrating device can be freely changed within a range of at least 25 cm relative to the first vibrating device.

[0100] [2] According to the illusion force presentation device described in [1], the first vibration device, the second vibration device and the third vibration device are respectively connected to the control unit via communication cables, and the first vibration device, the second vibration device and the third vibration device are not connected to each other except via the communication cables.

[0101] [3] According to the illusion force presentation device described in [1] or [2], wherein, when the first vibrating device, the second vibrating device and the third vibrating device are worn on the user's finger, one of the first vibrating device, the second vibrating device and the third vibrating device is not present on the imaginary straight line connecting the other two.

[0102] [4] The illusion force presentation device according to any one of [1] to [3], wherein the first vibrating device is worn on the user's thumb, the second vibrating device is worn on one of the user's index, middle and ring fingers, and the third vibrating device is worn on the user's middle, ring and little fingers on the little finger side relative to the finger on which the second vibrating device is worn.

[0103] [5] According to the illusion force presentation device described in [4], when the arrangement direction of the fingers from the user's thumb to the little finger is set as the first direction, when the first vibration device is worn on the user's finger, the housing of the first vibration device is located on the side opposite to the first direction relative to the wearing part of the first vibration device.

[0104] [6] According to the illusion force presentation device described in [4], when the direction from the fingertip side to the back side of the finger is set as the second direction with the user's hand open, the housing of the first vibration device is located on the second direction side relative to the wearing part of the first vibration device when the first vibration device is worn on the user's finger.

[0105] [7] The illusion force presentation device according to any one of [4] to [6], wherein, when the arrangement direction of the fingers from the thumb of the user's hand toward the little finger is set as the first direction, the second vibrating device is worn on the index finger of the user, and in the state of wearing the second vibrating device on the finger of the user, the housing of the second vibrating device is located on the side opposite to the first direction relative to the wearing member of the second vibrating device.

[0106] [8] The illusion force presentation device according to any one of [4] to [6], wherein, when the user's hand is open, the direction from the fingertip side to the back side of the finger is set as the second direction, the second vibration device is worn on the user's index finger, and when the second vibration device is worn on the user's finger, the housing of the second vibration device is located on the second direction side relative to the wearing member of the second vibration device.

[0107] [9] The illusion force presentation device according to any one of [4] to [8], wherein, when the arrangement direction of the fingers from the thumb of the user's hand toward the little finger is set as the first direction, the third vibration device is worn on the little finger of the user, and in the state of wearing the third vibration device on the user's finger, the housing of the third vibration device is located on the first direction side relative to the wearing member of the third vibration device.

[0108]

[10] The illusion force presentation device according to any one of [4] to [8], wherein, when the user's hand is open, the direction from the fingertip side to the back side of the finger is set as the second direction, the third vibration device is worn on the user's little finger, and when the third vibration device is worn on the user's finger, the housing of the third vibration device is located on the second direction side relative to the wearing member of the third vibration device.

[0109]

[11] The illusion force presentation device according to any one of [4] to

[10] , wherein the control unit has a vibration mode that causes the vibrating body of the second vibrating device and the vibrating body of the third vibrating device to vibrate without causing the vibrating body of the first vibrating device to vibrate as the vibration mode of the first vibrating device, the second vibrating device and the third vibrating device.

[0110]

[12] The illusion force presentation device according to any one of [4] to

[11] , wherein the control unit has a vibration mode that causes the vibrating body of the first vibrating device and the vibrating body of the second vibrating device to vibrate without causing the vibrating body of the third vibrating device to vibrate as the vibration mode of the first vibrating device, the second vibrating device and the third vibrating device.

[0111] Explanation of reference numerals in the attached figures

[0112] C. Central axis; X. First direction; Y. Second direction; 10. Illusion force presentation device; 20. Vibrating device; 21. First vibrating device; 22. Second vibrating device; 23. Third vibrating device; 30. Housing; 40. Wearing piece; 50. Vibrating body; 100. Control unit; 101. Communication cable.

Claims

1. A device for presenting an illusion of force, wherein, The illusion force perception device includes: a first vibrating device; a second vibrating device; a third vibrating device; and a control unit that controls the first vibrating device, the second vibrating device, and the third vibrating device. The first, second, and third vibrating devices each have: a housing; a vibrating body housed within the housing and capable of generating vibration; and a wearing member connected to the housing and worn on the user's finger. The control unit can present the user with an illusion of force by controlling the vibration mode of the vibrating body. The relative position and orientation of the first vibrating device with respect to the second vibrating device can be freely changed within a range of at least 25 cm relative to the second vibrating device. The relative position and orientation of the second vibrating device with respect to the third vibrating device can be freely changed within a range of at least 25 cm relative to the third vibrating device. The relative position and orientation of the third vibrating device with respect to the first vibrating device can be freely changed within a radius of at least 25 cm relative to the first vibrating device.

2. The illusion force perception presentation device according to claim 1, wherein, The first vibration device, the second vibration device, and the third vibration device are respectively connected to the control unit via communication cables. The first, second, and third vibrating devices are not connected to each other except via the communication cable.

3. The illusion force perception presentation device according to claim 1 or 2, wherein, With the first, second, and third vibration devices worn on the user's fingers, One of the first, second, and third vibrating devices does not exist on the imaginary straight line connecting the other two.

4. The illusion force perception presentation device according to any one of claims 1 to 3, wherein, The first vibration device is worn on the user's thumb. The second vibration device is worn on one of the user's index, middle, and ring fingers. The third vibration device is worn on the middle, ring, and little fingers of the user, on the little finger side relative to the finger on which the second vibration device is worn.

5. The illusion force perception presentation device according to claim 4, wherein, When the direction of the fingers from the user's thumb to the little finger is defined as the first direction, When the first vibration device is worn on the user's finger, the housing of the first vibration device is located on the side opposite to the first direction relative to the wearing part of the first vibration device.

6. The illusion force perception presentation device according to claim 4, wherein, When the user's hand is open, the direction from the fingertips towards the backs of the fingers is defined as the second direction. When the first vibration device is worn on the user's finger, the housing of the first vibration device is located on the second direction side relative to the wearing part of the first vibration device.

7. The illusion force perception presentation device according to any one of claims 4 to 6, wherein, When the direction of the fingers from the user's thumb to the little finger is defined as the first direction, The second vibration device is worn on the user's index finger. When the second vibration device is worn on the user's finger, the housing of the second vibration device is located on the side opposite to the first direction relative to the wearing part of the second vibration device.

8. The illusion force perception presentation device according to any one of claims 4 to 6, wherein, When the user's hand is open, the direction from the fingertips towards the backs of the fingers is defined as the second direction. The second vibration device is worn on the user's index finger. When the second vibration device is worn on the user's finger, the housing of the second vibration device is located on the second direction side relative to the wearing part of the second vibration device.

9. The illusion force perception presentation device according to any one of claims 4 to 8, wherein, When the direction of the fingers from the user's thumb to the little finger is defined as the first direction, The third vibration device is worn on the user's little finger. When the third vibration device is worn on the user's finger, the housing of the third vibration device is located on the first direction side relative to the wearing part of the third vibration device.

10. The illusion force perception presentation device according to any one of claims 4 to 8, wherein, When the user's hand is open, the direction from the fingertips towards the backs of the fingers is defined as the second direction. The third vibration device is worn on the user's little finger. When the third vibration device is worn on the user's finger, the housing of the third vibration device is located on the second direction side relative to the wearing part of the third vibration device.

11. The illusion force perception presentation device according to any one of claims 4 to 10, wherein, The control unit has a vibration mode that causes the vibrating body of the second vibrating device and the vibrating body of the third vibrating device to vibrate without causing the vibrating body of the first vibrating device to vibrate, which serves as the vibration mode of the first vibrating device, the second vibrating device, and the third vibrating device.

12. The illusion force perception presentation device according to any one of claims 4 to 11, wherein, The control unit has a vibration mode that causes the vibrating body of the first vibrating device and the vibrating body of the second vibrating device to vibrate without causing the vibrating body of the third vibrating device to vibrate, which serves as the vibration mode of the first vibrating device, the second vibrating device, and the third vibrating device.

Images