HAPTIC PRESENTATION DEVICE

Abstract

Haptic presentation device (901), comprising: a base material (902) forming a first space (70), the base material (902) including a first through-hole (22); an elastic layer (930) covering a surface of the base material (902) containing the first through-hole (22); and a fluid transport device (11) which injects a fluid between the elastic layer (930) and the base material (902) via the first through-hole (22), wherein the elastic layer (930) is expanded by injecting the fluid from the fluid transport device (11) so that an internal pressure of a second space (71) between the elastic layer (930) and the base material (902) is higher than an internal pressure of the first space (70), and the fluid injected into the second space (71) is vented from the second space (71) via a second through-hole (932) by stopping a drive of the fluid transport device (11), wherein the second through-hole (932) is arranged in the elastic layer (930).

Description

Technical area

[0001] The present technology refers to a haptic presentation device to present haptic feedback to a user. Background technology

[0002] In the field of virtual reality technology, for example, attempts are being made to present haptic feedback in addition to visual and acoustic information. A device that uses air pressure is proposed as a device that provides haptic stimulation to the user.

[0003] Patent Literature 1 describes a structure in which a tube expandable by an air pump is mounted around the circumference of a ring part of a steering wheel. A hollow space of the tube is divided into chambers by a plurality of openings. The plurality of chambers are connected by expandable connecting lids that allow air to flow in and out between adjacent chambers.

[0004] An air pump is connected to one end of the tube and injects air into the tube's cavity. A vacuum pump is connected to the other end of the tube to suck air out of the tube's cavity.

[0005] When air is blown in, the pressure in the chamber closest to the air pump increases. The pressure in the chamber is then increased, and the connecting lid located on the adjacent chamber expands. Consequently, the chamber communicates with the adjacent chamber, allowing air to flow, and air enters the adjacent chamber. In this way, the chambers are expanded sequentially by blowing air into the tube from the near side to the far side of the air pump.

[0006] After all chambers are filled with air, air injection is stopped, and air extraction by the vacuum pump is started. This causes all chambers to contract. By repeating the expansion and contraction, a rider grasping the ring portion feels a tactile sensation, as if something is being moved on a surface of the hand.

[0007] Patent Literature 2 describes a structure in which a mobile terminal is provided with an optical haptic user interface panel. A transparent film forming part of the optical haptic user interface panel is arranged on a display panel having a flat surface and a touch panel function.

[0008] In the optical haptic user interface panel, the transparent film is expanded and contracted using a pump that can expel and suck in fluid, and a touch-actuated surface is deformed by air pressure to have a dome-shaped convex shape. Being able to deform the touch-actuated surface to have the convex shape makes it possible to convey information to a user in both optical and haptic modes. Citation listPatent literature Patent Literature 1: Japanese Patent Application Laid-Open No. JP 2016-68755 A Patent Literature 2: Japanese Patent Application Laid-Open No. JP 2009-64357 A

[0009] Further technological background can be found in US 2014 / 0160063 A1, JP 2009-175777 A and US 2012 / 0098789 A1. Disclosure of the inventionTechnical problem

[0010] In the structure described in Patent Literature 1, haptic stimulation is provided to the driver by expanding the connecting lid. In the structure described in Patent Literature 1, the internal pressure of the chamber is increased, air flows into a space between the chamber and the connecting lid, and the connecting lid is expanded. Accordingly, to expand the connecting lid, the internal pressure of the chamber must first be increased, and it takes time to expand the connecting lid.

[0011] The present technology has been made in view of the above-mentioned circumstances, and it is an object of the present technology to provide a haptic presentation device capable of rapidly deforming a surface. Solution to the problem

[0012] To achieve the object, a haptic presentation device according to the present technology comprises a base material, an elastic layer and a fluid transport device.

[0013] The base material forms a first space and contains a first through hole.

[0014] The elastic layer covers a surface of the base material containing the first through-hole.

[0015] The fluid transport device injects a fluid between the elastic layer and the base material via the first through hole.

[0016] The elastic layer is expanded by injecting the fluid from the fluid transport device so that an internal pressure of a second space between the elastic layer and the base material is higher than an internal pressure of the first space, and the fluid injected into the second space is vented from the second space via a second through hole by stopping a drive of the fluid transport device.

[0017] With such a configuration, the elastic layer expands by injecting fluid into the second space, and the air injected into the second space is exhausted through the second through-hole by the elastic force, which tends to return the elastic layer to its original shape. Through such expansion and contraction of the elastic layer, haptic feedback can be presented to a user's body part in contact with the elastic layer.

[0018] The elastic layer may be configured to be capable of coming into contact with a body part of a user, and a portion of the base material covered by the elastic layer may have a convex surface with respect to the body part.

[0019] Since the region where the elastic layer of the base material is disposed has a convex surface, the elastic layer can be formed to deform with a small amount of fluid flow compared to the case where the elastic layer is disposed on a planar surface and fluid is injected to expand the elastic layer. Accordingly, the elastic layer can be expanded or contracted in a short time, and various haptic feedback can be presented.

[0020] The area of the base material covered by the elastic layer may have a convex curved surface.

[0021] The elastic layer may have a shape including a longitudinal direction, and the elastic layer may be arranged so that the longitudinal direction coincides with a direction of a curved surface of the convex curved surface.

[0022] By setting the longitudinal direction of the elastic layer to coincide with the direction of a curved surface of the base material body, compared with when the short direction of the elastic layer is set to coincide with the direction of the curved surface, fluid is quickly injected into and vented from the second space.

[0023] When a control of the fluid transport device is stopped, a volume of the second space may be zero.

[0024] According to this structure, the internal pressure in the second space can be rapidly increased with a small amount of fluid volume flow, and the elastic layer can be expanded in a short time.

[0025] The fluid transport device may include a vent valve that vents the fluid in the second space into the first space.

[0026] According to this structure, the fluid in the second space can be vented from the second space by the vent valve in addition to the second through-hole, and venting efficiency is improved. According to this structure, contraction of the elastic layer can be performed quickly.

[0027] The second through-hole may be arranged in the base material, and the elastic layer may cover a surface including the first through-hole and the second through-hole of the base material.

[0028] According to this structure, the fluid injected into the second space is vented into the first space through the second through hole.

[0029] According to the invention, the second through-hole is arranged in the elastic layer.

[0030] According to this structure, the fluid injected into the second space is vented from the haptic presentation device to the outside.

[0031] The base material may include a plurality of the first through-holes, the fluid transport device may be arranged for each first through-hole, and the elastic layer may be arranged for each first through-hole.

[0032] According to this structure, a variety of areas can be configured, each containing the elastic layer that can be individually expanded and contracted. It becomes possible to present various haptic feedback.

[0033] The second space formed between the elastic layer and the base material may be divided into a plurality of regions through which fluid can move reciprocally.

[0034] According to this structure, different haptic feedback can be presented compared to the case where the second space is not divided into the plurality of areas.

[0035] The elastic layer may have a partially different thickness.

[0036] According to this structure, an expansion shape of the elastic layer can be formed differently compared with the elastic layer having a uniform thickness.

[0037] The elastic layer may have a raised surface.

[0038] According to this embodiment, a different haptic feedback can be presented compared to the case where no elevation is provided.

[0039] A protrusion may be arranged on a part of the area covered by the elastic layer of the base material.

[0040] According to this structure, a different haptic feedback can be presented compared to the case where no survey is provided.

[0041] Furthermore, an inner packing material arranged between the base material and the elastic layer may be included.

[0042] According to this embodiment, a different touch feeling can be given to the user compared with the case where no inner packaging material is used.

[0043] Further, an outer packing material may be included which is arranged on a surface of the elastic layer on an opposite side to the side on which the base material is arranged.

[0044] According to this structure, a different touch feeling can be given to the user compared with the case where no outer packaging material is used.

[0045] The elastic layer can be arranged on a gripping device gripped by the user.

[0046] According to this structure, different haptic feedback can be presented to the user's hands.

[0047] An external part having a third space may be further included, and the base material may form the first space together with an inner wall surface of the external part in the third space.

[0048] Consequently, this can provide a haptic presentation device containing the elastic layer within it, which is deformed by the fluid transport device. By inserting the body part into the third space, the expansion and contraction of the elastic layer allows various haptic feedback to be presented to the body part in contact with the elastic layer. Advantageous effects of the invention

[0049] As described above, according to the present technology, various haptic feedback can be presented by deforming a surface of a haptic presentation device. Short description of the drawings [ Fig. 1] Fig. 1 is an external appearance of a control device according to an embodiment. [ Fig. 2] Fig. 2 is a schematic view of a base material body constituting part of the control device according to a first embodiment. [ Fig. 3] Fig. 3 are a cross-sectional view and a partial plan view of the control device in the first embodiment. [ Fig. 4] Fig. 4 is an exploded perspective view of an elastic layer and a double-sided adhesive sheet constituting part of a surface deforming device included in the control apparatus according to the first embodiment. [ Fig. 5] Fig. 5 is a cross-sectional view of the control device in the first embodiment, showing the state in which air is blown between the base material body and the elastic layer. [ Fig. 6] Fig. 6 are a partial plan view and a partial side view of the control device in the first embodiment, showing a state in which air is blown between the base material body and the elastic layer. [ Fig. 7] Fig. 7 are partial schematic diagrams of an air pump constituting a part of the surface deforming device according to the first embodiment. [ Fig. 8] Fig. 8 is a block diagram illustrating a functional configuration example of a control device constituting a part of the control apparatus. [ Fig. 9] Fig. 9 shows an example of a haptic presentation by the control unit containing the surface deformation device. [ Fig. 10] Fig. 10 shows another example of a haptic presentation by the control device containing the surface deformation device. [ Fig. 11] Fig. Figure 11 shows yet another example of a haptic presentation by the control unit containing the surface deformation device. [ Fig. 12] Fig. Figure 12 shows yet another example of a haptic presentation by the control unit containing the surface deformation device. [ Fig. 13] Fig. Figure 13 shows yet another example of a haptic presentation by the control unit containing the surface deformation device. [ Fig. 14] Fig. Figure 14 shows yet another example of a haptic presentation by the control unit containing the surface deformation device. [ Fig. 15] Fig. 15 shows another form example of a control device in a second embodiment. [ Fig. 16] Fig. 16 shows another example of the control unit. [ Fig. 17] Fig. 17 shows another example of the control unit. [ Fig. 18] Fig. 18 shows another example of the control unit. [ Fig. 19] Fig. 19 are a partial plan view and a partial side view of a control device according to a third embodiment. [ Fig. 20] Fig. 20 show other shape examples of the double-sided adhesive film. [ Fig. 21] Fig. 21 are a partial plan view and a partial side view of a control device according to a fourth embodiment. [ Fig. 22] Fig. 22 is a view showing an arrangement example of another foam sheet. [ Fig. 23] Fig. 23 are a cross-sectional view and a partial plan view of a control device according to a fifth embodiment. [ Fig. 24] Fig. 24 is a view showing an arrangement example of another foam sheet. [ Fig. 25] Fig. 25 is a view showing an arrangement example of still another foam sheet. [ Fig. 26] Fig. 26 are a partial cross-sectional view and a partial plan view of an elastic layer showing an example of a surface shape of the elastic layer in a sixth embodiment. [ Fig. 27] Fig. 27 shows an example of a surface shape of another elastic layer. [ Fig. 28] Fig. 28 shows an example of a surface shape of yet another elastic layer. [ Fig. 29] Fig. 29 show an example of a surface shape of yet another elastic layer. [ Fig. 30] Fig. 30 shows an example of a surface shape of yet another elastic layer. [ Fig. 31] Fig. 31 shows an example of a surface shape of yet another elastic layer. [ Fig. 32] Fig. 32 is a cross-sectional view of a haptic presentation device in a seventh embodiment. [ Fig. 33] Fig. 33 are conceptual diagrams to describe a glove-like haptic presentation device in an eighth embodiment. [ Fig. 34] Fig. 34 is a partial schematic cross-sectional view of the haptic presentation device to show an internal structure of a finger part of the glove-type haptic presentation device of the Fig. 33 to describe. [ Fig. 35] Fig. Figure 35 is a schematic view of another haptic presentation device that stimulates a finger pulp. [ Fig. 36] Fig. 36 are views for describing haptic feedback given to a finger using the surface deformation device. [ Fig. 37] Fig. 37 are a cross-sectional view and a partial plan view of the haptic presentation device in a ninth embodiment. [ Fig. 38] Fig. 38 show other planar shapes of the elastic layer in a tenth embodiment. [ Fig. 39] Fig. 39 is a diagram for describing the function of regions and the air pump when a second space formed between the elastic layer and the base material body is divided into a plurality of expansion regions through which air can move reciprocally. Mode(s) for carrying out the invention

[0050] Embodiments of the present technology will be described below with reference to the drawings.

[0051] A haptic presentation device according to the embodiment utilizes a fluid transport device and includes a surface deformation device including a surface that is deformed by being expanded or contracted with or without the supply of a fluid.

[0052] The haptic presentation device stimulates a user's body part by contacting a deformed part of the surface deformation device, which is a haptic presentation part. By controlling the number, arrangement, degree of deformation, and timing of deformation of the surface deformation devices, a diverse range of pseudo-haptic feedback can be presented to the user.

[0053] For example, by using the haptic presentation device for a game controller, the user can be given a physical sensation corresponding to the event content of the game. Furthermore, by presenting the haptic feedback to the user, it can help attract the user's attention and also issue an instruction to the user. (First embodiment)

[0054] This embodiment describes an example in which the haptic presentation device is used for a controller of a gaming device. In this embodiment, it becomes possible to provide the user with various haptic feedback when various events are generated within a game. [Control unit structure]

[0055] Fig. 1 is an external appearance of a control unit 1 as a haptic presentation device. Fig. 2 is a schematic view of a base material body forming part of the control device 1 of Fig. 1. The control unit 1 can be grasped by the user.

[0056] Fig. 3(A) is a cross-sectional view of the control device 1 having a nearly cylindrical contour in a case where a region in which the deformed part of a surface deforming device 60 is arranged is cut in a plane orthogonal to a longitudinal direction of the base material body. Fig. 3(A) shows a state before air is blown between a base material body 2 and an elastic layer 30. Fig. 3(B) is a partial plan view of the control unit 1.

[0057] Fig. 4 is an exploded perspective view of an elastic layer and a double-sided adhesive sheet constituting part of the surface deforming device. Fig. 5 is a cross-sectional view of the control device 1 in the case where the region in which the deformed part of the surface deforming device 60 is arranged is cut in a plane orthogonal to the longitudinal direction of the base material body. Fig. 5 shows a state in which air is blown between the base material body 2 and the elastic layer 30.

[0058] Fig. 6(A) is a partial plan view showing a state in which the elastic layer 30 is expanded. Fig. 6(B) is a partial side view of the control device 1 showing the state in which the elastic layer 30 is expanded.

[0059] Fig. 7 are partial schematic diagrams of a nozzle part of an air pump 11. Fig. 8 is a block diagram showing a functional configuration example of a control device constituting a part of the control apparatus 1.

[0060] The elastic layer 30, which is the deformed part of the surface deformation device 60 with a raised surface, is arranged on an area where the user grips the control device 1. Since the surface of a gripping portion of the surface deformation device 60 is raised and deformed, a pressure feeling is imparted to a palm or fingertip of the user.

[0061] The elastic layer 30 is configured to be able to come into contact with a body part of the user. In this embodiment, the elastic layer 30 is configured to be able to come into contact with the palm or fingertip of the user. "Be able to come into contact" here includes not only the elastic layer 30 coming into direct contact with the body part, but also the elastic layer 30 being in indirect contact with the body part via an external material, such as will be described later.

[0062] Even if something comes between the elastic layer 30 and the body part, if the user actually feels a deformation of the elastic layer 30 on the body part, it is conceivable that the elastic layer 30 is deformed so that it may come into contact with the user's body part.

[0063] The deformation of the elastic layer 30 of the surface deformation device 60 is controlled by supplying or not supplying air as a fluid. By controlling the air supply amount, the change in the air supply amount over time, and the supply timing, various haptic feedback can be presented to the user. The haptic feedback is an impression created on a surface of a skin or mucous membrane (contact haptic feedback) or an impression created when a skin surface is deformed or stretched (pressure haptic feedback).

[0064] As in Fig. 1, the control device 1 is, for example, a control device of the game device and has a structure in which the base material body 2 can be gripped with one hand. As shown in Fig. 2, the control device 1 comprises the base material body 2, the surface deformation device 60 and a control device 90 of Fig. 8, which will be described later. The base material body 2 has a nearly cylindrical contour. The control device 90 is arranged inside the control unit 1.

[0065] As in Fig. 2, the surface deformation device 60 is arranged on the surface of the base material body 2. As shown in Fig. 3, the surface deformation device 60 comprises the base material body 2 as a base material, the elastic layer 30, the air pump 11 as a fluid transport device that can supply air as a fluid, and a double-sided adhesive film 31.

[0066] This embodiment describes an example in which one surface deformation device 60 is arranged on one control device; but the number of the surface deformation devices 60 is not limited thereto.

[0067] The base material body 2 has a nearly cylindrical shape, the nearly cylindrical contour with a diameter of 34 mm, and a first space 70 inside it. The base material body 2 is formed of a material with a certain degree of hardness, such as a plastic, a metal material, and a rubber material with a predetermined thickness. The material is difficult to deform by increasing the internal pressure in a second space 71 by driving the air pump 11 and injecting air into the second space 71, as described later.

[0068] The base material body 2 has an inlet 22 as a first through-hole and a vent 21 as a second through-hole on its side. The nozzle 111 of the air pump 11 is connected to the inlet 22.

[0069] The elastic layer 30 is formed of an airtight sealing material with excellent stretchability. The elastic layer 30 is designed to come into contact with the user's body part when the user grips the control device. The elastic layer 30 is arranged on the surface of the base material body 2 to cover the inlet 22 and the vent 21.

[0070] For example, an elastomer rubber with a thickness of 25 μm can be used as the elastic layer 30. The elastic layer 30 has a planar rectangular shape of 20 mm x 80 mm in a longitudinal direction before being bonded to the base material body 2. A shape dimension shown in this embodiment is illustrative, and a rectangular dimension may be adjusted as needed to suit a product size and shape.

[0071] As in Fig. 3 and Fig. As shown in Fig. 4, the elastic layer 30 is adhered to the surface of the base material body 2 via the double-sided adhesive film 31 having a frame die for punching arranged along its outer periphery. The elastic layer 30 and the base material body 2 are adhered by the double-sided adhesive film 31.

[0072] In the second space 71, which is surrounded by the double-sided adhesive film 31 and formed between the elastic layer 30 and the base material body 2, air can be injected via the inlet 22 by controlling the air pump 11. Due to the increase in internal pressure in the second space 71 caused by the air injection, the elastic layer 30 is sealed by the double-sided adhesive film 31 to prevent the air from escaping from the control unit 1.

[0073] The air pump 11 serves to inject air between the elastic layer 30 and the base material body 2 via the inlet 22. As shown in Fig. As shown in Fig. 5, air is supplied within the second space 71 by driving the air pump 11, the elastic layer 30 is expanded, and a volume of the second space 71 is increased. The internal pressure of the second space 71 becomes higher than the internal pressure of the first space 70.

[0074] The elastic layer 30 is desirably made of a material having reversible elasticity within a range of a strain rate by the expansion of the elastic layer 30 acquired by the air supplied to the second space 71 formed between the elastic layer 30 and the base material body 2. Furthermore, the material and thickness of the elastic layer 30 are configured such that the elastic layer 30 is rapidly expanded by supplying air within the second space 71 and is rapidly contracted by stopping air supply.

[0075] In this embodiment, the inlet 22 is arranged at a position almost corresponding to a center of the elastic layer 30, that is, almost at a center of an area surrounded by the double-sided adhesive film 31. The vent 21 is arranged at a position closer to a periphery of the elastic layer 30, that is, at one end of the area surrounded by the double-sided adhesive film 31.

[0076] The inlet 22 has a circular shape with, for example, a diameter of 1 mm. The vent 21 has a circular planar shape with a diameter of, for example, about 0.1 mm or less. Note that in Fig. 5 Each component such as the inlet 22, the vent 21, the air pump 11 and the nozzle 111 are conveniently not to scale.

[0077] Furthermore, the position of the inlet 22 is not limited to the position corresponding almost to the center of the area surrounded by the double-sided adhesive sheet 31. The inlet 22 can be arranged at any position. However, considering that air flows isotropically, in order to make a path for distributing the air almost uniform in the plane of the second space 71, the inlet 22 is desirably arranged at the position corresponding almost to the center of the area surrounded by the double-sided adhesive sheet 31.

[0078] Alternatively, the inlet 22 may be intentionally arranged at a position offset from the center of the area surrounded by the double-sided adhesive film 31. This allows the path for distributing air to the second space 71 to be different from the case where the inlet 22 is arranged at the center, thereby presenting the user with different haptic feedback.

[0079] Furthermore, the number of inlets 22 is one, but may be multiple. If there are a plurality of inlets 22, a plurality of inlets 22 may be arranged corresponding to one air pump 11, or each air pump 11 may be arranged for each inlet 22.

[0080] During air injection by the air pump 11, air within the second space 71 is also vented from the vent 21 into the first space 70. Even if the air (fluid) supply amount (fluid flow rate) from the air pump 11 is minimal, the diameter of the vent 21 is configured to have a vent amount for maintaining the state where the internal pressure of the second space 71 becomes higher than the internal pressure of the first space 70.

[0081] Any arrangement position of the vent 21 can be set. The arrangement position of the vent causes the elastic layer 30 to contract, thus providing the user with different haptic feedback. Furthermore, the number of vents 21 is not limited to one and can be multiple. If a plurality of vents 21 are arranged, the arrangement positions of the vents 21 can be adjusted so that the elastic layer 30 contracts uniformly in the plane.

[0082] The area of the base material body 2 covered by the elastic layer 30 has a convex surface with respect to the user's body part. In this embodiment, there is a convex curved surface. Since the area where the elastic layer 30 is disposed has the convex surface, the elastic layer 30 can be designed to be deformed with a small amount of air compared to the case where the elastic layer is disposed on a planar surface and air is blown in to expand it.

[0083] Furthermore, in this embodiment, the base material body 2 constituting a part of the second space 71 is formed of a material that is difficult to deform due to an internal pressure increase in the second space 71 by air injection. This allows the elastic layer 30 to be deformed to lift the elastic layer 30 from the base material body 2 even when an air flow rate (fluid flow rate) injected into the second space 71 is small.

[0084] Consequently, since this allows the elastic layer 30 to be deformed with a small amount of air flow, a deformation state of the surface deformation device can be switched in a short time, and this enables various haptic feedback to be presented to the user.

[0085] The elastic layer 30 having a planar rectangular shape is arranged so that its longitudinal direction (direction parallel to a long side) coincides with a direction of a curved surface of a convex curved surface of the base material body 2 having the nearly cylindrical shape.

[0086] Consequently, by arranging the longitudinal direction of the elastic layer 30 to coincide with the direction of the curved surface of the base material body 2, air is quickly blown into / out of the second space 71, compared with when the short direction of the elastic layer 30 is arranged to coincide with the direction of the curved surface.

[0087] As in Fig. As shown in Fig. 3(B), the inlet 22 and the vent 21 are arranged at a position within the area divided by the double-sided adhesive film 31. The elastic layer 30 is arranged on the surface of the base material body 2 so as to cover the inlet 22 and the vent 21.

[0088] For example, the Microblower (product name, Murata Manufacturing Co., Ltd.) can be used as the air pump 11. As shown in Fig. 3, the air pump 11 includes the nozzle 111, and the nozzle 111 is connected to the inlet 22. As shown in Fig. 7, the nozzle 111 includes a vent valve 112.

[0089] The vent valve 112 can open or close a passage 113 located on a side wall of the nozzle 111 of the air pump 11. The vent valve 112 has a plate shape with one end fixed to the nozzle 111 and the other end bent. The vent valve 112 has a structure in which the vent valve 112 opens only with respect to the fluid flowing in one direction and opens the passage 113.

[0090] When the air pump 11 is driven and air is injected from the air pump 11 into the second space 71 between the elastic layer 30 and the base material body 2, the vent valve 112 is closed by an air flow. On the other hand, when driving the air pump 11 is stopped, the air within the second space 71 is forced out of the second space 71 by an elastic force that tends to return the elastic layer 30 to its original shape.

[0091] From the air within the second space 71, the air forced out to the air pump 11 flows in the opposite direction to the air flow at the time of air injection. The air forced out of the second space 71 collides with the other end of the vent valve 112, the vent valve 112 is rapidly moved, and the passage 113 opens. As the vent valve 112 opens, the air flowing from the second space 71 to the air pump 11 is vented from the passage 113 into the first space 70.

[0092] In addition, air within the second space 71 other than the air forced out to the air pump 11 is vented into the first space 70 via the vent 21. Incidentally, the air pump 11 may not include a vent valve 112 and a passage 113. In this case, air in the second space 71 is vented to the outside only via the vent 21.

[0093] The internal pressure of the second space 71 between the elastic layer 30 and the base material body 2 becomes higher than the internal pressure of the first space 70 by blowing air supplied from the air pump 11 into the second space 71. As shown in Fig. 6 and Fig. 7, the air injection expands the elastic layer 30 so that it spreads outward in an outward direction.

[0094] As in Fig. 3, the volume of the second space 71 is close to zero in the state before air is blown in from the air pump 11. Concretely, a skin of a hand, which is a contact part of the user, is in almost close contact with the base material body 2 via the elastic layer 30.

[0095] When the air pump 11 is activated and air is blown into the second space 71, the elastic layer 30 is expanded as shown in Fig. 5. Since the volume of the second space 71 is almost zero before the air pump 11 is driven, the internal pressure in the second space 71 can be quickly increased by the air injection with a small amount of air volume flow, and the elastic layer 30 can be expanded in a short time.

[0096] When a control of the air pump 11 is stopped, the air blown into the second space 71 is vented into the first space 70 via the vent 21 and the air pump 11 due to the elastic force that tries to return the elastic layer 30 to an original shape.

[0097] Consequently, the second space 71 is contracted and the volume returns to the state near zero as shown in Fig. 3. As described above, since air is vented from two locations of the vent 21 and the air pump 11, venting can be performed quickly, and contraction of the elastic layer 30 can be performed in a short time. Thus, when the vent valve 112 and the vent 21 are arranged, venting efficiency is improved.

[0098] When air is blown into the second space 71, the elastic layer 30 expands, and the user receives a feeling of pressure on the body part in contact with the elastic layer 30. Consequently, the user can receive haptic feedback that, for example, something is being pressed in a direction opposite to an expansion direction of the elastic layer 30.

[0099] As described above, according to this embodiment, the elastic layer 30 can be expanded or contracted in a short time, the deformation state of the surface deforming device can be switched in a short time, and this enables various haptic feedback to be presented to the user.

[0100] As in Fig. 8, the control device 90 includes a communication part 91, an information acquisition part 92, and a control part 93 for driving.

[0101] The information acquisition part 92 acquires position information of the control device 1 and operation information of the user.

[0102] The communication part 91 communicates wired or wirelessly with an external information processing device 510 or the like and sends and receives a signal to / from the information processing device 510.

[0103] The drive control part 93 controls a drive of the air pump 11 based on an air pump control signal received from the information processing device 510.

[0104] The information processing device 510 executes an application program of a game. The information processing device 510 includes a communication part 511 and a control part 512.

[0105] The communication part 511 communicates with the control device 90 of the control unit 1 or the like by wiring or wirelessly, and sends and receives the signal to / from the control device 90.

[0106] The control part 512 includes a screen control part 5121, a sound control part 5122 and a pump control part 5123.

[0107] The screen control part 5121 generates an image signal for displaying an image on a display 511 based on the position information and the operation information received from the control device 90. The generated image signal is sent to the display 511, and a display 520 displays the image based on the image signal.

[0108] A sound control part 5122 generates a voice signal of voice output from the display 520 based on the position information and the operation information received from the control device 90. The generated voice signal is sent to the display 520, and voice is output from the display 520 based on the voice signal.

[0109] A pump control part 5123 generates, based on the position information and the operation information received from the control device 90, a control signal for driving the air pump 11 of the surface deformation device 60 of the control device 1. The control signal generated by the pump control part 5123 is sent to the control device 90.

[0110] The control part 93 for a drive controls, on the basis of the received control signal of the air pump 11, a pump power of the air pump 11 (air supply amount), a pump energization time (air supply time), a pump drive interval (time of turning the air pump on or off). [Examples of a haptic presentation]

[0111] Next, using Fig. 9 to Fig. Fourteen examples of haptic presentation by the control unit with the surface deformation device 60 are described. In the surface deformation device 60 described above, the elastic layer 30 with a planar rectangular shape is described as an example. The elastic layer 30 with a planar oval shape is described here as an example.

[0112] Fig. 9 is a schematic view of the control device 101, which includes the two surface deformation devices of a first surface deformation device 61 and a second surface deformation device 62.

[0113] Fig. 10 to Fig. 14 are views to describe examples of haptic feedback presented to the user using the controller 101. Each figure (A) schematically shows a movement of the controller. Each figure (B) is a view to describe the deformation of the surface deformation device for generating the movement of each figure (A).

[0114] As in Fig. As shown in Fig. 9, the control device 101 includes the first surface deformation device 61 and the second surface deformation device 62, in which a palm and fingertips are respectively located when the user grips the control device 1. The two surface deformation devices 61 and 62 are arranged opposite each other above the base material body 2 having the nearly cylindrical shape.

[0115] The first surface deformation device 61 and the second surface deformation device 62 can be controlled independently. The structures of the first surface deformation device 61 and the second surface deformation device 62 are similar to those of the above-described surface deformation device 60, except that a planar shape of each elastic layer 30 is different. In this case, the two inlets 22 are arranged on the base material body, the air pump 11 is arranged for each inlet 22, and the elastic layer 30 is arranged for each inlet 22.

[0116] By controlling the surface deformation device, air is injected into the second space between the base material body and the elastic layer, and the internal pressure in the second space becomes higher than in the first space. By increasing the internal pressure, the elastic layer expands, providing the user with a pressure sensation in the contact area.

[0117] As in Fig. As shown in Fig. 10, the first surface deforming device 61 and the second surface deforming device 62 are continuously and alternately driven to repeat expansion and contraction of each of the first surface deforming device 61 and the second surface deforming device 62. When a time period of expansion of each of the first surface deforming device 61 and the second surface deforming device 62 is set to the same, the user is given haptic feedback that the base material body 2 is shaking with respect to the user, taking the gripping device as a fulcrum.

[0118] As in Fig. 11, when the second surface deforming device 62 is expanded for a first period of time, the second surface deforming device 62 is then contracted, and the first surface deforming device 61 is expanded for a second period of time shorter than the first period of time, the user is given haptic feedback that an object is struck on the base material body 2.

[0119] As in Fig. 12, when only the first surface deforming means 61 is expanded, a region of an upper half in which no surface deforming means is arranged of the base material body 2 is moved in a downward direction (a direction opposite to a direction in which the first surface deforming means 61 is expanded), and a haptic feedback of a counter force of being pushed in is given to the user.

[0120] As in Fig. 13, when the first surface deforming means 61 and the second surface deforming means 62 are driven at the same time to continuously repeat expansion and contraction, an impression of hitting is given to the user.

[0121] Fig. 14 is a movement example when a third surface deformation device 63 is further added. The third surface deformation device 63 is arranged between the first surface deformation device 61 and the second surface deformation device 62 such that when the user grasps the control device 1, the third surface deformation device 63 is positioned approximately at a palm.

[0122] When the second surface deformation device 62, the third surface deformation device 63 and the first surface deformation device 61 are expanded sequentially and repeatedly, the user is given haptic feedback that something is moving around.

[0123] In this case, for example, if the air supply volume (fluid flow rate) is adjusted to decrease the degree of expansion, the user will receive haptic feedback that something is crawling on the palm of the hand. Conversely, if the air supply volume is adjusted to increase the degree of expansion, the user will receive haptic feedback that something is digging into the skin and moving around, compared to the case where the degree of expansion is low.

[0124] Even if the time of activation of the surface deformation devices is the same, the user receives different haptic feedback depending on the amount of deformation (air supply quantity).

[0125] As described above, reversible deformation by expansion and contraction of the elastic layer 30 using the air pump 11 is utilized to provide artificial haptic feedback to the user. By changing the timing of controlling the air pump 11 of the surface deformation device 60 on or off, adjusting the air supply amount, the air supply time, and the number of surface deformation devices 60 as appropriate, it is possible to provide various haptic feedback to the user.

[0126] Note that in this embodiment, the microblower is taken as an example of the fluid transport device, but it is not limited to this. As the fluid transport device for inducing the increase in the internal pressure of the second space 71, a pump of an electromagnetic induction type actuator, a diaphragm type pump using a piezoelectric vibrator, or the like can be used. Furthermore, the fluid is not limited to air, but may be a gas such as helium, or a liquid such as water or oil.

[0127] Furthermore, this illustrates that the air pump is arranged in the base material body 2, but can be arranged outside the base material body 2. In this case, the nozzle of the air pump can be connected to the inlet of the base material body via a pipe. (Second embodiment)

[0128] In the first embodiment, the control device has the nearly cylindrical contour, but is not limited to this; for example, a shape corresponding to the content of the game and a shape that is easily grasped by the user.

[0129] Fig. 15 to Fig. 18 are other examples of the control unit shape. As in Fig. 15, it may be a control device 1001 having an elliptical cylindrical shape, as shown in Fig. 16, it may be a control device 1101 having a spherical trapezoidal shape created by cutting a sphere with two parallel planar surfaces. As shown in Fig. As shown in Figure 17, it may be a control device 1201 having an approximately pentagonal prism shape. It may also be a haptic presentation device having a fountain pen shape.

[0130] In addition, as in Fig. 18, a control device 1301 may be a shape in which a cylinder has a planar surface 1304 on a part of a lateral surface, and a protrusion 1302 is locally disposed on the planar surface 1304. If the protrusion 1302 is disposed, the elastic layer of the surface deforming device is disposed to cover the protrusion. Furthermore, a concave portion may be disposed instead of the protrusion.

[0131] In this way, taking into account an assumed operability of the control device, the shape of the control device with the outer surface forming the gripping device in contact with the user's body part can be configured differently. (Third embodiment)

[0132] In the embodiments described above, the second space 71 formed between the elastic layer 30 and the base material body 2 has no barrier. For example, the second space 71 can be divided into a plurality of regions through which air can move reciprocally.

[0133] In the following Fig. 19 is used for description. In this embodiment, compared with the first embodiment, only the shape of the double-sided adhesive sheet of the surface deforming device is different, and the other configurations are the same. Similar configurations are denoted by the same reference numerals, and different configurations will be primarily described.

[0134] Fig. Fig. 19(A) is a partial plan view of the control device 301 in this embodiment. Fig. 19(B) is a partial side view of the base material body 2, showing a state in which the elastic layer 30 is expanded.

[0135] As in Fig. As shown in Fig. 19(A), the surface deformation device 360 includes the double-sided adhesive sheet 311. The double-sided adhesive sheet 311 includes the double-sided adhesive sheet 31 having a frame shape and the double-sided adhesive sheet 35 having a rod shape. The elastic layer 30 is adhered to the base material body 2 by the double-sided adhesive sheet 311.

[0136] A longitudinal direction of the rod-shaped double-sided adhesive sheet 35 is positioned parallel to a long side of the rectangular frame-shaped double-sided adhesive sheet 31. One end of the double-sided adhesive sheet 35 is bonded to the frame-shaped double-sided adhesive sheet 31, and the other end is separated from the frame-shaped double-sided adhesive sheet 31.

[0137] Since the double-sided adhesive film 35 having the rod shape is provided, the second space 171 formed between the elastic layer 30 and the base material body 2 is divided into a first expansion region 171a and a second expansion region 171b through which air can move reciprocally.

[0138] Fig. 39 is a schematic diagram to describe a function of the first expansion portion 171a, the second expansion portion 171b, and the air pump 11.

[0139] In this embodiment, air is supplied to the first expansion region 171 and the second expansion region 171b via the same air pump 11. The double-sided adhesive film 35 with the rod shape forms a barrier that partially separates the first expansion region 171a from the second expansion region 171b. By controlling the air pump 11, the second expansion region 171b, in which the inlet 122 is located, is expanded first.

[0140] Thereafter, air is blown into the first expansion region 171a through the part in which the first expansion region 171a and the second expansion region 171b are spatially connected to expand the first expansion region 171a.

[0141] As in Fig. 19(B), when air is supplied from the air pump 11 to the second space 71, air is blown into each of the first expansion portion 171a and the second expansion portion 171b, and the elastic layer 30 is expanded into two mountain-like shapes.

[0142] In this way, in this embodiment, since the elastic layer 30 is deformed step by step in the order of the second expansion portion 171b and the first expansion portion 171a, the user can be given, for example, the haptic feedback that something is moving within the hand.

[0143] The double-sided adhesive film 35 having the rod shape is arranged here; but the shape is not limited to this. For example, it may be as shown in Fig. 20(A) to (C), the double-sided adhesive sheet 31 can take a variety of shapes. In addition to the double-sided adhesive sheet 31 having the frame shape, the double-sided adhesive sheet 31 having a different shape is arranged. As a result, an expansion shape of the elastic layer 30 can be changed.

[0144] Fig. 20(A) is an example in which a double-sided adhesive sheet 312 is arranged, which includes the double-sided adhesive sheet 31 having the frame shape and a double-sided adhesive sheet 36 having a partially interrupted circular frame shape, arranged between the inlet 22 and the vent 21. In this case, too, the second space is divided into two expansion regions through which air can move reciprocally.

[0145] As a form of double-sided adhesive film 312, which is used in Fig. As shown in Fig. 20(A), a part of a rectangular elastic layer forms a nearly annular cavity by blowing air.

[0146] Fig. 20(B) is an example in which a double-sided adhesive sheet 313 is arranged, which includes the double-sided adhesive sheet 31 having the frame shape and two double-sided adhesive sheets 37 having the bar shapes. Respective longitudinal directions of the two double-sided adhesive sheets 37 having the bar shapes are arranged parallel to a short side of a rectangular double-sided adhesive sheet 31 having the frame shape, and the two double-sided adhesive sheets 37 are arranged at a position dividing three approximately equal parts of a long side of the double-sided adhesive sheet 31 having the frame shape.

[0147] The length of each of the two bar-shaped double-sided adhesive sheets 37 is half the length of one short side of the frame-shaped double-sided adhesive sheet 31. In this case, the second space is partially divided into three expansion areas.

[0148] Fig. 20(C) is an example in which a double-sided adhesive sheet 314 is arranged, which includes the double-sided adhesive sheet 31 having the rectangular frame shape and two double-sided adhesive sheets 38 having bar shapes, which are opposed to each other across the inlet 22 arranged on the diagonal line of the double-sided adhesive sheet 31 having the frame shape.

[0149] In this case, too, the second space is divided into two expansion regions through which air can move reciprocally. Since the inlet 22 is located at the center of a boundary line between the two expansion regions, the two expansion regions expand simultaneously. The expansion of the two expansion regions forms two convex subregions with planar triangular shapes.

[0150] As described above, by arranging the double-sided adhesive film so that the second space formed between the elastic layer and the base material body is divided into a plurality of areas through which air can mutually move, an air pump can present various haptic feedback. Furthermore, by changing the shape and arrangement position of the double-sided adhesive film and the arrangement position of the inlet and exhaust ports, various haptic feedback can be presented. (Fourth Embodiment)

[0151] In each of the embodiments described above, an inner packing material may be further disposed between the elastic layer and the base material body. For example, a thin foam sheet may be used for the inner packing material. By using the foam sheet, a touch feeling when gripping the control device can be changed. The foam sheet serves as a touch-adding layer.

[0152] In this embodiment, compared with the above-described embodiments, only the presence or absence of the foam sheet is different, and the other configurations are the same. Similar configurations are denoted by similar reference numerals, and different configurations will be primarily described.

[0153] Fig. 21(A) is a cross-sectional view when a region in which a surface deforming device 460 of a control device 401 arranged in the haptic presentation device in this embodiment is cut in a plane orthogonal to the longitudinal direction of the haptic presentation device 401. Fig. 21(B) is a partial plan view of the control device 401.

[0154] The control device 401 includes the surface deformation device 460. Similar to each of the embodiments described above, when the user grasps the control device 401, the surface deformation device 460 is arranged on a body part of the user, here an area in contact with a hand.

[0155] The surface deformation device 460 includes the base material body 2 as the base material, the elastic layer 30, the air pump 11 as the fluid transport device that can supply air as the fluid, and a foam sheet 40 as the inner packing material.

[0156] The foam sheet 40 has a substantially rectangular planar shape with a size smaller than an inner periphery of the frame-shaped double-sided adhesive sheet 31 and is arranged inside the frame-shaped double-sided adhesive sheet 31. The foam sheet 40 is arranged between the elastic layer 30 and the base material body 2 and adhered to the base material body 2.

[0157] The foam sheet 40 contains through holes at the areas corresponding to the inlet 22 and the vent 21 and has a shape that does not prevent injection and venting.

[0158] For example, porous polyurethane, PORON (registered trademark), or the like can be used as the foam sheet 40. By using the foam sheet 40, the control device 460 can be provided with cushioning properties. Thus, a soft touch feeling can be provided to the user when the user grasps, while mitigating the hardness of the base material body 2.

[0159] The foam sheet 40 here has a substantially rectangular planar shape; however, the shape, size, number, and location are not limited thereto. For example, as shown in Fig. 22, four foam sheets 41 are arranged in the double-sided adhesive sheet 31 having the frame shape and can be arranged according to the haptic feedback to be presented.

[0160] In addition, this embodiment illustrates that the foam sheet 40 is adhered to the base material body 2, but the foam sheet 40 is not adhered to the base material body 2, but can be simply inserted between the base material body 2 and the elastic layer 30. (Fifth embodiment)

[0161] In the fourth embodiment, the foam sheet 40 is disposed between the elastic layer 30 and the base material body 2 as the inner packing material. However, the foam sheet may be disposed on a surface of the elastic layer 30 on an opposite side to the side where the base material 2 is disposed, that is, on a surface of a side with which the user's body part is in contact.

[0162] Fig. 23(A) is a cross-sectional view when a region in which a surface deformation device 506 of a controller 501 configured as the haptic presentation device in this embodiment is cut in a plane orthogonal to the longitudinal direction of the controller 501. Fig. 23(B) is a partial plan view of the control device 501.

[0163] The control device 501 includes the surface deformation device 560. Similar to each of the embodiments described above, when the user grasps the control device 501, the surface deformation device 560 is arranged on the body part of the user, here the area in contact with the hand.

[0164] The surface deformation device 560 includes the base material body 2 as the base material, the elastic layer 30, the air pump 11 as the fluid transport device that can supply air as the fluid, and a foam sheet 50 as the outer packing material.

[0165] The foam sheet 50 has a substantially rectangular planar shape smaller than the inner periphery of the frame-shaped double-sided adhesive sheet 31 and is arranged in the area surrounded by the frame-shaped double-sided adhesive sheet 31. The foam sheet 50 is adhered to the surface of the elastic layer 30 on the opposite side to which the base material body 2 is in contact. When air is supplied to the second space formed between the elastic layer 30 and the base material body 2, the shape of the foam sheet 50 changes following the expansion of the elastic layer 30.

[0166] For example, porous polyurethane, PORON (registered trademark), or the like can be used as the foam sheet 50. By using the foam sheet 50, the surface deformation device 560 can be provided with damping properties.

[0167] In this way, when the user grasps, a soft tactile feeling can be provided to the user, while mitigating the hardness of the base material body 2. The foam sheet serves as the tactile-adding layer.

[0168] Furthermore, this embodiment illustrates that the foam sheet is used as the layer that adds the tactile sensation. However, a material that provides the user with a cool tactile sensation or a warm tactile sensation can be used. In this way, when the user grasps, the tactile sensation such as a cool sensation and a warm sensation can be provided to the user. Furthermore, a material that adds the cool sensation or the warm sensation and a foam sheet that adds a soft tactile sensation can also be combined.

[0169] Here, the foam sheet 50 has a substantially rectangular shape with a smaller size than the inner circumference of the double-sided adhesive sheet 31 having the frame shape; but the shape, size, number, and arrangement location are not limited thereto.

[0170] For example, as in Fig. 24, a foam sheet 51 having a substantially rectangular shape with a surface area smaller than or equal to one-half of an area divided by the double-sided adhesive sheet 31 having the frame shape may be arranged off-center. In addition, as shown in Fig. 25, the foam sheet 52 may be formed to cover the entire elastic layer 30. (Sixth Embodiment)

[0171] In each of the embodiments described above, it is illustrated that the surface of the elastic layer 30 is smooth without concave-convex portions. However, a protrusion of any shape may be arranged on the surface of the elastic layer. For example, the protrusion may be formed by embossing.

[0172] By arranging the bump on the surface of the elastic layer, a change by expansion with a bump shape is newly added at the time of expansion of the elastic layer, and the user can be given haptic feedback of skin stimulation different from that given when no bump is arranged.

[0173] Fig. 26 to Fig. 30 are examples of the protrusion shapes formed on the surface of the elastic layer. Each figure (A) is a schematic cross-sectional view of the control device, and the double-sided adhesive sheet, air pump, vent, and inlet are not shown. Each figure (B) is a schematic plan view of the elastic layer for describing a planar shape of the protrusion.

[0174] As in Fig. As shown in Figure 26, a total of eight protrusions 6030a and 6030b having slender and nearly oval planar shapes are arranged in parallel on a surface of an elastic layer 6030. The longitudinal directions of the protrusions 6030a and 6030b are parallel to the short directions of the elastic layer 6030 having a rectangular planar contour.

[0175] The respective lengths of the protrusions 6030a and 6030b are the same in the longitudinal directions. The middle two protrusions 6030a of the eight protrusions are higher than the remaining six protrusions 6030b. Thus, an area where the higher two protrusions 6030a are arranged can provide the user with a stronger pressure feeling than that in an area where the remaining six protrusions 6030b are arranged.

[0176] As in Fig. As shown in Figure 27, a total of eight protrusions 6031a, 6031b, and 6031c with different axial lengths and slender and nearly oval planar shapes are arranged in parallel on a surface of the elastic layer 6031. The longitudinal directions of the protrusions 6031a, 6031b, and 6031c are parallel to the short directions of the elastic layer 6031 with a rectangular planar contour.

[0177] The respective protrusions 6031a, 6031b, and 6031c have the same height and different axis lengths. The long axes of protrusions 6031a are the longest, the long axes of protrusions 6031b are the next longest, and the long axes of protrusions 6031c are the shortest. Thus, by arranging the protrusions with different axis lengths, the range in which the user feels pressure can be adjusted.

[0178] As in Fig. As shown in FIG. 28, a plurality of protrusions 6032a having planar shapes of ovals may be arranged in island shapes on the surface of an elastic layer 6032. Each long axis of the oval of the planar shapes of the protrusions 6032a is parallel to a short direction of the elastic layer 6032 having a rectangular planar contour.

[0179] As in Fig. As shown in Fig. 29, a protrusion 6033a having a rectangular planar shape may be disposed on a surface of an elastic layer 6033. The protrusion 6033a has a planar shape slightly smaller than a rectangular contour of the elastic layer 6033. The elastic layer 6033 has partially different thicknesses.

[0180] Therefore, by providing the raised portion 6033a, the area where the surface deformation device is disposed can be thickened. Compared with the shape without the raised portion, the user can feel a stronger pressure.

[0181] As in Fig. As shown in Figure 30, a plurality of, here four, protrusions 6034a having circular planar shapes may be arranged on a surface of the elastic layer 6034. The four circular protrusions 6034a are arranged in a direction parallel to the longitudinal direction of the elastic layer 6034 with a rectangular planar contour.

[0182] In each of the embodiments described above, the surface of the region in which the elastic layer is arranged on the base material body 2 is a smooth curved surface without concave-convex portions. As shown in Fig. However, as shown in Fig. 31, by disposing an elastic layer 6035 along a surface of a base material 6002 having a protrusion 6002a, a protrusion 6035a can be disposed on the elastic layer 6035. (Seventh Embodiment)

[0183] In each of the embodiments described above, the surface deformation device is arranged on the gripping device of the haptic presentation device; but it is not limited thereto. For example, the surface deformation device can be arranged in an inner wall surface of an external part of the haptic presentation device. The external part includes a third space that can accommodate the user's body part.

[0184] With such a structure, by inserting the body part of a user into the third space of the external part and driving the air pump of the surface deformation device, the feeling of pressure can be given to the inserted body part.

[0185] Fig. Figure 32 is a cross-sectional view of a haptic presentation device 701 in this embodiment. The haptic feedback presentation device 701 includes an external part 712 and three surface deformation devices 760. The external part 712 includes a third space 772 into which the body part can be inserted.

[0186] The external part 712 is formed, for example, into a ring shape, and a finger, an arm, a foot, a head, or the like can be inserted into the third space 772. Incidentally, this embodiment illustrates that three surface deforming devices 760 are arranged; but the number, size, shape, and the like of the surface deforming device 760 are not limited to those described here.

[0187] The surface deformation device 760 comprises a base material 702, an elastic layer 730, the air pump 11 as a fluid transport device that can supply air as a fluid, and a double-sided adhesive film 31.

[0188] The base material 702 is arranged in a convex shape in the inner wall surface of the external part 712. The base material 702 forms a first space 770 in the third space 772 together with the inner wall surface of the external part 712. The base material 702 is formed of a material that is difficult to deform due to an increase in internal pressure in a second space 771 by driving the air pump 11 and injecting air into the second space 771 formed between the elastic layer 730 and the base material 702.

[0189] The base material 702 includes an inlet 722 as the first through-hole and a vent 721 as the second through-hole. The nozzle 111 of the air pump 11 is connected to the inlet 722. The inlet 722 is arranged to be positioned almost at the center of an area surrounded by the double-sided adhesive film 731, and the vent 721 is arranged around a periphery of an area surrounded by the double-sided adhesive film 731.

[0190] The elastic layer 730 is formed from an airtight sealing material with excellent stretching properties, similar to the first embodiment. The elastic layer 730 is adhered to a surface of the base material 702 via the double-sided adhesive film 731 having a frame shape arranged along its outer periphery.

[0191] The surface of the base material 702 covered by the elastic layer 730 has a convex curved surface. Since the area where the elastic layer 730 is disposed is thus the convex surface, the elastic layer 730 can be deformed with a small amount of air compared to the case where the elastic layer is disposed on the planar surface and air is blown in to expand it.

[0192] Furthermore, in this embodiment, the second space 771 is formed by the elastic layer 730 and the base material 702 containing a material difficult to deform by air injection. This allows the elastic layer 730 to be deformed to separate the elastic layer 730 from the base material body 2 even when an amount of air supplied to the second space 771 is small.

[0193] Since this allows the elastic layer 30 to be deformed with the small air volume, the deformation status of the surface deformation device can be switched in a short time, and this makes it possible to present various haptic feedback to the user.

[0194] An internal pressure between the elastic layer 730 and the base material 702 becomes higher than an internal pressure of the first space 770 by blowing in air supplied from the air pump 11. Consequently, the internal pressure of the second space 771 allows the elastic layer 730 to expand so that it spreads in the outward direction.

[0195] Similar to the first embodiment, the volume of the second space 771 before air is injected from the air pump 11 is in the state close to zero. When the air pump 11 is driven and air is injected into the second space 771, the elastic layer 730 is expanded.

[0196] When the air pump 11 is stopped driving, the air blown into the second space 771 is exhausted into the first space 770 via the vent 721 and the air pump 11 due to the elastic force that tends to return the elastic layer 730 to an original shape. Consequently, the second space 771 contracts, and the volume returns to a near-zero state.

[0197] Thus, the haptic presentation device can have a structure into which the body parts can be inserted. (Eighth Embodiment)

[0198] Next, an application example of a seventh embodiment will be described. In an eighth embodiment, the haptic presentation device includes a glove-shaped external part, and the surface deformation device is disposed inside the glove, into which the fingers and palm of the user's body part are inserted. By wearing the glove on the hand, the user feels haptic feedback of grasping or the like.

[0199] Fig. 33(A) is a conceptual diagram to describe a glove-shaped haptic presentation device 801. Fig. 34 is a partial enlarged cross-sectional view of the haptic presentation device 801. The haptic presentation device 801 includes a glove body 810 as the external part and a surface deformation device 860. In the figures, each component is conveniently not drawn to scale.

[0200] In the figures, areas enclosed by circles are stimulating areas 880 with respect to the body part by the surface deforming devices 860. The surface deforming device 860 is arranged to stimulate each of a thumb tip, an index finger tip, a middle finger tip, and a palm.

[0201] The surface deformation device 860 comprises a base material 802 including a first space 870 with an inlet 822 and a vent 821, an elastic layer 830 and the air pump 11.

[0202] The base material 802 and the elastic layer 830 are arranged on each stimulating region 880; but the air pump 11 is not necessarily arranged at each stimulating region 880. If no air pump 11 is arranged at the stimulating region 880, the air pump is connected to the inlet of the base material via a pipe 881.

[0203] In this embodiment, the air pump 11 of the surface deformation device 860, which stimulates the fingertip, is connected to the inlet 822 via the conduit 881 and is arranged near a finger base. On the other hand, the air pump 11 of the surface deformation device, which stimulates the palm, is arranged in the stimulating area 880.

[0204] Furthermore, in this embodiment, the air pump 11 of the surface deformation device that stimulates the index fingertip is the same as the air pump 11 of the surface deformation device that stimulates the middle fingertip, and this is configured so that one air pump stimulates the two different areas.

[0205] Consequently, the elastic layer of the surface deformation device that stimulates the index fingertip and the elastic layer of the surface deformation device that stimulates the middle fingertip are expanded by driving the common air pump 11 at substantially the same time.

[0206] On the other hand, the air pump 11 of the surface deformation device that stimulates the thumb tip and the air pump 11 of the surface deformation device that stimulates the palm are arranged independently of the air pump 11 of the surface deformation device that stimulates the index finger tip and the middle finger tip and are controlled separately.

[0207] Fig. 33(B) is a conceptual diagram to describe another example of a glove-shaped control device 1801. As in Fig. 33(B), the air pump 11 may be arranged separately for each stimulating area 880 and may control each area separately.

[0208] Fig. 34 is a partial schematic cross-sectional view of the haptic presentation device 801 for describing an internal structure of a finger portion of the glove-shaped haptic presentation device 801. The surface deformation device 860 includes the base material 802, the elastic layer 830, the air pump 11 as the fluid transport device capable of supplying air as the fluid, and the piping 881.

[0209] The base material 802 is arranged in a convex shape with respect to the body part to be stimulated. The base material 802 has a hollow shape in which a first space 870 is formed.

[0210] The base material 802 is formed of a material with a certain degree of hardness, such as plastic and metal. The material is difficult to deform due to an increase in internal pressure in a second space 871 by driving the air pump 11 and injecting air into the second space 871 formed between the elastic layer 830 and the base material 802.

[0211] The base material 802 includes the inlet 822 as the first through-hole and the vent 821 as the second through-hole. The nozzle of the air pump 11 is connected to the inlet 822 via the pipe 881.

[0212] The elastic layer 830 is formed from an airtight sealing material with excellent stretching properties, similar to the first embodiment. The elastic layer 830 is adhered to a surface of the base material 802 via a double-sided adhesive film 831 having a frame shape for punching arranged along its outer periphery. The surface covered by the elastic layer 830 of the base material 802 has a convex curved surface. The elastic layer 830 is arranged on the surface of the base material 802 so as to cover the inlet 822 and the vent 881.

[0213] The internal pressure between the elastic layer 830 and the base material 802 becomes higher than the internal pressure of the first space 870 by blowing in air supplied from the air pump 11 with the controlled air pump 11.

[0214] An increase in the internal pressure of the second space 871 allows the elastic layer 830 to expand, spreading outward. The elastic layer 830 is arranged on one side of the inner surface of the glove body 810. When the user wears the glove-shaped haptic presentation device 801, it is arranged so that the body part to be stimulated comes into contact with the elastic layer 830.

[0215] The volume of the second space 871 is close to zero before air is injected by the air pump 11. When the air pump 11 is activated and air is injected into the second space 871, the elastic layer 830 expands.

[0216] When the air pump 11 stops driving, air injected into the second space 871 is exhausted into the first space 870 via the vent 821 and the air pump 11 due to the elastic force that tends to return the elastic layer 830 to an original shape. Consequently, the second space 871 contracts, and the volume returns to a near-zero state.

[0217] By utilizing reversible deformation through expansion and contraction of the elastic layer 830, various haptic feedback can be provided to the user. By controlling the surface deformation device corresponding to each of the thumbtip, index fingertip, middle fingertip, and palm, the user receives a repulsive force at each fingertip and palm, feeling the haptic feedback similar to grasping an object.

[0218] Fig. Figure 35 is a schematic view of another haptic presentation device that stimulates the fingertip. Configurations similar Fig. 34 are designated by the same reference numerals, and the description is omitted.

[0219] One in Fig. 35 includes the surface deformation device 860 and a fastening strap 2810. The fastening strap 2810 serves to fix the body part to be stimulated to the surface deformation device 860.

[0220] Each of the haptic presentation devices 801 and 1801, which are Fig. 33, maintain contact between the body part to be stimulated and the elastic layer of the surface deformation device through the glove body 810. In contrast, in the Fig. 35, the body part to be in contact is fixed with the fastening strap 2810, and the contact between the body part and the elastic layer of the surface deformation device is maintained.

[0221] Fig. 36 are views for describing the haptic feedback imparted to a finger using the surface deformation device 860. In Fig. 36, a first surface deformation device 860a and a second surface deformation device 860b are arranged, which can be individually controlled, for example, with respect to a fingertip in a length direction of the finger. Incidentally, the number and arrangement of the surface deformation devices are not limited thereto.

[0222] As in Fig. As shown in Fig. 36(A), the expanded elastic layer of the surface deforming means 860a is contracted, and the contracted elastic layer of the second surface deforming means 860b is expanded at the same time, so that an amount of deformation caused by expansion is relatively reduced. Thus, the user can be given the haptic feedback that something is coming into contact with a skin of the fingertip in the vertical direction.

[0223] As in Fig. 36(B), the expanded elastic layer of the surface deforming means 860a is contracted, and the contracted elastic layer of the second surface deforming means 860b is expanded at the same time, so that the amount of deformation caused by the contraction and the amount of deformation caused by expansion are higher than those of Fig. 36(A). This allows the user to receive haptic feedback that something is being pressed vertically against the skin.

[0224] As in Fig. 36(C) and Fig. As shown in Fig. 36(D), the surface deforming device 860a and the surface deforming device 860b are driven in turn by shifting the driving timing. Thus, the user's skin can be given the haptic feedback that the skin is being pulled in the horizontal direction from left to right in the figures.

[0225] On the other hand, by controlling the surface deformation device 860b and the surface deformation device 860a in turn, the user's skin can be given the haptic feedback that the skin in the figures is pulled in the horizontal direction from right to left.

[0226] If the two surface deformation devices are driven by shifting the driving timing, by relatively reducing the degree of expansion of the surface deformation device, the user can be given, for example, an impression that something is crawling on the skin surface, as in Fig. 36(C).

[0227] On the other hand, by increasing the degree of expansion relatively, the user can be given the impression that something is passing through the fingertip, so that it digs into the skin, as in Fig. 36(D).

[0228] In addition, the user may be prompted to wear on the thumb and index finger the haptic presentation devices containing the surface deformation device, which may be attached to the finger with the fastening strap, for example, as in Fig. 35, and both the skin of the thumb and index finger are moved in a horizontal direction, as shown in Fig. 36(D). Consequently, the user can be given the haptic impression that something is being pinched.

[0229] The haptic feedback of contact, which is a feeling that a non-contact state changes to a contact state, and the haptic feedback of pressure, which is a feeling when the skin is further pressed or deformed in the horizontal direction from the contact state, are classified by stimulation directions. The stimulation directions are divided into the Fig. 36(A) and Fig. 36(B) shows the normal direction of a normal stimulation with respect to the object and the Fig. 36(C) and Fig. 36(D) are classified according to the tangential stimulation direction with respect to the object. By combining them, various stimulations can be imparted to the skin of the part of a user's body in contact with the elastic layer. (Ninth Embodiment)

[0230] In each of the embodiments described above, the vent as the second through-hole of the surface deforming means is arranged in the base material body or the base material, and air in the second space between the elastic layer and the base material is vented via the vent into the first space formed by the base material or the base material body as the outside of the second space.

[0231] In contrast, in this embodiment, the second through-hole (vent) is not arranged in the base material or the base material body, but in the elastic layer.

[0232] Fig. 37(A) is a cross-sectional view of a control device 901 as the haptic presentation device according to this embodiment in a case where a region in which a deformed part of a surface deforming device 960 is arranged is cut in a plane orthogonal to a longitudinal direction. Fig. 37(B) is a partial plan view of the control device 901. Compared with the first embodiment, only the configurations of the base material body and the elastic layer are different, and the other configurations are the same. Hereinafter, similar configurations are denoted by similar reference numerals.

[0233] The control device 901 includes a base material body 902 and a surface deforming device 960. The base material body 902 has almost the same configuration as the base material body 2 in the first embodiment and has a structure in which the vent is excluded from the base material body 2.

[0234] The surface deformation device 960 includes the base material body 902, an elastic layer 930, the air pump 11 as the fluid transport device that can supply air as the fluid, and the double-sided adhesive film 31. The base material body 902 has the inlet 22 as the first through-hole. The elastic layer 930 has a vent 932 as the second through-hole. The nozzle 111 of the air pump 11 is connected to the inlet 22.

[0235] The elastic layer 930 is arranged on the surface of the base material 902 so as to cover the inlet 22. In this embodiment, by injecting air supplied from the air pump 11 between the elastic layer 930 and the base material 902, an internal pressure in a second space formed between the elastic layer 930 and the base material 902 becomes higher than an internal pressure of the first space 70 formed by the base material 902, and the elastic layer 930 is expanded.

[0236] At the time of actuation of the air pump 11, air in the second space is vented to the outside via the vent 932 in such a way that it does not impair the expansion of the elastic layer 930. Furthermore, by stopping the air pump 11, the air in the second space is vented from the control unit 901 via the vent 932 and into the first space 70 via a vent valve (not shown) of the air pump 11.

[0237] According to this embodiment, air is expelled from the vent 932 of the elastic layer 930 from the controller 901. In this way, air is blown onto the user's skin, and haptic stimulation can be delivered. Thus, both the pseudo-haptic feedback caused by expansion of the elastic layer 930 and the haptic stimulation caused by an air jet can be delivered to the user, and various other feedback can be presented. (Tenth Embodiment)

[0238] In each of the embodiments described above, the planar shape of the elastic layer forming part of the surface deforming means is predominantly rectangular, but is not limited thereto. Fig. 38 show other examples of the planar shape of the elastic layer.

[0239] As in Fig. 38(A), the elastic layer 1030 may have a substantially rectangular shape with rounded corners. As shown in Fig. 38(B), an elastic layer 1031 may have an oval shape. In addition, as shown in Fig. 38(C), an elastic layer 1032 may have a slender hexagonal shape. As shown in Fig. 38(D), the elastic layer 1033 may have a substantially Z-shape.

[0240] Respective embodiments of the present technology are described above. The present technology is not limited to the embodiments described above alone. It should be appreciated that variations and modifications can be made without departing from the scope of the present technology. For example, configurations of the respective embodiments can be combined. For example, the control device can include both the inner packaging material and the outer packaging material.

[0241] Furthermore, the haptic presentation device is described using the surface deformation device that deforms the surface by supplying fluid. In addition, a mechanism that applies vibration can be arranged. This combination makes it possible to provide more types of haptic feedback. A vibration motor, a voice coil motor, a piezoelectric element, or the like can be used as the vibration mechanism.

[0242] The area of the base material covered by the elastic layer of the surface deformation device may have a modulus of elasticity and a shape that is not easily deformed by the increase in internal pressure caused by fluid suction. The base material may also be a display device. Furthermore, the base material may have a heat-generating function.

[0243] In the embodiments described above, the controller of a hand-held gaming device and the glove-shaped haptic presentation device are illustrated as application examples of the surface deformation device, but are not limited to these. For example, it can be used for a head-mounted display, glasses, headphones, a wristband, a belt, clothing, etc. This allows haptic feedback to be presented to the body part in contact with the elastic layer of the surface deformation device.

[0244] Examples of the haptic feedback to be presented include stimulation by expansion deformation of the surface deforming device, a feeling of pressure and elasticity when touching something, a heartbeat, a feeling of something wriggling, a feeling of fluttering, a feeling of reaction when something is attacked, a feeling of reaction when a keystroke is performed, and the like.

[0245] Furthermore, in the embodiments described above, it is illustrated that it is used for the controller or the like of the game device, and various haptic feedback is presented to the user according to events in the game, but is not limited thereto. For example, the surface deformation device can be arranged on a steering wheel of a vehicle, a walking stick, a wristwatch, shoes, a ring, or the like.

[0246] If the surface deformation device is arranged on the steering wheel of a vehicle, for example, a plurality of the surface deformation devices are arranged on a gripping portion of the steering wheel, and further, a sensor that detects the gripped portion by the user and a control part are arranged.

[0247] If the control part detects a situation where a potential hazard may occur, the sensor detects a grip area, activates the surface deformation device on the detected area, and warns the user. The user can detect the expansion of an elastic part by controlling the surface deformation device with a palm and detect the situation where a hazard may occur.

[0248] Consequently, the user can be provided with haptic feedback to provide a warning. Furthermore, a warning can be given not only in the event of danger, but also for directional guidance.

[0249] Furthermore, it can also be used for a grip on a motorcycle, bicycle, or the like, instead of the steering wheel of a vehicle. In these cases, since the gripping area is almost predetermined, the sensor for detecting the gripping area does not need to be arranged.

[0250] If the surface deformation device is arranged on the walking stick, the surface deformation device is arranged, for example, on a portion of a handle of the walking stick. If the surface deformation device is arranged on the wristwatch, the surface deformation device is arranged, for example, on the inside of a strap. If the surface deformation device is arranged on the shoes, the surface deformation device is arranged on the insoles of the shoes so that, for example, the soles of the feet can be stimulated. If the surface deformation device is arranged on the ring, the surface deformation device is arranged, for example, on a surface of the inside of the ring.

[0251] By controlling the surface deformation device, the user's body part in contact with the elastic layer of the surface deformation device is then given a feeling of pressure. This can, for example, improve blood circulation through rhythmic compression and stimulation, provide a warning message through haptic presentation, or perform similar actions.

[0252] In addition, the surface deformation devices are arranged, for example, on both feet of the user, and the pressure and stimulation are applied by the surface deformation device to only one foot. It can be used for informational messaging, indicating a direction to follow to the user.

[0253] Furthermore, it is also possible to use them for a surgical training simulator. The surgical training simulator includes a head-mounted display that shows the status of a surgical part and the haptic presentation device, which is considered to be surgical instruments.

[0254] The user wears the head-mounted display and holds the haptic presentation device with their hand, while viewing the state of the surgical part displayed on the head-mounted display. Thus, the user can perform surgical procedure training while experiencing a gentle tactile sensation when the surgical instruments touch organs—that is, a tactile sensation as if real substances were present—by controlling the surface deformation device.

[0255] Note that the present technology may also have the following structures. (1) A haptic presentation device comprising: a base material forming a first space, the base material including a first through-hole; an elastic layer covering a surface of the base material containing the first through-hole; and a fluid transport device that injects fluid between the elastic layer and the base material via the first through-hole, wherein the elastic layer is expanded by injecting the fluid from the fluid transport device so that an internal pressure of a second space between the elastic layer and the base material is higher than an internal pressure of the first space, and the fluid injected into the second space is vented from the second space via a second through hole by stopping a drive of the fluid transport device. (2) The haptic presentation device according to (1), wherein the elastic layer is designed to come into contact with a part of the user’s body, and a region of the base material covered by the elastic layer has a convex surface with respect to the body part. (3) The haptic presentation device according to (1) or (2), wherein the area of the base material covered by the elastic layer has a convex curved surface. (4) The haptic presentation device according to (3), wherein the elastic layer has a shape containing a longitudinal direction, and the elastic layer is arranged so that the longitudinal direction coincides with a direction of a curved surface of the convex curved surface. (5) The haptic presentation device according to any one of (1) to (4), wherein when a control of the fluid transport device is stopped, a volume of the second space can be zero. (6) The haptic presentation device according to any one of (1) to (5), wherein the fluid transport device includes a vent valve that vents the fluid in the second space into the first space. (7) The haptic presentation device according to any one of (1) to (6), wherein the second through-hole is arranged in the base material, and the elastic layer covers a surface containing the first through-hole and the second through-hole of the base material. (8) The haptic presentation device according to any one of (1) to (6), wherein the second through hole is arranged in the elastic layer. (9) The haptic presentation device according to any one of (1) to (8), wherein the base material contains a plurality of the first through holes, the fluid transport device is arranged for each first through hole, and the elastic layer is arranged for each first through hole. (10) The haptic presentation device according to any one of (1) to (9), wherein the second space formed between the elastic layer and the base material is divided into a plurality of regions through which a fluid can move reciprocally. (11) The haptic presentation device according to any one of (1) to (10), wherein the elastic layer has a partially different thickness. (12) The haptic presentation device according to any one of (1) to (11), wherein the elastic layer has a raised surface. (13) The haptic presentation device according to any one of (1) to (12), wherein a protrusion is arranged on a part of the area covered by the elastic layer of the base material. (14) The haptic presentation device according to any one of (1) to (13), further comprising: an inner packing material arranged between the base material and the elastic layer. (15) The haptic presentation device according to any one of (1) to (14), further comprising: an outer packing material disposed on a surface of the elastic layer on an opposite side to the side on which the base material is disposed. (16) The haptic presentation device according to any one of (1) to (15), wherein the elastic layer is arranged on a gripping device grasped by the user. (17) The haptic presentation device according to any one of (1) to (15), further comprising: an external part with a third room, where the base material forms the first space together with an inner wall surface of the external part in the third space. List of reference symbols 1, 301, 401, 501, 701, 901, 1001, 1101, 1201, 1301 Control unit (haptic presentation device) 2, 902 Base material body (base material) 11 Air pump (fluid transport device) 21, 721, 821, 932 vent (second through hole) 22, 722, 822 inlet (first through hole) 30, 730, 830, 930, 1030, 1031, 1032, 1033, 6030, 6031, 6032, 6033, 6034 elastic layer 40, 41 Foam film (inner packaging material) 50, 51, 52 Foam film (outer packaging material) 70, 770 first room 71, 171, 771 second room 113 vent valve 171a first expansion region (region through which a fluid can move) 171b second expansion region (region through which a fluid can move) 712 base material 772 third room 801 glove-shaped haptic presentation device 810 Glove body (external material) 2801 haptic presentation device 6030a, 6030b, 6031a, 6031b, 6031c, 6032a, 6033a Survey

Claims

[1] Haptic presentation device (901), comprising: a base material (902) forming a first space (70), the base material (902) including a first through-hole (22); an elastic layer (930) covering a surface of the base material (902) containing the first through-hole (22); and a fluid transport device (11) which injects a fluid between the elastic layer (930) and the base material (902) via the first through-hole (22), wherein the elastic layer (930) is expanded by injecting the fluid from the fluid transport device (11) so that an internal pressure of a second space (71) between the elastic layer (930) and the base material (902) is higher than an internal pressure of the first space (70), and the fluid injected into the second space (71) is vented from the second space (71) via a second through-hole (932) by stopping a drive of the fluid transport device (11), wherein the second through-hole (932) is arranged in the elastic layer (930). [2] Haptic presentation device (901) according to claim 1, wherein the elastic layer (930) is designed to be able to come into contact with a body part of a user, and a region of the base material (902) covered by the elastic layer (930) has a convex surface with respect to the body part. [3] Haptic presentation device (901) according to claim 2, wherein the area of the base material (902) covered by the elastic layer (930) has a convexly curved surface. [4] Haptic presentation device (901) according to claim 3, wherein the elastic layer (930) has a shape containing a longitudinal direction, and the elastic layer (930) is arranged such that the longitudinal direction coincides with a direction of a curved surface of the convex curved surface. [5] The haptic presentation device (901) according to claim 4, wherein when the control of the fluid transport device (11) is stopped, a volume of the second space (71) may be zero. [6] Haptic presentation device (901) according to claim 5, wherein the fluid transport device (11) includes a vent valve (113) which vents the fluid in the second space (71) into the first space (70). [7] Haptic presentation device (901) according to claim 1, wherein the base material (902) contains a plurality of the first through holes (22), the fluid transport device (11) is arranged for each first through hole (22), and the elastic layer (930) is arranged for each first through-hole (22). [8] The haptic presentation device (901) according to claim 7, wherein the second space (71) formed between the elastic layer (930) and the base material (902) is divided into a plurality of regions through which the fluid can move reciprocally. [9] Haptic presentation device (901) according to claim 8, wherein the elastic layer (930) has a partially different thickness. [10] Haptic presentation device (901) according to claim 8, wherein the elastic layer (930) has an elevation on the surface. [11] The haptic presentation device (901) according to claim 9, wherein a protrusion is arranged on a part of the area covered by the elastic layer (930) of the base material (902). [12] Haptic presentation device (901) according to claim 11, further comprising: an inner packing material (40) disposed between the base material (902) and the elastic layer (930). [13] Haptic presentation device (901) according to claim 12, further comprising: an outer packing material (50) disposed on a surface of the elastic layer (930) on an opposite side to the side on which the base material (902) is disposed. [14] Haptic presentation device (901) according to claim 13, wherein the elastic layer (930) is arranged on a gripping device grasped by the user. [15] Haptic presentation device (901) according to claim 13, further comprising: an external part with a third space (772), wherein the base material (902) forms the first space (70) together with an inner wall surface of the external part in the third space (772).

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