HAPTIC PRESENTATION DEVICE

Abstract

Provision of a haptic presentation device capable of effectively conveying a haptic sensation to a user. [Means of solution] A haptic presentation device according to the present technology comprises: a fixed area; and a deformable area. The fixed area can come into contact with a user's body. The deformable area comprises a first side, which is closer to the fixed area, and a second side, which is farther from the fixed area and has a lower stiffness than the first side, and can come into contact with the user's body by deformation.

Description

Technical area

[0001] The present technology relates to a haptic presentation device that presents or conveys a haptic sensation to a user. Background technology

[0002] Various haptic presentation devices are known from the past that convey a haptic sensation to a user.

[0003] For example, the following Patent Literature 1 discloses a haptic sensation delivery device of a type worn for use on a finger. This haptic sensation delivery device includes a compression spring that biases a contact material that comes into contact with a finger from the side opposite the finger, and a dielectric elastomer that attracts the contact material to the side opposite the finger. In this haptic sensation delivery device, by adjusting the voltage to be applied to the dielectric elastomer, the dielectric elastomer is relaxed and contracted to cause the contact material to move, thereby changing the haptic sensation to be imparted to a user's finger. Citation listPatent literature

[0004] Patent Literature 1: Japanese Patent Application Laid-Open No. 2017-79034 Disclosure of the inventionTechnical problem

[0005] In such a field, there is a need for a haptic presentation device that is capable of effectively conveying a haptic sensation to a user.

[0006] In view of the circumstances as described above, an object of the present technology is to provide a haptic presentation device capable of effectively conveying a haptic sensation to a user. Solution to the problem

[0007] A haptic presentation device according to the present technology comprises: a fixed region; and a deformable region.

[0008] The fixed area may come into contact with a user’s body.

[0009] The deformable region comprises a first side, which is a side closer to the fixed region, and a second side, which is a side farther from the fixed region and has a lower rigidity than the rigidity of the first side, and can come into contact with the user's body by deformation.

[0010] As a result, it is possible to provide a haptic presentation device that can effectively convey a haptic sensation to a user.

[0011] In the above haptic presentation device, the deformable portion may have a predetermined thickness in a height direction and be deformable to protrude in the height direction.

[0012] In the above haptic presentation device, a thickness of the second side may be thinner than a thickness of the first side.

[0013] In the above haptic presentation device, the deformable region may have a thickness that gradually decreases from the first side to the second side.

[0014] In the above haptic presentation device, the deformable region may have a first surface that can come into contact with the user's body, and the deformable region may be switched between a first state and a second state by deformation, wherein in the first state the first surface is in contact with the user's body via a first area and in the second state the first surface is in contact with the user's body via a second area that is larger than the first area.

[0015] In the above haptic presentation device, a user can be given a feeling of hardness and softness by switching between the first state and the second state.

[0016] In the above haptic presentation device, vibrations can be conveyed to the user by switching between the first state and the second state.

[0017] In the above haptic presentation device, the deformable portion may protrude more in the height direction in the second state than in the first state.

[0018] In the above haptic presentation device, the second side of the deformable portion in the second state may protrude more than the first side in the height direction.

[0019] In the above haptic presentation device, the deformable region may comprise a first region and a second region, wherein the first region has a first height in the first state and the second region has a height less than the first height in the first state.

[0020] In the above haptic presentation device, the deformable portion may have a first rear surface opposite to the first surface, and the haptic presentation device may further include: a fluid receiving portion capable of holding a fluid and provided on one side of the first rear surface of the deformable portion; and a fluid drive unit that switches between the first state and the second state by changing a pressure of the fluid in the fluid receiving portion.

[0021] In the above haptic presentation device, the fixed portion may have a second surface that can come into contact with the user's body and a second rear surface opposite to the second surface, and the haptic presentation device may further include a support portion that supports and fixes the fixed portion from a side of the second rear surface.

[0022] The above haptic presentation device may further comprise an output unit that provides the user with a sensation via the fixated area.

[0023] In the above haptic presentation device, the output unit may include at least one of a vibration generating unit that generates vibrations, a temperature changing unit that changes the temperature, a pressure generating unit that generates the pressure, a sound emitting unit that emits sound, or a light emitting unit that generates light.

[0024] In the above haptic presentation device, the output unit may include the vibration generating unit, and the haptic presentation device may impart vibrations in a first frequency band to the user by switching between the first state and the second state, and impart vibrations in a second frequency band different from the first frequency band to the user by means of vibrations of the vibration generating unit.

[0025] The above haptic presentation device may further include a control unit that performs switching between the first state and the second state or conveying a sensation to the user through the output unit based on predetermined information.

[0026] The above haptic presentation device may further include a sensor unit that detects a user action on the fixated area.

[0027] In the above haptic presentation device, the sensor unit may include at least one of a proximity sensor, a vibration sensor, a temperature sensor, a pressure sensor, a sound sensor, a sound detection sensor, or a light receiving sensor.

[0028] The above haptic presentation device may further include a control unit that switches between the first state and the second state based on information from the sensor unit.

[0029] In the above haptic presentation device, the deformable region may be arranged to surround the fixed region. Short description of the drawings [ Fig. 1] Fig. 1 is a schematic plan view illustrating a haptic presentation device according to a first embodiment. [ Fig. 2] Fig. 2 is a schematic cross-sectional view of the haptic presentation device according to the first embodiment as viewed from the front, and is a diagram illustrating an initial state of the haptic presentation device. [ Fig. 3] Fig. 3 is a schematic cross-sectional view of the haptic presentation device according to the first embodiment as viewed from the front, and is a diagram illustrating a deformed state of the haptic presentation device. [ Fig. 4] Fig. 4 is a diagram illustrating a first example of processing of a control unit. [ Fig. 5] Fig. 5 is a diagram showing a second example of the processing of the control unit. [ Fig. 6] Fig. 6 is a diagram showing a third example of the processing of the control unit. [ Fig. 7] Fig. 7 is a perspective view illustrating a haptic presentation device according to an application example. [ Fig. 8] Fig. 8 is a cross-sectional view of the haptic presentation device according to the application example, as seen from the front. [ Fig. 9] Fig. 9 is a cross-sectional view of the haptic presentation device according to the application example, as seen from the front. [ Fig. 10] Fig. 10 is a cross-sectional view of the haptic presentation device according to the application example as seen from the side. [ Fig. 11] Fig. 11 is a cross-sectional view of the haptic presentation device according to the application example as seen from the side. [ Fig. 12] Fig. 12 is a plan view illustrating a haptic presentation device according to a comparative example. [ Fig. 13] Fig. 13 is a side view illustrating a deformed state of the haptic presentation device according to the comparative example. [ Fig. 14] Fig. 14 is a diagram illustrating a deformed state of a deformable portion according to the present technology. [ Fig. 15] Fig. 15 is a diagram illustrating a haptic presentation device according to a first modified example. [ Fig. 16] Fig. 16 is a diagram illustrating a haptic presentation device according to a second modified example. [ Fig. 17] Fig. 17 is a diagram illustrating a haptic presentation device according to a third modified example. [ Fig. 18] Fig. 18 is a diagram illustrating a haptic presentation device according to a fourth modified example. [ Fig. 19] Fig. 19 is a diagram illustrating a haptic presentation device according to a fifth modified example. [ Fig. 20] Fig. 20 is a diagram illustrating a haptic presentation device according to a sixth modified example. Mode(s) for carrying out the invention

[0030] Embodiments according to the present technology are described hereinafter with reference to the drawings. <<Erste Ausführungsform> ><Gesamtkonfiguration und Konfigurationen jeweiliger Einheiten>

[0031] Fig. 1 is a schematic plan view illustrating a haptic presentation device 100 according to a first embodiment. Fig. 2 is a schematic cross-sectional view of the haptic presentation device 100 according to the first embodiment as viewed from the front, and is a diagram illustrating an initial state of the haptic presentation device 100. Fig. 3 is a schematic cross-sectional view of the haptic presentation device 100 according to the first embodiment as viewed from the front, and is a diagram illustrating a deformed state of the haptic presentation device 100.

[0032] The haptic presentation device 100 may be an installation-type device that is installed and used at a predetermined location such as a table, or may be a wearable-type device that is worn on the body (finger) of a user.

[0033] As shown in these figures, the haptic presentation device 100 according to this embodiment includes a cylindrical housing 10 with a bottom and a support portion 11 mounted on the bottom portion of the housing 10. Furthermore, the haptic presentation device 100 includes a film portion 20 that can come into contact with the user's body, a fluid receiving portion 12 that holds a fluid, and a fluid drive unit 13 that controls a flow of the fluid into and out of the fluid receiving portion 12.

[0034] Furthermore, the haptic presentation device 100 comprises an output unit 14, which is provided in the support area 11 and serves to convey a sensation to a user, and a sensor unit 15, which is provided in the support area 11. Furthermore, the haptic presentation device 100 comprises a control device 16, which integrally controls the respective units of the haptic presentation device 100.

[0035] The housing 10 has a cylindrical shape with a bottom and an open top. Although the shape of the cylinder in the housing 10 is circular in the example shown in the figure, the shape of the cylinder can be any shape, such as an ellipse, a polygon, and a star. The housing 10 is made of various materials such as a resin and a metal. Note that in the case where the haptic presentation device 100 is of a wearable type, a band or the like for fixing a user's finger may be provided on the outer peripheral surface of the housing 10.

[0036] The support portion 11 is mounted on the bottom portion of the housing 10 at its central position (XY direction) and has a columnar shape. Although the shape of the column in the support portion 11 is circular in the example shown in the figure, the shape of the column can be any shape, such as an ellipse, a polygon, and a star. The support portion 11 can be made of various materials, such as a resin and a metal. The support portion 11 can be integrally formed of the same material as that of the housing 10, or it can be formed of a different material from that of the housing 10.

[0037] The film area 20 is exposed above the haptic presentation device 100 and can come into contact with the user's body, such as a finger. The film area 20 is an area that provides a haptic sensation to a user when touched by the user. In the example here, it is assumed that the target to which a haptic sensation is to be provided is a user's finger. The target to which a haptic sensation is to be provided is not limited to the finger and can be any part of a user's body, such as the palm, arm, head, face, leg, foot, and toe.

[0038] The film region 20 comprises a deformable region 22 which is deformable by a fluid flow into and out of the fluid receiving region 12, and a fixed region 21 which is fixed on the support region 11 and is not deformed by the fluid flow into and out of the fluid receiving region 12.

[0039] The fixed portion 21 is formed in, for example, a disc shape. Note that the fixed portion 21 can have any shape, such as an ellipse, a polygon, and a star shape. The fixed portion 21 has a surface (second surface) that can come into contact with a user's body and a rear surface (second rear surface) opposite this surface. The support portion 11 supports and fixes the fixed portion 21 from the rear surface side.

[0040] The area (XY direction) of the surface of the fixed area 21 is set to be slightly smaller than the size of a finger, so that when a user touches the surface of the fixed area 21 with his finger, the entire surface of the fixed area 21 can be touched.

[0041] The deformable region 22 can come into contact with a user's body through deformation. The deformable region 22 is a different region of the film region 20 than the fixed region 21. The deformable region 22 is configured to have a disc shape in the planar direction, except for the central region (fixed region 21). Note that the deformable region 22 can have any shape, such as an ellipse, a polygon, and a star.

[0042] The deformable portion 22 is provided to surround the fixed portion 21. Although the deformable portion 22 is provided to surround the entire periphery of the fixed portion 21 in the example shown in the figure, the deformable portion 22 may be provided to surround at least a part of the periphery of the fixed portion 21.

[0043] The deformable portion 22 has a front surface (first surface) and a rear surface opposite the front surface (first rear surface). The fluid receiving portion 12 is provided on the rear surface side of the deformable portion 22 and deforms the deformable portion 22 by the outflow and inflow of a fluid.

[0044] The deformable portion 22 has an inner peripheral side connected to the fixed portion 21 and an outer peripheral side fixed to the upper part of the housing 10. The deformable portion 22 has a predetermined thickness in the height direction and is deformable to protrude in the height direction. The deformable portion 22 has a thickness that is greater on the outer peripheral side (second side, which is a side farther from the fixed portion 21) than on the inner peripheral side (first side, which is closer to the fixed portion 21).

[0045] Specifically, the deformable portion 22 is configured to have a thickness that gradually decreases from the inner peripheral side to the outer peripheral side. For this reason, the deformable portion 22 has lower rigidity on the outer peripheral side than on the inner peripheral side. Therefore, the deformable portion 22 deforms more easily on the outer peripheral side than on the inner peripheral side (see Fig. 3).

[0046] The deformable region 22 is deformed between an initial state (first state) (see Fig. 2) and a deformed state (second state) (see Fig. 3) switched, wherein the front surface (first surface) of the deformable portion 22 is in contact with a body (finger) of a user via a first area (including zero) in the initial state, and the front surface of the deformable portion 22 is in contact with the body (finger) of the user via a second area, which is larger than the first area, in the deformed state.

[0047] The initial state is, for example, a state in which no force is applied to the deformable region 22, the deformable region 22 is undeformed, and the pressure within the fluid-receiving region 12 is equal to atmospheric pressure. The deformed state is, for example, a state in which the deformable region 22 is deformed by a force applied to the deformable region 22 from the rear surface side, and the pressure within the fluid-receiving region 12 is greater than atmospheric pressure. The deformed state includes several stages of deformed states, from a small-deformation state to a large-deformation state.

[0048] As in Fig. As shown in Figure 3, in the deformed state, the deformable portion 22 is deformed to protrude more in the height direction (toward a user's body) than in the initial state. Specifically, in this embodiment, in the deformed state, the deformable portion 22 protrudes more in the height direction on the outer peripheral side, which is relatively thin (low rigidity and easy to deform), than on the inner peripheral side, which is relatively thick (high rigidity and difficult to deform). For this reason, the deformable portion 22 is deformable according to the shape or curvature of a user's finger.

[0049] The deformable portion 22 is made of a material with high elongation, for example, various types of rubber such as silicone rubber, urethane rubber, and natural rubber, or a mesh fabric. From the perspective of cost reduction, the fixed portion 21 is typically made of the same material as that of the deformable portion 22; however, the fixed portion 21 may be made of a material different from that of the deformable portion 22. For example, the fixed portion 21 may be made of a material with low elongation, such as a metal, a resin, and wood.

[0050] Note that in the above example, a case was described where the thickness between the inner peripheral side and the outer peripheral side of the deformable region 22 changes to make the outer peripheral side of the deformable region 22 less rigid than the inner peripheral side to facilitate deformation. Meanwhile, to make the outer peripheral side of the deformable region 22 less rigid than the inner peripheral side to facilitate deformation, the material between the inner peripheral side and the outer peripheral side of the deformable region 22 can be changed.

[0051] In this case, for example, a material with a lower elastic modulus (e.g., at the same thickness) than the material of the inner peripheral side is used as the material for the outer peripheral side of the deformable region 22. Alternatively, to make the outer peripheral side of the deformable region 22 less rigid than the inner peripheral side to facilitate deformation, both the thickness and the material between the inner peripheral side and the outer peripheral side of the deformable region 22 may be changed.

[0052] The fluid receiving area 12 is formed by a space below the deformable area 22 (on the side opposite the user side) and can hold or receive fluid in an airtight manner. The space forming the fluid receiving area 12 is an area surrounded by the rear surface of the deformable area 22, the bottom surface of the housing 10, the inner wall surface of the housing 10, and the outer peripheral surface of the support area 11.

[0053] Although in the example shown in the figure, the shape of the space of the fluid receiving portion 12 is a ring shape with a predetermined height, this shape can be changed as needed. The space of the fluid receiving portion 12 can be covered with a sheet or film member 1. From the standpoint of maintaining the airtightness of the space, this film member 1, while being stretchable, is made of various types of rubber such as silicone rubber, urethane rubber, and natural rubber (in the case of covering the part in contact with the deformable portion 22 with the film member 1).

[0054] The fluid received by the fluid receiving portion 12 may be various gases such as air and nitrogen gas, or may be a liquid such as water, a magnetic fluid, and an electrorheological fluid.

[0055] The output unit 14 for providing a sensation to a user via the fixed area 21 (and the support area 11) is provided within the support area 11. Furthermore, the sensor unit 15 for detecting a user's action on the fixed area 21 is provided within the support area 11. Note that the output unit 14 and the sensor unit 15 may be provided outside the support area 11 (e.g., above or below the support area 11).

[0056] The output unit 14 is electrically connected to the control device 16 and provides a sensation to a user according to the control of the control device 16. The output unit 14 includes at least one of a vibration generating unit that generates vibrations, a temperature changing unit that changes the temperature, a pressure generating unit that generates pressure, a sound output unit that emits sound, or a light-emitting unit that generates light.

[0057] The vibration generation unit includes, for example, a voice coil motor, a piezoelectric element, an eccentric motor, an LRA (linear resonant actuator), and the like, and imparts vibration to a user. The temperature change unit includes, for example, a Peltier element, a heater, and the like, and imparts a warm or cool feeling to a user. The pressure generation unit includes an electromagnetic motor, an electrostatic actuator, a compressor (air pressure, hydraulic pressure), and the like, and imparts pressure (force) to a user.

[0058] The sound emitting unit, for example, contains a loudspeaker and presents a tone or sound to the user. The light emitting unit, for example, contains an LED (light-emitting diode) and presents light to the user.

[0059] The sensor unit 15 is electrically connected to the control device 16 and sends detected information to the control device 16. The sensor unit 15 includes at least one of a proximity sensor, a vibration sensor, a temperature sensor, a pressure sensor, a sound detection sensor, or a light receiving sensor.

[0060] The proximity sensor includes a capacitive sensor, an optical distance sensor, a conduction sensor, an illuminance sensor, or the like, and detects the approach or contact of the user's finger (body) to or with the fixed part 21. The vibration sensor detects vibrations of the fixed area 21 caused by a user's finger. The temperature sensor is a thermocouple sensor, a resistance sensor, or the like, and detects the change in the temperature of the fixed area 21 caused by a user's finger.

[0061] The pressure sensor comprises a resistance change sensor, a capacitance change sensor, or the like, and detects the pressure exerted by a user's finger on the fixed area 21. The sound detection sensor is, for example, a microphone and detects a sound or sound (voice) generated by the user. The light receiving sensor is, for example, an image sensor of a camera and images the user's finger over the fixed area 212.

[0062] Note that in the case where the output unit 14 includes a temperature generating unit or the sensor unit 15 includes a temperature sensor, a material having a relatively high thermal conductivity (e.g., 0.1 W / mK or more) is used as the material of the fixed portion 21.

[0063] Furthermore, in the case where the output unit 14 includes a vibration generating unit and a sound generating unit, or the sensor unit 15 includes a vibration sensor and a sound detecting sensor, a material having a relatively high elastic modulus (1.0 MPa or more) is used as the material of the fixed portion 21. Furthermore, in the case where the output unit 14 includes a light-emitting unit, or the sensor unit 15 includes a light-receiving sensor, a material having a relatively high transmittance (e.g., 0.5 or more) is used as the material of the fixed portion 21.

[0064] The fluid drive unit 13 can switch between the initial state and the deformed state (multiple stages) in the deformable region 22 by changing the pressure of the fluid in the fluid receiving region 12. The fluid drive unit 13 is connected to the fluid receiving region 12 via a pipe or the like having a fluid flow path. The fluid drive unit 13 includes a pump, an electromagnetic valve, and the like.

[0065] The control device 16 includes a control unit, a storage unit, a communication unit, and the like. The control unit performs various calculations based on various programs stored in the storage unit and integrally controls the respective units of the haptic presentation device 100.

[0066] The control unit is capable of driving the fluid drive unit 13 under its control to switch between the initial state and the deformed state (multiple stages) in the deformable region 22. Furthermore, the control unit is capable of driving the output unit 14 based on predetermined information (including sensor information from the sensor unit 15) to convey a sensation to a user via the fixed region 21.

[0067] The control unit is implemented in hardware or a combination of hardware and software. The hardware is configured as part of or the entire control unit. Examples of this hardware include a CPU (central processing unit), a DPS (digital signal processor), an FPGA (field-programmable gate array), an ASIC (application-specific integrated circuit), and similar components.

[0068] The storage unit includes a non-volatile memory in which various programs necessary for processing by the control unit and various types of data are stored, and a volatile memory used as the work area of ​​the control unit. The communication unit is configured to communicate with other devices other than the haptic presentation device 100.

[0069] Note that the control device 16 may be a device dedicated to the haptic presentation device 100 (e.g., a microcontroller) or another multi-purpose device such as a PC (personal computer: a desktop PC, a laptop PC, a tablet PC, a server device of a network, etc.) and a mobile phone (including a smartphone). <nutzungsbeispiel>

[0070] In this embodiment, by switching between the initial state and the deformed state of the deformable portion 22, it is possible to provide a user with hard and soft sensations. For example, in the case where one wants to provide a user with a hard haptic sensation, the deformable portion 22 is set to the initial state (see Fig. 2). However, in the case where one wants to provide a soft haptic sensation to a user, the deformable area 22 is set in the deformed state (see Fig. 3).

[0071] Furthermore, in this embodiment, by switching between the initial state and the deformed state of the deformable portion 22, it is possible to impart vibrations to a user. For example, by switching between the initial state (see Fig. 2) and the deformed state (see Fig. 3) of the deformable portion 22 in a predetermined period, it is possible to impart vibrations to a user.

[0072] Furthermore, in this embodiment, by combining presentation of a sensation by the output unit 14 with presentation of a haptic sensation by switching between the initial state and the deformed state (multiple stages) of the deformable portion 22, it is possible to provide various sensations to a user.

[0073] For example, it is assumed that hard and soft sensations are conveyed to a user by switching between the initial state and the deformed state of the deformable portion 22. In this case, for example, by lowering the temperature of the fixed portion 21 by the temperature changing unit when the deformable portion 22 is set to the initial state to provide a hard tactile sensation to a user, it is possible to provide a sensation as if touching metal to a user. Furthermore, by raising the temperature of the fixed portion 21 by the temperature changing unit when the deformable portion 22 is set to the initial state (or the deformed state in which it is slightly deformed) to provide a hard tactile sensation to a user, it is possible to provide a sensation as if touching wood to a user.

[0074] For example, by vibrating the fixed portion 21 at a predetermined frequency using the vibration generating unit when the deformable portion 22 is in the initial state to provide a user with a hard tactile sensation, it is further possible to provide the user with a sensation as if touching metal. Furthermore, by vibrating the fixed portion 21 at a predetermined frequency (a frequency different from that in the case of metal) using the vibration generating unit when the deformable portion 22 is in the initial state (or the deformed state in which it is slightly deformed) to provide a user with a hard tactile sensation, it is possible to provide the user with a sensation as if touching wood.

[0075] Note that by combining the temperature and vibrations described herein, it is also possible to give a user a sensation of metal, a sensation of wood, and the like.

[0076] Furthermore, it is assumed that vibrations are imparted to a user by switching between the initial state and the deformed state of the deformable portion 22. In this case, for example, vibrations in a frequency band (first frequency band) lower than a predetermined threshold (e.g., 20 Hz) are imparted to a user by switching between the initial state and the deformed state of the deformable portion 22. Meanwhile, vibrations in a frequency band (a frequency band different from the first frequency band) higher than a predetermined threshold (e.g., 20 Hz) are imparted to a user by vibrations of the vibration generating unit. As a result, it is possible to appropriately impart vibrations in a wide frequency band to the user.

[0077] The sensor information from the sensor unit 15 can be used as information for deforming the deformable region 22 and / or information for controlling the output unit 14. <betriebsbeschreibung>

[0078] Next, the processing of the control unit in the control device 16 will be described. Note that in the description of the processing here, three examples are given and described specifically. [First example]

[0079] Fig. 4 is a diagram illustrating a first example of processing by the control unit. The first example is an example in which the deformable portion 22 is deformed based on sensor information. In this example, a case is described in which an installation-type haptic presentation device 100 is used, and hard and soft sensations are provided to a user by deforming the deformable portion 22.

[0080] First, the control unit acquires sensor information from the proximity sensor and determines whether a user's finger is near (in contact with) the fixed portion 21 or not (step (102). Next, based on the sensor information from the proximity sensor (whether it is near (in contact with) or not), the control unit determines whether or not it is necessary to drive the fluid drive unit 13 to deform the deformable portion 22 (step 102).

[0081] In step 102, in the case where a user's finger is not near (or in contact with) the fixed portion 21, the control unit determines that it is not necessary to drive the fluid drive unit 13 (NO in step 102), and ends the processing without deforming the deformable portion 22 (initial state).

[0082] Further, in step 102, in the case where a user is currently given a hard haptic sensation even though a user's finger is near (or in contact with) the fixed portion 21, the control unit determines that it is not necessary to drive the fluid drive unit 13 (NO in step 102) and ends the processing without deforming the deformable portion 22 (initial state).

[0083] Meanwhile, in step 102, if the user's finger is near (in contact with) the fixed portion 21 and a soft haptic sensation is currently being provided to the user, the control unit determines that it is necessary to drive the fluid drive unit 13 (YES in step 102). In this case, the control unit drives the fluid drive unit 13 to deform the deformable portion 22 (deformed state) (step 103) and terminates the processing.

[0084] Although a case where a proximity sensor is used as the sensor unit 15 has been described here, a vibration sensor, a temperature sensor, a pressure sensor, a sound detection sensor, or a light receiving sensor may be used.

[0085] For example, the presence or absence of proximity (contact) to the fixed area 21 can be determined by the vibration sensor, the temperature sensor, or the pressure sensor. Also in this case, similar to the above, when a user's finger is near (in contact with) the fixed area 21 and a soft haptic sensation is currently being imparted to the user, the control unit drives the fluid drive unit 13 to impart a soft haptic sensation to the user. In the case where the pressure sensor is used, the degree of deformation of the deformable area 22 can also be changed depending on the magnitude of the pressing force.

[0086] Furthermore, for example, in the case where the sound detection sensor (microphone) or the light reception sensor (camera) is used, by identifying a user's voice or identifying a user's fingerprint, it is also possible to identify a person for each user and change the hard and soft sensation to be conveyed.

[0087] Although a case in which hard and soft sensations are given to a user by deforming the deformable portion 22 based on the sensor information from the sensor unit 15 has been described above, vibrations (e.g., less than 20 Hz) may be given to a user by deforming the deformable portion 22.

[0088] For example, the presence or absence of proximity (contact) to the fixed area 21 is determined by the proximity sensor, the vibration sensor, the temperature sensor, or the pressure sensor. In this case, if a user's finger is near (in contact with) the fixed area 21 and vibrations are currently being imparted to the user, the control unit drives the fluid drive unit 13 to impart vibrations to the user. If the pressure sensor is used, the frequency of the vibrations can also be changed by the deformable area 22 depending on the magnitude of the pressing force.

[0089] Furthermore, for example, in the case where the sound detection sensor (microphone) or the light reception sensor (camera) is used, by identifying a user's voice or identifying a user's fingerprint, it is also possible to identify a person for each user and change the frequency of the vibrations to be conveyed. [Second example]

[0090] Fig. 5 is a diagram illustrating a second example of the processing of the control unit. The second example is an example in which the deformable portion 22 is deformed and the output unit 14 is driven based on control information (predetermined information) based on video information. In the example here, a case will be described as an example in which a wearable-type haptic presentation device 100 is used (ie, the finger is constantly in contact with the fixed portion 21), and the deformable portion 22 is deformed according to a video displayed on the screen of the display device to provide hard and soft sensations to a user.

[0091] First, the control unit acquires control information based on video information (step 201). The control information includes information regarding what type of hard and soft sensations should be conveyed to a user at what time. The control information can be acquired from another device (e.g., a server device in a network) via the communication unit or can be pre-stored in the memory unit of the control device 16.

[0092] Next, based on the acquired control information, the control unit determines whether or not it is necessary to drive the fluid drive unit 13 to deform the deformable portion 22 (step 202).

[0093] In step 202, in the case where a video of a finger in contact with a hard object is currently displayed on the screen, the control unit determines that it is not necessary to drive the fluid drive unit 13 to deform the deformable portion 22 (initial state) (NO in step 202), and the processing proceeds to step 204.

[0094] Furthermore, in step 202, if a video of a finger in contact with a soft object is currently displayed on the screen, the control unit determines that it is necessary to drive the fluid drive unit 13 (YES in step 202). In this case, the control unit drives the fluid drive unit 13 to deform the deformable portion 22 (deformed state) (step 203), and processing proceeds to step 204.

[0095] Further, in step 202, if a video of a finger pressing a soft object is currently displayed on the screen, the control unit determines that it is necessary to drive the fluid drive unit 13 (YES in step 202). In this case, the control unit drives the fluid drive unit 13 to deform the deformable portion 22 (deformed state) (step 203), and processing proceeds to the next step 204.

[0096] In step 204, the control unit determines whether or not it is necessary to control the output unit 14 based on the video information-based control information.

[0097] In step 204, if a video of a finger in contact with a hard object is currently displayed on the screen, the control unit determines that it is necessary to drive the vibration generation unit in the output unit 14 (Yes in step 204). In this case, the control unit drives the vibration generation unit to vibrate the fixed area 21 (step S205) and ends the processing.

[0098] Furthermore, in step 204, in the case where a video of a finger in contact with a soft object is currently displayed on the screen, the control unit determines that it is necessary to drive the vibration generation unit in the output unit 14 (YES in step 204). In this case, the control unit drives the vibration generation unit to vibrate the fixed area 21 (the frequency is different from that in the case where the finger is in contact with a hard object) (step 205) and ends the processing.

[0099] Further, in step 204, in the case where a video of a finger pressing a soft object is currently displayed on the screen, the control unit determines that it is not necessary to drive the vibration generation unit in the output unit 14 (NO in step 204) and ends the processing.

[0100] Although a case where the vibration generating unit is used as the output unit 14 has been described here, a temperature changing unit, a pressure generating unit, a sound emitting unit, or a light emitting unit may be used as the output unit 14.

[0101] For example, the control unit may change the temperature of the fixed area 21 using the temperature change unit according to a video of a finger in contact with a warm or cold object. In this case, when a video of a finger in contact with a warm or cold object is displayed on the screen, the control unit increases or decreases the temperature of the fixed area 21 using the temperature change unit without deforming the deformable area 22 (initial state). Further, when a video of a finger in contact with a warm or cold soft object is displayed on the screen, the control unit deforms the deformable area 22 (deformed state) and increases or decreases the temperature of the fixed area 21 using the temperature change unit.

[0102] Furthermore, the control unit can change the pressure below the fixed area 21 using the pressure generation unit according to a video of a finger being pushed back by an object. In this case, when a video of a finger being pushed back by a hard object is displayed on the screen, the control unit increases the pressure below the fixed area 21 using the pressure changing unit without deforming the deformable area 22 (initial state). Furthermore, when a video of a finger being pushed back by a soft object is displayed on the screen, the control unit deforms the deformable area 22 (deformed state) and increases the pressure below the fixed area 21 using the pressure changing unit.

[0103] Furthermore, the control unit can generate a sound (voice) using the sound emitting unit according to a video of a finger in contact with an object (character) generating a sound (outputting a voice). In this case, when a video of a finger in contact with a hard object (character) generating a sound (outputting a voice) is displayed on the screen, the control unit causes the sound emitting unit to generate a sound (voice) without deforming the deformable portion 22 (initial state). Further, when a video of a finger in contact with a soft object (character) generating a sound (outputting a voice) is displayed on the screen, the control unit deforms the deformable portion 22 (deformed state) and causes the sound emitting unit to generate a sound (voice).

[0104] Further, the control unit may cause the light-emitting unit to emit light in accordance with a video of a finger in contact with an object (character) that emits light. In this case, when a video of a finger in contact with a hard object (character) that emits light is displayed on the screen, the control unit causes the light-emitting unit to emit light without deforming the deformable region 22 (initial state). Further, when a video of a finger in contact with a soft object (character) that emits light is displayed on the screen, the control unit deforms the deformable region 22 (deformed state) and causes the light-emitting unit to emit light.

[0105] Although a case was described above in which hard and soft sensations are imparted to a user by deforming the deformable portion 22 based on control information based on video information, vibrations (e.g., less than 20 Hz) may be imparted to a user by deforming the deformable portion 22.

[0106] For example, in the case where a video of a finger in contact with a vibrating object is currently displayed on the screen, the control unit switches between the initial state and the deformed state of the deformable portion 22 to convey vibrations (e.g., less than 20 Hz) to a user. In this case, if high-frequency vibrations (20 Hz or higher) cannot be reproduced by switching between the initial state and the deformed state of the deformable portion 22, the control unit may convey vibrations to the user that are not caused by deformation of the deformable portion 22, but by vibrations of the vibration generating unit.

[0107] The presentation of vibrations caused by deformation of the deformable portion 22, the presentation of temperature by the temperature change unit, the presentation of pressure by the pressure generating unit, the presentation of sound by the sound output unit, and the presentation of light by the light emitting unit may be combined. [Third example]

[0108] Fig. 6 is a diagram illustrating a third example of the processing of the control unit. The third example is an example in which the deformable portion 22 is deformed based on the sensor information (predetermined information) from the sensor unit 15, and the output unit 14 is driven based on the sensor information. In the example here, a case will be described as an example in which an installation-type haptic presentation device 100 is used, hard and soft sensations are given to a user by deforming the deformable portion 22, and a temperature sensation is given by the temperature output unit 14.

[0109] The control unit acquires sensor information from the proximity sensor and determines whether or not a user's finger is close to the fixed area 21 within a predetermined distance or less and whether or not a user's finger is in contact with the fixed area 21 (step 301).

[0110] Next, based on the sensor information from the proximity sensor, the control unit determines whether or not it is necessary to drive the fluid drive unit 13 to deform the deformable portion 22 (step 302).

[0111] In step 302, in the case where a user's finger is not near the fixed area 21 (a predetermined distance or less from the fixed area 21), the control unit determines that it is not necessary to drive the fluid drive unit 13 (NO in step 302), and the processing proceeds to step 304 without deforming the deformable area 22 (initial state).

[0112] Further, in step 302, in the case where a hard haptic sensation is currently given to the user even though the user's finger is in contact with the fixed portion 21, the control unit determines that it is not necessary to drive the fluid drive unit 13 (NO in step 302), and the processing proceeds to step 304 without deforming the deformable portion 22 (initial state).

[0113] Meanwhile, in step 302, in the case where a user's finger is in contact with the fixed portion 21 and a soft haptic sensation is currently being imparted to the user, the control unit determines that it is necessary to drive the fluid drive unit 13 (YES in step 302). In this case, the control unit drives the fluid drive unit 13 to deform the deformable portion 22 (deformed state) (step 303), and the processing proceeds to the next step 304.

[0114] In step 304, the control unit determines, based on the sensor information from the proximity sensor, whether or not it is necessary to control the temperature changing unit to provide warmth to the user.

[0115] In step 304, in the case where a user's finger is not in the vicinity (a predetermined distance or less from the fixed area 21) of the fixed area 21, the control unit determines that it is not necessary to drive the temperature changing unit (NO in step 304) and ends the processing.

[0116] Furthermore, in step 304, if a user's finger is near the fixed area 21 and the user is currently experiencing a warm sensation, the control unit determines that it is necessary to drive the temperature change unit (YES in step 304). In this case, the control unit drives the temperature change unit to increase the temperature of the fixed area 21 (step 305).

[0117] Furthermore, in step 304, if a user's finger is near the fixed area 21 and the user is currently experiencing a cold sensation, the control unit determines that it is necessary to drive the temperature change unit (YES in step 304). In this case, the control unit drives the temperature change unit to lower the temperature of the fixed area 21 (step 305).

[0118] Furthermore, in step 304, if a user's finger is in contact with the fixed area 21 and the user is currently experiencing a warm sensation, the control unit determines that it is necessary to drive the temperature change unit (YES in step 304). In this case, the control unit drives the temperature change unit to increase the temperature of the fixed area 21 (step 305).

[0119] Furthermore, in step 304, in the case where a user's finger is in contact with the fixed area 21 and the user is currently experiencing a cold sensation, the control unit determines that it is necessary to drive the temperature change unit (YES in step 304). In this case, the control unit drives the temperature change unit to lower the temperature of the fixed area 21 (step 305).

[0120] Although a case where the proximity sensor is used as the sensor unit 15 has been described here, a vibration sensor, a temperature sensor, a pressure sensor, a sound detection sensor, or a light receiving sensor may be used (see the first example).

[0121] Furthermore, a case where a temperature change unit is used as the output unit 14 has been described here, and a vibration generating unit, a pressure generating unit, a sound emitting unit, or a light emitting unit may be used as the output unit 14 (see the second example).

[0122] Although a case has been described above in which hard and soft sensations are imparted to a user by deforming the deformable portion 22 based on sensor information from the sensor unit 15, vibrations (e.g., less than 20 Hz) may be imparted to a user by deforming the deformable portion 22. <anwendungsbeispiel>

[0123] Next, an application example of the present technology is described. Fig. Fig. 7 is a perspective view illustrating a haptic presentation device 101 according to the application example. Fig. 8 and Fig. 9 is a cross-sectional view of the haptic presentation device 101 according to the application example, as seen from the front. Fig. 10 and Fig. 11 is a cross-sectional view of the haptic presentation device 101 according to the application example, as seen from the side.

[0124] In Fig. 7, an illustration of the foil or film area 20 is omitted. Furthermore, Fig. 8 and Fig. 10 each show the initial state of the deformable region 22 and Fig. 9 and Fig. 11 each show the deformed state of the deformable area 22. Note that in Fig. 7 to Fig. 11 the fluid drive unit 13 and the control device 16 are omitted.

[0125] Since the haptic presentation device 101 according to the application example has, in principle, a configuration similar to that of the above-mentioned haptic presentation device 100 according to the first embodiment, differences from the first embodiment and the like will be mainly described.

[0126] The haptic presentation device 100 according to the application example is an installation-type device that is installed and used on a table or the like. This haptic presentation device 100 includes a base 2 installed on a table or the like, three columns 3 provided on the base 2, and a housing 10 provided on the three columns 3.

[0127] The base 2 is configured to have a cylindrical shape with a top surface. Note that the shape of the base 2 can be an ellipse, a polygon, a star shape, or the like, and the shape is not particularly limited. Note that in the case where the haptic presentation device 100 is of the portable type, the base 2 can be omitted.

[0128] Although the housing 10 is configured to have a cylindrical shape, a wall portion on the rear side (right side in Fig. 10 and Fig. 11) of the cylinder is cut out (missing). This cutout allows a user to easily place or rest their finger on the film area 20 within the housing 10.

[0129] The support portion 11, which supports the fixed portion 21 in the film portion 20, is provided at the center position (XY direction) on the bottom portion of the housing 10. The sensor unit 15 is provided at a position corresponding to the support portion 11. Furthermore, the output unit 14 is provided below the support portion 11. The output unit 14 is arranged at a position below the support portion 11 outside the housing 10 and is arranged in a space surrounded by the three columns 3.

[0130] The film region 20 comprises the fixed region 21 and the deformable region 22. The fixed region 22 comprises on its lower side a fitting region which fits into the support region 11.

[0131] The deformable portion 20 has a thickness that gradually decreases from the inner peripheral side to the outer peripheral side. The outer peripheral end of the deformable portion 22 is fixed to the inner peripheral wall of the housing 10. Here, with reference to Fig. 8 and Fig. 10 in the initial state, the outer peripheral end of the deformable area 22 on the back side (right side in Fig. 10) the same height as the fixed area 21. Meanwhile, in the initial state, the outer circumferential end is on the front side (left side in Fig. 10) and the outer circumferential ends on the right and left sides (right and left direction in Fig. 8) of the deformable region 22 at higher positions than the fixed region 21.

[0132] That is, the deformable region 22 includes a first region (rear) with a first height in the initial state and second regions (front and right and left directions) with a height greater than the first height in the initial state. This makes it possible to appropriately deform the deformable region 22 according to the shape and curvature of a user's finger.

[0133] The fluid receiving portion 12 is provided below the deformable portion 22. The space formed by the fluid receiving portion 12 is a region surrounded by the rear surface of the deformable portion 22, the bottom surface of the housing 10, the inner wall surface of the housing 10, and the outer peripheral surface of the support portion 11. <Effekte etc.>

[0134] As described above, the haptic presentation device 100 according to the present technology (including Application Example 101) includes the fixed portion 21 and the deformable portion 22. The fixed portion 21 can come into contact with a user's body. The deformable portion 22 has an inner peripheral side (first side), which is a side closer to the fixed portion 21, and an outer peripheral side (second side), which is a side farther from the fixed portion 21, and has a rigidity lower than the inner peripheral side (easily deforms because the thickness is thin), and can come into contact with a user's body by deformation.

[0135] This effect is described by comparing it with a comparative example. Fig. 12 is a plan view illustrating a haptic presentation device 102 according to a comparative example. Fig. 13 is a side view showing the deformed state of the haptic presentation device 102 according to the comparative example.

[0136] The haptic presentation device 102 according to the comparative example includes a rectangular plate member 33 and a rectangular film portion 30 provided on the plate member 33. The film portion 30 is made of, for example, a material with relatively high stretchability, such as a rubber material. The outer peripheral end of the film portion 30 is bonded to the plate member 33 using an adhesive or the like, and the central portion of the film portion 30 is bonded to the plate member 33 using an adhesive or the like. In the film portion 30, the central portion fixed to the plate member 33 is a fixed portion 31, and a portion around it is a deformable portion 32. Furthermore, the space sandwiched between the deformable portion 32 and the plate member 33 is a fluid receiving portion 34.

[0137] When a fluid flows into the fluid receiving area 34, the deformable area 32 deforms, as shown in Fig. 13. At this time, the fluid in the fluid receiving area 34 deforms the deformable area 32 by means of isostatic pressure.

[0138] In the comparative example, since the thickness of the deformable portion 32 is constant (rigidity and ease of deformation are constant), the deformable portion 32 does not deform according to the shape and curvature of the finger. Therefore, the pressure on a user's finger is not constant, causing discomfort to the user. Furthermore, since the height difference in the deformable portion 32 near the fixed portion 31 is larger or more significant than the curvature of the finger, the comparative example also presents a problem of the finger being separated from the fixed portion 31.

[0139] Fig. Figure 14 is a diagram illustrating the deformed state of the deformable portion 22 according to the present technology. When fluid flows into the fluid receiving portion 12, the deformable portion 22 deforms as shown in Fig. 14. At this time, the fluid in the fluid receiving area 12 deforms the deformable area 22 by means of isostatic pressure.

[0140] Since the thickness of the deformable portion 22 is not constant (rigidity and ease of deformation are not constant) in the present technology, the deformable portion 22 deforms according to the shape and curvature of the finger. Therefore, the pressure on a user's finger is constant, making it possible to prevent it from causing discomfort to the user. That is, it is possible to effectively provide the user with hard and soft sensations. Furthermore, in the present technology, no large or significant height difference greater than the curvature of the finger occurs in the deformable portion 22 near the fixed portion 21. Therefore, the problem of the finger being separated from the fixed portion 21 is also solved.

[0141] Furthermore, in this embodiment, the deformable portion 22 is switched between an initial state (first state) and a deformed state (second state) by deformation, wherein the front surface of the deformable portion 22 is in contact with a user's body via a first area in the initial state, and the front surface of the deformable portion 22 is in contact with the user's body via a second area larger than the first area in the deformed state.

[0142] By switching between the initial state and the deformed state, it is possible to effectively convey a sense of hardness and softness to the user. That is, the deformable region 22 is placed in the initial state when a hard haptic sensation is desired, and the deformable region 22 is placed in the deformed state when a soft haptic sensation is desired.

[0143] Furthermore, by switching between the initial state and the deformed state at a predetermined period, it is possible to effectively convey vibrations (e.g., 20 Hz or lower) to the user.

[0144] Furthermore, this embodiment provides the output unit 14, which imparts a sensation to a user via the fixed region 21. By combining the imparting of a sensation through this output unit 14 and the imparting of a haptic sensation through deformation of the deformable region 22, it is possible to impart various sensations to the user (see the second example to the third example).

[0145] In particular, it is possible to present or convey vibrations in a wide band to the user by conveying vibrations in a first frequency band (e.g., lower than 20 Hz) by switching the initial state and the deformed state and by conveying vibrations in a second frequency band (20 Hz or higher) higher than the frequency band by vibrations of the vibration generating unit.

[0146] Furthermore, the control unit switches between the initial state and the deformed state based on predetermined information (control information based on video information, sensor information of the sensor unit 15, or the like), which makes it possible to appropriately convey hard and soft sensations and vibrations to the user (see the first example to the third example).

[0147] Furthermore, the control unit gives a feeling to the user through the output unit 14 based on predetermined information (control information based on video information, sensor information of the sensor unit 15 or the like), which makes it possible to give the user various feelings (see second example to third example).

[0148] The sensor unit 15, which detects a user action on the fixed area 21, is further provided in this embodiment.

[0149] The control unit switches between the initial state and the deformed state based on this sensor information, making it possible to appropriately convey hard and soft sensations and vibrations to the user (see the first example and the third example). Furthermore, the control unit conveys a sensation to the user via the output unit 14 based on this sensor information, making it possible to appropriately convey various sensations to the user (see the third example). <<Verschiedene modifizierte Beispiele> >

[0150] Next, various modified examples in the present technology are described. <Erstes modifiziertes Beispiel>

[0151] Fig. 15 is a diagram illustrating a haptic presentation device 103 according to a first modified example. The above described a case where the outer peripheral side of the fixed portion 21 and the inner peripheral side of the deformable portion 22 are connected to each other. However, in the first modified example, the outer peripheral side of the fixed portion 21 and the inner peripheral side of the deformable portion 22 are at least partially unconnected. <Zweites modifiziertes Beispiel und drittes modifiziertes Beispiel>

[0152] Fig. 16 is a diagram illustrating a haptic presentation device 104 according to a second modified example. Fig. 17 is a diagram illustrating a haptic presentation device 105 according to a third modified example. The above described a case where the deformable region 22 surrounds the entire periphery of the fixed region 21. However, in the second modified example and the third modified example, the deformable region 22 surrounds a part of the periphery of the fixed region 21.

[0153] In the second modified example, the deformable portion 22 surrounds the fixed portion 21 at the front side corresponding to the fingertip. In the third modified example, the fixed portion 21 is provided in a band shape, and two band-shaped deformable portions 22 are provided at positions sandwiching the fixed portion 21. Note that in the third modified example, long parts such as a finger, an arm, and a leg are assumed to be the user's body. <Viertes modifiziertes Beispiel>

[0154] Fig. 18 is a diagram illustrating a haptic presentation device 106 according to a fourth modified example. The above described a case where the user's body is smaller than the deformable portion 22, and the deformable portion 22 deforms according to the shape and curvature of the user's body. However, in the fourth modified example, the user's body is larger than the deformable portion 22, and the deformable portion 22 deforms regardless of the shape and curvature of the user's body.

[0155] The upper illustration in Fig. 18 shows a case where the deformable portion 22 is in the initial state, and shows a state where the user's body is in contact with the fixed portion 21 but not in contact with the deformable portion 22.

[0156] The middle representation in Fig. Fig. 18 shows a case where the deformable portion 22 is in the deformed state in which it is slightly deformed, and shows a state in which the user's body is in contact with the fixed portion 21 and the deformable portion 22. Furthermore, the lower diagram in Fig. 18 shows a case where the deformable portion 22 is in the deformed state in which it is greatly deformed, and shows a state in which the user's body is compressed or squeezed by the deformed portion 22. <Fünftes modifiziertes Beispiel>

[0157] Fig. 19 is a diagram illustrating a haptic presentation device 107 according to a fifth modified example. In the fifth modified example, the fixed portion 21 is long in the up-and-down direction and communicates with the lower side of the housing 10, and the output unit 14 or the sensor unit 15 is provided at a position corresponding to the fixed portion 21 outside the housing 10. <Sechstes modifiziertes Beispiel>

[0158] Fig. 20 is a diagram illustrating a haptic presentation device 108 according to a sixth modified example. In the sixth modified example, the support portion 11, a hard output unit 14, or a hard sensor unit 15 is exposed upward, which also functions as the fixed portion 21.

[0159] The present technology can take the following configurations. (1) A haptic presentation device comprising: a fixed area that can come into contact with a user’s body; and a deformable region comprising a first side, which is a side closer to the fixed region, and a second side, which is a side farther from the fixed region and has a lower rigidity than the rigidity of the first side, and can come into contact with the user's body by deformation. (2) The haptic presentation device according to the above (1), wherein the deformable portion has a predetermined thickness in a height direction and is deformable so as to protrude in the height direction. (3) The haptic presentation device according to the above (2), wherein a thickness of the second side is thinner than a thickness of the first side. (4) The haptic presentation device according to the above (3), wherein the deformable region has a thickness that gradually decreases from the first side to the second side. (5) The haptic presentation device according to any one of the above (2) to (4), wherein the deformable area has a first surface that can come into contact with the user’s body, and the deformable region is switched between a first state and a second state by deformation, wherein in the first state the first surface is in contact with the user's body via a first area and in the second state the first surface is in contact with the user's body via a second area which is larger than the first area. (6) The haptic presentation device according to the above (5), wherein By switching between the first state and the second state, the user is given a feeling of hardness and softness. (7) The haptic presentation device according to the above (5) or (6), wherein By switching between the first state and the second state, vibrations are transmitted to the user. (8) The haptic presentation device according to any one of (5) to (7), wherein the deformable region protrudes more in the height direction in the second state than in the first state. (9) The haptic presentation device according to the above (8), wherein the second side of the deformable region in the second state protrudes more in the height direction than the first side. (10) The haptic presentation device according to any one of the above (5) to (9), wherein the deformable region comprises a first region and a second region, wherein the first region has a first height in the first state and the second region has a lower height than the first height in the first state. (11) The haptic presentation device according to any one of the above (5) to (10), wherein the deformable region has a first rear surface opposite the first surface, the haptic presentation device further comprising: a fluid receiving portion capable of receiving fluid and provided on one side of the first rear surface of the deformable portion; and a fluid drive unit that switches between the first state and the second state by changing the pressure of the fluid in the fluid receiving area. (12) The haptic presentation device according to any one of the above (5) to (11), wherein the fixed area has a second surface that can come into contact with the user's body and a second rear surface opposite the second surface, the haptic presentation device further comprising: a support portion that supports and fixes the fixed portion from a side of the second rear surface.(13) The haptic presentation device according to any one of the above (5) to (12), further comprising an output unit that provides the user with a sensation via the fixated area. (14) The haptic presentation device according to the above (13), wherein the output unit includes at least one of a vibration generating unit that generates vibrations, a temperature changing unit that changes the temperature, a pressure generating unit that generates the pressure, a sound emitting unit that emits sound, or a light emitting unit that generates light. (15) The haptic presentation device according to the above (14), wherein the output unit contains the vibration generating unit and the haptic presentation device imparts vibrations in a first frequency band to the user by switching between the first state and the second state, and imparts vibrations in a second frequency band different from the first frequency band to the user by means of vibrations of the vibration generating unit. (16) The haptic presentation device according to any one of the above (13) to (15), further comprising a control unit which, on the basis of predetermined information, carries out the switching between the first state and the second state or the transmission of a sensation to the user by means of the output unit. (17) The haptic presentation device according to any one of the above (5) to (16), further comprising a sensor unit that detects a user action on the fixed area. (18) The haptic presentation device according to the above (17), wherein the sensor unit contains at least one of a proximity sensor, a vibration sensor, a temperature sensor, a pressure sensor, a sound sensor, a sound detection sensor or a light receiving sensor. (19) The haptic presentation device according to the above (17) or (18), further comprising a control unit that switches between the first state and the second state based on information from the sensor unit. (20) The haptic presentation device according to any one of the above (1) to (19), wherein the deformable region is arranged to surround the fixed region. List of reference symbols 10 housings 11 Support area 12 Fluid intake area 13 Fluid drive unit 14 Output unit 15 Sensor unit 16 Control device 20 Film area 21 fixed area 22 deformable area 100, 101, 103-108 haptic presentation device QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2017-79034

[0004] < / anwendungsbeispiel> < / betriebsbeschreibung> < / nutzungsbeispiel>

Claims

[1] Haptic presentation device, comprising: a fixed area that can come into contact with a user’s body; and a deformable region comprising a first side, which is a side closer to the fixed region, and a second side, which is a side farther from the fixed region and has a lower rigidity than the rigidity of the first side, and can come into contact with the user's body by deformation. [2] The haptic presentation device according to claim 1, wherein the deformable portion has a predetermined thickness in a height direction and is deformable to protrude in the height direction. [3] The haptic presentation device of claim 2, wherein a thickness of the second side is thinner than a thickness of the first side. [4] The haptic presentation device of claim 3, wherein the deformable region has a thickness that gradually decreases from the first side to the second side. [5] Haptic presentation device according to claim 2, wherein the deformable area has a first surface that can come into contact with the user’s body, and the deformable region is switched between a first state and a second state by deformation, wherein in the first state the first surface is in contact with the user's body via a first area and in the second state the first surface is in contact with the user's body via a second area which is larger than the first area. [6] Haptic presentation device according to claim 5, wherein switching between the first state and the second state provides the user with a feeling of hardness and softness. [7] Haptic presentation device according to claim 5, wherein switching between the first state and the second state imparts vibrations to the user. [8] The haptic presentation device according to claim 5, wherein the deformable portion protrudes more in the height direction in the second state than in the first state. [9] The haptic presentation device according to claim 8, wherein the second side of the deformable portion in the second state protrudes more in the height direction than the first side. [10] The haptic presentation device of claim 5, wherein the deformable region comprises a first region and a second region, wherein the first region has a first height in the first state and the second region has a height less than the first height in the first state. [11] The haptic presentation device of claim 5, wherein the deformable region has a first rear surface opposite the first surface, the haptic presentation device further comprising: a fluid receiving portion capable of receiving fluid and provided on one side of the first rear surface of the deformable portion; and a fluid drive unit that switches between the first state and the second state by changing the pressure of the fluid in the fluid receiving area. [12] A haptic presentation device according to claim 5, wherein the fixed area has a second surface that can come into contact with the user's body and a second rear surface opposite the second surface, the haptic presentation device further comprising: a support portion that supports and fixes the fixed portion from a side of the second rear surface. [13] The haptic presentation device according to claim 5, further comprising an output unit that provides the user with a sensation via the fixed area. [14] The haptic presentation device according to claim 13, wherein the output unit includes at least one of a vibration generating unit that generates vibrations, a temperature changing unit that changes the temperature, a pressure generating unit that generates the pressure, a sound emitting unit that emits sound, or a light emitting unit that generates light. [15] Haptic presentation device according to claim 14, wherein the output unit contains the vibration generating unit and the haptic presentation device imparts vibrations in a first frequency band to the user by switching between the first state and the second state, and imparts vibrations in a second frequency band different from the first frequency band to the user by means of vibrations of the vibration generating unit. [16] The haptic presentation device according to claim 13, further comprising a control unit that executes, based on predetermined information, switching between the first state and the second state or conveying a sensation to the user by means of the output unit. [17] The haptic presentation device according to claim 5, further comprising a sensor unit that detects an action of the user on the fixed area. [18] The haptic presentation device according to claim 17, wherein the sensor unit includes at least one of a proximity sensor, a vibration sensor, a temperature sensor, a pressure sensor, a sound sensor, a sound detection sensor, or a light receiving sensor. [19] The haptic presentation device according to claim 17, further comprising a control unit that switches between the first state and the second state based on information from the sensor unit. [20] A haptic presentation device according to claim 1, wherein the deformable region is arranged to surround the fixed region.

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