POWER COUPLING INPUT DEVICE

Abstract

A force feedback input device (100) comprises: a base (3); an actuator (1) mounted to be movable relative to the base (3) in the Z-axis direction; a shape memory alloy wire (4) whose length changes as the actuator (1) moves toward a Z2 side; and a control device (10) electrically connected to the shape memory alloy wire (4) and configured to modify a current flowing through the shape memory alloy wire (4) to change the length of the wire when the actuator (1), moving toward the Z2 side, reaches a first position. The control device (10) supplies a sensing current to the shape memory alloy wire (4) to measure a resistance value of the wire (4) and detects a position of the actuator (1) based on the resistance value.

Description

Technical field

[0001] The present disclosure relates to a force feedback input device. State of the art

[0002] Conventional keyboards (input devices) are known to create a pseudo-click sensation when a key is pressed by using a shape memory alloy wire (see patent specification 1). Citation list Patent specification

[0003] Patent specification 1: Japanese unexamined patent publication no. 2020-035143 Summary of the invention: Technical problem

[0004] However, the keyboards described above may have the disadvantage of becoming complicated in their structure, as they need to include a position detector that captures a capacitance to recognize that the key switch has been pressed.

[0005] Accordingly, it is desirable to provide a force feedback input device that has a simpler structure. Solution to the problem

[0006] A force feedback input device according to an embodiment of the present disclosure comprises: a base; an actuating element which is mounted in such a way that it is movable in a first direction relative to the base; a shape memory alloy wire whose length changes when the actuating element moves to one side in the first direction; and a control device electrically connected to the shape memory alloy wire, wherein the control device is configured to change a current flowing through the shape memory alloy wire in order to change a length of the shape memory alloy wire when the actuating element moving to one side reaches a first position, wherein the control device supplies a measuring current to the shape memory alloy wire to measure a resistance value of the shape memory alloy wire, and detects a position of the actuating element based on the resistance value. Advantageous effects of the invention

[0007] The methods described above can provide a force feedback input device with a simpler structure. Brief description of the drawings [ Fig. 1] Fig. Figure 1 is a diagram illustrating an example configuration of an input device. [ Fig. 2] Fig. Figure 2 is a perspective view of an actuating element that controls the input device. Fig. 1 forms. [ Fig. 3] Fig. Figure 3 is a flowchart illustrating an example sequence of a force feedback process. [ Fig. 4] Fig. Figure 4 is a cross-sectional view of the input device. Fig. 1. [ Fig. 5] Fig. Figure 5 is a diagram illustrating another example configuration of the input device. [ Fig. 6] Fig. Figure 6 is a perspective sectional view of the input device. Fig. 5. [ Fig. 7] Fig. 7 is a right-side view of the input device. Fig. 5. [ Fig. 8] Fig. Figure 8 is a cross-sectional view of the input device. Fig. 5. [ Fig. 9] Fig. Figure 9 is a diagram illustrating yet another example configuration of the input device. [ Fig. 10] Fig. Figure 10 is a cross-sectional view of the input device. Fig. 9. Description of the embodiments

[0008] In the following, with reference to the drawings, a force feedback input device 100 according to an embodiment of the present disclosure is described. Fig. Figure 1 is a diagram illustrating a sample configuration of an input device 100. In particular, the upper diagram is of Fig. 1 (the diagram above the block arrow) is a perspective exploded view of input device 100. The lower diagram of Fig. Figure 1 (the diagram below the block arrow) is a schematic diagram of a force feedback input system SYS, which is configured from a control device 10, a power supply device 11, a resistance value detection device 12 and the input device 100, and includes a perspective view of the input device 100 in an assembled state.

[0009] In Fig. 1 denotes X1 as one direction of an X-axis in a three-dimensional orthogonal coordinate system, and X2 as the other direction of the X-axis. Similarly, Y1 denotes one direction of a Y-axis in the three-dimensional orthogonal coordinate system, and Y2 as the other direction of the Y-axis. Likewise, Z1 denotes one direction of a Z-axis in the three-dimensional orthogonal coordinate system, and Z2 as the other direction of the Z-axis. In the present embodiment, the X1 side of the input device 100 corresponds to a front (front surface) of the input device 100, and the X2 side corresponds to a back (rear surface) of the input device 100. The Y1 side of the input device 100 corresponds to a left side of the input device 100, and the Y2 side corresponds to a right side of the input device 100. Furthermore, the Z1 side of the input device 100 corresponds to a top side of the input device 100, and the Z2 side corresponds to a bottom side of the input device 100. The same applies to the other figures.

[0010] As shown in the diagram above. Fig. As shown in Figure 1, the input device 100 comprises an actuating element 1, a bearing element 2, a base 3, a shape memory alloy wire 4 and a conductive element 5.

[0011] The actuating element 1 is an element that receives an actuating force from an operator. In the illustrated example, the actuating element 1 is made of a synthetic resin and is supported by the bearing element 2 such that it is movable along an actuating axis OA parallel to the first direction (the Z-axis direction).

[0012] The bearing element 2 is an element arranged between the actuating element 1 and the base 3 and is configured to elastically support the actuating element 1. In the illustrated example, the bearing element 2 is a leaf spring formed from a non-magnetic material and comprises an inner fixed section 2C, an outer fixed section 2E, and elastic arm sections 2G. The inner fixed section 2C is attached to the actuating element 1, the outer fixed section 2E is attached to the base 3, and the four elastic arm sections 2G are elastically deformable sections connecting the inner fixed section 2C and the outer fixed section 2E.

[0013] The base 3 is an element that supports the bearing element 2. In the illustrated example, the base 3 is an element formed from a synthetic resin and has a substantially rectangular parallelepiped outer shape. Specifically, the base 3 is an open-topped, box-shaped element with an outer perimeter wall section 3A and a bottom plate section 3T. On the inside of the outer perimeter wall section 3A, a rectangular annular base section 3D is formed, and four projections 3P are provided, each having a substantially prismatic shape and projecting upward from the top (inner bottom surface) of the bottom plate section 3T. The outer fixed section 2E of the bearing element 2 is attached to the base 3 with an adhesive or the like while it is placed on the base section 3D.

[0014] The shape memory alloy wire 4 is an example of a shape memory actuator and forms a drive unit that drives the actuating element 1. In the illustrated example, the temperature of the shape memory alloy wire 4 rises when an electric current flows through it, and it contracts in accordance with the temperature increase. The drive unit can exert a force on the actuating element 1 by utilizing the contraction of the shape memory alloy wire 4.

[0015] In particular, when the shape memory alloy wire 4 is supplied with an electric current, the shape memory alloy wire 4 is in a straight, stretched state. In this state, the shape memory alloy wire 4 is arranged such that it is pulled downwards and thereby stretched by the downwardly moving actuating element 1 when the actuating element 1 is pressed by the operator.

[0016] The conductive element 5 is a power supply element for the shape memory alloy wire 4 and is made of a magnetic metal such as iron. In the illustrated example, the conductive element 5 comprises a front conductive element 5F attached to one end (front end) of the shape memory alloy wire 4 and a rear conductive element 5B attached to the other end (rear end) of the shape memory alloy wire 4. The rear conductive element 5B and the front conductive element 5F each comprise an end section 5T inserted through a through-hole 3H1 formed in the base plate section 3T of the base 3, and a tip section 5E inserted into a non-through-hole 3H2 formed in the base plate section 3T of the base 3.This means that the conductive element 5 is attached to the base 3 in such a way that the end sections 5T protrude downwards from the underside of the base 3. Fig. 1. The through hole 3H1 and the non-through hole 3H2, corresponding to the rear conductive element 5B, are visible, but the through hole 3H1 and the non-through hole 3H2, corresponding to the front conductive element 5F, are not visible.

[0017] The control device 10 is configured to provide force feedback when the actuator 1 is actuated by an operator. In the illustrated example, the control device 10 is a microcomputer comprising a CPU, memory, and the like. Although in the illustrated example the control device 10 is installed outside the base 3, it could also be installed inside the base 3. In such a case, the control device 10 could form one of the components of the input device 100.

[0018] The energy supply device 11 is a device that supplies the shape memory alloy wire 4 with electrical current. In the illustrated example, the energy supply device 11 is configured to supply the shape memory alloy wire 4 with current according to the control commands from the control device 10.

[0019] The resistance measurement device 12 is a device that measures the electrical resistance of the shape memory alloy wire 4. In the illustrated example, the resistance measurement device 12 is configured to repeatedly measure the electrical resistance of the shape memory alloy wire 4 at a predetermined measurement period and output the measured value to the control device 10. Typically, the electrical resistance of the shape memory alloy wire 4 increases when the wire is stretched and also increases when the wire's temperature increases.

[0020] Here, with reference to Fig. 2. The actuating element 1 is described in more detail. Fig. Figure 2 is a perspective view of the actuating element 1. In particular, the upper diagram is of Fig. 2 an upper perspective view of the actuating element 1 and the lower diagram of Fig. 2 a lower perspective view of the actuating element 1.

[0021] As in Fig. As shown in Figure 2, the actuating element 1, viewed from above, comprises a substantially rectangular flat plate section 1T and a substantially hemispherical upper projection 1B, which is configured to project upward from the center of the upper surface of the flat plate section 1T. Furthermore, viewed from below, the actuating element 1 comprises four substantially prismatic first lower projections 1P, which are configured to project downward from the underside of the flat plate section 1T, a substantially cylindrical second lower projection 1Q, which is configured to project downward from the center of the underside of the flat plate section 1T, and a substantially cylindrical third lower projection 1R, which is configured to project downward from the center of the underside of the second lower projection 1Q.

[0022] The upper projection 1B is a section shaped to extend along the actuation axis OA and is configured so that the operator can press the upper projection 1B to move the actuating element 1 downwards. That is, the upper projection 1B is positioned in the center of the flat plate section 1T so that the operator can push the actuating element 1 downwards along the actuation axis OA.

[0023] The first lower projections 1P are configured to face the projections 3P formed on the upper surface of the base plate section 3T of the base 3. The first lower projections 1P and the projections 3P can, for example, be configured such that a coil spring is positioned between them. This serves to suppress tilting of the actuating element 1 as it moves downwards. Additionally, the first lower projections 1P and the projections 3P can be configured to act as a stop mechanism to prevent the actuating element 1 from moving downwards excessively.

[0024] The second lower projection 1Q is a section to which the inner fixed section 2C of the bearing element 2 is attached. The third lower projection 1R is a section that holds an intermediate section 4M of the shape memory alloy wire 4. In the example shown, the inner fixed section 2C of the bearing element 2, as shown in Fig. Figure 1 shows a substantially ring-shaped form when viewed from above. The third lower projection 1R is configured to be inserted through a circular through-hole 2H formed in the center of the inner fixed section 2C. The inner fixed section 2C of the bearing element 2 is attached to the actuating element 1 with an adhesive or the like, with the underside of the second lower projection 1Q resting on the top side of the inner fixed section 2C and the third lower projection 1R being inserted through the through-hole 2H.

[0025] A groove 1G is formed on the underside of the third lower projection 1R, extending in a direction perpendicular to the actuation axis OA (X-axis direction). In the illustrated example, the intermediate section 4M of the shape memory alloy wire 4, located between one end (front end) and the other end (rear end) of the shape memory alloy wire 4, is inserted into the groove 1G and fastened to the actuating element 1 with an adhesive or the like.

[0026] Next, with reference to Fig. 3 and Fig. 4 describes the process in which the control device 10 supplies current to the shape memory alloy wire 4 to provide force feedback to an operator when the actuator 1 is actuated (pressed) by the operator (hereinafter referred to as the “force feedback process”). Fig. Figure 3 is a flowchart illustrating an example of the force feedback process. In the example shown, the control device 10 is configured to switch between on and off states, and the force feedback process is executed each time the state is switched from the off state to the on state. The control device 10 is also configured to repeatedly acquire the resistance values ​​(i.e., the electrical resistance values ​​of the shape memory alloy wire 4) acquired by the resistance value acquisition device 12 within a predetermined acquisition period at a predetermined sampling interval.

[0027] Fig. Figure 4 is a cross-sectional view of the input device 100. In particular, it shows Fig. 4 a cross-section of the input device 100 in a virtual plane parallel to the XZ plane, which is the dashed line L1 in the lower diagram of Fig. 1 contains, as seen from the Y2 side. More precisely, the upper diagram shows of Fig. 4 the state of the input device 100 when the actuating element 1 is not pressed down, and the lower diagram of Fig. Figure 4 shows the state of the input device 100 when the actuating element 1 is pressed downwards. Fig. For clarity, Figure 4 shows the force F1 exerted by the operator to push down the control element 1 by a white block arrow and the force F2 exerted by the shape memory alloy wire 4 to push the actuating element 1 back upwards by a black block arrow.

[0028] First, the control device 10 supplies a measuring current to the shape memory alloy wire 4 (step ST1). When the measuring current is supplied, the shape memory alloy wire 4 is held in a straight, stretched state between the front conductive element 5F and the rear conductive element 5B. The measuring current is a current supplied to measure the resistance value R, which represents the electrical resistance of the shape memory alloy wire 4, and has a predetermined magnitude.

[0029] The control device 10 then measures the resistance value R of the shape memory alloy wire 4 (step ST2). In the example shown, the control device 10 measures the resistance value R based on the output of the resistance value sensing device 12.

[0030] The control device 10 then determines whether the resistance value R exceeds a first threshold value TH1 (step ST3). The first threshold value TH1 corresponds to the electrical resistance of the shape memory alloy wire 4 when its length has reached a predetermined first length. This first length is typically longer than the length of the shape memory alloy wire 4 when it is in a straight, stretched state due to the application of the measuring current.

[0031] In particular, as shown in the diagram below Fig. As shown in Figure 4, the intermediate section 4M of the shape memory alloy wire 4 is pulled downwards when the operator presses the actuating element 1 of the input device 100 downwards, thereby stretching the shape memory alloy wire 4. When the length of the shape memory alloy wire 4 reaches the first length, the resistance value R exceeds the first threshold value TH1. At this point, the shape memory alloy wire 4 is, as shown in the lower diagram of Fig. Figure 4 is shown, typically viewed from the side, bent into an essentially V-shape. More precisely, the intermediate section 4M of the shape memory alloy wire 4 moves downwards by a distance DS1 compared to that shown in the upper diagram. Fig. 4. Furthermore, the inner fixed section 2C of the bearing element 2, which is attached to the underside of the second lower projection 1Q of the actuating element 1, moves downwards by a distance DS2, compared to the position shown in the upper diagram. Fig. 4 state shown, as in the lower diagram of Fig. 4 shown. Therefore, the bearing element 2 generates a force (restoring force) that tends to push the actuating element 1 back upwards.

[0032] If it is determined that the resistance value R does not exceed the first threshold TH1 (NO in step ST3), the control device 10 continues to monitor the resistance value R. However, if it is determined that the resistance value R exceeds the first threshold TH1 (YES in step ST3), the control device 10 supplies a first contraction current to the shape memory alloy wire 4 (step ST4). The first contraction current is a current supplied to contract the shape memory alloy wire 4 and is greater than the measuring current.

[0033] When the first contraction current is applied, the shape memory alloy wire 4, which has been bent into a substantially V-shape, contracts and tends to return to a straight, stretched state. As a result, the operator, who pushes the actuating element 1 downwards, receives an upward force F2 from the shape memory alloy wire 4 and can feel force feedback.

[0034] The control device 10 then measures the resistance value R of the shape memory alloy wire 4 (step ST5). As the first contraction current is applied, the control device 10 repeatedly detects the resistance value R of the shape memory alloy wire 4 at a predetermined sampling interval. This wire exhibits a higher temperature than when the measuring current is applied.

[0035] The control device 10 then determines whether the resistance value R exceeds a second threshold value TH2 (step ST6). The second threshold value TH2 is typically greater than the first threshold value TH1 and corresponds to the electrical resistance of the shape memory alloy wire 4 when the wire 4 has reached a predetermined second length under the application of the first contraction current. The second length is typically longer than the first length.

[0036] In particular, when the actuator 1 is pressed further downwards by the operator of the input device 100, the intermediate section 4M of the shape memory alloy wire 4 is pulled further downwards, thereby stretching the shape memory alloy wire 4. When the length of the shape memory alloy wire 4 reaches the second length, the resistance value R exceeds the second threshold value TH2. At this point, the shape memory alloy wire 4 is typically bent into a V-shape when viewed from the side.

[0037] If it is determined that the resistance value R does not exceed the second threshold TH2 (NO in step ST6), the control device 10 continues monitoring the resistance value R. However, if it is determined that the resistance value R exceeds the second threshold TH2 (YES in step ST6), the control device 10 supplies a second contraction current to the shape memory alloy wire 4 (step ST7). The second contraction current is a current supplied to further contract the shape memory alloy wire 4 and is larger than the first contraction current.

[0038] When the second contraction current is applied, the shape memory alloy wire 4 attempts to return to a straight, stretched state with a stronger contraction than when the first contraction current was applied. Therefore, the operator pushing the actuating element 1 downwards experiences a stronger upward force than when the first contraction current was applied and feels a force sensation that differs from that felt when the first contraction current was applied.

[0039] Thus, the control device 10 can provide force feedback to the operator pressing the actuating element 1 by increasing the current supplied to the shape memory alloy wire 4 when the resistance value R of the shape memory alloy wire 4 exceeds a predetermined value. In particular, the control device 10 can provide predetermined force feedback to the operator when the operator has pressed the actuating element 1 along the actuating axis OA by a predetermined distance.

[0040] The control device 10 can be configured to supply a measuring current to the shape memory alloy wire 4 when, during the supply of the first contraction current to the shape memory alloy wire 4, a resistance value R of the shape memory alloy wire 4 falls below a third threshold TH3 (a value that is smaller than a first threshold TH1). This allows the control device to react when the operator stops pressing the actuator 1.

[0041] Furthermore, the control device 10 can also be configured to supply the first contraction current to the shape memory alloy wire 4 if, during the supply of the second contraction current to the shape memory alloy wire 4, the resistance value R of the shape memory alloy wire 4 falls below a fourth threshold TH4 (a value greater than the first threshold TH1 and less than a second threshold TH2). This is intended to allow the control device to respond when the operator reduces the pressure force F1 applied to the actuating element 1.

[0042] Steps ST2 to ST4 or steps ST5 to ST7 can be omitted. This means that the control device 10 can be configured to provide the operator with a single type of force feedback. Conversely, the control device 10 can be configured to provide the operator with three or more types of force feedback.

[0043] Next, with reference to the Fig. 5 and Fig. 6 another example configuration of the force feedback input device 100, namely an input device 100A, is described. Fig. Figure 5 is a diagram illustrating the example configuration of the 100A input device. Specifically, the upper diagram is of Fig. 5 (the diagram above the block arrow) is a perspective exploded view of the 100A input device. The lower diagram of Fig. Figure 5 (the diagram below the block arrow) is a schematic diagram of a force feedback input system SYS, consisting of the control device 10, the energy supply device 11, the resistance value detection device 12 and the input device 100A, and includes a perspective view of the input device 100A in its assembled state.

[0044] Fig. Figure 6 is a perspective cross-sectional view of the input device 100A. In particular, it shows Fig. 6 a cross-section of the input device 100A in a virtual plane parallel to the XZ plane, which is the dashed line L2 in the lower diagram of Fig. 5 contains, as seen from the Y2 side.

[0045] In the Fig. 5 and Fig. In the example shown in Figure 6, the input device 100A comprises an actuating element 1, a base 3, a shape memory alloy wire 4, a conductive element 5, a movable element 6 and a spring element CS.

[0046] The actuating element 1 is an element that receives an actuating force from an operator. In the illustrated example, the actuating element 1 is mounted by the shape memory alloy wire 4 such that the actuating element 1 can move along an actuating axis OA parallel to a first direction (Z-axis direction).

[0047] In particular, the actuating element 1 comprises an upper actuating element 1U, a lower actuating element 1D, and a fastening element 1C. The fastening element 1C is a screw for attaching the lower actuating element 1D to the movable element 6. The upper actuating element 1U is attached to the top of the lower actuating element 1D, which is attached to the movable element 6, by adhesive or the like, and may cover the fastening element 1C.

[0048] The base 3 is an element configured to support the actuating element 1, allowing the base 3 to move in the first direction, and also to support the movable element 6, allowing the base 3 to move in a second direction (X-axis direction) perpendicular to the first direction. In the illustrated example, the base 3 is made of a synthetic resin and comprises a front base 3F and a rear base 3B. The base 3 also has a cavity 3S to accommodate another element (movable element 6). Grooves 3G are formed on the side faces of the base 3 for guiding the shape memory alloy wire 4. Specifically, a front groove 3GF is formed on the side face of the front base 3F, and a rear groove 3GB is formed on the side face of the rear base 3B.

[0049] The shape memory alloy wire 4 is an example of a shape memory actuator and forms a drive unit that drives the actuating element 1 and the moving element 6. In the illustrated example, the temperature of the shape memory alloy wire 4 increases when current flows through it, and the shape memory alloy wire 4 contracts in accordance with the temperature increase. The drive unit can exert force on the actuating element 1 and the moving element 6 by utilizing the contraction of the shape memory alloy wire 4. In the illustrated example, the shape memory alloy wire 4 is a single wire with a left section 4L located on the left side of the moving element 6, a front section 4F located on the front of the moving element 6, and a right section 4R located on the right side of the moving element 6.

[0050] The conductive element 5 is an element for conducting electricity to the shape memory alloy wire 4 and is made of a magnetic metal such as iron. In the illustrated example, the conductive element 5 comprises a metal element 50, an end element 51, and a fastening element 52. The fastening element 52 is a screw for attaching the metal element 50 and the end element 51 to the base 3. Specifically, the conductive element 5 comprises a left conductive element 5L that fastens one end (left end) of the shape memory alloy wire 4, and a right conductive element 5R that fastens the other end (right end) of the shape memory alloy wire 4. The left conductive element 5L comprises a left metal element 50L, a left end element 51L, and a left fastening element 52L. and the right conductive element 5R comprises a right metal element 50R, a right end element 51R and a right fastening element 52R.The left metal element 50L and the left end element 51L are inserted into a recess 3R (in . Fig. 5 (not visible) are inserted into a recess 3R formed on the left side face of the rear base 3B, with the rear end of the left section 4L of the shape memory alloy wire 4 positioned between the two elements, and are secured to the left side face of the rear base 3B by the left fastening element 52L. Similarly, the right metal element 50R and the right end element 51R are inserted into a recess 3R formed on the right side face of the rear base 3B, with the rear end of the right section 4R of the shape memory alloy wire 4 positioned between the two elements, and are secured to the right side face of the rear base 3B by the right fastening element 52R.

[0051] The movable element 6 is configured to move in accordance with the movement of the actuating element 1. In the example shown, the movable element 6 is made of a synthetic resin and is supported by the base 3 such that it can move along a second direction (X-axis direction) perpendicular to the first direction (Z-axis direction).

[0052] The spring element CS is an element configured to exert a force along the second direction (X-axis direction) on the movable element 6. In the example shown, the spring element CS is a helical compression spring. Specifically, the movable element 6 comprises a rear element 60, a middle element 61, a front element 62, and a ring element 63, and the spring element CS comprises a front spring element CSF and a rear spring element CSB.

[0053] The rear element 60 comprises a cylindrical section 60C, a pair of lateral projections 60P projecting laterally from the outer circumferential surface of the cylindrical section 60C, and a substantially rectangular upper projection 60Q projecting upwards from the outer circumferential surface of the cylindrical section 60C. The cylindrical section 60C is provided with a front cavity 60H1 for receiving the rear end of the central element 61 and a rear cavity 60H2 (see Figure 1). Fig. 6) designed to accommodate the rear spring element CSB.

[0054] The central element 61 comprises a column section 61P, a flange section 61F, and a tip section 61T. Specifically, the column section 61P comprises a front column section 61P1, located at the front of the flange section 61F, and a rear column section 61P2, located at the rear of the flange section 61F. The tip section 61T is configured to extend forward from the front end of the front column section 61P1. In the illustrated example, the column section 61P, the flange section 61F, and the tip section 61T are all cylindrical.The diameters of the front column section 61P1 and the rear column section 61P2 are the same, the diameter of the flange section 61F is larger than the diameters of the front and rear column sections 61P1 and 61P2, and the diameter of the tip section 61T is smaller than the diameters of the front and rear column sections 61P1 and 61P2.

[0055] The front element 62 comprises a cylindrical section 62C and a pair of lateral projections 62P that extend laterally from the outer circumferential surface of the cylindrical section 62C. Specifically, the cylindrical section 62C comprises a rear cylindrical section 62C1 located at the rear and a front cylindrical section 62C2 located at the front. In the illustrated example, the cylindrical section 62C is cylindrical, and the diameter of the front cylindrical section 62C2 is larger than that of the rear cylindrical section 62C1. The rear cylindrical section 62C1 is connected to a rear cavity 62H1 (see Figure 1). Fig. 6) formed, which accommodates the front column section 61P1 of the central element 61, and the front cylindrical section 62C2 is formed with a front cavity 62H2 which accommodates the ring element 63. Furthermore, each of the distal end faces of the pair of lateral projections 62P is formed with a groove 62G for guiding the shape memory alloy wire 4.

[0056] The ring element 63 is an element that is attached within the front cavity 62H2 of the front element 62 to the tip section 61T of the middle element 61. In the example shown, the tip section 61T is inserted into the ring element 63, and the ring element 63 and the tip section 61T are fixed with adhesive. Alternatively, the ring element 63 can be screwed onto the tip section 61T of the middle element 61.

[0057] With this configuration, the front element 62 can slide rearward (toward the X2 side) over the front column section 61P1 of the middle element 61, while the front spring element CSF is compressed, as shown in Fig. Figure 6 shows. On the other hand, the ring element 63 can prevent the front element 62 from detaching forward (towards the X1 side) from the front column section 61P1 of the middle element 61.

[0058] In the illustrated example, a cavity 3S (first cavity 3S1), which accommodates the rear spring element CSB and the rear element 60, is formed in front of the rear base 3B. That is, the rear spring element CSB is located within the first cavity 3S1 between the inner bottom surface of the first cavity 3S1 and the inner bottom surface of the rear cavity 60H2 and is configured to be compressed and generate a restoring force when the rear element 60 moves rearward (towards the X2 side) relative to the rear base 3B.

[0059] Similarly, a cavity 3S (second cavity 3S2) is formed behind the front base 3F, which accommodates the front spring element CSF, the middle element 61, and the front element 62. That is, the front spring element CSF is located within the second cavity 3S2 between the flanged section 61F of the middle element 61 and the front cylindrical section 62C2 of the front element 62, and is configured to be compressed and generate a restoring force when the front element 62 moves rearward (toward the X2 side) relative to the middle element 61.

[0060] Furthermore, a cavity 3S (third cavity 3S3) is formed in front of the front base 3F, which accommodates the front element 62, the ring element 63, and the tip section 61T of the central element 61. The front element 62 is configured to move rearward (in the X2 direction) within the third cavity 3S3 when the shape memory alloy wire 4 contracts. In particular, a pair of forward-opening cutout sections 3C are formed in the front base 3F, and the front element 62 is attached to the front base 3F such that the pair of lateral projections 62P engage in the pair of cutout sections 3C.

[0061] Additionally, a pair of window sections 3W is formed on the side surface of the rear base 3B. The pair of window sections 3W is configured such that the pair of lateral projections 60P, which project laterally from the outer circumferential surface of the cylindrical section 60C of the rear element 60, can move in the first direction (Z-axis direction). With this configuration, the rear element 60 can move in the first direction (Z-axis direction) within the rear base 3B without the lateral projections 60P contacting the rear base 3B. The lateral projections 60P can engage in the intermediate section 4M of the shape memory alloy wire 4 within the window sections 3W, thereby pulling the shape memory alloy wire 4 downwards.

[0062] Next, with reference to the Fig. 7 and Fig. 8 describes the movement of each element when the operator pushes down the actuating element 1 of the input device 100A. Fig. Figure 7 is a right-side view of the 100A input device. In particular, the upper diagram is shown in Figure 7. Fig. 7 a right side view of the input device 100A when the actuator 1 is not pressed, and the lower diagram in Fig. Figure 7 is a right-side view of the input device 100A when the actuator 1 is pressed. For clarification, in Fig. 7 a fine cross pattern on the actuating element 1, a fine dot pattern on the shape memory alloy wire 4, a grid pattern on the rear element 60, a horizontal stripe pattern on the middle element 61, and a coarse cross pattern on the front element 62. Furthermore, in Fig. 7 For clarification, the force F1 exerted by the operator to push the actuating element 1 downwards is represented by a white block arrow.

[0063] Fig. Figure 8 is a cross-sectional view of the 100A input device. More precisely, it is Fig. 8 a view of the cross-section of the input device 100A in a virtual plane parallel to the XZ plane, which is the dashed line L2 in the lower diagram of Fig. 5 contains, as seen from the Y2 side, and corresponds to the perspective section view of Fig. 6. More precisely, the upper diagram is of Fig. Figure 8 shows a cross-sectional view of the input device 100A when the actuator 1 is not pressed, and corresponds to the diagram above. Fig. 7. The lower diagram of Fig. Figure 8 is a cross-sectional view of the input device 100A when the actuator 1 is pressed, and corresponds to the lower diagram of Fig. 7. In addition, there are in Fig. Figure 8 omits the front spring element CSF and the rear spring element CSB for clarity. Furthermore, the force F1 exerted by the operator to press down the actuating element 1 is represented by a white block arrow for clarity.

[0064] As shown in the diagram below Fig. As shown in Figure 7, the rear element 60 of the movable element 6, to which the actuating element 1 is attached, also moves downwards, together with the actuating element 1, when the actuating element 1 is pressed downwards by the operator and moves downwards by a distance DS1. As shown in the lower diagram of Fig. As shown in Figure 8, the rear element 60 moves downwards as it slides on the rear side of the flange section 61F of the middle element 61. At this point, the middle element 61 does not move downwards because its downward movement is restricted by the front element 62. The front element 62 is prevented from moving downwards by the inner circumferential surface of the third cavity 3S3 of the front base 3F. Consequently, as shown in the lower diagram of Fig. As shown in Figure 8, a gap GP1 between the inner circumferential surface of the first cavity 3S1 of the rear base 3B and the upper end of the outer circumferential surface of the cylindrical section 60C of the rear element 60 is larger, while a gap GP2 between the inner circumferential surface of the front cavity 60H1 of the cylindrical section 60C and the upper end of the outer circumferential surface of the rear column section 61P2 of the middle element 61 becomes smaller. Therefore, as shown in the lower diagram of Fig. As shown in Figure 7, the lateral projection 60P, which extends to the right from the outer circumferential surface of the cylindrical section 60C of the rear element 60, engages the intermediate section 4M of the right section 4R of the shape memory alloy wire 4 within the window 3W formed in the side surface of the rear base 3B, pulls the intermediate section 4M downwards by a distance DS2, and deforms the intermediate section 4M within the window section 3W into a V-shape. The intermediate section 4M is located between the rear end and the front end (the section connected to the front section 4F) of the right section 4R of the shape memory alloy wire 4. The same applies to the left section 4L of the shape memory alloy wire 4 (in Figure 7). Fig. 7 not visible).

[0065] When the intermediate section 4M is pulled downwards by the distance DS2, the front section 4F of the shape memory alloy wire 4 tends to move backwards by a distance DS3. As a result, the front element 62 is pulled backwards (towards the X2 side) by the front section 4F of the shape memory alloy wire 4 and moves backwards. As the front element 62 moves backwards, the front spring element CSF (see Fig. 8) between the rear of the front cylindrical section 62C2 of the front element 62 and the front of the flanged section 61F of the middle element 61. In addition, the middle element 61 is pushed rearward by the front spring element CSF and moves rearward, and the rear element 60 is pushed rearward by the middle element 61 and moves rearward by a distance DS4, while it compresses the rear spring element CSB between the rear element 60 and the rear base 3B.

[0066] Furthermore, the control device 10 can supply the first contraction current to the shape memory alloy wire 4 when the actuating element 1 has moved downwards by the distance DS1. When the first contraction current is supplied, the shape memory alloy wire 4 contracts and, similar to the downward pull of the intermediate section 4M, attempts to move the front section 4F backwards. Therefore, as in the case where the intermediate section 4M is pulled downwards, the spring elements CS (the front spring element CSF and the rear spring element CSB) are compressed, and the movable element 6 (the front element 62, the middle element 61, and the rear element 60) moves backwards.

[0067] That is, similar to input device 100, when the first contraction current is applied, the intermediate section 4M in input device 100A, which has been bent into an approximate V-shape, contracts and attempts to return to a straight, stretched state, as shown in the diagram above. Fig. Figure 7 illustrates this. Therefore, the operator who pushes the control element 1 downwards receives an upward force from the shape memory alloy wire 4 and can feel force feedback. Furthermore, when the first contraction current is applied, in input device 100A, the intermediate section 4M, which has been bent into an approximate V-shape, contracts and attempts to return to a straight, stretched state, thereby attempting to pull the front section 4F backwards. As a result, the operator who pushes the actuating element 1 downwards receives a backward force from the shape memory alloy wire 4 and can feel force feedback. In input device 100A, the direction of movement of the moving element 6 (X-axis direction) and the contraction direction of the shape memory alloy wire 4 (X-axis direction) are identical.Therefore, the movement path of the rear element 60 (of the actuating element 1) of the movable element 6 in the X-axis direction, caused by the contraction of the shape memory alloy wire 4, is greater than the movement path of the rear element 60 (of the actuating element 1) of the movable element 6 in the Z-axis direction, caused by the contraction of the shape memory alloy wire 4. Consequently, the operator who pushes the actuating element 1 of the input device 100A downwards experiences stronger force feedback than in the case of the input device 100.

[0068] Similar to the input device 100, the control device 10 in input device 100A can also provide force feedback to the operator pressing the actuating element 1 by increasing the current supplied to the shape memory alloy wire 4 when the resistance value R of the shape memory alloy wire 4 exceeds a predetermined value. In particular, the control device 10 can provide predetermined force feedback to the operator when the operator presses the actuating element 1 by a predetermined distance along the actuating axis OA.

[0069] Next, with reference to Fig. 9 another example of a configuration of the force feedback input device 100, namely an input device 100B, is described. Fig. Figure 9 is a diagram showing an example configuration of the 100B input device. Specifically, the upper diagram is of Fig. Figure 9 (the diagram above the block arrow) is a perspective exploded view of the 100B input device. The lower diagram of Fig. Figure 9 (the diagram below the block arrow) is a schematic diagram of a force feedback input system SYS consisting of the control device 10, the energy supply device 11, the resistance value detection device 12 and the input device 100B, and includes a perspective view of the input device 100B in its assembled state.

[0070] In the Fig. In the example shown in Figure 9, the input device 100B comprises an actuating element 1, a bearing element 2, a base 3, a shape memory alloy wire 4, a conductive element 5 and a cover element 7.

[0071] The actuating element 1 is an element that receives an actuating force from the operator. In the illustrated example, the actuating element 1 is made of a synthetic resin and is supported by the bearing element 2 such that it is movable along an actuating axis OA parallel to a first direction (Z-axis direction).

[0072] In the input device 100B, the actuating element 1 comprises a substantially rectangular parallelepiped main body 1M, a substantially cylindrical base section 1N configured to project upward from the center of the top of the main body 1M, and a substantially hemispherical upper projection 1B configured to project upward from the center of the top of the base section 1N. The main body 1M is provided with a through-hole 1H for guiding the shape memory alloy wire 4, the through-hole 1H extending through the main body 1M in the X-axis direction. In particular, the through-hole 1H comprises an upper through-hole 1HU and a lower through-hole 1HD, which is provided at a position below the upper through-hole 1HU.

[0073] The bearing element 2 is an element arranged between the actuating element 1 and the base 3 and is configured to elastically support the actuating element 1. In the illustrated example, the bearing element 2 is a leaf spring formed from a non-magnetic material, and the bearing element 2 comprises an inner fixed section 2C, an outer fixed section 2E, and elastic arm sections 2G. The inner fixed section 2C is the section attached to the actuating element 1, the outer fixed section 2E is the section attached to the base 3, and the four elastic arm sections 2G are elastically deformable sections connecting the inner fixed section 2C and the outer fixed section 2E.

[0074] The base 3 is an element that supports the bearing element 2. In the illustrated example, the base 3 is formed from a synthetic resin and has a substantially rectangular, parallelepiped outer shape. Specifically, the base 3 is an open-topped, box-shaped element with a circumferential wall section 3A and a bottom plate section 3T. Within the circumferential wall section 3A, a substantially rectangular annular base section 3D and a recess 3R for receiving the conductive element 5 are provided. Inside the substantially rectangular annular base section 3D, a cavity 3S for receiving the actuating element 1 is provided. The outer fixed section 2E of the bearing element 2 is attached to the base 3 with adhesive or the like when it is placed on the base section 3D.

[0075] The shape memory alloy wire 4 is an example of a shape memory actuator and forms a drive unit that drives the actuating element 1. In the illustrated example, the temperature of the shape memory alloy wire 4 rises when current flows through it, and it contracts accordingly. The drive unit can exert a force on the actuating element 1 by utilizing the contraction of the shape memory alloy wire 4.

[0076] In particular, the shape memory alloy wire 4 comprises an upper wire 4U, which is inserted through the upper through-hole 1HU of the actuating element 1, and a lower wire 4D, which is inserted through the lower through-hole 1HD of the actuating element 1. Furthermore, the shape memory alloy wire 4 is movably arranged in the vertical direction within a pair of slots 3SL formed in the wall section of the base section 3D of the base 3.

[0077] The conductive element 5 is a component for supplying power to the shape memory alloy wire 4 and is made of a magnetic metal such as iron. In the illustrated example, the conductive element 5 comprises a metal element 50, an end element 51, and a fastening element 52. Specifically, the conductive element 5 comprises an upper front conductive element 5UF that secures one end (front end) of the upper wire 4U, an upper rear conductive element 5UB that secures the other end (rear end) of the upper wire 4U, a lower front conductive element 5DF that secures one end (front end) of the lower wire 4D, and a rear lower conductive element 5DB that secures the other end (rear end) of the lower wire 4D. The upper front conductive element 5UF comprises an upper front metal element 50UF, an upper front end element 51UF, and an upper front fastening element 52UF.The upper rear conductive element 5UB comprises an upper rear metal element 50UB, an upper rear end element 51UB, and an upper rear fastening element 52UB. Similarly, the lower front conductive element 5DF comprises a lower front metal element 50DF, a lower front end element 51DF, and a lower front fastening element 52DF, while the lower rear conductive element 5DB comprises a lower rear metal element 50DB, a lower rear end element 51DB, and a lower rear fastening element 52DB. The upper front metal element 50UF and the upper front end element 51UF are inserted into the upper front recess 3RUF formed in the upper front section of the base 3, with the front end section of the upper wire 4U positioned between the two elements, and are secured to the upper front section of the base 3 by the upper front fastening element 52UF.Similarly, the upper rear metal element 50UB and the upper rear end element 51UB are inserted into the upper rear recess 3RUB formed in the upper rear section of the base 3, with the rear end section of the upper wire 4U positioned between the two elements, and are secured to the upper rear section of the base 3 by the upper rear fastener 52UB. Likewise, the lower front metal element 50DF and the lower front end element 51DF are inserted into the lower front recess 3RDF formed in the lower front section of the base 3, with the front end section of the lower wire 4D positioned between the two elements, and are secured to the lower front section of the base 3 by the lower front fastener 52DF. The lower rear metal element 50DB and the lower rear end element 51DB are inserted into the lower rear recess 3RDB (in . . Fig. 9 not visible) inserted, which is formed in the lower rear section of the base 3, wherein the rear end section of the lower wire 4D is arranged between the two elements, and are fastened to the lower rear fastening element 52DB on the lower rear section of the base 3.

[0078] The cover element 7 is a component arranged to cover the top of the base 3. In the illustrated example, the cover element 7 is a plate-shaped metal element with a circular opening 7K in its central section, through which the upper projection 1B of the actuating element 1 can pass. Through-holes 7H are also formed at the front right corner and the rear left corner of the cover element 7. Cylindrical projections 3P, designed to extend upward from the top of the base 3, are inserted into the through-holes 7H. The connection between the base 3 and the cover element 7 is established, for example, by crimping the projections 3P inserted into the through-holes 7H.Alternatively, the connection between the base 3 and the cover element 7 can also be made by applying an adhesive to the projections 3P inserted into the through holes 7H.

[0079] Next, with reference to Fig. 10 describes the movement of the respective components when the actuator 1 of the input device 100B is pressed downwards by the operator. Fig. Figure 10 is a sectional view of the 100B input device. In particular, it is Fig. 10 A view of a cross-section of the input device 100B, taken from the Y2 side, in a virtual plane parallel to the XZ plane, which is the dashed line L3 in the lower diagram of Fig. 9 contains. More precisely, the upper diagram is of Fig. 10 a sectional view of the input device 100B when the actuator 1 is not pressed, the middle diagram of Fig. 10 a sectional view of the input device 100B when the actuator 1 is pressed, and the lower diagram of Fig. 10 A sectional view of the input device 100B when the actuator 1 is pressed further. In Fig. For clarity, the forces F1 and F3 exerted by the operator to push the actuating element 1 downwards are represented by white block arrows, and the forces F2 and F4 exerted by the shape memory alloy wire 4 to move the actuating element 1 in the vertical direction are represented by black block arrows.

[0080] As in the middle diagram of Fig. As shown in Figure 10, the upper wire 4U is pulled downwards and stretched by the downward-moving actuator 1 when the actuator 1 is pushed downwards by the operator's force F1 and moves downwards by a distance DS1. This is because, in the state where the actuator 1 is not pressed, as in the upper diagram of Figure 10, the upper wire 4U is pulled downwards and stretched by the downward-moving actuator 1. Fig. As shown in Figure 10, both ends (the front end and the rear end) of the upper wire 4U are positioned higher than an intermediate section 4UM located between the front and rear ends, and the downward movement of the intermediate section 4UM increases the height difference between the intermediate section 4UM and each of the front and rear ends. Conversely, the tension on the lower wire 4D decreases when the actuator 1 moves downward. This is because, in the state where the actuator 1 is not pressed, as shown in the diagram above, Fig. As shown in Figure 10, both ends (the front end and the back end) of the lower wire 4D are lower than an intermediate section 4DM located between the front and back ends, and the downward movement of the intermediate section 4DM reduces the height difference between the intermediate section 4DM and each of the front and back ends. In the middle diagram of Fig. Figure 10 shows, for clarity, the positions of the lower wire 4D and the upper wire 4U when the actuating element 1 is not pressed, indicated by dashed lines. The same applies to the lower diagram of Figure 10. Fig. 10.

[0081] When the actuator 1 has moved downwards by the distance DS1, the control device 10 can supply an initial contraction current to the upper wire 4U. When the initial contraction current is supplied, the upper wire 4U contracts and generates an upward force F2, which pushes the actuator 1 back upwards. Accordingly, the operator who pushes the actuator 1 downwards receives an upward force generated by the upper wire 4U and can experience force feedback.

[0082] Then, as shown in the diagram below Fig. As shown in Figure 10, when the actuator 1 is pushed further downwards by the operator's force F3 and moves downwards by an additional distance DS2, the control device 10 can supply a second contraction current to the lower wire 4D. Since the force F3 in the illustrated example is a force that pushes the actuator 1 further downwards while a first contraction current is supplied to the upper wire 4U, the force F3 is greater than the force F1. In the illustrated example, the supply of the first contraction current to the upper wire 4U is discontinued at this point. When the second contraction current is supplied, the lower wire 4D contracts and generates a downward force F4, which pulls the actuator 1 further downwards.Accordingly, the actuating element 1 receives a downward force generated by the lower wire 4D, and the operator pushing the actuating element 1 downwards may experience force feedback that differs from the force feedback felt when receiving the upward force from the upper wire 4U. In particular, the operator may feel that the force required to push the actuating element 1 suddenly decreases.

[0083] In the input device 100B, the control device 10 can be configured to supply a measuring current to the upper wire 4U to measure a resistance value of the upper wire 4U, and to detect a position of the actuator 1 based on the resistance value. However, the control device 10 can instead be configured to supply a measuring current to the lower wire 4D to measure a resistance value of the lower wire 4D, and to detect the position of the actuator 1 based on the resistance value.The control device 10 can further be configured to detect that the actuator 1 has moved downwards by the distance DS1 by supplying a measuring current to the upper wire 4U to measure a resistance value of the upper wire 4U, and to detect that the actuator 1 has moved downwards by the distance DS2 by supplying a measuring current to the lower wire 4D to measure a resistance value of the lower wire 4D. Alternatively, the control device 10 can be configured to detect that the actuator 1 has moved downwards by the distance DS1 by supplying a measuring current to the lower wire 4D to measure a resistance value of the lower wire 4D, and to detect that the actuator 1 has moved downwards by the distance DS2 by supplying a measuring current to the upper wire 4U to measure a resistance value of the upper wire 4U.

[0084] As described above, an input device 100 according to an embodiment of the present disclosure is a force feedback input device and comprises, as described in Fig. Figure 1 shows a base 3, an actuating element 1 mounted so that it is movable in a first direction (the Z-axis direction, i.e., the vertical direction) relative to the base 3, a shape memory alloy wire 4 whose length changes when the actuating element 1 moves to one side in the first direction (the Z2 side, i.e., the bottom side), and a control device 10 electrically coupled to the shape memory alloy wire 4 and configured to change a current flowing through the shape memory alloy wire 4 when the actuating element 1, moving to one side (the Z2 side), reaches a first position (shown in the lower diagram of Figure 1). Fig. 4 position shown) is reached, thereby changing the length of the shape memory alloy wire 4. The control device 10 is configured to supply a measuring current to the shape memory alloy wire 4 in order to measure a resistance value R of the shape memory alloy wire 4, and to detect a position of the actuating element 1 based on the resistance value R.

[0085] In this configuration, the shape memory alloy wire 4 functions not only as a drive unit that drives the actuator 1, but also as a position sensing unit for detecting the position of the actuator 1 in the first direction (Z-axis direction). This is because the control device 10 can detect the length of the shape memory alloy wire 4 by measuring its resistance value R and, by detecting the length of the shape memory alloy wire 4, can detect the position of the actuator 1 in the first direction (Z-axis direction). Accordingly, this configuration allows the position of the actuator 1 to be detected in the first direction (Z-axis direction) without the need for a separate position sensor, thus simplifying the structure of the input device 100.In other words, with this configuration it is possible to determine whether actuating element 1 has been pressed or not, without using a position sensor.

[0086] Furthermore, the control device 10 can pulse-change the current flowing through the shape memory alloy wire 4 when the actuating element 1 is in the first position (shown in the lower diagram of Fig. 4 position shown) is reached, causing the shape memory alloy wire 4 to be contracted intermittently.

[0087] This configuration allows, for example, the operator to feel as if actuator 1 is vibrating when it is pressed a predetermined distance. In other words, this configuration allows the operator to easily recognize that actuator 1 has been pressed the predetermined distance.

[0088] Furthermore, the control device 10 can modify a current flowing through the shape memory alloy wire 4 to contract the shape memory alloy wire 4 when the actuating element 1, which is positioned above the first position (shown in the lower diagram of Fig. (4 position shown) has moved further towards one side (Z2 side, bottom) and reached a second position.

[0089] This configuration allows the operator, for example, to feel a force that differs from the force felt when actuator 1 is pressed into the first position when actuator 1 is pressed into the second position in the first direction (Z-axis direction). This makes it easy for the operator to distinguish whether they have pressed actuator 1 into the first or second position.

[0090] Furthermore, in another configuration of the input device 100, the input device 100A can include a movable element 6 which is mounted such that it is movable in a second direction (X-axis direction, front-back direction) that intersects the first direction (Z-axis direction, up-down direction) relative to the base 3, as shown in the Fig. 5 and Fig. Figure 6 shows that in this case, the actuating element 1 can be mounted such that it is movable in the first direction (Z-axis direction) with respect to the movable element 6 (middle element 61), as shown in the lower diagram. Fig. 8 shown. Furthermore, the shape memory alloy wire 4, as shown in the lower diagram of Fig. Figure 7 shows a first section (rear end of right section 4R) attached to base 3 (rear base 3B) and a second section (front end of right section 4R, front section 4F) attached to the movable element 6 (front element 62). The wire can be configured such that contraction of the shape memory alloy wire 4 moves the movable element 6 to one side in the second direction (X2-side, rear). Furthermore, the actuating element 1, moving to one side (Z2-side) in the first direction (Z-axis direction), can contact an intermediate section 4M of the shape memory alloy wire 4 between the first section (rear end of right section 4R) and the second section (front end of right section 4R), thereby pulling and stretching the shape memory alloy wire 4.In the example shown, the actuating element 1 is configured to move the rear element 60, which forms the movable element 6, downwards together with the actuating element 1. The rear element 60 is configured to engage the intermediate section 4M of the shape memory alloy wire 4 with a pair of lateral projections 60P and pulls the intermediate section 4M downwards as the rear element 60 moves downwards.

[0091] This configuration allows the force with which the actuator 1 pulls the intermediate section 4M of the shape memory alloy wire 4 downwards to be converted into a force that moves the movable element 6 backwards. Therefore, this configuration allows the operator to perceive a force that differs from the force felt in a configuration without the movable element 6. Furthermore, this configuration typically allows the operator to perceive a stronger force than in a configuration without the movable element 6. This is because, for the same contraction of the shape memory alloy wire 4, the distance of movement of the movable element 6 in the X-axis direction is generally greater than the distance of movement of the actuator 1 in the Z-axis direction.

[0092] The shape memory alloy wire 4 can comprise a first shape memory alloy wire (upper wire 4U) and a second shape memory alloy wire (lower wire 4D), as shown in Fig. 9 shown.

[0093] This configuration has the effect that the operator can perceive a force that differs from the force achieved when using a single shape memory alloy wire 4. For example, this configuration can convey a greater force to the operator than the force achieved when using a single shape memory alloy wire 4. The shape memory alloy wire 4 can also be configured with three or more shape memory alloy wires.

[0094] The control device 10 can be configured to contract the first shape memory alloy wire (upper wire 4U) by changing a current flowing through the first shape memory alloy wire when the actuating element 1, moving to one side (Z2 side, downwards), reaches the first position (shown in the middle diagram of Fig. 10), and to contract the second shape memory alloy wire (lower wire 4D) by changing a current flowing through the second shape memory alloy wire when the actuating element 1, which continues to move to one side (Z2 side, downwards), reaches the second position (shown in the lower diagram of Fig. 10) reached.

[0095] This configuration has the effect that the force felt when the actuator 1 reaches the first position can be distinguished from the force felt when the actuator 1 reaches the second position. Therefore, this configuration can be used, for example, to implement a camera where the operator can easily distinguish between a half-pressed and a fully pressed trigger (an application of the input device 100).

[0096] The preferred embodiments of the present invention have been described in detail. However, the present invention is not limited to the embodiments described above. Various modifications or substitutions can be applied to the embodiments described above without departing from the scope of the present invention. Furthermore, the individual features described with reference to the embodiments described above can be combined in a suitable manner, provided there is no technical conflict.

[0097] For example, in the reference to Fig.The input device 100B described in section 9 shall be configured to alternately change the current flowing through the first shape memory alloy wire (upper wire 4U) and the current flowing through the second shape memory alloy wire (lower wire 4D) when the actuating element 1 has moved downwards by the distance DS2 and has reached the second position.

[0098] The present international application claims priority over Japanese patent application 2023-121649, which was filed on July 26, 2023, and the entire contents of which are hereby incorporated by reference. Reference symbol list 1 actuating element 1B upper overhang 1C Fastener 1D lower actuating element 1G Nut 1H Through hole 1HD lower through hole 1HU upper through hole 1M body section 1N Base Section 1P first lower lead 1Q second lower lead 1R third lower lead 1U upper actuating element 1T flat plate section 2 bearing element 2C inner solid section 2E outer fixed section 2G elastic arm section 2H through hole 3 Basic 3A outer perimeter wall section 3B rear base 3C section 3D base section 3F front base 3G Nut 3GB rear slot 3GF front groove 3H1 through hole 3H2 non-through hole 3P lead 3R Deepening 3RDB lower rear recess 3RDF lower front recess 3RUB upper rear recess 3RUF upper front recess 3S cavity 3S1 first cavity 3S2 second cavity 3S3 third cavity 3SL slot 3T base plate section 3W window section 4 Shape memory alloy wire 4D lower wire 4F front section 4L left section 4M Intermediate Section 4R right section 4U upper wire 5 conductive element 5B rear conductive element 5DB lower rear conductive element 5DF lower front conductive element 5E Peak Section 5F front conductive element 5L left conductive element 5R right conductive element 5T End Section 5UB upper rear conductive element 5UF upper front conductive element 6 movable element 7 Cover element 7H Through hole 7K opening 10 Control device 11 Energy supply device 12 Resistance value detection device 50 metal elements 50dB lower rear metal element 50DF lower front metal element 50L left metal element 50R right metal element 50UB upper rear metal element 50UF upper front metal element 51 End element 51DB lower rear end element 51DF lower front end element 51L left end element 51R right end element 51UB upper rear end element 51UF upper front end element 52 Fastening element 52DB lower rear mounting element 52DF lower front mounting bracket 52L left mounting element 52R right mounting element 52UB upper rear mounting element 52UF upper front mounting element 60 rear element 60C cylindrical section 60H1 front cavity 60H2 rear cavity 60p lateral advantage 60Q upper edge 61 middle element 61F flange section 61P Column Section 61P1 front column section 61P2 rear column section 61T peak section 62 front element 62C cylindrical section 62C1 rear cylindrical section 62C2 front cylindrical section 62G Nut 62H1 rear cavity 62H2 front cavity 62P lateral advantage 63 Ring element 100, 100A, 100B Input device CS spring element CSB rear spring element CSF front spring element SYS force feedback input system QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] JP 2020-035143

[0003] JP 2023-121649

[0098]

Claims

[1] A force feedback input device comprising: a base; an actuating element which is mounted in such a way that it is movable in a first direction relative to the base; a shape memory alloy wire whose length changes when the actuating element moves to one side in the first direction; and a control device electrically connected to the shape memory alloy wire, wherein the control device is configured to change a current flowing through the shape memory alloy wire in order to change a length of the shape memory alloy wire when the actuating element moving to one side reaches a first position, wherein the control device supplies a measuring current to the shape memory alloy wire to measure a resistance value of the shape memory alloy wire, and detects a position of the actuating element based on the resistance value. [2] The force feedback input device according to claim 1, wherein the control device pulse-changes the current flowing through the shape memory alloy wire in order to pulse-tighten the shape memory alloy wire when the actuating element moving to one side reaches the first position. [3] The force feedback input device according to claim 1, wherein the control device changes the current flowing through the shape memory alloy wire in order to change a length of the shape memory alloy wire when the actuating element, after moving further towards one side beyond the first position, reaches a second position. [4] The force feedback input device according to claim 1, further comprising: a movable element that is mounted in such a way that it is movable relative to the base in a second direction that intersects the first direction, wherein the actuating element is mounted in such a way that it is movable relative to the moving element in the first direction; the shape memory alloy wire has a first section attached to the base and a second section attached to the moving element and is configured to move the moving element to one side in the second direction when the shape memory alloy wire contracts; and The actuating element, which moves in the first direction to one side, touches an intermediate section of the shape memory alloy wire between the first section and the second section in order to pull and stretch the shape memory alloy wire. [5] The force feedback input device according to claim 1, wherein the shape memory alloy wire comprises a first shape memory alloy wire and a second shape memory alloy wire. [6] The force feedback input device according to claim 5, wherein the control device changes the current flowing through the first shape memory alloy wire to contract the first shape memory alloy wire when the actuating element moving to one side reaches the first position, and changes the current flowing through the second shape memory alloy wire to contract the second shape memory alloy wire when the actuating element moving further to one side reaches a second position.

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