Tactile sense presentation system, tactile sense information receiving device, and tactile sense information transmitting / receiving device

Abstract

To provide a tactile sense presentation system, a tactile sense information receiving device, a tactile sense information transmitting device, and a tactile sense information transmitting / receiving device capable of conveying a person's thoughts and feelings to a partner through a tactile sense even between distant places.SOLUTION: A pair of tactile sense information transmitting / receiving devices 10 included in a tactile sense presentation system 1 of the present invention includes: a contact surface 12a that contacts a human body; a detection unit that detects tactile sense information when the contact surface touches the human body; a transmitting unit that transmits the tactile sense information detected by the detection unit to the outside; an output unit that receives the tactile sense information and outputs sense imparting information corresponding to the tactile sense information; a first structure 11 having a first contact surface 11a on which one surface of a hand is placed; and a second structure 12 having a second contact surface 12b that is disposed facing the first contact surface 11a with a gap therebetween and covers and contacts the other surface of the hand placed on the first contact surface 11a. The output unit is provided on one of the first structure 11 and the second structure.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a tactile presentation system, a tactile information receiving device, and a tactile information transmitting and receiving device, and particularly to a tactile presentation system, a tactile information receiving device, and a tactile information transmitting and receiving device capable of transmitting tactile information when contacting a human body.

Background Art

[0002] Conventionally, as tools used when people communicate with each other, electronic devices capable of transmitting and receiving image data in addition to voice data, such as mobile terminals and general-purpose computers, are known. According to such electronic devices, even when the other party is in a distant location, it is possible to have a conversation while seeing the other party's expression and the like, so that smooth communication can be achieved.

[0003] By the way, when people communicate face to face, not only vision (e.g., facial expressions) and hearing (e.g., the content of the conversation), but also through touch (e.g., body touch), it is possible to convey the person's intention to the other party. In such communication between people through touch, depending on the situation and the like, there are many cases where the person's intention can be shown to the other party more effectively than methods appealing to vision and hearing.

[0004] Therefore, various technologies have been proposed that can transmit information related to the sense of touch in the same manner as vision and hearing even in an environment where direct contact with the other party is not possible. Such technologies include, for example, the technology described in Patent Document 1.

[0005] The technology described in Patent Document 1 is an information transmission system comprising a first hand information acquisition unit that acquires first hand information including first texture information such as the hardness of the hand and pulse of a first person, and a first hand information reproduction unit (robot arm) that reproduces the texture of the first person's hand based on the first texture information contained in the first hand information. With such technology, by shaking hands through a robot hand that has grip strength, temperature and softness like a human hand, it becomes possible to feel the presence of the other person as if in a face-to-face environment, enabling highly realistic communication. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2015-142145 [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] Incidentally, when people express feelings of consideration or gratitude to someone face-to-face, they sometimes place their hand on the back of the other person's hand and stroke it. This is because feeling the warmth of each other's hands naturally relieves tension and shyness, making it easier to convey one's thoughts and feelings to the other person.

[0008] Therefore, there has been a desire to develop technology that can transmit such tactile sensations to others even when people are communicating from different locations.

[0009] However, as mentioned above, the technology described in Patent Document 1 is configured to allow people in different locations to communicate by shaking hands via a robotic arm. Generally, a handshake is an action performed when people meet or part ways, and is used as a greeting or to express joy, so it has a strong social connotation. In other words, while the technology described in Patent Document 1 can convey goodwill to the other person, it is difficult to convey the person's thoughts, feelings, and other emotional aspects.

[0010] The present invention relates to providing a tactile presentation system, a tactile information receiving device, and a tactile information transmitting and receiving device that can overcome the drawbacks of the prior art described above. [Means for solving the problem]

[0011] The present invention relates to a tactile information transmission device having a transmitting-side contact surface that comes into contact with the human body, a transmitting-side detection unit that detects tactile information when the human body comes into contact with the transmitting-side contact surface, and a transmitting-side transmission unit that transmits the tactile information, and a tactile information receiving device having a receiving-side first output unit that receives the tactile information transmitted from the transmitting-side transmission unit and outputs sensory information corresponding to the tactile information. In one embodiment, the tactile information receiving device preferably comprises a first structure having a first contact surface that contacts one side of the hand, and a second structure having a second contact surface that is positioned opposite the first contact surface with a gap between them, and that covers and contacts the other side of the hand opposite to the side in contact with the first contact surface. In one embodiment, it is preferable that the first structure and the second structure are connected, and that the distance between the first contact surface and the second contact surface can be increased or decreased. In one embodiment, it is preferable that the receiving-side first output unit is provided in one of the first structure and the second structure.

[0012] Furthermore, the present invention relates to a tactile information receiving device having an output unit that receives tactile information and outputs sensory information corresponding to the tactile information. In one embodiment, the tactile information receiving device preferably comprises a first structure having a first contact surface that contacts one side of the hand, and a second structure having a second contact surface that is positioned opposite the first contact surface with a gap between them, and that covers and contacts the other side of the hand opposite to the side in contact with the first contact surface. In one embodiment, it is preferable that the first structure and the second structure are connected, and that the distance between the first contact surface and the second contact surface can be increased or decreased. In one embodiment, it is preferable that the output unit is provided in one of the first and second structures.

[0013] Furthermore, the present invention relates to a tactile information transmission and reception device for transmitting and receiving tactile information. In one embodiment, the tactile information transmitting and receiving device preferably comprises: a detection contact surface that comes into contact with the human body; a detection unit that detects the tactile information when the human body comes into contact with the detection contact surface; a transmission unit that transmits the tactile information detected by the detection unit to the outside; an output unit that receives the tactile information transmitted from the outside and outputs sensory information corresponding to the tactile information; a first structure having a first contact surface that comes into contact with one side of the hand; and a second structure having a second contact surface that is positioned opposite to the first contact surface with a gap between them and the first contact surface, and that covers and contacts the other side of the hand opposite to the side that is in contact with the first contact surface. In one embodiment, it is preferable that the first structure and the second structure are connected, and that the distance between the first contact surface and the second contact surface can be increased or decreased. In one embodiment, it is preferable that the output unit is provided in one of the first and second structures. In one embodiment, it is preferable that the detection contact surface is provided on the side of the second structure opposite to the second contact surface. [Effects of the Invention]

[0014] According to the tactile presentation system, tactile information receiving device, and tactile information transmitting / receiving device of the present invention, even between remote locations, it is possible to convey a person's thoughts and feelings to the other party through touch.

Brief Description of the Drawings

[0015] [Figure 1] FIG. 1 is a perspective view showing an embodiment of a tactile information transmitting / receiving device according to the present invention. [Figure 2] FIG. 2 is a perspective view of the tactile information transmitting / receiving device of FIG. 1 viewed from the insertion direction. [Figure 3] FIG. 3 is a block diagram showing an embodiment of a tactile presentation system according to the present invention. [Figure 4] FIG. 4 is a side view showing a first structure constituting the tactile information transmitting / receiving device. [Figure 5] FIG. 5 is a perspective view showing the arrangement relationship between a second structure and a detection unit constituting the tactile information transmitting / receiving device. [Figure 6] FIG. 6 is a perspective view showing the arrangement relationship between a second structure and an output unit constituting the tactile information transmitting / receiving device. [Figure 7] FIG. 7 is a plan view showing the usage state of the tactile information transmitting / receiving device. [Figure 8] FIG. 8 is a cross-sectional view showing a modified example of a detection unit constituting the tactile information transmitting / receiving device. [Figure 9] FIG. 9 is a perspective view showing a tactile information transmitting / receiving device according to a second embodiment. [Figure 10] FIG. 10 is a cross-sectional perspective view of the tactile information transmitting / receiving device of FIG. 9. [Figure 11] FIG. 11 is an exploded perspective view of the tactile information transmitting / receiving device of FIG. 9. [Figure 12] FIG. 12 is a side view of the tactile information transmitting / receiving device of FIG. 9, where (a) shows a state where it is positioned at the minimum distance and (b) shows a state where it is positioned at the maximum distance. [Figure 13]Figure 13 is a perspective view showing an information transmission and reception device equipped with a connecting member different from the connecting member in Figure 9. [Figure 14] Figure 14 is a perspective view showing an information transmission and reception device equipped with a connecting member different from the connecting member in Figure 13. [Figure 15] Figure 15 is a perspective view showing a modified example of the haptic information transmission and reception device shown in Figure 9. [Figure 16] Figure 16 is a cross-sectional perspective view of the tactile information transmission and reception device shown in Figure 15. [Figure 17] Figure 17 is an exploded perspective view of the tactile information transmission and reception device shown in Figure 15. [Figure 18] Figures 18(a) to (d) are schematic diagrams illustrating the usage of a tactile information transmission and reception device. [Figure 19] Figure 19 is a perspective view showing a modified example of the haptic information transmission and reception device shown in Figure 15. [Figure 20] Figure 20 is a perspective view showing a modified example of the haptic information transmission and reception device shown in Figure 19. [Figure 21] Figures 21(a) and (b) are side views of the tactile information transmission and reception device shown in Figure 20. [Modes for carrying out the invention]

[0016] Hereinafter, the tactile presentation system of the present invention will be described with reference to the drawings based on a preferred embodiment thereof. Figures 1 and 2 are perspective views of the tactile information transmitting and receiving device 10 that constitutes the tactile presentation system 1 according to this embodiment, and Figure 3 is a block diagram of the tactile presentation system 1. In the following explanation, "tactile information" refers to sensations that affect the sensory organs (cutaneous sensory organs) of the human body's skin tissue, such as temperature (warmth, cold), vibration, and pressure.

[0017] (Configuration of tactile presentation system 1) As shown in Figure 3, the tactile presentation system 1 of this embodiment comprises a pair of tactile information transmitting and receiving devices 10A and 10B, and a pair of control devices 20A and 20B connected to (for example, wired to) the tactile information transmitting and receiving devices 10A and 10B, respectively. The tactile information transmitting and receiving devices 10A and 10B are configured to communicate with each other by connecting the control devices 20A and 20B to each other via wired or wireless connection. The connection configuration between the control devices 20A and 20B will be described later.

[0018] (Tactile information transmission and reception device 10) The tactile information transmitting and receiving devices 10A and 10B will be described with reference to Figures 1 to 6. Since the tactile information transmitting and receiving devices 10A and 10B have the same configuration, for the sake of convenience, unless there is a need to distinguish between them, the tactile information transmitting and receiving devices 10A and 10B will be collectively referred to as "tactile information transmitting and receiving device 10" in the following description.

[0019] As shown in Figures 1 and 2, the tactile information transmitting and receiving device 10 comprises a first structure (hereinafter referred to as the "first structure") 11, a second structure (hereinafter referred to as the "second structure") 12, and a mounting plate 13.

[0020] (1st structure 11) As shown in Figures 1, 2, and 4, the first structure 11 has a substantially dome shape and comprises a mounting surface 11a as a first contact surface that constitutes the upper surface, and a flat surface 11b that constitutes the back surface (bottom surface) thereof. Preferably, the first structure 11 is made of a flexible material and is integrally formed. As the flexible material, for example, resins such as silicone rubber, polyethylene, polypropylene, ethylene-vinyl acetate copolymer (EVA) polyolefin, polyamide, polyester, polyurethane, and polyvinyl chloride can be used.

[0021] The resting surface 11a is the part on which the user places their palm (in this embodiment, the left hand; see "Left Hand LH" in Figure 7), and has a curved convex shape. In this embodiment, the device is configured so that the hand can be placed on the resting surface 11a by inserting the hand from the illustrated insertion direction (see Figures 1 and 2). The resting surface 11a is designed to resemble the back of a person's left hand. This is so that the user of the haptic information transmitting and receiving device 10 can immediately understand that they are placing their left hand on the resting surface 11a.

[0022] Because the resting surface 11a has a curved convex shape, users can place their hands on the resting surface 11a in a natural state without applying force. Therefore, even if the hands are placed on the resting surface 11a for a long period of time, hand fatigue can be suppressed. The resting surface 11a can also be designed based on ergonomics. In this case, it is possible to further suppress fatigue when the hands are placed on the resting surface 11a. Furthermore, an elastic material 40 made of a flexible and stretchable material, such as urethane gel, can be attached to the resting surface 11a (see Figures 1, 2, and 4). With this configuration, when the hands are placed on the resting surface 11a, not only is a skin-like tactile sensation obtained, but the palm of the hand makes good surface contact with the elastic material 40, making it possible to effectively suppress hand fatigue when maintaining that posture.

[0023] The flat surface 11b is the part for attaching the first structure 11 to the mounting plate 13, and has a flat shape. Multiple cylindrical interlocking holes 11c are formed on the flat surface 11b. The first structure 11 is attached to the mounting plate 13 by fitting the interlocking projections 13a of the mounting plate 13 (described later) into the interlocking holes 11c (see Figure 4).

[0024] (Second structure 12) Next, the second structure 12 will be explained with reference to Figures 1, 2, 5, and 6. As shown in Figures 1, 2, 5, and 6, the second structure 12 has a main body 12A, a detection unit 14, and an output unit 15.

[0025] The main body 12A has a substantially curved plate shape and includes a transmitting-side contact surface (hereinafter referred to as the "contact surface") 12a that constitutes the upper surface, a second contact surface (hereinafter referred to as the "covered contact surface") 12b that constitutes the lower surface, a fixed end 12c that is attached to the mounting plate 13, and a free end 12d on the opposite side. As will be described in detail later, the contact surface 12a functions as a detection contact surface that detects tactile information such as temperature information of a hand placed on the contact surface 12a. The main body 12A, like the first structure 11, is preferably made of a flexible material and is formed integrally. Examples of flexible materials that can be used include silicone rubber, polyethylene, polypropylene, ethylene-vinyl acetate copolymer (EVA) polyolefin, polyamide, polyester, polyurethane, and polyvinyl chloride. The preferred rigidity and material strength of the main body 12A will be described later.

[0026] The contact surface 12a is a part that can be pressed or otherwise subjected to pressure by the user by placing one side of their hand (in this embodiment, the palm of the right hand; see "Right Hand RH" in Figure 7), and has a curved convex shape. The contact surface 12a is designed to resemble the back of a person's right hand. This is so that the user using the tactile information transmitting and receiving device 10 can immediately understand that they are placing their right hand on the contact surface 12a. As will be described in more detail later, in this embodiment, when the user places their hand on the contact surface 12a, the temperature of the hand is detected by a temperature sensor, which is an example of a detection unit 14, and this temperature information is transmitted to the other tactile information transmitting and receiving device 10 (see Figures 3 and 5). In the second structure 12, the contact surface 12a is provided on the side opposite to the covered contact surface 12b, which will be described later.

[0027] The covered contact surface 12b is the part that comes into contact with the other side of the user's hand (in this embodiment, the back of the hand) when it is placed on the mounting surface 11a of the first structure 11. The other side of the hand is the part opposite to the one side of the hand. The covering contact surface 12b of this embodiment has a curved concave shape and is formed with a curvature approximately the same as that of the curved convex mounting surface 11a. When the first structure 11, the second structure 12, and the mounting plate 13 are assembled together, the covering contact surface 12b is positioned opposite the mounting surface 11a of the first structure 11 with a gap S between them (see Figure 4).

[0028] The gap S between the first structure 11 and the second structure 12 can be set to a desired size. For example, the gap S can be set to a size equivalent to the thickness of an average child's hand. In this case, when most users place their hand on the mounting surface 11a of the first structure 11, the back of their hand will naturally come into contact with the covering contact surface 12b. As described above, the curved concave covering contact surface 12b is formed with a curvature approximately the same as that of the curved convex mounting surface 11a. Therefore, in this embodiment, when a user places their hand on the mounting surface 11a, the covering contact surface 12b comes into surface contact with the back of their hand.

[0029] Furthermore, it is possible to set the gap S between the first structure 11 and the second structure 12 to a size larger than the average thickness of an adult male's hand. When the gap S is set to such a size, most users will find it difficult for the back of their hand to come into contact with the covered contact surface 12b simply by placing their hand on the resting surface 11a of the first structure 11. In this case, the user can bring the covered contact surface 12b into surface contact with the back of their hand by lightly pressing the hand resting on the contact surface 12a.

[0030] The covered contact surface 12b is preferably formed to cover the area between the proximal interphalangeal joint Ha and the radiocarpal joint Hb on the back of an adult male's hand (see Figure 7). As will be described in detail later, in this embodiment, a heating device (for example, a heater with a Peltier element) which is an example of an output unit 15 is attached to the covered contact surface 12b. By forming the covered contact surface 12b to this size, the entire back of the hand placed on the mounting surface 11a can be covered by the covered contact surface 12b, so that the user can feel a simulated sensation (warmth) on the entire back of their hand, as if someone (the other person) were holding their hand. There may be one output unit, or two or more may be provided as appropriate. The same applies to output devices such as vibration devices, not just heating devices, and multiple types of output devices may be combined.

[0031] In addition to the output unit described above, it is also possible to attach an output device (hereinafter referred to as "ancillary device") attached to the output unit to at least one of the first structure 11 and the second structure 12. As such ancillary devices, for example, a heating device with normal ON / OFF control can be used, independently of the detection unit 14. In this case, by placing the heating device as an ancillary device on the coated contact surface 12b side, the coated contact surface 12b can be preheated, thereby improving the simulated sensation. Furthermore, other auxiliary devices can be employed, such as a light-emitting device using a separate circuit, such as an LED or ultraviolet light (and a light-emitting dye), which emits light when the output unit 15 is in operation. With this configuration, the user can easily grasp the operating status of the output unit by viewing the light emitted from the light-emitting device through the side of the first structure 11 or the contact surface 12a of the second structure 12, thereby visually enhancing the tactile effect.

[0032] The fixed end 12c is the part for attaching the second structure 12 to the mounting plate 13. Multiple (four in this embodiment) interlocking holes 12e are formed in a cylindrical shape on the edge of the fixed end 12c. The second structure 12 is attached to the mounting plate 13 by fitting the interlocking projection 13b of the mounting plate 13, which will be described later, into the interlocking holes 12e. When the second structure 12 and the mounting plate 13 are assembled, the second structure 12 is cantilevered to the mounting plate 13, and the free end 12d is positioned to move vertically. In this embodiment, since the second structure 12 is cantilevered to the mounting plate 13, the degree of contact (adhesion force) between the back of the hand placed on the mounting surface 11a of the first structure 11 and the covered contact surface 12b can be adjusted as needed by pressing the contact surface 12a with a desired force. Thus, the tactile information transmitting and receiving device 10 is designed to allow the distance between the mounting surface 11a (first contact surface) and the covering contact surface 12b (second contact surface) to be increased or decreased.

[0033] The free end 12d is positioned on the outer side beyond the peripheral edge 11d of the first structure 11 when the first structure 11, the second structure 12, and the mounting plate 13 are assembled together, in a plan view. By positioning the free end 12d in this way, it is possible to make contact between the covered contact surface 12b and the back of the hand placed on the mounting surface 11a, with the covered contact surface 12b enveloping the back of the hand placed on the mounting surface 11a of the first structure 11. Note that the position of the free end 12d is not limited to being on the outer side beyond the peripheral edge 11d of the first structure 11 in a plan view, but can also be in a position that overlaps with the peripheral edge 11d of the first structure 11 (directly above the peripheral edge 11d). Even when the free end 12d is positioned in this manner, the covered contact surface 12b can wrap around the back of the hand placed on the mounting surface 11a, allowing sufficient contact between the covered contact surface 12b and the back of the hand placed on the mounting surface 11a.

[0034] From the viewpoint of ensuring mounting strength to the mounting plate 13 without narrowing the range of motion on the free end 12d side, it is preferable to set the rigidity of the fixed end 12c of the second structure 12 to be higher than the rigidity of other parts. Furthermore, if the thickness of the second structure 12 is formed to gradually decrease from the fixed end 12c to the free end 12d, as shown in Figure 4, it becomes possible to widen the range of motion on the free end 12d side while ensuring the rigidity on the fixed end 12c side.

[0035] In this embodiment, when the first structure 11, the second structure 12, and the mounting plate 13 are assembled together, the angle α2 between the extending direction of the first structure 11 and the extending direction of the second structure 12 is approximately 45 degrees (see Figure 7). Here, the extending direction of the first structure 11 refers to the longitudinal direction of the first structure 11, that is, in this embodiment, the same direction in which a hand is inserted between the first structure 11 and the second structure 12 (insertion direction, see Figures 1, 2, and 7), and the extending direction of the second structure 12 refers to the direction connecting the fixed end 12c and the free end 12d (longitudinal direction). As a result, with the left hand LH resting on the mounting surface 11a of the first structure 11, the right hand RH can be placed in a natural posture on the contact surface 12a of the second structure 12 along the extending direction.

[0036] As shown in Figure 4, in this embodiment, the mounting angle α1 of the second structure 12 with respect to the mounting plate 13 is approximately a right angle in a side view. However, it may also be set to an angle that is inclined toward the first structure 11 (an acute angle). With this configuration, it becomes possible to move the free end 12d downward with a small force (pressing force).

[0037] Here, the preferred material strength of the second structure 12 will be explained with reference to Figure 4. As described above, it is desirable that the second structure 12 has sufficient rigidity to ensure mounting strength to the mounting plate 13 and appropriate flexibility to allow vertical movement of the free end 12d. From this perspective, various tests were conducted on the material strength required for the second structure 12, and it was found that it is desirable for it to meet certain criteria ("Criterion 1" to "Criterion 3") in the prescribed tests. Criteria 1 to "Criterion 3" will be explained below. It should be noted that Criteria 1 to "Criterion 3" shown below all assume that the first structure 11, the second structure 12, and the mounting plate 13 are assembled together.

[0038] "Standard 1" specifies the displacement of the free end 12d of the second structure 12 when a weight of "20g" (for example, a weight) is suspended from the free end 12d of the second structure 12 via a wire such as a thread (see "F1" in Figure 4). In this case, the positions where the load acts on the second structure 12 (load positions) are the fixed end 12c and the free end 12d. When such tests are performed, it has been found that the displacement of the free end 12d is preferably 4 mm to 8 mm, and more preferably 5 mm to 7 mm ("Criterion 1"). Depending on the arrangement of the first structure 11 and the second structure 12 (for example, when the free end 12d of the second structure 12 is located on the mounting surface 11a of the first structure 11), when a load is applied to the second structure 12, it may immediately interfere with the first structure 11 or the mounting plate 13, for example, when the free end 12d moves by about 1 to 2 mm, it may come into contact with the first structure 11, etc. In this case, it is not possible to perform a proper test as is, so the part of the first structure 11 and the mounting plate 13 that interferes with the second structure 12 should be cut off or otherwise removed before performing the test. The same applies to "Criterion 2" and "Criterion 3" shown below.

[0039] "Standard 2" specifies the load required to displace the free end 12d of the second structure 12 by 5 mm when a load terminal with a diameter of 10 mm is applied from above at a load rate of 10 mm / min (see "F2" in Figure 4). In this case, the load-applied positions (load positions) on the second structure 12 are the fixed end 12c and the free end 12d. When such tests are conducted, it is desirable that the load required to displace the free end 12d by "5 mm" is preferably less than 0.1 N ("Criterion 2").

[0040] "Standard 3" specifies the load required to displace the center position of the second structure 12 (the center position in both the width and length directions) by 5 mm when a load terminal with a contact area of ​​10 mm in diameter is applied from above at a load rate of 10 mm / min (see "F3" in Figure 4). In this case, the position where the load is applied to the second structure 12 (the load position) is the center position of the second structure 12. When such tests are conducted, it is found that the load required to displace the above-mentioned center position by "5 mm" is preferably between 0.3 N and 0.7 N, and more preferably between 0.4 N and 0.6 N ("Criterion 3").

[0041] Furthermore, the second structure 12 does not need to satisfy all of the above "criterion 1" to "criterion 3"; it is sufficient if it satisfies any one of them. In this case, it is most preferable that the second structure 12 satisfies "criterion 1," followed by "criterion 2," and then "criterion 3," in that order of priority. Moreover, the above "criterion 1" to "criterion 3" can be applied regardless of whether other members (for example, the elastic material 30 (see Figure 6) described later) are attached to the surface of the second structure 12, and regardless of the longitudinal length of the second structure 12.

[0042] (Detection unit 14) Next, the detection unit 14 will be explained with reference to Figures 4 and 5. The detection unit 14 is a device for detecting tactile information (tactile information) from a hand placed on the mounting surface 11a of the first structure 11. Figure 5 shows an example of the detection unit 14, a temperature sensor, attached to the main body 12A.

[0043] As shown in Figures 4 and 5, the temperature sensor, which serves as the detection unit 14 according to this embodiment, is mounted embedded in the main body 12A and positioned on the contact surface 12a side (see Figure 4). The detection unit 14 is mounted to the main body 12A by inserting it into a mounting hole 12f formed in the covered contact surface 12b of the main body 12A (see Figure 5). The detection unit 14 mounted on the main body 12A detects the temperature of the hand that touches the contact surface 12a. In this embodiment, the temperature information (tactile information) detected by the detection unit 14 is configured to be transmitted to the other party's tactile information transmitting / receiving device 10 (see Figure 3). In this embodiment, the detection unit 14 is mounted embedded in the main body 12A, but it is also possible to mount it so that it is exposed on the contact surface 12a, for example.

[0044] (Output section 15) Next, the output unit 15 will be explained with reference to Figures 4 and 6. The output unit 15 is a device for outputting sensory information corresponding to tactile information transmitted from the other party's tactile information transmitting / receiving device 10. The output unit 15 is provided in one of the first structure 11 and the second structure 12. In this embodiment, as shown in Figure 6, a heating device, which is an example of the output unit 15, is attached to the main body 12A.

[0045] As shown in Figures 4 and 6, the heating device, which serves as the output unit 15 according to this embodiment, is arranged on or inside the elastic material 30 and attached to the covered contact surface 12b of the main body 12A via the elastic material 30. That is, the output unit 15 is provided on the side of the structure to which the output unit 15 is attached that faces the gap between the first contact surface 11a and the second contact surface 12b. The output unit 15 can incorporate a known heater, such as a Peltier element, a heating wire, a planar heating element using carbon fiber, or a PTC (Positive Temperature Coefficient) planar heating element. Preferably, the elastic material 30 is made of a flexible and stretchable material, such as urethane gel. This allows the user to obtain a skin-like tactile sensation when the back of their hand touches the elastic material 30.

[0046] The output unit 15 is configured to heat up based on temperature information (tactile information) transmitted from the other party's tactile information transmitting / receiving device 10. Since this temperature information is information about the temperature of a person's hand detected by the detection unit 14 of the other party's tactile information transmitting / receiving device 10, the output unit 15 heats up to approximately body temperature when it receives the temperature information. In other words, in this embodiment, when the output unit 15 receives temperature information while the back of the hand is in contact with the elastic material 30 (covered contact surface 12b), the output unit 15 heats up to approximately body temperature, so that the back of the hand comes into contact with the elastic material 30 (covered contact surface 12b) at approximately body temperature. In other words, the user is configured to be able to obtain a sensation (tactile feeling) as if a person's hand were resting on the back of their hand. In this embodiment, the output unit 15 is attached to the main body 12A via the elastic material 30, but it is also possible to omit the elastic material 30 and attach it directly to the main body 12A.

[0047] (Mounting plate 13) Next, the mounting plate 13 will be described with reference to Figures 1, 2, and 4. As shown in Figures 1, 2, and 4, the mounting plate 13 is a member for connecting the first structure 11 and the second structure 12, and has a plate shape. The mounting plate 13 is made of, for example, a hard resin (for example, acrylic resin), and has a plurality of interlocking protrusions 13a and a plurality of interlocking protrusions 13b. As described above, the assembly of the first structure 11, the second structure 12, and the mounting plate 13 is performed by fitting the interlocking protrusions 13a and 13b of the mounting plate 13 into the interlocking holes 11c of the first structure 11 and the interlocking holes 12e of the second structure 12, respectively. In this embodiment, the first structure 11 and the second structure 12 are connected via the mounting plate 13, but it is also possible to omit the mounting plate 13 and form the first structure 11 and the second structure 12 integrally. Alternatively, the second structure 12 may be assembled to the first structure 11.

[0048] (Control device 20) Next, the control devices 20A and 20B will be described with reference to Figure 3. Since the control devices 20A and 20B have the same configuration, for the sake of convenience, unless there is a need to distinguish between them, the control devices 20A and 20B will be collectively referred to as "control device 20" in the following description.

[0049] As shown in Figure 3, the control device 20 is housed in a control box (not shown) or the like and comprises a control unit 21 and a communication unit 22. The control unit 21 consists of, for example, a microcomputer equipped with a central processing unit (CPU) and a memory device, and is electrically connected to the communication unit 22. When tactile information (temperature information in this embodiment) detected by the detection unit 14 (for example, 14A) of one tactile information transmitting / receiving device 10 is input to the control unit 21, the control unit 21 corrects the temperature corresponding to the temperature information (35°C) (35°C ± correction value of 5°C) so that the temperature perceived by the user approaches the value of the temperature information, and controls the heating of the output unit 15 (for example, 15B) of the other tactile information transmitting / receiving device 10. The control performed by the control unit 21 will be described later. If the output unit 15 is a Peltier element (heating device), a known Peltier element temperature controller can be used as the control unit 21. Furthermore, when the control unit 21 corrects the temperature, the correction value of 5°C may be set in advance, or it may be set to automatically vary according to the ambient temperature, etc. In addition, the control unit 21 can also perform heating control of the output unit 15 without performing temperature correction. The communication unit 22 is an interface that can communicate with the other control unit 20.

[0050] Next, the connection configuration between control devices 20A and 20B will be explained with reference to Figure 3(a). Figure 3(a) is a block diagram showing an example of a wired or wireless connection between control devices 20A and 20B via the communication line 2. In the following explanation, the case where control devices 20A and 20B are connected via the communication line 2 will be used as an example, but they may also be directly connected using wiring (hereinafter also referred to as wired connection) without using the communication line 2, and wireless connection is also possible.

[0051] In the example shown in Figure 3(a), the control devices 20A and 20B are configured to communicate with each other by connecting the communication units 22A and 22B via the communication line 2. Next, we will explain the flow of information when the control devices 20A and 20B are connected in this manner. Note that the path for information transmission from the tactile information transmitting / receiving device 10A to the tactile information transmitting / receiving device 10B and the reverse path are the same; therefore, we will explain the former case below and omit the explanation for the latter case. In the connection configuration shown in Figure 3(a), the temperature information (tactile information) detected by the detection unit 14A of the tactile information transmitting / receiving device 10A is output directly to the outside (communication line 2) via the communication unit 22A of the control device 20A. The temperature information via the communication line 2 is input to the control unit 21B of the control device 20B via the communication unit 22B. The control unit 21B corrects (temperature correction, etc.) the received temperature information and outputs the information to the output unit 15B (heating device). In this way, the output unit 15B of the tactile information transmitting / receiving device 10B heats up to a predetermined temperature (body temperature) based on the temperature information transmitted from the tactile information transmitting / receiving device 10A. Thus, when the control devices 20A and 20B are connected via the communication line 2, the control unit 21B (21A) is configured to control the heating of the output unit 15B (15A) based on the temperature information detected by the detection unit 14A (14B).

[0052] Furthermore, the connection configuration between control devices 20A and 20B is not limited to the configuration shown in Figure 3(a) above, and various connection configurations can be adopted depending on the usage of the tactile information transmitting and receiving devices 10A and 10B. For example, when connecting control devices 20A and 20B via wiring or wireless connection without using the communication line 2, the connection configuration shown in Figure 3(b) can also be adopted. The following describes the connection configuration between control devices 20A and 20B shown in Figure 3(b). Figure 3(b) is a block diagram showing an example of a wiring connection or wireless connection between control devices 20A and 20B.

[0053] In the example shown in Figure 3(b), the control unit 21A is connected to the output unit 15B of the tactile information transmission / reception device 10B, and the control unit 21B is also connected to the output unit 15A of the tactile information transmission / reception device 10A, thereby enabling the control devices 20A and 20B to communicate with each other. Next, we will explain the flow of information when the control devices 20A and 20B are connected in this manner. Note that the path for information transmission from the tactile information transmitting / receiving device 10A to the tactile information transmitting / receiving device 10B and the reverse path are the same; therefore, we will explain the former case below and omit the explanation for the latter case. In the connection configuration shown in Figure 3(b), the temperature information (tactile information) detected by the detection unit 14A of the tactile information transmitting / receiving device 10A is input to the control unit 21A via the communication unit 22A of the control device 20A. The control unit 21A performs correction (temperature correction) on the received temperature information and outputs the information to the output unit 15B of the tactile information transmitting / receiving device 10B. As a result, the output unit 15B of the tactile information transmitting / receiving device 10B heats up to a predetermined temperature (body temperature) based on the temperature information transmitted from the tactile information transmitting / receiving device 10A. Thus, in this embodiment, when the control devices 20A and 20B are connected by wiring, the control unit 21A (21B) is configured to perform heating control of the output unit 15B (15A) based on the temperature information detected by the detection unit 14A (14B).

[0054] In the examples shown in Figures 3(a) and (b), the tactile information transmission / reception device 10 and the control device 20 are configured as separate units. However, it is also possible to omit the control device 20 by, for example, having the functions of the control device 20 incorporated into the tactile information transmission / reception device 10.

[0055] (Operation of the tactile presentation system) Next, the operation of the tactile presentation system 1 will be explained with reference to Figures 3, 4, and 7. For the sake of convenience, the following explanation will assume that (1) one tactile information transmitting / receiving device 10 is located at two separate locations, and (2) the pair of tactile information transmitting / receiving devices 10 are in a state where they can communicate with each other. In the following explanation, as shown in Figure 3, the tactile information transmitting / receiving device 10, detection unit 14, and output unit 15 on the "one" side will be denoted with "A" after their symbols, and the tactile information transmitting / receiving device 10, detection unit 14, and output unit 15 on the "other" side will be denoted with "B" after their symbols. When there is no need to distinguish between them, "A" and "B" will not be added. In Figure 3, the flow of information including tactile information is indicated by arrows. When the information flow is unidirectional, tactile information is transmitted from "one side" (A) to "the other side" (B). This information flow is indicated by a solid arrow. In this case, the output unit 15B outputs sensory information corresponding to the tactile information. Furthermore, in the case of bidirectional information flow, tactile information is transmitted from "one side" (A) to "the other side" (B) (as shown by the solid arrow), and opposing tactile information is transmitted from "the other side" (B) to "one side" (A). The flow of opposing information is shown by the dotted arrow. In this case, the output unit 15A outputs opposing sensory information corresponding to this opposing tactile information.

[0056] In this embodiment, when using the tactile information transmitting and receiving device 10, the basic posture is to place the left hand LH on the mounting surface 11a of the first structure 11, as shown in Figure 7. In this embodiment, in the basic posture, the back of the left hand LH placed on the mounting surface 11a is in contact with the covering contact surface 12b (elastic material 30) of the second structure 12.

[0057] As shown in Figure 7, when users assume a basic posture, and one user places their right hand RH on the contact surface 12a (second structure 12) of the tactile information transmitting / receiving device 10A, the temperature of the palm side of the right hand RH is detected by the detection unit 14A on the first device. The temperature information (tactile information) detected by the detection unit 14A is transmitted to the other tactile information transmitting / receiving device 10B, and based on this temperature information, the output unit 15B on the other device is heated to approximately body temperature. As a result, the back of the left hand LH of the other user comes into contact with the output unit 15 which has been heated to approximately body temperature, causing the other user to feel warmth (tactile sensation) as if the other user were holding their hand.

[0058] As described above, in this embodiment, the tactile information transmitting and receiving device 10 is configured such that when the left hand LH is placed on the mounting surface 11a of the first structure 11 and the right hand RH is placed on the contact surface 12a of the second structure 12, the covered contact surface 12b inevitably comes into surface contact with substantially the entire back of the left hand LH via the elastic material 30 on which the output unit 15 is located. Furthermore, in this state, when tactile information (temperature information) is input from the other tactile information transmitting and receiving device 10, the output unit 15 is heated to approximately the temperature of the palm of the other user's hand. In other words, the tactile information transmitting and receiving device 10 is configured such that when a user places their left hand LH on the mounting surface 11a, an elastic material 30 capable of providing a tactile sensation similar to human skin is heated to approximately the temperature of the other user's palm, and then made surface contact with the back of the left hand LH while an appropriate amount of force is applied. In this respect, the tactile presentation system 1 according to this embodiment is configured so that, while both users are in a basic posture, both users can simultaneously receive static stimuli such as a skin model, as well as dynamic stimuli such as pressure and temperature, on the back of their left hand LH placed on the mounting surface 11a. As described above, in this invention, tactile information detected on the contact surface 12a of one tactile information transmitting / receiving device 10 is reproduced on the covered contact surface 12b of the other tactile information transmitting / receiving device 10 (simultaneously presenting static and dynamic stimuli). Furthermore, when users assume a basic posture, the backs of both hands placed on the resting surface 11a are warmed to approximately body temperature at the same time. This enables communication as if the hands were touching each other.

[0059] Furthermore, when the other user places their right hand RH on the contact surface 12a (second structure 12) of the haptic information transmitting and receiving device 10B, the output unit 15A of the other user heats up to approximately body temperature, just as when the first user places their hand on the haptic information transmitting and receiving device 10A. As a result, the back of the left hand LH of the first user comes into contact with the output unit 15 which has been heated to approximately body temperature, causing them to feel warmth (tactile sensation) as if the other user were holding their hand.

[0060] Thus, in this embodiment, by using a pair of tactile information transmitting and receiving devices 10A and 10B placed at two separate locations, users can obtain a simulated sensation (tactile feeling) as if their hands were touching each other. Therefore, in this embodiment, just as if their hands were actually touching each other, they can feel each other's warmth, which relieves tension and shyness, making it easier to convey thoughts and feelings (emotions) to the other person, and also makes it possible to feel the presence of both oneself and the other person. When communicating with another person using the tactile information transmitting and receiving device 10, a device capable of transmitting and receiving the other person's voice and video (for example, a video phone) may also be used. In this case, since it is possible to have a conversation while seeing the other person's facial expression while obtaining a tactile sensation as if being touched by the other person, it becomes possible to further deepen communication between users.

[0061] In the above embodiment, the detection unit 14 is provided with a temperature sensor that detects the temperature of a hand touching the contact surface 12a, and the output unit 15 is provided with a heating device that heats based on the temperature detected by the temperature sensor. However, instead of or in addition to this, the detection unit and output unit can be provided as follows. When the detection unit and output unit are added, the detection unit and output unit will become a second detection unit and a second output unit, respectively.

[0062] As an example of modification, a detection unit can be provided to detect the tactile sensation when the contact surface 12a is stroked, and an output unit can be provided that can reproduce this tactile sensation. In this case, for example, a known sound collection device (e.g., a microphone) that detects the sound when the contact surface 12a is stroked can be used as the detection unit, and as the output unit, a vibrating body (e.g., a piezoelectric vibrator, an eccentric rotating mass (ERM), a voice coil vibrator (VCA), or a linear resonant actuator (LRA)) that can simulate the tactile sensation of being stroked based on the sound information detected by the sound collection device can be used. With this configuration, the user can obtain a tactile sensation as if their hand were being stroked by someone else, and thus, as with the case where a temperature sensor and a heating device are used, they can feel the presence of the other person and themselves.

[0063] When a sound collection device is used as the detection unit, it is preferable to attach it to the second structure 12 in the manner shown in Figures 8(a) and (b). In the examples shown in Figures 8(a) and (b), the detection unit 114, which functions as a sound collection device, has a frustoconical shape, and correspondingly, the mounting hole 12f of the second structure 12 is formed to taper toward the covered contact surface 12b. The detection unit 114 is attached to the second structure 12 by inserting the detection unit 114 into the mounting hole 12f from the contact surface 12a side, and then attaching the cap member 50 to close the mounting hole 12f. For example, the cap member 50 can be attached to the second structure 12 by engaging the hook-shaped engaging portion 50a protruding from the back surface of the cap member 50 with the engaged portion (not shown) formed on the second structure 12.

[0064] In this example, with the detection unit 114 attached to the second structure 12, a closed space CR is formed by the back surface of the cap member 50, the sound collection part 114a side of the detection unit 114, and the mounting hole 12f. As a result, the sound generated when the contact surface 12a is stroked can be amplified (resonated) well within the closed space CR, making it possible for the detection unit 114 to effectively detect (collect) the sound via the sound collection part 114a.

[0065] Another example of modification is to provide a detection unit that detects the pressing force when the contact surface 12a is pressed, and an output unit that can reproduce this pressing force. In this case, for example, a known pressure sensor can be used as the detection unit, and a device that can vary the height position of the covered contact surface 12b of the second structure 12 based on the pressure information detected by the pressure sensor (for example, a device that can make the covered contact surface 12b bulge downward) can be used as the output unit.

[0066] Furthermore, as another modification, a detection unit can be provided to detect the pulse of a human body that has come into contact with the contact surface 12a, and an output unit can be provided that can reproduce this pulse. In this case, for example, a known pulse sensor can be used as the detection unit, and a vibrating body, a light-emitting body, etc., that can simulate a pulse based on the pulse information detected by the pulse sensor can be used as the output unit.

[0067] Furthermore, as another variation of the above-mentioned detection unit and output unit, a detection unit can be provided to detect the hardness (or size) of the hand that touches the contact surface 12a, and an output unit can be provided that can reproduce this hardness (or size) of the hand. In this case, for example, a known hardness tester or the like can be used as the detection unit, and as the output unit, for example, as described in Japanese Patent Application Publication No. 2015-142145, a plurality of first bags filled with low-viscosity gel and second bags filled with high-viscosity gel can be provided in the second structure 12, and a piston can be provided that changes the amount of gel in each of the first and second bags according to the hardness (or size) of the hand.

[0068] In the above embodiment, a pair of tactile information transmitting and receiving devices 10A and 10B are used to enable the transmission and reception of tactile information (temperature information, etc.) between them. However, it is also possible to change one of the tactile information transmitting and receiving devices 10A to a transmission-only device (tactile information transmitting device) that detects tactile information and transmits it, and change the other tactile information transmitting and receiving device 10B to a reception-only device (tactile information receiving device) that receives tactile information and presents the user with a simulated tactile sensation (warmth, etc.). In this case, the output unit 15A can be omitted from one of the transmission-only devices (e.g., 10A), and the detection unit 14B can be omitted from the other reception-only device (e.g., 10B).

[0069] Furthermore, if the other haptic information transmitting / receiving device (e.g., 10B) described above is a receiving-only device, the transmitting device that sends the haptic information can be a device other than the other haptic information transmitting / receiving device or the transmitting-only device described above (e.g., 10A), for example, a general-purpose computer (PC: Personal Computer). This can be achieved, for example, by storing tactile information (temperature information) detected by the detection unit (e.g., 14A) of one of the tactile information transmitting / receiving devices or a device dedicated to transmission (e.g., 10A) in a computer. With this configuration, it becomes possible for the user to feel the warmth of a hand, etc., at any time they desire, even without the presence of another person. Furthermore, since this configuration only requires the ability to receive haptic information, it is not limited to a dedicated receiving device that receives haptic information, but can also be realized with a haptic information transmitting and receiving device (for example, 10B) that sends and receives haptic information.

[0070] Furthermore, if the other tactile information transmitting / receiving device (e.g., 10B) described above is a receiving-only device, the transmitting device that sends tactile information can be a general-purpose tactile information transmitting / receiving device. As a general-purpose tactile information transmitting / receiving device, for example, a Tactile Toolkit (manufactured by Solidray) can be used. Such a toolkit can, for example, transmit sound collection information when objects that emit various vibrations or sounds are brought into contact with the microphone sensor portion of the kit as tactile information to the tactile information transmitting / receiving device of the present invention (e.g., 10B).

[0071] Furthermore, in this embodiment, an output unit 15 is provided in the second structure 12, but in addition, other output units may be provided in the first structure 11. These other output units will be described below with reference to Figure 2. The following description can be applied to the tactile presentation system, tactile information receiving device, and tactile information transmitting and receiving device of the present invention.

[0072] As shown in Figure 2, the output unit 16, which is another output unit, is a device capable of stimulating the skin sensory organs of the human body, and in this example, it is a heating device with a configuration similar to that of output unit 15 (see Figure 6, etc.). In other words, the tactile information transmitting and receiving device 10 in this embodiment has an output unit 15 in one structure and an output unit 16 in the other structure. The output unit 16, like the output unit 15, is positioned on or inside the elastic material 40 described above and is attached to the mounting surface 11a of the first structure 11 via this elastic material 40. The output unit 16 is provided on the side of the structure on which it is installed that faces the gap between the first contact surface 11a and the second contact surface 12b. The output unit 16 provided on the first structure 11 and the output unit 15 provided on the second structure 12 are arranged to face each other across the gap. The output unit 16, like the output unit 15, can be configured to heat based on temperature information (tactile information) transmitted from the other party's tactile information transmitting / receiving device 10. In this case, the output unit 16 may be heated to the same temperature as the output unit 15, or to a different temperature (for example, a higher temperature, a lower temperature, or the same temperature as the output unit 15). With this configuration, one user can obtain a simulated tactile sensation (warmth) as if they were touching the other user's hand, thereby further deepening communication between users.

[0073] Furthermore, the output unit 16 may employ various devices (for example, a vibrating body) as exemplified above as a variation of the output unit 15, in place of or in addition to the heating device. In this case, the detection unit 14 may use a device corresponding to the adopted output unit 16 (a variation of the detection unit 14 described above). That is, the output unit 16 may also output information that is the same as or different from the sensory information output by the output unit 15. Furthermore, it is possible to omit the elastic material 40 and directly attach the output unit 16 to the mounting surface 11a. Furthermore, the output unit 16 is not limited to tactile information transmitted from the other party's tactile information transmitting / receiving device 10, but can also be configured to perform actions such as heating based on tactile information detected by its own tactile information transmitting / receiving device 10.

[0074] (Other embodiments) Hereinafter, a modified version (hereinafter referred to as the "second embodiment") of the above-described embodiment (hereinafter referred to as the "first embodiment") will be explained with reference to Figures 9 to 21. The first and second embodiments differ only in the configuration of the tactile information transmitting and receiving device; other configurations, such as the basic configuration of the tactile presentation system (see Figure 3, etc.), are the same. Therefore, in the following description, only the tactile information transmitting and receiving device will be described, and similar components will be denoted by the same reference numerals and their descriptions will be omitted. In the following description, the vertical direction refers to the vertical direction on the paper in the figures.

[0075] (Tactile information transmission / reception device 110) As shown in Figures 9 to 11, the tactile information transmitting and receiving device 110 according to the second embodiment comprises a first structure (hereinafter referred to as the "first structure") 111, a second structure (hereinafter referred to as the "second structure") 112, and a connecting member 113 that connects the first structure 111 and the second structure 112.

[0076] (1st structure 111) The first structure 111 is formed in a substantially dome shape and has a curved convex first contact surface 111a that constitutes the upper surface. As will be described in more detail later, the tactile information transmitting and receiving device 110 is configured to be used with a hand placed on the first contact surface 111a, similar to the tactile information transmitting and receiving device 10 according to the first embodiment (see Figure 1, etc.). For this reason, the first structure 111 is preferably integrally formed from a flexible material, such as silicone rubber or polyethylene resin, from the viewpoint of improving the feel of the touch.

[0077] (Second structure 112) The second structure 112 is positioned above the first structure 111 with a gap in between, and includes a transmitting unit member 112A and a receiving unit member 112B. Both the transmitting unit member 112A and the receiving unit member 112B have a roughly dome shape, and when assembled, they are configured to form a roughly ellipsoidal shape. The transmitting unit member 112A is positioned above the receiving unit member 112B.

[0078] As will be described in detail later, the tactile information transmitting and receiving device 110 according to the second embodiment is configured to be used by inserting one hand (for example, the left hand) between the first structure 111 and the second structure 112, and placing the other hand (for example, the right hand) on the transmitting-side contact surface (hereinafter referred to as the "contact surface") 112a that constitutes the upper surface of the second structure 112, similar to the tactile information transmitting and receiving device 10 according to the first embodiment (see Figure 1, etc.). For this reason, from the viewpoint of improving the feel of the touch, it is preferable that at least the part of the second structure 112 that comes into contact with the hand, that is, the contact surface 112a and the second contact surface 112h that constitutes the lower surface of the second structure 112, be made of a flexible material such as silicone rubber or polyethylene resin. As will be described in detail later, the contact surface 112a functions as a detection contact surface that detects tactile information such as temperature information of the hand placed on the contact surface 112a.

[0079] The transmitting unit member 112A has a contact surface 112a formed in a curved convex shape, a hollow cylindrical recess 112b (see Figure 10) formed in the center of its lower surface, and a cover portion 112c (see Figure 10) that closes the recess 112b. The recess 112b is a housing space for housing the detection unit 14 (see Figure 10, etc.). The lid 112c is a member for closing the recess 112b when the detection unit 14 is housed in the recess 112b. As described above, the detection unit 14 can use (1) a temperature sensor to detect the temperature of the hand placed on the contact surface 112a, (2) a sound collection device to detect the sound when the contact surface 112a is stroked, (3) a pressure sensor to detect the pressure applied to the contact surface 112a, or (4) a pulse sensor to detect the pulse of the hand placed on the contact surface 112a.

[0080] The receiving unit member 112B has an annular portion 112e that is formed in a substantially ring shape, and a bottomed cylindrical portion 112f that is located on the inner surface side of the annular portion 112e (see Figure 10). The cylindrical portion 112f has an outer diameter approximately the same as the inner diameter of the annular portion 112e and is inscribed within the inner surface of the annular portion 112e. The lower surface of the cylindrical portion 112f has a curved convex shape and, when inserted into the annular portion 112e, is positioned to protrude from the lower end of the annular portion 112e. As will be described in more detail later, the lower surface of the cylindrical portion 112f is positioned opposite the first contact surface 111a of the first structure 111 when the first structure 111 and the second structure 112 are connected via the connecting member 113. That is, the lower surface of the cylindrical portion 112f functions as a contact surface (hereinafter referred to as the "second contact surface 112h") that comes into contact with the user's hand and is positioned between the first structure 111 and the second structure 112.

[0081] The inner surface of the cylindrical portion 112f serves as a housing space for the output unit 15 (see Figure 6, etc.) described above. As described above, the output unit 15 can be a device corresponding to the detection unit 14, that is, the detection unit 14 can be (1) a heating device if it is a temperature sensor, (2) a vibrating body if it is a sound collecting device, (3) a device that can change the height position of the second contact surface 112h described later if it is a pressure sensor, or (4) a vibrating body if it is a pulse sensor, etc.

[0082] Furthermore, in the second embodiment, as in the first embodiment, it is also possible to attach the above-described ancillary devices to at least one of the first structure 111 and the second structure 112 in addition to the output units described in (1) to (4) above. If, for example, a light-emitting device that emits light when the output unit 15 is in operation is attached as an ancillary device, the user can easily grasp the operating status of the output unit through sight or other means, thereby enhancing the tactile effect. For the sake of clarity, the following explanation will use the example where a vibrating body is used as the output unit 15 and a sound collecting device is used as the detection unit 14.

[0083] The transmitting unit member 112A and the receiving unit member 112B can be assembled, for example, by engaging the engaging projection 112d formed at the lower end of the transmitting unit member 112A with the engaging recess 112i formed at the upper end of the receiving unit member 112B.

[0084] (Connecting member 113) The connecting member 113 includes a first holder member 113A and a second holder member 113B. The connecting member 113 is preferably formed using a deformable material, such as an elastically deformable synthetic resin or metal, but it can also be formed using a material that is difficult or impossible to deform by human force.

[0085] The first holder member 113A has a first structure mounting portion 113a, a first support portion 113b, a hole portion 113c, and a cylindrical portion 113d. The first structure mounting portion 113a has a bottomed cylindrical shape, and its inner diameter is formed to be approximately the same size as the outer diameter of the lower end of the first structure 111, or slightly smaller than the outer diameter. The first support portion 113b is formed in an L-shape in cross-section and has a projection portion 113b1 that protrudes radially outward from the outer surface of the first structure mounting portion 113a (hereinafter referred to as the "projection direction"), and an extension portion 113b2 that curves upward from the tip of the projection portion 113b1. The extension portion 113b2 has a hole portion 113c and a cylindrical portion 113d. The hole portion 113c has a substantially circular shape and is formed in the center of the width direction of the extension portion 113b2. The cylindrical portion 113d has a substantially cylindrical shape and protrudes from the outer surface of the extension portion 113b2 in the projection direction, covering the hole portion 113c of the extension portion 113b2. The outer surface of the cylindrical portion 113d has a male thread that engages with the female thread of the nut member 113C, which will be described later.

[0086] Although not shown in the diagram, a pair of grooves extending vertically are formed on both sides of the width direction of the cylindrical portion 113d on the outer surface of the extended portion 113b2. These grooves have a shape that allows them to engage with the protruding ridges 113i (see Figure 11) formed on the second holder member 113B, which will be described later.

[0087] The assembly of the first structure 111 and the first holder member 113A is performed by inserting the lower side of the first structure 111 into the first structure mounting portion 113a. At this time, the first structure 111 and the first holder member 113A can be fixed by interposing an adhesive member such as double-sided tape or adhesive between the lower end of the first structure 111 and the first structure mounting portion 113a. Furthermore, the first structure 111 and the first holder member 113A are not limited to being fixed by interposing other members such as adhesive members, but other connection methods, such as a mating connection method, can also be adopted. Such a configuration can be realized, for example, by providing a mating portion on the first structure 111 side and a mating portion on the first holder member 113A side that can mate with the mating portion.

[0088] The second holder member 113B has a second structure mounting portion 113f, a second support portion 113g, and an elongated hole portion 113h. The second structural mounting portion 113f has a substantially cylindrical shape and is formed so that its inner diameter gradually decreases upward. The inner diameter of the second structural mounting portion 113f is smaller than the outer diameter of the transmitting unit member 112A. The inner surface of the second structural mounting portion 113f has a shape that allows it to make surface contact with the outer circumference of the contact surface 112a of the transmitting unit member 112A when it is in contact with the contact surface 112a side of the transmitting unit member 112A.

[0089] The second structure 112 and the second holder member 113B can be assembled by interposing an adhesive material such as double-sided tape or adhesive between the contact surface 112a of the second structure 112 and the inner surface of the mounting portion 113f of the second structure, and then bringing them into close contact. Note that the second structure 112 and the second holder member 113B are not limited to being fixed by interposing other members such as adhesive members; other connection methods, such as a mating connection method, can also be employed. Such a configuration can be realized, for example, by providing a mating portion on the second structure 112 side and a mating portion on the second holder member 113B side that can mate with the mating portion.

[0090] The second support portion 113g is formed in an L-shape in cross-section and has a projection portion 113g1 that protrudes radially outward from the outer surface of the second structure mounting portion 113f, and an extension portion 113g2 that curves downward from the tip of the projection portion 113g1. The elongated hole 113h extends along the extension direction of the extended portion 113g2 and is formed to a size that allows the cylindrical portion 113d of the first holder member 113A to be inserted.

[0091] On the outer surface of the extended portion 113g2, a pair of vertically extending protrusions 113i, 113i are formed on both sides in the width direction of the elongated hole portion 113h (see Figure 11). The protrusions 113i have a shape that allows them to engage with grooves (not shown) formed in the first holder member 113A.

[0092] The assembly of the first holder member 113A and the second holder member 113B is performed using the following procedure: (1) insert the cylindrical portion 113d of the first holder member 113A into the elongated hole portion 113h of the second holder member 113B; (2) temporarily fasten the female thread of the nut member 113C by screwing it onto the male thread formed on the outer surface of the cylindrical portion 113d; (3) insert the respective wirings C extending from the detection unit 14 and output unit 15 housed in the second structure 112 into the hole portion 113c and cylindrical portion 113d of the first holder member 113A; and (4) screw in the nut member 113C. This makes it possible to fasten and fix the first holder member 113A and the second holder member 113B with the vertically extending protruding portion 113i and groove portion (not shown) engaged.

[0093] As shown in Figure 12, the tactile information transmitting and receiving device 110 according to the second embodiment is configured to allow adjustment of the distance between the first contact surface 111a and the contact surface 112a within the range in which the cylindrical portion 113d can move along the elongated hole portion 113h. Such distance adjustment can be performed by the following procedure: (1) loosening the tightened nut member 113C, then moving at least one of the first holder member 113A and the second holder member 113B in the vertical direction, and (2) tightening the nut member 113C at the desired position to fasten and fix the first holder member 113A and the second holder member 113B.

[0094] In the tactile information transmitting and receiving device 110 according to the second embodiment, as shown in Figure 11, the distance between the first contact surface 111a and the contact surface 112a can be moved between the shortest distance W1 (see Figure 11(a)) and the longest distance W2 (see Figure 11(b)).

[0095] Generally, the thickness of a person's hand varies depending on gender and age, for example, the average thickness for men aged 40-59 is 26.8 mm, for women of the same age it is 23.8 mm, for men aged 20-30 it is 25.9 mm, and for women of the same age it is 22.1 mm. In other words, according to the second embodiment, the distance between the first contact surface 111a and the contact surface 112a can be easily changed according to the thickness of the hand of the user using the tactile information transmitting and receiving device 110, thereby increasing its versatility. It is preferable that the tactile information transmitting and receiving device 110 be manufactured so that the minimum distance W1 is 14.8 mm and the maximum distance W2 is 28.8 mm, from the viewpoint of improving user convenience. Furthermore, when multiple users use one tactile information transmitting and receiving device 110, it is preferable to set the distance between the first contact surface 111a and the contact surface 112a to 26.8 mm as a standard value, from the viewpoint of improving the usability for those users.

[0096] In the second embodiment, the first holder member 113A and the second holder member 113B can be moved while maintaining the engagement state between the protruding portion 113i and the groove portion (not shown). That is, in the second embodiment, the movement of the holder members can be restricted in the vertical direction by the protruding portion 113i and the groove portion (not shown), so that the holder members do not rotate or move while the above-mentioned distance adjustment is being performed. As a result, in the second embodiment, the above-mentioned distance adjustment work can be easily performed.

[0097] (Operation of the tactile information transmitting and receiving device 110) The tactile information transmitting and receiving device 110 is configured, similar to the tactile information transmitting and receiving device 10 according to the first embodiment (see Figures 1 and 7, etc.), so that when a hand (for example, a left hand) is placed on the first contact surface 111a of the first structure 111, the back of the hand can be brought into contact with the second contact surface 112h of the second structure 112. When the hand placed on the first contact surface 111a comes into contact with the second contact surface 112h, tactile information of the hand (for example, the sound when the hand touches) is detected by the detection unit 14, and this tactile information is transmitted to the other tactile information transmitting and receiving device 110, etc. (see Figure 3). On the other hand, when the tactile information transmitting and receiving device 110 receives tactile information from the other tactile information transmitting and receiving device 110, etc., the output unit 15 outputs sensory information corresponding to the tactile information. For example, if the tactile information is sound vibration information, the output unit 15 as a vibrating body can reproduce the feeling of being touched on the second contact surface 112h.

[0098] Thus, in the second embodiment, similar to the first embodiment, by arranging a pair of tactile information transmitting and receiving devices 110, 110 at two separate locations, users can obtain a simulated sensation (tactile feeling) as if their hands were touching each other.

[0099] Thus, in the second embodiment, the first structure 111 and the second structure 112 are connected via a separate connecting member 113. As a result, there is no need to provide the second structure 112 with a fixed end 12c or a free end 12d (see Figure 2, etc.) as in the first embodiment, making it possible to miniaturize the second structure 112.

[0100] Furthermore, in the second embodiment, the second structure 112 is generated by assembling the transmitting unit member 112A, which houses the detection unit 14, and the receiving unit member 112B, which houses the output unit 15 (see Figure 10, etc.). Therefore, if either the transmitting unit member 112A or the receiving unit member 112B housing the output unit 15 is damaged or broken, only that unit member needs to be replaced, thereby reducing repair costs and improving maintainability.

[0101] In the second embodiment described above, the first holder member 113A supporting the first structure 111 and the second holder member 113B supporting the second structure 112 were constructed as separate components. However, it is also possible to form them integrally, as shown in the connecting member 213A in Figure 13(a). Specifically, such a connecting member 213A can be constructed by connecting a protrusion 113b1 connected to the first structure mounting portion 113a and a protrusion 113g1 connected to the second structure mounting portion 113f with a flat connecting portion 213a. This configuration makes it possible to reduce the number of parts.

[0102] Furthermore, the shape of the connecting member 213A is not limited to being formed in an I-shape in cross-section; for example, as shown in Figure 13(b) for the connecting member 213B, it is also possible to form an Ω-shaped cross-section along the vertical direction. With this configuration, when the contact surface 112a of the second structure 112 is pressed, the connecting member 213B becomes easier to bend, starting from the curved portion 213b1 that curves toward the direction of the protrusions 113b1 and 113g1, making it possible to move the second structure 112 downward with less pressing force.

[0103] In this case, the position (height position) where the curved portion 213b1 is formed is not limited to being formed in the vertical center, as in the case of the connecting member 213B, but can also be formed in other positions, for example, closer to the lower end (see "curved portion 213c1" in Figure 13(c)). If the curved portion 213c1 is formed closer to the lower end of the connecting portion 213c, as in the connecting member 213C shown in Figure 13(c), it becomes possible to bend the connecting portion 213c starting from the lower end when the contact surface 112a is pressed. In other words, with this configuration, when the contact surface 112a is pressed, for example, the amount of horizontal movement of the second structure 112 can be increased compared to the case where the curved portion 213b1 is formed in the vertical center of the connecting portion 213b (see Figure 13(b)). Therefore, with the connecting member 213C in Figure 13(c), it becomes possible to move the second structure 112 downward with less pressing force.

[0104] Furthermore, in the second embodiment, the first holder member 113A is provided with an extension portion 113b2 (see Figure 10, etc.), but this can be omitted. In this case, for example, the first holder member 313A can be formed in a flat shape, as shown in the connecting member 313 in Figure 14(a), and the vertical length of the extension portion 313g2 of the second holder member 313B can be made longer than the extension portion 113g2 shown in Figure 10 (see Figure 11, etc.). With this configuration, the flat first holder members 313A can be stacked and stored in an orderly manner, making it possible to save storage space.

[0105] In this case, for example, similar to the tactile information transmitting and receiving device 10 according to the first embodiment shown in Figure 4, it is also possible to form a mating projection on the first holder member 313A (see "matting projection 13b" on the "mounting plate 13" in Figure 4), and to form mating holes in each of the first structure 111 and the second holder member 313B that can mate with the mating projection (see "matting hole 11c" on the "first structure 11" and "matting hole 12e" on the "second structure 12" in Figure 4). With this configuration, the first structure 111 and the second holder member 313B can be assembled simply by inserting the mating projection formed on the first holder member 313A into the mating holes formed on each of them, thereby reducing the workload when creating the tactile information transmitting and receiving device 110.

[0106] In the above-described connecting member 313, the shape of the extended portion 313g2 of the second holder member 313B is formed as a flat plate. However, as shown in Figure 14(b), for example, the connecting member 313' can also be formed with an Ω-shaped cross-section, as seen in the extended portion 313g2' of the second holder member 313B'.

[0107] In the second embodiment, as shown in Figures 15 to 17, the receiving unit member 112B is configured to be attached to the first structure mounting portion 113a. In this configuration, the receiving unit member 112B constitutes the first structure 111', and the detection unit 14 and the output unit 15 are arranged separately in the first structure 111' and the second structure 112', respectively.

[0108] In this case, a covering member 112C having a curved convex shape can be attached to the lower end of the transmitting unit member 112A. Since the covering member 112C is a member that comes into contact with the user's hand, it is preferable to integrally form it from a flexible material, such as silicone rubber or polyethylene resin, similar to the contact surface 112a of the transmitting unit member 112A, from the viewpoint of improving the user's tactile comfort. In the following, for the sake of explanation, a tactile information transmitting and receiving device 110 with the receiving unit member 112B attached to the second holder member 113B (see Figures 9 to 11) will be referred to as the "tactile information transmitting and receiving device 110 according to the first mounting configuration," and a tactile information transmitting and receiving device 110 with the receiving unit member 112B attached to the first holder member 113A (see Figures 15 to 17) will be referred to as the "tactile information transmitting and receiving device 110 according to the second mounting configuration."

[0109] In the tactile information transmitting and receiving device 110 according to the second mounting configuration, the palm of the hand is placed on the upper surface of the receiving unit member 112B (hereinafter referred to as the "first contact surface 111a'"). In addition, in the tactile information transmitting and receiving device 110 according to the second mounting configuration, the lower surface of the covering member 112C (hereinafter referred to as the "second contact surface 112j") is configured to contact the back of the hand placed on the first contact surface 111a.

[0110] In the tactile information transmitting and receiving device 110 according to the second mounting configuration, when a user places their palm on the first contact surface 111a of the first structure 111' and receives tactile information, if the tactile information is sound vibration information, the output unit 15 as a vibrating body makes it possible to reproduce the feeling of being touched by a hand on the first contact surface 111a'. As a result, the user can obtain a simulated sensation as if they were actually placing their hand on the hand of someone using another tactile information transmitting and receiving device 110.

[0111] Here, the usage of the tactile information transmitting and receiving device 110 according to the second embodiment will be described with reference to Figure 18. Figure 18 is a simplified schematic diagram for illustrating the usage of the tactile information transmitting and receiving device 110, where (a) and (c) show the tactile information transmitting and receiving device 110 according to the first mounting configuration, and (b) and (d) show the tactile information transmitting and receiving device 110 according to the second mounting configuration. In Figure 18, the mechanism for adjusting the distance between the first structure and the second structure, such as the nut member 113C, is not shown. Details of this mechanism will be described later. In the following, we will first describe the usage of the tactile information transmitting and receiving device 110 according to the first mounting configuration, and then describe the usage of the tactile information transmitting and receiving device 110 according to the second mounting configuration.

[0112] In the tactile information transmitting and receiving device 110 according to the first mounting configuration, as shown in Figures 18(a) and (c), the receiving-side unit member 112B housing the output unit 15 is arranged on the second structure 112 side. Figure 18(a) shows a usage mode of the tactile information transmitting and receiving device 110 according to the first mounting configuration, that is, when the palm Hp is placed on the first contact surface 111a of the first structure 111 (see Figures 9 to 14). In this usage mode, the second contact surface 112h of the second structure 112 can be brought into contact with the back of the hand Hb placed on the first contact surface 111a. In this case, the back of the hand Hb can be heated by the output unit 15, which is arranged adjacent to the second contact surface 112h.

[0113] In the tactile information transmitting and receiving device 110 according to the first mounting configuration, the first contact surface 111a of the first structure 111 and the second contact surface 112h of the second structure 112 each have substantially the same shape and are formed in a curved convex shape (see Figure 12, etc.). Therefore, in the tactile information transmitting and receiving device 110 according to the first mounting configuration, as shown in Figure 18(c), even when the palm Hp is in contact with the second contact surface 112h of the second structure 112, it is possible to obtain the same feeling of use as when the palm Hp is in contact with the first contact surface 111a of the first structure 111 (see Figure 18(a)). In such a case, the palm Hp can be heated or otherwise heated by the output unit 15 which is positioned adjacent to the second contact surface 112h.

[0114] Next, the usage of the tactile information transmitting and receiving device 110 according to the second mounting configuration will be described. In the tactile information transmitting and receiving device 110 according to the second mounting configuration, as shown in Figures 18(b) and (d), the receiving-side unit member 112B housing the output unit 15 is arranged on the first structure 111' side. Figure 18(b) shows a usage mode of the tactile information transmitting and receiving device 110 according to the second mounting configuration, that is, when the palm Hp is placed on the first contact surface 111a' of the first structure 111' (see Figures 15 to 17). In this usage mode, if the output unit 15 is a vibrating body, tactile sensation can be applied to the back of the hand Hb, so it is possible to obtain a usage sensation similar to that of the tactile information transmitting and receiving device 110 according to the first mounting configuration shown in Figure 18(c).

[0115] Furthermore, in the tactile information transmitting and receiving device 110 according to the second mounting configuration, it is also possible to use it by placing the back of the hand Hb on the first contact surface 111a' of the first structure 111', similar to another usage configuration of the tactile information transmitting and receiving device 110 according to the first mounting configuration described above (see Figure 18(c)). In this case, if the output unit 15 is a vibrating body, tactile sensation can be imparted to the back of the hand Hb, making it possible to obtain a user experience similar to that of the tactile information transmitting and receiving device 110 according to the first mounting configuration described above, as shown in Figure 18(a).

[0116] Furthermore, the tactile information transmitting and receiving device 110 according to the first mounting configuration and the tactile information transmitting and receiving device 110 according to the second mounting configuration are not limited to use while placed on a desk or the like, but can also be used, for example, while holding it in one hand.

[0117] Furthermore, in the second embodiment described above, a bolt and nut mechanism was used as a mechanism for adjusting the distance between the first structure and the second structure (see "Cylindrical portion 113d" and "Nut member 113C" in Figure 17, etc.), but other mechanisms, such as the rack mechanism 113D shown in Figures 19 to 21, can be used. The following description of the tactile information transmitting and receiving device 110 equipped with such a rack mechanism 113D will be made with reference to Figures 19 to 21. Figures 19 to 21 show modified examples of the tactile information transmitting and receiving device 110 according to the second mounting configuration (see Figures 15 to 17, and Figures 18(b) and (d)), and components similar to those of the tactile information transmitting and receiving device 110 in the second mounting configuration are denoted by the same reference numerals. In addition, the following describes a modified version of the tactile information transmitting and receiving device 110 according to the second mounting configuration, but the modified parts can also be applied to the tactile information transmitting and receiving device 110 according to the first mounting configuration (see Figures 9 to 12, and Figures 18(a) and (b)).

[0118] The rack mechanism 113D has teeth 113j (see Figure 21) and a locking mechanism 113e. Multiple teeth 113j are formed on the extended portion 113g2 of the second holder member 113B at predetermined intervals in the vertical direction. The locking mechanism 113e is provided on the extended portion 113b2 of the first holder member 113A and includes a locking portion (not shown) that can engage with the teeth 113j, and a lock release means (not shown) that can release the engagement of the teeth 113j and the locking portion. In a tactile information transmitting and receiving device 110 equipped with such a rack mechanism 113D, the above-mentioned distance can be adjusted simply by moving the first holder member 113A or the second holder member 113B in the vertical direction. Therefore, the tactile information transmitting and receiving device 110 makes adjustment work easier compared to a tactile information transmitting and receiving device 110 equipped with a bolt and nut mechanism (see Figures 9 to 11 and 15 to 17).

[0119] Furthermore, as a modification of the tactile information transmitting and receiving device 110 according to the second embodiment, a cover member 170 that mimics a human hand can be detachably attached to each of the first structure 111' and the second structure 112' (see Figure 19). With this configuration, the user can obtain a simulated sensation, not only through touch but also visually, as if a person (the other person) were placing their hand on them, similar to the tactile information transmitting and receiving device 10 according to the first embodiment (see Figure 1, etc.). It is preferable that the cover member 170 be integrally formed from a flexible material, such as silicone rubber or polyethylene resin, in order to closely resemble the tactile feel of a human hand.

[0120] Furthermore, as a modification of the tactile information transmitting and receiving device 110 according to the second embodiment, as shown in Figures 20 and 21, the first structure 211 and the second structure 212 themselves can be formed in a shape that mimics a human hand. Such a configuration can be realized by (1) forming the receiving unit member 212B constituting the first structure 211 in a shape that mimics the back of a hand, and (2) forming the second structure 212 in a shape that mimics the entire hand.

[0121] In this case, the first contact surface 211a of the first structure 211 and the contact surface 212a of the second structure 212 can be formed in a curved convex shape, while the second contact surface 212j of the second structure 212 can be formed in a curved concave shape (see Figure 21(a)). With this configuration, the user can place their palm on the first contact surface 211a in a natural, relaxed state, and when they place their other hand on the first contact surface 211a, the second contact surface 212j can be brought into good contact with the back of the hand that is on the first contact surface 211a (see Figure 18(b)).

[0122] Furthermore, the second contact surface 212j of the second structure 212 is not limited to being formed in a curved concave shape, but can also be formed in a curved convex shape. Specifically, as shown in Figure 21(b), such a configuration can be achieved by forming the lower surface of the covering member 212C' constituting the second structure 212' (hereinafter referred to as "second contact surface 212j'") to bulge downwards. With this configuration, the user can bring their palm into contact with the second contact surface 212j in a natural state without applying force to their hand, similar to the first contact surface 211a of the first structure 211. In other words, according to the modified example shown in Figure 21(b), it can be used comfortably not only in the configuration shown in Figure 18(b) but also in the configuration shown in Figure 18(d).

[0123] Furthermore, the lower surface of the first structure mounting portion 113a' to which the first structure 211 is connected can also be formed in a curved convex shape, similar to the contact surface 212a, as shown in Figures 21(a) and (b). With this configuration, it is possible to place the palm of the hand on the lower surface of the first structure mounting portion 113a' in a natural state without applying force to the hand. That is, when both the first contact surface 211a and the second contact surface 212j are formed in a curved convex shape, as shown in Figure 21(b), the feeling of use when (1) the palm of the hand is placed on the first contact surface 211a and the other hand is placed on the contact surface 212a (see Figure 18(b)) and the feeling of use when (2) the palm of the hand is placed on the second contact surface 212j' and the other hand is placed on the bottom surface of the first structure mounting portion 113a' (see Figure 18(d)) can be made substantially the same. Therefore, the haptic information transmitting and receiving device 110 shown in Figure 21(b) allows the user to change the usage mode according to their preferences and mood, making it a user-friendly device with a wide range of usage variations.

[0124] Furthermore, the cover member 170 shown in Figure 19, and the first structure 211 and second structures 212, 212' shown in Figures 20 and 21, can be formed into shapes that evoke the image of a hand of a specific age or gender. For example, if the first structure 211, which mimics the hand of a toddler aged 0 to 2 years, is attached, the user can experience a warm feeling, as if touching a toddler, when using the tactile information transmitting and receiving device 110. As a result, it may trigger memories from one's youth, and effects such as brain activation can be expected.

[0125] Furthermore, the cover member 170 and the first structure 211 and second structures 212, 212' are not limited to being formed in the shape of a human hand, but can also be formed in other shapes, such as the shape of a part of the human body other than a hand. Also, the cover member 170 is not limited to being attached to the dome-shaped first structure 111' and second structure 112' (see Figure 19), but can also be attached to the first structure 211 and second structures 212, 212' which are modeled after a human hand (see Figures 20 and 21). This allows for adjustment of the size of the first structure 211, etc., and if the output unit 15 is a vibrating body, it becomes possible to adjust the transmission of vibrations, etc.

[0126] Furthermore, the tactile information transmitting and receiving device 110 according to the second embodiment may be changed to a transmitting-only device (tactile information transmitting device) that detects tactile information and transmits said tactile information, similar to the tactile information transmitting and receiving device 10 according to the first embodiment described above, or it may be changed to a receiving-only device (tactile information receiving device) that receives tactile information and presents the user with a simulated tactile sensation (warmth, vibration, etc.).

[0127] Furthermore, in the first and second embodiments described above, examples were given in which one type of output device (for example, a heating device or a vibrator) is attached to the first or second structure as an output unit (see Figure 18, etc.). However, it is also possible to attach two or more types of devices, for example, a heating device and a vibrator. In such a configuration, for example, if the output unit is a heating device and a vibrator, then a temperature sensor and a sound collection device corresponding to these devices can be attached to the first or second structure as a detection unit. Furthermore, the output section can also have multiple output devices of the same type (for example, two heating devices) attached to the first or second structure.

[0128] Although the present invention has been described above based on preferred embodiments and modifications, the present invention is not limited to the embodiments and modifications described above. [Explanation of Symbols]

[0129] 1. Tactile Presentation System 2. Communication lines 10, 10A, 10B, 110 Tactile Information Transmitter / Receiver 11,111,111',211 First structure (First structure) 11a Mounting surface (first contact surface) 11b Flat surface 11c Engagement hole 11d Periphery 111a,111a´,211a 1st contact surface 12,112,112',212 Second structure (Second structure) 12A Main Unit 12a Contact surfaces (transmitter side contact surface, receiver side contact surface, detection contact surface) 12b Covered contact surface (second contact surface) 12c fixed end 12d free end 12e Engagement hole 12f Mounting hole 112A, 212A Transmitter-side unit component 112a, 212a Contact surfaces (transmitter side contact surface, receiver side contact surface, detection contact surface) 112b Recess 112c Lid 112d Engagement protrusion 112B, 212B Receiving Unit Components 112e Ring section 112f Cylindrical section 112h 2nd contact surface 112i Engagement recess 112C, 212C, 212C' Covering material 112j,212j,212j´ 2nd contact surface 13 Mounting plate 13a,13b Engagement protrusion 113,213A~213C,313,313' Connecting members 113A, 313A First holder member 113a, 113a' First structural mounting section 113b 1st support part 113b1 Protrusion 113b2 Extension part 113c Hole 113d tube part 113e Locking mechanism 113B, 313B Second holder member 113f Second structural mounting section 113g 2nd support part 113g1 Protrusion 113g2,313g2 Extension part 113h Long hole part 113i Convex part 113j Teeth 113C Nut component 213a~213c connection part 213b1, 213c1 Curved section 113D Rack mechanism 14, 14A, 14B, 114 Detection unit (transmitter detection unit, receiver detection unit, transmitter transmission unit, receiver transmission unit, detection unit, transmission unit) 114a Sound collection section 15, 15A, 15B Output section (receiving side 1st output section, transmitting side output section, output section) 16. Output section (receiving side second output section) 20, 20A, 20B control devices 21, 21A, 21B Control Unit 22,22A,22B Communication Department 30, 40 Elastic material 50 Cap component 50a Engaging part 170 Cover component S gap LH left hand RH right hand Ha proximal interphalangeal joint Hb Radiocarpal joint α1 Mounting Angle α2 angle CR closed space C wiring W1 Minimum distance W2 Maximum distance

Claims

1. A tactile information transmission device having a transmission-side contact surface that contacts the human body, a transmission-side detection unit that detects tactile information when the human body contacts the transmission-side contact surface, and a transmission-side transmission unit that transmits the tactile information, A tactile presentation system comprising: a tactile information reception device that receives the tactile information transmitted from the transmission-side transmission unit and has a reception-side first output unit that outputs sensation imparting information corresponding to the tactile information. The tactile information reception device has a first structure having a first contact surface that contacts one side of the hand, and a second structure having a second contact surface that is disposed opposite to the first contact surface with a gap therebetween and that contacts and covers the other side of the hand opposite to the one side that contacts the first contact surface. The first structure and the second structure are connected, and the distance between the first contact surface and the second contact surface can be increased or decreased. The tactile presentation system, wherein the reception-side first output unit is provided on one of the first structure and the second structure.

2. The tactile information reception device has a reception-side second output unit that outputs information that is the same as or different from the sensation imparting information on the other structure different from the one structure. The tactile presentation system according to claim 1.

3. The tactile information transmission device includes the first structure and the second structure. The tactile presentation system according to claim 1 or 2, wherein the transmission-side contact surface is provided on a surface of the second structure on the side of the tactile information transmission device opposite to the second contact surface.

4. The tactile information reception device has a reception-side contact surface that contacts the human body, a reception-side detection unit that detects opposing tactile information when the human body contacts the reception-side contact surface, and a reception-side transmission unit that transmits the opposing tactile information. The tactile information transmission device according to claim 1 or 2, wherein the tactile information transmission device has a transmission-side output unit that receives the opposing tactile information transmitted from the reception-side transmission unit and outputs opposing sensation imparting information corresponding to the opposing tactile information.

5. A tactile information receiving device having an output unit that receives tactile information and outputs sensation imparting information corresponding to the tactile information, a first structure having a first contact surface that contacts one side of a hand; a second structure that is disposed opposite the first contact surface with a gap therebetween and has a second contact surface that contacts and covers the other side of the hand opposite to the one side of the hand that contacts the first contact surface; the first structure and the second structure are connected, and the distance between the first contact surface and the second contact surface can be increased or decreased; The tactile information receiving device, wherein the output unit is provided on one of the first structure and the second structure.

6. A tactile information transmission / reception device that transmits and receives tactile information, a detection contact surface that contacts a human body; a detection unit that detects the tactile information when a human body contacts the detection contact surface; a transmission unit that transmits the tactile information detected by the detection unit to the outside; an output unit that receives the tactile information transmitted from the outside and outputs sensation imparting information corresponding to the tactile information; a first structure having a first contact surface that contacts one side of a hand; a second structure that is disposed opposite the first contact surface with a gap therebetween and has a second contact surface that contacts and covers the other side of the hand opposite to the one side of the hand that contacts the first contact surface; the first structure and the second structure are connected, and the distance between the first contact surface and the second contact surface can be increased or decreased; the output unit is provided on one of the first structure and the second structure, A tactile information transmission / reception device, wherein the detection contact surface is provided on a surface of the second structure opposite to the second contact surface.

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