Force sense presentation device, force sense presentation system, and force sense presentation method

Abstract

To provide a force sense presentation device capable of generating force sense to a finger with a simple configuration.SOLUTION: A force sense presentation device 10 includes: a first electrode unit 111 that is placed at a position along a side surface of a finger F and has a stimulation electrode; a second electrode unit 112 that forms a pair with the first electrode unit 111, and is placed so that current flows between the first electrode unit 111 and the second electrode unit 112 through an inside of the finger F; and a generation unit 123 for generating, between the first electrode unit 111 and the second electrode unit 112, current which flows from the side surface to the inside of the finger F and stimulates a sensory receptor of the finger F to generate force sense at the finger F.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a force feedback device, a force feedback system, and a force feedback method. [Background technology]

[0002] Conventionally, there are known techniques for simulating a predetermined tactile sensation on a user's finger. For example, Patent Document 1 discloses a compact tactile sensation presentation technique that generates a tactile sensation on a fingertip without interposing a device between the fingertip and a tool, without causing a sense of incongruity in operating the tool, and without hindering the operation of the tool. For example, Non-Patent Document 1 discloses a technique related to a haptic glove that generates a tactile sensation on a fingertip.

[0003] The spatially transparent tactile presentation device described in Patent Document 1 has two stimulation electrodes that are in contact with two afferent nerve bundles that run along both sides of the finger, and one earth electrode that is in contact with the palm side of the two stimulation electrodes. The tactile presentation device further has an electric signal generating unit that gives each of the stimulation electrodes a predetermined electric signal in which at least one of the wave height and frequency corresponding to each of the stimulation electrode terminals is controlled. The tactile presentation device generates electric stimulation in the two afferent nerves by giving an electric signal to each of the stimulation electrodes, and the electric stimulation generates a tactile sensation at the distal phalanges of the finger. The haptic glove described in Non-Patent Document 1 is a glove-shaped device that applies pressure to the fingertip using air pressure. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-005596 A [Non-patent literature]

[0005] [Non-Patent Document 1] Tech at Meta, [online], [searched on September 5, 2022], Internet <URL:https: / / tech.fb.com / ar-vr / 2021 / 11 / inside-reality-labs-meet-the-team-thats-bringing-touch-to-the-digital-world / > Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the conventional technology described in Patent Document 1, sufficient consideration was not given to generating a force sense, which is completely different from a tactile sense, in the fingers. The device disclosed in Non-Patent Document 1 requires air to be pumped in order to obtain air pressure, which makes the device large.

[0007] An object of the present disclosure is to provide a force sense presentation device, a force sense presentation system, and a force sense presentation method that are capable of generating a force sense in a finger with a simple configuration. [Means for solving the problem]

[0008] The present disclosure relates to (1) A first electrode unit is disposed at a position along a side surface of a finger and has a stimulation electrode; a second electrode portion that is paired with the first electrode portion and is disposed such that a current flows between the first electrode portion and the second electrode portion through an inside of the finger; a generating unit that generates, between the first electrode unit and the second electrode unit, a current that flows from a side surface of the finger to the inside, the current stimulating a sensory receptor of the finger to generate a force sensation in the finger; Equipped with force sense presentation device, It is.

[0009] (2) In the haptic device described in (1) above, The second electrode portion may be disposed at a position along a side surface of the finger.

[0010] (3) In the haptic device described in (2) above, The first electrode portion is disposed along one side surface of the finger, The second electrode portion may be disposed at a position along the other side surface of the finger.

[0011] (4) In the haptic device described in (3) above, The first electrode portion and the second electrode portion may face each other.

[0012] (5) In the force feedback device according to any one of (1) to (4), The first electrode portion may be disposed at a tip of the finger.

[0013] (6) In the force feedback device according to any one of (1) to (5), The first electrode unit has at least one cathode as the stimulation electrode, The second electrode unit may have at least one anode as an indifferent electrode to the stimulation electrode.

[0014] (7) In the haptic device described in (6) above, The number of the cathodes in the first electrode portion may be smaller than the number of the anodes in the second electrode portion.

[0015] (8) In the haptic device according to (6) or (7), The first electrode portion may include a plurality of the cathodes adjacent to each other and continuous with each other.

[0016] (9) In the force feedback device according to any one of (6) to (8), The second electrode portion may include a plurality of the anodes adjacent to each other and continuous with each other.

[0017] (10) The force feedback device according to any one of (1) to (9) above, The display device may further include a switching unit that switches the polarity of electrodes to invert the positional relationship between the first electrode unit and the second electrode unit.

[0018] The present disclosure relates to (11) The force feedback device according to any one of (1) to (10) above, An operation target that is remotely operated by a user wearing the haptic device; an output interface that outputs to the user a state of the operation target operated by the user as visual information; Equipped with the force feedback device acquires information based on an operation of the operation target by the user, and generates a force feedback to the finger of the user in accordance with the information; Force feedback system, It is.

[0019] (12) In the haptic feedback system described in (11) above, the operation target includes a robot hand formed at the tip of a robot arm, The information may include force and tactile information output from force and tactile sensors attached to the robotic hand.

[0020] (13) In the force feedback system according to (11) or (12), the operation target includes a finger of an avatar in a virtual space; The information may include digital information corresponding to finger movements of the avatar.

[0021] The present disclosure relates to (14) The method includes a step of passing a current through the inside of the finger between a first electrode unit having a stimulation electrode and a second electrode unit paired with the first electrode unit, the step including: In the step, a current is generated between the first electrode unit and the second electrode unit, the current being from a side surface of the finger to an inside, and stimulating a sensory receptor of the finger to generate a force sensation in the finger. force sense presentation method, It is. Effect of the Invention

[0022] According to a force feedback device, a force feedback system, and a force feedback method according to an embodiment of the present disclosure, it is possible to generate a force feedback in a finger with a simple configuration. [Brief description of the drawings]

[0023] [Figure 1] 1 is a block diagram showing an example of a configuration of a force feedback device according to an embodiment of the present disclosure. [Diagram 2] 2 is a schematic diagram showing an example of the appearance of an attachment part of the force feedback device of FIG. 1. FIG. [Diagram 3] 3 is a schematic diagram showing an example of a state in which the attachment part in FIG. 2 is attached to the tip of a user's finger. FIG. [Figure 4] 4 is a schematic diagram showing a first electrode portion and a second electrode portion of FIG. 3 in a simpler manner. FIG. [Diagram 5] 2 is a schematic diagram specifically illustrating a part of the configuration of the force feedback device of FIG. 1. FIG. [Figure 6A] 4 is a schematic diagram showing a first example of a polarity pattern of a first electrode portion and a second electrode portion. FIG. [Figure 6B] 6 is a schematic diagram showing a second example of the polarity pattern of the first electrode portion and the second electrode portion. FIG. [Figure 7] 2 is a schematic diagram showing a first example of the configuration of a force feedback system including the force feedback device of FIG. 1. FIG. [Figure 8] FIG. 8 is a block diagram showing a schematic configuration of the force feedback system of FIG. 7. [Figure 9] 1. FIG. 4 is a schematic diagram showing a second example of the configuration of a force feedback system including the force feedback device of FIG. [Figure 10] FIG. 10 is a block diagram showing a schematic configuration of the force feedback system of FIG. 9. [Figure 11] 1. FIG. 4 is a schematic diagram showing a first modified example of the force feedback device of FIG. [Figure 12] 1. FIG. 4 is a schematic diagram showing a second modified example of the force feedback device of FIG. [Figure 13] 1. FIG. 4 is a schematic diagram showing a third modified example of the force feedback device of FIG. [Figure 14] 1. FIG. 4 is a schematic diagram showing a fourth modified example of the force feedback device of FIG. [Figure 15] 1. FIG. 4 is a schematic diagram showing a fifth modified example of the force feedback device of FIG. [Figure 16] 1. FIG. 4 is a schematic diagram showing a sixth modified example of the force feedback device of FIG. [Figure 17] 1. FIG. 4 is a schematic diagram showing a seventh modified example of the force feedback device of FIG. [Figure 18] 1. FIG. 4 is a schematic diagram showing an eighth modified example of the force feedback device of FIG. [Figure 19] 1. FIG. 13 is a schematic diagram showing a ninth modified example of the force feedback device of FIG. [Figure 20] 1. FIG. 21 is a schematic diagram showing a tenth modified example of the force feedback device of FIG. [Figure 21] 1. FIG. 4 is a schematic diagram showing an eleventh modified example of the force feedback device of FIG. [Figure 22] 1. FIG. 21 is a schematic diagram showing a twelfth modified example of the force feedback device of FIG. [Diagram 23] 1. FIG. 21 is a schematic diagram showing a thirteenth modified example of the force feedback device of FIG. [Figure 24] 1. FIG. 21 is a schematic diagram showing a fourteenth modified example of the force feedback device of FIG. [Diagram 25] 1. FIG. 41 is a schematic diagram showing a fifteenth modified example of the force feedback device of FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] An embodiment of the present disclosure will be mainly described below with reference to the accompanying drawings.

[0025] 1 is a block diagram showing an example of a configuration of a haptic device 10 according to an embodiment of the present disclosure. An example of the configuration of the haptic device 10 according to an embodiment will be outlined with reference to FIG.

[0026] The haptic device 10 stimulates sensory receptors in the user's fingers to generate a sense of force in the fingers. The haptic device 10 has, broadly speaking, an attachment part 11 and a control circuit 12 connected to the attachment part 11.

[0027] The attachment part 11 includes any part that is attached to the tip of a user's finger. The attachment part 11 has a first electrode section 111 having at least one electrode, and a second electrode section 112 having at least one electrode. The first electrode section 111 and the second electrode section 112 form a pair with each other. The first electrode section 111 and the second electrode section 112 are disposed on the tip of the user's finger so that a current flows between the first electrode section 111 and the second electrode section 112 through the inside of the user's finger. The attachment part 11 receives a current output from the control circuit 12, and causes the first electrode section 111 and the second electrode section 112 to flow a current into the inside of the user's finger.

[0028] The control circuit 12 includes any circuit for controlling the operation of the haptic device 10. The control circuit 12 has a communication unit 121, a storage unit 122, a generation unit 123, a switching unit 124, and a control unit 125. The communication unit 121 and the storage unit 122 are each connected to the control unit 125. The generation unit 123, the switching unit 124, and the control unit 125 are each connected to each other.

[0029] The communication unit 121 includes a communication module that connects to a network 50, which will be described later. For example, the communication unit 121 includes a communication module that supports mobile communication standards or Internet standards such as 4G (4th Generation) and 5G (5th Generation). In one embodiment, the haptic device 10 is connected to the network 50 via the communication unit 121. The communication unit 121 transmits and receives various information via the network 50.

[0030] The storage unit 122 is, for example, but not limited to, a semiconductor memory, a magnetic memory, or an optical memory. The storage unit 122 functions as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 122 stores any information used in the operation of the haptic device 10. The storage unit 122 stores system programs, application programs, and various types of information received or transmitted by the communication unit 121.

[0031] The generating unit 123 includes any current source. The generating unit 123 includes, for example, a constant current source. The generating unit 123 generates a current flowing inside the user's finger between the first electrode portion 111 and the second electrode portion 112 of the attachment part 11. The generating unit 123 generates the current between the first electrode portion 111 and the second electrode portion 112 via the switching unit 124.

[0032] The switching unit 124 includes an arbitrary switch circuit connected to the first electrode unit 111, the second electrode unit 112, and the generating unit 123. The switching unit 124 receives on / off control from the control unit 125 and switches the electrical connections between the first electrode unit 111, the second electrode unit 112, and the generating unit 123.

[0033] The switching unit 124 switches on and off the current flowing between the first electrode unit 111 and the second electrode unit 112. The switching unit 124 switches the output timing of the current flowing between the first electrode unit 111 and the second electrode unit 112. The switching unit 124 switches the direction of the current flowing between the first electrode unit 111 and the second electrode unit 112. When the first electrode unit 111 includes a plurality of electrodes as described below, the switching unit 124 switches the electrode of the first electrode unit 111 used to pass a current between the first electrode unit 111 and the second electrode unit 112. When the second electrode unit 112 includes a plurality of electrodes as described below, the switching unit 124 switches the electrode of the second electrode unit 112 used to pass a current between the first electrode unit 111 and the second electrode unit 112.

[0034] As the switching unit 124 constantly maintains the electrical connection between the generating unit 123 and the first electrode unit 111 and the second electrode unit 112, the current output from the generating unit 123 to the switching unit 124 flows as a steady current between the first electrode unit 111 and the second electrode unit 112. As the switching unit 124 periodically switches the electrical connection between the generating unit 123 and the first electrode unit 111 and the second electrode unit 112, the current output from the generating unit 123 to the switching unit 124 flows as a pulse current between the first electrode unit 111 and the second electrode unit 112.

[0035] The control unit 125 includes one or more processors. In the present disclosure, the term "processor" includes, for example, a general-purpose processor and a dedicated processor specialized for a specific process. The control unit 125 is communicably connected to each component constituting the haptic device 10 and controls the operation of the haptic device 10 as a whole. The control unit 125 outputs a control signal to, for example, the generating unit 123, and controls the on / off and intensity of the constant current output from the generating unit 123. The control unit 125 outputs a control signal to, for example, the switching unit 124, and controls the on / off and timing of the switch circuit included in the switching unit 124, as well as the selection of an electrode to be connected among the multiple electrodes of the first electrode unit 111 and the selection of an electrode to be connected among the multiple electrodes of the second electrode unit 112.

[0036] Fig. 2 is a schematic diagram showing an example of the appearance of the attachment part 11 of the force feedback device 10 of Fig. 1. Fig. 3 is a schematic diagram showing an example of a state when the attachment part 11 of Fig. 2 is attached to the tip of a user's finger F. The configuration of the attachment part 11 of the force feedback device 10 of Fig. 1 will be mainly described with reference to Figs. 2 and 3.

[0037] The attachment part 11 is formed by a pair of clamping pieces 11a attached to the user's finger F so as to pinch the tip of the finger F, and a pair of gripping pieces 11b formed on the opposite side of the pair of clamping pieces 11a. The attachment part 11 can increase the distance between the pair of clamping pieces 11a by a user holding the pair of gripping pieces 11b in his / her hands and pushing the pair of gripping pieces 11b so that the pair of gripping pieces 11b approach each other. When the user pinches the pair of gripping pieces 11b tightly, the pair of clamping pieces 11a opens widely. The pair of clamping pieces 11a is placed at the tip of the user's finger F in a widely opened state. An elastic member (not shown) is incorporated inside the attachment part 11 so that when the user releases the pair of gripping pieces 11b, the pair of clamping pieces 11a approaches each other and pinches the tip of the user's finger F.

[0038] The first electrode portion 111 and the second electrode portion 112 are attached to the pair of clamping pieces 11a so as to penetrate the side portions of the pair of clamping pieces 11a of the attachment part 11 along the opening direction of the pair of clamping pieces 11a. The first electrode portion 111 and the second electrode portion 112 face each other. As shown in FIG. 2, the first electrode portion 111 and the second electrode portion 112 are separated from each other when the pair of clamping pieces 11a are in an open state. A space is formed between the first electrode portion 111 and the second electrode portion 112 to receive the tip of a user's finger F.

[0039] As an example, the first electrode portion 111 has four electrodes. The four electrodes of the first electrode portion 111 are arranged in a row in the vertical direction on one side of the pair of clipping pieces 11a. As an example, the second electrode portion 112 has four electrodes. The four electrodes of the second electrode portion 112 are arranged in a row in the vertical direction on the other side of the pair of clipping pieces 11a.

[0040] FIG. 4 is a schematic diagram showing the first electrode unit 111 and the second electrode unit 112 of FIG. 3 in a simpler manner. FIG. 4 shows an example of the arrangement of the first electrode unit 111 and the second electrode unit 112 with respect to the tip of the user's finger F in a simpler manner. Although not shown in FIG. 3, a conductive gel G may be arranged between the tip of the user's finger F and the first electrode unit 111. Similarly, the gel G may be arranged between the tip of the user's finger F and the second electrode unit 112. The gel G is intended to suppress the occurrence of pain sensation in the user's finger F by dispersing the current flowing between the first electrode unit 111 and the second electrode unit 112. For example, in order to arrange the gel G, a sheet on which the gel G is applied may be attached to the electrode included in each electrode unit or the finger F.

[0041] The first electrode unit 111 is disposed at a position along the side surface of the user's finger F. More specifically, the first electrode unit 111 is disposed at a position along one side surface A1 of the user's finger F. The first electrode unit 111 is disposed at the tip of the user's finger F. For example, the four electrodes of the first electrode unit 111 are disposed in a row along the side surface A1 at the tip of the user's finger F in the extension direction of the finger F.

[0042] The second electrode unit 112 is disposed at a position along the side surface of the user's finger F. More specifically, the second electrode unit 112 is disposed at a position along the other side surface A2 of the user's finger F. The second electrode unit 112 is disposed at the tip of the user's finger F. For example, the four electrodes of the second electrode unit 112 are disposed in a row along the side surface A2 at the tip of the user's finger F in the extension direction of the finger F.

[0043] Fig. 5 is a schematic diagram specifically showing a part of the configuration of the haptic device 10 of Fig. 1. The configuration and operation of the control circuit 12 of the haptic device 10 will be described in more detail with reference to Fig. 5.

[0044] The switching unit 124 of the control circuit 12 has a first switching unit 124a connected to the output terminal side of the constant current source included in the generating unit 123. The first switching unit 124a has eight switches S11, S12, S13, S14, S15, S16, S17, and S18 in this order from the left in FIG.

[0045] 5, the switch S11 of the first switching unit 124a is in an on state, and the electrode E24 of the four electrodes of the second electrode unit 112 is electrically connected to the generating unit 123. The switch S13 of the first switching unit 124a is in an on state, and the electrode E22 of the four electrodes of the second electrode unit 112 is electrically connected to the generating unit 123. The switches S12, S14, S15, S16, S17, and S18 of the first switching unit 124a are in an off state, and the electrodes E21 and E23 of the four electrodes of the second electrode unit 112 are not electrically connected to the generating unit 123, and the four electrodes E11, E12, E13, and E14 of the first electrode unit 111 are not electrically connected to the generating unit 123.

[0046] The switching unit 124 of the control circuit 12 has a second switching unit 124b connected to the input terminal side of the constant current source included in the generating unit 123. The second switching unit 124b has eight switches S21, S22, S23, S24, S25, S26, S27, and S28 in this order from the left in FIG.

[0047] 5, the switch S25 of the second switching unit 124b is in an on state, electrically connecting the electrode E11 of the four electrodes of the first electrode unit 111 to the generating unit 123. The switch S28 of the second switching unit 124b is in an on state, electrically connecting the electrode E14 of the four electrodes of the first electrode unit 111 to the generating unit 123. The switches S21, S22, S23, S24, S26, and S27 of the second switching unit 124b are in an off state, electrically connecting the four electrodes E21, E22, E23, and E24 of the second electrode unit 112 to the generating unit 123, and electrically connecting the electrodes E12 and E13 of the four electrodes of the first electrode unit 111 to the generating unit 123.

[0048] According to an example of the operation of the switching unit 124 described above, the electrodes E11 and E14 of the first electrode unit 111 function as cathodes. The electrodes E12 and E13 of the first electrode unit 111 are not connected to the generating unit 123, i.e., are in a high impedance state. The electrodes E22 and E24 of the second electrode unit 112 function as anodes. The electrodes E21 and E23 of the second electrode unit 112 are not connected to the generating unit 123.

[0049] Fig. 6A is a schematic diagram showing a first example of the polarity pattern of the first electrode section 111 and the second electrode section 112. Fig. 6B is a schematic diagram showing a second example of the polarity pattern of the first electrode section 111 and the second electrode section 112. Unlike Fig. 4, gel G is omitted in Figs. 6A and 6B. An example of the polarity pattern of the first electrode section 111 and the second electrode section 112 will be mainly described with reference to Figs. 6A and 6B.

[0050] 6A, in the first electrode unit 111 arranged at a position along one side surface A1 of the user's finger F, electrodes E11, E12, E13, and E14 are arranged in a row in order from the tip side of the user's finger F in the extension direction of the finger F. The electrodes E11 and E14 are not connected to the generating unit 123, and the electrodes E12 and E13 function as cathodes.

[0051] In the second electrode unit 112 arranged at a position along the other side surface A2 of the user's finger F, the electrodes E21, E22, E23, and E24 are arranged in a row in order from the tip side of the user's finger F in the extension direction of the finger F. The electrodes E21, E22, E23, and E24 all function as anodes.

[0052] 6B, in the first electrode unit 111 arranged at a position along one side surface A1 of the user's finger F, electrodes E11, E12, E13, and E14 are arranged in a row in order from the tip side of the user's finger F in the extension direction of the finger F. The electrodes E11 and E14 are not connected to the generating unit 123, and the electrodes E12 and E13 function as cathodes.

[0053] In the second electrode unit 112 arranged at a position along the other side surface A2 of the user's finger F, the electrodes E21, E22, E23, and E24 are arranged in a row in order from the tip side of the user's finger F in the extension direction of the finger F. The electrodes E21, E22, E23, and E24 all function as anodes.

[0054] The polarity patterns shown in the first example of Fig. 6A and the second example of Fig. 6B can be switched between each other based on a switching operation by the switching unit 124. The switching unit 124 inverts the positional relationship between the first electrode unit 111 and the second electrode unit 112 by switching the polarity of the electrodes. The switching unit 124 enables each electrode to be switched to any one of a cathode, an anode, and a non-connected state.

[0055] In FIG. 6A, the first electrode unit 111 is located on the left side of the tip of the user's finger F, and the side A1 corresponds to the left side of the tip of the user's finger F. The second electrode unit 112 is located on the right side of the tip of the user's finger F, and the side A2 corresponds to the right side of the tip of the user's finger F. On the other hand, in FIG. 6B, the first electrode unit 111 is located on the right side of the tip of the user's finger F, and the side A1 corresponds to the right side of the tip of the user's finger F. The second electrode unit 112 is located on the left side of the tip of the user's finger F, and the side A2 corresponds to the left side of the tip of the user's finger F.

[0056] As shown in FIG. 6A and FIG. 6B, the first electrode unit 111 has at least one cathode as a stimulating electrode. As an example, the first electrode unit 111 has two cathodes as stimulating electrodes. The second electrode unit 112 has at least one anode as an indifferent electrode to the stimulating electrodes. As an example, the second electrode unit 112 has four anodes as indifferent electrodes. The number of cathodes in the first electrode unit 111 is less than the number of anodes in the second electrode unit 112.

[0057] The first electrode unit 111 has a plurality of cathodes adjacent to each other and continuous. As an example, the first electrode unit 111 has two cathodes adjacent to each other and continuous. In the first electrode unit 111, the two cathodes adjacent to each other and continuous are located in the center of the first electrode unit 111. Electrodes E11 and E14 in a non-connected state are located on both sides of the two cathodes. The two cathodes are sandwiched in the extension direction of the finger F by the electrodes E11 and E14 in a non-connected state.

[0058] The second electrode section 112 has a plurality of anodes adjacent to each other and continuous. As an example, the second electrode section 112 has four anodes adjacent to each other and continuous. The second electrode section 112 is configured based only on the four anodes adjacent to each other and continuous.

[0059] The first electrode portion 111 and the second electrode portion 112 are located at the same position as each other in the extension direction of the finger F. For example, the electrode E11 in an unconnected state and the electrode E21 functioning as an anode are located at the same position as each other in the extension direction of the finger F. The electrode E12 functioning as a cathode and the electrode E22 functioning as an anode are located at the same position as each other in the extension direction of the finger F. The electrode E13 functioning as a cathode and the electrode E23 functioning as an anode are located at the same position as each other in the extension direction of the finger F. The electrode E14 in an unconnected state and the electrode E24 functioning as an anode are located at the same position as each other in the extension direction of the finger F.

[0060] The generating unit 123 generates, between the first electrode unit 111 and the second electrode unit 112, a current that is directed from the side of the user's finger F to the inside and stimulates the sensory receptors of the finger F to generate a force sensation for the finger F. The force sensation presentation device 10 activates the sensory receptors located near the side of the finger F by generating an electrical stimulus from the side of the user's finger F, thereby pseudo-generating a force sensation. At this time, the force sensation presentation device 10 may directly stimulate the sensory receptors with a current, or may indirectly stimulate the sensory receptors via nerve fibers connected to the sensory receptors. In the present disclosure, the "sensory receptor" includes, for example, Meissner's corpuscles, Merkel cells, Pacinian corpuscles, and Ruffini endings that contribute to the generation of a force sensation.

[0061] Such current-related parameters are optimized for each user based on a calibration operation performed at the initial stage when the haptic device 10 is attached to the user's finger F. In the present disclosure, the "current-related parameters" include, for example, a current pattern including a pulse current and a steady current, a pulse current width, a period, and a duty ratio, and a current intensity. The current-related parameters are optimized to a value that can most strongly stimulate the sensory receptors without causing pain to the user when a current is passed through the inside of the finger between the first electrode unit 111 and the second electrode unit 112.

[0062] The control unit 125 stores parameters related to the current optimized for each user based on the calibration work in the storage unit 122. When the user uses the haptic device 10 after the calibration work, the control unit 125 reads out the parameters related to the current optimized for the user from the storage unit 122. The control unit 125 controls the generation unit 123 and the switching unit 124 based on the read parameters, and generates a current corresponding to the parameters between the first electrode unit 111 and the second electrode unit 112.

[0063] For example, in Fig. 6A, the current flows from right to left from the second electrode unit 112 including an anode to the first electrode unit 111 including a cathode. At this time, the number of cathodes located along the left side surface A1 is smaller than the number of anodes located along the right side surface A2, so the current density on the left side surface A1 side is higher than the current density on the right side surface A2 side. As a result, the sensory receptors located inside the tip of the finger F are stimulated more strongly and become more active near the cathode serving as a stimulating electrode of the first electrode unit 111 on the left side.

[0064] The haptic device 10 generates, for example, a pseudo lateral force sensation at the tip of the user's finger F by arranging the first electrode unit 111 and the second electrode unit 112 as shown in Fig. 6A. The haptic device 10 generates, for example, a force sensation at the tip of the user's finger F as if a force was being applied from left to right as indicated by the arrow in Fig. 6A.

[0065] For example, in Fig. 6B, the current flows from the second electrode unit 112 including the anode to the first electrode unit 111 including the cathode from left to right. At this time, the number of cathodes located along the right side surface A1 is smaller than the number of anodes located along the left side surface A2, so the current density on the right side surface A1 side is higher than the current density on the left side surface A2 side. As a result, the sensory receptors located inside the tip of the finger F are stimulated more strongly and become more active near the cathode serving as a stimulating electrode of the first electrode unit 111 on the right side.

[0066] The haptic device 10 generates, for example, a pseudo lateral force sensation at the tip of the user's finger F by arranging the first electrode unit 111 and the second electrode unit 112 as shown in Fig. 6B. The haptic device 10 generates, for example, a force sensation at the tip of the user's finger F as if a force is being applied from right to left as indicated by the arrow in Fig. 6B.

[0067] In order to verify the effect of generating a force sensation as shown in Figures 6A and 6B, a verification experiment was conducted on multiple subjects. The verification experiment aimed to verify the presence or absence and the direction of a pseudo force sensation generated by the attachment part 11 having, as an example, the electrode arrangement shown in Figures 6A and 6B.

[0068] For example, a subject attaches the attachment part 11 to the middle finger of the dominant hand and sticks the middle finger out in front of the air. The reason for using the middle finger as the experimental subject is that it was the easiest to perceive the pseudo-force sensation clearly in the preliminary trial stage. To allow the subject to answer the direction of the force sensation, orthogonal axes X, Y, and Z were defined for the middle finger. For example, the Z axis is an axis along the extension direction of the middle finger. The Y axis is an axis along the up-down direction perpendicular to the extension direction of the middle finger. The X axis is an axis along the left-right direction perpendicular to the extension direction of the middle finger.

[0069] The direction of the force sensation was recorded by recording the value of the directional vector. For example, if the force sensation was to the right, it was recorded as (X, Y, Z) = (1, 0, 0), and if the force sensation was to the upper left diagonal direction on the XY plane, it was recorded as (X, Y, Z) = (-1, 1, 0).

[0070] The experimental procedure includes a first step of adjusting the amount of stimulation current by the first electrode unit 111 and the second electrode unit 112. In the first step, the subject was made to wear the attachment part 11 as shown in FIG. 3, and a plurality of electrode stimulation patterns including the electrode stimulation patterns of FIG. 6A and FIG. 6B were randomly presented for one second each while gradually increasing the amount of stimulation current until a pain sensation was generated. After that, the amount of stimulation current was decreased until the pain sensation disappeared, thereby setting the maximum amount of stimulation current at which the subject did not feel uncomfortable. The control unit 125 stored the parameters related to the current at this time in the memory unit 122. The subsequent steps were performed based on the amount of stimulation current.

[0071] The experimental procedure includes a second step to verify the presence or absence of skin sensation due to electrical stimulation on the left and right sides. In the second step, multiple electrode stimulation patterns including those in Figures 6A and 6B were presented in sequence, and the subjects were asked to answer "Does the electrical stimulation cause skin sensation?" for each of the right and left sides of the finger. The second step is intended to confirm the presence or absence of perception of cathodal stimulation, which is a clue to perceiving force sensation in multiple electrode stimulation patterns including those in Figures 6A and 6B.

[0072] The experimental procedure included a third step to verify whether or not pseudo-force sensation occurred. In the third step, multiple electrode stimulation patterns, including those in Figures 6A and 6B, were tried three times in random order, and the subjects were asked to respond to the direction of the pseudo-force sensation that occurred in each trial. If no pseudo-force sensation occurred, the subjects were asked to report this, and the value of the directional vector was recorded as (X, Y, Z) = (0, 0, 0).

[0073] Through the above-mentioned demonstration experiment, it was found that the subject perceived a pseudo-force sensation in various directions. For example, it was found that the subject perceived a pseudo-force sensation in the direction indicated by the arrow in either of Figures 6A and 6B. The demonstration experiment demonstrated that a pseudo-force sensation occurs. The fact that the sensory receptors located inside the area around the nail part of the finger are more strongly stimulated and become more active is related to the occurrence of a pseudo-force sensation. The fact that the nail part is less likely to deform than other parts of the finger other than the nail part is related to the occurrence of a pseudo-force sensation.

[0074] FIG. 7 is a schematic diagram showing a first example of the configuration of a force sense presentation system 1 including the force sense presentation device 10 of FIG. 1. FIG. 8 is a block diagram showing a schematic configuration of the force sense presentation system 1 of FIG. 7. With reference to FIG. 7 and FIG. 8, a first example in which the force sense presentation device 10 of FIG. 1 is applied to the force sense presentation system 1 will be mainly described. For the purpose of simple illustration, FIG. 7 mainly shows only the attachment part 11 of the force sense presentation device 10 that is attached to the tip of the user's finger, and the control circuit 12 is omitted. In addition, in order to mainly focus on the force sense presentation device 10 according to an embodiment of the present disclosure, other devices required for remotely operating the operation target 23 described later are also omitted from the illustration.

[0075] The haptic system 1 includes the haptic device 10 described above. The haptic device 10 is used in a state where the attachment part 11 is attached to the user's fingers. The haptic device 10 may be attached to at least one or all of the user's ten fingers. For example, as shown in FIG. 7, the haptic device 10 is attached to the thumb and index finger of the user's right hand and the thumb and index finger of the user's left hand.

[0076] The haptic system 1 has a robot 20 in addition to a haptic device 10. More specifically, the haptic system 1 has, as part of the configuration of the robot 20, an operation target 23 that is remotely operated by a user wearing the haptic device 10. The haptic system 1 has an output interface 30 that outputs to the user as visual information the state of the operation target 23 being operated by the user. The haptic system 1 may further have an imaging device 40 in addition to the haptic device 10, the robot 20 including the operation target 23, and the output interface 30.

[0077] The force feedback device 10, the robot 20 including the operation target 23, the output interface 30, and the imaging device 40 are each connected to a network 50 including a mobile communication network and the Internet so as to be able to communicate with each other.

[0078] The robot 20 includes a robot used for any purpose, such as medical, household, industrial, commercial, etc. The robot 20 includes a communication unit 21, a storage unit 22, an operation target 23, and a control unit 24.

[0079] The communication unit 21 includes a communication module that connects to the network 50. For example, the communication unit 21 includes a communication module compatible with mobile communication standards or Internet standards such as 4G and 5G. In one embodiment, the robot 20 is connected to the network 50 via the communication unit 21. The communication unit 21 transmits and receives various information via the network 50.

[0080] The storage unit 22 is, for example, but not limited to, a semiconductor memory, a magnetic memory, or an optical memory. The storage unit 22 functions as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 22 stores any information used in the operation of the robot 20. The storage unit 22 stores system programs, application programs, and various types of information received or transmitted by the communication unit 21.

[0081] The operation target 23 includes a robot hand formed at the tip of a robot arm. For example, the operation target 23 includes a robot hand formed at the tip of a robot arm of an arbitrary robot 20 located remotely from the location of a user wearing the haptic device 10. The robot arm has at least one arm, and each arm has a robot hand. The robot hand has at least one finger. For example, as shown in FIG. 7, the robot arm may have a left arm and a right arm like a human being, and five fingers are formed on the robot hand of each arm, or may have only one arm, and only two fingers are formed on the robot hand of the arm.

[0082] The robot hand included in the operation target 23 has a force and touch sensor 23a at the tip of each finger. The force and touch sensor 23a outputs information when the fingers of the robot hand come into contact with an arbitrary object as force and touch information.

[0083] The control unit 24 includes one or more processors. The control unit 24 is communicably connected to each component of the robot 20 and controls the operation of the entire robot 20. For example, the control unit 24 controls the operation target 23 so as to be linked to the movement of the hand and fingers of a user who remotely operates the operation target 23 while wearing the force feedback device 10 and other devices (not shown).

[0084] The output interface 30 includes one or more interfaces that output information to a user as an image. For example, the output interface 30 includes a wearable device such as a goggle-type or eyeglass-type device that outputs information as an image, as well as any other display device. The output interface 30 includes a communication unit 31, a storage unit 32, an output unit 33, and a control unit 34.

[0085] The communication unit 31 includes a communication module that connects to the network 50. For example, the communication unit 31 includes a communication module that supports mobile communication standards or Internet standards such as 4G and 5G. In one embodiment, the output interface 30 is connected to the network 50 via the communication unit 31. The communication unit 31 transmits and receives various information via the network 50.

[0086] The storage unit 32 is, for example, but not limited to, a semiconductor memory, a magnetic memory, or an optical memory. The storage unit 32 functions as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 32 stores any information used in the operation of the output interface 30. The storage unit 32 stores system programs, application programs, and various types of information received or transmitted by the communication unit 31.

[0087] The output unit 33 includes one or more displays that output information to a user as an image. For example, the output unit 33 includes a display that outputs information as a video.

[0088] The control unit 34 includes one or more processors. The control unit 34 is communicably connected to each component constituting the output interface 30, and controls the operation of the entire output interface 30. For example, the control unit 34 acquires visual information (described later) generated by the imaging device 40 through the communication unit 31 via the network 50, and displays the information as an image to the user while controlling the output unit 33.

[0089] The imaging device 40 includes any camera or the like arranged around the operation target 23. The imaging device 40 has a communication unit 41, a storage unit 42, an imaging unit 43, and a control unit 44.

[0090] The communication unit 41 includes a communication module that connects to the network 50. For example, the communication unit 41 includes a communication module that supports mobile communication standards or Internet standards such as 4G and 5G. In one embodiment, the imaging device 40 is connected to the network 50 via the communication unit 41. The communication unit 41 transmits and receives various information via the network 50.

[0091] The storage unit 42 is, for example, but not limited to, a semiconductor memory, a magnetic memory, or an optical memory. The storage unit 42 functions as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 42 stores any information used in the operation of the imaging device 40. The storage unit 42 stores system programs, application programs, and various types of information received or transmitted by the communication unit 41.

[0092] The imaging unit 43 includes any imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS).

[0093] The control unit 44 includes one or more processors. The control unit 44 is communicably connected to each component of the imaging device 40 and controls the operation of the entire imaging device 40. For example, the control unit 44 generates visual information (described later) using the imaging unit 43 and transmits it to the output interface 30 via the network 50 while controlling the communication unit 41.

[0094] A user wears the force feedback device 10 and other devices (not shown) and remotely controls an operation target 23. A robot hand as the operation target 23 performs a similar movement in conjunction with the movement of the user's hand and fingers. For example, as shown in Fig. 7, the robot hand supports a bottle mainly with the thumb and index finger of the robot hand on the left arm, while rotating the lid of the bottle with the thumb and index finger of the robot hand on the right arm.

[0095] At this time, the control unit 125 of the haptic device 10 acquires information based on the operation of the operation target 23 by the user, and generates a force sense in the user's fingers according to the information. In the first example shown in FIG. 7, the information includes force and tactile information output from a force and tactile sensor 23a attached to a robot hand as the operation target 23. The force sense generates weight information applied to the force and tactile sensor 23a. The control unit 125 of the haptic device 10 acquires information based on the operation of the operation target 23 by the user from the robot 20 having the operation target 23 via the network 50 and the communication unit 121.

[0096] The control unit 125 of the haptic device 10 controls the amount of stimulation current via the first electrode unit 111 and the second electrode unit 112 so that the user feels a force corresponding to the haptic information output from the haptic sensor 23a attached to the robot hand through the haptic device 10 worn by the user. For example, the user feels a virtual sensation of supporting a bottle while feeling the gravity of the bottle with the thumb and index finger of his left hand. The user feels a virtual sensation of turning a bottle cap while feeling the frictional force of turning the bottle cap with the thumb and index finger of his right hand.

[0097] At this time, the control unit 44 of the imaging device 40 arranged around the operation target 23 captures an image of the operation target 23 being operated by the user using the imaging unit 43, and generates visual information. The control unit 34 of the output interface 30 acquires the visual information generated by the imaging device 40 via the network 50 and the communication unit 31, and displays it as an image to the user using the output unit 33. The user visually recognizes the state of the operation target 23 being operated by the user while viewing the image displayed on the output interface 30.

[0098] As described above, the user remotely controls the operation target 23 while feeling the combined force and vision provided by the force feedback device 10 and the output interface 30, respectively. This allows the user to obtain a realistic sense of operation with a simple configuration.

[0099] FIG. 9 is a schematic diagram showing a second example of the configuration of the force sense presentation system 1 including the force sense presentation device 10 of FIG. 1. FIG. 10 is a block diagram showing a schematic configuration of the force sense presentation system 1 of FIG. 9. With reference to FIG. 9 and FIG. 10, a second example in which the force sense presentation device 10 of FIG. 1 is applied to the force sense presentation system 1 will be mainly described. For the purpose of simple illustration, FIG. 9 mainly shows only the attachment part 11 attached to the tip of the user's finger for the force sense presentation device 10, and omits illustration of the control circuit 12. In addition, in order to mainly focus on the force sense presentation device 10 according to an embodiment of the present disclosure, other devices required for remotely operating the operation target 63a described later are also omitted from illustration.

[0100] The haptic system 1 includes the haptic device 10 described above. The haptic device 10 is used in a state where the attachment part 11 is attached to the user's fingers. The haptic device 10 may be attached to at least one or all of the user's ten fingers. For example, as shown in FIG. 9, the haptic device 10 is attached to the thumb and index finger of the user's right hand and the thumb and index finger of the user's left hand.

[0101] The haptic system 1 has an information processing device 60 in addition to the haptic device 10. More specifically, the haptic system 1 has an operation target 63a that is included in an avatar generated in a virtual space by the information processing device 60 and that is remotely operated by a user wearing the haptic device 10. The haptic system 1 has an output interface 30 that outputs to the user the state of the operation target 63a operated by the user as visual information.

[0102] The force sense supply device 10, the information processing device 60 that generates an avatar including an operation target 63a, and the output interface 30 are each connected to a network 50 including a mobile communication network and the Internet so as to be able to communicate with each other.

[0103] The information processing device 60 is one or more server devices capable of communicating with each other. The information processing device 60 is not limited to these and may be any general-purpose electronic device such as a PC (Personal Computer) or a smartphone, or may be another electronic device dedicated to the force feedback system 1. The information processing device 60 has a communication unit 61, a storage unit 62, and a control unit 63.

[0104] The communication unit 61 includes a communication module that connects to the network 50. For example, the communication unit 61 includes a communication module that supports mobile communication standards or Internet standards such as 4G and 5G. In one embodiment, the information processing device 60 is connected to the network 50 via the communication unit 61. The communication unit 61 transmits and receives various information via the network 50.

[0105] The storage unit 62 is, for example, but not limited to, a semiconductor memory, a magnetic memory, or an optical memory. The storage unit 62 functions as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 62 stores any information used in the operation of the information processing device 60. The storage unit 62 stores system programs, application programs, and various types of information received or transmitted by the communication unit 61.

[0106] The control unit 63 includes one or more processors. The control unit 63 is communicably connected to each component of the information processing device 60, and controls the operation of the entire information processing device 60. For example, the control unit 63 generates an avatar in an arbitrary virtual space including an operation target 63a that is operated in the virtual space by a user wearing the haptic device 10.

[0107] The operation target 63a includes the fingers of an avatar in a virtual space. For example, the operation target 63a includes the fingers of any avatar located in a three-dimensional virtual space constructed in a computer and a computer network, which is different from the real space in which the user wearing the haptic device 10 is located. Such avatars include those that are characterized based on, for example, humans, non-human animals, plants, machines such as robots, and objects, and have hands corresponding to the user's hands. The avatar has at least one hand, and at least one finger on each hand. For example, as shown in FIG. 9, the avatar may be characterized based on a human, have a left arm and a right arm like a human, and have five fingers on the hand formed at the tip of each arm.

[0108] The output interface 30 has the same configuration as the first example shown in Fig. 7 and Fig. 8. For example, the control unit 34 acquires visual information (described later) from the information processing device 60 by the communication unit 31 via the network 50, and displays the information as an image to the user while controlling the output unit 33.

[0109] A user wears the haptic device 10 and other devices (not shown) and operates an operation target 63a in a virtual space in a real space. An avatar having fingers as the operation target 63a performs a similar movement in conjunction with the movement of the user's hand and fingers. For example, as shown in Fig. 9, the avatar supports a bottle mainly with the thumb and index finger of the left hand and rotates the lid of the bottle with the thumb and index finger of the right hand.

[0110] At this time, the control unit 125 of the haptic device 10 acquires information based on the operation of the operation target 63a by the user, and generates a haptic sensation in the user's finger according to the information. In the second example shown in FIG. 9, the information includes digital information corresponding to the motion of the finger of the avatar as the operation target 63a. More specifically, the digital information includes force information for presenting a sensation corresponding to the motion of the finger of the avatar, which is generated by the control unit 63 of the information processing device 60 through a calculation based on the haptic rendering. The control unit 125 of the haptic device 10 acquires the information based on the operation of the operation target 63a by the user from the information processing device 60 that performed the calculation based on the haptic rendering, via the network 50 and the communication unit 121.

[0111] The control unit 125 of the haptic device 10 controls the amount of stimulation current via the first electrode unit 111 and the second electrode unit 112 so that the user feels a force corresponding to the digital information acquired from the information processing device 60 via the worn haptic device 10. For example, the user simulates the sensation of supporting a bottle while simulating the gravity of the bottle with the thumb and index finger of his left hand. The user simulates the sensation of turning a bottle cap while simulating the frictional force of turning the bottle cap with the thumb and index finger of his right hand.

[0112] At this time, the control unit 34 of the output interface 30 acquires visual information of the virtual space in which the avatar including the operation target 63a is located from the information processing device 60 via the network 50 and the communication unit 31, and displays it as an image to the user using the output unit 33. While viewing the image displayed on the output interface 30, the user visually recognizes the state of the operation target 63a that he or she is operating.

[0113] As described above, the user remotely controls the operation target 63a while feeling the combined force and vision provided by the force feedback device 10 and the output interface 30, respectively. This allows the user to obtain a realistic sense of operation with a simple configuration.

[0114] According to the haptic device 10 according to the embodiment described above, it is possible to generate a haptic sensation in a finger with a simple configuration. The haptic device 10 has a first electrode unit 111 that is arranged along the side of the finger and has a stimulating electrode, and a generating unit 123 that generates a current between the first electrode unit 111 and the second electrode unit 112 from the side of the finger to the inside. This allows the haptic device 10 to strongly stimulate sensory receptors located inside the finger in the vicinity of the stimulating electrode, thereby activating them. The haptic device 10 is able to stimulate the sensory receptors of the user's finger to generate a haptic sensation in the finger.

[0115] In the haptic device 10, the second electrode unit 112 is disposed at a position along the side surface of the finger, so that the second electrode unit 112 can be positioned along the side surface of the finger similarly to the first electrode unit 111 and brought closer to the first electrode unit 111. This allows the haptic device 10 to more easily pass a current through the inside of the finger between the first electrode unit 111 and the second electrode unit 112. Therefore, the haptic device 10 can stimulate the sensory receptors of the user's finger to more reliably generate a sense of force in the finger.

[0116] In the haptic device 10, the first electrode unit 111 is disposed at a position along the side surface A1, and the second electrode unit 112 is disposed at a position along the side surface A2, so that a current from the side surface of the finger to the inside can be generated more reliably between the first electrode unit 111 and the second electrode unit 112. Such a current flows more reliably inside the user's finger between the side surfaces A1 and A2 located opposite each other. This allows the haptic device 10 to stimulate the sensory receptors of the user's finger and more reliably generate a sense of force in the finger.

[0117] In the haptic device 10, the first electrode unit 111 and the second electrode unit 112 are opposed to each other, so that a current from the side of the finger to the inside can be generated more reliably between the first electrode unit 111 and the second electrode unit 112. Such a current flows more reliably inside the user's finger between the first electrode unit 111 and the second electrode unit 112, which are positioned so as to face each other. This makes it possible for the haptic device 10 to stimulate the sensory receptors of the user's finger and more reliably generate a sense of force in the finger.

[0118] The force feedback device 10 has a first electrode section 111 and a second electrode section 112 facing each other, and small electrodes are used in the first electrode section 111 and the second electrode section 112, so that the device can be easily miniaturized.

[0119] By disposing the first electrode unit 111 at the tip of the finger, the haptic device 10 can more strongly stimulate the sensory receptors located inside the tip of the finger in the vicinity of the stimulation electrode included in the first electrode unit 111, thereby making it possible for the haptic device 10 to more actively stimulate the sensory receptors located in the tip of the finger. This allows the haptic device 10 to more reliably generate a sense of force at the tip of the finger by stimulating the sensory receptors of the user's finger.

[0120] In the haptic device 10, the first electrode unit 111 has at least one cathode as a stimulating electrode, and the second electrode unit 112 has at least one anode as an indifferent electrode to the stimulating electrode, so that the stimulating electrode can easily stimulate the sensory receptors located inside the finger. This enables the haptic device 10 to more reliably generate a haptic sensation in the finger by activating the sensory receptors.

[0121] In the haptic device 10, the number of cathodes in the first electrode unit 111 is smaller than the number of anodes in the second electrode unit 112, so that the current density on the first electrode unit 111 side can be made higher than the current density on the second electrode unit 112 side. This allows the haptic device 10 to stimulate sensory receptors located inside the finger more strongly in the vicinity of the cathodes serving as stimulating electrodes of the first electrode unit 111, to activate them more actively. Therefore, the haptic device 10 can stimulate the sensory receptors of the user's finger to more reliably generate a sense of force in the finger.

[0122] In the haptic device 10, the first electrode unit 111 has a plurality of cathodes adjacent to each other and continuous to each other, so that the current density on the first electrode unit 111 side can be made higher than the current density on the second electrode unit 112 side. This allows the haptic device 10 to stimulate the sensory receptors located inside the finger more strongly in the vicinity of the cathodes serving as stimulating electrodes of the first electrode unit 111, thereby making the sensory receptors more active. Therefore, the haptic device 10 can stimulate the sensory receptors of the user's finger to more reliably generate a sense of force in the finger.

[0123] In the haptic device 10, the second electrode unit 112 has a plurality of anodes adjacent to each other and continuous to each other, so that a current can be more easily passed from the side of the finger through the inside between the first electrode unit 111 and the second electrode unit 112. Therefore, the haptic device 10 can stimulate the sensory receptors of the user's finger to more reliably generate a sense of force in the finger.

[0124] The haptic device 10 can generate different haptics on the user's finger by including a switching unit 124 that inverts the positional relationship between the first electrode unit 111 and the second electrode unit 112. For example, the haptic device 10 can make the user feel forces in opposite directions as shown in Figs. 6A and 6B. The haptic device 10 can also generate different haptics on the user's finger by the switching unit 124 continuously switching the polarity pattern from one of Figs. 6A and 6B to the other. The user can also continuously feel forces in different directions due to the seamless operation of the switching unit 124.

[0125] In addition to the force sense display device 10, the force sense display system 1 has an output interface 30 that outputs to the user the state of an object being operated by the user as visual information, thereby enabling the user to remotely control the object being operated in a state where force sense and vision are integrated. This allows the user to use vision to compensate for the difference between the force sense generated in the fingers by the force sense display device 10 and the actual sensation that is insufficient. The user can compensate for the difference while integrating force sense and vision, and can obtain a pseudo sensation that is very close to the actual sensation. For example, as shown in FIG. 7 and FIG. 9, the force sense display device 10 and the output interface 30 allow the user to pseudo sensation that is very close to the actual sensation of both hands when holding a bottle in the left hand and opening the lid with the right hand.

[0126] As a result, the sense of movement associated with the actual movement of the operation target can be more accurately conveyed to the user, thereby enabling the user to remotely control the operation target with greater precision.

[0127] The haptic system 1 allows a user to remotely operate the robot hand in a state where the operation target 23 includes a robot hand formed at the tip of a robot arm, with haptic and visual sensations integrated. The user can supplement the difference with the actual sensation while integrating haptic and visual sensations, and obtain a pseudo sensation that is very close to the actual sensation while remotely operating the robot hand. For example, as shown in FIG. 7, the user can obtain a pseudo sensation that is very close to the actual sensation of both hands when holding a bottle with the left hand and opening the lid with the right hand by using the haptic device 10 and the output interface 30 while remotely operating the robot hand.

[0128] The haptic system 1 allows the user to remotely control the avatar's finger in a state where the haptic sense and the visual sense are integrated, by including the finger of the avatar in the virtual space as the operation target 63a. The user can obtain a pseudo sensation very close to the actual sensation while remotely controlling the avatar's finger by complementing the difference with the actual sensation while integrating the haptic sense and the visual sense, and remotely controlling the avatar's finger. For example, as shown in FIG. 9, the user can obtain a pseudo sensation very close to the actual sensation of both hands when holding a bottle with the left hand and opening the lid with the right hand by using the haptic device 10 and the output interface 30 while remotely controlling the avatar's finger.

[0129] It is obvious to those skilled in the art that the present disclosure can be realized in other specific forms other than the above-described embodiments without departing from the spirit or essential characteristics thereof. Therefore, the above description is illustrative and not limiting. The scope of the disclosure is defined by the appended claims, not by the above description. Any modifications within the scope of the equivalents of all modifications are intended to be included therein.

[0130] For example, the shape, size, arrangement, orientation, number, etc. of each of the above-mentioned components are not limited to the above description and the contents illustrated in the drawings. The shape, size, arrangement, orientation, number, etc. of each of the components may be configured arbitrarily as long as the function can be realized.

[0131] Fig. 11 is a schematic diagram showing a first modified example of the haptic device 10 of Fig. 1. Fig. 12 is a schematic diagram showing a second modified example of the haptic device 10 of Fig. 1. Fig. 13 is a schematic diagram showing a third modified example of the haptic device 10 of Fig. 1. Fig. 14 is a schematic diagram showing a fourth modified example of the haptic device 10 of Fig. 1.

[0132] In the above embodiment, the second electrode unit 112 is described as being arranged at a position along the side surface of the finger, but is not limited thereto. The second electrode unit 112 does not have to be arranged at a position along the side surface of the finger. The second electrode unit 112 may be arranged at any position as long as a current flows between the second electrode unit 112 and the first electrode unit 111 and a force sense can be generated in the finger. For example, the second electrode unit 112 may be arranged so as to be wrapped around a joint part of the finger F as shown in FIG. 11. For example, the second electrode unit 112 may be arranged so as to be wrapped around a base part of the finger F as shown in FIG. 12. For example, the second electrode unit 112 may be arranged on the back of the hand as shown in FIG. 13. For example, the second electrode unit 112 may be arranged so as to be gripped with the palm as shown in FIG. 14.

[0133] FIG. 15 is a schematic diagram showing a fifth modified example of the haptic device 10 of FIG. 1. In the above embodiment, the first electrode unit 111 is arranged at a position along the side surface A1 of one side of the finger, and the second electrode unit 112 is arranged at a position along the side surface A2 of the other side of the finger, but this is not limited thereto. The first electrode unit 111 and the second electrode unit 112 may be arranged at positions along the same side surface, rather than at positions along different side surfaces. For example, as shown in FIG. 15, the first electrode unit 111 and the second electrode unit 112 may be arranged at positions along the same side surface A1.

[0134] FIG. 16 is a schematic diagram showing a sixth modified example of the haptic device 10 of FIG. 1. In the above embodiment, the first electrode unit 111 and the second electrode unit 112 are described as facing each other, but this is not limited thereto. The first electrode unit 111 and the second electrode unit 112 may not face each other. That is, the first electrode unit 111 and the second electrode unit 112 may be disposed at different positions along the extension direction of the finger. For example, as shown in FIG. 16, the first electrode unit 111 may be located closer to the tip side along the extension direction of the finger F, and the second electrode unit 112 may be located closer to the back side along the extension direction of the finger F.

[0135] Fig. 17 is a schematic diagram showing a seventh modified example of the haptic device 10 of Fig. 1. In the above embodiment, the first electrode unit 111 is described as being disposed on the tip of the finger, but this is not limited thereto. For example, as shown in Fig. 17, the first electrode unit 111 may be disposed on the back side of the hand relative to the tip of the finger F.

[0136] Fig. 18 is a schematic diagram showing an eighth modified example of the haptic device 10 of Fig. 1. In the above embodiment, as shown in Fig. 6A and Fig. 6B, the first electrode unit 111 has at least one cathode as a stimulating electrode, and the second electrode unit 112 has at least one anode as an indifferent electrode to the stimulating electrode, but this is not limited thereto. The first electrode unit 111 may have at least one anode as a stimulating electrode, and the second electrode unit 112 may have at least one cathode as an indifferent electrode to the stimulating electrode.

[0137] For example, as shown in Fig. 18, the first electrode unit 111 may have two anodes as stimulation electrodes. The second electrode unit 112 may have four cathodes as indifferent electrodes. The number of anodes in the first electrode unit 111 is less than the number of cathodes in the second electrode unit 112. The electrode arrangement as shown in Fig. 18 is obtained by switching on and off a predetermined switch included in the switching unit 124 of Fig. 5 from the state of the electrode arrangement as shown in Fig. 6A. The predetermined switch includes each switch connected to the electrodes E12, E13, E21, E22, E23, and E24.

[0138] Fig. 19 is a schematic diagram showing a ninth modified example of the haptic device 10 of Fig. 1. Fig. 20 is a schematic diagram showing a tenth modified example of the haptic device 10 of Fig. 1. Fig. 21 is a schematic diagram showing an eleventh modified example of the haptic device 10 of Fig. 1. Fig. 22 is a schematic diagram showing a twelfth modified example of the haptic device 10 of Fig. 1. Fig. 23 is a schematic diagram showing a thirteenth modified example of the haptic device 10 of Fig. 1.

[0139] The electrode arrangements shown in Fig. 21 to Fig. 23 are obtained by switching on and off predetermined switches included in the switching unit 124 of Fig. 5 from the state of the electrode arrangement shown in Fig. 5. In an eleventh modification of Fig. 21, the predetermined switches include the switches connected to the electrodes E11, E12, E14, E21, E23, and E24. In a twelfth modification of Fig. 22, the predetermined switches include the switches connected to the electrodes E12, E13, E14, E21, E23, and E24. In a thirteenth modification of Fig. 23, the predetermined switches include the switches connected to the electrodes E11, E12, E13, E14, E21, and E23.

[0140] In the above embodiment, the first electrode unit 111 has been described as having four electrodes, but is not limited thereto. The first electrode unit 111 may have three or less electrodes, or may have five or more electrodes. For example, the first electrode unit 111 may have three electrodes as shown in FIG. 19. For example, the first electrode unit 111 may have five electrodes as shown in FIG. 20.

[0141] In the above embodiment, it has been described that two of the four electrodes in the first electrode unit 111 are in a cathode state, but this is not limited thereto. The number of electrodes in the cathode state in the first electrode unit 111 may be one, or three or more. For example, as shown in FIG. 21, the number of electrodes in the cathode state in the first electrode unit 111 may be one. For example, as shown in FIG. 22, the number of electrodes in the cathode state in the first electrode unit 111 may be three.

[0142] In the above embodiment, the first electrode unit 111 has been described as being in a state where all electrodes are cathodes or unconnected, but this is not limited thereto. The first electrode unit 111 may be configured so that, in addition to the cathodes and unconnected electrodes, the anodes are mixed. For example, as shown in FIG. 23, the first electrode unit 111 may be configured so that the electrode E11 is unconnected, the electrode E12 is a cathode, the electrode E13 is a cathode, and the electrode E14 is an anode.

[0143] In the above embodiment, the second electrode unit 112 has been described as having four electrodes, but is not limited thereto. The second electrode unit 112 may have three or less electrodes, or may have five or more electrodes. For example, the second electrode unit 112 may have five electrodes as shown in FIG. 19. For example, the second electrode unit 112 may have three electrodes as shown in FIG. 20.

[0144] In the above embodiment, all four electrodes in the second electrode section 112 are in an anode state, but this is not limited to the above. The number of electrodes in the anode state in the second electrode section 112 may be three or less. For example, as shown in Figs. 21 and 22, the number of electrodes in the anode state in the second electrode section 112 may be three.

[0145] In the above embodiment, the second electrode unit 112 has been described as being in an anode state for all electrodes, but is not limited thereto. The second electrode unit 112 may be configured to have at least one of anodes and cathodes and no connection in addition to anodes. For example, as shown in FIG. 21, the second electrode unit 112 may be configured such that the electrode E21 is an anode, the electrode E22 is an anode, the electrode E23 is an anode, and the electrode E24 is in a no connection state. For example, as shown in FIG. 22, the second electrode unit 112 may be configured such that the electrode E21 is an anode, the electrode E22 is an anode, the electrode E23 is an anode, and the electrode E24 is a cathode.

[0146] Fig. 24 is a schematic diagram showing a fourteenth modified example of the force sense presentation device 10 of Fig. 1. Fig. 25 is a schematic diagram showing a fifteenth modified example of the force sense presentation device 10 of Fig. 1.

[0147] In the above embodiment, the electrodes of the first electrode unit 111 are described as being arranged in a row along the extension direction of the finger, but this is not limited thereto. The electrodes of the first electrode unit 111 may be arranged in multiple rows along the extension direction of the finger. For example, as shown in FIG. 24, the electrodes of the first electrode unit 111 may be arranged in two rows along the extension direction of the finger F.

[0148] In the above embodiment, the electrodes of the second electrode unit 112 are described as being arranged in a row along the extension direction of the finger, but this is not limited thereto. The electrodes of the second electrode unit 112 may be arranged in multiple rows along the extension direction of the finger. For example, as shown in FIG. 25, the electrodes of the second electrode unit 112 may be arranged in two rows along the extension direction of the finger F.

[0149] In the above embodiment, the first electrode section 111 and the second electrode section 112 have been described as having the same number of electrodes, but this is not limited thereto. For example, as shown in Fig. 19 and Fig. 20, the first electrode section 111 and the second electrode section 112 may have different numbers of electrodes.

[0150] In the above embodiment, the number of cathodes in the first electrode unit 111 is described as being smaller than the number of anodes in the second electrode unit 112, but this is not limited thereto. The number of cathodes in the first electrode unit 111 may be equal to or greater than the number of anodes in the second electrode unit 112. For example, as shown in FIG. 5, the number of cathodes in the first electrode unit 111 may be the same as the number of anodes in the second electrode unit 112.

[0151] In the above embodiment, the first electrode unit 111 has a plurality of cathodes adjacent to each other and continuous, but is not limited thereto. For example, as shown in Fig. 5, the plurality of cathodes in the first electrode unit 111 do not have to be adjacent to each other and continuous. That is, in the first electrode unit 111, an anode or an electrode in a non-connected state may be disposed between the cathodes.

[0152] In the above embodiment, the second electrode section 112 has been described as having a plurality of anodes adjacent to each other and continuous, but is not limited thereto. For example, as shown in Fig. 5, the plurality of anodes in the second electrode section 112 do not have to be adjacent to each other and continuous. That is, in the second electrode section 112, a cathode or an electrode in a non-connected state may be disposed between the anodes.

[0153] In the above embodiment, the haptic device 10 has been described as having the switching unit 124 that inverts the positional relationship between the first electrode unit 111 and the second electrode unit 112 by switching the polarity of the electrodes, but is not limited to this. The haptic device 10 does not need to have such a switching unit 124.

[0154] In the above embodiment, for example, as shown in Fig. 7, the haptic device 10 is described as being attached to the thumb and index finger of the user's right hand and the thumb and index finger of the user's left hand, but is not limited thereto. The haptic device 10 may be attached to all ten fingers of the user in correspondence with the number and arrangement of fingers of the robot hand in Fig. 7. The haptic device 10 may be attached to an appropriate finger among the ten fingers of the user in correspondence with the number and arrangement of fingers of any robot hand, or may be attached to any finger among the ten fingers of the user without corresponding to the number and arrangement of fingers of any robot hand.

[0155] In the above embodiment, for example, as shown in Fig. 9, the haptic device 10 is described as being attached to the thumb and index finger of the user's right hand and the thumb and index finger of the user's left hand, but is not limited thereto. The haptic device 10 may be attached to all ten fingers of the user in correspondence with the number and arrangement of the fingers of the avatar in Fig. 9. The haptic device 10 may be attached to an appropriate finger among the ten fingers of the user in correspondence with the number and arrangement of the fingers of any avatar, or may be attached to any finger among the ten fingers of the user without corresponding to the number and arrangement of the fingers of any avatar. [Explanation of symbols]

[0156] 1. Force feedback system 10 Force sense presentation device 11 Mounting parts 111 1st electrode section 112 2nd electrode section 11a Clamp 11b Grip piece 12 Control circuit 121 Communications Department 122 Storage section 123 Generation Unit 124 Switching section 124a First switching section 124b Second switching section 125 Control Unit 20. Robot 21 Communications Department 22 Memory section 23 Operation Target 23a Force and tactile sensors 24 Control Unit 30 Output Interface 31 Communications Department 32 Storage section 33 Output section 34 Control section 40 Imaging device 41 Communications Department 42 Storage section 43 Imaging unit 44 Control section 50 Network 60 Information processing equipment 61 Communications Department 62 Storage section 63 Control Unit 63a Operation target A1 Side A2 side E11 electrode E12 electrode E13 electrode E14 electrode E21 electrode E22 electrode E23 electrode E24 electrode F finger G Gel S11 Switch S12 Switch S13 Switch S14 Switch S15 Switch S16 Switch S17 Switch S18 Switch S21 Switch S22 Switch S23 Switch S24 Switch S25 Switch S26 Switch S27 Switch S28 Switch

Claims

1. A first electrode part arranged along the side surface of a finger and having a stimulating electrode; A second electrode part paired with the first electrode part, the second electrode part being arranged at a position where a current flows between the first electrode part and the second electrode part through the inside of the finger; A generating part that generates, between the first electrode part and the second electrode part, a current from the side surface to the inside of the finger that stimulates the sensory receptors of the finger and generates a force sensation for the finger; Comprising: A force sensation presentation device.

2. The force sensation presentation device according to Claim 1, wherein the second electrode part is arranged along the side surface of the finger; A force sensation presentation device.

3. The force sensation presentation device according to Claim 2, wherein the first electrode part is arranged along the side surface on one side of the finger, and the second electrode part is arranged along the side surface on the other side of the finger; A force sensation presentation device.

4. The force sensation presentation device according to Claim 3, wherein the first electrode part and the second electrode part face each other; A force sensation presentation device.

5. The force sensation presentation device according to any one of Claims 1 to 4, wherein the first electrode part is arranged at the tip of the finger; A force sensation presentation device.

6. The force sensation presentation device according to any one of Claims 1 to 4, wherein the first electrode part has at least one cathode as the stimulating electrode, and the second electrode part has at least one anode as an indifferent electrode for the stimulating electrode; A force sensation presentation device.

7. The force sensation presentation device according to Claim 6, wherein the number of cathodes in the first electrode part is less than the number of anodes in the second electrode part; A force sensation presentation device.

8. The force sensation presentation device according to Claim 6, wherein the first electrode part has a plurality of cathodes that are adjacent to and continuous with each other; A force sensation presentation device.

9. The force sensation presentation device according to Claim 6, wherein the second electrode part has a plurality of anodes that are adjacent to and continuous with each other; A force sensation presentation device.

10. The force sensation presentation device according to any one of Claims 1 to 4, comprising a switching part that reverses the positional relationship between the first electrode part and the second electrode part by switching the polarity of the electrodes; A force sensation presentation device.

11. The force sensation presentation device according to any one of Claims 1 to 4, an operation target remotely operated by a user wearing the force sensation presentation device, and an output interface that outputs, as visual information, the state of the operation target operated by the user to the user; Comprising: The force sensation presentation device acquires information based on the operation of the operation target by the user, and generates a force sensation for the finger of the user according to the information. A force sensation presentation system.

12. The force sensation presentation system according to claim 11, wherein the operation target includes a robot hand formed at the tip of a robot arm, and the information includes force sensation and tactile information output from a force sensation and tactile sensor attached to the robot hand. A force sensation presentation system.

13. The force sensation presentation system according to claim 11, wherein the operation target includes a finger of an avatar in a virtual space, and the information includes digital information corresponding to the movement of the finger of the avatar. A force sensation presentation system.

14. including a step of flowing a current through the inside of the finger between a first electrode part arranged along the side surface of the finger and having a stimulation electrode, and a second electrode part paired with the first electrode part, wherein, in the step, a current flowing from the side surface to the inside of the finger and stimulating the sensory receptors of the finger to generate a force sensation for the finger is generated between the first electrode part and the second electrode part. A force sensation presentation method.

15. The force sensation presentation device according to any one of claims 1 to 4, wherein at least one of the first electrode part and the second electrode part is arranged near the side surface of the nail of the finger. A force sensation presentation device.

16. The force sensation presentation device according to any one of claims 1 to 4, comprising a switching part that performs switching of a current or an electrode for generating a pseudo force in a specific direction as a force sensation for the finger with respect to the first electrode part and the second electrode part, wherein the generating part generates a current for generating a pseudo force in a specific direction as a force sensation for the finger between the first electrode part and the second electrode part. A force sensation presentation device.

17. The force sensation presentation device according to any one of claims 1 to 4, wherein the first electrode part and the second electrode part are arranged at the same position as each other in the extending direction of the finger. A force sensation presentation device.

18. The force sensation presentation device according to claim 1, wherein the second electrode part is arranged wound around at least a part of the finger. A force sensation presentation device.

19. The force sensation presentation device according to any one of claims 1 to 4, recording the force sensation generated by the current generated by the generating part as values in three axial directions including the extending direction of the finger in one direction and orthogonal to each other. A force sensation presentation device.

20. A force sensation presentation device according to any one of Claims 1 to 4, wherein the first electrode part has at least one cathode, the second electrode part has at least one anode, the first electrode part and the second electrode part are configured such that when a current flows from the anode of the second electrode part to the cathode of the first electrode part, a current density in the vicinity of the first electrode part becomes higher than a current density in the vicinity of the second electrode part, and a force sensation is generated in a direction from the first electrode part toward the second electrode part. A force sensation presentation device.

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