Device, program, and system

Abstract

To provide a device capable of expressing the hardness and softness of an object with a simple mechanism.SOLUTION: A device (1) includes: a main body part (10); a joint part (11) which is provided at one end (101) of the main body part (10) and which can freely change its hardness; and an adjustment mechanism (12) for adjusting the hardness of the joint part (11).SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a device, a program, and a system. [Background technology]

[0002] Humans use rod-shaped devices such as pens as tools on a daily basis. Human hands have a keen sense of touch and can process minute information. Humans can skillfully manipulate tools by perceiving changes in sensations from their fingertips. In particular, humans can skillfully manipulate rod-shaped devices because they indirectly perceive the feel of the object on the other side of the rod-shaped device through the rod-shaped device. Therefore, by controlling the feel when touching an object with a rod-shaped device, it is possible to virtually expand the tactile experience of that object.

[0003] Focusing on this point, various devices that provide an extended haptic experience have been proposed. For example, Non-Patent Document 1 proposes a stylus pen equipped with a vibrator, an impact generator, a texture display unit, and a speaker. Non-Patent Document 2 proposes a force feedback interface by 3D Systems that allows users to touch and operate virtual objects on a PC (Personal Computer). A stationary device (Touch X) has been proposed to enable such interaction. [Prior art documents] [Non-patent literature]

[0004] [Non-Patent Document 1] Kyung K.-U. and Lee J.-Y., “wUbi-Pen: Windows graphical user interface interacting with haptic feedback stylus”, [online], Proceedings of the ACM SIGGRAPH 2008 New Tech Demos, No. 42, pp.1-4 (2008), [Retrieved June 29, 2023], Internet <URL:https: / / history.siggraph.org / wp-content / uploads / 2022 / 01 / 2008-42-Kyung_wUbi-Pen.pdf> [Non-Patent Document 2] 3D systems, “Touch X”, [online], [Searched on June 29, 2020], Internet<URL:https: / / www.3dsystems.com / haptics-devices / touch-x> Summary of the Invention [Problem to be solved by the invention]

[0005] For example, the tactile sensation when using a writing instrument with a hard tip, such as a pencil, is different from that when using a writing instrument with a soft tip, such as a brush. Humans can skillfully operate either writing instrument by perceiving this difference in tactile sensation. In other words, the hardness (hardness / softness) of an object plays an important role in operating a rod-shaped device. Therefore, it is desirable to be able to express the hardness / softness of an object in order to expand the user's tactile experience.

[0006] The device proposed in Non-Patent Document 1 can provide feedback of vibration, impact, texture, and sound. However, in this device, each component such as a vibrator is housed in a housing extending in the longitudinal direction, and this housing is only separable in a direction perpendicular to the longitudinal direction (left and right direction). Therefore, it is difficult for the device proposed in Non-Patent Document 1 to express the hardness or softness of an object.

[0007] On the other hand, the device proposed in Non-Patent Document 2 (Touch X) can express the hardness and softness of an object. However, this device expresses the hardness or softness of an object by supporting the stylus with a link mechanism consisting of a turret, joints, and links. Therefore, the mechanism is complicated and portability is low. Note that this problem can also occur in devices with shapes other than a rod shape.

[0008] In one aspect, the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a device that can express the hardness or softness of an object with a simple mechanism, and a technique for utilizing the same. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems, the present invention employs the following configurations. Note that the following configurations of the invention can be combined as appropriate.

[0010] That is, a device according to one aspect of the present invention comprises a main body, a joint portion provided at one end of the main body portion and configured to be able to freely change its hardness, and an adjustment mechanism configured to adjust the hardness of the joint portion.

[0011] When a user holds the device and manipulates an object with the tip of the joint, the hardness of the joint can be adjusted by the adjustment mechanism, thereby expanding the tactile experience of the hardness and softness of the object for the user. That is, the hardness and softness of an object can be expressed by a simple mechanism of providing a joint at one end of the main body. Therefore, according to this configuration, a device can be provided that can express the hardness and softness of an object with a simple mechanism. Note that any component, such as a pen tip, may be attached to the tip of the joint (the end opposite to the end connected to the main body).

[0012] In the device according to the above aspect, the joint may be formed of an artificial muscle. By using the artificial muscle, it is possible to appropriately adjust the hardness of the joint. Therefore, with this configuration, it is possible to provide a device that can appropriately express the hardness or softness of an object.

[0013] In the device according to the above aspect, the joint portion may be configured by a fluid pressure artificial muscle. The adjustment mechanism may be a fluid cylinder configured to adjust the hardness of the fluid pressure artificial muscle by injecting and discharging a fluid into the fluid pressure artificial muscle. With this configuration, by using a fluid pressure artificial muscle, it is possible to provide a device that can appropriately express the hardness or softness of an object.

[0014] In the device according to the above aspect, the fluid pressure artificial muscle may be a McKibben artificial muscle. McKibben artificial muscle is composed of a braided tube. A fluid is contained inside the braided tube, and the hardness can be changed by adjusting the pressure of the fluid. For this reason, this McKibben artificial muscle has a relatively simple mechanism, and can be manufactured easily and at low cost. Therefore, according to this configuration, by using McKibben artificial muscle, it is possible to provide a device that can express the hardness or softness of an object with a simple mechanism and that can be manufactured at low cost.

[0015] In the device according to the above aspect, the joint portion may be configured with a plurality of joint materials each configured to be able to freely change the hardness. According to this configuration, by using a plurality of joint materials, it is possible to provide a device capable of expressing the hardness / softness of an object in detail. Note that at least some of the characteristics of the plurality of joint materials may be different. By using joint materials with different characteristics, it is possible to express the hardness / softness of an object in more detail.

[0016] In the device according to the above aspect, the multiple joint materials may include fluid pressure artificial muscles and functional fluid. Large changes in stiffness can be reproduced by the fluid pressure artificial muscles, and small changes in stiffness can be reproduced by the functional fluid. Therefore, according to this configuration, it is possible to provide a device that can precisely express the hardness and softness of an object with a simple mechanism. The functional fluid may be built into the fluid pressure artificial muscles.

[0017] The device according to the above aspect may further include a control device that is connected to an external computer wirelessly or via a wire and configured to control the adjustment mechanism in response to a command from the external computer. With this configuration, it is possible to provide an externally controllable device.

[0018] In the device according to the above aspect, a command from the external computer may be transmitted from the external computer to the control device in response to an interaction process in the external computer. Controlling the adjustment mechanism may include controlling the adjustment mechanism in response to receiving the command so that the stiffness of the joint becomes a stiffness corresponding to the interaction process. The interaction process may include any user operation in the external computer. With this configuration, it is possible to provide a device that expresses the hardness of an object in the interaction process.

[0019] In the device according to the above aspect, the stiffness corresponding to the interaction process may include a dynamic stiffness that specifies a stepwise change in stiffness. Controlling the adjustment mechanism may include controlling the adjustment mechanism to gradually change the stiffness of the joint in accordance with the dynamic stiffness. With this configuration, it is possible to provide a device that expresses dynamic stiffness of an object in an interaction process.

[0020] In the device according to the above aspect, the interaction process may include a selection of a type by a user, and the hardness corresponding to the interaction process may include a hardness corresponding to the selected type. With this configuration, it is possible to provide a device that expresses hardness or softness according to the type selected by the user.

[0021] In the device according to the above aspect, the selection of the type may be configured by selecting a pen type in a drawing application executed on the external computer. With this configuration, it is possible to provide a device that expresses hardness or softness according to the pen type selected in the drawing application.

[0022] In the device according to the above aspect, the interaction process may include performing a touch operation on a target area on an image output by the external computer, and the hardness corresponding to the interaction process may include a hardness corresponding to the target area that has been touched. With this configuration, it is possible to provide a device that expresses hardness or softness according to a target of the touch operation.

[0023] In the device according to the above aspect, the external computer may be connected to a touch panel display, and the image may be output to the touch panel display. The touch operation may be performed by touching the touch panel display with the device. With this configuration, it is possible to provide a device that expresses hardness or softness according to an operation target in a touch operation on the touch panel display.

[0024] In the device according to the above aspect, the interaction process is performed in a virtual reality (VR) space presented to the user by the external computer. The method may include manipulating an object to be operated in virtual reality. The stiffness corresponding to the interaction process may include stiffness corresponding to the manipulated object. With this configuration, it is possible to provide a device that expresses hardness or softness according to a target of operation in virtual reality.

[0025] In this configuration, the stiffness corresponding to the object may include a dynamic stiffness that specifies a stepwise change in stiffness. Controlling the adjustment mechanism may include controlling the adjustment mechanism to gradually change the stiffness of the joint in accordance with the dynamic stiffness. According to this configuration, it is possible to provide a device that expresses the dynamic hardness and softness of an object when operated in virtual reality.

[0026] The embodiment of the present invention may not be limited to the above device. In another example, an aspect of the present invention may be an external computer that issues a command to a control device of a device according to any of the above aspects. Also, an aspect of the present invention may be an information processing method by such an external computer, a program, or a storage medium that stores such a program and is readable by a machine such as a computer. A storage medium that is readable by a machine such as a computer is a medium that accumulates information such as a program by electrical, magnetic, optical, mechanical, or chemical action. Furthermore, an aspect of the present invention may be a system including a device according to any of the above aspects.

[0027] For example, a program relating to one aspect of the present invention may be a program for causing an external computer connected to a control device of a device relating to any of the above aspects to receive instructions regarding changing the stiffness of the joint, and to transmit the command to the control device in response to the received instructions.

[0028] For example, a system according to an aspect of the present invention may include a device and an external computer. The device may include a main body, a joint provided at one end of the main body and configured to be able to freely change the stiffness, an adjustment mechanism configured to adjust the stiffness of the joint, and a control device connected to the external computer wirelessly or via a wire and configured to control the adjustment mechanism in response to a command from the external computer. Effect of the Invention

[0029] According to the present invention, it is possible to provide a device capable of expressing the hardness or softness of an object with a simple mechanism, and a technique for utilizing the same. [Brief description of the drawings]

[0030] [Figure 1] FIG. 1 shows a schematic diagram of an example of a situation in which the present invention is applied. [Diagram 2] FIG. 2 is a schematic diagram showing an example of the configuration (cross section) of a rod-shaped device (device) according to an embodiment. [Figure 3A] FIG. 3A is a schematic diagram showing an example of a scene in which the rod-shaped device according to the embodiment is used (pen operation). [Figure 3B] FIG. 3B is a schematic diagram showing an example of a scene in which the rod-shaped device according to the embodiment is used (pen operation). [Figure 4A] FIG. 4A is a schematic diagram showing an example of a scene in which the rod-shaped device according to the embodiment is used (touch operation). [Figure 4B] FIG. 4B is a schematic diagram showing an example of a scene in which the rod-shaped device according to the embodiment is used (touch operation). [Figure 5A] FIG. 5A is a schematic diagram showing an example of a scene in which the rod-shaped device according to the embodiment is used (VR operation). [Figure 5B] FIG. 5B is a schematic diagram showing an example of a scene in which the rod-shaped device according to the embodiment is used (VR operation). [Figure 6] FIG. 6 illustrates an example of a hardware configuration of a control device according to an embodiment. [Figure 7]FIG. 7 illustrates an example of a hardware configuration of an external computer according to an embodiment. [Figure 8] FIG. 8 illustrates an example of a software configuration of the control device according to the embodiment. [Figure 9] FIG. 9 illustrates an example of a software configuration of an external computer according to an embodiment. [Figure 10] FIG. 10 shows an example of a processing procedure (type selection) of the control device and the external computer according to the embodiment. [Figure 11] FIG. 11 shows an example of a processing procedure (touch operation) of the control device and an external computer according to the embodiment. [Figure 12] FIG. 12 shows an example of a processing procedure (VR operation) of the control device and the external computer according to the embodiment. [Figure 13A] FIG. 13A shows a schematic diagram of an example of the configuration (cross section) of a rod-shaped device according to another embodiment. [Figure 13B] FIG. 13B shows a schematic diagram of an example of the configuration (cross section) of a rod-shaped device according to another embodiment. [Figure 14] FIG. 14 is a diagram for explaining the configuration of the rod used in the experiment. [Figure 15A] FIG. 15A shows the experimental results when the first stick was used in the first gripping position. [Figure 15B] FIG. 15B shows the experimental results when the second stick was used with the first grip. [Figure 15C] FIG. 15C shows the experimental results when the third bar was used with the first grip. [Figure 15D] FIG. 15D shows the experimental results when the fourth bar was used with the first grip. [Figure 15E] FIG. 15E shows the experimental results when the fifth rod was used with the first grip. [Figure 15F] FIG. 15F shows the experimental results when the sixth rod was used in the first gripping style. [Figure 15G] FIG. 15G shows the experimental results when using the seventh rod with the first grip. [Figure 16A]FIG. 16A shows the experimental results when the first stick was used in the second gripping position. [Figure 16B] FIG. 16B shows the experimental results when using a second stick with a second grip. [Figure 16C] FIG. 16C shows the experimental results when a third bar was used with the second grip. [Figure 16D] FIG. 16D shows the experimental results when a fourth bar was used in the second grip. [Figure 16E] FIG. 16E shows the experimental results when the fifth rod was used in the second grip. [Figure 16F] FIG. 16F shows the experimental results when the sixth rod was used in the second gripping position. [Figure 16G] FIG. 16G shows the experimental results when using the seventh rod with the second grip. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] An embodiment according to one aspect of the present invention (hereinafter, also referred to as "the present embodiment") will be described below with reference to the drawings. However, the present embodiment described below is merely an example of the present invention in every respect. Various improvements or modifications may be made without departing from the scope of the present invention. In carrying out the present invention, a specific configuration according to the embodiment may be appropriately adopted. Note that while the data appearing in this embodiment is described in natural language, more specifically, it is specified in pseudo-language, commands, parameters, machine language, etc. that can be recognized by a computer.

[0032] §1 Examples of application FIG. 1 is a schematic diagram showing an example of a scene to which the present invention is applied. The system S according to the present embodiment includes a rod-shaped device 1 and an external computer 5. The rod-shaped device 1 is an example of a device according to the present invention. The rod-shaped device 1 includes a main body 10, a joint 11, an adjustment mechanism 12, and a control device 2. The joint 11 is provided at a tip 101 of the main body 10. The tip 101 is an example of one end. The joint 11 is configured to be able to freely change its stiffness. The adjustment mechanism 12 is configured to adjust the stiffness of the joint 11. The control device 2 is connected to the external computer 5 wirelessly or by wire. The external computer 5 receives an instruction to change the stiffness of the joint 11. The external computer 5 transmits a command 60 to the control device 2 in response to the received command. The control device 2 is configured to control the adjustment mechanism 12 in response to the command 60 from the external computer 5.

[0033] In one example, a user may hold the main body 10 and manipulate an object with the distal end of the joint 11. In this case, the stiffness of the joint 11 is adjusted by the adjustment mechanism 12, so that the user can This can expand the tactile experience of the hardness or softness of an object. That is, the hardness or softness of an object on the other side of the rod-shaped device 1 can be expressed by a simple mechanism of providing a joint section 11 at one end (tip section 101) of the main body section 10. Therefore, according to this example of the present embodiment, it is possible to provide a rod-shaped device 1 that can express the hardness or softness of an object with a simple mechanism. Also, according to this example of the present embodiment, it is possible to provide a rod-shaped device 1 that can be externally controlled by providing the control device 2.

[0034] (Main body) The shape, dimensions and material of the main body 10 may be appropriately selected according to the embodiment as long as the joint can be disposed at the end of the main body 10. The main body 10 may have a shape extending in one direction. At least a part of the main body 10 may be curved. In one example, the main body 10 may constitute a handle part of the rod-shaped device 1. At least a part of the main body 10 may constitute a part of another component such as the adjustment mechanism 12.

[0035] (Joints) The joint 11 may have any configuration that can be freely changed in hardness (i.e., has variability in stiffness) and may be appropriately selected depending on the embodiment. The joint 11 may be composed of one or more joint materials that can be freely changed in hardness. The type of the joint material may be selected arbitrarily.

[0036] In one example, the joint portion 11 (joint material) may be made of a functional fluid capable of freely changing its stiffness. The functional fluid may be, for example, an electrorheological fluid, a magnetorheological fluid, or the like. When a functional fluid is used for at least one of the joint materials, the adjustment mechanism 12 may include an electric circuit for applying electricity or magnetism to the functional fluid. The electric circuit may include a coil, an electromagnet, or the like. The functional fluid has excellent responsiveness to changes in hardness and softness. Therefore, according to one example of the present embodiment, it is possible to provide a rod-shaped device 1 that has a high response speed and is capable of presenting continuous hardness.

[0037] In one example, the joint 11 (joint material) may be made of magnetorheological elastomer (MRE). The magnetorheological elastomer is formed by filling magnetic particles in an elastomer (e.g., rubber). When a magnetorheological elastomer is used for at least one of the joint materials, the adjustment mechanism 12 may include an electric circuit for applying magnetism to the magnetorheological elastomer. The magnetorheological elastomer has excellent responsiveness to hardness changes, similar to functional fluids. Therefore, according to one example of the present embodiment, a rod-shaped device 1 can be provided that has a high response speed and is capable of presenting continuous hardness.

[0038] In addition, in one example, the joint portion 11 (joint material) may be made of a material having phase transition properties (phase transition material). The phase transition material may be, for example, a shape memory alloy (SMA). etc. When a phase-change material is used for at least one of the joint materials, the adjustment mechanism 12 may include a mechanism for inducing a phase change in the phase-change material. For example, when a material that undergoes a phase change at a low melting point, such as a shape-memory alloy, is used, the adjustment mechanism 12 may include a heating mechanism such as an electric heating wire. The phase-change material has a wide range of hardness. Therefore, according to one example of the present embodiment, a rod-shaped device 1 with a wide range of hardness can be provided.

[0039] In one example, the joint portion 11 (joint material) may be made of a material (flexible material) that has flexibility and can change the range of motion. The longer the range of motion, the softer the flexible material, and the shorter the range of motion, the harder the flexible material. When such a flexible material with a variable range of motion is used for at least one of the joint materials, the adjustment mechanism 12 may include a mechanism for adjusting the length of the range of motion of the flexible material. As one example, the flexible material may have a shape that extends in one direction, and the adjustment mechanism 12 may include an outer tube that surrounds the radial outside of the flexible material and is configured to be adjustable in length. In this case, the outer tube By changing the length and thereby changing the exposed width of the flexible material, the hardness of the joint portion 11 (joint material) can be adjusted. With such a mechanism, the hardness of the joint portion 11 can be easily adjusted. Therefore, according to one example of this embodiment, it is possible to provide a rod-shaped device 1 that can easily express the hardness or softness of an object.

[0040] In one example, the joint portion 11 (joint member) may be configured with an artificial muscle. When an artificial muscle is used for at least one of the joint members, the adjustment mechanism 12 may include a mechanism for driving the artificial muscle. The artificial muscle allows for appropriate adjustment of hardness. Therefore, according to one example of the present embodiment, it is possible to provide a rod-shaped device 1 that can appropriately express the hardness or softness of an object.

[0041] The type of artificial muscle is not particularly limited and may be appropriately selected depending on the embodiment. In one example, the joint 11 (joint material) may be configured by a fluid pressure artificial muscle. Accordingly, the adjustment mechanism 12 may be a fluid cylinder configured to adjust the hardness of the fluid pressure artificial muscle by feeding and discharging a fluid to and from the fluid pressure artificial muscle. The fluid may be either a gas or a liquid. The fluid may be appropriately selected from, for example, air, oil, water, and the like. The joint 11 (joint material) may be configured by any of pneumatic artificial muscle, hydraulic artificial muscle, and water pressure artificial muscle. When pneumatic artificial muscle is adopted for at least one of the joint materials, the adjustment mechanism 12 may further include an air compressor and a valve. With fluid pressure artificial muscle, the hardness can be appropriately adjusted. Therefore, according to one example of the present embodiment, a rod-shaped device 1 capable of appropriately expressing the hardness and softness of an object can be provided.

[0042] As a specific example, the fluid pressure artificial muscle may be a McKibben artificial muscle. McKibben artificial muscle is composed of a braided tube. A fluid is contained inside the braided tube, and the hardness can be changed by adjusting the pressure of the fluid. This McKibben artificial muscle has a relatively simple mechanism, and can be manufactured easily and at low cost. Therefore, according to one example of the present embodiment, it is possible to provide a rod-shaped device 1 that can express the hardness or softness of an object with a simple mechanism and can be manufactured at low cost.

[0043] In one example of this embodiment, the joint material may be appropriately selected from the above-mentioned functional fluid, magnetorheological elastomer, phase change material, flexible material with a changeable range of motion, and artificial muscle.

[0044] (Example of rod-shaped device configuration) Fig. 2 shows a schematic diagram of an example of the configuration (cross section) of a rod-shaped device 1 when a McKibben artificial muscle is used in the joint 11. In the example of Fig. 2, the rod-shaped device 1 includes a main body 10, a joint 11, and an adjustment mechanism 12. The joint 11 is configured from a McKibben fluid pressure artificial muscle, and the adjustment mechanism 12 is configured from a fluid cylinder.

[0045] The main body 10 is formed in a cylindrical shape and has a shape extending in one direction. As a result, the main body 10 constitutes the cylinder 121 of the adjustment mechanism 12. The shapes of the inner and outer circumferences of the main body 10 are not particularly limited and may be appropriately selected from, for example, a circular shape, a polygonal shape, and the like. The main body 10 may be made of any hard material.

[0046] The tip portion 101 of the main body portion 10 is provided with a joint portion 11 which is a McKibben type artificial muscle. Specifically, the joint portion 11 is composed of a silicon tube 111, a braided tube 112, and a fluid 115. The silicon tube 111 and the braided tube 112 are configured in a cylindrical shape, and the braided tube 112 covers the outer periphery of the silicon tube 111. The braided tube 112 is formed, for example, by weaving fibers into a mesh shape. As with the main body portion 10, the shapes of the inner and outer peripheries of the silicon tube 111 and the braided tube 112 are not particularly limited and may be appropriately selected from, for example, a circular shape, a polygonal shape, and the like.

[0047] The hole at the tip of the silicon tube 111 is closed by the plug 15. Specifically, the plug 15 includes a first portion 151 and a second portion 152 in this order from the rear end side. The outer peripheral shape of the first portion 151 is substantially the same as or smaller than the inner peripheral shape of the silicon tube 111, so that the first portion 151 can be inserted into the internal space from the hole at the end of the silicon tube 111. In contrast, the rear end of the second portion 152 (the portion connected to the first portion 151) has a shape that expands from the outer periphery of the first portion 151, and the outer periphery of the rear end of the second portion 152 is larger than the inner periphery of the silicon tube 111. As a result, the plug 15 closes the hole at the tip of the silicon tube 111 by inserting the first portion 151 into the hole of the silicon tube 111 and arranging the end face of the rear end side of the second portion 152 to contact the tip portions of the silicon tube 111 and the braided tube 112.

[0048] The plug 15 may be appropriately fixed by adhesive or the like. The tip of the second portion 152 may have any shape. For example, when the rod-shaped device 1 is used as a pen such as a stylus pen, the tip of the second portion 152 may have a pen tip shape such as a cone shape. When the rod-shaped device 1 is used as a stylus pen, at least the tip of the second portion 152 of the plug 15 may be made of a conductive material (for example, silicone rubber). The method of closing the hole on the tip side of the silicone tube 111 is not limited to the example of FIG. 2, and may be appropriately changed depending on the embodiment.

[0049] On the other hand, the rear end of the silicon tube 111 is connected to an adjustment mechanism 12 constituted by a fluid cylinder. The adjustment mechanism 12 includes a cylinder 121, a piston 122, a rod 123, and a motor 125. The cylinder 121 is constituted by a main body 10. The rod 123 is disposed in the internal space of the cylinder 121, and has a shape extending in one direction. Since the outer periphery of the rod 123 is smaller than the inner periphery of the cylinder 121, the rod 123 can freely move in the front-rear direction (left-right direction in the figure).

[0050] A piston 122 is provided at the tip of the rod 123. The outer periphery of the piston 122 has substantially the same shape as the inner periphery of the cylinder 121, so that the outer wall of the piston 122 and the inner wall of the cylinder 121 are in close contact with each other. This separates the internal space of the cylinder 121 into a tip side and a rear side. If a gap occurs between the outer wall of the piston 122 and the inner wall of the cylinder 121, this may be sealed with a packing or the like. The piston 122 is configured to be able to slide in the front-rear direction while in close contact with the inner wall of the cylinder 121.

[0051] A motor fixing part 171 is attached to the rear end 102 of the main body 10 (cylinder 121), and the motor 125 is disposed on the rear end side of the cylinder 121 by this motor fixing part 171. A feed screw 126 is connected to the motor 125, and the feed screw 126 is coupled to a rod 123 via a nut 127. When the motor 125 rotates, the nut 127 moves in the front-rear direction, and in response, the rod 123 moves in the front-rear direction, allowing the piston 122 to reciprocate.

[0052] The tip end of the cylinder 121 (tip end 101 of the main body 10) is connected to the silicon tube 111, thereby connecting the internal space of the cylinder 121 on the tip side of the piston 122 to the internal space of the silicon tube 111. That is, an internal space sealed by the plug 15 and the piston 122 is formed. The fluid 115 is filled in this internal space.

[0053] In the example of FIG. 2, the outer circumferential shape of at least a part of the tip of the cylinder 121 is substantially the same as or smaller than the inner circumferential shape of the silicon tube 111, so that at least a part of the tip is inserted into the silicon tube 111. Caulking tape 161 is wrapped around the connecting portion, and then the caulking tape 161 is fastened with a hose band 162. This prevents leakage of the fluid 115, and the tip of the cylinder 121 is connected to the silicon tube 111. However, the connecting method is not limited to this example, and may be changed as appropriate depending on the embodiment.

[0054] In this rod-shaped device 1, by driving the motor 125 and moving the piston 122 forward, the internal space narrows, and the pressure of the fluid 115 filled in the internal space increases accordingly. As a result, the braided tube 112 expands radially outward, and the joint portion 11 becomes stiff. On the other hand, by moving the piston 122 backward, the pressure of the fluid 115 decreases, and the joint portion 11 becomes soft. The control device 2 may be appropriately connected to the motor 125 so as to control the driving of the motor 125.

[0055] In the example of FIG. 2, a part of the adjustment mechanism 12 is built into the main body 10. In this way, in the rod-shaped device 1, at least a part of the adjustment mechanism 12 may be built into the main body 10. However, the arrangement of the adjustment mechanism 12 is not limited to this example. In another example, the adjustment mechanism 12 may be arranged outside the main body 10. In addition, the joint 11 is arranged slightly inside from the end of the rod-shaped device 1, but the arrangement of this joint 11 is not limited to the example of FIG. 2, and may be appropriately determined according to the embodiment. In another example, the joint 11 may be arranged at the end of the rod-shaped device 1. Furthermore, the rod-shaped device 1 has a shape that extends in a straight line overall, but the shape of the rod-shaped device 1 is not limited to this example. In another example, at least a part of the rod-shaped device 1 may be bent. At least a part of the rod-shaped device 1 may be made of a flexible member.

[0056] (Example of use) The rod-shaped device 1 may be applied to any tool. In the tool to which the rod-shaped device 1 is applied, when a part that contacts an object (e.g., a pen tip) is separated from a handle, the joint 11 may be disposed in a part (e.g., a connection part) between the contact part and the handle.

[0057] In one example, the rod-shaped device 1 may be a writing implement or a stylus pen. When the rod-shaped device 1 is configured as a writing implement or a stylus pen, in one example, the joint portion 11 may be disposed in front of the pen tip. FIG. 2 shows an example of a case in which the rod-shaped device 1 is configured as a writing implement or a stylus pen and adopts a form in which the joint portion 11 is disposed in front of the pen tip. According to one example of the present embodiment, it is possible to express the hardness or softness of an object in a writing scene. For example, it is possible to reproduce the feel of the pen tip.

[0058] In one example, the rod-shaped device 1 may be an eating tool such as chopsticks or cutlery (knife, fork, spoon, etc.). When the rod-shaped device 1 is configured as an eating tool, in one example, the joint portion 11 may be disposed just before the tip of the eating tool. According to one example of the present embodiment, it is possible to express the hardness and softness of an object in a scene where the eating tool is used. For example, it is possible to reproduce the feel of food ingredients. This form of the rod-shaped device 1 may be used for training with eating tools.

[0059] In one example, the rod-shaped device 1 may be a cooking utensil such as a kitchen knife. The joint 11 may be disposed at any location of the cooking utensil. When the rod-shaped device 1 is configured as a kitchen knife, in one example, the joint 11 may be disposed at a connection portion between the handle and the blade of the knife. According to one example of the present embodiment, it is possible to express the hardness and softness of an object in a scene where the cooking utensil is used. The rod-shaped device 1 in this form may be used for training on the cooking utensil.

[0060] In addition, in one example, the rod-shaped device 1 may be a medical instrument such as a surgical instrument for training (for example, forceps, etc.). The joint portion 11 may be disposed at any position of the medical instrument. When the forceps 1 are configured as training forceps, in one example, the joint portion 11 may be disposed just before the tip of the forceps. According to one example of the present embodiment, the hardness and softness of an object can be expressed in a scene of training the use of a medical instrument. This makes it possible to expect more realistic training.

[0061] Also, in one example, the rod-shaped device 1 may be a sports tool. The type of sports tool may be appropriately selected depending on the embodiment. For example, the rod-shaped device 1 may be a skipping rope. When the rod-shaped device 1 is configured as a skipping rope, in one example, the joint portion 11 may be disposed at a connection portion between the handle and the rope. Also, for example, the rod-shaped device 1 may be a golf club. When the rod-shaped device 1 is configured as a golf club, in one example, the joint portion 11 may be disposed in front of the golf head. According to one example of the present embodiment, in a scene where the sports tool is used, it is possible to express the hardness and softness of an object.

[0062] In one example, the rod-shaped device 1 may be a daily necessities such as a toothbrush. The joint part 11 may be disposed at any location of the daily necessities. When the rod-shaped device 1 is configured as a toothbrush, in one example, the joint part 11 may be disposed at a connection part between a handle and a brush part. According to one example of the present embodiment, it is possible to express the hardness or softness of an object in a scene where the daily necessities are used.

[0063] (Adjusting hardness) The timing and conditions for adjusting the stiffness of the joint 11 may be set as appropriate depending on the embodiment. The external computer 5 may transmit a command 60 to the control device 2 in real time as appropriate depending on the information processing being performed. For example, the external computer 5 may receive an instruction regarding a change in stiffness by any information processing. The any information processing may be at least one of a process involving a user operation (e.g., a user input, etc.) and a process not involving a user operation (e.g., setting a flag, etc.). The external computer 5 may transmit a command 60 for instructing a change in stiffness to the control device 2 depending on the received instruction.

[0064] In one example, the command 60 from the external computer 5 may be transmitted from the external computer 5 to the control device 2 in response to an interaction process in the external computer 5. The interaction process relates to an interaction between the external computer 5 and a user, and may include some user operation in the external computer 5. According to one example of the present embodiment, it is possible to provide a rod-shaped device 1 that expresses the hardness or softness of an object in the interaction process.

[0065] The stiffness specified by the command 60 may be either a static stiffness or a dynamic stiffness. A static stiffness is a stiffness specified at a constant target value. On the other hand, a dynamic stiffness is a stiffness that is specified with a stepwise change (i.e., multiple target values ​​are set).

[0066] In one example, when the command 60 is given in response to an interaction process, the stiffness corresponding to the interaction process may include a dynamic stiffness that specifies a gradual change in stiffness. Controlling the adjustment mechanism 12 may include controlling the adjustment mechanism 12 so as to gradually change the stiffness of the joint portion 11 in accordance with the dynamic stiffness. According to one example of the present embodiment, it is possible to provide a rod-shaped device 1 that expresses the dynamic hardness / softness of an object in an interaction process.

[0067] (Example of interaction processing) The interaction process may be defined as appropriate. The interaction may be, for example, a user input, a user selection, an object operation, or the like.

[0068] (A) Select type In one example, the interaction process may include a selection of a type by the user. The hardness corresponding to the friction process may include a hardness corresponding to the selected type. The type may be set appropriately according to, for example, the type of tool to which the rod-shaped device 1 is applied, the object to be operated by the tool, etc. The hardness specified by the selected type may be either a static hardness or a dynamic hardness. According to one example of the present embodiment, it is possible to provide a rod-shaped device 1 that expresses hardness or softness according to the type selected by the user.

[0069] (A-1) Select the pen type 3A and 3B are schematic diagrams showing an example of a usage scene (pen operation) of the rod-shaped device 1 according to this embodiment. In the example of Fig. 3A and Fig. 3B, it is assumed that the rod-shaped device 1 is configured as a pen.

[0070] In this case, in one example, the selection of the type may be configured by selecting a pen type in a drawing application executed on the external computer 5. The pen type may be set appropriately. The pen type may include, for example, a pencil, a marker, a brush, etc. The stiffness of the joint portion 11 specified by the selected pen type may be either a static stiffness or a dynamic stiffness. In the drawing application, the line thickness may be set according to the pen type.

[0071] For example, when a hard pen type such as a pencil is selected, the control device 2 of the rod-shaped device 1 may control the adjustment mechanism 12 to harden the joints 11 in response to a command 60 from the external computer 5. At the same time, the external computer 5 may draw a thin line in response to the operation of the rod-shaped device 1 in the drawing application (FIG. 3A). On the other hand, when a soft pen type such as a brush is selected, the control device 2 of the rod-shaped device 1 may control the adjustment mechanism 12 to soften the joints 11 in response to a command 60 from the external computer 5. At the same time, the external computer 5 may draw a thick line in response to the operation of the rod-shaped device 1 in the drawing application (FIG. 3B). According to one example of this embodiment, it is possible to provide a rod-shaped device 1 that expresses hardness or softness according to the pen type selected in the drawing application.

[0072] The input from the rod-shaped device 1 may be acquired by any method. In one example, the external computer 5 may be connected to a touch panel display 55, and the rod-shaped device 1 may be used as a stylus pen. In this case, the external computer 5 can acquire the input from the rod-shaped device 1 by touching the rod-shaped device 1 to the touch panel display 55. In another example, the external computer 5 may be connected to a sensor such as a camera, and the input from the rod-shaped device 1 may be acquired by recognizing the operation of the rod-shaped device 1 from sensing data obtained from the sensor.

[0073] (B) Touch operation 4A and 4B are schematic diagrams showing an example of a usage scene (touch operation) of the rod-shaped device 1 according to this embodiment.

[0074] As shown in FIG. 4A and FIG. 4B, in one example, the stiffness corresponding to the interaction process may include touching a target area on an image output by the external computer 5. The stiffness corresponding to the interaction process may include stiffness corresponding to the touched target area. The target area may be set appropriately according to, for example, an image, an object present in the image, etc. The stiffness of the joint 11 specified by the touched target area may be either static stiffness or dynamic stiffness.

[0075] For example, in response to touching an area where a hard object is captured (a diamond in the illustrated example), the external computer 5 may transmit a command 60 to the control device 2. In response to a command 60 from the external computer 5, the external computer 5 may control the adjustment mechanism 12 to harden the joint 11 (FIG. 4A). On the other hand, in response to touching an area where a soft object is shown (in the illustrated example, a marshmallow), the external computer 5 may transmit a command 60 to the control device 2. In response to the command 60 from the external computer 5, the control device 2 may control the adjustment mechanism 12 to soften the joint 11 (FIG. 4B). Note that, when the area to be touched can be predicted, the external computer 5 may transmit the command 60 to the control device 2 before the touch operation. According to one example of this embodiment, it is possible to provide a rod-shaped device 1 that expresses hardness or softness according to the object of the touch operation.

[0076] In this case, for example, the external computer 5 may be connected to a touch panel display 55. An image may be output to the touch panel display 55. A touch operation may be performed by touching the touch panel display 55 (specifically, an image output to the touch panel display 55) with the stick device 1. According to one example of the present embodiment, a stick device 1 that expresses hardness or softness according to an object to be operated can be provided in a touch operation on the touch panel display 55.

[0077] However, the method of acquiring the input of the rod-shaped device 1 is not limited to this example, and may be changed as appropriate depending on the embodiment. In another example, the image may be output to an arbitrary output device. The external computer 5 may be connected to a sensor such as a camera, and may acquire the input of the touch operation by the rod-shaped device 1 by recognizing the operation of the rod-shaped device 1 from sensing data obtained from the sensor. For example, the image may be projected by a projector. The external computer 5 may detect the touch operation of the rod-shaped device 1 on the projected image by sensor recognition.

[0078] (C)VR operation 5A and 5B are schematic diagrams showing an example of a scene in which the rod-shaped device 1 according to this embodiment is used (VR operation).

[0079] As shown in FIG. 5A and FIG. 5B, in one example, the interaction process may include operating an object VO that exists in a virtual reality space presented to the user by an external computer 5. The stiffness corresponding to the interaction process may include stiffness corresponding to the operated object VO. The stiffness of the object VO may be set appropriately according to, for example, the virtual reality content. In the following, the virtual reality content may be referred to as "VR content" and the virtual reality space may be referred to as "VR space."

[0080] The virtual reality content may be presented to the user in any manner. In one example, the external computer 5 may be connected to a VR headset 56, and the virtual reality content may be presented to the user by being output to the VR headset 56. The virtual reality content may reflect real space information obtained by a sensor such as a camera. In this case, an object RO existing in the real space may be recognized, and the object VO may be placed in the virtual reality space according to the recognition result of the object RO in the real space. In addition, the position of the rod-shaped device 1 may also be recognized, and the operating tool VA may be displayed in the virtual reality space according to this recognition result.

[0081] For example, the external computer 5 may detect the operation of the object VO in the virtual reality space in response to the operation of the object RO by the rod-shaped device 1 in the real space. In response to this, the external computer 5 may send a command 60 to the control device 2. In response to the command 60 from the external computer 5, the control device 2 may control the adjustment mechanism 12 so that the stiffness of the joint 11 becomes a stiffness that corresponds to the object VO. When the stiffness parameter of the object VO is set to a stiff value in the virtual reality space, the control device 2 may control the adjustment mechanism 12 to make the joint 11 stiff (FIG. 5A). On the other hand, when the stiffness parameter of the object VO is set to a soft value, When the value is set to 0, the control device 2 may control the adjustment mechanism 12 to soften the joint 11 (FIG. 5B). According to one example of this embodiment, it is possible to provide a rod-shaped device 1 that expresses hardness or softness according to the object of operation in virtual reality. In addition, by enhancing the feel of operation, it is expected that the sense of immersion in virtual reality will be improved.

[0082] The stiffness of the joint 11 specified by the object VO may be either static stiffness or dynamic stiffness. In one example, the stiffness corresponding to the object VO may include dynamic stiffness, and controlling the adjustment mechanism 12 may include controlling the adjustment mechanism 12 so as to gradually change the stiffness of the joint 11 in accordance with the dynamic stiffness. According to one example of the present embodiment, it is possible to provide a rod-shaped device 1 that expresses the dynamic stiffness of an object in an operation in virtual reality. In addition, a further improvement in the sense of immersion in virtual reality can be expected.

[0083] In addition, when the operation of the object VO in the virtual reality space is predictable, the external computer 5 may transmit the command 60 to the control device 2 before the object VO is operated. For example, in the virtual reality space, a stiffness parameter of the object VO may be set for the object VO and its neighboring range. When the operating tool VA enters this range, the external computer 5 may predict the operation of the object VO and transmit the command 60 to the control device 2 for setting the stiffness of the joints 11 to a stiffness corresponding to the object VO.

[0084] (Directive) The command 60 may have any configuration that is not particularly limited and may be appropriately determined depending on the embodiment as long as the control device 2 can interpret the instruction content of the hardness adjustment. In one example, the command 60 may be configured to directly indicate the instruction content. In another example, the command 60 may be configured to indirectly indicate the instruction content (i.e., the instruction content is identified through an arbitrary interpretation process).

[0085] When the command 60 is given in response to an interaction process, the command 60 may be appropriately configured to enable adjustment of the hardness in the stick device 1 in response to the content of the interaction process. In one example, the command 60 may include information on the interaction process (e.g., a selected type, a category of a target area, a category of an object in a VR space, etc.). In another example, the command 60 may include information indicating a hardness designated in the interaction process.

[0086] §2 Configuration Example [Hardware configuration] <Control device> Fig. 6 illustrates an example of a hardware configuration of the control device 2 according to the present embodiment. In the example of Fig. 6, the control device 2 is a computer to which a control unit 21, a storage unit 22, a communication interface 23, and an external interface 24 are electrically connected.

[0087] The control unit 21 includes a CPU (Central Processing Unit) which is a hardware processor, The control unit 2 includes a random access memory (RAM), a read only memory (ROM), etc., and is configured to execute information processing based on programs and various data. The control unit 21 (CPU) is an example of a processor resource of the control device 2.

[0088] The storage unit 22 may be composed of, for example, a semiconductor memory. The storage unit 22, RAM, and ROM are examples of memory resources of the control device 2. In this embodiment, the storage unit 22 stores various information such as a control program 82. The control program 82 is a program for causing the control device 2 to execute information processing (FIGS. 10 to 12 described below) relating to the control of the adjustment mechanism 12. The control program 82 includes a series of commands for the information processing.

[0089] The communication interface 23 is configured to perform wired or wireless communication via a network. The communication interface 23 may be configured, for example, by a wired LAN (Local Area Network) module, a wireless LAN module, etc. The control device 2 may perform data communication with another computer (for example, an external computer 5) via the communication interface 23.

[0090] The external interface 24 may be, for example, a USB (Universal Serial Bus) port, a dedicated port, etc., and is configured to connect to an external device by wire or wirelessly. The type and number of the external interfaces 24 may be selected arbitrarily. The control device 2 may be connected to the adjustment mechanism 12 (the motor 125 in the example of FIG. 2) via the external interface 24. The control device 2 may be connected to an external computer 5 via the external interface 24. The control device 2 may also be connected to a drive 29 via the external interface 24.

[0091] The drive 29 is a device for reading various information such as a program stored in a storage medium 92. The control program 82 may be stored in the storage medium 92 instead of or together with the storage unit 22. The storage medium 92 is configured to accumulate various information (stored programs, etc.) by electrical, magnetic, optical, mechanical, or chemical action so that a machine such as a computer can read the information. The control device 2 may acquire the control program 82 from the storage medium 92. The storage medium 92 may be a disk-type storage medium such as a CD or DVD, or may be a non-disk-type storage medium such as a semiconductor memory (e.g., a flash memory). The type of the drive 29 may be appropriately selected according to the type of the storage medium 92.

[0092] In addition, regarding the specific hardware configuration of the control device 2, components can be omitted, replaced, or added as appropriate depending on the embodiment. For example, the hardware processor of the control unit 21 may be configured with a microprocessor, an FPGA (field-programmable gate array), a DSP (digital signal processor), etc. The storage unit 22 is included in the control unit 21. The control device 2 may be configured with a RAM and a ROM including a controller. At least one of the communication interface 23 and the external interface 24 may be omitted. The control device 2 may further include an input device such as an operator. The control device 2 may be configured to control the adjustment mechanism 12 in response to an operation via the input device. The control device 2 may be an information processing device designed specifically for the service to be provided, as well as a microcomputer or the like. The control device 2 is preferably configured with a small computer that can be loaded onto the rod-shaped device 1.

[0093] <External computer> 7 illustrates an example of a hardware configuration of the external computer 5 according to the present embodiment. In the example of FIG. 7, the external computer 5 is a computer in which a control unit 51, a storage unit 52, a communication interface 53, and an external interface 54 are electrically connected. The control unit 51 to the external interface 54, the drive 59, and the storage medium 95 of the external computer 5 may be configured similarly to the control unit 21 to the external interface 24, the drive 29, and the storage medium 92 of the control device 2.

[0094] The control unit 51 (CPU) is an example of a processor resource of the external computer 5. The storage unit 52 may be configured, for example, with a hard disk drive, a solid state drive, or the like. The storage unit 52, RAM, and ROM are examples of memory resources of the external computer 5. In one example of this embodiment, the storage unit 52 stores various information such as a program 85.

[0095] The program 85 is a program for causing the external computer 5 to execute information processing (FIGS. 10 to 12 described later) related to giving the command 60 to the control device 2. The program 85 includes a series of instructions for the information processing. In one example, the program 85 may be executed together with an application such as a drawing application, a VR application, or the like. In another example, the program 85 may be incorporated into the program of the application. The program 85 may be stored in a storage medium 95 instead of or together with the storage unit 52. The external computer 5 may obtain the program 85 from the storage medium 95.

[0096] The external computer 5 may be connected to the control device 2 via the communication interface 53 or the external interface 54. The external computer 5 may be connected to at least one of the touch panel display 55, the VR headset 56, and the drive 59 via the external interface 54. At least one of the touch panel display 55, the VR headset 56, and the drive 59 may be directly connected to the external computer 5.

[0097] In addition, regarding the specific hardware configuration of the external computer 5, components can be omitted, replaced, or added as appropriate depending on the embodiment. For example, the control unit 51 may include multiple hardware processors. The hardware processor may be configured with a microprocessor, FPGA, DSP, GPU (Graphics Processing Unit), etc. At least one of the communication interface 53 and the external interface 54 may be omitted. The external computer 5 may be connected to an input device such as a mouse or keyboard. The external computer 5 may be connected to an output device such as a display or speaker. The external computer 5 may be configured with multiple computers. In this case, the hardware configuration of each computer may or may not be the same. The external computer 5 may be a computer designed specifically for the service provided, as well as a general-purpose PC (Personal Computer), a terminal device (e.g., a tablet PC, a smartphone, etc. etc.), a wearable device (for example, a VR headset, a VR goggles), etc. The external computer 5 may be an output device itself, such as a touch panel display 55, a VR headset 56, etc.

[0098] [Software configuration] <Control device> 8 illustrates an example of a software configuration of the control device 2 according to this embodiment. The control unit 21 of the control device 2 executes instructions included in the control program 82 stored in the storage unit 22 by the CPU. As a result, the control device 2 operates as a computer including a determination unit 211 and an adjustment unit 212 as software modules.

[0099] The determination unit 211 is configured to determine the stiffness of the joint portion 11. The determination unit 211 may be configured to determine the stiffness of the joint portion 11 in response to a command 60 from the external computer 5. When the command 60 is configured to directly indicate the instruction content, the determination of the stiffness of the joint portion 11 may be configured by receiving the command 60. The adjustment unit 212 is configured to control the adjustment mechanism 12 so that the stiffness of the joint portion 11 becomes the stiffness determined by the command 60 (i.e., to control the adjustment of the stiffness of the joint portion 11 by the adjustment mechanism 12).

[0100] <External computer> 9 illustrates an example of a software configuration of the external computer 5 according to the present embodiment. The control unit 51 of the external computer 5 executes instructions included in the program 85 stored in the storage unit 52 by the CPU. As a result, the external computer 5 operates as a computer including a command generating unit 511 and a command transmitting unit 512 as software modules.

[0101] The command generating unit 511 is configured to appropriately generate the command 60. The command generating unit 511 may be configured to generate the command 60 in response to an interaction process. The command transmitting unit 512 is configured to transmit the generated command 60 to the control device 2.

[0102] <Other> In this embodiment, an example is described in which each software module of the control device 2 and the external computer 5 is realized by a general-purpose CPU. However, some or all of the above software modules may be realized by one or more dedicated processors or chipsets. Each of the above modules may be realized as a hardware module. With regard to the software configuration of the control device 2 and the external computer 5, modules may be omitted, replaced, or added as appropriate depending on the embodiment.

[0103] §3 Example of operation (A) Select type 10 shows an example of a processing procedure of the control device 2 and the external computer 5 in a case where hardness is specified by type selection. The processing procedure for type selection described below is merely an example, and each step may be modified as much as possible. In addition, steps may be omitted, replaced, or added to the following processing procedure as appropriate depending on the embodiment.

[0104] (initial) The external computer 5 may start executing the process from step S101 in response to the start of a related application such as a drawing application. At the start, the type may be arbitrarily selected. In one example, the type may be set to a default value. The default value may be appropriately given by a setting value in a program, a user specification, or the like. In this case, the control unit 51 may generate a command 60 in response to the default value and transmit the generated command 60 to the control device 2. In response to receiving the command 60, the control device 2 may control the adjustment mechanism 12 so that the stiffness of the joint portion 11 becomes the specified default stiffness. Thereby, the stiffness of the joint portion 11 may be initially set to a stiffness corresponding to the default type. This initial setting operation may be omitted.

[0105] (Steps S101 to S104) In step S101, the control unit 51 of the external computer 5 accepts the selection of a type. A method for selecting a type may be determined appropriately depending on the embodiment. In one example, the control unit 51 may display a slide bar and accept the selection of a type by operating the displayed slide bar. In another example, the control unit 51 may output a plurality of candidates in a display format such as a list format or an icon format, and accept a selection from among the plurality of output candidates. The selection of a type may be configured by selecting a pen type.

[0106] In step S102, the control unit 51 determines whether or not a type selection has been accepted. If no type selection has been accepted, the control unit 51 returns to step S101 and executes the process of step S101 again. The control unit 51 repeatedly executes the process of step S101 until a type selection is accepted. If a type selection has been accepted, the control unit 51 proceeds to the next step S103.

[0107] In step S103, the control unit 51 identifies the type selected in step S101. Then, the control unit 51 operates as a command generating unit 511 and generates a command 60 for adjusting the stiffness of the joint unit 11 to a stiffness corresponding to the identified type. In one example, the external computer 5 may hold information indicating the correspondence between the type and the stiffness, and the control unit 51 may generate the command 60 by referring to this information.

[0108] In step S104, the control unit 51 operates as a command transmission unit 512 and transmits the generated command 60 to the control device 2. When the transmission of the command 60 is completed, the control unit 51 ends the processing procedure of the external computer 5 according to this operation example. For example, the control unit 51 may return the process to step S101 and execute the process again from step S101 until a predetermined termination condition, such as the execution of a program being stopped, is satisfied.

[0109] (Steps S111 to S112) In step S111, the control unit 21 of the control device 2 operates as the determination unit 211 and receives the command 60 from the external computer 5. The control unit 21 determines the stiffness of the joint 11 in accordance with the received command 60.

[0110] In step S112, the control unit 21 operates as the adjustment unit 212 and controls the adjustment mechanism 12 so that the stiffness of the joint unit 11 becomes the stiffness determined in response to the command 60. As a result, the stiffness of the joint unit 11 is adjusted to the stiffness corresponding to the selected type. In the case of a pen type, the stiffness of the joint unit 11 is adjusted to the stiffness corresponding to the selected pen type. When the control of the adjustment mechanism 12 is completed, the control unit 21 ends the processing procedure of the control device 2 according to this operation example. The control unit 21 may return the process to step S111 and wait until the command 60 is received again from the external computer 5.

[0111] (B) Touch operation 11 shows an example of a processing procedure of the control device 2 and the external computer 5 in a case where the hardness is specified according to the target of the touch operation. The following processing procedure regarding the touch operation is only an example, and each step may be changed as much as possible. In addition, steps of the following processing procedure may be omitted, replaced, or added as appropriate depending on the embodiment.

[0112] (Steps S201 to S205) In step S201, the control unit 51 of the external computer 5 outputs an image. A hardness to be instructed to the rod-shaped device 1 may be set appropriately for each region of the image. The output destination of the image may be selected arbitrarily. In one example, the control unit 51 may output the image to the touch panel display 55. The control unit 51 may update the output image by repeatedly executing the process of step S201 at any timing.

[0113] In step S202, the control unit 51 accepts a touch operation on the image. In one example, the control unit 51 may accept a touch operation on the touch panel display 55. The control unit 51 may predict a target area to be touched (i.e., estimate a target area that is likely to be touched).

[0114] In step S203, the control unit 51 determines whether or not a touch operation has been received. If no touch operation has been received, the control unit 51 returns to step S202 and executes the process again from step S202. The control unit 51 repeatedly executes the process of step S202 until a touch operation is received. If a touch operation is received, the control unit 51 proceeds to the next step S204. In response to the touch operation, the control unit 51 may update the image to be output.

[0115] In step S204, the control unit 51 identifies the target area touched in step S202. If a prediction was made in step S202, the control unit 51 may identify the target area to be touched in accordance with the prediction result. The control unit 51 operates as a command generation unit 511, and generates a command 60 for adjusting the stiffness of the joint unit 11 to a stiffness corresponding to the identified target area. In one example, the external computer 5 may hold information indicating the correspondence between each area of ​​the image and the stiffness, and the control unit 51 generates the command 60 by referring to this information. That's fine.

[0116] In step S205, the control unit 51 operates as a command transmission unit 512 and transmits the generated command 60 to the control device 2. When the transmission of the command 60 is completed, the control unit 51 ends the processing procedure of the external computer 5 according to this operation example. For example, the control unit 51 may return the process to step S201 or step S202 and execute the process again from step S201 or step S202 until a predetermined termination condition, such as the execution of a program being stopped, is satisfied.

[0117] (Step S211 to Step S212) In step S211, the control unit 21 of the control device 2 operates as a decision unit 211 and receives a command 60 from the external computer 5. The control unit 21 decides the stiffness of the joint 11 in accordance with the received command 60.

[0118] In step S212, the control unit 21 operates as the adjustment unit 212 and controls the adjustment mechanism 12 so that the stiffness of the joint unit 11 becomes the stiffness determined in response to the command 60. As a result, the stiffness of the joint unit 11 is adjusted to the stiffness corresponding to the target area that has been touched. When the control of the adjustment mechanism 12 is completed, the control unit 21 ends the processing procedure of the control device 2 according to this operation example. The control unit 21 may return the process to step S211 and wait until the command 60 is received again from the external computer 5.

[0119] (C)VR operation 12 shows an example of the processing procedure of the control device 2 and the external computer 5 in a case where hardness is specified according to the target of VR operation. The following processing procedure regarding VR operation is only an example, and each step may be changed as much as possible. In addition, steps may be omitted, replaced, or added to the following processing procedure as appropriate depending on the embodiment.

[0120] (Steps S301 to S305) In step S301, the control unit 51 of the external computer 5 outputs VR content. For each object in the VR content, a hardness to be instructed to the rod-shaped device 1 may be appropriately set. The output destination of the VR content may be selected arbitrarily. In one example, the control unit 51 may output the VR content to the VR headset 56. Note that the control unit 51 may update the output VR content by repeatedly executing the process of step S301 at any timing.

[0121] In step S302, the control unit 51 accepts an operation on an object VO existing in a VR space presented to the user as VR content. The control unit 51 may predict the object to be operated (i.e., estimate an object that is likely to be operated).

[0122] In step S303, the control unit 51 determines whether or not an operation has been received. If no operation has been received, the control unit 51 returns the process to step S302 and executes the process again from step S302. The control unit 51 repeatedly executes the process of step S302 until an operation of the object is received. When an operation of the object is received, the control unit 51 proceeds to the next step S304. Note that the control unit 51 may update the VR content to be output in response to the operation of the object.

[0123] In step S304, the control unit 51 identifies the object operated in step S302. If a prediction was made in step S302, the control unit 51 may identify the object to be operated according to the prediction result. The control unit 51 operates as a command generation unit 511 and generates a command 60 for adjusting the stiffness of the joint unit 11 to a stiffness corresponding to the identified object. In an example, the external computer 5 may hold information indicating the correspondence between each object in the VR space and its hardness, and the control unit 51 may generate the command 60 by referring to this information.

[0124] In step S305, the control unit 51 operates as a command transmission unit 512 and transmits the generated command 60 to the control device 2. When the transmission of the command 60 is completed, the control unit 51 ends the processing procedure of the external computer 5 according to this operation example. For example, the control unit 51 may return the process to step S301 or step S302 and execute the process again from step S301 or step S302 until a predetermined termination condition, such as the execution of a program being stopped, is satisfied.

[0125] (Step S311 to Step S312) In step S311, the control unit 21 of the control device 2 operates as the determination unit 211 and receives the command 60 from the external computer 5. The control unit 21 determines the stiffness of the joint portion 11 in accordance with the received command 60.

[0126] In step S312, the control unit 21 operates as the adjustment unit 212 and controls the adjustment mechanism 12 so that the stiffness of the joint unit 11 becomes the stiffness determined in response to the command 60. As a result, the stiffness of the joint unit 11 is adjusted to a stiffness corresponding to the object operated in the VR space. When the control of the adjustment mechanism 12 is completed, the control unit 21 ends the processing procedure of the control device 2 according to this operation example. The control unit 21 may return the process to step S311 and wait until the command 60 is received again from the external computer 5.

[0127] [Features] According to one example of the present embodiment, it is possible to provide a rod-shaped device 1 capable of expressing the hardness or softness of an object with a simple mechanism. Also, according to one example of the present embodiment, it is possible to provide a rod-shaped device 1 capable of expressing the hardness or softness of an object by external control, as exemplified by the processes of steps S111, S211, and S312, by including a control device 2.

[0128] § 4 Variations Although the embodiment of the present invention has been described above in detail, the above description is merely an example of the present invention in every respect. Various improvements or modifications may be made to the above embodiment as appropriate. For example, the following modifications are possible. In the following, the same reference numerals are used for components similar to those in the above embodiment, and the description of the same points as those in the above embodiment is omitted as appropriate. The following modifications can be combined as appropriate.

[0129] <4.1> In the above embodiment, the control device 2 may be omitted. In this case, the external computer 5 may also be omitted. The adjustment mechanism 12 may be controlled by any method. In another example, the adjustment mechanism 12 may be controlled by a manual operation. In another example, the adjustment mechanism 12 may be controlled in response to an operation by an operator.

[0130] <4.2> In one example of the above embodiment, the joint portion 11 is configured with one joint material. However, the number of joint materials configuring the joint portion 11 does not need to be limited to one. In another example, the joint portion 11 may be configured with a plurality of joint materials. The type and arrangement of each joint material may be appropriately determined according to the embodiment. According to this modification, by using a plurality of joint materials for the joint portion 11, it is possible to provide a rod-shaped device 1 that can precisely express the hardness and softness of an object.

[0131] When a plurality of joint materials are used in the joint portion 11, it is preferable that at least some of the joint materials have different characteristics. The characteristics of the joint materials are, for example, response speed, rigidity, etc. By using joint materials with different properties, it is possible to express more minute changes in hardness and softness of an object. As an example, the joint unit 11 may include a first joint material with a fast response speed but a small change in stiffness, and a second joint material with a large change in stiffness but a slow response speed. In this case, the first joint material can express an instantaneous change in hardness and softness, and the second joint material can express a large combined change.

[0132] As a specific example, the multiple joint materials may include fluid pressure artificial muscles and functional fluid. Large stiffness changes can be reproduced by fluid pressure artificial muscles, and instantaneous small stiffness changes can be reproduced by functional fluid. Therefore, according to this modification, it is possible to provide a rod-shaped device 1 that can precisely express the hardness and softness of an object with a simple mechanism. The functional fluid may be incorporated as a fluid in the fluid pressure artificial muscle. This allows the rod-shaped device 1 to be made compact. Furthermore, the McKibben type artificial muscle described above may be used for the fluid pressure artificial muscle.

[0133] FIG. 13A shows a schematic diagram of an example of the configuration (cross section) of the rod-shaped device 1A in the case where two joint materials, a McKibben artificial muscle and a functional fluid, are used in the joint section 11A. In the example of FIG. 13A, the internal space of the McKibben artificial muscle is filled with a magnetic fluid 13 as a functional fluid. In this modification, the McKibben artificial muscle and the magnetic fluid 13 are each an example of a joint material. The adjustment mechanism 12A includes an electromagnet 131 in addition to a fluid cylinder. The electromagnet 131 is an example of an adjustment mechanism corresponding to the magnetic fluid 13. The electromagnet 131 is attached to the tip of the piston 122, and is therefore capable of applying a magnetic field to the magnetic fluid 13. However, the arrangement of the electromagnet 131 is not limited to this example, and may be changed as appropriate depending on the embodiment as long as a magnetic field can be applied to the magnetic fluid 13.

[0134] The strength of the magnetic field generated by the electromagnet 131 and applied to the magnetic fluid 13 can be adjusted by the magnitude of the current applied to the electromagnet 131. By adjusting the strength of the magnetic field applied to the magnetic fluid 13, the hardness of the magnetic fluid 13 can be adjusted. Except for these, the joint unit 11A and the adjustment mechanism 12A may be configured in the same way as the above-mentioned joint unit 11 and adjustment mechanism 12. The other configurations of the rod-shaped device 1A may be the same as those of the above-mentioned rod-shaped device 1. According to this modification, in the joint unit 11A, a large change in stiffness can be reproduced by the McKibben artificial muscle, and an instantaneous and small change in stiffness can be reproduced by the magnetic fluid 13.

[0135] FIG. 13B is a schematic diagram showing an example of the configuration (cross section) of the rod-shaped device 1B in the case where the electromagnet 131 of the rod-shaped device 1A in FIG. 13A is replaced with a coil 135. In the example of FIG. 13B, the adjustment mechanism 12B includes a coil 135 instead of the electromagnet 131. The coil 135 is another example of an adjustment mechanism corresponding to the magnetic fluid 13. The coil 135 is disposed between the silicon tube 111 and the braided tube 112 of the joint portion 11B, and is wound around the outer periphery of the silicon tube 111. This allows the coil 135 to apply a magnetic field to the magnetic fluid 13. However, the arrangement of the coil 135 is not limited to this example as long as it is possible to apply a magnetic field to the magnetic fluid 13, and may be appropriately changed depending on the embodiment.

[0136] As with the electromagnet 131, the strength of the magnetic field generated by the coil 135 and applied to the magnetic fluid 13 can be adjusted by the magnitude of the current applied to the electromagnet 131. By adjusting the strength of the magnetic field applied to the magnetic fluid 13, the hardness of the magnetic fluid 13 can be adjusted. Except for these, the joint portion 11B and the adjustment mechanism 12B may be configured in the same way as the joint portion 11A and the adjustment mechanism 12A described above. The other configurations of the rod-shaped device 1B may be the same as those of the rod-shaped device 1A described above. With this modification, in the joint portion 11B, a large stiffness change can be reproduced by the McKibben artificial muscle, and an instantaneous and small stiffness change can be reproduced by the magnetic fluid 13.

[0137] <4.3> In the above embodiment, the device (rod-shaped device 1) has a rod-like shape. However, the shape of the device does not have to be limited to a rod-like shape. As another example, the device may have at least one of the following shapes: a circle (S1), a cylinder (S1xL), a spherical shell (S2), a torus (genus 1 or more), and a continuously deformable shape.

[0138] §5 Example The following experiment was conducted to verify whether the provision of joints could expand the user's tactile experience and express the hardness or softness of an object.

[0139] <Advance preparation> FIG. 14 is a diagram for explaining the configuration of the rods used in the experiment. As shown in FIG. 14, six rods were prepared, each with a joint made of urethane rubber between the tip and the handle. PETG resin was used for the tip and handle. The tip was formed into a smooth semicircular shape. A rod was also prepared that did not have a joint but had the same other conditions as the six rods. In other words, a total of seven types of rods were prepared. The length of each rod was 166 mm. The thickness of each rod was 8.9 mm. The conditions of the joints of each rod were as follows:

[0140] (Bar Conditions) -First rod: A joint made of urethane rubber (hardness 50) with a length of 20 mm -Second rod: 15mm long urethane rubber (hardness 50) joint -Third rod: 10mm long urethane rubber (hardness 50) joint - 4th rod: 20mm long urethane rubber (hardness 70) joint - Fifth rod: A joint made of urethane rubber (hardness 70) with a length of 15 mm is placed - 6th rod: 10mm long urethane rubber (hardness 70) joint 7th pole: no joint

[0141] In addition, five types of hardness plates (rubber pieces) made of silicone rubber with hardnesses of 10, 30, 50, 70, and 90 were prepared as objects to be manipulated by the rod. Each hardness plate was enclosed in a case, and this case was used as a handle for the hardness plate.

[0142] Furthermore, a hollow box was prepared to separate the subject's field of vision. A curtain was attached to the subject's side so that the subject could not see inside the box. The subject and the instructor sat facing each other. The subject was instructed to insert his / her hand into the box through the curtain, and under the instruction of the instructor, an experiment was conducted in which the subject touched a hardness plate with a stick for each of two paired patterns. In the first pattern, the subject touched one of the five types of hardness plates with the seventh stick, which was the hardest. In the second pattern, the subject touched the hardest hardness plate (hardness 90) with one of the seven types of sticks. The subjects were asked to answer which of the first and second patterns they felt was softer. The experiment was conducted with two types of gripping, the first gripping (pen grip) and the second gripping (fist grip). There were four subjects. The specific experimental procedure is as follows.

[0143] (Experimental Procedure) (i) Subjects were asked to wear headphones and listen to white noise. (ii) The subjects were asked to choose either the first or second holding method. (iii) After the subject grasped the stick and hardness plate set by the instructor, the subject touched the hardness plate with the stick. (iv) After the subject grasped the stick and the hard plate in the condition paired with (iii), the subject touched the hard plate with the stick. Ta (v) The subjects were asked to answer which of the following felt softer: (iii) or (iv). (vi) (iii) to (v) were repeated until 7 types of rods × 5 types of hardness plates × 3 trials were completed. (vii) (iii)-(vi) were performed using a grip not specified in (ii)

[0144] 15A to 15G show the experimental results when the first to seventh rods were used in the first gripping method. FIG. 16A to 16G show the experimental results when the first to seventh rods were used in the second gripping method. The vertical axis of each figure shows the ratio of people who answered that the second pattern was softer. The first pattern corresponds to a case where the feel of the object to be operated is obtained through the rod, and the second pattern corresponds to a case where the feel of the object is expanded by the hardness and softness of the joints. A ratio of 0.5 indicates that the first and second patterns are equivalent, that is, the hardness and softness of the object can be expressed by the joints. From the experimental results shown in each figure, it was found that if the joints are too soft (for example, the cases of FIG. 15A and FIG. 16A), it is difficult to express the hardness and softness of the object, but otherwise it is possible to express the hardness and softness of the object. Therefore, from the above experimental results, it was found that the hardness and softness of the object can be expressed even with a simple mechanism of providing joints.

[0145] This specification includes the following disclosure. [Appendix 1] A main body (10), a joint portion (11) provided at one end portion (101) of the main body portion (10) and configured to be freely changeable in hardness; and an adjustment mechanism (12) configured to adjust the stiffness of the joint portion (11); Equipped with Device (1). [Appendix 2] The joint portion (11) is composed of an artificial muscle. 1. The device (1) described in Appendix 1. [Appendix 3] The joint portion (11) is constituted by a fluid pressure artificial muscle, The adjustment mechanism (12) is a fluid cylinder configured to adjust the hardness of the fluid-pressure artificial muscle by feeding a fluid into or discharging a fluid from the fluid-pressure artificial muscle. 1. The device (1) described in Appendix 1. [Appendix 4] The fluid pressure artificial muscle is a McKibben artificial muscle. 3. The device (1) described in Appendix 3. [Appendix 5] The joint portion (11) is composed of a plurality of joint members each configured to be freely changeable in hardness. 5. A device (1) according to any one of appendixes 1 to 4. [Appendix 6] The plurality of joint materials include a fluid pressure artificial muscle and a functional fluid. 5. The device (1) described in Appendix 5. [Appendix 7] and a control device that is connected to an external computer (5) wirelessly or via a wire and configured to control the adjustment mechanism (12) in response to a command (60) from the external computer (5). 7. A device (1) according to any one of appendixes 1 to 6. [Appendix 8] A command (60) from the external computer (5) is transmitted from the external computer (5) to the control device in response to an interaction process in the external computer (5), controlling the adjustment mechanism (12) includes controlling the adjustment mechanism (12) in response to receiving the command (60) so that the stiffness of the joint portion (11) becomes a stiffness corresponding to the interaction processing. 7. The device (1) described in Appendix 7. [Appendix 9] the stiffness corresponding to the interaction process includes a dynamic stiffness that specifies a gradual change in stiffness; Controlling the adjustment mechanism (12) includes controlling the adjustment mechanism (12) so as to gradually change the stiffness of the joint portion (11) in accordance with the dynamic stiffness. 1. The device (1) described in Appendix 8. [Appendix 10] The interaction process includes a selection of a type by a user; the stiffness corresponding to the interaction processing includes a stiffness corresponding to the selected type; 10. The device (1) according to claim 8 or 9. [Appendix 11] The selection of the type is constituted by a selection of a pen type in a drawing application executed on the external computer (5). 1. The device (1) described in Appendix 10. [Appendix 12] The interaction process includes performing a touch operation on a target area on an image output by the external computer (5), The stiffness corresponding to the interaction process includes stiffness corresponding to the target area that is touched. 12. A device (1) according to any one of appendixes 8 to 11. [Appendix 13] The external computer (5) is connected to a touch panel display, the image is output to the touch panel display; The touch operation is configured by touching the touch panel display with the device (1). 13. The device (1) described in Appendix 12. [Appendix 14] The interaction process includes operating an object present in a virtual reality space presented to the user by the external computer (5); The stiffness corresponding to the interaction process includes stiffness corresponding to the object being operated. 14. A device (1) according to any one of appendixes 8 to 13. [Appendix 15] the stiffness corresponding to the object includes a dynamic stiffness that specifies a step-wise change in stiffness; Controlling the adjustment mechanism (12) includes controlling the adjustment mechanism (12) so as to gradually change the stiffness of the joint portion (11) in accordance with the dynamic stiffness. 1. The device (1) described in Appendix 14. [Appendix 16] The external computer (5) connected to the control device of the device (1) according to any one of appendices 7 to 15, receiving an instruction regarding a change in the stiffness of the joint portion (11); and Transmitting the command (60) to the control device in response to the received instruction; In order to execute program. [Appendix 17] Device (1), and External computer (5), A system comprising: The device (1) comprises: A main body (10), a joint portion (11) provided at one end portion (101) of the main body portion (10) and configured to be freely changeable in hardness; an adjustment mechanism (12) configured to adjust the stiffness of the joint portion (11); and a control device that is connected to the external computer (5) wirelessly or via a wire and configured to control the adjustment mechanism (12) in response to a command (60) from the external computer (5); Equipped with System(S). [Explanation of symbols]

[0146] 1...Rod-shaped device (device), 10...Main body part, 101...Tip part (one end part), 11... joint portion, 12... adjustment mechanism, 2...Control device, 5…External computer, 55...Touch panel display, 56…VR headset, 60…Directive

Claims

1. Main body, A joint portion provided at one end of the main body portion and configured to be able to freely change hardness; and an adjustment mechanism configured to adjust the stiffness of the joint; Equipped with device.

2. The joint portion is composed of an artificial muscle. The device of claim 1 .

3. The joint portion is constituted by a fluid pressure artificial muscle, The adjustment mechanism is a fluid cylinder configured to adjust the hardness of the fluid-pressure artificial muscle by feeding a fluid into or discharging a fluid into the fluid-pressure artificial muscle. The device of claim 1 .

4. The fluid pressure artificial muscle is a McKibben artificial muscle. The device of claim 3.

5. The joint portion is composed of a plurality of joint materials each configured to be freely changeable in hardness. The device of claim 1 .

6. The plurality of joint materials include a fluid pressure artificial muscle and a functional fluid. The device of claim 5.

7. A control device is further provided which is connected to an external computer wirelessly or via a wire and is configured to control the adjustment mechanism in response to a command from the external computer. A device according to any one of claims 1 to 6.

8. a command from the external computer is transmitted from the external computer to the control device in response to an interaction process in the external computer; and controlling the adjustment mechanism includes controlling, in response to receiving the command, the adjustment mechanism so that the stiffness of the joint portion becomes a stiffness corresponding to the interaction processing. The device of claim 7.

9. the stiffness corresponding to the interaction process includes a dynamic stiffness that specifies a gradual change in stiffness; Controlling the adjustment mechanism includes controlling the adjustment mechanism to gradually change the stiffness of the joint portion in accordance with the dynamic stiffness. The device of claim 8.

10. The interaction process includes a selection of a type by a user; the stiffness corresponding to the interaction processing includes a stiffness corresponding to the selected type; The device of claim 8.

11. the selection of the type comprises a selection of a pen type in a drawing application executed on the external computer. The device of claim 10.

12. the interaction process includes performing a touch operation on a target area on an image output by the external computer; The stiffness corresponding to the interaction process includes stiffness corresponding to the target area that is touched. The device of claim 8.

13. the external computer is connected to a touch panel display; the image is output to the touch panel display; The touch operation is configured by touching the touch panel display with the device. The device of claim 12.

14. the interaction process includes performing an operation on an object present in a virtual reality space presented to the user by the external computer; The stiffness corresponding to the interaction process includes stiffness corresponding to the object being operated. The device of claim 8.

15. the stiffness corresponding to the object includes a dynamic stiffness that specifies a step-wise change in stiffness; Controlling the adjustment mechanism includes controlling the adjustment mechanism to gradually change the stiffness of the joint portion in accordance with the dynamic stiffness. The device of claim 14.

16. The external computer connected to the control device of the device according to claim 7, receiving an instruction regarding a change in stiffness of the joint; and Transmitting the command to the control device in response to the received instruction; In order to execute program.

17. Devices, and External computer, A system comprising: The device comprises: Main body, a joint portion provided at one end of the main body portion and configured to be able to freely change hardness; an adjustment mechanism configured to adjust the stiffness of the joint; and a control device that is connected to the external computer wirelessly or via a wire and is configured to control the adjustment mechanism in response to a command from the external computer; Equipped with system.

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