Controller

Abstract

To enable the rotating operation of a tabular operation part exposed from a housing to be reliably performed.SOLUTION: A controller comprises a housing, a tabular operation unit provided to the housing and exposed from the housing, and a force sensor for detecting the rotating operation of the operation unit. The force sensor includes an elastic body fixed to the center of the operation unit and a strain sensor provided to the elastic body, and the operation unit includes a pair of left and right anti-slip units in the vicinity of the top left and right edges of the operation unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a controller. [Background technology]

[0002] Patent Document 1 listed below discloses an input device equipped with a touch pad that also functions as a pressable button.

[0003] Furthermore, the following Patent Document 2 discloses a force sensor that can detect forces along the X-axis, Y-axis, and Z-axis applied to an operation plate, as well as the rotational moments about the X-axis, Y-axis, and Z-axis, using a plurality of strain sensors provided on a strain generating body. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-201575 A [Patent Document 2] International Publication No. 2021 / 176964 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the input device disclosed in Patent Document 1 does not allow the touchpad to be moved forward or backward. If the force sensor disclosed in Patent Document 2 were combined with the input device disclosed in Patent Document 1 to enable the touchpad to be moved forward or backward, the touchpad would have a smooth surface, and the operator's finger would slip on the surface of the touchpad, making it impossible to reliably move the touchpad forward or backward. [Means for solving the problem]

[0006] A controller according to one embodiment includes a housing, a plate-shaped operating unit provided on the housing and exposed from the housing, and a force sensor that detects rotational operation of the operating unit, the force sensor having a strain sensor provided on the strain sensor, and the operating unit having a pair of left and right anti-slip portions near both left and right ends of the upper surface of the operating unit. Effect of the Invention

[0007] According to an embodiment of the controller, the plate-shaped operation section exposed from the housing can be rotated reliably. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is an external perspective view of a controller according to an embodiment; [Diagram 2] 1 is a cross-sectional view of a controller according to an embodiment; [Diagram 3] FIG. 1 is an exploded perspective view of a controller according to an embodiment, as viewed from above; [Figure 4] FIG. 1 is an exploded perspective view of a controller according to an embodiment, as viewed from below; [Diagram 5] FIG. 2 is an external perspective view of a force sensor according to an embodiment, as viewed from above (positive direction of the Z axis); [Figure 6] FIG. 2 is an external perspective view of a force sensor according to an embodiment, as viewed from below (Z-axis negative direction); [Figure 7] FIG. 2 is an exploded perspective view of a force sensor according to an embodiment, viewed from above (positive direction of the Z axis); [Figure 8] FIG. 2 is an exploded perspective view of a force sensor according to an embodiment, as viewed from below (Z-axis negative direction); [Figure 9] FIG. 1 is a front view of a force sensor according to an embodiment; [Figure 10] 1 is a bottom view of a force sensor according to an embodiment; [Figure 11] FIG. 2 is a diagram showing an arrangement of eight first strain sensors in a force sensor according to an embodiment; [Figure 12] FIG. 1 is a circuit diagram of a rotation operation detection circuit included in a force sensor according to an embodiment; [Figure 13]FIG. 13 is a diagram showing an arrangement of four second strain sensors in a force sensor according to an embodiment; [Figure 14] FIG. 1 is a circuit diagram of a tilt operation detection circuit included in a force sensor according to an embodiment; [Figure 15] FIG. 13 is a diagram showing a modification of the anti-slip portion included in the controller according to an embodiment; [Figure 16] FIG. 16 is an exploded perspective view of a touch pad unit included in the controller shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An embodiment will be described below. For the sake of convenience, in the following description, the X-axis direction in the figure is the front-rear direction, the Y-axis direction in the figure is the left-right direction, and the Z-axis direction in the figure is the up-down direction. However, the positive X-axis direction is the forward direction, the positive Y-axis direction is the rightward direction, and the positive Z-axis direction is the upward direction. These indicate the relative positional relationship within the device, and do not limit the installation direction or operation direction of the device. Anything that has the same relative positional relationship within the device, even if the installation direction or operation direction is different, is included in the scope of the present invention.

[0010] (Overview of Controller 100) Fig. 1 is a perspective view of the appearance of a controller 100 according to an embodiment. The controller 100 shown in Fig. 1 is used in, for example, a game machine, and is operated by an operator (that is, a game player).

[0011] 1, the controller 100 includes a housing 110. The housing 110 is a resin member that defines the outer shape of the controller 100.

[0012] The housing 110 has a central portion 110A, a left grip portion 110B provided to the left (Y-axis negative side) of the central portion 110A, and a right grip portion 110C provided to the right (Y-axis positive side) of the central portion 110A. The left grip portion 110B and the right grip portion 110C are longer in the front-rear direction (X-axis direction) than the central portion 110A, and have a shape that protrudes rearward (X-axis negative direction) beyond the rear surface of the central portion 110A.

[0013] This allows the housing 110 to have a shape that allows the operator to easily grip the left grip portion 110B with the left hand and the right grip portion 110C with the right hand.

[0014] A recess 110D recessed downward (in the negative direction of the Z axis) from an upper surface 110E of the housing is formed at a front end (end on the positive side of the X axis) in the central portion 110A of the housing 110. The controller 100 includes a touch pad unit 120 in the recess 110D of the housing 110.

[0015] In plan view from above (positive direction of Z axis), both the recess 110D and the touchpad unit 120 have a rectangular shape with the longitudinal direction being the left-right direction (Y axis direction). The rectangular shape of the touchpad unit 120 is smaller than the rectangular shape of the recess 110D of the upper housing 111. As a result, a gap is provided between the outer periphery of the touchpad unit 120 and the inner periphery of the recess 110D.

[0016] Moreover, an upper surface 110E (the surface on the positive side of the Z axis) of the housing 110 and an upper surface 120A (the surface on the positive side of the Z axis) of the touch pad unit 120 are provided on the same plane.

[0017] The touch pad unit 120 has a rectangular touch operation surface 120B with its longitudinal direction extending in the left-right direction (Y-axis direction) on an upper surface 120A (the surface on the positive side of the Z axis). The touch pad unit 120 allows an operator to perform a touch operation on the touch operation surface 120B.

[0018] The touch pad unit 120 is provided so as to be displaceable relative to the housing 110, and can be pressed, tilted, and rotated by the operator.

[0019] Note that the pressing operation of the touchpad unit 120 refers to pressing downward (negative Z-axis direction) the center of the touch operation surface 120B of the touchpad unit 120. The pressing operation applies a compressive load downward (negative Z-axis direction) to the touchpad unit 120 while keeping it horizontal.

[0020] The tilting operation of the touchpad unit 120 refers to an operation of pressing downward (in the negative direction of the Z axis) the peripheral portion (portion other than the center portion) of the touch operation surface 120B of the touchpad unit 120. The tilting operation applies a bending load to the touchpad unit 120 about a central axis (central axis parallel to the Z axis) passing through the center of the touchpad unit 120.

[0021] The rotation operation of the touchpad unit 120 refers to an operation of twisting the touchpad unit 120 around a central axis (central axis parallel to the Z axis) that passes through the center of the touchpad unit 120. By the rotation operation, a torsional load is applied to the touchpad unit 120 around the central axis (central axis parallel to the Z axis) that passes through the center of the touchpad unit 120.

[0022] Furthermore, in reality, the controller 100 is equipped with other input devices such as a plurality of buttons and an analog stick in addition to the touch pad unit 120, but illustrations and descriptions of these other input devices are omitted in this document.

[0023] (Configuration of controller 100) Fig. 2 is a cross-sectional view of the controller 100 according to one embodiment. Fig. 3 is an exploded perspective view of the controller 100 according to one embodiment as viewed from above (positive direction of the Z axis). Fig. 4 is an exploded perspective view of the controller 100 according to one embodiment as viewed from below (negative direction of the Z axis).

[0024] As shown in FIGS. 2 to 4, the controller 100 includes a housing 110, a touch pad unit 120, a force sensor 200, and a substrate 140. The force sensor 200 is a sensor that detects a force applied to the touch pad unit 120. As shown in FIG.

[0025] The housing 110 is a member that forms the outer shape of the controller 100 and supports other components. The housing 110 is made of a relatively hard resin material. The housing 110 has an upper housing 111 that constitutes an upper side (positive side of the Z axis) of the housing 110 and a lower housing 112 that constitutes a lower side (negative side of the Z axis) of the housing 110. The upper housing 111 and the lower housing 112 of the housing 110 are fixed to each other with screws while being coupled to each other. That is, the housing 110 can be divided into two, the upper housing 111 and the lower housing 112, by releasing the screw fixing. The front part (positive side of the X axis) of the upper housing 111 is U-shaped when viewed from above (positive side of the Z axis). The recess 110D is the center part of the U-shaped part of the upper housing 111. The recess 110D is a depression with a bottom in the lower housing 112. The width of recess 110D of upper housing 111 is narrower than the width of recess 110D of lower housing 112.

[0026] The touch pad unit 120 includes a holder 121, a touch pad 122, a cover plate 123, and an operation plate .

[0027] The holder 121 is a resin member that holds the touch pad 122 and the cover plate 123. The holder 121 has a thin rectangular parallelepiped shape in the up-down direction (Z-axis direction). The holder 121 has a rectangular shape with the longitudinal direction in the left-right direction (Y-axis direction) when viewed in a plan view from above (Z-axis positive direction). The holder 121 has a recess 121B that is recessed downward (Z-axis negative direction) from an upper surface 121A of the holder 121. The recess 121B has a rectangular shape with the longitudinal direction in the left-right direction (Y-axis direction) when viewed in a plan view from above (Z-axis positive direction). The touch pad 122 is disposed inside the recess 121B.

[0028] The touchpad 122 is a horizontal, flat device that detects a touch operation on the touch operation surface 120B by an operator's finger. For example, the touchpad 122 is configured to include a resin, flat circuit board and a sheet-like electrostatic sensor that is superimposed on the upper surface of the circuit board. The touchpad 122 detects the contact position of the operator's finger on the touch operation surface 120B by the electrostatic sensor. The touchpad 122 is arranged in a horizontal position in the recess 121B of the holder 121. When the touchpad 122 is arranged in the recess 121B of the holder 121, the upper surface 122A of the touchpad 122 is on the same plane as the upper surface 121A of the holder 121.

[0029] The cover plate 123 is a horizontal flat member. The cover plate 123 is provided on the upper surface 121A of the holder 121, thereby covering the upper surface 121A of the holder 121 and the upper surface 122A of the touchpad 122. The cover plate 123 is formed using a hard material (e.g., resin, glass, etc.). In the present embodiment, as an example, the cover plate 123 has a rectangular shape that is the same as that of the holder 121 when viewed in a plan view from above (positive direction of the Z axis). The upper surface of the cover plate 123 is the touch operation surface 120B of the touchpad unit 120.

[0030] The operation plate 124 is a horizontal flat plate-like member. The operation plate 124 is provided on the lower surface 121C of the holder 121 and fixed to the lower surface 121C of the holder 121. The operation plate 124 is formed using a hard material (for example, a resin material, a metal material, etc.). In the present embodiment, as an example, the operation plate 124 has a rectangular shape with the left-right direction (Y-axis direction) as the longitudinal direction in a plan view from below (Z-axis negative direction). The operation plate 124 has a fixing portion 124A to which a force sensor 200 (a first support 212 described later) is fixed in the center of the lower surface of the operation plate 124. A protrusion 124C of the fixing portion 124A is fixed to a recess 212A of the first support 212. The operation plate 124 is fixed to the substrate 140 via the force sensor 200.

[0031] Operation plate 124 has stoppers 124B provided along the short sides of operation plate 124 at both left and right ends of the lower surface of operation plate 124. When operation plate 124 is tilted at a predetermined angle with respect to substrate 140, stoppers 124B abut against upper surface 140A of substrate 140, thereby restricting the amount of displacement (tilt angle) of operation plate 124. Note that stoppers 124B may be provided on upper surface 140A of substrate 140.

[0032] The touchpad unit 120 configured as described above is placed in a recess 110D formed in the upper housing 111 of the housing 110. The touchpad unit 120 is fixed to the substrate 140 via a fixing portion 124A of the operation plate 124 and a force sensor 200 (a first support 212 described below). As a result, the touchpad unit 120 is supported by the force sensor 200 in a displaceable manner within the recess 110D of the housing 110, and the force sensor 200 can be operated.

[0033] The touchpad unit 120 is an example of an "operation unit." The touchpad unit 120 has a pair of left and right anti-slip portions 120C near both left and right ends of the upper surface 120A of the touchpad unit 120. In this embodiment, the anti-slip portions 120C are protrusions having a circular shape in a plan view. In this embodiment, the anti-slip portions 120C are integrally provided on a cover plate 123 of the touchpad unit 120.

[0034] The anti-slip portion 120C is provided at a position where the thumb of the operator can be hooked when the operator holds the controller 100 with both hands. By hooking the thumb of the operator on the anti-slip portion 120C, the operator can easily perform an operation of applying a load to the touch pad unit 120 while holding the controller 100 with both hands. When a force is applied to move the left and right thumbs in opposite directions, a torsional load (rotation operation) can be detected. When one of the left and right thumbs is pressed downward, a bending load (tilting operation) can be detected. In addition, when the front of the touch pad unit 120 is pressed downward with the left and right thumbs, and when the rear of the touch pad unit 120 is pressed downward with the left and right thumbs, a bending load (tilting operation) can also be detected.

[0035] In addition, the touchpad unit 120 is provided in a recess 110D of the housing 110, and a front side 120D (positive side of the X-axis) of the touchpad unit 120 is provided on the same plane as a front side 110G (positive side of the X-axis) of the housing 110.

[0036] As described above, the touchpad unit 120 has the electrostatic touchpad 122. In the touchpad unit 120, the touchpad 122 is provided between a pair of left and right anti-slip portions 120C.

[0037] The shape, number, and position of the anti-slip portion 120C are not limited to those exemplified in this embodiment. The anti-slip portion 120C may be provided separately from the cover plate 123 and attached to the cover plate 123.

[0038] The force sensor 200 is provided in the recess 110D of the housing 110, below the touchpad unit 120 (Z-axis negative side) and above the substrate 140 (Z-axis positive side). The force sensor 200 detects the displacement of the touchpad unit 120. Specifically, the force sensor 200 has a flexure body 210, and is fixed to the operation plate 124 of the touchpad unit 120 at a first support 212 of the flexure body 210, and is fixed to the substrate 140 at four second supports 213 of the flexure body 210. As a result, when the touchpad unit 120 is operated (tilted, rotated, or pressed), a distortion occurs in the flexure body 210, and the force sensor 200 can detect the distortion by a plurality of strain sensors 222, 233 provided on the flexure body 210. The first support 212 is fixed to the center of the touchpad unit 120. Therefore, a force pressing the left and right ends of the touchpad unit 120 in opposite front-to-back directions (positive direction on the X-axis and negative direction on the X-axis) becomes a torsional load and is detected as a rotation operation. A force pressing one end of the touchpad unit 120 downward (negative direction on the Z-axis) becomes a bending load and is detected as a tilting operation. A force pressing both ends of the touchpad unit 120 downward (negative direction on the Z-axis) becomes a compressive load and is detected as a pressing operation. The detailed configuration of the force sensor 200 will be described later with reference to FIGS. 5 to 10.

[0039] The substrate 140 is a horizontal, flat-plate-like member made of resin. In a plan view from above (positive Z-axis direction), the substrate 140 has a rectangular shape with the left-right direction (Y-axis direction) as the longitudinal direction. The width (length in the Y-axis direction) of the substrate 140 is narrower than the recess 110D of the lower housing 112. The width (length in the Y-axis direction) of the substrate 140 is wider than the recess 110D of the upper housing 111. Therefore, the substrate 140 can be moved within the recess 110D of the lower housing 112. The left and right ends of the upper surface of the substrate 140 are in contact with the upper housing 111 due to the return force of the pressing portion 141A of the push switch 141. If the return force of the pressing portion 141A of the push switch 141 is weak, a compression coil spring may be provided between the substrate 140 and the bottom surface 110F of the housing 110.

[0040] Four circular recesses 142 arranged in a cross shape are formed on the upper surface 140A of the substrate 140. Each of the four recesses 142 has a shape recessed downward (Z-axis negative direction) from the upper surface 140A, has a predetermined depth in the up-down direction (Z-axis direction), and has a circular shape when viewed from above (Z-axis positive direction). Four second pillars 213 of the strain body 210 of the force sensor 200 are inserted into each of the four circular recesses 142 from above (Z-axis positive direction), and each of the four second pillars 213 is fixed with a screw from below (Z-axis negative direction).

[0041] The push switch 141 is provided in the center of the lower surface 140B of the substrate 140 so that the pressing portion 141A faces downward. That is, the push switch 141 is provided so that the pressing portion 141A faces the bottom surface 110F of the recess 110D of the housing 110. The total length of the thickness of the substrate 140 and the thickness of the push switch 141 is approximately equal to the depth of the recess 110D of the lower housing 112. Therefore, the left end and the right end of the upper surface of the substrate 140 contact the lower surface of the upper housing 111. The total thickness of the touch pad unit 120 and the force sensor 200 is equal to the thickness of the upper housing 111, and the upper surface of the touch pad unit 120 and the upper surface of the upper housing 111 are on the same plane. The push switch 141 is configured to switch from an OFF state to an ON state when the pressing portion 141A is pressed. When the touchpad unit 120 is pressed downward (Z-axis negative direction), the pressing portion 141A of the push switch 141 is pressed by the bottom surface 110F of the recess 110D of the housing 110, and the push switch 141 is switched to the ON state. When the center of the touchpad unit 120 is pressed downward (Z-axis negative direction) or the left and right ends of the touchpad unit 120 are pressed downward (Z-axis negative direction) simultaneously, the touchpad unit 120 moves downward (Z-axis negative direction) while maintaining a parallel orientation, and the push switch 141 is switched to the ON state. When one end of the touchpad unit 120 is pressed downward (Z-axis negative direction), the touchpad unit 120 tilts together with the substrate 140, and then the push switch 141 is turned on. When the end of the touchpad unit 120 is pressed downward, the opposite end of the substrate 140 becomes a fulcrum and operates as a second type lever. This allows the push switch 141 to detect a pressing operation on the touch pad unit 120.

[0042] (Operation of controller 100) When the touchpad unit 120 of the controller 100 according to an embodiment is tilted, the touchpad unit 120, the force sensor 200, and the substrate 140 are all tilted, and the push switch 141 is turned on. Then, when one end of the lower surface of the substrate 140 contacts the bottom surface 110F of the lower housing 112 and the other end of the upper surface of the substrate 140 contacts the lower surface of the upper housing 111, the substrate 140 is fixed to the housing 110 and does not move. Furthermore, when a downward force is applied to the end of the touchpad unit 120, a bending load is applied to the first support 212 of the strain body 210 fixed to the touchpad unit 120, and a distortion occurs around the first support 212 at the base 211 of the strain body 210. The controller 100 according to one embodiment can detect the tilt operation (tilt direction and magnitude of load) on the touch pad unit 120 by detecting the distortion around the first support column 212 at the base 211 of the flexure body 210 using the four second distortion sensors 233 provided at the base 211 of the flexure body 210. When the push switch 141 is turned on, the reaction force fluctuates, providing a clicking sensation. This allows the operator to intuitively understand the lower limit of the tilt operation.

[0043] Furthermore, when a pressing operation is performed on the touchpad unit 120, the touchpad unit 120 moves downward (Z-axis negative direction) while remaining horizontal, and the push switch 141 is turned on. Furthermore, when a force is applied to the center of the touchpad unit 120 or when a force is applied evenly to both ends of the touchpad unit 120, a compressive load is applied to the first support 212 of the flexure body 210 fixed to the touchpad unit 120, and distortion occurs around the center of the base 211 of the flexure body 210. The controller 100 according to an embodiment can detect the pressing operation (magnitude of the load) on the touchpad unit 120 by detecting distortion around the center of the base 211 of the flexure body 210 using the four second distortion sensors 233 provided on the base 211 of the flexure body 210.

[0044] In addition, when a rotation operation is performed on the touchpad unit 120, the touchpad unit 120 of the controller 100 according to an embodiment rotates slightly around the central axis. At this time, the base 211 of the flexure body 210 fixed to the touchpad unit 120 rotates slightly, and each of the four second pillars 213 of the flexure body 210 tilts, causing distortion around each of the four second pillars 213. The controller 100 according to an embodiment can detect the rotation operation (rotation direction and load) on the touchpad unit 120 by detecting distortion around each of the four second pillars 213 on the base 211 of the flexure body 210 using the eight first strain sensors 222 provided on the base 211 of the flexure body 210. Note that by adjusting the gap between the touchpad unit 120 and the upper housing 111, it is possible to prevent an excessive torsional load from being applied to the flexure body 210.

[0045] (Detailed configuration of the force sensor 200) Fig. 5 is an external perspective view of the force sensor 200 according to an embodiment as viewed from above (positive direction of the Z axis). Fig. 6 is an external perspective view of the force sensor 200 according to an embodiment as viewed from below (negative direction of the Z axis). Fig. 7 is an exploded perspective view of the force sensor 200 according to an embodiment as viewed from above (positive direction of the Z axis). Fig. 8 is an exploded perspective view of the force sensor 200 according to an embodiment as viewed from below (negative direction of the Z axis).

[0046] As shown in FIGS. 5 to 8, the force sensor 200 includes a strain body 210, a first flexible substrate 220, and a second flexible substrate 230. The strain body 210 includes a strain sensor 210, a first flexible substrate 220, and a second flexible substrate 230.

[0047] The flexure body 210 is a resin member that is distorted by receiving an operation load from the touch pad unit 120. The flexure body 210 has a base 211, a first support post 212, four second support posts 213, a central protrusion 214, four first through holes 215, four second through holes 216, and four engagement protrusions 217.

[0048] The base portion 211 is a horizontal disk-shaped portion that has a constant thickness in the vertical direction (Z-axis direction).

[0049] The first support pillar 212 is a cylindrical portion that is vertically extended upward (in the positive direction of the Z axis) from the center of the upper surface of the base portion 211. The first support pillar 212 is provided mainly for detecting the tilt operation of the touchpad unit 120. The upper portion of the first support pillar 212 has a disk shape. A pair of depressions 212A that are recessed from the outer periphery toward the center are formed at 180 degree intervals in the upper portion of the first support pillar 212.

[0050] The four second pillars 213 are cylindrical parts that are provided vertically downward (in the negative direction of the Z axis) on the same circumference centered on central protrusion 214 (i.e., the center of base 211) on the underside of base 211, at equal intervals (i.e., 90° intervals) in four directions based on central protrusion 214. That is, the four second pillars 213 are provided in four directions that differ by 90 degrees from each other based on first pillar 212. The four second pillars 213 are provided mainly to detect a rotation operation of touchpad unit 120.

[0051] Central protrusion 214 is a columnar portion protruding downward (Z-axis negative direction) from the center of the lower surface of base 211. Central protrusion 214 is inserted into central opening 231 of base 230A of second flexible substrate 230, thereby enabling the positioning of the center of base 230A of second flexible substrate 230.

[0052] Furthermore, the central protrusion 214 is disposed facing the upper surface 140A of the substrate 140 at a predetermined distance. Therefore, when the stroke amount of the pressing operation of the touch pad unit 120 reaches a predetermined distance, the central protrusion 214 comes into contact with the upper surface 140A of the substrate 140, thereby restricting further deformation (sinking) of the base 211. As a result, the central protrusion 214 can suppress damage to the strain sensors 222, 233 due to excessive deformation.

[0053] The four first through holes 215 are provided around the first support pillar 212 in the base 211, and are provided in four directions that differ by 90 degrees with the first support pillar 212 as a reference. Each of the four first through holes 215 penetrates the base 211 in the up-down direction (Z-axis direction). In particular, each of the four first through holes 215 is provided in a direction between two adjacent second support pillars 213 with the first support pillar 212 as a reference (i.e., a direction different from the direction in which the second support pillars 213 are provided).

[0054] The four second through holes 216 are provided on the outer diameter side of each of the four second pillars 213 in the base 211. Each of the four second through holes 216 penetrates the base 211 in the up-down direction (Z-axis direction).

[0055] The four engaging protrusions 217 are provided on the outer diameter side of each of the four second through holes 216 in the base 211. Each of the four engaging protrusions 217 protrudes upward (in the positive direction of the Z axis) from the upper surface of the base 211. Each of the four engaging protrusions 217 engages with each of the four engaging portions 223 formed on the outer edge portion of the base 220A of the first flexible substrate 220.

[0056] First flexible substrate 220 is a film-like wiring member having flexibility. First flexible substrate 220 has base portion 220A and lead-out portion 220B.

[0057] The base 220A has an annular shape, and is fixed to the upper surface of the base 211 of the flexure body 210. A circular opening 221 is formed in the center of the base 220A. The first support 212 of the flexure body 210 is inserted into the inside of the opening 221.

[0058] Lead portion 220B is a strip-shaped portion that extends linearly outward (in the negative X-axis direction and the positive Y-axis direction) from the outer periphery of base portion 220A. Lead portion 220B is electrically connected to substrate 140 at its tip.

[0059] In the first flexible substrate 220, eight first strain sensors 222 are provided around the opening 221 on the upper surface of the base 220A (i.e., around the first support 212 of the strain body 210). Each of the eight first strain sensors 222 is a resistor printed on the upper surface of the base 220A. The eight first strain sensors 222 are provided mainly to detect a rotation operation of the touch pad unit 120.

[0060] In addition, in the first flexible substrate 220, four engaging portions 223 having a shape recessed toward the inner diameter side are formed on the outer edge portion of the base portion 220A in the same four directions as the four directions in which the four second supports 213 are provided. Each of the four engaging portions 223 engages with each of the four engaging protrusions 217 provided on the base portion 211 of the strain body 210.

[0061] First flexible substrate 220 can output a strain detection signal (analog signal) that indicates the strain of base portion 211 detected by each of eight first strain sensors 222 to substrate 140 via lead-out portion 220B.

[0062] Second flexible substrate 230 is a film-like wiring member having flexibility. Second flexible substrate 230 has base portion 230A and lead-out portion 230B.

[0063] The base 230A has an annular shape, and is a portion that is fixed to the lower surface of the base 211 of the flexure body 210. A circular central opening 231 is formed in the center of the base 230A. A central protrusion 214 provided on the lower surface of the base 211 of the flexure body 210 is inserted into the central opening 231.

[0064] Moreover, around the central opening 231 in the base 230A, four circular peripheral openings 232 are formed at equal intervals (i.e., 90° intervals) on the same circumference centered on the central opening 231 (i.e., the center of the base 230A). Four second struts 213 of the strain body 210 are inserted into the four peripheral openings 232, respectively.

[0065] Lead portion 230B is a strip-shaped portion that extends linearly outward (in the negative X-axis direction and the negative Y-axis direction) from the outer periphery of base portion 230A. Lead portion 230B is electrically connected to substrate 140 at its tip.

[0066] In the second flexible substrate 230, four second strain sensors 233 are provided around the central opening 231 on the lower surface of the base 230A (i.e., around the central protrusion 214 of the strain body 210). Each of the four second strain sensors 233 is a resistor printed on the lower surface of the base 230A. The four second strain sensors 233 are provided mainly to detect the tilting operation of the touch pad unit 120.

[0067] The second flexible substrate 230 can output a strain detection signal (analog signal) that indicates the strain of the base portion 211 detected by each of the four second strain sensors 233 to the substrate 140 via the lead-out portion 230B.

[0068] (Arrangement of the first strain sensor 222) Next, the arrangement of the eight first strain sensors 222 in the force sensor 200 will be described with reference to Fig. 9. Fig. 9 is a front view of the force sensor 200 according to one embodiment.

[0069] As shown in FIG. 9, the force sensor 200 is provided with two first strain sensors 222 on the upper surface of the base 211 of the strain body 210 in each of four directions (right (positive Y-axis direction), left (negative Y-axis direction), front (positive X-axis direction), and rear (negative X-axis direction)) based on the first support column 212. In each direction, the two first strain sensors 222 are provided at a predetermined interval from each other on the same circumference as the first circumference C1 that passes through the four second support columns 213 provided on the back side (negative Z-axis), that is, lined up in the circumferential direction of the first circumference C1. As a result, eight first strain sensors 222 are provided around the first support column 212 on the same circumference as the first circumference C1 that passes through the four second support columns 213. Furthermore, the eight first strain sensors 222 are provided at positions overlapping with the outer edge of the second support column 213 provided on the back side (Z-axis negative side).

[0070] Each of the eight first strain sensors 222 is provided with a detection direction that is the circumferential direction of the first circumference C1. As a result, when the touch pad unit 120 is rotated, each of the eight first strain sensors 222 expands or contracts in the circumferential direction of the first circumference C1, changing the resistance value, and is capable of detecting the rotation operation.

[0071] In addition, a base 220A of a first flexible substrate 220 having an annular shape surrounding the first support pillar 212 is provided on the upper surface of the base 211 of the strain body 210. The eight first strain sensors 222 are provided on the upper surface of the base 220A of the first flexible substrate 220 on the same circumference as a first circumference C1 passing through the four second support pillars 213 so as to surround the first support pillar 212.

[0072] When a rotation operation of the touchpad unit 120 is performed and a distortion occurs in the base 211 (around the four second pillars 213) via the four second pillars 213, each of the eight first distortion sensors 222 changes its resistance value by deforming (expanding or contracting) in response to the distortion of the base 211. This allows each of the eight first distortion sensors 222 to detect the distortion of the base 211 caused by the rotation operation of the touchpad unit 120, and therefore to detect the rotation operation of the touchpad unit 120.

[0073] Here, in the force sensor 200 according to one embodiment, eight first strain sensors 222 are provided around the first support pillar 212 in four directions (right (positive Y-axis direction), left (negative Y-axis direction), front (positive X-axis direction), and rear (negative X-axis direction)) corresponding to the installation directions of the four second support pillars 213. As a result, in the force sensor 200 according to one embodiment, when a rotation operation of the touch pad unit 120 is performed, the distortion of the base 211 generated in each of the four directions due to the tilting of each of the four second support pillars 213 can be reliably detected by the first strain sensors 222 provided two in each direction, and therefore the rotation operation can be detected with high sensitivity.

[0074] Furthermore, in the force sensor 200 according to one embodiment, eight first strain sensors 222 are provided on the upper surface of the base 211 of the strain body 210, on the same circumference as the first circumference C1 passing through the four second pillars 213, and at positions overlapping with the outer edges of the second pillars 213. As a result, when the touchpad unit 120 is rotated and each of the four second pillars 213 is tilted in the rotation direction, the force sensor 200 according to one embodiment can detect the strain by the first strain sensors 222 at the position where the largest strain occurs in the base 211 of the strain body 210 (on the same circumference as the first circumference C1 and at the position overlapping with the outer edges of the second pillars 213), and can therefore detect the rotation operation of the touchpad unit 120 with high sensitivity.

[0075] Furthermore, in the force sensor 200 according to one embodiment, among the components for detecting a rotation operation of the touch pad unit 120, the four second support columns 213 are provided on the lower surface of the base 230A, and the eight first strain sensors 222 are provided on the upper surface of the base 230A. As a result, the force sensor 200 according to one embodiment can arrange the eight first strain sensors 222 in suitable positions (on the same circumference as the first circumference C1 and at positions overlapping with the outer edge of the second support columns 213) without interfering with the second support columns 213, and therefore the four second strain sensors 233 can detect the rotation operation of the touch pad unit 120 with high sensitivity.

[0076] (Arrangement of the second strain sensor 233) Next, the arrangement of the four second strain sensors 233 in the force sensor 200 will be described with reference to Fig. 10. Fig. 10 is a bottom view of the force sensor 200 according to one embodiment.

[0077] As shown in FIG. 10, the force sensor 200 is provided with one second strain sensor 233 on the lower surface of the base 211 of the strain body 210 in each of four directions (rightward (positive Y-axis direction), leftward (negative Y-axis direction), forward (positive X-axis direction), and backward (negative X-axis direction)) based on the central protrusion 214. That is, the four second strain sensors 233 are arranged in a cross shape around the central protrusion 214. In each direction, the second strain sensor 233 is provided between the central protrusion 214 and the second support 213. In particular, in each direction, the second strain sensor 233 is provided on the same circumference as a second circumference C2 formed by the outer edge of the base portion of the first support 212 provided on the back side (positive Z-axis side). As a result, four second strain sensors 233 are provided around the central protrusion 214, inside the four second supports 213, and on the same circumference as the second circumference C2 formed by the outer edge of the base portion of the first support 212.

[0078] Each of the four second strain sensors 233 is provided with a detection direction that is the tilt direction of the first support column 212. As a result, when the touchpad unit 120 is tilted, each of the four second strain sensors 233 expands or contracts in the tilt direction of the first support column 212, changing the resistance value, and is capable of detecting the tilt operation.

[0079] In addition, a base 230A of a second flexible substrate 230 having an annular shape is provided on the lower surface of the base 211 of the strain body 210, surrounding the central protrusion 214. The four second strain sensors 233 are provided on the lower surface of the base 230A of the second flexible substrate 230, on the same circumference as a second circumference C2 formed by the outer edge of the root portion of the first support 212, so as to surround the central protrusion 214.

[0080] When the touchpad unit 120 is tilted and distortion occurs in the base 211 (around the base of the first support 212) via the first support 212, each of the four second distortion sensors 233 changes its resistance value by deforming (expanding or contracting) in response to the distortion of the base 211. This allows each of the four second distortion sensors 233 to detect the distortion of the base 211 caused by the tilting of the touchpad unit 120, and therefore the tilting of the touchpad unit 120.

[0081] Here, in the force sensor 200 according to one embodiment, four second strain sensors 233 are provided around the central protrusion 214 in four directions (right (positive Y-axis direction), left (negative Y-axis direction), front (positive X-axis direction), and rear (negative X-axis direction)) corresponding to the tilt operation direction of the touchpad unit 120. As a result, even if the touchpad unit 120 is tilted in any of the four directions (right (positive Y-axis direction), left (negative Y-axis direction), front (positive X-axis direction), and rear (negative X-axis direction)), the force sensor 200 according to one embodiment can reliably detect the strain of the base 211 generated via the first support 212 by the second strain sensor 233 provided in the operation direction, and therefore can detect the tilt operation with high sensitivity.

[0082] Furthermore, in the force sensor 200 according to one embodiment, the four second strain sensors 233 are provided on the lower surface of the base 211 of the strain body 210, on the same circumference as the second circumference C2 formed by the outer edge of the root portion of the first pillar 212. As a result, when the touchpad unit 120 is tilted and the first pillar 212 is tilted, the force sensor 200 according to one embodiment can detect the strain by the second strain sensor 233 at the position where the largest strain occurs in the base 211 of the strain body 210 (the position on the same circumference as the second circumference C2), and can therefore detect the tilting operation of the touchpad unit 120 with high sensitivity.

[0083] Furthermore, in the force sensor 200 according to one embodiment, among the components for detecting the tilting operation of the touchpad unit 120, the first support pillar 212 is provided on the upper surface of the base 230A, and the four second strain sensors 233 are provided on the lower surface of the base 230A. As a result, the force sensor 200 according to one embodiment can arrange the four second strain sensors 233 in suitable positions (positions overlapping with the outer edge of the first support pillar 212) without interfering with the first support pillar 212, and therefore the four second strain sensors 233 can detect the tilting operation of the touchpad unit 120 with high sensitivity.

[0084] (Configuration of rotation operation detection circuit 241) Next, the configuration of the rotation operation detection circuit 241 included in the force sensor 200 will be described with reference to Fig. 11 and Fig. 12. Fig. 11 is a diagram showing an arrangement of eight first strain sensors 222 in the force sensor 200 according to one embodiment. Fig. 12 is a circuit diagram of the rotation operation detection circuit 241 included in the force sensor 200 according to one embodiment.

[0085] 11 and 12, the resistors marked "S42" and "S43" refer to the two first strain sensors 222 arranged on the positive side of the X-axis out of the eight first strain sensors 222 included in the force sensor 200.

[0086] 11 and 12, the resistors marked "S21" and "S23" refer to the two first strain sensors 222 arranged on the negative side of the X-axis out of the eight first strain sensors 222 included in the force sensor 200.

[0087] 11 and 12, the resistors marked "S32" and "S34" refer to the two first strain sensors 222 arranged on the positive side of the Y axis out of the eight first strain sensors 222 included in the force sensor 200.

[0088] 11 and 12, the resistors marked "S12" and "S14" refer to the two first strain sensors 222 arranged on the negative side of the Y axis out of the eight first strain sensors 222 included in the force sensor 200.

[0089] As shown in FIG. 12, a rotation operation detection circuit 241 included in the force sensor 200 has two bridge circuits connected in series with each other, and each bridge circuit is configured by four first strain sensors 222.

[0090] One bridge circuit on the ground GND side is formed by four first strain sensors 222 (S42, S34, S12, S23) provided on the counterclockwise side of the second pillar in each of the four directions when viewed from above (positive direction of the Z axis).

[0091] The other bridge circuit on the power supply voltage VCC side is composed of four first strain sensors 222 (S43, S32, S14, S21) provided on the clockwise side of the second pillar in each of the four directions when viewed from above (positive direction of the Z axis).

[0092] Therefore, in the rotation operation detection circuit 241, when the touch pad unit 120 is rotated counterclockwise, all of the four first strain sensors 222 (S42, S34, S12, S23) provided on the counterclockwise side contract, changing the resistance value in the negative direction, and all of the four first strain sensors 222 (S43, S32, S14, S21) provided on the clockwise side expand, changing the resistance value in the positive direction. As a result, in the rotation operation detection circuit 241, the ratio between the combined resistance of one bridge circuit and the combined resistance of the other bridge circuit changes, changing the output voltage division R between the bridge circuits. Therefore, the rotation operation detection circuit 241 can detect the counterclockwise rotation operation of the touch pad unit 120 based on the voltage value of the output voltage division R.

[0093] On the other hand, in the rotation operation detection circuit 241, when the touch pad unit 120 is rotated clockwise, all of the four first strain sensors 222 (S42, S34, S12, S23) provided on the counterclockwise side expand, changing the resistance value in the positive direction, and all of the four first strain sensors 222 (S43, S32, S14, S21) provided on the clockwise side contract, changing the resistance value in the negative direction. As a result, in the rotation operation detection circuit 241, the ratio between the combined resistance of one bridge circuit and the combined resistance of the other bridge circuit changes, changing the output voltage division R between the bridge circuits. Therefore, the rotation operation detection circuit 241 can detect the clockwise rotation operation of the touch pad unit 120 based on the voltage value of the output voltage division R.

[0094] (Configuration of the tilt operation detection circuit 242) Next, the configuration of the tilt operation detection circuit 242 included in the force sensor 200 will be described with reference to Fig. 13 and Fig. 14. Fig. 13 is a diagram showing an arrangement of four second strain sensors 233 in the force sensor 200 according to one embodiment. Fig. 14 is a circuit diagram of the tilt operation detection circuit 242 included in the force sensor 200 according to one embodiment.

[0095] 13 and 14, a resistor marked with "X+" refers to the second strain sensor 233 disposed on the positive side of the X-axis among the four second strain sensors 233 included in the force sensor 200.

[0096] 13 and 14, a resistor marked "X-" refers to the second strain sensor 233 (X-) arranged on the negative side of the X-axis among the four second strain sensors 233 included in the force sensor 200.

[0097] 13 and 14, a resistor marked "Y+" refers to the second strain sensor 233 (Y+) that is disposed on the Y-axis positive side among the four second strain sensors 233 that the force sensor 200 has.

[0098] 13 and 14, a resistor marked "Y-" refers to the second strain sensor 233 (Y-) arranged on the negative side of the Y axis among the four second strain sensors 233 included in the force sensor 200.

[0099] As shown in FIG. 14, the tilt operation detection circuit 242 included in the force sensor 200 has a bridge circuit configured with four second strain sensors 233.

[0100] Specifically, in the tilt operation detection circuit 242, the second strain sensor 233(X+) and the second strain sensor 233(X-) are connected in series. When the first support 212 is tilted in the X-axis direction, the resistance values ​​of the two second strain sensors 233 change in opposite directions. As a result, in the tilt operation detection circuit 242, the ratio of the resistance values ​​of the two second strain sensors 233 changes in response to the tilt of the first support 212 in the X-axis direction, so that the voltage value of the midpoint X between the two second strain sensors 233 changes. Therefore, the tilt operation detection circuit 242 can detect the tilt direction and tilt angle of the touch pad unit 120 in the X-axis direction based on the voltage value of the midpoint X.

[0101] In the tilt operation detection circuit 242, the second strain sensor 233 (Y+) and the second strain sensor 233 (Y-) are connected in series. When the first support 212 is tilted in the Y-axis direction, the resistance values ​​of the two second strain sensors 233 change in opposite directions. As a result, in the tilt operation detection circuit 242, the ratio of the resistance values ​​of the two second strain sensors 233 changes in response to the tilt of the first support 212 in the Y-axis direction, so that the voltage value of the midpoint Y between the two second strain sensors 233 changes. Therefore, the tilt operation detection circuit 242 can detect the tilt direction and tilt angle of the touch pad unit 120 in the Y-axis direction based on the voltage value of the midpoint Y.

[0102] The controller 100 of this embodiment can simultaneously perform a tilt operation of the touchpad unit 120 in the X-axis direction and a tilt operation of the touchpad unit 120 in the Y-axis direction. In this case, in the tilt operation detection circuit 242, the voltage value of the midpoint X changes as the first support column 212 tilts in the X-axis direction, and at the same time, the voltage value of the midpoint Y changes as the first support column 212 tilts in the Y-axis direction. Therefore, based on the voltage value of the midpoint X and the voltage value of the midpoint Y, the tilt operation detection circuit 242 can detect both a tilt operation (tilt direction and load) of the touchpad unit 120 in the X-axis direction and a tilt operation (tilt direction and load) of the touchpad unit 120 in the Y-axis direction, which are performed simultaneously.

[0103] In the tilt operation detection circuit 242, when the first support 212 is pressed downward (Z-axis negative direction), the resistance values ​​of the four second strain sensors 233 change uniformly. As a result, in the tilt operation detection circuit 242, the divided voltage Zout between the bridge circuit formed by the four second strain sensors 233 and a resistor (not shown) connected in series with the bridge circuit changes according to the amount by which the first support 212 is pressed downward (Z-axis negative direction). Therefore, the tilt operation detection circuit 242 can detect the amount by which the touch pad unit 120 is pressed downward (Z-axis negative direction) based on the voltage value of the divided voltage Zout.

[0104] (Modification of anti-slip part) 15 is a diagram showing a modified example of an anti-slip portion 120C included in the controller 100 according to one embodiment. FIG 16 is an exploded perspective view of the touch pad unit 120 included in the controller 100 shown in FIG.

[0105] In the example shown in Fig. 15 and Fig. 16, each of the pair of left and right anti-slip portions 120C is made up of a plurality of grooves 120Ca aligned along the left-right direction (Y-axis direction). The plurality of grooves 120Ca are arranged in the front-rear direction (X-axis direction). In the example shown in Fig. 15 and Fig. 16, each of the plurality of grooves 120Ca has a shape recessed downward (Z-axis negative direction) from the upper surface 120A, and has an elliptical shape with the left-right direction (Y-axis direction) as the longitudinal direction.

[0106] In the controller 100 according to one embodiment, each of the grooves 120Ca has the above-mentioned concave and oval shape, so that the anti-slip effect in the front-rear direction (X-axis direction) of the operator's thumb can be enhanced. Also, in the controller 100 according to one embodiment, the grooves 120Ca are arranged in the front-rear direction (X-axis direction), so that the anti-slip effect for the operator's thumb can be obtained over a wide range in the front-rear direction (X-axis direction).

[0107] 15 and 16, sensor electrodes of the touchpad 122 are also provided at positions overlapping with the anti-slip portions 120C, that is, a pair of left and right anti-slip portions 120C are provided on the touchpad 122. This allows the controller 100 according to one embodiment to effectively use the entire upper surface of the touchpad unit 120 including the pair of left and right anti-slip portions 120C as a touch operation area, and allows the position of a finger to be detected over a wide range.

[0108] (effect) As described above, the force sensor 200 according to one embodiment includes a strain body 210, a first strain sensor 222 for detecting a rotation operation, and a second strain sensor 233 for detecting a tilt operation. The strain body 210 has a plate-shaped base 211, a first support pillar 212 provided on one side of the base 211, and a plurality of second support pillars 213 provided on the other side of the base 211 on the same circumference centered on the first support pillar 212. The first strain sensor 222 is arranged on the same circumference as the plurality of second support pillars 213 at the base 211 of the strain body 210, and the second strain sensor 233 is arranged around the first support pillar 212 at the base 211 of the strain body 210.

[0109] As a result, in one embodiment of the force sensor 200, the configuration for detecting a rotation operation (the second support 213 and the first strain sensor 222) and the configuration for detecting a tilt operation (the first support 212 and the second strain sensor 233) can be separated, making it easier to individually optimize the configuration for detecting a rotation operation and the configuration for detecting a tilt operation.

[0110] Furthermore, the force sensor 200 of one embodiment can detect a rotation operation by the first strain sensor 222 on the back side of the second support 213, and can detect a tilt operation by the second strain sensor 233 on the back side of the first support 212. Therefore, the first strain sensor 222 and the second strain sensor 233 can be easily positioned in suitable positions where distortion is likely to occur in the strain body 210, and therefore, rotation operations and tilt operations can be detected with high sensitivity.

[0111] Furthermore, in the force sensor 200 of one embodiment, the first support 212 is provided on one side of the base 211, and the second support 213 is provided on the other side of the base 211. Therefore, the first support 212 and the second support 213 can be easily positioned in suitable positions so as not to interfere with each other, and therefore rotation and tilt operations can be detected with high sensitivity.

[0112] Furthermore, in the force sensor 200 according to one embodiment, at least the first support 212 and the second support 213 are integrally formed with the strain body 210, and therefore, the force sensor 200 can detect rotation and tilt operations with high sensitivity using a relatively small number of parts.

[0113] In the force sensor 200 according to the embodiment, the first support column 212 and the second support column 213 have a cylindrical shape.

[0114] As a result, the force sensor 200 of one embodiment can generate strain in the strain body 210 regardless of the operation direction, thereby suppressing variation in the detection values ​​of the first strain sensor 222 and the second strain sensor 233, and therefore can detect rotational and tilting operations with high accuracy.

[0115] Moreover, in the force sensor 200 of one embodiment, the first strain sensor 222 is provided on one surface of the base 211 of the flexure body 210 at a position overlapping with the outer edge of the second support 213, and the second strain sensor 233 is provided on the other surface of the base 211 of the flexure body 210 at a position overlapping with the outer edge of the first support 212.

[0116] As a result, the force sensor 200 of one embodiment can detect distortion caused by rotational operations and tilting operations at the position where the greatest distortion occurs, thereby enabling detection of rotational operations and tilting operations with high sensitivity and high accuracy.

[0117] Moreover, in the force sensor 200 according to one embodiment, the strain body 210 includes four second supports 213, and the four second supports 213 are provided in four directions that differ by 90 degrees with respect to the first support 212.

[0118] As a result, the force sensor 200 of one embodiment can make it easier for distortion to occur during tilting operations in the four directions in which the four second supports 213 are provided, with the first support 212 as the reference, and by arranging the second distortion sensors 233 in these four directions, the tilting operations can be detected with high accuracy.

[0119] Moreover, in the force sensor 200 according to one embodiment, the strain body 210 has four first through holes 215 arranged around the first pillar 212 in the base 211, and each of the four first through holes 215 is arranged in a direction between two adjacent second pillars 213 with the first pillar 212 as a reference.

[0120] This allows the force sensor 200 according to one embodiment to detect a tilt operation with high sensitivity.

[0121] Moreover, in the force sensor 200 according to one embodiment, the strain body 210 has four second through holes 216 provided on the outer diameter side of each of the four second pillars 213 in the base 211, and four engagement protrusions 217 provided on the outer diameter side of each of the four second through holes 216 in the base 211, and the first strain sensor 222 is provided on a first flexible substrate 220 arranged on one side of the base 211 of the strain body 210, and the first flexible substrate 220 has four engagement portions 223 that engage with each of the four engagement protrusions 217.

[0122] As a result, in the force sensor 200 according to one embodiment, by providing the four second through holes 216, it is possible to easily generate distortion during a rotation operation in each of the four second pillars 213, and therefore it is possible to detect the rotation operation with high sensitivity and high accuracy. Also, in the force sensor 200 according to one embodiment, by providing the first strain sensor 222 on the first flexible substrate 220, it is possible to easily install the first strain sensor 222 on the base 211 of the strain generating body 210.

[0123] Moreover, in the force sensor 200 according to one embodiment, the second strain sensor 233 is provided on a second flexible substrate 230 arranged on the other surface of the base 211 of the strain body 210, and the second flexible substrate 230 has four peripheral openings 232 through which each of the four second supports 213 is inserted.

[0124] As a result, in the force sensor 200 according to the embodiment, by providing the second strain sensor 233 on the second flexible substrate 230 , the second strain sensor 233 can be easily installed on the base portion 211 of the strain generating body 210 .

[0125] Moreover, the controller 100 according to one embodiment includes a housing 110, a force sensor 200 provided inside the housing 110, an operation plate 124 provided inside the housing 110 and fixed to an upper portion of a first support 212 of the strain body 210 of the force sensor 200, and a stopper 124B provided inside the housing 110 and regulating the amount of displacement of the operation plate 124.

[0126] As a result, by providing the stopper 124B, the controller 100 according to one embodiment can regulate the amount of displacement of the operation plate 124 during a tilting operation, thereby making it possible to suppress damage caused by excessive deformation of the strain body 210.

[0127] In the controller 100 according to one embodiment, the operation plate 124 has a rectangular shape, and the stoppers 124B are provided on both ends of the operation plate 124 in the long side direction.

[0128] As a result, in the controller 100 according to one embodiment, when the operation plate 124 is tilted in the long side direction, the tilt of the operation plate 124 in the long side direction can be effectively restricted by the stopper 124B.

[0129] Moreover, the controller 100 according to the embodiment includes a touch pad unit 120 provided on the operation plate .

[0130] This allows the controller 100 according to one embodiment to perform tilt and rotation operations on the touchpad unit 120, and can detect the tilt and rotation operations of the touchpad unit 120 with high sensitivity.

[0131] Moreover, in a controller 100 according to one embodiment, the touchpad unit 120 is provided in a recess 110D of the housing 110, the upper surface 120A of the touchpad unit 120 and the upper surface 110E of the housing 110 are provided on the same plane, and there is a gap between the outer periphery of the touchpad unit 120 and the inner periphery of the recess 110D of the housing 110.

[0132] As a result, in the controller 100 according to an embodiment, the outer periphery of the touchpad unit 120 abuts against the inner periphery of the recess 110D of the housing 110, thereby restricting the rotation of the touchpad unit 120 during a rotation operation. Therefore, in the controller 100 according to an embodiment, by adjusting the width of the gap, the rotatable angle during a rotation operation of the touchpad unit 120 can be adjusted, and damage due to excessive deformation of the strain body 210 can be suppressed.

[0133] Moreover, in one embodiment, the controller 100 has a substrate 140 provided inside the housing 110, and the substrate 140 has four recesses 142 formed therein, the second support 213 is inserted into the recesses 142, a central protrusion 214 is provided in the center of the other surface of the base 211, and there is a gap between the substrate 140 and the central protrusion 214.

[0134] As a result, in the controller 100 according to an embodiment, the central protrusion 214 abuts against the substrate, thereby restricting deformation during a pressing operation of the touch pad unit 120. Therefore, in the controller 100 according to an embodiment, damage caused by excessive deformation of the strain body 210 can be suppressed by adjusting the width of the gap.

[0135] Moreover, the controller 100 according to one embodiment includes a housing 110, a plate-shaped touchpad unit 120 (operation unit) provided on the housing 110 and exposed from the housing 110, and a force sensor 200 that detects a rotational operation of the touchpad unit 120, the force sensor 200 having a strain body 210 connected to the touchpad unit 120 and a second strain sensor 233 (strain sensor) provided on the strain body 210, and the touchpad unit 120 has a pair of left and right anti-slip portions 120C near both left and right ends of an upper surface 120A of the touchpad unit 120.

[0136] As a result, the controller 100 according to one embodiment allows the operator to easily perform a rotation operation of applying a force in a rotational direction (torsion load) to the touch pad unit 120 by hooking the thumbs of both hands on each of the pair of left and right anti-slip portions 120C. In addition, the force sensor 200 can detect the rotation operation by the second strain sensor 233.

[0137] In the controller 100 according to one embodiment, the anti-slip portion 120C is a protrusion that is integrally provided on the touch pad unit 120.

[0138] As a result, the controller 100 of one embodiment allows the operator to easily hook the thumbs of both hands onto each of the pair of left and right anti-slip portions 120C, and also allows the operator to easily and intuitively grasp the position where the thumbs of both hands should be placed.

[0139] Moreover, in the controller 100 according to one embodiment, the operation section (touchpad unit 120) has an electrostatic touchpad 122. Moreover, the touchpad 122 is provided between a pair of left and right anti-slip portions 120C.

[0140] This allows the controller 100 according to one embodiment to perform touch operations on the touchpad 122 in addition to the rotation operation of the touchpad unit 120, thereby enabling a variety of operations to be performed. Also, the space between the pair of left and right anti-slip portions 120C can be effectively used as a touch operation area.

[0141] In the controller 100 according to one embodiment, the anti-slip portion 120C is made of a plurality of grooves 120Ca provided in the operation portion (the touch pad unit 120). The plurality of grooves 120Ca are aligned in the left-right direction. The plurality of grooves 120Ca are also aligned in the front-rear direction.

[0142] As a result, the controller 100 of one embodiment allows the operator to easily hook the thumbs of both hands onto each of the pair of left and right anti-slip portions 120C, and also allows the operator to easily and intuitively grasp the position where the thumbs of both hands should be placed.

[0143] Moreover, in the controller 100 according to one embodiment, the touchpad unit 120 has an electrostatic touchpad 122. Moreover, on the touchpad 122, a pair of left and right anti-slip portions 120C are provided.

[0144] As a result, the controller 100 according to one embodiment can perform touch operations on the touchpad 122 in addition to the rotation operation of the touchpad unit 120, and thus can perform a variety of operations. Also, the entire upper surface of the touchpad unit 120 including the pair of left and right anti-slip portions 120C can be effectively used as a touch operation area.

[0145] In addition, in the controller 100 according to one embodiment, the touch pad unit 120 is provided in a recess 110D of the housing 110, and one side surface 120D of the touch pad unit 120 is provided on the same plane as one side surface 110G of the housing 110.

[0146] As a result, in the controller 100 according to one embodiment, there is no need to leave a gap in front of the touchpad unit 120, and the housing 110 does not interfere with the rotation operation of the touchpad unit 120, thereby enabling the controller 100 to be made smaller.

[0147] Furthermore, in the controller 100 according to one embodiment, the force sensor 200 can simultaneously detect a tilt operation of the touchpad unit 120 in the forward / backward direction and a tilt operation of the touchpad unit 120 in the left / right direction.

[0148] As a result, the controller 100 according to one embodiment can detect, by the single force sensor 200, a tilt operation of the touchpad unit 120 in the forward / backward direction and a tilt operation of the touchpad unit 120 in the left / right direction at the same time.

[0149] Moreover, the controller 100 according to the embodiment includes a substrate 140 provided below the force sensor 200 and to which the force sensor 200 is fixed, and a push switch 141 provided below the substrate 140.

[0150] As a result, the controller 100 according to one embodiment is capable of performing pressing operations on the touchpad unit 120 in addition to rotating and tilting the touchpad unit 120, and is thus capable of performing a variety of operations.

[0151] Although one embodiment of the present invention has been described in detail above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist of the present invention described in the claims. [Explanation of symbols]

[0152] 100 Controller 110 Cabinet 111 Upper housing 112 Lower housing 110A central part 110B Left hand grip 110C Right grip part 110D Recess 110E Top 110F Bottom 110G side 120 Touch pad unit (operation part) 120A top 120B Touch operation surface 120C Anti-slip part 120Ca Groove 120D Side 121 Holder 121A Top 121B Recess 121C Bottom 122 Touchpad 122A Top 123 Cover Plate 124 Operation board 124A Fixed part 124B Stopper 124C protrusion 140 Substrate 140A top 140B Bottom 141 Push Switch 141A Pressing part 142 Recess 200 Force Sensor 210 Strain body 211 Base 212 First Pillar 212A Recess 213 Second Pillar 214 Central projection 215 First through hole 216 Second Through Hole 217 Engagement protrusion 220 First flexible substrate 220A base 220B Drawer 221 Opening 222 First strain sensor 223 Engagement part 230 Second flexible substrate 230A base 230B Drawer 231 Central opening 232 Peripheral opening 233 Second strain sensor C1 First Circumference C2 Second Circumference

Claims

1. A housing and a plate-shaped operation unit provided in the housing and exposed from the housing; a force sensor for detecting a rotation operation of the operation unit; Equipped with The force sensor includes: A strain body fixed to the operation unit; A strain sensor provided on the strain generating body; having The operation unit includes: A pair of left and right anti-slip portions is provided near both left and right ends of the upper surface of the operation portion. A controller comprising:

2. The anti-slip portion is a protrusion that is integrally provided on the operating portion.

2. The controller of claim 1.

3. The operation unit has an electrostatic touch pad, The touch pad is provided between the pair of left and right anti-slip portions.

3. The controller of claim 2.

4. The anti-slip portion is formed of a plurality of grooves provided in the operating portion, The plurality of grooves are aligned along the left-right direction, The plurality of grooves are arranged in a line in the front-rear direction.

2. The controller of claim 1.

5. The operation unit has an electrostatic touch pad, The anti-slip portion is provided on the touch pad.

5. The controller of claim 4.

6. The operation unit includes: The housing is provided in a recess, One aspect of the operation unit is The housing is provided on the same plane as one side surface of the housing. A controller according to any one of claims 2 to 5.

7. The force sensor can simultaneously detect a tilt operation of the operation unit in a forward / backward direction and a tilt operation of the operation unit in a left / right direction.

7. The controller of claim 6.

8. a substrate provided below the force sensor and to which the force sensor is fixed; A push switch provided on the underside of the substrate; 8. The controller of claim 7, comprising:

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