Haptic feedback device and control method of haptic feedback device

Abstract

To provide a haptic feedback device capable of presenting vibration stimulus to a user.SOLUTION: A haptic feedback device includes a first member containing a first vibrator that can reciprocate in a first direction. The haptic feedback device includes a second member containing a second vibrator that can reciprocate in the first direction. The second member is arranged in a second direction orthogonal to the first direction with respect to the first member. The haptic feedback device includes a connection unit that connects the first member and the second member. The haptic feedback device includes a control unit configured to cause each of the first and second vibrators to generate non-symmetric vibrations having opposite non-symmetric vibration waveforms. The connection unit is configured to vary a distance between the first vibrator and the second vibrator.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The technology disclosed in this specification relates to a tactile presentation device and a control method for the tactile presentation device. [Background technology]

[0002] It is known that when asymmetric vibration is presented to a human hand, a phenomenon called traction illusion occurs, which induces perception in one direction. Non-Patent Document 1 discloses a tactile presentation device that uses a two-channel vibrator to present two parallel force vectors. This tactile presentation device can present a pseudo-force sensation of rotational force in addition to translational force to the user by changing the combination of force vectors. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Ken Tanabe, Hiroaki Yano, Hiroo Iwata, “Ungrounded translational and rotational force display using asymmetric vibration with two-channel vibration speaker”, Transactions of the Virtual Reality Society of Japan, vol.22, no.1, pp.125-134, 2017. Summary of the Invention [Problem to be solved by the invention]

[0004] In the technique of Non-Patent Document 1, it is difficult to appropriately control the strength of the rotation pseudo-force sensation. [Means for solving the problem]

[0005] The tactile presentation device disclosed in this specification includes a first member having a first vibrator therein capable of reciprocating in a first direction. The tactile presentation device includes a second member having a second vibrator therein capable of reciprocating in the first direction. The second member is disposed in a second direction perpendicular to the first direction relative to the first member. The tactile presentation device includes a connection unit connecting the first member and the second member. The tactile presentation device includes a control unit capable of generating asymmetric vibrations having asymmetric vibration waveforms in opposite directions in each of the first vibrator and the second vibrator. The connection unit is configured to be able to change the distance between the first vibrator and the second vibrator.

[0006] In the above configuration, the first oscillator and the second oscillator can generate an illusion of pulling force in opposite directions. Thus, a pseudo-force sensation of rotation can be presented. The inventors have discovered that the strength of the pseudo-force sensation of rotation can be changed according to the distance between the first oscillator and the second oscillator. In the above configuration, the strength of the pseudo-force sensation of rotation can be appropriately controlled by changing the distance between the first oscillator and the second oscillator. [Brief description of the drawings]

[0007] [Figure 1] FIG. 2 is a top view of the tactile presentation device 1. [Diagram 2] FIG. 2 is a side view of the tactile presentation device 1. [Diagram 3] 2 is a block diagram showing a schematic configuration of a control unit 14. FIG. [Figure 4] 4 is a diagram showing a first example of a vibration waveform of a first vibrator 21. FIG. [Diagram 5] 13 is a diagram showing a second example of the vibration waveform of the first vibrator 21. FIG. [Figure 6] FIG. 11 is an explanatory diagram of a pseudo force sense RF1 of a clockwise rotational force. [Figure 7] FIG. 13 is an explanatory diagram of a pseudo force sense RF2 of a counterclockwise rotational force. [Figure 8] FIG. 13 is an explanatory diagram of a forward pseudo force sense FF. [Figure 9] FIG. 13 is an explanatory diagram of a pseudo force sense BF in reverse. [Figure 10] FIG. 2 is a side view of the tactile presentation device 201. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS EXAMPLES

[0008] (Configuration of tactile presentation device 1) 1 and 2 show a top view and a side view of a tactile presentation device 1. The tactile presentation device 1 is a device that is held by one hand of a user. In Fig. 1 and Fig. 2, the user's left hand 90 is indicated by a dotted line. The tactile presentation device 1 mainly includes a first member 11, a second member 12, a connection unit 13, and a control unit 14.

[0009] The first member 11 and the second member 12 have a substantially rectangular parallelepiped shape and extend in the x direction. The first member 11 and the second member 12 are arranged to be spaced apart from each other in the y direction perpendicular to the x direction and to be parallel to each other. The first member 11 and the second member 12 are connected to each other by a connection portion 13 that extends in the y direction.

[0010] The first member 11 has a first inner surface 11i and a first outer surface 11o. The first inner surface 11i is a surface facing the second member 12. The first outer surface 11o is a surface located on the opposite side of the first inner surface 11i. Similarly, the second member 12 has a second inner surface 12i and a second outer surface 12o. The second inner surface 12i is a surface facing the first member 11. The second outer surface 12o is a surface located on the opposite side of the second inner surface 12i. The tactile presentation device 1 is configured so that the first outer surface 11o and the second outer surface 12o can come into contact with the finger pad or the palm when held by one hand of a user. This is because the skin of the finger pad or the palm is more sensitive than the skin of other parts of the hand (e.g., the back of the hand), and therefore is more likely to generate a pseudo-force sensation, which will be described later. 1 and 2 show an example in which the first outer surface 11o is in contact with the pad of the thumb 90t, and the second outer surface 12o is in contact with the pad of the index finger 90i.

[0011] 2, the first member 11 has a first upper surface 11u and a first lower surface 11b. Similarly, the second member 12 has a second upper surface 12u and a second lower surface 12b. The first upper surface 11u and the second upper surface 12u are surfaces that are approximately parallel to an xy plane that includes the x and y directions. The first lower surface 11b and the second lower surface 12b are surfaces that are located on the opposite side to the first upper surface 11u and the second upper surface 12u.

[0012] A first vibrator 21 is provided inside the first member 11. Similarly, a second vibrator 22 is disposed inside the second member 12. The materials of the first member 11 and the second member 12 are not particularly limited, and may be plastic or rubber.

[0013] The first member 11 and the second member 12 have a tubular shape with a hollow interior. The first vibrator 21 and the second vibrator 22 are arranged in the hollow. The first vibrator 21 and the second vibrator 22 may be actuators of various types. In this embodiment, the first vibrator 21 and the second vibrator 22 are voice coil type actuators. The voice coil type actuator may have various structures, and a moving coil type, a moving magnet type, or the like may be used. In this embodiment, a moving coil type is used. The inner walls of the first member 11 and the second member 12 function as members for guiding the coil. That is, the first member 11 and the second member 12 constitute the outer yoke of the voice coil type actuator.

[0014] The first oscillator 21 and the second oscillator 22 are configured to be able to reciprocate between a first position P1, which is a position on the -x direction side, and a second position P2, which is a position on the +x direction side. That is, the first oscillator 21 and the second oscillator 22 are configured to be able to reciprocate in the longitudinal direction (x direction) of the first member 11 and the second member 12. This allows the first member 11 and the second member 12 themselves to vibrate.

[0015] It is preferable that the mass of the first member 11 excluding the first oscillator 21 (i.e., the mass of the housing of the first member 11) is smaller than the mass of the first oscillator 21. In other words, it is preferable to design the housing of the first member 11 with a weight that is 100% or less of the first oscillator 21. The smaller the weight ratio of the housing of the first member 11 to the first oscillator 21, the stronger the vibration that can be generated. Similarly, it is preferable that the mass of the second member 12 excluding the second oscillator 22 (i.e., the mass of the housing of the second member 12) is smaller than the mass of the second oscillator 22.

[0016] The connection portion 13 includes a support 13b and a pair of moving portions 13s. The length L1 of the support 13b in the y direction is greater than the width W1 in the x direction. That is, the support 13b has a beam shape extending in the y direction. The pair of moving portions 13s is fixed to each of the first inner surface 11i and the second inner surface 12i. The direction perpendicular to the x direction and the y direction is defined as the z direction. The pair of moving portions 13s includes flange portions 13f protruding in the +z direction (see FIG. 2). The support 13b penetrates the pair of flange portions 13f and is fixed to the flange portions 13f.

[0017] Each of the pair of moving parts 13s can move in the ±y direction by sliding along the support 13b. This allows the distance D between the first oscillator 21 and the second oscillator 22 to be changed. The method of changing the distance D is not particularly limited, and may be manual or automatic. For example, the embodiment may be such that the distance D can be changed manually by removing a stopper (not shown). After the distance D is set to a desired value, the stopper can be applied to fix the distance D. For example, the embodiment may be such that an actuator (not shown) is provided, and the distance D is automatically changed by a control signal from the control unit 14.

[0018] The movable portion 13s may be configured to be movable among a plurality of predetermined positions on the support 13b, which allows the distance D to be adjusted in stages, such as "large / medium / small."

[0019] 1, when viewed from the z direction, the support 13b passes through the amplitude center AC of the first oscillator 21 and the amplitude center AC of the second oscillator 22. In other words, the support 13b connects the amplitude centers AC to each other. This makes it possible to achieve a structure in which the support 13b is not eccentric with respect to the first oscillator 21 and the second oscillator 22. This makes it possible to prevent unnecessary vibrations from being propagated to the support 13b.

[0020] The control unit 14 is fixed to the support 13b. The control unit 14 and the first member 11 are connected by a wire 31. The control unit 14 and the second member 12 are connected by a wire 32.

[0021] FIG. 3 is a block diagram showing a schematic configuration of the control unit 14 of this embodiment. The control unit 14 includes a CPU 41, a memory 42, an amplifier 44, a wireless communication interface 45, a posture sensor 46, and a battery 47. A vibrator control program 43 is stored in the memory 42. The amplifier 44 is connected to the first vibrator 21 and the second vibrator 22 by each of the wirings 31 and 32. When the vibrator control program 43 is executed by the CPU 41, the amplifier 44 controls the vibration waveform, frequency, intensity, etc. of the first vibrator 21 and the second vibrator 22. As a result, it is possible to generate asymmetric vibrations having asymmetric vibration waveforms in each of the first vibrator 21 and the second vibrator 22.

[0022] The wireless communication interface 45 is capable of performing wireless communication with an external device (not shown). The external device may be various, for example, an information terminal carried by a user (e.g., a smartphone or a notebook PC), or an external server accessible via the Internet. The attitude sensor 46 is a sensor including a gyro sensor, an acceleration sensor, and the like. The attitude sensor 46 can detect the attitude (e.g., tilt, angle, gradient) of the tactile presentation device 1.

[0023] The battery 47 may be a rechargeable secondary battery. The battery 47 supplies power to each part of the control unit 14. This allows, for example, the first vibrator 21 and the second vibrator 22 to vibrate via the amplifier 44, and allows communication with an external device via the wireless communication interface 45. Therefore, the tactile presentation device 1 can function as a standalone IoT (Internet of Things) device independent of the external device.

[0024] (Operation of the first oscillator 21 and the second oscillator 22) 4 shows a first example of a vibration waveform of the first oscillator 21. The horizontal axis represents time. The vertical axis represents the position of the first oscillator 21. The first oscillator 21 vibrates between a first position P1 and a second position P2 around an amplitude center AC. The distance between the first position P1 and the second position P2 corresponds to an amplitude AM1.

[0025] The first oscillator 21 vibrates with a vibration period VP1. In the vibration period VP1, the time when the first oscillator 21 is at the first position P1 is defined as T1, and the time when the first oscillator 21 is at the second position P2 is defined as T2. The time T1 is about four times as long as the time T2. That is, the duty ratio between the time T1 and the time T2 is 4:1, and the vibration waveform is a rectangular asymmetrical wave. By generating an asymmetrical vibration having such an asymmetrical vibration waveform, a traction force illusion TF1 can be generated on the skin, as if the skin is being pulled in the direction from the second position P2 to the first position P1 (-x direction).

[0026] Fig. 5 shows a second example of the vibration waveform of the first vibrator 21. In the example of Fig. 5, contrary to the example of Fig. 4, time T2 is about four times longer than time T1. That is, the duty ratio between time T1 and time T2 is 1:4, and the vibration waveform is a square wave with an asymmetric vibration. This makes it possible to generate a traction force illusion TF2 on the skin, as if the skin is being pulled in the direction from the first position P1 to the second position P2 (the +x direction).

[0027] The operation of the second oscillator 22 is the same as that of the first oscillator 21. Therefore, detailed description will be omitted. In addition, any waveform can generate the illusion of traction force as long as it is an asymmetric vibration waveform. For example, an asymmetric vibration waveform using a sawtooth wave or a sine wave may be used.

[0028] (Overview of pseudo-force sensation) Various pseudo-force sensations will be described with reference to Figs. 6 to 9. Fig. 6 shows an example in which a pseudo-force sensation RF1 of a rotational force having a clockwise direction is generated. Specifically, the first vibrator 21 generates an asymmetric vibration as shown in Fig. 4. Thus, a traction force illusion TF1 in the -x direction can be generated in the finger pad of the thumb 90t in contact with the first outer surface 11o. Also, the second vibrator 22 generates an asymmetric vibration as shown in Fig. 5. Thus, a traction force illusion TF2 in the +x direction can be generated in the finger pad of the index finger 90i in contact with the second outer surface 12o. This allows a pseudo-force sensation RF1 that rotates clockwise around the z-axis to be generated in the left hand 90.

[0029] FIG. 7 shows an example in which a pseudo force sense RF2 of a rotational force having a counterclockwise direction is generated. Specifically, the first oscillator 21 generates an asymmetric vibration as shown in FIG. 5. Thus, a traction force illusion TF2 in the +x direction can be generated in the finger pad of the thumb 90t. Also, the second oscillator 22 generates an asymmetric vibration as shown in FIG. 4. Thus, a traction force illusion TF1 in the -x direction can be generated in the finger pad of the index finger 90i. This allows a pseudo force sense RF2 that rotates counterclockwise around the z axis to be generated in the left hand 90.

[0030] Fig. 8 shows an example of generating a forward pseudo force FF. Specifically, the first oscillator 21 and the second oscillator 22 are caused to generate asymmetric vibrations as shown in Fig. 5. This allows an illusion of traction force TF2 in the +x direction to be generated in the pads of the thumb 90t and index finger 90i. This allows a pseudo force FF that moves forward in the +x direction to be generated in the left hand 90.

[0031] Fig. 9 shows an example of generating a backward pseudo force sense BF. Specifically, the first oscillator 21 and the second oscillator 22 are caused to generate asymmetric vibrations as shown in Fig. 4. This allows an illusion of a traction force TF1 in the -x direction to be generated in the pads of the thumb 90t and index finger 90i. This allows a pseudo force sense BF that moves backward in the -x direction to be generated in the left hand 90.

[0032] (Relationship between distance D and pseudo-force sensation) A user study was conducted on the relationship between the distance D between the vibrators and the pseudo-force sensation of rotation, forward movement, and backward movement caused by asymmetric vibration. Specifically, the pseudo-force sensation was given to the user using three different distances D: 35 mm, 70 mm, and 105 mm. The asymmetric vibration waveform used was a rectangular waveform as shown in Figures 4 and 5. The frequency was 40 Hz. The stimulation intensity was set to a peak-to-peak value of 70 [m / s 2 Four types of stimuli were given to the user: rotational pseudo-forces RF1 and RF2, forward pseudo-forces FF, and backward pseudo-forces BF, as explained in Figs. 6-9.

[0033] The experimental results showed that in the rotation pseudo-force sensations RF1 and RF2, the detection rate of rotation perception increased as the distance D increased. In other words, it was found that the strength of the rotation pseudo-force sensation can be increased by increasing the distance D between the vibrators. This phenomenon is similar to the moment of force, because the magnitude of the moment is proportional to the distance from the axis of rotation to the line of action of the force. However, it should be noted that in the rotation pseudo-force sensation, no actual force is being applied.

[0034] In addition, the experimental results showed that the detection rate of the forward pseudo force sense FF and the backward pseudo force sense BF increased as the distance D decreased. In other words, it was found that the strength of the translational pseudo force sense can be increased by decreasing the distance D between the transducers.

[0035] From the above, it is possible to present an appropriate pseudo-force sensation to the user by increasing the distance D between the oscillators to increase the strength of the rotational pseudo-force sensation, and by decreasing the distance D between the oscillators to increase the strength of the forward and backward pseudo-force sensation. EXAMPLES

[0036] The second embodiment differs from the first embodiment in that the operations of the first oscillator 21 and the second oscillator 22 are controlled in accordance with the attitude of the tactile presentation device 1. Only the characteristic features of the second embodiment will be described below.

[0037] The tactile presentation device 1 has a first posture in which the first upper surface 11u and the second upper surface 12u face outward, and a second posture in which the first lower surface 11b and the second lower surface 12b face outward. The first posture is a posture in which the first upper surface 11u and the second upper surface 12u are visible to the user. In other words, a vector perpendicular to the first upper surface 11u and the second upper surface 12u faces vertically upward. FIGS. 1 and 2 show the first posture. The second posture is a posture in which the first lower surface 11b and the second lower surface 12b are visible to the user. In other words, a vector perpendicular to the first lower surface 11b and the second lower surface 12b faces vertically upward.

[0038] The control unit 14 monitors the attitude of the tactile presentation device 1 via the attitude sensor 46. Then, during a period in which a pseudo force sense is generated for the user, if a first attitude (the first upper surface 11u and the second upper surface 12u face up) is detected, the control unit 14 causes the first vibrator 21 to generate an asymmetric vibration having a first asymmetric vibration waveform, and causes the second vibrator 22 to generate an asymmetric vibration having a second asymmetric vibration waveform. Also, during a period in which a pseudo force sense is generated for the user, if a second attitude (the first lower surface 11b and the second lower surface 12b face up) is detected, the control unit 14 causes the first vibrator 21 to generate an asymmetric vibration having a second asymmetric vibration waveform, and causes the second vibrator 22 to generate an asymmetric vibration having a first asymmetric vibration waveform.

[0039] (effect) The problem will be described. As described in FIG. 6, a case where a pseudo force sense that rotates around the z axis is generated will be considered. At this time, when the tactile presentation device 1 is in the first posture and when it is in the second posture, the direction of rotation around the z axis is switched. For example, as shown in FIG. 6, in the first posture, the thumb 90t is in contact with the first outer surface 11o, and the index finger 90i is in contact with the second outer surface 12o. A traction force illusion can be generated in the -x direction for the thumb 90t and in the +x direction for the index finger 90i. Thus, a pseudo force sense RF1 that rotates clockwise around the z axis is generated. Here, when the first posture is changed to the second posture, the positions are switched so that a traction force illusion is generated in the -x direction for the index finger 90i and in the +x direction for the thumb 90t. Such a change in position occurs when the thumb 90t touches the first outer surface 11o and the index finger 90i touches the second outer surface 12o, and when the index finger 90i touches the first outer surface 11o and the thumb 90t touches the second outer surface 12o. As a result, the pseudo force sense RF2 is changed to one that rotates counterclockwise around the z-axis.

[0040] Therefore, in the technology of the second embodiment, when the tactile presentation device 1 is in the first posture and when it is in the second posture, the asymmetric vibration waveform can be switched between the first vibrator 21 and the second vibrator 22. Regardless of whether the posture is the first posture or the second posture, it is possible to correctly generate the rotation direction of the pseudo force sense around the z axis in a desired direction. EXAMPLES

[0041] A tactile presentation device 201 of Example 3 will be described with reference to the side view of Fig. 10. The tactile presentation device 201 of Example 3 includes a connection unit 213 instead of the connection unit 13 of the tactile presentation device 1 of Example 1. The same reference numerals are used to designate parts common to both devices, and description thereof will be omitted.

[0042] The connection part 213 is configured by a support with an extension mechanism that can change the length in the y direction. There may be various extension mechanisms. In the example of Fig. 10, the connection part 213 has a telescopic pipe function. Both ends of the connection part 213 are fixed to the first inner surface 11i and the second inner surface 12i, respectively.

[0043] The distance D between the transducers can be changed by expanding and contracting the connection portion 213. The method of changing the distance D is not particularly limited, and may be manual or automatic. For example, the connection portion 213 may be provided with an actuator (not shown) and may be automatically expanded and contracted by a control signal from the control unit 14.

[0044] Although specific examples of the present invention have been described above in detail, these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and variations of the specific examples exemplified above. The technical elements described in this specification or drawings exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology exemplified in this specification or drawings can achieve multiple objectives simultaneously, and achieving one of these objectives is itself technically useful.

[0045] (Modification) The tactile presentation device 1 may be held by the user's hand in any manner as long as any part of the surface of the first member 11 and the second member 12 is in contact with the finger pad or the palm. For example, one of the first member 11 and the second member 12 may be in contact with the finger pad, and the other may be in contact with any part of the palm. Also, for example, both the first member 11 and the second member 12 may be in contact with any part of the palm.

[0046] The vibration waveforms of the first oscillator 21 and the second oscillator 22 are not limited to asymmetric vibration waveforms, and various waveforms can be used. This allows the first oscillator 21 and the second oscillator 22 to present various stimuli, not limited to the traction illusion. For example, vibration stimuli or shear stimuli may be used.

[0047] The cross-sectional shape of the first member 11 and the second member 12 perpendicular to the x-direction is not limited to a square or a rectangle, and may be various shapes, such as a polygon, a circle, or a distorted circle.

[0048] The shape of the connection portion 13 is not limited to a beam shape and may be various. For example, the length of the connection portion 13 in the y direction may be smaller than the width in the x direction.

[0049] Aspects of the present technology are listed below. [Aspect 1] A first member having a first oscillator therein capable of reciprocating in a first direction; a second member having a second oscillator therein capable of reciprocating in the first direction, the second member being disposed at a distance from the first member; A connection portion that connects the first member and the second member, the connection portion extending in a second direction perpendicular to the first direction; a control unit capable of generating asymmetric vibrations having asymmetric vibration waveforms in opposite directions in each of the first vibrator and the second vibrator; Equipped with The connection portion is configured to be able to change the distance between the first oscillator and the second oscillator. Tactile presentation device. [Aspect 2] The first member has a first inner side surface facing the second member and a first outer side surface opposite the first inner side surface, The second member has a second inner side surface facing the first member and a second outer side surface opposite the second inner side surface, The tactile presentation device of aspect 1, wherein the first outer surface and the second outer surface are configured to be able to come into contact with a finger pad or a palm when held in one of a user's hands. [Aspect 3] 3. The tactile presentation device according to aspect 1 or 2, wherein the connection portion connects an amplitude center of the first oscillator and an amplitude center of the second oscillator. [Aspect 4] The connection portion is A support extending in the second direction; a moving part that is movable in the second direction along the support; Equipped with The tactile presentation device according to any one of aspects 1 to 3, wherein at least one of the first member and the second member is fixed to the moving section. [Aspect 5] 5. The tactile presentation device according to aspect 4, wherein the moving unit is configured to be movable between a plurality of predetermined positions. [Aspect 6] The tactile presentation device according to any one of aspects 1 to 5, wherein the connection portion is provided with an extension mechanism capable of changing the length in the second direction. [Aspect 7] a mass of the first member excluding the first vibrator is smaller than a mass of the first vibrator; The tactile presentation device according to any one of aspects 1 to 6, wherein a mass of the second member excluding the second vibrator is smaller than a mass of the second vibrator. [Aspect 8] The control unit is When asymmetric vibrations having asymmetric vibration waveforms in opposite directions are generated in each of the first vibrator and the second vibrator, a pseudo force sensation that rotates around an axis perpendicular to a plane including the first direction and the second direction can be generated in the user, When an asymmetric vibration having the same asymmetric vibration waveform is generated in each of the first vibrator and the second vibrator, a pseudo force sensation traveling in the first direction or the second direction can be generated in the user. A tactile presentation device described in any one of aspects 1-7. [Aspect 9] The first member and the second member each include a first surface that is substantially parallel to a plane including the first direction and the second direction, and a second surface that is located on the opposite side to the first surface, the control unit further includes a sensor capable of detecting an orientation of the tactile presentation device, The control unit is during a period in which a pseudo force sense is generated for a user, when the sensor detects that the first surface is facing up, an asymmetric vibration having a first asymmetric vibration waveform is generated in the first oscillator, and an asymmetric vibration having a second asymmetric vibration waveform is generated in the second oscillator; When the sensor detects that the second surface is facing outward during a period in which a pseudo force sense is generated for the user, the first oscillator generates an asymmetric vibration having the second asymmetric vibration waveform, and the second oscillator generates an asymmetric vibration having the first asymmetric vibration waveform. A tactile presentation device described in any one of aspects 1-8. [Aspect 10] The control unit includes a battery and a wireless communication interface. The control unit is configured to vibrate the first vibrator and the second vibrator and to communicate with an external device via the wireless communication interface by using power supplied from the battery. A tactile presentation device described in any one of aspects 1-9. [Explanation of symbols]

[0050] 1: tactile presentation device 11: first member 11i: first inner surface 11o: first outer surface 12: second member 12i: second inner surface 12o: second outer surface 13: connection portion 14: control portion D: distance

Claims

1. a first member having a first oscillator therein capable of reciprocating in a first direction; a second member having a second vibrator therein capable of reciprocating in the first direction, the second member being disposed at a distance from the first member; A connection portion that connects the first member and the second member, the connection portion extending in a second direction perpendicular to the first direction; a control unit capable of generating asymmetric vibrations having asymmetric vibration waveforms in opposite directions in each of the first vibrator and the second vibrator; Equipped with The connection portion is configured to be able to change the distance between the first transducer and the second transducer. Tactile presentation device.

2. The first member has a first inner side surface facing the second member and a first outer side surface opposite the first inner side surface, The second member includes a second inner side surface facing the first member and a second outer side surface opposite the second inner side surface, The tactile presentation device according to claim 1 , wherein the first outer surface and the second outer surface are configured to be able to come into contact with a finger pad or a palm when the tactile presentation device is held in one hand of a user.

3. The tactile presentation device according to claim 1 , wherein the connection portion connects an amplitude center of the first vibrator and an amplitude center of the second vibrator.

4. The connection portion is A support extending in the second direction; a moving part that is movable in the second direction along the support; Equipped with The tactile presentation device according to claim 1 , wherein at least one of the first member and the second member is fixed to the moving part.

5. The tactile presentation device according to claim 4 , wherein the moving unit is configured to be movable between a plurality of predetermined positions.

6. The tactile presentation device according to claim 1 , wherein the connection portion includes an extension mechanism capable of changing a length in the second direction.

7. a mass of the first member excluding the first vibrator is smaller than a mass of the first vibrator; The tactile presentation device according to claim 1 , wherein a mass of the second member excluding the second vibrator is smaller than a mass of the second vibrator.

8. The control unit is When asymmetric vibrations having asymmetric vibration waveforms in opposite directions are generated in each of the first vibrator and the second vibrator, a pseudo force sensation can be generated in a user as if the user were rotating around an axis perpendicular to a plane including the first direction and the second direction, When an asymmetric vibration having the same asymmetric vibration waveform is generated in each of the first vibrator and the second vibrator, a pseudo force sensation traveling in the first direction or the second direction can be generated in the user. The tactile presentation device according to claim 1 .

9. The first member and the second member each include a first surface that is substantially parallel to a plane including the first direction and the second direction, and a second surface that is located on the opposite side to the first surface, the control unit further includes a sensor capable of detecting an orientation of the tactile presentation device, The control unit is during a period in which a pseudo force sense is generated for a user, when the sensor detects that the first surface is facing up, an asymmetric vibration having a first asymmetric vibration waveform is generated in the first oscillator, and an asymmetric vibration having a second asymmetric vibration waveform is generated in the second oscillator; When the sensor detects that the second surface is facing outward during a period in which a pseudo force sense is generated for the user, the first oscillator generates an asymmetric vibration having the second asymmetric vibration waveform, and the second oscillator generates an asymmetric vibration having the first asymmetric vibration waveform. The tactile presentation device according to claim 1 .

10. The control unit includes a battery and a wireless communication interface. The control unit is configured to be able to vibrate the first vibrator and the second vibrator and to communicate with an external device via the wireless communication interface by being powered by the battery. The tactile presentation device according to claim 1 .

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