Tactile sensation presenting device

Abstract

To provide a tactile sensation presenting device capable of presenting accurate tactile sensations while ensuring adequate safety.SOLUTION: A tactile sensation presenting device includes: a tactile sensation presenting section having a plurality of electrodes to present a tactile sensation by electrical stimulation at a specific portion of a user; and a control section for controlling the tactile sensation presenting section to provide electrical stimulation using at least one of the plurality of electrodes as an anode and at least another one of the plurality of electrodes as a cathode. The control section measures flowability of an electric current through the specific portion of the user and adjusts an execution mode of the electrical stimulation based on a result of the measurement.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a tactile presentation device, and more particularly to a tactile presentation device that presents a tactile sensation through electrical stimulation. [Background technology]

[0002] In recent years, tactile presentation devices (sometimes called "haptic devices") capable of presenting a sense of touch to a user have been attracting attention, and are increasingly being used in many applications, such as medicine, education, entertainment, and remote control. Several types of tactile presentation devices are known. Currently, the most widely used types are those that present a sense of touch by applying force to the user, and those that present a sense of touch by applying vibration to the user, but recently, a type that presents a sense of touch through electrical stimulation has also been seen as promising. A tactile presentation device that uses electrical stimulation is disclosed in Patent Document 1, for example.

[0003] In a tactile presentation device that uses electrical stimulation, multiple electrodes are arranged at a predetermined pitch in the area that comes into contact with the user's skin, and a current path from the anode to the cathode is formed under the skin, stimulating sensory receptors under the skin (e.g. Meissner's corpuscles) to present the sensation of touch. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2006-251948 A Summary of the Invention [Problem to be solved by the invention]

[0005] The ease with which electric current flows near the surface (skin) of the human body varies depending on the individual differences in internal resistance specific to each person and the environment in which it is used. For this reason, it is difficult for a tactile presentation device that uses electrical stimulation to present an accurate sense of touch while ensuring sufficient safety. If too much current flows, it may be dangerous. Also, if the current does not flow easily, there are cases where the sense of touch cannot be felt at all. This is because even if electric current flows on the surface of the human body, it cannot be felt as touch unless it reaches the sensory receptors that sense touch.

[0006] An embodiment of the present invention has been made in consideration of the above problems, and an object of the present invention is to provide a tactile presentation device that can present an accurate tactile sensation while fully ensuring safety. [Means for solving the problem]

[0007] This specification discloses a tactile presentation device described in the following items.

[0008] [Item 1] a tactile sensation providing unit having a plurality of electrodes and providing a tactile sensation to a specific part of the user by electrical stimulation; a control unit that controls the tactile sense providing unit so as to provide the electrical stimulation by using at least one electrode of the plurality of electrodes as an anode and at least one other electrode as a cathode; A tactile presentation device comprising: The control unit measures the ease with which an electric current flows in the area, and adjusts the manner in which the electrical stimulation is executed based on the results of the measurement.

[0009] [Item 2] The tactile sense providing unit further includes a plurality of measurement terminals, 2. The tactile presentation device according to item 1, wherein the control unit performs the measurements using the plurality of measurement terminals.

[0010] [Item 3] 3. The tactile presentation device according to item 2, wherein the plurality of measurement terminals include a first terminal and a second terminal having mutually different areas in a plan view.

[0011] [Item 4] a distance from a center of the tactile sense providing unit to the second terminal in a plan view is longer than a distance from the center to the first terminal; 4. The tactile presentation device according to item 3, wherein an area of ​​the second terminal in a plan view is larger than an area of ​​the first terminal in a plan view.

[0012] [Item 5] 2. The tactile presentation device according to item 1, wherein the control unit performs the measurement using at least two electrodes among the plurality of electrodes.

[0013] [Item 6] 6. The tactile presentation device according to item 5, wherein the number of electrodes functioning as positive terminals and the number of electrodes functioning as negative terminals during the measurement are each two or more.

[0014] [Item 7] 7. The tactile presentation device according to item 5 or 6, wherein the number of electrodes functioning as positive terminals and the number of electrodes functioning as negative terminals during the measurement are different from each other.

[0015] [Item 8] 8. The tactile presentation device according to any one of items 1 to 7, wherein the control unit adjusts the distance between the anode and the cathode when adjusting the mode of execution of the electrical stimulation.

[0016] [Item 9] 9. The tactile presentation device according to any one of items 1 to 8, wherein the control unit adjusts the total area of ​​the electrodes functioning as the anodes and the total area of ​​the electrodes functioning as the cathodes when adjusting the mode of execution of the electrical stimulation.

[0017] [Item 10] Item 10. The tactile presentation device of item 9, wherein the control unit adjusts the ratio between the total area of ​​the electrodes functioning as the anode and the total area of ​​the electrodes functioning as the cathode when adjusting the execution mode of the electrical stimulation.

[0018] [Item 11] 11. A tactile presentation device according to any one of items 1 to 10, wherein the control unit adjusts the pattern of voltage applied to the electrode functioning as the anode and the electrode functioning as the cathode when adjusting the execution mode of the electrical stimulation.

[0019] [Item 12] Item 12. The tactile presentation device according to item 11, wherein the control unit adjusts the application time of voltage to the electrode functioning as the anode and the electrode functioning as the cathode when adjusting the execution mode of the electrical stimulation.

[0020] [Item 13] Item 13. The tactile presentation device according to item 11 or 12, wherein the control unit adjusts the frequency of the voltage applied to the electrode functioning as the anode and the electrode functioning as the cathode when adjusting the execution mode of the electrical stimulation.

[0021] [Item 14] Item 14. A tactile presentation device according to any one of items 1 to 13, wherein the plurality of electrodes are arranged in a matrix including a plurality of rows and a plurality of columns.

[0022] [Item 15] The plurality of electrodes includes a plurality of anode electrodes and a plurality of cathode electrodes, The control unit is Each of the plurality of anode electrodes can be independently switched between a state in which an anode potential is applied and a state in which a floating potential is applied, and 15. A tactile presentation device according to any one of items 1 to 14, wherein each of the plurality of cathode electrodes can be independently switched between a state in which a cathode potential is applied and a state in which a floating potential is applied.

[0023] [Item 16] Item 16. The tactile presentation device according to item 15, wherein each of the plurality of cathode electrodes has a shape that surrounds at least one of the plurality of anode electrodes in a planar view.

[0024] [Item 17] 17. The tactile presentation device according to any one of items 1 to 16, wherein the specific part is the pad of a user's fingertip. Effect of the Invention

[0025] According to an embodiment of the present invention, a tactile presentation device capable of presenting an accurate tactile sensation while fully ensuring safety can be provided. [Brief description of the drawings]

[0026] [Figure 1] 1 is a block diagram illustrating a VR haptic feedback system 200 including a haptic presentation device 100 according to an embodiment of the present invention. [Diagram 2] FIG. 13 is a diagram for explaining the fingertip pad fp. [Diagram 3] 1 is a plan view that illustrates a schematic diagram of a tactile presentation unit 10 included in a tactile presentation device 100. FIG. [Figure 4] 2 is a cross-sectional view showing a schematic diagram of the tactile sense providing unit 10. FIG. [Diagram 5] FIG. 2 is a perspective view showing a schematic view of a tactile presentation unit 10. [Figure 6] 10 is a diagram showing an example of voltage settings in the tactile sensation providing section 10 when tactile sensation is provided by electrical stimulation. FIG. [Figure 7] FIG. 2 is a plan view showing a schematic diagram of the tactile sense providing unit 10. [Figure 8] 3 is a diagram showing an example of a pattern of voltages applied to a plurality of electrodes 12 of the tactile presentation unit 10. FIG. [Figure 9] FIG. 11 is a plan view showing an example of a specific configuration for measuring the ease with which a current flows. [Figure 10] FIG. 11 is a cross-sectional view showing an example of a specific configuration for measuring the ease with which a current flows. [Figure 11] FIG. 11 is a plan view showing an example of a specific configuration for measuring the ease with which a current flows. [Figure 12] FIG. 11 is a cross-sectional view showing an example of a specific configuration for measuring the ease with which a current flows. [Figure 13]FIG. 11 is a plan view showing an example of a specific configuration for measuring the ease with which a current flows. [Figure 14] FIG. 11 is a cross-sectional view showing an example of a specific configuration for measuring the ease with which a current flows. [Figure 15] FIG. 11 is a plan view showing an example of a specific configuration for measuring the ease with which a current flows. [Figure 16] FIG. 11 is a plan view showing an example of a specific configuration for measuring the ease with which a current flows. [Figure 17] FIG. 11 is a cross-sectional view showing an example of a specific configuration for measuring the ease with which a current flows. [Figure 18] FIG. 2 is a diagram showing an example of the settings of an anode 12A and a cathode 12C. [Figure 19] FIG. 2 is a diagram showing an example of the settings of an anode 12A and a cathode 12C. [Figure 20] 11 is a graph showing an example of the relationship between the resistance value and the anode-cathode distance dAC when the anode-cathode distance dAC is adjusted in accordance with the measured resistance value. [Figure 21] 1 is a graph showing the relationship between the anode-cathode distance dAC and the resistance value. [Figure 22] FIG. 2 is a diagram showing an example of the settings of an anode 12A and a cathode 12C. [Diagram 23] FIG. 2 is a diagram showing an example of the settings of an anode 12A and a cathode 12C. [Figure 24] 13 is a graph showing an example of the relationship between the resistance value and the number when the numbers of anodes 12A and cathodes 12C are adjusted in accordance with the measured resistance value. [Diagram 25] 13 is a graph showing an example of the relationship between the resistance value and the number of anodes 12A and cathodes 12C when the ratio between the numbers of anodes 12A and cathodes 12C is adjusted in accordance with the measured resistance value. [Figure 26] FIG. 2 is a diagram showing an example of the settings of an anode 12A and a cathode 12C. [Figure 27] FIG. 2 is a diagram showing an example of a pattern of voltages applied to an electrode 12 functioning as an anode 12A and an electrode 12 functioning as a cathode 12C. [Figure 28]FIG. 2 is a diagram showing an example of a pattern of voltages applied to an electrode 12 functioning as an anode 12A and an electrode 12 functioning as a cathode 12C. [Figure 29] 11 is a graph showing an example of the relationship between the resistance value and the voltage application time (duty ratio) in the case where the voltage application time is adjusted in accordance with the measured resistance value. [Diagram 30] 11 is a graph showing an example of the relationship between resistance value and frequency (Hz) when the frequency of a voltage is adjusted according to a measured resistance value. [Diagram 31] FIG. 2 is a plan view showing a schematic diagram of the tactile sense providing unit 10. [Diagram 32] FIG. 2 is a diagram showing an example of the settings of an anode 12A and a cathode 12C. [Diagram 33] FIG. 2 is a diagram showing an example of the settings of an anode 12A and a cathode 12C. [Diagram 34] FIG. 2 is a diagram showing an example of the settings of an anode 12A and a cathode 12C. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following, an example in which the haptic presentation device is used in a VR (Virtual Reality) haptic feedback system is shown, but the use of the haptic presentation device is not limited thereto.

[0028] A haptic presentation device 100 in this embodiment will be described with reference to Fig. 1. Fig. 1 is a block diagram that diagrammatically illustrates a VR haptic feedback system (hereinafter also simply referred to as a "system") 200 including the haptic presentation device 100.

[0029] As shown in FIG. 1, the system 200 includes a haptic presentation device 100, a personal computer (PC) 210, VR goggles 220, and a current supply source 230.

[0030] The tactile presentation device 100 includes a tactile presentation unit 10 and a control unit 20 that controls the tactile presentation unit 10. The tactile presentation unit 10 has a plurality of electrodes as described below, and presents tactile sensations to specific parts of the user by electrical stimulation. Here, when the tactile presentation device 100 is used, the tactile presentation unit 10 is placed so as to contact the fingertips of the user's hand, and presents tactile sensations to the "fingertip pad" by electrical stimulation. The "fingertip pad" refers to an area fp located beyond the first joint j1 of the finger F and on the palm side of the center when the finger F is viewed from the side, as shown in FIG. 2.

[0031] In the illustrated example, the tactile presentation device 100 includes one tactile presentation unit 10, but the number of tactile presentation units 10 is not limited to one and may be two or more. For example, if the tactile presentation device 100 includes five tactile presentation units 10, it can present a tactile sensation to each of the five fingers F of the user's hand.

[0032] The control unit 20 controls the tactile presentation unit 10. The control unit 20 controls the tactile presentation unit 10 based on a control signal transmitted from a PC 210 in which a VR application is installed. Data communication between the control unit 20 and the PC 210 may be performed by wireless communication or by wired communication. The wireless communication and wired communication may be performed in accordance with various known communication standards. The control unit 20 may be, for example, a control board on which a microcomputer is mounted.

[0033] The tactile sense presentation unit 10 is wired using flexible wiring so as not to interfere with the movement of the user's hand. The control unit 20 may be disposed, for example, on a part of the user's arm. The tactile sense presentation unit 10 and the control unit 20 may be integrated into a glove.

[0034] The PC 210 outputs display data to the VR goggles 220, and the VR goggles 220 performs display based on the received display data. The VR goggles 220 also outputs hand tracking information, which is information regarding the position and movement of the user's hands, to the PC 210. Data communication between the PC 210 and the VR goggles 220 may be performed by wireless communication or by wired communication.

[0035] Furthermore, the PC 210 controls the current supply source 230 and the control unit 20 via a VR application in order to present a tactile sensation to the fingertip pad fp in conjunction with the hand tracking information. The control unit 20 performs control so that a voltage is selectively applied (i.e., a current flows) to a specific electrode among a plurality of electrodes of the tactile presentation unit 10. The current supply source 230 supplies a current to be passed through the electrodes to the tactile presentation unit 10 via the control unit 20. The current supply source 230 can vary the current value for each selected electrode.

[0036] A specific configuration of the tactile presentation unit 10 will be described with reference to Figures 3, 4, and 5. Figures 3, 4, and 5 are a plan view, a cross-sectional view, and a perspective view, respectively, that show the tactile presentation unit 10, and Figures 4 and 5 show a state in which the tactile presentation unit 10 is disposed so as to contact the fingertip pad fp.

[0037] 3, the tactile sense presentation unit 10 has a substantially rectangular shape in a plan view. There is no particular limit to the ratio of the horizontal width and the vertical width of the tactile sense presentation unit 10. Furthermore, the shape of the tactile sense presentation unit 10 is not limited to a substantially rectangular shape.

[0038] The tactile sense providing unit 10 includes a substrate (support) 11 having a main surface 11a, and a plurality of electrodes 12, as shown in FIGS.

[0039] The substrate 11 may be flexible. If the substrate 11 is flexible, the tactile sense presentation unit 10 can be deformed to conform to the roundness of the fingertip.

[0040] The electrodes 12 are provided on the main surface 11a of the substrate 11. In the example shown in Fig. 3 etc., the electrodes 12 are arranged in a matrix shape including a plurality of rows and a plurality of columns. Here, each electrode 12 is substantially rectangular, and the area of ​​each electrode 12 in a plan view is substantially the same. Although not shown here, the tactile sense presentation unit 10 further includes wiring and the like connected to the electrodes 12.

[0041] The control unit 20 controls the tactile presentation unit 10 to perform electrical stimulation with at least one electrode 12 of the multiple electrodes 12 as an anode and at least one other electrode 12 as a cathode. FIG. 6 shows an example of voltage settings in the tactile presentation unit 10 when tactile presentation by electrical stimulation is performed. When tactile presentation is performed, at least one electrode 12 of the multiple electrodes 12 is given a predetermined anode potential and functions as an anode 12A, and at least one other electrode 12 is given a predetermined cathode potential lower than the anode potential and functions as a cathode 12C. A floating potential is also given to the other electrodes 12. When a finger F comes into contact with the tactile presentation unit 10 in this state, a current flows from the anode 12A to the cathode 12C through the finger F, and when the current reaches a sensory receptor under the skin, it is perceived as a touch. The pressure (strength of the touch) can be adjusted by the magnitude of the current flowing, and a rough touch can also be felt by a minute current pattern.

[0042] Although Fig. 3 and other figures show an example in which a plurality of electrodes 12 are arranged in a matrix, the arrangement of the electrodes 12 is not limited to this. Fig. 7 shows another example of the arrangement of the electrodes 12. In the example shown in Fig. 7, each electrode 12 is in the form of a stripe extending in the column direction, and the plurality of electrodes 12 are arranged in one row and multiple columns. Although not shown here, each electrode 12 may be in the form of a stripe extending in the row direction, and the plurality of electrodes 12 may be arranged in multiple rows and one column.

[0043] Moreover, the pattern of the voltage applied to the electrodes 12 is not limited to always applying an anode potential (e.g., positive potential) to some of the electrodes 12 and always applying a cathode potential (e.g., negative potential) to the other electrodes 12. Another example of the voltage pattern is shown in FIG. 8. In FIG. 8, the potential applied to some of the electrodes 12 is shown by a solid line, and the potential applied to the other electrodes 12 is shown by a dashed line. In the example shown in FIG. 8, a positive potential and a negative potential are alternately applied to some of the electrodes 12 and the other electrodes 12 at predetermined intervals. The electrode 12 to which the positive potential is applied functions as an anode 12A, and the electrode 12 to which the negative potential is applied functions as a cathode 12C. Every time the positive and negative potentials of the potential are reversed, the direction of the current is also reversed.

[0044] The type of tactile sensation presented can be determined by the voltage pattern. In the case of the voltage pattern illustrated in FIG. 8, the voltage pattern is determined by the amplitude and frequency (positive / negative inversion period) of the voltage. The tactile sensation can also be varied by changing the position (voltage application position) of the electrode 12 to which the anode potential and the cathode potential are applied in the tactile sensation presentation unit 10. For example, it is possible to present a fine tactile sensation by moving the voltage application position left and right or up and down within a relatively small area, and the tactile sensation can also be varied by the distance and speed of the movement, the number of times the movement is repeated, etc.

[0045] The tactile presentation device 100 including the tactile presentation unit 10 and the control unit 20 described above can precisely control the position and intensity of the tactile stimulation at the fingertip, reproducing the tactile sensation of tracing an object with the fingertip. Therefore, it is possible to provide a VR tactile feedback system 200 that allows the user to feel a more realistic touch and texture.

[0046] However, the ease with which a current flows through the fingertip pad fp varies depending on individual differences in internal resistance specific to each person and the usage environment (ambient temperature and humidity, dryness of the fingertip pad fp, etc.). The tactile presentation device 100 of this embodiment has the configuration described below, and can present an accurate tactile sensation while ensuring sufficient safety.

[0047] In the tactile presentation device 100 according to the embodiment of the present invention, the control unit 20 measures the ease of electric current flow in a specific part of the user (here, the fingertip pad fp) and adjusts the execution mode of the electrical stimulation based on the result of the measurement. Therefore, an accurate tactile sensation can be presented regardless of individual differences in internal resistance or the usage environment. The measurement of the ease of electric current flow and the adjustment of the execution mode of the electrical stimulation will be described in more detail below.

[0048] [Measurement of ease of electric current flow] An example of a specific configuration for measuring the ease with which a current flows will be described with reference to FIGS.

[0049] 9 and 10, the tactile sense providing unit 10 has a plurality of measuring terminals 13. These measuring terminals 13 are disposed between the electrodes 12 and are electrically connected to a resistance measuring circuit 14. The control unit 20 uses the plurality of measuring terminals 13 to measure the resistance value.

[0050] Although an example in which the tactile sense providing unit 10 has four measurement terminals 13 is illustrated here, the number of measurement terminals 13 is not limited to four, and may be two or more. The arrangement of the measurement terminals 13 is also not limited to the illustrated example.

[0051] In addition, although an example in which the size (area in a plan view) of the plurality of measuring terminals 13 is the same is illustrated here, it is not necessary that all measuring terminals 13 have the same size. Figures 11 and 12 show other examples of the configuration for measuring the ease with which a current flows.

[0052] 11 and 12, the measurement terminals 13 include first terminals 13A and second terminals 13B having mutually different areas in a plan view. Here, the number of first terminals 13A and second terminals 13B is two each.

[0053] A distance d2 from the center cp of the tactile sense providing unit 10 to the second terminal 13B in a plan view is longer than a distance d1 from the center cp to the first terminal 13A. Also, an area of ​​the second terminal 13B in a plan view is larger than an area of ​​the first terminal 13A in a plan view.

[0054] As the distance between the measurement terminals 13 becomes longer, the resistance of the current path becomes higher, and it may be necessary to increase the current to be passed, so that it is preferable that the area of ​​the second terminal 13B, which is relatively far from the center cp, is larger than the area of ​​the first terminal 13A, which is relatively close to the center cp, as shown in Figures 11 and 12. In addition, while there is a high possibility that the center of the fingertip pad fp and the tactile sense presentation unit 10 are in firm contact near the center cp of the tactile sense presentation unit 10, in the portion away from the center cp, the fingertip pad fp may not be in sufficient contact with the tactile sense presentation unit 10 due to differences in size and roundness of the finger F or a slight deviation in the position where the finger F is placed, so from that point of view, it is also preferable that the area of ​​the second terminal 13B is larger than the area of ​​the first terminal 13A.

[0055] Although an example of measuring the resistance value has been shown here, it is also possible to measure the current value at that time by applying a predetermined voltage between the measuring terminals 13. Furthermore, it is also possible to measure the resistance value for each of a plurality of combinations of the measuring terminals 13 and grasp the change in the resistance value due to the difference in the distance between the terminals, or to grasp the change in the resistance value due to the difference in the applied voltage, the difference in the positional relationship of the measuring terminals 13, or the difference in the area of ​​the measuring terminals 13.

[0056] The measurement of the ease of current flow may be performed before presenting a tactile sensation, such as immediately after the tactile presentation device 100 is turned on or immediately after content is played, or may be performed periodically during a period when a tactile sensation is not presented (between periods when a tactile sensation is presented). When a tactile sensation is presented in synchronization with a display frame of a video, the measurement of the ease of current flow may be performed constantly in a frame in which a tactile sensation is not presented.

[0057] Figures 9 to 12 show an example of measuring the ease of current flow using measurement terminals 13, but the tactile presentation unit 10 may not have measurement terminals 13 and may measure the ease of current flow using at least two of the multiple electrodes 12 for tactile presentation.

[0058] 13 and 14 show an example of a configuration for performing measurement using electrodes 12. In the example shown in FIG. 13 and FIG. 14, measurement is performed using two (a pair) of the multiple electrodes 12. A relatively high potential is applied to one predetermined electrode 12P, which functions as a positive terminal. A relatively low potential is applied to another predetermined electrode 12N, which functions as a negative terminal. The electrode 12P functioning as the positive terminal (hereinafter sometimes referred to as the "positive terminal 12P") and the electrode 12N functioning as the negative terminal (hereinafter sometimes referred to as the "negative terminal 12N") are electrically connected to a resistance measurement circuit 14.

[0059] 13 and 14 show an example in which the number of positive terminals 12P and the number of negative terminals 12N are each one, but the number of positive terminals 12P and the number of negative terminals 12N may each be two or more. Fig. 15 shows another example of a configuration for performing measurement using electrodes 12.

[0060] 15, the number of positive terminals 12P and the number of negative terminals 12N are two. Measurement accuracy can be improved by using two or more electrodes 12P as positive terminals and two or more electrodes 12N as negative terminals for averaging. Furthermore, even if the contact position between the tactile sense provision unit 10 and the finger F is shifted from the center of the tactile sense provision unit 10, measurement can be performed appropriately.

[0061] 13 to 15 show an example in which the number of positive terminals 12P is the same as the number of negative terminals 12N, but the number of positive terminals 12P and the number of negative terminals 12N may be different from each other. Figures 16 and 17 show still another example of a configuration for performing measurements using electrodes 12.

[0062] 16 and 17, the number of positive terminals 12P is 1 and the number of negative terminals 12N is 4. The positive terminal 12P is located at the center of the tactile sense providing unit 10 in a planar view, and the negative terminals 12N are located outside the positive terminals 12P. All four electrodes 12 serving as the negative terminals 12N may be simultaneously connected to the resistance measuring circuit 14 to measure the total resistance value between the positive terminal 12P and the four negative terminals 12N, or the electrodes 12 serving as the negative terminals 12N may be connected one by one to the resistance measuring circuit 14 (i.e., the electrodes 12 serving as the negative terminals 12N are switched in sequence) to sequentially measure the resistance values.

[0063] 13 to 17 show examples in which measurements are performed using several electrodes 12, but more electrodes 12 may be used, or measurements may be performed using electrodes 12 at desired positions depending on the usage conditions of the tactile presentation device 100. In that case, however, a changeover switch for electrically connecting each electrode 12 to the resistance measurement circuit 14 is required, which may make the circuit configuration and control somewhat complicated.

[0064] When the ease of current flow is measured using electrodes 12, the current value may be measured instead of the resistance value.

[0065] In this way, the ease of current flow may be measured using the measurement terminal 13 or the tactile electrodes 12. As described with reference to Fig. 9 to Fig. 12, when the measurement terminal 13 is used, it is easy to realize a low-noise, highly accurate measurement, and the measurement is easy without the need for complicated control. In contrast, when the tactile electrodes 12 are used, the measurement position can be changed relatively freely, and appropriate measurement can be performed according to the contact state of the finger F.

[0066] [Adjusting the way electrical stimulation is performed] The control unit 20 adjusts the execution mode of the electrical stimulation (hereinafter also referred to as "adjustment of the stimulation mode") by performing at least one of the following (1), (2), and (3), for example. This makes it possible to present an optimal tactile sensation. (1) Adjustment of the distance between the anode 12A and the cathode 12C (2) Adjustment of the total area of ​​the electrode 12 functioning as the anode 12A and the total area of ​​the electrode 12 functioning as the cathode 12C (3) Adjusting the pattern of voltages applied to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C.

[0067] The above adjustments (1), (2), and (3) will be described below in order.

[0068] [Regarding Adjustment (1)] First, referring to FIG. 18, the distance between the anode 12A and the cathode 12C (hereinafter referred to as the "anode-cathode distance") d AC The adjustment of the resistance value is described below. Fig. 18 is a diagram showing an example of the settings of the anode 12A and the cathode 12C. The upper part of Fig. 18 shows a case where the measured resistance value is relatively large (i.e., the current flows relatively easily), and the lower part of Fig. 18 shows a case where the measured resistance value is relatively small (i.e., the current flows relatively easily).

[0069] In the example shown in the upper part of Fig. 18, the fourth and sixth electrodes 12 from the left side are set as the anode 12A and the cathode 12C, respectively, whereas in the example shown in the lower part of Fig. 18, the third and seventh electrodes 12 from the left side are set as the anode 12A and the cathode 12C, respectively. Therefore, the anode-cathode distance d AC is relatively short when the resistance value is relatively large, and is relatively long when the resistance value is relatively small.

[0070] Anode-cathode distance d AC The shorter the distance, the easier it is for the current to flow, and the longer the distance, the harder it is for the current to flow. Therefore, when the resistance is relatively large, the anode-cathode distance d ACBy shortening the distance, the current can flow more easily. On the other hand, when the resistance is relatively small, the anode-cathode distance d AC In either case, by passing a current of a certain value or more, the electrical stimulation can be perceived as a tactile sensation. AC If the tactile sensation changes depending on the difference in the anode-cathode distance d AC The target current value may be adjusted according to the

[0071] Anode-cathode distance d AC The adjustment of the anode-cathode distance d is made based on the measured ease of current flow. If the measured resistance is too small, too much current may flow, causing safety concerns, and if the measured resistance is too large, no current may flow at all. If the measured resistance is large within the range of voltage settings that allows a relatively stable current flow, then the anode-cathode distance d AC If the measured resistance is small, the anode-cathode distance d AC can be made longer.

[0072] Note that multiple cathodes 12C may be set for one anode 12A. Fig. 19 is a diagram showing another setting example of the anode 12A and the cathode 12C. The upper part of Fig. 19 shows a case where the measured resistance value is relatively large, and the lower part of Fig. 19 shows a case where the measured resistance value is relatively small.

[0073] In the example shown in the upper part of FIG. 19, the fifth electrode 12 from the left in the figure is set as an anode 12A, and the third and seventh electrodes 12 are set as cathodes 12C. In contrast, in the example shown in the lower part of FIG. 19, the fifth electrode 12 from the left in the figure is set as an anode 12A, and the second and eighth electrodes 12 are set as cathodes 12C. Therefore, the anode-cathode distance d AC is relatively short when the resistance value is relatively large, and is relatively long when the resistance value is relatively small.

[0074] In this way, even when a plurality of cathodes 12C are set for one anode 12A, the anode-cathode distance d AC Just adjust the following.

[0075] For the sake of simplicity, in FIG. 18 and FIG. 19, an example in which nine electrodes 12 are arranged in the left-right direction in the figure is shown. AC From the viewpoint of finely adjusting, it is preferable to have a large number of electrodes 12. For example, 64 electrodes 12 may be provided in each row and each column in one tactile presentation unit 10. In this case, if the width of each electrode 12 in the row direction and the width of each electrode 12 in the column direction are 0.12 mm, and the arrangement pitch of the electrodes 12 in the row direction and the arrangement pitch of the electrodes 12 in the column direction are 0.16 mm (i.e., the gap between the electrodes 12 is 0.04 mm), the horizontal width and vertical width of the tactile presentation unit 10 are about 10.2 mm. Of course, this is not limited to the example, and for example, 16 electrodes 12 may be provided in each row and each column in one tactile presentation unit 10. In this case, if the row and column widths of each electrode 12 are 0.30 mm and the row and column arrangement pitches of the electrodes 12 are 0.66 mm (i.e., the gap between the electrodes 12 is 0.36 mm), the horizontal and vertical widths of the tactile presentation unit 10 will be approximately 10.2 mm. Also, a TFT array substrate capable of controlling voltage or current at pixel density, such as a liquid crystal display device or an organic light-emitting diode (OLED) display device, may be used as the tactile presentation unit 10.

[0076] Figure 20 shows the relationship between the anode-cathode distance d and the measured resistance. AC When adjusting the resistance and anode-cathode distance d AC As shown in the example of FIG. 20, the control unit 20 determines that the smaller the measured resistance value is, the greater the anode-cathode distance d AC The larger the measured resistance, the greater the anode-cathode distance d ACBy controlling the distance d between the anode and cathode of the tactile sense presentation device 100, a constant current can be passed through the fingertip pad fp regardless of individual differences in internal resistance or the usage environment. For example, the tactile sense presentation device 100 uses the ease of current flow (resistance value) and the anode-cathode distance d as shown in FIG. AC A table showing the relationship between the anode-cathode distance d and the measured resistance value is stored in advance, and after measuring the ease of current flow, the control unit 20 determines the anode-cathode distance d corresponding to the measured resistance value based on the table. AC The anode-cathode distance d AC The electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C may be set so that: AC The upper and lower limits of the anode-cathode distance d may be set according to the ease of current flow. AC may be changed stepwise. A different table may be used for each user.

[0077] Table 1 shows the anode-cathode distance d AC The graph shows the results of measuring the current that actually flowed through the subject's finger F and the tactile value when the current was changed. The tactile value is a sensory value obtained by subjective evaluation by a human, specifically, a value recorded by subjectively evaluating how much a physical protrusion the electrical stimulation given to the fingertip corresponds to.

[0078] [Table 1]

[0079] From Table 1, the anode-cathode distance d AC The shorter the distance between the anode and cathode, the larger the current value and the smaller the resistance value. AC was greatest when the thickness was 2.5 mm.

[0080] The anode-cathode distance d shown in Table 1 ACThe relationship between the resistance and the anode-cathode distance d is shown in FIG. 21. The individual differences in the ease with which a current flows through a human finger F can be said to be the variations indicated by the double-headed arrows in FIG. 21. Therefore, the anode-cathode distance d can be adjusted according to the measured resistance so that a current of the desired magnitude can be passed according to the tactile sensation to be presented. AC Just adjust the following.

[0081] In addition, from the measurement results of the tactile values ​​shown in Table 1, the anode-cathode distance d AC The shorter the anode-cathode distance d is, or the greater the current, the stronger the tactile sensation. AC It can be seen that the tactile sensation is strongest when the anode-cathode distance d is 2.5 mm. Therefore, in addition to setting the current value to the desired value, AC Taking into account the strength of tactile sensation according to AC Set (for example, the resistance value and the anode-cathode distance d AC It is preferable to create a table showing the relationship between the

[0082] In this way, the control unit 10 measures the ease with which a current flows, and adjusts the anode-cathode distance d based on the results of the measurement. AC By adjusting the above, it is possible to provide an optimal and safe voltage / current supply regardless of individual differences in internal resistance or the usage environment, thereby providing optimal electrical stimulation to the sensory receptors under the skin.

[0083] When a plurality of electrodes 12 arranged in a matrix (matrix electrodes) are used as shown in the example, the positional relationship between the anode 12A and the cathode 12C and the anode-cathode distance d AC By using a high-definition (high-density) matrix electrode, the resolution of the set distance can be increased, enabling more minute tactile presentation.

[0084] [Regarding Adjustment (2)] Next, adjustment of the total area of ​​the electrodes 12 functioning as anodes 12A (hereinafter also simply referred to as the "total area of ​​anodes 12A") and the total area of ​​the electrodes 12 functioning as cathodes 12C (hereinafter also simply referred to as the "total area of ​​cathodes 12C") will be described with reference to Fig. 22. Fig. 22 is a diagram showing an example of the settings of the anodes 12A and cathodes 12C. The upper part of Fig. 22 shows a case where the measured resistance value is relatively small (i.e., current flows relatively easily), and the lower part of Fig. 22 shows a case where the measured resistance value is relatively large (i.e., current flows relatively difficult).

[0085] In the example shown in the upper part of FIG. 22, the fourth and sixth electrodes 12 from the left in the figure are set as the anode 12A and the cathode 12C, respectively. That is, a pair of electrodes 12 are used as the anode 12A and the cathode 12C. In contrast, in the example shown in the lower part of FIG. 22, the third and fourth electrodes 12 from the left in the figure are set as the anode 12A, and the sixth and seventh electrodes 12 are set as the cathode 12C. That is, two pairs of electrodes 12 are used as the anode 12A and the cathode 12C. Therefore, the number of electrodes 12 functioning as the anode 12A (hereinafter also simply referred to as the "number of anodes 12A") and the number of electrodes 12 functioning as the cathode 12C (hereinafter also simply referred to as the "number of cathodes 12C") are relatively small when the resistance value is relatively small, and relatively large when the resistance value is relatively large. In other words, the total area of ​​the anodes 12A and the total area of ​​the cathodes 12C are relatively small when the resistance value is relatively small, and relatively large when the resistance value is relatively large.

[0086] The larger the total area of ​​anode 12A and cathode 12C, the larger the amount of current can be. Therefore, when the resistance value is relatively large, a sufficient amount of current can be ensured by increasing the total area of ​​anode 12A and cathode 12C. On the other hand, when the resistance value is relatively small, the total area of ​​anode 12A and cathode 12C may be reduced.

[0087] The total area of ​​the anodes 12A and the total area of ​​the cathodes 12C (adjustment of the number of anodes 12A and the number of cathodes 12C) is adjusted based on the measured ease of current flow. If the measured resistance value is too small, there is a risk of too much current flowing, which could cause safety concerns, and if the measured resistance value is too large, there is a risk of no current flowing at all. Within the range of voltage settings that allow a relatively stable current flow, if the measured resistance value is large, the total area of ​​the anodes 12A and the total area of ​​the cathodes 12C can be increased (i.e., the number of anodes 12A and the number of cathodes 12C can be increased), and if the measured resistance value is small, the total area of ​​the anodes 12A and the total area of ​​the cathodes 12C can be decreased (i.e., the number of anodes 12A and the number of cathodes 12C can be decreased).

[0088] Note that multiple cathodes 12C may be set for one anode 12A. Fig. 23 is a diagram showing another setting example of the anode 12A and the cathode 12C. The upper part of Fig. 23 shows a case where the measured resistance value is relatively small, and the lower part of Fig. 23 shows a case where the measured resistance value is relatively large.

[0089] In the example shown in the upper part of Fig. 23, the fifth electrode 12 from the left in the figure is set as an anode 12A, and the third and seventh electrodes 12 are set as cathodes 12C. In contrast, in the example shown in the lower part of Fig. 23, the fifth electrode 12 from the left in the figure is set as an anode 12A, and the second, third, seventh, and eighth electrodes 12 are set as cathodes 12C. In this case, it can be said that the total area of ​​the anodes 12A and the total area of ​​the cathodes 12C are adjusted, or that the ratio between the total area of ​​the anodes 12A and the total area of ​​the cathodes 12C is adjusted (the ratio between the number of anodes 12A and the number of cathodes 12C is adjusted).

[0090] In addition, in FIG. 22 and FIG. 23, for the sake of simplicity of explanation, an example in which nine electrodes 12 are arranged in the left-right direction in the figure is shown, but from the viewpoint of finely adjusting the total area of ​​the anodes 12A and the total area of ​​the cathodes 12C (the number of the anodes 12A and the number of the cathodes 12C), it is preferable to have a large number of electrodes 12. For example, 64 electrodes 12 may be provided in each row and each column in one tactile presentation unit 10. In this case, if the width of each electrode 12 in the row direction and the width of each electrode 12 in the column direction are 0.12 mm, and the arrangement pitch of the electrodes 12 in the row direction and the arrangement pitch of the electrodes 12 in the column direction are 0.16 mm (i.e., the gap between the electrodes 12 is 0.04 mm), the horizontal width and vertical width of the tactile presentation unit 10 are about 10.2 mm. Of course, this is not limited to this example, and for example, 16 electrodes 12 may be provided in each row and each column in one tactile presentation unit 10. In this case, if the row and column widths of each electrode 12 are 0.30 mm and the row and column arrangement pitches of the electrodes 12 are 0.66 mm (i.e., the gap between the electrodes 12 is 0.36 mm), the horizontal and vertical widths of the tactile presentation unit 10 will be approximately 10.2 mm. Also, a TFT array substrate capable of controlling voltage or current at pixel density, such as a liquid crystal display device or an organic light-emitting diode (OLED) display device, may be used as the tactile presentation unit 10.

[0091] Fig. 24 shows an example of the relationship between the resistance value and the number of anodes 12A and cathodes 12C when the number of anodes 12A and cathodes 12C are adjusted according to the measured resistance value. Fig. 24 shows an example in which the number of anodes 12A and the number of cathodes 12C are the same. As in the example shown in Fig. 24, the control unit 20 performs control so that the number of anodes 12A and the number of cathodes 12C is increased as the measured resistance value increases, and the number of anodes 12A and the number of cathodes 12C is decreased as the measured resistance value decreases, thereby allowing a constant current to flow through the fingertip pad fp regardless of individual differences in internal resistance or the usage environment.

[0092] Fig. 25 shows an example of the relationship between the resistance value and the number of anodes 12A and cathodes 12C when the ratio between the numbers is adjusted according to the measured resistance value. As in the example shown in Fig. 25, the control unit 20 increases the number of anodes 12A and cathodes 12C as the measured resistance value increases, but performs control so that the number of cathodes 12C is greater than the number of anodes 12A. Contrary to the example shown in Fig. 25, control may be performed so that the number of anodes 12A is greater than the number of cathodes 12C, or control may be performed so that the number of either anodes 12A or cathodes 12C does not change.

[0093] As in the case of adjustment (1), for example, the tactile presentation device 100 may store in advance a table showing the relationship between the ease of current flow (resistance value) and the number of anodes 12A and cathodes 12C as shown in FIG. 24 or FIG. 25, and the control unit 20 may obtain the number of anodes 12A and cathodes 12C corresponding to the measured resistance value based on the table after measuring the ease of current flow, and set the electrodes 12 functioning as anodes 12A and the electrodes 12 functioning as cathodes 12C so as to obtain the obtained number of anodes 12A and cathodes 12C. As in the example shown in FIG. 24 or FIG. 25, an upper limit and a lower limit may be set for the number of anodes 12A and cathodes 12C (in this case, the lower limit may be set to a number of 2 or more). In addition, the number of anodes 12A and cathodes 12C may be changed stepwise according to the ease of current flow. A different table may be used for each user.

[0094] In this way, the control unit 10 measures the ease with which current flows and adjusts the total area of ​​the anodes 12A and the total area of ​​the cathodes 12C (adjusting the number of anodes 12A and the number of cathodes 12C) based on the results of the measurement, thereby enabling an optimal and safe supply of voltage / current regardless of individual differences in internal resistance or the usage environment, and enabling optimal electrical stimulation to be performed on the sensory receptors under the skin.

[0095] The number of anodes 12A and the number of cathodes 12C may be the same or different. When actual verification was performed, there was a tendency that a greater number of cathodes 12C than the number of anodes 12A was more easily felt as a tactile stimulus.

[0096] By using the matrix electrode as exemplified, the positional relationship between the anode 12A and the cathode 12C and the shapes of the electrodes 12 functioning as the anode 12A and the cathode 12C can be freely changed, and more optimal settings can be made. In addition, by using a high-definition (high-density) matrix electrode, the resolution of the set area can be increased, and a finer tactile presentation is also possible.

[0097] [Regarding Adjustment (3)] Next, adjustment of the pattern of voltages applied to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C will be described. An example in which the anode 12A and the cathode 12C are set as shown in FIG. 26 will be described below. In the example shown in FIG. 26, the third and fourth electrodes 12 from the left side in the figure are set as the anode 12A, and the sixth and seventh electrodes 12 are set as the cathode 12C. The description will be given assuming that the settings of the anode 12A and the cathode 12C are not changed according to the measured resistance value, but of course they may be changed (i.e., adjustment (3) may be performed in combination with adjustment (1) and / or (2)).

[0098] Fig. 27 is a diagram showing an example of a voltage pattern. The upper part of Fig. 27 shows a case where the measured resistance value is relatively small (i.e., current flows relatively easily), and the lower part of Fig. 27 shows a case where the measured resistance value is relatively large (i.e., current flows relatively difficult).

[0099] 27, the time for applying voltage to electrode 12 functioning as anode 12A and electrode 12 functioning as cathode 12C is relatively short when the resistance value is relatively small, and is relatively long when the resistance value is relatively large. The longer the voltage application time, the greater the amount of current can be, but in addition, the longer the voltage application time, the easier it is for the current to reach deep beneath the skin, making it easier to sense touch.

[0100] Fig. 28 is a diagram showing another example of the voltage pattern. The upper part of Fig. 28 shows a case where the measured resistance value is relatively small, and the lower part of Fig. 28 shows a case where the measured resistance value is relatively large.

[0101] As can be seen from a comparison between the example shown in the upper part of FIG. 28 and the example shown in the lower part, the period of switching between positive and negative potential is relatively long when the resistance value is relatively small, and relatively short when the resistance value is relatively large. Also, the number of times of switching between positive and negative potential is relatively small when the resistance value is relatively small, and relatively large when the resistance value is relatively large. Thus, in the example shown in FIG. 28, the frequency of the voltage applied to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C is adjusted. By increasing the frequency of the applied voltage, the current can easily reach deep under the skin, and it is easy to feel it as a touch.

[0102] Although a rectangular wave pattern is illustrated in Figs. 27 and 28, the voltage pattern is not limited to a rectangular wave pattern and may be a sine wave pattern or the like.

[0103] In addition, if the frequency of the applied voltage changes, the sense of touch may change. Also, there may be some people who cannot sense the tactile sensation unless the frequency is high to a certain extent. Therefore, data from various people may be obtained in advance, and adjustments may be made by combining the voltage application time and frequency.

[0104] Fig. 29 shows an example of the relationship between the resistance value and the application time (duty ratio) when the voltage application time is adjusted according to the measured resistance value. As shown in the example of Fig. 29, the control unit 20 performs control so that the voltage application time is lengthened as the measured resistance value increases and is shortened as the measured resistance value decreases, thereby allowing a constant current to flow through the fingertip pad fp regardless of individual differences in internal resistance or the usage environment.

[0105] Fig. 30 shows an example of the relationship between resistance and frequency (Hz) when the frequency of the voltage is adjusted according to the measured resistance. As shown in the example of Fig. 30, the control unit 20 controls the frequency of the voltage to be higher as the measured resistance value increases and to be lower as the measured resistance value decreases, thereby allowing a constant current to flow through the fingertip pad fp regardless of individual differences in internal resistance or the usage environment. Note that both the application time and frequency of the voltage may be adjusted.

[0106] As in the case of adjustment (1), for example, the tactile presentation device 100 may store in advance a table showing the relationship between the ease of current flow (resistance value) and the voltage application pattern (voltage application time and / or voltage frequency) as shown in FIG. 29 and / or FIG. 30, and the control unit 20 may obtain a voltage application pattern corresponding to the measured resistance value based on the table after measuring the ease of current flow, and apply the voltage of the obtained application pattern to the anode 12A and / or the cathode 12C. As in the example shown in FIG. 30, an upper limit and a lower limit may be set for the frequency of the voltage. Also, the voltage application pattern may be changed in stages according to the ease of current flow. A different table may be used for each user.

[0107] In this way, the control unit 10 measures the ease with which current flows, and based on the results of the measurement, adjusts the voltage pattern applied to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C, thereby enabling an optimal and safe voltage / current supply to be achieved regardless of individual differences in internal resistance or the usage environment, and enabling optimal electrical stimulation to be performed on the sensory receptors under the skin.

[0108] The voltage pattern adjustment (adjustment (3)) is carried out in the same manner as the adjustment (1) (anode-cathode distance d AC By combining this with adjustment (1) (adjustment of the total area of ​​the anodes 12A and the total area of ​​the cathodes 12C), a greater degree of freedom in adjustment is possible, thereby making it possible to present a more optimal tactile sensation.

[0109] [Other electrode structures] Another example of the electrode structure of the tactile presentation unit 10 will be described with reference to Fig. 31. In the example shown in Fig. 31, the multiple electrodes 12 of the tactile presentation unit 10 include multiple anode electrodes 16 and multiple cathode electrodes 17.

[0110] The plurality of anode electrodes 16 are provided on a main surface of a support (not shown here), and are arranged in a matrix.

[0111] The multiple cathode electrodes 17 are provided on the main surface of the support so as not to overlap the multiple anode electrodes 16 in a plan view. The multiple cathode electrodes 17 are also arranged in a matrix. In the example shown in the figure, each cathode electrode 17 has a shape surrounding one anode electrode 16 in a plan view. Although not shown here, each cathode electrode 17 may have a shape surrounding two or more anode electrodes 16.

[0112] The control unit 20 can independently switch each of the multiple anode electrodes 16 between a state in which an anode potential is applied and a state in which a floating potential is applied, and the control unit 20 can independently switch each of the multiple cathode electrodes 17 between a state in which a cathode potential is applied and a state in which a floating potential is applied.

[0113] 31, an electrode functioning as the anode 12A (anode electrode 16) and an electrode functioning as the cathode 12C (cathode electrode 17) are provided separately. By providing the anode electrode 16 and the cathode electrode 17 separately, a wiring structure can be easily formed, and the voltage application to each electrode 12 can also be easily controlled.

[0114] 32, 33 and 34 show examples of the settings of the anode 12A and the cathode 12C when the electrode structure shown in FIG. 31 is adopted.

[0115] 32, the anode electrode 16 located in the third row and second column is given an anode potential and functions as the anode 12A, and the cathode electrode 17 located in the third row and fourth column is given a cathode potential and functions as the cathode 12C. The other anode electrodes 16 and the other cathode electrodes 17 are given a floating potential.

[0116] 33, the anode electrodes 16 located in the second row, first column, the second row, second column, the third row, first column, and the third row, second column are given an anode potential and function as anodes 12A, and the cathode electrodes 17 located in the fourth row, fourth column, the fourth row, fifth column, the fifth row, fourth column, and the fifth row, fifth column are given a cathode potential and function as cathodes 12C. The other anode electrodes 16 and other cathode electrodes 17 are given a floating potential.

[0117] 34, the anode electrode 16 located in the third row and third column is given an anode potential and functions as an anode 12A, and the cathode electrodes 17 located in the first row, fifth row, first column and fifth column are given a cathode potential and function as a cathode 12C. The other anode electrodes 16 and other cathode electrodes 17 are given a floating potential.

[0118] As can be seen from Figs. 32, 33, and 34, even when the electrode structure shown in Fig. 31 is adopted, the anode-cathode distance d ACIt is possible to freely adjust the total area of ​​the anodes 12A and the total area of ​​the cathodes 12C (which can also be said to be an adjustment of the number of anodes 12A and the number of cathodes 12C), the ratio of the total area of ​​the anodes 12A to the total area of ​​the cathodes 12C (which can also be said to be an adjustment of the ratio of the number of anodes 12A to the number of cathodes 12C), and the pattern of voltage applied to the electrode 12 functioning as the anode 12A and the electrode 12 functioning as the cathode 12C. [Industrial Applicability]

[0119] The embodiments of the present invention can be widely used in tactile presentation devices that present a tactile sensation through electrical stimulation. [Explanation of symbols]

[0120] 10 Tactile display unit 11 Substrate (support) 11a Main surface of substrate 12 electrodes 12A anode 12C cathode 12P positive terminal 12N negative terminal 13 Measurement terminal 13A 1st terminal 13B 2nd terminal 14 Resistance measurement circuit 16 Electrode for anode 17 Cathode electrode 20 Control section 100 Tactile presentation device 200 VR haptic feedback system 210 Personal Computers (PC) 220 VR Goggles 230 Current supply source

Claims

1. a tactile sensation providing unit having a plurality of electrodes and providing a tactile sensation to a specific part of the user by electrical stimulation; a control unit that controls the tactile sense providing unit so as to provide the electrical stimulation by using at least one electrode of the plurality of electrodes as an anode and at least one other electrode as a cathode; A tactile presentation device comprising: The control unit measures the ease with which an electric current flows in the area, and adjusts the manner in which the electrical stimulation is executed based on the results of the measurement.

2. The tactile sense providing unit further includes a plurality of measurement terminals, The tactile presentation device according to claim 1 , wherein the control unit performs the measurements using the plurality of measurement terminals.

3. The tactile presentation device according to claim 2 , wherein the plurality of measurement terminals include a first terminal and a second terminal having mutually different areas in a plan view.

4. a distance from a center of the tactile sense providing unit to the second terminal in a plan view is longer than a distance from the center to the first terminal; The tactile presentation device according to claim 3 , wherein an area of ​​the second terminal in a plan view is larger than an area of ​​the first terminal in a plan view.

5. The tactile presentation device according to claim 1 , wherein the control unit performs the measurement using at least two electrodes of the plurality of electrodes.

6. The tactile presentation device according to claim 5 , wherein the number of electrodes functioning as positive terminals and the number of electrodes functioning as negative terminals during the measurement are each two or more.

7. The tactile presentation device according to claim 5 , wherein the number of electrodes functioning as positive terminals and the number of electrodes functioning as negative terminals during the measurement are different from each other.

8. The tactile presentation device according to claim 1 , wherein the control unit adjusts a distance between the anode and the cathode when adjusting the manner in which the electrical stimulation is applied.

9. The tactile presentation device according to claim 1 , wherein the control unit adjusts a total area of ​​the electrodes functioning as anodes and a total area of ​​the electrodes functioning as cathodes when adjusting the manner in which the electrical stimulation is executed.

10. The tactile presentation device according to claim 9 , wherein the control unit adjusts a ratio between a total area of ​​the electrodes functioning as the anodes and a total area of ​​the electrodes functioning as the cathodes when adjusting the manner in which the electrical stimulation is executed.

11. The tactile presentation device according to claim 1 , wherein the control unit adjusts a pattern of voltage applied to the electrode functioning as the anode and the electrode functioning as the cathode when adjusting the mode of execution of the electrical stimulation.

12. The tactile presentation device according to claim 11 , wherein the control unit adjusts a time for applying a voltage to the electrode functioning as the anode and the electrode functioning as the cathode when adjusting the manner in which the electrical stimulation is performed.

13. The tactile presentation device according to claim 11 , wherein the control unit adjusts a frequency of a voltage applied to the electrode functioning as the anode and the electrode functioning as the cathode when adjusting the manner in which the electrical stimulation is executed.

14. The tactile presentation device according to claim 1 , wherein the plurality of electrodes are arranged in a matrix including a plurality of rows and a plurality of columns.

15. The plurality of electrodes includes a plurality of anode electrodes and a plurality of cathode electrodes, The control unit is Each of the plurality of anode electrodes can be independently switched between a state in which an anode potential is applied and a state in which a floating potential is applied, and 7. The tactile presentation device according to claim 1, wherein each of the plurality of cathode electrodes can be independently switched between a state in which a cathode potential is applied and a state in which a floating potential is applied.

16. The tactile presentation device according to claim 15 , wherein each of the plurality of cathode electrodes has a shape surrounding at least one of the plurality of anode electrodes in a plan view.

17. The tactile presentation device according to claim 1 , wherein the specific part is a pad of a user's fingertip.

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