Actuator and haptic device

Abstract

To provide a novel actuator in a haptic device and other devices.SOLUTION: An actuator comprises: a moving unit in which at least a part of the moving unit moves forward and backward with respect to a target; a base unit arranged on the opposite side of the moving unit with respect to the target; a stretchable unit arranged on the opposite side of the target with respect to the base unit and extends and contracts by an electric signal in a second direction non-parallel to the first direction in which the moving unit moves forward and backward, with the first side in the second direction being fixed to the base unit; and a force transmission unit which is fixed to the second side of the stretchable unit to the first side in the second direction, extending in the first direction and fixed to the moving unit, and moves the moving unit forward and backward by the extension and contraction of the stretchable unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an actuator and a tactile device.

Background Art

[0002] In virtual reality (VR), augmented reality (AR), mixed reality (MR), etc., tactile devices that reproduce touch sensations have been developed. The tactile device acts on the user's sense of touch in conjunction with, for example, content including images, and provides the user with an experience as if they had touched an actual object. The tactile device is used, for example, in various fields such as entertainment such as games, communication, education, medical care, and tourism to provide various experiences.

[0003] Patent Document 1 below discloses a tactile output device aimed at presenting a realistic sense of pressure without hindering the movement of the fingertips. This tactile output device includes a housing attached to a finger of the hand, a movable member disposed in the housing and forming a contact surface that contacts the finger, a first mechanism that applies a force from the housing side toward the finger side to the movable member, and a second mechanism having an artificial muscle actuator that pulls the movable member toward the housing side. In tactile devices and other devices, a novel actuator is desired.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Means for Solving the Problems

[0005] According to an aspect of the present invention, there is provided an actuator including a moving part that at least partially moves forward and backward with respect to an object, a base part disposed on the side opposite to the moving part with respect to the object, and a telescopic part disposed on the side opposite to the object with respect to the base part, the telescopic part expanding and contracting by an electric signal in a second direction non-parallel to the first direction in which the moving part moves forward and backward, with the first side in the second direction being fixed to the base part, and a force transmission part fixed to the second side opposite to the first side of the telescopic part in the second direction, extending in the first direction and fixed to the moving part, and causing the moving part to move forward and backward by the expansion and contraction of the telescopic part. According to an aspect of the present invention, there is provided a tactile device including the actuator according to the above aspect, and applying a force to an animal including the object to present a sense of touch.

[0006] According to an aspect of the present invention, a novel actuator can be provided. According to an aspect of the present invention, a sense of touch can be presented by a tactile device including the novel actuator. Such a tactile device can be used, for example, to provide various experiences performed remotely, and contributes to the achievement of Goal 4 of the Sustainable Development Goals (SDGs) led by the United Nations, "Ensure inclusive and equitable quality education and promote lifelong learning opportunities for all".

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0008] [First Embodiment] The first embodiment will be described. FIG. 1 is a diagram showing an experience system to which the tactile device according to the embodiment is applied. This experience system SYS includes a tactile device 1, a display device 2, and an information processing apparatus 3.

[0009] The display device 2 is, for example, a head-mounted display, and presents (e.g., displays) an image to the user 5 in the real space. The tactile device 1 is, for example, a glove-shaped wearable. The tactile device 1 is worn on the hand of the user 5 in the real space. The tactile device 1 includes an actuator 10 according to the embodiment. The information processing apparatus 3 includes, for example, one or two or more computers. The information processing apparatus 3 may be a cloud computer. The information processing apparatus 3 is communicably connected to the display device 2. The information processing apparatus 3 is communicably connected to the tactile device 1.

[0010] The information processing apparatus 3 uses the position information of the user 5 in the real space to determine the relative position between the object 6 in the cyber space and the user 7. The information processing apparatus 3 generates an image including the object 6 in the cyber space and the hand of the user 7, and provides (e.g., supplies) the data of the generated image to the display device 2. The display device 2 uses the data of the image provided from the information processing apparatus 3 to display an image 8 including the object 6 in the cyber space and the hand of the user 7.

[0011] The information processing device 3 determines whether or not the object 6 in the cyber space and the hand of the user 7 are in contact with each other by using the relative positions of the object 6 in the cyber space and the user 5. When the information processing device 3 determines that the object 6 in the cyber space and the hand of the user 7 are in contact with each other, a physical force is applied to the hand of the user 5 in the real space by the tactile device 1. The tactile device 1 drives the actuator 10 included in the tactile device 1 by using the control signal provided from the information processing device 3. The tactile device 1 includes, for example, an actuator 10 and a signal generation unit 12. In the tactile device 1, for example, the actuator 10 and the signal generation unit 12 are held by a body having a shape (appropriately called glove-like) that covers at least a part of the hand of the user 7. The signal generation unit 12 is, for example, a driver that drives the actuator 10. The signal generation unit 12 generates an electric signal by using the control signal provided from the information processing device 3, and drives the actuator 10 by this electric signal. A part of the tactile device 1 moves by the actuator 10 and comes into contact with the hand of the user 5, and presents a tactile sensation corresponding to the state of touching the object 6 to the hand of the user 5 (for example, pressing the hand). The user 5 can experience, for example, the feeling of touching the object 6 in the cyber space.

[0012] This tactile device 1 can present a sense of touch to an animal by, for example, an actuator 10 to apply a force. The animal to which the tactile device 1 presents the sense of touch may be a human or an animal other than a human. For example, one tactile device 1 may present the sense of touch of touching a pet to the pet owner, and another tactile device 1 may present the sense of touch of being touched by the owner to the pet. In the following description, it is assumed that the animal to which the tactile device 1 presents the sense of touch is a human. The predetermined part 11 includes the part where the tactile device 1 presents the sense of touch. The predetermined part 11 is set to an arbitrary part according to, for example, the use of the tactile device 1. For example, the predetermined part 11 may include a human hand, a human foot, or other parts of the human back. In the following description, it is assumed that the predetermined part 11 is a human finger, and the state where each finger of the hand is extended and brought close to contact the adjacent finger is defined as the reference state.

[0013] The actuator according to the first embodiment will be described. FIGS. 2 and 3(A) to (C) are diagrams showing the actuator according to the first embodiment. FIG. 2 is a perspective view. FIG. 3(A) is a top view. FIG. 3(B) is a cross-sectional view taken along line A1-A2 shown in FIG. 3(A). FIG. 3(C) is a cross-sectional view taken along line B1-B2 shown in FIG. 3(A). In this specification, the same reference numerals are appropriately assigned to the same configurations, and the description thereof is omitted or simplified. Reference numeral D1 in FIG. 2 is the direction (appropriately referred to as the thickness direction) connecting the palm and the back of the hand in the reference state where each finger of the hand is extended and brought close to contact the adjacent finger. Reference numeral D2 in FIG. 2 is the direction (appropriately referred to as the width direction) in which the fingers are aligned in the reference state. Reference numeral D3 in FIG. 2 is the direction (appropriately referred to as the length direction) connecting the fingertip and the base of the finger in the reference state. In the following description, for each of the thickness direction D1, width direction D2, and length direction D3, the same direction as the arrow is referred to as the + side, and the direction opposite to the arrow is referred to as the - side.

[0014] The actuator 10 according to this embodiment includes a moving part 13, a base part 14, a telescopic part 15, a force transmission part 16, and a bearing 21. In the following description, when a plurality of each part such as the moving part 13, the base part 14, the telescopic part 15, the force transmission part 16, and the bearing 21 are provided and these are to be distinguished, alphabets a, b,... are added to the reference signs for representation. For example, when a plurality of telescopic parts 15 are provided and not distinguished, any one of the telescopic parts is represented as the telescopic part 15, and when these are to be distinguished, each telescopic part is represented as the telescopic part 15a, the telescopic part 15b, the telescopic part 15c, the telescopic part 15d, and the like.

[0015] The actuator 10 applies a force to an object, for example, by a mechanical operation. The object to which the force is applied by the actuator 10 is arbitrary. In FIG. 2, the object to which the force is applied by the actuator 10 is a predetermined part 11. The predetermined part 11 is, for example, a human finger. In the actuator 10, at least a part of the moving part 13 (13a, 13b) moves forward and backward with respect to the predetermined part 11. In this embodiment, the first direction in which the moving part 13 moves forward and backward is the thickness direction D1. The actuator 10 applies a force to the predetermined part 11 by moving in the direction (the + side of the thickness direction D1) approaching the predetermined part 11 of the moving part 13. For example, in the tactile device 1 of FIG. 1, the moving part 13 in the actuator 10 moves toward the predetermined part 11 and presses the predetermined part 11, thereby presenting a sense of touch to the predetermined part 11.

[0016] The base part 14 is arranged on the side opposite to the moving part 13 (13a, 13b) with respect to the predetermined part 11. The base part 14 and the moving part 13 are arranged so as to sandwich the predetermined part 11. The base part 14 is arranged, for example, on the nail side of the human finger which is the predetermined part 11, and the moving part 13 is arranged on the finger belly side. The base part 14 is, for example, a support member that supports each part of the actuator 10. The base part 14 is, for example, plate-shaped.

[0017] The telescopic part 15 expands and contracts by an electric signal. In the present embodiment, a plurality of telescopic parts 15 are provided in the actuator 10. The plurality of telescopic parts 15 are each provided on the base part 14. The plurality of telescopic parts 15 are each arranged on the side opposite to the predetermined part 11 with respect to the base part 14. The plurality of telescopic parts 15 each expand and contract in the width direction D2. The telescopic part 15 is, for example, a member having a shape extending in the width direction D2 and expands and contracts in the width direction D2. The telescopic part 15 is, for example, a coiled member, and its outer shape is a columnar shape that is long in one direction. Regarding the outer shape of the telescopic part 15 as a cylinder, the direction parallel to the axis of rotation symmetry of this cylinder is appropriately referred to as the axial direction. The axial direction of the telescopic part 15 is set parallel to the width direction D2, for example. In the present embodiment, the width direction D2 is a direction non-parallel to the thickness direction D1 in which the moving part 13 moves forward and backward. The width direction D2 may be, for example, a direction intersecting the thickness direction D1 or a direction orthogonal to the thickness direction D1. The plurality of telescopic parts 15 are each a member having a shape extending in the width direction D2. The plurality of telescopic parts 15 are provided at intervals in the length direction D3. The plurality of telescopic parts 15 are, for example, all the same members.

[0018] An electric signal is supplied to each of the plurality of telescopic parts 15. This electric signal is supplied, for example, from a driver (e.g., the signal generation part 12 in FIG. 1) that drives the actuator 10. For example, each of the plurality of telescopic parts 15 is individually supplied with an electric signal from the signal generation part 12 (see FIG. 1). For example, each of the plurality of telescopic parts 15 is controlled by an electric signal individually supplied from the signal generation part 12.

[0019] The telescopic part 15 contains a material that expands and contracts by an electric signal. The telescopic part 15 includes, for example, a shape memory alloy that deforms by heat, and the shape memory alloy deforms by the heat generated by the electric signal to expand and contract. The telescopic part 15 is, for example, a microcoil including a shape memory alloy. Also, the telescopic part 15 may be, for example, a polymer material, a material used for artificial muscles, a dielectric elastomer, or a thermoplastic elastomer that expands and contracts by an electric signal.

[0020] The telescopic part 15 changes its amount of expansion and contraction according to the supplied electrical signal. For example, the telescopic part 15 changes its amount of expansion and contraction according to the heat generated by the supplied electrical signal. The telescopic part 15 has, for example, a first length in a state of being at a first temperature and a second length shorter than the first length in a state of being at a second temperature higher than the first temperature. The telescopic part 15 has conductivity, and an electric current flows through the telescopic part 15 by an electrical signal. Heat is generated in the telescopic part 15 by this electric current, and the telescopic part 15 contracts by this heat. The amount of expansion and contraction of the telescopic part 15 has a correlation with the temperature of the telescopic part 15, and the temperature of the telescopic part 15 has a correlation with the electric power supplied to the telescopic part 15 by an electrical signal. For example, the length of the telescopic part 15 is controlled by the power waveform applied to the telescopic part 15. As such a member, for example, there is Biometal (registered trademark) manufactured by Toki Corporation.

[0021] Note that an electric current does not have to flow through the telescopic part 15. For example, the actuator 10 may include a temperature adjustment part (e.g., heater, Peltier element) that adjusts the temperature of the telescopic part 15 (described later). The telescopic part 15 may include a member that expands and contracts due to a physical phenomenon other than heat (e.g., electro - field effect), and may include, for example, a piezo - element.

[0022] The first side of the telescopic part 15 in the width direction D2 is fixed to the base part 14. For example, the first side of the telescopic part 15 in the width direction D2 is fixed to the base part 14 via the fixing part 18. The fixing part 18 is a first fixing part that fixes the telescopic part 15 and the base part 14. The fixing part 18 is a fixed end that holds the end on the first side of the telescopic part 15 at a predetermined position. For example, the telescopic part 15a is fixed to the base part 14 via the fixing part 18a on the + side in the width direction D2. The position of the end on the + side in the width direction D2 of the telescopic part 15a is fixed to the base part 14.

[0023] The telescopic part 15 has its second side opposite to the first side fixed to the force transmission part 16. For example, in the telescopic part 15a, the - side opposite to the + side in the width direction D2 is fixed to the force transmission part 16a. The force transmission part 16 extends in the first direction and is fixed to the moving part 13. For example, the force transmission part 16a extends in the thickness direction D1 and is fixed to the moving part 13a. The force transmission part 16 is fixed to the moving part 13 by, for example, the fixing part 19. The force transmission part 16a is fixed to the moving part 13a by, for example, the fixing part 19a.

[0024] The force transmission part 16 transmits the force generated by the expansion and contraction of the telescopic part 15 to the moving part 13. The force transmission part 16 is, for example, a member having flexibility. The force transmission part 16 is, for example, a plate-shaped elastic body, a wire, a belt, a film, or the like. The force transmission part 16 connects the moving part 13 and the telescopic part 15. The force transmission part 16 is provided between the moving part 13 and the telescopic part 15 and connects the moving part 13 and the telescopic part 15. For example, the force transmission part 16 extends in the width direction D2 from the end fixed to the telescopic part 15, and then is supported by a support part (e.g., the bearing 21), bends, extends in the thickness direction D1, and is fixed to the moving part 13. By connecting the moving part 13 and the telescopic part 15 by the force transmission part 16, the force transmission part 16 transmits the force generated by the expansion and contraction of the telescopic part 15 to the moving part 13. The side of the force transmission part 16 not connected to the telescopic part 15 is connected to the moving part 13. For example, the side of the force transmission part 16 not connected to the telescopic part 15 is fixed to the moving part 13 via the fixing part 19. The fixing part 19 is the second fixing part that fixes the force transmission part 16 and the moving part 13. For example, the end of the side of the force transmission part 16a not connected to the telescopic part 15a is fixed to the moving part 13a via the fixing part 19a.

[0025] The force transmission part 16 moves the moving part 13 forward and backward by the expansion and contraction of the telescopic part 15. For example, when the telescopic part 15a expands and contracts, the part fixed to the telescopic part 15a is pulled to the + side in the width direction D2. As a result, tension is generated in the transmission part 16a, and the transmission part 16a pulls the moving part 13a to the + side in the thickness direction D1 by the tension generated in the transmission part 16a. The moving part 13a moves to the + side in the thickness direction D1 by being pulled by the transmission part 16a.

[0026] The actuator 10 of this embodiment includes a support portion that supports the force transmission portion 16. This support portion includes, for example, a bearing 21. The bearing 21 supports, for example, without hindering the movement and deformation of the force transmission portion 16. The bearing 21 is provided on the base portion 14. The bearing 21 is rotatable with respect to the base portion 14, for example. The bearing 21 is provided rotatably about an axis parallel to the longitudinal direction D3, for example. The bearing 21 contacts the force transmission portion 16 and supports the force transmission portion 16. The bearing 21a supports the force transmission portion 16a while rotating when the expansion and contraction portion 15a expands and contracts, and sends out the portion of the force transmission portion 16a on the same side as the fixed portion 19a with respect to the bearing 21a to the same side as the expansion and contraction portion 15a with respect to the bearing 21a.

[0027] The support portion (e.g., the bearing 21) may be a guide that guides the force transmission portion 16 from above the base portion 14 (e.g., the + side in the thickness direction D1) toward the moving portion 13. The support portion (e.g., the bearing 21) may restrict the movement of the force transmission portion 16 in the longitudinal direction D3. For example, a groove may be provided in the support portion (e.g., the bearing 21), and the force transmission portion 16 may be disposed in this groove. This groove is formed, for example, on a plane perpendicular to the longitudinal direction D3 such that the bottom surface of the groove has a step with the surrounding surface of the groove. The support portion may be any that supports the force transmission portion 16 without hindering its deformation, and may not include the bearing 21. For example, the support portion may have irregularities on the surface that contacts the force transmission portion 16 so as to reduce the contact area with the force transmission portion 16.

[0028] As described above, the expansion and contraction portion 15a and the force transmission portion 16a are drive portions (appropriately referred to as structural portions) that drive the moving portion 13a. In this embodiment, the actuator 10 includes a plurality of drive portions that drive the same moving portion. For example, the actuator 10 includes a first drive portion and a second drive portion that move the moving portion 13a. The first drive portion moves one moving portion, and the second drive portion moves the same moving portion as the moving portion moved by the first drive portion. The first drive portion includes the expansion and contraction portion 15a and the force transmission portion 16a. The second drive portion includes the expansion and contraction portion 15b and the force transmission portion 16b.

[0029] The first driving unit includes a first telescopic part (e.g., telescopic part 15a) and a first force transmission part (e.g., force transmission part 16a). The first telescopic part is arranged on the side opposite to the target with respect to the base part, expands and contracts by an electric signal in a second direction non-parallel to the first direction in which the moving part moves forward and backward, and the first side in the second direction is fixed to the base part. The first transmission part is fixed to the second side opposite to the first side of the first telescopic part in the second direction, extends in the first direction and is fixed to the moving part, and advances and retreats the moving part by the expansion and contraction of the second telescopic part.

[0030] The second driving unit includes a second telescopic part (e.g., telescopic part 15b) and a second force transmission part (e.g., force transmission part 16b). The second driving unit has a structure symmetric to that of the first driving unit with respect to a plane perpendicular to the width direction D2, for example. The second telescopic part is arranged on the side opposite to the target with respect to the base part, expands and contracts by an electric signal in the second direction, and the second side in the second direction is fixed to the base part. The second telescopic part is arranged at a position overlapping the first telescopic part when viewed from a third direction perpendicular to the first direction and perpendicular to the second direction, for example. For example, as shown in FIG. 3, the telescopic part 15b is arranged at a position where at least a part of it overlaps the telescopic part 15a when viewed from the length direction D3. The second force transmission part is fixed to the first side of the second telescopic part in the second direction, extends in the first direction and is fixed to the base part, and advances and retreats the moving part by the expansion and contraction of the second telescopic part.

[0031] In this embodiment, there are a plurality of bearings 21. For example, the plurality of bearings 21 are each provided to support one force transmission portion 16. For example, the bearings 21 include a bearing 21a that supports the force transmission portion 16a, a bearing 21b that supports the force transmission portion 16b, a bearing 21c that supports the force transmission portion 16c, and a bearing 21d that supports the force transmission portion 16d. For example, the bearing 21a is provided at an end portion of the base portion 14 corresponding to the second side in the telescopic portion 15a (the end portion on the - side in the width direction D2). For example, the bearing 21b is provided at an end portion of the base portion 14 corresponding to the second side in the telescopic portion 15b (the end portion on the + side in the width direction D2). For example, the bearing 21c is provided at an end portion of the base portion 14 corresponding to the second side in the telescopic portion 15c (the end portion on the - side in the width direction D2). For example, the bearing 21d is provided at an end portion of the base portion 14 corresponding to the second side in the telescopic portion 15d (the end portion on the + side in the width direction D2).

[0032] One moving portion 13a is connected to the telescopic portion 15a via the force transmission portion 16a and is also connected to the telescopic portion 15b via the force transmission portion 16b. For example, one moving portion 13b is connected to the telescopic portion 15c via the force transmission portion 16c and is also connected to the telescopic portion 15d via the force transmission portion 16d.

[0033] In the moving portion 13a, the fixing portion 19a is provided at the end portion on the - side in the width direction D2 of the moving portion 13a, and the fixing portion 19b is provided at the end portion on the + side in the width direction D2 of the moving portion 13a. The fixing portion 19a and the fixing portion 19b are provided in a diagonal positional relationship with each other in the moving portion 13a. The fixing portion 19b is provided, for example, at a position that is point-symmetric with respect to the position of the fixing portion 19a in the moving portion 13a.

[0034] In the moving part 13b, the fixed part 19c is provided at one end on the - side in the width direction D2 of the moving part 13b, and the fixed part 19d is provided at one end on the + side in the width direction D2 of the moving part 13b. The fixed part 19c and the fixed part 19d are provided in a diagonal positional relationship with respect to each other in the moving part 13b. The fixed part 19d is provided, for example, at a position that is point-symmetrical to the position of the fixed part 19c in the moving part 13b.

[0035] The force transmission unit 16 advances and retracts the moving unit 13 with respect to the predetermined part 11 by the expansion and contraction of the expansion and contraction unit 15. The moving unit 13 moves in the thickness direction D1 and advances and retracts with respect to the predetermined part 11 by the expansion and contraction of the expansion and contraction unit 15. The expansion and contraction unit 15 changes the distance between the moving unit 13 and the base unit 14 by expansion and contraction by an electric signal. For example, the expansion and contraction amount of the expansion and contraction unit 15 changes according to the supplied electric signal, and the distance between the moving unit 13 and the base unit 14 is changed according to the supplied electric signal. The moving unit 13 applies a force corresponding to the distance between the moving unit 13 and the base unit 14 to the predetermined part 11. When the expansion and contraction unit 15 contracts, the moving unit 13 moves in a direction approaching the base unit 14 (e.g., the + side in the thickness direction D1) and presses the predetermined part 11. When the expansion and contraction unit 15 expands, the moving unit 13 moves in a direction away from the base unit 14 (e.g., the - side in the thickness direction D1). For example, when the expansion and contraction unit 15a contracts, the force transmission unit 16a moves the moving unit 13a in a direction approaching the predetermined part 11 (e.g., the + side in the thickness direction D1), and when the expansion and contraction unit 15a expands, the force transmission unit 16a moves the moving unit 13a in a direction away from the predetermined part 11 (e.g., the - side in the thickness direction D1). For example, when the expansion and contraction unit 15b contracts, the force transmission unit 16b moves the moving unit 13a in a direction approaching the predetermined part 11 (e.g., the + side in the thickness direction D1), and when the expansion and contraction unit 15b expands, the force transmission unit 16b moves the moving unit 13a in a direction away from the predetermined part 11 (e.g., the - side in the thickness direction D1). For example, when the expansion and contraction unit 15c contracts, the force transmission unit 16c moves the moving unit 13b in a direction approaching the predetermined part 11 (e.g., the + side in the thickness direction D1), and when the expansion and contraction unit 15c expands, the force transmission unit 16c moves the moving unit 13b in a direction away from the predetermined part 11 (e.g., the - side in the thickness direction D1). For example, when the expansion and contraction unit 15d contracts, the force transmission unit 16d moves the moving unit 13b in a direction approaching the predetermined part 11 (e.g., the + side in the thickness direction D1), and when the expansion and contraction unit 15d expands, the force transmission unit 16d moves the moving unit 13b in a direction away from the predetermined part 11 (e.g., the - side in the thickness direction D1).

[0036] The moving part 13 moves in a direction approaching the predetermined part 11 due to the contraction of the telescopic part 15, and a force is applied to the predetermined part 11 by pressing the surface of the moving part 13 facing the predetermined part 11 against the predetermined part 11. In the tactile device 1, the user feels being touched at the predetermined part 11 due to the force applied to the predetermined part 11 by the actuator 10, and a tactile sensation is presented to the predetermined part 11. For example, the user feels touching the object 6 in the cyber space shown in FIG. 1 when the predetermined part 11 is pressed.

[0037] In the tactile device 1, the surface of the moving part 13 facing the predetermined part 11 may include the surface of the moving part 13 or may include the surface of a member different from the moving part 13. For example, a member different from the moving part 13 may be included between the surface of the moving part 13 facing the predetermined part 11 and the predetermined part 11. For example, in the tactile device 1, the surface of the moving part 13 facing the predetermined part 11 may be the inner surface of a glove.

[0038] The base part 14 may or may not press the predetermined part 11. The moving part 13 is a member arranged on the side where the tactile sensation is relatively sensitive among the front and back of the predetermined part 11, and the base part 14 may be a member arranged on the side where the tactile sensation is relatively insensitive among the front and back of the predetermined part 11. The predetermined part 11 is a part on the tip side of the first joint of the finger, the moving part 13 may be arranged on the ventral side (palm side) of the finger, and the base part 14 may be arranged on the nail side of the finger. The base part 14 may be provided such that the displacement due to the expansion and contraction of the telescopic part 15 is suppressed compared to the moving part 13. For example, the base part 14 is fixed to the body constituting the outer shape of the tactile device 1, and the moving part 13 is provided to be allowed to move more than the base part 14.

[0039] One or both of the base portion 14 and the moving portion 13 are, for example, members having flexibility (e.g., plate-shaped or beam-shaped elastic bodies). For example, one or both of the base portion 14 and the moving portion 13 are deformed by the expansion and contraction of the expansion and contraction portion 15, and the repulsive force thereof acts to return the expansion and contraction portion 15 to the reference length. The moving portion 13 may include a flexible member and may exhibit a tension for bringing the surface of the actuator 10 (haptic device 1) into contact (e.g., fit) with a predetermined portion 11. In the present embodiment, the moving portion 13 is a plate member (e.g., film), but other members may also be used. For example, the moving portion 13 is a flexible member, and when the expansion and contraction portion 15 contracts, deflection occurs, and the expansion and contraction portion 15 is pulled by the repulsive force. After the expansion and contraction portion 15 contracts due to a temperature rise or the like, when it expands due to a temperature drop, it is pulled by the moving portion 13 and approaches the original shape. The expansion and contraction portion 15 is, for example, prevented from sagging by being pulled by the flexible member. At least a part of the base portion 14 may be included in the expansion and contraction portion 15. One or both of the material and shape of the base portion 14 may be different from those of the moving portion 13.

[0040] In the present embodiment, the base portion 14 is disposed between the predetermined portion 11 and the expansion and contraction portion 15 in the thickness direction D1, so that heat generated in the expansion and contraction portion 15 can be prevented from directly reaching the predetermined portion 11 (e.g., a human finger). The base portion 14 may be, for example, a heat insulating material. This heat insulating material may have, for example, a thermal conductivity similar to that of a general heat insulating material. When the base portion 14 is a heat insulating material, the base portion 14 can insulate the heat generated in the expansion and contraction portion 15. For example, when the base portion 14 is a heat insulating material, it is possible to prevent the heat generated in the expansion and contraction portion 15 from reaching the predetermined portion 11 (human finger).

[0041] In this embodiment, the actuator 10 includes a moving part 13a that at least partially moves forward and backward with respect to a predetermined part 11, a base part 14 disposed on the side opposite to the moving part 13a with respect to the predetermined part 11, and a telescopic part 15a disposed on the side opposite to the predetermined part 11 with respect to the base part 14, which expands and contracts by an electric signal in a width direction D2 that is non-parallel to the thickness direction D1 in which the moving part 13a moves forward and backward, and the first side (e.g., the + side in the width direction D2) in the width direction D2 is fixed to the base part 14, and a force transmission part 16a that is fixed to the second side (e.g., the - side in the width direction D2) opposite to the first side of the telescopic part 15a in the width direction D2, extends in the thickness direction D1, and is fixed to the moving part 13a, and moves the moving part 13a forward and backward by the expansion and contraction of the telescopic part 15a. These structures are referred to as a structure part 23a (first structure part).

[0042] Further, the actuator 10 includes a moving part 13a that at least partially moves forward and backward with respect to a predetermined part 11, a base part 14 disposed on the side opposite to the moving part 13a with respect to the predetermined part 11, and a telescopic part 15b disposed on the side opposite to the predetermined part 11 with respect to the base part 14, which expands and contracts by an electric signal in a width direction D2 that is non-parallel to the thickness direction D1 in which the moving part 13a moves forward and backward, and the second side (e.g., the - side in the width direction D2) in the width direction D2 is fixed to the base part 14, and a force transmission part 16b that is fixed to the first side (e.g., the + side in the width direction D2) opposite to the second side of the telescopic part 15b in the width direction D2, extends in the thickness direction D1, and is fixed to the moving part 13a, and moves the moving part 13a forward and backward by the expansion and contraction of the telescopic part 15b. These structures are referred to as a structure part 23b (second structure part).

[0043] Further, the actuator 10 includes a moving part 13c at least a part of which moves forward and backward with respect to a predetermined part 11, a base part 14 disposed on the opposite side of a second moving part 13b different from the moving part 13a with respect to the predetermined part 11, an expansion and contraction part 15c disposed on the opposite side of the predetermined part 11 with respect to the base part 14, which expands and contracts by an electric signal in a width direction D2 non-parallel to a thickness direction D1 in which the moving part 13b moves forward and backward, and a first side (e.g., + side in the width direction D2) in the width direction D2 is fixed to the base part 14, and a force transmission part 16c fixed to a second side (e.g., - side in the width direction D2) opposite to the first side of the expansion and contraction part 15c in the width direction D2, extending in the thickness direction D1 and fixed to the moving part 13b, and advancing and retracting the moving part 13b by the expansion and contraction of the expansion and contraction part 15c. These structures are referred to as a structure part 23c (third structure part).

[0044] Further, the actuator 10 includes a moving part 13d at least a part of which moves forward and backward with respect to a predetermined part 11, a base part 14 disposed on the opposite side of a second moving part 13b different from the moving part 13a with respect to the predetermined part 11, an expansion and contraction part 15d disposed on the opposite side of the predetermined part 11 with respect to the base part 14, which expands and contracts by an electric signal in a width direction D2 non-parallel to a thickness direction D1 in which the moving part 13b moves forward and backward, and a second side (e.g., - side in the width direction D2) in the width direction D2 is fixed to the base part 14, and a force transmission part 16d fixed to a first side (e.g., + side in the width direction D2) opposite to the second side of the expansion and contraction part 15d in the width direction D2, extending in the thickness direction D1 and fixed to the moving part 13b, and advancing and retracting the moving part 13b by the expansion and contraction of the expansion and contraction part 15d. These structures are referred to as a structure part 23d (fourth structure part).

[0045] In the actuator 10, the first structural part 23a, the second structural part 23b, the third structural part 23c, and the fourth structural part 23d include structures that are independent of each other. For example, in the first structural part 23a, the second structural part 23b, the third structural part 23c, and the fourth structural part 23d, the structures other than the base part 14, the moving part 13a, and the moving part 13b are independent of each other. In the first structural part 23a, the second structural part 23b, the third structural part 23c, and the fourth structural part 23d, the base part 14 is common. In the first structural part 23a, the second structural part 23b, the third structural part 23c, and the fourth structural part 23d, the components provided on the base part 14 are provided independently on the common base part 14.

[0046] In the present embodiment, the first structural part 23a and the second structural part 23b share the moving part 13a. In the first structural part 23a and the second structural part 23b, the force transmission part 16a and the force transmission part 16b are connected to the common moving part 13a. The first structural part 23a and the second structural part 23b move the common moving part 13a. In the actuator 10, the first structural part 23a and the second structural part 23b are provided in a pair. For example, the first structural part 23a and the second structural part 23b are provided symmetrically with respect to a plane parallel to the thickness direction D1 and parallel to the length direction D3.

[0047] In the present embodiment, the third structural part 23c and the fourth structural part 23d share the moving part 13b. In the third structural part 23c and the fourth structural part 23d, the force transmission part 16c and the force transmission part 16d are connected to the common moving part 13b. The third structural part 23c and the fourth structural part 23d move the common moving part 13b. In the actuator 10, the third structural part 23c and the fourth structural part 23d are provided in a pair. The third structural part 23c and the fourth structural part 23d are provided symmetrically with respect to a plane parallel to the thickness direction D1 and parallel to the length direction D3.

[0048] In the present embodiment, the pair of the first structural portion 23a and the second structural portion 23b and the pair of the third structural portion 23c and the fourth structural portion 23d have the same configuration except for their positions. In the present embodiment, the actuator 10 has a plurality of pairs of the first structural portion 23a and the second structural portion 23b. Note that the pair of the first structural portion 23a and the second structural portion 23b and the pair of the third structural portion 23c and the fourth structural portion 23d do not necessarily have the same configuration. Further, the first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d may have different structures from each other.

[0049] In the present embodiment, in the direction (e.g., the length direction D3) orthogonal to the thickness direction D1 and the width direction D2, the structures other than the base portion 14 and the moving portion 13 among the first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d are arranged side by side at intervals in this order (see FIGS. 2 and 3(A)). The first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d are arranged at a predetermined interval in the direction (e.g., the length direction D3) orthogonal to the thickness direction D1 and the width direction D2. This predetermined interval may be an equal interval or may not be an equal interval.

[0050] In the present embodiment, the first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d have an integrated structure, but they do not necessarily have an integrated structure. The first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d are, for example, independently controlled and operate independently of each other. Among the plurality of structural portions, at least one may be controlled in synchronization with other structural portions, may be controlled by the same electrical signal as other structural portions, or may be controlled in dependence on other structural portions.

[0051] In this embodiment, in the first structural portion 23a, the fixing portion 18a is disposed on the first side in the width direction D2 (for example, the + side in the width direction D2), while in the second structural portion 23b, the fixing portion 18b is disposed on the second side opposite to the first side in the second direction (for example, the - side in the width direction D2), and a plurality of expansion and contraction portions 15a and 15b independent of one moving portion 13a are connected. In the third structural portion 23c, the fixing portion 18c is disposed on the first side in the width direction D2 (for example, the + side in the width direction D2), while in the fourth structural portion 23d, the fixing portion 18b is disposed on the second side opposite to the first side in the second direction (for example, the - side in the width direction D2), and a plurality of expansion and contraction portions 15c and 15d independent of one moving portion 13b are connected. In this embodiment, two expansion and contraction portions 15 are connected in parallel to one moving portion 13. When two expansion and contraction portions 15 are connected in parallel to one moving portion 13, physical actions (for example, force, displacement) due to the expansion and contraction of a plurality of expansion and contraction portions 15 independent of one moving portion 13 can be applied, so that the physical actions by the expansion and contraction portions 15 can be efficiently transmitted.

[0052] Subsequently, the electrical configuration of the actuator 10 will be mainly described. In this embodiment, the actuator 10 includes a conductive portion 25 (first conductive portion), a conductive portion 26 (second conductive portion), and a conductive portion 27 (third conductive portion).

[0053] The conductive portion 25 (first conductive portion) is provided on the fixing portion 18 (first fixing portion). The conductive portion 25 is electrically connected to the expansion and contraction portion 15. The conductive portion 25 is, for example, an electrode. The conductive portion 26 (second conductive portion) is provided on the force transmission portion 16 and is electrically connected to the expansion and contraction portion 15. The conductive portion 26 (second conductive portion) is, for example, a conductive member, a signal line, or the like. The conductive portion 27 (third conductive portion) is provided on the fixing portion 19 (second fixing portion). The conductive portion 27 (third conductive portion) is electrically connected to the conductive portion 26 (second conductive portion). The conductive portion 27 (third conductive portion) is, for example, an electrode.

[0054] In the actuator 10, an electric signal is supplied to the expansion and contraction part 15 via the conductive part 25 (first conductive part), the conductive part 26 (second conductive part), and the conductive part 27 (third conductive part). Thus, in the case of the configuration in which the first electrode and the second electrode are provided on the fixed parts 18 (first fixed part) and 19 (second fixed part) which are the fixed ends respectively, the electrical configuration can be simplified as compared with the configuration in which the electrodes are provided at the moving ends.

[0055] For example, in the first structural part 23a of the actuator 10, the conductive part 25a provided on the fixed part 18a and electrically connected to the expansion and contraction part 15a, the conductive part 26a provided on the force transmission part 16a and electrically connected to the expansion and contraction part 15a, and the conductive part 27a provided on the fixed part 19a and electrically connected to the conductive part 26a are provided. For example, in the first structural part 23a, an electric signal is supplied to the expansion and contraction part 15a via the conductive part 25a, the conductive part 26a, and the conductive part 27a.

[0056] For example, in the second structural part 23b of the actuator 10, the conductive part 25b provided on the fixed part 18b and electrically connected to the expansion and contraction part 15b, the conductive part 26b provided on the force transmission part 16b and electrically connected to the expansion and contraction part 15b, and the conductive part 27b provided on the fixed part 19b and electrically connected to the conductive part 26b are provided. For example, in the second structural part 23b, an electric signal is supplied to the expansion and contraction part 15b via the conductive part 25b, the conductive part 26b, and the conductive part 27b.

[0057] For example, in the third structural part 23c of the actuator 10, the conductive part 25c provided on the fixed part 18c and electrically connected to the expansion and contraction part 15c, the conductive part 26c provided on the force transmission part 16c and electrically connected to the expansion and contraction part 15c, and the conductive part 27c provided on the fixed part 19c and electrically connected to the conductive part 26c are provided. For example, in the third structural part 23c, an electric signal is supplied to the expansion and contraction part 15c via the conductive part 25c, the conductive part 26c, and the conductive part 27c.

[0058] For example, in the fourth structural part 23d, the actuator 10 includes a conductive part 25d provided on the fixing part 18d and electrically connected to the expansion and contraction part 15d, a conductive part 26d provided on the force transmission part 16d and electrically connected to the expansion and contraction part 15d, and a conductive part 27d provided on the fixing part 19d and electrically connected to the conductive part 26d. For example, in the fourth structural part 23d, an electrical signal is supplied to the expansion and contraction part 15d via the conductive part 25d, the conductive part 26d, and the conductive part 27d.

[0059] The conductive part 25 (first electrode) and the conductive part 27 (second electrode) are each electrically connected to the signal generation part 12. The signal generation part 12 is, for example, a driver that drives the expansion and contraction part 15. The signal generation part 12 is provided, for example, in the tactile device 1. The signal generation part 12 generates an electrical signal and drives the expansion and contraction part 15 with the electrical signal. The signal generation part 12 expands and contracts the expansion and contraction part 15 with the generated electrical signal. The electrical signal includes a signal that defines at least a part of the expansion and contraction direction (expansion and contraction), the amount of expansion and contraction, the expansion and contraction speed, and the acceleration of the expansion and contraction of the expansion and contraction part 15. For example, the electrical signal includes a current waveform, and the signal generation part 12 drives the expansion and contraction part 15 with this current waveform. The amount of expansion and contraction of the expansion and contraction part 15 is represented, for example, as the difference between the length of the expansion and contraction part 15 in the state where the electrical signal is supplied and the reference value, with the length of the expansion and contraction part 15 in the state where no electrical signal is supplied as the reference value.

[0060] The signal generation part 12 is communicably connected, for example, to a computer (e.g., the information processing device 3 in FIG. 1) by wire or wirelessly. The signal generation part 12 generates an electrical signal for expanding and contracting the expansion and contraction part 15 using a signal (e.g., a control signal) from the computer. For example, the information processing device 3 in FIG. 1 provides a signal indicating the level of the force applied to the finger of the user 5 in the real space according to the positions of the object 6 in the cyber space and the finger of the user 7 to the tactile device 1. The signal generation part 12 generates an electrical signal that realizes the amount of expansion and contraction of the expansion and contraction part 15 corresponding to the level of this force using this signal.

[0061] In this embodiment, the signal generation unit 12 generates an electrical signal for expanding and contracting the plurality of expansion / contraction units 15 as an electrical signal. The signal generation unit 12 supplies an electrical signal to each of the plurality of expansion / contraction units 15 individually, for example. For example, at least a part of the signal line that transmits the electrical signal to the expansion / contraction unit 15a is provided separately from the signal line that transmits the electrical signal to the expansion / contraction unit 15b.

[0062] The signal generation unit 12 may provide the same electrical signal to the plurality of expansion / contraction units 15, or may provide different electrical signals to the plurality of expansion / contraction units 15. For example, the signal generation unit 12 may provide an electrical signal so that the lengths or expansion / contraction amounts of the plurality of expansion / contraction units 15 become the same. Note that the signal generation unit 12 may provide an electrical signal so that the lengths or expansion / contraction amounts of the plurality of expansion / contraction units 15 are different from each other.

[0063] Subsequently, the operations of the tactile device 1 and the actuator 10 of the first embodiment will be described. In the tactile device 1 and the actuator 10, for example, the signal generation unit 12 (see FIG. 1) provides an electrical signal to the plurality of expansion / contraction units 15 so that the plurality of expansion / contraction units 15 contract to the same length. For example, the signal generation unit 12 is supplied with a target value of the lengths of the plurality of expansion / contraction units 15 and a control signal representing the target value of the lengths of the plurality of expansion / contraction units 15. The target values of the lengths of the plurality of expansion / contraction units 15 are set to the same target value as each other, for example. The signal generation unit 12 provides an electrical signal to each of the plurality of expansion / contraction units 15 so that the lengths of the plurality of expansion / contraction units 15 approach the target value.

[0064] The signal generation unit 12 generates an electrical signal for changing the temperature of the plurality of expansion and contraction units 15 so that the lengths of the plurality of expansion and contraction units 15 become target values, and supplies the generated electrical signal to the plurality of expansion and contraction units 15. For example, the signal generation unit 12 supplies a current waveform as an electrical signal to each of the plurality of expansion and contraction units 15 so that the time histories of the lengths of the plurality of expansion and contraction units 15 are the same. For example, when the dimensional differences and characteristic differences among the plurality of expansion and contraction units 15 are less than the error range, the current waveforms supplied to the plurality of expansion and contraction units 15 are substantially the same in waveform and phase as the supplied current waveform. In the present embodiment, "substantially the same" corresponds to being within a predetermined allowable error range.

[0065] The plurality of expansion and contraction units 15 contract, for example, at the same expansion and contraction speed and expansion and contraction amount with respect to each other. The expansion and contraction amount is represented by the amount of change in length, and the expansion and contraction speed is represented by the amount of change in length over time. By the contraction of the plurality of expansion and contraction units 15, the entire moving parts 13a to 13b approach a predetermined part 11 and move in parallel. The moving parts 13a to 13b move in substantially the same posture with respect to the predetermined part 11. The moving parts 13a to 13b press a predetermined position of the predetermined part 11 by moving. As a result, the force acting on the predetermined position by the moving parts 13a to 13b increases, and the user feels a stronger feeling that the predetermined part 11 is being touched. The plurality of expansion and contraction units 15 have their temperature decreased by heat dissipation, for example, when the power supply from the signal generation unit 12 is cut off. The plurality of expansion and contraction units 15 extend, for example, due to the temperature decrease and return to their original lengths, and the moving parts 13a to 13b move in a direction away from the predetermined part 11. As a result, the force acting on the predetermined part 11 by the moving parts 13a to 13b decreases, and the user feels a weaker feeling that the predetermined part 11 is being touched.

[0066] Further, the expansion and contraction amounts of the expansion and contraction unit 15a and the expansion and contraction unit 15b may be controlled to be different from the expansion and contraction amounts of the expansion and contraction unit 15c and the expansion and contraction unit 15d. For example, by relatively changing the expansion and contraction amounts of the expansion and contraction unit 15a and the expansion and contraction unit 15b and controlling them to be different from the expansion and contraction amounts of the expansion and contraction unit 15c and the expansion and contraction unit 15d, the pressing of the predetermined part 11 by the moving part 13a and the moving part 13b can also be moved in the length direction D3 (the length direction of the finger) orthogonal to the width direction D2.

[0067] Further, the plurality of expansion / contraction parts 15 may, for example, relatively change the expansion / contraction amount by an electric signal to change the postures of the moving parts 13a to 13b with respect to the predetermined part 11. The moving parts 13a to 13b can apply forces at different positions on the predetermined part 11 according to the postures with respect to the predetermined part 11. For example, the signal generation part 12 relatively changes the expansion / contraction amounts of the expansion / contraction part 15a and the expansion / contraction part 15b, and expands or contracts one or both of the expansion / contraction part 15a and the expansion / contraction part 15b so that the lengths (expansion / contraction amounts) of the expansion / contraction part 15a and the expansion / contraction part 15b are different, whereby the moving part 13a can be tilted from a state parallel to the base part 14 to an inclined state. Thereby, the user can experience a feeling of the finger tracing, for example, by the position where it feels touched changing. For example, the signal generation part 12 contracts the expansion / contraction part 15a by an electric signal and contracts the expansion / contraction part 15b by an electric signal with a predetermined time delay. For example, the signal generation part 12 supplies a current waveform of a predetermined waveform as an electric signal to the expansion / contraction part 15a, and supplies a current waveform of a predetermined waveform with a phase shift from this electric signal to the expansion / contraction part 15b as an electric signal. Thereby, the position where the moving part 13a presses the predetermined part 11 continuously changes, for example, in the width direction D2.

[0068] As described above, the actuator 10 according to the aspect of the present embodiment includes a moving part 13 at least a part of which moves forward and backward with respect to an object, a base part 14 arranged on the side opposite to the moving part 13 with respect to the object, an expansion / contraction part 15 arranged on the side opposite to the object with respect to the base part 14 and expanding and contracting by an electric signal in a width direction D2 non-parallel to the thickness direction D1 in which the moving part 13 moves forward and backward, with the first side in the width direction D2 fixed to the base part 14, and a force transmission part 16 fixed to the second side opposite to the first side of the expansion / contraction part 15 in the width direction D2, extending in the thickness direction D1 and fixed to the moving part 13, and moving the moving part 13 forward and backward by the expansion and contraction of the expansion / contraction part 15.

[0069] Here, consider a configuration (appropriately referred to as a comparative configuration) in which, in the expansion and contraction portion 15a shown in FIG. 3(B), the + side in the width direction D2 is fixed to the moving portion 13a in the same manner as the - side. In FIG. 3(B), if the expansion and contraction amount of the expansion and contraction portion 15a is ΔL, the movement amount of the portion fixed to the force transmission portion 16a in the moving portion 13a is ΔL. On the other hand, in the actuator of the comparative configuration, when the expansion and contraction amount of the expansion and contraction portion is ΔL, the movement amount of the moving portion 13a is ΔL / 2. Thus, the actuator of the present embodiment shown in FIG. 3 can increase the movement amount (e.g., stroke) of the moving portion 13 as compared with the actuator of the comparative configuration. Further, in the actuator of the comparative configuration, for example, the moving portion moves while maintaining a posture parallel to the width direction. The actuator 10 according to the embodiment moves, for example, one moving portion 13 by a first drive portion (e.g., the structural portion 23a) and a second drive portion (e.g., the structural portion 23b), and independently controls the first drive portion and the second drive portion. This actuator 10 can move the moving portion 13a in a posture parallel to the width direction D2, can also move the moving portion 13a in a posture non-parallel to the width direction D2, and can move the moving portion 13a while changing its posture. Further, when at least a part of the expansion and contraction portion 15b is disposed at a position overlapping the expansion and contraction portion 15a when viewed from the length direction D3, the actuator 10 can reduce the size in the plane perpendicular to the length direction D3. For example, in the actuator 10, to make the movement amount of the moving portion 13a ΔL, for example, the expansion and contraction amount of the expansion and contraction portion 15a is made ΔL. The expansion and contraction amount of the expansion and contraction portion 15a depends, for example, on the reference length of the expansion and contraction portion. Here, let the reference length of the expansion and contraction portion that enables the expansion and contraction amount of the expansion and contraction portion 15a to be ΔL be L. In the actuator of the comparative configuration, to make the movement amount of the moving portion ΔL, for example, the expansion and contraction amount of the expansion and contraction portion needs to be ΔL×2, and the reference length of the expansion and contraction portion needs to be L×2. When the actuator 10 according to the embodiment is used in the tactile device 1 shown in FIG. 1, since the size of the actuator 10 can be reduced in the finger width direction, for example, it is possible to avoid the actuator 10 interfering with the adjacent finger while ensuring the stroke of the moving portion.

[0070] Further, the actuator 10 according to the aspect of the present embodiment may include a fixing portion 18 (first fixing portion) that fixes the telescopic portion 15 and the base portion 14, a fixing portion 19 (second fixing portion) that fixes the force transmission portion 16 and the moving portion 13, a conductive portion 25 (first conductive portion) provided on the first fixing portion and electrically connected to the telescopic portion 15, a conductive portion 26 (second conductive portion) provided on the force transmission portion 16 and electrically connected to the telescopic portion 15, and a conductive portion 27 (third conductive portion) provided on the second fixing portion and electrically connected to the second conductive portion. The electrical signal may be supplied to the telescopic portion 15 via the first conductive portion, the second conductive portion, and the third conductive portion.

[0071] Further, the actuator 10 according to the aspect of the present embodiment may include a second telescopic portion (telescopic portion 15b) that is disposed on the side opposite to the target with respect to the base portion 14, expands and contracts in the width direction D2 by an electrical signal, and has the second side in the width direction D2 fixed to the base portion, and a second force transmission portion (force transmission portion 16b) that is fixed to the first side of the second telescopic portion in the width direction D2, extends in the thickness direction D1, is fixed to the base portion 14, and advances and retracts the moving portion 13 by the expansion and contraction of the second telescopic portion.

[0072] Further, the actuator 10 according to the aspect of the present embodiment may include a second moving portion (moving portion 13b) that at least partially advances and retracts with respect to the target and is different from the moving portion (moving portion 13a), a third telescopic portion (telescopic portion 15c) that is disposed on the side opposite to the target with respect to the base portion 14, expands and contracts in the width direction D2 by an electrical signal, and has the first side in the width direction D2 fixed to the base portion 14, and a third force transmission portion (force transmission portion 16c) that is fixed to the second side opposite to the first side (telescopic portion 15c) of the third telescopic portion in the width direction D2, extends in the thickness direction D1, is fixed to the second moving portion (moving portion 13b), and advances and retracts the second moving portion by the expansion and contraction of the telescopic portion 15.

[0073] Note that the actuator 10 in the embodiment aspect includes a moving part 13 that at least partially moves in the thickness direction D1, a base part 14 arranged away from the moving part 13 in the thickness direction D1, and a part arranged on the side opposite to the moving part 13 with respect to the base part 14, which expands and contracts by an electrical signal in the width direction D2 that is non-parallel to the thickness direction D1. The first side in the width direction D2 is fixed to the base part 14, and a telescopic part 15, and a force transmission part 16 that is fixed to the second side opposite to the first side of the telescopic part 15 in the width direction D2, extends in the thickness direction D1, and is fixed to the moving part 13. It may be configured to include.

[0074] Further, according to the present embodiment, there is provided a tactile device 1 including the actuator 10 in the embodiment aspect, and causing the moving part 13 to act on an animal including the target to present a sense of touch. The actuator 10 in the embodiment aspect can be suitably used for the tactile device 1.

[0075] [Second Embodiment] The second embodiment will be described. In the present embodiment, the same components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof is omitted or simplified. FIGS. 4(A) to 4(C) are diagrams showing an actuator according to the second embodiment. FIG. 4(A) is a top view. FIG. 4(B) is a cross-sectional view taken along line A3 - A4 shown in FIG. 4(A). FIG. 4(C) is a cross-sectional view taken along line B3 - B4 shown in FIG. 4(A).

[0076] The actuator 10 according to the second embodiment includes a telescopic part 31, a telescopic part 32, a connecting part 33, a fixing part 35, a fixing part 36, a conductive part 38, a conductive part 39, and a conductive part 40.

[0077] In the present embodiment, there are a plurality of telescopic parts 31 in the actuator 10. The telescopic part 31 includes a telescopic part 31a and a telescopic part 31b. In the present embodiment, there are a plurality of telescopic parts 32 in the actuator 10. The telescopic part 32 includes a telescopic part 32a and a telescopic part 32b.

[0078] The telescopic parts 31a, 31b, 32a, and 32b are arranged on the side opposite to the target with respect to the base part 14, similarly to the telescopic part 15 of the first embodiment, and expand and contract in the width direction D2 by an electric signal.

[0079] The telescopic part 31a includes the same configuration as the telescopic part 15 of the first embodiment, and is fixed to the base part 14 by a fixing part 35a on the first side (e.g., the + side in the width direction D2) of the width direction D2. The telescopic part 32a includes the same configuration as the telescopic part 15 of the first embodiment, and is fixed to the base part 14 by a fixing part 36a on the first side (e.g., the + side in the width direction D2) of the width direction D2. The telescopic part 31a and the telescopic part 32a are arranged adjacent to each other with a gap in the length direction D3.

[0080] The telescopic part 31a is connected to a conductive part 38a (first electrode) provided on the fixing part 35a. The telescopic part 32a is connected to a conductive part 39a (second electrode) provided on the fixing part 36a. The telescopic part 31a and the telescopic part 32a are each connected to a connection part 33a on the second side (e.g., the - side in the width direction D2) in the width direction D2. The telescopic part 31a and the telescopic part 32a are connected by a conductive part 40a provided on the connection part 33a. The conductive part 40a electrically connects the telescopic part 31a and the telescopic part 32a in series. The conductive part 38a (first electrode) and the conductive part 39a (second electrode) are connected to the signal generation part 12 and supplied with an electric signal from the signal generation part 12, for example, similarly to the first embodiment. The electric signal supplied from the signal generation part 12 is supplied to the telescopic part 31a and the telescopic part 32a via the conductive part 38a, the conductive part 39a, and the conductive part 40a.

[0081] The telescopic part 31a and the telescopic part 32a are connected to one force transmission part 42a via the connection part 33a on the second side (e.g., the - side in the width direction D2). The connection part 33a is a part of the force transmission part 42a. The connection part 33a is fixed to the moving part 43 via the force transmission part 42a. The force transmission part 42a transmits the force generated by the expansion and contraction of the telescopic part 31a and the telescopic part 32a to the moving part 43. The telescopic part 31a and the telescopic part 32a are each fixed to one moving part 43 via the connection part 33a and the force transmission part 42a. The bearing 21 supports the force transmission part 42a.

[0082] The telescopic parts 31a and 32a contract or expand similarly by an electric signal. For example, when an electric signal is supplied to the telescopic parts 31a and 32a and they contract, the moving part 43 moves in a direction approaching a predetermined part 11 (e.g., the + side in the thickness direction D1) via the force transmission part 42a. For example, when an electric signal is supplied to the telescopic parts 31a and 32a and they expand, the moving part 43 moves in a direction away from the predetermined part 11 (e.g., the - side in the thickness direction D1) via the force transmission part 42a.

[0083] The telescopic part 31b includes the same configuration as the telescopic part 15 of the first embodiment and is fixed to the base part 14 by a fixing part 35b on the second side in the width direction D2 (e.g., the - side in the width direction D2). The telescopic part 32b includes the same configuration as the telescopic part 15 of the first embodiment and is fixed to the base part 14 by a fixing part 36b on the second side in the width direction D2 (e.g., the - side in the width direction D2). The telescopic part 31b and the telescopic part 32b are arranged adjacent to each other with a gap in the length direction D3. The telescopic part 31a, the telescopic part 32a, the telescopic part 32b, and the telescopic part 31b are arranged adjacent to each other with a gap in this order in the length direction D3.

[0084] The telescopic part 31b is connected to a conductive part 38b (first electrode) provided on the fixing part 35b. The telescopic part 32b is connected to a conductive part 39b (second electrode) provided on the fixing part 36b. The telescopic part 31b and the telescopic part 32b are each connected to a connection part 33b on the first side in the width direction D2 (e.g., the + side in the width direction D2). The telescopic part 31b and the telescopic part 32b are connected by a conductive part 40b provided on the connection part 33b. The conductive part 40b electrically connects the telescopic part 31a and the telescopic part 32a in series. The conductive part 38b (first electrode) and the conductive part 39b (second electrode) are connected to the signal generation part 12 and supplied with an electric signal from the signal generation part 12, for example, in the same manner as the first embodiment. The electric signal supplied from the signal generation part 12 is supplied to the telescopic part 31b and the telescopic part 32b via the conductive part 38b, the conductive part 39b, and the conductive part 40b.

[0085] The telescopic portions 31b and 32b are connected to a single force transmission portion 42b via a connection portion 33b on the first side (e.g., the + side in the width direction D2). The connection portion 33b is a part of the force transmission portion 42b. The connection portion 33b is fixed to the moving portion 43 via the force transmission portion 42b. The force transmission portion 42b transmits the force generated by the expansion and contraction of the telescopic portions 31b and 32b to the moving portion 43. The telescopic portions 31b and 32b are each fixed to a single moving portion 43 via the connection portion 33b and the force transmission portion 42b. The bearing 21 supports the force transmission portion 42b.

[0086] The telescopic portions 31b and 32b also contract or expand in response to an electrical signal. For example, when an electrical signal is supplied to the telescopic portions 31b and 32b and they contract, the moving portion 43 moves in a direction approaching a predetermined site 11 (e.g., the + side in the width direction D2) via the force transmission portion 42b. For example, when an electrical signal is supplied to the telescopic portions 31b and 32b and they expand, the moving portion 43 moves in a direction away from the predetermined site 11 (e.g., the - side in the width direction D2) via the force transmission portion 42b.

[0087] In the actuator 10 of the present embodiment, two telescopic portions are connected in series and arranged in a folded-back form at a single connection portion 33, and the connection portion 33 is connected to a single moving portion 43 via the force transmission portion 42.

[0088] [Third Embodiment] The third embodiment will be described. In this embodiment, for configurations similar to those in the above-described embodiments, the same reference numerals are used and their descriptions are omitted or simplified. FIGS. 5(A) to (C) are diagrams showing an actuator according to the third embodiment. FIG. 5(A) is a top view. FIG. 5(B) is a cross-sectional view taken along line A5 - A6 shown in FIG. 5(A). FIG. 5(C) is a cross-sectional view taken along line B5 - B6 shown in FIG. 5(A).

[0089] In this embodiment, the actuator 10 includes temperature adjusters 50a to 50d that adjust the temperatures of the plurality of expansion and contraction parts 15. The temperature adjuster 50a adjusts the temperature of the expansion and contraction part 15a. The temperature adjuster 50b adjusts the temperature of the expansion and contraction part 15b. The temperature adjuster 50c adjusts the temperature of the expansion and contraction part 15c. The temperature adjuster 50d adjusts the temperature of the expansion and contraction part 15d.

[0090] The temperature adjusters 50 are provided near the expansion and contraction parts 15 so as not to interfere with the expansion and contraction of the expansion and contraction parts 15, for example. The temperature adjuster 50a is provided near the expansion and contraction part 15a, for example. The temperature adjuster 50b is provided near the expansion and contraction part 15b, for example. The temperature adjuster 50c is provided near the expansion and contraction part 15c, for example. The temperature adjuster 50d is provided near the expansion and contraction part 15d, for example.

[0091] The temperature adjusters 50a to 50d are, for example, heaters, Peltier elements, etc. For example, the tactile device 1 (actuator 10) supplies an electrical signal to the temperature adjusters 50a to 50d, and the temperature adjusters 50a to 50d expand and contract the plurality of expansion and contraction parts 15 by adjusting the temperatures of the plurality of expansion and contraction parts 15 by the electrical signal. In this way, the plurality of expansion and contraction parts 15 may expand and contract when the temperature adjuster adjusts the temperatures of the plurality of expansion and contraction parts 15 by an electrical signal.

[0092] [Modification Example] An actuator according to a modification of the embodiment will be described. In this embodiment, the same components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof is omitted or simplified. FIG. 6 is a diagram showing the actuator of the modification example. In this actuator 10, the expansion and contraction parts are arranged so as to approach a predetermined side in the third direction perpendicular to the first direction and perpendicular to the second direction as they go from the first side to the second side in the second direction. For example, the expansion and contraction part 15a is arranged so as to approach the + side in the length direction D3 as it goes from the + side to the - side in the width direction D2. The axial direction of the expansion and contraction part 15a is set to be non-parallel to the width direction D2 when viewed from the thickness direction D1.

[0093] As compared with the configuration shown in FIG. 3, the actuator 10 in FIG. 6 can increase the ratio of the length of the telescopic part to the length of the base part in the width direction D2. When the telescopic part is lengthened in the axial direction, the amount of expansion and contraction of the telescopic part can be increased, and the amount of movement (e.g., stroke) of the moving part can be lengthened. When the amount of movement of the moving part is lengthened, the force with which the moving part presses the object can be increased. For example, when the actuator 10 is used in the tactile device 1, the range of the magnitude of the force applied by the tactile device 1 to the object can be widened. Further, when the actuator 10 in FIG. 6 is used in the tactile device 1, for example, the stroke of the moving part can be lengthened while avoiding interference between the actuator 10 provided on one finger and the adjacent finger.

[0094] In the actuator 10 of FIG. 6, the second telescopic part is arranged so as to approach a predetermined direction in the third direction perpendicular to the first direction and perpendicular to the second direction as it goes from the first side to the second side in the second direction. For example, the telescopic part 15b is arranged so as to approach the + side in the length direction D3 as it goes from the + side to the - side in the width direction D2. The axial direction of the telescopic part 15b is set to be non-parallel to the width direction D2 as viewed from the thickness direction D1. The axial direction of the telescopic part 15b is, for example, parallel to the axial direction of the telescopic part 15a, but may not be parallel to the axial direction of the telescopic part 15a. The actuator 10 in FIG. 6 can easily move the fixing part 19a closer to the + side in the length direction D3 as compared with the configuration shown in FIG. 3. The actuator 10 in FIG. 6 can easily move the fixing part 19b closer to the - side in the length direction D3 as compared with the configuration shown in FIG. 3. Thus, the actuator 10 in FIG. 6 can reduce the difference between the position of the fixing part 19a and the position of the fixing part 19b in the length direction D3 as compared with the configuration shown in FIG. 3.

[0095] Note that the technical scope of the present invention is not limited to the aspects described in the above-described embodiments and the like. One or more of the requirements described in the above-described embodiments and the like may be omitted. Further, the requirements described in the above-described embodiments and the like can be combined as appropriate. Also, to the extent permitted by law, the disclosures of all the documents cited in the above-described embodiments and the like are incorporated by reference and made part of the description herein.

[0096] In the above-described embodiment, an example in which the actuator 10 is applied to the tactile device 1 is shown, but the present invention is not limited to this example. The actuator 10 according to the above-described embodiment can be applied to other than the tactile device.

[0097] In the above-described embodiment, the actuator 10 includes a plurality of each of the fixing portion 18, the telescopic portion 15, the force transmission portion 16, the bearing 21, the fixing portion 19, the conductive portion 25, the conductive portion 26, and the conductive portion 27. However, the number of at least one type of each portion does not have to be plural, and may be one. For example, in the actuator 10, the number of at least one type of portion among the base portion 14, the fixing portion 18, the telescopic portion 15, the force transmission portion 16, the moving portion 13, the conductive portion 25, the conductive portion 26, and the conductive portion 27 may be one.

[0098] The configuration of the bearing 21 described with reference to FIG. 3 and the like is an example, and the configuration of the bearing 21 is arbitrary. The actuator 10 according to the embodiment may include a bearing 21 having a configuration different from that of FIG. 3, or may not include the bearing 21. Instead of the bearing 21, the actuator 10 may include a support portion of the force transmission portion 16 different from the bearing 21. The support portion of the force transmission portion 16 may have a structure in which the force transmission portion 16 can move while sliding on its surface. This support portion may be a part of the base portion 14 and may be a portion where the corner of the base portion 14 is rounded.

[0099] Note that, in the actuator 10, the moving portion 13 may be one member or two or more members. Also, in the actuator 10, the base portion 14 may be one member or two or more members.

Description of Reference Numerals

[0100] SYS: Experience system, 1: Tactile device, 2: Display device, 3: Information processing device, 5: User, 6: Object, 7: User, 8: Image, 10: Actuator, 11: Predetermined part, 12: Signal generation part, 13(13a~13b): Moving part, 14: Base part, 15(15a~15d): Telescopic part, 16(16a~16d): Force transmission part, 18(18a~18d): Fixing part (First fixing part), 19(19a~19d): Fixing part (Second fixing part), 21: Bearing, 23(23a~23d): Structural part, 25(25a~25d): Conductive part (First conductive part), 26(26a~26d): Conductive part (Second conductive part), 27(27a~27d): Conductive part (Third conductive part), D1: Thickness direction, D2: Width direction, D3: Length direction

Claims

1. A moving unit, at least a part of which moves forward and backward relative to the target; A base portion disposed on an opposite side of the moving portion with respect to the object; an expandable section disposed on the opposite side of the base section from the target, expandable and contractable in a second direction non-parallel to a first direction in which the moving section advances and retreats in response to an electrical signal, and a first side in the second direction is fixed to the base section; an actuator comprising: a force transmission part that is fixed to a second side opposite the first side of the extension / contraction part in the second direction, extends in the first direction and is fixed to the moving part, and moves the moving part forward and backward by extension and contraction of the extension / contraction part.

2. a first fixing portion that fixes the stretchable portion and the base portion; a second fixing portion that fixes the force transmission portion and the moving portion; a first conductive portion provided on the first fixing portion and electrically connected to the expandable portion; A second conductive portion provided to the force transmission portion and electrically connected to the expandable portion; a third conductive portion provided on the second fixed portion and electrically connected to the second conductive portion, The electrical signal is supplied to the stretchable portion via the first conductive portion, the second conductive portion, and the third conductive portion. The actuator of claim 1 .

3. A second expandable portion is disposed on the opposite side of the base portion from the target, expands and contracts in the second direction in response to an electrical signal, and the second side in the second direction is fixed to the base portion; The actuator of claim 1, further comprising: a second force transmission portion that is fixed to the first side of the second extension / contraction portion in the second direction, extends in the first direction and is fixed to the base portion, and moves the moving portion forward and backward by extension and contraction of the second extension / contraction portion.

4. The actuator according to claim 3 , wherein the second expandable portion is disposed at a position overlapping the expandable portion when viewed from a third direction perpendicular to the first direction and perpendicular to the second direction.

5. The actuator of claim 3, wherein the expandable portion and the second expandable portion are each arranged so as to approach a predetermined side of a third direction perpendicular to the first direction and perpendicular to the second direction as they move from the first side to the second side in the second direction.

6. A second moving unit different from the moving unit, at least a part of which moves forward and backward in the first direction relative to the target; a third expandable portion disposed on the opposite side of the base portion from the target, expandable in the second direction in response to an electrical signal, and fixed at the first side in the second direction to the base portion; The actuator of claim 3, further comprising: a third force transmission part that is fixed to a second side of the third extension / contraction part opposite the first side in the second direction, extends in the first direction and is fixed to the second moving part, and moves the second moving part forward and backward by extension and contraction of the extension / contraction part.

7. A second expandable portion is disposed on the opposite side of the base portion from the target, expands and contracts in the second direction in response to an electrical signal, and the first side in the second direction is fixed to the base portion; A connection portion fixed to the second side in the second direction in the stretchable portion and fixed to the second side in the second direction in the second stretchable portion; a first fixing portion that fixes the stretchable portion and the base portion; a second fixing portion that fixes the second expandable portion and the base portion; a first conductive portion provided on the first fixing portion and electrically connected to the expandable portion; a second conductive portion provided on the second fixed portion and electrically connected to the second expandable portion; a third conductive portion provided at the connection portion and electrically connecting the stretchable portion and the second stretchable portion in series; the connection portion is fixed to the moving portion via the force transmission portion, The electrical signal is supplied to the elastic portion and the second elastic portion via the first conductive portion, the second conductive portion, and the third conductive portion. The actuator of claim 1 .

8. A haptic device comprising the actuator according to claim 1 , wherein the moving part exerts a force on an animal including the target to present a haptic sensation.

Images