Haptic interface

Abstract

To provide a haptic interface which can implement more accurate sensing and actuation regardless of characteristics and tastes of individuals or types of target actions.SOLUTION: The haptic interface to be worn on a finger includes: finger mounting parts having contact parts to be brought into contact with a surface of the finger; and a base part to which a device functioning as at least one of sensors or actuators is attached. The haptic interface has a plurality of finger mounting parts different in shape of contact parts, and the base part and the finger mounting parts are attachable to and detachable from each other via a joint part.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a tactile interface that is attached to a finger and worn on a finger.

Background Art

[0002] There are several types of tactile interfaces worn on human fingers. For example, a glove-type tactile interface in which conductive loops are woven at positions corresponding to the fingers is known (Patent Document 1).

[0003] Also, a fingertip-mounted tactile interface that can be worn on each finger by inserting it from the fingertip is known (Non-Patent Document 1).

[0004] In general, such tactile interfaces are prepared in multiple sizes to adapt to the size of the finger.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Non-Patent Documents

[0006]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, the conventional tactile interfaces as described above have the following problems. Specifically, there are individual differences in the positions where touch is felt. Also, depending on the type of target action (e.g., playing a musical instrument) using the tactile interface, the appropriate mounting position of the tactile interface may vary.

[0008] That is, alignment of the tactile interface according to individual characteristics, preferences, or the type of target action is a very important factor, but in the conventional tactile interfaces, it is only to the extent of fitting the size of the finger, and it is difficult to sufficiently meet such a requirement for accurate alignment.

[0009] Also, in the case of conventional tactile interfaces, it is not possible to replace them with, for example, a device having a higher-output vibrator while the tactile interface is mounted, that is, in a state where the positioning of the tactile interface is done. For this reason, once the tactile interface has to be removed from the finger, and even if the tactile interface is mounted again, it may be difficult to reproduce the same sensitivity as before removal.

[0010] As described above, there is room for improvement in the accuracy of sensing and actuation in conventional tactile interfaces.

[0011] Therefore, the following disclosure has been made in view of such a situation, and aims to provide a tactile interface that can achieve more accurate sensing and actuation regardless of individual characteristics, preferences, or the type of target action.

Means for Solving the Problems

[0012] One aspect of the present disclosure is a tactile interface (100A, 100B, 100C) worn on a finger, comprising a finger mounting portion (110, 130, 135) having a contact portion (contact portion C) that contacts the surface of the finger, and a base portion (160, 180) to which a device (170, 190) having at least one function of a sensor or an actuator is attached. The tactile interface has a plurality of the finger mounting portions with different shapes of the contact portion, and the base portion and the finger mounting portion are detachable via a joint portion (200, 250).

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

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Figure 10

Embodiments for Carrying Out the Invention

[0014] Hereinafter, embodiments will be described with reference to the drawings. In the following description, the same or similar reference numerals are used for the same or similar functions and configurations, and the description thereof will be omitted as appropriate.

[0015] (1) Overall schematic configuration of a tactile transmission system including a tactile interface FIG. 1 is an overall schematic configuration diagram of a tactile transmission system 10 according to this embodiment. As shown in FIG. 1, the tactile transmission system 10 may include a platform device 20 and a plurality of tactile interfaces. Specifically, the tactile transmission system 10 may include a tactile interface 100A, a tactile interface 100B, and a tactile interface 100C. Note that the configuration in FIG. 1 is an example, and the number of tactile interfaces connected to the tactile transmission system 10 is not particularly limited.

[0016] The sensing side may be constituted by a plurality of sensors (sensing devices) that grasp the state of a human. The actuation side (which may also be referred to as the controlled side or the extended side) may be constituted by an actuation device (driving device) that reproduces the state grasped by the sensing device for another human. The tactile interface 100A, the tactile interface 100B, and the tactile interface 100C may function as sensing devices or as actuation devices.

[0017] While a sensing device is a device that senses an external physical movement or the like and converts it into a signal, an actuation device may generally mean a device that generates a physical movement such as a motor in response to an internal signal and acts on the outside world. In this embodiment, the actuation side mainly assumes that a human is the control target, but a robot may also be the control target.

[0018] For the connection between the platform device 20 and the tactile interface, an SDK (Software Development Kit) may be involved. The SDK may mean a development kit consisting of documents, tools, libraries, sample programs, etc. that are necessary when creating an application.

[0019] The platform device 20 may constitute part or all of the Human Augmentation Infrastructure (registered trademark). Specifically, the platform device 20 can compare the sensed information with the body information on the actuator device side, apply the difference to the sensing information, and then transmit the information after application to the actuator device.

[0020] For example, it is possible to perform operation sharing in an appropriate form according to the movable range of the body, or present a more recognizable tactile sensation according to the tactile sensitivity. Also, the size of the operation to be shared can be enlarged or reduced.

[0021] In this embodiment, although an example where the tactile interfaces 100A, 100B, and 100C are connected to the platform device 20 that provides human augmentation technology has been shown, the tactile interface may be connected to something other than the platform device 20, such as a general-purpose computer that can execute processing related to sensing or actuation.

[0022] (2) Configuration of the Tactile Interface Next, the configurations of the above-described tactile interfaces 100A, 100B, and 100C will be described. The tactile interfaces 100A, 100B, and 100C are worn on the fingers.

[0023] Figure 2 shows an example of wearing the tactile interface on a finger. As shown in Figure 2, the tactile interface 100A and the tactile interface 100B are worn on the finger 30. Specifically, the tactile interface 100A is worn on the index finger of the right hand, and the tactile interface 100B is worn on the middle finger of the right hand.

[0024] In this embodiment, the tactile interface 100A and the tactile interface 100B are worn on the finger 30. A finger may be interpreted as a branched part at the end of a limb, in other words, a branched part at the end of the upper and lower limbs of a vertebrate.

[0025] Also, touch may mean the sensation that occurs when touching an object, and is sensed by the touch points of the skin and various receptors.

[0026] Note that in this embodiment, as shown in Figure 2, the human finger 30 (any of the five fingers) is targeted, but the tactile interface may be worn targeting a robot finger.

[0027] (2.1) Tactile interface 100A Figure 3 is an overall perspective view of the tactile interface 100A. As shown in Figure 3, the tactile interface 100A includes a finger mounting portion 110 and a base portion 160.

[0028] The finger mounting portion 110 is a portion that is mounted on the finger 30 (see Figure 2). The finger mounting portion 110 is ring-shaped and can be inserted from the tip of the finger. A circular gap 120 into which the finger 30 can be inserted is formed in the finger mounting portion 110.

[0029] The finger mounting portion 110 has a contact portion C that contacts the surface of the finger. Specifically, the contact portion C of the finger mounting portion 110 contacts the finger 30 over the entire upper surface, side surface, and finger belly (fingerprint side) of the finger. Also, the contact portion C of the finger mounting portion 110 makes surface contact along the longitudinal direction of the finger. That is, the contact portion C of the finger mounting portion 110 has a width of a certain extent (for example, 5 millimeters) or more in the longitudinal direction of the finger.

[0030] A device 170 is attached to the base portion 160. The device 170 has at least one of the functions of a sensor or an actuator. The device 170 may have both the functions of a sensor and an actuator, or may be composed of a plurality of sensors or actuators. Although not shown, the device 170 may be connected to the platform device 20 (see FIG. 1) by wire, or may be connected to the platform device 20 wirelessly, either directly or indirectly via an access point or the like.

[0031] The device 170 has a rectangular parallelepiped shape and is suitable for mounting a relatively large sensor or actuator, or a plurality of sensors or actuators.

[0032] The base portion 160 and the finger mounting portion 110 are detachable via a joint portion 200. The joint portion 200 is composed of a concave portion formed in the finger mounting portion 110 and a convex portion formed in the base portion 160. The specific shape of the joint portion 200 will be described later.

[0033] (2.2) Tactile Interface 100B FIG. 4 is an overall perspective view of the tactile interface 100B. As shown in FIG. 4, the tactile interface 100B includes a finger mounting portion 130 and a base portion 180.

[0034] The finger mounting portion 130 is a portion mounted on the finger 30 (see Fig. 2). The finger mounting portion 130 is ring-shaped and can be inserted from the tip of the finger. A circular gap 120 into which the finger 30 can be inserted is formed in the finger mounting portion 130.

[0035] Compared with the finger mounting portion 110 of the tactile interface 100A, the finger mounting portion 130 has a circular cross-section and a thinner contact portion C. Specifically, the finger mounting portion 130 has a circular cross-sectional shape, and the contact portion C has a narrow width (2 to 3 millimeters or less) in the longitudinal direction of the finger.

[0036] A device 190 is attached to the base portion 180. The device 190 has at least one of the functions of a sensor or an actuator, similar to the device 170. The base portion 180 has a cylindrical shape and is small compared with the base portion 160 of the tactile interface 100A. Therefore, it is suitable for mounting a relatively small sensor or actuator, and the size and weight of the entire tactile interface can be reduced.

[0037] The base portion 180 and the finger mounting portion 130 are detachable via a joint portion 250. The joint portion 250 is composed of a concave portion formed in the finger mounting portion 130 and a convex portion formed in the base portion 180. The specific shape of the joint portion 250 will be described later.

[0038] (2.3) Tactile interface 100C Fig. 5 is an overall perspective view of the tactile interface 100C. As shown in Fig. 5, the tactile interface 100C includes a finger mounting portion 135 and a base portion 180. Compared with the tactile interface 100B, the tactile interface 100C has a different shape of the finger mounting portion 135, but the other parts are the same as those of the tactile interface 100B.

[0039] The finger mounting portion 135 has a contact portion C that contacts only a part in the orthogonal direction orthogonal to the longitudinal direction of the finger 30. Specifically, the finger mounting portion 135 contacts both side portions of the finger and is in a semi-ring shape with the belly (fingerprint side) portion of the finger open. That is, there is no ring on the belly side of the finger, which does not interfere with the operation of equipment such as musical instruments.

[0040] The finger mounting portion 135 can be inserted from the tip of the finger, but it may also be mounted on the finger by pushing it in from the upper surface (nail) side of the finger.

[0041] Since the finger mounting portion 135 mainly contacts only both side portions of the finger, the contact portion C can create a state of substantially point contact with the side surface of the finger.

[0042] Like the tactile interface 100A, the tactile interface 100B, and the tactile interface 100C described above, the tactile interface according to this embodiment may have a plurality of finger mounting portions with different shapes of the contact portion C. Also, the tactile interface according to this embodiment may include a plurality of base portions according to the characteristics or shape of the device. Further, the base portion and the finger mounting portion are detachable by a joint portion.

[0043] As described above, the tactile interface according to this embodiment is composed of a plurality of detachable finger mounting portions and a base portion having different sizes or shapes. Therefore, an appropriate combination of the finger mounting portion and the base portion can be appropriately selected according to the characteristics and preferences of individuals or the type of target action.

[0044] Depending on the characteristics and preferences of individuals, or the type of target action, there are cases where it is better that there is no finger mounting portion on the belly (fingerprint) side of the finger, conversely where it is better that there is one, cases where it is better to contact the surface of the finger in a plane, or cases where it is better to contact at a point, etc. However, the tactile interface according to this embodiment can meet such needs.

[0045] (2.4) Shape of the joint portion Next, the shape of the joint will be described. The joint according to this embodiment has a locking mechanism with a dovetail or push-rotation structure. Specifically, the shapes of the joint 200 of the tactile interface 100A and the joint 250 of the tactile interface 100B will be described.

[0046] (2.4.1) Joint 200 FIG. 6 is an exploded perspective view of the tactile interface 100A. As shown in FIG. 6, the joint 200 is composed of a convex portion 210 and a groove portion 220.

[0047] The convex portion 210 is formed on the side of the base portion 160. The groove portion 220 is formed on the side of the finger mounting portion 110. The groove portion 220 is in the shape of a dovetail groove, and the base portion 160 and the finger mounting portion 110 are joined by sliding the convex portion 210 into the groove portion 220.

[0048] The joint 200 joins the base portion 160 and the finger mounting portion 110 so that the contact surfaces thereof are in close contact. Thereby, it is possible to prevent the vibration transmission between the base portion 160 and the finger mounting portion 110 from being impaired.

[0049] (2.4.2) Joint 250 FIG. 7(a) is an exploded perspective view of the tactile interface 100B. FIG. 7(b) is a perspective view of the base portion 180 alone. In FIG. 7(b), the joint 250 is shown on the upper side.

[0050] As shown in FIGS. 7(a) and (b), the joint 250 is composed of a convex portion 251 and a concave portion 253. The convex portion 251 is cylindrical and has a pair of hook-shaped portions 252 protruding outward in the radial direction of the convex portion 251.

[0051] The concave portion 253 fits with the convex portion 251. The concave portion 253 has a hook-shaped concave portion 254 formed so as to correspond to the pair of hook-shaped portions 252.

[0052] Align the hook portion 252 with the position of the hook-shaped recess 254, fit the convex portion 251 into the concave portion 253, and turn it counterclockwise, so that the hook portion 252 is locked by the hook-shaped recess 254. The joint portion 250 adopts such a locking mechanism, and the attachment and detachment between the base portion 180 and the finger attachment portion 130 are easy.

[0053] Also, the joint portion 250 joins the base portion 160 and the finger attachment portion 130 so that the contact surfaces of the base portion 160 and the finger attachment portion 130 are in close contact. Thereby, it is possible to prevent the vibration propagation between the base portion 180 and the finger attachment portion 130 from being impaired.

[0054] (3) Mounting examples of the tactile interface Next, mounting examples of the tactile interfaces 100A, 100B, and 100C on the finger 30 will be described.

[0055] FIG. 8 shows a mounting example of the tactile interface 100A on the finger 30. As shown in FIG. 8, the tactile interface 100A can be mounted near the distal phalanx of the finger 30. Alternatively, the tactile interface 100A may be mounted near the first joint of the finger 30. The tactile interface 100A may also contact the part of the finger pad (fingerprint side). Note that any of the five fingers can be the target finger 30 on which the tactile interface 100A is mounted (the same applies to other tactile interfaces).

[0056] FIG. 9 shows a mounting example of the tactile interface 100B on the finger 30. As shown in FIG. 9, the tactile interface 100B can also be mounted near the distal phalanx of the finger 30. The tactile interface 100B may be mounted on the end side of the finger 30 rather than the first joint of the finger 30. The tactile interface 100B may also contact the part of the finger pad (fingerprint side).

[0057] Further, as shown in FIG. 9, the tactile interface 100B may have a convex portion 131 that protrudes toward the fingerprint side of the finger 30 formed on the finger mounting portion 130. The convex portion 131 may come into contact with the pad of the finger. As a result, since the contact area between the finger mounting portion 130 and the finger 30 increases, it is possible to more precisely sense the vibration that plucks the strings of a stringed instrument such as a piano.

[0058] FIGS. 10(a) and (b) show an example of mounting the tactile interface 100C on the finger 30. As shown in FIGS. 10(a) and (b), the tactile interface 100C can also be mounted near the distal phalanx of the finger 30. The tactile interface 100C may be mounted on the distal side of the finger 30 rather than the first joint of the finger 30.

[0059] As described above, the finger mounting portion 135 of the tactile interface 100C is in contact with both side portions of the finger 30 and is in a semi-ring shape with the pad (fingerprint side) portion of the finger open, and there is no ring on the ventral side of the finger.

[0060] (4) Function and Effect The above-described tactile interface 100A, tactile interface 100B, and tactile interface 100C have finger mounting portions with different shapes of the contact portion C. Further, the base portion and the finger mounting portion are detachable by a joint portion.

[0061] Therefore, it is possible to easily achieve alignment of the tactile interface according to the characteristics and preferences of an individual or the type of target action, and it is possible to sufficiently meet the requirement of accurate alignment. Further, since such a tactile interface can prepare various finger mounting portions, it can easily adapt to the size of the finger.

[0062] In addition, since the base part and the finger attachment part are detachable, it is possible to replace them with other devices, such as a device (base part) equipped with a higher-output vibrator, while maintaining the positioning of the tactile interface. Therefore, it is not necessary to remove the entire tactile interface from the finger, and even after replacing the base part, it is not necessary to align the finger attachment part, so the same sensitivity as before replacing the base part can be reproduced.

[0063] As described above, according to the tactile interface according to the present embodiment, higher-precision sensing and actuation can be realized regardless of individual characteristics, preferences, or the type of target action.

[0064] (5) Other Embodiments As described above, the content of the present proposal has been described along with the examples. However, it is obvious to those skilled in the art that the present proposal is not limited to these descriptions, and various modifications and improvements are possible.

[0065] For example, in the above-described embodiment, the joint part had a locking mechanism with a dovetail or push-rotation structure, but the structure of the joint part is not limited to such a method. For example, a screwing type using a male screw part and a female screw part may be used, or a structure using a grommet and a plunger may be used.

[0066] In addition, in the above-described embodiment, an example in which the tactile interface is attached to the finger 30 has been described. However, the tactile interface is not limited to the finger and can also be attached to the toes.

[0067] (Supplementary Note) The above disclosure may be expressed as follows. The first feature is a tactile interface attached to a finger, comprising a finger attachment part having a contact part that contacts the surface of the finger, and a base part to which a device having at least one of the functions of a sensor or an actuator is attached. The tactile interface has a plurality of the finger attachment parts with different shapes of the contact part, and the base part and the finger attachment part are detachable via a joint part.

[0068] The second feature is that, in the first feature, the tactile interface includes a plurality of base portions according to the characteristics or shape of the device.

[0069] The third feature is that, in the first or second feature, the joint portion has a locking mechanism with a dovetail or push-rotation structure.

[0070] The fourth feature is that, in the first to third features, any of the finger attachment portions is a ring shape that can be inserted from the tip of the finger.

[0071] The fifth feature is that, in the fourth feature, the contact portion is in surface contact along the longitudinal direction of the finger.

[0072] The sixth feature is that, in the first to third features, any of the finger attachment portions contacts both side portions of the finger and is a semi-ring shape with the belly portion of the finger open.

[0073] Each aspect / embodiment described in the present disclosure may be used alone, in combination, or switched for use during execution. Also, notification of predetermined information (for example, notification of "being X") is not limited to being explicitly performed, and may be performed implicitly (for example, by not performing notification of the predetermined information).

[0074] The information, signals, etc. described in the present disclosure may be represented using any of various different technologies. For example, data, instructions, commands, information, signals, bits, symbols, chips, etc. that may be referred to throughout the above description may be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or photons, or any combination thereof.

[0075] Also, the information, parameters, etc. described in the present disclosure may be represented using absolute values, relative values from a predetermined value, or using corresponding other information. For example, wireless resources may be indicated by an index.

[0076] The terms "connected" and "coupled," or any variations thereof, mean any direct or indirect connection or coupling between two or more elements, and can include the presence of one or more intermediate elements between two elements that are "connected" or "coupled" to each other. The coupling or connection between elements may be physical, logical, or a combination thereof. For example, "connected" may be read as "accessed." As used in the present disclosure, two elements can be considered to be "connected" or "coupled" to each other using at least one of one or more electric wires, cables, and printed electrical connections, and also, by way of some non-limiting and non-exhaustive examples, electromagnetic energy having wavelengths in the radio frequency region, microwave region, and optical (both visible and invisible) region.

[0077] The "means" in the configuration of each of the above devices may be replaced with "section," "circuit," "device," etc.

[0078] Any reference to an element using designations such as "first," "second," etc. used in the present disclosure does not generally limit the quantity or order of those elements. These designations may be used in the present disclosure as a convenient way to distinguish between two or more elements. Thus, references to the first and second elements do not mean that only two elements can be employed there, or that the first element must precede the second element in any form.

[0079] In the present disclosure, when terms such as "include", "including" and their variants are used, these terms are intended to be inclusive, similar to the term "comprising". Further, the term "or" used in the present disclosure is not intended to be an exclusive disjunction.

[0080] In the present disclosure, for example, when articles are added by translation, such as a, an and the in English, the present disclosure may include that the nouns following these articles are in the plural form.

[0081] The terms "determining" and "decision-making" used in the present disclosure may include a variety of operations. "Determining" and "decision-making" may include, for example, judging, calculating, computing, processing, deriving, investigating, looking up (searching, inquiring) (e.g., searching in a table, database or another data structure), and considering that the ascertained matter is "determined" or "decided". Also, "determining" and "decision-making" may include considering that receiving (e.g., receiving information), transmitting (e.g., transmitting information), inputting, outputting, accessing (e.g., accessing data in a memory), etc. are "determined" or "decided". Further, "determining" and "decision-making" may include considering that resolving, selecting, choosing, establishing, comparing, etc. are "determined" or "decided". That is, "determining" and "decision-making" may include considering that some operation is "determined" or "decided". Also, "determining (decision-making)" may be replaced by "assuming", "expecting", "considering", etc.

[0082] In the present disclosure, the term "A and B are different" may mean that A and B are different from each other. Note that the term may also mean that "A and B are each different from C". Terms such as "separate" and "coupled" may also be interpreted in the same way as "different".

[0083] As described in detail above regarding the present disclosure, it is obvious to those skilled in the art that the present disclosure is not limited to the embodiments described in the present disclosure. The present disclosure can be implemented as modifications and variations without departing from the spirit and scope of the present disclosure as defined by the claims. Therefore, the description of the present disclosure is for illustrative purposes only and has no restrictive meaning for the present disclosure.

Explanation of Reference Numerals

[0084] 10 Tactile transmission system 20 Platform device 30 Finger 100A, 100B, 100C Tactile interface 110 Finger mounting part 120 Gap 130, 135 Finger mounting part 160 Base part 170 Device 180 Base part 190 Device 200 Joint part 210 Convex part 220 Groove part 250 Joint part 251 Convex part 252 Hook-shaped part 253 Concave part 254 Hook-shaped concave part

Claims

**Claim 1** A tactile interface to be worn on a finger, comprising: a finger attachment portion having a contact portion that contacts the surface of the finger; a base portion to which a device having at least one of the functions of a sensor or an actuator is attached; and the tactile interface has a plurality of the finger attachment portions with different shapes of the contact portions; the tactile interface is detachable between the base portion and the finger attachment portion via a joint portion. **Claim 2** The tactile interface according to claim 1, comprising a plurality of base portions according to the characteristics or shape of the device. **Claim 3** The tactile interface according to claim 1, wherein the joint portion has a locking mechanism with a dovetail or a push-rotation structure. **Claim 4** The tactile interface according to claim 1, wherein any one of the finger attachment portions is a ring shape that can be inserted from the tip of the finger. **Claim 5** The tactile interface according to claim 4, wherein the contact portion makes surface contact along the longitudinal direction of the finger. **Claim 6** The tactile interface according to claim 1, wherein any one of the finger attachment portions contacts both side portions of the finger and is a semi-ring shape with the belly portion of the finger open.

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