Tactile force information displaying system

Abstract

To accomplish an induced illusion phenomenon by a combination of vibrations, and to provide databases for trigger displacement, characteristics inducing stimulation and trigger stimulation, misunderstood (falsely perceived) vibration, synergetic effect relating to illusion, displacement structure regarding consonant and vowel, and illusion phenomenon.SOLUTION: In a tactile force information displaying system, a tactile force displaying device displays a stimulation by an object body or to the object body, and controls the stimulation applied to the object body in accordance with the operation by an operator, thereby generating tactile force. Next, at least one of the vibration, displacement, and deformation of the object body is displayed. A sense synthesizing and inducing device synthesizes the sensibility of inducing sensing, and generates at least one of contact force sense, kinesthetic sense, and illusion by displacement that gives sweep displacement to the object body.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a haptic information presentation system that utilizes sensory characteristics. [Background technology]

[0002] In Japanese Patent Laid-Open Publication No. 2005-190465, a method is disclosed in which a person is informed of the existence of a virtual object and the impact force of a collision. In conventional non-grounded man-machine interfaces that do not have a base within the body, haptic sensations are presented. It is possible to present haptic sensations such as torque and force in the same direction, which cannot be presented by the physical characteristics of the display alone. A system capable of continuous presentation is disclosed.

[0003] This patent application has the following configuration: A haptic presentation device. The haptic presentation device is configured to The displacement of one or more actuators in the haptic presentation device is controlled, and the physical characteristics of the actuators are By controlling a certain displacement, force, or torque, the user can This haptic information presentation system allows users to perceive various haptic information. By appropriately controlling physical quantities using illusions, forces that do not physically exist, Or it allows people to experience the physical characteristics of tactile sensations. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-190465 DISCLOSURE OF THE INVENTION [Problem to be solved by the invention]

[0005] In view of the above, in the prior art, when haptic information is presented only by physical methods, The purpose of this invention is to improve the accuracy of the displacement, displacement pattern, waveform, etc. The combination of these two realizes the illusion phenomenon induced by the tactile directional discrimination. Displacement, displacement pattern, and waveform in the Y direction are measured by the thrust force. Displacement, displacement pattern, and waveform in the Z direction are measured. Shape and illusion, trigger displacement, characteristic inducement stimulus, trigger stimulus, misunderstanding (misperception), To provide a database of synergistic effects related to illusions, consonant and vowel waveform configurations, and illusion phenomena. is located. [Means for solving the problem]

[0006] The haptic information presentation system according to the present invention comprises an object, which may be a real object or a virtual object. and the position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, Detects stimuli that include at least one of the following: vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity and a sensor that applies the operator's sensory characteristics and / or illusion to the object to give the operator an actual A haptic sensation presentation device that presents a haptic sensation as if the object were being manipulated, and a sensor that connects the haptic sensation presentation device to the sensor. a haptic sense presentation control device that controls the haptic sense based on stimuli from a sensor, and the haptic sense presentation control device controls the haptic sense based on stimuli from a sensor. The sensory characteristics that indicate the relationship between the amount of stimulation applied to the body and the amount of sensation are nonlinear and / or illusory. The tactile information is presented by controlling the stimulus using the above-mentioned property. and at least one of the stimulation amounts provided by the operation of the operator. a sensory quantity presented to the operator, which is a sensory quantity that cannot physically exist, The haptic feedback device provides a stimulus to and / or manipulates the object. The tactile sensation is generated by controlling the stimuli applied to the object in accordance with the artist's manipulation.

[0007] In the haptic system, the touch panel is divided into a plurality of areas, and the area is arranged in an array, dot-like form. In this way, each touch panel is disposed in at least one of the pixels and is controlled independently.

[0008] In the haptic information presentation system, the object is a touch panel, and each touch panel Generate different haptic and / or haptic sensations.

[0009] The haptic information presentation system according to the present invention comprises an object, which may be a real object or a virtual object. and the position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, Detects stimuli that include at least one of the following: vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity and a sensor that applies the operator's sensory characteristics and / or illusion to the object to give the operator an actual A haptic sensation presentation device that presents a haptic sensation as if the object were being manipulated, and a sensor that connects the haptic sensation presentation device to the sensor. a haptic sense presentation control device that controls the haptic sense based on stimuli from a sensor, and the haptic sense presentation control device controls the haptic sense based on stimuli from a sensor. The sensory characteristics that indicate the relationship between the amount of stimulation applied to the body and the amount of sensation are nonlinear and / or illusory. The tactile information is presented by controlling the stimulus using the above-mentioned property. and at least one of the stimulation amounts provided by the operation of the operator. a sensory quantity presented to the operator, which is a sensory quantity that cannot physically exist, The haptic feedback device presents at least one of amplitude, displacement, and deformation to the object. become.

[0010] In the haptic information presentation system, the touch panel is divided into a plurality of sections and arranged in an array. , dot-shaped, and / or pixel-shaped, and each touch panel is independently controlled.

[0011] In the haptic information presentation system, the haptic information presentation device The haptic sensation is presented according to the position and / or deformation.

[0012] In the haptic information presentation system, the haptic information presentation device is Each of the two induces at least one of amplitude, displacement, and deformation in six dimensions in the object.

[0013] In the haptic information presentation system, the haptic presentation device is At least one of amplitude, displacement, and deformation occurs at any angle.

[0014] The haptic information presentation system according to the present invention comprises an object, which may be a real object or a virtual object. Position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation of and / or by an object , vibration, force, torque, pressure, humidity, temperature, viscosity, and elasticity. and a sensor that detects the object and applies the operator's sensory characteristics and / or illusion to the object to give the operator a real feeling. a haptic sensation presentation device that presents a haptic sensation as if the object were being manipulated; A haptic feedback control device that controls based on stimuli from a sensor, and the haptic feedback control device The sensory characteristics that show the relationship between the amount of stimulation applied to the body and the amount of sensation are nonlinear and / or illusory. The tactile information is presented by controlling the stimulus using the sensory characteristics given to the operator. At least one of the stimulus amount obtained by the operator and the stimulus amount provided by the operator's operation and a sensory quantity presented to the operator, the sensory quantity being a sensory quantity that cannot physically exist, wherein the haptic sensation presentation device is a sensory synthesis / induction device that synthesizes the sensation of an induced sensation, The sensory synthesis and induction device generates pressure sensation, force sensation, and illusion by displacing the object with a sweep displacement. A haptic electronic device that generates at least one of the following sensations: [Effects of the Invention]

[0015] The combination of displacements can realize the induced illusion phenomenon, trigger displacement, characteristic induced stimulus, Trigger stimulus, misperception (misperception) displacement, synergistic effect on illusion, consonant-vowel displacement, vibration structure This will provide a database of optical illusions. [Brief explanation of the drawings]

[0016] [Figure 1] Schematic diagram showing the haptic display system [Figure 2] Schematic diagram showing the configuration of the haptic information presentation system [Figure 3] Demonstrating the control of the displacement of a haptic actuator [Figure 4] Schematic diagram explaining the optical illusion [Figure 5] Schematic diagram explaining the optical illusion [Figure 6] Schematic diagram explaining the optical illusion [Figure 7] Schematic diagram explaining the optical illusion [Figure 8] Schematic diagram explaining the optical illusion [Figure 9] Schematic diagram explaining the optical illusion [Figure 10] Schematic diagram explaining the optical illusion [Figure 11] Schematic diagram explaining how to press your finger [Figure 12] Schematic diagram explaining how to press your finger [Figure 13] Schematic diagram explaining how to press your finger [Figure 14] Schematic diagram explaining how to press your finger [Figure 15] Schematic diagram explaining how to press your finger [Figure 16] Schematic diagram explaining how to press your finger [Figure 17] Schematic diagram explaining how to press your finger [Figure 18] Schematic diagram explaining how to control displacement and amplitude [Figure 19] Schematic diagram explaining how to control displacement and amplitude [Figure 20] Schematic diagram explaining how to control displacement and amplitude [Figure 21] Schematic diagram explaining how to control displacement and amplitude [Figure 22] Schematic diagram explaining how to control displacement and amplitude [Figure 23] Schematic diagram explaining how to control displacement and amplitude [Figure 24] Schematic diagram explaining how to control displacement and amplitude [Figure 25] Schematic diagram explaining vibration control of haptic actuators [Figure 26] Schematic diagram explaining how to control waveforms [Figure 27] Schematic diagram explaining how to control waveforms [Figure 28] Schematic diagram explaining how to control waveforms [Figure 29] Schematic diagram explaining how to control waveforms [Figure 30] Schematic diagram explaining an actuator control method [Figure 31] Schematic diagram explaining an actuator control method [Figure 32] Schematic diagram explaining an actuator control method [Figure 33] Schematic diagram explaining haptic sensation generation [Figure 34] Schematic diagram illustrating sensory characteristics [Figure 35] Schematic diagram illustrating sensory characteristics [Figure 36] Schematic diagram illustrating sensory characteristics [Figure 37] Schematic diagram illustrating sensory characteristics [Figure 38] Schematic diagram illustrating sensory characteristics [Figure 39] Schematic diagram illustrating how sensory characteristics are controlled [Figure 40] Schematic diagram illustrating nonlinear control of physical properties [Figure 41] Schematic diagram explaining the configuration of the actuator [Figure 42] Schematic diagram explaining how to wear it [Figure 43] Schematic diagram explaining how to wear it [Figure 44] Schematic diagram explaining the implementation method [Figure 45] Schematic diagram explaining the configuration of the haptic actuator [Figure 46] Schematic diagram explaining the basic unit of the haptic actuator [Figure 47] Schematic diagram explaining the table type of haptic actuator [Figure 48] Schematic diagram explaining the table type of haptic actuator [Figure 49] Schematic diagram explaining the handle type of haptic actuator [Figure 50] Schematic diagram explaining the handle type of haptic actuator [Figure 51] Schematic diagram explaining the handle type of haptic actuator [Figure 52] Schematic diagram explaining the handle type of haptic actuator [Figure 53] Schematic diagram explaining the surface type of haptic actuator [Figure 54] Schematic diagram explaining the ring-type haptic actuator [Figure 55] Schematic diagram illustrating the wristband type of haptic actuator [Figure 56] Schematic diagram explaining the arm ring type of haptic actuator [Figure 57] Schematic diagram explaining the attachment location [Figure 58] Schematic diagram explaining control wiring [Figure 59] Schematic diagram explaining control wiring [Figure 60] Schematic diagram illustrating the system and components [Figure 61] Schematic diagram illustrating module integration [Figure 62] Schematic diagram illustrating module integration [Figure 63] Schematic diagram explaining the optical illusion [Figure 64] Schematic diagram illustrating the modules of the haptic device [Figure 65] Schematic diagram illustrating the modules of the haptic device [Figure 66] Schematic diagram illustrating the haptic device [Figure 67] Schematic diagram illustrating the haptic device [Figure 68] Schematic diagram explaining panel-type modules [Figure 69] Schematic diagram explaining panel-type modules [Figure 70] Schematic diagram explaining panel-type modules [Figure 71] Schematic diagram explaining panel-type modules [Figure 72] Schematic diagram explaining panel-type modules [Figure 73] Schematic diagram explaining the LCD touch panel module [Figure 74] Schematic diagram explaining the LCD touch panel module [Figure 75] Schematic diagram explaining the LCD touch panel module [Figure 76] Schematic diagram explaining the touch panel type module [Figure 77] Schematic illustrating the multimodal effect [Figure 78] Schematic diagram explaining a multi-touch array unit [Figure 79] Schematic diagram explaining the control of sensory synthesis [Figure 80] Schematic diagram illustrating multi-touch sensory synthesis control [Figure 81] Schematic diagram explaining the control of sensory synthesis [Figure 82] Schematic diagram explaining the control of sensory synthesis [Figure 83] Schematic diagram explaining the control of sensory synthesis [Figure 84] Schematic diagram explaining the control of sensory synthesis [Figure 85] Schematic diagram explaining the control of sensory synthesis [Figure 86] Schematic diagram explaining the control of sensory synthesis [Figure 87] Schematic diagram explaining the control of sensory synthesis [Figure 88] Schematic diagram illustrating button shape sense generation [Figure 89] Schematic diagram illustrating button shape sense generation [Figure 90] Schematic diagram illustrating button sensation generation [Figure 91] Schematic diagram illustrating the induced sensation control between buttons [Figure 92] Schematic diagram illustrating the induced sensation control between buttons [Figure 93] Schematic diagram illustrating the induced sensation control between buttons [Figure 94] Schematic diagram explaining haptic control using a slider [Figure 95] Schematic diagram explaining haptic control using a slider [Figure 96] Schematic diagram explaining haptic control using a slider [Figure 97] Schematic diagram explaining static and dynamic friction control method [Figure 98] Schematic diagram explaining dynamic friction control [Figure 99] Schematic diagram explaining static friction control [Figure 100] Schematic diagram explaining static friction control [Figure 101] Schematic diagram explaining static friction control [Figure 102] Schematic diagram explaining dynamic friction control [Figure 103] Schematic diagram explaining the push button control [Figure 104] Schematic diagram explaining the push button control [Figure 105] Schematic diagram explaining the push button control [Figure 106] Schematic diagram explaining the push button control [Figure 107] Schematic diagram explaining the push button control [Figure 108] Schematic diagram explaining the push button control [Figure 109] Schematic diagram explaining the push button control [Figure 110]Schematic diagram explaining the push button control [Figure 111] Schematic diagram explaining the push button control [Figure 112] Schematic diagram explaining the push button control [Figure 113] Schematic diagram explaining the push button control [Figure 114] Schematic diagram explaining the push button control [Figure 115] Schematic diagram explaining the push button control [Figure 116] Schematic diagram explaining the push button control [Figure 117] Schematic diagram explaining the push button control [Figure 118] Schematic diagram explaining the push button control [Figure 119] Schematic diagram explaining the push button control [Figure 120] Schematic diagram explaining the push button control [Figure 121] Schematic diagram explaining the push button control [Figure 122] Schematic diagram explaining the push button control [Figure 123] Schematic diagram explaining the push button control [Figure 124] Schematic diagram explaining the push button control [Figure 125] Schematic diagram explaining the push button control [Figure 126] Schematic diagram explaining the push button control [Figure 127] Schematic diagram explaining the push button control [Figure 128] Schematic diagram explaining the push button control [Figure 129] Schematic diagram explaining the push button control [Figure 130] Schematic diagram explaining the push button control [Figure 131] Schematic diagram illustrating haptic dial control [Figure 132] Schematic diagram illustrating haptic dial control [Figure 133]Schematic diagram illustrating haptic dial control [Figure 134] Schematic diagram illustrating haptic dial control [Figure 135] Schematic diagram illustrating haptic dial control [Figure 136] Schematic diagram illustrating haptic dial control [Figure 137] Schematic diagram illustrating haptic dial control [Figure 138] Schematic diagram illustrating haptic dial control [Figure 139] Schematic diagram illustrating haptic dial control [Figure 140] Schematic diagram illustrating haptic dial control [Figure 141] Schematic diagram explaining waveform control [Figure 142] Schematic diagram illustrating device size and shape characteristics [Figure 143] Schematic diagram illustrating device size and shape characteristics [Figure 144] Schematic diagram explaining texture structure [Figure 145] Schematic diagram explaining the database of texture structures [Figure 146] Schematic diagram explaining waveform control [Figure 147] Schematic diagram illustrating a digital mouse [Figure 148] Schematic diagram explaining the measurement of personal characteristics [Figure 149] Schematic diagram explaining actuator control [Figure 150] Schematic diagram illustrating profiling [Figure 151] Schematic diagram illustrating diagnostic simulation [Figure 152] Schematic diagram illustrating remote synchronization DETAILED DESCRIPTION OF THE INVENTION

[0017] The haptic information presentation system according to the present invention includes: An object, which may be a real object or a virtual object, and a position, a velocity, and / or a speed of the object. , acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity a sensor for detecting a stimulus having at least one of elasticity and a sensory characteristic of an operator to the object; and / or applying an illusion to present the operator with a haptic sensation as if he / she were manipulating the actual object. and a haptic feedback control system that controls the haptic feedback device based on stimuli from a sensor. The haptic sense presentation control device and the haptic sense presentation control device are configured to calculate the relationship between the amount of stimulation applied to the human body and the amount of sensation. The sensory characteristics shown are nonlinear and / or illusory, and the stimulation is controlled to provide tactile information. The sensory characteristics are determined by the amount of stimulation given to the operator and the operation of the operator. and a sensation amount presented to the operator, Quantity is a sensory quantity that cannot physically exist.

[0018] The haptic feedback device presents a stimulus by and / or to the object, and The tactile sensation is generated by controlling the stimulus applied to the object in accordance with the operation of the object.

[0019] The touch panel is divided into a plurality of sections and arranged in at least one of an array, a dot, and a pixel. Each touch panel is controlled independently.

[0020] The object is a touch panel, and each touch panel generates a different tactile and / or force sensation. .

[0021] The haptic sense presentation device presents at least one of amplitude, displacement, and deformation to the object. .

[0022] The touch panel is divided into a plurality of sections and arranged in at least one of an array, a dot, and a pixel. Each touch panel is controlled independently.

[0023] The haptic sense presentation device presents a haptic sense in response to amplitude, displacement and / or deformation occurring in the object. Show.

[0024] The haptic feedback device outputs amplitude, displacement, and time to the object for at least one of position, phase, and time. At least one of the transformations is 6th dimensionally induced.

[0025] The haptic feedback device can generate amplitude, displacement, and vibration perpendicular to the tangent of an object, parallel to the tangent, or at any angle. At least one of the following transformations occurs:

[0026] The haptic sensation presentation device is a sensory synthesis / induction device that synthesizes the sensation of an induced sensation, and the sensory sensation The synthesis and induction device provides a sweep displacement to the object, which generates pressure, force, and illusion. At least one is generated.

[0027] Figure 2 shows the system configuration of the haptic display panel. This system reproduces haptic sensations with panels and displays, including pressure, touch, and force sensations. The displacement, displacement pattern, and waveform are controlled according to the movement of the finger. It gives a three-dimensional feeling with a sense of depth. It can be applied to buttons, sliders, dials, and switches. good.

[0028] The haptic display panel system is equipped with a controller and haptic actuators. The haptic actuator provides a sensor signal to the controller, which The sensor signals are transmitted by and / or to the object. Position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity , the stimulus comprising at least one of temperature, viscosity, and elasticity.

[0029] The controller is driven by a control algorithm and adjusts the displacement, momentum, and vibration according to the finger movements. The stimulus intensity, which includes the force, amplitude, and displacement, is changed over time. The control signal is the driving force and amplitude information. It is generated by a dynamic voltage.

[0030] Actuators include motors, eccentric motors, linear motors, electrostatic motors, molecular motors, and piston motors. Ezo, artificial muscle, memory alloy, coil, voice coil, piezoelectric element, magnetism, static electricity, etc. Anything that generates displacement or vibration is acceptable.

[0031] The haptic display panel can be attached to any part of the body (see Figure 58). .

[0032] This system applies the operator's sensory characteristics and illusions to make the operator feel as if they are manipulating a real object. Specifically, the system is controlled based on the stimuli detected by the sensor, The sensory characteristics that show the relationship between the amount of stimulation applied to the human body and the amount of sensation are nonlinear or illusory. The tactile information is presented by controlling the stimulus using the sensory characteristics. and the stimulus amount provided by the operator's operation. It has a sensory quantity that is presented to the artist, and the sensory quantity is a sensory quantity that cannot physically exist.

[0033] Here, the system presents stimuli from or to the object and responds to the operator's manipulation. The stimulus applied to the operator is controlled according to the operator's movements. The haptic actuator consists of a haptic actuator and a controller. By using sensors attached to the sensor, position, velocity, acceleration, shape, displacement, deformation , amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity are measured and the information is sent to the controller to calculate the control signal for controlling the haptic actuator. The signal is then sent to the haptic actuator, which controls the haptic actuator.

[0034] Haptic actuators have the sensor and presentation functions of panel and display types. The controller is equipped with a function for detecting displacement, momentum, and vibration caused by the movement of the body, such as the fingers and palms. The amplitude of the vibration, the displacement stimulus, the vibration stimulus, and the time change of the stimulus intensity are calculated and used in the control algorithm. Based on this, the haptic sensor responds to the movements and pressure of the body, such as the fingers and palm, monitored by sensors. Actuator position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque , pressure, humidity, temperature, viscosity, elasticity, etc. are controlled, and humans can sense pressure, touch, force, etc. Tactile information is presented.

[0035] The control signal is expressed as force information (t) and amplitude information (t) in the form of a driving voltage, etc. Actuators include motors, piezos, artificial muscles, memory alloys, molecular motors, electrostatics, coils, and magnetic forces. Any device or operating principle is acceptable as long as it generates displacement or vibration, static electricity, or other electrical components. As a result, panels and displays made up of flat, curved, and three-dimensional shapes can be fixed to the housing, etc. Even though it is installed to be stable or to vibrate slightly, there is no feeling of insertion, pushing, or Feeling of sinking, feeling of depth, feeling of being pushed back, feeling of floating, feeling of convergence of vibration and amplitude, feeling of lingering vibration and amplitude You can feel the resonance, the sense of direction of displacement and movement, the feeling of solidity, hardness, softness, and three-dimensionality. Although the sensation is not physically reproduced or presented, it is perceived as such. A sensation similar to the above, as well as a physical reaction or reflex, is experienced.

[0036] As a result, in information terminals and the like, buttons, sliders, etc. are displayed on a flat, flat panel. It is possible to obtain a realistic feel for operating objects such as dials, switches, and control panels. It becomes Noh.

[0037] Figure 3 shows a schematic diagram of the displacement control of the haptic actuator. It has six degrees of freedom for translation and rotation, allowing for free control of displacement, amplitude, velocity, acceleration, and phase difference. In addition to the displacement, displacement pattern, waveform, and vibration stimulation, electrical stimulation, coulo It is possible to control stimulation such as force.

[0038] 4 to 10 show schematic diagrams of an apparatus for demonstrating the phenomenon of false angles. An actuator is placed on the material, and a touch panel is placed on top of it, and the actuator detects the displacement, pressure, acceleration, etc. of the object. The touch panel is equipped with sensors that measure position, rotation, and tensor. However, I can feel a depression / press in the z direction of the button.

[0039] Figure 4 shows normal operation without the illusion phenomenon. The basic unit of the haptic actuator is It consists of a touch panel, a sensor, and an actuator. In the case of position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, Pressure, humidity, temperature, viscosity, elasticity, etc. as scalars, vectors, or tensors. It is measured.

[0040] Actuators can measure position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, Torque, pressure, humidity, temperature, viscosity, elasticity, etc. can be expressed as scalars, vectors, or tensors. The touch panel is usually hard and does not deform. When the panel is pressed with a pressure P, the touch panel does not displace or deform in the Z direction, and Z=0 is maintained. As the pressing pressure P increases, the operator's fingertip deforms and the pressing pressure is perceived. However, the sinking displacement Z (=0) and the sinking sensation Sz (=0) are not felt.

[0041] This patent explains the perception of tactile information at the fingertips, but it is not limited to the fingertips, and can be applied to other devices, including manipulation. It is intended to encompass the artist's entire body, every part of his or her body.

[0042] Figure 5 shows the behavior when the illusion phenomenon occurs. In most cases, when an operator presses the touch panel with a pressure P, the touch panel is displaced in the Z direction. , Z=0 is maintained without deformation.

[0043] Here, unlike usual, the actuator displaces the touch panel in the Y direction (Y ), even though there is no subduction displacement Z (= 0), the indentation pressure P increases. When the touch panel is displaced in the X direction (X), a sinking sensation Sz is felt in the Z direction. Similarly, the sinking sensation Sz is felt in the Z direction. However, the direction of the fingertip (Y) If the displacement direction of the touch panel does not match, the movement in the displacement direction may be perceived weakly. By adjusting the displacement direction of the touch panel depending on the direction of the fingertip and the sinking of the finger, the The awareness becomes effective.

[0044] The phenomenon here is an illusion in which displacement in the Y direction is perceived as a sinking sensation in the Z direction. This is an illusion phenomenon that transcends the axis and direction of movement (Cross-Direction Effect). There are various displacement patterns to suit the desired tactile sensation. Not only does it combine increasing and decreasing frequencies, sinusoidal oscillations, and fundamental frequency components, but it also uses synthesizers. Design arbitrary waveforms, amplitude modulation, frequency modulation, as if you were creating musical instruments and music. , convolution, and their combinations can be used to express various tactile sensations and feelings. .

[0045] The illusion pattern is a combination of three directions of pressure and three directions of actuator displacement. There are 9 combination patterns. In addition, there is a rotation pattern. There are also intermediate directions. In addition to translational displacement, there are also rotational displacements. .

[0046] Figure 6 shows the operation of the latch-continuous illusion phenomenon. Here, the actuator When the touch panel is displaced stepwise in the Y direction (Y), the displacement Z (=0) is zero. However, with the perception of an increase in the indentation pressure P, the displacement (Y) gradually changes in the Z direction. You can feel a gradual sinking sensation Sz in the direction.

[0047] Figure 7 shows the operation of the latch-continuous illusion phenomenon. Here, the actuator When the touch panel is repeatedly displaced in the Y direction (Y), the displacement (Z) is not even zero. Regardless of the actual situation, as the indentation pressure P increases, the displacement (Y) changes, and the indentation pressure P increases. There are conditions under which the indentation displacement (Y) is difficult to feel.

[0048] The figures show the indentation, indentation pressure, displacement, and sinking sensation, respectively. The displacement appears after a delay. Touch panels are usually hard and do not deform. When the panel is pressed with a pressure P, the touch panel does not displace or deform in the Z direction, and Z=0 is maintained. Here, unlike usual, the actuator changes the position with respect to the increase in the pushing pressure P. When the phase is delayed and the touch panel is displaced in the Y direction (Y), the sinking displacement Z (=0) becomes Even though there is no displacement in the Y direction, a sinking sensation Sz is felt in the Z direction with displacement in the Y direction (Y). Until the displacement (Y) starts to increase, a resistance force is presented to the virtual button press. The maximum force, Sz (≠0), is presented as the hardness of the virtual button.

[0049] In Figure 9, the displacement does not continue and reaches a peak, after which the displacement becomes zero. When the touch panel is displaced back and forth in the Y direction by the Even though there is no force (P), the force (P) increases and the displacement (Y) changes, and the force (Y) increases. You can feel a "tick" like sinking sensation Sz like a button.

[0050] Figure 10 shows that the displacement shows positive and negative peaks before becoming zero. Here, the actuator reciprocally displaces the touch panel in the Y direction (Y). Even though there is no sinking displacement Z (= 0), the increase in indentation pressure P and the change in displacement (Y) At the same time, you will feel a button-like sinking sensation Sz in the Z direction.

[0051] 11 to 17 show the manner in which a finger is pressed by an object (panel) and / or as a stimulus to the object. FIG. 11 is a schematic diagram showing a method for pressing the touch panel with a pressing force P. When the touch panel is displaced in the Z direction by the actuator, a sinking sensation Sp is felt in the Z direction. Figures 12 and 13 show how the slightest button on the panel can be pushed in stepwise. Resistant stimulation, instant reaction, responsive stimulation, click after button touch, button presence Figures 14 and 15 show the presentation of stimuli in which only the wall is felt without any buttons. When the finger is pressed, the panel moves, stops, or the finger and panel interact. Figure 17 shows the presentation of the triangular and circular waves generated on the panel by pressing the button. Figure 1 shows the presentation of stimuli for the stimuli of the stimuli.

[0052] Figures 19 to 24 are schematic diagrams showing the control of the displacement and amplitude applied to the panel as stimuli. In Figure 19, when the panel is pressed straight down, it displaces and forms a triangular wave. Depending on the position, deep sensory stimulation of the fingers, physical tension stimulation of the fingers, and resistance stimulation of the fingers are presented. Figure 20 shows that when the panel is moved unconsciously, it is displaced and becomes triangular when pressed down. This displacement creates a sensory stimulation of the finger, a tension stimulation to the physical finger, and a wave of the finger. Figure 21 shows the case where a viscoelastic stimulus, which is a button characteristic, is applied to the panel. When the finger is pressed, the panel is displaced to form a triangular wave. This displacement stimulates the finger's sense of movement on the panel. A physical tension stimulus is presented to the finger, and a sensory response feeling is presented to the finger.

[0053] Figure 22 shows that when a viscoelastic stimulus, which is an artificial skin sensation, is applied to the panel, the panel is displaced and a triangular shape is formed. This displacement creates a wave on the panel, which stimulates the finger's sense of movement and creates a physical tension on the finger. A sensory reaction force is presented to the fingers.

[0054] Figure 23 shows that when a stimulus is applied to the panel, the panel is displaced to form a triangular wave. Here, the actuator displaces the touch panel in the Y direction (Y ) even though there is no sinking displacement Z (= 0), the indentation pressure P increases and the displacement (Y) As the displacement in the Y direction ( Depending on how you do this (Y), you may feel a "sinking" sensation in the Z direction, or a "click" or "click" sensation. It feels like a button that has been pressed.

[0055] Figure 24 shows that when a stimulus is applied to the panel, the panel displacement forms a sine wave. Here, the actuator displaces the touch panel in the Y direction (Y ), when it is changed sinusoidally, even though there is no subsidence displacement Z (= 0), As the displacement (Y) increases, a button-like sinking sensation (Sz) is felt in the Z direction. Depending on how the displacement in the Y direction (Y) is made, you can feel a "sinking" sensation or a "click" sensation in the Z direction. " " and "Click" feel like a button.

[0056] 25 to 29 show examples of the displacement, displacement pattern, waveform, and vibration of the haptic actuator. A schematic diagram of waveform control is shown. The haptic actuator controls waveform amplitude, vibration amplitude, velocity, By freely controlling the acceleration and phase difference, any displacement and waveform pattern can be generated in any direction. It can be achieved.

[0057] Figure 26 shows a displacement waveform that generates a force sensation by asymmetrically accelerating and decelerating the waveform. 28 shows an acceleration / deceleration waveform that generates a force sensation by asymmetrically accelerating and decelerating the waveform. When changing the waveform of the panel for a short time to create a clicking sensation, the frequency is changed for each waveform. The acceleration sweep (click sensation) waveforms that change are shown. Pattern deceleration waveform and pattern acceleration waveform Figure 29 shows an acceleration / deceleration shift waveform in which the waveform phase is fixed and the acceleration / deceleration position is swapped. The waveform is a schematic diagram of a phase shift waveform in which the waveform phase is swapped while the shape and acceleration / deceleration position are fixed. , speed, and phase waveform are controlled.

[0058] Figure 30 shows the results of the experiment using the sensory characteristics related to the force sense. This is a diagram showing a method for presenting haptic information in which the rotation of B913 is phase-synchronized to synthesize displacement.

[0059] Here, (Fig. 30(b)) is the two eccentric rotors A912 and A913 of (Fig. 30(a)). Schematic of the case where two central rotors B913 are rotated synchronously in the same direction with a 180 degree phase delay. As a result of this synchronous rotation, torque rotation without eccentricity can be synthesized.

[0060] (Figure 30(c)) is a schematic diagram of the case where the sensory characteristic 931 is a logarithmic function characteristic. , sensory characteristic 931 is a sensory quantity for a physical quantity 932 which is a stimulus, similar to sensory characteristic 211. This indicates that 933 is a nonlinear characteristic such as a logarithm. When a positive torque is generated at point A934 and a negative torque in the opposite direction is generated at operating point B935 Considering this, the torque sense 944 is expressed as shown in (Fig. 30(d)). The torque 943 is It is proportional to the time derivative of the rotor rotation speed 942. Operating point A 934 and operating point B 935 When operated at , a torque sensation 944 is perceived.

[0061] The torque 943 physically returns to the initial state 948 in one cycle, and its integral value becomes zero. However, the sensory integral value of the torque sense 944, which is a sensory quantity, does not necessarily become zero. By appropriately selecting the operating point A 934 and the operating point B 935, the operating point A duration 945 By appropriately setting the operating point B duration 946, you can freely feel the torque in any direction. can continue to present.

[0062] The above is not limited to torque rotation, but also applies to rotational and translational displacements, and when the sensory characteristics 931 are exponential relations. This also holds true when nonlinear characteristics are shown, such as in numerical cases. When the threshold is reached, a similar torque sensation occurs, and the torque sensation is felt intermittently in only one direction. You can continue to present it.

[0063] Figure 31(a) shows the illusory tactile force sensation induced and perceived by the initial phase (θi) of the phase pattern. The illusionary tactile force sense device 107 indicates the direction of the initial phase of the rotation start in FIG. (θi) is induced by the change in momentum coupled in the eccentric rotor. The direction 1202 of the illusionary tactile force can be controlled in the direction of the initial phase (θi). For example, By changing the initial phase (θi) as shown in Figure 31(c), the beam can be moved in any direction within 360° on the plane. At this time, if the weight of the illusionary tactile force sense interface device 101 itself is heavy, The upward force sensation 1202 due to the tactile illusion and the downward force sensation 1204 due to gravity are cancelled out. This makes it difficult to obtain the buoyancy sensation 1202 of floating, and the user may feel heavy. At that time, the upward direction of the haptic illusion is slightly shifted from the opposite direction of gravity to create the haptic illusion. By inducing the sensation 1203, it is possible to suppress the reduction and inhibition of the floating sensation caused by gravity. If you want to present the image in the direction opposite to the direction of gravity, you can set the angle between the direction of gravity and 180° + α° or 180°. There is also a method of inducing illusory tactile sensations in directions slightly off-vertical, alternating between °-α°.

[0064] Figures 32(a) to 32(f) present basic tactile sensations and illusionary tactile sensations. Figure 32(a) shows an example of the control of the illusionary tactile force device (tactile force device). 32(a) and 32(b) are schematic diagrams showing a method for generating a rotational force in the sensor device 107. d) shows a schematic diagram of how a translational force is generated. The rotation of weight 814 is delayed by a phase of 180° and rotates in the same direction. In (d), they rotate in opposite directions.

[0065] (1) As shown in Figure 32(b), two eccentric rotors are rotated synchronously in the same direction with a phase delay of 180 degrees. When the rotor is rotated, the two eccentric rotors are point symmetric and the center of gravity and the center of the rotation axis coincide. This creates a rotation with equal torque and no eccentricity, which can present a sense of rotational force. However, torque is the time derivative of angular momentum, and torque is continuously applied in a certain direction. To keep the speed up, the motor rotation speed must be continuously increased. It is difficult to present it to the public.

[0066] (2) As shown in Figure 32(c), by synchronous control using angular velocity ω1 and angular velocity ω2 This induces a continuous rotational force illusion (continuous torque sensation) in a fixed direction. (3) As shown in Figure 32(e), when they are rotated synchronously at a constant angular velocity in the opposite direction, the initial phase θi12 By controlling 01, it is possible to synthesize a linearly vibrating force (simple harmonic motion) in any direction.

[0067] (4) As shown in Figure 32(f), according to the sensory characteristics related to the illusionary tactile force, the angular velocity ω1 and the angular velocity When the object is rotated synchronously in the opposite direction by ω2, the illusionary tactile sensation of a continuous translational force is felt in a fixed direction. In the illusionary tactile force sense interface device 101, As shown in Fig. 32(c) and Fig. 32(f), the rotation speed (angular velocity) and phase are adjusted to suit the human sensory characteristics. If synchronization is controlled properly, the illusion of haptic force can be achieved by simply combining two types of angular velocity (ω1, ω2). can be induced, the control circuit can be simplified.

[0068] Figure 33 shows a schematic diagram of the phenomenon and its effect shown in Figure 30. Taking into account the sensory characteristics, the rotation pattern of the eccentric motor 815 is controlled to synthesize the two eccentric rotors. By changing the momentum over time, the vibration 904 periodically accelerates and decelerates around the equilibrium point. This can induce the illusion 905 that a force acting continuously in a certain direction is perceived. Physically, there is no component of force acting in a fixed direction, but there is a force acting in a fixed direction. This induces an illusion that the object is perceived as being in the air.

[0069] When the operating point A and the operating point B are alternately accelerated and decelerated every 180°, a sense of force in a certain direction is created. 905 is perceived continuously. The force returns to its initial state in one physical cycle, and its momentum The integral value of the force is zero. In other words, it remains around the equilibrium point, and the acceleration / deceleration mechanism is on the left side. However, the sensory integral value of the force sensation, which is a sensory quantity, does not become zero. When the force integral in the positive direction 908 is perceived, only the force integral in the negative direction 909 is perceived. will be done.

[0070] Here, the time derivative of angular momentum is torque, and the time derivative of momentum is force, which acts continuously in a certain direction. In order to continue generating torque and force, the number of rotations of the motor or the linear motor must be kept constant. Therefore, the method is to rotate the rotating body periodically. It is not suitable for continuous presentation in a fixed direction. In particular, it is not suitable for non-base type used in mobile devices. It is physically impossible for an interface to apply continuous force in one direction.

[0071] However, humans have nonlinear sensory characteristics, and by using the method of this invention, it is possible to By utilizing the sensory sensitivity related to the movement and controlling the acceleration and deceleration patterns of momentum, it is possible to generate forces that differ from physical characteristics. - It is possible to create an illusory perception of force patterns. For example, it is possible to create an illusory perception of the intensity of a given stimulus. Sensitivity is the ratio of the magnitude of a given stimulus to the intensity of the stimulus. They have different degrees of sensitivity, being more sensitive to weak stimuli and less sensitive to strong stimuli. By controlling the phase of acceleration and deceleration of the rotation of the motor and repeating the acceleration and deceleration periodically, a weak stimulus was presented. We have succeeded in presenting a continuous force sensation in the direction. By selecting A and B, a continuous force sensation can be presented even in the direction where a strong stimulus is presented. It can also be done as follows.

[0072] A driving simulator may be thought of as a similar device, but In the actuator, after applying the desired force (sense of acceleration), the object returns to its original position with a small acceleration that is not noticeable. By slowly returning the steering wheel to its original position, the car's acceleration is felt. However, with this type of biased acceleration method, it is not possible to continuously present a sense of force or acceleration in a certain direction. This is also true for conventional haptic interface devices. However, in the present invention, By using the illusion, a continuous translational force sensation 905 is presented in a certain direction. The direction of the intermittent force is opposite to that presented in the driving simulator. The point at which a continuous force is perceived in the direction is the illusion of the tactile force sense interface device 101 using illusion. It is a characteristic.

[0073] In other words, by utilizing the nonlinear sensory characteristics of humans, where sensitivity varies depending on the intensity, Although the integral of the force generated by periodic acceleration / deceleration or vibration is physically zero, Not only are they not actually canceled out, but the positive force 908 is not perceived, and the negative force in the desired direction is perceived. A translational force sensation 905 and torque sensation can be continuously presented in the direction 909. (Continuous torque (See Figure 19(c) for how sensations are generated.) These phenomena are caused by the sensory properties 831 being stimuli. Even if the sensory quantity is not logarithmic with respect to the physical quantity 832, the same effect can be achieved if it has nonlinear characteristics. This effect is not limited to the non-base type, but can also be obtained with the base type.

[0074] In Figure 3, by bringing the rotation duration Ta at operating point A closer to zero, Since the momentum is equal in each section of time Ta and rotation duration Tb, In the interval Ta, the resultant momentum increases and the force also increases, but the sense of force changes logarithmically. As the rotation speed decreases, the integral of the sensed value during the rotation duration Ta approaches zero. Therefore, the sense of force in the section of rotation duration Tb becomes relatively large, and the sense of force in one direction becomes 90 As a result, by appropriately selecting the operating point A and the operating point B, The A duration and the B duration are appropriately set, and the two eccentric rotors A and B are By adjusting the synchronization phase, it is possible to freely present a force sensation in any direction.

[0075] Figure 34 shows the nonlinear characteristics used in the illusionary tactile force interface device. The sensory characteristics (Fig. 34(a) and Fig. 34(b)) and the nonlinear characteristics of viscoelastic materials (Fig. 34(c)) were )), which shows the hysteresis characteristics of the viscoelastic material (Fig. 21(d)). Fig. 34(b) , ... By controlling the illusionary tactile force interface device while taking this characteristic into consideration, This shows that a sensation that does not exist is induced as an illusionary tactile force sensation. As such, materials with physical properties that exhibit nonlinear stress characteristics in response to applied force are used in the displacement, vibration, and When placed between a device that generates driving force such as torque and force and human skin or sensory organs, As shown in Figure 34(d), the sensory characteristics are similar to those of the muscle stretching. When the displacement increases or decreases, such as when stretching or shrinking, it is not isotropic and exhibits hysteresis. They often exhibit cis-sensory properties: when a muscle is pulled, it immediately contracts strongly. By generating such a strong hysteresis characteristic, it is possible to induce a similar illusionary tactile force sensation. can be.

[0076] Figure 35 shows an example of a method for changing sensory characteristics, which is based on the masking effect related to force sensation. FIG. 10 is a diagram showing a haptic information presentation method using a method of changing sensory characteristics by using a touch sensor.

[0077] The sensory characteristics are masked by the masking displacement (vibration) and torque sensation 434 is reduced. This masking method is simultaneous masking (which has been proven effective in visual and auditory masking). These include masking 424, forward masking 425, and backward masking 426 (see Figure 35(a)). )) is a schematic representation of the Muskie Torque 413, and the torque sensation felt at this time The torque 413 is expressed as the rotation speed 41 of the rotor. It is proportional to the time derivative of 2.

[0078] At this time, the initialization time 415 for initializing the rotor rotation speed 412 and the corresponding master The masking duration 425 is calculated by dividing the masking duration 425 by the initialization time 445 shown in FIG. 6 (FIG. 35(d)). The duration of the program is shortened as 455, and when it becomes shorter than a certain time, it is initialized. Although negative torque physically exists, torque is continuous as in torque sensation 464. A critical fusion occurs that feels like it is being presented in a way that is meaningful.

[0079] In addition, the masker that generates the masking displacement (vibration) masks the torque. Even if the rotor is a different rotor from the one being used as a muskie, the rotor itself is a muskie. The masker rotor is also a masker when the rotor is This means that the masking displacement (vibration) is controlled by the control device. The direction of displacement (vibration) of the masker may be the same as the direction of rotation of the maskee rotor, or The above is true when the maskee and masker are the same stimulus (mask This can also occur when the key rotator is also the masker.

[0080] FIG. 36 is a diagram illustrating this case. As shown in FIG. 36, the strong torque sensation 485 , in front and behind 486, the torque feeling is improved by front masking 485 and rear masking 486. Awakening 484 decreases.

[0081] Sensory characteristics are muscle tension or one of the physical, physiological, and psychological states. The sensitivity of torque sensation 517 changes depending on the above conditions. For example, when a muscle is subjected to a presented torque that is an external force, The muscle fibers are stretched instantly with torque 514 (short time, strong torque 524). A sensor called a weight detects this and generates a muscle-induced torque that is strong enough to withstand this external force. (Muscle reflex torque 525) causes the muscle to contract quickly as a conditioned reflex. At this time, myoelectric 51 The control circuit 512 detects this and controls the haptic device 513 to By applying a torque (gentle to moderate torque) synchronized with the contraction, Changes the sensitivity of the Luk Sense 517.

[0082] The above is not limited to muscle tension, but also affects breathing, posture, and neural firing. This also holds true for changes in sensory sensitivity due to one or more conditions.

[0083] The palm of the hand has an anatomical structure, including the bones, joints, tendons, and muscles, and its sensitivity varies depending on the orientation of the palm. The strength of the presented physical quantity is adjusted according to the sensitivity depending on the palm direction (anisotropic sensitivity curve 611). By correcting the rotation speed ω612, it becomes possible to provide a highly accurate direction.

[0084] Figure 37 shows the sensation of displacement, vibration, force, or torque in any direction. As an example of a control method for presenting haptic information continuously and intermittently, a force masking technique is used. By using a method that changes the sensory characteristics by the tactile effect, we have developed a method for presenting vibrotactile information in any direction. FIG.

[0085] The sensory characteristics are masked by the masking displacement (vibration) 1216 and the force sensation 1224 This masking displacement (vibration) is caused by the eccentric rotor A in (Fig. 30(b)). The rotation speed 1022 and the rotation speed 1023 of the eccentric rotor A are synchronized to displace the speed (vibration) ) can be generated by the above. (Figure 37(a)) is a schematic diagram of this. The force sensation 1224 perceived at this time is expressed as shown in (Figure 37(b)). 1213 is proportional to the time derivative of the magnitude 1212 of the combined rotational speed of the two eccentric rotors.

[0086] At this time, the initialization time 1215 for initializing the rotor rotation speed 1212 is shortened. As shown in Figure 37(c), when the time is shorter than a certain time, the negative force due to initialization physically exists. Despite this, it feels like the force is being presented continuously, like force sensation 1244. A critical fusion occurs.

[0087] The above also occurs when the masker and the masker have different rotors, and when the force A similar continuous presentation sensation occurs not only in the case of force but also in the case of torque.

[0088] As shown in Fig. 38(a) to Fig. 38(c), the sensory characteristics of each user are different. For this reason, there are people who can clearly perceive the illusion of tactile force, people who cannot perceive it easily, and people who can learn it through learning. Some people are more susceptible to being woken up than others. The present invention has a device that corrects this individual difference. In addition, if the same stimulus is presented continuously, the sense of sensation to that stimulus may become dull. Therefore, we can prevent habituation by varying the intensity, frequency, and direction of the stimulus. This is effective.

[0089] Figure 38(d) shows an example of a method for presenting a force in a certain direction using haptic illusion. In the method of synthesizing the displacement and vibration components by rotating the moving element in the opposite direction, operating point A The high speed rotation speed ω1 (high frequency f1) at operating point A and the low speed rotation speed ω2 (low frequency f 2) When 1002b is presented alternately at 180° phase intervals, the tactile illusion intensity (II) increases with eccentricity. It is proportional to the logarithm of the acceleration / deceleration ratio Δf / f of the frequency, which is the rotational speed of the rotor (Figure 38(e)). where f = (f1 + f2) / 2, Δf = f1 - f2. The relationship between the tactile illusion intensity and Δf / f The slope n when the values ​​are plotted indicates individual differences.

[0090] The sensory intensity (VI) is the displacement component that is perceived simultaneously with the illusory force sensation in a certain direction. The intensity of the vibration component is roughly inverse to the physical quantity f (logarithm) of the displacement component and vibration component. There is a proportional relationship, and by increasing the frequency f, the sensation intensity (VI) decreases relatively ( Figure 38(f)). By controlling the strength of the displacement and vibration components, the illusion of tactile force can be generated. The texture of the force changes when presented. When plotted logarithmically, the slope m indicates individual differences. The individual differences n and m change as learning progresses and reach a constant value when learning saturates. Converge.

[0091] 39(a) to 39(c) show a method for expressing the texture of a virtual plate 1100. The haptic interface device 101 detects the illusionary haptic interface monitored by sensing. The movement of the virtual object 1101 is determined by the movement of the virtual object (position, orientation angle, velocity, acceleration). The direction and strength of the resistance force 1102 generated by the haptic illusion are displayed in accordance with the movement of this virtual object. By controlling the texture parameters (vibration components), the frictional sensation of the virtual plate can be obtained. The sense of touch 1109, the sense of roughness 1111, and the shape are controlled. A virtual plane that operates when a virtual object (illusionary tactile force sense interface device 101) is moved on the virtual plane. 11 shows a resistance force 1103 from the virtual object to the virtual object and a resistance force 1102 against the movement.

[0092] FIG. 39(b) shows the state when the illusionary tactile force sense interface device 101 and the virtual plate 1100 come into contact with each other. This shows that the friction force 1104 acting between the two objects repeats kinetic friction and static friction in an oscillatory manner. In addition, the illusionary tactile force sense interface device 101 stays within the error thickness 1107 of the virtual plate. The presence of the virtual plate is expressed by feedback control of the resistance force 1106 that pushes it back. The illusionary tactile force sense interface device 101 exists within the virtual plate 1100. When there is no wall, the pushing back force is not displayed, and when there is a wall, the pushing back force is displayed. will be done.

[0093] FIG. 39(c) shows a method for expressing surface roughness. Resistance is presented in the direction opposite to the direction 1101 in which the robot 1 is moved, in accordance with the moving speed and acceleration. By doing so, a sense of resistance or viscosity 1108 is perceived. By presenting the acceleration force (1113), the virtual plate feels smooth as if it is sliding on ice. This sense of acceleration and smoothness can be enhanced by using a conventional vibrator. It is difficult to present this illusion using a non-base type haptic interface device. The texture and effect are realized by the haptic interface device 101. By changing the vibration resistance 1112, the surface roughness sensation 1111 of the virtual flat plate is perceived. To make.

[0094] Figure 40 shows a control algorithm using a viscoelastic material whose properties change with applied voltage. The viscoelastic material method involves the use of materials with different stress-deformation characteristics (2403, 2404). As shown in Figure 40(a), the material 1707 whose viscoelastic properties change with applied voltage is used. By controlling the applied voltage, the viscoelastic coefficient can be changed (Fig. 40(b)). The transfer rate of the periodically changing momentum generated by the eccentric rotor to the palm is expressed as the rotational speed of the eccentric rotor. By changing the phase in synchronization with the rotation, the eccentric rotor rotates at a constant speed as shown in Figure 40(c). Even if the object is rotating at a constant speed (constant speed rotation), the viscoelastic properties change over time as shown in Figure 40(d). By changing the value of the operating point B and the operating point A, the force is transmitted to the palm and fingertips. Because the momentum can be controlled, the same effect as accelerating or decelerating the rotation speed of the eccentric rotor can be achieved. .

[0095] This method also has the same effect as artificially changing the physical properties of the skin, and can be used to change the sensory properties. This has the effect of artificially changing the line (Figure 40(e)). Therefore, it absorbs individual differences in sensory characteristics. It can be used to control the illusion of tactile force, or to increase the efficiency of inducing illusionary force. As in the case of attaching a viscoelastic material to the surface of a haptic device, the viscoelastic material is applied as shown in Figure 40(f). The viscoelastic material may be attached to a fingertip or the body. Here, the viscoelastic material generates stress when a voltage is applied. -As long as the distortion characteristics can be controlled nonlinearly, the material and characteristics are not important. If nonlinear control is possible, the control method is not limited to control by applied voltage.

[0096] As shown in Figure 40(b), repeated acceleration and deceleration of the motor rotation results in a large energy loss and Although heat is generated, this method keeps the motor rotation speed constant (Fig. 40(c)) or accelerates. The intensity ratio f1 / f2 is close to 1, and the energy The energy consumption can be kept smaller than the energy consumption due to acceleration and deceleration of the motor.

[0097] FIG. 41 shows an example of the control of the illusionary tactile force sense interface device 101. The control of the motor 1704 is controlled by a motor feedback control circuit that controls the feedback characteristics of the motor 1704. Feedback (FB) characteristic controller and a controller that converts the illusionary tactile force induction pattern into a motor control signal. In the present invention, the phase pattern of the motor rotation θ(t) = F( It is important to control the synchronization of the u, II, VI, R) and to control the synchronization with high time precision. Therefore, as an example of the method, we will use a pulse train for controlling a servo motor. When a step motor is used for position control, the motor speed may be slow due to sudden acceleration and deceleration. Therefore, in this paper, we will introduce the pulse Explain position control. Motor feedback (FB) control characteristics and pulse position control method. By separating the motor control by the In the present invention, the consistency of the motor control signals when different motors are used is reduced, and the It can easily handle faster force-inducing pattern generation and an increase in the number of control motors that need to be synchronized. This ensures scalability and also makes it easy to correct for individual differences.

[0098] In the illusionary tactile force induction function generator 1701, the motor FB characteristic controller and the motor control signal The motor control signal generator generates a control signal for controlling the motor position. A pulse signal train gi(t)=gi(f(t)) is generated to control the phase position of the motor. In this method, the rotation phase of the motor is controlled by the number of pulses. For example, one pulse rotates the motor 1.8°. The direction of rotation is selected as normal or reverse by the direction control signal. By using this motor, any acceleration / deceleration pattern (rotation speed) can be achieved while maintaining the phase relationship of two or more motors. The rotational speed and rotational acceleration are controlled at any phase timing.

[0099] 42(a) to 42(b) show examples of implementation of the illusionary tactile force sense interface device 101. 2(a) and 42(b), the adhesive tape 1301 and the finger insertion portion of the housing 1302 1303 and attached to the fingertip 533. It can also be attached between the fingers 533 (43(c) ) and can be used by pinching it between fingers 533 (43(d)). It can be a hard material that is not easily deformed, a material that is easily deformed, or a slime-like material with viscoelasticity. A variation of these mounting methods is also possible as shown in Figure 43. Flexible adhesive and housing By controlling the phase of the two basic units of the illusionary tactile force device, In addition to the vertical force sensation, it can also express the sensation of expansion, compression, and pressure. The illusionary tactile force sense interface device 101 is configured as a housing having a tape and a finger insertion section. The part that is attached to the body is called the attachment part. The attachment part has the adhesive tape and the finger insertion part. In addition to housings, there are also seat-type, belt-type, and tights-type devices that can be attached to objects or the body. In a similar way, the fingertips, palms, arms, thighs, etc. can be used to mark the body. The terms viscoelastic material and viscoelastic properties used in this specification are It refers to something that has viscous and / or elastic properties.

[0100] FIG. 43 shows another example of implementation of the illusionary tactile force sense interface device 101. In a), the illusionary tactile force sense device 107 is detected as noise vibration by the acceleration sensor 108. In order to prevent this, by arranging these in the opposite direction to the finger 533, The influence on the tactile force sense device 108 is reduced. The noise vibration detected by the speed sensor 108 is also canceled to reduce noise interference. We are working to reduce input.

[0101] 43(c) to 43(e), the relationship between the illusionary tactile force sense device 107 and the acceleration sensor 108 By placing earthquake-resistant material 1405 between the two, noise and vibration are suppressed. (d) shows the illusionary tactile force sense interface device 1, which allows users to perceive illusionary tactile force sensations while touching a real object. 01. It adds a sense of illusionary tactile force to the sense of touch with real objects. presented tactile sensations by attaching wires to the fingers and pulling the fingers. When using a data glove to present haptic feedback while touching a real object, the fingers do not separate from the real object. It is difficult to combine the feel of real and virtual objects, as this can cause problems such as the hand becoming disoriented or the grip being hindered. This is difficult. With the illusionary tactile force sense interface device 101, this does not happen, and the user can grasp the real object firmly. Mixed reality: a combination of virtual sensations and grasping and touching ) has been achieved.

[0102] In FIG. 43(e), the contact with the real object and the By adding haptic sensations according to the grip pressure, you can edit the grip and touch sensation of the real object. The sensation is replaced by the sensation of the virtual object 531. In FIG. 43(f), the pressure sensor in FIG. 43(e) Instead, a shape sensor (e.g., a photo sensor) is used to measure the surface shape and shape deformation. Measurement of the shape and surface shape of the grasped object related to tactile sensation, and the gripping force, shear elasticity, and contact force due to deformation These measurements highlight the measured stress, shear force and surface shape. This will realize a tactile magnifying glass that can visually detect minute surface shapes on a display, just like a microscope. The shape can be confirmed by touching the object. Photo sensors allow you to measure shapes without contact, so you can measure them by holding your hand over a distant object. This allows you to experience the shape of the object.

[0103] In addition, commands on the touch panel change depending on usage and context. In the case of variable touch buttons, especially those that are hidden by fingers when pressing buttons, such as those on mobile phones, In such cases, the variable button commands are hidden and cannot be read. In the case of variable buttons in the virtual space of content, menu notation and commands are context-sensitive. The button changes depending on the time, so when you press a button, you may not know what button you are about to press. For this purpose, as shown in FIG. 43(e), the display on the illusionary tactile force sense interface device 101 By displaying it on the Play 1406, you can see the button commands and experience the illusion of tactile force. You can press the button.

[0104] Virtual objects 531 and virtual button presses on virtual controllers In order to feel and operate the information and push reaction force as if it were a real object, The time delay between the presentation of the reaction force and the actual force is a problem. For example, in an arm-type grounded haptic interface, In the case of a robot, the position of the gripping fingers is measured by the angle of the arm, etc., and contact and interference with the digital model are judged. After the setting is made, the force to be applied is calculated, the rotation of the motor is controlled, and the movement of the arm is controlled. Due to the stress, response delays may occur. Because it is done reflexively and at high speed, it is not possible to monitor and control it on the content side in time. Therefore, the illusionary tactile force sense interface device 101 also has sensors (108, 10 9, 110) and controls the illusionary tactile force sense device 107 and the viscoelastic material 1404. Equipped with a PU and memory, it can perform real-time control, allowing you to press virtual buttons. This improves responsiveness, realism, and operability.

[0105] It also has a communication device 205 and communicates with other illusionary tactile force sense interface devices 101 . For example, when the illusionary tactile force sense interface device 101 is attached to five fingers, the movement of each finger is In conjunction with this, the illusionary tactile force sense interface device uses a shape-changing material (1403 in Figure 43(b)) Transform and control the shape and feel of the virtual controller, as well as the virtual button operations. By performing this in real time, the realism and operability are improved.

[0106] In Fig. 43(a), in order to effectively utilize the hysteresis characteristics of the sensory and muscular systems, The electromyographic response is measured by Sensor 110, and the time and strength of muscle contraction are increased. The tactile induced function is corrected through feedback. One of the factors that influences the induction of illusory tactile force sensations is , how to attach the illusionary tactile force sense interface device 101 to the fingers or palm (how to pinch and how strongly to pinch), There are various ways in which the user applies force to the arm that receives the force from the haptic interface device 101. The sensitivity of haptic sensations varies from person to person, and some people feel more sensitive to haptic sensations when they grip something lightly. Some people feel more sensitive when they grip it tightly. To absorb this individual difference, the pressure sensor 109 and the electromyography sensor 110 are used to measure the sensitivity of the grip. The state of the device is monitored to measure individual differences and compensate for the haptic illusion induction function in real time. People will get used to and learn from the physics simulation in the content, and their grip will become more appropriate. Learning progresses in the right direction, and this correction has the effect of accelerating this. In FIG. 43(e), the illusionary tactile force sense interface device 101 is shown thicker to show the component configuration. However, each part can also be made in a thin sheet form.

[0107] Figure 44(a) shows the illusionary tactile force sensation induced by the illusionary tactile force device. The shape 300 of the illusionary tactile force sense interface device is changed by the shape-changing motor 3002 in synchronization. 1 shows a device that enhances the induced illusionary tactile force sensation 905 by deforming the surface 1. For example, in a fishing game, as shown in Figure 44(b), the pulling force of the fishing rod by the fish By bending the shape 3001 of the interface to match the user's movements, the illusion of tactile force 905 is created. The tension sensation of the fishing line induced by the force is further enhanced. Simply transforming the base will not allow you to experience the realistic pull of a fish, The realism is enhanced by adding deformation of the interface to the force sensation. By arranging the basic units of the illusionary tactile force device in space, the shape-deforming motor The deformation effect can be produced without the motor 3002. The deformation of the shape can be achieved by using the shape deformation motor. This is not limited to the 3002, but includes shape-changing devices such as drive devices using shape memory alloys and piezoelectric elements. Any mechanism that can do this is acceptable.

[0108] FIG. 45 shows an alternative device to the illusionary tactile force sense device 107. Instead of the eccentric weight 814 of the rotor and the eccentric motor 815 that drives it, In Figure 45(e), a weight 2302 and an elastic member 2303 are used. 45(a) and 45(b) show the cases where the number of elastic members 2303 supporting the weight 2302 is eight and four, respectively. The plan view, front view, and side view of the two cases are shown. By contracting and expanding 2303, the weight can be moved in any direction. As a result, translational and rotational displacement and vibration can be generated. Any structure with an acceleration / deceleration mechanism that can generate and control rotation torque is a substitute. It can be used as.

[0109] Figures 46 to 56 show various configurations of haptic displays or touch panels. A force-sensing display or touch panel is a device that uses an actuator and a touch panel. Detects the displacement, pressure, acceleration, etc. of the touch panel and and sensors for measuring the position, rotation, and tensor of the object.

[0110] Figures 46, 47, and 48 show table-type tactile displays or touch panels. Various configurations are shown.

[0111] Figure 46 shows the basic unit of the haptic actuator. The touch panel and the sensor are composed of a position, Velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, Viscosity, elasticity, etc. can be measured as a scalar, vector, or tensor. The actuators are position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, Pressure, humidity, temperature, viscosity, elasticity, etc. as scalars, vectors, or tensors. Here, we will explain the perception of tactile information at the fingertips, but we will focus on the fingertips in particular. It is assumed that the entire body of the operator will be affected, not just the haptic actuator. This shows an example of a basic unit of the CT-1000 used in a table type. Other features can be operated with the palm of your hand.

[0112] Figure 48 shows a table-type device equipped with virtual buttons on the wall for the operator to operate. It is possible to operate the device with a body part such as an elbow, and to use a body part to operate virtual buttons and other devices. Objects can be manipulated.

[0113] Figures 49, 51 and 52 show steering wheel type actuators for automobile steering wheels, etc. It also has virtual buttons near the handle for the operator to operate. This shows an example of the basic unit of the actuator being used for a handle type or handle. 49 allows for operation with body parts such as fingers and palms, and virtual buttons via body parts. Figure 50 shows a liquid crystal display on the handle. Even if you turn the handle while driving, the LCD display will remain in the same position. It can be operated with body parts such as fingers or palms, and can also be used to operate virtual buttons etc. When visual information is presented using a liquid crystal display or other device, the viewpoint and field of view can be easily controlled. To ensure stability, the LCD display maintains a constant position even when the handle is rotated. are.

[0114] Figure 51 shows the operation of the virtual body through the body parts such as fingers and palms. The haptic actuators are located throughout the handle, allowing you to operate objects such as the tongue. , rotate the handle, and use the haptic actuator regardless of the position of your fingers, palm, or arm. It can be used.

[0115] Figure 52 shows the operation of the virtual body through the body parts such as fingers and palms. The entire handle is a haptic actuator, allowing you to operate objects such as the handle. You can rotate the handle and use the haptic actuators regardless of the position of your fingers, palm, or arm. Cut

[0116] Figure 53 shows the operation of the virtual body through the body parts such as fingers and palms. This allows you to feel and operate objects such as door knobs without a door handle. This makes it possible to do this. The window glass is equipped with a curved LCD panel and a tactile panel. This applies to all physical buttons, sliders, dials, switches, operation panels, etc. can.

[0117] Figure 54 shows a haptic actuator attached to a finger, and Figure 55 shows a wrist-mounted actuator. Figure 56 shows the actuator mounted and operated by pressing the virtual button with a finger. Figure 54 shows the basic unit of the haptic actuator used for the ring type. This shows an example of operation using body parts such as fingers and palms, and virtual interaction via body parts. This allows you to operate objects such as door knobs without the need for a door knob. The same can be done with buttons, sliders, dials, switches, This can be done on everything, including the control panel.

[0118] Figure 55 shows an example of using the basic unit of the haptic actuator for wrist use. It shows that the user can operate the virtual body by using their fingers or palms, and can also use their body to interact with the virtual body. This allows you to feel and operate objects such as door knobs without a door handle. The same thing can be done with physical buttons, sliders, dials, switches, and control panels. This can be done for everything, including the flannel.

[0119] Figure 56 shows the basic unit of the haptic actuator, arm ring type, arm ring type This shows an example of using the device for operations with body parts such as fingers or palms, and for operations with a body part. This allows you to operate objects such as physical buttons, even if there is no door handle. The same goes for physical buttons, sliders, dials, and switches. This can be done on all devices, including the touch screen and operation panel.

[0120] Figure 57 shows an example where the basic unit of the haptic actuator is used for the whole body. It allows you to operate the device with your fingers, palms, or other body parts, and also allows you to operate virtual buttons and other devices through your body parts. This allows you to feel and operate a door handle even when there is no door handle. The same applies to physical buttons, sliders, dials, switches, control panels, etc. It can be done in everything.

[0121] Figures 58 and 59 show the outline of the wiring that connects the controller and the haptic actuator. Figure 58 shows the case where haptic actuators are connected in a parallel arrangement, and Figure 59 shows the case where This shows the case when connected to a loss array.

[0122] Figure 60 shows a system that communicates information between a haptic display panel and a computer (PC). A schematic diagram of the system is shown. The touch panel is equipped with an actuator array. or are provided as an integral part.

[0123] This system applies the operator's sensory characteristics and illusions to make the operator feel as if they are manipulating a real object. Specifically, the system is controlled based on the stimuli detected by the sensor, The sensory characteristics that show the relationship between the amount of stimulation applied to the human body and the amount of sensation are nonlinear or illusory. The tactile information is presented by controlling the stimulus using the sensory characteristics. and the stimulus amount provided by the operator's operation. It has a sensory quantity that is presented to the artist, and the sensory quantity is a sensory quantity that cannot physically exist.

[0124] Here, the system presents stimuli from or to the object and responds to the operator's manipulation. The stimulus applied to the operator is controlled according to the movement of the object. This part consists of a motor and a controller and can be used as a component. By integrating these components into an actuator array, we have developed a video tag with tactile information presentation function. The haptic information presentation system is composed of this part and other modules. Using these devices, systems such as touch displays can be constructed. By integrating them into a modulator array, various shapes and sizes can be created, including flat, curved, and three-dimensional. It is possible to configure a tactile information presentation system.

[0125] The sensors attached to the haptic actuator measure the position, velocity, and acceleration of the sensor. Velocity, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, pressure, humidity, temperature, viscosity, elasticity The sensor's performance is measured and the information is sent to the controller to control the haptic actuators. A control signal for the haptic actuator is calculated and sent to the haptic actuator, which then controls the The haptic actuators are used for panel and display type sensors and The controller has a display function, and it can detect displacement and movement caused by the movement of the body such as fingers and palms. The movement amount, vibration amplitude, displacement stimulus, vibration stimulus, and time change of stimulus intensity are calculated, and the control algorithm Based on the rhythm, the sensor monitors the movements and pressure of the fingers, palms, and other parts of the body, Position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, and force of haptic actuators , torque, pressure, humidity, temperature, viscosity, elasticity, etc. are controlled, and humans can sense pressure, touch, and force. Tactile information such as tactile sensation is presented.

[0126] The control signal is expressed as force information (t) and amplitude information (t) in the form of a driving voltage, etc. Actuators include motors, piezos, artificial muscles, memory alloys, molecular motors, electrostatics, coils, and magnetic forces. Any device or operating principle is acceptable as long as it generates displacement or vibration, static electricity, or other electrical components. .

[0127] As a result, panels and displays made up of flat, curved, and three-dimensional shapes can be fixed to the housing, etc. Even though it is installed to be fixed or to have minute displacement and minute vibration, there is no feeling of insertion or pressing. Feeling of being pushed back, feeling of being lifted, feeling of vibration and amplitude convergence, vibration -Reverberation of amplitude, sense of direction of displacement and movement, feeling of solidity, hardness, softness, three-dimensional feel Although the sensation is not physically reproduced or presented, Such sensations and physical reactions and reflexes are experienced. In spite of the flat panel, buttons, sliders, dials, switches, This makes it possible to obtain a realistic feel for operating objects such as an operation panel.

[0128] In addition to the above, stationery, notebooks, pens, home appliances, signs, signage, kiosk terminals, walls, Tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, simulators (for surgery, driving, massage, sports, walking, musical instruments, crafts, painting, art) It can be used for

[0129] Figure 61 shows various integrated configurations of the haptic display panel system. A number of actuators are attached to the switch panel. The actuator may be integrated into the touch panel. Units made up of balls, integrated array types, spherical and 3D types arranged on the surface There are also solid types that are packed into the sphere or solid. By integrating them into an actuator array, various shapes and sizes can be created, including flat, curved, and three-dimensional surfaces. It is possible to construct a tactile information presentation system.

[0130] Figure 62 shows a haptic display panel with actuators arranged in an array. These are attached via a link mechanism, a vibration damper or a shock absorber. No vibration dampers or shock absorbers are required. Multiple modules can simply be mounted on a flat surface. Surfaces, curved surfaces, and three-dimensional structures, each module connected by a link mechanism, There are various ways to arrange them, such as connected by dynamic shock absorbers or shock absorbing mechanisms, or independent ones.

[0131] Figures 64 to 67 show schematic diagrams of the basic modules of the haptic device. The basic module of the system is the haptic sensation of buttons, friction, and unevenness, as well as the sensation of pain and virtual objects. The presence and expression of the body are digitized and expressed digitally. The system presents haptic and illusory haptic sensations through physical quantities and stimuli such as displacement, rotation, deformation, and vibration. The photo device measures displacement, rotation, velocity, acceleration, pressure, and force due to contact and movement. The sensor signal is measured using sensors such as resistance, conductivity, capacitance, sound waves, and lasers. , position, velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration of and / or to an object. The stimulus includes at least one of motion, force, torque, pressure, humidity, temperature, viscosity, and elasticity. This allows for tactile sensations such as button sensation, friction sensation, and unevenness sensation, as well as pain sensation and birch sensation. The presence and feel of the object are expressed.

[0132] The panels can be freely designed and shaped, allowing for a wide range of designs. It is possible to digitally express instantaneous changes in tactile sensations. By monitoring the actions near the previous touch panel, the real-time display of the touch panel is It is possible to improve the response characteristics of the system. The sense of impact and collision is expressed by measuring the force with a non-contact sensor. The state of contact can be expressed digitally. The contact state such as the angle of contact of the finger, the contact area, and the wetness of the finger can be displayed digitally. This allows for control that reflects the state of the screen, thereby improving the feeling of tracing.

[0133] 68 to 78 are schematic diagrams of a panel-type module. The tool is designed to provide tactile sensations such as button feel, friction, and unevenness, as well as pain, the presence of virtual objects, and the appearance of the surface. Digitalize and express the actual sensation. The system presents haptic and illusory haptic sensations through physical stimuli such as displacement, rotation, deformation, and vibration. The physical quantities, such as contact, contact position, displacement according to movement, rotation, deformation, vibration, etc., stimulation and its The spatial balance of the stimulus on the touch panel, the intensity distribution, and the haptic and illusory haptic sensations due to time changes Therefore, the spatial balance of the stimulus, the intensity distribution, and the time change of the force, object, and presence are It allows the sensation of movement, propagation, and shape change (phantom sensation), and In addition, even though it is a hard panel, it can present the presence of objects, three-dimensional objects, And it can show its presence.

[0134] Figure 69 shows the structure of a touch panel with a photointerrupter mounted on the substrate. Tarupt detects distance and changes and adjusts the button pressing feel (sinking pitch, depth). Therefore, by digitally expressing the button feel on a hard panel, it can be tailored to your needs and preferences. In addition, the texture and feel can be adaptively changed instantly.

[0135] Figures 70, 71 and 72 show the actuators attached to the touch panel in a suspended structure. Figure 70 shows the structure in which the actuator is suspended in the center of the touch panel. The attached structure is shown.

[0136] Figure 71 shows a structure in which actuators are attached to both ends of the touch panel in a suspended configuration. In the structures of Figures 70 and 71, viscoelastic material is provided on the side walls between the panel and the wall, and vibration It is preferable to provide a buffer.

[0137] Figure 72 shows a structure in which the actuators are attached to both ends of the touch panel in a suspended structure. In the structure of Figure 72, it is preferable to provide a low friction material on the side walls between the panel and the wall. These structures can increase the intensity and effect of haptic sensations. In the structure of Figure 71, the touch panel and actuator parts are floating, and the displacement and vibration of six degrees of freedom are The dynamic 3D speaker mechanism transmits physical quantities and stimuli to the fingers and body through the touch panel. It is possible to increase the physical quantity, the amount of stimulation, and the actuator part of Figure 71 In Figure 72, the inertial actuators are located on both sides of the touch panel. By providing a structure attached to the touch panel, the sensor transmits the information to the finger and the body. It is possible to increase the physical quantity and amount of stimulation. Increases the sense of depth, sinking pitch, and vibration. Can be used in IoT devices. Increase your sense of volume and efficiency without having to choose

[0138] Figures 73 to 77 show touch panel modules incorporating an LCD display into a touch panel. Figure 73 shows a schematic diagram of the touch panel module. The LCD panel is placed in the space between the pair of modules. The monitor and the LCD panel are separated so that the image on the LCD panel does not shake or vibrate. The tactile sensation, feel and presence of the object projected on the LCD panel are presented. This makes it possible to simulate the feel and texture of 3D objects.

[0139] 74 and 75 show schematic diagrams of a thin touch panel module. Figure 75 shows the same arrangement as in Figure 3. The actuators are arranged on both ends of the touch panel. This allows it to be mounted on thin devices such as smartphones.

[0140] FIG. 76 shows a screen on the surface of the touch panel of the touch panel module of FIGS. 73 to 75. A touch panel module system with a projector above the screen. This system enables digital haptic functions for video. The image projection and haptic touch panel are controlled by the

[0141] FIG. 77 shows a five-sense information presentation device arranged on the touch panel module of FIGS. 73 to 76. The installation of the five-sense information presentation device allows for the use of the five senses, including sight, hearing, and touch. It also allows you to use your five senses, such as visuals, sound, touch, smell, and taste. Five emotions: whether the object matches or does not match (mismatch) the haptic information The interaction with information can enhance and promote illusions, and can expand sensations that do not actually exist.

[0142] Figure 78 shows a schematic diagram of the array unit for multi-touch. The phase of the displacement direction of each panel is controlled, and the sensation is not just a simple displacement caused by a moving stimulus. It can express the sensation of movement and motion outside the body. It presents the sensation of rotation using fixed panels.

[0143] Figure 79 presents a complex sense of movement. Each panel has phase control of the displacement direction and fingertip sensation. The sensory synthesis control provides sensations of expansion, pressure, twisting, expansion, and pressure. Fixed panel It presents a sense of deformation.

[0144] Figure 80 presents a complex motion sensation. Each panel has phase control of the displacement direction and perception / recognition. Sensory synthesis in the intellectual layer, synthesis and control of multi-touch sensations, expansion, pressure, twisting The fixed panel gives a sense of deformation.

[0145] Figure 81 shows the haptic and force sensations using one device. Each panel has different components [haptic sensation]. - Force sensation is reproduced by the sensory synthesis control. Z-direction pressure sensation is driven by finger pressure and XY displacement is controlled. Controlled by a trigger, the device simultaneously presents tactile and force sensations in the Z direction. Be realized.

[0146] Figure 82 shows the haptic and force sensations presented by one device. Each panel has different components (tactile sensations) - Force sense) is reproduced. Z-direction pressure sense drive by finger pressure and XY displacement trigger control, It generates and controls pressure sensation in the Z direction, and simultaneously presents tactile and force sensations through the panel. Achieve the peak.

[0147] Figure 83 shows the haptic and force sensations using one device. Each panel has different components (tactile sensations) The way of synthesis is not limited to this. Avoid mutual effects such as reciprocal masking. Present consonants and vowels.

[0148] Figure 84 shows how to control the induced pattern to control the forward and backward displacements. The chair presents tactile and force sensations. Different components (tactile and force sensations) are presented to each panel at different times. There are overlapping parts and non-overlapping parts. Not limited to: Avoiding the combined effects of mutual masking of tactile and haptic sensations. Present consonants and vowels. .

[0149] Figure 86 shows the tactile and force sensations using one device. Each panel has different components (intensity) - Amplitude, frequency, waveform, phase) are displayed. By waveform comparison, difference, phase difference, synergy effect Figure 87 shows a device that presents tactile and force sensations. Each panel displays different components (intensity, amplitude, frequency, waveform, phase). The difference, phase difference, and synergistic effect create a sensation different from the ingredients.

[0150] Figure 88 shows the button-shaped sensation generated by the haptic sensation of a sharp peak. The closer you are, the larger the panel amplitude becomes. The further away you are, the smaller it becomes. The panel presents a sharp, convex slope sensation. Figure 89 shows the haptic sensation. The system presents a semi-cylindrical convex sensation. The intensity and amplitude of the stimulus and displacement are controlled. The panel provides a sense of convexity.

[0151] Figure 90 presents a concave gap sensation in tactile sensation. The panel creates a sense of recessed gap.

[0152] Figure 91 shows the induced sensory control of finger movement between buttons (crossing sensation). Control the amplitude. It is difficult to stay between the buttons and is guided to the buttons. On a flat panel, The finger movement is guided like an attractor in the potential field. When the pointer leaves the button area, it will be guided to the next pointer. The closer you get to the center of the section, the larger the panel amplitude becomes (the further away you get, the smaller it becomes). Center of the induction section The direction of the force sense will change.

[0153] Figure 92 shows how to control the sense of guidance between buttons to present a sense of edge and edge point. When the button is pressed, it makes a clicking noise. The edges have a sense of presence, and the buttons appear to be raised. Move the pointer from the area to move between buttons. When the pointer leaves the button area, the next The closer you get to the center of the induction zone, the larger the panel amplitude becomes (the further away, the smaller it becomes). The force sense direction changes in the center of the guidance section.

[0154] Figure 93: Masking displacement on the edge part that controls the induced sensation of the button and presents the edge sensation (Vibration) is generated. The presence of the edges and the step and depression of the buttons on the flat panel are felt. Use the pointer to move between buttons. When the pointer leaves the button area, the next button The closer you get to the center of the induction zone, the larger the panel amplitude becomes (the further away you get, the larger the amplitude becomes). The force sense direction changes in the middle of the guidance section.

[0155] Figure 94 shows a slider controlled by haptic force to present a stable haptic sensation. Move between buttons by operating the mouse. When the pointer leaves the button area, it will be guided to the next button. The closer to the center, the larger the panel amplitude (it becomes smaller as you move away). Switch the sense of direction. Get a slider feel.

[0156] Figure 95 shows a slider controlled by haptic feedback to present a stable haptic feedback and click at the slider end point. Generate displacement. Get slider feel. Figure 96 shows slider feel control.

[0157] Figure 97 shows stable haptic sensation during sweep. Controlled by any means. Presents stable haptic sensations. Presents stable sensations in different control modes. Figure 98 The device controls dynamic friction (regular period) during the sweep to provide a stable haptic sensation. Controlling coherent phases by using the haptic feedback. Presenting stable haptic feedback. Stable haptic feedback with different control modes. Present the decision.

[0158] Figure 99 shows a device that controls static friction during sweeping to provide a stable tactile sensation. Set the virtual slider and move it. Set the virtual slider and slide your finger. Reciprocating motion. Slider sensation. Figure 100 shows a stable tactile sensation achieved by controlling static friction during sweeping. The virtual slider is displayed. Fix your finger (body) and move it. Fix it, slide your finger, and when you reach the edge, reset your finger (lift your finger off the panel surface). Ida feeling.

[0159] Figure 101 presents a stable tactile sensation by controlling static friction during sweeping. Fingers (body) Fix the virtual slider and slide your finger. When you reach the end, reset your finger (cutting displacement). Slider feeling. Figure 102 shows the sweep Dynamic friction control provides a stable haptic sensation. Fix your finger (body) and move the virtual slider. Move the virtual slider. Fix the virtual slider and slide your finger. The friction exceeds the tension limit. When this happens, the contact fixation comes off. It feels like a slider.

[0160] These sweep waveforms, click waveforms, and cut waveforms can be vibrations or any waveform. Arbitrary waveforms come in a variety of waveform patterns to suit the desired tactile sensation. It is not limited to linear increase and decrease, sinusoidal oscillation, and combination of fundamental frequency components, but also synthesizes Design arbitrary waveforms, amplitude modulation, and ambience, just like creating musical instruments and music with the sizer. Expressing various tactile sensations and feelings through wave number modulation, convolution, and their combinations. can be done.

[0161] Figure 103 shows how to control the button pressing sensation. - Threshold 1 when the pressing pressure increases and When the threshold value 2 is exceeded during the downward movement, a displacement is applied to the panel. - Threshold value and panel amplitude The hardness of the button is expressed by frequency. Even though the panel does not dent, you can feel the depth of the pressure. A dented feeling without any dent.

[0162] Figure 104 shows how to control the button press to provide a button press sensation. Displacement is applied to the panel when it exceeds threshold 1 when it is rising and threshold 2 when it is falling. The amplitude and frequency of the panel express the hardness of the button. The panel does not dent, but you can feel the depth of the pressure. Feel the sensation of a dent without any physical dent.

[0163] Figure 105 shows how to control and present the button pressing sensation. By setting multiple thresholds, you can It expresses the sensation of pressing the shutter halfway, like a camera shutter. Shutter focus Figure 106 shows how to control the pressing sensation of the shutter button. By setting this, you can express the feeling of pressing the shutter halfway, just like pressing the shutter halfway on a camera. The feeling of shutter focus retention.

[0164] Figure 107 shows how to control and present the sensation of pressing a button. (The first time there is no release, the second time there is release.) Figure 108 shows the button pressing sensation presented by latch control. Separate the push and release (first time without release, second time with release)

[0165] Figure 109 shows how to control the pulse threshold for the notch at equal intervals. The sensation of inserting a knife into ice cream. Figure 110 shows the pulse threshold for the notch. FIG. 111 shows how to control the pulse threshold for the notch at equal intervals. It feels like cutting a knife into chocolate-covered ice cream.

[0166] Figure 112 shows how to control the pulse threshold for the notch at equal intervals. The sensation of inserting a knife into frozen ice cream. Figure 113 shows the pulse threshold for the notch at equal intervals. Mille-feuille, the feeling of cutting a knife into chocolate-covered ice cream Figure 114 shows how to control the pulse threshold for the notch at irregular intervals. It feels like putting a knife into frozen ice cream.

[0167] Figure 115 shows the hysteresis control of the push button. The threshold for the push pressure and the threshold for the release pressure are shown. When the threshold value is exceeded, amplitude is applied to the panel. Expresses the hardness of the

[0168] Figure 116 shows the finger pressure function control of the press button. Threshold 1 when the pressing pressure increases and decreases. When the threshold value 2 is exceeded, amplitude is applied to the panel. Figure 117 shows the hardness of the button, which is expressed by the number of times it exceeds threshold 1 when the pressing pressure increases and threshold 2 when it decreases. Add amplitude to the panel with timing. Control the waveform adaptation. Threshold value and panel amplitude, The frequency expresses the hardness of the button.

[0169] Figure 118 shows the effect of pushing the push button in 3D on the displacement amplitude plane (phase) and responding to the threshold. The panel is controlled when the pressure exceeds threshold 1 when the pressure rises and threshold 2 when the pressure falls. Add amplitude. Express the hardness of the button by the threshold value, panel amplitude, and frequency.

[0170] Figure 119 shows the timing when the panel exceeds threshold 1 when the downward pressure increases and threshold 2 when the downward pressure decreases. The amplitude of the push button is adjusted to suit the situation. The width and frequency represent the hardness of the button. The time when the pressure exceeds the threshold when pressing down and the threshold when pressing down. The threshold value, panel amplitude, and frequency are used to express the hardness of the button. do.

[0171] Figure 120 shows the timing when the panel exceeds threshold 1 when the downward pressure increases and threshold 2 when the downward pressure decreases. The threshold value, amplitude, and frequency of the panel express the hardness of the button. When the pressure exceeds threshold 1 when it rises and threshold 2 when it falls, the panel is pressed with an amplitude. Control the intuitive buttons according to the situation.

[0172] Figure 121 shows a time pattern for controlling the push button. Figure 122 shows a time pattern for controlling the notch. The pulse threshold for the notch is controlled at equal intervals. FIG. 124 shows the waveform control of the notch pulse threshold at equal intervals. The pulse threshold for the switch is masked and controlled at equal intervals.

[0173] Figure 126 shows the dynamic and static friction control of the push button, and the threshold 1 when the pressing pressure increases and decreases. When the threshold value 2 is exceeded, amplitude is applied to the panel. The number represents the hardness of the button. Figure 127 shows the phase control of the push-in button to change the pressing pressure. The threshold value that adds amplitude to the panel when threshold 1 is exceeded during rising and threshold 2 is exceeded during falling. The amplitude and frequency of the panel express the hardness of the button.

[0174] Figure 128 shows the results of controlling the pressing intervals and exceeding multiple thresholds only when the pressing pressure increases. The panel is oscillated by timing. The notch amplitude uses high frequency. In combination with the button Figure 129 shows a notch button. It controls the uneven intervals of pressing and only when the pressing pressure increases, The panel is vibrated when a certain threshold is exceeded. The notch amplitude is high frequency. Combined with the button, it creates a notch button effect.

[0175] Figure 130 shows the time when the threshold value is equal interval and the time when the pressing pressure is increased exceeds the threshold value. The panel is vibrated by the vibration. The vibration of the notch is high frequency. Represents the Chi button.

[0176] Figure 131 shows a haptic dial controlled by a control function. The displacement direction is controlled for each position phase. Displacement can be controlled in 3D. Various dial feel is realized. Realistic dial with flat panel. Touch. No need for a physical / analog dial mechanism. Figure 132 shows how to operate the pointer from the panel. Turn the dial to feel the acceleration. The panel is vibrated parallel to the tangent of the dial to feel the acceleration. For sliding, the force sensation is further controlled in the direction of the dial rotation.

[0177] Figure 133 shows how to rotate the dial with a touch of resistance by operating the pointer on the panel. The panel is oscillated at a right angle to realize the sense of resistance. Figure 134 shows the operation of the pointer from the panel. Turn the dial with a sense of horizontal acceleration. The panel is oscillated at a right angle to the tangent of the dial to achieve horizontal acceleration. Figure 135 shows a dial that can be turned with a variable feel by operating a pointer on a panel. The panel can be moved at any angle relative to the tangent of the dial to create a variable feel. By changing the phase in the direction of the beam, various sensations can be generated. Use the pointer to rotate the dial randomly. The panel moves at right angles to the tangent of the dial. This creates a sense of randomness.

[0178] Figure 137 shows a dial that makes a clicking noise, causing a click displacement at each fixed position phase. It has the feel of a flat panel loader encoder, digital dial, and volume knob. do.

[0179] Figure 138 shows the circular guided operation feeling on the circumference of the volume, the finger stays within the circumference, The sense of movement of the fingers and the sense of circular movement when rotating the actual rotary knob are The centripetal tactile sensation is presented for each position phase. Figure 139 shows the operation sensation on the circumference of the volume. The sense of movement can be expressed through the sense of circumferential induction and resistance felt when the rotary volume is actually turned. The afferent tactile sensation and the resistive tactile sensation are alternately or exclusively transmitted for a certain position phase. At the same time, it realizes the sense of circular movement when rotating the volume.

[0180] Figure 140 shows the haptic sensation of volume adjustment and confirmation. Click displacement gives a rotary volume feel, and click displacement gives a confirmation click. Depending on the position, you can feel the button being pressed, the volume control, confirmation and switch sensations on the flat panel. Manifest.

[0181] Figure 141 shows how to increase the variation of the tactile feel of the haptic dial. , and controls the displacement. Displacement can be controlled in 3D directions. Various dial feel, It realizes a sense of touch, warns, draws attention, and provides direction indication. The open panel allows you to Various dial feel and response are presented in the right places. Feel and response are provided in a timely manner according to the situation. Control.

[0182] Figure 142 shows that the illusion of force changes nonlinearly depending on the weight of the device by changing its size and shape. The perceived sound pressure and perceived torque intensity are changed. Figure 143 shows the threshold and perceived amount of tactile sensation. Varies with device size. Perceived torque intensity is calculated by subtracting weight from torque. There is an optimal device size for perceived quality.

[0183] Figure 144 shows texture, pressure (touch sensation); pressure, hot and cold, tactile sensation; micro-time structure, force sensation; Macro-time structure, vibration sense; formed by frequency. Figure 145 shows various macro- and micro- This shows a database of texture structures, where the temporal structure represents texture.

[0184] Figure 146 shows how to control the waveform and the 2D amplitude direction. The panel is created by synthesizing the waveforms on the X and Y axes. Generates amplitude for any axis of the surface.

[0185] Figure 147 shows a touch panel in which a number of touch panels are arranged in an array, and each touch panel has an actuator. This allows the position of each panel to be controlled in the displacement direction. It can realize the feeling of pitch, grip, cutting, and rotation, and allows you to intuitively control the subtleties of mouse operation. Figure 148 shows a system for measuring personal characteristics using an illusionary tactile force induction function generator. Indicates the system.

[0186] FIG. 149 is a flowchart showing a method for controlling the actuator.

[0187] Figures 150 to 152 show examples of application and their effects. Figure 150 shows individual profiling. This is realized by using a dial and a pointer. The information is analyzed to estimate personal ID, psychological state, health condition, and fatigue level.

[0188] Figure 151 shows a touch panel array with an actuator for each touch panel. This allows the position of each panel to be controlled in the displacement direction. It can realize the feeling of moving forward, backward, shearing, ripping, expanding, pinching, grasping, and rotating. This allows the state of the body, such as organs, to be determined based on the image, the way the fingertips are moved, and the amount of pressure applied. By providing various types of materials (hardness, softness, shape, etc.), palpation training can be realized.

[0189] Figure 152 shows that remote synchronous operation is possible by connecting the VR environment generating devices via communication. As an example of application, in information terminals, etc., even though the panel is flat, buttons and slides can be used. The ability to realistically feel the operation of objects such as sliders, dials, switches, and control panels It is possible to present various textures, so it can be used for stationery, notebooks, pens, home appliances, nursing care, etc. Boards, signage, kiosk terminals, walls, tables, chairs, massagers, vehicles, robots Wheelchairs, tableware, shakers, simulators (surgery, driving, massage, sports, walking) It can be used for various purposes such as writing, musical instruments, crafts, painting, and art, and it has a sense of insertion, sinking, Sense of depth, sense of being brought back, sense of floating, sense of convergence, sense of reverberation, sense of direction, sense of sinking, sense of hardness, Soft feeling, smooth feeling, slimy feeling, slimy feeling, rough feeling, bumpy feeling, prickly feeling, Adding value to products by providing textures and feel such as hardness, crunch, and squishy feeling. Industrial application fields

[0190] By implementing the present invention, the equipment used in the field of virtual reality, Equipment used in the fields of games, amusement, and entertainment, and IT Mobile communication devices, information terminal devices, navigation devices, and mobile information terminal devices used in devices used in the automotive and robotics fields, and medical and welfare fields A useful man-machine system that can be installed in equipment, equipment used in the field of space development, etc. The interface can be realized.

[0191] More specifically, in the fields of virtual reality and information appliances, The invention provides haptic information such as tactile sensation and feel to humans through a man-machine interface. By showing the force or applying a resistance or reaction force to restrict the movement of the person, It can also present the presence of objects in real space, the impact of collisions, and the sensation of operating devices. In addition, by incorporating the above interface into mobile phones, portable navigation devices, etc. This allows the operator to receive a variety of unprecedented instructions and guidance through their skin. It can be realized.

[0192] Despite being a flat panel, buttons, sliders, dials, switches, and operation panels are It is possible to obtain a realistic feel for operating objects such as a screen. It can be used for stationery, notebooks, pens, home appliances, signs, signage, kiosk terminals, walls, Tables, chairs, massagers, vehicles, robots, wheelchairs, tableware, shakers, stains (surgery, driving, massage, sports, walking, musical instruments, crafts, painting, art) It can be used for inserting, sinking, depth, returning, lifting, and confinement. Bundle feeling, reverberation feeling, sense of direction, sludgy feeling, hard feeling, soft feeling, smooth feeling, slimy feeling, Slimy, rough, bumpy, tingly, hard, crunchy, squishy This allows us to add value to products by providing them with a texture and feel that is soft to the touch.

Claims

1. a display body including a physical quantity generating device; a controller that controls the driving of the physical quantity generating device by supplying a control signal; an adapter that receives a control signal from the controller and provides a sensor signal to the controller; and A tactile force interface that has human sensory characteristics, A device that induces an illusionary tactile sensation in a display body comprising: The sensory characteristics include at least one of nonlinearity, hysteresis, masking, and threshold. The controller controls the sensory synthesis and / or physical quantity of the tactile sense and / or the illusionary tactile sense. The actuator is controlled by the control signal, and a sensory amount is displayed via the display. or a physical quantity, and the shape or position of one or more display objects displayed on the display unit The accompanying induced sensation is controlled to induce sensations and / or objects different from the sensory or physical quantities. It presents a sense that does not exist rationally, the induced sensation includes a sensation induced by the display object; The induced sensation is a displacement in a predetermined direction, The actuator generates a displacement in a direction different from the predetermined direction. A device.

2. A predetermined direction related to the induced sensation and a different direction related to the displacement generated by the actuator. The device of claim 1 , wherein the direction is perpendicular to the direction of rotation of the sensor.

3. The display body has a plane, and the plane and the difference related to the displacement generated by the actuator The device according to claim 1 or 2, wherein the direction in which the light passes through the device is perpendicular to the direction in which the light passes through the device.

4. A predetermined direction related to the induced sensation and a different direction related to the displacement generated by the actuator. The device of claim 1 , wherein the direction of rotation is opposite to the direction of rotation of the rotating shaft.

5. The display body has a plane, and the plane and the difference related to the displacement generated by the actuator 5. The device of claim 1 or 4, wherein the direction in which the rotation of the rotor is opposite to ...

6. The sensations that are different from the sensory quantity and / or that do not physically exist are 10. The method of claim 1, wherein the sensory information is presented by at least one of comparison, difference, synthesis, and synergy of sensory information.

6. The device according to claim 5.

7. The inducement drives the controller to calculate a physical quantity, a stimulus quantity, a momentum quantity, a velocity, and angular velocity, or to control, vary over time, or to change the physical quantity. At least one of threshold, sensory characteristics, masking characteristics, and hysteresis characteristics is utilized.

7. The device according to any one of claims 1 to 6, characterized in that

8. 8. The device according to claim 1, wherein the device comprises an illusionary tactile force sensation inducing function generating device. The device.

9. The controller may include a controller for controlling velocity, acceleration, shape, displacement, deformation, amplitude, rotation, vibration, force, torque, etc. Pressure, temperature, humidity, viscosity, elasticity, physical quantity, displacement, vibration, amplitude, strength, frequency, waveform, 9. The device according to claim 1, wherein the device controls at least one of the phase and the stimulation. Place.

10. The display is arranged in at least one of a plurality of divided arrays, dots, and pixels. and are controlled independently and / or dependently, and the display has a sense of movement and / or a sense of motion.

10. A device according to any one of claims 1 to 9, characterized in that it is provided.

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