Force Awareness Cueing Device

Abstract

To provide a force feedback device that can provide force feedback to the operator even when the operator is not performing any actions. [Solution] The force feedback device 1 comprises a power output device 2 having a motor 21 and a power output unit 25 that outputs power generated by the motor 21, a first mounting unit 5 that is attached to a part of the operator's body, a holding member 4 that holds the power output device 2 at a predetermined position on the operator's body, and a transmission mechanism 3 that transmits the power output by the power output unit 25 to the first mounting unit 5. The transmission mechanism 3 has a flexible member 31 that transmits power in the longitudinal direction. The flexible member 31 is displaced in the longitudinal direction by the power output by the power output unit 25 and / or by the operation of the first mounting unit 5. The transmission mechanism 3 further has a support member 33 that slidably supports the flexible member while maintaining the distance between the flexible member 31 and the operator's body.

Description

Technical Field

[0001] The present invention relates to a force sense presentation device that presents a sense of force to an operator.

Background Art

[0002] Patent Document 1 discloses a force sense presentation device that presents a desired sense of force to an operator when the operator displaces a displacement portion. The force sense presentation device of this document includes a rotational resistance generation portion that applies a resistance force to the displacement portion when the displacement portion is displaced in order to present a desired sense of force. This rotational resistance generation portion applies a magnetic field to a magnetorheological fluid enclosed therein by an electromagnet, and controls the rotational resistance generated by the rotational resistance generation portion by controlling the current value supplied to the electromagnet. In this force sense presentation device, when the displacement portion is pushed in, its operation is converted into a rotational operation via a link mechanism and transmitted to the rotational resistance generation portion. At this time, the rotational resistance generation portion generates a rotational resistance, and this rotational resistance is transmitted to the displacement portion via the link mechanism and presented as a sense of force to the operator who pushes in the displacement portion.

[0003] Further, Patent Document 2 discloses a force sense presentation device that presents a desired sense of force to an operator's finger when the operator performs an operation such as pinching or gripping. The force sense presentation device of this document generates a rotational resistance by a rotating portion of a rotational resistance generation device, transmits the rotational resistance to a finger attachment via a first link member and a second link member, and presents a sense of force to the operator's finger. In this force sense presentation device, when the operator performs an operation such as gripping or pinching and the finger attachment moves in a direction away from the rotational resistance generation device, the rotating portion of the rotational resistance generation device generates a rotational resistance, and this rotational resistance is presented as a sense of force to the operator's finger to which the finger attachment is attached.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

[0005] Conventional force feedback devices provide force feedback to the operator by applying resistance to the operator's actions. For example, in the force feedback device described in Patent Document 1, when the operator pushes and displaces the displacement part, the rotational resistance generating part generates rotational resistance. However, when the operator is not pushing the displacement part, the displacement part does not displace, and the rotational resistance generating part does not generate rotational resistance, so force feedback cannot be provided to an operator who is not performing any action. Similarly, in the force feedback device described in Patent Document 2, rotational resistance is not generated unless the operator performs actions such as pinching or gripping, so force feedback cannot be provided to an operator who is not performing any action.

[0006] Thus, conventional force feedback devices, due to their structure that applies resistance to the actions performed by the operator, could not provide force feedback unless the operator performed some action. Therefore, the range of force feedback that conventional force feedback devices could provide was limited, making it difficult to present a variety of force sensations to the operator.

[0007] This invention was conceived in view of the above-mentioned problems, and aims to provide a force feedback device that can provide force feedback to an operator even without the operator performing any action. [Means for solving the problem]

[0008] A force feedback device according to a first aspect of the present invention comprises a power output device having a motor and a power output unit that outputs power generated by the motor; a first mounting unit that is attached to a part of the operator's body; a holding member that holds the power output device at a predetermined position on the operator's body; and a transmission mechanism that transmits the power output by the power output unit to the first mounting unit. The transmission mechanism has a flexible member that transmits the power in the longitudinal direction. The flexible member is displaced in the longitudinal direction by the power output by the power output unit and / or by the operation of the first mounting unit. The transmission mechanism further has a support member that slidably supports the flexible member while maintaining a distance between the flexible member and the operator's body.

[0009] A force feedback device having such a configuration can provide force feedback to an operator who is not performing any action.

[0010] A force feedback device according to a second aspect of the present invention is a force feedback device according to a first aspect, wherein the transmission mechanism further comprises a link mechanism for transmitting the power, the flexible member and the link mechanism are connected in series with each other, and the link mechanism performs link operation by power output from the power output unit and / or by the operation of the first mounting unit.

[0011] A force feedback device according to a third aspect of the present invention is a force feedback device according to a first aspect, further comprising a second attachment portion that is attached to another part of the operator's body, and the support member is fixed to the second attachment portion.

[0012] A force feedback device according to a fourth aspect of the present invention is a force feedback device according to any of the first to third aspects, wherein the power output device further comprises a magnetoviscous fluid device held by the holding member. The magnetoviscous fluid device includes a first part held by the holding member, a second part operable relative to the first part, a magnetoviscous fluid interposed between the first part and the second part, and a magnetic field generating unit that generates a magnetic field to be applied to the magnetoviscous fluid, wherein the force transmitted between the first part and the second part increases in proportion to the strength of the magnetic field applied to the magnetoviscous fluid, and the power output unit outputs a power as power which is adjusted by the force transmitted between the first part and the second part, and the power generated by the motor is adjusted by the force transmitted between the first part and the second part.

[0013] A force feedback device according to a fifth aspect of the present invention is a force feedback device according to a fourth aspect, wherein the operation of the second part of the magnetoviscous fluid device is a rotational operation, the rotation axis of the second part and the rotation axis of the motor are in a positional relationship where they intersect each other or in a torsional positional relationship, and the second part and the rotation axis of the motor are connected by a set of gears so as to be able to transmit rotational force. [Effects of the Invention]

[0014] According to the present invention, it is possible to provide a force feedback device that can provide force feedback to an operator even without the operator performing any action. [Brief explanation of the drawing]

[0015] [Figure 1] This is a perspective view of a force feedback device according to the first embodiment. [Figure 2] This is a perspective view of a part of the force feedback device according to the first embodiment. [Figure 3] This is a schematic cross-sectional view of the magnetoviscous fluid apparatus of the force feedback device according to the first embodiment. [Figure 4] This is a partial cross-sectional view of the power output device of the force feedback device according to the first embodiment. [Figure 5] This is a side view showing an operator wearing the force feedback device according to the first embodiment with their fingers bent. [Figure 6] It is a perspective view of a part of the force sensation presentation device according to the second embodiment.

Mode for Carrying Out the Invention

[0016] <First Embodiment> Hereinafter, the force sensation presentation device 1 according to the first embodiment will be described with reference to the drawings. As shown in FIG. 1, the force sensation presentation device 1 includes a power output device 2, a transmission mechanism 3, a holding member 4, a first mounting portion 5, a second mounting portion 50, a power supply unit 6, and the like. The force sensation presentation device 1 of the present embodiment is worn on the hand of an operator and presents a sense of force to each of the five fingers of the operator. Therefore, as shown in FIG. 1, the force sensation presentation device 1 includes five power output devices 2, five transmission mechanisms 3, and five first mounting portions 5, respectively. The power supply unit 6 supplies power to each of the five power output devices 2.

[0017] In the present embodiment, as shown in FIG. , the power output device 2 has a motor 21, a magnetorheological fluid device 22, a pair of bevel gears 24a and 24b, and a power output portion 25. The power output device 2 outputs power from the power output portion to the transmission mechanism 3.

[0018] The motor 21 receives power supply from the power supply unit 6 and generates power. A bevel gear 24a is fixed to the tip portion of the rotation shaft 211 of the motor 21.

[0019] The magnetorheological fluid device 22 adjusts and transmits the power input from the motor 21 according to the supplied current value. An example of the specific configuration of the magnetorheological fluid device 22 will be described based on FIG. 3. The magnetorheological fluid device 22 shown in FIG. 3 includes a rotation shaft 221, a disk 222, a first yoke 223, a second yoke 224, a coil 225 as a magnetic field generation portion, a magnetorheological fluid 226, a case 227, and the like.

[0020] The disk 222 is an internal rotor that rotates inside the magnetorheological fluid device 22 and is made of a magnetic material. A rotating shaft 221 is vertically connected to the center of the disk 222. Therefore, the disk 222 and the rotating shaft 221 rotate integrally. The rotating shaft 221 is supported by a shaft hole 223a provided in the first yoke 223 via a bearing 221a. Note that the rotating shaft 221 is preferably formed of a non-magnetic material.

[0021] The first yoke 223 faces one surface 222a of the disk 222 with a minute gap therebetween. This first yoke 223 is fitted into a cylindrical case 227.

[0022] The second yoke 224 faces the other surface 222b of the disk 222 with a minute gap therebetween. The first yoke 223 and the second yoke 224 are arranged at a predetermined interval by a cylindrical casing 228.

[0023] The coil 225 is formed by winding a coil wire around a bobbin 225a. The coil 225 is disposed in an annular groove 223b formed in the first yoke 223.

[0024] The magnetorheological fluid 226 is enclosed in the gap between the disk 222 and the first yoke 223 and the second yoke 224 in the space surrounded by the first yoke 223, the second yoke 224, and the casing 228. This magnetorheological fluid 226 is a liquid in which magnetic particles are dispersed in a dispersion medium. As the magnetic particles, for example, those made of nano-sized magnetizable metal particles (metal nanoparticles) can be used. Various additives can also be added to the magnetorheological fluid 226 to obtain various desired properties.

[0025] A bevel gear 24b is fixed to the tip of the rotating shaft 221. The bevel gear 24b meshes with a bevel gear 24a fixed to the rotating shaft 211 of the motor 21. Therefore, the power generated by the motor 21 is input to the rotating shaft 221 of the magnetorheological fluid device 22 via the bevel gears 24a and 24b. In this embodiment, bevel gears 24a and 24b are used such that the rotation axis of the rotating shaft 211 of the motor 21 and the rotation axis of the rotating shaft 221 of the magnetorheological fluid device 22 intersect (for example, are perpendicular) with each other. Instead of these bevel gears 24a and 24b, a set of gears may be used such that the rotation axis of the rotating shaft 211 of the motor 21 and the rotation axis of the rotating shaft 221 of the magnetorheological fluid device 22 are in a torsional position relative to each other.

[0026] The magnetorheological fluid device 22 comprises a first part 231 which is held by a holding member 4 (described later), a second part 232 which is rotatable relative to the first part 231, a magnetorheological fluid 226 interposed between the first part 231 and the second part 232, and a magnetic field generating unit which generates a magnetic field to be applied to the magnetorheological fluid 226. The force transmitted between the first part 231 and the second part 232 increases in proportion to the strength of the magnetic field applied to the magnetorheological fluid 226. The first part 231 includes a first yoke 223, a second yoke 224, and a case 227. The second part 232 includes a rotating shaft 221 and a disc 222. The second part 232 rotates relative to the first part 231 when power from the motor 21 is input via bevel gears 24a and 24b. In this embodiment, the magnetic field generating section is composed of a coil 225, a first yoke 223, and a second yoke 224, and these components also constitute the first section 231.

[0027] The power output unit 25 outputs power to the transmission mechanism 3, which will be described later. The power output by the power output unit 25 is the power generated by the motor 21, adjusted by the force transmitted between the first part 231 and the second part 232 of the magnetoviscous fluid device 22. In this embodiment, the power output unit 25 outputs the force transmitted between the first part 231 and the second part 232 as its power. In this embodiment, an L-shaped arm is provided on the outer circumference of the case 227 as the power output unit 25. The L-shaped arm extends radially outward from the outer circumference of the case 227 and is bent at approximately 90° with respect to the radial direction of the case 227 at its tip. The L-shaped arm is integrally molded with the case 227. The transmission mechanism 3 is connected to the tip side of the power output unit 25. The power of the power output device 2 is output from the power output unit 25 to the transmission mechanism 3. Furthermore, the form of the power output unit 25 is not limited to an L-shaped arm; it is sufficient if it can output power to the transmission mechanism 3.

[0028] In this embodiment, the power output unit 25 is rotatable within a predetermined range. Specifically, the power output unit 25 is rotatable between a position where the extension direction from the bent portion toward the tip is approximately perpendicular to the back of the glove 40 (the back of the operator's hand) (see Figure 2) and a position where the extension direction from the bent portion toward the tip is approximately parallel to the back of the glove 40 (the back of the operator's hand) (see Figure 5). Hereinafter, the position where the extension direction from the bent portion toward the tip of the power output unit 25 is approximately perpendicular to the back of the glove 40 (the back of the operator's hand) will also be referred to as the "initial position".

[0029] In the magnetorheological fluid apparatus 22 having the above configuration, when power is supplied from the power supply unit 6 and current is applied to the coil 225, a magnetic path is formed in the disk 222, the first yoke 223, and the second yoke 224 along the direction indicated by the dashed arrow P. As shown in Figure 3, this magnetic path penetrates the magnetorheological fluid 226 interposed in the gap between one surface 222a of the disk 222 and the first yoke 223, and the magnetorheological fluid 226 interposed in the gap between the other surface 222b of the disk 222 and the second yoke 224. As a result, viscosity (shear stress) is generated in the magnetorheological fluid 226 according to the strength of the magnetic field, and the torque transmitted between the disk 222 and the first yoke 223 and the second yoke 224 changes according to the strength of the magnetic field.

[0030] The magnetorheological fluid device 22 applies a transmission torque from the second part 232 to the first part 231, with a magnitude corresponding to the current value applied to the coil 225. As a result, the magnetorheological fluid device 22 can adjust the power input from the motor 21 to the second part 232, and output the adjusted power from the power output unit 25 to the transmission mechanism 3.

[0031] The configuration of the power output device 2 is not limited to this embodiment. For example, the magnetoviscosal fluid device 22 can be omitted in the power output device 2, and the power of the motor 21 can be output directly to the transmission mechanism 3 as power to the power output device 2 without any adjustment. It is also possible to swap the arrangement of the motor 21 and the magnetoviscosal fluid device 22 in the power output device 2. In addition, it is possible to configure the motor 21 to be input to the yoke side of the magnetoviscosal fluid device 22 and output to the transmission mechanism 3 from the rotating shaft 221 side. Furthermore, it is possible to provide an electromagnetic clutch to disconnect the power between the motor 21 and the magnetoviscosal fluid device 22, or to swap the arrangement of the motor 21 and the magnetoviscosal fluid device 22 in the power output device 2 and then provide an electromagnetic clutch to disconnect the power between the motor 21 and the magnetoviscosal fluid device 22.

[0032] The transmission mechanism 3 transmits the power output from the power output unit 25 to the first mounting unit 5, which will be described later. In this embodiment, the transmission mechanism 3 has a flexible member 31, a link mechanism 32, and a support member 33, as shown in Figure 2. The flexible member 31 and the link mechanism 32 are connected in series with each other. A single leaf spring is used as the flexible member 31. The material of the leaf spring is stainless steel, iron, or copper, etc. The thickness of the leaf spring is, for example, 0.1 to 0.5 mm. The material and thickness of the leaf spring are not limited to these.

[0033] One end of the flexible member 31 is rotatably connected to the front end of the power output unit 25 via a connecting member 311a. The other end of the flexible member 31 is connected to one end of the link mechanism 32. In this embodiment, a single leaf spring is used as the flexible member 31, but it is also possible to use two leaf springs connected in the longitudinal direction. For example, multiple holes can be provided in one leaf spring connected to the front end of the power output unit 25, and a pin can be provided in the other leaf spring connected to one end of the link mechanism 32, applying the configuration of a belt fastener. Then, the two leaf springs can be overlapped, the pin can be inserted into one hole, and the overlapped portion of the two leaf springs can be restrained over a predetermined range using a member such as a belt loop, thereby allowing it to be used as a flexible member. By combining two leaf springs in this way, the length and elastic modulus of the leaf springs can be adjusted.

[0034] The support member 33 supports the flexible member 31 so that it can slide while maintaining a distance from the operator's fingers. The support member 33 has a sleeve 331, rollers 332, and a fixing portion 333. The sleeve 331 has a space through which the flexible member 31 is inserted, and a plurality of rollers 332 are rotatably arranged within the space. In this embodiment, the rollers 332 are arranged so as to contact the surface of the flexible member 31 on the fixing portion 333 side, and the rollers 332 rotate as the flexible member 31 moves in the longitudinal direction. Note that the positional relationship between the flexible member 31 and the rollers 332 is not limited to the above, and the rollers 332 may be arranged so as to contact the surface of the flexible member 31 opposite to the surface on the fixing portion 333 side. Alternatively, rollers 332 may be installed on both sides of the flexible member 31 so as to sandwich it from both sides. Alternatively, the roller 332 may be omitted, and the flexible member 31 may be inserted into the space of the sleeve 331.

[0035] The fixing portion 333 of the support member 33 is fixed to the finger portion of the glove 40, which is the second attachment portion 50, to be described later. The fixing portion 333 has a curved shape that conforms to the surface of the finger.

[0036] In this embodiment, the fixing portion 333 of the support member 33 is fixed to the second mounting portion 50, and the sleeve 331 of the support member 33 is slidable relative to the flexible member 31. However, the fixing portion 333 of the support member 33 may be made movable (slidable) along the finger portion of the glove 40, the roller 332 may be omitted, the opening of the sleeve 331 of the support member 33 and the cross-section of the flexible member 31 may be made the same size, or the sleeve 331 and the flexible member 31 may be fixed to the flexible member 31 in a non-slidable manner by pinning or bonding them together. Even with a support member configured in this way, the flexible member 31 can be supported while maintaining the distance between the flexible member 31 and the operator's body.

[0037] The flexible member 31 is not limited to the flexible member 31, but can be any member that is deformable, can return to its original shape, and can transmit power. Furthermore, rubber, elastomer, etc. may be used as part of the flexible member. As the flexible member, for example, a combination of a flexible tube and a flexible core material slidably inserted inside the flexible tube can be used. In this case, the core material is connected to the power output unit and the link mechanism. In addition, it is desirable that the flexible tube be supported by one or more support members 33 so that the core material can efficiently transmit power.

[0038] The link mechanism 32 receives power from one end of the flexible member 31 and transmits the input power to the first mounting part 5, which will be described later. The link mechanism 32 performs link operation by the power output of the power output unit 25 and / or by the operation of the first mounting part 5. As shown in Figure 2, the link mechanism 32 in this embodiment has a first link member 321, a second link member 322, a third link member 323, and a fourth link member 324. The first link member 321 is a plate-shaped member having a substantially V-shape. One end 321a of the first link member 321 is rotatably connected to the other end 322b of the second link member 322.

[0039] The first mounting portion 5 is rotatably attached to the other end 321b of the first link member 321. One end 323a of the third link member 323 is rotatably connected to the middle portion 321c of the first link member 321. The middle portion 321c of the first link member 321 is located at the bent portion of the first link member 321. The other end 323b of the third link member 323 is rotatably attached to the fourth link member 324. The fourth link member 324 is fixed to the finger portion of the glove 40, which is the second mounting portion 50.

[0040] The other end of the flexible member 31 is fixed to one end 322a of the second link member 322. As a result, the flexible member 31 and the link mechanism 32 are rotatably connected.

[0041] In this embodiment, when the power output unit 25 is in its initial position, the extension direction from the bent portion of the power output unit 25 toward the tip is perpendicular to the back of the glove 40, so the flexible member 31 of the transmission mechanism 3 is positioned on the glove 40 side of the power output device 2. However, when the power output unit 25 is in its initial position, the extension direction from the bent portion of the power output unit 25 toward the tip may be directed away from the glove 40, and the flexible member 31 of the transmission mechanism 3 may be positioned on the opposite side of the glove 40 of the power output device 2. In this way, the arrangement of the transmission mechanism 3 can be appropriately changed depending on the shape of the power output unit 25, etc.

[0042] The holding member 4 holds the power output device 2 in a predetermined position on the operator's hand. The holding member 4 includes a glove 40 and a holder 41. The glove 40 is worn on the operator's hand. The fingertips of the glove 40 are open.

[0043] As shown in Figures 2 and 4, the holder 41 holds the motor 21 and the magnetorheological fluid device 22. The holder 41 has a base 411, a first holding part 412, and a second holding part 413. As shown in Figure 5, the base 411 is attached to the back of the glove 40. The motor 21 is attached to the first holding part 412. Instead of permanently fixing the base 411 to the back of the glove 40, the base 411 may be attached to the glove 40 in a detachable manner, for example, using hook-and-loop fasteners, so that the position in which the holder 41 is attached to the glove 40 can be adjusted.

[0044] The second holding portion 413 has a substantially cylindrical shape, and a bearing 414 is arranged inside it. As shown in Figure 4, the second yoke 224 of the magnetorheological fluid device 22 is rotatably held within the bearing 414. As a result, the magnetorheological fluid device 22 is rotatably held in the second holding portion 413.

[0045] As shown in Figure 4, the second holding section 413 contains a control board 26 for the power output device 2, a displacement detection unit 27 such as an angle sensor, and other components. The control board 26 contains elements for controlling the current supplied to the motor 21 and the coil 225 of the magnetorheological fluid device 22, wireless communication elements, and the like. The control board 26 can supply a constant current value to the motor 21 and / or the magnetorheological fluid device 22, or it can supply various forms of current to provide the operator with various force sensations. For example, it can perform ON / OFF control of the supplied current, or variable control of the supplied current value. An example of variable control of the current value is to vary the current value periodically or aperiodically. Furthermore, an example of control that varies the current value periodically is to vary the current value so that the time change becomes a rectangular wave. The displacement detection unit 27 detects the rotation angle of the holder 229 attached to the second yoke 224. The control board 26 can also control the current supplied to the motor 21 and the coil 225 of the magnetorheological fluid device 22 based on the rotation angle detected by the displacement detection unit 27. Instead of the displacement detection unit 27, it is also possible to recognize hand movements and hand conditions using, for example, a camera or infrared sensor located outside the power output device 2. The control board 26 can also be located outside the power output device 2.

[0046] The motor 21 and the magnetorheological fluid device 22 are held by the first holding part 412 and the second holding part 413 such that the rotation axis of the rotation shaft 211 of the motor 21 and the rotation axis of the rotation shaft 221 of the magnetorheological fluid device 22 are perpendicular to each other.

[0047] The retaining member 4 is not limited to a configuration using a glove 40; it can also be configured to cover only the back of the hand. In this case, the retaining device is attached to the member that covers only the back of the hand.

[0048] In this embodiment, the first mounting part 5 is a finger attachment that is attached to the operator's fingertip. The finger attachment is made of rubber, elastomer, or the like, to match the size of each fingertip. The first mounting part 5 is rotatably attached to the other end 321b of the first link member 321. The first mounting part 5 is directly attached to the tip of the operator's finger that is exposed from the tip of the finger portion of the glove 40. The power transmitted by the transmission mechanism 3 is applied to the operator's fingertip by the first mounting part 5, causing the operator's finger to move.

[0049] In this embodiment, a glove 40 worn on the operator's hand is used as the second mounting portion 50. The glove 40 functions not only as the second mounting portion 50 but also as part of the holding member 4. The support member 33 and the fourth link member 324 are fixed to the finger portion of the glove 40. The finger portion of the glove 40 may have fingertips. If the finger portion of the glove 40 has fingertips, it is also possible to fix the first mounting portion 5 to the fingertip portion of the glove 40 and connect the first mounting portion 5 and the second mounting portion 50. If the glove 40 is not used, it is also possible to attach a second mounting portion independent of the holding member to the operator's finger and fix the support member 33 and the fourth link member 324 of the transmission mechanism 3 to the second mounting portion. For example, a band-shaped member can be used as the second mounting portion.

[0050] As shown in Figure 1, the power supply unit 6 includes a battery 61, a case 62, a power line 63, and a mounting bracket 64. The power supply unit 6 supplies power to the power output device 2 via the power line 63. The battery 61 is housed in the case 62. The mounting bracket 64 is a belt-shaped member for attaching the power supply unit 6 to the operator's arm. The mounting bracket 64 is wrapped around the operator's arm and secured with hook-and-loop fasteners or the like. The power supply unit 6 can be installed outside the force feedback device 1, and an external power source can also be used.

[0051] In this embodiment, the length, size, etc., of the flexible members 31 and link mechanisms 32 of the five sets of transmission mechanisms 3 differ according to the length of each finger. Five sets of combinations of power output devices 2 and transmission mechanisms 3 are prepared and placed on each finger. However, the number of combinations of power output devices 2 and transmission mechanisms 3 is not limited, and it is also possible to use a configuration in which one set of power output devices 2 and transmission mechanisms 3 is placed on any one finger.

[0052] When using the force feedback device 1, the user, who will be the operator, puts on a glove 40 on their hand, attaches the power supply unit 6 to their arm, and attaches the first attachment part 5 to the tip of each finger. In this way, the five power output devices 2 are positioned near the base of each finger on the back of the hand, and the five transmission mechanisms 3 are positioned along each finger. Then, the power supply unit 6 is turned on, and current is supplied from the power supply unit 6 to the motor 21 and / or magnetoviscous fluid device 22, causing the force feedback device 1 to operate. In this embodiment, when the power output unit 25 is in its initial position, the first attachment part 5 is positioned at the fingertip position when the operator extends their fingers, and when the power output unit 25 rotates approximately 90° in one direction (counterclockwise in Figure 2) from its initial position, the first attachment part 5 is positioned at the fingertip position when the operator lightly clenches their hand.

[0053] Next, we will explain the operation of the force feedback device 1.

[0054] [Regarding the action of bending an extended finger based on the output of a force feedback device] First, we will explain the operation of each part of the transmission mechanism 3 when, with the operator extending their finger and not attempting to voluntarily bend it, the motor 21 of the power output device 2 is rotated in the forward direction, thereby rotating the power output unit 25 from its initial position in one direction (counterclockwise in Figure 2) and pushing the flexible member 31 of the transmission mechanism 3 toward the first mounting unit 5.

[0055] When the motor 21 is rotated in the forward direction with the power output unit 25 in its initial position and the operator extending their fingers without voluntarily bending them, the power from the motor 21 causes the second part 232 of the magnetorheological fluid device 22 to rotate in one direction. At this time, if current is applied to the coil 225, power is transmitted from the second part 232 to the first part 231 via the magnetorheological fluid 226, and together with the first part 231, the power output unit 25 rotates in one direction (counterclockwise in Figure 2) from its initial position. At this time, the current value applied to the coil 225 is adjusted or controlled by the control board 26, and the power (rotational force) output from the power output unit 25 is also adjusted or controlled according to the said current value.

[0056] When the power output unit 25 rotates to one side, power is transmitted to the flexible member 31 by that rotation, and the flexible member 31 is displaced (moved) toward the first mounting unit 5. At this time, the flexible member 31 is displaced longitudinally by the support member 33 while maintaining the distance from the finger, so as the operator's finger is bent by the force feedback device 1, it curves along the operator's finger.

[0057] When the flexible member 31 is displaced toward the first mounting portion 5, one end 321a of the first link member 321 of the link mechanism 32 is pushed toward the first mounting portion 5. Since this end 321a is located further away from the finger than the pivot center of the first link member 321, when this end 321a is pushed toward the first mounting portion 5, the end 321a rotates away from the finger, and the other end 321b of the first link member 321 rotates toward the finger. At this time, the third link member 323 is rotated by the first link member 321, and one end 323a of the third link member 323 also moves toward the first mounting portion 5.

[0058] When the other end 321b of the first link member 321 rotates toward the finger, the first mounting part 5 attached to the other end 321b pushes the user's fingertip toward the inside of the hand, causing the user's finger to bend more and more. At this time, the flexible member 31 curves along with the movement of the finger, so that the transmission mechanism 3 can stably transmit the power output from the power output unit 25 to the first mounting part 5 regardless of the bending state of the user's finger.

[0059] When the power output unit 25 rotates approximately 90° to one side from its initial position, the operator's fingers will be bent significantly, as shown in Figure 5. Note that the rotation range of the power output unit 25 is not limited to 90° and can be changed according to the length of the power output unit 25, etc.

[0060] Thus, even when the operator does not voluntarily move their fingers, the force feedback device 1 can present the operator with the force sensation of bending their fingers inward or grasping something with their fingers by pushing the operator's fingertips inward. The force feedback device 1 can present the same force sensation to all five fingers simultaneously, or it can present independent force sensations to each finger. For example, it can present the force sensation of bending each of the five fingers in sequence.

[0061] [Regarding the output of the force feedback device and the action of bending an extended finger using the operator's voluntary force] Next, we will explain the case where, when the operator voluntarily bends their finger from an extended position, the motor 21 of the power output device 2 is rotated in the forward direction, thereby rotating the power output unit 25 from its initial position to one side and pushing the flexible member 31 of the transmission mechanism 3 toward the first mounting unit 5.

[0062] When the operator voluntarily bends their fingers from an extended position, the first mounting part 5 moves inward along with the fingertips. The force that moves the first mounting part 5 inward causes the power output unit 25 to rotate in one direction (counterclockwise in Figure 2) via the link mechanism 32 and the flexible member 31, and the first part 231 of the magnetorheological fluid device 22 also rotates in one direction along with the power output unit 25.

[0063] Therefore, if the motor 21 is driven such that the rotation speed of the second part 232, which rotates in one direction by the motor 21, is faster than the rotation speed of the first part 231, which rotates in one direction solely by the force of the operator's fingers, then force feedback can be provided to the operator's fingertips to assist in the bending motion of the fingers.

[0064] Conversely, by driving the motor 21 so that the rotation speed of the second part 232, which rotates in one direction by the motor 21, is slower than the rotation speed of the first part 231, which rotates in one direction solely by the force of the operator's fingers, or by rotating the motor 21 in the opposite direction to rotate the second part 232 in the other direction (clockwise in Figure 2), it is possible to present the operator's fingertips with a force sensation that acts as resistance (load) to the movement of bending the fingers. At this time, by adjusting the power generated by the motor 21 in the magnetoviscous fluid device 22 to rotate the first part 231, the rotation speed of the first part 231 can be changed in accordance with the movement of the operator's fingertips, and various desired force sensations can be presented to the operator.

[0065] [Regarding the action of straightening a bent finger based on the output of a force feedback device] Next, we will explain the operation of each part of the transmission mechanism 3 when the operator clenches their hand (bends their fingers) and does not voluntarily extend their fingers, and the motor 21 of the power output device 2 is rotated in reverse, thereby rotating the power output unit 25 to its initial position and pulling the flexible member 31 of the transmission mechanism 3 from the first mounting unit 5 side.

[0066] When the motor 21 is rotated in the reverse direction while the power output unit 25 is rotated approximately 90° to one side from its initial position and the operator is clenching their hand and not voluntarily extending their fingers, the power from the motor 21 causes the second part 232 of the magnetorheological fluid device 22 to rotate to the other side (clockwise in Figure 5). At this time, if current is applied to the coil 225, power is transmitted from the second part 232 to the first part 231 via the magnetorheological fluid 226, and together with the first part 231, the power output unit 25 rotates to the other side (clockwise in Figure 5) toward its initial position. At this time, the current value applied to the coil 225 is adjusted or controlled by the control board 26, and the power (rotational force) output from the power output unit 25 is also adjusted or controlled according to the said current value.

[0067] When the power output unit 25 rotates to the other side, power is transmitted to the flexible member 31 by this rotation, and the flexible member 31 is displaced (moves) toward the power output unit 25. At this time, the flexible member 31 is displaced longitudinally while maintaining a distance from the finger by the support member 33, so as the operator's finger is extended by the force feedback device 1, the curvature is eliminated and it extends along the operator's finger.

[0068] When the flexible member 31 is displaced toward the power output unit 25, one end 321a of the first link member 321 of the link mechanism 32 is pulled toward the power output unit 25. Since this end 321a is located further away from the finger than the pivot center of the first link member 321, when this end 321a is pulled toward the power output unit 25, the end 321a rotates toward the finger, and the other end 321b of the first link member 321 rotates toward the finger. At this time, the third link member 323 is rotated by the first link member 321, and one end 323a of the third link member 323 also moves toward the opposite side from the first mounting part 5.

[0069] When the other end 321b of the first link member 321 rotates away from the finger, the first mounting part 5 attached to the other end 321b pulls the user's fingertip in the direction of finger extension, and the user's finger is gradually straightened. At this time, as the flexible member 31 moves along with the finger, its curvature is eliminated and it extends along the finger, so that the transmission mechanism 3 can stably transmit the power output from the power output unit 25 to the first mounting part 5, regardless of the state of the user's finger.

[0070] When the power output unit 25 rotates to its initial position, the operator's fingers will be extended straight, as shown in Figure 1.

[0071] Thus, even when the operator does not voluntarily move their fingers, the force feedback device 1 can present the operator with the force sensation of extending their fingers by pulling on the operator's fingertips in the direction of extension. The force feedback device 1 can present the same force sensation to all five fingers simultaneously, or it can present independent force sensations to each finger. For example, it can present the force sensation of extending the fingers sequentially to each of the five fingers from a clenched fist position.

[0072] [Regarding the action of straightening a bent finger using the output of a force feedback device and the operator's voluntary force] Next, we will explain the case in which, when the operator voluntarily extends their fingers from a clenched fist (with fingers bent), the motor 21 of the power output device 2 is rotated in the reverse direction, causing the power output unit 25 to rotate to the other side towards its initial position, and pulling the flexible member 31 of the transmission mechanism 3 to the opposite side from the first mounting unit 5.

[0073] When the operator voluntarily extends their fingers from a clenched fist (with fingers bent), the first mounting part 5 moves along with the fingertips. The force that moves the first mounting part 5 causes the power output unit 25 to rotate to the other side (clockwise in Figure 2) via the link mechanism 32 and the flexible member 31, and the first part 231 of the magnetorheological fluid device 22 also rotates to the other side along with the power output unit 25.

[0074] Therefore, by driving the motor 21 such that the rotation speed of the second part 232, which rotates to the other side by the motor 21, is faster than the rotation speed of the first part 231, which rotates to the other side solely by the force of the operator's fingers, it is possible to present the operator's fingertips with force sensation that assists in the action of extending the fingers. At this time, by adjusting the power generated by the motor 21 with the magnetoviscous fluid device 22 to rotate the first part 231, the rotation speed of the first part 231 can be changed in accordance with the movement of the operator's fingers, and various desired force sensations can be presented to the operator.

[0075] On the other hand, if the motor 21 is driven such that the rotation speed of the second part 232, which rotates to the other side by the motor 21, is slower than the rotation speed of the first part 231, which rotates to the other side solely by the force of the operator's fingers, or if the motor 21 is rotated in the forward direction to rotate the second part 232 to one side (counterclockwise in Figure 2), then the operator's fingertips can be presented with a force sensation that acts as resistance (load) to the action of extending the fingers.

[0076] [Effects and Effects] As described above, the force feedback device 1 according to this embodiment can provide force feedback to the operator even when the operator is not performing any actions, and can also provide force feedback in response to the operator's actions. Furthermore, according to the force feedback device 1 according to this embodiment, the power output unit 25 outputs power as force adjusted by the force transmitted between the first part 231 and the second part 232 of the magnetoviscous fluid device 22, thereby enabling the operator to receive a variety of force feedback.

[0077] <Second Embodiment> In the force feedback device 1 of the first embodiment, the transmission mechanism 3 has a link mechanism 32, but a configuration without the link mechanism 32 is also possible. Therefore, a force feedback device 1A of the second embodiment, which does not use a link mechanism, will be described. The force feedback device 1A of the second embodiment includes a power output device 2, a transmission mechanism 3A, a holding member 4, a first mounting part 5A, a second mounting part 50, etc. In this embodiment, the same configuration as in the first embodiment is used except for the transmission mechanism 3A and the first mounting part 5A, so the description will be omitted.

[0078] As shown in Figure 6, the transmission mechanism 3A has a flexible member 31 and a support member 33. A leaf spring is used as the flexible member 31. The support member 33 supports the flexible member 31 so that it can slide while maintaining a distance from the operator's fingers. The support member 33 has a sleeve 331, a roller 332, and a fixing part 333, similar to the first embodiment.

[0079] In this embodiment, the first mounting portion 5A has a finger holder 51, a curved portion 52, and a support portion 53. The finger holder 51 is attached to the fingertip of the operator. The finger holder 51 is made of rubber, elastomer, or the like. The other end of the flexible member 31 is fixed to one end of the curved portion 52. The finger holder 51 is fixed to the other end of the curved portion 52. The curved portion 52 is supported by the support portion 53. The support portion 53 is fixed to the finger portion of the glove 40, which is the second mounting portion 50.

[0080] In the force feedback device 1A of this embodiment, the power output from the power output device 2 is transmitted to the first mounting part 5A by the flexible member 31 and applied to the operator's fingertips via the curved part 52 and the finger attachment 51, causing the operator's fingers to move.

[0081] Next, we will explain the operation of the force feedback device 1A described above.

[0082] [Regarding the action of bending an extended finger based on the output of a force feedback device] First, we will explain the operation of each part of the transmission mechanism 3A when the operator extends their finger and does not voluntarily bend it, and the motor 21 of the power output device 2 is rotated in the forward direction, thereby rotating the power output unit 25 from its initial position in one direction (counterclockwise in Figure 6), and pushing the flexible member 31 of the transmission mechanism 3A toward the first mounting unit 5A.

[0083] When the motor 21 is rotated in the forward direction with the power output unit 25 in its initial position and the operator extending their fingers without voluntarily bending them, the power from the motor 21 causes the second part 232 of the magnetorheological fluid device 22 to rotate in one direction. At this time, if current is applied to the coil 225, rotational power is transmitted from the second part 232 to the first part 231 via the magnetorheological fluid 226, and together with the first part 231, the power output unit 25 rotates in one direction (counterclockwise in Figure 6) from its initial position. At this time, the current value applied to the coil 225 is adjusted or controlled by the control board 26, and the power (rotational force) output from the power output unit 25 is also adjusted or controlled according to the said current value.

[0084] When the power output unit 25 rotates to one side, power is transmitted to the flexible member 31 by that rotation, and the flexible member 31 is displaced (moved) toward the first mounting unit 5A. At this time, the flexible member 31 is displaced longitudinally by the support member 33 while maintaining the distance from the finger, so as the operator's finger is bent by the force feedback device 1A, it curves along the operator's finger.

[0085] When the flexible member 31 is displaced toward the first mounting portion 5A, the first mounting portion 5A pushes the user's fingertips toward the inside of the hand via the curved portion 52. As the first mounting portion 5A attached to the user's fingertips moves toward the inside of the hand, the user's fingers gradually bend more. At this time, as the flexible member 31 bends along with the movement of the fingers, the transmission mechanism 3A can stably transmit the power output from the power output portion 25 to the first mounting portion 5A regardless of the bending state of the user's fingers.

[0086] Thus, even when the operator does not voluntarily move their fingers, the force feedback device 1A can provide the operator with the force sensation of bending their fingers inward or grasping something with their fingers by pushing the operator's fingertips inward.

[0087] [Regarding the action of straightening a bent finger based on the output of a force feedback device] Next, we will explain the operation of each part of the transmission mechanism 3A when the operator clenches their hand (bends their fingers) and does not attempt to extend their fingers voluntarily, and the motor 21 of the power output device 2 is rotated in the reverse direction, thereby rotating the power output unit 25 to the initial position and pulling the flexible member 31 of the transmission mechanism 3A from the first mounting unit 5A side.

[0088] When the motor 21 is rotated in the reverse direction while the power output unit 25 is rotated approximately 90° to one side from its initial position and the operator is clenching their fist and not spontaneously extending their fingers, the power from the motor 21 causes the second part 232 of the magnetorheological fluid device 22 to rotate to the other side (clockwise in Figure 6). At this time, if current is applied to the coil 225, power is transmitted from the second part 232 to the first part 231 via the magnetorheological fluid 226, and together with the first part 231, the power output unit 25 rotates to the other side (clockwise in Figure 6) toward its initial position. At this time, the current value applied to the coil 225 is adjusted or controlled by the control board 26, and the power (rotational force) output from the power output unit 25 is also adjusted or controlled according to the said current value.

[0089] When the power output unit 25 rotates to the other side, power is transmitted to the flexible member 31 by this rotation, and the flexible member 31 is displaced (moves) toward the power output unit 25. At this time, the flexible member 31 is displaced longitudinally while maintaining a distance from the finger by the support member 33, so as the operator's finger is extended by the force feedback device 1A, the curvature is eliminated and it extends along the operator's finger.

[0090] When the flexible member 31 is displaced toward the power output unit 25, the finger holder 51, via the curved portion 52, pulls the user's fingertip in the direction of finger extension. As the finger holder 51 attached to the user's fingertip moves, the user's finger transitions from a bent state to an extended state. At this time, as the flexible member 31 is released from its curve and extends along the finger in conjunction with the finger movement, the transmission mechanism 3A can stably transmit the power output from the power output unit 25 to the first mounting unit 5A, regardless of the state of the user's finger.

[0091] When the power output unit 25 rotates to its initial position, the operator's fingers will be extended straight, as shown in Figure 6.

[0092] In this way, the force feedback device 1A can present the operator with the force sensation of extending their fingers by pulling the operator's fingertips in the direction of extension, even when the operator is not voluntarily moving their fingers. The force feedback device 1A can present the same force sensation to all five fingers simultaneously, or it can present independent force sensations to each finger. For example, it can present the force sensation of extending the fingers sequentially to each of the five fingers from a clenched fist position.

[0093] [Effects and Effects] As is clear from the above description, according to the force feedback device 1A of this embodiment, even without a link mechanism, the flexible member 31 can provide force feedback to the operator even when the operator is not moving, and furthermore, it can also provide force feedback in response to the operator's movements. As a result, the force feedback device 1A can provide the operator with a variety of force feedback.

[0094] In the description of the second embodiment, the explanations of "the action of bending a finger that has been extended by the output of the force feedback device and the operator's voluntary force" and "the action of straightening a finger that has been bent by the output of the force feedback device and the operator's voluntary force," as described in the first embodiment, are omitted. However, the force feedback device 1A according to the second embodiment provides the same effects and advantages for these actions as the first embodiment. [Industrial applicability]

[0095] The present invention can be applied, for example, to a force feedback device that provides force feedback to an operator. [Explanation of Symbols]

[0096] 1,1A force sense presentation device 2 Power output device 21 Motor 211 Rotation axis 22 Magnetoviscous Fluid Apparatus 226 Magnetoviscous fluid 231 Part 1 232 Part 2 24a, 24b Bevel gear 25 Power output section 3,3A Transmission Mechanism 31 Flexible member 32 Link mechanism 33 Support Member 4. Retaining member 5,5A 1st mounting part 50 Second mounting section

Claims

1. A power output device having a motor and a power output unit that outputs power generated by the motor, A first attachment part that is attached to a part of the operator's body, A holding member for holding the power output device in a predetermined position on the operator's body, A transmission mechanism that transmits the power output from the power output unit to the first mounting unit, Equipped with, The transmission mechanism has a flexible member that transmits the power in the longitudinal direction, The flexible member is displaced in the longitudinal direction by the power output of the power output unit and / or by the operation of the first mounting unit. The transmission mechanism further includes a support member that slidably supports the flexible member while maintaining the distance between the flexible member and the operator's body. A force feedback device characterized by the following features.

2. A force feedback device according to claim 1, The transmission mechanism further comprises a link mechanism for transmitting the power, The flexible member and the link mechanism are connected in series with each other. The link mechanism performs link operation based on the power output of the power output unit and / or the operation of the first mounting unit. A force feedback device characterized by the following features.

3. A force feedback device according to claim 1, It further has a second attachment part that is attached to another part of the operator's body, The support member is fixed to the second mounting portion. A force feedback device characterized by the following features.

4. A force feedback device according to any one of claims 1 to 3, The power output device further comprises a magnetoviscous fluid device held by the holding member, The magnetorheological fluid apparatus includes a first part held by the holding member, a second part operable relative to the first part, a magnetorheological fluid interposed between the first part and the second part, and a magnetic field generating unit that generates a magnetic field to be applied to the magnetorheological fluid, wherein the force transmitted between the first part and the second part increases in proportion to the strength of the magnetic field applied to the magnetorheological fluid. The power output unit outputs power that is adjusted by the force transmitted between the first and second parts, based on the power generated by the motor. A force feedback device characterized by the following features.

5. A force feedback device according to claim 4, The operation of the second part of the magnetoviscous fluid apparatus is a rotational operation. The rotation axis of the second part and the rotation axis of the motor are in a positional relationship where they intersect or are in a torsional positional relationship, and the second part and the rotation axis of the motor are connected by a set of gears so as to be able to transmit rotational force. A force feedback device characterized by the following features.

Images