User Interface Device

Abstract

A user interface device (6) grasped by a user is provided with a grasp member (61) that has a radial direction and a circumferential direction and extends in a longitudinal direction, and at least one optical sensor (1) provided to the grasp member. Each optical sensor is provided with: a proximity sensor unit (12) that includes a light emission element (23) and a light reception element (24); and, a force sensor unit (13) for sensing a contact force produced by an object. The proximity sensor unit senses a state in which the object is in proximity to the force sensor unit according to a light reception result in which light is emitted from the light emission element in a prescribed sensing range (A10) around the force sensor unit and the light reception element receives light incident from the sensing range. The sensing range is biased to one of the two circumferential sides from the position of the force sensor unit in the grasp member toward the radial outside, and is set to a range wider in the circumferential direction than in the longitudinal direction.

Description

[Technical field]

[0001] The present invention relates to a technique for using optical sensors in a user interface device held by a user. [Background technology]

[0002] Patent Document 1 discloses a controller that detects the shape of a hand or finger, such as a hand sign, using an optical sensor. This controller has a gripping member that is held by the user's hand, a sensor array including optical sensors corresponding to each of a plurality of fingers, and a grip button or the like that is provided separately from the optical sensor. In this controller, the optical sensor is arranged as a non-contact sensor, and the optical axes of the light-emitting unit and the light-receiving unit are set to pass through the positions of the respective fingers when they are bent. As a result, when a user intentionally opens his / her hand and stretches his / her fingers, the light-receiving unit does not receive reflected light, whereas when the user bends his / her fingers, the reflected light from a position on the fingers closer to the light-emitting unit is received as the amount of bending increases. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-091904 A Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to provide a user interface device that can easily detect a state in which it is being held by a user by using an optical sensor. [Means for solving the problem]

[0005] In the present invention, a user interface device held by a user includes a gripping member extending in a longitudinal direction having a radial direction and a circumferential direction, and at least one optical sensor provided in the gripping member. Each optical sensor includes a proximity sensor unit including a light-emitting element and a light-receiving element, and a force sensor unit that detects a contact force by an object. The proximity sensor unit emits light from the light-emitting element to a predetermined detection range around the force sensor unit, and detects a state in which the object is approaching the force sensor unit according to a light-receiving result in which the light-receiving element receives light incident from the detection range. The detection range is biased toward one of both circumferential sides from the position of the force sensor unit on the gripping member toward the radial outside, and is set to a range wider in the circumferential direction than in the longitudinal direction. Effect of the Invention

[0006] According to the user interface device of the present invention, the state in which it is being held by the user can be easily detected by using an optical sensor. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective view illustrating an external appearance of a controller according to a first embodiment; [Diagram 2] FIG. 1 is a block diagram illustrating a configuration of a controller according to a first embodiment. [Diagram 3] FIG. 1 is a diagram for explaining the detection range of an optical sensor in a controller; [Figure 4] FIG. 13 is a diagram illustrating a state in which a grip member of a controller is gripped; [Diagram 5] FIG. 5 is a diagram illustrating a case where the gripping member has a larger diameter than that of FIG. 4; [Figure 6] FIG. 5 is a diagram illustrating a case where the gripping member has a smaller diameter than that of FIG. 4; [Figure 7] FIG. 1 is a perspective view of an optical sensor in a controller according to the first embodiment; [Figure 8] FIG. 8 is a perspective view illustrating an internal structure of the optical sensor of FIG. [Figure 9] FIG. 1 is a circuit diagram illustrating a configuration of an optical sensor according to a first embodiment; [Figure 10]FIG. 11 is a perspective view showing a configuration of an optical sensor according to a second embodiment. [Figure 11] Cross-sectional view of the optical sensor in Figure 10 [Figure 12] FIG. 11 is a cross-sectional view showing the configuration of a controller according to a third embodiment. [Figure 13] FIG. 11 is a side view of an optical sensor in the controller of the third embodiment; [Figure 14] FIG. 13 is a cross-sectional view showing a configuration of a controller according to a first modified example of the third embodiment. [Figure 15] FIG. 13 is a side view of an optical sensor in a controller according to a first modified example of the third embodiment; [Figure 16] FIG. 13 is a cross-sectional view showing a configuration of a controller according to a second modification of the third embodiment. [Figure 17] FIG. 11 is a side view showing a configuration of a controller according to a third modification of the third embodiment. [Figure 18] FIG. 13 is a perspective view of an optical sensor according to the fourth embodiment; [Figure 19] Cross-sectional view of the optical sensor of FIG. [Figure 20] FIG. 11 is a circuit diagram illustrating the configuration of an optical sensor according to a fourth embodiment. [Figure 21] 11 is a cross-sectional view illustrating a modified example of an optical sensor in a controller; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a user interface device according to the present invention will be described with reference to the accompanying drawings.

[0009] Each embodiment is merely an example, and it goes without saying that partial replacement or combination of the configurations shown in different embodiments is possible. In the second and subsequent embodiments, the description of the matters common to the first embodiment will be omitted, and only the differences will be described. In particular, the same effects and advantages due to the same configuration will not be mentioned in each embodiment.

[0010] (Embodiment 1) In the first embodiment, a controller using an optical sensor will be described as an example of a user interface device according to the present invention.

[0011] 1. About the controller The controller according to this embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a perspective view illustrating an example of the appearance of a controller 6 according to this embodiment. Fig. 2 is a block diagram illustrating an example of the configuration of the controller 6.

[0012] The controller 6 of this embodiment is an example of a user interface device that a user holds in order to input various operations with the hand 7. As shown in Fig. 1, the controller 6 of this embodiment includes a holding member 61 held by the hand 7, and a plurality of optical sensors 1 provided on the holding member 61. The controller 6 is applicable to various uses, such as for games or for controlling various equipment, as a human-machine interface (HMI) that transmits various instructions and intentions of humans to machines and devices.

[0013] 1, the grip member 61 of the controller 6 is formed in a grip shape in which a position to be gripped by the hand 7 is defined, and has, for example, a substantially cylindrical shape. The grip member 61 has, for example, a radial direction Dr and a circumferential direction Dθ that define a substantially circular cross-sectional shape, and a longitudinal direction Dz corresponding to the direction in which multiple fingers 71 of the hand 7 are arranged. The grip member 61 extends in the longitudinal direction Dz in the cross-sectional shape having the radial direction Dr and the circumferential direction Dθ. A user of the controller 6 grips the controller 6, for example, by wrapping the fingers 71 of the hand 7 around the grip member 61 along the circumferential direction Dθ.

[0014] The optical sensor 1 of this embodiment is a sensor module in which a proximity sensor unit 12 that detects the proximity of an object in an optical detection method and a force sensor unit 13 that detects a force (i.e., a contact force) acting when the object comes into contact are integrally configured, as shown in Fig. 2. In the example of Fig. 1, in a gripping member 61 of a controller 6, in order to detect four fingers 71 of a hand 7 as respective objects, four optical sensors 1 are arranged at positions where the fingertips of the fingers 71 come into contact when the gripping member 61 is gripped by the hand 7.

[0015] With such an arrangement of the optical sensors 1, the controller 6 of this embodiment can continuously detect a series of processes, such as when each finger 71 of the hand 7 approaches the grip member 61, comes into contact with the grip member 61, and applies a force. Note that the number of optical sensors 1 arranged in the controller 6 is not particularly limited to the example in Fig. 1, and may be, for example, three or less or five or more. Furthermore, the number of fingers 71 to be detected in the controller 6 is also not particularly limited.

[0016] Furthermore, in this embodiment, the optical sensor 1 may be incorporated into various operating members provided in the controller 6. For example, the controller 6 may be provided with various operating members such as a button, a switch, or a collapsible lever. The controller 6 may also include a cover member that covers the optical sensor 1. The cover member may constitute an operating member of the controller 6. According to the controller 6 of this embodiment, the optical sensor 1 can continuously detect the state before and after contact when the user operates the operating member with the finger 71, for example.

[0017] In the optical sensor 1 of this embodiment, as shown in Fig. 2, for example, the proximity sensor unit 12 includes a light-emitting unit 21 and a light-receiving unit 22, and realizes optical proximity sensing. The light-emitting unit 21 emits light for detecting the proximity of an object (hereinafter referred to as "detection light"). The light-receiving unit 22 receives reflected light that is the detection light from the light-emitting unit 21 reflected by the object, and detects the state in which the object is approaching by generating a signal according to the amount of received light, for example.

[0018] In this embodiment, the force sensor unit 13 can employ various force detection methods to detect a force from an object. The various force detection methods include, for example, a piezoelectric type, an optical type, a strain resistance type, and a capacitance type. The force sensor unit 13 detects a force in multiple axes, for example, three axes or six axes. The force sensor unit 13 may detect a force in one axis.

[0019] According to the optical sensor 1 of the present embodiment, the proximity sensing function and the force sensing function are integrally realized, so that it is possible to reduce the area required for incorporating these functions into the controller 6, and it is possible to facilitate the configuration of the controller 6. An example of the configuration of the optical sensor 1 will be described later.

[0020] The controller 6 of this embodiment may further include a control circuit 60, for example, as shown in FIG. 2. The control circuit 60 controls the overall operation of the controller 6. For example, the control circuit 60 generates a control signal according to the user's operation based on a detection signal indicating the proximity and force detection results by each optical sensor 1. The control signal may be output to an external device of the controller 6, or may be used for internal control of the controller 6. The control circuit 60 may control the driving of each optical sensor 1.

[0021] The control circuit 60 is composed of, for example, a CPU, and cooperates with software to realize a predetermined function. The control circuit 60 has internal memories, such as a ROM and a RAM, and reads data and programs stored in the ROM into the RAM to perform various arithmetic processing to realize various functions. The control circuit 60 may be a hardware circuit, such as a dedicated electronic circuit designed to realize a predetermined function or a reconfigurable electronic circuit. The control circuit 60 may be composed of various semiconductor integrated circuits, such as a CPU, an MPU, a DSP, an FPGA, an ASIC, etc. The control circuit 60 may be an external configuration of the controller 6 (or a user interface device).

[0022] 1-1. Detection range of optical sensors The setting of the detection range, ie, the range in which the optical sensor 1 detects the approach of an object such as a finger 71 in the controller 6 of this embodiment, will be described with reference to FIGS. 3 to 6. FIG.

[0023] The optical sensor 1 of this embodiment has a detection range A10 that is defined by the directionality of emission and reception of detection light by the light-emitting unit 21 and the light-receiving unit 22 of the proximity sensor unit 12 (FIG. 2). The optical sensor 1 also has a main surface that is disposed along, for example, the outer surface of the gripping member 61. The two directions corresponding to the main surface of the optical sensor 1 are defined as the X and Z directions, and the normal direction perpendicular to the X and Z directions is defined as the Y direction.

[0024] The X direction of the optical sensor 1 in the controller 6 corresponds to the circumferential direction Dθ of the gripping member 61 in the vicinity of the arrangement position of the optical sensor 1. Of the ±X sides corresponding to both sides of the circumferential direction Dθ, the side where the fingers 71 of the hand 7 gripping the gripping member 61 arrive is defined as the +X side. Also, the outer side of the gripping member 61 in the radial direction Dr corresponds to the +Y side of the optical sensor 1, and the inner side in the radial direction Dr corresponds to the -Y side. The Z direction of the optical sensor 1 corresponds to the longitudinal direction Dz of the gripping member 61.

[0025] 3, for example, the detection range A10 of the optical sensor 1 is set to a range biased toward the +X side relative to the -X side of the ±X sides corresponding to both sides in the circumferential direction Dθ of the grip member 61, and is inclined with respect to the Y direction. With the detection range A10 inclined toward the +X side in this manner, when the user operates the controller 6 with the hand 7, the finger 71 approaching the grip member 61 is more likely to be included in the detection range A10, making it easier to detect various states of the hand 7 during operation, etc.

[0026] The detection range A10 of the optical sensor 1 is defined by an angular width A1 in the XY plane corresponding to the circumferential direction Dθ of the gripping member 61, and an angular width A2 in the YZ plane corresponding to the longitudinal direction Dz. In this embodiment, in the detection range A10 of the optical sensor 1, the angular width A1 in the circumferential direction θ is set to a relatively wide angle, and the angular width A2 in the longitudinal direction Dz is set to a relatively narrow angle.

[0027] According to the wide angle width A1 in the circumferential direction Dθ in the detection range A10 of the optical sensor 1, when a specific finger 71 to be detected in the hand 7 gripping the gripping member 61 has various degrees of bending, the amount of light received in the detection range A10 is likely to change according to the degree of bending. This makes it easier for each optical sensor 1 to detect the state of the finger 71 to be detected, such as the degree of bending. For example, the wide angle width A1 is an angle of 45° or more, e.g., approximately 90°.

[0028] In contrast, if the wide-angle angular width A1 is not used, only a specific position in the circumferential direction Dθ can be detected, and, for example, only a change in distance to a detectable part of the finger 71 can be detected. Moreover, the wide-angle angular width A1 set in the optical sensor 1 of this embodiment may be an angle of 120° or less, for example, from the viewpoint of suppressing power consumption for emitting the detection light.

[0029] Furthermore, by setting the narrow angle width A2 in the longitudinal direction Dz in the detection range A10 of the optical sensor 1, for example, a finger 71 other than the finger 71 to be detected by a specific optical sensor 1 among the multiple optical sensors 1 can be easily removed from the detection range A10 of the optical sensor 1. This makes it easier to avoid, for example, a situation in which each optical sensor 1 erroneously detects a finger 71 that is not the detection target.

[0030] For example, the narrow angle width A2 set in the optical sensor 1 of this embodiment is an angle of 1° or more and 60° or less. This angle width A2 can be set appropriately from various viewpoints such as the distance from the finger 71 to the optical sensor 1 for which false detection by the optical sensor 1 is to be avoided, or the degree to which false detection is to be eliminated. For example, when it is desired to avoid false detection of a finger 71 that is relatively far from the optical sensor 1 (see FIG. 4(A)), the angle width A2 may be set to 20° or less from the viewpoint of removing adjacent fingers 71 from the detection range A10, taking into consideration the interval between the fingers 71 of the hand 7 that grasps the gripping member 61, etc. Alternatively, when false detection of a relatively nearby finger (see FIG. 4(B)) is to be avoided, the angle width A2 may be set to 40° or less. The setting of the angle width A2 can be appropriately changed depending on the expected size and bending state of the finger 71 of the hand 7, the outer diameter of the gripping member 61, the arrangement of the optical sensor 1, etc.

[0031] The mounting position of the optical sensor 1 in the controller 6 will be described with reference to Fig. 4. In the controller 6 of this embodiment, the optical sensor 1 is mounted, for example, within an angle range of 90° to 180° from a predetermined reference position P0 indicating an angle of 0° in the circumferential direction Dθ of the gripping member 61. The reference position P0 is set as a reference for maintaining contact even when the fingers 71 of the hand 7 gripping the gripping member 61 are stretched out, and is set, for example, at a position assumed to be a contact point that contacts the base of the finger on the gripping member 61.

[0032] 4(A) to (C) show examples of the states of the fingers 71 when gripping the gripping member 61. Fig. 4(A) shows an example of a state in which the fingers 71 of the hand 7 (holding the gripping member 61) are stretched out. Fig. 4(B) shows an example of a state in which the fingers 71 are bent in the middle of gripping the gripping member 61 from the state shown in Fig. 4(A). Fig. 4(C) shows an example of a state in which the fingers 71 are further bent from the state shown in Fig. 4(B) to grip the gripping member 61.

[0033] According to the optical sensor 1 in the controller 6 of this embodiment, as shown in, for example, Fig. 4(A)-(C), the angle portion overlapping the finger 71 in the angle width A1 of the detection range A10 gradually widens from the state where the finger 71 is stretched to the state where the finger 71 is bent to grip the gripping member 61. As a result, in the optical sensor 1, the amount of light received changes according to the degree of bending of the finger more significantly than the increase in the amount of light received when, for example, the distance between the object and the optical sensor 1 becomes shorter, and the accuracy of continuously detecting the bending state of the finger 71 can be improved. Also, in the example of Fig. 4(A), the finger 71 is within the detection range A10 from the stretched state, and such a state can be detected by the optical sensor 1.

[0034] Fig. 5 illustrates a case where the outer diameter of the gripping member 61 is larger than that of Fig. 4. Fig. 5(A) illustrates a state where the fingers 71 are stretched out like Fig. 4(A). Fig. 5(B) illustrates a state where the gripping member 61 is being gripped after Fig. 5(A). Fig. 5(C) illustrates a state where the gripping member 61 is gripped after Fig. 5(B).

[0035] When the gripping member 61 has a relatively large diameter, or when it is assumed that the user's finger 71 is short compared to the outer diameter of the gripping member 61, the attachment position of the optical sensor 1 may be brought closer to the reference position P0. For example, the attachment position of the optical sensor 1 in the circumferential direction Dθ may be near an angle of 90°. Even in this case, as shown in Figs. 5(A) to (C), for example, the portion where the detection range A10 and the finger 71 overlap in the angle width A1 changes depending on the bending state of the finger, making it easier to realize continuous detection of the bending process of the finger.

[0036] Fig. 6 illustrates an example in which the outer diameter of the gripping member 61 is smaller than that in Fig. 4. Fig. 6(A) illustrates a state in which the fingers 71 are slightly bent at the beginning of gripping the gripping member 61. Fig. 6(B) illustrates a state in which the gripping member 61 is being gripped after Fig. 6(A). Fig. 6(C) illustrates a state in which the gripping member 61 is gripped after Fig. 6(B).

[0037] When the gripping member 61 has a relatively small diameter, or when it is assumed that the user's finger 71 is long compared to the outer diameter of the gripping member 61, the attachment position of the optical sensor 1 may be moved away from the reference position P0. For example, the attachment position of the optical sensor 1 in the circumferential direction Dθ may be near an angle of 180°. Even in this case, the optical sensor 1 in the controller 6 can continuously detect the degree of bending of the finger 71 from an initial state in which the finger 71 is slightly bent, for example.

[0038] From the viewpoint of including the outstretched finger 71 in the detection range A10 of the optical sensor 1 in the controller 6, the attachment position of the optical sensor 1 on the grip member 61 may be at an angle of 133° or less in the circumferential direction Dθ.

[0039] In the controller 6 of this embodiment, the mounting position of the optical sensor 1 is not limited to the above example. For example, when the grip member 61 has a considerably small diameter, the optical sensor 1 may be mounted within an angle range of 90° or more and 270° or less in the circumferential direction Dθ. In addition to the fingertips of the hand 7, the optical sensor 1 may be disposed corresponding to a part between the fingertips and the base. The optical sensor 1 may be mounted near various operating members provided on the grip member 61 within a range that can be contacted by the fingers 71 of the hand 7 gripping the grip member 61. Such an optical sensor 1 is not particularly limited to an angle of 90° or more in the circumferential direction Dθ, and may be mounted at a position less than that.

[0040] In the controller 6 of this embodiment, the shape of the gripping member 61 is not particularly limited to the example shown in Figs. 2 and 3, and may be various roughly cylindrical shapes. For example, the cross-sectional shape of the gripping member 61 does not have to be a perfect circle. In addition, for example, when multiple optical sensors 1 are arranged in the longitudinal direction Dz and multiple fingers 71 are used as detection targets, the outer diameter of the gripping member 61 does not have to be of uniform size, and for example, the size of the outer diameter may change along the longitudinal direction Dz according to the difference in length of each finger 71. In addition, the mounting position of the optical sensor 1 can be individually adjusted according to the difference in length of the fingers 71.

[0041] 2. Optical sensors An example of the configuration of the optical sensor 1 in the controller 6 of this embodiment will be described below.

[0042] 2-1. Overview of optical sensors An outline of a configuration example of the optical sensor according to the first embodiment will be described with reference to Fig. 7. Fig. 7 is a perspective view of the optical sensor 1 in the controller 6 of this embodiment.

[0043] The optical sensor 1 is configured, for example, by assembling the proximity sensor unit 12 and the force sensor unit 13 so that they are aligned in the X direction on the substrate 11. Hereinafter, two directions parallel to the main surface of the substrate 11 are respectively defined as the X direction and the Y direction, and the normal direction to the main surface is defined as the Y direction. Also, the +Y side where the force sensor unit 13 protrudes from the substrate 11 may be referred to as the upper side, and the opposite -Y side may be referred to as the lower side.

[0044] In the optical sensor 1 of this embodiment, the force sensor unit 13 includes a force sensor element 3 and a dome portion 41 made of an elastic body that covers the force sensor element 3 from the upper side (+Y). The optical proximity sensor unit 12 includes a light-emitting unit 21, a light-receiving unit 22, and a wall portion 42 configured to surround the light-emitting unit 21 and the light-receiving unit 22. The dome portion 41 for the force sensor and the wall portion 42 for the proximity sensor are integrally formed by, for example, an elastic member 4.

[0045] In the optical sensor 1 of this embodiment, the proximity sensor unit 12 is disposed on the +X side where the finger 71 arrives, and the force sensor unit 13 is disposed on the opposite side, the -X side. This makes it easier to detect the proximity of the finger 71 when it arrives to apply a contact force to the force sensor unit 13. In the optical sensor 1 of this embodiment, the wall unit 42 for the proximity sensor is an example of a light guiding member that defines the above-mentioned detection range A10 (see FIG. 3) on the +X side.

[0046] 2-2.Details of optical sensor Hereinafter, the optical sensor 1 according to this embodiment will be described in detail with reference to FIGS.

[0047] Fig. 8 is a perspective view illustrating an example of the internal structure of the optical sensor 1 in Fig. 7. Fig. 8 illustrates a state in which the elastic member 4 is not present in the optical sensor 1 illustrated in Fig. 7.

[0048] 8, in the optical sensor 1 of this embodiment, the light-emitting unit 21 and the light-receiving unit 22 constituting the proximity sensor unit 12 are arranged side by side in the Z direction on the +X side of the force sensor unit 13 on a substrate 11 such as a rigid substrate. In the following, an example will be described in which the position of the light-emitting unit 21 is on the +Z side and the position of the light-receiving unit 22 is on the -Z side on the substrate 11.

[0049] In the proximity sensor section 12 of the optical sensor 1, the light emitting section 21 includes, for example, a light emitting element 23 and a sealing body 25 that seals the light emitting element 23 with resin or the like, as shown in FIG.

[0050] The light-emitting element 23 includes a light source element such as an LED (light-emitting diode). For example, the light-emitting element 23 emits light having a predetermined wavelength band such as an infrared region as the detection light. The light-emitting element 23 has a light emission surface that emits the emitted detection light, and is disposed with the light emission surface facing upward.

[0051] The light emitting element 23 is not limited to an LED, and may include various solid-state light source elements such as an LD (semiconductor laser) or a VCSEL (vertical cavity surface emitting laser). The light emitting element 23 may include a plurality of light source elements. The light emitting element 23 may be provided with an optical system such as a lens and a mirror that collimates light from the light source element.

[0052] The light receiving unit 22 in the proximity sensor unit 12 receives the detection light from the light emitting unit 21 reflected by the object, and detects the proximity of the object. As shown in Fig. 8, for example, the light receiving unit 22 includes a light receiving element 24 and a sealing body 26 that seals the light receiving element 24 with resin or the like.

[0053] The light receiving element 24 includes one or more light receivers such as PDs (photodiodes) and has a light receiving surface configured with the light receivers. The light receiving element 24 receives light such as reflected light of the detection light reflected by the target object on the light receiving surface and generates a light receiving signal indicating, for example, the amount of received light as a light receiving result.

[0054] The light receiving element 24 is not limited to a PD, and may include various light receiving devices such as a phototransistor, a PSD (position sensitive detector), a CIS (CMOS image sensor), or a CCD. The light receiving element 24 may be configured as a linear array or a two-dimensional array of light receiving devices. The light receiving element 24 may be provided with an optical system such as a lens for collecting the reflected light. In addition, a bandpass filter or the like that blocks light of a wavelength band different from the wavelength band of the detection light may be provided on the light receiving surface of the light receiving element 24. This makes it possible to suppress the influence of disturbance light due to the external environment.

[0055] The sealing body 25 of the light-emitting unit 21 and the sealing body 26 of the light-receiving unit 22 are each formed by appropriately molding a resin or the like that is translucent for the wavelength band of the detection light in the proximity sensor unit 12. The upper surface of each of the sealing bodies 25, 26 defines, for example, the height of the light-emitting unit 21 and the light-receiving unit 22. Each of the sealing bodies 25, 26 may have wavelength filter characteristics that selectively transmit a specific wavelength band.

[0056] In this embodiment, the force sensor element 3 is composed of various sensor elements according to the force detection method adopted in the force sensor unit 13. The force sensor element 3 is an example of a force sensor in this embodiment.

[0057] The elastic member 4 includes, for example, a dome portion 41 for a force sensor, a wall portion 42 for a proximity sensor, and a base portion 40 connected to the dome portions 41, 42. In the elastic member 4, for example, the dome portion 41 for the force sensor and the wall portion 42 for the proximity sensor are arranged so as to form a groove via the base portion 40. The dome portion 41 for the force sensor and the wall portion 42 for the proximity sensor do not have to be formed integrally with the elastic member 4, and may be formed separately.

[0058] The elastic member 4 is made of an elastic material such as a silicone resin. The elastic member 4 has a hardness of, for example, Shore A20 or more and 80 or less. The elastic member 4 is not limited to a silicone resin, and may be made of various elastic materials, such as an epoxy resin.

[0059] The base portion 40 is a portion that extends downward (to the -Y side) in the elastic member 4. The base portion 40 forms the bottom of the groove between the dome portion 41 for the force sensor and the wall portion 42 for the proximity sensor (see FIG. 3). The base portion 40 of the elastic member 4 may be omitted.

[0060] The force sensor dome portion 41 is formed in a convex shape facing upward (+Y side) so as to cover the force sensor element 3. The force sensor dome portion 41 is elastically deformed in response to the application of a contact force, for example, and can restore its original shape when the contact force is removed. The convex shape of the force sensor dome portion 41 can be formed separately from the proximity sensor wall portion 42 in particular. With such a shape of the force sensor dome portion 41, the position in the force sensor unit 13 that is the target of the contact force can be uniquely defined as the position where the dome portion 41 protrudes, making it easier to detect the force of the target object.

[0061] The dome portion 41 for the force sensor has, for example, a tapered shape in which the outer diameter in the XZ cross section becomes smaller toward the upper side (+Y side). In FIG. 7, a truncated cone shape is illustrated as an example of the shape of the dome portion 41 for the force sensor, but the shape is not particularly limited to this. The shape of the dome portion 41 for the force sensor may be a cone, a square pyramid, a polygonal pyramid, a rectangular parallelepiped, a semi-cylinder, or the like. The inside of the dome portion 41 for the force sensor may be filled with the same elastic material as the elastic member 4 or other materials.

[0062] The wall portion 42 for the proximity sensor defines an opening region A1 for light emission and an opening region A2 for light reception, as shown in Fig. 7 for example. The opening region A1 for light emission surrounds the periphery of the light-emitting portion 21 so as to restrict the angular range in which light can be emitted from the light-emitting portion 21, i.e., the viewing angle (or light distribution angle). The opening region A2 for light reception surrounds the periphery of the light-receiving portion 22 so as to restrict the viewing angle of the light-receiving portion 22. For example, the range common to the light distribution angle of the light-emitting portion 21 and the viewing angle of the light-receiving portion 22 defines the detection range A10 (Fig. 3) of the proximity sensor portion 12 of the optical sensor 1.

[0063] In the optical sensor 1 of this embodiment, the elastic member 4 forms an open end 45 on the side opposite to the force sensor unit 13 (i.e., the +X side) as shown in Fig. 7. The open end 45 in this embodiment is formed by the wall portion 42 for the proximity sensor extending except on the +X side, and defines the opening regions A1, A2 together with the wall portion 42 for the proximity sensor. Since the +X side is the open end 45, each of the opening regions A1, A2 in this embodiment reaches the substrate 11, that is, the height from the substrate 11 is minimum on the +X side.

[0064] In the elastic member 4 of this embodiment, the viewing angle of the proximity sensor unit 12 is directed from the Y direction to the +X side by each of the opening regions A1, A2 having the open ends 45. With the optical sensor 1 of this embodiment, it is easy to realize the detection range A10 biased toward the +X side, and it is easy to detect the proximity of an object in a situation where, for example, the approaching object comes from the +X side rather than the Y direction.

[0065] In the wall section 42 for the proximity sensor, the central section extends so as to separate the light-emitting section 21 and the light-receiving section 22, blocking light between the light-emitting section 21 and the light-receiving section 22 (see FIG. 7). This makes it possible to prevent direct coupling, in which the detection light emitted from the light-emitting section 21 is directly incident on the light-receiving section 22 without being reflected by an object or the like, and to suppress interference between the light-emitting section 21 and the light-receiving section 22.

[0066] In the wall portion 42 for the proximity sensor, the portion on the -X side extends so as to separate the light-emitting portion 21 and the light-receiving portion 22 from the force sensor portion 13. This restricts the -X side of the detection range A10 of the proximity sensor portion 12 and suppresses various interferences caused by an object in contact with the force sensor portion 13. For example, it is possible to prevent the dome portion 41 for the force sensor, which has been deformed by a contact force, from hitting the light-emitting portion 21 or the light-receiving portion 22.

[0067] Moreover, in the wall 42 for the proximity sensor, the +Z side portion is located on the opposite side of the light-receiving portion 22 as viewed from the light-emitting portion 21, and the -Z side portion is located on the opposite side of the light-emitting portion 21 as viewed from the light-receiving portion 22. Such ±Z side portions of the wall 42 make it possible to set the angular width A2 of the detection range A10 in the Z direction to a narrow angle. For example, even if there is an adjacent external light source such as another optical sensor 1 arranged in the Z direction, it is possible to block light from the external light source and suppress interference between the external light source and the proximity sensor portion 12.

[0068] The elastic member 4 in the optical sensor 1 as described above may be configured so that the dome portion 41 and the wall portion 42 have different hardnesses. For example, the elastic member 4 may be configured by two-color molding using a plurality of types of materials having different hardnesses. For example, the hardness of the dome portion 41 for the force sensor may be set to be softer than the hardness of the wall portion 42 for the proximity sensor. The flexibility of the dome portion 41 for the force sensor makes it easier to provide intuitive sensory feedback in the form of deformation in response to the pressing of the force sensor unit 13 in applications such as HMI.

[0069] The elastic member 4 may have optical properties that reflect the detection light from the light emitting unit 21, and may be made of a material with a reflectance of 50% or more, for example. This makes it easier to guide the detection light to the proximity sensor unit 12.

[0070] 2-3.Sensor control unit 9 is a circuit diagram illustrating an electrical configuration of the optical sensor 1 according to this embodiment. In addition to the structural configuration described above, the optical sensor 1 according to this embodiment may further include a sensor control unit 15 as shown in FIG.

[0071] The sensor control unit 15 includes, for example, a light emission control circuit 51, a light reception control circuit 52, a force sensor control circuit 53, and an interface circuit 54, as shown in FIG.

[0072] The light emission control circuit 51 includes, for example, a light source driving unit electrically connected to the light emitting element 23. The light source driving unit supplies a driving signal to the light emitting element 23 to emit the detection light. The light emission control circuit 51 may include, for example, a modulator such as an AM modulator. For example, the light emission control circuit 51 may modulate the detection light using a specific frequency in the range of 10 Hz to 1 MHz as a modulation frequency that periodically varies the amplitude of the light. Modulation of the detection light makes it easier to distinguish the detection light and its reflected light from ambient light.

[0073] The light-receiving control circuit 52 includes, for example, an amplifier electrically connected to the light-receiving element 24, and an A / D (analog / digital) converter connected to the amplifier. The light-receiving control circuit 52 performs various signal processing on the light-receiving signal output from the light-receiving element 24, and outputs the signal to, for example, an interface circuit 54.

[0074] For example, the light reception control circuit 52 performs a process of detecting the proximity of an object based on the amount of reflected light received in the light reception signal. The process of detecting proximity in the optical sensor 1 is not limited to the amount of reflected light received, and may be performed based on, for example, the phase difference between the reflected light and the detection light. Furthermore, such a process of detecting proximity does not necessarily have to be performed within the optical sensor 1, and may be performed by an arithmetic circuit or the like outside the optical sensor 1. In the optical sensor 1, it is possible to detect the proximity of an object such as an object by generating a light reception signal including reflected light of the detection light in synchronization with the driving of the light emitting unit 21.

[0075] The light receiving control circuit 52 may perform filtering such as a band pass filter that passes a signal component including the modulation frequency of the detection light, or may perform synchronous detection in synchronization with the light emission control circuit 51. For example, the light receiving control circuit 52 can separate the reflected light from disturbance light and analyze the reflected light by blocking stationary DC components. The modulation frequency of the detection light can be appropriately set to avoid frequencies used in existing external systems, such as 38 kHz used as a carrier for infrared remote controls. This can suppress malfunction of the optical sensor 1 caused by external systems.

[0076] The force sensor control circuit 53 includes a control circuit for driving and controlling various sensor elements constituting the force sensor element 3 in the force sensor unit 13, and an amplifier for an output signal from the sensor element. The force sensor control circuit 53 may include a circuit configuration for generating a force detection signal indicating the force detection result in multiple axes based on the above output signal. The force sensor control circuit 53 may output a force detection signal indicating the force detection result in one axis, not limited to multiple axes.

[0077] For example, if the force detection method is piezoelectric, the piezoelectric effect of one or more piezoelectric elements arranged on a substrate in the force sensor unit 13 is utilized, and the stress generated in the force sensor unit 13 due to contact with an object (Fig. 7) is converted into an electric charge by the piezoelectric element, and the force is sensed from the change. In the case of an optical method, one or more light-emitting elements and one or more light-receiving elements arranged on a substrate in the force sensor unit 13 are utilized, and the change in the reflected light distribution in the force sensor unit 13 caused by deformation due to contact with an object is read by the light-receiving element to sense the force.

[0078] The strain resistance type uses one or more strain gauges arranged on a substrate in the force sensor unit 13, and detects the strain transmitted to the strain gauge through the force sensor unit 13 due to deformation caused by contact with an object as a resistance change, and uses this change to sense force. The capacitance type uses one or more capacitance detection electrodes arranged on a substrate in the force sensor unit 13, and senses force from the change in coupling capacitance between the capacitance detection electrode and a reference potential, which changes due to deformation of the force sensor unit 13 caused by contact with an object. In each method, multi-axis force sensing is possible by using multiple sensor elements such as piezoelectric elements, light-receiving and emitting elements, strain gauges, and capacitance detection electrodes arranged in the force sensor unit 13.

[0079] The interface circuit 54 is connected to the light emission control circuit 51, the light reception control circuit 52, and the force sensor control circuit 53. The interface circuit 54 connects the optical sensor 1 to an external device and inputs and outputs various signals.

[0080] The above-described configuration is merely an example, and the optical sensor 1 is not particularly limited to the above configuration. For example, the optical sensor 1 of this embodiment may have any of the circuits 51-54 of the sensor control unit 15 as an external configuration, or may be provided as a module separate from the circuits 51-54 of the sensor control unit 15. In addition, a part or the whole of the function of the sensor control unit 15 may be incorporated into the control circuit 60 of the controller 6.

[0081] 3. Summary As described above, the controller 6 in this embodiment is an example of a user interface device held by a user with the hand 7. The controller 6 includes a gripping member 61 having a radial direction Dr and a circumferential direction Dθ and extending in the longitudinal direction Dz, and at least one optical sensor 1 provided in the gripping member 61. The optical sensor 1 includes a proximity sensor unit 12 including a light-emitting element 23 and a light-receiving element 24, and a force sensor unit 13 that detects a contact force by an object such as a finger 71 of the hand 7. The proximity sensor unit 12 emits light from the light-emitting element 23 to a predetermined detection range A10 around the force sensor unit 13, and detects a state in which the object is close to the force sensor unit 13 according to a light reception result in which the light-receiving element 24 receives the light incident from the detection range A10. The detection range A10 is biased toward the +X side, one of both sides in the circumferential direction Dθ, from the position of the force sensor unit 13 on the gripping member 61 toward the outside in the radial direction Dr, and is set to a range wider in the circumferential direction Dθ than in the longitudinal direction Dz.

[0082] According to the controller 6 described above, the detection range A10 by the proximity sensor unit 12 of the optical sensor 1 is biased toward the +X side and is set to a range wider in the circumferential direction Dθ than in the longitudinal direction Dz, so that it is easy to detect the state of an object such as a finger 71 approaching the optical sensor 1 from the +X side. This makes it easy to detect the state of being held by a user using the optical sensor 1.

[0083] In this embodiment, the controller 6 includes a plurality of optical sensors 1 arranged at different positions in the longitudinal direction Dz. The detection range A10 of each optical sensor 1 has a first angular width α1 in the circumferential direction Dθ and a second angular width α2 in the longitudinal direction Dz that is smaller than the first angular width. This makes it easier to suppress erroneous detections such as interference between the plurality of optical sensors 1. For example, it is easier to suppress erroneous detections when multiple fingers 71 on a hand 7 are detected by different optical sensors 1.

[0084] In the controller 6 of this embodiment, the force sensor unit 13 and the proximity sensor unit 12 are arranged adjacent to each other in the circumferential direction Dθ in the optical sensor 1. The detection range A10 of the proximity sensor unit 12 is biased to the opposite side to the force sensor unit 13 in the circumferential direction Dθ. This makes it easier for the proximity sensor unit 12 to detect the process of an object, such as a finger 71 that is about to apply a contact force to the force sensor unit 13, arriving.

[0085] In the controller 6 of this embodiment, the optical sensor 1 is disposed at a position that can be contacted by the fingers 71 of the hand 7 when the grip member 61 is held by the hand 7. This makes it easier for the optical sensor 1 to detect various operations performed by the fingers 71 of the hand 7 holding the grip member 61 by the user of the controller 6.

[0086] In the controller 6 of this embodiment, the proximity sensor unit 12 further includes a wall portion 42, which is an example of a light guiding member, that surrounds the light emitting element 23 so as to guide the light emitted by the light emitting element 23 to the detection range A10 and / or surrounds the light receiving element 24 so as to guide the light incident from the detection range A10 to the light receiving element 24. The wall portion 42 of the optical sensor 1 makes it possible to easily achieve the directionality of the detection range A10 by the proximity sensor unit 12.

[0087] (Embodiment 2) In the first embodiment, the controller 6 is described in which the directivity corresponding to the detection range A10 of the optical sensor 1 is set by the wall portion 42 for the proximity sensor. In the second embodiment, an example in which the sealing resin of the optical sensor is used to set the above-mentioned directivity will be described with reference to Figs. 10 and 11.

[0088] Fig. 10 shows the configuration of an optical sensor 1A in embodiment 2. Fig. 11 shows a cross-sectional view of the optical sensor 1A in Fig. 10 taken along the line AA'.

[0089] The optical sensor 1A of this embodiment is provided in the controller 6 of this embodiment instead of the optical sensor 1 of embodiment 1. The optical sensor 1A of this embodiment is configured by changing the shapes of the sealants 25A, 26A of the light emitter 21A and the light receiver 22A from the same configuration as the optical sensor 1 of embodiment 1, for example, as shown in Fig. 10. In this embodiment, the sealants 25A, 26A are examples of the first and second light-transmitting members, respectively.

[0090] In this embodiment, the sealing body 25A of the light-emitting unit 21A has a lens shape that refracts the detection light emitted from the light-emitting element 23 (FIG. 11) from the Y direction toward the +X side. For example, the sealing body 25A is inclined so as to be upward toward the +X side in the XY cross section as shown in FIG. 11. With such a lens shape, for example, the directivity such as the light distribution angle of the light-emitting unit 21A can be biased toward the +X side. The inclination of the sealing body 25A is not limited to being linear, and may be curved, for example, convex toward the +Y side.

[0091] Furthermore, the sealing body 25A may have a light collecting function to narrow the light distribution angle of the light flux emitted to the +X side in the Z direction. Such a sealing body 25A can be realized by a curved shape having a curvature in the YZ cross section as shown in Fig. 10, for example. For example, the curvature in the Z direction of the sealing body 25A is larger than the curvature in the X direction. Furthermore, the sealing body 25A is not limited to a symmetrical shape and may be configured in various shapes as long as it has a curvature on the +X side where the finger 71 arrives.

[0092] Furthermore, sealing body 26A of light-receiving unit 22A can be configured similarly to sealing body 25A of light-emitting unit 21A, for example. Note that both sealing body 25A of light-emitting unit 21A and sealing body 26A of light-receiving unit 22A do not have to have a lens shape as described above, and either one of them may have a lens shape.

[0093] According to the lens shapes of the sealing bodies 25A, 26A of the light-emitting unit 21A and the light-receiving unit 22A as described above, the degree of freedom of the directivity control of the proximity sensor unit 12 in the optical sensor 1A can be improved. Therefore, it is possible to set an appropriate directivity according to various applications to which the optical sensor 1A is applied.

[0094] As described above, in the controller 6 of the optical sensor 1A of this embodiment, the proximity sensor unit 12 of the optical sensor 1A further includes at least one of the sealing body 25A, which is an example of a first light-transmitting member, and the sealing body 26A, which is an example of a second light-transmitting member. The sealing body 25A seals the light-emitting element 23 so as to guide the light emitted by the light-emitting element 23 to the detection range A10. The sealing body 26A seals the light-receiving element 24 so as to guide the light incident from the detection range A10 to the light-receiving element 24. According to this optical sensor 1A, the sealing bodies 25A and 26A can be used to easily control the directivity of the proximity sensor unit 12 while taking into consideration compatibility with force detection.

[0095] (Embodiment 3) In the first and second embodiments, the controller 6 is described which controls the directivity by the configuration of the optical sensor 1. In the third embodiment, the controller which controls the directivity by the cover member for the optical sensor 1 is described with reference to Figs. 12 to 17.

[0096] Fig. 12 is a cross-sectional view showing the configuration of a controller 6A according to this embodiment. The cross section of Fig. 12 corresponds to the A-A' cross section of embodiment 2. Fig. 13 shows a side view of the optical sensor 1A seen from the +X side in the controller 6A of this embodiment.

[0097] In the controller 6A of this embodiment, for example, in the same configuration as in the second embodiment, a cover member 62 covering the optical sensor 1A includes a structure 63 for controlling the directivity of the detection light. The cover member 62 may be any of various members that cover the optical sensor 1A, and may be configured integrally with the grip member 61, for example. In the controller 6A of this embodiment, the optical sensor 1A is disposed so as to come into contact with the cover member 62 on the upper surface of the dome portion 41 for the force sensor, for example.

[0098] The cover member 62 is made of a material that is transparent to the wavelength of the detection light emitted by the light emitting element 23 of the proximity sensor unit 12 in the optical sensor 1A and has a refractive index greater than that of air. For example, the cover member 62 can be made of optical glass such as BK7, plastics such as polycarbonate and acrylic, or silicone.

[0099] 12, the cover member 62 has a structural portion 63 as a portion cut to incline downward toward the +X side in the upper vicinity of the proximity sensor unit 12. Such structural portion 63 of the cover member 62 bends the optical path of the detection light by the proximity sensor unit 12 toward the +X side where the finger 71 reaches the optical sensor 1A in the controller 6A, making it easy to incline the detection range A10 toward the +X side.

[0100] 13, the structural portion 63 of the cover member has a lens shape with a curvature so as to narrow the directivity of light in the Z direction perpendicular to the X direction in which the finger 71 moves, above each of the light-emitting portion 21A and the light-receiving portion 22A. The structural portion 63 of the cover member 62 may be provided only above either the light-emitting portion 21A or the light-receiving portion 22A.

[0101] As described above, the controller 6A of the present embodiment further includes the cover member 62. The cover member 62 covers the optical sensor 1A so as to guide the light emitted by the light-emitting element 23 in the optical sensor 1A to the detection range A10 and / or guide the light incident from the detection range A10 to the light-receiving element 24. Such a cover member 62 also makes it possible to easily achieve the directionality of the detection range A10 by the proximity sensor unit 12 of the optical sensor 1A.

[0102] (Modification of the third embodiment) In the controller 6A of this embodiment, the structure for controlling the directivity of the detection light with the cover member 62 is not particularly limited to the above example, and various structures may be used.

[0103] For example, the structural portion 63 of the cover member 62 is not limited to the example in Fig. 12, and may have a thickness greater on the +X side than on the -X side of the upper vicinity of the proximity sensor unit 12, or may have a shape with a continuing inclination. Also, the structural portion 63 of the cover member 62 may be provided for either the light-emitting unit 21A or the light-receiving unit 22A.

[0104] Fig. 14 is a cross-sectional view showing the configuration of a controller 6B in Modification 1 of Embodiment 3. Fig. 13 shows a side view of the optical sensor 1A in the controller 6B of this modification. In the controller 6B of this modification, the structural portion 63 of the cover member 62 may be configured in a shape that engages with the elastic member 4 of the optical sensor 1A.

[0105] 14, for example, the shape of the structure 63 that clamps the wall 42 of the proximity sensor 12 can restrict positional deviation in the X direction. Also, as shown in 15, the inner diameter of the convex lens shape of the structure 63 is set to a small diameter that fits into the opening areas A1 and A2 of the proximity sensor 12, thereby suppressing movement of the cover member 62 in the YZ plane. With this configuration, the structure 63 of the cover member 62 functions as a positioning part for the optical sensor 1, eliminating the need to provide a separate positioning mechanism.

[0106] 16 is a cross-sectional view showing the configuration of a controller 6C according to Modification 2 of Embodiment 3. In the controller 6C of this modification, the cover member 62 includes a light diffusion section 64 which is a section that functions as a diffusion plate above the light-emitting section 21A of the optical sensor 1A. The light diffusion section 64 diffuses the detection light generated by the light-emitting section 21A of the optical sensor 1 as it passes through, making it easy to distribute the detection light in a diffuse manner over a wide detection range A10.

[0107] Such light diffusion portion 64 can be realized, for example, by etching (holographic diffuser) the surface of the corresponding portion of the cover member 62. Alternatively, the light diffusion portion 64 may be realized by adding a reflective filler to the resin constituting the cover member 62 (white diffusing glass), or by sandblasting (ground glass), or the like.

[0108] As described above, in the controller 6C of the present embodiment, the cover member 62 may include the light diffusion section 64 that diffuses the light emitted by the light emitting element 23 and guides the light to the detection range A10. This makes it easier to widely distribute the detection light of the optical sensor 1A in the detection range A10.

[0109] 17 is a side view showing a configuration of a controller 6D according to Modification 3 of Embodiment 3. In the controller 6D of this modification, the cover member 62 includes a transparent portion 65 that transmits the detection light from the proximity sensor unit 12, and a light-shielding portion 66 that does not transmit the light. The transparent portions 65 are provided, for example, above the light-emitting unit 21A and above the light-receiving unit 22A.

[0110] The light-shielding portion 66 is provided to define a slit-shaped transmission region as the transparent portion 65 of the cover member 62, and blocks light in the wavelength band of the detection light outside the transmission region. The transmission region has a relatively narrow width in the Z direction, for example, and a relatively wide width in the X direction. The light-shielding portion 66 may define the transmission region of either the light-emitting portion 21A or the light-receiving portion 22A.

[0111] Such light-shielding portion 66 of cover member 62 is realized, for example, by adding an absorbent filler to the resin constituting cover member 62, or by applying an absorbent paint to the surface of cover member 62, or by gluing. According to cover member 62 of the present embodiment, it is easy to restrict detection range A10, and for example, erroneous detection between multiple optical sensors 1 or multiple fingers can be easily suppressed by a narrow transmission region in the Z direction.

[0112] As described above, in the controller 6D of the present embodiment, the cover member 62 may include the light-shielding portion 66 that blocks light emitted from the light-emitting element 23 to outside the detection range A10 and blocks light entering the light-receiving element 24 from outside the detection range A10. This makes it easier to restrict the detection range A10 of the optical sensor 1A.

[0113] (Embodiment 4) In the fourth embodiment, an example in which an optical type is adopted as a force detection method for an optical sensor in a controller will be described with reference to FIGS.

[0114] Fig. 18 shows a perspective view of optical sensor 1B in embodiment 4. Fig. 19 shows a cross-sectional view of optical sensor 1B taken along the line BB' in Fig. 18. The BB' cross section is a cross section passing through force sensor unit 13B along the XY plane.

[0115] In the optical sensor 1B of this embodiment, for example, in the same configuration as the optical sensor 1A of embodiment 2, the force sensor unit 13B is configured as an optical type. The optical type force sensor unit 13B includes a light emitting element 31 and a light receiving element 32 as a force sensor element 3B, as shown in Fig. 19 for example. The light emitting element 31 and the light receiving element 32 may be sealed with a sealer 33 made of, for example, a transparent resin or the like.

[0116] In the optical force sensor unit 13B, the inside of the dome portion 41 for the force sensor may have a hollow structure, or may be filled with, for example, a transparent resin that is more flexible than the sealing body 33. The inside of the dome portion 41 is configured to be able to reflect light from, for example, the light emitting element 31.

[0117] In the optical force sensor unit 13B, the light emitting element 31 includes a light emitting source such as a single or multi-emitter VCSEL. For example, the light emitting element 31 emits light having a predetermined wavelength band such as an infrared region, and outputs it as detection light for force detection. The light emitting element 31 is not limited to a VCSEL, and may include various solid-state light source elements such as an LD or an LED. The light emitting element 31 may include multiple light source elements. The light emitting element 31 may be provided with an optical system such as a lens and a mirror that collimates the light from the light emitting element.

[0118] The light receiving element 32 includes a light receiver such as a PD, and is configured by arranging a plurality of light receivers to surround the periphery of the light emitting element 31. The light receiving element 32 receives light such as reflected light of the detection light in the light receiver, and generates a light receiving signal indicating, for example, the amount of received light as a light receiving result. The light receiving element 32 is not limited to a PD, and may include various light receiving elements such as a phototransistor, a PSD, a CIS, or a CCD.

[0119] The dome portion 41 for the force sensor is made of an elastic member having light blocking properties for the frequency band of the detection light by the light emitting element 31, for example.

[0120] The optical force sensor unit 13B configured as above detects the contact force of the object by utilizing the change in the light receiving state of the light receiving element 32 of the detection light that is reflected by the reflector 35 and that is emitted from the light emitting element 31 in response to the force from the contacting object. As a method for measuring the contact force in the optical system, known techniques can be appropriately applied.

[0121] Such optical force sensor unit 13B can be easily manufactured since it can be manufactured collectively by adopting the same manufacturing process as the proximity sensor unit 12. For example, the sealing bodies 25A and 26A in the proximity sensor unit 12 and the sealing body 33 of the light emitting element 31 and the light receiving element 32 in the force sensor unit 13B may be formed in the same process.

[0122] 20 is a circuit diagram illustrating an electrical configuration of an optical sensor 1B according to embodiment 4. In embodiment 1, in the sensor control unit 15 of the optical sensor 1, the force sensor control circuit 53 is configured separately from the light emission control circuit 51 and the light reception control circuit 52 for controlling the proximity sensor unit 12. In the sensor control unit 15B of the optical sensor 1B of this embodiment, in the same configuration as embodiment 1, the light emission control circuit 51B and the light reception control circuit 52B of the proximity sensor unit 12 have the control function of the force sensor unit 13B instead of the separate force sensor control circuit 53 (FIG. 9).

[0123] 20, the light emission control circuit 51B of this embodiment is configured to include, for example, a switch matrix or the like to control the light emitting element 31 of the force sensor unit 13B as well as the light emitting element 23 of the proximity sensor unit 12. Also, the light reception control circuit 52B of this embodiment is configured to include, for example, a switch matrix or the like to control the light receiving element 32 of the force sensor unit 13B as well as the light receiving element 24 of the proximity sensor unit 12. This allows the control functions of both the proximity sensor unit 12 and the force sensor unit 13B to be configured using the same circuit technology, reducing the number of components of the optical sensor 1B and facilitating circuit integration.

[0124] For example, the sensor control unit 15B of the optical sensor 1B of this embodiment can be configured with a single IC or the like that shares the control function of the proximity sensor unit 12 and the control function of the force sensor unit 13B. In this way, the optical sensor 1B of this embodiment can be made smaller and less expensive.

[0125] As described above, in the optical sensor 1B of this embodiment, the optical force sensor unit 13B includes, as its force sensor element 3B, a light emitting element 31 separate from the light emitting element 23 of the proximity sensor unit 12, and a light receiving element 32 separate from the light receiving element 24 of the proximity sensor unit 12. The sensor control unit 15B of the optical sensor 1B includes a light emission control circuit 51B that controls the light emitting element 21 of the proximity sensor unit 12 and the light emitting element 31 of the force sensor unit 13B, and a light receiving control circuit 52B that controls the light receiving element 22 of the proximity sensor unit 12 and the light receiving element 32 of the force sensor unit 13B. By configuring the proximity sensor unit 12 and the force sensor unit 13B of the optical sensor 1B as optical types, in addition to facilitating the manufacture of the sensor structure, the circuit configuration can also be simplified, making it easier to manufacture the optical sensor 1B.

[0126] (Other embodiments) In each of the above embodiments, the optical sensor 1 has been described in which the wall portion 42 for the proximity sensor has the open end 45. In this embodiment, the wall portion 42 for the proximity sensor does not need to have the open end 45, and may entirely surround the light-emitting portion 21 and the light-receiving portion 22. Even in this case, the detection range A10 can be set at an angle by a means other than the open end 45. Such a modified example will be described with reference to FIG. 21.

[0127] 21 is a cross-sectional view illustrating a modified example of an optical sensor 1C in a controller. The optical sensor 1C of this modified example includes a flexible substrate 11C in a similar configuration to the optical sensor 1 of the above-described first embodiment.

[0128] In the optical sensor 1C of this modification, the substrate 11C is, for example, a flexible substrate or a rigid-flexible substrate. The substrate 11C is configured to be bendable at a portion corresponding to the groove between the dome portion 41 for the force sensor and the wall portion 42 for the proximity sensor. In this modification, the elastic member 4 also has a hardness that allows bending at least at the base portion 40 corresponding to the above-mentioned groove.

[0129] 21, by bending the substrate 11C, the direction of the detection range A10 of the proximity sensor unit 12 can be tilted toward the +X side, for example, with respect to the force sensor unit 13. This makes it easier for the proximity sensor unit 12 to detect the state in which the object 5 approaches the force sensor unit 13 before coming into contact with it, for example, in a situation in which the object 5 approaches the force sensor unit 13 from the +X side.

[0130] As described above, in the optical sensor 1C of this embodiment, the substrate 11C may have flexibility at least in a position between the dome portion 41 for the force sensor and the wall portion 42 for the proximity sensor in the elastic member 4. This makes it possible to change the direction of the viewing angle of the proximity sensor unit 12 with respect to the arrangement of the force sensor unit 13, making it easier to achieve both force detection and proximity detection.

[0131] Alternatively, in the optical sensor 1 of this embodiment, the wall portion 42 for the proximity sensor may be configured to have a height lower on the +X side than other portions. This also allows the detection range A10 of the optical sensor 1 to be set inclined toward the +X side. Also, in the optical sensor 1 of this embodiment, the wall portion 42 may be configured to surround one of the light-emitting portion 21 and the light-receiving portion 22, or the wall portion 42 may be omitted. [Explanation of symbols]

[0132] 1,1A~1C Optical sensor 12 Proximity sensor section 13, 13B Force sensor part 21, 21A Light emitting part 22,22A light receiving part 23 Light emitting element 24 Photodetector 25,25A sealed body 26,26A sealing body 3,3B Force sensor element 41 Dome section 42 Wall 51, 51B Light emission control circuit 52, 52B Light receiving control circuit 6,6A~6D Controller 61 Gripping member 62 Cover member 63 Structural section 64 Light diffusion section 65 Transparent part 66 Shading section

Claims

1. A user interface device held by a user, comprising: A gripping member extending in a longitudinal direction having a radial direction and a circumferential direction; at least one optical sensor provided in the gripping member; The optical sensor includes: a proximity sensor unit including a light emitting element and a light receiving element; a force sensor unit that detects a contact force by an object, the proximity sensor unit emits light from the light-emitting element to a predetermined detection range around the force sensor unit, and detects a state in which the object is approaching the force sensor unit according to a light-receiving result of the light-receiving element receiving the light incident from the detection range; The detection range is biased toward one of both sides in the circumferential direction based on the position of the force sensor unit from the position of the force sensor unit on the grip member toward the outside in the radial direction, and is set to a range wider in the circumferential direction than in the longitudinal direction. A user interface device.

2. A plurality of optical sensors are provided at different positions in the longitudinal direction, The detection range of each optical sensor has a first angular width in the circumferential direction and a second angular width in the longitudinal direction that is smaller than the first angular width. The user interface device according to claim 1 .

3. In the optical sensor, the force sensor portion and the proximity sensor portion are arranged adjacent to each other in the circumferential direction, The detection range of the proximity sensor unit is biased toward the opposite side to the force sensor unit in the circumferential direction.

3. A user interface device according to claim 1 or 2.

4. The optical sensor is disposed at a position where the fingers of the hand can contact the gripping member when the gripping member is held by the hand.

3. A user interface device according to claim 1 or 2.

5. The proximity sensor unit further includes a light guiding member that surrounds the light emitting element so as to guide the light emitted by the light emitting element to the detection range and / or that surrounds the light receiving element so as to guide the light incident from the detection range to the light receiving element.

3. A user interface device according to claim 1 or 2.

6. The proximity sensor unit includes: a first light-transmitting member that seals the light-emitting element so as to guide light emitted by the light-emitting element to the detection range; and a second light-transmitting member that seals the light-receiving element so as to guide the light incident from the detection range to the light-receiving element.

3. A user interface device according to claim 1 or 2.

7. The optical sensor further includes a cover member that covers the optical sensor so as to guide light emitted by the light-emitting element in the optical sensor to the detection range and / or guide light incident from the detection range to the light-receiving element.

3. A user interface device according to claim 1 or 2.

8. The cover member includes a light diffusion portion that diffuses the light emitted by the light-emitting element and guides the light to the detection range. The user interface device according to claim 7.

9. The cover member includes a light-shielding portion that blocks light emitted from the light-emitting element to the outside of the detection range and / or blocks light incident on the light-receiving element from the outside of the detection range. The user interface device according to claim 7.

10. the force sensor unit includes a light-emitting element separate from the light-emitting element of the proximity sensor unit, and a light-receiving element separate from the light-receiving element of the proximity sensor unit, The optical sensor includes: a light emission control circuit for controlling a light emitting element of the proximity sensor unit and a light emitting element of the force sensor unit; a light receiving control circuit for controlling the light receiving element of the proximity sensor unit and the light receiving element of the force sensor unit.

3. A user interface device according to claim 1 or 2.

Images