Actuators and haptic devices

Abstract

The actuator comprises a moving part, at least a portion of which moves forward and backward relative to a target, a base part arranged on the opposite side of the moving part relative to the target, an expansion and contraction part arranged on the opposite side of the target relative to the base part and which expands and contracts in response to an electrical signal in a second direction non-parallel to a first direction in which the moving part moves forward and backward, and which has a first side in the second direction fixed to the base part, and a force transmission part fixed to a second side opposite the first side of the expansion and contraction part in the second direction, extends in the first direction and is fixed to the moving part, and which moves the moving part forward and backward by expansion and contraction of the expansion and contraction part.

Description

[Technical field]

[0001] The present invention relates to an actuator and a haptic device. [Background technology]

[0002] Haptic devices that reproduce the sense of touch have been developed for virtual reality (VR), augmented reality (AR), mixed reality (MR), and the like. Haptic devices act on the user's sense of touch in conjunction with content including images, for example, and provide the user with an experience of touching an actual object. Haptic devices are used to provide various experiences in various fields, for example, entertainment such as games, communication, education, medicine, tourism, and the like.

[0003] The following Patent Document 1 discloses a haptic output device that aims to present a realistic sense of pressure without interfering with the movement of the fingertip. This haptic output device includes a housing that is worn on the fingers of a hand, a movable member that is disposed on the housing and forms a contact surface that comes into contact with the finger, a first mechanism that applies a force to the movable member from the housing side toward the finger side, and a second mechanism that has an artificial muscle actuator that pulls the movable member toward the housing side. New actuators are desired for haptic devices and other devices. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-79034 A Summary of the Invention [Means for solving the problem]

[0005] According to an aspect of the present invention, there is provided an actuator comprising: a moving part at least a part of which advances and retreats relative to a target; a base part disposed on the opposite side of the moving part relative to the target; an expandable part disposed on the opposite side of the target relative to the base part, which expands and retreats in response to an electric signal in a second direction non-parallel to a first direction in which the moving part advances and retreats, and whose first side in the second direction is fixed to the base part; and a force transmission part fixed to a second side opposite to the first side of the expandable part in the second direction, extending in the first direction and fixed to the moving part, and which advances and retreats the moving part by expansion and contraction of the expandable part. According to an aspect of the present invention, there is provided a tactile device comprising the actuator of the above aspect, in which the moving part exerts a force on an animal including a target to present a tactile sensation.

[0006] According to an aspect of the present invention, a novel actuator can be provided. According to an aspect of the present invention, a haptic sensation can be presented by a haptic device including a novel actuator. Such a haptic device can be used, for example, to provide various remote experiences, and contributes to the achievement of Goal 4 of the United Nations-led Sustainable Development Goals (SDGs), which is to "Ensure inclusive and equitable quality education and promote lifelong learning opportunities for all." [Brief description of the drawings]

[0007] [Figure 1] 1A and 1B are diagrams illustrating a haptic device according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing an actuator according to the first embodiment. [Diagram 3] 1A to 1C are diagrams showing an actuator according to a first embodiment. [Figure 4] 6(A) to 6(C) are diagrams showing an actuator according to a second embodiment. [Diagram 5] 11(A) to 11(C) are diagrams showing an actuator according to a third embodiment. [Figure 6] FIG. 2 is a diagram showing an actuator according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

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

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

[0011] The information processing device 3 determines whether or not the object 6 in the cyberspace has come into contact with the hand of the user 7, using the relative positions of the object 6 in the cyberspace and the user 5. When the information processing device 3 determines that the object 6 in the cyberspace has come into contact with the hand of the user 7, the information processing device 3 causes the haptic device 1 to physically apply a force to the hand of the user 5 in the real space. The haptic device 1 drives the actuator 10 included in the haptic device 1, using a control signal provided from the information processing device 3. The haptic device 1 includes, for example, the actuator 10 and a signal generating unit 12. In the haptic device 1, for example, the actuator 10 and the signal generating unit 12 are held in a body shaped to cover at least a part of the hand of the user 7 (appropriately referred to as a glove-shaped body). The signal generating unit 12 is, for example, a driver that drives the actuator 10. The signal generating unit 12 generates an electric signal using the control signal provided from the information processing device 3, and drives the actuator 10 by the electric signal. A part of the haptic device 1 is moved by the actuator 10 to come into contact with the hand of the user 5, and presents a haptic sensation to the hand of the user 5 that corresponds to a state of touching an object 6 (e.g., pressing the hand). The user 5 can experience the sensation of touching an object 6 in cyberspace, for example.

[0012] The haptic device 1 can present a haptic sensation to an animal by applying a force to the animal using, for example, the actuator 10. The animal to which the haptic device 1 presents a haptic sensation may be a human or a non-human animal. For example, one haptic device 1 may present a haptic sensation of touching a pet to a pet owner, and another haptic device 1 may present a haptic sensation of being touched by the pet owner to the pet. In the following description, the animal to which the haptic device 1 presents a haptic sensation is assumed to be a human. The predetermined part 11 includes a part to which the haptic device 1 presents a haptic sensation. The predetermined part 11 is set to any part depending on, for example, the application of the haptic device 1. For example, the predetermined part 11 may include a human hand, a human foot, a human back, or other parts. In the following description, the predetermined part 11 is assumed to be a human finger, and a state in which each finger is stretched out and brought close to the adjacent finger so as to touch each other is referred to as a reference state.

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

[0014] The actuator 10 according to this embodiment includes a moving section 13, a base section 14, an expandable section 15, a force transmitting section 16, and a bearing 21. In the following description, when a plurality of sections are provided for each of the moving section 13, the base section 14, the expandable section 15, the force transmitting section 16, the bearing 21, and the like and these sections are to be distinguished from one another, the letters a, b, ... are added to the reference numerals. For example, when a plurality of expandable sections 15 are provided and these sections are not to be distinguished from one another, any one of the expandable sections is referred to as the expandable section 15, and when these sections are to be distinguished from one another, the respective expandable sections are referred to as the expandable section 15a, the expandable section 15b, the expandable section 15c, the expandable section 15d, and so on.

[0015] The actuator 10 applies a force to an object by, for example, a mechanical operation. The object on which the actuator 10 applies a force is arbitrary. In FIG. 2, the object on which the actuator 10 applies a force is a predetermined portion 11. The predetermined portion 11 is, for example, a human finger. In the actuator 10, at least a portion of the moving portion 13 (13a, 13b) advances and retreats relative to the predetermined portion 11. In this embodiment, the first direction in which the moving portion 13 advances and retreats is the thickness direction D1. The actuator 10 applies a force to the predetermined portion 11 by moving the moving portion 13 in a direction approaching the predetermined portion 11 (the positive side of the thickness direction D1). For example, in the haptic device 1 of FIG. 1, the moving portion 13 in the actuator 10 moves toward the predetermined portion 11 and presses the predetermined portion 11 to present a haptic sensation to the predetermined portion 11.

[0016] The base portion 14 is disposed on the opposite side of the moving portion 13 (13a, 13b) with respect to the specified portion 11. The base portion 14 and the moving portion 13 are disposed so as to sandwich the specified portion 11. The base portion 14 is disposed, for example, on the nail side of a person's finger, which is the specified portion 11, and the moving portion 13 is disposed on the pad side of the finger. The base portion 14 is, for example, a support member that supports each portion of the actuator 10. The base portion 14 is, for example, plate-shaped.

[0017] The expandable portion 15 expands and contracts in response to an electric signal. In this embodiment, the actuator 10 is provided with a plurality of expandable portions 15. The plurality of expandable portions 15 are provided on the base portion 14. The plurality of expandable portions 15 are disposed on the opposite side of the base portion 14 from the predetermined portion 11. The plurality of expandable portions 15 each expand and contract in the width direction D2. The expandable portion 15 is, for example, a member having a shape extending in the width direction D2, and expands and contracts in the width direction D2. The expandable portion 15 is, for example, a coil-shaped member, and has a cylindrical outer shape that is long in one direction. The outer shape of the expandable portion 15 is considered to be a cylinder, and the direction parallel to the axis of rotational symmetry of this cylinder is appropriately referred to as the axial direction. The axial direction of the expandable portion 15 is set to be, for example, parallel to the width direction D2. In this embodiment, the width direction D2 is a direction non-parallel to the thickness direction D1 in which the moving portion 13 advances and retreats. The width direction D2 may be, for example, a direction intersecting the thickness direction D1, or a direction perpendicular to the thickness direction D1. Each of the multiple stretchable parts 15 is a member extending in the width direction D2. The multiple stretchable parts 15 are provided at intervals from each other in the length direction D3. The multiple stretchable parts 15 are, for example, all of the same member.

[0018] An electric signal is supplied to each of the multiple extension / contraction sections 15. This electric signal is supplied, for example, from a driver (e.g., the signal generating unit 12 in FIG. 1) that drives the actuator 10. For example, each of the multiple extension / contraction sections 15 is individually supplied with an electric signal from the signal generating unit 12 (see FIG. 1). For example, each of the multiple extension / contraction sections 15 is controlled by an electric signal individually supplied from the signal generating unit 12.

[0019] The stretchable section 15 includes a material that expands and contracts in response to an electric signal. The stretchable section 15 includes, for example, a shape memory alloy that is deformed by heat, and expands and contracts as the shape memory alloy is deformed by heat generated by the electric signal. The stretchable section 15 is, for example, a microcoil that includes a shape memory alloy. The stretchable section 15 may also be, for example, a polymer material, a material used in artificial muscles, a dielectric elastomer, or a thermoplastic elastomer that expands and contracts in response to an electric signal.

[0020] The amount of expansion and contraction of the expandable portion 15 changes in response to the electric signal supplied. The amount of expansion and contraction of the expandable portion 15 changes in response to, for example, heat generated by the electric signal supplied. For example, the expandable portion 15 has a first length when it is at a first temperature, and a second length shorter than the first length when it is at a second temperature higher than the first temperature. The expandable portion 15 is conductive, and a current flows through the expandable portion 15 due to the electric signal. This current generates heat in the expandable portion 15, and the expandable portion 15 contracts due to this heat. The amount of expansion and contraction of the expandable portion 15 is correlated with the temperature of the expandable portion 15, and the temperature of the expandable portion 15 is correlated with the power supplied to the expandable portion 15 by the electric signal. For example, the length of the expandable portion 15 is controlled by the power waveform applied to the expandable portion 15. An example of such a member is Biometal (registered trademark) manufactured by Toki Corporation.

[0021] It is not necessary for a current to flow through the expansion / contraction section 15. For example, the actuator 10 may include a temperature adjustment section (e.g., a heater or a Peltier element) that adjusts the temperature of the expansion / contraction section 15 (described later). The expansion / contraction section 15 may include a member that expands and contracts due to a physical phenomenon other than heat (e.g., a field effect), and may include, for example, a piezoelectric element.

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

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

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

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

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

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

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

[0029] The first drive unit includes a first telescopic unit (e.g., telescopic unit 15a) and a first force transmission unit (e.g., force transmission unit 16a). The first telescopic unit is disposed on the opposite side of the base unit from the target, and telescopically expands and contracts in a second direction non-parallel to the first direction in which the moving unit advances and retreats in response to an electric signal, and the first side in the second direction is fixed to the base unit. The first transmission unit is fixed to a second side opposite to the first side of the first telescopic unit in the second direction, extends in the first direction, and is fixed to the moving unit, and causes the moving unit to advance and retreat by the expansion and contraction of the second telescopic unit.

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

[0031] In this embodiment, there are a plurality of bearings 21. For example, the plurality of bearings 21 are provided so as to support one force transmission section 16, respectively. For example, the bearings 21 include a bearing 21a supporting the force transmission section 16a, a bearing 21b supporting the force transmission section 16b, a bearing 21c supporting the force transmission section 16c, and a bearing 21d supporting the force transmission section 16d. For example, the bearing 21a is provided at an end (end on the negative side in the width direction D2) of the base section 14 corresponding to the second side of the stretching section 15a. For example, the bearing 21b is provided at an end (end on the positive side in the width direction D2) of the base section 14 corresponding to the second side of the stretching section 15b. For example, the bearing 21c is provided at an end (end on the negative side in the width direction D2) of the base section 14 corresponding to the second side of the stretching section 15c. For example, the bearing 21d is provided at an end (end on the positive side in the width direction D2) of the base section 14 corresponding to the second side of the stretching section 15d.

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

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

[0034] In the moving section 13b, the fixed section 19c is provided at an end portion on the negative side of the width direction D2 of the moving section 13b, and the fixed section 19d is provided at an end portion on the positive side of the width direction D2 of the moving section 13b. The fixed sections 19c and 19d are provided in a diagonal positional relationship with each other in the moving section 13b. The fixed section 19d is provided, for example, at a position in a point-symmetric relationship with respect to the position of the fixed section 19c in the moving section 13b.

[0035] The force transmission unit 16 moves the moving unit 13 toward and away from the predetermined portion 11 by the expansion and contraction of the expansion and contraction unit 15. The moving unit 13 moves in the thickness direction D1 by the expansion and contraction of the expansion and contraction unit 15, and moves toward and away from the predetermined portion 11. The expansion and contraction unit 15 changes the distance between the moving unit 13 and the base portion 14 by expansion and contraction due to an electric signal. For example, the expansion and contraction amount of the expansion and contraction unit 15 changes according to the supplied electric signal, and changes the distance between the moving unit 13 and the base portion 14 according to the supplied electric signal. The moving unit 13 applies a force according to the distance between the moving unit 13 and the base portion 14 to the predetermined portion 11. By contracting the expansion and contraction unit 15, the moving unit 13 moves in a direction approaching the base portion 14 (for example, the + side of the thickness direction D1) and presses the predetermined portion 11. By expanding the expansion and contraction unit 15, the moving unit 13 moves in a direction away from the base portion 14 (for example, the - side of the thickness direction D1). For example, the force transmitting unit 16a moves the moving unit 13a in a direction approaching the predetermined portion 11 (e.g., the + side of the thickness direction D1) when the stretching unit 15a contracts, and moves the moving unit 13a in a direction away from the predetermined portion 11 (e.g., the - side of the thickness direction D1) when the stretching unit 15a expands. For example, the force transmitting unit 16b moves the moving unit 13a in a direction approaching the predetermined portion 11 (e.g., the + side of the thickness direction D1) when the stretching unit 15b contracts, and moves the moving unit 13a in a direction away from the predetermined portion 11 (e.g., the - side of the thickness direction D1) when the stretching unit 15b expands. For example, the force transmitting unit 16c moves the moving unit 13b in a direction approaching the predetermined portion 11 (e.g., the + side of the thickness direction D1) when the stretching unit 15c contracts, and moves the moving unit 13b in a direction away from the predetermined portion 11 (e.g., the - side of the thickness direction D1) when the stretching unit 15c expands. For example, the force transmission part 16d moves the moving part 13b in a direction approaching the specified portion 11 (e.g., toward the + side of the thickness direction D1) when the expansion / contraction part 15d contracts, and moves the moving part 13b in a direction away from the specified portion 11 (e.g., toward the - side of the thickness direction D1) when the expansion / contraction part 15d expands.

[0036] The moving unit 13 moves in a direction approaching the predetermined part 11 by contracting the expandable unit 15, and applies a force to the predetermined part 11 by pressing the surface of the moving unit 13 facing the predetermined part 11 against the predetermined part 11. In the haptic device 1, the user feels that the predetermined part 11 is being touched by the force applied to the predetermined part 11 by the actuator 10, and a haptic sensation is presented to the predetermined part 11. For example, when the predetermined part 11 is pressed, the user feels that he or she is touching an object 6 in cyberspace shown in FIG. 1.

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

[0038] The base part 14 may or may not press the predetermined part 11. The moving part 13 may be a member arranged on the side of the predetermined part 11 where the sense of touch is relatively sensitive, and the base part 14 may be a member arranged on the side of the predetermined part 11 where the sense of touch is relatively insensitive. The predetermined part 11 may be a part on the tip side of the finger from the first joint, the moving part 13 may be arranged on the pad side of the finger (palm side), and the base part 14 may be arranged on the nail side of the finger. The base part 14 may be provided so that the displacement due to the expansion and contraction of the expansion and contraction part 15 is suppressed compared to the moving part 13. For example, the base part 14 is fixed to a body that constitutes the outer shape of the haptic device 1, and the moving part 13 is provided so that it is allowed to move compared to the base part 14.

[0039] One or both of the base part 14 and the moving part 13 are, for example, flexible members (e.g., plate-shaped or beam-shaped elastic bodies). For example, one or both of the base part 14 and the moving part 13 are deformed by the expansion and contraction of the expansion and contraction part 15, and the repulsive force acts to return the expansion and contraction part 15 to a reference length. The moving part 13 may include a flexible member and may exert a tension that causes the surface of the actuator 10 (the haptic device 1) to contact (e.g., fit) the predetermined part 11. In this embodiment, the moving part 13 is a plate member (e.g., a film), but may be something else. For example, the moving part 13 is a flexible member, and when the expansion and contraction part 15 contracts, it bends, and the repulsive force pulls the expansion and contraction part 15. After the expansion and contraction part 15 contracts due to a rise in temperature, the expansion and contraction part 15 is pulled by the moving part 13 to approach its original shape when it expands due to a drop in temperature. The stretchable portion 15 is prevented from sagging by being pulled by the flexible member. At least a part of the base portion 14 may be included in the stretchable portion 15. One or both of the material and the shape of the base portion 14 may be different from those of the moving portion 13.

[0040] In this embodiment, the base portion 14 is disposed between the predetermined portion 11 and the stretchable portion 15 in the thickness direction D1, thereby preventing heat generated in the stretchable portion 15 from being directly transmitted to the predetermined portion 11 (e.g., a person's finger). The base portion 14 may be, for example, a heat insulating material. This heat insulating material may have, for example, a thermal conductivity similar to that of a general heat insulating material. When the base portion 14 is a heat insulating material, the base portion 14 can insulate the heat generated in the stretchable portion 15. For example, when the base portion 14 is a heat insulating material, it can prevent heat generated in the stretchable portion 15 from being transmitted to the predetermined portion 11 (a person's finger).

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

[0042] The actuator 10 also includes a moving part 13a, at least a part of which moves forward and backward with respect to the predetermined part 11, a base part 14 disposed on the opposite side of the moving part 13a with respect to the predetermined part 11, an expandable part 15b disposed on the opposite side of the predetermined part 11 with respect to the base part 14, which expands and contracts in a width direction D2 non-parallel to the thickness direction D1 in which the moving part 13a moves forward and backward by an electric signal, and a second side in the width direction D2 (e.g., the negative side of the width direction D2) fixed to the base part 14, and a force transmission part 16b fixed to a first side (e.g., the positive side of the width direction D2) opposite to the second side of the expandable part 15b in the width direction D2, extending in the thickness direction D1, and fixed to the moving part 13a, which causes the moving part 13a to move forward and backward by the expansion and contraction of the expandable part 15b. These structures are referred to as a structural part 23b (second structural part).

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

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

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

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

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

[0048] In this embodiment, the configuration of the pair of the first structural portion 23a and the second structural portion 23b and the configuration of the pair of the third structural portion 23c and the fourth structural portion 23d are similar to each other except for their positions. In this embodiment, the actuator 10 has a plurality of configurations of the pair of the first structural portion 23a and the second structural portion 23b. Note that the configuration of the pair of the first structural portion 23a and the second structural portion 23b and the configuration of the pair of the third structural portion 23c and the fourth structural portion 23d do not have to be similar to each other. In addition, the first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d may have different structures from each other.

[0049] In this embodiment, the first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d are arranged in this order with intervals between them in a direction (e.g., length direction D3) perpendicular to the thickness direction D1 and the width direction D2, except for the base portion 14 and the moving portion 13 (see FIG. 2 and FIG. 3(A)). The first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d are arranged at a predetermined interval in a direction (e.g., length direction D3) perpendicular to the thickness direction D1 and the width direction D2. This predetermined interval may or may not be equal.

[0050] In this embodiment, the first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d are an integral structure, but they may not be an integral structure. The first structural portion 23a, the second structural portion 23b, the third structural portion 23c, and the fourth structural portion 23d are, for example, controlled independently of each other and operate independently of each other. At least one of the multiple structural portions may be controlled in synchronization with the other structural portions, may be controlled by the same electrical signal as the other structural portions, or may be controlled subordinate to the other structural portions.

[0051] In this embodiment, in the first structural part 23a, the fixed part 18a is arranged on the first side in the width direction D2 (for example, the + side of the width direction D2), whereas in the second structural part 23b, the fixed part 18b is arranged on the second side opposite to the first side in the second direction (for example, the - side of the width direction D2), and a plurality of independent stretching parts 15a and stretching parts 15b are connected to one moving part 13a. In the third structural part 23c, the fixed part 18c is arranged on the first side in the width direction D2 (for example, the + side of the width direction D2), whereas in the fourth structural part 23d, the fixed part 18b is arranged on the second side opposite to the first side in the second direction (for example, the - side of the width direction D2), and a plurality of independent stretching parts 15c and stretching parts 15d are connected to one moving part 13b. In this embodiment, two stretching parts 15 are connected in parallel to one moving part 13. When two extension sections 15 are connected in parallel to one moving section 13, physical actions (e.g., force, displacement) due to the extension and contraction of multiple independent extension sections 15 can be applied to one moving section 13, so that the physical actions due to the extension sections 15 can be transmitted efficiently.

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

[0053] The conductive portion 25 (first conductive portion) is provided on the fixed portion 18 (first fixed portion). The conductive portion 25 is electrically connected to the stretchable portion 15. The conductive portion 25 is, for example, an electrode. The conductive portion 26 (second conductive portion) is provided on the force transmitting portion 16 and is electrically connected to the stretchable portion 15. The conductive portion 26 (second conductive portion) is, for example, a conductive member, a signal line, etc. The conductive portion 27 (third conductive portion) is provided on the fixed portion 19 (second fixed portion). The conductive portion 27 (third conductive portion) is electrically connected to the conductive portion 26 (second conductive portion). The conductive portion 27 (third conductive portion) is, for example, an electrode.

[0054] In the actuator 10, an electrical signal is supplied to the expandable section 15 via the conductive section 25 (first conductive section), the conductive section 26 (second conductive section), and the conductive section 27 (third conductive section). In this manner, in the case where the first electrode and the second electrode are respectively provided at the fixed ends, that is, the fixed section 18 (first fixed section) and the fixed section 19 (second fixed section), the electrical configuration can be simplified compared to the configuration where the electrodes are provided at the moving ends.

[0055] For example, in the first structural portion 23a, the actuator 10 includes a conductive portion 25a provided in the fixed portion 18a and electrically connected to the expandable portion 15a, a conductive portion 26a provided in the force transmitting portion 16a and electrically connected to the expandable portion 15a, and a conductive portion 27a provided in the fixed portion 19a and electrically connected to the conductive portion 26a. For example, in the first structural portion 23a, an electrical signal is supplied to the expandable portion 15a via the conductive portion 25a, the conductive portion 26a, and the conductive portion 27a.

[0056] For example, in the second structural portion 23b, the actuator 10 includes a conductive portion 25b provided in the fixed portion 18b and electrically connected to the expandable portion 15b, a conductive portion 26b provided in the force transmitting portion 16b and electrically connected to the expandable portion 15b, and a conductive portion 27b provided in the fixed portion 19b and electrically connected to the conductive portion 26b. For example, in the second structural portion 23b, an electrical signal is supplied to the expandable portion 15b via the conductive portion 25b, the conductive portion 26b, and the conductive portion 27b.

[0057] For example, in the third structural portion 23c, the actuator 10 includes a conductive portion 25c provided in the fixed portion 18c and electrically connected to the expandable portion 15c, a conductive portion 26c provided in the force transmission portion 16c and electrically connected to the expandable portion 15c, and a conductive portion 27c provided in the fixed portion 19c and electrically connected to the conductive portion 26c. For example, in the third structural portion 23c, an electrical signal is supplied to the expandable portion 15c via the conductive portion 25c, the conductive portion 26c, and the conductive portion 27c.

[0058] For example, in the fourth structural portion 23d, the actuator 10 includes a conductive portion 25d provided in the fixed portion 18d and electrically connected to the expandable portion 15d, a conductive portion 26d provided in the force transmitting portion 16d and electrically connected to the expandable portion 15d, and a conductive portion 27d provided in the fixed portion 19d and electrically connected to the conductive portion 26d. For example, in the fourth structural portion 23d, an electrical signal is supplied to the expandable portion 15d via the conductive portion 25d, the conductive portion 26d, and the conductive portion 27d.

[0059] The conductive portion 25 (first electrode) and the conductive portion 27 (second electrode) are each electrically connected to the signal generating unit 12. The signal generating unit 12 is, for example, a driver that drives the expansion / contraction unit 15. The signal generating unit 12 is provided, for example, in the tactile device 1. The signal generating unit 12 generates an electric signal and drives the expansion / contraction unit 15 by the electric signal. The signal generating unit 12 expands and contracts the expansion / contraction unit 15 by the generated electric signal. The electric signal includes a signal that specifies at least a part of the direction of expansion / contraction (extension and contraction) of the expansion / contraction unit 15, the expansion / contraction amount, the expansion / contraction speed, and the expansion / contraction acceleration. For example, the electric signal includes a current waveform, and the signal generating unit 12 drives the expansion / contraction unit 15 by this current waveform. The expansion / contraction amount of the expansion / contraction unit 15 is expressed, for example, by the difference between the length of the expansion / contraction unit 15 when an electric signal is supplied and the reference value, where the length of the expansion / contraction unit 15 when an electric signal is not supplied is taken as a reference value.

[0060] The signal generating unit 12 is connected to, for example, a computer (e.g., the information processing device 3 in FIG. 1) so as to be able to communicate with it via wire or wirelessly. The signal generating unit 12 generates an electrical signal for expanding and contracting the expansion unit 15 using a signal (e.g., a control signal) from the computer. For example, the information processing device 3 in FIG. 1 provides the haptic device 1 with a signal indicating the level of force to be applied to the finger of the user 5 in the real space according to the positions of the object 6 in cyberspace and the finger of the user 7. The signal generating unit 12 uses this signal to generate an electrical signal that realizes the amount of expansion and contraction of the expansion unit 15 that corresponds to the above-mentioned level of force.

[0061] In this embodiment, the signal generating unit 12 generates, as an electric signal, an electric signal that expands and contracts the multiple expansion and contraction units 15. For example, the signal generating unit 12 individually supplies an electric signal to each of the multiple expansion and contraction units 15. For example, at least a part of a signal line that transmits an electric signal to the expansion and contraction unit 15a is provided separately from a signal line that transmits an electric signal to the expansion and contraction unit 15b.

[0062] The signal generating unit 12 may provide the same electrical signal to the multiple expansion / contraction sections 15, or may provide different electrical signals to the multiple expansion / contraction sections 15. The signal generating unit 12 may provide electrical signals, for example, so that the multiple expansion / contraction sections 15 have the same length or amount of expansion. Note that the signal generating unit 12 may provide electrical signals so that the multiple expansion / contraction sections 15 have different lengths or amounts of expansion.

[0063] Next, the operation of the haptic device 1 and the actuator 10 of the first embodiment will be described. In the haptic device 1 and the actuator 10, for example, the signal generating unit 12 (see FIG. 1) provides electrical signals to the multiple expansion and contraction units 15 so that the multiple expansion and contraction units 15 contract to the same length. For example, the signal generating unit 12 is supplied with target values ​​of the lengths of the multiple expansion and contraction units 15 and a control signal representing the target values ​​of the lengths of the multiple expansion and contraction units 15. The target values ​​of the lengths of the multiple expansion and contraction units 15 are set to the same target value, for example. The signal generating unit 12 provides electrical signals to each of the multiple expansion and contraction units 15 so that the length of each of the multiple expansion and contraction units 15 approaches the target value.

[0064] The signal generating unit 12 generates an electrical signal that changes the temperature of the multiple expandable parts 15 so that the lengths of the multiple expandable parts 15 become target values, and provides the multiple expandable parts 15 with the generated electrical signal. For example, the signal generating unit 12 supplies a current waveform as an electrical signal to each of the multiple expandable parts 15 so that the time history of the lengths of the multiple expandable parts 15 becomes the same. For example, when the difference in dimensions and characteristics between the multiple expandable parts 15 is less than the error range, the current waveforms supplied to the multiple expandable parts 15 are substantially identical in waveform and phase to the current waveform supplied thereto. In this embodiment, "substantially the same" corresponds to being within a predetermined allowable error range.

[0065] The multiple expandable parts 15 contract at the same expansion speed and amount, for example. The expansion amount is represented by the change in length, and the expansion speed is represented by the change in length over time. Contraction of the multiple expandable parts 15 causes the entire moving parts 13a to 13b to approach the predetermined part 11 and move in parallel. The moving parts 13a to 13b move in substantially the same posture relative to the predetermined part 11. By moving, the moving parts 13a to 13b press a predetermined position of the predetermined part 11. This increases the force acting on the predetermined part by the moving parts 13a to 13b, and the user feels that the predetermined part 11 is being touched. For example, when the power supply from the signal generating unit 12 is cut off, the temperature of the multiple expandable parts 15 is reduced by heat dissipation. For example, the multiple expandable parts 15 are expanded and returned to their original length due to the decrease in temperature, and the moving parts 13a to 13b move in a direction away from the predetermined part 11. As a result, the force acting on the predetermined portion 11 by the moving portions 13a to 13b is reduced, and the user feels less like the predetermined portion 11 is being touched.

[0066] The amount of expansion and contraction of the stretchable parts 15a and 15b may be controlled to be different from the amount of expansion and contraction of the stretchable parts 15c and 15d. For example, by relatively changing the amount of expansion and contraction of the stretchable parts 15a and 15b and controlling it to be different from the amount of expansion and contraction of the stretchable parts 15c and 15d, the pressure applied to the predetermined part 11 by the moving parts 13a and 13b can be moved in the length direction D3 (the length direction of the finger) perpendicular to the width direction D2.

[0067] In addition, the multiple expandable / contractable parts 15 may change the posture of the moving parts 13a to 13b with respect to the predetermined part 11 by relatively changing the amount of expansion / contraction by an electric signal, for example. The moving parts 13a to 13b can apply a force to different positions in the predetermined part 11 according to their posture with respect to the predetermined part 11. For example, the signal generating unit 12 can change the amount of expansion / contraction of the expandable parts 15a and 15b relatively, and expand one or both of the expandable parts 15a and 15b so that the lengths (amount of expansion / contraction) of the expandable parts 15a and 15b are different, thereby changing the moving part 13a from a parallel state to a tilted state with respect to the base part 14. This allows the user to experience the sensation of being traced by a finger, for example, by changing the position where the user feels touched. For example, the signal generating unit 12 contracts the expandable part 15a by an electric signal, and contracts the expandable part 15b by an electric signal with a predetermined time delay. For example, the signal generating unit 12 supplies a current waveform of a predetermined waveform as an electric signal to the expandable unit 15a, and supplies a current waveform of a predetermined waveform that is out of phase with the electric signal to the expandable unit 15b as an electric signal. As a result, the position where the moving unit 13a presses the predetermined site 11 changes continuously, for example, in the width direction D2.

[0068] As described above, the actuator 10 of this embodiment comprises a moving section 13, at least a portion of which moves forward and backward relative to a target, a base section 14 arranged on the opposite side of the moving section 13 relative to the target, an expansion and contraction section 15 arranged on the opposite side of the target relative to the base section 14 and which expands and contracts in response to an electrical signal in a width direction D2 that is non-parallel to the thickness direction D1 in which the moving section 13 moves forward and backward, and which has a first side in the width direction D2 fixed to the base section 14, and a force transmission section 16 fixed to a second side opposite the first side of the expansion and contraction section 15 in the width direction D2, extends in the thickness direction D1 and is fixed to the moving section 13, and which moves the moving section 13 forward and backward by the expansion and contraction of the expansion and contraction section 15.

[0069] Here, a configuration (referred to as a comparative configuration) in which the + side of the width direction D2 in the stretching section 15a shown in FIG. 3B is fixed to the moving section 13a in the same manner as the - side is considered. In FIG. 3B, if the stretch amount of the stretching section 15a is ΔL, the movement amount of the part of the moving section 13a fixed to the force transmission section 16a is ΔL. On the other hand, in the actuator of the comparative configuration, when the stretch amount of the stretching section is ΔL, the movement amount of the moving section 13a is ΔL / 2. In this way, the actuator of this embodiment shown in FIG. 3 can increase the movement amount (e.g., stroke) of the moving section 13 compared to the actuator of the comparative configuration. Also, in the actuator of the comparative configuration, for example, the moving section moves while maintaining a posture parallel to the width direction. In the actuator 10 according to the embodiment, for example, one moving section 13 is moved by a first driving section (e.g., structural section 23a) and a second driving section (e.g., structural section 23b), and the first driving section and the second driving section are independently controlled. This actuator 10 can move the moving part 13a in a position parallel to the width direction D2, can move the moving part 13a in a position non-parallel to the width direction D2, and can move the moving part 13a while changing its position. In addition, when at least a part of the expandable part 15b is arranged in a position overlapping with the expandable part 15a when viewed from the length direction D3, the size of the actuator 10 in a plane perpendicular to the length direction D3 can be reduced. For example, in the actuator 10, to set the movement amount of the moving part 13a to ΔL, for example, the expansion amount of the expandable part 15a is set to ΔL. The expansion amount of the expandable part 15a depends on, for example, the reference length of the expandable part. Here, the reference length of the expandable part that can set the expansion amount of the expandable part 15a to ΔL is set to L. In the actuator of the comparative configuration, to set the movement amount of the moving part to ΔL, for example, the expansion amount of the expandable part needs to be ΔL×2, and the reference length of the expandable part needs to be L×2. When the actuator 10 according to the embodiment is used in the tactile device 1 shown in FIG. 1, the size of the actuator 10 can be reduced in the width direction of the finger, thereby making it possible to avoid the actuator 10 interfering with adjacent fingers while, for example, ensuring the stroke of the moving part.

[0070] Furthermore, the actuator 10 of this embodiment may include a fixed portion 18 (first fixed portion) that fixes the expansion / contraction portion 15 and the base portion 14, a fixed portion 19 (second fixed portion) that fixes the force transmission portion 16 and the moving portion 13, a conductive portion 25 (first conductive portion) that is provided on the first fixed portion and electrically connected to the expansion / contraction portion 15, a conductive portion 26 (second conductive portion) that is provided on the force transmission portion 16 and electrically connected to the expansion / contraction portion 15, and a conductive portion 27 (third conductive portion) that is provided on the second fixed portion and electrically connected to the second conductive portion, and an electrical signal may be supplied to the expansion / contraction portion 15 via the first conductive portion, the second conductive portion, and the third conductive portion.

[0071] Furthermore, the actuator 10 of this embodiment may be configured to include a second telescopic section (telescoping section 15b) that is arranged on the opposite side of the base section 14 to the target, telescopically expands and contracts in the width direction D2 by an electrical signal, and has a second side in the width direction D2 fixed to the base section, and a second force transmission section (force transmission section 16b) that is fixed to a first side of the second telescopic section in the width direction D2, extends in the thickness direction D1 and is fixed to the base section 14, and moves the moving section 13 forward and backward by the expansion and contraction of the second telescopic section.

[0072] Furthermore, the actuator 10 of this embodiment may be configured to include a second moving part (moving part 13b) different from the moving part (moving part 13a), at least a portion of which moves forward and backward in a first direction relative to the target, a third stretching part (stretching part 15c) arranged on the opposite side of the target with respect to the base part 14, which stretches and contracts in the width direction D2 by an electrical signal and has a first side in the width direction D2 fixed to the base part 14, and a third force transmission part (force transmission part 16c) fixed to a second side opposite the first side (stretching part 15c) of the third stretching part in the width direction D2, extending in the thickness direction D1 and fixed to the second moving part (moving part 13b), and which moves the second moving part forward and backward by the expansion and contraction of the stretching part 15.

[0073] In addition, the actuator 10 of this embodiment may be configured to include a moving section 13, at least a portion of which moves in the thickness direction D1, a base section 14 arranged away from the moving section 13 in the thickness direction D1, an expansion / contraction section 15 arranged on the opposite side of the moving section 13 with respect to the base section 14, which expands and contracts in a width direction D2 non-parallel to the thickness direction D1 in response to an electrical signal and has a first side in the width direction D2 fixed to the base section 14, and a force transmission section 16 fixed to a second side opposite the first side of the expansion / contraction section 15 in the width direction D2, extending in the thickness direction D1 and fixed to the moving section 13.

[0074] Furthermore, according to this embodiment, there is provided a haptic device 1 including the actuator 10 of this embodiment, in which the moving unit 13 exerts a force on an animal including a target to present a haptic sensation. The actuator 10 of this embodiment can be suitably used for the haptic device 1.

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

[0076] The actuator 10 according to the second embodiment includes an expandable portion 31, an expandable portion 32, a connecting portion 33, a fixed portion 35, a fixed portion , a conductive portion , a conductive portion 39, and a conductive portion .

[0077] In this embodiment, the actuator 10 has a plurality of stretchable portions 31. The stretchable portions 31 include a stretchable portion 31a and a stretchable portion 31b. In this embodiment, the actuator 10 has a plurality of stretchable portions 32. The stretchable portion 32 includes a stretchable portion 32a and a stretchable portion 32b.

[0078] Similar to the stretchable portion 15 of the first embodiment, the stretchable portions 31a, 31b, 32a and 32b are arranged on the opposite side of the base portion 14 to the target, and expand and contract in the width direction D2 in response to an electrical signal.

[0079] The stretchable portion 31a has a similar configuration to the stretchable portion 15 of the first embodiment, and is fixed to the base portion 14 by a fixing portion 35a on a first side in the width direction D2 (e.g., the + side in the width direction D2). The stretchable portion 32a has a similar configuration to the stretchable portion 15 of the first embodiment, and is fixed to the base portion 14 by a fixing portion 36a on a first side in the width direction D2 (e.g., the + side in the width direction D2). The stretchable portion 31a and the stretchable portion 32a are arranged side by side with a gap in between in the length direction D3.

[0080] The stretchable portion 31a is connected to a conductive portion 38a (first electrode) provided on the fixed portion 35a. The stretchable portion 32a is connected to a conductive portion 39a (second electrode) provided on the fixed portion 36a. The stretchable portion 31a and the stretchable portion 32a are each connected to the connection portion 33a on the second side in the width direction D2 (e.g., the negative side in the width direction D2). The stretchable portion 31a and the stretchable portion 32a are connected by a conductive portion 40a provided on the connection portion 33a. The conductive portion 40a electrically connects the stretchable portion 31a and the stretchable portion 32a in series. The conductive portion 38a (first electrode) and the conductive portion 39a (second electrode) are connected to the signal generating unit 12, for example, as in the first embodiment, and are supplied with an electrical signal from the signal generating unit 12. An electrical signal supplied from the signal generating unit 12 is supplied to the stretchable portion 31a and the stretchable portion 32a via the conductive portion 38a, the conductive portion 39a, and the conductive portion 40a.

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

[0082] The stretchable portion 31a and the stretchable portion 32a contract or expand in the same manner in response to an electric signal. For example, when an electric signal is supplied to the stretchable portion 31a and the stretchable portion 32a and the stretchable portion 31a and the stretchable portion 32a contract, the moving portion 43 moves in a direction approaching the predetermined portion 11 (for example, the + side of the thickness direction D1) via the force transmission portion 42a. For example, when an electric signal is supplied to the stretchable portion 31a and the stretchable portion 32a and the stretchable portion 31a and the stretchable portion 32a expand, the moving portion 43 moves in a direction away from the predetermined portion 11 (for example, the - side of the thickness direction D1) via the force transmission portion 42a.

[0083] The stretchable portion 31b has a similar configuration to the stretchable portion 15 of the first embodiment, and is fixed to the base portion 14 by the fixing portion 35b on the second side in the width direction D2 (e.g., the - side in the width direction D2). The stretchable portion 32b has a similar configuration to the stretchable portion 15 of the first embodiment, and is fixed to the base portion 14 by the fixing portion 36b on the second side in the width direction D2 (e.g., the - side in the width direction D2). The stretchable portion 31b and the stretchable portion 32b are arranged side by side with a gap in between in the length direction D3. The stretchable portion 31a, the stretchable portion 32a, the stretchable portion 32b, and the stretchable portion 31b are arranged side by side with a gap in between in this order in the length direction D3.

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

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

[0086] The stretchable portion 31b and the stretchable portion 32b contract or expand in the same manner in response to an electric signal. For example, when an electric signal is supplied to the stretchable portion 31b and the stretchable portion 32b and the stretchable portion 31b and the stretchable portion 32b contract, the moving portion 43 moves in a direction approaching the predetermined portion 11 (for example, the + side of the width direction D2) via the force transmission portion 42b. For example, when an electric signal is supplied to the stretchable portion 31b and the stretchable portion 32b and the stretchable portion 31b and the stretchable portion 32b expand, the moving portion 43 moves in a direction away from the predetermined portion 11 (for example, the - side of the width direction D2) via the force transmission portion 42b.

[0087] In the actuator 10 of this embodiment, two expandable sections are connected in series and arranged in a folded manner at one connection section 33, and the connection section 33 is connected to one moving section 43 via a force transmission section 42.

[0088] [Third embodiment] A third embodiment will be described. In this embodiment, the same components as those in the above-mentioned embodiments are denoted by the same reference numerals, and the description thereof will be omitted or simplified. Figs. 5(A) to (C) are diagrams showing an actuator according to a third embodiment. Fig. 5(A) is a top view. Fig. 5(B) is a cross-sectional view taken along line A5-A6 shown in Fig. 5(A). Fig. 5(C) is a cross-sectional view taken along line B5-B6 shown in Fig. 5(A).

[0089] In this embodiment, the actuator 10 includes temperature adjustment units 50a to 50d that adjust the temperature of the multiple expandable and contractable units 15. The temperature adjustment unit 50a adjusts the temperature of the expandable and contractable unit 15a. The temperature adjustment unit 50b adjusts the temperature of the expandable and contractable unit 15b. The temperature adjustment unit 50c adjusts the temperature of the expandable and contractable unit 15c. The temperature adjustment unit 50d adjusts the temperature of the expandable and contractable unit 15d.

[0090] The temperature adjustment unit 50 is provided, for example, near the stretchable portion 15 so as not to interfere with the stretching of the stretchable portion 15. The temperature adjustment unit 50a is provided, for example, near the stretchable portion 15a. The temperature adjustment unit 50b is provided, for example, near the stretchable portion 15b. The temperature adjustment unit 50c is provided, for example, near the stretchable portion 15c. The temperature adjustment unit 50d is provided, for example, near the stretchable portion 15d.

[0091] The temperature adjustment units 50a to 50d are, for example, heaters, Peltier elements, etc. For example, the tactile device 1 (actuator 10) supplies electrical signals to the temperature adjustment units 50a to 50d, and the temperature adjustment units 50a to 50d adjust the temperature of the multiple expansion and contraction units 15 using the electrical signals, thereby expanding and contracting the multiple expansion and contraction units 15. In this way, the multiple expansion and contraction units 15 may expand and contract by the temperature adjustment units adjusting the temperature of the multiple expansion and contraction units 15 using the electrical signals.

[0092] [Variations] An actuator according to a modified embodiment of the present invention will be described. In this embodiment, the same components as those in the above-described embodiment will be denoted by the same reference numerals, and the description thereof will be omitted or simplified. FIG. 6 is a diagram showing an actuator according to a modified embodiment. In this actuator 10, the stretchable portion is arranged so as to approach a predetermined side of a third direction perpendicular to the first direction and perpendicular to the second direction as it moves from the first side to the second side in the second direction. For example, the stretchable portion 15a is arranged so as to approach the + side of the length direction D3 as it moves from the + side to the - side in the width direction D2. The axial direction of the stretchable portion 15a is set to be non-parallel to the width direction D2 as viewed from the thickness direction D1.

[0093] Compared to the configuration shown in FIG. 3, the actuator 10 in FIG. 6 can increase the ratio of the length of the expandable portion to the length of the base portion 14 in the width direction D2. By making the expandable portion longer in the axial direction, the amount of expansion and contraction of the expandable portion can be increased, and the amount of movement (e.g., stroke) of the moving portion can be increased. If the amount of movement of the moving portion is increased, the force with which the moving portion presses the target can be increased. For example, when the actuator 10 is used in the haptic device 1, the range of the magnitude of the force that the haptic device 1 applies to the target can be widened. Also, when the actuator 10 in FIG. 6 is used in the haptic device 1, for example, the stroke of the moving portion can be increased while preventing the actuator 10 provided on one finger from interfering with an adjacent finger.

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

[0095] The technical scope of the present invention is not limited to the aspects described in the above-mentioned embodiments. One or more of the requirements described in the above-mentioned embodiments may be omitted. The requirements described in the above-mentioned embodiments may be combined as appropriate. In addition, to the extent permitted by law, the disclosures of all documents cited in the above-mentioned embodiments are incorporated by reference and made part of the description in this text.

[0096] In the above embodiment, the actuator 10 is applied to the haptic device 1, but the present invention is not limited to this example. The actuator 10 according to the above embodiment can also be applied to devices other than haptic devices.

[0097] In the above-described embodiment, the actuator 10 includes a plurality of each of the fixed portion 18, the expandable portion 15, the force transmitting portion 16, the bearing 21, the fixed portion 19, the conductive portion 25, the conductive portion 26, and the conductive portion 27, but the number of at least one type of each portion does not need to be multiple and may be one. For example, the actuator 10 may include only one type of at least one of the base portion 14, the fixed portion 18, the expandable portion 15, the force transmitting portion 16, the moving portion 13, the conductive portion 25, the conductive portion 26, and the conductive portion 27.

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

[0099] In the actuator 10, the moving portion 13 may be one member or two or more members. Also, in the actuator 10, the base portion 14 may be one member or two or more members. [Explanation of symbols]

[0100] SYS: experience system, 1: tactile device, 2: display device, 3: information processing device, 5: user, 6: object, 7: user, 8: image, 10: actuator, 11: specified part, 12: signal generating unit, 13 (13a to 13b): moving unit, 14: base unit, 15 (15a to 15d): expanding and contracting unit, 16 (16a to 16d): force transmitting unit, 18 (18a to 18d): fixed unit (first fixed unit), 19 (19a to 19d): fixed unit (second fixed unit), 21: bearing, 23 (23a to 23d): structural unit, 25 (25a to 25d): conductive unit (first conductive unit), 26 (26a to 26d): conductive unit (second conductive unit), 27 (27a to 27d): conductive unit (third conductive unit), D1: thickness direction, D2: width direction, D3: length direction

Claims

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

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

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

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

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

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

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

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

Images