Haptic device, haptics processing apparatus, and haptics control method

Abstract

To provide a haptic device, haptic processing device and haptic control method that can make a magnitude of electrostatic power (strength of a haptic feedback) different in accordance with an operation position of a user.SOLUTION: A haptic device comprises: an electrostatic actuator; and a processor that controls the electrostatic actuator. The processor is configured to set a haptic output area model defining a haptic output area presenting a haptic of a plurality of haptic electrodes. The haptic output area model includes a plurality of haptic output groups 600. The haptic output group includes a plurality of haptic patterns 661 to 665 arranged along an extension direction from a first point on a linear line or a curve to a second point thereon. The plurality of haptic patterns is composed of one or more haptic output areas HE respectively, and widths W1 to W5 of the plurality of haptic patterns become gradually enlarger along the extension direction of the haptic pattern.SELECTED DRAWING: Figure 6A

Description

Technical Field

[0001] The present disclosure relates to a haptic device, a haptics processing apparatus, and a haptics control method.

Background Art

[0002] As a conventional technique, a haptic interface that obtains tactile feedback by electrostatic force is disclosed in Patent Document 1 and Patent Document 2. In these configurations, a plurality of electrodes are arranged on the front surface of a substrate, and by applying a voltage thereto, an electrostatic force is applied to the skin of a user who touches the front surface of the substrate.

[0003] Further, Patent Document 3 discloses a haptic interface unit that sets a region that generates tactile feedback as an interaction model by software.

[0004] Further, Patent Document 4 describes that the magnitude of the electrostatic force (intensity of tactile feedback) is modulated by changing the magnitude of the voltage applied to the electrode and the duty cycle of the voltage waveform.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0006] As in Patent Document 4, a method of modulating the magnitude of the electrostatic force (the intensity of tactile feedback) by changing the magnitude of the voltage applied to the electrodes or the duty cycle of the voltage waveform is assumed to complicate the processing. In particular, when the magnitude of the electrostatic force (the intensity of tactile feedback) is varied according to the operation position of the user, the processing is assumed to become complicated. **Means for Solving the Problem**

[0007] A summary of specific embodiments disclosed in this specification is shown below. It should be understood that these aspects are presented only for the purpose of providing the reader with an overview of these specific embodiments and are not intended to limit the scope of this disclosure. In fact, this disclosure may include various aspects not described below.

[0008] The overview of the present disclosure provides a haptic device, a haptics processing apparatus, and a haptics control method capable of varying the magnitude of the electrostatic force (the intensity of tactile feedback) according to the operation position of the user. More specifically, it relates to providing a haptic device, a haptics processing apparatus, and a haptics control method capable of varying the magnitude of the electrostatic force (the intensity of tactile feedback) according to the operation position of the user while reducing the processing load.

[0009] Therefore, the haptic device, the haptics processing apparatus, the haptics control method, etc. described in this specification employ the following means to solve the above problems. The gist of this embodiment is that it includes a plurality of haptic patterns arranged along the extending direction on a straight line or a curve, and the widths of the plurality of haptic patterns are configured to gradually expand along the extending direction.

[0010] One embodiment of the haptic device described in this specification includes an electrostatic actuator having a plurality of haptic electrodes arranged on a surface and presenting a tactile sensation when a voltage signal is applied, and a processor that controls the electrostatic actuator. The processor sets a haptic output area model that determines a position for presenting a sense of touch among the plurality of haptic electrodes (hereinafter referred to as a haptic output area). The haptic output area model includes a plurality of haptic patterns arranged along an extending direction from a first point to a second point on a straight line or a curve, wherein each of the plurality of haptic patterns consists of one or more of the haptic output areas, and the in the extending direction widths of the plurality of haptic patterns are configured to gradually expand along the extending direction.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 6A

Figure 6B

Figure 6C

Figure 6D

Figure 6E

Figure 7

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a configuration diagram showing an outline of an embodiment of a display device with a haptics function according to the present invention. The display device 1 with a haptics function (hereinafter, also simply referred to as a display device) according to the present embodiment includes an electrostatic actuator 10, a touch sensor 20, a spatial light modulator 30, and a haptics processing device (hereinafter, also simply referred to as a processing device) 40 that controls these components. The display device 1 with a haptics function (hereinafter, also simply referred to as a display device) according to the present embodiment acquires the position of an object (for example, a human finger) 2 on the surface of the display device 1 by the touch sensor 20, and applies a voltage to the electrostatic actuator 10 with respect to the position (area) of the object on the surface of the display device 1, thereby applying electrostatic tactile presentation by electrostatic force to the object (for example, a human finger) 2 on the surface of the display device 1. Note that the haptic device 3 according to the present embodiment includes an electrostatic actuator 10 and a processing device 40.

[0013] (Electrostatic Actuator 10) The electrostatic actuator 10 includes two separate X haptic electrodes 11 and Y haptic electrodes 12 formed as transparent electrodes such as ITO (Indium Tin Oxide) on a substrate 10a, and a transparent insulating layer 13. As shown in FIG. 1, the X haptic electrodes 11 and Y haptic electrodes 12 are formed on the substrate 10a, and the insulating layer 13 is disposed above the X haptic electrodes 11 and Y haptic electrodes 12.

[0014] FIG. 2 is a diagram showing an exemplary electrode pattern in an electrostatic actuator. The X haptic electrodes 11 are formed by connecting rectangular electrodes in a string-of-beads manner, and each X haptic electrode 11 is arranged in a predetermined number in the X direction of FIG. 2. The Y haptic electrodes 12 are also formed by connecting rectangular electrodes in a string-of-beads manner as shown in FIG. 2, and each Y haptic electrode 12 is arranged in a predetermined number in the Y direction of FIG. 2. The rectangular electrodes are arranged so as not to overlap each other.

[0015] FIG. 3 is a diagram schematically showing the control of the voltage applied to the finger 2 that contacts the X haptic electrode 11 and the Y haptic electrode 12 via the insulating layer 13. The processing device 40 detects the contact position and contact area of the finger 2 with the touch sensor 20, and applies an alternating voltage to each X haptic electrode 11 and each Y haptic electrode 12 by controlling an actuator circuit (not shown) with respect to the position and area. The processing device 40 can generate an electrostatic force on the finger 2 by applying a voltage to the X haptic electrode 11 and the Y haptic electrode 12 at a predetermined voltage.

[0016] The touch sensor 20 is arranged below the electrostatic actuator 10, and the touch sensor 20 that detects the operation position of the operator is, for example, a piezo-resistive type or a capacitive type MEMS (Micro Electro Mechanical Systems). The touch sensor 20 of the present embodiment is, as an example, a capacitive type sensor.

[0017] The touch sensor 20 can detect the operation position of the finger 2 by detecting the capacitance generated between the finger 2. The detection method may be a self-capacitance method or a mutual-capacitance method.

[0018] Note that the electrostatic actuator 10 may also have the function of the touch sensor 20. That is, the electrostatic actuator 10 having the function of the touch sensor 20 can detect the touch position in the X direction by detecting the self-capacitance value of each X haptic electrode 11, and can detect the touch position in the Y direction by detecting the self-capacitance value of each Y haptic electrode 12. Specifically, for example, the electrostatic actuator 10 having the function of the touch sensor 20 can detect the touch positions in the X and Y directions by sequentially applying charges to each X haptic electrode 11 and Y haptic electrode 12 and detecting the self-capacitance value between the electrostatic actuator 10 and the operator's finger 2. Note that the electrostatic actuator 10 having the function of the touch sensor 20 can also detect the touch positions in the X and Y directions by detecting the mutual capacitance value between the X haptic electrode 11 and the Y haptic electrode 12. These detections of the touch positions shall be executed during the period when the electrostatic actuator 10 having the function of the touch sensor 20 is not performing the electrostatic tactile presentation operation for imparting a tactile effect to the finger 2. Note that the touch sensor 20 may detect the operating load due to the pressing operation of the operator.

[0019] FIG. 4 is a block diagram of the display device 1 with a haptics function according to some embodiments. The haptics processing device 40 includes one or more I / O interfaces 41, one or more processors 43, one or more image processing circuits 45, and one or more memories 47. The various functional blocks described in FIG. 4 may be configured by hardware, software, or a combination of both. FIG. 4 is only one embodiment, and the illustrated components may be combined into fewer components or there may be additional components. For example, the image processing circuit 45 (e.g., a graphics processing unit) may be included in one or more processors 43.

[0020] As shown, the processor 43 and the image processing circuit 45 are operably connected to the memory 47. More specifically, the processor 43 and the image processing circuit 45 execute a program stored in the memory 47 to, for example, control the electrostatic actuator 10 (control of an actuator circuit (not shown) for driving the electrostatic actuator 10), control the touch sensor 20 (control of a touch sensor circuit (not shown) for driving the touch sensor 20), control the spatial light modulator 30, generate and / or transmit image data, etc., and thus operate the display device 1 with a haptics function. The processor 43 and / or the image processing circuit 45 can include at least one general-purpose microprocessor (e.g., a central processing unit (CPU)), at least one application-specific integrated circuit (ASIC), at least one field-programmable gate array (FPGA), or any combination thereof. The memory 47 can include any type of magnetic medium such as a hard disk, any type of optical medium such as CDs and DVDs, any type of semiconductor memory such as volatile memory, and non-volatile memory. Volatile memory includes DRAM and SRAM, and non-volatile memory may include ROM and NVRAM.

[0021] As shown in the figure, the processor 43 is operably connected to the I / O interface 41. The I / O interface 41 communicates (also referred to as CAN communication) with, for example, the vehicle ECU 401 and other electronic devices (not shown) provided in the vehicle according to the CAN (Controller Area Network) standard. Note that the communication standard adopted by the I / O interface 41 is not limited to CAN. For example, it includes wired communication interfaces such as CANFD (CAN with Flexible Data Rate), LIN (Local Interconnect Network), Ethernet (registered trademark), MOST (Media Oriented Systems Transport: MOST is a registered trademark), UART, or USB, or in-vehicle communication (internal communication) interfaces such as personal area network (PAN) like Bluetooth (registered trademark) network, local area network (LAN) like 802.11x Wi-Fi (registered trademark) network, etc., which are short-range wireless communication interfaces within dozens of meters. Further, the I / O interface 41 may include an out-of-vehicle communication (external communication) interface such as a wide-area communication network (e.g., Internet communication network) according to cellular communication standards such as wireless wide area network (WWAN0, IEEE802.16 - 2004 (WiMAX: Worldwide Interoperability for Microwave Access)), IEEE802.16e-based (Mobile WiMAX), 4G, 4G-LTE, LTE Advanced, 5G, etc.

[0022] As shown in the figure, by being operably connected to the I / O interface 41, the processor 43 can exchange information with various other electronic devices and the like connected to the display device 1 with haptic function (I / O interface 41). For example, the vehicle ECU 401 and the like are operably connected to the I / O interface 41. Note that the I / O interface 41 may include a function of processing (converting, calculating, analyzing) the information received from other electronic devices and the like connected to the display device 1 with haptic function.

[0023] The spatial light modulator 30 is, for example, a liquid crystal display (LCD) and is operably connected to the processor 43 and the image processing circuit 45. Thus, the image displayed by the spatial light modulator 30 may be based on the image data received from the processor 43 and / or the image processing circuit 45. The processor 43 and the image processing circuit 45 control the image displayed by the spatial light modulator 30 based on the information obtained from the I / O interface 41.

[0024] The vehicle ECU 401 acquires the state of the vehicle (for example, the ON / OFF state of the start switch (for example, the accessory switch: ACC or the ignition switch: IGN), which is an example of the first start information), the driving distance, the vehicle speed, the accelerator pedal opening, the brake pedal opening, the engine throttle opening, the injector fuel injection amount, the engine speed, the motor speed, the steering angle, the shift position, the drive mode, information regarding the headlight including the lighting / extinguishing and the irradiation range of the headlight (an example of the dimming reference information), various warning states, the attitude (including the roll angle and / or the pitching angle), the vibration of the vehicle (including the magnitude, frequency, and / or the frequency of the vibration), etc. from sensors and switches provided in the vehicle, and collects and manages (which may also include control) the state of the vehicle. As a part of its function, it can output a signal indicating a numerical value of the state of the vehicle (for example, the vehicle speed of the vehicle) to the processor 43 of the haptics processing device 40. Note that in addition to or instead of simply transmitting the numerical value detected by the sensor or the like (for example, the pitching angle is 3 [degree] in the forward tilt direction) to the processor 43, the vehicle ECU 401 may transmit to the processor 43 a determination result (for example, the vehicle satisfies the conditions of a predetermined forward tilt state) or / and an analysis result (for example, in combination with the information of the brake pedal opening, the vehicle has become in a forward tilt state due to braking) based on one or more states of the vehicle including the numerical value detected by the sensor. For example, the vehicle ECU 401 may output a signal indicating a determination result showing that the vehicle satisfies a predetermined condition pre-stored in the memory (not shown) of the vehicle ECU 401 to the haptics processing device 40. Note that the I / O interface 41 may acquire the above-described information from sensors and switches provided in the vehicle without going through the vehicle ECU 401.

[0025] Further, the vehicle ECU 401 may output an instruction signal for instructing an image to be displayed by the display device 1 with a haptics function to the haptics processing device 40. At this time, the coordinates, size, color, gradation, type, display mode, notification necessity of the image to be displayed on the spatial light modulation element 30, necessity-related information serving as a basis for determining the notification necessity, and / or a signal for adjusting the luminance of the virtual image (an example of a dimming signal) may be added to the instruction signal and transmitted.

[0026] The software components stored in the memory 47 include a graphic module 500, a haptic output area setting module 502, an operation detection module 504, an actuator control module 506, an operation information processing module 508, and the like.

[0027] The graphic module 500 in FIG. 6 includes various known software components for generating image data by performing image processing such as rendering and driving the spatial light modulation element 30. Further, the graphic module 500 may include various known software components for changing the type, arrangement (position coordinates, angle), size, display distance (in the case of 3D), visual effects (for example, luminance, transparency, chroma, contrast, or other visual characteristics) of the displayed image. The graphic module 500 can generate image data so as to be visually recognized by an observer based on the type of the image, the position coordinates of the image, the angle of the image (pitching angle with the left-right direction as the axis, yaw rate angle with the up-down direction as the axis, rolling angle with the depth direction as the axis, etc.), and the size of the image, and drive the spatial light modulation element 30. Note that some or all of the functions of the graphic module 500 may be provided separately from the display device 1 with a haptics function. That is, the processing device 40 of the present embodiment may acquire data from some or all of the functions of the graphic module 500 provided separately from the display device 1 with a haptics function via the I / O interface 41.

[0028] (Haptic Output Area Setting Module 502) By executing the haptic output area setting module 502, the processor 43 can set a haptic output area model 503 that defines the position (area) for transmitting haptic output corresponding to the image (software switch image 100 described later) displayed by the graphic module 500. The actuator control module 506 described later can generate an area for transmitting haptic output (hereinafter also referred to as a haptic pattern 660) by driving the electrostatic actuator 10 based on the haptic output area model 503 set by the haptic output area setting module 502. The haptic output area setting module 502 typically sets the haptic pattern 660 at a position overlapping with the software switch image 100 described later that is displayed by the spatial light modulator 30. Thereby, when the user performs a touch operation on the software switch image 100 displayed on the display device 1, the actuator control module 506 described later can transmit haptic output to the user's finger 2 based on the haptic pattern 660 arranged at the position overlapping with the software switch image 100.

[0029] FIG. 5A is a diagram showing an embodiment of the software switch image 100 displayed by the spatial light modulator 30 (display device 1). FIG. 5B schematically illustrates the haptic output area model 503 that defines the haptic pattern 660 arranged at the position overlapping with the software switch image 100 shown in FIG. 5A.

[0030] As shown in FIG. 5A, the graphic module 500 generates image data of the software switch image 100 including a first software switch image 110 composed of one or more image elements arranged continuously or intermittently in a straight line, a second software switch image 120 composed of one or more image elements arranged continuously or intermittently on the circumference (broadly, on a curve), etc., and the spatial light modulator 30 displays an image including these software switch images 100.

[0031] The haptic output area setting module 502 sets a haptic output area model 503 including, for example, as shown in FIG. 5B, a first haptic output group 610 including a first haptic pattern 660, a second haptic output group 620 including a second haptic pattern 670, a third haptic output group 630 including a third haptic pattern 680, and a fourth haptic output group 640 including a fourth haptic pattern 690. Note that the haptic output area setting module 502 stores a plurality of haptic output area models 503 (for example, the haptics area model 503a and the haptics area model 503b in FIG. 4) in the memory 47 in advance, and may change the haptic output area model 503 to be set according to the layout of the software switch image 100 displayed by the graphic module 500. Further, the haptic output area setting module 502 may appropriately process the haptic output area model 503 according to changes in the type, position, size, etc. of the software switch image 100 set by the graphic module 500.

[0032] FIG. 6A is a diagram showing an embodiment of the first haptic output group 610. In the first haptic output group 610, first haptic patterns 660 (661 - 665) are set inside each of five operation division regions 650 (651 - 655) that are typically evenly arranged in the left - right direction. Each first haptic pattern 660 (661 - 665) is linear and long in a direction orthogonal to the straight - line direction (the left - right direction in the example of FIG. 6A) in which the plurality of first haptic patterns 660 (661 - 665) are arranged (the up - down direction in the example of FIG. 6A), and is composed of a plurality of haptic output areas HE1 (HE) that are intermittently arranged at intervals in the straight - line direction (the left - right direction in the example of FIG. 6A) in which the first haptic patterns 660 (661 - 665) are arranged. The first haptic patterns 660 (661 - 665) are set such that, as going in a straight - line direction (here, the right direction), the number of linear haptic output areas HE1 included in each first haptic pattern 660 (661 - 665) gradually increases, and the width W of each first haptic pattern 660 (661 - 665) gradually becomes larger. That is, as shown in FIG. 6A, as the first haptic pattern 660 goes rightward in the order of 661 (width W1), 662 (width W2), 663 (width W3), 664 (width W4), 665 (width W5), the number of linear haptic output areas HE1 included gradually increases in the order of the first haptic patterns 661, 662, 663, 664, 665, and the width W of each first haptic pattern 660 (661 - 665) gradually becomes larger in the order of W1 < W2 < W3 < W4 < W5. Thereby, the area and width for generating the haptic output of each first haptic pattern 660 (661 - 665) can be made different, and various interactions can be provided that cause a difference in tactile presentation according to the operation position. Also, as shown in FIG. 6A, as the first haptic pattern 660 goes rightward in the order of 661, 662, 663, 664, 665 in the direction α1, the interval G between each haptic pattern 660 gradually becomes narrower in the order of G1 (the interval between 661 and 662)> G2 (the interval between 662 and 663)> G3 (the interval between 663 and 664)> G4 (the interval between 664 and 665).

[0033] FIG. 6B is a diagram showing an embodiment of the first haptic output group 610. In the first haptic output group 610, a first haptic pattern 660 (661-669) is set inside each of nine operation division regions 650 (651-659) that are typically arranged evenly and continuously in the circumferential direction. Each first haptic pattern 660 (661-669) is linear and long in a direction orthogonal to the curved direction in which the plurality of first haptic patterns 660 (661-669) are arranged (in the example of FIG. 6A, the circumferential direction), and is composed of a plurality of haptic output areas HE1 (HE) that are intermittently arranged at intervals in the curved direction in which the first haptic patterns 660 (661-669) are arranged (in the example of FIG. 6A, the circumferential direction). As the first haptic pattern 660 (661-669) goes in the circumferential direction (here, the clockwise direction), the number of linear haptic output areas HE1 included in each first haptic pattern 660 (661-669) is gradually increased, and the width W of each first haptic pattern 660 (661-669) is set to gradually increase. That is, as shown in FIG. 6B, as the first haptic pattern 660 goes in the circumferential direction (here, the clockwise direction) α1 in the order of 661 (width W1), 662 (width W2), 663 (width W3), 664 (width W4), 665 (width W5), 666 (width W6), 667 (width W7), 668 (width W8), 669 (width W9), the number of linear haptic output areas HE1 included gradually increases in the order of the first haptic patterns 661, 662, 663, 664, 665, 666, 667, 668, 669, and the width W of each first haptic pattern 660 (661-669) gradually increases in the order of W1 < W2 < W3 < W4 < W5 < W6 < W7 < W8 < W9. Thereby, the area and width for generating the haptic output of each first haptic pattern 660 (661-669) can be made different, and various interactions can be provided that cause differences in tactile presentation according to the operation position.Also, as shown in FIG. 6B, as the first haptic pattern 660 goes in the circumferential direction (here, the clockwise direction) α1 in the order of 661, 662, 663, 664, 665, 666, 667, 668, 669, the interval G between each first haptic pattern 660 (661 - 669) is such that the interval between 661 and 662 (not shown) > the interval between 662 and 663 (not shown) > the interval between 663 and 664 (not shown) > the interval between 664 and 665 (not shown) > the interval between 665 and 666 (not shown) > the interval between 666 and 667 (not shown) > the interval between 667 and 668 (not shown) > the interval between 668 and 669 (not shown), gradually narrowing in this order.

[0034] FIG. 6C is a diagram showing an embodiment of the second haptic output group 620. The second haptic output group 620 has second haptic patterns 670 (671 - 675) set inside each of five operation division regions 650 (651 - 655) that are typically evenly arranged continuously in the left - right direction. Each second haptic pattern 670 (671 - 675) is composed of one rectangular haptic output area HE2 (HE). The second haptic patterns 670 (671 - 675) are set such that the width W of each second haptic pattern 670 (671 - 675) gradually increases as it goes in a straight - line direction (here, the right direction). That is, as shown in FIG. 6C, as the second haptic pattern 670 goes in the right direction in the order of 671 (width W1), 672 (width W2), 673 (width W3), 674 (width W4), 675 (width W5), the width W of each second haptic pattern 670 (671 - 675) gradually increases in the order of W1 < W2 < W3 < W4 < W5. Thereby, the area and width for generating the haptic output of each second haptic pattern 670 (671 - 675) can be made different, and various interactions can be provided that cause differences in tactile presentation according to the operation position.

[0035] FIG. 6D is a diagram showing an embodiment of a third haptic output group 630. The third haptic output group 630 has third haptic patterns 680 (681 - 685) set inside each of five operation division regions 650 (651 - 655) that are typically arranged evenly and continuously in the left - right direction. Each third haptic pattern 680 (681 - 685) is composed of haptic output areas HE3 (HE) having a plurality of periodic predetermined shapes (rectangular shapes in FIG. 6D). The third haptic patterns 680 (681 - 685) are set such that the width W of each third haptic pattern 680 (681 - 685) gradually increases as it goes in a straight - line direction (here, the right direction). That is, as shown in FIG. 6D, as the third haptic patterns 680 go rightward in the order of 681 (width W1), 682 (width W2), 683 (width W3), 684 (width W4), 685 (width W5), the width W of each third haptic pattern 680 (681 - 685) gradually increases in the order of W1 < W2 < W3 < W4 < W5. Thereby, the area and width for generating the haptic output of each third haptic pattern 680 (681 - 685) can be made different, and various interactions that cause differences in tactile presentation according to the operation position can be provided.

[0036] FIG. 6E is a diagram showing an embodiment of a fourth haptic output group 640. In the fourth haptic output group 640, a fourth haptic pattern 690 (691 - 695) is set inside each of five operation division regions 650 (651 - 655) that are typically arranged evenly and continuously in the left - right direction. Each fourth haptic pattern 690 (691 - 695) is linear and long in a direction orthogonal to the linear direction in which the plurality of fourth haptic patterns 690 (691 - 695) are arranged (in the example of FIG. 6E, the left - right direction, and the orthogonal direction is the up - down direction in the example of FIG. 6E), and is composed of two haptic output areas HE4 (HE) arranged at intervals in the linear direction in which the fourth haptic patterns 690 (691 - 695) are arranged (in the example of FIG. 6A, the left - right direction). The fourth haptic pattern 690 (691 - 695) has a constant number of linear haptic output areas HE4 (two in the example of FIG. 6E) included in each fourth haptic pattern 690 (691 - 695) as it goes in a linear direction (here, the right direction), and the width W of each fourth haptic pattern 690 (691 - 695) is set to gradually increase. That is, as shown in FIG. 6E, as the fourth haptic patterns 690 go in the right direction in the order of 691 (width W1), 692 (width W2), 693 (width W3), 694 (width W4), 695 (width W5), the width W of each fourth haptic pattern 690 (691 - 695) gradually increases in the order of W1 < W2 < W3 < W4 < W5. Thereby, it is possible to vary the width for generating the haptic output of each first haptic pattern 660 (661 - 665), and it is possible to provide various interactions that cause differences in tactile presentation according to the operation position.

[0037] (Operation detection module 504) Referring to FIG. 4 again, the processor 43 collects sensor data from the touch sensor 20 by executing the operation detection module 504, and processes the sensor data to identify the position (operation position) where the object (finger or other object) 2 is in contact with the surface of the display device 1 with haptic function. In addition to detecting the operation position, the operation detection module 504 may also detect the force (pressing force) with which the object (finger or other object) 2 presses the surface of the display device 1 with haptic function from the sensor data. Note that, strictly speaking, the operation detection module 504 does not necessarily have to identify the operation position and the pressing force as long as it converts the sensor data into a format that can be processed by the actuator control module 506 and the operation information processing module 508. Therefore, the operation detection module 504 includes various software components for performing various operations related to collecting the sensor data from the touch sensor 20 and processing (converting, calculating, analyzing) the sensor data into a format (such as the operation position and the pressing force) that can be processed by other modules. That is, the operation detection module 504 may include table data, arithmetic expressions, etc. in order to process (convert, calculate, analyze) the sensor data into a format (such as the operation position and the pressing force) that can be processed by other modules.

[0038] (Actuator control module 506) By executing the actuator control module 506, the processor 43 applies different voltages to the X haptic electrodes 11 and the Y haptic electrodes 12 corresponding to any position (area) of the electrostatic actuator 10 based on the haptic output area model 503 set by the haptic output area setting module 502, so that the finger 2 receives a high electrostatic force at the intersection of the corresponding X haptic electrode 11 and Y haptic electrode 12 (active area). In practice, an AC voltage may be used for the corresponding X haptic electrode 11 and Y haptic electrode 12, and the maximum electrostatic force is generated when the phases of the applied voltages are shifted from each other by 180 degrees. In this way, the use of two control voltages caused by simultaneously using positive and negative voltages on the X haptic electrodes 11 and the Y haptic electrodes 12 (with respect to some ground such as ground or the local ground of the electrostatic actuator 10) is called "bipolar" operation. On the other hand, the use of a single control voltage (with respect to some ground such as ground or the local ground of the touch device) is called "unipolar" operation, and the electrostatic actuator 10 of the present embodiment may be operated in unipolar mode.

[0039] Based on the haptic output area model 503, the actuator control module 506 sets the haptic pattern 660 (670; 680; 690) corresponding to the operation division area 650 operated by the operation detection module 504 as the active area. In this case, in the example of FIG. 6A, when the operation position detected by the operation detection module 504 belongs to the operation division area 652, the actuator control module 506 sets the haptic pattern 662 corresponding to the operation division area 652 as the active area, and may set the haptic patterns 661, 663, 664, and 665 not corresponding to the operation position as non-active areas.

[0040] In some embodiments, the actuator control module 506 may use all of the haptic patterns 660(670;680;690) included in the haptic output group 600 operated by the operation detection module 504 as the active area based on the haptic output area model 503. In this case, in the example of FIG. 6A, when the operation position detected by the operation detection module 504 belongs to the operation section area 652, the entire haptic output group 600 that has been operated, that is, the haptic patterns 661, 662, 663, 664, and 665 may be used as the active area.

[0041] Also, in some embodiments, the actuator control module 506 may use the haptic patterns 660(670;680;690) corresponding to the operation section area 650 operated by the operation detection module 504 and the operation section areas 650 around it as the active area based on the haptic output area model 503. In this case, in the example of FIG. 6A, when the operation position detected by the operation detection module 504 belongs to the operation section area 652, the haptic pattern 662 corresponding to the operation section area 652, and the haptic patterns 661 and 663 corresponding to the operation section areas 651 and 653 around the operation section area 652 may be used as the active area, and the other haptic patterns 664 and 665 may be used as the non-active area.

[0042] Also, in some embodiments, the actuator control module 506 may use all of the haptic patterns 660(670;680;690) included in the haptic output area model 503 as the active area without relying on the haptic output area model 503. In this case, in the example of FIG. 5B, the haptic output areas of all the haptic output groups 600 included in the haptic output area model 503 may be used as the active area.

[0043] Also, in some embodiments that can be combined with the above-described embodiment, the actuator control module 506 may sequentially scan a plurality of X haptic electrodes 11 and a plurality of Y haptic electrodes 12, and apply different voltages to the X haptic electrode 11 and the Y haptic electrode 12 that form a pair of any position (area) to be an active area.

[0044] (Operation information processing module 508) By executing the operation information processing module 508, the processor 43 in FIG. 4 generates an operation command corresponding to an operation by a user, and transmits the operation command from the I / O interface 41 to the vehicle ECU 401, the in-vehicle device ECU 403, and the like. The vehicle ECU 401, the in-vehicle device ECU 403, and the like can execute processing based on the operation command generated by the operation information processing module 508. Also, the graphic module 500 may change the displayed image based on the operation command generated by the operation information processing module 508. Also, the haptic output area setting module 502 may generate (change) the haptic output area model 503 based on the operation command generated by the operation information processing module 508. The operation information processing module 508 includes, for example, table data associating the operation information (the operation position, the pressing force, etc.) specified by the operation detection module 504 with the operation command, and may generate the operation command by referring to the table data.

[0045] FIG. 7 is a flowchart showing a method S100 in which the display device 1 in some embodiments executes haptic output. The method S100 is executed in the electrostatic actuator 10, the touch sensor 20, the spatial light modulator 30, and the processing device 40. Some of the operations of the method S100 shown below are optionally combined, the procedures of some operations are optionally changed, and some operations are optionally omitted.

[0046] (Step S102) The haptic output area setting module 502 in FIG. 4 sets a haptic output area model 503 that determines the position (haptic output area) where haptic output is to be performed. The haptic output area setting module 502 typically changes the haptic output area according to changes in the position, type, size, etc. of the software switch image 100 displayed by the spatial light modulator 30. However, without being limited thereto, the haptic output area setting module 502 may change the haptic output area without relying on the change of the software switch image 100 displayed by the spatial light modulator 30. In this case, based on information obtained from the vehicle ECU 401 input from the I / O interface 41, the in-vehicle device ECU 403, or a user detection unit (not shown) that detects the state of the user (biological information such as pulse, eye position, line-of-sight direction, etc.), even without a change in the software switch image 100, the haptic output area model 503 can be changed.

[0047] (Step S104) The operation detection module 504 in FIG. 4 collects sensor data from the touch sensor 20 and processes the sensor data to detect the position (operation position) where the object (finger or other object) 2 is in contact with the surface of the display device 1 with haptic function and the force (pressing force) with which the object (finger or other object) 2 presses the surface of the display device 1 with haptic function.

[0048] (Step S106) The actuator control module 506 in FIG. 4 drives the electrostatic actuator 10 based on the haptic output area model 503 to activate the haptic output area HE. The actuator control module 506 may activate only a part of the haptic output areas HE in the haptic output area model 503 based on the operation position only when there is a user operation. Also, the actuator control module 506 may activate all or part of the haptic output areas in the haptic output area model 503 even without a user operation.

[0049] (Step S108) The operation information processing module 508 in FIG. 4 generates the operation command corresponding to the operation information (the operation position, the pressing force, etc.) specified by the operation detection module 504, and transmits the operation command from the I / O interface 41 to the vehicle ECU 401, the in-vehicle device ECU 403, etc.

[0050] After the processor 43 executes step S108 in FIG. 7, the process resumes from step S102 and is repeated until the display device 1 ends the operation.

Explanation of Signs

[0051] 1: Display device with haptics function (display device) 2: Finger 10: Electrostatic actuator 10a: Substrate 11: X haptic electrode 12: Y haptic electrode 13: Insulation layer 20: Touch sensor 30: Spatial light modulator 40: Haptics processing device (processing device) 41: I / O interface 43: Processor 45: Image processing circuit 47: Memory 100: Software switch image 110: First software switch image 120: Second software switch image 401: Vehicle ECU 403: In-vehicle device ECU 500: Graphic module 502: Haptic output area setting module 503: Haptic output area model 503a: Haptics area model 503b: Haptics area model 504: Operation detection module 506: Actuator control module 508: Operation information processing module 600: Haptic output group 610: First haptic output group 620: Second haptic output group 630: Third haptic output group 640: Fourth haptic output group 650: Operation classification area 660: First haptic pattern 670: Second haptic pattern 680: Third haptic pattern 690: Fourth haptic pattern HE: Haptic output area

Claims

1. An electrostatic actuator (10) having a plurality of haptic electrodes arranged on a surface and presenting a tactile sensation when a voltage signal is applied thereto, and a processor (45) for controlling the electrostatic actuator (10), wherein the processor (45) sets a haptic output area model (503) that defines a position for presenting a tactile sensation (hereinafter referred to as a haptic output area (HE)) among the plurality of haptic electrodes, the haptic output area model (503) includes a plurality of haptic patterns (660, 670, 680, 690) arranged along an extending direction (α) from a first point (P) to a second point (Q) on a straight line or a curve, the plurality of haptic patterns (660, 670, 680, 690) each consist of one or more of the haptic output areas (HE), a width (W) of the extending direction (α) of the plurality of haptic patterns (660, 670, 680, 690) is configured to gradually expand along the extending direction (α), a haptic device (3).

2. The width (W) of the extending direction (α) of the plurality of haptic patterns (660, 670, 680, 690) is configured to gradually expand along the extending direction (α), The haptic device (3) according to Claim 1.

3. The plurality of haptic patterns (660) consist of a plurality of linear haptic output areas (HE1) spaced apart in the extending direction (α), the number of the haptic output areas included in the plurality of haptic patterns (660) is configured to gradually increase along the extending direction (α), The haptic device (3) according to Claim 1 or Claim 2.

4. The linear haptic output area (HE1) is configured to linearly extend substantially parallel to a normal direction of the extending direction (α), The haptic device (3) according to Claim 3.

5. A spacing (G) of the extending direction (α) of the plurality of haptic patterns (660, 670, 680, 690) is configured to gradually become narrower along the extending direction (α), The haptic device (3) according to Claim 1 or Claim 2.

6. The plurality of haptic patterns (660, 670, 680, 690) are grouped, The first point (P) is one end (P1) of the group, and the second point (Q) is the other end (Q1) of the group. The extending direction (α) is a first extending direction (α1) from the one end (P1) to the other end (Q1) of the group. The haptic device (3) according to claim 1 or claim 2.

7. The plurality of haptic patterns (660, 670, 680, 690) are grouped. The first point (P) is an intermediate point (P2) between one end (P1) and the other end (Q1) of the group, and the second point (Q) is the other end (Q1). The extending direction (α) is a second extending direction (α2) from the intermediate point (P2) to the other end (Q1) of the group. The haptic device (3) according to claim 1 or claim 2.

8. In a haptics processing device (40) for controlling an electrostatic actuator (10) having a plurality of haptic electrodes arranged on a surface and presenting a tactile sensation when a voltage signal is applied. Comprising a processor (45) for controlling the electrostatic actuator (10). The processor (45) sets a haptic output area model (503) for determining a position (hereinafter referred to as a haptic output area (HE)) that presents a tactile sensation among the plurality of haptic electrodes. The haptic output area model (503) Includes a plurality of haptic patterns (660, 670, 680, 690) arranged along an extending direction (α) from a first point (P) to a second point (Q) on a straight line or a curve. Each of the plurality of haptic patterns (660, 670, 680, 690) consists of one or more of the haptic output areas (HE). The width (W) of the extending direction (α) of the plurality of haptic patterns (660, 670, 680, 690) is configured to gradually expand along the extending direction (α). Haptics processing device (40).

9. In a haptics processing device (40) for controlling an electrostatic actuator (10) having a plurality of haptic electrodes arranged on a surface and presenting a tactile sensation when a voltage signal is applied. A haptics control method for controlling the electrostatic actuator (10). A step of setting a haptic output area model (503) that determines a position for presenting a sense of touch (hereinafter referred to as a haptic output area (HE)) among the plurality of haptic electrodes is included. The haptic output area model (503) includes a plurality of haptic patterns (660, 670, 680, 690) arranged along an extending direction (α) from a first point (P) to a second point (Q) on a straight line or a curve. The plurality of haptic patterns (660, 670, 680, 690) each consist of one or a plurality of the haptic output areas (HE). A width (W) of the plurality of haptic patterns (660, 670, 680, 690) in the extending direction (α) is configured to gradually expand along the extending direction (α). A haptics control method.

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