Sole tactile presentation device

Abstract

To provide a sole tactile sensation presentation device capable of presenting diversified tactile sensations on a sole and preferably, directly presenting the tactile sensation on the sole.SOLUTION: A sole tactile sensation presentation device 10 includes a sole 2 of footwear 1, and a tactile sensation presentation device 100 for presenting a tactile sensation on the sole using magnetic viscous fluid M. The tactile sensation presentation device 100 includes a tactile sensation presentation part 114t exposed from an upper surface of the sole 2 and capable of coming into contact with the sole. The tactile sensation presentation part 114t presents a tactile sensation of arbitrary hardness on the sole depending on the viscosity of the magnetic viscous fluid M.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a sole tactile presentation device used for footwear and presenting a tactile sensation to the sole of the foot.

Background Art

[0002] Various sole tactile presentation devices for presenting a tactile sensation to the sole of the foot have been proposed.

[0003] For example, the sole tactile presentation device disclosed in Patent Document 1 has a vibration motor inside the sole of the footwear, and presents a tactile sensation to the sole of the foot by applying vibration to the sole of the foot that comes into contact with the sole.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the tactile presentation caused by the vibration motor tends to be uniform. Also, the vibration motor cannot present the tactile sensation of hardness / softness.

[0006] Furthermore, with the vibration motor provided inside the sole of the footwear, there is also a problem that the tactile sensation is presented to the sole of the foot through the upper surface of the sole, and the tactile sensation cannot be directly presented to the sole of the foot.

[0007] The present invention has been devised in view of the above circumstances, and an object thereof is to provide a sole tactile presentation device that can present various tactile sensations to the sole of the foot, and preferably can also directly present a tactile sensation to the sole of the foot.

Means for Solving the Problems

[0008] The sole of a footwear and a tactile presentation device that uses a magnetorheological fluid to present a tactile sensation to the sole of the foot. The tactile presentation device has a tactile presentation portion that is exposed from the upper surface of the sole and can contact the sole of the foot. The tactile presentation portion presents a tactile sensation of an arbitrary hardness to the sole of the foot according to the viscosity of the magnetorheological fluid.

[0009] According to the sole tactile presentation device having such a configuration, since the tactile presentation portion presents a tactile sensation of an arbitrary hardness to the sole of the foot according to the viscosity of the magnetorheological fluid, a variety of tactile sensations can be presented to the sole of the foot. Further, since the tactile presentation device has a tactile presentation portion that is exposed from the upper surface of the sole and can contact the sole of the foot, a tactile sensation can be directly presented to the sole of the foot.

[0010] The sole tactile presentation device according to the second aspect of the present invention is the sole tactile presentation device according to the first aspect, wherein the tactile presentation device has a plurality of the tactile presentation portions, and the plurality of tactile presentation portions are arranged corresponding to the positions of a plurality of toes, respectively.

[0011] The sole tactile presentation device according to the third aspect of the present invention is the sole tactile presentation device according to the first aspect or the second aspect, wherein the tactile presentation device has a hydraulic cylinder provided in the sole, the magnetorheological fluid is used as the working fluid of the hydraulic cylinder, and the top of the piston constituting the hydraulic cylinder is exposed from the upper surface of the sole as the tactile presentation portion, and presents a tactile sensation of an arbitrary hardness to the sole of the foot according to the viscosity of the magnetorheological fluid.

[0012] The sole tactile presentation device according to the fourth aspect of the present invention is the sole tactile presentation device according to the third aspect, wherein the tactile presentation device is provided in the sole, and the tactile presentation device further has a fluid passage that is connected to the hydraulic cylinder at one end and serves as a passage for the magnetorheological fluid, a magnetic field application portion that applies a magnetic field to the magnetorheological fluid in the fluid passage, and a magnetic field control device that controls the magnitude of the magnetic field applied by the magnetic field application portion.

[0013] The sole tactile presentation device according to the fifth aspect of the present invention is the sole tactile presentation device according to the fourth aspect, wherein the tactile presentation device is connected to the other end of the fluid passage, and when the top of the piston is pressed against the sole, it further has a fluid absorption part that absorbs the magnetorheological fluid flowing out of the hydraulic cylinder and expands in volume, and the fluid absorption part reduces its volume by elastic force when the top of the piston is not pressed against the sole, and pushes the absorbed magnetorheological fluid back into the hydraulic cylinder.

Advantages of the Invention

[0014] According to the present invention, it is possible to provide a sole tactile presentation device that can present various tactile sensations to the sole and can directly present tactile sensations to the sole.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0016] Hereinafter, the sole tactile presentation device according to the embodiment of the present invention will be described with reference to the drawings.

[0017] As shown in Fig. 1, the sole tactile presentation device 10 according to this embodiment includes a sole 2 of a footwear 1 and a tactile presentation device 100 provided on the sole 2.

[0018] The footwear 1 is, for example, a sneaker, and has an upper 4 that forms a space for accommodating the foot from the ankle to the heel and the toe, and a sole 2 provided under the upper 4 to support the foot accommodated in the upper 4.

[0019] The sole 2 has an outsoles 2out that can contact the ground and an insoles 2in provided on the outsoles 2out and capable of contacting the sole of the foot.

[0020] (Tactile Presentation Device) The tactile presentation device 100 presents a tactile sensation to the sole of the foot using a magnetorheological fluid M. In this embodiment, the tactile presentation device 100 is provided on the insoles 2in. The tactile presentation device 100 includes five hydraulic cylinders, five fluid passages, five magnetic field application parts, five electric wires 400, five fluid absorption parts, a magnetic field control device 600, and a magnetorheological fluid M. Hereinafter, the five hydraulic cylinders are respectively referred to as a first hydraulic cylinder 110, a second hydraulic cylinder 120, a third hydraulic cylinder 130, a fourth hydraulic cylinder 140, and a fifth hydraulic cylinder 150, the five fluid passages are respectively referred to as a first fluid passage 210, a second fluid passage 220, a third fluid passage 230, a fourth fluid passage 240, and a fifth fluid passage 250, the five magnetic field application parts are referred to as a first magnetic field application part 310, a second magnetic field application part 320, a third magnetic field application part 330, a fourth magnetic field application part 340, and a fifth magnetic field application part 350, and the five fluid absorption parts are respectively referred to as a first fluid absorption part 510, a second fluid absorption part 520, a third fluid absorption part 530, a fourth fluid absorption part 540, and a fifth fluid absorption part 550.

[0021] As shown in Fig. 2, the first hydraulic cylinder 110 is disposed on the insole 2in corresponding to the position of the big toe of the foot placed on the insole 2in. The first hydraulic cylinder 110 functions when it contacts the sole (big toe of the foot) and is pressed against the sole. The first hydraulic cylinder 110 uses a magnetorheological fluid M as the working fluid. The first hydraulic cylinder 110 presents a tactile sensation of any hardness to the sole according to the viscosity of the magnetorheological fluid M.

[0022] As shown in Figs. 1 and 3, the first hydraulic cylinder 110 includes a cylinder tube 112, a piston 114, and a piston seal 116.

[0023] The cylinder tube 112 is, for example, a bottomed cylindrical member with one end (top) open and the other end (bottom) closed, and is provided on the insole 2in such that its axial direction is perpendicular to the upper surface of the insole 2in. The end face of the top of the cylinder tube 112 is arranged to be flush with the upper surface of the insole 2in. The top of the cylinder tube 112 is open upward. A fluid hole 112h serving as an inlet / outlet for the magnetorheological fluid M is formed in the side portion near the bottom of the cylinder tube 112. In the above description, although it is stated that the axial direction of the cylinder tube 112 is perpendicular to the upper surface of the insole 2in, the "perpendicular" here is not limited to the strict meaning of perpendicular, but allows a degree of inclination that enables the piston 114 to be exposed from the upper surface of the insole 2in.

[0024] The piston 114 can be exposed from the opening at the top of the cylinder tube 112 and is slidably fitted axially with respect to the cylinder tube 112. Inside the cylinder tube 112 below the piston 114, a space (accommodation space) capable of accommodating the magnetorheological fluid M is formed. As the volume of the magnetorheological fluid M accommodated in the accommodation space increases, the piston 114 moves upward. And when the accommodation space accommodates the magnetorheological fluid M in a volume equal to or greater than a predetermined volume, the top 114t of the piston 114 is located above the top of the cylinder tube 112. That is, the top 114t of the piston 114 can be exposed above the upper surface of the insole 2in and come into contact with the sole of the foot. When the top 114t of the piston 114 comes into contact with the sole of the foot and is pressed against the sole of the foot, the magnetorheological fluid M located below the piston 114 is pushed out of the cylinder tube 112. At this time, a resistance corresponding to the viscosity of the magnetorheological fluid M is generated on the piston 114. The user of the sole tactile presentation device 10 perceives the resistance of the piston 114 corresponding to the viscosity of the magnetorheological fluid M as the hardness felt on the sole of the foot. Note that the piston 114 may be composed of a plurality of members. For example, the piston 114 may have a top 114t that contacts the sole of the foot made of a resin member and a lower part than the top 114t made of a metal member. Also, for example, the piston 114 may have a piston body made of metal and a cover that covers the top of the piston body.

[0025] Thereby, the top 114t of the piston 114 constitutes a tactile presentation part that presents a tactile sensation to the sole of the foot by being exposed above the upper surface of the insole 2in and contacting the sole of the foot in the tactile presentation device. And the top 114t (tactile presentation part 114t) of the piston 114 presents a tactile sensation of an arbitrary hardness to the sole of the foot according to the viscosity of the magnetorheological fluid M.

[0026] The piston seal 116 seals the magnetorheological fluid M between the piston 114 and the cylinder tube 112. The piston seal 116 is, for example, an O-ring fitted into a groove formed in the circumferential direction of the piston 114 on the lower side of the piston 114.

[0027] As shown in FIG. 2, the second hydraulic cylinder 120 is disposed on the insole 2in corresponding to the position of the index finger of the foot placed on the insole 2in. The third hydraulic cylinder 130 is disposed on the insole 2in corresponding to the position of the middle finger of the foot placed on the insole 2in. The fourth hydraulic cylinder 140 is disposed on the insole 2in corresponding to the position of the ring finger of the foot placed on the insole 2in. The fifth hydraulic cylinder 150 is disposed on the insole 2in corresponding to the position of the little finger of the foot placed on the insole 2in. The configurations of the second hydraulic cylinder 120, the third hydraulic cylinder 130, the fourth hydraulic cylinder 140, and the fifth hydraulic cylinder 150 are all the same as that of the first hydraulic cylinder 110.

[0028] One end of the first fluid passage 210 is connected to the first hydraulic cylinder 110 and serves as a passage for the magnetorheological fluid M. As shown in FIGS. 1 and 3, one end of the first fluid passage 210 is connected to the side of the cylinder tube 112 such that its opening communicates with the fluid hole 112h of the cylinder tube 112. The other end of the first fluid passage 210 is connected to the first fluid absorption portion 510. The first fluid passage 210 can be configured using, for example, a flexible tube.

[0029] As shown in FIG. 4, one end of the second fluid passage 220 is connected to the second hydraulic cylinder 120 and serves as a passage for the magnetorheological fluid M. The other end of the second fluid passage 220 is connected to the second fluid absorption portion 520.

[0030] One end of the third fluid passage 230 is connected to the third hydraulic cylinder 130 and serves as a passage for the magnetorheological fluid M. The other end of the third fluid passage 230 is connected to the third fluid absorption portion 530.

[0031] One end of the fourth fluid passage 240 is connected to the fourth hydraulic cylinder 140 and serves as a passage for the magnetorheological fluid M. The other end of the fourth fluid passage 240 is connected to the fourth fluid absorption portion 540.

[0032] The fifth fluid passage 250 has one end connected to the fifth hydraulic cylinder 150 and serves as a passage for the magnetorheological fluid M. The other end of the fifth fluid passage 250 is connected to the fifth fluid absorption part 550.

[0033] As shown in FIGS. 1 and 3, the first magnetic field applying part 310 applies a magnetic field to the magnetorheological fluid M in the first fluid passage 210. The first magnetic field applying part 310 includes a bobbin (not shown) arranged to surround the first fluid passage 210 and a coil wound around the bobbin. When an electric current is applied to the coil, a magnetic field is applied to the magnetorheological fluid M in the first fluid passage 210 disposed inside the coil.

[0034] As shown in FIG. 4, the second magnetic field applying part 320 applies a magnetic field to the magnetorheological fluid M in the second fluid passage 220.

[0035] The third magnetic field applying part 330 applies a magnetic field to the magnetorheological fluid M in the third fluid passage 230.

[0036] The fourth magnetic field applying part 340 applies a magnetic field to the magnetorheological fluid M in the fourth fluid passage 240.

[0037] The fifth magnetic field applying part 350 applies a magnetic field to the magnetorheological fluid M in the fifth fluid passage 250.

[0038] As shown in FIG. 4, in the present embodiment, there are five electric wires 400. One end of each wire is connected to the first magnetic field applying part 310 to the fifth magnetic field applying part 350, and the other end is connected to the magnetic field control device 600.

[0039] As shown in FIGS. 1 and 3, the first fluid absorption part 510 is connected to the other end of the first fluid passage 210. When the top 114t of the piston 114 of the first hydraulic cylinder 110 is pressed against the sole, the first fluid absorption part 510 absorbs the magnetorheological fluid M flowing out of the first hydraulic cylinder 110 and expands its volume. That is, when the first hydraulic cylinder 110 is pressed, as the volume of its accommodation space decreases, the magnetorheological fluid M flows out of the first hydraulic cylinder 110 into the first fluid passage 210, and the magnetorheological fluid M flows through the first fluid passage 210 into the first fluid absorption part 510. When the first hydraulic cylinder 110 is not pressed, the first fluid absorption part 510 fills the accommodation space in the first hydraulic cylinder 110 with a predetermined amount of the magnetorheological fluid M, and contracts the internal volume of the first fluid absorption part 510 to apply a predetermined pressure to the first fluid passage 210 so that the top 114t of the piston 114 is located above the upper surface of the insole 2in. On the other hand, when the first hydraulic cylinder 110 is pressed and the pressure in the first fluid passage 210 exceeds the predetermined pressure, the first fluid absorption part 510 expands its internal volume to absorb the magnetorheological fluid M flowing out of the first hydraulic cylinder 110.

[0040] The first fluid absorption part 510 includes an absorption-side cylinder tube 512, an absorption-side piston 514, a piston seal 516, and an elastic member 518.

[0041] The absorption-side cylinder tube 512 is, for example, a bottomed cylindrical member with both ends closed, and is provided inside the insole 2in so that its axial direction is parallel to the upper surface of the insole 2in. A fluid hole 512h serving as an inlet / outlet for the magnetorheological fluid M is formed at one end (the left end in FIGS. 1 and 3) of the absorption-side cylinder tube 512. The other end of the first fluid passage 210 is connected to one end of the absorption-side cylinder tube 512 so that the fluid hole 512h of the absorption-side cylinder tube 512 communicates with the opening at the other end of the first fluid passage 210.

[0042] The absorption-side piston 514 is fitted into the absorption-side cylinder tube 512 so as to be axially slidable relative thereto. On one side of the absorption-side piston 514 (the left side in FIGS. 1 and 3), a space (accommodation space) capable of accommodating the magnetorheological fluid M is formed within the absorption-side cylinder tube 512. Then, when the absorption-side piston 514 moves toward the other side (the right side in FIGS. 1 and 3) so as to expand the accommodation space, the magnetorheological fluid M flowing out from the first hydraulic cylinder 110 is absorbed.

[0043] The piston seal 516 seals the magnetorheological fluid M between the absorption-side piston 514 and the absorption-side cylinder tube 512. The piston seal 516 is, for example, an O-ring fitted into a groove formed in the circumferential direction of the absorption-side piston 514.

[0044] The elastic member 518 is provided within the absorption-side cylinder tube 512 on the other side of the absorption-side piston 514 (the right side in FIG. 3). The elastic member 518 presses the absorption-side piston 514 toward one side (the left side in FIG. 3). That is, when the top 114t of the piston 114 of the first hydraulic cylinder 110 is not being pressed against the sole, the elastic member 518 presses the absorption-side piston 514 so as to reduce the internal volume of the first fluid absorption section 510 by the elastic force and push back the magnetorheological fluid M absorbed by the first fluid absorption section 510 into the first hydraulic cylinder 110. The elastic member 518 is a compression spring in the present embodiment. However, the elastic member 518 is not limited to a compression spring and may be, for example, a rubber member.

[0045] As shown in FIG. 4, the second fluid absorption part 520 is connected to the other end of the second fluid passage 220, and when the top 114t of the piston 114 of the second hydraulic cylinder 120 is pressed against the sole of the foot, it absorbs the magnetorheological fluid M flowing out of the second hydraulic cylinder 120 and expands in volume. The third fluid absorption part 530 is connected to the other end of the third fluid passage 230, and when the top 114t of the piston 114 of the third hydraulic cylinder 130 is pressed against the sole of the foot, it absorbs the magnetorheological fluid M flowing out of the third hydraulic cylinder 130 and expands in volume. The fourth fluid absorption part 540 is connected to the other end of the fourth fluid passage 240, and when the top 114t of the piston 114 of the fourth hydraulic cylinder 140 is pressed against the sole of the foot, it absorbs the magnetorheological fluid M flowing out of the fourth hydraulic cylinder 140 and expands in volume. The fifth fluid absorption part 550 is connected to the other end of the fifth fluid passage 250, and when the top 114t of the piston 114 of the fifth hydraulic cylinder 150 is pressed against the sole of the foot, it absorbs the magnetorheological fluid M flowing out of the fifth hydraulic cylinder 150 and expands in volume. The configurations of the second fluid absorption part 520, the third fluid absorption part 530, the fourth fluid absorption part 540, and the fifth fluid absorption part 550 are all the same as that of the first fluid absorption part 510.

[0046] The magnetic field control device 600 controls the magnitudes of the magnetic fields applied by the first magnetic field application part 310 to the fifth magnetic field application part 350 respectively. The magnetic field control device 600 controls the magnitudes of the respective magnetic fields that they apply to the magnetorheological fluid M in the first fluid passage 210 to the fifth fluid passage 250 by controlling the current flowing through the electric wires 400 respectively connected to the first magnetic field application part 310 to the fifth magnetic field application part 350. As shown in FIG. 5, the magnetic field control device 600 includes a battery 610, a communication part 620, and a current control part 630.

[0047] The battery 610 is a small battery, for example, a lithium-ion battery. The battery 610 may be a primary battery or a secondary battery.

[0048] The communication part 620 enables communication with the outside, for example, a wi-fi module or a Bluetooth (registered trademark) module.

[0049] The current control unit 630 individually controls the magnitudes of the currents supplied from the battery 610 to the first magnetic field application unit 310 to the fifth magnetic field application unit 350 according to the external instruction signals received by the communication unit 620. The current control unit 630 is connected to the other side of the electric wire 400 to which one side of the first magnetic field application unit 310 to the fifth magnetic field application unit 350 is connected. The current control unit 630 is composed of a microcomputer, a memory, and the like.

[0050] The magnetorheological fluid M is enclosed in the accommodation space formed inside the cylinder tube 112 of the first hydraulic cylinder 110, the accommodation space formed inside the absorption side cylinder tube 512 of the first fluid absorption unit 510, and the first fluid passage 210 that connects the accommodation space in the cylinder tube 112 and the accommodation space of the absorption side cylinder tube 512 to communicate with each other. In FIGS. 1 and 3, the region filled with gray represents the magnetorheological fluid M.

[0051] Similarly, the magnetorheological fluid M is enclosed in the accommodation space of the second hydraulic cylinder 120, the accommodation space of the second fluid absorption unit 520, and the second fluid passage 220 that connects them. Similarly, the magnetorheological fluid M is enclosed in the accommodation space of the third hydraulic cylinder 130, the accommodation space of the third fluid absorption unit 530, and the third fluid passage 230 that connects them. Similarly, the magnetorheological fluid M is enclosed in the accommodation space of the fourth hydraulic cylinder 140, the accommodation space of the fourth fluid absorption unit 540, and the fourth fluid passage 240 that connects them. Similarly, the magnetorheological fluid M is enclosed in the accommodation space of the fifth hydraulic cylinder 150, the accommodation space of the fifth fluid absorption unit 550, and the fifth fluid passage 250 that connects them.

[0052] The magnetorheological fluid M is a liquid obtained by dispersing magnetic particles in a dispersion medium. As the magnetic particles, for example, nano-sized metal particles (metal nanoparticles) can be used. The magnetic particles are made of a magnetizable metal material, and there is no particular limitation on the metal material, but a soft magnetic material is preferred. Examples of the soft magnetic material include alloys such as iron, cobalt, nickel, and permalloy. The dispersion medium is not particularly limited, and a well-known dispersion medium generally used for magnetorheological fluids can be used.

[0053] (Function and effect) According to the sole tactile presentation device 10 according to the present embodiment described above, the tactile presentation portion 114t (the top portion 114t of the piston 114) presents a tactile sensation of an arbitrary hardness on the sole according to the viscosity of the magnetorheological fluid M, so that various tactile sensations can be presented on the sole. Further, since the tactile presentation portion 114t can be exposed from the upper surface of the insole 2in and come into contact with the sole, the tactile sensation can be directly presented on the sole.

[0054] Furthermore, according to the sole tactile presentation device 10, the five tactile presentation portions 114t (the top portions 114t of the pistons 114 of the first to fifth hydraulic cylinders 110 to 150) are respectively arranged corresponding to the positions of the five toes, so that a tactile sensation can be presented to each toe, and different tactile sensations can also be presented to each toe. Since a large number of nerves are concentrated in the toes among the soles, the sole tactile presentation device 10 can effectively present a tactile sensation on the sole by presenting a tactile sensation to the toes on the sole.

[0055] As an example of presenting different tactile sensations to each toe, it is a case of performing walking navigation for a user using the sole tactile presentation device 10. When prompting the user to turn right, the tactile sensation given to the finger on the right side of the traveling direction (the thumb in FIG. 2) is made soft, and the tactile sensation given to the finger on the left side of the traveling direction (the little finger in FIG. 2) is made hard, whereby the user can be prompted to turn right. Needless to say, this example does not limit the use of the sole tactile presentation device 10 to walking navigation, and even when used for walking navigation, the presentation of tactile sensations to each toe may be different from the above.

[0056] Further, according to the sole tactile presentation device 10, during the process in which the tactile presentation unit 114t is pressed against the sole (toe), the hardness can be changed to present a tactile sensation. For example, in the process in which the piston 114 is pressed against the sole and enters the cylinder tube 112, at the time of pressing, the resistance of the piston 114 is increased by increasing the magnetic field applied to the magnetorheological fluid M in the first fluid passage 210 from the first magnetic field application unit 310. After a predetermined time has elapsed from the pressing, the resistance of the piston 114 is decreased by decreasing the applied magnetic field, and after another predetermined time has elapsed, the resistance of the piston 114 may be increased by increasing the applied magnetic field again. Furthermore, by shortening the predetermined time, vibration tactile sensations can be presented to the sole during the process in which the tactile presentation unit 114t is pressed against the sole.

[0057] Furthermore, according to the sole tactile presentation device 10, the top portion 114t of the piston constituting the hydraulic cylinder 110 (120, 130, 140, 150) is exposed from the upper surface of the insole 2in as a tactile presentation unit, and depending on the viscosity of the magnetorheological fluid M, a tactile sensation of an arbitrary hardness is presented to the sole. Therefore, for example, compared with the case of using a chamber formed of an elastic material as the tactile presentation unit, a tactile sensation of a hardness corresponding to the magnetorheological fluid M can be presented to the sole more clearly.

[0058] Furthermore, according to the sole tactile presentation device 10, the tactile presentation device 100 further includes fluid passages 210 (220, 230, 240, 250) that are connected to the hydraulic cylinders 110 (120, 130, 140, 150) and serve as passages for the magnetorheological fluid M, magnetic field application units 310 (320, 330, 340, 350) that apply a magnetic field to the magnetorheological fluid M within the fluid passages, and a magnetic field control device 600 that controls the magnitude of the magnetic field applied by the magnetic field application units. Therefore, a magnetic field can be effectively applied to the magnetorheological fluid M that is pressed against the sole and flows out from the hydraulic cylinder 110, and the resistance corresponding to the viscosity of the magnetorheological fluid M generated thereby can be applied to the hydraulic cylinder 110.

[0059] Furthermore, according to the sole tactile presentation device 10, the tactile presentation device 100 further includes fluid absorption units 510 (520, 530, 540, 550) that are connected to the fluid passages 210 (220, 230, 240, 250) and absorb the magnetorheological fluid M that flows out from the hydraulic cylinders 110 (120, 130, 140, 150) when the top 114t of the piston is pressed against the sole, thereby expanding in volume. The fluid absorption units reduce their volume by elastic force when the top 114t of the piston is not pressed against the sole, and push back the absorbed magnetorheological fluid M into the hydraulic cylinder. Therefore, tactile presentation can be performed when the top 114t of the piston is pressed against the sole, and the magnetorheological fluid M can be pushed back into the hydraulic cylinder when the top 114t of the piston is not pressed against the sole, enabling tactile presentation to be performed again at the top 114t of the piston.

[0060] (Modification example) Next, a modification example of the sole tactile presentation device 10 according to the above-described embodiment will be described. The modification example will be described without being illustrated.

[0061] In the above-described embodiment, the footwear 1 in which the sole tactile presentation device 10 is used has been described as a sneaker, but the footwear 1 is not limited to a sneaker and may be any item having at least a sole 2. For example, the footwear 1 may be leather shoes, hiking boots, pumps, high heels, boots, sandals, overshoes, socks, etc.

[0062] In the above-described embodiment, the sole tactile presentation device 10 has been described as having the tactile presentation device 100 provided on the insole 2in. However, the tactile presentation device 100 may be provided at any part of the sole 2. For example, the tactile presentation device 100 may be provided on the outsole 2out. However, even in this case, the tactile presentation portion 114t needs to be exposed from the upper surface of the sole 2.

[0063] Furthermore, not all the components of the tactile presentation device 100 are limited to being provided on the sole 2, and at least the hydraulic cylinders 110 (120, 130, 140, 150) may be provided on the sole 2. That is, any one or all of the fluid passages 210 (220, 230, 240, 250) connected to the hydraulic cylinders 110, the magnetic field application portions 310 (320, 330, 340, 350), the electric wires 400, the fluid absorption portions 510 (520, 530, 540, 550), and the magnetic field control device 600 may be provided outside the sole 2.

[0064] Also, when the tactile presentation device 100 is provided on the insole 2in, it is not limited to the case where the insole 2in and the outsole 2out are integrated, and the insole 2in may be detachable from the outsole 2out, for example, a replacement insole.

[0065] In the above-described embodiment, the tactile presentation device 100 has been described as having five tactile presentation portions 114t. However, it may have at least one tactile presentation portion 114t. Even when it has a plurality of tactile presentation portions 114t, the number of tactile presentation portions 114t is not limited to five.

[0066] Furthermore, the sole tactile presentation device 10 is not limited to the case where at least one tactile presentation portion 114t is arranged corresponding to the position of the toes on the sole 2, and it may be any case where at least one tactile presentation portion 114t is arranged corresponding to any position on the sole of the foot on the sole 2. For example, the tactile presentation portion 114t may be arranged corresponding to the position of the heel.

[0067] In the above-described embodiment, the hydraulic cylinder 110 has been described as having a tactile presentation unit. However, anything that has a tactile presentation unit and contacts and presses the sole of the foot to cause the magnetorheological fluid M to flow out may be used. For example, it may be a chamber formed of an elastic material.

[0068] In the above-described embodiment, the absorption-side cylinder tube 512 and the absorption-side piston 514 have been described as having a fluid absorption unit. However, the fluid absorption unit may be anything that absorbs the magnetorheological fluid M flowing out of the hydraulic cylinder 110 and expands in volume. For example, it may be a chamber formed of an elastic material or an accumulator.

[0069] In the above-described embodiment, the magnetic field application unit has been described as applying a magnetic field to the magnetorheological fluid M in the fluid passage. However, it may apply a magnetic field to the magnetorheological fluid M in the hydraulic cylinder or to the magnetorheological fluid M in the fluid absorption unit.

[0070] In the above-described embodiment, the magnetic field application unit has been arranged such that the direction of the magnetic field lines of the magnetic field applied to the magnetorheological fluid M in the fluid passage coincides with the direction of the fluid passage. However, it may be arranged such that the magnetic field lines of the applied magnetic field intersect the fluid passage. For example, the magnetic field application unit may further have a yoke sandwiching the fluid passage, and the yoke guides the magnetic field lines output by a coil provided at an adjacent position of the fluid passage to apply a magnetic field to the magnetorheological fluid M in the fluid passage such that the magnetic field lines intersect the fluid passage.

[0071] In addition, the sole tactile presentation device 10 may further include a sensor such as a magnetic field control device 600. For example, the sensor may be disposed on the upper surface of the insole 2in to sense the state of the sole, output a signal to the current control unit 630, and the current control unit 630 may control the current supplied to the magnetic field application unit according to the state of the sole. Also, for example, the sensor may be disposed on the bottom surface of the outsole 2out to sense the state of the ground and output a signal to the current control unit 630.

[0072] In the above embodiment, it has been described that the top 114t (tactile presentation part) of the piston 114 of the first hydraulic cylinder 110 to the fifth hydraulic cylinder 150 is exposed from the upper surface of the sole 2. However, even if the top 114t of the piston 114 is not exposed from the upper surface of the sole 2, that is, even if the first hydraulic cylinder 110 to the fifth hydraulic cylinder 150 are provided inside the sole 2, the first hydraulic cylinder 110 to the fifth hydraulic cylinder 150 are respectively arranged corresponding to the positions of the five fingers where many nerves of the foot are concentrated, and thus an effect of presenting various tactile sensations on the sole can be recognized.

Industrial Applicability

[0073] The present invention can be applied to, for example, a sole tactile presentation device used in footwear to present tactile sensations on the sole.

Explanation of Signs

[0074] 1 Footwear 2 Sole 10 Sole tactile presentation device 100 Tactile presentation device 110 First hydraulic cylinder 114 Piston 114t Top of piston (tactile presentation part) 120 Second hydraulic cylinder 130 Third hydraulic cylinder 140 Fourth hydraulic cylinder 150 Fifth hydraulic cylinder 210 First fluid passage 220 Second fluid passage 230 Third fluid passage 240 Fourth fluid passage 250 Fifth fluid passage 310 First magnetic field application section 320 Second magnetic field application section 330 Third magnetic field application section 340 Fourth magnetic field application section 350 Fifth magnetic field application section 510 First fluid absorption section 520 Second fluid absorption section 530 Third fluid absorption section 540 Fourth fluid absorption section 550 Fifth fluid absorption section 600 Magnetic field control device M Magnetorheological fluid

Claims

1. a sole of a footwear; a tactile presentation device that presents a tactile sensation to the sole of the foot using a magnetorheological fluid; A sole tactile presentation device comprising: the tactile presentation device has a tactile presentation part that is exposed from the upper surface of the sole and can contact the sole of the foot; the tactile presentation part presents a tactile sensation of any hardness to the sole of the foot according to the viscosity of the magnetorheological fluid; the tactile presentation device has a hydraulic cylinder provided on the sole; the magnetorheological fluid is used as the working fluid of the hydraulic cylinder; the top of the piston constituting the hydraulic cylinder is exposed from the upper surface of the sole as the tactile presentation part, and presents a tactile sensation of any hardness to the sole of the foot according to the viscosity of the magnetorheological fluid; the hydraulic cylinder has a cylinder tube and a piston slidably fitted axially with respect to the cylinder tube, and the magnetorheological fluid as the working fluid is configured not to pass through the gap between the piston and the cylinder tube; A sole tactile presentation device characterized by the above.

2. The sole tactile presentation device according to Claim 1, the tactile presentation device has a plurality of the tactile presentation parts; the plurality of tactile presentation parts are respectively arranged corresponding to the positions of a plurality of toes; A sole tactile presentation device characterized by the above.

3. The sole tactile presentation device according to Claim 1 or 2, the tactile presentation device is provided on the sole; the tactile presentation device has a fluid passage having one end connected to the hydraulic cylinder and serving as a passage for the magnetorheological fluid; a magnetic field application part that applies a magnetic field to the magnetorheological fluid in the fluid passage; a magnetic field control device that controls the magnitude of the magnetic field applied by the magnetic field application part; further comprises; A sole tactile presentation device characterized by the above.

4. The sole tactile presentation device according to Claim 3, the tactile presentation device further has a fluid absorption part connected to the other end of the fluid passage, and when the top of the piston is pressed against the sole of the foot, absorbs the magnetorheological fluid flowing out of the hydraulic cylinder and expands in volume; when the top of the piston is not pressed against the sole of the foot, the fluid absorption part reduces its volume by an elastic force and pushes back the absorbed magnetorheological fluid to the hydraulic cylinder; A sole tactile presentation device characterized by the above.

5. A sole of a footwear; a tactile presentation device that presents a tactile sensation to the sole of the foot using a magnetorheological fluid; A sole tactile presentation device comprising: The tactile presentation device is, a tactile presentation unit that protrudes from the upper surface of the sole and can contact the sole of the foot; a magnetic field application unit that applies a magnetic field to the magnetorheological fluid; a sensor that is disposed on the bottom surface of the sole, senses the state of the ground, and outputs a signal corresponding to the state of the ground to a current control unit; a current control unit that controls the magnitude of the current supplied to the magnetic field application unit according to a signal corresponding to the state of the ground; and has the tactile presentation unit presents a tactile sensation of an arbitrary hardness to the sole of the foot according to the viscosity of the magnetorheological fluid. A sole tactile presentation device characterized by the above.

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