Force feedback device

Abstract

A first direction (D1) is defined as the direction of force sense presented by a first vibrating member (31) among a plurality of vibrating members (30). A second direction (D2) is defined as the direction of force sense presented by a second vibrating member (32) among the plurality of vibrating members (30). A third direction (D2) is defined as the direction of force sense presented by a third vibrating member (33) among the plurality of vibrating members (30). A control device is capable of executing a first control pattern for controlling the vibration pattern of each of the vibrating members (30) such that both of the first direction (D1) and the third direction (D3) face the side reverse to the second direction (D2) across a virtual plane (VP). The control device is also capable of executing a second control pattern for controlling the vibration pattern of each of the vibrating members (30) such that the first direction (D1) faces the side reverse to both the second direction (D2) and the third direction (D3) across the virtual plane (VP).

Description

Technical Field

[0001] The present invention relates to a force sensation presentation device.

Background Art

[0002] The force sensation presentation device described in Patent Document 1 includes a housing, a vibrating body, and a control device. The vibrating body is located inside the housing. The housing is, for example, held by a user's hand and used. The control device presents a sense of force in a specific direction by controlling the vibration pattern of the vibrating body. As a result, the user holding the housing feels a sense of force as if the force sensation presentation device is moving in a specific direction.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a force sensation presentation device as described in Patent Document 1, if there is only one vibrating body, the sense of force given to the user is limited to a specific direction. That is, the force sensation presentation device of Patent Document 1 cannot present a sense of force as if the force sensation presentation device is rotating, or cannot variously change the virtual rotation axis of the sense of force generated by the force sensation presentation device.

Means for Solving the Problems

[0005] In order to solve the above problems, the present invention includes a housing that can be grasped by a user's hand, three or more vibrating bodies located inside the housing, and a control device capable of presenting a sense of force from each vibrating body by controlling the vibration pattern of each vibrating body. The arrangement of the plurality of vibrating bodies is such that three or more of the vibrating bodies do not lie on the same virtual straight line. Among the plurality of vibrating bodies, a specific one is designated as the first vibrating body, the direction of the sense of force presented by the first vibrating body is designated as the first direction, a specific one different from the first vibrating body among the plurality of vibrating bodies is designated as the second vibrating body, the direction of the sense of force presented by the second vibrating body is designated as the second direction, a specific one different from the first vibrating body and the second vibrating body among the plurality of vibrating bodies is designated as the third vibrating body, the direction of the sense of force presented by the third vibrating body is designated as the third direction. When a virtual plane passing through the first vibrating body, the second vibrating body, and the third vibrating body is defined as a virtual plane, the control device has a first control mode for controlling the vibration pattern of each vibrating body such that the first direction and the second direction intersect the virtual plane, and the first direction is on the opposite side of the virtual plane from the second direction, and the third direction is on the same side of the virtual plane as the first direction or parallel to the virtual plane; and a second control mode for controlling the vibration pattern of each vibrating body such that the first direction and the third direction intersect the virtual plane, and the first direction is on the opposite side of the virtual plane from the third direction, and the second direction is on the same side of the virtual plane as the third direction or parallel to the virtual plane. The present invention is a sense-of-force presentation device capable of executing these modes.

[0006] According to the above configuration, the control device can execute each vibrating body in the first control mode and the second control mode. In either the first control mode or the second control mode, the sense-of-force presentation device presents a sense of force that rotates to the user. And by switching between the first control mode and the second control mode, the virtual rotation axis of the sense-of-force presentation device can be changed to a different axis.

Advantages of the Invention

[0007] The virtual axis of rotation of the force sensation generated by the force sensation presentation device can be changed.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0009] <Regarding an Embodiment> Hereinafter, an embodiment of the force sensation presentation device will be described with reference to the drawings. Note that the drawings may show the components enlarged for easy understanding. The dimensional ratios of the components may be different from the actual ones or those in other drawings.

[0010] (Overall Configuration) As shown in FIG. 1, the force sensation presentation device 10 includes a housing 20, four vibrators 30, and a control device 40. The housing 20 is spherical as a whole. The diameter of the housing 20 is about 5 cm or more and 30 cm or less. That is, the housing 20 is sized such that a user can grasp it by hand.

[0011] The four vibrators 30 are located inside the housing 20. Although details are omitted, the four vibrators 30 are fixed inside the housing 20. As shown in FIG. 2, a virtual plane passing through at least three vibrators 30 is defined as a virtual plane VP. In this embodiment, the virtual plane VP passes through the four vibrators 30, that is, all the vibrators 30. The virtual plane VP passes through the center of gravity G of the housing 20.

[0012] As shown in FIG. 3, the center of gravity G of the housing 20 coincides with the geometric center of the housing 20 when viewed in a direction orthogonal to the virtual plane VP. That is, the center of gravity G is the center of the spherical housing 20. An axis passing through the center of gravity G of the housing 20 and parallel to the virtual plane VP is defined as the first reference axis X. Further, an axis orthogonal to the first reference axis X and parallel to the virtual plane VP is defined as the second reference axis Y. Therefore, the virtual plane VP is a plane including the first reference axis X and the second reference axis Y. Furthermore, as shown in FIG. 2, an axis passing through the center of gravity G of the housing 20 and perpendicular to the virtual plane VP is defined as the third reference axis Z. Then, as shown in FIG. 3, one direction along the first reference axis X is defined as the first positive direction X1, and the direction opposite to the first positive direction X1 is defined as the first negative direction X2. Also, one direction along the second reference axis Y is defined as the second positive direction Y1, and the direction opposite to the second positive direction Y1 is defined as the second negative direction Y2. Furthermore, as shown in FIG. 2, one direction along the third reference axis Z is defined as the third positive direction Z1, and the direction opposite to the third positive direction Z1 is defined as the third negative direction Z2.

[0013] As shown in FIG. 3, the vibrating body 30 is substantially cubic. The vibrating body 30 is configured to be vibratable in directions along two reference axes. Although not shown, the vibrating body 30 includes two voice coil motors, weights corresponding to the respective voice coil motors, and a cubic case that houses these components. The weight vibrates due to the force generated when an electric current flows through the coil of the voice coil motor. When the weight vibrates, the case vibrates due to the vibration of the weight.

[0014] The four vibrating bodies 30 are a first vibrating body 31, a second vibrating body 32, a third vibrating body 33, and a fourth vibrating body 34. The first vibrating body 31 is located on the first reference axis X. Also, the first vibrating body 31 is located on the first positive direction X1 side with respect to the center of gravity G. And the directions of vibration of the first vibrating body 31 are two types, namely, the direction along the second reference axis Y and the direction along the third reference axis Z. In the present embodiment, the first reference axis X is a virtual straight line passing through the first vibrating body 31 and the second vibrating body 32.

[0015] The second vibrating body 32 is located on the first reference axis X. Also, the second vibrating body 32 is located on the first negative direction X2 side with respect to the center of gravity G. The distance from the second vibrating body 32 to the center of gravity G is equal to the distance from the first vibrating body 31 to the center of gravity G. The directions of vibration of the second vibrating body 32 are two types: the direction along the second reference axis Y and the direction along the third reference axis Z.

[0016] The third vibrating body 33 is located on the second reference axis Y. Also, the third vibrating body 33 is located on the second positive direction Y1 side with respect to the center of gravity G. The distance from the third vibrating body 33 to the center of gravity G is equal to the distance from the first vibrating body 31 to the center of gravity G. The directions of vibration of the third vibrating body 33 are two types: the direction along the first reference axis X and the direction along the third reference axis Z.

[0017] The fourth vibrating body 34 is located on the second reference axis Y. Also, the fourth vibrating body 34 is located on the second negative direction Y2 side with respect to the center of gravity G. The distance from the fourth vibrating body 34 to the center of gravity G is equal to the distance from the first vibrating body 31 to the center of gravity G. The directions of vibration of the fourth vibrating body 34 are two types: the direction along the first reference axis X and the direction along the third reference axis Z.

[0018] As described above, while the third vibrating body 33 and the fourth vibrating body 34 are located on the second reference axis Y, they are not located on the first reference axis X through which the first vibrating body 31 and the second vibrating body 32 pass. That is, the arrangement of the plurality of vibrating bodies 30 is such that three or more vibrating bodies 30 are not located on the same virtual straight line. Also, each vibrating body 30 is located on either the first reference axis X or the second reference axis Y. That is, the four vibrating bodies 30 are located on the virtual plane VP.

[0019] The control device 40 is located inside the housing 20. Also, in FIGS. 2 to 5, the illustration of the control device 40 is omitted. The control device 40 includes a CPU and a ROM and executes software processing. The control device 40 is connected to each vibrator 30 by a signal line. By controlling the vibration pattern of each vibrator 30, it is possible to present a sense of force in a specific direction from each vibrator 30. Although not shown, the force feedback device 10 includes a battery. The battery is located inside the housing 20. The battery is connected to the control device 40 and each vibrator 30 by a power line. The battery supplies power to the control device 40 and each vibrator 30.

[0020] (Control Mode) The control device 40 is capable of executing three control modes. As a result, a user who grasps the housing 20 can feel three types of force feedback. All three types of force feedback are forces that make the housing 20 rotate, but the virtual rotation axes of the housing 20 are different for each. In each control mode, the combination of the directions of the force feedback presented from the plurality of vibrators 30 is different from each other. Also, in each control mode, the magnitudes of the force feedback presented from the plurality of vibrators 30 are all the same magnitude. The three control modes are the first control mode, the second control mode, and the third control mode.

[0021] Here, let the direction of the force feedback presented by the first vibrator 31 be the first direction D1. Let the direction of the force feedback presented by the second vibrator 32 be the second direction D2. Let the direction of the force feedback presented by the third vibrator 33 be the third direction D3. Let the direction of the force feedback presented by the fourth vibrator 34 be the fourth direction D4.

[0022] As shown in FIG. 3, in the first control mode, the control device 40 controls the vibration pattern of the first vibrator 31 such that the first direction D1 is the third negative direction Z2, that is, the direction into the page in FIG. 3. In the first control mode, the control device 40 controls the vibration pattern of the second vibrator 32 such that the second direction D2 is the third positive direction Z1, that is, the direction toward the front of the page in FIG. 3. In the first control mode, the control device 40 controls the vibration pattern of the third vibrator 33 such that the third direction D3 is the third negative direction Z2. In the first control mode, the control device 40 controls the vibration pattern of the fourth vibrator 34 such that the fourth direction D4 is the third positive direction Z1.

[0023] That is, in the first control mode, the first direction D1 intersects the virtual plane VP. The second direction D2 intersects the virtual plane VP. The third direction D3 intersects the virtual plane VP. The fourth direction D4 intersects the virtual plane VP. And the first direction D1 is in the opposite direction to the second direction D2. Therefore, the first direction D1 is in the direction on the opposite side of the second direction D2 across the virtual plane VP.

[0024] On the other hand, in the first control mode, the third direction D3 is in the same direction as the first direction D1. Therefore, the third direction D3 is in the direction on the same side of the first direction D1 across the virtual plane VP. Also, the fourth direction D4 is in the same direction as the second direction D2. Therefore, the fourth direction D4 is in the direction on the same side of the second direction D2 across the virtual plane VP.

[0025] As shown in FIG. 4, in the second control mode, the control device 40 controls the vibration pattern of the first vibrator 31 such that the first direction D1 is the third positive direction Z1. In the second control mode, the control device 40 controls the vibration pattern of the second vibrator 32 such that the second direction D2 is the third negative direction Z2. In the second control mode, the control device 40 controls the vibration pattern of the third vibrator 33 such that the third direction D3 is the third negative direction Z2. In the second control mode, the control device 40 controls the vibration pattern of the fourth vibrator 34 such that the fourth direction D4 is the third positive direction Z1.

[0026] That is, in the second control mode, the first direction D1 intersects the virtual plane VP. The second direction D2 intersects the virtual plane VP. The third direction D3 intersects the virtual plane VP. The fourth direction D4 intersects the virtual plane VP. And the first direction D1 is in the opposite direction to the third direction D3. Therefore, the first direction D1 is in the direction on the opposite side of the third direction D3 across the virtual plane VP.

[0027] On the other hand, in the second control mode, the second direction D2 is in the same direction as the third direction D3. Therefore, the second direction D2 is in the direction on the same side of the third direction D3 across the virtual plane VP. Also, the fourth direction D4 is in the same direction as the first direction D1. Therefore, the fourth direction D4 is in the direction on the same side of the first direction D1 across the virtual plane VP. Note that in the second control mode, the control device 40 controls the third direction D3 and the fourth direction D4 in the same manner as in the first control mode.

[0028] As shown in FIG. 5, in the third control mode, the control device 40 controls the vibration pattern of the first vibrating body 31 so that the first direction D1 is the second negative direction Y2. In the third control mode, the control device 40 controls the vibration pattern of the second vibrating body 32 so that the second direction D2 is the second positive direction Y1. In the third control mode, the control device 40 controls the vibration pattern of the third vibrating body 33 so that the third direction D3 is the first positive direction X1. In the third control mode, the control device 40 controls the vibration pattern of the fourth vibrating body 34 so that the fourth direction D4 is the first negative direction X2.

[0029] That is, in the third control mode, all of the first direction D1 to the fourth direction D4 are parallel to the virtual plane VP. Also, in the third control mode, the first direction D1 and the second direction D2 are in directions orthogonal to the first reference axis X. Further, the first direction D1 is in the opposite direction to the second direction D2. Therefore, the first direction D1 is in the direction on the opposite side of the second direction D2 across the first reference axis X passing through the first vibrating body 31 and the second vibrating body 32.

[0030] In the third control mode, the third direction D3 and the fourth direction D4 are directions orthogonal to the second reference axis Y. Further, the third direction D3 is the direction opposite to the fourth direction D4. Therefore, the third direction D3 is the direction on the opposite side of the fourth direction D4 with the second reference axis Y passing through the third vibrator 33 and the fourth vibrator 34 interposed therebetween.

[0031] (Operation of the Embodiment) Next, the operation of the above-described embodiment will be described. As shown in FIG. 1, in a state where the user holds the housing 20 of the force feedback device 10 by hand, the control device 40 controls each vibrator 30 in each of the above-described control modes. A force feedback is applied from the housing 20 to each vibrator 30 to the user's hand.

[0032] As shown in FIG. 3, in the first control mode, the first direction D1 and the third direction D3 are the third negative direction Z2. Also, in the first control mode, the second direction D2 and the fourth direction D4 are the third positive direction Z1. Then, by applying the first to fourth force feedbacks in these directions to the user's hand, a force feedback is applied such that the housing 20 rotates about the first virtual axis R1 as the rotation axis. The first virtual axis R1 passes through the center of gravity G and extends on the virtual plane VP. The first virtual axis R1 passes between the first vibrator 31 and the fourth vibrator 34. Also, the first virtual axis R1 passes between the second vibrator 32 and the third vibrator 33. And the acute angle formed by the first virtual axis R1 and the first reference axis X is 45 degrees. Also, the acute angle formed by the first virtual axis R1 and the second reference axis Y is 45 degrees.

[0033] As shown in FIG. 4, in the second control mode, the first direction D1 and the fourth direction D4 are the third positive direction Z1. Also, in the second control mode, the second direction D2 and the third direction D3 are the third negative direction Z2. And by applying the first to fourth force sensations in these directions to the user's hand, a force sensation is applied such that the housing 20 rotates about the second virtual axis R2 as the rotation axis. The second virtual axis R2 passes through the center of gravity G and extends on the virtual plane VP. The second virtual axis R2 passes between the first vibrator 31 and the third vibrator 33. Also, the second virtual axis R2 passes between the second vibrator 32 and the fourth vibrator 34. And the second virtual axis R2 is orthogonal to the first virtual axis R1.

[0034] As shown in FIG. 5, in the third control mode, the first direction D1 is the second negative direction Y2. In the third control mode, the second direction D2 is the second positive direction Y1. In the third control mode, the third direction D3 is the first positive direction X1. The fourth direction D4 is the first negative direction X2. And by applying the first to fourth force sensations in these directions to the user's hand, a force sensation is applied such that the housing 20 rotates about the third virtual axis R3 as the rotation axis. The third virtual axis R3 passes through the center of gravity G and is orthogonal to the virtual plane VP. That is, the third virtual axis R3 is orthogonal to both the first virtual axis R1 and the second virtual axis R2.

[0035] (Effects of the Embodiment) Next, the effects of the above embodiment will be described. (1) According to the above embodiment, the control device 40 can execute each vibrating body 30 in the first control mode and the second control mode. In the first control mode, a force sensation is given to the user's hand such that the housing 20 rotates about the first virtual axis R1 as the rotation axis. Also, in the second control mode, a force sensation is given to the user's hand such that the housing 20 rotates about the second virtual axis R2 as the rotation axis. The first virtual axis R1 extends so as to pass between the first vibrating body 31 and the second vibrating body 32 and between the second vibrating body 32 and the third vibrating body 33. The second virtual axis R2 extends so as to pass between the first vibrating body 31 and the third vibrating body 33 and between the first vibrating body 31 and the second vibrating body 32. Therefore, the force sensation presenting device 10 can change the virtual rotation axis of the force sensation presenting device 10 to a different axis by switching between the first control mode and the second control mode.

[0036] (2) According to the above embodiment, the control device 40 can further execute each vibrating body 30 in the third control mode. In the third control mode, a force sensation is given to the user's hand such that the housing 20 rotates about the third virtual axis R3 as the rotation axis. The third virtual axis R3 extends perpendicular to the virtual plane VP. Therefore, the force sensation presenting device 10 can change the virtual rotation axis of the force sensation of rotation to an axis that is further different from both the first control mode and the second control mode by switching to the third control mode. Furthermore, the force sensation presenting device 10 can give the user a force sensation such that the housing 20 rotates about an axis that not only extends on the virtual plane VP but also an axis perpendicular to the virtual plane VP as the rotation axis.

[0037] (3) According to the above embodiment, the force sensation presenting device 10 includes four vibrating bodies 30. Therefore, it is easier to set the rotation axes in each control mode to be perpendicular to each other compared to the case where only three vibrating bodies 30 are provided.

[0038] (4) According to the above embodiment, the virtual plane VP passes through all the vibrating bodies 30. Therefore, it becomes easy to set the first virtual axis R1, which is the rotation axis of the first control mode, and the second virtual axis R2, which is the rotation axis of the second control mode, to pass through the center of the range surrounded by the respective vibrating bodies 30 in the virtual plane VP.

[0039] (5) According to the above embodiment, on the virtual plane VP, the distances from each vibrating body 30 to the center of gravity G are all equal. Therefore, after making the magnitudes of the force sensations presented from each vibrating body 30 the same, it becomes easy to adjust the rotation axes of the respective control modes to pass through the center of gravity G.

[0040] (6) According to the above embodiment, the control device 40 controls to present the same magnitude of force sensation from all the vibrating bodies 30. Therefore, compared with the case where the control device 40 presents different magnitudes of force sensations from each vibrating body 30 and the rotation axes of the respective control modes pass through the center of gravity G, simpler control is sufficient.

[0041] <Regarding other embodiments> The above embodiment can be implemented with the following modifications. The above embodiment and the following modification examples can be implemented in combination within a technically non - conflicting range.

[0042] · In the above embodiment, the shape of the housing 20 is not limited to spherical. The housing 20 may be, for example, columnar or polygonal. The housing 20 only needs to be graspable by at least the user's hand.

[0043] · As in the modification example shown in FIG. 6, the housing 20 may be graspable by both hands of the user. The force - sensation presentation device 110 shown in FIG. 6 is applied to a game controller. The housing 120 of the force - sensation presentation device 110 has two gripping portions 121. One gripping portion 121 is grasped by the user's right hand. The other gripping portion 121 is grasped by the user's left hand. Two vibrating bodies 30 are located in each gripping portion 121.

[0044] ·The control device 40 may be located outside the housing 20. ·In the above embodiment, the control device 40 is not limited to one including a CPU and a ROM and executing software processing. For example, at least a part of what has been processed by software in each of the above embodiments may be provided with a dedicated hardware circuit (such as an ASIC or the like) that performs hardware processing. That is, the control device 40 may have any of the following configurations (a) to (c). (a) It includes a processing device that executes all of the above processing according to a program, and a program storage device such as a ROM that stores the program. (b) It includes a processing device and a program storage device that execute a part of the above processing according to a program, and a dedicated hardware circuit that executes the remaining processing. (c) It includes a dedicated hardware circuit that executes all of the above processing. Here, there may be a plurality of software execution devices including a processing device and a program storage device, or a plurality of dedicated hardware circuits.

[0045] ·The control device 40 does not necessarily have to execute the third control mode. At least, it is sufficient that the control device 40 is capable of executing the first control mode and the second control mode. ·The control device 40 may control the magnitude of the force sensation presented from each vibrator 30 to be different. For example, when the distances from each vibrator 30 to the center of gravity G are different, the control device 40 may control the magnitude of the force sensation presented from each vibrator 30 to be different in accordance with the distance from the center of gravity G.

[0046] ·The control device 40 may further execute a control mode in which the vibration pattern of some of the vibrating bodies 30 is gradually weakened from the state of the first control mode. In this control mode, for example, the control device 40 gradually weakens the vibration modes of the first vibrating body 31 and the second vibrating body 32 from the state of the first control mode. In this case, the first virtual axis R1 changes so as to gradually approach the first reference axis X. Therefore, in this control mode, the user feels that the rotation axis in the rotational force sensation changes on the virtual plane VP. Similarly, the control device 40 may further execute a control mode in which the vibration pattern of some of the vibrating bodies 30 is gradually weakened from the state of the second control mode.

[0047] ·In the first control mode, with respect to the first direction D1 and the second direction D2, it is sufficient that the first direction D1 is a direction on the opposite side of the second direction D2 across the virtual plane VP. Therefore, the first direction D1 does not have to be the opposite direction of the second direction D2. For example, the first direction D1 may be inclined with respect to the third negative direction Z2. Further, the second direction D2 may be inclined with respect to the third positive direction Z1.

[0048] ·In the first control mode, the third direction D3 may be a direction on the same side of the first direction D1 across the virtual plane VP or a direction parallel to the virtual plane VP. When the third direction D3 is a direction on the same side of the first direction D1 across the virtual plane VP, the third direction D3 does not have to be the same direction as the first direction D1. For example, the third direction D3 may be inclined with respect to the third negative direction Z2. Also, the third direction D3 may be a direction parallel to the virtual plane VP. Even in this case, since the first virtual axis R1 and the second virtual axis R2 are different axes, the force sensation presenting device 10 can change the virtual rotation axis of the force sensation presenting device 10 to different axes by switching between the first control mode and the second control mode.

[0049] · In the second control mode, for the first direction D1 and the third direction D3, it is only necessary that the first direction D1 is on the side opposite to the third direction D3 across the virtual plane VP. Therefore, the first direction D1 does not have to be the opposite direction to the third direction D3. For example, the first direction D1 may be inclined with respect to the third positive direction Z1. Further, the third direction D3 may be inclined with respect to the third negative direction Z2.

[0050] · In the second control mode, the second direction D2 only needs to be in the same side as the third direction D3 across the virtual plane VP or in a direction parallel to the virtual plane VP. When the second direction D2 is in the same side as the first direction D1 across the virtual plane VP, the second direction D2 does not have to be the same direction as the third direction D3. For example, the second direction D2 may be inclined with respect to the third negative direction Z2. Also, the second direction D2 may be in a direction parallel to the virtual plane VP. Even in this case, since the first virtual axis R1 and the second virtual axis R2 are different axes, the force feedback device 10 can change the virtual rotation axis of the force feedback device 10 to different axes by switching between the first control mode and the second control mode.

[0051] · In the third control mode, the third direction D3 is not limited to the example of the above embodiment. In the third control mode, the third direction D3 may intersect the virtual plane VP, or the third direction D3 may not exist because no force feedback is presented from the third vibrator 33.

[0052] · In each control mode, the fourth direction D4 is not limited to the example of the above embodiment. The fourth direction D4 can be any direction, or the fourth direction D4 may not exist because no force feedback is presented from the fourth vibrator 34.

[0053] · The control device 40 may execute a control mode other than the first to third control modes. By changing the combination of the force feedback directions of each vibrator 30, it is possible to give a force feedback such that the housing 20 rotates with another virtual axis different from the first to third virtual axes R1 to R3 as the rotation axis. Also, depending on the combination of the force feedback directions of each vibrator 30, it is possible to give a force feedback such that the housing 20 moves linearly.

[0054] ·In each control mode, the control device 40 may control the vibration pattern of each vibrating body 30. In this case, it does not matter whether the vibrating body 30 is actually vibrating. Further, controlling the vibration pattern of each vibrating body 30 also includes intentionally not vibrating some of the vibrating bodies 30.

[0055] ·In the above embodiment, the configuration of the vibrating body 30 is not limited to the configuration of the above embodiment. For example, the vibrating body 30 may use vibration by a motor or may have a piezo element.

[0056] ·The number of vibrating bodies 30 may be three or five or more. In this case, among the plurality of vibrating bodies 30, a specific one may be defined as the first vibrating body 31, a specific one that is not the first vibrating body 31 may be defined as the second vibrating body 32, and a specific one that is not the first vibrating body 31 and the second vibrating body 32 may be defined as the third vibrating body 33. Then, the control device 40 may control each vibrating body 30 in the first control mode and the second control mode.

[0057] ·The position of the vibrating body 30 is not limited to the example of the above embodiment. For example, the virtual plane VP may not pass through the fourth vibrating body 34. That is, the fourth vibrating body 34 may be located at a position where the virtual plane VP does not pass. Even in this case, the virtual plane VP is defined as a virtual plane where at least three vibrating bodies 30 exist.

[0058] ·The second vibrating body 32 may not be present on the first reference axis X, and the distance from the second vibrating body 32 to the center of gravity G may be different from the distance from the first vibrating body 31 to the center of gravity G. ·The third vibrating body 33 may not be present on the second reference axis Y, and the distance from the third vibrating body 33 to the center of gravity G may be different from the distance from the first vibrating body 31 to the center of gravity G.

[0059] · The fourth vibrator 34 may not be present on the second reference axis Y, and the distance from the fourth vibrator 34 to the center of gravity G may be different from the distance from the first vibrator 31 to the center of gravity G. · The virtual plane VP in which at least three vibrators 30 are present may not pass through the center of gravity G of the housing 20. In the above embodiment, the virtual plane VP may be shifted to the third positive direction Z1 side or the third negative direction Z2 side with respect to the center of gravity G.

Explanation of Reference Numerals

[0060] 10, 110... Force feedback device 20, 120... Housing 30... Vibrator 31... First vibrator 32... Second vibrator 33... Third vibrator 34... Fourth vibrator 40... Control device D1... First direction D2... Second direction D3... Third direction D4... Fourth direction VP... Virtual plane

Claims

1. A housing that can be grasped by a user's hand, Three or more vibrators located inside the housing, A control device capable of presenting a sense of force from each vibrator by controlling the vibration pattern of each vibrator, Comprising, The arrangement of the plurality of vibrators is such that three or more of the vibrators do not lie on the same virtual straight line, Identifying a specific one of the plurality of vibrators as the first vibrator, and designating the direction of the sense of force presented by the first vibrator as the first direction, Identifying a specific one of the plurality of vibrators different from the first vibrator as the second vibrator, and designating the direction of the sense of force presented by the second vibrator as the second direction, Identifying a specific one of the plurality of vibrators different from the first vibrator and the second vibrator as the third vibrator, and designating the direction of the sense of force presented by the third vibrator as the third direction, When a virtual plane passing through the first vibrator, the second vibrator, and the third vibrator is defined as a virtual plane, The control device, A first control mode for controlling the vibration pattern of each vibrator such that the first direction and the second direction intersect the virtual plane, and the first direction is on the opposite side of the virtual plane from the second direction, and the third direction is on the same side of the virtual plane as the first direction or parallel to the virtual plane, A second control mode for controlling the vibration pattern of each vibrator such that the first direction and the third direction intersect the virtual plane, and the first direction is on the opposite side of the virtual plane from the third direction, and the second direction is on the same side of the virtual plane as the third direction or parallel to the virtual plane, Is capable of executing A force sense presentation device.

2. The control device, A third control mode for controlling the vibration pattern of each vibrator such that the first direction and the second direction are parallel to the virtual plane, and the first direction is on the opposite side of the virtual line passing through the first vibrator and the second vibrator from the second direction, Is further capable of executing The force sense presentation device according to Claim 1.

3. Comprising four of the vibrators The force sense presentation device according to Claim 1.

4. The virtual plane passes through all of the vibrators The force sense presentation device according to Claim 3.

5. When viewing the housing in a direction perpendicular to the virtual plane, the distances from the geometric center of the housing to each vibrator are all equal The force sensation presentation device according to claim 1.

6. The control device controls so as to present the same magnitude of force sensation from all of the vibrating bodies. The force sensation presentation device according to claim 1.

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