Pressure sensor and operating device

Abstract

A pressure sensing device (3, 3A) comprises: an annular mounting member (4, 4A); a slide member (6, 6A) disposed so as to be able to slide along the outer peripheral surface (4S) of the mounting member in a first rotation direction (+D1) around the center axis of the mounting member, and in a direction (-D1) opposite the first rotation direction; a driving device (5, 5A) that causes the slide member to slide; and a protruding member (8, 8A) that protrudes to the inner side of the mounting member as the slide member slides in the first rotation direction.

Description

[Technical Field]

[0001] The present invention relates to a pressure sensing device and an operating device. [Background technology]

[0002] Conventionally, there are known operating devices that provide haptic feedback to users in virtual reality and mixed reality. One such operating device is a foldable haptic device that is worn on the fingers of a user's hand and provides haptic feedback to the user by pressing the pads of the fingers when the user touches a virtual object (see, for example, Non-Patent Document 1).

[0003] The tactile device described in Non-Patent Document 1 comprises an annular member into which the fingertip is inserted, a motor provided in the annular member, a pinion provided in the rotor of the motor, and a sliding member that meshes with the pinion. The sliding member has a rack portion that meshes with the pinion, a hinge portion, a wedge portion, and a contact portion. When the motor is driven and the pinion is rotated in one direction, the sliding member slides in a first direction along the outer circumferential surface of the annular member. When the hinge portion passes through the notch in the annular member, the sliding member bends at the wedge portion located on the opposite side of the hinge portion from the rack portion, and the contact portion of the sliding member comes into contact with the pad of the user's finger. This provides a clicking sensation to the pad of the user's finger. When the pinion is rotated in the other direction, the sliding member slides along the outer circumferential surface of the annular member in the direction opposite to the first direction, and the contact between the contact portion and the user's finger is released. [Prior art documents] [Non-patent literature]

[0004] [Non-Patent Document 1] Human Computer Integration Lab (Lopes' Lab) at University of Chicago "Touch & Fold: A Foldable Haptic Actuator for Rendering Touch in Mixed Reality", Internet, [Retrieved March 7, 2022], URL: https: / / lab.plopes.org / published / 2021-CHI-TouchFold.pdf Summary of the Invention [Problem to be solved by the invention]

[0005] In recent years, there has been an increasing demand for a configuration capable of realizing haptic feedback in virtual reality and mixed reality, and a configuration capable of providing appropriate haptic feedback in response to user operations has been desired. [Means for solving the problem]

[0006] The pressure sensing device according to a first aspect of the present invention comprises a cylindrical mounting member, a sliding member slidable along the outer surface of the mounting member in a first rotational direction around the central axis of the mounting member and in a direction opposite to the first rotational direction, a driving device for sliding the sliding member, and a protruding member that protrudes inward of the mounting member as the sliding member slides in the first rotational direction.

[0007] An operating device according to a second aspect of the present invention includes the pressure sensing device according to the first aspect. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a schematic configuration of an operation system according to a first embodiment. [Figure 2] FIG. 2 is a block diagram showing the configuration of a puppet operation device and a control device according to the first embodiment. [Figure 3] FIG. 2 is a block diagram showing the configuration of a communication device and an operation device according to the first embodiment. [Figure 4] FIG. 2 is a plan view showing the operating device according to the first embodiment. [Figure 5] FIG. 1 is a perspective view showing a pressure sensing device according to a first embodiment. [Figure 6] FIG. 1 is a perspective view showing a pressure sensing device according to a first embodiment. [Figure 7] FIG. 1 is a diagram showing a pressure sensing device according to a first embodiment. [Figure 8] FIG. 1 is a diagram showing a pressure sensing device according to a first embodiment. [Figure 9] 4 is a diagram showing the pressure sensing device in the first embodiment when the sliding member is rotated in a first rotation direction. FIG. [Figure 10] FIG. 10 is a perspective view showing a pressure sensing device provided in the operation device of the operation system according to the second embodiment. [Figure 11] FIG. 10 is a perspective view showing a pressure sensing device according to a second embodiment. [Figure 12] FIG. 10 is a diagram showing a pressure sensing device according to a second embodiment. [Figure 13] FIG. 10 is a cross-sectional view showing a pressure sensing device according to a second embodiment. [Figure 14] FIG. 10 is a perspective view showing a conversion member according to a second embodiment. [Figure 15] FIG. 10 is a perspective view showing a conversion member according to a second embodiment. [Figure 16] FIG. 10 is a perspective view showing a protruding member according to a second embodiment. [Figure 17] FIG. 10 is a perspective view showing a protruding member according to a second embodiment. [Figure 18] 10A and 10B are diagrams showing a slide member and a protruding member in a second embodiment. [Figure 19] 10A and 10B are diagrams showing a slide member and a protruding member in a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] [First embodiment] A first embodiment of the present invention will be described below with reference to the drawings. [Outline of the operating system] FIG. 1 is a schematic diagram showing a general configuration of an operation system 1 according to this embodiment. 1, the manipulation system 1 according to this embodiment includes a puppet manipulation device 11, a control device 12, a communication device 13, a magnetic field generator 14, and a manipulation device 2. In the manipulation system 1, the manipulation device 2 remotely controls the puppet manipulation device 11 attached to the puppet PP via the control device 12 and the communication device 13, and the manipulation device 2 makes the user perceive a stimulus detected by the puppet manipulation device 11. The puppet PP is a hollow doll having a body PP1, a head PP2, a right arm PP3, and a left arm PP4, and is made of, for example, cloth. Furthermore, the magnetic field generating device 14 generates a magnetic field that is detected by a posture detecting unit 22 of the operating device 2, which will be described later.

[0010] [Configuration of puppet operation device] Puppet operation device 11 is an object to be operated by operation device 2. Puppet operation device 11 is inserted inside puppet PP and moves puppet PP. Puppet operation device 11 is also operated by a user other than the user who uses operation device 2, and can be said to be an operation device that gives external stimuli to the user by operation device 2.

[0011] As shown in FIG. 1, the puppet operation device 11 includes a driving unit 111. The drive unit 111 operates in response to a control signal input from the control device 12. The drive unit 111 operates the head PP2, the right arm PP3, and the left arm PP4. The drive unit 111 has a support unit 112, a head drive unit 113, a right arm drive unit 114, and a left arm drive unit 115. The support section 112 is provided corresponding to the torso section PP1, and supports a head driving section 113, a right arm driving section 114, and a left arm driving section 115. The head driver 113 bends or extends the head PP2. The right arm driver 114 bends or extends the right arm PP3. The left arm driver 115 bends or extends the left arm PP4. The drivers 113 to 115 can be exemplified by a configuration including a plurality of links configured to be mutually bendable, and motors that operate the plurality of links.

[0012] FIG. 2 is a block diagram showing the configuration of the puppet operating device 11 and the control device 12. As shown in FIG. 2, the puppet operation device 11 further includes a detection unit 116. The detection unit 116 detects a stimulus acting on the puppet operating device 11 and outputs the detection result to the control device 12. The detection unit 116 includes a tactile sensor 117 and a temperature sensor 118. The tactile sensor 117 detects the approach of an object without contact. The tactile sensor 117 also detects the pressure applied to the object it touches. In other words, the tactile sensor 117 detects the pressure acting from the object it touches. The tactile sensor 117 is provided, for example, at positions corresponding to the torso PP1, the head PP2, the tip of the right arm PP3, and the tip of the left arm PP4 of the puppet operation device 11. The tactile sensor 117 transmits the detection results to the control device 12. The tactile sensor 117 functions as a proximity sensor that detects the approach of an object and as a pressure sensor that detects pressure. However, the present invention is not limited to this, and the tactile sensor 117 may have either the function as a proximity sensor or the function as a pressure sensor. The tactile sensor 117 may also have at least one of a proximity sensor and a pressure sensor. Instead of the tactile sensor 117, at least one of a proximity sensor and a pressure sensor may be provided. The temperature sensors 118 detect temperature. The temperature sensors 118 are provided, for example, at positions corresponding to the torso PP1, head PP2, right arm PP3, and left arm PP4 of the puppet operating device 11, and transmit the detected temperatures to the control device 12.

[0013] [Control device configuration] The control device 12 controls the operation of the puppet operation device 11. Specifically, the control device 12 drives the driving unit 111 in response to operation information received from the operation device 2 via the communication device 13, thereby operating the puppet operation device 11 and ultimately the puppet PP. As shown in FIG. 2, the control device 12 includes a communication unit 121, a storage unit 122, and a control unit 123. The communication unit 121 communicates with the puppet operation device 11 and also communicates with the communication device 13 via the network NT. Under the control of the control unit 123, the communication unit 121 outputs operation information received from the communication device 13 to the control unit 123 and also transmits detection information indicating the detection result by the detection unit 116 of the puppet operation device 11 to the communication device 13. The communication unit 121 may be connected to the puppet operation device 11 by wire, or may be connected by a communication method conforming to wireless communication standards such as Bluetooth (registered trademark) and IEEE 802.11.

[0014] The storage unit 122 stores programs and data necessary for the operation of the control device 12. For example, the storage unit 122 stores connection information with the communication device 13, the type of the puppet operation device 11, and an operation program for operating the puppet operation device 11 based on the received operation information.

[0015] The control unit 123 includes a calculation processing circuit such as a CPU (Central Processing Unit), and controls the operation of the puppet operation device 11 in accordance with the program stored in the storage unit 122. Specifically, the control unit 123 transmits a control signal to the puppet operation device 11 via the communication unit 121 to operate the driving unit 111 of the puppet operation device 11 based on the operation information received from the communication device 13. The control unit 123 also transmits detection information indicating the detection result by the detection unit 116 of the puppet operation device 11 to the communication device 13 via the communication unit 121.

[0016] [Communication device configuration] FIG. 3 is a block diagram showing the configuration of the communication device 13 and the operation device 2. As shown in FIG. 1, the communication device 13 transmits operation information corresponding to an operation signal input from the operation device 2 to the control device 12, and also operates the operation device 2 based on detection information received from the control device 12. In other words, the communication device 13 is an operation device-side control device that controls part of the configuration of the operation device 2. As shown in FIG. 3, the communication device 13 has a communication unit 131, a storage unit 132, and a control unit 133.

[0017] The communication unit 131 communicates with the controller device 2 and also communicates with the control device 12 via the network NT. Under the control of the control unit 133, the communication unit 131 outputs detection information received from the control device 12 to the control unit 133 and also transmits operation information based on an operation signal received from the controller device 2 to the control device 12. Note that the communication unit 131 may be connected to the controller device 2 by wire, or may be connected by a communication method conforming to wireless communication standards such as Bluetooth (registered trademark) and IEEE 802.11.

[0018] The storage unit 132 stores programs and data necessary for the operation of the communication device 13. For example, the storage unit 132 stores a conversion program that converts an operation signal received from the manipulation device 2 into operation information suitable for the control device 12 to operate the puppet manipulation device 11. Also, for example, the storage unit 132 stores connection information for connecting to the control device 12 that controls the puppet manipulation device 11 that is the operation target of the manipulation device 2. Therefore, when there are multiple pairs of control device 12 and puppet manipulation device 11 connected to the network NT, the storage unit 132 stores connection information for each control device 12.

[0019] The control unit 133 converts the operation signal received from the controller device 2 into the above-mentioned operation information based on the conversion program, and transmits the operation information to the control device 12 via the communication unit 131. The control unit 133 also generates a control signal for operating the controller device 2 based on the detection information received from the control device 12 by the communication unit 131, transmits the generated control signal to the controller device 2, and controls part of the configuration of the controller device 2.

[0020] [Configuration of operation device] The operating device 2 remotely controls the puppet operating device 11. Specifically, the operating device 2 detects the user's movements, transmits an operating signal corresponding to the detected user movements to the communication device 13, and operates the puppet operating device 11 via the communication device 13 and the control device 12. In this embodiment, the operating device 2 detects the movements of the user's hands and fingers. In addition, the operating device 2 provides an external stimulus to the user in response to a control signal received from the communication device 13 based on the detection result by the detection unit 116 of the puppet operating device 11.

[0021] FIG. 4 is a plan view showing the operating device 2. As shown in FIG. As shown in FIG. 4, the operating device 2 includes a glove 21 that is worn on one hand UH of the user, and a plurality of pressure sensing devices 3 (31 to 35). Glove 21 is made of, for example, elastic fiber. More specifically, glove 21 has finger portions 211-215 into which the fingers F of one hand UH are individually inserted, and palm portion 216 provided to correspond to the palm and back of one hand UH.

[0022] [Configuration of pressure sensor] Each of the multiple pressure sensing devices 3 presses against a part of the user's body to give the user a pressure sensation. In this embodiment, each of the multiple pressure sensing devices 3 is provided on each of the finger portions 211 to 215 of the glove 21 to give a pressure sensation to the user's fingers F. That is, each of the multiple pressure sensing devices 3 is worn on the thumb F1, index finger F2, middle finger F3, ring finger F4, and little finger F5, respectively. Specifically, the multiple pressure sensing devices 3 include a pressure sensing device 31 attached to the thumb F1, a pressure sensing device 32 attached to the index finger F2, a pressure sensing device 33 attached to the middle finger F3, a pressure sensing device 34 attached to the ring finger F4, and a pressure sensing device 35 attached to the little finger F5.

[0023] 5 and 6 are perspective views showing the pressure sensing device 3. More specifically, Fig. 5 is a perspective view showing the pressure sensing device 3 as seen from the tip side of the finger on which it is worn, and Fig. 6 is a perspective view showing the pressure sensing device 3 as seen from the base side of the finger on which it is worn. As shown in FIGS. 5 and 6, the pressure sensing device 3 includes a mounting member 4, a driving device 5, a sliding member 6, a guide member 7, and a protruding member 8. In the following description, the three mutually perpendicular directions are referred to as the +X direction, +Y direction, and +Z direction. In this embodiment, the +Z direction is the direction along the central axis of the attachment member 4, and is the direction in which a finger is inserted into the attachment member 4. The right direction as viewed from the +Z direction is referred to as the +X direction, and the upward direction as viewed from the +Z direction is referred to as the +Y direction. Although not shown in the drawings, the direction opposite the +X direction is referred to as the -X direction, the direction opposite the +Y direction is referred to as the -Y direction, and the direction opposite the +Z direction is referred to as the -Z direction.

[0024] [Configuration of mounting components] The wearing member 4 is formed in a cylindrical shape, and the user's finger is inserted into the inside of the wearing member 4 in the +Z direction. That is, the wearing member 4 has an opening 41 formed so as to penetrate the wearing member 4 along the +Z direction. The user's finger F is inserted into the opening 41. In this embodiment, the wearing member 4 is formed in a cylindrical shape. In addition, the mounting member 4 includes a fixing portion 42, a guide portion 43, a notch 44, a support portion 47, and a recess 48.

[0025] The fixing portion 42 is a portion that protrudes in the +Y direction from the outer peripheral surface 4S of the mounting member 4, and the driving device 5 is fixed to the fixing portion 42. More specifically, the end portion of the driving device main body 51 of the driving device 5 in the +Z direction is fixed to the fixing portion 42 with a screw SC. The fixed portion 42 is formed in a substantially U-shape when viewed from the +Z direction. That is, the fixed portion 42 has a through-hole 421 that penetrates in the +Z direction. The rotor 52 of the drive unit 5 is inserted through the through-hole 421 along the +Z direction. The guide portion 43 protrudes from the outer peripheral surface 4S along the circumferential direction of the outer peripheral surface 4S. The guide portion 43 is provided on the outer peripheral surface 4S and guides the sliding of the slide member 6 along the outer peripheral surface 4S. In addition, the guide portion 43 holds the slide member 6 between itself and the guide member 7 attached to the outer peripheral surface 4S. As shown in FIG. 6 , a restricting portion 431 that can come into contact with the end of the slide member 6 is provided at the end of the guide portion 43 that is clockwise when viewed from the +Z direction. The restricting portion 431 restricts the sliding of the slide member 6 in the clockwise direction when viewed from the +Z direction. In other words, the restricting portion 431 defines one end of the sliding range of the slide member 6.

[0026] The notch 44 is formed along the +Z direction in a portion of the mounting member 4 opposite the portion where the fixing portion 42 is provided. In other words, the notch 44 is formed along the +Z direction in a portion of the mounting member 4 in the -Y direction. That is, the notch 44 connects the end of the mounting member 4 in the -Z direction with the end of the mounting member 4 in the +Z direction, and is cut out so as to straddle the end of the mounting member 4 in the -Z direction and the end of the mounting member 4 in the +Z direction. Of the edges 45, 46 of the attachment member 4 that are separated from each other by the notch 44, the distance between the edge 45 in the -X direction and the edge 46 in the +X direction is expanded when a finger is inserted into the opening 41. In other words, the attachment member 4 has flexibility that allows the inner diameter of the opening 41 to expand. This allows the attachment member 4 to fit the inserted finger.

[0027] The support portion 47 is provided on a portion of the outer peripheral surface 4S in the -Y direction. More specifically, the support portion 47 is disposed at a position clockwise from the edge 45 when viewed from the +Z direction. The support portion 47 supports the protruding member 8 so that the protruding member 8 is rotatable about a rotation axis Rx1 along the +Z direction. In this embodiment, the support portion 47 supports the hinge portion 82 of the protruding member 8, which serves as the rotation axis Rx1, but may also be configured to include a pin that is inserted into the protruding member 8 and serves as the rotation axis Rx1. As shown in FIG. 6 , the recess 48 is provided on the edge 46 in the +X direction of the edges 45, 46 formed by the notch 44. Specifically, the recess 48 is a recess that is recessed in the +X direction away from the edge 45 at the center in the +Z direction of the edge 46. In other words, the recess 48 is a recess that is recessed in the first rotation direction +D1 from the edge 46 in the first rotation direction +D1, which will be described later, of the edges 45, 46 formed by the notch 44. A free end of the protruding member 8 supported by the support portion 47, which is a portion opposite a hinge portion 82, which will be described later, is disposed within the recess 48. Note that, although not shown, the edge 45 in the opposite direction -D1 from the first rotation direction +D1, which will be described later, is provided with a recess that is recessed in the opposite direction -D1. A portion of the protruding member 8 is disposed inside the recess of each edge 45, spanning the recess of the edge 45 and the recess 48 of the edge 46.

[0028] FIG. 7 is a diagram showing the pressure sensing device 3 as viewed from the +Z direction. The mounting member 4 further includes a pressing portion 49 as shown in FIG. The retaining portion 49 is provided in the +Y direction inside the opening 41. In other words, the retaining portion 49 is provided at a position inside the opening 41 opposite to the arrangement side of the protruding member 8. The retaining portion 49 protrudes from the inner surface of the opening 41 in the -Y direction, which is the arrangement side of the protruding member 8. The holding portion 49 comes into contact with a part (for example, a nail) of the finger F inserted into the opening 41. This makes it possible to prevent the finger F from swinging within the opening 41. In addition, when a pressing portion 84 (described later) of the protruding member 8 presses the finger F in the +Y direction, the holding portion 49 prevents the finger F from moving in the +Y direction, thereby enabling the pressing portion 84 to reliably press the pad of the finger F.

[0029] [Driver configuration] 5 to 7 engages with a slide member 6 to slide the slide member 6. The drive unit 5 is configured by a motor such as a stepping motor. The drive unit 5 has a drive unit main body 51, a rotor 52, a pinion 53, and a control board 54. The drive device body 51 is fixed to the fixing portion 42 by screws SC. The rotor 52 protrudes in the +Z direction from the drive device main body 51. When the drive device main body 51 is fixed to the fixing part 42, the rotor 52 is inserted through the through part 421 along the +Z direction. The pinion 53 is fixed to the tip of the rotor 52 and rotates integrally with the rotor 52. The pinion 53 meshes with a rack 61 (described later) of the slide member 6, and slides the slide member 6 as the rotor 52 rotates.

[0030] The control board 54 is provided at the end of the drive device main body 51 in the -Z direction. The control board 54 is a control unit that controls the drive device 5 to rotate the rotor 52. That is, the control board 54 controls the drive device 5 to switch between applying and not applying a pressure sensation to the finger F, and also adjusts the pressure on the finger F. The control board 54 operates the drive device 5 based on a control signal input from the control unit 27, which will be described later.

[0031] [Configuration of slide members] The slide member 6 is formed in an arc shape centered approximately at the center of the opening 41 when viewed from the +Z direction, and is attached to the mounting member 4 so as to be slidable along the outer peripheral surface 4S. In this embodiment, as shown in FIG. 7 , the slide member 6 is formed with dimensions that cover approximately 3 / 4 of the outer peripheral surface 4S along the circumferential direction centered at the center of the mounting member 4 when viewed from the +Z direction. The slide member 6 has a rack 61 and an abutment portion 62.

[0032] The rack 61 is provided on the outer peripheral surface of the slide member 6, which is formed in an arc shape. The rack 61 meshes with the pinion 53. Therefore, when the pinion 53 is rotated, the slide member 6 rotates in a first rotation direction +D1, which is a circumferential direction centered on a rotation axis Rx2 that passes through the center of the opening 41 and extends along the +Z direction, or in a direction −D1 opposite to the first rotation direction +D1. That is, the slide member 6 is provided on the mounting member 4 so as to be slidable in the first rotation direction +D1 centered on the central axis of the mounting member 4 and in the direction −D1 opposite to the first rotation direction +D1. Note that the first rotation direction +D1 is a counterclockwise direction centered on the rotation axis Rx2 as viewed from the +Z direction, and the opposite direction −D1 is a clockwise direction centered on the rotation axis Rx2 as viewed from the +Z direction. Such a rack 61 is provided on substantially the entire outer circumferential surface of the slide member 6, but may also be provided on a part of the outer circumferential surface of the slide member 6.

[0033] The abutment portion 62 is provided at the end portion counterclockwise around the rotation axis Rx2 when the slide member 6 is viewed from the +Z direction. The abutment portion 62 abuts against a contact portion 83 (described later) of the protruding member 8, causing the protruding member 8 to protrude into the opening 41 depending on the slide position of the slide member 6. In other words, the abutment portion 62 causes the protruding member 8 to protrude into the mounting member 4 depending on the slide position of the slide member 6. The slide member 6 has flexibility that allows it to be displaced in response to the displacement of the mounting member 4, which expands in diameter when a finger is inserted.

[0034] [Guide member configuration] The guide member 7 is attached to the outer peripheral surface 4S on the side opposite to the guide portion 43 with respect to the slide member 6. In other words, the guide member 7 is attached to the outer peripheral surface 4S in the +Z direction with respect to the slide member 6. The guide member 7 sandwiches the slide member 6 between itself and the guide portion 43, and guides the sliding of the slide member 6 together with the guide portion 43, and also prevents the slide member 6 from falling off the mounting member 4 in the +Z direction.

[0035] [Configuration of protruding parts] The protruding member 8 is a pressing piece that is displaced as the sliding member 6 slides, and presses the user's finger inserted into the mounting member 4. More specifically, the protruding member 8 is supported by the support part 47 of the mounting member 4 so as to be rotatable about the rotation axis Rx1, and rotates about the rotation axis Rx1 as the sliding member 6 slides, thereby pressing the user's finger.

[0036] FIG. 8 is a diagram showing the pressure sensing device 3 as viewed from the -Y direction. As shown in FIGS. 5 to 8, the protruding member 8 has a main body portion 81, a hinge portion 82, a contact portion 83, and a pressing portion 84. The main body portion 81 is the main body of the protruding member 8. As shown in Fig. 7, the main body portion 81 is formed in an arc shape that follows the outer peripheral surface 4S of the mounting member 4. As shown in Fig. 8, the hinge portion 82, the contact portion 83, and the pressing portion 84 are provided on the main body portion 81. The hinge portion 82 is a pin that protrudes in the +Z direction and the -Z direction from the -X direction end of the main body portion 81. The hinge portion 82 is rotatably supported by the support portion 47, and thus the protruding member 8 is supported by the mounting member 4 so as to be rotatable around the rotation axis Rx1.

[0037] The contact portion 83 is provided on an outward-facing surface 81S1 of the main body portion 81 in the first rotation direction +D1 relative to the hinge portion 82, and is in contact with the abutment portion 62 of the slide member 6. As shown in FIG. 7 , the contact portion 83 is provided so as to protrude radially outward from the surface 81S1 about the rotation axis Rx2 as it moves toward the first rotation direction +D1 when viewed from the +Z direction. In other words, the contact portion 83 is formed so that the protruding dimension in the -Y direction from the surface 81S1 increases as it moves toward the first rotation direction +D1. Therefore, the dimension between the contact portion 83 and the pressing portion 84 increases as it moves toward the first rotation direction +D1. By providing such contact portion 83 on the protruding member 8, when the sliding member 6 slides in the first rotation direction +D1, the protruding member 8 rotates in the second rotation direction +D2. The second rotation direction +D2 is a clockwise direction around the rotation axis Rx1 when viewed from the +Z direction.

[0038] The pressing portion 84 is provided on a surface 81S2 facing the +Y direction of the main body 81. When the abutting portion 62 of the sliding member 6 slides in the first rotation direction +D1 with the abutting portion 62 in contact with the contact portion 83, the pressing portion 84 is inserted inside the mounting member 4 and presses the user's finger F inserted into the opening 41. In other words, the pressing portion 84 is an insertion portion that is inserted inside the mounting member 4. In order to maintain contact with the slide member 6, the pressure sensing device 3 may include a biasing member that biases the protruding member 8 clockwise around the rotation axis Rx1. Examples of such a biasing member include a torsion coil spring provided in the hinge portion 82, and an elastic member that contacts the main body portion 81.

[0039] [Operation of pressure sensor] FIG. 9 is a diagram of the pressure sensing device 3 viewed from the +Z direction when the sliding member 6 has rotated in the first rotation direction +D1. The operation of the pressure sensing device 3 will now be described. When the pinion 53 is rotated and the slide member 6 is rotated in the first rotation direction +D1 around the rotation axis Rx2 from the position shown in FIG. 7, the abutment portion 62 of the slide member 6 slides along the contact portion 83 of the protruding member 8, as shown in FIG. 9. At this time, the protruding dimension of the contact portion 83 from the surface 81S1 of the main body portion 81 increases toward the first rotation direction +D1. Therefore, when the abutment portion 62 slides in the first rotation direction +D1 while in contact with the contact portion 83, the protruding member 8 rotates in the second rotation direction +D2 around the rotation axis Rx1 as viewed from the +Z direction.

[0040] By rotating the protruding member 8 in the second rotation direction +D2 in this manner, the free end of the protruding member 8 on the first rotation direction +D1 side is inserted into the opening 41, and the pressing portion 84 presses the finger F inside the opening 41. The insertion amount of the pressing portion 84 into the opening 41 varies depending on the sliding amount of the slide member 6 in the first rotation direction +D1. For example, when the sliding amount of the slide member 6 in the first rotation direction +D1 is small, the insertion amount of the pressing portion 84 into the opening 41 is small. On the other hand, when the sliding amount of the slide member 6 in the first rotation direction +D1 is large, the insertion amount of the pressing portion 84 into the opening 41 is large. In this way, by adjusting the sliding amount of the slide member 6, the pressing force on the finger by the pressing portion 84 is adjusted.

[0041] 9, when the sliding member 6 is slid in the opposite direction −D1 about the rotation axis Rx2, the protruding member 8 rotates in the opposite direction −D2 to the second rotation direction +D2 about the rotation axis Rx1. As a result, the insertion amount of the pressing portion 84 into the opening 41 decreases, and the pressing portion 84 moves away from the finger F. In this way, the pressure sensing device 3 can switch between applying and not applying pressure to the finger F depending on the rotation direction and rotation angle of the pinion 53, i.e., the sliding direction and sliding amount of the sliding member 6, and can also adjust the pressure on the finger F.

[0042] [Other configurations of the control device] In addition to the glove 21 and the plurality of pressure sensing devices 3, the operating device 2 includes a posture detecting section 22, an approach detecting section 23, a stimulus generating section 24, and a control section 27, as shown in FIG. Although detailed illustration is omitted, the posture detection units 22 are provided on the finger portions 211 to 215 and the palm portion 216 of the glove 21, respectively, and detect the posture of one hand UH of the user wearing the operating device 2. The posture detection units 22 provided on each of the finger portions 211 to 215 are provided, for example, at positions corresponding to the fingertip of each finger F and on the nail side of each finger F. In this embodiment, the posture detection units 22 have magnetic sensors whose resistance values change depending on the strength and direction of a magnetic field generated outside the operating device 2 by the magnetic field generating device 14, which is a transmitter. Each posture detection unit 22 calculates the positions of the fingers F and the back of the user's hand, and ultimately the posture of one hand UH, based on the detection results of the magnetic sensor. Note that the calculation of the posture of one hand UH may be performed by the control unit 27.

[0043] The proximity detection unit 23 is provided on the glove 21 in accordance with the pad of the fingertip of each finger F, and has a proximity sensor that detects the approach of an object to each finger F. For example, when a user tries to grasp an object with a finger F of one hand UH wearing the operating device 2, the proximity detection unit 23 detects whether or not the object has come into contact with the finger F, i.e., whether or not the user's hand UH has grasped the object.

[0044] The stimulus generator 24 is provided in the glove 21 and operates based on a control signal received from the communication device 13 to provide an external stimulus to the user. That is, the stimulus generator 24 simulates a stimulus to the puppet PP based on a control signal based on the detection result of the detection unit 116 that detects a stimulus to the puppet operating device 11. The stimulus generating section 24 includes a vibration generating section 25, a temperature adjusting section 26, and the pressure sensor 3 described above.

[0045] The vibration generating unit 25 applies vibration to the user's hand UH, creating the illusion that an object is touching the user's hand UH. The vibration generating unit 25 is provided on each of the fingers 211 to 215 of the glove 21. The vibration generating unit 25 can be configured to have, for example, a voice coil motor. Temperature adjusting section 26 is provided on finger sections 211 to 215 and palm section 216, and provides the user with a feeling of warmth and coolness. Temperature adjusting section 26 can be configured by a thermoelectric conversion element such as a Peltier element.

[0046] The control unit 27 is provided at a position corresponding to, for example, the user's wrist, and controls the operation of the operating device 2. The control unit 27 is electrically connected to the posture detection unit 22, the approach detection unit 23, and the stimulus generation unit 24. The control unit 27 transmits to the communication device 13 an operation signal indicating the posture of the one hand UH detected by the posture detection unit 22, and also transmits to the communication device 13 a detection signal indicating the detection result by the approach detection unit 23. Furthermore, the control unit 27 operates the vibration generation unit 25 of the stimulus generation unit 24, the temperature adjustment unit 26, and the pressure sensor 3 based on a control signal received from the communication device 13.

[0047] For example, the control unit 27 adjusts the amount of sliding of the sliding member 6 in the first rotation direction +D1 based on the detection result by the tactile sensor 117 of the puppet operating device 11, thereby adjusting the pressing force acting on the finger F. For example, the control unit 27 adjusts the amount of sliding of the sliding member 6 based on a control signal received from the communication device 13 in accordance with the detection result by the tactile sensor 117. In this way, the control unit 27 adjusts the pressing force on the finger F inserted into the opening 41 of the wearing member 4, i.e., the finger F wearing the pressure sensing device 3. At this time, the control unit 27 individually controls each of the multiple pressure sensing devices 3 (31 to 35) included in the operating device 2, and operates each of the pressure sensing devices 31 to 35 individually. For example, if a pressure sensor is provided on the pressing portion 84 of the protruding member 8, the control unit 27 may adjust the amount of sliding of the sliding member 6 based on the detection result of the pressure sensor. Moreover, the operational control of the pressure sense device 3 executed by the control unit 27, that is, the operational control of the drive device 5, may be executed by the control board .

[0048] [Effects of the first embodiment] The operation system 1 according to the present embodiment described above provides the following effects. The operating device 2 includes a pressure sensor 3 . The pressure sensing device 3 includes a cylindrical mounting member 4, a drive unit 5, a slide member 6, and a protruding member 8. The drive unit 5 slides the slide member 6. The slide member 6 is provided slidably along the outer peripheral surface 4S of the mounting member 4 in a first rotation direction +D1 about the central axis of the mounting member 4, and in a direction -D1 opposite to the first rotation direction +D1. The protruding member 8 protrudes inward from the mounting member 4 as the slide member 6 slides in the first rotation direction +D1.

[0049] According to this configuration, the protruding member 8 can press the user's finger F inserted inside the wearing member 4. The user's finger F corresponds to a part of the user's body. At this time, as the sliding member 6 slides in the first rotation direction +D1, the protruding member 8 protrudes inward of the wearing member 4. Thus, by adjusting the sliding distance of the sliding member 6 in the first rotation direction +D1, the protruding amount of the protruding member 8 inward of the wearing member 4 can be adjusted, and therefore the pressing force on the finger F placed inside the wearing member 4 can be adjusted. Therefore, a pressure sensing device 3 can be configured that is capable of adjusting the pressing force on the user's finger F.

[0050] In the pressure sensing device 3, the protruding member 8 has a hinge portion 82, a contact portion 83, and a pressing portion 84. The hinge portion 82 is rotatably supported by the support portion 47 of the mounting member 4. The contact portion 83 is provided in the first rotation direction +D1 relative to the hinge portion 82, and comes into contact with the sliding member 6. The pressing portion 84 is inserted into the inside of the mounting member 4 when the abutting portion 62 of the sliding member 6 slides in the first rotation direction +D1 while in contact with the contact portion 83. With this configuration, when the sliding member 6 in contact with the contact portion 83 slides in the first rotation direction +D1, the protruding member 8 can be rotated about the hinge portion 82 in a direction in which the protruding member 8 protrudes inwardly of the mounting member 4. This allows the pressing portion 84 to press the finger F placed inside the mounting member 4.

[0051] In the pressure sensing device 3, the dimension between the contact portion 83 and the pressing portion 84 increases in the first rotation direction +D1. More specifically, the length between the surface of the contact portion 83 that comes into contact with the abutting portion 62 of the sliding member 6 and the surface of the pressing portion 84 that faces inward of the mounting member 4 increases in the first rotation direction +D1. With this configuration, as the sliding member 6 in contact with the contact portion 83 slides in the first rotation direction +D1, the pressing portion 84 can be made to protrude inward of the mounting member 4. Therefore, the pressing portion 84 can be made to protrude inward of the mounting member 4 according to the sliding amount of the sliding member 6, and ultimately the pressing force of the pressing portion 84 on the finger F can be adjusted.

[0052] In the pressure sensing device 3, the mounting member 4 has a notch 44 that spans one end of the mounting member 4 in the +Z direction along the central axis of the mounting member 4 and the other end of the mounting member 4. That is, the mounting member 4 has a notch 44 that connects the end in the +Z direction and the end in the -Z direction. The +Z direction corresponds to the first direction. With this configuration, the inner diameter of the wearing member 4 can be widened according to the outer diameter of the finger F inserted inside the wearing member 4. Therefore, the wearing member 4 can be fitted to the finger F. Furthermore, the pressure sensing device 3 can be worn at multiple locations on the human body with different outer diameters. For example, the pressure sensing device 3 can be worn on each finger F. Furthermore, even when another user wears the pressure sensing device 3, the wearing member 4, and therefore the pressure sensing device 3, can be fitted to the finger F of that other user.

[0053] In the pressure sensing device 3, the mounting member 4 has a recess 48 recessed in the first rotation direction +D1 from the edge 46 in the first rotation direction +D1 of the edges 45, 46 of the notch 44. The portion of the protruding member 8 in the first rotation direction +D1 is disposed within the recess 48. According to this configuration, the protruding member 8 can be positioned so that the portion of the protruding member 8 in the first rotation direction +D1, i.e., the portion opposite the hinge portion 82, does not interfere with the mounting member 4. Therefore, in addition to making it easier to make the pressing portion 84 protrude inward of the mounting member 4, the protruding member 8 can be made larger, and the amount by which the pressing portion 84 protrudes inward of the mounting member 4 can be increased.

[0054] In the pressure sensing device 3, the mounting member 4 has a fixing portion 42 that protrudes in the +Y direction from the outer peripheral surface 4S of the mounting member 4 and to which the drive unit 5 is fixed. The notch 44 is provided on the mounting member 4 on the opposite side from the fixing portion 42. More specifically, the notch 44 is provided on the opposite side from the fixing portion 42 with respect to the center of the mounting member 4 when viewed from the +Z direction along the central axis of the mounting member 4. With this configuration, the drive unit 5 can be fixed to the mounting member 4, which makes it easier to transmit the drive force of the drive unit 5 to the slide member 6 that slides along the outer peripheral surface 4S of the mounting member 4. In addition, because a portion of the protruding member 8 is disposed in the cutout 44, the drive unit 5 and the protruding member 8 are provided on opposite sides of the mounting member 4. This makes it easier to attach the drive unit 5 and the protruding member 8 to the mounting member 4.

[0055] The pressure sensing device 3 includes a guide member 7 attached to the outer peripheral surface 4S of the mounting member 4. The mounting member 4 has a guide portion 43 that is provided on the outer peripheral surface 4S of the mounting member 4 and guides the sliding of the sliding member 6. The guide member 7 and the guide portion 43 sandwich the sliding member 6 therebetween. This configuration makes it easier to slide the slide member 6 along the outer peripheral surface 4S of the mounting member 4. Furthermore, since the slide member 6 is disposed between the guide member 7 and the guide portion 43, it is possible to prevent the slide member 6 from detaching from the mounting member 4.

[0056] In the pressure sensing device 3, the mounting member 4 has a pressing portion 49 that protrudes toward the inside of the mounting member 4 from a position on the inner surface of the mounting member 4 opposite to the protruding member 8. More specifically, when viewed from the +Z direction along the central axis of the mounting member 4, the pressing portion 49 protrudes from a position on the inner surface of the mounting member 4 in the opposite direction (+Y direction) from the direction in which the protruding member 8 is provided with respect to the center of the mounting member 4 (-Y direction). According to this configuration, the pressing portion 49 comes into contact with the finger F inserted inside the wearing member 4, so that the finger F can be prevented from swinging inside the wearing member 4. Furthermore, when the pressing portion 49 is in contact with the finger F, a part of the protruding member 8 protrudes inward from the wearing member 4, which makes it easier for the protruding member 8 to come into contact with the finger F. Therefore, it is easier to apply a pressing force to the finger F.

[0057] The operating device 2 is worn on one hand UH of the user and includes a glove 21 having finger portions 211-215 into which the user's fingers F are inserted. The pressure sensing device 3 is provided on the finger portions 211-215. According to this configuration, the operating device 2 can be configured so that the pressure sensing device 3 can be easily attached to the finger F.

[0058] The operating device 2 includes a plurality of pressure sensing devices 3 (31 to 35) and a control unit 27 that controls each of the plurality of pressure sensing devices 3 (31 to 35) individually. With this configuration, pressure sensations can be individually imparted to the parts of the user's body where the multiple pressure sensation devices 3 are provided. In this embodiment, pressure sensations can be individually imparted to the user's fingers F (F1 to F5) by the multiple pressure sensation devices 3. This increases the versatility of the operating device 2.

[0059] [Second embodiment] Next, a second embodiment of the present invention will be described. The operation system according to this embodiment has a similar configuration to the operation system 1 according to the first embodiment, but differs in the configuration of the pressure sensation device provided in the operation device 2. More specifically, the pressure sensation device according to this embodiment differs from the pressure sensation device according to the first embodiment in that it further includes a conversion member that converts the sliding of the sliding member into linear movement of the protruding member. In the following explanation, parts that are the same or approximately the same as parts already explained will be assigned the same reference numerals and explanations thereof will be omitted.

[0060] [Operating system configuration] 10 and 11 are perspective views showing the pressure sensor 3A included in the operation device 2 of the operation system according to this embodiment. Specifically, Fig. 10 is a perspective view showing the pressure sensor 3A as seen from the -Y direction, and Fig. 11 is a perspective view showing the pressure sensor 3A as seen from the +Y direction. The operation system according to this embodiment has the same configuration and functions as the operation system 1 according to the first embodiment, except that it has a pressure sensation device 3A shown in Fig. 10 and Fig. 11 instead of the pressure sensation device 3. That is, the operation device 2 according to this embodiment has a plurality of pressure sensation devices 3A instead of the plurality of pressure sensation devices 3. Each of the plurality of pressure sensation devices 3A is provided corresponding to each of the fingers F1 to F5, similar to the plurality of pressure sensation devices 3 according to the first embodiment.

[0061] [Configuration of pressure sensor] Similar to the pressure sensation device 3, the pressure sensation device 3A provides a pressure sensation to the user's finger F when worn under the control of the control unit 27. The pressure sensation device 3A includes a mounting member 4A, a driving unit 5A, a sliding member 6A, a guide member 7A, a protruding member 8A, and a conversion member 9A.

[0062] [Configuration of mounting components] The wearing member 4A is formed in a cylindrical shape like the wearing member 4, and the user's finger F is inserted into the wearing member 4A along the +Z direction. That is, the wearing member 4A has an opening 41A that penetrates the wearing member 4 along the +Z direction and into which the finger F is inserted. In addition, the mounting member 4A includes a fixing portion 42A, a guide portion 43A, a notch 44, edges 45A and 46A, a support portion 47A, a restricting portion 48A, and a pressing portion 49 (see FIG. 12). The fixing portion 42A holds the drive device main body 51A in the +Y direction. The guide portion 43A does not include the restricting portion 431, but has the same configuration and function as the guide portion 43 according to the first embodiment.

[0063] FIG. 12 is a diagram showing the pressure sensing device 3A as viewed from the -Y direction. Of the edges 45A, 46A of the attachment member 4 that are separated from each other by the notch 44, the distance between the edge 45 in the -X direction and the edge 46 in the +X direction is expanded when a finger is inserted into the opening 41. In other words, the attachment member 4A has flexibility that allows the inner diameter of the opening 41 to expand. This allows the attachment member 4A to fit the inserted finger F. 12, of edges 45A, 46A facing each other in the +X direction, edge 45A in the -X direction has recess 45A1 recessed in the -X direction away from edge 46A, and edge 46A in the +X direction has recess 46A1 recessed in the +X direction away from edge 45A. A part of converting member 9A, which will be described later, is disposed inside recess 45A1, 46A1. The support portion 47A is provided on the outer peripheral surface 4S in the -Y direction. More specifically, the support portion 47A is disposed at a position clockwise from the edge 45A when viewed from the +Z direction. The support portion 47A supports a conversion member 9A, which will be described later. In other words, the conversion member 9A is attached to the support portion 47A by a screw SCA. 11, the restricting portion 48A is provided to protrude from the outer peripheral surface 4S. The restricting portion 48A comes into contact with an end of the sliding member 6A to restrict sliding of the sliding member 6A in the clockwise direction as viewed from the +Z direction. In other words, the restricting portion 48A defines one end of the sliding range of the sliding member 6A.

[0064] [Driver configuration] Similar to the drive device 5, the drive device 5A slides the slide member 6A along the outer peripheral surface 4S of the mounting member 4A. As shown in FIGS. 10 and 11, the drive device 5A includes a drive device main body 51A, a rotor 52, a pinion 53, and a control board 54. The driving device main body 51A is fixed to the fixed portion 42A. The driving device main body 51A is a motor that rotates the rotor 52, to which the pinion 53 is attached, about a rotation axis along the +Z direction. In this embodiment, the control board 54 is disposed apart from the drive device main body 51 A. More specifically, the control board 54 is disposed on the surface of the guide member 7A in the +Y direction.

[0065] [Configuration of slide members] FIG. 13 is a diagram showing a cross section of the pressure sensing device 3A along the XY plane at the position where the sliding member 6A is arranged, as viewed from the +Z direction. As shown in FIG. 13 , the slide member 6A is formed in an arc shape centered at approximately the center of the opening 41A when viewed from the +Z direction. In other words, the slide member 6A is formed in an arc shape that follows the outer peripheral surface 4S of the mounting member 4A. The slide member 6A is attached to the mounting member 4A so as to be slidable along the outer peripheral surface 4S around a rotation axis Rx3 that follows the +Z direction. In other words, the slide member 6A is rotatable around the rotation axis Rx3 along the outer peripheral surface 4S. The slide member 6A is formed to have dimensions that cover approximately ¾ of the outer peripheral surface 4S when viewed from the +Z direction. The slide member 6A has a rack 61 provided on the outer peripheral surface of the slide member 6A and a contact portion 62A provided on the inner peripheral surface of the slide member 6A.

[0066] The contact portion 62A is provided at an end of the slide member 6A that rotates counterclockwise around the rotation axis Rx3 when viewed from the +Z direction. The contact portion 62A comes into contact with a roller portion 81A1 (see FIGS. 16 and 17) of the protruding member 8A, which will be described later, and causes the protruding member 8A to protrude into the opening 41 depending on the slide position of the slide member 6A. The abutment portion 62A has, on its inner peripheral surface, a contact surface 63A with which the roller portion 81A1 abuts. The contact surface 63A intersects with the outer peripheral surface 4S. More specifically, the abutment surface 63A is inclined in a direction approaching the outer peripheral surface 4S as it moves clockwise around the rotation axis Rx2 when viewed from the +Z direction. In other words, the abutment surface 63A is inclined in a direction moving away from the outer peripheral surface 4S as it moves counterclockwise around the rotation axis Rx2 (first rotation direction +D1) when viewed from the +Z direction. That is, the abutment surface 63A is inclined in a direction moving away from the outer peripheral surface 4S as it moves in the rotation direction (first rotation direction +D1) of the sliding member 6A when the protruding member 8A protrudes toward the inside of the mounting member 4A. Therefore, as will be described in detail later, when the slide member 6A rotates in the first rotation direction +D1, the contact portion 62A presses the roller portion 81A1 in the +Y direction. The slide member 6A has flexibility that allows it to be displaced in response to the displacement of the mounting member 4A, which expands in diameter when the finger F is inserted.

[0067] [Guide member configuration] 10 and 11, the guide member 7A is attached to the outer peripheral surface 4S on the side opposite to the guide portion 43 with respect to the slide member 6A. That is, the guide member 7A is attached to the outer peripheral surface 4S in the +Z direction with respect to the slide member 6A. The guide member 7A has a clamping portion 71A, a protective portion 72A, and an attachment portion 73A. The clamping portion 71A is formed in an arc shape that follows the outer peripheral surface 4S, similar to the guide portion 43. When the guide member 7A is attached to the outer peripheral surface 4S, the clamping portion 71A clamps the sliding member 6A between itself and the guide portion 43. This not only guides the sliding of the sliding member 6A, but also prevents the sliding member 6A from falling off the mounting member 4A in the +Z direction.

[0068] Protective portion 72A is a portion that extends from clamping portion 71A in the +Z direction, bends in the +Y direction, and further extends in the -Z direction. Protective portion 72A covers pinion 53 when viewed from the +Z and +Y directions, and protects pinion 53 and rotor 52. The mounting portion 73A is provided on a surface of the protective portion 72A facing the +Y direction. The control board 54 is disposed on the mounting portion 73A.

[0069] [Configuration of conversion parts] 14 and 15 are perspective views showing the conversion member 9A. Specifically, Fig. 14 is a perspective view of the conversion member 9A seen from the +Y direction, and Fig. 15 is a perspective view of the conversion member 9A seen from the -Y direction. Before describing the protruding member 8A, the converting member 9A will be described. The conversion member 9A is fixed to the outer peripheral surface 4S of the mounting member 4A and converts the rotation of the slide member 6A about the rotation axis Rx3 into linear motion of the protrusion member 8A toward either the inside or the outside of the mounting member 4A. In other words, the conversion member 9A converts the rotation of the slide member 6A about the rotation axis Rx3 into movement of the protrusion member 8A along the radial direction about the rotation axis Rx3. As shown in FIGS. 14 and 15, the conversion member 9A has a main body portion 91A, a pair of fixing portions 92A, and a pair of restricting portions 93A.

[0070] The main body 91A is formed in a substantially rectangular shape when viewed from the +Y direction. The main body 91A is disposed inside the recesses 45A1 and 46A1 when the conversion member 9A is fixed to the mounting member 4A. The main body 91A has an opening 91A1, a pair of protrusions 91A2, and a pair of guide holes 91A3. The opening 91A1 is formed in a rectangular shape when viewed from the +Y direction, and penetrates the main body 91A along the +Y direction. The protruding member 8A is disposed inside the opening 91A1. The pair of protrusions 91A2 protrude in the −Y direction from the inner edge in the +Z direction and the inner edge in the −Z direction of the inner edge of the opening 91A1.

[0071] The pair of guide holes 91A3 are provided in the pair of protruding portions 91A2. Specifically, one of the pair of guide holes 91A3 is provided in the protruding portion 91A2 in the +Z direction, and the other guide hole 91A3 is provided in the protruding portion 91A2 in the -Z direction. Each guide hole 91A3 is an elongated hole having a major axis in the +Y direction. The +Y direction is the direction in which the protruding member 8A moves inward of the mounting member 4A. A rotating shaft portion 81A2 (described later) of the protruding member 8A is inserted into each guide hole 91A3. The minor axis of the guide hole 91A3, i.e., the inner diameter of the guide hole 91A3 along the +X direction, is the outer diameter of the rotating shaft portion 81A2 plus a small clearance.

[0072] The pair of fixing portions 92A are provided at the ends of the main body portion 91A in the −X direction. Specifically, one of the pair of fixing portions 92A extends in the +Z direction from an end of the main body portion 91A in the −X direction and the +Z direction, and the other fixing portion 92A extends in the −Z direction from an end of the main body portion 91A in the −X direction and the −Z direction. Each fixing portion 92A is provided with a hole 92A1, and a screw SCA is inserted into the hole 92A1 in the +Y direction. With the main body portion 91A disposed inside the recesses 45A1, 46A1, the screw SCA inserted into each hole 92A1 is fixed to the support portion 47A, thereby fixing the conversion member 9A to the outer circumferential surface 4S.

[0073] The pair of restricting portions 93A are provided at ends in the +X direction of the main body portion 91 A. Specifically, one of the pair of restricting portions 93A extends in the +X direction from an end of the main body portion 91 A that is in the +X direction and the +Z direction, and the other restricting portion 93A extends in the +X direction from an end of the main body portion 91 A that is in the +X direction and the −Z direction. The pair of restricting portions 93A face the outer peripheral surface 4S when the conversion member 9A is attached to the mounting member 4A. When the diameter of the mounting member 4A is expanded, the pair of restricting portions 93A come into contact with the outer peripheral surface 4S to restrict the diameter of the mounting member 4A from expanding more than necessary. In addition, the pair of restricting portions 93A come into contact with the outer peripheral surface 4S to restrict the conversion member 9A from moving together with the protruding member 8A in the +Y direction.

[0074] [Configuration of protruding parts] Figures 16 and 17 are perspective views showing the protruding member 8A. More specifically, Figure 16 is a perspective view showing the protruding member 8A as seen from the +Y direction, and Figure 17 is a perspective view showing the protruding member 8A as seen from the -Y direction. Like the protruding member 8 according to the first embodiment, the protruding member 8A is a pressing piece that moves inside or outside the mounting member 4A as the sliding member 6A slides, and presses the user's finger F when inserted inside the mounting member 4A. As shown in FIG. 13, the protruding member 8A is disposed within the opening 91A1 of the conversion member 9A. As shown in FIGS. 16 and 17, the protruding member 8A includes a roller member 81A and an insertion member 82A that are fitted together.

[0075] The roller member 81A is rotatably supported by the insertion member 82A and is rotated in contact with the slide member 6A. The roller member 81A includes a roller portion 81A1 and a pair of rotation shaft portions 81A2. The roller portion 81A1 is formed in a disk shape. The roller portion 81A1 comes into contact with the contact portion 62A of the sliding member 6A and rotates around the rotation shaft portion 81A2 as the sliding member 6A slides. In other words, the roller portion 81A1 is the contact portion of the protruding member 8A that comes into contact with the sliding member 6A.

[0076] The pair of rotation shafts 81A2 form the rotation axis of the roller part 81A1. Of the pair of rotation shafts 81A2, one rotation shaft 81A2 protrudes in the +Z direction from the center of the surface of the roller part 81A1 facing in the +Z direction, and the other rotation shaft 81A2 protrudes in the -Z direction from the center of the surface of the roller part 81A1 facing in the -Z direction. In other words, the roller part 81A1 is rotatable about a rotation axis that extends along the +Z direction.

[0077] The insertion member 82A rotatably supports the roller member 81A, and is inserted inside the wearing member 4A to press against the user's finger F. The insertion member 82A has a pressing portion 82A1 and a pair of support portions 82A2. The pressing portion 82A1 is a portion of the protruding member 8A facing the +Y direction, and presses against the user's finger F. In this embodiment, the surface of the pressing portion 82A1 facing the +Y direction and facing the user's finger F is a flat surface. However, without being limited to this, the surface of the pressing portion 82A1 facing the +Y direction may be a curved surface with a central portion protruding in the +Y direction, for example.

[0078] The pair of support portions 82A2 support the roller member 81A. The pair of support portions 82A2 extend in the -Y direction from the +Z direction portion and the -Z direction portion of the pressing portion 82A1. In other words, the insertion member 82A has an arrangement portion 82A3 that is provided between the pair of support portions 82A2 and in which the roller portion 81A1 is arranged. Each of the pair of support portions 82A2 has a through hole 81A4 that penetrates the support portion 82A2 along the +Z direction. A rotating shaft portion 81A2 is inserted into each through hole 82A4. Specifically, the +Z direction rotating shaft portion 81A2 is inserted through the through hole 82A4 of the +Z direction supporting portion 82A2 of the pair of support portions 82A2, and the -Z direction rotating shaft portion 81A2 is inserted through the through hole 82A4 of the -Z direction supporting portion 82A2 of the pair of support portions 82A2. As a result, the roller member 81A is supported by the insertion member 82A so as to be rotatable about a rotation axis along the +Z direction.

[0079] The +Z-direction rotating shaft portion 81A2 that has passed through the through-hole 82A4 is inserted into the +Z-direction guide hole 91A3 (FIG. 15), and the -Z-direction rotating shaft portion 81A2 that has passed through the through-hole 82A4 is inserted into the -Z-direction guide hole 91A3 (FIG. 15). As described above, the major axis of the guide hole 91A3 is along the +Y direction, and the minor axis of the guide hole 91A3 that has passed through the +X direction is slightly larger than the outer diameter of the rotating shaft portion 81A2. Therefore, movement of the protruding member 8A in the ±X directions is restricted, and movement of the protruding member 8A in the ±Y directions is permitted.

[0080] [Operation of pressure sensor] Fig. 18 is a view of the slide member 6A viewed from the +Z direction when the protruding member 8A is positioned furthest in the -Y direction. Note that Fig. 18 omits illustration of some of the components of the pressure sensing device 3A. The operation of the pressure sensing device 3A will be described below. When the pinion 53 is rotated and the slide member 6A is rotated from the position shown in FIG. 18 in the first rotation direction +D1 about the rotation axis Rx3, the abutment portion 62A of the slide member 6A abuts against the roller portion 81A1 of the protrusion member 8A. As described above, the protruding member 8A is disposed within the opening 91A1 of the conversion member 9A fixed to the mounting member 4A. Furthermore, the rotation shaft portion 81A2 that constitutes the rotation shaft of the roller portion 81A1 is inserted into the guide hole 91A3 of the conversion member 9A. This restricts movement of the protruding member 8A in the ±X directions and the ±Z directions.

[0081] Fig. 19 is a view of the slide member 6A viewed from the +Z direction when the protruding member 8A has been moved in the +Y direction from the state of Fig. 18. Note that in Fig. 19 as well, some of the components of the pressure sensing device 3A are not shown. 19, when the slide member 6A is further rotated in the first rotation direction +D1, the roller portion 81A1 is moved in the +Y direction by the contact surface 63A while rotating along the contact surface 63A that is inclined relative to the outer peripheral surface 4S, thereby moving the protruding member 8A in the +Y direction. Then, although not shown in the figure, when the slide member 6A is further rotated in the first rotation direction +D1, the protrusion member 8A is moved in the +Y direction until the rotation shaft portion 81A2 contacts the +Y direction portion of the inner surface of the guide hole 91A3. In this way, the insertion amount of the pressing portion 82A1 into the inside of the wearing member 4A changes depending on the sliding amount of the sliding member 6A. As a result, the flat surface of the pressing portion 82A1 can press the user's finger F inserted into the wearing member 4A, and by adjusting the sliding amount of the sliding member 6A, the pressing force on the user's finger F can be adjusted.

[0082] Note that when the slide member 6A is rotated in the opposite direction −D1 around the rotation axis Rx3 from a state in which the protruding member 8A has moved in the +Y direction, the roller portion 81A1 is moved in the −Y direction while remaining in contact with the abutment surface 63A. This causes the protruding member 8A to move in the −Y direction. Then, when the slide member 6A returns to the position it was in before being rotated in the first rotation direction D1, the protruding member 8A is moved to the position shown in FIG. 18. That is, the protruding member 8A is moved to a position where the rotation shaft portion 81A2 contacts the −Y-direction portion of the inner surface of the guide hole 91A3. This reduces the insertion depth of the pressing portion 82A1 into the mounting member 4A, and the pressing portion 82A1 moves away from the finger F. In this way, the pressure sensing device 3A can switch between applying and not applying pressure to the finger F depending on the rotation direction and rotation angle of the pinion 53, i.e., the sliding direction and sliding amount of the sliding member 6A, and can also adjust the pressure on the finger F.

[0083] [Effects of the second embodiment] The operation system according to this embodiment described above has the same effects as the operation system 1 according to the first embodiment, and also has the following effects. The pressure sensing device 3A includes a conversion member 9A that converts the sliding of the slide member 6A into linear motion of the protrusion member 8A toward either the inside or the outside of the mounting member 4A. With this configuration, when the sliding member 6A is slid along the outer peripheral surface of the wearing member 4A, the converting member 9A can move the protruding member 8A linearly to the inside or outside of the wearing member 4A. This allows the protruding member 8A to press against the finger F over a wide area from a position facing the finger F placed inside the wearing member 4A. In other words, the finger F placed inside the wearing member 4A can be pressed over a relatively wide area. This makes it easier for the user to feel the sensation of pressure.

[0084] In the pressure sensor device 3A, the protruding member 8A includes a roller member 81A that is rotatable about a rotation axis that extends along the central axis of the mounting member 4A, and an insertion member 82A that rotatably supports the roller member 81A and is inserted into the mounting member 4A. The roller member 81A includes a roller portion 81A1 that contacts the sliding member 6A and a rotation shaft portion 81A2 that forms the rotation shaft of the roller portion 81A1. The conversion member 9A includes a guide hole 91A3 that is elongated in the +Y direction and into which the rotation shaft portion 81A2 is inserted. The guide hole 91A3 guides the movement of the rotation shaft portion 81A2 along the +Y direction. The +Y direction corresponds to the insertion direction of the protruding member 8A into the mounting member 4A. With this configuration, the roller member 81A can be moved in the +Y direction in response to the sliding of the slide member 6A, and therefore the protruding member 8A can be moved in the +Y direction. Therefore, the protruding member 8A can press the finger F placed inside the mounting member 4A.

[0085] In the pressure sensing device 3A, the slide member 6A has a contact portion 62A that contacts the roller portion 81A1. The contact portion 62A has a contact surface 63A that is inclined in a direction approaching the outer peripheral surface 4S of the mounting member 4A as it moves in the direction -D1 opposite to the first rotation direction +D1. More specifically, the contact surface 63A is inclined with respect to the outer peripheral surface 4S in a direction approaching the outer peripheral surface 4S of the mounting member 4A as it moves in the direction -D1 opposite to the first rotation direction +D1. With this configuration, the roller portion 81A1 can be moved along the guide hole 91A3 in response to the sliding of the sliding member 6A, and thus the protruding member 8A can be moved.

[0086] In the pressure sensing device 3A, the conversion member 9A has an opening 91A1 in which the protruding member 8A is disposed and which allows the protruding member 8A to move toward the inside of the mounting member 4A. This configuration prevents the protruding member 8A from rotating about the rotation shaft 81A2 inserted into the guide hole 91A3 of the conversion member 9A. That is, the opening 91A1 functions as a restricting portion that restricts the rotation of the protruding member 8A about the rotation shaft 81A2. Therefore, the protruding member 8A can be stably moved in accordance with the sliding of the sliding member 6A.

[0087] In the pressure sensing device 3A, the mounting member 4A has a notch 44 that straddles one end of the mounting member 4A in the +Z direction along the central axis of the mounting member 4A and the other end of the mounting member 4A. The +Z direction corresponds to the first direction. According to this configuration, like the pressure sensing device 3 according to the first embodiment, the inner diameter of the wearing member 4A can be widened according to the outer diameter of the finger F inserted inside the wearing member 4A.

[0088] [Modification of the embodiment] The present invention is not limited to the above-described embodiments, and modifications and improvements within the scope of achieving the object of the present invention are included in the present invention. In the first embodiment, the protruding member 8 is formed in an arc shape centered on the rotation axis Rx2. In other words, the protruding member 8 is formed in an arc shape that follows the outer peripheral surface 4S of the mounting member 4. The abutting portion 62 of the sliding member 6 slides along the contact portion 83 provided on the surface 81S1 of the main body portion 81 of the protruding member 8, causing the pressing portion 84 of the protruding member 8 to protrude inwardly of the mounting member 4. However, the configuration and shape of the protruding member 8 that protrudes inwardly of the mounting member 4 as the sliding member 6 slides are not limited to those described above.

[0089] For example, the protruding member 8 may be formed in a shape other than an arc, such as a polygonal shape having one corner where the hinge portion 82 is provided. Alternatively, the abutting portion 62 of the sliding member 6 sliding in the first rotation direction +D1 may press the protruding member 8 in the first rotation direction +D1, and the protruding member 8 may be rotated in the second rotation direction +D2, causing the pressing portion 84 to protrude inward of the mounting member 4. In this case, the dimension between the contact portion 83 and the pressing portion 84 does not necessarily have to increase in the direction toward the first rotation direction +D1.

[0090] In the first embodiment, the pressure sensing device 3 includes the slide member 6 that slides along the outer peripheral surface 4S of the mounting member 4 about the rotation axis Rx2, and the protruding member 8 that protrudes inward from the mounting member 4 as the slide member 6 slides. In the second embodiment, the pressure sensing device 3A includes the slide member 6A that slides along the outer peripheral surface 4S of the mounting member 4A about the rotation axis Rx3, and the protruding member 8A that protrudes inward from the mounting member 4A as the slide member 6A slides. However, the present invention is not limited to this, and the slide member and the protruding member may be integrated or connected to each other as long as the amount of inward protrusion of the mounting member 4 changes depending on the amount of sliding.

[0091] In the first embodiment, the protruding member 8 includes the hinge portion 82, the contact portion 83, and the pressing portion 84. However, this is not limiting, and for example, the protruding member may include a link mechanism having a plurality of links that can bend relative to each other, and at least one of the plurality of links may be engaged with a slide member, thereby allowing the other links to be inserted inside the mounting member.

[0092] In the above embodiments, the attachment members 4, 4A have the notch 44 that straddles the +Z direction end and the -Z direction end along the +Z direction, which is the first direction. However, this is not limited to this, and the notch 44 may be omitted. For example, if the attachment members 4, 4A have sufficient flexibility or stretchability, they can fit the user's finger F even without the notch 44.

[0093] In the first embodiment, the mounting member 4 has the recess 48 in which the free end portion of the protruding member 8 is disposed. However, this is not limited to this, and the recess 48 may be omitted, for example, in cases where the free end portion is disposed in the notch 44. Furthermore, instead of the recess 48, the mounting member 4 may have an opening in which the pressing portion 84 of the protruding member 8 is disposed. In the second embodiment, the mounting member 4A has the recesses 45A1 and 46A1 in which the conversion member 9A is disposed. However, this is not limiting, and the recesses 45A1 and 46A1 may be omitted if, for example, the dimension of the notch 44 along the circumferential direction about the rotation axis Rx3 is increased so that the conversion member 9A is disposed in the notch 44, or if at least the protruding member 8A is provided in the notch 44.

[0094] In the above-described embodiments, the mounting members 4, 4A are provided with the fixing portions 42, 42A to which the driving devices 5, 5A are fixed. However, the mounting members 4, 4A do not necessarily have to be provided with the fixing portions 42, 42A. In the first embodiment, the drive unit 5 is fixed to the fixing portion 42 by the screw SC. In the second embodiment, the drive unit 5A is clamped in the +Y direction by the fixing portion 42A. However, this is not limiting, and the drive units 5, 5A may be fixed to the fixing portions 42, 42A by other means.

[0095] In each of the above embodiments, the notch 44 and the protruding member 8, 8A are provided on the mounting member 4, 4A on the opposite side from the fixed portion 42, 42A. More specifically, the notch 44 and the protruding member 8, 8A are provided on the opposite side from the fixed portion 42, 42A with respect to the center of the opening 41, 41A of the mounting member 4, 4A when viewed from the +Z direction. However, this is not limited to this, and the respective positional relationships between the fixed portion 42, 42A, the notch 44, and the protruding member 8, 8A are not limited to the above and can be changed as appropriate.

[0096] In the above embodiments, the pressure sensing device 3, 3A is provided with the guide member 7, 7A provided on the mounting member 4, 4A. The mounting member 4, 4A is also provided with the guide portion 43 that, together with the guide member 7, 7A, guides the sliding of the sliding member 6. However, this is not limiting, and at least one of the guide member 7, 7A and the guide portion 43 may be omitted. Note that, if the pressure sensing device 3A according to the second embodiment does not include the guide member 7A, the control board 54 may be provided in another location in the pressure sensing device 3A. The control board 54 may also be integrated with the control unit 27 .

[0097] In each of the above embodiments, the attachment member 4, 4A is provided with a pressing portion 49 that protrudes toward the inside of the attachment member 4, 4A from a position on the inner surface of the attachment member 4, 4A opposite to the protruding member 8, 8A. However, this is not limiting, and the pressing portion 49 may be omitted. Furthermore, the shape of the pressing portion 49 may correspond to the shape of the nail side of the finger F when viewed from the +Z direction. Furthermore, the pressing portion 49 may be elastic, and may be attached to the inner surface of the attachment member 4, 4A by adhesive or the like.

[0098] In the second embodiment, the pressure sensing device 3A includes a conversion member 9A that converts the sliding of the sliding member 6A into linear motion of the protruding member 8A toward either the inside or the outside of the mounting member 4A. The conversion member 9A is fixed to the support portion 47A of the mounting member 4A by the screw SCA. However, this is not limiting, and the conversion member 9A may be formed integrally with the mounting member 4A. Furthermore, the configuration of the conversion member can be changed as appropriate as long as it can convert the sliding of the sliding member 6A into linear motion of the protruding member 8A toward either the inside or the outside of the mounting member 4A.

[0099] In the second embodiment, the protruding member 8A includes a roller member 81A and an insertion member 82A. The insertion member 82A supports the rotation shaft portion 81A2, which serves as the rotation shaft of the roller portion 81A1 that contacts the slide member 6A, and moves in the ±Y direction together with the roller member 81A. However, this is not a limitation, and the configuration of the protruding member of the present invention is not limited to the above, for example, in cases where the protruding member moves in the ±Y direction by sliding along the abutment surface 63A. For example, the protruding member does not need to include a roller member that can rotate around a rotation shaft along the +Z direction. In this case, the roller member 81A and the insertion member 82A may be integrated.

[0100] In the second embodiment, the roller member 81A includes a pair of rotation shafts 81A2 that protrude in the ±Z directions from the roller portion 81A1. However, this is not limiting, and one of the pair of rotation shafts 81A2 may be absent.

[0101] In the second embodiment, the rotation shaft portion 81A2 is inserted into the guide hole 91A3 that is long in the +Y direction, thereby allowing the protrusion member 8A to move in the ±Y directions. However, this is not limited to this, and a guide pin different from the rotation shaft portion 81A2 may be inserted into the guide hole 91A3. Furthermore, the conversion member may have a protrusion that protrudes along the +Z direction, and the protrusion member may have a guide hole or guide groove into which the protrusion is inserted.

[0102] In the second embodiment, the abutment portion 62A of the sliding member 6A is provided with the abutment surface 63A that is inclined in a direction away from the outer peripheral surface 4S of the mounting member 4A as it moves toward the first rotation direction +D1. That is, the abutment portion 62A is provided with the abutment surface 63A that is inclined in a direction approaching the outer peripheral surface 4S as it moves toward the direction -D1 opposite to the first rotation direction +D1. However, this is not limiting, and for example, in cases where the rotation shaft portion 81A2 that serves as the rotation shaft of the roller portion 81A1 is provided eccentrically with respect to the roller portion 81A1, the abutment portion 62A may have an abutment surface that follows the outer peripheral surface 4S instead of the inclined abutment surface 63A as described above.

[0103] In the second embodiment, the converting member 9A has the opening 91A1 in which the protruding member 8A is disposed. However, this is not limiting, and the opening 91A1 may be omitted. Furthermore, instead of the opening 91A1, a restricting portion may be provided that allows the protruding member 8A to move inward and outward from the mounting member 4A and restricts movement of the protruding member 8A in other directions.

[0104] In the above embodiments, the pressure sensing devices 3, 3A are provided on the finger portions 211 to 215 of the glove 21 of the operating device 2. However, this is not limiting, and the pressure sensing devices 3, 3A may be attached directly to the user's fingers F. Furthermore, the part of the human body inserted into the attachment member 4, 4A of the pressure sensing device 3, 3A is not limited to the finger F, and may be another part. For example, the pressure sensing device may be provided with an attachment member that is attached to the user's wrist. Furthermore, the mounting members 4, 4A are formed in a cylindrical shape and have openings 41, 41A that penetrate along the +Z direction. However, the present invention is not limited to this, and the mounting members may have recesses into which a part of the human body can be inserted in the +Z direction, instead of the openings 41, 41A.

[0105] In the above embodiments, the central axis of the mounting member 4, 4A is an axis that passes through the center of the mounting member 4, 4A (opening 41, 41A) when viewed from the +Z direction and is aligned with the +Z direction. However, this is not limited thereto. The central axis of the mounting member 4, 4A may be an axis that is aligned with the axial direction of the mounting member 4, 4A and is set inside the mounting member 4, 4A when viewed from the +Z direction. Therefore, the central axis of the mounting member 4 does not necessarily have to pass through the center of the mounting member 4 (opening 41) when viewed from the +Z direction, and may pass through a position offset from the center. The same applies to the rotation axes Rx2, Rx3. That is, the rotation axes Rx2, Rx3 may be axes that are aligned with the axial direction of the mounting member 4, 4A and are set inside the mounting member 4, 4A. Therefore, it is sufficient that the sliding member 6, 6A is slidable along the outer peripheral surface 4S of the mounting member 4, 4A in one and the other circumferential directions centered on the rotation axes Rx2, Rx3.

[0106] In each of the above embodiments, the pressure sensing devices 3, 3A are employed in the operating device 2. However, this is not limiting, and the pressure sensing devices 3, 3A may be employed in other electronic devices, or may be used as independent devices. Furthermore, the object of operation of the operating device 2 equipped with the pressure sense devices 3, 3A is not limited to the puppet operating device 11, but may be other devices such as a robot hand or a manipulator, or may be a character in a game or the like.

[0107] [Summary of the present invention] The present invention will be summarized below. [1] A pressure sensing device according to a first aspect of the present disclosure comprises a cylindrical mounting member, a sliding member slidable along the outer surface of the mounting member in a first rotation direction around the central axis of the mounting member and in a direction opposite to the first rotation direction, a driving device for sliding the sliding member, and a protruding member that protrudes inward of the mounting member as the sliding member slides in the first rotation direction.

[0108] With this configuration, it is possible to press against a part of the user's body inserted inside the wearing member. At this time, the protruding member protrudes inward of the wearing member as the sliding member slides in the first rotation direction. With this, the amount of protrusion of the protruding member into the inside of the wearing member can be adjusted by adjusting the amount of sliding of the sliding member in the first rotation direction, so that the pressing force against the part of the human body placed inside the wearing member can be adjusted. Therefore, a pressure sensing device capable of adjusting the pressing force against the part of the human body can be configured.

[0109] [2] In the pressure sensing device described in [1], the protruding member may have a hinge portion rotatably supported on the mounting member, a contact portion provided in the first rotation direction relative to the hinge portion and contacting the sliding member, and a pressing portion inserted into the inside of the mounting member when the sliding member slides in the first rotation direction while in contact with the contact portion. With this configuration, when the sliding member in contact with the contact portion slides in the first rotation direction, the protruding member can be rotated about the hinge portion in a direction in which it protrudes inward of the attachment member, thereby allowing the pressing portion to press against a part of the human body positioned inside the attachment member.

[0110] [3] In the pressure sensing device described in [2], the dimension between the contact portion and the pressing portion may increase in the first rotation direction. With this configuration, as the sliding member in contact with the contact portion slides in the first rotation direction, the pressing portion can be caused to protrude inward of the contact member. Therefore, the pressing portion can be caused to protrude inward of the mounting member according to the sliding amount of the sliding member, and ultimately the pressing force of the pressing portion can be adjusted.

[0111] [4] In the pressure sensing device described in any one of [1] to [3], the mounting member may have a notch spanning from one end of the mounting member to the other end of the mounting member in a first direction along the central axis of the mounting member. With this configuration, the inner diameter of the attachment member can be widened according to the outer diameter of the part of the human body inserted inside the attachment member. Therefore, the attachment member can be fitted to the part of the human body. Furthermore, the pressure sensing device can be attached to multiple parts of the human body with different outer diameters, and the attachment member, and therefore the pressure sensing device, can be fitted even when another user wears the pressure sensing device.

[0112] [5] In the pressure sensing device described in [4], the mounting member may have a recess that is recessed in the first rotation direction from the edge of the notch in the first rotation direction, and the portion of the protruding member in the first rotation direction may be positioned within the recess. With this configuration, the first rotation direction portion of the protruding member is disposed within the recess, so that the protruding member can be positioned so that the first rotation direction portion does not interfere with the mounting member. Therefore, it is possible to make the first rotation direction portion protrude inward of the mounting member more easily, and also to form the protruding member larger, which increases the amount of protrusion of the pressing portion inward of the mounting member.

[0113] [6] In the pressure sensing device described in [4] or [5], the mounting member may have a fixing portion protruding from the outer peripheral surface of the mounting member to which the drive unit is fixed, and the notch may be provided on the mounting member on the opposite side from the fixing portion. With this configuration, the drive unit can be fixed to the mounting member, which makes it easier to transmit the drive force of the drive unit to the slide member that slides along the outer circumferential surface of the mounting member. Furthermore, if a portion of the protruding member is disposed in the notch, the drive unit and the protruding member are provided on opposite sides of the mounting member. This makes it easier to attach the drive unit and the protruding member to the mounting member.

[0114] [7] The pressure sensing device described in [1] may further include a conversion member that converts the sliding of the sliding member into linear motion of the protruding member toward either the inside or the outside of the mounting member. With this configuration, when the sliding member is slid along the outer peripheral surface of the attachment member, the conversion member can move the protruding member linearly inside or outside the attachment member. Therefore, for example, the protruding member can press a wide area against a part of the human body located inside the attachment member from a position facing the part of the human body located inside the attachment member. In other words, the protruding member can press a relatively wide area against the part of the human body located inside the attachment member. This makes it easier for the human body to sense pressure.

[0115] [8] In the pressure sensing device described in [7], the protruding member has a roller portion that contacts the sliding member and a rotating shaft portion that forms the rotation axis of the roller portion, and has a roller member that can rotate around a rotation axis along the central axis of the mounting member, and an insertion member that rotatably supports the roller member and is inserted inside the mounting member, and the conversion member has a guide hole into which the rotating shaft portion is inserted and that is long in the insertion direction of the protruding member into the inside of the mounting member, and the guide hole may guide the movement of the rotating shaft portion along the insertion direction. With this configuration, the roller member can be moved in the insertion direction in response to the sliding of the sliding member, and thus the protruding member can be moved in the insertion direction, so that the protruding member can press against a part of the human body positioned inside the wearing member.

[0116] [9] [8] In the pressure sensing device described above, the sliding member may have a contact portion that contacts the roller portion, and the contact portion may have a contact surface that is inclined in a direction that approaches the outer peripheral surface of the mounting member as it moves in the direction opposite to the first rotation direction. According to this configuration, the roller member can be moved along the guide hole in response to the sliding of the slide member, and thus the protruding member can be moved.

[0117]

[10] In the pressure sensing device described in any one of [7] to [9], the conversion member may have an opening in which the protruding member is disposed and which allows the protruding member to move toward the inside of the mounting member. With this configuration, it is possible to prevent the protruding member from rotating around the rotation shaft portion inserted into the guide hole of the conversion member, and therefore the protruding member can be moved stably in accordance with the sliding of the sliding member.

[0118]

[11] In the pressure sensing device described in any one of [7] to

[10] , the mounting member may have a notch spanning from one end of the mounting member to the other end of the mounting member in a first direction along the central axis of the mounting member. According to this configuration, as described above, the inner diameter of the attachment member can be widened in accordance with the outer diameter of the part of the human body that is inserted inside the attachment member.

[0119]

[12] In the pressure sensing device described in any one of [1] to

[11] , a guide member is provided that is attached to the outer peripheral surface of the mounting member, and the mounting member has a guide portion that is provided on the outer peripheral surface of the mounting member and guides the sliding of the sliding member, and the guide member and the guide portion may sandwich the sliding member. With this configuration, the sliding member can be easily slid along the outer peripheral surface of the mounting member. Furthermore, since the sliding member is disposed between the guide member and the guide portion, it is possible to prevent the sliding member from becoming detached from the mounting member.

[0120]

[13] In the pressure sensing device described in any one of [1] to

[12] , the mounting member may have a retaining portion that protrudes toward the inside of the mounting member from a position on the inner surface of the mounting member opposite the protruding member. According to this configuration, the pressing portion comes into contact with the part of the human body inserted inside the attachment member, thereby making it possible to prevent the part of the human body from swinging inside the attachment member. Furthermore, when the pressing portion is in contact with a part of the human body, a part of the protruding member protrudes into the attachment member, which makes it easier for the protruding member to come into contact with the part of the human body, thereby making it easier to apply a pressing force to the part of the human body inserted inside the attachment member.

[0121]

[14] An operating device according to a second aspect of the present disclosure includes the pressure sensing device described in any one of [1] to

[13] . With this configuration, it is possible to achieve the same effects as the pressure sensing device according to the first aspect.

[0122]

[15] The operating device described in

[14] may further include a glove that is worn on one hand of the user and has a finger portion into which the user's fingers are inserted, and the pressure sensing device may be provided on the finger portion. With this configuration, an operating device can be configured in which the pressure sensing device can be easily attached to a finger.

[0123]

[16] The operating device according to

[14] or

[15] may include a plurality of the pressure sensing devices and a control unit that individually controls each of the plurality of pressure sensing devices. With this configuration, pressure sensations can be individually imparted to the parts of the user's body where the plurality of pressure sensing devices are provided, thereby increasing the versatility of the operating device. [Explanation of symbols]

[0124] 1...operation system, 2...operation device, 21...glove, 3,3A...pressure sensor device, 4,4A...mounting member, 41,41A...opening, 42,42A...fixing portion, 43,43A...guide portion, 44...notch, 45,45A,46,46A...edge, 47,47A...support portion, 48...recess, 49...holding portion, 4S...outer circumferential surface, 5,5A...drive device, 51...drive device main body, 52...rotor, 53...pinion, 54...control board, 6,6A...slide member, 61...rack, 62,62A...contact portion, 63A...contact surface, 7,7A...guide member, 8,8A...protruding member, 81...main body portion, 81A...roller member, 81A1...roller portion, 81A2...rotating shaft portion, 81S1...surface, 81S2...surface, 82...hinge portion, 82A...insertion member, 82A1...pressing portion, 82A2...support portion, 82A3...positioning portion, 82A4...through hole, 83...contact portion, 84...pressing portion, 9A...conversion member, 91A...main body portion, 91A1...opening, 91A2...protruding portion, 91A3...guide hole, 92A...fixing portion, 92A1...hole portion, 93A...regulating portion, +D1...first rotation direction, -D1...direction opposite to the first rotation direction.

Claims

1. A cylindrical mounting member; a slide member attached to the mounting member so as to be slidable relative to the mounting member along an outer peripheral surface of the mounting member in a first rotation direction about a central axis of the mounting member and in a direction opposite to the first rotation direction; a drive device that slides the slide member; a protruding member that protrudes inward of the mounting member as the sliding member slides in the first rotation direction.

2. The pressure sensing device according to claim 1, The protruding member is a hinge portion rotatably supported by the mounting member; a contact portion provided in the first rotation direction with respect to the hinge portion and in contact with the slide member; a pressing portion that is inserted into the inside of the mounting member when the sliding member slides in the first rotation direction while in contact with the contact portion.

3. A cylindrical mounting member; a slide member provided slidably along an outer peripheral surface of the mounting member in a first rotation direction about a central axis of the mounting member and in a direction opposite to the first rotation direction; a drive device that slides the slide member; a protruding member that protrudes inward of the mounting member as the sliding member slides in the first rotation direction, The protruding member is a hinge portion rotatably supported by the mounting member; a contact portion provided in the first rotation direction with respect to the hinge portion and in contact with the slide member; a pressing portion that is inserted into the inside of the mounting member when the sliding member slides in the first rotation direction while in contact with the contact portion.

4. The pressure sensing device according to claim 2 or 3, A pressure sensing device, characterized in that a dimension between the contact portion and the pressing portion increases toward the first rotation direction.

5. The pressure sensing device according to any one of claims 1 to 4, A pressure sensing device, characterized in that the mounting member has a notch that straddles one end of the mounting member and the other end of the mounting member in a first direction along a central axis of the mounting member.

6. The pressure sensing device according to claim 5, the mounting member has a recess that is recessed in the first rotation direction from an edge of the notch in the first rotation direction, A pressure sensing device, wherein the portion of the protruding member in the first rotational direction is disposed within the recess.

7. A cylindrical mounting member; a slide member attached to the mounting member so as to be slidable relative to the mounting member along an outer peripheral surface of the mounting member in a first rotation direction about a central axis of the mounting member and in a direction opposite to the first rotation direction; a drive device that slides the slide member; a protruding member that protrudes inward of the mounting member as the sliding member slides in the first rotation direction, The mounting member is a notch extending from one end of the mounting member to the other end of the mounting member in a first direction along a central axis of the mounting member; a recess that is recessed in the first rotation direction from an edge of the notch in the first rotation direction, A pressure sensing device, wherein the portion of the protruding member in the first rotational direction is disposed within the recess.

8. The pressure sensing device according to any one of claims 5 to 7, the mounting member includes a fixing portion that protrudes from an outer circumferential surface of the mounting member and to which the drive device is fixed, The pressure sensing device, wherein the notch is provided on the mounting member on a side opposite to the fixing portion.

9. The pressure sensing device according to claim 1, A pressure sensing device comprising: a conversion member that converts the sliding of the slide member into linear motion of the protruding member toward one of the inside and outside of the mounting member.

10. A cylindrical mounting member; a slide member attached to the mounting member so as to be slidable relative to the mounting member along an outer peripheral surface of the mounting member in a first rotation direction about a central axis of the mounting member and in a direction opposite to the first rotation direction; a drive device that slides the slide member; a protruding member that protrudes inward of the mounting member as the sliding member slides in the first rotation direction; a conversion member that converts the sliding of the slide member into linear motion of the protruding member toward one of the inside and outside of the mounting member.

11. The pressure sensing device according to claim 9 or 10, The protruding member is a roller member having a roller portion that contacts the slide member and a rotation shaft portion that forms a rotation shaft of the roller portion, the roller member being rotatable around a rotation shaft that is aligned with the central axis of the mounting member; an insertion member that rotatably supports the roller member and is inserted into the mounting member; the conversion member has a guide hole into which the rotation shaft portion is inserted and which is long in a direction in which the protruding member is inserted into the mounting member; The pressure sensing device, wherein the guide hole guides the movement of the rotation shaft portion along the insertion direction.

12. A cylindrical mounting member; a slide member provided slidably along an outer peripheral surface of the mounting member in a first rotation direction about a central axis of the mounting member and in a direction opposite to the first rotation direction; a drive device that slides the slide member; a protruding member that protrudes inward of the mounting member as the sliding member slides in the first rotation direction; a conversion member that converts the sliding of the slide member into linear motion of the protruding member toward one of the inside and outside of the mounting member, The protruding member is a roller member having a roller portion that contacts the slide member and a rotation shaft portion that forms a rotation shaft of the roller portion, the roller member being rotatable around a rotation shaft that is aligned with the central axis of the mounting member; an insertion member that rotatably supports the roller member and is inserted into the mounting member; the conversion member has a guide hole into which the rotation shaft portion is inserted and which is long in a direction in which the protruding member is inserted into the mounting member; The pressure sensing device, characterized in that the guide hole guides the movement of the rotation shaft portion along the insertion direction.

13. The pressure sensing device according to claim 11 or 12, the slide member has a contact portion that contacts the roller portion, A pressure sensing device, wherein the contact portion has a contact surface that is inclined in a direction opposite to the first rotation direction so as to approach the outer circumferential surface of the mounting member.

14. The pressure sensing device according to any one of claims 9 to 13, A pressure sensing device, characterized in that the conversion member has an opening in which the protruding member is disposed and which allows the protruding member to move toward the inside of the mounting member.

15. The pressure sensing device according to any one of claims 9 to 14, A pressure sensing device, characterized in that the mounting member has a notch that straddles one end of the mounting member and the other end of the mounting member in a first direction along a central axis of the mounting member.

16. The pressure sensing device according to any one of claims 1 to 15, a guide member attached to an outer peripheral surface of the mounting member, the mounting member has a guide portion provided on an outer peripheral surface of the mounting member and configured to guide the sliding of the sliding member, The pressure sensing device, wherein the guide member and the guide portion sandwich the slide member.

17. The pressure sensing device according to any one of claims 1 to 16, A pressure sensing device, wherein the mounting member has a pressing portion that protrudes toward the inside of the mounting member from a position on the inner surface of the mounting member opposite the protruding member.

18. An operating device comprising the pressure sensor device according to any one of claims 1 to 17.

19. 19. The operating device according to claim 18, a glove to be worn on one hand of a user and having finger portions into which the user's fingers are inserted; The operating device, wherein the pressure sensing device is provided on the finger portion.

20. 20. The operating device according to claim 18 or 19, A plurality of the pressure sensing devices; and a control unit that individually controls each of the plurality of pressure sensing devices.

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