Operator, tactile sensation control device, and tactile sensation control method

Abstract

The present invention is characterized by comprising: a plurality of electrodes for rotation to which a voltage can be applied when an operating part (3) rotates, the electrodes for rotation being a plurality of electrodes which are provided on a first fixed surface existing in an axial direction of a fixed part (1) and facing an operating part (3) and which are covered by a dielectric layer (23); and an electric conductor for rotation provided on a first operating surface, that is, the surface of the operating part (3) that faces the first fixed surface, the electric conductor for rotation facing the plurality of electrodes for rotation when the relative positions of the operating part (3) and the fixed part (1) are at preset relative positions, wherein the voltage can be applied to two mutually adjacent electrodes among the plurality of electrodes for rotation.

Description

[Technical Field]

[0001] The present disclosure relates to an operator, a tactile sensation control device for an operator, and a tactile sensation control method for the operator. [Background technology]

[0002] Conventionally, in an operator that a user performs some operation by rotating or pressing an operating unit, a technology is known that provides feedback to the user during operation by generating a haptic effect using a frictional force (hereinafter referred to as "electrostatic frictional force") that is generated by utilizing a pulling force caused by electrostatic force. For example, Patent Document 1 discloses a technology in which a haptic output device is provided immediately below a rotary knob on the top surface of a housing, the haptic output device including an array of electrodes arranged on a substrate and a layer of dielectric material arranged on the electrode array, and an electrostatic adhesion force is generated between the top surface and the rotary knob, thereby providing a haptic effect to the user. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-168104 Summary of the Invention [Problem to be solved by the invention]

[0004] The conventional technology disclosed in Patent Document 1 had a problem in that the electrostatic friction force obtained changed depending on the condition of the surface that generates the electrostatic friction force, such as whether the surface was wet or had foreign matter attached thereto, and therefore it was not possible to provide a stable tactile effect to the user.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide an operator that can provide a stable tactile effect to a user. [Means for solving the problem]

[0006] The manipulator of the present disclosure is a manipulator having a fixed part with an axis part that functions as an axis, and an operating part that is attached to the axis part and can rotate around the axis part, and is characterized by comprising: a plurality of rotation electrodes that are provided on a first fixed surface that faces the operating part and exists in the axial direction of the fixed part, and are covered with a dielectric layer, and to which a voltage can be applied when the operating part rotates; and a rotation conductor that is provided on a first operating surface that faces the first fixed surface of the operating part, and faces the plurality of rotation electrodes when the relative position of the operating part and the fixed part is at a predetermined relative position, and is characterized by being able to apply a voltage to two adjacent electrodes among the plurality of rotation electrodes. [Effects of the Invention]

[0007] According to the present disclosure, a stable haptic effect can be provided to the user. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram for explaining a configuration example of a manipulator according to the first embodiment, in which FIG. 1A is a top view of the manipulator, and FIG. 1B is a cross-sectional view taken along line AA of FIG. 1A. [Figure 2] 2A, 2B, 2C, 2D, 2E, and 2F are diagrams for explaining detailed configuration examples of the electrode section included in the manipulator according to the first embodiment. [Figure 3] 1 is a diagram showing an example of the configuration of a tactile control device according to a first embodiment; [Figure 4] 4 is a flowchart for explaining the operation of the tactile control device according to the first embodiment. [Figure 5] 5 is a flowchart for explaining an example of detailed operations of steps ST2 and ST3 in FIG. 4. [Figure 6] 6A and 6B are diagrams illustrating another example of the configuration of the manipulator according to the first embodiment, in which FIG. 6A is a top view of the manipulator, and FIG. 6B is a cross-sectional view taken along the line AA of FIG. 6A. [Figure 7]10 is a diagram illustrating a detailed configuration example of a rotation electrode section in a case where the manipulator is provided with a rotation electrode section around the shaft section of the fixed section in the first embodiment. FIG. [Figure 8] Figures 8A, 8B, and 8C are diagrams for explaining the image of the tactile sensation presented by the operating element as a result of the tactile sensation control unit outputting a selection instruction to the tactile waveform selection unit to select a rotational tactile sensation presentation waveform for presenting a tactile sensation at the rotational position when the operating element is in the rotational position for presenting a tactile sensation in embodiment 1. [Figure 9] 9A and 9B are diagrams showing an example of the hardware configuration of a haptic control device according to an embodiment. [Figure 10] 10A and 10B are diagrams illustrating an example of the configuration of a manipulator according to a second embodiment, in which FIG. 10A is a top view of the manipulator and FIG. 10B is a cross-sectional view taken along line AA of FIG. 10A. [Figure 11] FIG. 10 is a diagram showing an example of the configuration of a tactile control device according to a second embodiment. [Figure 12] 10 is a flowchart for explaining the operation of the tactile control device according to the second embodiment. [Figure 13] 13 is a flowchart for explaining an example of detailed operations of step ST31 and step ST41 in FIG. 12. [Figure 14] 14A and 14B are diagrams illustrating another example of the configuration of the manipulator according to the second embodiment, in which FIG. 14A is a top view of the manipulator, and FIG. 14B is a cross-sectional view taken along the line AA of FIG. 14A. [Figure 15] FIG. 10 is a diagram showing a configuration example of an operator in the second embodiment that does not have a mechanism for generating an electrostatic friction force in response to depression of the operating portion, but has a depression detection switch. [Figure 16] FIG. 10 is a diagram showing another example of the configuration of the operator in the second embodiment, which does not have a mechanism for generating electrostatic friction force in response to depression of the operating portion, but has a depression detection switch. [Figure 17] FIG. 10 is a diagram illustrating a configuration example of a manipulator according to a third embodiment. [Figure 18] 18A and 18B are diagrams for explaining other configuration examples of the manipulator according to embodiment 3, in which FIG. 18A is a top view of the manipulator, FIG. 18B is a cross-sectional view taken along line AA in FIG. 18A, and FIG. 18C is a top view of the manipulator as viewed from the direction BB in FIG. 18B. [Figure 19] 19A and 19B are diagrams for explaining other configuration examples of the manipulator according to embodiment 3, in which FIG. 19A is a top view of the manipulator, FIG. 19B is a cross-sectional view taken along line AA in FIG. 19A, and FIG. 19C is a top view of the manipulator as viewed from the direction BB in FIG. 19B. [Figure 20] 20A and 20B are diagrams for explaining other configuration examples of the manipulator according to embodiment 3, in which FIG. 20A is a top view of the manipulator, FIG. 20B is a cross-sectional view taken along line AA in FIG. 20A, and FIG. 20C is a top view of the manipulator as viewed from the direction BB in FIG. 20B. [Figure 21] FIG. 10 is a diagram showing an example of the configuration of a tactile control device according to a third embodiment. [Figure 22] 10 is a flowchart for explaining the operation of the tactile control device according to the third embodiment. [Figure 23] 23 is a flowchart for explaining an example of detailed operations of step ST2a and step ST3a in FIG. 22. [Figure 24] Figures 24A and 24B are diagrams illustrating an example of the voltages applied to each rotation electrode unit and the resulting electrostatic forces that the tactile control device applies to the user's fingers, etc., in embodiment 3 to generate different tactile sensations. [Figure 25] Figures 25A, 25B, and 25C are diagrams illustrating an example of the voltage applied to each rotation electrode unit and the resulting electrostatic force generated by the tactile control device in embodiment 3, in order to work in conjunction with the HMI and present a tactile sensation corresponding to the rotational position of the operating unit. [Figure 26]Figures 26A, 26B, and 26C are diagrams illustrating another example of the voltage applied to each rotation electrode unit and the resulting electrostatic force generated by the tactile control device in embodiment 3 in order to work in conjunction with the HMI and present a tactile sensation corresponding to the rotational position of the operating unit. [Figure 27] 27A and 27B are diagrams showing a configuration example of an operator having a power supply unit inside a fixed unit in embodiment 1, where FIG. 27A is a top view of the operator and FIG. 27B is a cross-sectional view taken along line AA of FIG. 27A. [Figure 28] 28A and 28B are diagrams showing a configuration example of an operator having a power supply unit inside a fixed unit in embodiment 2, where FIG. 28A is a top view of the operator and FIG. 28B is a cross-sectional view taken along line AA of FIG. 28A. [Figure 29] 29A and 29B are diagrams showing another example of the configuration of an operator having a power supply unit inside a fixed unit in embodiment 2, where FIG. 29A is a top view of the operator and FIG. 29B is a cross-sectional view taken along line AA of FIG. 29A. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Embodiment 1 The operator according to the first embodiment is provided, for example, in an in-vehicle device installed in a vehicle. The manipulator according to the first embodiment has a fixed portion having a shaft portion that functions as a shaft, and an operating portion that is attached to the shaft portion and is rotatable around the shaft portion. In the first embodiment, the operator is linked to an HMI (Human Machine Interface) that is the target of the operator's operation. For example, when a screen showing a volume is displayed on a display device, a user who is an occupant of the vehicle can increase or decrease the volume by rotating an operation unit of the operator. When the user rotates the operation unit to increase or decrease the volume, the display device changes the screen display so that the volume increases or decreases in accordance with the rotation operation, for example. In the first embodiment, when the operating unit is rotated, the operating element provides a tactile sensation during rotation based on the control of the tactile control device.

[0010] First, a configuration example of the operator 100 according to the first embodiment will be described. FIG. 1 is a diagram illustrating an example of the configuration of a manipulator 100 according to the first embodiment. Fig. 1A is a top view of the manipulator 100, and Fig. 1B is a cross-sectional view taken along line AA in Fig. 1A. For ease of explanation, Fig. 1A also illustrates a shaft portion 1a and a conductive elastic body (hereinafter referred to as a "rotation conductive elastic body") 4 provided inside an operating section 3 of the manipulator 100.

[0011] The operating element 100 includes a fixed portion 1 having a shaft portion 1a, and an operating portion 3. The operating portion 3 is attached to the shaft portion 1a and is rotatable around the shaft portion 1a. One end of the shaft portion 1a is attached to the fixed portion 1, and the other end of the shaft portion 1a is attached to the operating portion 3. The fixed portion 1 and the shaft portion 1a may be integrated. 1, the operating unit 3 is attached to one end of the shaft portion 1a opposite the fixed portion 1, but this is merely an example. For example, the operating unit 3 may be attached to the side of the shaft portion 1a. The operating unit 3 only needs to be attached so as not to come off the shaft portion 1a. In the first embodiment, the shaft portion 1a is provided along the outer periphery of the fixed portion 1 on a surface (hereinafter referred to as the "first fixed surface"; indicated by 1b in FIG. 1B) that faces the operating portion 3 and exists in the axial direction of the fixed portion 1, and has a hollow cylindrical shape. Note that this shape of the shaft portion 1a is merely an example, and the shaft portion 1a may be provided, for example, in the center of the first fixed surface of the fixed portion 1 and have a columnar shape. Also, for example, the columnar fixed portion 1 may have a structure that also serves as the shaft portion 1a.

[0012] The manipulator 100 also includes a plurality of electrodes. In the first embodiment, the plurality of electrodes are electrodes (hereinafter referred to as "rotation electrodes") used to provide a tactile sensation when the operation unit 3 is rotated. The plurality of rotation electrodes includes a plurality of electrodes (hereinafter referred to as "first rotation electrodes") 21 and a plurality of electrodes (hereinafter referred to as "second rotation electrodes") 22. In the following first embodiment, the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22 are also collectively referred to simply as "plurality of rotation electrodes." The plurality of rotation electrodes are provided on the first fixed surface of the fixed portion 1 and are covered with a dielectric layer 23 (see FIG. 2 described later). In the first embodiment, the plurality of rotation electrodes and the dielectric layer 23 covering the plurality of rotation electrodes are collectively referred to as the "rotation electrode portion 2."

[0013] 2A, 2B, and 2C are diagrams for explaining a detailed configuration example of the rotation electrode unit 2 included in the manipulator 100 according to the first embodiment. 2A, 2B, and 2C are top views of the rotation electrode part 2. FIG. The rotation electrode section 2 is provided with a plurality of comb-tooth-shaped first rotation electrodes 21 and a plurality of comb-tooth-shaped second rotation electrodes 22, with the first rotation electrodes 21 and the second rotation electrodes 22 arranged alternately. The plurality of comb-tooth-shaped first rotation electrodes 21 and the plurality of comb-tooth-shaped second rotation electrodes 22 are arranged concentrically. The plurality of comb-tooth-shaped first rotation electrodes 21 and the plurality of comb-tooth-shaped second rotation electrodes 22 may have a circular shape, for example, as shown in Figures 2A and 2B, or may have a shape of arranged triangles with their vertices facing the center of the fixed part 1, as shown in Figure 2C. The boundary where the plurality of comb-tooth-shaped first rotation electrodes 21 and the plurality of comb-tooth-shaped second rotation electrodes 22 face each other does not necessarily have to be a straight line, and the boundary where the plurality of comb-tooth-shaped first rotation electrodes 21 and the plurality of comb-tooth-shaped second rotation electrodes 22 face each other may be rectangular or semicircular, for example, as shown in Figures 2D, 2E, and 2F.

[0014] The plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22 are covered with a dielectric layer 23, and the rotation electrode section 2 is made up of, for example, an FPC (Flexible Printed Circuits). Of the multiple rotation electrodes, a voltage can be applied to two adjacent rotation electrodes (a first rotation electrode 21 and a second rotation electrode 22). Each of the first rotation electrodes 21 and each of the second rotation electrodes 22 are connected to a voltage generation circuit 71 that applies a voltage to the multiple rotation electrodes via lead-out wiring 21a and lead-out wiring 22a, respectively. The voltage generation circuit 71 has a voltage generation circuit (1) 71a and a voltage generation circuit (2) 71b. The voltage generation circuit (1) 71a applies a voltage to the multiple first rotation electrodes 21 via lead-out wiring 21a. The voltage generation circuit (2) 71b applies a voltage to the multiple second rotation electrodes 22 via lead-out wiring 22a. As described above, the application of voltage is controlled by the tactile control device 101. An example configuration of the tactile control device 101 will be described later.

[0015] Returning to the description of the example configuration of the operator 100 using FIG. The operating element 100 includes a conductive elastic body for rotation 4. The conductive elastic body for rotation 4 is provided on a surface of the operating unit 3 that faces the first fixed surface of the fixed unit 1 (hereinafter referred to as the "first operating surface"; indicated by 3a in FIG. 1), and faces a plurality of electrodes for rotation. In the first embodiment, as shown in Fig. 1, the electrode unit for rotation 2 is provided over the entire surface of the first fixed surface of the fixed unit 1. Also, as shown in Fig. 1, the conductive elastic body for rotation 4 is provided over the entire surface of the first operating surface of the operating unit 3 so as to face the first fixed surface of the fixed unit 1. When the operating part 3 is rotated, the conductive elastic body 4 for rotation rotates together with the operating part 3 around the shaft part 1a.

[0016] As described above, among the plurality of rotation electrodes, a voltage can be applied to adjacent rotation electrodes (first rotation electrode 21 and second rotation electrode 22). When a voltage is applied to the multiple rotation electrodes, an electrostatic force is generated between the multiple rotation electrodes and the rotation conductive elastic bodies 4, which tends to attract the rotation conductive elastic bodies 4 to the multiple rotation electrodes. When the operation unit 3 is rotated with the electrostatic force generated between the multiple rotation electrodes and the rotation conductive elastic bodies 4, a frictional force distribution corresponding to the tactile sensation waveform of the voltage applied to each rotation electrode is generated in the rotation conductive elastic bodies 4, with the electrostatic force acting as a normal force. This frictional force is transmitted to the operation unit 3. Therefore, the user's fingers or the like operating the operation unit 3 are subjected to a shear force via the operation unit 3 on the multiple rotation electrodes to which the voltage is applied, and the user can feel a tactile sensation in that area. In the first embodiment, this frictional force generated by the pulling force caused by the electrostatic force is referred to as an "electrostatic frictional force." Furthermore, the tactile sensation waveform defines the waveform of the applied voltage. The electrostatic friction force is generated by the electrostatic capacitance formed between the adjacent rotation electrodes (first rotation electrode 21 and second rotation electrode 22) that face each other via the dielectric layer 23 and the conductive elastic body 4 for rotation, depending on the voltage difference applied to the adjacent rotation electrodes. The magnitude of the electrostatic friction force varies depending on the magnitude of the voltage applied to the adjacent rotation electrodes. The tactile sensation control device 101 controls the magnitude of the electrostatic friction force and the associated tactile sensation by controlling the voltage applied to the multiple rotation electrodes. Note that the provision of the dielectric layer 23 enables the operating element 100 to insulate and protect the rotation electrodes, and to generate a strong electrostatic friction force even when a low voltage is applied to the adjacent rotation electrodes. Typically, the dielectric layer 23 has a higher dielectric constant than air, so the electrostatic capacitance formed between the adjacent rotation electrodes and the conductive elastic body 4 for rotation is large. The tactile sensation control device 101 controls the voltage applied to each of the rotation electrodes, so that the operator 100 can present a tactile sensation according to the tactile sensation presentation waveform.

[0017] In the first embodiment, the manipulator 100 includes the conductive elastic body 4 for rotation. However, the conductor included in the manipulator 100 does not necessarily have to be an elastic conductor and may be a non-elastic conductor. It is sufficient for the manipulator 100 to include a conductor. However, as described above, in the manipulator 100, electrostatic force is generated between the multiple rotation electrodes and the conductor. If air is trapped between the multiple rotation electrodes and the conductor, the electrostatic force between the multiple rotation electrodes and the conductor may change. As a result, the electrostatic friction force may change. For this reason, the conductor is preferably an elastic conductive elastic body 4 for rotation. Furthermore, since the conductive elastic body 4 for rotation has elasticity, adjusting the elastic force can ultimately control the tactile sensation transmitted to the user's fingers or the like operating the operation unit 3. For this reason, the conductor is preferably an elastic conductive elastic body 4 for rotation. The conductive elastic body 4 for rotation and the dielectric layer 23 are in contact with each other.

[0018] The operator 100 also includes a rotation detection circuit. The rotation detection circuit detects the rotation of the operation unit 3. Specifically, the rotation detection circuit detects the rotation position of the operation unit 3. In the first embodiment, the rotation detection circuit is, for example, a rotary encoder that outputs a constant electrical pulse according to the rotation position of the operation unit 3, and the fixed unit 1 also serves as the rotation detection circuit.

[0019] 1 and 2, the manipulator 100 is provided with a plurality of rotation electrodes covered with a dielectric layer 23 on a first fixed surface that exists in the axial direction of the fixed part 1 that has an axis part 1a that faces the operation unit 3 and functions as an axis, and a first operation surface that is a surface of the operation unit 3 that faces the first fixed surface and is provided with a conductive elastic body for rotation 4 that faces the plurality of rotation electrodes, and a voltage can be applied to adjacent rotation electrodes among the plurality of rotation electrodes. In other words, the manipulator 100 is configured so that an electrostatic friction force is generated inside the operation unit 3 by the plurality of rotation electrodes and the conductive elastic body for rotation 4.

[0020] In recent years, touch panels have been increasingly used in many everyday devices as operation panels, including switches, replacing mechanical switches such as rotary knobs, which only offer a uniform tactile sensation. Touch panels are being used as a variety of operating methods, for example, because they can switch operations while linked to an HMI. However, touch panels do not provide the clicking sensation that mechanical switches do. As a result, users must visually confirm whether their operations are correct. For example, when operating a car, it is undesirable for users to have to visually confirm operations as described above. Given this background, there remains a strong demand for mechanical switches. Meanwhile, some conventional mechanical switches, such as the rotary knob described in Patent Document 1, provide non-uniform tactile sensations. However, conventional mechanical switches such as those described in Patent Document 1 vary in the electrostatic friction force they provide depending on, for example, the condition of the surface that generates the electrostatic friction force, such as whether the surface is wet, variations in the distance between the electrode and the mechanical switch due to distortion during rotation of the mechanical switch, or foreign matter adhering to the surface that generates the electrostatic friction force. As a result, conventional mechanical switches have the problem of being unable to provide a stable tactile sensation to the user.

[0021] In contrast, as described above, the manipulator 100 according to the first embodiment has a configuration for generating an electrostatic friction force inside the operation unit 3. This makes it possible for the manipulator 100 to eliminate the effects on the electrostatic friction force of the state of the surface of the mounting surface of the mechanical switch, fluctuations in the distance between the electrodes and the mechanical switch due to distortion during rotation of the mechanical switch, and foreign matter adhering to the surface of the mounting surface of the mechanical switch, which are problems that arise when generating an electrostatic friction force between the rotation surface of a mechanical switch and the mounting surface of the mechanical switch in a conventional manner. By having a configuration for generating an electrostatic friction force inside the operation unit 3, the manipulator 100 can present a stable tactile sensation when generating an electrostatic friction force between the operation unit 3 (more specifically, the rotation conductive elastic body 4) and the multiple rotation electrodes during rotation of the operation unit 3, regardless of the state outside the operation unit 3.

[0022] Next, a tactile control device 101 that controls the voltages applied to the plurality of rotation electrodes of the operating element 100 will be described. FIG. 3 is a diagram showing an example of the configuration of the tactile control device 101 according to the first embodiment. The tactile control device 101 is connected to the operator 100, and the operator 100 and the tactile control device 101 together constitute a tactile control system 102. Note that this is merely an example, and the tactile control device 101 may be mounted on the operator 100, for example. For ease of explanation, Fig. 3 only shows a plurality of rotation electrodes (a plurality of first rotation electrodes 21 and a plurality of second rotation electrodes 22) as components of the operator 100. The tactile control device 101 is connected to the HMI control unit 9. The HMI control unit 9 controls changes in the state of the HMI. The HMI control unit 9 outputs information about the current state of the HMI (hereinafter referred to as "HMI control information") to the tactile control device 101.

[0023] The tactile control device 101 includes a rotation detection unit 11, a voltage generation circuit 71, a tactile waveform selection unit 72, and a tactile control unit 8.

[0024] The rotation detection unit 11 detects the rotation of the operation unit 3 of the manipulator 100. Specifically, the rotation detection unit 11 detects the rotation of the operation unit 3 by acquiring, from the rotation detection circuit, information relating to the rotation of the operation unit 3 detected by the rotation detection circuit. The rotation detection unit 11 outputs information relating to the detected rotation of the operation unit 3 (hereinafter referred to as "rotation information") to the tactile control unit 8. The rotation information includes information relating to the rotation position of the operation unit 3. The rotation detection unit 11 also outputs the rotation information to the HMI control unit 9. The HMI control unit 9 changes the state of the HMI based on the rotation information. For example, the HMI control unit 9 displays a screen indicating the volume so that the volume increases according to the rotation position of the operation unit 3 of the control 100 based on the rotation information.

[0025] The tactile control unit 8 outputs to the tactile waveform selection unit 72 an instruction to select a tactile sensation providing waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated. Specifically, the tactile control unit 8 determines a tactile sensation according to the state of the HMI or the rotation state of the operation unit 3 based on the rotation information output from the rotation detection unit 11 and the HMI control information output from the HMI control unit 9. Then, based on the determined tactile sensation, the tactile control unit 8 outputs an instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform according to the tactile sensation when the operation unit 3 is rotated.

[0026] An example of a method in which the tactile control unit 8 outputs a selection instruction will be described. For example, the tactile control unit 8 determines whether the HMI state is one in which a rotation operation is enabled, and determines the tactile sensation to be presented based on the determination result of the HMI state and whether the operation unit 3 is rotating. Then, the tactile control unit 8 outputs an instruction to select a tactile sensation presentation waveform corresponding to the determined tactile sensation.

[0027] Based on the HMI control information output from the HMI control unit 9, the tactile control unit 8 determines whether the HMI is in a state where rotational motion is enabled. Here, "a state in which rotational action is enabled as an HMI state" refers to a state in which the HMI state can be operated by rotating the operation unit 3. For example, if the volume state in the volume adjustment executed by rotating the operation unit 3 is displayed on the display device (not shown), this is "a state in which rotational action is enabled as an HMI state." On the other hand, for example, if the display device is preparing to display the volume state, the volume state is not yet displayed, and therefore it is not "a state in which rotational action is enabled as an HMI state."

[0028] Furthermore, the tactile control unit 8 determines whether or not the operation unit 3 is rotating based on the rotation information output from the rotation detection unit 11. The operation unit 3 is rotating when the operation unit 3 is in the process of being rotated. For example, the tactile control unit 8 may determine whether or not the operation unit 3 is rotating based on the rotation information and depending on whether or not the position of the operation unit 3 is changing.

[0029] An example of a method in which the tactile control unit 8 outputs a selection instruction will be described in more detail below, dividing the cases into different states depending on the state of the HMI.

[0030] <Case (A-1)> When the rotation operation is enabled as the HMI state In the above <Case (A-1)>, the tactile sensation control unit 8 determines that if the operation unit 3 is rotating, a tactile sensation will be presented when the operation unit 3 is rotating, and outputs an instruction to the tactile sensation waveform selection unit 72 to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotating. If the operation unit 3 is not rotating, the tactile control unit 8 determines not to provide a tactile sensation, and does not output a selection instruction to the tactile waveform selection unit 72.

[0031] <Case (A-2)> When the rotation operation is not enabled in the HMI state In the above <Case (A-2)>, the tactile control unit 8 outputs to the tactile waveform selection unit 72 an instruction to select a tactile sensation providing waveform that maximizes the electrostatic friction force. In the first embodiment, the tactile control unit 8 outputs an instruction to select a tactile sensation providing waveform that maximizes the electrostatic friction force, but this is merely an example. The tactile control unit 8 may be configured to output an instruction to select a tactile sensation providing waveform that generates an electrostatic friction force that makes it difficult to rotate the operation unit 3.

[0032] The tactile waveform selection section 72 selects a tactile sensation providing waveform based on a selection instruction output from the tactile control section 8, and outputs an instruction to apply a voltage with the selected tactile sensation providing waveform. Specifically, the tactile waveform selection unit 72 selects a tactile sensation presentation waveform for use when rotating the operation unit 3, in accordance with the tactile sensation that occurs when rotating the operation unit 3, based on a selection instruction output from the tactile control unit 8. The tactile sensation presentation waveform for use when rotating the operation unit 3 is set in advance and stored in the tactile waveform selection unit 72. The tactile waveform selection unit 72 then outputs to the voltage generation circuit 71 an instruction to apply a voltage with the selected tactile sensation providing waveform. More specifically, the tactile waveform selection unit 72 outputs an instruction to the voltage generation circuit (1) 71a of the voltage generation circuit 71 to apply a voltage with a tactile sensation presentation waveform to each of the first rotation electrodes 21, and outputs an instruction to the voltage generation circuit (2) 71b of the voltage generation circuit 71 to apply a voltage with a tactile sensation presentation waveform to each of the second rotation electrodes 22. Note that the voltage generation circuit (1) 71a and the voltage generation circuit (2) 71b are not shown in FIG. 3.

[0033] Based on the application instruction output from the tactile waveform selection section 72, the voltage generation circuit 71 applies a voltage with a tactile sensation providing waveform selected by the tactile waveform selection section 72 to the plurality of rotation electrodes. More specifically, the voltage generating circuit (1) 71a applies a voltage with a tactile sensation providing waveform selected by the tactile waveform selecting unit 72 to each of the first rotation electrodes 21. The voltage generating circuit (2) 71b applies a voltage with a tactile sensation providing waveform selected by the tactile waveform selecting unit 72 to each of the second rotation electrodes 22. The voltage signal of the voltage applied to each of the first rotation electrodes 21 and the voltage signal of the voltage applied to each of the second rotation electrodes 22 are combined to generate an amplitude modulated signal. In the region where electrostatic capacitance is formed between the multiple electrodes and the rotation conductive elastic body 4, charging and discharging are repeated in accordance with the amplitude modulated signal. 3, the voltage generating circuit 71 is provided in the tactile control device 101, but this is merely an example. The voltage generating circuit 71 may also be provided outside the tactile control device 101 and connected to the tactile control device 101 from outside the tactile control device 101.

[0034] The operation of the tactile control device 101 according to the first embodiment will be described. FIG. 4 is a flowchart for explaining the operation of the tactile control device 101 according to the first embodiment.

[0035] The rotation detection unit 11 detects the rotation of the operation unit 3 (step ST1). The rotation detection unit 11 outputs the rotation information to the tactile control unit 8. The rotation detection unit 11 also outputs the rotation information to the HMI control unit 9.

[0036] The tactile control unit 8 outputs an instruction to the tactile waveform selection unit 72 to select a tactile sensation providing waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated (step ST2).

[0037] The tactile waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction output from the tactile control unit 8. The tactile waveform selection unit 72 then outputs an instruction to the voltage generation circuit 71 to apply a voltage with the selected tactile sensation presentation waveform (step ST3). Based on the application instruction output from the tactile waveform selection unit 72, the voltage generation circuit 71 applies a voltage with the tactile sensation presentation waveform selected by the tactile waveform selection unit 72 to the multiple rotation electrodes.

[0038] FIG. 5 is a flowchart for explaining an example of detailed operations of steps ST2 and ST3 in FIG.

[0039] The tactile control unit 8 determines whether or not the HMI is in a state in which a rotational action is valid, based on the HMI control information output from the HMI control unit 9 (step ST21). In step ST21, if it is determined that the rotation operation is enabled as the state of the HMI (if "YES" in step ST21), the tactile control unit 8 determines whether the operation unit 3 is rotating or not based on the rotation information output from the rotation detection unit 11 (step ST22).

[0040] In step ST22, if it is determined that the operation unit 3 is rotating (if "YES" in step ST22), the tactile control unit 8 outputs an instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotating. The tactile waveform selection section 72 selects a tactile sensation presentation waveform corresponding to the tactile sensation during rotation based on the selection instruction output from the tactile sensation control section 8 (step ST23). The tactile waveform selection unit 72 then outputs an instruction to the voltage generation circuit 71 to apply a voltage with a tactile sensation providing waveform corresponding to the tactile sensation during rotation. The voltage generation circuit 71 applies a voltage with the tactile sensation providing waveform selected by the tactile waveform selection unit 72 to the multiple rotation electrodes.

[0041] If it is determined in step ST22 that the operation unit 3 is not rotating ("NO" in step ST22), the tactile control unit 8 does not output a selection instruction. That is, the tactile waveform selection unit 72 does not select a tactile sensation providing waveform (step ST24). The voltage generation circuit 71 does not apply voltage to the plurality of rotation electrodes.

[0042] In step ST21, if it is not determined that the rotational motion is enabled as the state of the HMI (if "NO" in step ST21), that is, if the rotational motion is not enabled as the state of the HMI, the tactile control unit 8 outputs an instruction to the tactile waveform selection unit 72 to select a tactile presentation waveform that maximizes the electrostatic friction force. The tactile waveform selection unit 72 selects a tactile sensation presentation waveform that maximizes the electrostatic friction force for the voltage generation circuit 71. The tactile waveform selection unit 72 then outputs an instruction to the voltage generation circuit 71 to apply a voltage with the tactile sensation presentation waveform that maximizes the electrostatic friction force (step ST25). The voltage generation circuit 71 applies a voltage with the tactile sensation presentation waveform selected by the tactile waveform selection unit 72 to the multiple rotation electrodes.

[0043] In this way, the tactile control device 101 according to embodiment 1 is configured to output a selection instruction for a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 of the manipulator 100 is rotated, and when a tactile sensation presentation waveform for rotation is selected based on the selection instruction, output an application instruction to apply a voltage of the selected tactile sensation presentation waveform. In this way, the tactile control device 101 can control the tactile sensation when the operation unit 3 of the manipulator 100 is rotated. The tactile sensation control device 101 controls the voltages applied to the plurality of rotation electrodes, thereby allowing the operator 100 to present a tactile sensation corresponding to the tactile sensation presentation waveform. In other words, the tactile sensation control device 101 allows the operator 100 to present a tactile sensation when the operation unit 3 is rotated. The operator 100 can present a tactile sensation when the operation unit 3 is rotated.

[0044] Furthermore, the tactile control device 101 according to embodiment 1 outputs an instruction to select a tactile sensation providing waveform according to the state of the HMI that is the target of the rotation operation of the operation unit 3, and outputs an application instruction to apply a voltage with the tactile sensation providing waveform selected based on the selection instruction. This allows the tactile control device 101 to cause the operator 100 to present a tactile sensation linked to the HMI. The operator 100 can present a tactile sensation linked to the HMI.

[0045] In the first embodiment, a rotary encoder is used as an example of a rotation detection circuit, but this is merely one example. The rotation detection circuit may be an electrical rotation detection circuit that uses electrostatic capacitance detection, or may be a rotation detection circuit that optically detects rotation.

[0046] Furthermore, in the above-described embodiment 1, the multiple rotation electrodes are provided on the first fixed surface of the fixed portion 1, and the multiple rotation electrodes and the rotation conductive elastic body 4 are arranged to face each other in the pushing direction of the operating portion 3, in other words, in the axial direction, but this is not limited to this. For example, as shown in FIGS. 6A and 6B , in the manipulator 100, in addition to the plurality of rotation electrodes and the conductive elastic body for rotation 4 facing each other in the axial direction, the plurality of rotation electrodes and the conductive elastic body for rotation 4 may be arranged to face each other around the shaft portion 1a. In this case, the manipulator 100 further includes a plurality of rotation electrodes that are provided on the first fixing surface (designated by 1b in FIG. 6B ) of the fixed portion 1 and covered with a dielectric layer 23, and a plurality of rotation electrodes that are provided on the shaft portion 1a around the shaft portion 1a and covered with a dielectric layer 23. The conductive elastic body for rotation 4 is provided on the first operating surface (designated by 3a in FIG. 6B ) of the operating unit 3 and on a surface of the operating unit 3 facing the shaft portion 1a (designated by 3b in FIG. 6B ). When the relative positions of the operating unit 3 and the shaft portion 1a are set to a predetermined position, the conductive elastic body for rotation 4 faces the plurality of rotation electrodes that are provided on the shaft portion 1a around the shaft portion 1a. Fig. 6A is a top view of the manipulator 100, and Fig. 6B is a cross-sectional view taken along line AA in Fig. 6A. For ease of explanation, Fig. 6A also illustrates the shaft portion 1a, dielectric layer 23, and conductive elastic body for rotation 4 that are provided inside the operation section 3 of the manipulator 100. Note that the manipulator 100 shown in Fig. 6 differs from the manipulator 100 shown in Fig. 1 in that a plurality of electrodes for rotation and a conductive elastic body for rotation 4 are provided to face each other around the shaft portion 1a.

[0047] 6A and 6B, for example, the dielectric layer 23 covering the plurality of rotation electrodes provided on the first fixed surface of the fixed portion 1 and the dielectric layer 23 covering the plurality of rotation electrodes provided on the inner circumferential surface of the shaft portion 1a are shown as a common dielectric layer 23. This is merely one example, and for example, the manipulator 100 may each include a dielectric layer 23 covering the plurality of rotation electrodes provided on the first fixed surface of the fixed portion 1 and a dielectric layer 23 covering the plurality of rotation electrodes provided around the shaft portion 1a.

[0048] 6A and 6B, as an example, a plurality of rotation electrodes covered with a dielectric layer 23 are provided on the inner peripheral surface of the shaft portion 1a, but this is merely an example. For example, a plurality of rotation electrodes covered with a dielectric layer 23 may be provided on the outer peripheral surface of the shaft portion 1a. In this case, a dielectric layer 23 covering a plurality of rotation electrodes provided on the outer peripheral surface of the shaft portion 1a is provided separately from the dielectric layer 23 covering a plurality of rotation electrodes provided on the first fixed surface of the fixed portion 1. Furthermore, for example, a plurality of rotation electrodes covered with a dielectric layer 23 may be provided on the inner and outer peripheral surfaces of the shaft portion 1a.

[0049] The detailed configuration of the electrode portion for rotation 2 provided on the first fixed surface of the fixed portion 1 is the same as that explained with reference to FIG. 2, and therefore a detailed explanation will be omitted.

[0050] Here, Figure 7 is a diagram for explaining a detailed configuration example of the rotation electrode portion 2 when the manipulator 100 is configured to also have a rotation electrode portion 2 around the shaft portion 1a of the fixed portion 1 in embodiment 1. 7 is a development view of the rotation electrode portion 2. In FIG. 7, the upper side of the drawing is the upper surface side of the operation element 100. The rotation electrode section 2 is provided with a plurality of comb-tooth-shaped first rotation electrodes 21 and a plurality of comb-tooth-shaped second rotation electrodes 22, with the first rotation electrodes 21 and the second rotation electrodes 22 arranged alternately. Of the multiple rotation electrodes, a voltage can be applied to two adjacent electrodes (first rotation electrode 21 and second rotation electrode 22). Each of the first rotation electrodes 21 and each of the second rotation electrodes 22 are connected to a voltage generation circuit 71 that applies a voltage to the multiple rotation electrodes via lead wires 21a and lead wires 22a, respectively. The application of voltage to the multiple rotation electrodes provided around shaft portion 1a of fixed portion 1 is controlled by the tactile control device 101, just like the control of the application of voltage to the multiple rotation electrodes provided on the first fixed surface of fixed portion 1.

[0051] As described above, in the first embodiment, the operating element 100 may have a configuration in which there are two or more portions where a plurality of rotation electrodes and the conductive elastic body for rotation 4 face each other and generate an electrostatic friction force. In particular, the operating element 100 may further include a plurality of rotation electrodes that are provided around the shaft portion 1a in addition to a plurality of rotation electrodes that are provided on the first fixed surface of the fixed portion 1 and covered with the dielectric layer 23, and the conductive elastic body for rotation 4 may be configured to be provided on the first operating surface of the operating unit 3 and also on the surface of the operating unit 3 that faces the shaft portion 1a. This allows the manipulator 100 to have a larger area where the plurality of rotation electrodes and the conductive elastic body for rotation 4 face each other, compared to a case where the manipulator 100 is provided on the first fixed surface of the fixed portion 1 and is only provided with a plurality of rotation electrodes covered with the dielectric layer 23. In other words, the manipulator 100 can increase the number of locations where electrostatic force is generated. As a result, the manipulator 100 can generate a larger electrostatic friction force. It is easier to provide the plurality of rotation electrodes on the first fixed surface of the fixed portion 1 than to provide them around the shaft portion 1a on the shaft portion 1a.

[0052] Furthermore, in the first embodiment described above, the tactile control device 101 can control the applied voltage to cause the operator 100 to provide various tactile sensations when the operating unit 3 is rotated. For example, the tactile control device 101 can present a tactile sensation in which the more the operation unit 3 of the manipulator 100 is rotated, the heavier the operation unit 3 becomes. Specifically, in the tactile control device 101, when the tactile control unit 8 detects that the operation unit 3 is being rotated, it outputs to the tactile waveform selection unit 72 an instruction to select a tactile presentation waveform that presents a tactile sensation that becomes heavier depending on the duration of the rotation of the operation unit 3. Based on the selection instruction output from the tactile control unit 8, the tactile waveform selection unit 72 selects a tactile presentation waveform that presents a tactile sensation that becomes heavier depending on the duration of the rotation of the operation unit 3. The tactile waveform selection unit 72 stores various patterns of tactile presentation waveforms for rotation. In this way, for example, by being able to output an instruction to select a tactile sensation presentation waveform according to the amount of rotation of the operating unit 3, the tactile sensation control device 101 can present a tactile sensation to the operating element 100 according to the amount of rotation of the operating unit 3, or control torque according to the amount of rotation of the operating unit 3.

[0053] In addition to the above-mentioned method, for example, the configuration of the manipulator 100 can be configured so that the area of ​​the opposing surfaces of the multiple rotation electrodes and the rotation conductive elastic body 4 changes depending on the amount of rotation of the operating unit 3, thereby enabling the manipulator 100 to present various tactile sensations. In detail, for example, the manipulator 100 has a configuration in which the area of ​​the opposing surface between the rotating conductive elastic body 4 and a plurality of rotation electrodes covered with a dielectric layer arranged around the shaft portion 1a is changed, and it is possible to present a tactile sensation in which the tactile intensity, rotational torque, or pressure of the operating unit 3 changes in accordance with the change in the area. In this way, in the above-described embodiment 1, for example, by configuring the manipulator 100 so that the area of ​​the opposing surface between the plurality of rotation electrodes and the rotation conductive elastic body 4 changes depending on the amount of rotation of the operating unit 3, the manipulator 100 can present various tactile sensations. Furthermore, the operator 100 can control, for example, whether to linearly control the weight of rotation of the operating unit 3 or to increase the weight when the amount of rotation exceeds a certain amount, by controlling the area where the multiple rotation electrodes face the rotation conductive elastic body 4. Therefore, the tactile sensation control device 101 can control the strength of the tactile sensation of the operator 100 while reducing the number of tactile sensation presentation waveform patterns of the voltage applied to the operator 100.

[0054] Furthermore, in the tactile control device 101 according to the first embodiment, the tactile control unit 8 can also output, based on the rotation information, to the tactile waveform selection unit 72, an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operation unit 3. The rotation information includes information related to the rotational position of the operation unit 3. Based on the rotation information, the tactile control unit 8 can determine the rotational position to which the operation unit 3 has currently been rotated. For example, when the operation unit 3 is in a rotational position that presents a tactile sensation, the tactile control unit 8 outputs a selection instruction to the tactile waveform selection unit 72 to select a rotational tactile sensation presentation waveform that will present a tactile sensation at that rotational position.

[0055] Here, Figures 8A, 8B, and 8C are figures for explaining the image of the tactile sensation presented by the manipulator 100 as a result of the tactile control unit 8 outputting a selection instruction to the tactile waveform selection unit 72 to select a rotational tactile sensation presentation waveform for presenting a tactile sensation at the rotational position when the operating unit 3 is in the rotational position for presenting a tactile sensation in the above-mentioned first embodiment.

[0056] For example, suppose a screen showing 13 levels of volume adjustment is displayed on a display device serving as an HMI, which is the target of operation of the operator 100. In the tactile control device 101, the tactile control unit 8 detects, based on the HMI control information, that the current state of the display device is one in which rotation of the operation unit 3 is valid for adjusting the volume in 13 levels. Furthermore, based on the rotation information, the tactile control unit 8 detects that the operation unit 3 has been rotated and to what position it has been rotated. When the tactile control unit 8 detects that the operation unit 3 has been rotated to a rotation position that represents the 13 levels of volume, it outputs a selection instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform for rotation that will present a tactile sensation at the rotation position that represents the 13 levels of volume. The tactile waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage corresponding to the selected tactile sensation presentation waveform. As a result, the tactile sensation control device 101 can cause the operator 100 to provide a vibration sensation as a tactile sensation when the operating unit 3 is positioned at a rotation position that indicates one of the 13 levels of volume (see 801 in FIG. 8A).

[0057] Also, for example, suppose that the operating unit 3 of the manipulator 100 can only rotate up to a certain angle. In the tactile control device 101, when the tactile control unit 8 detects, based on the rotation information, that the operating unit 3 has been rotated and that the operating unit 3 has been rotated to a position where it cannot be rotated any further, it outputs a selection instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform for rotation where the electrostatic friction force is maximized at that position. The tactile waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage of the selected tactile sensation presentation waveform. As a result, the tactile control device 101 can cause the manipulator 100 to present a sensation of stopping adhesion as a tactile sensation when the operating unit 3 has been rotated to a position where it cannot be rotated any further (see 802 in FIG. 8B ).

[0058] Also, for example, suppose that an operation mode switching screen is displayed on a display device serving as an HMI that is the target of operation of the operator 100. The operation mode is switched by rotating the operation unit 3 to a set position. In the tactile control device 101, the tactile control unit 8 detects, based on the HMI control information, that the current state of the HMI is one in which rotation of the operation unit 3 is valid for switching the operation mode. Furthermore, when the tactile control unit 8 detects, based on the rotation information, that the operation unit 3 has been rotated and that it has been rotated to a rotation position where the operation mode can be switched, it outputs a selection instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform for rotation that will present a tactile sensation for a certain period of time. The tactile waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage of the selected tactile sensation presentation waveform. As a result, the tactile control device 101 can cause the operator 100 to present a crossing sensation as a tactile sensation when the operation unit 3 is positioned at a rotation position where the operation mode can be switched (see 803 in FIG. 8C ).

[0059] In this way, by being able to output an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operating unit 3, the tactile sensation control device 101 can present a tactile sensation to the operating element 100 according to the rotational position of the operating unit 3, or control the torque according to the rotational position of the operating unit 3.

[0060] Furthermore, in the above-described first embodiment, for example, the operator 100 may be configured without a rotation detection circuit. In this case, the tactile control device 101 does not necessarily have to include the rotation detection unit 11. For example, in the tactile control device 101, when the power to the tactile control device 101 is turned on, the tactile control unit 8 outputs a selection instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform for rotation. In this case, the processing of step ST1 in the operation of the tactile control device 101 explained using the flowchart of FIG. 4 can be omitted.

[0061] In the first embodiment, the operator 100 is linked to an HMI, but this is merely an example. The operator 100 does not necessarily have to be linked to an HMI.

[0062] Furthermore, in the above-described first embodiment, the operating unit 3 of the manipulator 100 has a cylindrical shape, but this is merely an example. The operating unit 3 can have any suitable shape. The operating unit 3 is only required to be attached to the shaft 1a of the fixed unit 1 of the manipulator 100, be rotatable around the shaft 1a, and have an elastic body that faces at least a plurality of rotation electrodes provided on the first fixed surface of the fixed unit 1. For example, the operating unit 3 may have a hollow shape. For example, the fixed unit 1 and the operating unit 3 may have a hollow structure, and the manipulator 100 may have a doughnut shape.

[0063] In the first embodiment described above, as shown in FIG. 2 , the rotation electrode 2 is arranged to cover the entire surface of the first fixed surface of the fixed unit 1, but this is merely an example. For example, the rotation electrode 2 may be arranged to cover a portion of the first fixed surface, such as half of the first fixed surface of the fixed unit 1. In this case, the rotation conductive elastic body 4 may be provided on a first operation surface of the operation unit 3 that faces the surface of the first fixed surface on which the rotation electrode 2 is not arranged, for example, when the operation element 100 is not rotated. The shape of the rotation electrode 2 is not limited to a circular shape and may be, for example, a semicircular shape or a rectangular shape. In the first embodiment described above, the conductive elastic body for rotation 4 is provided so as to face the first fixed surface of the fixed unit 1 over the entire first operation surface of the operation unit 3, but this is merely an example. It is not essential that the conductive elastic body for rotation 4 faces the first fixed surface of the fixed unit 1 over the entire first operation surface of the operation unit 3, and the conductive elastic body for rotation 4 can have various shapes, such as a circle, a semicircle, a square, a triangle, or a sector. As described above, in the first embodiment, the conductive elastic body for rotation 4 and the plurality of electrodes for rotation do not always need to face each other. Similarly, the electrode unit for rotation 2 (see FIG. 7) arranged around the shaft 1a of the shaft 1a does not necessarily have to be arranged around the entire circumference of the shaft 1a, but may be arranged around a part of the shaft 1a. In this case, the conductive elastic body for rotation 4 may be provided on a surface of the operating unit 3 around the shaft 1a that faces the surface on which the electrode unit for rotation 2 is not arranged when the operating element 100 is not rotated, for example. In the first embodiment, the conductive elastic body for rotation 4 and the plurality of electrodes for rotation may be opposed when the relative position between the operation unit 3 and the fixed unit 1 is at a predetermined relative position. The predetermined relative position between the operation unit 3 and the fixed unit 1, where the conductive elastic body for rotation 4 and the plurality of electrodes for rotation are opposed, refers to the relative position between the operation unit 3 and the fixed unit 1 when the operation unit 3 is rotated.

[0064] In the first embodiment described above, the plurality of rotation electrodes includes, for example, a plurality of first rotation electrodes 21 and a plurality of second rotation electrodes 22 as shown in FIG. 2, but this is merely an example. At least two rotation electrodes may be provided. In the manipulator 100, it is sufficient that a voltage can be applied to at least two adjacent rotation electrodes.

[0065] 9A and 9B are diagrams showing an example of the hardware configuration of the haptic control device 101 according to the first embodiment. In the first embodiment, the functions of the rotation detection unit 11, the tactile control unit 8, and the tactile waveform selection unit 72 are realized by a processing circuit 1001. That is, the tactile control device 101 includes a processing circuit 1001 for controlling the magnitude of the electrostatic friction force by controlling the voltage applied to a plurality of rotation electrodes, and for controlling the tactile sensation that accompanies this. The processing circuit 1001 may be dedicated hardware as shown in FIG. 9A, or may be a processor 1004 that executes a program stored in memory as shown in FIG. 9B.

[0066] When the processing circuit 1001 is dedicated hardware, the processing circuit 1001 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0067] When the processing circuit is the processor 1004, the functions of the rotation detection unit 11, the tactile control unit 8, and the tactile waveform selection unit 72 are realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 1005. The processor 1004 executes the functions of the rotation detection unit 11, the tactile control unit 8, and the tactile waveform selection unit 72 by reading and executing the program stored in the memory 1005. In other words, the tactile control device 101 includes the memory 1005 for storing a program that, when executed by the processor 1004, results in the execution of steps ST1 to ST3 in FIG. 4 described above. It can also be said that the program stored in the memory 1005 causes the computer to execute the processing procedures or methods of the rotation detection unit 11, the tactile control unit 8, and the tactile waveform selection unit 72. Here, memory 1005 refers to, for example, non-volatile or volatile semiconductor memory such as RAM, ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), etc.

[0068] It is also possible to realize some of the functions of the rotation detection unit 11, the tactile control unit 8, and the tactile waveform selection unit 72 with dedicated hardware and some with software or firmware. For example, the functions of the rotation detection unit 11 can be realized by a processing circuit 1001 as dedicated hardware, and the functions of the tactile control unit 8 and the tactile waveform selection unit 72 can be realized by the processor 1004 reading and executing a program stored in the memory 1005. The tactile control device 101 also includes a voltage generating circuit 71. The tactile control device 101 also includes an input interface device 1002 and an output interface device 1003 that perform wired or wireless communication with devices such as the operator 100 or the HMI control unit 9.

[0069] In the above-described first embodiment, the tactile control device 101 may be mounted on the operator 100 or may be provided in a server. Also, some of the rotation detection unit 11, the tactile control unit 8, and the tactile waveform selection unit 72 may be provided in the server, and the rest may be provided in the operator 100.

[0070] As described above, the manipulator 100 according to embodiment 1 is a manipulator 100 having a fixed part 1 having an axis part 1a that functions as an axis, and an operating part that is attached to the axis part 1a and can rotate around the axis part 1a, and is equipped with a plurality of rotation electrodes that are provided on a first fixed surface that faces the operating part 3 and exists in the axial direction of the fixed part 1, and are covered with a dielectric layer, and to which a voltage can be applied when the operating part 3 rotates, and a rotation conductor (rotation conductive elastic body 4) that is provided on a first operating surface that faces the first fixed surface of the operating part 3, and that faces the plurality of rotation electrodes when the relative position of the operating part 3 and the fixed part 1 is at a predetermined relative position, and a voltage can be applied to two adjacent electrodes among the plurality of rotation electrodes. This allows the operator 100 to stably present a tactile sensation, and as a result, the operator 100 can provide a tactile effect to the user stably.

[0071] Furthermore, the tactile control device 101 according to embodiment 1 is a fixed part 1 having an axis part 1a that functions as an axis, and a tactile control device 101 that controls the tactile sensation when an operating part 3 of an operator 100 that is attached to the axis part 1a and can rotate around the axis part 1a is rotated, and is configured to include a tactile control part 8 that outputs an instruction to select a tactile presentation waveform of a voltage corresponding to the tactile sensation when the operating part 3 is rotated, and a tactile waveform selection part 72 that selects a tactile presentation waveform based on the selection instruction output from the tactile control part 8 and outputs an instruction to apply a voltage with the selected tactile presentation waveform. This allows the tactile feedback control device 101 to provide a stable tactile sensation to the operator 100. As a result, the tactile feedback control device 101 can provide the operator 100 with a stable tactile effect for the user.

[0072] Embodiment 2 In the first embodiment, the operator has an operating part that can rotate around a shaft part that the fixed part has. In the second embodiment, an embodiment will be described in which the operating element has an operating portion that is rotatable around a shaft portion that the fixed portion has and that can be pushed in the direction of the shaft portion. Like the operator according to the first embodiment, the operator according to the second embodiment is provided in, for example, an in-vehicle device installed in a vehicle. The operator according to the second embodiment is linked to an HMI that is the target of the operator's operation. For example, if a screen showing the volume is displayed on a display device, a user who is a vehicle occupant can increase or decrease the volume by rotating an operation unit of the operator. When the user rotates the operation unit to increase or decrease the volume, the display device changes the screen display, for example, so that the volume increases or decreases in accordance with the rotation. Also, for example, if a selection button such as "YES" or "NO" is displayed on the display device, the user can press the selection button by pressing the operation unit of the operator. When the user presses the selection button, the display device displays, for example, a screen indicating that the selection button has been pressed. In the second embodiment, when the operating unit is rotated or pressed, the operating element provides a tactile sensation at the time of rotation or pressing, based on the control of the tactile sensation control device.

[0073] First, a configuration example of a control according to the second embodiment will be described. FIG. 10 is a diagram illustrating an example of the configuration of the operator 100a according to the second embodiment. Fig. 10A is a top view of the manipulator 100a, and Fig. 10B is a cross-sectional view taken along line AA in Fig. 10A. For ease of explanation, Fig. 10A also illustrates the shaft portion 1a and the conductive elastic body for rotation 4 provided inside the operating section 3 of the manipulator 100a.

[0074] The manipulator 100 a according to the second embodiment includes a fixed portion 1 and a manipulator portion 3 . In the second embodiment, the fixed portion 1 of the manipulator 100a includes a first fixed portion 1-1 and a second fixed portion 1-2.

[0075] The first fixed part 1-1 has a shaft 1a and is a fixed part 1 that can be pushed in the direction of the shaft 1a together with the operating part 3. In the second embodiment, the shaft 1a includes a shaft 1a (hereinafter referred to as the "first shaft" and shown as 1a-1 in FIG. 10B) to which the operating part 3 is attached, and a shaft 1a (hereinafter referred to as the "second shaft" and shown as 1a-2 in FIG. 10B) that is located on the opposite side of the first fixed surface (shown as 1b in FIG. 10B) of the first fixed part 1-1. The operating part 3 is attached to the first shaft and is rotatable around the first shaft and can be pushed in the axial direction. One end of the first shaft is attached to the first fixed part 1-1, and the operating part 3 is attached to the other end of the first shaft.

[0076] The second fixed portion 1-2 has a surface (hereinafter referred to as the "second fixed surface" and shown as 1-2a in Figure 10) that faces the surface of the first fixed portion 1-1 opposite the first fixed surface, and a surface (hereinafter referred to as the "axial side surface" and shown as 1-2b in Figure 10) that faces the second axial portion of the first fixed portion 1-1. In FIG. 10, the operating unit 3 is attached to one end of the shaft 1a (specifically, the first shaft) opposite the fixed unit 1 (specifically, the first fixed unit 1-1), but this is merely an example. For example, the operating unit 3 may be attached to the side of the shaft 1a. The operating unit 3 only needs to be attached so as not to come off the shaft 1a. The operating portion 3 can be pushed together with the first fixed portion 1-1 in the axial direction toward the second fixed portion 1-2.

[0077] In the second embodiment, the first axis portion is a surface of the first fixed portion 1-1 in the axial direction, that is, a surface facing the operating portion 3, and is provided along the outer periphery of the first fixed portion 1-1 on the first fixed surface, and has a hollow cylindrical shape. Note that this shape of the first axis portion is merely an example, and the first axis portion may be provided, for example, in the center of the first fixed surface of the first fixed portion 1-1 and have a columnar shape. Also, for example, the columnar first fixed portion 1-1 may have a structure that also serves as the first axis portion. Furthermore, in the second embodiment, the second shaft portion has a hollow cylindrical shape and is provided along the outer periphery of the first fixed portion 1-1 on the surface of the first fixed portion 1-1 opposite to the first fixed surface. Note that this shape of the second shaft portion is merely an example, and the second shaft portion may, for example, be provided in the center of the first fixed surface of the first fixed portion 1-1 and have a columnar shape. Also, for example, the columnar first fixed portion 1-1 may have a structure that also serves as the second shaft portion. The second fixed portion 1-2 is provided below the first fixed portion 1-1 of the operation element 100a and inside the second shaft portion.

[0078] In addition, the manipulator 100a is equipped with a plurality of rotation electrodes used to provide a tactile sensation when the operating unit 3 is rotated, and a plurality of electrodes (hereinafter referred to as "push electrodes") used to provide a tactile sensation when the operating unit 3 is pressed. The plurality of rotation electrodes includes a plurality of first rotation electrodes 21 and a plurality of second rotation electrodes 22. The plurality of rotation electrodes are provided on a first fixed surface of the first fixed part 1-1 and are covered with a dielectric layer 23. In the second embodiment, the plurality of rotation electrodes and the dielectric layer 23 covering the plurality of rotation electrodes are collectively referred to as the "rotation electrode part 2." A detailed configuration example of the rotation electrode part 2 according to the second embodiment is similar to the detailed configuration example of the rotation electrode part 2 including the plurality of rotation electrodes provided on the first fixed surface of the fixed part 1 and the dielectric layer 23 covering the plurality of rotation electrodes, which was explained using FIG. 2 in the first embodiment, and therefore the same reference numerals will be used and redundant explanations will be omitted.

[0079] The plurality of pushing electrodes includes a plurality of electrodes (hereinafter referred to as “first pushing electrodes”) 210 and a plurality of electrodes (hereinafter referred to as “second pushing electrodes”) 220. The plurality of pressing electrodes are provided on a surface of the second shaft portion of the first fixed portion 1-1 facing the second fixed portion 1-2, and are covered with a dielectric layer 230. A voltage can be applied to the plurality of pressing electrodes when the operation unit 3 is pressed. In the second embodiment, the plurality of pressing electrodes and the dielectric layer 230 covering the plurality of pressing electrodes are collectively referred to as a "pressing electrode portion 200." A detailed configuration example of the pressing electrode portion 200 according to the second embodiment is a configuration example in which the detailed configuration example of the rotation electrode portion 2 including the plurality of rotation electrodes provided around the shaft portion 1a in the first embodiment and the dielectric layer 23 covering the plurality of rotation electrodes is replaced with the plurality of pressing electrodes, and the dielectric layer 23 is replaced with the dielectric layer 230, as described in the first embodiment using FIG. 7. Of the multiple pushing electrodes, a voltage can be applied to two adjacent pushing electrodes (first pushing electrode 210 and second pushing electrode 220). Each first pushing electrode 210 and each second pushing electrode 220 is connected to a voltage generation circuit 71 that applies a voltage to the multiple pushing electrodes via lead-out wiring 21a and lead-out wiring 22b, respectively. The voltage generation circuit 71 has a voltage generation circuit (1) 71a and a voltage generation circuit (2) 71b. The voltage generation circuit (1) 71a applies a voltage to the multiple first pushing electrodes 210 via lead-out wiring 21a. The voltage generation circuit (2) 71b applies a voltage to the multiple second pushing electrodes 220 via lead-out wiring 22b.

[0080] In the second embodiment, the application of voltages to the plurality of rotation electrodes and the plurality of pressing electrodes is controlled by the tactile control device 101a. An example of the configuration of the tactile control device 101a will be described later.

[0081] In the following description, the plurality of rotation electrodes and the plurality of pushing electrodes will also be collectively referred to simply as "plurality of electrodes."

[0082] Returning to the description of the example configuration of the operator 100a using FIG. The operating element 100a includes a conductive elastic body 4 for rotation and a conductive elastic body (hereinafter referred to as a "conductive elastic body for pushing") 40. The function of the conductive elastic body for rotation 4 is similar to that of the conductive elastic body for rotation 4 according to embodiment 1, and so the same reference numeral is used. The conductive elastic body for rotation 4 is provided on a first operating surface (shown as 3a in FIG. 10B) that faces a first fixed surface (shown as 1b in FIG. 10B) of the first fixed portion 1-1 in the operating unit 3, and faces a plurality of electrodes for rotation. In the second embodiment, the electrode unit for rotation 2 is provided over the entire first fixed surface of the first fixed unit 1-1, as shown in Fig. 10. Also, as shown in Fig. 10, the conductive elastic body for rotation 4 is provided over the entire first operating surface of the operating unit 3 so as to face the first fixed unit 1-1. When the operating part 3 is rotated, the conductive elastic body for rotation 4 rotates together with the operating part 3 around the shaft part 1a, and when the operating part 3 is pushed in, the conductive elastic body for rotation 4 is pushed in together with the operating part 3 in the direction of the shaft part 1a.

[0083] The push-in conductive elastic body 40 is provided on the axial side of the second fixed portion 1-2 (shown as 1-2b in Figure 10B), and faces multiple push-in electrodes when the relative position between the operating portion 3 and the second fixed portion 1-2 is in a predetermined relative position. In the manipulator 100a shown in FIG. 10, the push-in conductive elastic body 40 and the multiple push-in electrodes only face each other over a certain area when the operation unit 3 is not being pressed, but face each other entirely when the operation unit 3 is pressed. Thus, the push-in conductive elastic body 40 and the multiple push-in electrodes do not necessarily face each other entirely at all times. In the second embodiment, the push-in conductive elastic body 40 and the multiple push-in electrodes only face each other when the relative position between the operation unit 3 and the second fixed unit 1-2 is a predetermined relative position. In the manipulator 100a shown in FIG. 10, the predetermined relative position between the operation unit 3 and the second fixed unit 1-2, where the push-in conductive elastic body 40 and the multiple push-in electrodes face each other, refers to the relative position between the operation unit 3 and the second fixed unit 1-2 when the second fixed unit 1-2 is pressed together with the operation unit 3.

[0084] In embodiment 2, as described above, among the multiple electrodes (multiple rotation electrodes, multiple pushing electrodes), a voltage can be applied to adjacent electrodes (first rotation electrode 21 and second rotation electrode 22, first pushing electrode 210 and second pushing electrode 220). When a voltage is applied to the multiple electrodes, an electrostatic force is generated between the multiple electrodes and the conductive elastic body (the rotating conductive elastic body 4 or the pushing conductive elastic body 40) that tends to attract the conductive elastic body to the multiple electrodes. When the operation unit 3 is rotated or pushed while an electrostatic force is generated between the multiple electrodes and the conductive elastic body, a frictional force distribution corresponding to the tactile sensation waveform of the voltage applied to each electrode is generated in the conductive elastic body, with the electrostatic force acting as a normal force. This frictional force, i.e., electrostatic frictional force, is transmitted to the operation unit 3. Therefore, the user's finger or the like operating the operation unit 3 is subjected to a shear force via the operation unit 3 on the multiple electrodes to which the voltage is applied, and a tactile sensation is felt in that area. The electrostatic friction force is generated by the electrostatic capacitance formed between the adjacent electrodes (the first rotation electrode 21 and the second rotation electrode 22, and the first push-in electrode 210 and the second push-in electrode 220) and the conductive elastic body (the rotation conductive elastic body 4 or the push-in conductive elastic body 40) that face each other via the dielectric layers 23, 230, depending on the voltage difference applied to the adjacent electrodes. The magnitude of the electrostatic friction force varies depending on the magnitude of the voltage applied to the adjacent electrodes. The tactile sensation control device 101a controls the magnitude of the electrostatic friction force and the associated tactile sensation by controlling the voltage applied to the multiple electrodes. Note that the provision of the dielectric layers 23, 230 enables the operating element 100a to insulate and protect the electrodes, and to generate a strong electrostatic friction force even when a low voltage is applied to the adjacent electrodes. Typically, the dielectric layers 23, 230 have a higher dielectric constant than air, which increases the electrostatic capacitance formed between the adjacent electrodes and the conductive elastic body. The voltage applied to each electrode of the operator 100a is controlled by the tactile sensation control device 101a, so that the operator 100a can present a tactile sensation according to the tactile sensation presentation waveform.

[0085] In the second embodiment, the manipulator 100a is provided with conductive elastic bodies (the rotating conductive elastic body 4 and the pushing conductive elastic body 40), but the conductors provided in the manipulator 100a do not necessarily have to be elastic conductors and may be non-elastic conductors. It is sufficient that the manipulator 100a is provided with conductors. However, in the manipulator 100a, the conductor for rotation (hereinafter referred to as the "conductor for rotation") is preferably the elastic conductive elastic body for rotation 4. The reason why the conductor for rotation is preferably the elastic conductive elastic body for rotation 4 has been explained in the first embodiment, so a duplicate explanation will be omitted. For the same reason, the conductor for pushing (hereinafter referred to as the "conductor for pushing") is also preferably the elastic conductive elastic body for pushing 40. The conductive elastic body for rotation 4 and the dielectric layer 23 are in contact with each other, and the conductive elastic body for pressing 40 and the dielectric layer 230 are in contact with each other.

[0086] Furthermore, in the operating element 100a, a spring 5 is provided at the center of the first fixed portion 1-1. One end of the spring 5 is connected to the first fixed portion 1-1, and the other end is connected to the second fixed portion 1-2. The spring 5 generates a repulsive force when the operating unit 3 is pressed. This causes the operating unit 3 to return to its initial position after being pressed. Note that in the first embodiment, "the center of the first fixed portion 1-1" does not necessarily have to be the exact center, and includes "approximately the center of the first fixed portion 1-1." In the second embodiment, the spring 5 is provided at the center of the first fixed portion 1-1, but this is merely an example. The spring 5 may be provided at any position that generates a repulsive force when the operating unit 3 is pressed, and that can return the operating unit 3 to its initial position after being pressed. The number of springs 5 ​​is also not limited to one. Furthermore, in the second embodiment, the operating element 100a is provided with the spring 5, but this is merely an example, and the operating element 100a may be provided with an elastic body or the like that generates a repulsive force when the operating portion 3 is pressed.

[0087] The operator 100a also includes a rotation detection circuit and a push-in detection circuit 6. The rotation detection circuit is the same as the rotation detection circuit included in the operator 100 according to embodiment 1, and therefore a duplicated description will be omitted. In embodiment 2, the second fixed portion 1-2 also serves as the rotation detection circuit. The push-in detection circuit 6 detects the push-in of the operation unit 3 of the operator 100a. Specifically, the push-in detection circuit 6 detects the amount of push-in of the operation unit 3. In the second embodiment, the push-in detection circuit 6 is, for example, a force sensor that changes its output value in accordance with the load on the spring 5.

[0088] As explained using Figures 10, 2, and 7, the operator 100a is provided on a first fixed surface that faces the operation unit 3 and exists in the axial direction of the fixed unit 1 (more specifically, the first fixed unit 1-1), and is equipped with a plurality of rotation electrodes covered with a dielectric layer 23, and a rotation conductive elastic body 4 that is provided on a first operation surface that is a surface of the operation unit 3 that faces the first fixed surface and faces the plurality of rotation electrodes, and among the plurality of rotation electrodes, adjacent rotation electrodes can be applied with a voltage. Moreover, the manipulator 100a is equipped with a plurality of pushing electrodes that are provided on the surface of the second shaft portion of the first fixed portion 1-1 facing the second fixed portion 1-2 and are covered with a dielectric layer 230, and a pushing conductive elastic body 40 that is provided on the shaft side of the second fixed portion 1-2 and faces the plurality of pushing electrodes when the relative position of the operation unit 3 and the fixed portion 1 (more specifically, the second fixed portion 1-2) is at a preset relative position, and is capable of applying a voltage to two of the plurality of pushing electrodes that are adjacent to each other. In other words, the manipulator 100a has a configuration in which an electrostatic friction force is generated inside the operation unit 3 by the plurality of rotation electrodes and the rotation conductive elastic body 4, or by the plurality of pushing electrodes and the pushing conductive elastic body 40.

[0089] As described above, the manipulator 100a according to the second embodiment has a configuration for generating an electrostatic friction force inside the operation unit 3. This makes it possible for the manipulator 100a to eliminate the effects on the electrostatic friction force caused by the surface condition of the mounting surface of the mechanical switch, fluctuations in the distance between the electrodes and the mechanical switch due to distortion during rotation of the mechanical switch, and foreign matter adhering to the surface of the mounting surface of the mechanical switch, which are problems that arise when generating an electrostatic friction force between the rotation surface of a mechanical switch and the mounting surface of the mechanical switch in a conventional manner. By having a configuration for generating an electrostatic friction force inside the operation unit 3, the manipulator 100a can present a stable tactile sensation when generating an electrostatic friction force between the operation unit 3 (more specifically, the rotation conductive elastic body 4) and the multiple rotation electrodes during rotation of the operation unit 3, regardless of the external state of the operation unit 3. Furthermore, the manipulator 100a is configured to generate an electrostatic friction force parallel to the shaft 1a of the fixed portion 1 (more specifically, the first fixed portion 1-1) between the second fixed portion 1-2 (more specifically, the push-in conductive elastic body 40) and the multiple push-in electrodes. Note that in the second embodiment, "parallel" does not necessarily mean strictly parallel, but also includes approximately parallel. When the manipulator 100a generates an electrostatic friction force between the second fixed portion 1-2 (more specifically, the push-in conductive elastic body 40) and the multiple push-in electrodes when the operation unit 3 is pressed, it can present a stable tactile sensation regardless of the state outside the operation unit 3.

[0090] Next, a tactile control device 101a that controls the voltages applied to the multiple electrodes of the manipulator 100a will be described. FIG. 11 is a diagram showing an example of the configuration of a tactile control device 101a according to the second embodiment. In FIG. 11, the same reference numerals are used to designate the same configuration example as the configuration example of the tactile control device 101 according to the first embodiment, which was explained using FIG. 3 in the first embodiment, and redundant explanations will be omitted. In Figure 11, for ease of explanation, the first rotation electrode 21 and the first pushing electrode 210 are collectively referred to as the "first electrodes 21, 210", and the second rotation electrode 22 and the second pushing electrode 220 are collectively referred to as the "second electrodes 22, 220". The tactile control device 101a is connected to the operator 100a, and the operator 100a and the tactile control device 101a constitute a tactile control system 102a. Note that this is merely an example, and the tactile control device 101a may be mounted on the operator 100a, for example. For simplicity of explanation, Fig. 11 only shows a plurality of electrodes (a plurality of first electrodes 21, 210 and a plurality of second electrodes 22, 220) as components of the operator 100a. The tactile control device 101a is connected to the HMI control unit 9. The HMI control unit 9 controls changes in the state of the HMI. The HMI control unit 9 outputs HMI control information to the tactile control device 101a.

[0091] The tactile control device 101a according to embodiment 2 differs from the tactile control device 101 according to embodiment 1 in that it includes a press detection unit 61. Furthermore, in the tactile control device 101a according to embodiment 2, the operations of the tactile waveform selection unit 72a and the tactile control unit 8a differ from the operations of the tactile waveform selection unit 72 and the tactile control unit 8 in the tactile control device 101 according to embodiment 1, respectively.

[0092] The push detection unit 61 detects a push on the operation unit 3. Specifically, the push detection unit 61 detects a push on the operation unit 3 by acquiring, from the push detection circuit 6, information relating to the push on the operation unit 3 detected by the push detection circuit 6. The press detection unit 61 outputs information relating to the detected press of the operation unit 3 (hereinafter referred to as "press information") to the tactile control unit 8a. The press information includes information relating to the amount of pressing of the operation unit 3. The press detection unit 61 also outputs the press information to the HMI control unit 9. The HMI control unit 9 changes the state of the HMI based on the press information. Based on the press information, for example, the HMI control unit 9 displays a screen indicating that an operation button has been executed in response to a press on the operation unit 3 of the manipulator 100a.

[0093] The tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation providing waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated or pressed. Specifically, the tactile control unit 8a determines a tactile sensation corresponding to the state of the HMI, or the rotation state of the operation unit 3, or the pressing state of the operation unit 3, based on the rotation information output from the rotation detection unit 11, the pressing information output from the pressing detection unit 61, and the HMI control information output from the HMI control unit 9. Then, based on the determined tactile sensation, the tactile control unit 8a outputs to the tactile waveform selection unit 72a an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated, or an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed.

[0094] An example of a method in which the tactile control unit 8a outputs a selection instruction will be described. For example, the tactile control unit 8a determines whether the HMI state is one in which a rotation action is enabled or one in which a pressing action is enabled, and determines the tactile sensation to be presented based on the determination result of the HMI state and whether the operation unit 3 is being rotated or pressed. Then, the tactile control unit 8a outputs an instruction to select a tactile sensation presentation waveform corresponding to the determined tactile sensation.

[0095] Based on the HMI control information output from the HMI control unit 9, the tactile control unit 8a determines whether the HMI state is one in which a rotation action is valid or one in which a pressing action is valid. The "state in which rotational motion is enabled as an HMI state" has already been explained in the first embodiment, so a duplicate explanation will be omitted. "A state in which a press action is valid as an HMI state" refers to a state in which the HMI state can be operated by pressing the operation unit 3. For example, if the display device displays a selection button for "YES" or "NO" that is executed by pressing the operation unit 3, this is a "state in which a press action is valid as an HMI state." On the other hand, if the display device is preparing to display a selection button, the press button is not yet displayed, so this is not a "state in which a press action is valid as an HMI state."

[0096] Furthermore, the tactile control unit 8a determines whether or not the operation unit 3 is rotating based on the rotation information output from the rotation detection unit 11. The operation unit 3 is rotating when the operation unit 3 is in the process of being rotated. For example, the tactile control unit 8a may determine whether or not the operation unit 3 is rotating based on the rotation information and depending on whether or not the position of the operation unit 3 is changing. The tactile control unit 8a also determines whether the operation unit 3 is being pressed based on the press information output from the press detection unit 61. The operation unit 3 being pressed means that the operation unit 3 is currently being pressed. The tactile control unit 8a may determine whether the operation unit 3 is being pressed based on the press information, for example, by determining whether the amount of pressing of the operation unit 3 is changing.

[0097] An example of a method in which the tactile control unit 8a outputs a selection instruction will be described in more detail below, dividing the cases into different states depending on the state of the HMI.

[0098] <Case (B-1)> When the rotation action is enabled as the HMI state and the push action is enabled as the HMI state In the above <Case (B-1)>, the tactile sensation control unit 8a determines to present a tactile sensation when the operation unit 3 is rotating, regardless of whether the operation unit 3 is being pressed or not, and outputs an instruction to the tactile sensation waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotating. If the operation unit 3 is not rotating, and if the operation unit 3 is being pressed, the tactile sensation control unit 8a determines to present a tactile sensation when the operation unit 3 is being pressed, and outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed. If the operation unit 3 is neither rotating nor being pressed, the tactile sensation control unit 8a determines that no tactile sensation will be presented, and does not output a selection instruction to the tactile waveform selection unit 72a.

[0099] When the HMI is in a state in which both rotation and pushing operations are valid, the operation unit 3 can be operated by both rotation and pushing. Therefore, the tactile sensation control unit 8a determines, for example, whether the operation unit 3 is being rotated or pressed, and based on the determination result, decides whether to present a tactile sensation when the operation unit 3 is being rotated or when the operation unit 3 is being pressed. In the second embodiment, the tactile sensation control unit 8a prioritizes the presentation of a tactile sensation when the operation unit 3 is being rotated. That is, the tactile sensation control unit 8a prioritizes the output of an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform that corresponds to the tactile sensation when the operation unit 3 is being rotated. This is merely an example, and the tactile sensation control unit 8a may, for example, give priority to the tactile sensation when the operation unit 3 is pressed. For example, the tactile control unit 8a may change whether to prioritize the tactile sensation when rotating the operation unit 3 or the tactile sensation when pressing the operation unit 3, depending on the state or application of the HMI. For example, if an operation button for turning on the audio, which is activated by pressing the operation unit 3, and a screen showing the volume, which is adjusted by rotating the operation unit 3, are displayed, the tactile control unit 8 may determine whether the operation unit 3 is being pressed, giving priority over determining whether the operation unit 3 is being rotated, and may decide to present the tactile sensation when pressing the operation unit 3 if it is being pressed.

[0100] <Case (B-2)> When the rotation action is enabled in the HMI state and the push action is not enabled in the HMI state In the above <Case (B-2)>, the tactile sensation control unit 8a determines that if the operation unit 3 is rotating, a tactile sensation will be presented when the operation unit 3 is rotating, and outputs an instruction to the tactile sensation waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotating. If the operation unit 3 is not rotating, the tactile sensation control unit 8a determines that no tactile sensation should be presented, and does not output a selection instruction to the tactile waveform selection unit 72a. When the HMI state is such that rotational motion is enabled and the HMI state is not such that pressing motion is enabled, the tactile control unit 8a does not need to take into consideration that the operation unit 3 is being pressed. Therefore, if the operation unit 3 is rotating, the tactile sensation control unit 8a outputs an instruction to select a tactile sensation presentation waveform that corresponds to the tactile sensation when the operation unit 3 is rotating.

[0101] <Case (B-3)> When the rotation action is not enabled in the HMI state and the push action is enabled in the HMI state In the above <Case (B-3)>, the tactile sensation control unit 8a determines that if the operation unit 3 is being pressed, a tactile sensation will be presented when the operation unit 3 is being pressed, and outputs an instruction to the tactile sensation waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed. If the operation unit 3 is not being pressed, the tactile sensation control unit 8a determines not to provide a tactile sensation and does not output a selection instruction to the tactile waveform selection unit 72a. When the HMI state is such that rotational motion is not enabled and when the HMI state is such that pressing motion is enabled, the tactile control unit 8a does not need to take into consideration that the operation unit 3 is being rotated. Therefore, if the operation unit 3 is being pressed, the tactile sensation control unit 8a outputs an instruction to select a tactile sensation presentation waveform that corresponds to the tactile sensation felt when the operation unit 3 is pressed.

[0102] <Case (B-4)> When neither rotation nor push action is enabled as the HMI state In the above <Case (B-4)>, the tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select the tactile sensation providing waveform that maximizes the electrostatic friction force. In the second embodiment, the tactile control unit 8a outputs an instruction to select a tactile sensation providing waveform that maximizes the electrostatic friction force, but this is merely an example. The tactile control unit 8a may be configured to output an instruction to select a tactile sensation providing waveform that generates an electrostatic friction force that makes it difficult to rotate or press the operation unit 3.

[0103] The tactile waveform selection section 72a selects a tactile sensation providing waveform based on a selection instruction output from the tactile control section 8a, and outputs an instruction to apply a voltage with the selected tactile sensation providing waveform. Specifically, the tactile waveform selection unit 72a selects a tactile sensation presentation waveform for rotating the operation unit 3 corresponding to the tactile sensation when rotating the operation unit 3, or a tactile sensation presentation waveform for pressing the operation unit 3 corresponding to the tactile sensation when pressing the operation unit 3, based on a selection instruction output from the tactile control unit 8a. More specifically, when the tactile waveform selection unit 72a receives an instruction from the tactile control unit 8a to select a tactile sensation presentation waveform corresponding to the tactile sensation when rotating the operation unit 3, it selects a tactile sensation presentation waveform that will impart a tactile sensation when rotating the operation unit 3 and outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform to the multiple rotation electrodes. Furthermore, when the tactile control unit 8a receives an instruction to select a tactile sensation presentation waveform that will impart a tactile sensation when pressing the operation unit 3, it selects a tactile sensation presentation waveform that will impart a tactile sensation when pressing the operation unit 3 and outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform to the multiple pressing electrodes. The tactile sensation providing waveform for when the operation unit 3 is rotated and the tactile sensation providing waveform for when the operation unit 3 is pressed are set in advance and stored in the tactile sensation waveform selection unit 72a. The tactile sensation providing waveform for when the operation unit 3 is rotated and the tactile sensation providing waveform for when the operation unit 3 is pressed may be the same waveform or different waveforms.

[0104] The tactile waveform selection section 72a then outputs to the voltage generation circuit 71 an instruction to apply a voltage with the selected tactile sensation providing waveform. More specifically, the tactile waveform selection unit 72a outputs an instruction to the voltage generation circuit (1) 71a of the voltage generation circuit 71 to apply a voltage with a tactile sensation presentation waveform to each of the first electrodes 21, 210, and outputs an instruction to the voltage generation circuit (2) 71b of the voltage generation circuit 71 to apply a voltage with a tactile sensation presentation waveform to each of the second electrodes 22, 220. Note that the voltage generation circuit (1) 71a and the voltage generation circuit (2) 71b are not shown in Fig. 11.

[0105] The voltage generating circuit 71 applies a voltage of the tactile sensation providing waveform selected by the tactile waveform selecting section 72 to a plurality of electrodes based on the application instruction output from the tactile waveform selecting section 72a. More specifically, the voltage generating circuit (1) 71a applies a voltage with a tactile sensation providing waveform selected by the tactile waveform selecting section 72a to each of the first electrodes 21, 210. The voltage generating circuit (2) 71b applies a voltage with a tactile sensation providing waveform selected by the tactile waveform selecting section 72a to each of the second electrodes 22, 220. An amplitude modulation signal is generated by combining the voltage signal of the voltage applied to each of the first electrodes 21, 210 and the voltage signal of the voltage applied to each of the second electrodes 22, 220. In the region where capacitance is formed between the multiple electrodes and the conductive elastic body (the conductive elastic body for rotation 4 or the conductive elastic body for pressing 40), charging and discharging are repeated in accordance with the amplitude modulation signal. 11, the voltage generating circuit 71 is provided in the tactile control device 101a, but this is merely an example. The voltage generating circuit 71 may also be provided outside the tactile control device 101a and connected to the tactile control device 101a from outside the tactile control device 101a.

[0106] The operation of the tactile control device 101a according to the second embodiment will be described. FIG. 12 is a flowchart for explaining the operation of the tactile control device 101a according to the second embodiment.

[0107] The rotation detection unit 11 detects the rotation of the operation unit 3 (step ST11). The rotation detection unit 11 outputs the rotation information to the tactile control unit 8a. The rotation detection unit 11 also outputs the rotation information to the HMI control unit 9.

[0108] The push-in detection unit 61 detects the push-in of the operation unit 3 (step ST21). The press detection unit 61 outputs the press information to the tactile control unit 8a. The press detection unit 61 also outputs the press information to the HMI control unit 9.

[0109] The tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation providing waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated or pressed (step ST31).

[0110] The tactile waveform selection unit 72a selects a tactile sensation providing waveform based on the selection instruction output from the tactile control unit 8a. The tactile waveform selection unit 72a then outputs an instruction to the voltage generation circuit 71 to apply a voltage with the selected tactile sensation providing waveform (step ST41). The voltage generation circuit 71 applies a voltage with the tactile sensation providing waveform selected by the tactile waveform selection unit 72a to multiple electrodes (multiple rotation electrodes or multiple pressing electrodes) based on the application instruction output from the tactile waveform selection unit 72a.

[0111] 12, the tactile control device 101a performs the processes in the order of step ST11 and step ST21. However, the order of the processes in step ST11 and step ST21 is not limited to this. The order of the processes in step ST11 and step ST21 may be reversed, or the processes in step ST11 and step ST21 may be performed in parallel.

[0112] FIG. 13 is a flowchart for explaining an example of detailed operations of step ST31 and step ST41 in FIG.

[0113] The tactile control unit 8a determines whether or not the HMI is in a state in which a rotational action is enabled, based on the HMI control information output from the HMI control unit 9 (step ST301). In step ST301, if it is determined that the rotation action is enabled as the HMI state (if "YES" in step ST301), the tactile control unit 8a determines whether the pressing action is enabled as the HMI state based on the HMI control information output from the HMI control unit 9 (step ST302).

[0114] In step ST302, if it is determined that the HMI state is one in which pressing operations are valid (if "YES" in step ST302), the tactile control unit 8a determines whether the operation unit 3 is rotating or not based on the rotation information output from the rotation detection unit 11 (step ST303).

[0115] In step ST303, if it is determined that the operation unit 3 is rotating (if "YES" in step ST303), the tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotating. The tactile waveform selection section 72a selects a tactile sensation presentation waveform corresponding to the tactile sensation during rotation based on the selection instruction output from the tactile control section 8a (step ST304). The tactile waveform selection unit 72a then outputs an instruction to apply a voltage with a tactile sensation providing waveform corresponding to the tactile sensation during rotation to the voltage generation circuit 71. The voltage generation circuit 71 applies a voltage with the tactile sensation providing waveform selected by the tactile waveform selection unit 72a to the plurality of rotation electrodes.

[0116] If it is determined in step ST303 that the operation unit 3 is not rotating (if "NO" in step ST303), the tactile control unit 8a determines whether the operation unit 3 is being pressed based on the pressing information output from the pressing detection unit 61 (step ST305).

[0117] In step ST305, if it is determined that the operation unit 3 is being pressed (if "YES" in step ST305), the tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed. The tactile waveform selection section 72a selects a tactile sensation presentation waveform corresponding to the tactile sensation at the time of pressing, based on the selection instruction output from the tactile control section 8a (step ST306). The tactile waveform selection unit 72a then outputs an instruction to apply a voltage with a tactile sensation providing waveform corresponding to the tactile sensation at the time of pressing to the voltage generation circuit 71. The voltage generation circuit 71 applies a voltage with the tactile sensation providing waveform selected by the tactile waveform selection unit 72a to the multiple pressing electrodes.

[0118] In step ST305, if it is determined that the operation unit 3 is not being pressed ("NO" in step ST305), the tactile control unit 8a does not output a selection instruction. That is, the tactile waveform selection unit 72a does not select a tactile sensation providing waveform (step ST307). The voltage generation circuit 71 does not apply voltage to the plurality of electrodes (the plurality of rotation electrodes and the plurality of pressing electrodes).

[0119] In step ST302, if it is determined that the HMI state does not allow pressing operations (if "NO" in step ST302), the tactile control unit 8a determines whether the operation unit 3 is rotating based on the rotation information output from the rotation detection unit 11 (step ST308).

[0120] In step ST308, if it is determined that the operation unit 3 is rotating (if "YES" in step ST308), the tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotating. The tactile waveform selection section 72a selects a tactile sensation presentation waveform corresponding to the tactile sensation during rotation based on the selection instruction output from the tactile sensation control section 8a (step ST309). The tactile waveform selection unit 72a then outputs an instruction to apply a voltage with a tactile sensation providing waveform corresponding to the tactile sensation during rotation to the voltage generation circuit 71. The voltage generation circuit 71 applies a voltage with the tactile sensation providing waveform selected by the tactile waveform selection unit 72a to the plurality of rotation electrodes.

[0121] If it is determined in step ST308 that the operation unit 3 is not rotating ("NO" in step ST308), the tactile control unit 8a does not output a selection instruction. That is, the tactile waveform selection unit 72a does not select a tactile sensation providing waveform (step ST310). The voltage generation circuit 71 does not apply voltage to the plurality of electrodes (the plurality of rotation electrodes and the plurality of pressing electrodes).

[0122] In step ST301, if it is not determined that the rotation action is an effective state for the HMI state (if "NO" in step ST301), that is, if the rotation action is not an effective state for the HMI state, the tactile control unit 8a determines whether the pressing action is an effective state for the HMI state based on the HMI control information output from the HMI control unit 9 (step ST311).

[0123] In step ST311, if it is determined that the HMI state is one in which pressing operations are enabled (if "YES" in step ST311), the tactile control unit 8a determines whether the operation unit 3 is being pressed or not based on the pressing information output from the pressing detection unit 61 (step ST312). The specific operations of the tactile control unit 8a, the tactile waveform selection unit 72a, and the voltage generation circuit 71 in steps ST312 to ST314 are similar to the specific operations of the tactile control unit 8a, the tactile waveform selection unit 72a, and the voltage generation circuit 71 in steps ST305 to ST307, respectively, which have already been explained, and therefore will not be explained again.

[0124] In step ST311, if it is determined that the HMI state does not allow for a pressing operation (if "NO" in step ST311), the tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select a tactile presentation waveform that maximizes the electrostatic friction force. The tactile waveform selection unit 72a selects a tactile sensation presentation waveform that maximizes the electrostatic friction force for the voltage generation circuit 71. The tactile waveform selection unit 72a then outputs an instruction to the voltage generation circuit 71 to apply a voltage with the tactile sensation presentation waveform that maximizes the electrostatic friction force (step ST315). The voltage generation circuit 71 applies a voltage with the tactile sensation presentation waveform selected by the tactile waveform selection unit 72a to the multiple electrodes (the multiple rotation electrodes and the multiple pressing electrodes).

[0125] In this way, the tactile control device 101a according to embodiment 2 is configured to output a selection instruction for a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 of the manipulator 100a is rotated or pressed, and when the tactile sensation presentation waveform for rotation or the tactile sensation presentation waveform for pressing is selected based on the selection instruction, output an application instruction to apply a voltage of the selected tactile sensation presentation waveform. In this way, the tactile control device 101a can control the tactile sensation when the operation unit 3 of the manipulator 100a is rotated or pressed. The tactile sensation control device 101a controls the voltages applied to the multiple electrodes, thereby causing the manipulator 100a to present a tactile sensation corresponding to the tactile sensation presentation waveform. That is, the tactile sensation control device 101a can cause the manipulator 100a to present a tactile sensation when the operation unit 3 is rotated or pressed. The manipulator 100a can present a tactile sensation when the operation unit 3 is rotated or pressed.

[0126] Furthermore, the tactile control device 101a according to the second embodiment outputs an instruction to select a tactile sensation providing waveform according to the state of the HMI that is the target of the rotation operation of the operation unit 3 or the pressing operation of the operation unit 3, and outputs an application instruction to apply a voltage with the tactile sensation providing waveform selected based on the selection instruction. In this way, the tactile control device 101a can cause the operator 100a to present a tactile sensation that is linked to the HMI. The operator 100a can present a tactile sensation that is linked to the HMI.

[0127] In the second embodiment, a rotary encoder is used as an example of a rotation detection circuit, but this is merely one example. The rotation detection circuit may be an electrical rotation detection circuit that uses electrostatic capacitance detection, or may be a rotation detection circuit that optically detects rotation.

[0128] Furthermore, in the above-described second embodiment, the plurality of rotation electrodes are provided on the first fixed surface of the fixed portion 1 (more specifically, the first fixed portion 1-1), and the plurality of rotation electrodes and the rotation conductive elastic body 4 are arranged to face each other in the pushing direction of the operating portion 3, in other words, in the axial direction, but this is not limited to this. For example, as shown in FIGS. 14A and 14B , in a manipulator 100a, in addition to the plurality of rotation electrodes and the conductive elastic bodies for rotation 4 facing each other in the axial direction, the plurality of rotation electrodes and the conductive elastic bodies for rotation 4 may be arranged to face each other around the shaft portion 1a (more specifically, the first shaft portion, shown as 1a-1 in FIG. 14B). In this case, the manipulator 100a includes a plurality of rotation electrodes that are provided on the first fixed surface (shown as 1b in FIG. 14B) of the first fixed portion 1-1 and covered with a dielectric layer 23, as well as a plurality of rotation electrodes that are provided around the shaft portion 1a (more specifically, the first shaft portion) and covered with a dielectric layer 23. The conductive elastic bodies for rotation 4 are provided on the first operation surface (shown as 3a in FIG. 14B) of the operation unit 3 and on the surface of the operation unit 3 facing the shaft portion 1a (shown as 3b in FIG. 14B). When the relative position between the operation part 3 and the shaft part 1a is set in a predetermined position, the conductive elastic body for rotation 4 faces a plurality of electrodes for rotation provided around the shaft part 1a on the shaft part 1a. Fig. 14A is a top view of the manipulator 100a, and Fig. 14B is a cross-sectional view taken along line AA in Fig. 14A. For ease of explanation, Fig. 14A also illustrates the shaft portion 1a, dielectric layer 23, and conductive elastic body for rotation 4 that are provided inside the operation section 3 of the manipulator 100a. The manipulator 100a shown in Fig. 14 differs from the manipulator 100a shown in Fig. 10 in that a plurality of electrodes for rotation and a conductive elastic body for rotation 4 are provided to face each other around the shaft portion 1a.

[0129] 14A and 14B, for example, the dielectric layer 23 covering the plurality of rotation electrodes provided on the first fixed surface of the first fixed portion 1-1 and the dielectric layer 23 covering the plurality of rotation electrodes provided around the first shaft portion are shown as a common dielectric layer 23. This is merely one example, and for example, the manipulator 100a may each have a dielectric layer 23 covering the plurality of rotation electrodes provided on the first fixed surface of the first fixed portion 1-1 and a dielectric layer 23 covering the plurality of rotation electrodes provided around the first shaft portion.

[0130] 14A and 14B, as an example, a plurality of rotation electrodes covered with a dielectric layer 23 are provided on the inner peripheral surface of the first shaft portion, but this is merely an example. For example, a plurality of rotation electrodes covered with a dielectric layer 23 may be provided on the outer peripheral surface of the first shaft portion. In this case, a dielectric layer 23 covering a plurality of rotation electrodes provided on the outer peripheral surface of the first shaft portion is provided separately from the dielectric layer 23 covering the plurality of rotation electrodes provided on the first fixed surface of the first fixed portion 1-1. Furthermore, for example, a plurality of rotation electrodes covered with the dielectric layer 23 may be provided on the inner and outer peripheral surfaces of the first shaft portion.

[0131] The detailed configuration of the rotating electrode portion 2 provided on the first fixed surface of the first fixed portion 1-1 is the same as the detailed configuration of the rotating electrode portion 2 described using Figure 2 in embodiment 1, so detailed description will be omitted. Furthermore, the detailed configuration of the rotating electrode portion 2 provided around the first shaft portion in the first shaft portion is the same as the detailed configuration of the rotating electrode portion 2 described using Figure 7 in embodiment 1, so detailed description will be omitted.

[0132] Thus, in embodiment 2, the operating element 100a is provided with a plurality of rotation electrodes that are provided on the first fixed surface of the fixed part 1 (more specifically, the first fixed part 1-1) and covered with a dielectric layer 23, and further includes a plurality of rotation electrodes that are provided around the shaft part 1a in the shaft part 1a and covered with a dielectric layer, and the rotating conductive elastic body 4 is provided on the first operating surface and on a surface of the operating part 3 that faces the shaft part 1a, and may be configured to face the plurality of rotation electrodes that are provided around the shaft part 1a when the relative position of the operating part 3 and the fixed part 1 is at a predetermined relative position. This allows the operating element 100a to have a larger area where the multiple rotation electrodes face the conductive elastic body for rotation 4, compared to a case where the operating element 100a is provided on the first fixed surface of the fixed portion 1 and is only provided with multiple rotation electrodes covered with the dielectric layer 23. In other words, the operating element 100a can increase the number of locations where electrostatic force is generated. As a result, the operating element 100a can generate a larger electrostatic friction force. It is easier to provide the plurality of rotation electrodes on the first fixed surface of the fixed portion 1 than to provide them around the shaft portion 1a on the shaft portion 1a.

[0133] In the second embodiment described above, the operator 100a is provided with a mechanism in which, when the operating unit 3 is pressed, a voltage is applied to a plurality of pressing electrodes to generate an electrostatic friction force. However, this is merely an example, and the operator 100a may be provided with, for example, a mechanical push switch instead of this mechanism. 15 and 16 are diagrams showing an example of the configuration of an operator 100a in the second embodiment described above that does not have a mechanism for generating an electrostatic friction force in response to depression of the operating unit 3, but instead has a depression detection switch SW. Fig. 15A is a top view of the manipulator 100a, and Fig. 15B is a cross-sectional view taken along line AA in Fig. 15A. For ease of explanation, Fig. 15A also illustrates the shaft portion 1a and the conductive elastic body for rotation 4 provided inside the operating section 3 of the manipulator 100a. Fig. 16A is a top view of the manipulator 100a, and Fig. 16B is a cross-sectional view taken along line AA in Fig. 16A. For ease of explanation, Fig. 16A also illustrates the shaft portion 1a, dielectric layer 23, and conductive elastic body for rotation 4, which are provided inside the manipulator 3 of the manipulator 100a. The manipulator 100a shown in FIG. 15 differs from the manipulator 100a shown in FIG. 10 in that it does not include the push-in electrode portion 200, the push-in conductive elastic body 40, the spring 5, and the push-in detection circuit 6, but instead includes a push-in detection switch SW. The manipulator 100a shown in FIG. 16 differs from the manipulator 100a shown in FIG. 14 in that it does not include the push-in electrode portion 200, the push-in conductive elastic body 40, the spring 5, and the push-in detection circuit 6, but instead includes a push-in detection switch SW.

[0134] The push detection switch SW is a mechanical push switch that detects a push on the operation unit 3, and is, for example, a tactile switch. The push-in detection switch SW detects that the operation unit 3 has been pushed in, and provides tactile feedback via the operation unit 3 to the finger or the like of the user operating the operation unit 3 . In this case, the configuration of the tactile control device 101a is the same as the configuration of the tactile control device 101 described in embodiment 1 using Fig. 3. Furthermore, the operation of the tactile control device 101a is the same as the operation of the tactile control device 101 described in embodiment 1 using the flowchart shown in Fig. 4.

[0135] In the second embodiment, a force sensor is used as an example of the press-in detection circuit 6, but this is merely an example. The press-in detection circuit 6 may be, for example, an electrical or optical proximity sensor.

[0136] Furthermore, in the above-described second embodiment, the tactile control unit 8a of the tactile control device 101a may calculate the amount of change in the rotational direction or the rotation speed of the position of the operation unit 3 based on the rotation information, and may also calculate the amount of change in the pressing direction or the pressing speed of the position of the operation unit 3 based on the pressing information, compare the amount of change in the rotational direction or the rotation speed of the position of the operation unit 3 with the amount of change in the pressing direction or the pressing speed of the position of the operation unit 3, and determine whether to output an instruction to select a tactile presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated or an instruction to select a tactile presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed to the tactile waveform selection unit 72a. To give a specific example, when the operation unit 3 is being rotated and pressed at the same time, the tactile control unit 8a calculates the amount of change in the rotation of the operation unit 3 and the amount of change in the pressing of the operation unit 3, and compares the calculated amount of change in the rotation of the operation unit 3 with the amount of change in the pressing of the operation unit 3. When the amount of change in the rotation of the operation unit 3 is greater than the amount of change in the pressing of the operation unit 3, the tactile control unit 8a outputs an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated, and when the amount of change in the pressing of the operation unit 3 is greater than the amount of change in the rotation of the operation unit 3, the tactile control unit 8a outputs an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed.

[0137] Furthermore, in the above-described second embodiment, for example, the tactile control unit 8a may switch the selection instruction to output such that, if the rotation speed of the operation unit 3 is equal to or greater than a preset threshold (hereinafter referred to as the "threshold for determining rotation speed"), it outputs an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated, and, if the rotation speed of the operation unit 3 is less than the threshold for determining rotation speed and the pressing speed of the operation unit 3 is equal to or greater than a preset threshold (hereinafter referred to as the "threshold for determining pressing speed"), it outputs an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed.

[0138] Furthermore, in the above-described second embodiment, in the tactile control device 101a, the tactile control unit 8a outputs either an instruction to select a tactile sensation presentation waveform corresponding to the sensation when rotating the operation unit 3 or an instruction to select a tactile sensation presentation waveform corresponding to the sensation when pressing the operation unit 3, but this is merely an example. For example, the tactile control unit 8a may determine a weight based on the rotation information and the pressing information, and output a selection instruction to the tactile waveform selection unit 72a to select a waveform that combines a tactile sensation presentation waveform corresponding to the sensation when rotating the operation unit 3 and a tactile sensation presentation waveform corresponding to the sensation when pressing the operation unit 3. Based on the selection instruction output from the tactile control unit 8a, the tactile waveform selection unit 72a selects, as the tactile sensation presentation waveform, a waveform that combines a tactile sensation presentation waveform corresponding to the sensation when rotating the operation unit 3 and a tactile sensation presentation waveform corresponding to the sensation when pressing the operation unit 3.

[0139] Furthermore, in the second embodiment described above, the tactile sensation control device 101a can also cause the operator 100a to simultaneously present a tactile sensation corresponding to the rotation operation of the operation unit 3 and a tactile sensation corresponding to the pressing operation of the operation unit 3. In this case, in the tactile control device 101a, for example, when an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when rotating is output from the tactile control unit 8a, the tactile waveform selection unit 72a selects a tactile sensation presentation waveform that will give a tactile sensation when rotating the operation unit 3 and outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform to the multiple rotation electrodes. Also, for example, when an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when pressing the operation unit 3 is output from the tactile control unit 8a, the tactile waveform selection unit 72a selects a tactile sensation presentation waveform that will give a tactile sensation when pressing the operation unit 3 and outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform to the multiple pressing electrodes. The tactile waveform selection unit 72a independently outputs instructions to the voltage generation circuit 71 to apply voltages with a tactile sensation presentation waveform to the plurality of rotation electrodes and instructions to apply voltages with a tactile sensation presentation waveform to the plurality of pressing electrodes. In other words, the tactile waveform selection unit 72a simultaneously outputs instructions to the voltage generation circuit 71 to apply voltages with a tactile sensation presentation waveform to the plurality of rotation electrodes and instructions to apply voltages with a tactile sensation presentation waveform to the plurality of pressing electrodes.

[0140] 7 in the first embodiment, including a plurality of rotation electrodes provided around shaft portion 1a and dielectric layer 23 covering the plurality of rotation electrodes, the plurality of rotation electrodes are replaced with a plurality of pressing electrodes, dielectric layer 23 is replaced with dielectric layer 230, lead wiring 21a is replaced with a first pressing-in lead wiring (not shown), lead wiring 21b is replaced with a second pressing-in lead wiring (not shown), voltage generation circuit (1) 71a is replaced with a first pressing-in voltage generation circuit (not shown), and voltage generation circuit (2) 71b is replaced with a second pressing-in voltage generation circuit (not shown). The pressing-in voltage generation circuit (not shown) has a first pressing-in voltage generation circuit and a second pressing-in voltage generation circuit. Each first pushing electrode 210 and each second pushing electrode 220 is connected to a pushing voltage generation circuit that applies a voltage to the plurality of pushing electrodes via a first pushing lead-out wiring and a second pushing lead-out wiring, respectively. The first pushing voltage generation circuit applies a voltage to the plurality of first pushing electrodes 210 via the first pushing lead-out wiring. The second pushing voltage generation circuit applies a voltage to the plurality of second pushing electrodes 220 via the second pushing lead-out wiring.

[0141] In this case, the operation of the tactile control device 101a explained using the flowchart of FIG. 13, for example, the processing of step ST303 and the processing of step ST305 are performed in parallel.

[0142] Furthermore, in the second embodiment described above, the tactile sensation control device 101a can control the applied voltage to cause the manipulator 100a to provide various tactile sensations when the operating unit 3 is rotated or pressed. For example, the tactile control device 101a can present a tactile sensation in which the more the operation unit 3 of the operator 100a is rotated, the heavier the operation unit 3 becomes. Specifically, in the tactile control device 101a, when the tactile control unit 8a detects that the operation unit 3 is being rotated, it outputs to the tactile waveform selection unit 72a an instruction to select a tactile presentation waveform that presents a tactile sensation that becomes heavier depending on the duration of rotation of the operation unit 3. Based on the selection instruction output from the tactile control unit 8a, the tactile waveform selection unit 72a selects a tactile presentation waveform that presents a tactile sensation that becomes heavier depending on the duration of rotation of the operation unit 3. The tactile waveform selection unit 72a stores various patterns of tactile presentation waveforms for rotation. In this way, for example, by being able to output an instruction to select a tactile sensation presentation waveform according to the amount of rotation of the operating unit 3, the tactile sensation control device 101a can present a tactile sensation to the operating element 100a according to the amount of rotation of the operating unit 3, or control torque according to the amount of rotation of the operating unit 3.

[0143] Furthermore, for example, the tactile control unit 8a can also cause the tactile sensation presented to the operating unit 3 of the operator 100a to become heavier the more the operating unit 3 is pressed. Specifically, in the tactile control device 101a, when the tactile control unit 8a detects that the operating unit 3 is being pressed, it outputs to the tactile waveform selection unit 72a an instruction to select a tactile sensation presentation waveform that presents a tactile sensation that becomes heavier depending on the duration of time the operating unit 3 is pressed. Based on the selection instruction output from the tactile control unit 8a, the tactile waveform selection unit 72a selects a tactile sensation presentation waveform that presents a tactile sensation that becomes heavier depending on the duration of time the operating unit 3 is pressed. Note that the tactile waveform selection unit 72a stores various patterns of tactile sensation presentation waveforms for pressing. In this way, for example, by being able to output an instruction to select a tactile sensation presentation waveform according to the amount of pressing of the operating unit 3, the tactile sensation control device 101a can present a tactile sensation to the operating element 100a according to the amount of pressing of the operating unit 3, or control the weight of the operating unit 3.

[0144] In addition to the above-mentioned method, for example, the configuration of the manipulator 100a can be configured so that the area of ​​the opposing surfaces of the multiple electrodes (multiple rotation electrodes or multiple pressing electrodes) and the conductive elastic body (rotation conductive elastic body 4 or pressing conductive elastic body 40) changes depending on the amount of rotation of the operating unit 3 or the amount of pressing of the operating unit 3, thereby enabling the manipulator 100a to present various tactile sensations. In the above-described second embodiment, for example, by configuring the manipulator 100a so that the area of ​​opposition between the multiple electrodes (multiple rotation electrodes or multiple pressing electrodes) and the conductive elastic body (rotation conductive elastic body 4 or pressing conductive elastic body 40) changes depending on the amount of rotation of the operating unit 3 or the amount of pressing of the operating unit 3, the manipulator 100a can present various tactile sensations. Furthermore, the operator 100a can control, for example, whether the weight of rotation or the weight of pressing of the operation unit 3 is controlled linearly or whether it increases when the amount of rotation or pressing reaches a certain amount or more, by controlling the area over which the multiple electrodes (multiple rotation electrodes or multiple pressing electrodes) face the conductive elastic body (the conductive elastic body for rotation 4 or the conductive elastic body for pressing 40). Therefore, the tactile sensation control device 101a can control the strength of the tactile sensation of the operator 100a while reducing the number of tactile sensation presentation waveform patterns of the voltage applied to the operator 100a.

[0145] Furthermore, in the tactile control device 101a according to the second embodiment described above, the tactile control unit 8a can also output, based on the rotation information, an instruction to the tactile waveform selection unit 72a to select a tactile presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operation unit 3. For example, when the operation unit 3 is in a rotational position that presents a tactile sensation, the tactile control unit 8a outputs a selection instruction to the tactile waveform selection unit 72a to select a rotational tactile sensation presentation waveform that will present a tactile sensation at that rotational position. When the operation unit 3 is in a rotational position that presents a tactile sensation, the tactile control unit 8a outputs a selection instruction to the tactile waveform selection unit 72a to select a rotational tactile sensation presentation waveform that will present a tactile sensation at that rotational position.As a result, the tactile sensation image presented by the operation unit 100a is the same as the tactile sensation image presented by the operation unit 100 according to embodiment 1, which was described using Figures 8A, 8B, and 8C in embodiment 1, and therefore detailed description thereof will be omitted. By being able to output an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operating unit 3, the tactile sensation control device 101a can present a tactile sensation to the operating element 100a according to the rotational position of the operating unit 3, or control the torque according to the rotational position of the operating unit 3.

[0146] Furthermore, for example, in the tactile control device 101a, the tactile control unit 8a can also output, based on the pressing information, to the tactile waveform selection unit 72a an instruction to select a tactile sensation presentation waveform corresponding to the pressing amount of the operation unit 3. The pressing information includes information related to the pressing amount of the operation unit 3. Based on the pressing information, the tactile control unit 8a can determine the pressing amount, i.e., how far the operation unit 3 is currently being pressed. For example, when the amount of depression of the operating unit 3 is the amount of depression that presents a tactile sensation, the tactile sensation control unit 8a can output a selection instruction to the tactile sensation waveform selection unit 72a to select a tactile sensation presentation waveform for depression that will present a tactile sensation at that amount of depression.

[0147] Furthermore, in the second embodiment described above, for example, the operator 100a may be configured without the rotation detection circuit and the press detection circuit 6, regardless of whether the operator 100a has a rotation function or a press function. In this case, the tactile control device 101a does not necessarily have to include the rotation detection unit 11 and the press detection unit 61. For example, in the tactile control device 101a, when the power to the tactile control device 101a is turned on, the tactile control unit 8a outputs a selection instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform for rotation or a tactile sensation presentation waveform for press, according to appropriate preset conditions, for example. In this case, the processes of steps ST11 and ST21 in the operation of the tactile control device 101a explained using the flowchart of FIG. 12 can be omitted.

[0148] In the second embodiment, the operator 100a is configured to work in conjunction with an HMI (Human Machine Interface), but this is merely an example. The operator 100 does not necessarily need to work in conjunction with an HMI.

[0149] Furthermore, in the second embodiment described above, the operating unit 3 of the manipulator 100a has a cylindrical shape, but this is merely an example. The operating unit 3 may have any suitable shape. The operating unit 3 may be attached to the shaft 1a of the fixed unit 1 of the manipulator 100a, and may be rotatable around the shaft 1a or may be pushed in the direction of the shaft 1a. The operating unit 3 may have elastic bodies facing a plurality of rotation electrodes provided on at least the first fixed surface of the first fixed unit 1-1 in the operating unit 3, and may have elastic bodies facing a plurality of push-in electrodes provided on the surface of the second shaft portion of the first fixed unit 1-1 facing the second fixed unit 1-2.

[0150] In the second embodiment described above, the plurality of electrodes includes the plurality of first electrodes 21, 210 and the plurality of second electrodes 22, 220, but this is merely an example. The plurality of rotation electrodes may include at least two electrodes, and the plurality of pushing electrodes may include at least two electrodes. In the manipulator 100a, it is sufficient that a voltage can be applied to at least two adjacent rotation electrodes and two adjacent pushing electrodes.

[0151] The hardware configuration of the tactile control device 101a according to embodiment 2 is similar to the hardware configuration of the tactile control device 101 according to embodiment 1 described using Figures 9A and 9B in embodiment 1, and therefore is not shown in the figures. In the second embodiment, the functions of the rotation detection unit 11, the press detection unit 61, the tactile control unit 8a, and the tactile waveform selection unit 72a are realized by a processing circuit 1001. That is, the tactile control device 101a includes a processing circuit 1001 for controlling the magnitude of the electrostatic friction force by controlling the voltage applied to a plurality of electrodes (a plurality of rotation electrodes and a plurality of press electrodes), and for controlling the tactile sensation that accompanies this.

[0152] The processing circuit 1001 executes the functions of the rotation detection unit 11, the press-down detection unit 61, the tactile control unit 8a, and the tactile waveform selection unit 72a by reading and executing the programs stored in the memory 1005. In other words, the tactile control device 101a includes a memory 1005 for storing programs which, when executed by the processing circuit 1001, result in the execution of steps ST11 to ST41 in Fig. 12 described above. It can also be said that the programs stored in the memory 1005 cause a computer to execute the processing procedures or methods of the rotation detection unit 11, the press-down detection unit 61, the tactile control unit 8a, and the tactile waveform selection unit 72a. The tactile control device 101a also includes a voltage generating circuit 71. The tactile control device 101a also includes an input interface device 1002 and an output interface device 1003 that perform wired or wireless communication with devices such as the operator 100a or the HMI control unit 9.

[0153] In the above-described second embodiment, the tactile control device 101a may be mounted on the operator 100a or may be provided in a server. Also, some of the rotation detection unit 11, the depression detection unit 61, the tactile control unit 8a, and the tactile waveform selection unit 72a may be provided in the server, and the rest may be provided in the operator 100a.

[0154] As described above, the manipulator 100a according to the second embodiment is a manipulator 100a having a fixed portion 1 having an axial portion 1a that functions as an axis, and an operating portion 3 that is attached to the axial portion 1a and is rotatable around the axial portion 1a and can be pushed in the axial direction, and is equipped with a plurality of rotation electrodes that are provided on a first fixed surface that faces the operating portion 3 and exists in the axial direction of the fixed portion 1 (more specifically, the first fixed portion 1-1), and are covered with a dielectric layer, and to which a voltage can be applied when the operating portion 3 rotates, and a rotation conductor (rotation conductive elastic body 4) that is provided on a first operating surface that faces the first fixed surface of the operating portion 3, and that faces the plurality of rotation electrodes when the relative position of the operating portion 3 and the fixed portion 1 is at a predetermined relative position, and a voltage can be applied to two adjacent electrodes among the plurality of rotation electrodes. In addition, in the manipulator 100a, the shaft 1a includes a first shaft to which the operating unit 3 is attached and a second shaft located on the opposite side of the first shaft with the first fixed surface in between, the operating unit 3 is attached to the first shaft and is rotatable around the first shaft and can be pushed in the axial direction, and the fixed unit 1 has a first fixed unit 1-1 having the shaft 1a and being able to be pushed in the axial direction together with the operating unit 3, a second fixed surface which is a surface opposite to the first fixed surface of the first fixed unit 1-1, and a shaft side surface which is a surface opposite to the second shaft of the first fixed unit 1-1. The second axial section includes a second fixed section 1-2, and is provided with a plurality of pushing electrodes, which are provided on the surface of the second axial section facing the second fixed section 1-2 and covered with a dielectric layer 230, and to which a voltage can be applied when the operating section 3 is pushed, and a pushing conductor (pushing conductive elastic body 40) which is provided on the axial side of the second fixed section 1-2 and faces the plurality of pushing electrodes when the relative position of the operating section 3 and the second fixed section 1-2 is at a predetermined relative position, and a voltage can be applied to two of the plurality of pushing electrodes that are adjacent to each other. This allows the operator 100a to stably present a tactile sensation, thereby providing the user with a stable tactile effect.

[0155] Furthermore, the tactile control device 101a according to embodiment 2 is a tactile control device 101a that controls the tactile sensation when rotating or pressing an operation unit 3 of an operator 100a that is attached to the axial portion 1a, is rotatable around the axial portion 1a, and can be pressed in the axial direction, and is configured to include a tactile control unit 8a that outputs a selection instruction for a tactile presentation waveform of a voltage corresponding to the tactile sensation when rotating the operation unit 3, or a selection instruction for a tactile presentation waveform of a voltage corresponding to the tactile sensation when pressing the operation unit 3, and a tactile waveform selection unit 72a that selects a tactile presentation waveform based on the selection instruction output from the tactile control unit 8a, and outputs an instruction to apply a voltage with the selected tactile presentation waveform. This allows the tactile feedback control device 101a to provide a stable tactile sensation to the operator 100a, thereby enabling the tactile feedback control device 101a to provide the operator 100a with a stable tactile effect for the user.

[0156] Embodiment 3 In the first embodiment, the operator is provided with one rotation electrode portion. In the third embodiment, an embodiment in which a plurality of rotation electrode portions are provided in the operating element will be described. In the following third embodiment, similarly to the first embodiment, the operator has an operating part that can rotate around a shaft part that a fixed part has. Similarly to the operator according to the first embodiment, the operator according to the third embodiment is provided in, for example, an in-vehicle device installed in a vehicle.

[0157] First, a configuration example of a control according to the third embodiment will be described. FIG. 17 is a diagram illustrating an example of the configuration of the manipulator 100b according to the third embodiment. Fig. 17A is a top view of the manipulator 100b, Fig. 17B is a cross-sectional view taken along line AA in Fig. 17A, and Fig. 17C is a top view of the manipulator 100b as viewed from the direction BB in Fig. 17B. For ease of explanation, Fig. 17A also illustrates the shaft portion 1a and the conductive elastic body for rotation 4 provided inside the operating section 3 of the manipulator 100b. Also, for ease of explanation, Fig. 17C omits the illustration of the dielectric layer 23. The manipulator 100b shown in Fig. 17 differs from the manipulator 100 described in the first embodiment using Fig. 1 in that it includes a plurality of rotation electrode units 2. In Fig. 17, the same components as those of the manipulator 100 described using Fig. 1 are denoted by the same reference numerals, and redundant description will be omitted.

[0158] 17 includes two rotation electrode units 2. Here, the two rotation electrode units 2 included in the operation element 100b are referred to as a first rotation electrode unit 201 and a second rotation electrode unit 202. In Figure 17, the second rotating electrode portion 202 is provided on the first fixed surface of the fixed portion 1 (shown as 1b in Figure 17B), and has a circular shape whose center overlaps with the center of the first fixed surface of the fixed portion 1 and covers a certain amount of the surface of the first fixed surface. The first rotation electrode portion 201 is provided on the first fixed surface of the fixed portion 1 and has a donut shape that surrounds the outer periphery of the second rotation electrode portion 202 on the first fixed surface of the fixed portion 1. The first rotating electrode portion 201 and the second rotating electrode portion 202 are not in contact with each other.

[0159] The first rotation electrode section 201 includes a plurality of rotation electrodes (a plurality of first rotation electrodes 21, a plurality of second rotation electrodes 22) and a dielectric layer 23 that covers the plurality of rotation electrodes. The second rotation electrode section 202 includes a plurality of rotation electrodes (a plurality of first rotation electrodes 21, a plurality of second rotation electrodes 22) and a dielectric layer 23 that covers the plurality of rotation electrodes. 17, the plurality of rotation electrodes included in the first rotation electrode unit 201, more specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-1 and a plurality of second rotation electrodes 22-1. Also, the plurality of rotation electrodes included in the second rotation electrode unit 202, more specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-2 and a plurality of second rotation electrodes 22-2.

[0160] The detailed configurations of the first rotating electrode portion 201 and the second rotating electrode portion 202 are the same as the detailed configuration of the rotating electrode portion 2 already explained using Figure 2 in embodiment 1, except for the different shapes, so detailed explanations will be omitted. In the first rotation electrode portion 201, a plurality of comb-tooth-shaped first rotation electrodes 21-1 and a plurality of comb-tooth-shaped second rotation electrodes 22-1 are provided so that the first rotation electrodes 21-1 and the second rotation electrodes 22-1 are arranged alternately. In addition, the second rotation electrode portion 202 is provided with a plurality of comb-tooth-shaped first rotation electrodes 21-2 and a plurality of comb-tooth-shaped second rotation electrodes 22-2, such that the first rotation electrodes 21-2 and the second rotation electrodes 22-2 are arranged alternately.

[0161] Of the multiple rotation electrodes, a voltage can be applied to two adjacent rotation electrodes (first rotation electrode 21-1 and second rotation electrode 22-1, and first rotation electrode 21-2 and second rotation electrode 22-2). Each of the first rotation electrodes 21-1, 21-2 and each of the second rotation electrodes 22-1, 22-2 is connected via lead wiring (not shown) to a voltage generation circuit 71 (hereinafter referred to as the "first voltage generation circuit 71-1") and a voltage generation circuit 71 (hereinafter referred to as the "second voltage generation circuit 71-2") that apply a voltage to the multiple rotation electrodes. The first voltage generation circuit 71-1 has a voltage generation circuit (3) (not shown) and a voltage generation circuit (4) (not shown). The second voltage generation circuit 71-2 has a voltage generation circuit (5) (not shown) and a voltage generation circuit (6) (not shown). The voltage generation circuit (3) applies a voltage to the plurality of first rotation electrodes 21-1 via lead-out wiring. The voltage generation circuit (4) applies a voltage to the plurality of second rotation electrodes 22-1 via lead-out wiring. The voltage generation circuit (5) applies a voltage to the plurality of first rotation electrodes 21-2 via lead-out wiring. The voltage generation circuit (6) applies a voltage to the plurality of second rotation electrodes 22-2 via lead-out wiring. The application of voltages is controlled by the tactile control device 101b. An example configuration of the tactile control device 101b will be described later. In this way, in the operating element 100b, a voltage can be applied independently to the plurality of rotation electrodes included in the first rotation electrode portion 201 and the plurality of rotation electrodes included in the second rotation electrode portion 202.

[0162] In the manipulator 100b shown in Figure 17, multiple rotation electrode units 2 (first rotation electrode unit 201 and second rotation electrode unit 202) to which voltages can be applied independently are all provided on the first fixed surface of the fixed unit 1, but the arrangement of the first rotation electrode unit 201 and the second rotation electrode unit 202 shown in Figure 17 is merely one example. Other arrangements of the plurality of rotation electrode portions 2 in the operator 100b will be described below with some examples.

[0163] FIG. 18 is a diagram illustrating another example of the configuration of the manipulator 100b according to the third embodiment. Fig. 18A is a top view of the manipulator 100b, Fig. 18B is a cross-sectional view taken along line AA in Fig. 18A, and Fig. 18C is a top view of the manipulator 100b as viewed from the direction BB in Fig. 18B. For ease of explanation, Fig. 18A also illustrates the shaft portion 1a, dielectric layer 23, and conductive elastic body for rotation 4 that are provided inside the operating section 3 of the manipulator 100b. Also, for ease of explanation, Fig. 18C omits the illustration of the dielectric layer 23. The manipulator 100b shown in Fig. 18 differs from the manipulator 100 described in the first embodiment using Fig. 6 in that, of the multiple rotation electrode units 2, the rotation electrode unit 2 including multiple rotation electrodes provided on the first fixed surface (shown as 1b in Fig. 18B) of the fixed unit 1 is designated as the second rotation electrode unit 202, and the rotation electrode unit 2 including multiple rotation electrodes provided around the shaft 1a on the shaft 1a is designated as the first rotation electrode unit 201. In Fig. 18, the same components as those of the manipulator 100 described using Fig. 6 are designated by the same reference numerals, and redundant description will be omitted.

[0164] The first rotation electrode section 201 includes a plurality of rotation electrodes (a plurality of first rotation electrodes 21, a plurality of second rotation electrodes 22) and a dielectric layer 23 that covers the plurality of rotation electrodes. The second rotation electrode section 202 includes a plurality of rotation electrodes (a plurality of first rotation electrodes 21, a plurality of second rotation electrodes 22) and a dielectric layer 23 that covers the plurality of rotation electrodes. 18, the plurality of rotation electrodes included in the first rotation electrode unit 201, more specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-1 and a plurality of second rotation electrodes 22-1. Also, the plurality of rotation electrodes included in the second rotation electrode unit 202, more specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-2 and a plurality of second rotation electrodes 22-2.

[0165] The detailed configuration of the first rotation electrode unit 201 is similar to the detailed configuration of the rotation electrode unit 2 already explained in the first embodiment with reference to FIG. 7, and therefore a detailed explanation will be omitted. The detailed configuration of the second rotation electrode unit 202 is similar to the detailed configuration of the rotation electrode unit 2 already explained in the first embodiment with reference to FIG. 2, and therefore a detailed explanation will be omitted. In the first rotation electrode portion 201, a plurality of comb-tooth-shaped first rotation electrodes 21-1 and a plurality of comb-tooth-shaped second rotation electrodes 22-1 are provided so that the first rotation electrodes 21-1 and the second rotation electrodes 22-1 are arranged alternately. In addition, the second rotation electrode portion 202 is provided with a plurality of comb-tooth-shaped first rotation electrodes 21-2 and a plurality of comb-tooth-shaped second rotation electrodes 22-2, such that the first rotation electrodes 21-2 and the second rotation electrodes 22-2 are arranged alternately.

[0166] Of the multiple rotation electrodes, a voltage can be applied to two adjacent rotation electrodes (the first rotation electrode 21-1 and the second rotation electrode 22-1, and the first rotation electrode 21-2 and the second rotation electrode 22-2). Each of the first rotation electrodes 21-1, 21-2 and each of the second rotation electrodes 22-1, 22-2 are connected via lead wires (not shown) to a first voltage generation circuit 71-1 and a second voltage generation circuit 71-2, which apply a voltage to the multiple rotation electrodes. The first voltage generation circuit 71-1 and the second voltage generation circuit 71-2 have already been explained in the explanation of the control element 100b shown in FIG. 17, so a detailed explanation will be omitted. The application of voltage is controlled by the tactile control device 101b. In the operator 100b, a voltage can be applied independently to the plurality of rotation electrodes included in the first rotation electrode section 201 and the plurality of rotation electrodes included in the second rotation electrode section 202.

[0167] In this way, in the manipulator 100b, multiple rotation electrode portions 2 (first rotation electrode portion 201 and second rotation electrode portion 202) to which voltages can be applied independently may be provided on the first fixed surface of the fixed portion 1 and around the shaft portion 1a in the shaft portion 1a.

[0168] In the example described above, there are two rotation electrode units 2 to which a voltage can be applied independently, but this is merely an example. The operator 100b may also be configured to include three or more rotation electrode units 2 to which a voltage can be applied independently.

[0169] FIG. 19 is a diagram illustrating another example configuration of the manipulator 100b according to the third embodiment. Fig. 19A is a top view of the manipulator 100b, Fig. 19B is a cross-sectional view taken along line AA in Fig. 19A, and Fig. 19C is a top view of the manipulator 100b as viewed from the direction BB in Fig. 19B. For ease of explanation, Fig. 19A also illustrates the shaft portion 1a, dielectric layer 23, and conductive elastic body for rotation 4 that are provided inside the operating section 3 of the manipulator 100b. Also, for ease of explanation, Fig. 19C omits the illustration of the dielectric layer 23. The manipulator 100b shown in Fig. 19 differs from the manipulator 100 described in the first embodiment using Fig. 1 in that it includes a plurality of rotation electrode units 2. In Fig. 19, the same components as those of the manipulator 100 described using Fig. 1 are denoted by the same reference numerals, and redundant description will be omitted.

[0170] 19 includes three rotation electrode units 2. Here, the three rotation electrode units included in the operation element 100b are referred to as a first rotation electrode unit 201, a second rotation electrode unit 202, and a third rotation electrode unit 203. In Fig. 19, third rotation electrode unit 203 is provided on the first fixed surface of fixed unit 1 (shown as 1b in Fig. 19), and has a circular shape whose center overlaps with the center of the first fixed surface of fixed unit 1 and covers a certain amount of the surface of the first fixed surface. Second rotation electrode unit 202 is provided on the first fixed surface of fixed unit 1, and has a donut shape that surrounds the outer periphery of third rotation electrode unit 203 on the first fixed surface of fixed unit 1. Second rotation electrode unit 202 and third rotation electrode unit 203 do not contact each other. The first rotating electrode portion 201 is provided on the shaft portion 1a around the shaft portion 1a.

[0171] Each of the first to third rotation electrode portions 201 to 203 includes a plurality of rotation electrodes (a plurality of first rotation electrodes 21, a plurality of second rotation electrodes 22) and a dielectric layer 23 that covers the plurality of rotation electrodes. 19, the plurality of rotation electrodes included in the first rotation electrode unit 201, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are referred to as the plurality of first rotation electrodes 21-1 and the plurality of second rotation electrodes 22-1, respectively. The plurality of rotation electrodes included in the second rotation electrode unit 202, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are referred to as the plurality of first rotation electrodes 21-2 and the plurality of second rotation electrodes 22-2, respectively. The plurality of rotation electrodes included in the third rotation electrode unit 203, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are referred to as the plurality of first rotation electrodes 21-3 and the plurality of second rotation electrodes 22-3, respectively.

[0172] The detailed configuration of the first rotation electrode unit 201 is similar to the detailed configuration of the rotation electrode unit 2 already explained in the first embodiment with reference to FIG. 7, and therefore a detailed explanation will be omitted. The detailed configurations of the second rotating electrode portion 202 and the third rotating electrode portion 203 are the same as the detailed configuration of the rotating electrode portion 2 already explained using Figure 2 in embodiment 1, except for the different shapes, so detailed explanations will be omitted. The first rotation electrode section 201 includes a plurality of comb-tooth-shaped first rotation electrodes 21-1 and a plurality of comb-tooth-shaped second rotation electrodes 22-1, with the first rotation electrodes 21-1 and the second rotation electrodes 22-1 arranged alternately. The second rotation electrode section 202 includes a plurality of comb-tooth-shaped first rotation electrodes 21-2 and a plurality of comb-tooth-shaped second rotation electrodes 22-2, with the first rotation electrodes 21-2 and the second rotation electrodes 22-2 arranged alternately. The third rotation electrode section 203 includes a plurality of comb-tooth-shaped first rotation electrodes 21-3 and a plurality of comb-tooth-shaped second rotation electrodes 22-3, with the first rotation electrodes 21-3 and the second rotation electrodes 22-3 arranged alternately.

[0173] Of the multiple rotation electrodes, a voltage can be applied to two adjacent rotation electrodes (first rotation electrode 21-1 and second rotation electrode 22-1, first rotation electrode 21-2 and second rotation electrode 22-2, first rotation electrode 21-3 and second rotation electrode 22-3). Each of the first rotation electrodes 21-1, 21-2, and 21-3 and each of the second rotation electrodes 22-1, 22-2, and 22-3 is connected via lead-out wiring (not shown) to a voltage generation circuit 71 (first voltage generation circuit 71-1, second voltage generation circuit 71-2, and third voltage generation circuit 71-3) that applies a voltage to the multiple rotation electrodes. The first voltage generation circuit 71-1 and the second voltage generation circuit 71-2 have already been described in the description of the control element 100b shown in FIG. 17, so a detailed description thereof will be omitted. The third voltage generating circuit 71-3 has a voltage generating circuit (7) (not shown) and a voltage generating circuit (8) (not shown). The voltage generating circuit (7) applies a voltage to the plurality of first rotation electrodes 21-3 via lead-out wiring. The voltage generating circuit (8) applies a voltage to the plurality of second rotation electrodes 22-3 via lead-out wiring. The application of voltages is controlled by the tactile control device 101b. In the manipulator 100b, a voltage can be applied independently to the multiple rotation electrodes included in the first rotation electrode section 201, the multiple rotation electrodes included in the second rotation electrode section 202, and the multiple rotation electrodes included in the third rotation electrode section 203.

[0174] FIG. 20 is a diagram illustrating another example configuration of the manipulator 100b according to the third embodiment. Fig. 20A is a top view of the manipulator 100b, Fig. 20B is a cross-sectional view taken along line AA in Fig. 20A, and Fig. 20C is a top view of the manipulator 100b as viewed from the direction BB in Fig. 20B. For ease of explanation, Fig. 20A also illustrates the shaft portion 1a and the conductive elastic body for rotation 4 provided inside the operating section 3 of the manipulator 100b. Also, for ease of explanation, Fig. 20C omits the illustration of the dielectric layer 23. The manipulator 100b shown in Fig. 20 differs from the manipulator 100 described in the first embodiment using Fig. 1 in that it includes a plurality of rotation electrode units 2. In Fig. 20, the same components as those of the manipulator 100 described using Fig. 1 are denoted by the same reference numerals, and redundant description will be omitted.

[0175] 20 includes five rotation electrode units 2. Here, the six rotation electrode units included in the operation element 100b are referred to as a first rotation electrode unit 201, a second rotation electrode unit 202, a third rotation electrode unit 203, a fourth rotation electrode unit 204, and a fifth rotation electrode unit 205.

[0176] In Fig. 20, second rotation electrode portion 202 to fifth rotation electrode portion 205 are provided on a first fixed surface (shown as 1b in Fig. 20) of fixed portion 1. First rotation electrode portion 201 has a circular shape whose center overlaps with the center of the first fixed surface of fixed portion 1 and covers a certain amount of the surface of the first fixed surface. The second rotation electrode unit 202 is provided on the first fixed surface of the fixed unit 1 and has a donut shape surrounding the outer periphery of the first rotation electrode unit 201 on the first fixed surface of the fixed unit 1. The third rotation electrode unit 203 is provided on the first fixed surface of the fixed unit 1 and has a donut shape surrounding the outer periphery of the second rotation electrode unit 202 on the first fixed surface of the fixed unit 1. The fourth rotation electrode unit 204 is provided on the first fixed surface of the fixed unit 1 and has a donut shape surrounding the outer periphery of the third rotation electrode unit 203 on the first fixed surface of the fixed unit 1. The fifth rotation electrode unit 205 is provided on the first fixed surface of the fixed unit 1 and has a donut shape surrounding the outer periphery of the fourth rotation electrode unit 204 on the first fixed surface of the fixed unit 1. The first to fifth rotation electrode portions 201 to 205 are not in contact with each other.

[0177] The first to fifth rotation electrode portions 201 to 205 each include a plurality of rotation electrodes (a plurality of first rotation electrodes 21, a plurality of second rotation electrodes 22) and a dielectric layer 23 that covers the plurality of rotation electrodes. 20, the plurality of rotation electrodes included in the first rotation electrode unit 201, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are referred to as the plurality of first rotation electrodes 21-1 and the plurality of second rotation electrodes 22-1, respectively. The plurality of rotation electrodes included in the second rotation electrode unit 202, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are referred to as the plurality of first rotation electrodes 21-2 and the plurality of second rotation electrodes 22-2, respectively. The plurality of rotation electrodes included in the third rotation electrode unit 203, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are referred to as the plurality of first rotation electrodes 21-3 and the plurality of second rotation electrodes 22-3, respectively. Furthermore, the plurality of rotation electrodes included in the fourth rotation electrode unit 204, more specifically, the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-4 and a plurality of second rotation electrodes 22-4. Furthermore, the plurality of rotation electrodes included in the fifth rotation electrode unit 205, more specifically, the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-5 and a plurality of second rotation electrodes 22-5.

[0178] The detailed configurations of the first rotating electrode portion 201 to the fifth rotating electrode portion 205 are the same as the detailed configuration of the rotating electrode portion 2 already explained using Figure 2 in embodiment 1, except for the different shapes, so detailed explanations will be omitted. In the first rotation electrode portion 201 to the fifth rotation electrode portion 205, a plurality of comb-tooth-shaped first rotation electrodes 21-1, 21-2, 21-3, 21-4, 21-5 and a plurality of comb-tooth-shaped second rotation electrodes 22-1, 22-2, 22-3, 22-4, 22-5 are provided so that the first rotation electrodes 21-1, 21-2, 21-3, 21-4, 21-5 and the second rotation electrodes 22-1, 22-2, 22-3, 22-4, 22-5 are arranged alternately.

[0179] Of the multiple rotation electrodes, a voltage can be applied to two adjacent rotation electrodes (first rotation electrode 21-1 and second rotation electrode 22-1, first rotation electrode 21-2 and second rotation electrode 22-2, first rotation electrode 21-3 and second rotation electrode 22-3, first rotation electrode 21-4 and second rotation electrode 22-4, first rotation electrode 21-5 and second rotation electrode 22-5). Each of the first rotation electrodes 21-1, 21-2, 21-3, 21-4, and 21-5 and each of the second rotation electrodes 22-1, 22-2, 22-3, 22-4, and 22-5 is connected via lead wiring (not shown) to a voltage generation circuit 71 (first voltage generation circuit 71-1, second voltage generation circuit 71-2, third voltage generation circuit 71-3, fourth voltage generation circuit 71-4, and fifth voltage generation circuit 71-5) that applies voltages to the plurality of rotation electrodes. The first voltage generation circuit 71-1 to the third voltage generation circuit 71-3 have already been described in the description of the control 100b shown in FIG. 19, so detailed description will be omitted. The fourth voltage generation circuit 71-4 has a voltage generation circuit (9) (not shown) and a voltage generation circuit (10) (not shown). The fifth voltage generating circuit 71-5 has a voltage generating circuit (11) (not shown) and a voltage generating circuit (12) (not shown). A voltage generation circuit (9) (not shown) applies a voltage to the plurality of first rotation electrodes 21-4 via lead-out wiring. A voltage generation circuit (10) (not shown) applies a voltage to the plurality of second rotation electrodes 22-4 via lead-out wiring. A voltage generation circuit (11) (not shown) applies a voltage to the plurality of first rotation electrodes 21-5 via lead-out wiring. A voltage generation circuit (12) (not shown) applies a voltage to the plurality of second rotation electrodes 22-5 via lead-out wiring. The application of voltages is controlled by the tactile sensation control device 101b. In the operation element 100b, a voltage can be applied independently to the plurality of rotation electrodes included in the first rotation electrode portion 201 to the sixth rotation electrode portion 206.

[0180] In this way, the operating element 100b can also be configured to include three or more rotation electrode portions 2 (first rotation electrode portion 201 to n-th rotation electrode portion 20n) to which voltages can be applied independently.

[0181] As explained using Figures 17 to 20, the manipulator 100b is a manipulator 100b that includes a plurality of rotation electrodes, each of which constitutes a set of a plurality of rotation electrodes to which a voltage can be applied independently, more specifically, a set of a plurality of rotation electrodes, each of which has a plurality of rotation electrodes to which a voltage can be applied independently, and that includes a plurality of rotation electrode sections 2 each of which has a set of a plurality of rotation electrodes and a rotation conductive elastic body 4. This eliminates the need for the operating element 100b to use a switching element or the like that switches the voltage applied to a certain rotation electrode portion 2 (more specifically, a set of a plurality of rotation electrodes), thereby simplifying the structure of the operating element 100b. Furthermore, by increasing the number of rotation electrode sections 2 (more specifically, multiple rotation electrodes) to which voltage is applied, the manipulator 100b can increase the variation in the area of ​​the region in which the rotation electrode sections 2 are arranged, thereby increasing the variation in the intensity of the tactile sensation imparted to the user's fingers, etc. Furthermore, if the tactile sensation waveform of the voltage applied to the multiple rotation electrodes included in one rotation electrode unit 2 is switched, a time lag occurs before the tactile sensation based on the switched tactile sensation waveform is imparted to the user's finger, etc. In contrast, the manipulator 100b includes multiple rotation electrode units 2 to which voltages can be applied independently, and therefore the time lag can be substantially eliminated. As a result, the manipulator 100b can generate a tactile sensation at a timing that allows the user to feel the tactile sensation more realistically and effectively.

[0182] Next, a tactile control device 101b that controls the voltages applied to the plurality of rotation electrodes of the operating element 100b will be described. FIG. 21 is a diagram showing an example of the configuration of a tactile control device 101b according to the third embodiment. In FIG. 21, the same reference numerals are used to designate the same configuration example as the configuration example of the tactile control device 101 according to the first embodiment, which was explained in the first embodiment using FIG. 3, and redundant explanations will be omitted. The tactile control device 101b is connected to the operator 100b, and the operator 100b and the tactile control device 101b constitute a tactile control system 102b. Note that this is merely an example, and the tactile control device 101b may be mounted on the operator 100b, for example. For simplicity of explanation, Fig. 21 shows only the plurality of first rotation electrodes 21-1 to 21-n and the plurality of second rotation electrodes 22-1 to 22-n of the plurality of rotation electrode sections 201 to 20n as components of the operator 100b. The tactile control device 101b is connected to the HMI control unit 9. The HMI control unit 9 controls changes in the state of the HMI. The HMI control unit 9 outputs HMI control information to the tactile control device 101b.

[0183] The tactile control device 101b includes a rotation detection unit 11, a voltage generation circuit 71, a tactile waveform selection unit 72b, and a tactile control unit 8b. The voltage generation circuit 71 includes a first voltage generation circuit 71-1 to an n-th voltage generation circuit 71-n. The tactile waveform selection unit 72b includes a first tactile waveform selection unit 72-1 to an n-th tactile waveform selection unit 72-n. In the tactile control device 101b according to embodiment 3, the operation of the tactile waveform selection section 72b and the tactile control section 8b differs from the operation of the tactile waveform selection section 72 and the tactile control section 8 in the tactile control device 101 according to embodiment 1. The tactile control device 101b according to embodiment 3 also differs from the tactile control device 101 according to embodiment 1 in that it has multiple voltage generation circuits 71 (first voltage generation circuit 71-1 to n-th voltage generation circuit 71-n) that can independently apply voltages to the first rotation electrode section 201 to the n-th rotation electrode section 20n of the operation element 100b.

[0184] The tactile control unit 8b outputs an instruction to the tactile waveform selection unit 72b to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated. More specifically, the tactile control unit 8b outputs an instruction to each of the first tactile waveform selection unit 72-1 to the n-th tactile waveform selection unit 72-n to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated. Specifically, the tactile control unit 8b determines a tactile sensation corresponding to the state of the HMI or the rotation state of the operation unit 3 based on the rotation information output from the rotation detection unit 11 and the HMI control information output from the HMI control unit 9. Then, based on the determined tactile sensation, the tactile control unit 8b outputs an instruction to the first tactile waveform selection unit 72-1 to the n-th tactile waveform selection unit 72-n to select a tactile sensation providing waveform corresponding to the tactile sensation when the operation unit 3 is rotated.

[0185] An example of a method in which the tactile control unit 8b outputs a selection instruction will be described. For example, the tactile control unit 8b determines whether the HMI state allows for a rotational motion, and determines the tactile sensation to be presented based on the determination result of the HMI state and whether the operation unit 3 is rotating. The tactile control unit 8b then outputs an instruction to select a tactile sensation presentation waveform corresponding to the determined tactile sensation. The tactile control unit 8b determines whether the HMI state allows for a rotational motion based on the HMI control information output from the HMI control unit 9.

[0186] Furthermore, the tactile control unit 8b determines whether or not the operation unit 3 is rotating based on the rotation information output from the rotation detection unit 11. For example, the tactile control unit 8b may determine whether or not the operation unit 3 is rotating based on the rotation information and depending on whether or not the position of the operation unit 3 is changing.

[0187] A specific example of the method by which the tactile control unit 8b outputs a selection instruction is the same as the specific example of the method by which the tactile control unit 8 outputs a selection instruction that has already been explained in the first embodiment by dividing it into cases.

[0188] The tactile waveform selection section 72b selects a tactile sensation providing waveform based on the selection instruction output from the tactile control section 8b, and outputs an instruction to apply a voltage with the selected tactile sensation providing waveform. Specifically, the tactile waveform selection section 72b selects a tactile sensation providing waveform for use when the operation unit 3 is rotated, in accordance with the tactile sensation when the operation unit 3 is rotated, based on a selection instruction output from the tactile sensation control section 8b. The tactile waveform selection unit 72b then outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform to the voltage generation circuit 71. In detail, the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, ..., the nth tactile waveform selection unit 72-n respectively output an instruction to apply a voltage with the selected tactile sensation presentation waveform to the corresponding voltage generation circuits 71, that is, the first voltage generation circuit 71-1, the second voltage generation circuit 71-2, ..., the nth voltage generation circuit 71-n. For example, the first tactile waveform selection unit 72-1 outputs to the voltage generation circuit (1) 71a of the first voltage generation circuit 71-1 an instruction to apply a voltage with a tactile sensation presentation waveform to each first rotation electrode 21-1 of the first rotation electrode unit 201, and outputs to the voltage generation circuit (2) 71b of the first voltage generation circuit 71-1 an instruction to apply a voltage with a tactile sensation presentation waveform to each second rotation electrode 22-1 of the first rotation electrode unit 201. Note that the voltage generation circuit (1) 71a and the voltage generation circuit (2) 71b are not shown in FIG. 21.

[0189] The voltage generation circuit 71 applies voltages with tactile sensation providing waveforms selected by the tactile waveform selection unit 72 b to the plurality of rotation electrodes based on application instructions output from the tactile waveform selection unit 72 b. Specifically, the first voltage generation circuit 71-1, the second voltage generation circuit 71-2, ..., the nth voltage generation circuit 71-n apply voltages with tactile sensation providing waveforms selected by the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, ..., the nth tactile waveform selection unit 72-n to the plurality of rotation electrodes based on application instructions output from the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, ..., the nth tactile waveform selection unit 72-n. For example, in the first voltage generation circuit 71-1, the voltage generation circuit (1) 71a applies a voltage with a tactile sensation providing waveform selected by the first tactile waveform selection unit 72-1 to each first rotation electrode 21-1 of the first rotation electrode unit 201. The voltage generation circuit (2) 71b applies a voltage with a tactile sensation providing waveform selected by the tactile waveform selection unit 72b to each second rotation electrode 22-1 of the first rotation electrode unit 201.

[0190] 21, the voltage generating circuit 71 is provided in the tactile control device 101b, but this is merely an example. The voltage generating circuit 71 may also be provided outside the tactile control device 101b and connected to the tactile control device 101b from outside the tactile control device 101b.

[0191] The operation of the tactile control device 101b according to the third embodiment will be described. FIG. 22 is a flowchart for explaining the operation of the tactile control device 101b according to the third embodiment.

[0192] The rotation detection unit 11 detects the rotation of the operation unit 3 (step ST1a). The rotation detection unit 11 outputs the rotation information to the tactile control unit 8. The rotation detection unit 11 also outputs the rotation information to the HMI control unit 9.

[0193] The tactile control unit 8b outputs an instruction to the tactile waveform selection unit 72b to select a tactile sensation providing waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated (step ST2a).

[0194] The tactile waveform selection unit 72b selects a tactile sensation providing waveform based on the selection instruction output from the tactile control unit 8b. The tactile waveform selection unit 72b then outputs an instruction to the voltage generation circuit 71 to apply a voltage with the selected tactile sensation providing waveform (step ST3a). Based on the application instruction output from the tactile waveform selection unit 72, the voltage generation circuit 71 applies a voltage with the tactile sensation providing waveform selected by the tactile waveform selection unit 72 to the multiple rotation electrodes.

[0195] FIG. 23 is a flowchart for explaining an example of detailed operations in steps ST2a and ST3a in FIG.

[0196] The tactile control unit 8b determines whether or not the HMI is in a state in which a rotational action is valid, based on the HMI control information output from the HMI control unit 9 (step ST21a). In step ST21a, if it is determined that the rotation operation is enabled as the state of the HMI (if "YES" in step ST21a), the tactile control unit 8b determines whether the operation unit 3 is rotating or not based on the rotation information output from the rotation detection unit 11 (step ST22a).

[0197] In step ST22a, if it is determined that the operation unit 3 is rotating (if "YES" in step ST22a), the tactile control unit 8b outputs an instruction to the tactile waveform selection unit 72b to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotating. The tactile waveform selection section 72b selects a tactile sensation presentation waveform corresponding to the tactile sensation during rotation based on the selection instruction output from the tactile sensation control section 8b (step ST23a). The tactile waveform selection unit 72b then outputs an instruction to apply a voltage with a tactile sensation providing waveform corresponding to the tactile sensation during rotation to the voltage generation circuit 71. The voltage generation circuit 71 applies a voltage with the tactile sensation providing waveform selected by the tactile waveform selection unit 72b to the plurality of rotation electrodes.

[0198] If it is determined in step ST22a that the operation unit 3 is not rotating ("NO" in step ST22a), the tactile control unit 8b does not output a selection instruction. That is, the tactile waveform selection unit 72b does not select a tactile sensation providing waveform (step ST24a). The voltage generation circuit 71 does not apply voltage to the plurality of rotation electrodes.

[0199] In step ST21a, if it is not determined that the rotational motion is enabled as the state of the HMI (if "NO" in step ST21a), that is, if the rotational motion is not enabled as the state of the HMI, the tactile control unit 8b outputs an instruction to the tactile waveform selection unit 72b to select a tactile presentation waveform that maximizes the electrostatic friction force. The tactile waveform selection unit 72b selects a tactile sensation providing waveform that maximizes the electrostatic friction force for the voltage generation circuit 71. The tactile waveform selection unit 72b then outputs an instruction to the voltage generation circuit 71 to apply a voltage with the tactile sensation providing waveform that maximizes the electrostatic friction force (step ST25a). The voltage generation circuit 71 applies a voltage with the tactile sensation providing waveform selected by the tactile waveform selection unit 72b to the multiple rotation electrodes.

[0200] Thus, the tactile control device 101b according to the third embodiment is a tactile control device 101b that controls the tactile sensation during rotation of an operation unit 3 of a manipulator 100b that includes a plurality of rotation electrode units 2, each of which has a plurality of rotation electrodes configured in a plurality of groups each having a plurality of rotation electrodes and a rotation conductor, and the tactile control unit 8b is configured to output an instruction to select a tactile sensation presentation waveform for each rotation electrode unit 2 during rotation of the operation unit 3, and the tactile waveform selection unit 72b selects a tactile sensation presentation waveform for each rotation electrode unit 2 based on the selection instruction output from the tactile control unit 8b, and outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform. This allows the tactile control device 101b to provide a different tactile sensation to the user's finger or the like according to the tactile sensation presentation waveform of the voltage applied to each rotation electrode unit 2.

[0201] Here, Figures 24A and 24B are diagrams for explaining an example of the voltages that the tactile control device 101b applies to each rotation electrode unit 2 in order to generate different tactile sensations to be given to the user's fingers, etc., in embodiment 3, and the electrostatic forces that are generated thereby. 24A and 24B, the operator 100b is assumed to have the configuration shown in FIG. 17, as an example.

[0202] For example, the tactile sensation control device 101b controls the voltage applied to the multiple rotation electrode portions 2 of the operator 100b, thereby controlling the tactile sensation of the operator 100b from a state where there is no tactile sensation to a state where a notch sensation (vibration sensation) is given, and then to a state where a braking sensation (suction stop sensation) is given. In this case, in the tactile control device 101b, the tactile control section 8b first does not output a selection instruction to the tactile waveform selection section 72b to select a tactile sensation providing waveform for rotation. The tactile waveform selection section 72b does not select a tactile sensation providing waveform, nor does it output a voltage application instruction to the voltage generation circuit 71. As a result, the operating element 100b is in a state where it does not have a tactile sensation. Thereafter, the tactile control unit 8b outputs a selection instruction to the second tactile waveform selection unit 72-2 to select a tactile sensation presentation waveform that will present a notch sensation. The second tactile waveform selection unit 72-2 selects a tactile sensation presentation waveform that will present a notch sensation, and outputs an application instruction to the second voltage generation circuit 71-2 to apply a voltage of that tactile sensation presentation waveform. As a result, a voltage is applied to the second rotation electrode unit 202, and a notch sensation is presented to the user's finger or the like. Thereafter, the tactile control unit 8b outputs a selection instruction to the first tactile waveform selection unit 72-1 to select a tactile sensation providing waveform that provides a braking sensation. The first tactile waveform selection unit 72-1 selects a tactile sensation providing waveform that provides a braking sensation, and outputs an application instruction to the first voltage generation circuit 71-1 to apply a voltage of that tactile sensation providing waveform. As a result, a voltage is applied to the first rotation electrode unit 201, and a braking sensation is provided to the user's finger or the like (see FIG. 24A).

[0203] For example, the tactile control unit 8b may output a selection instruction to the first tactile waveform selection unit 72-1 and the second tactile waveform selection unit 72-2 to select a tactile sensation providing waveform that provides a braking sensation. The first tactile waveform selection unit 72-1 and the second tactile waveform selection unit 72-2 select a tactile sensation providing waveform that provides a braking sensation, and output an application instruction to the first voltage generation circuit 71-1 and the second voltage generation circuit 71-2 to apply a voltage of the selected tactile sensation providing waveform. As a result, a voltage is applied to the first rotation electrode unit 201 and the second rotation electrode unit 202, and a stronger braking sensation is provided to the user's fingers, etc. (see FIG. 24B).

[0204] In addition, the tactile control device 101b controls multiple rotation electrode units 2 to which voltage is applied, thereby increasing the variation in the area of ​​the region to which the voltage is applied, and thereby increasing the variation in the intensity of the tactile sensation imparted to the user's fingers, etc. Furthermore, the tactile control device 101b can effectively eliminate the time lag that occurs when switching tactile presentation waveforms and applying voltages because it independently applies voltages to different rotation electrode units 2. As a result, the tactile control device 101b can generate tactile sensations at a timing that allows the user to feel them more realistically and effectively.

[0205] Furthermore, the tactile control device 101b according to the third embodiment outputs an instruction to select a tactile sensation providing waveform according to the state of the HMI that is the target of the rotation operation of the operation unit 3, and outputs an application instruction to apply a voltage with the tactile sensation providing waveform selected based on the selection instruction. This allows the tactile control device 101b to cause the operator 100b to present a tactile sensation linked to the HMI. The operator 100b can present a tactile sensation linked to the HMI.

[0206] In the tactile control device 101b according to the third embodiment described above, the tactile control unit 8b can also output, based on the rotation information, an instruction to the tactile waveform selection unit 72b to select a tactile presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operation unit 3.

[0207] Here, Figures 25A, 25B, and 25C are diagrams for explaining an example of the voltage applied to each rotation electrode unit 2 and the resulting electrostatic force that is generated by the tactile control device 101b in embodiment 3 in order to work in conjunction with the HMI and present a tactile sensation that corresponds to the rotational position of the operating unit 3. Fig. 25A is a diagram showing an example of a screen that shows a volume that can be adjusted in 10 steps, displayed on a display device that serves as an HMI that is the target of operation of the operator 100b. Note that Fig. 25A shows the screen as seen from above, and for convenience, Fig. 25A only shows the operation unit 3 of the operator 100b and the display that shows the volume steps that can be adjusted by the operation unit 3. FIG. 25B is a diagram for explaining an example of the state of the voltage applied by the tactile control device 101b. FIG. 25C is a diagram for explaining an example of the state of electrostatic force generated when the tactile control device 101b applies a voltage to the rotation electrode section 2. 25A, 25B, and 25C, the operator 100b is assumed to have the configuration shown in FIG. 17, as an example.

[0208] Here, as shown in Fig. 25A, in the manipulator 100b, the operating unit 3 can be rotated from the position indicated by "a" in Fig. 25A to the position indicated by "b" in Fig. 25A. In Fig. 25A, the range in which the operating unit 3 can be rotated (the movable range of the manipulator 100b) is indicated by "X1." Furthermore, the range in which the operating unit 3 cannot be rotated (the non-movable range of the manipulator 100b) is indicated by "Y." Now, assume that the operating unit 3 of the operating element 100b is rotated from the position indicated by "a" to the position indicated by "b".

[0209] In the tactile control device 101a, the tactile control unit 8b detects, based on the HMI control information, that the current state of the display device is one in which rotation of the operation unit 3 is valid for adjusting the volume in 10 steps. Furthermore, the tactile control unit 8b detects, based on the rotation information, that the operation unit 3 has been rotated. When the tactile control unit 8b detects that the operation unit 3 is located within a range in which the operation unit 3 can be rotated, it outputs a selection instruction to the tactile waveform selection unit 72b to select a tactile presentation waveform for rotation that will present a tactile sensation indicating that the volume has been adjusted. In detail, the tactile control unit 8b outputs a selection instruction to the first tactile waveform selection unit 72-1 to select a rotation tactile sensation providing waveform that provides a tactile sensation indicating that the volume is being adjusted. In this case, the tactile control unit 8b does not output a selection instruction to the second tactile waveform selection unit 72-2.

[0210] The tactile waveform selection section 72b selects a tactile sensation providing waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage corresponding to the selected tactile sensation providing waveform. In detail, the first tactile waveform selection unit 72-1 selects a tactile sensation providing waveform for rotation that provides a tactile sensation indicating that the volume has been adjusted, and causes the first voltage generation circuit 71-1 to apply a voltage of the selected tactile sensation providing waveform. The first voltage generation circuit 71-1 applies a voltage of the tactile sensation providing waveform for rotation that provides a tactile sensation indicating that the volume has been adjusted to the first rotation electrode unit 201 (more specifically, the plurality of first rotation electrodes 21-1 and the plurality of second rotation electrodes 22-1) (see "Example of voltage signal 1" in FIG. 25B).

[0211] When the operation unit 3 is rotated to a position where it cannot be rotated any further, i.e., the position indicated by "b" in Fig. 25A, the tactile control unit 8b detects this based on the rotation information and outputs a selection instruction to the tactile waveform selection unit 72b to select a tactile sensation providing waveform for rotation that maximizes the electrostatic friction force at that position. In detail, the tactile control unit 8b outputs a selection instruction to the second tactile waveform selection unit 72-2 to select a tactile sensation providing waveform for rotation that maximizes the electrostatic friction force, for example. Note that in this case, the tactile control unit 8b does not output a selection instruction to the first tactile waveform selection unit 72-1.

[0212] The tactile waveform selection section 72b selects a tactile sensation providing waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage corresponding to the selected tactile sensation providing waveform. Specifically, the second tactile waveform selection unit 72-2 selects a tactile sensation presentation waveform for rotation that maximizes the electrostatic friction force, and causes the second voltage generation circuit 71-2 to apply a voltage of the selected tactile sensation presentation waveform. The second voltage generation circuit 71-2 applies a voltage of the tactile sensation presentation waveform for rotation that maximizes the electrostatic friction force to the second rotation electrode unit 202 (more specifically, the plurality of first rotation electrodes 21-2 and the plurality of second rotation electrodes 22-2) (see "Example of voltage signal 2" in FIG. 25B).

[0213] As a result, the tactile sensation control device 101b generates an electrostatic force in the operator 100b while the operating unit 3 is positioned within the range in which it can be rotated, thereby presenting a feeling of heaviness, and when the operating unit 3 is rotated to a position where it cannot be rotated any further, it generates a stronger electrostatic force than before, thereby presenting a feeling of stopping adhesion as a tactile sensation (see Figure 25C).

[0214] In this way, the tactile sensation control device 101b works in conjunction with the HMI to independently control the application of voltage to multiple rotation electrode units 2 based on the rotational position of the operating unit 3, thereby enabling a continuous tactile sensation in response to the rotation of the operating unit 3.

[0215] In the above Figure 25, as an example, the operator 100b is an operator 100b with the configuration shown in Figure 17. However, below, we will explain an example of control by the tactile control device 101b of providing a tactile sensation corresponding to the rotational position of the operating unit 3 in conjunction with the HMI when the operator 100b is an operator 100b with the configuration shown in Figure 20.

[0216] Figures 26A, 26B, and 26C are diagrams illustrating another example of the voltage applied to each rotation electrode unit 2 and the resulting electrostatic force generated by the tactile control device 101b in embodiment 3 in order to work in conjunction with the HMI and present a tactile sensation corresponding to the rotational position of the operating unit 3. Fig. 26A is a diagram showing an example of a screen that shows a volume that can be adjusted in 10 steps, displayed on a display device that serves as an HMI that is the target of operation of the operator 100b. Note that Fig. 26A shows the screen as viewed from above, and for convenience, Fig. 26A only shows the operation unit 3 of the operator 100b and the display that shows the volume steps that can be adjusted by the operation unit 3. FIG. 26B is a diagram for explaining an example of the state of the voltage applied by the tactile control device 101b. FIG. 26C is a diagram for explaining an example of the state of electrostatic force generated when the tactile control device 101b applies a voltage to the rotation electrode section 2.

[0217] As shown in Fig. 26A, in the manipulator 100b, the manipulator unit 3 can be rotated from the position indicated by "a" in Fig. 26A to the position indicated by "e" in Fig. 26A. In Fig. 26A, the range over which the manipulator 3 can be rotated (the range of motion of the manipulator 100b) is divided into four regions (hereinafter referred to as "first region," "second region," "third region," and "fourth region") in order of increasing volume level based on the volume level adjusted by the manipulator 3. The first region, second region, third region, and fourth region are indicated by "X1," "X2," "X3," and "X4," respectively, in Fig. 26A. The range in which the operating unit 3 is positioned from "a" to "b" is the first region, the range in which the operating unit 3 is positioned from "b" to "c" is the second region, the range in which the operating unit 3 is positioned from "c" to "d" is the third region, and the range in which the operating unit 3 is positioned from "d" to "e" is the fourth region. The range in which the operating unit 3 cannot rotate (the non-movable range of the operating element 100b) is indicated by "Y." Now, assume that the operating unit 3 of the operating element 100b is rotated from the position indicated by "a" to the position indicated by "e."

[0218] In the tactile control device 101a, the tactile control unit 8b detects, based on the HMI control information, that the current state of the display device is such that rotation of the operation unit 3 is valid for adjusting the volume in 10 steps. Furthermore, based on the rotation information, the tactile control unit 8b detects that the operation unit 3 has been rotated and to what position it has been rotated.

[0219] When the tactile control unit 8b detects that the operating unit 3 is rotated and positioned up to a rotation position that indicates the third volume level out of the 10 levels, i.e., between the position indicated by "a" and the position indicated by "b" in FIG. 26A, it outputs a selection instruction to the tactile waveform selection unit 72b to select a rotational tactile presentation waveform that presents a tactile sensation indicating that the volume is being adjusted. In detail, the tactile control unit 8b outputs a selection instruction to the first tactile waveform selection unit 72-1 to select a rotation tactile sensation providing waveform that provides a tactile sensation indicating that the volume has been adjusted. Note that in this case, the tactile control unit 8b does not output selection instructions to the second tactile waveform selection unit 72-2 to the fifth tactile waveform selection unit 72-5.

[0220] The tactile waveform selection section 72b selects a tactile sensation providing waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage corresponding to the selected tactile sensation providing waveform. In detail, the first tactile waveform selection unit 72-1 selects a tactile sensation providing waveform for rotation that provides a tactile sensation indicating that the volume has been adjusted, and causes the first voltage generation circuit 71-1 to apply a voltage of the selected tactile sensation providing waveform. The first voltage generation circuit 71-1 applies a voltage of the tactile sensation providing waveform for rotation that provides a tactile sensation indicating that the volume has been adjusted to the first rotation electrode unit 201 (more specifically, the plurality of first rotation electrodes 21-1 and the plurality of second rotation electrodes 22-1) (see "Example of voltage signal 1" in FIG. 26B).

[0221] When the tactile control unit 8b detects that the operating unit 3 is further rotated and is positioned between the rotation position indicating the third volume level out of the 10 levels and the rotation position indicating the fifth volume level, i.e., between the position indicated by "b" and the position indicated by "c" in FIG. 26A, it outputs a selection instruction to the tactile waveform selection unit 72b to select a rotational tactile presentation waveform that will present a tactile sensation indicating that the volume is being adjusted. In detail, the tactile control unit 8b outputs a selection instruction to the first tactile waveform selection unit 72-1 and the second tactile waveform selection unit 72-2 to select a rotation tactile sensation providing waveform that provides a tactile sensation indicating that the volume has been adjusted. Note that in this case, the tactile control unit 8b does not output a selection instruction to the third tactile waveform selection unit 72-3 to the fifth tactile waveform selection unit 72-5.

[0222] The tactile waveform selection section 72b selects a tactile sensation providing waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage corresponding to the selected tactile sensation providing waveform. Specifically, the first tactile waveform selection unit 72-1 and the second tactile waveform selection unit 72-2 select a rotation tactile sensation presentation waveform that presents a tactile sensation indicating that the volume has been adjusted, and cause the first voltage generation circuit 71-1 and the second voltage generation circuit 71-2 to apply a voltage of the selected tactile sensation presentation waveform. The first voltage generation circuit 71-1 and the second voltage generation circuit 71-2 apply a voltage of the rotation tactile sensation presentation waveform that presents a tactile sensation indicating that the volume has been adjusted to the first rotation electrode unit 201 (more specifically, the plurality of first rotation electrodes 21-1 and the plurality of second rotation electrodes 22-1) and the second rotation electrode unit 202 (more specifically, the plurality of first rotation electrodes 21-2 and the plurality of second rotation electrodes 22-2) (see "Example of voltage signal 1" in FIG. 26B).

[0223] When the tactile control unit 8b detects that the operating unit 3 is further rotated and is positioned between the rotation position indicating the fifth volume level out of the ten levels to the rotation position indicating the eighth volume level, i.e., between the position indicated by "c" and the position indicated by "d" in FIG. 26A, it outputs a selection instruction to the tactile waveform selection unit 72b to select a rotational tactile presentation waveform that will present a tactile sensation indicating that the volume has been adjusted. In detail, the tactile control unit 8b outputs a selection instruction to the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, and the third tactile waveform selection unit 72-3 to select a rotation tactile sensation providing waveform that provides a tactile sensation indicating that the volume has been adjusted. Note that in this case, the tactile control unit 8b does not output a selection instruction to the fourth tactile waveform selection unit 72-4 and the fifth tactile waveform selection unit 72-5.

[0224] The tactile waveform selection section 72b selects a tactile sensation providing waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage corresponding to the selected tactile sensation providing waveform. In detail, the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, and the third tactile waveform selection unit 72-3 select a rotational tactile sensation presentation waveform that presents a tactile sensation indicating that the volume is being adjusted, and cause the first voltage generation circuit 71-1, the second voltage generation circuit 71-2, and the third voltage generation circuit 71-3 to apply a voltage of the selected tactile sensation presentation waveform. The first voltage generation circuit 71-1, the second voltage generation circuit 71-2, and the third voltage generation circuit 71-3 apply a voltage with a rotational tactile sensation presentation waveform that presents a tactile sensation indicating that the volume has been adjusted to the first rotation electrode section 201 (more specifically, a plurality of first rotation electrodes 21-1 and a plurality of second rotation electrodes 22-1), the second rotation electrode section 202 (more specifically, a plurality of first rotation electrodes 21-2 and a plurality of second rotation electrodes 22-2), and the third rotation electrode section 203 (more specifically, a plurality of first rotation electrodes 21-3 and a plurality of second rotation electrodes 22-3) (see "Example of voltage signal 1" in Figure 26B).

[0225] When the tactile control unit 8b detects that the operating unit 3 is further rotated and is positioned between the rotation position indicating the sixth volume level of the ten levels to the rotation position indicating the tenth volume level, i.e., between the position indicated by "d" and the position indicated by "e" in FIG. 26A, it outputs a selection instruction to the tactile waveform selection unit 72b to select a rotational tactile presentation waveform that will present a tactile sensation indicating that the volume has been adjusted. In detail, the tactile control unit 8b outputs a selection instruction to, for example, the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, the third tactile waveform selection unit 72-3, and the fourth tactile waveform selection unit 72-4 to select a rotation tactile sensation providing waveform that provides a tactile sensation indicating that the volume has been adjusted. Note that in this case, the tactile control unit 8b does not output a selection instruction to the fifth tactile waveform selection unit 72-5.

[0226] The tactile waveform selection section 72b selects a tactile sensation providing waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage corresponding to the selected tactile sensation providing waveform. In detail, the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, the third tactile waveform selection unit 72-3, and the fourth tactile waveform selection unit 72-4 select a rotational tactile sensation presentation waveform that presents a tactile sensation indicating that the volume is being adjusted, and cause the first voltage generation circuit 71-1, the second voltage generation circuit 71-2, the third voltage generation circuit 71-3, and the fourth voltage generation circuit 71-4 to apply voltages of the selected tactile sensation presentation waveforms. The first voltage generation circuit 71-1, the second voltage generation circuit 71-2, the third voltage generation circuit 71-3, and the fourth voltage generation circuit 71-4 apply a voltage with a rotational tactile sensation presentation waveform that presents a tactile sensation indicating that the volume has been adjusted to the first rotation electrode section 201 (more specifically, a plurality of first rotation electrodes 21-1 and a plurality of second rotation electrodes 22-1), the second rotation electrode section 202 (more specifically, a plurality of first rotation electrodes 21-2 and a plurality of second rotation electrodes 22-2), the third rotation electrode section 203 (more specifically, a plurality of first rotation electrodes 21-3 and a plurality of second rotation electrodes 22-3), and the fourth rotation electrode section 204 (more specifically, a plurality of first rotation electrodes 21-4 and a plurality of second rotation electrodes 22-4) (see "Example of voltage signal 1" in Figure 26B).

[0227] When the operation unit 3 is rotated to a position where it cannot be rotated any further, i.e., the position indicated by "e" in Fig. 26A, the tactile control unit 8b detects this based on the rotation information and outputs a selection instruction to the tactile waveform selection unit 72b to select a tactile sensation providing waveform for rotation that maximizes the electrostatic friction force at that position. In detail, the tactile control unit 8b outputs a selection instruction to the fifth tactile waveform selection unit 72-5 to select a tactile sensation providing waveform for rotation that maximizes the electrostatic friction force. Note that in this case, the tactile control unit 8b does not output selection instructions to the first tactile waveform selection unit 72-1 to the fourth tactile waveform selection unit 72-4.

[0228] The tactile waveform selection section 72b selects a tactile sensation providing waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage corresponding to the selected tactile sensation providing waveform. Specifically, the fifth tactile waveform selection unit 72-5 selects a tactile sensation presentation waveform for rotation that maximizes the electrostatic friction force, and causes the fifth voltage generation circuit 71-5 to apply a voltage of the selected tactile sensation presentation waveform. The fifth voltage generation circuit 71-5 applies a voltage of the tactile sensation presentation waveform for rotation that maximizes the electrostatic friction force to the fifth rotation electrode unit 205 (more specifically, the plurality of first rotation electrodes 21-5 and the plurality of second rotation electrodes 22-5) (see "Example of voltage signal 2" in FIG. 26B).

[0229] As a result, the tactile sensation control device 101b generates a larger electrostatic force in the manipulator 100b while the operating unit 3 is rotated, the more the manipulator 100b is rotated to a rotational position that indicates a higher volume level out of the 10 volume levels, and presents a tactile sensation that becomes increasingly heavier; when the operating unit 3 is rotated to a position where it cannot be rotated any further, the tactile sensation control device 101b generates a larger electrostatic force than before, and presents a tactile sensation of stopping adhesion (see Figure 26C).

[0230] In this way, the tactile sensation control device 101b works in conjunction with the HMI to independently control the application of voltage to multiple rotation electrode units 2 based on the rotational position of the operating unit 3, thereby enabling a continuous tactile sensation in response to the rotation of the operating unit 3. Furthermore, the tactile control device 101b can provide variations in the area of ​​the region to which voltage is applied by combining multiple rotational electrode units 2 and applying voltage simultaneously. For example, by changing the number of rotational electrode units 2 to which the same magnitude of voltage is applied, it is possible to give the user's fingers, etc., a gradually changing tactile sensation (for example, gradually becoming heavier).

[0231] In the tactile control device 101b, the tactile control unit 8b can detect, based on the HMI control information, that the current state of the display device is one in which rotation of the operation unit 3 is enabled for adjusting the volume in 10 levels, and, upon detecting, based on the rotation information, that the operation unit 3 has been rotated and that it has been rotated to a position indicating a volume level, output a selection instruction to the tactile waveform selection unit 72b to select a rotation tactile sensation presentation waveform that will present a tactile sensation at the rotation position indicating the 10 volume levels. The tactile waveform selection unit 72b selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage corresponding to the selected tactile sensation presentation waveform. As a result, the tactile control device 101b can cause the operator 100b to present a vibration sensation as a tactile sensation when the operation unit 3 is positioned at a rotation position indicating the 10 volume levels.

[0232] Furthermore, in the above-described third embodiment, for example, the operator 100b may be configured without a rotation detection circuit. In this case, the tactile control device 101b does not necessarily have to include the rotation detection unit 11. For example, in the tactile control device 101b, when the power to the tactile control device 101b is turned on, the tactile control unit 8b outputs a selection instruction to the tactile waveform selection unit 72 to select a tactile sensation providing waveform for rotation. In this case, the process of step ST1a in the operation of the tactile control device 101b explained using the flowchart of FIG. 22 can be omitted.

[0233] In the third embodiment, the operator 100b is configured to work in conjunction with an HMI (Human Machine Interface), but this is merely an example. The operator 100b does not necessarily need to work in conjunction with an HMI.

[0234] The hardware configuration of the tactile control device 101b according to embodiment 3 is similar to the hardware configuration of the tactile control device 101 according to embodiment 1 described using Figures 9A and 9B in embodiment 1, and therefore is not shown in the figures. In the third embodiment, the functions of the rotation detection unit 11, the tactile control unit 8b, and the tactile waveform selection unit 72b are realized by a processing circuit 1001. That is, the tactile control device 101b includes a processing circuit 1001 for controlling the magnitude of the electrostatic friction force by controlling the voltage applied to a plurality of electrodes (a plurality of rotation electrodes), and for controlling the tactile sensation that accompanies this.

[0235] The processing circuit 1001 executes the functions of the rotation detection unit 11, the tactile control unit 8b, and the tactile waveform selection unit 72b by reading and executing the program stored in the memory 1005. In other words, the tactile control device 101b includes a memory 1005 for storing a program that, when executed by the processing circuit 1001, results in the execution of steps ST1a to ST3a in Fig. 22 described above. It can also be said that the program stored in the memory 1005 causes a computer to execute the processing procedures or methods of the rotation detection unit 11, the tactile control unit 8b, and the tactile waveform selection unit 72b. The tactile control device 101b also includes a voltage generating circuit 71. The tactile control device 101b also includes an input interface device 1002 and an output interface device 1003 that perform wired or wireless communication with devices such as the operator 100b or the HMI control unit 9.

[0236] In the above-described third embodiment, the tactile control device 101b may be mounted on the operator 100b or may be provided in a server. Also, some of the rotation detection unit 11, the tactile control unit 8b, and the tactile waveform selection unit 72b may be provided in the server, and the rest may be provided in the operator 100b.

[0237] As described above, the manipulator 100b according to the third embodiment includes a fixed portion 1 having an axis portion 1a that functions as an axis, and an operation unit 3 that is attached to the axis portion 1a and is rotatable around the axis portion 1a. The manipulator 100b further includes a first fixed surface (specifically, a first fixed portion 1-1) that faces the operation unit 3 and exists in the axial direction of the fixed portion 1, and the first fixed surface is a plurality of electrodes covered with a dielectric layer, to which a voltage can be applied when the operation unit 3 rotates. The first fixed surface is a surface of the operation unit 3 that faces the first fixed surface, and the first fixed surface is a surface of the operation unit 3 that faces the first fixed surface. The first fixed surface is a surface of the operation unit 3 that faces the first fixed surface, and the first fixed surface is a surface of the operation unit 3 that faces the plurality of rotation electrodes when the relative position of the operation unit 3 and the fixed portion 1 is at a predetermined relative position. The manipulator 100b includes a plurality of rotation electrodes that form a plurality of groups each having a plurality of rotation electrodes, and the manipulator 100b includes a plurality of rotation electrode units 2 that each have the plurality of rotation electrodes and the rotation conductor. This eliminates the need for the operating element 100b to use a switching element or the like that switches the voltage applied to a certain rotation electrode portion 2 (more specifically, a set of a plurality of rotation electrodes), thereby simplifying the structure of the operating element 100b. Furthermore, by increasing the number of rotation electrode sections 2 (more specifically, multiple rotation electrodes) to which voltage is applied, the manipulator 100b can increase the variation in the area of ​​the region in which the rotation electrode sections 2 are arranged, thereby increasing the variation in the intensity of the tactile sensation imparted to the user's fingers, etc. Furthermore, if the tactile sensation waveform of the voltage applied to the multiple rotation electrodes included in one rotation electrode unit 2 is switched, a time lag occurs before the tactile sensation based on the switched tactile sensation waveform is imparted to the user's finger, etc. In contrast, the manipulator 100b includes multiple rotation electrode units 2 to which voltages can be applied independently, and therefore the time lag can be substantially eliminated. As a result, the manipulator 100b can generate a tactile sensation at a timing that allows the user to feel the tactile sensation more realistically and effectively.

[0238] Furthermore, the tactile control device 101b according to the third embodiment is a tactile control device 101b that controls the tactile sensation when an operating unit 3 of an operator 100b is rotated. The operator 100b has a fixed unit 1 having an axis 1a that functions as an axis, and a plurality of rotation electrode units 2 that are attached to the axis 1a and are rotatable around the axis 1a, and each of the rotation electrode units 2 has a set of a plurality of rotation electrodes and a rotation conductor (a rotation conductive elastic body 4). The tactile control unit 8b is configured to output a selection instruction for a tactile presentation waveform for each rotation electrode unit 2 when the operating unit 3 is rotated, and the tactile waveform selection unit 72b selects a tactile presentation waveform for each rotation electrode unit 2 based on the selection instruction output from the tactile control unit 8b, and to output an instruction to apply a voltage with the selected tactile presentation waveform. Therefore, the tactile control device 101b controls multiple rotation electrode units 2 to which voltage is applied, thereby increasing the variation in the area of ​​the region to which the voltage is applied, and thereby increasing the variation in the intensity of the tactile sensation imparted to the user's fingers, etc. Furthermore, the tactile control device 101b can effectively eliminate the time lag that occurs when switching tactile presentation waveforms and applying voltages because it independently applies voltages to different rotation electrode units 2. As a result, the tactile control device 101b can generate tactile sensations at a timing that allows the user to feel them more realistically and effectively.

[0239] The above content of the third embodiment can also be applied to the second embodiment. That is, in an operator 100a having an operating unit 3 that can be rotated or pushed in around an axis 1a of a fixed unit 1, the multiple rotation electrodes may be configured into multiple sets, each having multiple rotation electrodes, and multiple rotation electrode units 2 may be provided, each having a set having the multiple rotation electrodes and a rotation conductor. In the tactile control device 101a, the tactile control unit 8a may output a selection instruction for a tactile presentation waveform for each rotation electrode unit 2 when the operating unit 3 is rotating, and the tactile waveform selection unit 72a may select a tactile presentation waveform for each rotation electrode unit 2 based on the selection instruction output from the tactile control unit 8a and output an instruction to apply a voltage with the selected tactile presentation waveform.

[0240] In the above-described first, second, and third embodiments, the voltage generating circuit 71 includes a voltage generating circuit (1) 71a and a voltage generating circuit (2) 71b as shown in Fig. 2, but this is merely an example. The voltage generating circuit 71 may include either the voltage generating circuit (1) or the voltage generating circuit (2) 71b. Note that the multiple electrodes not connected to the voltage generating circuit 71 are connected to GND via lead-out wiring.

[0241] Furthermore, in the above-described embodiment 1, embodiment 2, or embodiment 3, the manipulator 100, manipulator 100a, or manipulator 100b may be configured to have a power supply unit capable of applying voltage inside the fixed part 1.

[0242] FIG. 27 is a diagram showing a configuration example of the manipulator 100 having a power supply section 90 inside the fixed section 1 in the first embodiment. 27A is a top view of the manipulator 100, and FIG. 27B is a cross-sectional view taken along line AA in FIG. 27A. The manipulator 100 shown in FIG. 27 is the manipulator 100 described in the first embodiment with reference to FIG. 1, except that the fixed part 1 has a power supply part 90 therein.

[0243] 28 and 29 are diagrams showing a configuration example of a manipulator 100a having a power supply section 90 inside the fixed section 1 in the second embodiment. FIG. 28A is a top view of the manipulator 100a, and FIG. 28B is a cross-sectional view taken along line AA in FIG. 28A. FIG. 29A is a top view of the manipulator 100a, and FIG. 29B is a cross-sectional view taken along line AA in FIG. 29A. The manipulator 100a shown in FIG. 28 is the manipulator 100a described in the second embodiment with reference to FIG. 16, except that the manipulator 100a has a configuration in which a power supply unit 90 is provided inside the second fixed portion 1-2. The manipulator 100a shown in FIG. 29 is the manipulator 100a described in the second embodiment with reference to FIG. 14, except that the manipulator 100a has a configuration in which a power supply unit 90 is provided inside the second fixed portion 1-2. The power supply unit 90 may be provided in the first fixed portion 1-1.

[0244] Manipulator 100, manipulator 100a, or manipulator 100b has a power supply unit capable of applying voltage inside fixed part 1, which eliminates the need for drawn-out wiring and allows for a simpler structure. Furthermore, manipulator 100, manipulator 100a, or manipulator 100b can be carried around and can be operated in any position, allowing for a more versatile structure.

[0245] In the above-described first, second, and third embodiments, it has been assumed that the operating elements 100, 100a, and 100b are provided in, for example, in-vehicle equipment installed in a vehicle, but this is merely an example. The operating elements 100 and 100b may be any suitable operating elements 100 and 100b that can be rotated. The operating element 100a may be any suitable operating element 100a that can be rotated and pressed.

[0246] Furthermore, the embodiments may be freely combined, or any of the components in each embodiment may be modified, or any of the components in each embodiment may be omitted. [Industrial Applicability]

[0247] The operator according to the present disclosure can provide a stable tactile effect to the user. [Explanation of symbols]

[0248] 100, 100a, 100b operator, 1 fixed part, 1a shaft part, 2 rotation electrode part, 21 first rotation electrode, 22 second rotation electrode, 210 first pressing electrode, 220 second pressing electrode, 23, 230 dielectric layer, 3 operation part, 4 rotation conductive elastic body, 40 pressing conductive elastic body, 5 spring, 6 pressing detection circuit, 101, 101a, 101b tactile control device, 11 rotation detection part, 61 pressing detection part, 8, 8a, 8b tactile control part, 72, 72a, 72b tactile waveform selection part, 71 voltage generation circuit, 9 HMI control part, 21a, 22a lead wiring, 90 power supply part, 102, 102a, 102b tactile control system, 1001 processing circuit, 1002 input interface device, 1003 An output interface device, a processor 1004, and a memory 1005.

Claims

1. An operator having a fixed part having a shaft part that functions as a shaft, and an operation part that is attached to the shaft part and is rotatable around the shaft part, a plurality of rotation electrodes, the rotation electrodes being covered with a dielectric layer and provided on a first fixed surface of the fixed portion that faces the operation portion and exists in the axial direction, the rotation electrodes being able to apply a voltage when the operation portion rotates; a rotation conductor provided on a first operation surface, which is a surface of the operation unit facing the first fixed surface, and facing the plurality of rotation electrodes when the relative position of the operation unit and the fixed unit is at a predetermined relative position; The voltage can be applied to two adjacent electrodes among the plurality of rotation electrodes. A control element characterized by:

2. the plurality of rotation electrodes provided around the shaft portion and covered with the dielectric layer; The rotation conductor is provided on a surface of the operation unit facing the shaft unit, and faces the plurality of rotation electrodes provided around the shaft unit when the relative position of the operation unit and the fixed unit is at a predetermined relative position.

2. The operator according to claim 1, wherein the operating element is a switch.

3. the shaft portion includes a first shaft portion to which the operation portion is attached and a second shaft portion located on the opposite side of the first fixing surface from the first shaft portion, the operating unit is attached to the first shaft portion, is rotatable around the first shaft portion, and is pushable in the axial direction; the fixing portion includes a first fixing portion having the shaft portion and capable of being pushed in the axial direction together with the operation portion, and a second fixing portion having a second fixing surface that is a surface opposite to the first fixing surface of the first fixing portion, and a shaft side surface that is a surface of the first fixing portion that is opposite to the second shaft portion, a plurality of electrodes provided on a surface of the second shaft portion facing the second fixed portion and covered with the dielectric layer, the plurality of electrodes being capable of applying the voltage when the operation portion is pressed; a push-in conductor that is provided on the shaft side surface of the second fixed portion and faces the plurality of push-in electrodes when the relative position of the operation portion and the second fixed portion is at a preset relative position, The voltage can be applied to two adjacent push-in electrodes among the plurality of push-in electrodes.

2. The operator according to claim 1, wherein the operating element is a switch.

4. the shaft portion includes a first shaft portion to which the operation portion is attached and a second shaft portion located on the opposite side of the first fixing surface from the first shaft portion, the operating unit is attached to the first shaft portion, is rotatable around the first shaft portion, and is pushable in the axial direction; The fixing portion includes a first fixing portion having the shaft portion and capable of being pushed in the axial direction together with the operating portion, a second fixing surface that is a surface of the first fixing portion opposite to the first fixing surface, and a shaft side surface that is a surface of the first fixing portion that is opposite to the second shaft portion. and a second fixing portion having a push-in detection switch provided on the second fixed portion and configured to detect the pushing of the operation portion; 2. The operator according to claim 1, wherein the operating element is a switch.

5. The plurality of rotation electrodes constitute a plurality of groups each having the plurality of rotation electrodes, and a plurality of rotation electrode units each having the group having the plurality of rotation electrodes and the rotation conductor are provided.

2. The operator according to claim 1, wherein the operating element is a switch.

6. The fixed part has a power supply part capable of applying the voltage thereto.

2. The operator according to claim 1, wherein the operating element is a switch.

7. An operator having a fixed part having a shaft part that functions as a shaft, and an operation part that is attached to the shaft part and is rotatable around the shaft part, a plurality of rotation electrodes, the rotation electrodes being covered with a dielectric layer and provided on a first fixed surface of the fixed portion that faces the operation portion and exists in the axial direction, the rotation electrodes being able to apply a voltage when the operation portion rotates; a rotation conductor provided on a first operation surface, which is a surface of the operation unit facing the first fixed surface, and facing the plurality of rotation electrodes when the relative position of the operation unit and the fixed unit is at a predetermined relative position; a tactile sensation control unit that outputs an instruction to select a tactile sensation providing waveform of the voltage in accordance with the tactile sensation when the operation unit is rotated; a tactile waveform selection unit that selects the tactile sensation providing waveform based on the selection instruction output from the tactile sensation control unit and outputs an instruction to apply the voltage with the selected tactile sensation providing waveform; a voltage generating circuit that applies the voltage of the tactile sensation providing waveform to the plurality of rotation electrodes based on the application instruction output from the tactile waveform selecting unit, The voltage generating circuit applies the voltage to two adjacent electrodes among the plurality of rotation electrodes. A control element characterized by:

8. the plurality of rotation electrodes provided around the shaft portion and covered with the dielectric layer; The rotation conductor is provided on a surface of the operation unit facing the shaft unit, and faces the plurality of rotation electrodes provided around the shaft unit when the relative position of the operation unit and the fixed unit is at a predetermined relative position.

8. The operator according to claim 7,

9. the shaft portion includes a first shaft portion to which the operation portion is attached and a second shaft portion located on the opposite side of the first fixing surface from the first shaft portion, the operating unit is attached to the first shaft portion, is rotatable around the first shaft portion, and is pushable in the axial direction; the fixing portion includes a first fixing portion having the shaft portion and capable of being pushed in the axial direction together with the operation portion, and a second fixing portion having a second fixing surface that is a surface opposite to the first fixing surface of the first fixing portion, and a shaft side surface that is a surface of the first fixing portion that is opposite to the second shaft portion, a plurality of electrodes provided on a surface of the second shaft portion facing the second fixed portion and covered with the dielectric layer, the plurality of electrodes being capable of applying the voltage when the operation portion is pressed; a push-in conductor that is provided on the shaft side surface of the second fixed portion and faces the plurality of push-in electrodes when the relative position of the operation portion and the second fixed portion is at a preset relative position, The voltage can be applied to two adjacent push-in electrodes among the plurality of push-in electrodes, The tactile sensation control unit outputs the instruction to select the tactile sensation presentation waveform of the voltage corresponding to the tactile sensation when the operation unit is rotated or when the operation unit is pressed.

9. The operator according to claim 7 or 8.

10. the shaft portion includes a first shaft portion to which the operation portion is attached and a second shaft portion located on the opposite side of the first fixing surface from the first shaft portion, the operating unit is attached to the first shaft portion, is rotatable around the first shaft portion, and is pushable in the axial direction; the fixing portion includes a first fixing portion having the shaft portion and capable of being pushed in the axial direction together with the operation portion, and a second fixing portion having a second fixing surface that is a surface opposite to the first fixing surface of the first fixing portion, and a shaft side surface that is a surface of the first fixing portion that is opposite to the second shaft portion, a push-in detection switch provided on the second fixed portion and configured to detect the pushing of the operation portion; 9. The operator according to claim 7 or 8.

11. the plurality of rotation electrodes constitute a plurality of groups each having the plurality of rotation electrodes, and a plurality of rotation electrode units each having the group having the plurality of rotation electrodes and the rotation conductor are provided; the tactile sensation control unit outputs the selection instruction for the tactile sensation providing waveform for each of the rotation electrode units when the operation unit is rotated; the tactile waveform selection unit selects the tactile sensation providing waveform for each of the rotation electrode units based on the selection instruction output from the tactile sensation control unit, and outputs the instruction to apply the voltage for the selected tactile sensation providing waveform; The voltage generating circuit applies the voltage to two adjacent electrodes among the plurality of rotation electrodes for each of the rotation electrode portions.

8. The operator according to claim 7,

12. The fixed part has a power supply part capable of applying the voltage thereto.

8. The operator according to claim 7,

13. A tactile sensation control device that controls a tactile sensation when the operating part of the operating element according to any one of claims 1 to 4 or 6 is rotated, a tactile sensation control unit that outputs an instruction to select a tactile sensation providing waveform of the voltage corresponding to the tactile sensation when the operation unit is rotated; a tactile waveform selection unit that selects the tactile sensation presentation waveform based on the selection instruction output from the tactile sensation control unit and outputs an instruction to apply the voltage with the selected tactile sensation presentation waveform; A tactile control device comprising:

14. In the operating element, the plurality of rotation electrodes form a plurality of groups each having the plurality of rotation electrodes, and the operating element includes a plurality of rotation electrode units each having a group including the plurality of rotation electrodes and the rotation conductor; the tactile sensation control unit outputs the selection instruction for the tactile sensation providing waveform for each of the rotation electrode units when the operation unit is rotated; The tactile waveform selection unit selects the tactile sensation providing waveform for each of the rotation electrode units based on the selection instruction output from the tactile sensation control unit, and outputs the instruction to apply the voltage for the selected tactile sensation providing waveform.

14. The tactile control device according to claim 13.

15. a rotation detection unit that detects rotation of the operation unit, The tactile control unit outputs, to the tactile waveform selection unit, an instruction to select the tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit is rotated, based on rotation information regarding the rotation detected by the rotation detection unit.

14. The tactile control device according to claim 13.

16. the rotation information includes information about the rotation position of the operation unit, The tactile control unit outputs, to the tactile waveform selection unit, an instruction to select the tactile sensation providing waveform corresponding to the tactile sensation corresponding to the rotational position of the operation unit, based on the rotation information.

16. The tactile control device according to claim 15.

17. The tactile control unit outputs the selection instruction for the tactile sensation presentation waveform according to the state of the HMI that is the target of the rotation operation of the operation unit.

16. The tactile control device according to claim 15.

18. the operating unit is attached to the shaft portion, is rotatable around the shaft portion, and is pushable in the axial direction; The tactile control unit outputs the instruction to select the tactile sensation presentation waveform of the voltage corresponding to the tactile sensation when the operation unit is rotated, or the instruction to select the tactile sensation presentation waveform of the voltage corresponding to the tactile sensation when the operation unit is pressed.

14. The tactile control device according to claim 13.

19. a rotation detection unit that detects rotation of the operation unit; a push-in detection unit that detects the push-in of the operation unit, The tactile control unit outputs to the tactile waveform selection unit the instruction to select the tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit is rotated, based on rotation information regarding the rotation of the operation unit detected by the rotation detection unit, or the instruction to select the tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit is pressed, based on press information regarding the press of the operation unit detected by the press detection unit.

19. The tactile control device of claim 18.

20. the rotation information includes information about the rotation position of the operation unit, the depression information includes information about the depression amount of the operation unit, The tactile control unit outputs to the tactile waveform selection unit, the instruction to select the tactile sensation presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operation unit based on the rotation information, or the instruction to select the tactile sensation presentation waveform corresponding to the tactile sensation corresponding to the depression amount of the operation unit based on the depression information.

20. The tactile control device of claim 19.

21. The tactile control unit outputs the selection instruction for the tactile sensation presentation waveform according to the state of the HMI that is the target of the rotation operation of the operation unit or the state of the HMI that is the target of the press operation of the operation unit.

19. The tactile control device of claim 18.

22. the shaft portion includes a first shaft portion to which the operation portion is attached and a second shaft portion located on the opposite side of the first fixing surface from the first shaft portion, the operating unit is attached to the first shaft portion, is rotatable around the first shaft portion, and is pushable in the axial direction; the fixing portion includes a first fixing portion having the shaft portion and capable of being pushed in the axial direction together with the operation portion, and a second fixing portion having a second fixing surface that is a surface opposite to the first fixing surface of the first fixing portion, and a shaft side surface that is a surface of the first fixing portion that is opposite to the second shaft portion, a plurality of electrodes provided on a surface of the second shaft portion facing the second fixed portion and covered with the dielectric layer, the plurality of electrodes being capable of applying the voltage when the operation portion is pressed; When the tactile control unit outputs the instruction to select the tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit is rotated, the tactile waveform selection unit selects the tactile sensation presentation waveform that provides the tactile sensation when the operation unit is rotated, and outputs the instruction to apply the voltage of the selected tactile sensation presentation waveform to the plurality of rotation electrodes, and when the tactile control unit outputs the instruction to select the tactile sensation presentation waveform that provides the tactile sensation when the operation unit is pressed, the tactile waveform selection unit selects the tactile sensation presentation waveform that provides the tactile sensation when the operation unit is pressed, and outputs the instruction to apply the voltage of the selected tactile sensation presentation waveform to the plurality of pressing electrodes.

14. The tactile control device according to claim 13.

23. The operating element has an area where the plurality of rotation electrodes and the rotation conductor face each other that changes in accordance with the amount of rotation of the operating portion.

14. The tactile control device according to claim 13.

24. A tactile sensation control method for controlling a tactile sensation when the operation unit of the operation element according to any one of claims 1 to 6 is rotated, comprising: a step in which the tactile sensation control unit outputs an instruction to select a tactile sensation providing waveform of the voltage corresponding to the tactile sensation when the operation unit is rotated; a step in which a tactile waveform selection unit selects the tactile sensation presentation waveform based on the selection instruction output from the tactile sensation control unit, and outputs an instruction to apply the voltage with the selected tactile sensation presentation waveform; A tactile sensation control method comprising:

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