haptic devices

Abstract

To provide a haptic device which can enhance comfort of a user.SOLUTION: A haptic device 1 according to the present invention has stretching parts 2 which can be fitted to fingers on the back of a hand H of a user and allows the fingers to stretch in a longitudinal direction, a drive unit 4 constituted so as to make an accessory 10 operate the stretching parts 2, and a processor device 5 having an acquiring unit for acquiring information of a haptic output to the finger, a control unit for detecting postures of the fingers based on a state of the stretching parts 2 and for controlling an operation of the stretching parts 2 by the drive unit 4 based on the haptic output information acquired by the acquiring unit, and a communication unit for communicating with an external device via wireless communication.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to haptic devices. [Background technology]

[0002] A haptic device worn on a user's hand is known as a device that gives a user a pseudo-tactile sensation of a virtual object (see Patent Document 1). This haptic device gives a tactile sensation to the fingers, etc., by deformation of an elastic expansion / contraction body that is placed together with aggregates inside a finger cot or glove. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-29999 Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned haptic devices require the user's fingers to be covered with a finger cot or glove, which can cause discomfort to the user's fingertips and limit hand movement while wearing the device.

[0005] One aspect of the present disclosure aims to provide a haptic device that can increase the comfort of the user. [Means for solving the problem]

[0006] One aspect of the present disclosure is a tactile device that can be worn on a user's finger on the back of the hand and includes a tensioning unit configured to tension the finger in the longitudinal direction, a driving unit configured to operate the tensioning unit, an acquisition unit configured to acquire tactile output information to the finger, and a control unit configured to detect the posture of the finger based on the state of the tensioning unit and control the operation of the tensioning unit by the driving unit based on the tactile output information acquired by the acquisition unit.

[0007] With this configuration, the user's fingers can be given a tactile sensation by operating the tensioning unit attached to the back of the hand, thereby reducing discomfort in the user's fingertips and restrictions on hand movement. Furthermore, since the posture of the fingers is detected based on the state of the tensioning unit, a highly realistic tactile sensation can be generated in the user's fingers when they come into contact with a virtual object.

[0008] According to an aspect of the present disclosure, the device may further include a vibration unit that can be attached to a fingernail and configured to apply vibrations to the fingernail. The control unit may be configured to control the vibration of the vibration unit based on the haptic output information. With this configuration, a haptic input such as pressing a virtual switch can be provided to the user.

[0009] In one aspect of the present disclosure, the vibration unit may be configured to be attachable to a nail so that the side of the finger is exposed, thereby enhancing the sense of openness of the user's fingertip while providing the user with a tactile input sensation.

[0010] In one aspect of the present disclosure, the acquisition unit may be configured to output the posture detected by the control unit to an external device and acquire haptic output information from the external device. This configuration allows the haptic device to be miniaturized while providing the user with a highly realistic haptic sensation.

[0011] In one aspect of the present disclosure, the tensioning unit may include a rubber actuator. This configuration allows the tensioning unit and the driving unit to be miniaturized, thereby enhancing the comfort of a user wearing the haptic device.

[0012] In one aspect of the present disclosure, the control unit may be configured to detect the posture of at least a first joint of the finger based on a state of the tension unit. The tension unit may be configured to tension the finger so that at least the first joint bends less. This configuration can improve the realism of the tactile sensation when touching a virtual object. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic diagram of a haptic device according to an embodiment. [Figure 2] 2A is a schematic side view of a tensioning portion and a vibrating portion in the haptic device of FIG. 1, and FIG. 2B is a schematic cross-sectional view taken along line IIB-IIB in FIG. 2A. [Figure 3] 3A, 3B, and 3C are schematic front views of the vibrating section of FIG. 2A. [Figure 4] 4A, 4B, and 4C are schematic diagrams showing the connection structure between the tensioning portion and the vibrating portion in FIG. 2A. [Figure 5] FIG. 5 is a schematic diagram of the haptic device of FIG. [Figure 6] FIG. 6 is a schematic diagram showing an example of control of the tensioning unit by the control unit. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments to which the present disclosure is applied will be described with reference to the drawings. [1. First embodiment] [1-1.Configuration] The haptic device 1 shown in Fig. 1 is worn on a user's hand H when used. The haptic device 1 is used together with an external device 100 (see Fig. 5) that presents a virtual object to the user. The virtual object may be displayed in a virtual space such as a virtual reality (VR) space or an augmented reality (AR) space, or may be displayed as a standalone virtual object such as in an aerial display.

[0015] The external device 100 includes a computing unit that forms virtual objects, a display unit that displays the virtual objects, and a sensor that detects the position and posture of the user. The sensor may be, for example, a camera or a tactile sensor.

[0016] The virtual objects presented by the external device 100 include, for example, walls, button-like switches, etc. The external device 100 is installed in, for example, a car, and provides an air touch panel to the occupant.

[0017] The haptic device 1 has an answerback function that provides the user with a tactile sensation when the user's hand H comes into contact with a virtual object. The haptic device 1 includes a plurality of tensioning units 2, a plurality of vibration units 3, a driving unit 4, a processing device 5, and a wearing fixture 10.

[0018] <Tension section> The plurality of pulling portions 2 are string-like parts configured so that each can be attached to a finger F of the user on the back side of the hand H.

[0019] As shown in FIG. 2A, the tensioning unit 2 has an actuating unit 21 and a connecting unit 22. The actuating unit 21 extends along the longitudinal direction of the user's finger F. One end of the actuating unit 21 is attached to the user's nail via the vibration unit 3 by the connecting unit 22. The other end of the actuating unit 21 is connected to the driving unit 4 (i.e., the wearing tool 10). The actuating unit 21 is configured to expand and contract or move along the longitudinal direction L of the finger F by the driving unit 4.

[0020] The pulling unit 2 covers a part of the back of the finger F, but does not cover the sides and the belly of the finger F. In addition, the operating unit 21 is preferably configured to be attached in close contact with the back of the finger F, as shown in FIG. 2B.

[0021] The puller 2 is configured to be able to pull the finger F in the longitudinal direction of the finger F by contracting or moving in a direction away from the user's fingertip (i.e., nail) using the drive unit 4. The puller 2 pulls the finger F so that the bending of at least the first joint of the finger F becomes smaller. This stretches the finger F, providing the user with a pseudo-tactile sensation. The multiple pullers 2 operate independently of each other.

[0022] The material of the actuation unit 21 is not particularly limited, but a rubber actuator is preferable. A rubber actuator has, for example, an elastic tube and a sleeve covering the elastic tube. The elastic tube is made of an elastic material such as rubber or silicone. The sleeve is made of knitted fiber or the like and has elasticity. This type of rubber actuator expands and contracts by injecting and discharging a fluid (e.g., air, oil, etc.) into and out of the elastic tube.

[0023] The rubber actuator may also have an elastic tube and electrodes arranged on the front and back of the elastic tube. This type of rubber actuator expands and contracts when a voltage is applied and released.

[0024] By configuring the operating unit 21 with such a rubber actuator, it is possible to reduce the size of the pulling unit 2 and the driving unit 4. As a result, the effect of improving the comfort of the user wearing the haptic device 1 can be promoted.

[0025] Furthermore, the actuating unit 21 does not necessarily have to be expandable and contractible in response to an external input. If the pulling unit 2 is configured to be wound up by the driving unit 4, the actuating unit 21 does not necessarily have to be expandable. Therefore, the actuating unit 21 may be made of, for example, twisted yarn. However, in consideration of contact with the finger F, it is preferable that the actuating unit 21 have elasticity and / or expandability.

[0026] <Vibration unit> The plurality of vibration units 3 are components configured so that each can be attached to the nail of a user's finger F. The vibration units 3 are configured to apply vibrations to the user's nail.

[0027] 3A, the vibration unit 3 has a mounting portion 31 and a vibrating body 32. The mounting portion 31 is a plate-shaped member that covers the user's nail. The mounting portion 31 is fixed to the nail with, for example, double-sided tape.

[0028] The attachment unit 31 can be attached to the nail so that the side of the finger F is exposed. In other words, the attachment unit 31 does not cover the side and pad of the finger F. The attachment unit 31 may cover the entire user's nail, or may cover only a part of the nail (for example, the tip).

[0029] The vibrating body 32 is a small device that vibrates the wearing part 31 based on an input of an electric signal. Examples of the vibrating body 32 include a vibration motor shown in Fig. 3A, a vibration solenoid shown in Fig. 3B, and a vibration speaker shown in Fig. 3C. Power is supplied to the vibrating body 32 via wiring arranged in the pulling part 2, for example.

[0030] Vibration of the vibrating body 32 generates an input to the user's fingertip in a direction perpendicular to the surface of the nail (i.e., in the thickness direction of the nail), thereby providing the user with a pseudo-tactile sensation similar to that of pressing a virtual switch or the like.

[0031] If the operating unit 21 of the tensioning unit 2 is a rubber actuator, the mounting unit 31 can be vibrated in the thickness direction of the nail by expanding and contracting the rubber actuator in the vertical direction. In this way, if the mounting unit 31 can be vibrated by the tensioning unit 2, the vibration unit 3 does not necessarily have to include the vibrating body 32.

[0032] As shown in Fig. 4A, the mounting part 31 has a connected part 31A to which the connecting part 22 of the pulling part 2 is connected. Fig. 4A shows an example in which the connecting part 22 is a hook and the connected part 31A is a hole or a recess. The connecting part 22 engages with the connected part 31A, thereby connecting the pulling part 2 to the mounting part 31. Alternatively, the connected part 31A may be a hook and the connecting part 22 may be a hole or a recess.

[0033] 4B shows an example in which the connecting portion 22 and the connected portion 31A are both magnets or magnetic bodies. The connecting portion 22 is connected to the connected portion 31A by magnetic force, and the pulling portion 2 is connected to the attachment portion 31.

[0034] 4C shows an example in which connecting portion 22 is a convex portion and connected portion 31A is a concave portion. By inserting connecting portion 22 into connected portion 31A, pulling portion 2 is connected to mounting portion 31. Note that connected portion 31A may be a convex portion and connecting portion 22 may be a concave portion.

[0035] <Drive unit> The driving unit 4 shown in FIG. 1 is configured to actuate the pulling unit 2. The driving unit 4 contracts or moves the pulling unit 2 so that the pulling unit 2 pulls the finger F. The driving unit 4 is housed in the wearing tool 10.

[0036] When the operating unit 21 of the tensioning unit 2 is configured with a rubber actuator, the drive unit 4 operates the tensioning unit 2 by supplying and discharging fluid to the rubber actuator or controlling the flow of electricity to the rubber actuator. For example, the drive unit 4 contracts the tensioning unit 2 by discharging fluid from the rubber actuator or by supplying electricity to the rubber actuator, thereby tensioning the finger F. The drive unit 4 also releases the tension on the finger F by expanding the tensioning unit 2 by supplying fluid to the rubber actuator or by stopping the flow of electricity to the rubber actuator.

[0037] The driving unit 4 may be a winder that winds up the pulling unit 2. In this case, the driving unit 4 pulls the finger F by winding up the pulling unit 2. The driving unit 4 also releases the pulling on the finger F by letting out the pulling unit 2.

[0038] When the user wears the puller 2 on the finger F, the drive unit 4 may contract or move the puller 2 to bring the puller 2 into close contact with the hand H of the user.

[0039] <Processing equipment> The processing device 5 is a computer including, for example, a processor, a storage medium such as RAM and ROM, and an input / output unit. The processing device 5 is housed in the wearing tool 10. As shown in FIG. 5 , the processing device 5 includes a control unit 51, an acquisition unit 52, and a communication unit 53.

[0040] <Control unit> The control unit 51 has a detection function for detecting the posture of the user's finger F and a control function for controlling the operation of the tension unit 2 and the vibration unit 3.

[0041] In the detection function, the control unit 51 detects the posture of the user's finger F based on the state of the pulling unit 2. The "posture of the finger F" is, for example, the degree of bending of the finger F, and includes the bending angle of each joint of the finger F.

[0042] The "state of the tensioning portion 2" may be, for example, the amount of fluid supplied to the rubber actuator or the amount of winding of the tensioning portion 2. The control portion 51 detects the posture of at least the first joint of the finger F based on the state of the tensioning portion 2.

[0043] The control unit 51 estimates the posture of the finger F using, for example, a judgment formula. This judgment formula is created in advance by a statistical method with the state of the pulling unit 2 as an explanatory variable (i.e., an independent variable) and the posture of the finger F as a target variable. The control unit 51 notifies the acquisition unit 52 of the estimated posture of the finger F as a detection result.

[0044] As the statistical method, multivariate analysis, supervised machine learning, or a combination of these is used. In supervised machine learning, machine learning is performed using the posture of the finger F as training data and the above-mentioned explanatory variables as input data.

[0045] In the learning step, the machine learning circuit analyzes a large number of combinations of explanatory variables with labels (i.e., training data). The machine learning circuit learns features for classifying combinations of explanatory variables from a large number of labeled data into multiple labels (i.e., the postures of the finger F) and constructs a decision formula.

[0046] The control unit 51 may detect the posture of the finger F by combining information on the posture of the user detected by the external device 100 (that is, the sensor output of the external device 100) with the state of the pulling unit 2.

[0047] Furthermore, the control unit 51 performs a predetermined initialization operation, such as the user tapping a part of the body (for example, a hand, a thigh, etc.) with the hand outstretched. That is, the control unit 51 initializes the posture of the finger F by the initialization operation.

[0048] In the control function, the control unit 51 controls the actuation of the pulling unit 2 by the driving unit 4 and the vibration of the vibrating unit 3 based on the haptic output information acquired by the acquisition unit 52. The haptic output information includes event occurrence information such as contact of the finger F with a virtual object or operation of a virtual switch, and the direction and magnitude of the reaction force received by the finger F in the event.

[0049] When the haptic output information includes a contact event of the finger F with a virtual object, the control unit 51 sets the actuation amount of the drive unit 4 (i.e., the pulling amount of the puller 2) according to the direction and magnitude of the reaction force, and inputs this to the drive unit 4. The relationship between the direction and magnitude of the reaction force and the actuation amount of the drive unit 4 is stored in advance in the form of a function or table. Upon receiving the input from the control unit 51, the drive unit 4 actuates the puller 2 by the set actuation amount so that the finger F is pulled.

[0050] As shown in Figure 6, when a user brings a finger F close to a virtual wall W having a first convex portion P1 and a second convex portion P2, at a position where the finger F interferes with the virtual wall W, tactile output information including a reaction force from the virtual wall W is acquired from the external device 100 by the acquisition unit 52.

[0051] Based on the haptic output information, the control unit 51 controls the drive unit 4 to pull the finger F in the area interfering with the virtual wall W. This gives the user the sensation that the finger F is in contact with the virtual wall W.

[0052] Furthermore, based on the haptic output information, the control unit 51 controls the drive unit 4 to release the tension on the finger F in an area away from the virtual wall W. This gives the user a sensation that the finger F has been separated from the virtual wall W.

[0053] 6, when the user moves the finger F along the virtual wall W, a pseudo-tactile sensation of the user's finger F being moved along the first convex portion P1 and the second convex portion P2 is given to the finger F by a combination of pulling and releasing the finger F. In other words, the control unit 51 controls the drive unit 4 based on the tactile output information to give the user a pseudo-tactile sensation of tracing the surface of a virtual object.

[0054] Furthermore, the control unit 51 vibrates the vibration unit 3 when the tactile output information includes information about the occurrence of a pressing operation on a virtual switch by the finger F. Specifically, the control unit 51 instructs the vibration unit 3 to vibrate once for one press (i.e., click).

[0055] Furthermore, at the same time as issuing the instruction to the vibration unit 3, the control unit 51 controls the drive unit 4 to bend the finger F based on the positional relationship between the virtual switch included in the tactile output information and the finger F. This gives the user the sensation of pressing a virtual switch.

[0056] <Acquisition part> 5 outputs the posture of the finger F detected by the control unit 51 to the external device 100 via the communication unit 53. The acquisition unit 52 is also configured to acquire tactile output information for the finger F from the external device 100 via the communication unit 53.

[0057] The external device 100 calculates haptic output information for the finger F from the posture of the finger F and the movement and position of the user's hand detected by the external device 100. The haptic output information is output to the acquisition unit 52 and then transmitted to the control unit 51. This eliminates the need for complex calculations in the processing device 5, allowing for the miniaturization of the processing device 5 and battery.

[0058] <Communications Department> The communication unit 53 is configured to communicate with the external device 100 via wireless communication.

[0059] <Attachment> The wearing device 10 houses the drive unit 4, the processing device 5, and a battery (not shown). The wearing device 10 is, for example, in the form of a wristband, and is configured to be attachable to and detachable from the user's wrist. The multiple pulling units 2 are held by the wearing device 10.

[0060] The haptic device 1 is attached to the user's hand H, for example, in the following procedure. First, the multiple drive units 4 are attached to the nails of the user's fingers F, respectively. Next, the wearing tool 10 is attached to the user's arm. After that, the multiple pullers 2 are connected to the multiple drive units 4, respectively.

[0061] [1-2.Effects] According to the embodiment described above in detail, the following effects can be obtained. (1a) By operating the puller 2 attached to the back of the hand, a tactile sensation can be imparted to the user's finger F, thereby reducing discomfort in the user's fingertips and restrictions on hand movement. In addition, since the posture of the finger F is detected based on the state of the puller 2, a highly realistic tactile sensation can be generated in the user's finger F when it comes into contact with a virtual object.

[0062] (1b) The vibration unit 3 that applies vibration to the fingernail can provide the user with a tactile sensation of inputting an operation such as pressing a virtual switch. (1c) By exposing the side of the finger F to the vibrating unit 3, the user can feel a sense of input tactile sensation while enhancing the sense of openness of the user's fingertips.

[0063] (1d) The acquisition unit 52 outputs the posture of the finger F to the external device 100 and acquires haptic output information from the external device 100, thereby providing the user with a highly realistic haptic sensation while making the haptic device 1 smaller.

[0064] (1e) The control unit 51 detects the posture of at least the first joint of the finger F, and the pulling unit 2 pulls the finger F so that the bending of at least the first joint becomes smaller, thereby improving the realism of the tactile sensation when touching a virtual object.

[0065] 2. Other Embodiments Although the embodiments of the present disclosure have been described above, it goes without saying that the present disclosure is not limited to the above-described embodiments and can take on various forms.

[0066] (2a) In the haptic device of the above embodiment, the tensioning unit and the vibration unit may be attached to only one finger (for example, the index finger). In other words, the haptic device may include one tensioning unit and one driving unit.

[0067] (2b) In the haptic device of the above embodiment, the tensioning unit does not necessarily have to be attached to the user's finger via the vibration unit. For example, the tensioning unit may be attached directly to the user's fingernail or a part of the finger other than the nail.

[0068] (2c) In the haptic device of the above embodiment, the haptic device does not necessarily have to have a vibrating section. In other words, the haptic device may provide a pseudo-tactile sensation to the user's finger using only the tensioning section.

[0069] (2d) The function of one component in the above embodiments may be distributed among multiple components, or the functions of multiple components may be integrated into one component. Also, part of the configuration of the above embodiments may be omitted. Furthermore, at least part of the configuration of the above embodiments may be added to or substituted for the configuration of another of the above embodiments. All aspects included in the technical idea identified by the wording of the claims are embodiments of the present disclosure. [Explanation of symbols]

[0070] 1... tactile device, 2... tension unit, 3... vibration unit, 4... drive unit, 5... processing device, 10... Mounting tool, 21... Operating part, 22... Connecting part, 31... Mounting part, 31A... Connected part, 32...vibrator, 51...control unit, 52...acquisition unit, 53...communication unit, 100...external device.

Claims

1. A tensioning unit that can be attached to a user's finger on the back of the hand and is configured to be able to tension the finger in a longitudinal direction; a driver configured to actuate the tensioner; and an estimation unit configured to estimate a posture of the finger based on an actuation amount of the drive unit; an output unit configured to output information about the finger posture estimated by the estimation unit to an external device; an acquisition unit configured to acquire, from the external device, haptic output information including a direction and a magnitude of a force calculated using information about the finger posture; a control unit configured to control the actuation of the pulling unit by the driving unit based on the haptic output information acquired by the acquisition unit; A haptic device comprising:

2. 10. The haptic device of claim 1, The device further includes a vibration unit that can be attached to the fingernail and is configured to apply vibrations to the nail, The haptic device, wherein the control unit is configured to control vibration of the vibration unit based on the haptic output information.

3. 3. The haptic device of claim 2, The tactile device is configured so that the vibration unit can be attached to the nail so that the side of the finger is exposed.

4. A haptic device according to any one of claims 1 to 3, The haptic device, wherein the tensioning portion comprises a rubber actuator.

5. A haptic device according to any one of claims 1 to 3, the estimation unit is configured to estimate a posture of at least a first joint of the finger based on an actuation amount of the drive unit, A haptic device, wherein the tensioning portion is configured to tension the finger so that bending of at least the first joint becomes smaller.

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