Handles, shavers, hair dryers, curling irons, hair brushes, and eyelash curlers

Abstract

A handle (20) comprises a housing (40) that a user can grasp with their fingers. The housing (40) contains a first vibrator (51) and a second vibrator (52). A control device can produce a first kinesthetic sensation in a first direction by controlling a vibration pattern of the first vibrator (51). The control device can produce a second kinesthetic sensation in a second direction by controlling a vibration pattern of the second vibrator (52). In addition, the control device can control the vibration patterns of the first vibrator (51) and the second vibrator (52) in the opposite directions of the first and second directions. Moreover, the control device can control the vibration patterns of the first vibrator (51) and the second vibrator (52) such that a virtual line extending from the first vibrator (51) in the first direction and a virtual line extending from the second vibrator (52) in the second direction do not lie on the same line.

Description

[Technical Field]

[0001] The present disclosure relates to handles, shavers, hair dryers, curling irons, hair brushes, and eyelash curlers. [Background technology]

[0002] Patent Document 1 describes a shaver that includes a handle with a columnar housing and a razor unit connected to the housing. The shaver is used by holding the handle with the user's hand and moving the razor unit along the user's skin. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2017-536948 Summary of the Invention [Problem to be solved by the invention]

[0004] In a shaver such as that described in Patent Document 1, there must be an ideal way to move it in order to shave efficiently and avoid colliding with other objects. However, the way to move the shaver is left up to the user, and the shaver cannot guide the user on how to move it. Note that similar problems can arise not only with shavers, but also with devices that are used by a user holding a handle, such as hair dryers, hair irons, hair brushes, and eyelash curlers. [Means for solving the problem]

[0005] In order to solve the above problem, one aspect of the present disclosure is to A handle that can be operated by a user and can guide the user in the rotation direction in which to move their arm,a control device that can generate a first force sense in a first direction by controlling the vibration pattern of the first vibrator, and can generate a second force sense in a second direction by controlling the vibration pattern of the second vibrator; wherein the control device controls a vibration pattern of the first vibrator such that the first direction and the second direction are opposite directions, and a virtual line extending from the first vibrator to the first direction and a virtual line extending from the second vibrator to the second direction are positioned on the same straight line; and to give a user who is holding the housing a sense of force as if the housing were rotating. The handle is capable of controlling the vibration pattern of the first vibrator and the vibration pattern of the second vibrator.

[0006] According to the above configuration, a user gripping the housing of the handle can be given a force sensation as if the handle is rotating, thereby guiding the user to the situation in which they should rotate the handle.

[0007] In order to solve the above problems, one aspect of the present disclosure includes a handle having a first vibrating body and a second vibrating body, a head connected to the handle and having a blade for cutting hair, a tilt sensor for detecting the attitude of the handle, and a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrating body, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrating body, wherein the control device is capable of executing first control to control the vibration pattern of the first vibrating body and the vibration pattern of the second vibrating body so that the first direction and the second direction are opposite directions, a virtual line from the first vibrating body extending in the first direction and a virtual line from the second vibrating body extending in the second direction are not positioned on the same straight line, and a user holding the handle is given a force sense as if the handle is rotating, In the first control, The attitude of the handle is predetermined. No. 1 Provided that the posture is within the range a rotation promotion control that determines the first direction and the second direction so as to provide a force sensation as if the handle is rotating while the head is aligned with the skin, and a rotation suppression control that determines the first direction and the second direction so as to provide a force sensation as if the handle is rotating in a direction opposite to the actual rotation, on the condition that the attitude of the handle is in a second range that is predetermined as a range different from the first range. It's a shaver.

[0008] In the above configuration, when shaving beard around the chin, for example, the shaver is moved while changing the position of the handle. Furthermore, when shaving beard around the chin, the handle position is likely to be within a certain range. With the above configuration, when the handle position is within a predetermined range, a force sensation that makes the handle rotate can be imparted, thereby guiding the user to a situation where the position of the handle and, ultimately, the shaver should be changed.

[0009] In order to solve the above-described problems, one aspect of the present disclosure includes a handle having a first vibrating body and a second vibrating body, a head connected to the handle and capable of blowing air, and a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrating body, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrating body, wherein the control device is capable of executing a first control that controls the vibration pattern of the first vibrating body and the vibration pattern of the second vibrating body so that the first direction and the second direction are opposite directions, a virtual line extending from the first vibrating body to the first direction and a virtual line extending from the second vibrating body to the second direction are not positioned on the same straight line, and a user holding the handle is given a force sense as if the handle is rotating, and a second control that controls the vibration pattern of the first vibrating body and the vibration pattern of the second vibrating body so that the first direction is opposite to that of the first control and the second direction is opposite to that of the first control. The first control and the second control are alternately and repeatedly executed. It's a hair dryer.

[0010] In the above configuration, when drying hair, for example, it is preferable to swing the head up and down or left and right to prevent the air from continuously blowing on a specific location. According to the above configuration, by executing the first control or the second control, a force sensation as if the handle is rotating can be given, thereby guiding the user to a situation where the attitude of the handle and therefore the hair dryer should be changed.

[0011] In order to solve the above-described problems, one aspect of the present disclosure includes a handle having a first vibrating body and a second vibrating body, a head connected to the handle and having a first clipper section and a second clipper section for clipping hair, an inclination sensor for detecting the attitude of the handle, and a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrating body, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrating body, wherein the control device is configured to control a virtual line extending from the first vibrating body to the first direction and a virtual line extending from the second vibrating body to the second direction such that the first direction and the second direction are opposite directions, and a virtual line extending from the first vibrating body to the second direction is positioned on the same straight line. and to give a user who is holding the handle a sense of force as if the handle were rotating. The hair iron is capable of executing a first control that controls the vibration pattern of the first vibrator and the vibration pattern of the second vibrator, and executes the first control when the tilt sensor detects a change in posture in which the first vibrator moves in the second direction and the second vibrator moves in the first direction.

[0012] In the above configuration, when the posture of the hair iron starts to change as if twisting while moving it, the first control can provide a force sense to suppress such a posture change, thereby guiding the handle and therefore the hair iron to not change posture.

[0013] In order to solve the above-described problems, one aspect of the present disclosure includes a handle having a first vibrating body and a second vibrating body, a head connected to the handle and equipped with a brush for brushing hair, and a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrating body, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrating body, wherein the control device is capable of executing, for a predetermined time only, a first control that controls the vibration pattern of the first vibrating body and the vibration pattern of the second vibrating body so that the first direction and the second direction are opposite directions, a virtual line extending from the first vibrating body to the first direction and a virtual line extending from the second vibrating body to the second direction are not positioned on the same straight line, and a user grasping the handle is given a force sense as if the handle is rotating. a second control that controls the vibration pattern of the first vibrator and the vibration pattern of the second vibrator so that the first direction is opposite to that of the first control and the second direction is opposite to that of the first control, and is capable of being executed for only a predetermined time, and the first control and the second control are capable of being executed in a predetermined order. It's a hairbrush.

[0014] With this configuration, the hand gripping the handle body can be given the sensation of rotation by a specified amount at specified intervals. This allows the user to be assisted in rotating operations in accordance with a reproducible rotation sensation. In other words, the user can be guided to reproduce a predetermined action.

[0015] In order to solve the above-described problems, one aspect of the present disclosure includes a handle having a first vibrating body and a second vibrating body, a head connected to the handle and having a clip for holding eyelashes, a tilt sensor for detecting the attitude of the handle, and a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrating body, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrating body, wherein the control device is capable of executing first control to control the vibration pattern of the first vibrating body and the vibration pattern of the second vibrating body so that the first direction and the second direction are opposite directions, a virtual line extending from the first vibrating body to the first direction and a virtual line extending from the second vibrating body to the second direction are not positioned on the same straight line, and a user grasping the handle is given a force sense as if the handle is rotating, and a change in the attitude of the handle , as the handle rotates On the condition that it is a change The first direction and the second direction are set so as to generate a force sensation that rotates in the same direction as the rotation of the handle. The eyelash curler executes the first control.

[0016] According to the above configuration, when the change in the attitude of the handle is a predetermined change, the first control can provide a force sense to promote such an attitude change, thereby guiding the user to continue changing the attitude of the handle, and therefore the eyelash curler. [Effects of the Invention]

[0019] By providing the user with a force sense, the user can be guided as to the situation in which the handle should be rotated. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is an overall view showing a shaver according to a first embodiment. [Figure 2] FIG. 2 is an explanatory diagram showing a state in which the shaver of the first embodiment is used. [Figure 3] FIG. 2 is an explanatory diagram showing a state in which the shaver of the first embodiment is used. [Figure 4] FIG. 10 is an overall view showing a hair dryer according to a second embodiment. [Figure 5] FIG. 10 is an explanatory diagram showing a state in which the hair dryer of the second embodiment is used. [Figure 6] FIG. 5 is a cross-sectional view taken along line AA in FIG. 4. [Figure 7] FIG. 10 is an overall view showing a hair iron according to a third embodiment. [Figure 8] FIG. 10 is an explanatory diagram showing a state in which the hair iron of the third embodiment is used. [Figure 9] FIG. 8 is a cross-sectional view taken along line BB in FIG. [Figure 10] FIG. 10 is an overall view showing a hairbrush according to a fourth embodiment. [Figure 11] FIG. 10 is an explanatory diagram showing a state in which the hairbrush of the fourth embodiment is used. [Figure 12] 11 is a cross-sectional view taken along line CC in FIG. 10. [Figure 13] FIG. 10 is an overall view showing an eyelash curler according to a fifth embodiment. [Figure 14] FIG. 10 is an explanatory diagram showing the eyelash curler of the fifth embodiment in use. [Figure 15] FIG. 14 is a cross-sectional view taken along line DD in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0021] First Embodiment A first embodiment in which the handle is applied to a shaver will be described below with reference to the drawings. Note that the drawings may show components enlarged to facilitate understanding. The dimensional proportions of the components may differ from those in the actual drawings or from those in other drawings.

[0022] (Overall structure) 1, the shaver 10 includes a handle 20 and a head 30. The handle 20 includes a housing 40 that can be grasped by a user's fingers. The housing 40 is generally cylindrical.

[0023] An axis that passes through the center of gravity G of the housing 40 and extends in the direction in which the housing 40 extends is defined as a first reference axis X. One of the axes perpendicular to the first reference axis X is defined as a second reference axis Y. An axis perpendicular to both the first reference axis X and the second reference axis Y is defined as a third reference axis Z. One of the directions along the first reference axis X is defined as a first positive direction X1, and the direction along the first reference axis X that is opposite to the first positive direction X1 is defined as a first negative direction X2. One of the directions along the second reference axis Y is defined as a second positive direction Y1, and the direction along the second reference axis Y that is opposite to the second positive direction Y1 is defined as a second negative direction Y2. One of the directions along the third reference axis Z is defined as a third positive direction Z1, and the direction along the third reference axis Z that is opposite to the third positive direction Z1 is defined as a third negative direction Z2.

[0024] The dimension of the housing 40 in the direction along the first reference axis X is larger than the dimension of the housing 40 in the direction along the second reference axis Y. Furthermore, the dimension of the housing 40 in the direction along the first reference axis X is larger than the dimension of the housing 40 in the direction along the third reference axis Z. In other words, the housing 40 has an elongated shape in the direction along the first reference axis X. The housing 40 is provided with a switch 41 for turning the shaver 10 on and off.

[0025] The housing 40 is roughly divided into a grip portion 40A, a first end portion 40B, and a second end portion 40C. The grip portion 40A is a central portion of the housing 40 including the center of gravity G. More specifically, the grip portion 40A is a portion that can be positioned inside the user's fingers when the user grasps the housing 40 with their fingers. In this embodiment, the grip portion 40A is defined as an area of ​​10 cm, extending 5 cm in the first positive direction X1 and 5 cm in the first negative direction X2 from the center of gravity G. The first end portion 40B is adjacent to the end of the grip portion 40A on the first positive direction X1 side. The second end portion 40C is adjacent to the end of the grip portion 40A on the first negative direction X2 side.

[0026] As shown in FIG. 2, head 30 is connected to the end of housing 40 on the first positive direction X1 side, i.e., first end 40B. Head 30 has an overall rectangular shape that is long in the direction along second reference axis Y. Head 30 is slightly inclined toward third positive direction Z1 as it moves toward first positive direction X1. Head 30 has multiple blades 31. Blades 31 of head 30 cut hairs, such as whiskers, that protrude from the skin as head 30 moves over the skin.

[0027] 1, the handle 20 includes a first vibrating body 51 and a second vibrating body 52. ​​The first vibrating body 51 is built into the first end 40B of the housing 40. The first vibrating body 51 is generally cubic. The outer surfaces of the first vibrating body 51 face in the first positive direction X1, the first negative direction X2, the second positive direction Y1, the second negative direction Y2, the third positive direction Z1, and the third negative direction Z2, respectively.

[0028] Although not shown, the first vibrating body 51 includes a voice coil motor corresponding to each face, a weight corresponding to each voice coil motor, and a cubic case that houses them. The weights vibrate due to a force generated when a current flows through the coil of the voice coil motor. When the weights vibrate, the case vibrates due to the vibration of the weights. Therefore, by controlling the current flowing through the coil of the voice coil motor, the first vibrating body 51 vibrates in the direction along the first reference axis X, the direction along the second reference axis Y, and the direction along the third reference axis Z. More specifically, the first vibrating body 51 is a vibrating body as described in, for example, Japanese Patent Application Laid-Open No. 2005-190465. The first vibrating body 51 is located on the first reference axis X. Furthermore, the first vibrating body 51 is located on the first positive direction X1 side when viewed from the center of gravity G of the housing 40.

[0029] The second vibrating body 52 is built into the second end 40C of the housing 40. The second vibrating body 52 is a vibrating body similar to the first vibrating body 51. The second vibrating body 52 is located on the first reference axis X. The second vibrating body 52 is located on the first negative direction X2 side when viewed from the center of gravity G of the housing 40. The distance from the center of gravity G of the housing 40 to the first vibrating body 51 and the distance from the center of gravity G of the housing 40 to the second vibrating body 52 are equal.

[0030] The shaver 10 includes a tilt sensor 61 and a pressure sensor 62. The tilt sensor 61 is a three-axis acceleration sensor. That is, the tilt sensor 61 detects the attitude of the handle 20 based on the direction of gravity. Specifically, the tilt sensor 61 pre-stores the orientation of the first negative direction X2 as viewed from the tilt sensor 61. The first negative direction X2 is a fixed direction determined by the shape of the housing 40, and the first negative direction X2 as viewed from the tilt sensor 61 is also always a fixed direction. Next, the tilt sensor 61 identifies the direction of gravity based on the detected acceleration. Then, on a plane including a line extending from the tilt sensor 61 in the direction of gravity and a line extending from the tilt sensor 61 in the first negative direction X2, the tilt sensor 61 identifies the angle formed by both lines as the tilt angle of the first reference axis X. Therefore, when the direction of gravity and the first negative direction X2 coincide, the tilt sensor 61 determines the tilt angle to be 0 degrees. Furthermore, the tilt sensor 61 determines that the tilt angle is 180 degrees when the direction of gravity and the first positive direction X1 coincide with each other.

[0031] Pressure sensor 62 is located in head 30 near blade 31. Pressure sensor 62 detects pressure in the direction from blade 31 toward first negative direction X2. In other words, pressure sensor 62 detects that blade 31 is being pressed against the user's skin.

[0032] The shaver 10 includes a control device 70. The control device 70 includes a CPU and a ROM, and executes software processing. The control device 70 acquires a signal indicating the tilt angle of the first reference axis X from the tilt sensor 61. The control device 70 acquires a signal indicating pressure from the pressure sensor 62. The control device 70 then controls, in particular, the operation of the first vibrating body 51 and the operation of the second vibrating body 52.

[0033] The control device 70 controls the vibration pattern of the first vibrating body 51 to generate a force sensation in the first vibrating body 51. In this embodiment, the direction of the force sensation generated by the first vibrating body 51 can be selected from the first positive direction X1, the first negative direction X2, the second positive direction Y1, the second negative direction Y2, the third positive direction Z1, and the third negative direction Z2. Specifically, the control device 70 controls the current flowing through each voice coil motor of the first vibrating body 51 to generate vibrations whose amplitude direction is along the first reference axis X, the second reference axis Y, or the third reference axis Z. Furthermore, the control device 70 controls the vibration pattern of such vibrations along one reference axis to generate a force sensation in one direction or the other of the reference axis. The force sensation is the sensation of resistance from an object. Therefore, for example, when a force sense in the first positive direction X1 is generated in the first vibrating body 51, the user feels as if the first vibrating body 51 is displacing in the first positive direction X1, even though the first vibrating body 51 is actually vibrating back and forth at the same position. Hereinafter, the force sense generated by the first vibrating body 51 is referred to as the first force sense, and the direction of the first force sense is referred to as the first direction.

[0034] The control device 70 can generate a force sensation in the second vibrating body 52 by controlling the vibration pattern of the second vibrating body 52, similar to the first vibrating body 51. Hereinafter, the force sensation generated by the second vibrating body 52 will be referred to as the second force sensation, and the direction of the second force sensation will be referred to as the second direction.

[0035] The control device 70 can execute a first control that determines the first direction of the first force sense and the second direction of the second force sense to be specific directions. When the first control is executed, the first direction and the second direction are reversed. Furthermore, when the first control is executed, the virtual line extending from the first vibrating body 51 toward the first direction and the virtual line extending from the second vibrating body 52 toward the second direction are not positioned on the same straight line.

[0036] The control device 70 can execute two different types of first control. One of the two types of first control is a rotation promotion control, and the other is a rotation suppression control. The control device 70 executes the rotation promotion control or the rotation suppression control according to the attitude of the handle 20 acquired from the tilt sensor 61 and the pressure acquired by the pressure sensor 62.

[0037] The control device 70 executes the rotation promotion control under one of the conditions that the attitude of the handle 20 is within a predetermined range. An attitude within the predetermined range means that the handle 20 is generally aligned with an axis that is aligned with the direction of gravity. Specifically, an attitude within the predetermined range means that the tilt angle of the first reference axis X is 10 degrees or less.

[0038] The control device 70 executes the rotation promotion control under one of the conditions that the pressure acquired by the pressure sensor 62 remains greater than a predetermined pressure for a certain period of time. The predetermined pressure is set as a pressure at which it is possible to detect that the head 30 is in contact with the skin. The certain period of time is a period of time sufficient to determine that the user is shaving, and is set to, for example, several seconds.

[0039] When the above two conditions are satisfied, the control device 70 executes the rotation promotion control. When the control device 70 executes the rotation promotion control, it aligns the first direction, which is the direction of the first force sense of the first vibrator 51, with the third negative direction Z2. Furthermore, when the control device 70 executes the rotation promotion control, it aligns the second direction, which is the direction of the second force sense of the second vibrator 52, with the third positive direction Z1. Therefore, when the control device 70 executes the rotation promotion control, the user feels a force sense as if the head 30 of the shaver 10 is being displaced toward the direction of gravity.

[0040] The control device 70 executes rotation suppression control when a change in the attitude of the handlebar 20 is detected by the tilt sensor 61. Here, the amount of change per unit time by which the first vibrating body 51 moves in the third positive direction Z1 or the third negative direction Z2 is defined as a first movement change amount. The amount of change per unit time by which the second vibrating body 52 moves in the direction opposite to the movement of the first vibrating body 51 is defined as a second movement change amount. A change in the attitude of the handlebar 20 occurs when the difference per unit time between the first movement change amount and the second movement change amount is greater than a predetermined threshold value. The difference per unit time between the first movement change amount and the second movement change amount is calculated by subtraction or division. The threshold value is determined in advance through testing or the like as a value indicating the amount by which one of the first end 40B or the second end 40C of the handlebar 20 rapidly rotates relative to the other end when the handlebar 20 is viewed from the second reference axis Y.

[0041] Specifically, the control device 70 detects a change in the attitude of the handle 20 when the following conditions are met. First, the change in the tilt angle of the first reference axis X acquired by the tilt sensor 61 exceeds the allowable change per unit time. The allowable change per unit time is, for example, 15 degrees per 0.1 seconds. The control device 70 also executes rotation suppression control when the pressure acquired by the pressure sensor 62 changes from a state equal to or greater than a specified pressure to a state below the specified pressure. In this way, the control device 70 executes rotation suppression control when, for example, when the handle 20 is viewed from the second reference axis Y, the second end 40C rotates around the head 30 as the center of rotation and the head 30 is separated from the skin.

[0042] When the above two conditions are satisfied, the control device 70 executes rotation suppression control. When the control device 70 executes rotation suppression control, the control device 70 sets the first direction of the first vibrating body 51 and the second direction of the second vibrating body 52 so as to generate a force sensation that rotates in the direction opposite to the rotation of the steering wheel 20. For example, assume that the steering wheel 20 is rotated so that the first vibrating body 51 moves in the third negative direction Z2 and the second vibrating body 52 moves in the third positive direction Z1. In this case, in the rotation suppression control, the control device 70 sets the first direction of the first vibrating body 51 to the third positive direction Z1 and the second direction of the second vibrating body 52 to the third negative direction Z2. In other words, the first movement change amount is the amount of change per unit time that the first vibrating body 51 moves in the second direction, and the second movement change amount is the amount of change per unit time that the second vibrating body 52 moves in the first direction. Also, for example, suppose the handle 20 is rotated so that the first vibrating body 51 moves in the third positive direction Z1 and the second vibrating body 52 moves in the third negative direction Z2. In this case, the control device 70 sets the first direction of the first vibrating body 51 to the third negative direction Z2 and the second direction of the second vibrating body 52 to the third positive direction Z1 during rotation suppression control. Note that even in the case of a rotation in which the first vibrating body 51 moves in the second positive direction Y1 or the second negative direction Y2, the first direction of the first vibrating body 51 and the second direction of the second vibrating body 52 are set so as to generate a force sensation rotating in the direction opposite to the rotation.

[0043] (Operation of the first embodiment) As shown in Fig. 2, suppose a user shaves under his chin. In this case, the user holds the shaver 10 so that the third positive direction Z1 of the shaver 10 faces backward. The user also places the head 30 under his chin in a position where the first reference axis X of the handle 20 is generally aligned with an axis along the direction of gravity. That is, the tilt angle of the handle 20 is within a range of 10 degrees or less, and the pressure acquired by the pressure sensor 62 is greater than the specified pressure for a certain period of time or more. Therefore, the condition for executing the rotation promotion control of the first control is met.

[0044] In the rotation promotion control, the first direction of the first vibrating body 51 is the third negative direction Z2, and the second direction of the second vibrating body 52 is the third positive direction Z1. Therefore, when shaving under the chin, the user feels a sense of force from the handle 20 as if the head 30 is moving in the direction of gravity while following the skin from under the chin toward the mouth.

[0045] As shown in FIG. 3, suppose a user shaves his or her cheek. In this case, the first tilt angle is close to 90 degrees, so the rotation promotion control is not executed. On the other hand, when the user operates the handle 20 along his or her cheek, the attitude of the shaver 10 may suddenly change due to a twist of the wrist, etc. For example, the change in attitude of the handle 20 may be a change in rotation about the second reference axis Y as the axis of rotation, and the head 30 may move away from the skin. Furthermore, for example, the change in attitude of the handle 20 may be a change in rotation about the head 30 as the axis of rotation, and the second end 40C may move, when the shaver 10 is viewed from a direction along the second reference axis Y, and the head 30 may move away from the skin. In these cases, the condition for executing the rotation suppression control of the first control is met.

[0046] In the rotation suppression control, the first direction of the first vibrating body 51 and the second direction of the second vibrating body 52 are determined so as to generate a force sensation that rotates the handle 20 in the direction opposite to the actual rotation. Therefore, when shaving whiskers on his cheeks, the user feels a force sensation in a direction that does not change the attitude of the handle 20, that is, a force sensation that rotates in the direction opposite to the actual rotation.

[0047] (Effects of the first embodiment) (1-1) According to the first embodiment, in the first control, the first direction and the second direction are opposite directions. Furthermore, in the first control, the vibration pattern of the first vibrating body 51 and the vibration pattern of the second vibrating body 52 are controlled so that the virtual line from the first vibrating body 51 toward the first direction and the virtual line from the second vibrating body 52 toward the second direction are not positioned on the same straight line. Therefore, a user who is holding the housing 40 of the handle 20 can be given a force sensation as if the handle 20 is rotating. Therefore, the user can be guided that the situation requires the handle 20 to be rotated.

[0048] (1-2) According to the first embodiment, the first vibrating body 51 is located on the first positive direction X1 side as viewed from the center of gravity G of the housing 40. The second vibrating body 52 is located on the first negative direction X2 side as viewed from the center of gravity G of the housing 40. This makes it possible to guide the user to a situation where the long housing 40 should be rotated in a direction that may cause it to fall over.

[0049] (1-3) According to the first embodiment, the distance from the center of gravity G of the housing 40 to the first vibrating body 51 is equal to the distance from the center of gravity G of the housing 40 to the second vibrating body 52. ​​Therefore, by making the magnitude of the first force sense presented by the first vibrating body 51 and the magnitude of the second force sense presented by the second vibrating body 52 equal, it is possible to generate a force sense that causes the housing 40 to rotate around the center of gravity G of the housing 40. Therefore, it is not necessary to employ different specifications for the first vibrating body 51 and the second vibrating body 52 or to control them with different amplitude patterns.

[0050] (1-4) In the first embodiment, the housing 40 has a grip portion 40A, a first end portion 40B, and a second end portion 40C. The first vibrating body 51 is built into the first end portion 40B. The second vibrating body 52 is built into the second end portion 40C. Therefore, the first vibrating body 51 and the second vibrating body 52 are located at a considerable distance from each other. Therefore, the first and second force senses are generated from a location far away from the center of gravity G of the housing 40. This makes it easier to efficiently impart force senses to the user, and even if the magnitude of the first and second force senses is not particularly large, a rotational force sense can be generated for the user.

[0051] (1-5) In the first embodiment, for example, when shaving beard around the chin, the shaver 10 is moved while changing the attitude of the handle 20. Also, when shaving beard around the chin, the attitude of the handle 20 is likely to be within a certain range. According to the first embodiment, when the attitude of the handle 20 is within a predetermined range, the rotation promotion control can provide a force sensation that makes the handle 20 rotate. Therefore, it is possible to guide the user into a situation where the attitude of the handle 20, and therefore the shaver 10, should be changed.

[0052] (1-6) According to the first embodiment, for example, when shaving facial hair, it is preferable to move the shaver 10 without suddenly changing the attitude of the handle 20. According to the first embodiment, when the attitude of the handle 20 suddenly changes, the rotation suppression control can guide the user to return the shaver 10 to its original attitude.

[0053] Second Embodiment A second embodiment in which the handle is applied to a hair dryer will be described below with reference to the drawings. The drawings may show components enlarged for ease of understanding. The dimensional proportions of the components may differ from those in the actual drawings or from those in other drawings.

[0054] (Overall structure) As shown in Figure 4, the hair dryer 110 includes a handle 120 and a head 130. The handle 120 includes a housing 140 that can be grasped by a user's fingers. The housing 140 is generally cylindrical.

[0055] An axis that passes through the center of gravity G of the housing 140 and extends in the direction in which the housing 140 extends is defined as a first reference axis X. One of the axes perpendicular to the first reference axis X is defined as a second reference axis Y. An axis perpendicular to both the first reference axis X and the second reference axis Y is defined as a third reference axis Z. One of the directions along the first reference axis X is defined as a first positive direction X1, and the direction along the first reference axis X that is opposite to the first positive direction X1 is defined as a first negative direction X2. One of the directions along the second reference axis Y is defined as a second positive direction Y1, and the direction along the second reference axis Y that is opposite to the second positive direction Y1 is defined as a second negative direction Y2. One of the directions along the third reference axis Z is defined as a third positive direction Z1, and the direction along the third reference axis Z that is opposite to the third positive direction Z1 is defined as a third negative direction Z2.

[0056] The dimension of housing 140 in the direction along first reference axis X is larger than the dimension of housing 140 in the direction along second reference axis Y. Furthermore, the dimension of housing 140 in the direction along first reference axis X is larger than the dimension of housing 140 in the direction along third reference axis Z. In other words, housing 140 has an elongated shape in the direction along first reference axis X. Housing 140 is provided with a switch 141 for turning the power of hair dryer 110 on and off.

[0057] The head 130 is connected to the end of the housing 140 on the side of the first positive direction X1. The head 130 has an overall cylindrical shape that is long in the direction along the second reference axis Y. The head 130 has an air blower 131 that can blow hot air. Although not shown, the air blower 131 has a heating element for heating the air and a fan for blowing the air. The heated air is blown outward from the tip side of the air blower 131 of the head 130. The hot air blown by the head 130 is directed against the hair, thereby drying the hair at the destination. Note that the air blower 131 need only be capable of blowing air, and is not limited to hot air, and may also be capable of blowing cool air.

[0058] The hair dryer 110 includes a first vibrating body 151, a second vibrating body 152, a third vibrating body 153, a fourth vibrating body 154, a fifth vibrating body 155, and a sixth vibrating body 156. Each vibrating body has the same configuration as the vibrating body in the first embodiment.

[0059] First vibrating body 151 is built into housing 140 of handle 120. First vibrating body 151 is located on the first positive direction X1 side and the second positive direction Y1 side when viewed from the center of gravity G of housing 140.

[0060] Second vibrating body 152 is built into housing 140 of handle 120. Second vibrating body 152 is located on the first positive direction X1 side and the second negative direction Y2 side when viewed from the center of gravity G of housing 140. The distance from the center of gravity G of housing 140 to first vibrating body 151 is equal to the distance from the center of gravity G of housing 140 to second vibrating body 152.

[0061] Third vibrating body 153 is built into housing 140 of handle 120. Third vibrating body 153 is located on the first negative direction X2 side and the second positive direction Y1 side when viewed from the center of gravity G of housing 140. The distance from the center of gravity G of housing 140 to third vibrating body 153 is equal to the distance from the center of gravity G of housing 140 to first vibrating body 151.

[0062] Fourth vibrating body 154 is built into housing 140 of handle 120. Fourth vibrating body 154 is located on the first negative direction X2 side and the second negative direction Y2 side when viewed from the center of gravity G of housing 140. The distance from the center of gravity G of housing 140 to second vibrating body 152 is equal to the distance from the center of gravity G of housing 140 to fourth vibrating body 154.

[0063] The fifth vibrating body 155 is built in the head 130. The fifth vibrating body 155 is located on the first positive direction X1 side and the second positive direction Y1 side when viewed from the center of gravity G of the housing 140. The sixth vibrating body 156 is built in the head 130. When viewed from the center of gravity G of the housing 140, the sixth vibrating body 156 is located on the 1st forward direction X1The distance from the center of gravity G of the housing 140 to the fifth vibrating body 155 is equal to the distance from the center of gravity G of the housing 140 to the sixth vibrating body 156.

[0064] The first vibrating body 151, the third vibrating body 153, and the fifth vibrating body 155 are located at the same position when the hair dryer 110 is viewed in a direction along the first reference axis X. The second vibrating body 152, the fourth vibrating body 154, and the sixth vibrating body 156 are located at the same position when the hair dryer 110 is viewed in a direction along the first reference axis X. Furthermore, when the hair dryer 110 is viewed in a direction along the first reference axis X, the position of the first vibrating body 151 and the position of the second vibrating body 152 are symmetrical with respect to the first reference axis X.

[0065] The hair dryer 110 includes a tilt sensor 161. The tilt sensor 161 has the same configuration as the tilt sensor 61 in the first embodiment. That is, the tilt sensor 161 detects the tilt angle of the first reference axis X with respect to the direction of gravity.

[0066] The hair dryer 110 includes a control device 170. The control device 170 includes a CPU and a ROM, and executes software processing. The control device 170 acquires a signal indicating the tilt from the tilt sensor 161. The control device 170 then controls the operation of each vibrator.

[0067] The control device 170 can generate a first force in a first direction from the first vibrating body 151 by controlling the vibration pattern of the first vibrating body 151. The control device 170 can generate a second force in a second direction from the second vibrating body 152 by controlling the vibration pattern of the second vibrating body 152. The control device 170 can generate a third force in a third direction from the third vibrating body 153 by controlling the vibration pattern of the third vibrating body 153. The control device 170 can generate a fourth force in a fourth direction from the fourth vibrating body 154 by controlling the vibration pattern of the fourth vibrating body 154. The control device 170 can generate a fifth force in a fifth direction from the fifth vibrating body 155 by controlling the vibration pattern of the fifth vibrating body 155. The control device 170 can generate a sixth force in a sixth direction from the sixth vibrating body 156 by controlling the vibration pattern of the sixth vibrating body 156.

[0068] The control device 170 controls the vibration of each vibrator. vibration A first control and a second control for controlling the pattern can be executed. When the first control is executed, the first direction and the second direction are reversed. Furthermore, when the first control is executed, the virtual line from the first vibrating body 151 toward the first direction and the virtual line from the second vibrating body 152 toward the second direction are not positioned on the same straight line. In this second embodiment, when the first control is executed, the third and fourth directions also have the same relationship as the first and second directions. Furthermore, when the first control is executed, the fifth and sixth directions also have the same relationship as the first and second directions.

[0069] Specifically, when the control device 170 executes the first control, it sets the first direction of the first force sense, the third direction of the third force sense, and the fifth direction of the fifth force sense to the third positive direction Z1. Furthermore, when the control device 170 executes the first control, it sets the second direction of the second force sense, the fourth direction of the fourth force sense, and the sixth direction of the sixth force sense to the third negative direction Z2.

[0070] In the second control, the control device 170 reverses the directions of the first to sixth directions from those in the first control. Specifically, the first direction of the first force, the third direction of the third force, and the fifth direction of the fifth force are set as the third negative direction Z2. The control device 170 also reverses the second direction of the second force, the fourth direction of the fourth force, and the sixth direction of the sixth force as the third positive direction Z1. That is, in the second control, the first and second directions are set as the opposite directions. Note that, as in the first control, in the second control, the virtual line extending from the first vibrating body 151 toward the first direction and the virtual line extending from the second vibrating body 152 toward the second direction are not collinear. The same applies to the directional relationship between the third and fourth directions and the directional relationship between the fifth and sixth directions.

[0071] In this embodiment, the control device 170 performs the alternating rotation promotion control by alternately repeatedly executing the first control and the second control at predetermined intervals, where the predetermined interval is, for example, less than one second.

[0072] The control device 170 executes the alternating rotation promotion control on the condition that the attitude of the handle 120 is within a predetermined range. Specifically, the control device 170 executes the alternating rotation promotion control on the condition that the tilt angle of the first reference axis X acquired by the tilt sensor 161 is equal to or greater than a predetermined specified tilt angle. The specified tilt angle is, for example, 45 degrees, which is an inclination that can be said to be an attitude in which the handle 120 is considerably tilted with respect to an axis along the direction of gravity.

[0073] (Operation of the second embodiment) As shown in Fig. 5, suppose a user dries hair near the top of the head. In this case, the user tilts handle 120 considerably with respect to an axis along the direction of gravity to make it easier to apply hot air to the hair. At this time, when first reference axis X of handle 120 is tilted by 45 degrees or more with respect to the axis along the direction of gravity, control device 170 repeatedly executes the first control and the second control alternately as the alternating rotation promotion control.

[0074] 6, when the hair dryer 110 is viewed in the first positive direction X1, the first control provides the user's fingers with a force sense of clockwise rotation about the first reference axis X. When the hair dryer 110 is viewed in the first positive direction X1, the second control provides the user's fingers with a force sense of counterclockwise rotation about the first reference axis X.

[0075] The control device 170 alternately and repeatedly executes the first control and the second control, so that the user's fingers are alternately given a force sensation of clockwise rotation and a force sensation of counterclockwise rotation about the first reference axis X. In other words, when the control device 170 executes the alternating rotation promotion control, the user feels a force sensation as if the head 130 of the hair dryer 110 is being repeatedly shaken.

[0076] (Effects of the second embodiment) According to the second embodiment, in addition to the effects (1-1) and (1-3) of the first embodiment, the following effects are achieved.

[0077] (2-1) According to the second embodiment, when a user dries hair near the top of the head, the user's fingers are alternately given a force sense of clockwise rotation about the first reference axis X and a force sense of counterclockwise rotation about the first reference axis X. This guides the user to alternately rotate the hair dryer 110 in accordance with the sensation of rotating the hair dryer 110 alternately.

[0078] (2-2) According to the second embodiment, the housing 140 has an elongated shape in the direction along the first reference axis X. The first vibrating body 151 is located on the second positive direction Y1 side as viewed from the center of gravity G of the housing 140. The second vibrating body 152 is located on the second negative direction Y2 side as viewed from the center of gravity G of the housing 140. Therefore, the alternating rotation promotion control can guide the user to a situation in which the elongated housing 140 should be rotated alternately in twisting directions.

[0079] Third Embodiment A third embodiment in which the handle is applied to a hair iron will be described below with reference to the drawings. The drawings may show components enlarged for ease of understanding. The dimensional proportions of the components may differ from those in the actual product or from those in other drawings.

[0080] (Overall structure) As shown in Fig. 7, hair iron 210 includes handle 220 and head 230. Handle 220 includes housing 240 that can be gripped by a user's fingers. Housing 240 has first housing 241 and second housing 242. First housing 241 is generally columnar. Second housing 242 is generally columnar.

[0081] An axis that passes through the center of gravity G of the first housing 241 and extends in the direction in which the first housing 241 extends is defined as the first reference axis X. One of the axes perpendicular to the first reference axis X is defined as the second reference axis Y. An axis perpendicular to both the first reference axis X and the second reference axis Y is defined as the third reference axis Z. One of the directions along the first reference axis X is defined as the first positive direction X1, and the direction along the first reference axis X that is opposite to the first positive direction X1 is defined as the first negative direction X2. One of the directions along the second reference axis Y is defined as the second positive direction Y1, and the direction along the second reference axis Y that is opposite to the second positive direction Y1 is defined as the second negative direction Y2. One of the directions along the third reference axis Z is defined as the third positive direction Z1, and the direction along the third reference axis Z that is opposite to the third positive direction Z1 is defined as the third negative direction Z2.

[0082] The dimension of first housing 241 in the direction along first reference axis X is larger than the dimension of first housing 241 in the direction along second reference axis Y. Furthermore, the dimension of first housing 241 in the direction along first reference axis X is larger than the dimension of first housing 241 in the direction along third reference axis Z. In other words, first housing 241 has an elongated shape in the direction along first reference axis X. Second housing 242 also has an elongated shape in the direction along first reference axis X.

[0083] The second housing 242 is adjacent to and substantially parallel to the first housing 241 on the third negative direction Z2 side when viewed from the first housing 241. An end of the first negative direction X2 of the first housing 241 is connected to an end of the second housing 242 in the first negative direction X2 via a shaft 243. The first housing 241 is rotatable relative to the second housing 242 about the shaft 243 as a rotation axis. That is, the first housing 241 and the second housing 242 are openable and closable about the shaft 243 as a fulcrum.

[0084] Head 230 has first clamping portion 231 and second clamping portion 232. First clamping portion 231 is connected to the end of first housing 241 on the first positive direction X1 side. First clamping portion 231 has an overall rectangular shape that is long in the direction along first reference axis X.

[0085] Second clamping portion 232 has the same shape as first clamping portion 231. Second clamping portion 232 has heater 233. Second clamping portion 232 is connected to second housing 242 so as to face first clamping portion 231. When first housing 241 and second housing 242 are closed, it is possible to grip hair between first clamping portion 231 and second clamping portion 232. With hair held between first clamping portion 231 and second clamping portion 232, the overall shape of the hair can be adjusted by heater 233 in second clamping portion 232.

[0086] The handle 220 includes a first vibrating body 251 and a second vibrating body 252. Each vibrating body has the same configuration as the vibrating body in the first embodiment. First vibrating body 251 is built into first housing 241. First vibrating body 251 is located on the first positive direction X1 side and the second positive direction Y1 side when viewed from the center of gravity G of first housing 241.

[0087] Second vibrating body 252 is built into first housing 241. Second vibrating body 252 is located on the first positive direction X1 side and the second negative direction Y2 side when viewed from the center of gravity G of first housing 241. The distance from the center of gravity G of the first housing 241 to the first vibrating body 251 and the distance from the center of gravity G of the first housing 241 to the second vibrating body 252 are equal.

[0088] The hair iron 210 includes a tilt sensor 261. The tilt sensor 261 has the same configuration as the tilt sensor 61 in the first embodiment. In the third embodiment, the tilt sensor 261 detects the rotation of the first housing 241 around the first reference axis X as a change in the attitude of the first housing 241. Specifically, the tilt sensor 261 detects that the first housing 241 has rotated around the first reference axis X when both the second positive direction Y1 and the third positive direction Z1 change.

[0089] The hair iron 210 includes a control device 270. The control device 270 includes a CPU and a ROM, and executes software processing. The control device 270 acquires a signal indicating whether the first housing 241 has rotated. The control device 270 then controls the operation of each vibrator.

[0090] The control device 270 can generate a first force sense in a first direction from the first vibrating body 251 by controlling the vibration pattern of the first vibrating body 251. The control device 270 can generate a second force sense in a second direction from the second vibrating body 252 by controlling the vibration pattern of the second vibrating body 252.

[0091] The control device 270 can execute a first control that controls the vibration pattern of the first vibrating body 251 and the vibration pattern of the second vibrating body 252. When the first control is executed, the first direction and the second direction are reversed. Furthermore, when the first control is executed, the virtual line extending from the first vibrating body 251 in the first direction and the virtual line extending from the second vibrating body 252 in the second direction are not positioned on the same straight line.

[0092] In this embodiment, the control device 270 executes the first control as the rotation suppression control. The control device 270 executes the rotation suppression control on the condition that a change in the attitude of the steering wheel 220 is detected by the tilt sensor 261. The control device 270 detects that a change in the attitude of the steering wheel 220 has occurred when the amount of change per unit time in the direction of the second positive direction Y1 and the amount of change per unit time in the direction of the third positive direction Z1 detected by the tilt sensor 261 both exceed the allowable change amount. The allowable change per unit time is, for example, 15 degrees per 0.1 seconds. In other words, the rotation suppression control is executed when the change in the attitude of the steering wheel 220 causes a rotation about the first reference axis X. Then, in the rotation suppression control, the first direction of the first vibrator 251 and the second direction of the second vibrator 252 are set so as to generate a force sensation that rotates the steering wheel 220 in a direction opposite to the rotation about the first reference axis X. That is, suppose that handle 220 is rotated so that first vibrator 251 moves in third negative direction Z2 and second vibrator 252 moves in third positive direction Z1. In this case, control device 270 executes the first control by setting the first direction of first vibrator 251 to third positive direction Z1 and the second direction of second vibrator 252 to third negative direction Z2.

[0093] (Operation of the third embodiment) As shown in FIG. 8, suppose a user is using the hair iron 210 to straighten their hair. In this case, it is preferable for the user to translate the handle 220 in the second positive direction Y1 or the second negative direction Y2 while maintaining a constant inclination angle of the first reference axis X. However, the handle 220 may rotate around the first reference axis X as a rotation axis due to a twist of the user's wrist, for example. According to the third embodiment, when such a rotation of the handle 220 occurs, the execution condition for the first control as the rotation suppression control is satisfied.

[0094] As shown in Fig. 9, when the hair iron 210 is viewed in the first forward direction X1, the first control provides the user's fingers with a force sensation of rotation about the first reference axis X as the rotation axis. Furthermore, the direction of rotation is opposite to the direction of rotation caused by twisting the wrist, etc. Fig. 9 illustrates a state in which the first housing 241 and the second housing 242 are closed.

[0095] (Effects of the third embodiment) According to the third embodiment, in addition to the same effects as (1-1) and (1-3) in the first embodiment and (2-2) in the second embodiment, the following effect is achieved.

[0096] (3-1) According to the third embodiment, when the user straightens the hair, it is preferable to move the hair iron 210 without suddenly changing the position of the handle 220. In this case, if the position of the handle 220 suddenly changes, the rotation suppression control can guide the user to return the position of the hair iron 210 to its original position.

[0097] <Fourth embodiment> A fourth embodiment in which the handle is applied to a hairbrush will be described below with reference to the drawings. The drawings may show components enlarged for ease of understanding. The dimensional proportions of the components may differ from those in the actual drawings or from those in other drawings.

[0098] (Overall structure) 10, hairbrush 310 includes handle 320 and head 330. Handle 320 includes housing 340 that can be grasped by a user's fingers. Housing 340 is generally cylindrical.

[0099] An axis that passes through the center of gravity G of the housing 340 and extends in the direction in which the housing 340 extends is defined as a first reference axis X. One of the axes perpendicular to the first reference axis X is defined as a second reference axis Y. An axis perpendicular to both the first reference axis X and the second reference axis Y is defined as a third reference axis Z. One of the directions along the first reference axis X is defined as a first positive direction X1, and the direction along the first reference axis X that is opposite to the first positive direction X1 is defined as a first negative direction X2. One of the directions along the second reference axis Y is defined as a second positive direction Y1, and the direction along the second reference axis Y that is opposite to the second positive direction Y1 is defined as a second negative direction Y2. One of the directions along the third reference axis Z is defined as a third positive direction Z1, and the direction along the third reference axis Z that is opposite to the third positive direction Z1 is defined as a third negative direction Z2.

[0100] The dimension of housing 340 in the direction along first reference axis X is larger than the dimension of housing 340 in the direction along second reference axis Y. Furthermore, the dimension of housing 340 in the direction along first reference axis X is larger than the dimension of housing 340 in the direction along third reference axis Z. In other words, housing 340 has an elongated shape in the direction along first reference axis X. Housing 340 is provided with switch 341 for turning the power of hairbrush 310 on and off.

[0101] Head 330 is connected to the end of housing 340 on the side of first positive direction X1. Head 330 has a cylindrical shape that is long in the direction along first reference axis X as a whole. Head 330 has brush 331 for brushing hair. Hair is brushed by moving hairbrush 310 so that brush 331 touches the hair. Although not shown, head 330 has a heating element for heating air and a fan for blowing air. The heated air is blown out through between the protrusions of brush 331.

[0102] The hairbrush 310 includes a first vibrating body 351, a second vibrating body 352, a third vibrating body 353, and a fourth vibrating body 354. Each vibrating body has the same configuration as the vibrating body in the first embodiment.

[0103] First vibrating body 351 is built into housing 340 of handle 320. First vibrating body 351 is located on the first positive direction X1 side and the second positive direction Y1 side when viewed from the center of gravity G of housing 340.

[0104] Second vibrating body 352 is built into housing 340 of handle 320. Second vibrating body 352 is located on the first positive direction X1 side and the second negative direction Y2 side when viewed from the center of gravity G of housing 340. The distance from the center of gravity G of housing 340 to first vibrating body 351 is equal to the distance from the center of gravity G of housing 340 to second vibrating body 352.

[0105] Third vibrating body 353 is built into housing 340 of handle 320. Third vibrating body 353 is located on the first negative direction X2 side and the second positive direction Y1 side when viewed from the center of gravity G of housing 340. The distance from the center of gravity G of housing 340 to third vibrating body 353 is equal to the distance from the center of gravity G of housing 340 to first vibrating body 351.

[0106] Fourth vibrating body 354 is built into housing 340 of handle 320. Fourth vibrating body 354 is located on the first negative direction X2 side and the second negative direction Y2 side when viewed from the center of gravity G of housing 340. The distance from the center of gravity G of housing 340 to second vibrating body 352 is equal to the distance from the center of gravity G of housing 340 to fourth vibrating body 354.

[0107] The first vibrating body 351 and the third vibrating body 353 are located at the same position when the hairbrush 310 is viewed in a direction along the first reference axis X. The second vibrating body 352 and the fourth vibrating body 354 are located at the same position when the hairbrush 310 is viewed in a direction along the first reference axis X. Furthermore, when the hairbrush 310 is viewed in a direction along the first reference axis X, the position of the first vibrating body 351 and the position of the second vibrating body 352 are symmetrical with respect to the first reference axis X.

[0108] The hairbrush 310 includes a control device 370. The control device 370 includes a CPU and a ROM, and executes software processing. The control device 370 controls the operation of each vibrator.

[0109] The control device 370 can generate a first force sense in a first direction from the first vibrating body 351 by controlling the vibration pattern of the first vibrating body 351. The control device 370 can generate a second force sense in a second direction from the second vibrating body 352 by controlling the vibration pattern of the second vibrating body 352. The control device 370 can generate a third force sense in a third direction from the third vibrating body 353 by controlling the vibration pattern of the third vibrating body 353. The control device 370 can generate a fourth force sense in a fourth direction from the fourth vibrating body 354 by controlling the vibration pattern of the fourth vibrating body 354.

[0110] The control device 370 controls the vibration of each vibrator. vibration A first control and a second control for controlling the pattern can be executed. When the first control is executed, the first direction and the second direction are reversed. Furthermore, when the first control is executed, the virtual line from the first vibrating body 351 toward the first direction and the virtual line from the second vibrating body 352 toward the second direction are not positioned on the same straight line. In this fourth embodiment, when the first control is executed, the third direction and the fourth direction also have the same relationship as the first direction and the second direction.

[0111] Specifically, when the control device 370 executes the first control, it sets both the first direction of the first force sense and the third direction of the third force sense to the third positive direction Z1. Also, when the control device 370 executes the first control, it sets both the second direction of the second force sense and the fourth direction of the fourth force sense to the third negative direction Z2.

[0112] In the second control, the control device 370 reverses all of the first to fourth directions from those in the first control. Specifically, the first direction of the first force sense and the third direction of the third force sense are set as the third negative direction Z2. The control device 370 also sets the second direction of the second force sense and the fourth direction of the fourth force sense as the third positive direction Z1. That is, in the second control, the first and second directions are set as the opposite directions. Note that, as in the first control, in the second control, the virtual line extending from the first vibrating body 351 toward the first direction and the virtual line extending from the second vibrating body 352 toward the second direction are not positioned on the same straight line. The same applies to the orientation relationship between the third and fourth directions.

[0113] In this embodiment, the control device 370 executes the specific rotation promotion control by executing the first control and the second control in a predetermined order for a predetermined time each. For example, in the specific rotation promotion control, the order of each control is determined to be an order in which the first control and the second control are executed alternately. In addition, in the specific rotation promotion control, the time for executing each control is determined to be three seconds for the first control and one second for the second control. Then, when the user operates the switch 341 to turn on the power of the hairbrush 310, the control device 370 executes the specific rotation promotion control.

[0114] (Operation of the fourth embodiment) As shown in FIG. 11, suppose a user uses hairbrush 310 to achieve a desired curl of hair. In this case, the user preferably operates handle 320 to rotate in a predetermined order to achieve the desired curl. However, if specific rotation promotion control is not performed, it is difficult for the user to perform similar brushing with high reproducibility. According to the fourth embodiment, as specific rotation promotion control, control device 370 executes first control and second control in a predetermined order, each for a predetermined time.

[0115] 12, when the hairbrush 310 is viewed in the first positive direction X1, the first control provides the user's fingers with a force sense of clockwise rotation about the first reference axis X. When the hairbrush 310 is viewed in the first positive direction X1, the second control provides the user's fingers with a force sense of counterclockwise rotation about the first reference axis X.

[0116] (Effects of the fourth embodiment) According to the fourth embodiment, in addition to the effects (1-1) and (1-3) of the first embodiment and (2-2) of the second embodiment, the following effects are achieved.

[0117] (4-1) According to the fourth embodiment, when specific rotation promotion control is performed, the fingers gripping the housing 340 of the handle 320 can be given the sensation of rotation by a specified amount at specified time intervals. Therefore, the user is guided in rotating the handle 320 in accordance with the sensation of reproducible rotation. As a result, the user can achieve the same brushing experience with high reproducibility.

[0118] (4-2) According to the fourth embodiment, the specific rotation promotion control is executed in a predetermined order, with the first control and the second control being executed for a predetermined time each. Therefore, the second control can guide the rotation back by the amount of rotation caused by the first control.

[0119] Fifth Embodiment A fifth embodiment in which the handle is applied to an eyelash curler will be described below with reference to the drawings. The drawings may show components enlarged for ease of understanding. The dimensional proportions of the components may differ from those in the actual product or from those in other drawings.

[0120] (Overall structure) 13, eyelash curler 410 includes a handle 420 and a head 430. Handle 420 includes a housing 440 that can be held by a user with the fingers. Housing 440 is generally cylindrical.

[0121] An axis that passes through the center of gravity G of the housing 440 and extends in the direction in which the housing 440 extends is defined as a first reference axis X. One of the axes perpendicular to the first reference axis X is defined as a second reference axis Y. An axis perpendicular to both the first reference axis X and the second reference axis Y is defined as a third reference axis Z. One of the directions along the first reference axis X is defined as a first positive direction X1, and the direction along the first reference axis X that is opposite to the first positive direction X1 is defined as a first negative direction X2. One of the directions along the second reference axis Y is defined as a second positive direction Y1, and the direction along the second reference axis Y that is opposite to the second positive direction Y1 is defined as a second negative direction Y2. One of the directions along the third reference axis Z is defined as a third positive direction Z1, and the direction along the third reference axis Z that is opposite to the third positive direction Z1 is defined as a third negative direction Z2.

[0122] The dimension of housing 440 in the direction along first reference axis X is larger than the dimension of housing 440 in the direction along second reference axis Y. Furthermore, the dimension of housing 440 in the direction along first reference axis X is larger than the dimension of housing 440 in the direction along third reference axis Z. In other words, housing 440 has an elongated shape in the direction along first reference axis X. Housing 440 is provided with a switch 441 for turning the power of eyelash curler 410 on and off.

[0123] The head 430 is connected to the end of the housing 440 on the first positive direction X1 side. The head 430 has a cylindrical shape that is long in the direction along the first reference axis X as a whole. The head 430 has a clip 431 for holding the eyelashes. The eyelashes are curled by holding the eyelashes with the clip 431 of the head 430 and rotating the handle 420 around the first reference axis X as the rotation axis. Although not shown in the figure, the clip 431 has a heater. When the heater is driven, heat is applied to the eyelashes held by the clip 431.

[0124] The handle 420 includes a first vibrating body 451 and a second vibrating body 452. Each vibrating body has the same configuration as the vibrating body in the first embodiment. First vibrating body 451 is built into housing 440. First vibrating body 451 is located on the first positive direction X1 side and the second positive direction Y1 side when viewed from the center of gravity G of housing 440. Second vibrating body 452 is built into housing 440. Second vibrating body 452 is located on the first positive direction X1 side and the second negative direction Y2 side when viewed from the center of gravity G of housing 440.

[0125] The distance from the center of gravity G of housing 440 to first vibrating body 451 and the distance from the center of gravity G of housing 440 to second vibrating body 452 are equal. The eyelash curler 410 includes a tilt sensor 461. The tilt sensor 461 has the same configuration as the tilt sensor 61 in the first embodiment. In the fifth embodiment, the tilt sensor 461 detects the rotation of the housing 440 around the first reference axis X as a change in the attitude of the housing 440. Specifically, the tilt sensor 461 detects that the housing 440 has rotated around the first reference axis X when both the second positive direction Y1 and the third positive direction Z1 change.

[0126] The eyelash curler 410 includes a control device 470. The control device 470 includes a CPU and a ROM, and executes software processing. The control device 470 receives a signal from the tilt sensor 461 indicating whether the housing 440 has rotated. 470 controls the operation of each vibrator.

[0127] The control device 470 can generate a first force sense in a first direction from the first vibrating body 451 by controlling the vibration pattern of the first vibrating body 451. The control device 470 can generate a second force sense in a second direction from the second vibrating body 452 by controlling the vibration pattern of the second vibrating body 452.

[0128] Control device 470 can execute a first control that controls the vibration pattern of first vibrating body 451 and the vibration pattern of second vibrating body 452. When the first control is executed, the first direction and the second direction are reversed. Furthermore, when the first control is executed, a virtual line extending from first vibrating body 451 in the first direction and a virtual line extending from second vibrating body 452 in the second direction are prevented from being positioned on the same straight line.

[0129] In this embodiment, the control device 470 executes the first control as the rotation promotion control. The control device 470 executes the rotation suppression control on the condition that a change in the attitude of the handle 420 is detected by the tilt sensor 461. The control device 470 detects that a change in the attitude of the handle 420 has occurred when the amount of change per unit time in the direction of the second positive direction Y1 and the amount of change per unit time in the direction of the third positive direction Z1 detected by the tilt sensor 461 both exceed the allowable change amount. The allowable change per unit time is, for example, 15 degrees per 0.1 seconds. In other words, the rotation promotion control is executed when the change in the attitude of the handle 420 causes a rotation about the first reference axis X. In the rotation promotion control, the first direction of the first vibrator 451 and the second direction of the second vibrator 452 are set so as to generate a force sensation that rotates the handle 420 in the same direction as the rotation about the first reference axis X. That is, the handle is rotated so that the first vibrating body 451 moves in the third negative direction Z2 and the second vibrating body 452 moves in the third positive direction Z1. 420 In this case, the control device 470 executes the first control by setting the first direction of the first vibrating body 451 as the third negative direction Z2 and the second direction of the second vibrating body 452 as the third positive direction Z1.

[0130] (Operation of the fifth embodiment) As shown in Figure 14, suppose that a user is using the eyelash curler 410 to curl their eyelashes. In this case, it is preferable that the user continues to perform the same operation for a predetermined period of time so as to rotate the handle 420 about the first reference axis X as the rotation axis. No. 5According to the embodiment, when such a rotation of the handle 420 occurs, the control device 470 executes the first control by the rotation promotion control.

[0131] 15, when the eyelash curler 410 is viewed in the first positive direction X1, the first control provides the user's fingers with a force sensation that rotates around the first reference axis X. Furthermore, the direction of rotation is the same as the direction of rotation caused by twisting the wrist, for example.

[0132] (Effects of the fifth embodiment) According to the fifth embodiment, in addition to the same effects as (1-1) and (1-3) in the first embodiment and (2-2) in the second embodiment, the following effect is achieved.

[0133] (5-1) When the user curls their eyelashes, it is preferable to move the eyelash curler 410 without changing the rotation direction of the eyelash curler 410. According to the fifth embodiment, when the first control is executed by the rotation promotion control, it is possible to guide the user that the handle 420 should be rotated in the same direction as the user's rotation.

[0134] (5-2) In the fifth embodiment, the first control is executed on the condition that the user rotates the eyelash curler 410 and the attitude of the handle 420 changes. Moreover, the first control generates a force sensation in the same direction as the direction in which the user rotates the eyelash curler 410. This prevents the user from being guided to rotate in the opposite direction to the direction intended by the user.

[0135] <Other embodiments> The above-described embodiments can be modified as follows: The above-described embodiments and the following modifications can be combined and implemented within the scope of technical compatibility.

[0136] In each embodiment, the shape of the housing may be changed as appropriate. For example, in the first embodiment, the shape of the housing 40 may be cubic or spherical. In other words, the dimension of the housing 40 in the direction along the first reference axis X may be the same as the dimension of the housing 40 in the direction along the second reference axis Y, or may be smaller than the dimension of the housing 40 in the direction along the second reference axis Y. The same applies to the relationship between the dimension of the housing 40 in the direction along the first reference axis X and the dimension of the housing 40 in the direction along the third reference axis Z.

[0137] In the first embodiment, the grip portion 40A of the housing 40 may be a central portion of the housing 40 when the housing 40 is divided into three equal parts along the first reference axis X. In this case, the first end portion 40B is a portion including an end on the first positive direction X1 side of each of the three equal parts, and the second end portion 40C is a portion including an end on the first negative direction X2 side of each of the three equal parts.

[0138] In each embodiment, the configuration of the vibrator is not limited to the above. For example, the vibrator may be one that uses vibration generated by a motor, or one that has a piezoelectric element.

[0139] For example, in the first embodiment, it is sufficient that the first vibrating body 51 is capable of generating a first force in the first direction. Therefore, the first vibrating body 51 does not have to be configured to generate a first force in all six directions. That is, for example, the first vibrating body 51 may be configured to generate a first force only in the third positive direction Z1 and the third negative direction Z2. Also, for example, the first vibrating body 51 may be configured to generate a first force only in the third positive direction Z1, the third negative direction Z2, the second positive direction Y1, and the second negative direction Y2. That is, it is sufficient that each vibrating body can realize the direction of the force that should be generated when the first control is executed. This is the same for the other embodiments.

[0140] In each embodiment, the arrangement of each vibrating body may be changed as appropriate. For example, in the first embodiment, the distance from the center of gravity of the housing 40 to the first vibrating body 51 may be different from the distance from the center of gravity of the housing 40 to the second vibrating body 52. ​​Also, for example, in the first embodiment, the first vibrating body 51 and the second vibrating body 52 may be positioned off the first reference axis X. Also, for example, in the first embodiment, the first vibrating body 51 and the second vibrating body 52 may be built into the grip portion 40A.

[0141] In each embodiment, the tilt sensor is not limited to a three-axis acceleration sensor as long as it can detect the attitude of the steering wheel. For example, the tilt sensor may be a sensor using an infrared sensor, a magnetic sensor, or a gyro sensor as long as it can detect the attitude of the steering wheel. Specifically, by using a plurality of these sensors, the attitude of the steering wheel can be detected by detecting the relative position from a reference point such as a charging station. Also, for example, the tilt sensor may be an image sensor. The image sensor may detect the attitude of the steering wheel by image processing data output by a camera.

[0142] In each embodiment, the control device may be built into the head or into the housing of the handle. Compared to the inside of the head, the housing of the handle is less susceptible to the heat and vibrations of the head. Therefore, it is suitable for building a control device into the housing of the handle.

[0143] In each embodiment, the control device may be capable of controlling the first control. Therefore, for example, in the first embodiment, the control device 70 may execute only one of the rotation suppression control and the rotation promotion control. Furthermore, the control device 70 may execute the first control for purposes other than rotation suppression and rotation promotion.

[0144] In the rotation promotion control of the first embodiment, the control device 70 may execute the first control without relying on the pressure sensor 62. In the rotation promotion control, the first control may be executed on the condition that the attitude of the handle 20 is within a predetermined range. Furthermore, the attitude of the handle 20 within the predetermined range may be changed as appropriate. For example, in addition to the first reference axis X, the second reference axis Y and the third reference axis Z may also be inclined within a certain range with respect to an axis along the direction of gravity as a condition.

[0145] In the rotation suppression control of the first embodiment, the control device 70 may execute the first control regardless of the pressure sensor 62. In the rotation suppression control, the first control may be executed when a change in the attitude of the steering wheel 20 is detected by the tilt sensor 61. Also, in the rotation suppression control, the first control may be executed on the condition that a change in the attitude of the steering wheel 20 is detected after there has been no change in the attitude of the steering wheel 20 for a certain period of time.

[0146] In the second embodiment, the control device 170 may be capable of executing the first control and the second control, and may alternately and repeatedly execute the first control and the second control regardless of the attitude of the handle 120, for example.

[0147] In the second embodiment, the third vibrating body 153 to the sixth vibrating body 156 may be omitted. Furthermore, instead of the first vibrating body 151 and the second vibrating body 152, the third vibrating body 153 and the fourth vibrating body 154 may be used as the first vibrating body and the control device 170 may execute the first control.

[0148] In the second embodiment, the control device 170 may execute the first control by using, for example, the third vibrating body 153 as the second vibrating body instead of the second vibrating body 152. In this case, the first control causes the hair dryer 110 to generate a force sensation to the user as if the hair dryer 110 is being rotated around an axis that passes between the first vibrating body 151 and the third vibrating body 153 and is parallel to the third reference axis Z.

[0149] In the rotation suppression control of the third embodiment, the control device 270 may detect whether or not there has been a change in the attitude of the handle 220 based on the inclination of the first reference axis X with respect to an axis along the direction of gravity.

[0150] In the fourth embodiment, the control device 370 may store multiple programs in the ROM, each of which performs the first control and the second control for a set period of time. For example, if there are multiple programs with different periods of time for performing the first control, the user can select and run one of the multiple programs to provide guidance on brushing with different hair curls.

[0151] In addition to the first and second controls of the fourth embodiment, the control device 370 may perform control to generate a force sense from each vibrator in a direction that generates a force sense with at least one of the second reference axis Y and the third reference axis Z as a rotation axis. By adding such control, the user's hand can be guided to perform more complex movements.

[0152] In the fourth embodiment, the control device 370 does not have to execute the second control. In other words, the control device 370 may execute only the first control. In this case, the control device 370 only needs to execute the first control for a predetermined period of time.

[0153] In the rotation promotion control of the fifth embodiment, the control device 470 may execute the first control on the condition that the change in the attitude of the handle 420 is a predetermined change, and the predetermined change is not limited to the example of the fifth embodiment. For example, the control device 470 may execute the first control on the condition that the attitude of the handle 420 changes only within a predetermined range for a certain period of time after closing the clip 431. In this case, for example, when the attitude of the handle 420 does not change for a period of time that allows the user to confirm that the base of the eyelashes has been clamped by the clip 431, the control device 470 can guide the user to start curling the eyelashes by the first control.

[0154] In each of the above embodiments, the handle may be applied to other products that are operated while being held by the user's fingers. For example, the handle may be applied to a home haircutting tool such as a hair clipper. This is particularly suitable for products in which the head connected to the handle comes into direct contact with the user's body or outputs from the head connected to the handle toward the user's body.

[0155] The handle can also be used alone. For example, it can be used as a handle to guide the user in the direction of arm movement during exercise or rehabilitation.

[0156] In each of the above embodiments, the control device is not limited to one equipped with a CPU and ROM and executing software processing. For example, it may be equipped with a dedicated hardware circuit (e.g., ASIC, etc.) that performs hardware processing on at least a portion of what is software processed in each of the above embodiments. That is, the control device may have any of the following configurations (a) to (c): (a) equipped with a processing device that executes all of the above processing in accordance with a program, and a program storage device such as ROM that stores the program; (b) equipped with a processing device and program storage device that executes part of the above processing in accordance with a program, and a dedicated hardware circuit that executes the remaining processing; or (c) equipped with a dedicated hardware circuit that executes all of the above processing. Here, there may be multiple software execution devices equipped with a processing device and program storage device, and multiple dedicated hardware circuits.

[0157] In each of the above embodiments, the programs and data required for the control device to perform each control may be updated externally. For example, in the first embodiment, the control device 70 may include a storage device. Then, when data for controlling the vibration pattern of the first vibrating body 51 is input to the control device 70 from an external device, the storage device may store the new data.

[0158] As in the above-described modified example, by changing the configuration of the vibrators, for example, the case of the first vibrator and the case of the second vibrator 52 may be the same. That is, the handle may be provided with a haptic unit that is built into the housing and that gives a user gripping the housing a sense of force as if the housing were rotating. Also, the control device may be made up of multiple devices, each controlling one vibrator. That is, the handle may be provided with a control unit that controls the above-described haptic unit. In this way, the handle may be provided with a housing, a haptic unit built into the housing, and a control unit. And, it is only necessary that the control unit be able to control the haptic unit so as to give a user gripping the housing a sense of force as if the housing were rotating.

[0159] In the hair dryer 110 of the second embodiment, in order to give the user the sensation of alternately rotating the hair dryer 110, the first vibrating body 151 and the second vibrating body 152 do not necessarily have to be built into the handle 120. For example, the fifth vibrating body 155 and the sixth vibrating body 156 may be the first vibrating body and the second vibrating body. In other words, the first vibrating body and the second vibrating body may be built into the head 130.

[0160] In the hair iron 210 of the third embodiment, in order to give the user the sensation that the hair iron 210 is rotating around the first reference axis X as the rotation axis, the first vibrating body 251 and the second vibrating body 252 do not necessarily have to be built into the handle 220. For example, the first vibrating body 251 and the second vibrating body 252 may be built into the first clip portion 231.

[0161] The technical ideas that can be understood from the above-described embodiments and modifications are described below. <Appendix 1> A first vibrating body; A second vibrating body; a handle having a housing that can be grasped by a user's fingers; a blowable head connected to the handle; a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrator, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrator; Equipped with The control device a first control that controls a vibration pattern of the first vibrator and a vibration pattern of the second vibrator so that the first direction and the second direction are opposite directions and a virtual line extending from the first vibrator to the first direction and a virtual line extending from the second vibrator to the second direction are not positioned on the same straight line; a second control that controls the vibration pattern of the first vibrator and the vibration pattern of the second vibrator so that the first direction is opposite to that of the first control and the second direction is opposite to that of the first control; is feasible Hair dryer.

[0162] <Appendix 2> a handle that has a first housing, a second housing, and a shaft that rotatably connects the first housing and the second housing, and that can be grasped by a user's fingers; a head for clamping hair, the head having a first clamping portion connected to the first housing and a second clamping portion connected to the second housing; a first vibrating body and a second vibrating body built into the first housing or the first clipping portion; an inclination sensor that detects the attitude of the handle; a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrator, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrator; Equipped with The control device a first control can be executed to control a vibration pattern of the first vibrator and a vibration pattern of the second vibrator so that the first direction and the second direction are opposite directions and a virtual line extending from the first vibrator to the first direction and a virtual line extending from the second vibrator to the second direction are not positioned on the same straight line; When the tilt sensor detects a change in the posture of the first vibrator moving in the second direction and the second vibrator moving in the first direction, the first control is executed. Hair iron. [Explanation of symbols]

[0163] 10...Shaver 20, 120, 220, 320, 420…Handle 30, 130, 230, 330, 430...head 31...Blade 40, 140, 240, 340, 440…Housing 40A…Gripping part 40B…First end 40C…Second end 51, 151, 251, 351, 451...First vibrator 52, 152, 252, 352, 452...Second vibrator 61,161,261,461...Tilt sensors 70, 170, 270, 370, 470...Control device 110...Hair dryer 210...Hair iron 231...First clamping part 232...Second clamping part 310...Hairbrush 331...Brush 410...Eyelash curler 431...Clip

Claims

1. A handle that can be operated by a user and can guide the user in the rotation direction in which to move their arm, a housing that can be grasped by a user with their fingers; a first vibrator built into the housing; a second vibrator built into the housing; a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrator, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrator; Equipped with The control device The vibration pattern of the first vibrating body and the vibration pattern of the second vibrating body can be controlled so that the first direction and the second direction are opposite to each other, a virtual line extending from the first vibrating body to the first direction and a virtual line extending from the second vibrating body to the second direction are not positioned on the same straight line, and a user grasping the housing is given a force sensation as if the housing is rotating. handle.

2. When an axis passing through the center of gravity of the housing is defined as a first reference axis and an axis perpendicular to the first reference axis is defined as a second reference axis, a dimension of the housing in a direction along the first reference axis is larger than a dimension of the housing in a direction along the second reference axis; the first vibrating body is located on a first positive direction side along the first reference axis when viewed from the center of gravity, the second vibrator is located on a first negative direction side opposite to the first positive direction when viewed from the center of gravity, The first direction and the second direction are perpendicular to the first reference axis. The handle of claim 1 .

3. the housing has a grip portion including the center of gravity, a first end portion adjacent to an end of the grip portion on the first positive direction side, and a second end portion adjacent to an end of the grip portion on the first negative direction side, the first vibrator is built into the first end portion, The second vibrator is built into the second end portion. The handle of claim 2.

4. When an axis passing through the center of gravity of the housing is defined as a first reference axis and an axis perpendicular to the first reference axis is defined as a second reference axis, a dimension of the housing in a direction along the first reference axis is larger than a dimension of the housing in a direction along the second reference axis; the first vibrating body is located on a second positive direction side along the second reference axis when viewed from the center of gravity, the second vibrating body is located on a second negative direction side opposite to the second positive direction when viewed from the center of gravity, The first direction and the second direction are perpendicular to the second reference axis. The handle of claim 1 .

5. The distance from the center of gravity to the first vibrating body is equal to the distance from the center of gravity to the second vibrating body. A handle according to any one of claims 2 to 4.

6. a handle having a first vibrating body and a second vibrating body; a head connected to the handle and having a blade for cutting hair; an inclination sensor that detects the attitude of the handle; a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrator, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrator; Equipped with The control device a first control is executable that controls a vibration pattern of the first vibrator and a vibration pattern of the second vibrator so that the first direction and the second direction are opposite directions, a virtual line extending from the first vibrator to the first direction and a virtual line extending from the second vibrator to the second direction are not positioned on the same straight line, and a user grasping the handle is given a force sensation as if the handle is rotating; In the first control, a rotation promotion control that determines the first direction and the second direction so as to provide a force sensation as if the handle is rotating while aligning the head with the skin, on the condition that the handle is in a predetermined first range of orientation; and rotation suppression control that determines the first direction and the second direction so as to provide a force sensation that rotates the steering wheel in a direction opposite to the direction in which the steering wheel is actually rotating, on the condition that the steering wheel attitude is within a second range that is predetermined as a range different from the first range; Run Shaver.

7. The control device a change amount per unit time that the first vibrator moves in the second direction is defined as a first movement change amount; When a change amount per unit time in which the second vibrator moves in the first direction is defined as a second movement change amount, When a difference between the first movement change amount and the second movement change amount exceeds a predetermined threshold, the rotation suppression control is executed.

7. A shaver according to claim 6.

8. a handle having a first vibrating body and a second vibrating body; a blowable head connected to the handle; a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrator, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrator; Equipped with The control device a first control that controls a vibration pattern of the first vibrator and a vibration pattern of the second vibrator so that the first direction and the second direction are opposite directions, a virtual line extending from the first vibrator to the first direction and a virtual line extending from the second vibrator to the second direction are not positioned on the same straight line, and a user grasping the handle is given a force sensation as if the handle is rotating; a second control that controls the vibration pattern of the first vibrator and the vibration pattern of the second vibrator so that the first direction is opposite to that of the first control and the second direction is opposite to that of the first control; is executable, The first control and the second control are alternately and repeatedly executed. Hair dryer.

9. Further, a tilt sensor is provided to detect the attitude of the handle, The control device The first control and the second control are alternately and repeatedly executed on the condition that the attitude of the steering wheel is within a predetermined range.

9. A hair dryer according to claim 8.

10. a handle having a first vibrating body and a second vibrating body; a head connected to the handle and having a first clipper and a second clipper for clipping hair; an inclination sensor that detects the attitude of the handle; a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrator, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrator; Equipped with The control device a first control is executable that controls a vibration pattern of the first vibrator and a vibration pattern of the second vibrator so that the first direction and the second direction are opposite directions, a virtual line extending from the first vibrator to the first direction and a virtual line extending from the second vibrator to the second direction are not positioned on the same straight line, and a user grasping the handle is given a force sensation as if the handle is rotating; When the tilt sensor detects a change in the posture of the first vibrator moving in the second direction and the second vibrator moving in the first direction, the first control is executed. Hair iron.

11. a handle having a first vibrating body and a second vibrating body; a head connected to the handle and including a brush for brushing hair; a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrator, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrator; Equipped with The control device a first control is executable for a predetermined time, the first control controlling the vibration pattern of the first vibrator and the vibration pattern of the second vibrator so that the first direction and the second direction are opposite directions, a virtual line extending from the first vibrator to the first direction and a virtual line extending from the second vibrator to the second direction are not positioned on the same straight line, and a user grasping the handle is given a force sensation as if the handle is rotating; a second control that controls the vibration pattern of the first vibrator and the vibration pattern of the second vibrator so that the first direction is opposite to that of the first control and the second direction is opposite to that of the first control, and is executable for only a predetermined time; The first control and the second control can be performed in a predetermined order. hairbrush.

12. a handle having a first vibrating body and a second vibrating body; a head connected to the handle and having a clip for holding eyelashes; an inclination sensor that detects the attitude of the handle; a control device capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrator, and capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrator; Equipped with The control device a first control is executable that controls a vibration pattern of the first vibrator and a vibration pattern of the second vibrator so that the first direction and the second direction are opposite directions, a virtual line extending from the first vibrator to the first direction and a virtual line extending from the second vibrator to the second direction are not positioned on the same straight line, and a user grasping the handle is given a force sensation as if the handle is rotating; On the condition that the change in the attitude of the steering wheel is a change that causes the steering wheel to rotate, the first control is executed to set the first direction and the second direction so as to generate a force sensation that rotates in the same direction as the rotation of the steering wheel. Curly eyelashes.

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