Electric toothbrush

Abstract

A control unit (40) can produce a first force sense in a first direction by controlling a vibration pattern of a first vibrator (61). The control unit (40) can produce a second force sense in a second direction by controlling a vibration pattern of a second vibrator (62). The control unit (40) executes guide processing for controlling one or more directions selected from the first direction and the second direction according to the posture of a handle (20) detected by a posture sensor.

Description

[Technical Field]

[0001] The present disclosure relates to electric toothbrushes. [Background technology]

[0002] The electric toothbrush described in Patent Document 1 includes a handle, a head having a brush, and a driver for driving the brush. The handle is generally cylindrical. The handle is used by being held, for example, by the user's fingers. The driver is located within the handle. The head is connected to the end of the handle. When the brush is in contact with the teeth and driven by the driver, the teeth are brushed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-192036 Summary of the Invention [Problem to be solved by the invention]

[0004] For an electric toothbrush like the one in Patent Document 1, there must be an ideal way to move it in order to brush your teeth efficiently. However, the way to move the electric toothbrush is entirely up to the user, and the electric toothbrush cannot guide the user on how to move it. [Means for solving the problem]

[0005] In order to solve the above problems, one aspect of the present disclosure provides a vibration suppressor including: a handle that can be gripped by a user's fingers; a first vibrator located inside the handle; a second vibrator located inside the handle; a third vibrator located inside the handle; and a fourth vibrator located inside the handle.a head connected to the handle, having a brush; a driver for driving the brush; and a vibration pattern of the first vibrator that can generate a first force in a first direction, and a vibration pattern of the second vibrator that can generate a second force in a second direction. and a third force sense in a third direction can be generated by controlling the vibration pattern of the third vibrator, and a fourth force sense in a fourth direction can be generated by controlling the vibration pattern of the fourth vibrator. and a posture sensor that detects the posture of the handle, When an axis that passes through the center of gravity of a housing of the handle and is along the extension direction of the housing is defined as a first reference axis, an axis that passes through the center of gravity and is orthogonal to the first reference axis is defined as a second reference axis, an axis that passes through the center of gravity and is orthogonal to the first reference axis and the second reference axis is defined as a third reference axis, one of the directions along the first reference axis is defined as a first positive direction, a direction along the first reference axis opposite to the first positive direction is defined as a first negative direction, one of the directions along the second reference axis is defined as a second positive direction, a direction along the second reference axis opposite to the second positive direction is defined as a second negative direction, one of the directions along the third reference axis is defined as a third positive direction, and a direction along the third reference axis opposite to the third positive direction is defined as a third negative direction, the first vibrating body is located on an imaginary plane on which the first reference axis and the second reference axis exist, and when viewed from the center of gravity, the second vibrator is located on the first positive direction side and on the second positive direction side, the second vibrator is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first negative direction side and on the second positive direction side when viewed from the center of gravity, the third vibrator is located on the imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first positive direction side and on the second negative direction side when viewed from the center of gravity, the fourth vibrator is located on the imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first negative direction side and on the second negative direction side when viewed from the center of gravity, and each of the first vibrator, the second vibrator, the third vibrator, and the fourth vibrator is vibrating in at least one of a direction along the first reference axis, a direction along the second reference axis, and a direction along the third reference axis, The control unit, in response to the attitude of the handle detected by the attitude sensor, a vibration pattern of the first vibrator, a vibration pattern of the second vibrator, a vibration pattern of the third vibrator, and a vibration pattern of the fourth vibrator so as to generate one or more force senses selected from the first force sense in the first direction, the second force sense in the second direction, the third force sense in the third direction, and the fourth force sense in the fourth direction; The electric toothbrush performs a guide process to control one or more selected from the above.

[0006] According to the above configuration, the guide process can provide the user with a force sense that guides the user to change the handle position to a preferred position. In other words, the electric toothbrush can guide the user in a preferred way to move the electric toothbrush.

[0007] In order to solve the above problems, another aspect of the present disclosure provides a vibration suppressor including: a handle that can be gripped by a user's fingers; a first vibrator located inside the handle; a second vibrator located inside the handle; a third vibrator located inside the handle; and a fourth vibrator located inside the handle. a head connected to the handle, having a brush; a driver for driving the brush; and a vibration pattern of the first vibrator that can generate a first force in a first direction, and a vibration pattern of the second vibrator that can generate a second force in a second direction. and a third force sense in a third direction can be generated by controlling the vibration pattern of the third vibrator, and a fourth force sense in a fourth direction can be generated by controlling the vibration pattern of the fourth vibrator. and a position sensor for detecting the position of the brush, When an axis that passes through the center of gravity of a housing of the handle and is along the extension direction of the housing is defined as a first reference axis, an axis that passes through the center of gravity and is orthogonal to the first reference axis is defined as a second reference axis, an axis that passes through the center of gravity and is orthogonal to the first reference axis and the second reference axis is defined as a third reference axis, one of the directions along the first reference axis is defined as a first positive direction, a direction along the first reference axis opposite to the first positive direction is defined as a first negative direction, one of the directions along the second reference axis is defined as a second positive direction, a direction along the second reference axis opposite to the second positive direction is defined as a second negative direction, one of the directions along the third reference axis is defined as a third positive direction, and a direction along the third reference axis opposite to the third positive direction is defined as a third negative direction, the first vibrating body is located on an imaginary plane on which the first reference axis and the second reference axis exist, and when viewed from the center of gravity, the second vibrator is located on the first positive direction side and on the second positive direction side, the second vibrator is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first negative direction side and on the second positive direction side when viewed from the center of gravity, the third vibrator is located on the imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first positive direction side and on the second negative direction side when viewed from the center of gravity, the fourth vibrator is located on the imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first negative direction side and on the second negative direction side when viewed from the center of gravity, and each of the first vibrator, the second vibrator, the third vibrator, and the fourth vibrator is vibrating in at least one of a direction along the first reference axis, a direction along the second reference axis, and a direction along the third reference axis, The control unit, depending on the position of the brush detected by the position sensor, a vibration pattern of the first vibrator, a vibration pattern of the second vibrator, a vibration pattern of the third vibrator, and a vibration pattern of the fourth vibrator so as to generate one or more force senses selected from the first force sense in the first direction, the second force sense in the second direction, the third force sense in the third direction, and the fourth force sense in the fourth direction; The electric toothbrush performs a guide process to control one or more selected from the above.

[0008] According to the above configuration, the guide process can provide the user with a force sense that guides the brush position to a preferred position. In other words, the electric toothbrush can guide the user in a preferred way to move the electric toothbrush.

[0009] In order to solve the above problems, a further aspect of the present disclosure provides a vibration sensor comprising: a handle that can be grasped by a user's fingers; a first vibrating body located inside the handle; a second vibrating body located inside the handle; a third vibrator located inside the handle; and a fourth vibrator located inside the handle. a head connected to the handle, having a brush; a driver for driving the brush; and a vibration pattern of the first vibrator that can generate a first force in a first direction, and a vibration pattern of the second vibrator that can generate a second force in a second direction. and a third force sense in a third direction can be generated by controlling the vibration pattern of the third vibrator, and a fourth force sense in a fourth direction can be generated by controlling the vibration pattern of the fourth vibrator. and a control unit, When an axis that passes through the center of gravity of a housing of the handle and is along the extension direction of the housing is defined as a first reference axis, an axis that passes through the center of gravity and is orthogonal to the first reference axis is defined as a second reference axis, an axis that passes through the center of gravity and is orthogonal to the first reference axis and the second reference axis is defined as a third reference axis, one of the directions along the first reference axis is defined as a first positive direction, a direction along the first reference axis opposite to the first positive direction is defined as a first negative direction, one of the directions along the second reference axis is defined as a second positive direction, a direction along the second reference axis opposite to the second positive direction is defined as a second negative direction, one of the directions along the third reference axis is defined as a third positive direction, and a direction along the third reference axis opposite to the third positive direction is defined as a third negative direction, the first vibrating body is located on an imaginary plane on which the first reference axis and the second reference axis exist, and when viewed from the center of gravity, the second vibrator is located on the first positive direction side and on the second positive direction side, the second vibrator is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first negative direction side and on the second positive direction side when viewed from the center of gravity, the third vibrator is located on the imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first positive direction side and on the second negative direction side when viewed from the center of gravity, the fourth vibrator is located on the imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first negative direction side and on the second negative direction side when viewed from the center of gravity, and each of the first vibrator, the second vibrator, the third vibrator, and the fourth vibrator is vibrating in at least one of a direction along the first reference axis, a direction along the second reference axis, and a direction along the third reference axis, The control unit with respect to one or more selected from the first direction of the first force, the second direction of the second force, the third direction of the third force, and the fourth direction of the fourth force, The control unit includes a storage unit that stores a predetermined order of change. one or more selected from a vibration pattern of the first vibrator, a vibration pattern of the second vibrator, a vibration pattern of the third vibrator, and a vibration pattern of the fourth vibrator are controlled so as to change one or more selected from the first direction of the first force sense, the second direction of the second force sense, the third direction of the third force sense, and the fourth direction of the fourth force sense in the order. The electric toothbrush performs a guide process.

[0010] According to the above configuration, the guide process can provide the user with a force feedback that reproduces a desired change in handle position. In other words, the user can reproduce a desired way of moving the electric toothbrush by changing the handle position in accordance with the force feedback provided by the electric toothbrush. [Effects of the Invention]

[0011] By providing the user with a force sense, the user can be guided in how to operate the electric toothbrush. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram showing an electric toothbrush according to one embodiment. [Figure 2] FIG. 2 is an explanatory diagram showing a state of use during the guide process of the embodiment. [Figure 3] FIG. 3 is an explanatory diagram showing a state of use during the guide process of the embodiment. [Figure 4] FIG. 4 is an explanatory diagram showing a state of use during the guide process of the embodiment. [Figure 5] FIG. 5 is an explanatory diagram showing a state of use during the guide process of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] <About one embodiment> Hereinafter, an embodiment of an electric toothbrush will be described with reference to the drawings. In the drawings, components may be shown enlarged to facilitate understanding. The dimensional proportions of the components may differ from those in the actual drawings or from those in other drawings.

[0014] (Overall composition) As shown in Fig. 1, the electric toothbrush 10 includes a handle 20, a head 30, and a control unit 40. The handle 20 has a housing 21 that can be grasped by a user's fingers. The housing 21 is generally cylindrical in shape.

[0015] An axis that passes through the center of gravity G of the housing 21 and extends in the direction in which the housing 21 extends is defined as a first reference axis X. One of the axes that pass through the center of gravity G of the housing 21 and are perpendicular to the first reference axis X is defined as a second reference axis Y. Furthermore, as shown in FIG. 2, another of the axes that pass through the center of gravity G of the housing 21 and are perpendicular to the first reference axis X is defined as a third reference axis Z. The third reference axis Z is an axis that is perpendicular to the second reference axis Y. One of the directions along the first reference axis X is defined as a first positive direction X1. 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. Furthermore, as shown in FIG. 1, one of the directions along the second reference axis Y is defined as a second positive direction Y1. 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. 2, one of the directions along the third reference axis Z is defined as a third positive direction Z1. The direction along the third reference axis Z opposite to the third positive direction Z1 is defined as a third negative direction Z2.

[0016] 1, the handle 20 has a switch 22. When operated by a user, the switch 22 inputs a signal indicating whether the power is on or off and a signal for selecting a control mode, which will be described later, to the control unit 40. The switch 22 is located approximately in the center of the housing 21 in the direction along the first reference axis X.

[0017] The head 30 has a head body 31 and a brush 32 for brushing teeth. The head body 31 is rod-shaped and thinner than the housing 21 overall. The head body 31 is connected to the end of the housing 21 on the first positive direction X1 side. The head body 31 extends along the first reference axis X. The brush 32 is made up of a plurality of bristles. The brush 32 is connected to the end of the head body 31 on the first positive direction X1 side. As shown in FIG. 2, each bristle of the brush 32 protrudes from the head body 31 in the third positive direction Z1.

[0018] The head 30 is configured to be detachable from the handle 20. In other words, the handle 20 is configured to be detachable from the head 30. By periodically replacing the head 30, the user can keep the brush 32 clean.

[0019] The electric toothbrush 10 includes a driver 50. The driver 50 is located inside the housing 21. The driver 50 is configured to vibrate the head body 31. This causes the driver 50 to drive the brush 32 connected to the head body 31. The driver 50 is configured, for example, with a small motor and a weight attached eccentrically to the rotation shaft of the small motor. The head body 31 is connected to the weight.

[0020] The electric toothbrush 10 includes a first vibrating body 61, a second vibrating body 62, a third vibrating body 63, and a fourth vibrating body 64. The first vibrating body 61 is located inside the housing 21. The first vibrating body 61 has a substantially cubic shape. Six flat surfaces constituting the outer surface of the first vibrating body 61 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.

[0021] Although not shown, the first vibrating body 61 includes a voice coil motor corresponding to each plane, a weight corresponding to each voice coil motor, and a cubic case that houses them. The weights vibrate due to the 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 61 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 61 is a vibrating body as described in, for example, Japanese Patent Application Laid-Open No. 2005-190465. The vibration of the first vibrating body 61 is significantly different from the vibration of the driver 50. Specifically, the vibration of the driver 50 is at a much higher frequency than the vibration of the first vibrating body 61.

[0022] The first vibrating body 61 is located on an imaginary plane on which the first reference axis X and the second reference axis Y exist. Furthermore, the first vibrating body 61 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 21.

[0023] The second vibrating body 62 is located inside the housing 21. The second vibrating body 62 is a vibrating body similar to the first vibrating body 61. The second vibrating body 62 is located on an imaginary plane on which the first reference axis X and the second reference axis Y exist. The second vibrating body 62 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 the housing 21. The second vibrating body 62 is located at a position that is line-symmetrical to the first vibrating body 61 with respect to the second reference axis Y.

[0024] The third vibrating body 63 is located inside the housing 21. The third vibrating body 63 is a vibrating body similar to the first vibrating body 61. The third vibrating body 63 is located on an imaginary plane on which the first reference axis X and the second reference axis Y exist. The third vibrating body 63 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 the housing 21. The third vibrating body 63 is located at a position that is line-symmetrical to the first vibrating body 61 with respect to the first reference axis X.

[0025] The fourth vibrating body 64 is located inside the housing 21. The fourth vibrating body 64 is a vibrating body similar to the first vibrating body 61. The fourth vibrating body 64 is located on an imaginary plane on which the first reference axis X and the second reference axis Y exist. The fourth vibrating body 64 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 the housing 21. The fourth vibrating body 64 is located at a position that is line-symmetrical to the second vibrating body 62 with respect to the first reference axis X. The fourth vibrating body 64 is located at a position that is line-symmetrical to the third vibrating body 63 with respect to the second reference axis Y.

[0026] The electric toothbrush 10 includes an acceleration sensor 71 and a pressure sensor 72. The acceleration sensor 71 is a three-axis acceleration sensor. That is, the acceleration sensor 71 is an attitude sensor that detects the attitude of the handle 20 with respect to the direction of gravity. Specifically, the acceleration sensor 71 pre-stores the orientation of a first negative direction X2 as viewed from the acceleration sensor 71. The first negative direction X2 is a fixed direction determined by the shape of the housing 21. The first negative direction X2 as viewed from the acceleration sensor 71 is also always a fixed direction. Next, the acceleration sensor 71 determines, on a plane including a line extending from the acceleration sensor 71 in the direction of gravity and a line extending from the acceleration sensor 71 in the first negative direction X2, the angle formed by both lines as a first tilt angle. Therefore, when the direction of gravity and the first negative direction X2 coincide, the acceleration sensor 71 determines the first tilt angle to be 0 degrees. Furthermore, acceleration sensor 71 determines the first tilt angle to be 180 degrees when the direction of gravity and the first positive direction X1 coincide with each other. Similarly, acceleration sensor 71 determines the second tilt angle as the angle formed by a line extending from acceleration sensor 71 in the direction of gravity and a line extending from acceleration sensor 71 in the second negative direction Y2 on a plane including both lines. Acceleration sensor 71 also determines the third tilt angle as the angle formed by a line extending from acceleration sensor 71 in the direction of gravity and a line extending from acceleration sensor 71 in the third negative direction Z2 on a plane including both lines. Acceleration sensor 71 also acquires acceleration in directions along each reference axis.

[0027] The pressure sensor 72 is located near the end of the housing 21 on the first positive direction X1 side. The pressure sensor 72 detects the pressure that the head 30 receives in the third negative direction Z2. In other words, the pressure sensor 72 detects that the brush 32 is being pressed against the user's teeth.

[0028] (Regarding the control section) The control unit 40 includes a CPU that performs various calculations and a ROM that stores programs executed by the CPU. The control unit 40 executes software processing. The control unit 40 acquires signals indicating the first tilt angle, the second tilt angle, and the third tilt angle, and signals indicating acceleration in directions along each reference axis, from the acceleration sensor 71. The control unit 40 acquires a signal indicating pressure from the pressure sensor 72. The control unit 40 acquires various signals from the switch 22.

[0029] After acquiring a signal indicating ON from the switch 22, the control unit 40 calculates the direction and amount of movement from the point where the signal indicating ON was acquired from the switch 22, based on the acceleration in the direction along each reference axis acquired from the acceleration sensor 71. As a result, the control unit 40 calculates the current position of the handle 20, using the point where the signal indicating ON was acquired from the switch 22 as the reference position. In other words, the acceleration sensor 71 is also a position sensor that detects the position of the handle 20.

[0030] The control unit 40 controls the driver 50. For example, when the switch 22 is pressed once more after receiving an ON signal from the switch 22, the control unit 40 starts driving the driver 50. Furthermore, when the switch 22 is pressed and held down for a long time, the control unit 40 receives an OFF signal from the switch 22, and stops driving the driver 50.

[0031] The control unit 40 controls the operation of the first vibrating body 61. The control unit 40 can generate a force sensation in the first vibrating body 61 by controlling the vibration pattern of the first vibrating body 61. In this embodiment, the direction of the force sensation generated from the first vibrating body 61 can be selected from any one of 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 unit 40 controls the current flowing through each voice coil motor of the first vibrating body 61 to generate vibrations whose amplitude direction is along one of the first reference axis X, the second reference axis Y, and the third reference axis Z. Furthermore, the control unit 40 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. Note that 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 61, the user feels as if the first vibrating body 61 is displacing in the first positive direction X1, even though the first vibrating body 61 is actually vibrating back and forth at the same position. Hereinafter, the force sense generated by the first vibrating body 61 is referred to as the first force sense. Furthermore, the direction of the first force sense is referred to as the first direction.

[0032] Furthermore, the control unit 40 controls the strength of the first force sense by controlling the vibration pattern of the first vibrating body 61. For example, the control unit 40 increases the strength of the first force sense by increasing the overall amplitude while repeating vibrations at a predetermined cycle.

[0033] The control unit 40 can generate a force sense in the second vibrating body 62 by controlling the vibration pattern of the second vibrating body 62, similar to the first vibrating body 61. Hereinafter, the force sense generated by the second vibrating body 62 will be referred to as a second force sense. In addition, the direction of the second force sense will be referred to as a second direction.

[0034] Similar to the first vibrating body 61, the control unit 40 can generate a force sense in the third vibrating body 63 by controlling the vibration pattern of the third vibrating body 63. Hereinafter, the force sense generated by the third vibrating body 63 will be referred to as a third force sense. Also, the direction of the third force sense will be referred to as a third direction.

[0035] The control unit 40 can generate a force sense in the fourth vibrating body 64 by controlling the vibration pattern of the fourth vibrating body 64, similar to the first vibrating body 61. Hereinafter, the force sense generated by the fourth vibrating body 64 will be referred to as a fourth force sense. Also, the direction of the fourth force sense will be referred to as a fourth direction.

[0036] (Guide processing) The control unit 40 executes the guide process by determining each of the first to fourth directions as a specific direction. The guide process is a process that provides a force sense to the user to place the handle 20 in a desired position. The guide process includes two types of processes: a first guide process and a second guide process described below.

[0037] (Regarding the first guide process) For example, when the switch 22 is pressed once while the driver 50 is driven, the control unit 40 starts the first guide process. When the first guide process starts, the control unit 40 assumes that the first reference axis X of the housing 21 is parallel to the user's left-right axis. When the first guide process starts, the control unit 40 also assumes that the second reference axis Y of the housing 21 is parallel to the user's up-down axis. When the first guide process starts, the control unit 40 also assumes that the third reference axis Z of the housing 21 is parallel to the user's front-back axis. Thus, the control unit 40 executes the first guide process assuming that each reference axis is parallel to each of the user's axes. The control unit 40 also stores the orientation of the handle 20 when the first guide process starts as the initial orientation. Furthermore, the control unit 40 stores the position of the brush 32 when the first guide process starts as the initial position.

[0038] In the first guide process, the control unit 40 changes over time the target attitude of the handle 20 and the target position of the brush 32. Below, an example will be described in which the electric toothbrush 10 guides the brushing action from the front surfaces of the front teeth to the front surfaces of the left molars.

[0039] When the control unit 40 starts the first guide process, the control unit 40 sets the first target attitude of the housing 21 as the initial attitude and the first target position of the brush 32 as the initial position for a certain period of time. The certain period of time is, for example, several seconds to several tens of seconds. Next, the control unit 40 changes the target attitude of the handle 20 to a second target attitude. Specifically, the second target attitude is an attitude in which the brush 32 rotates around the second reference axis Y from the first target attitude so as to face the third positive direction Z1. The rotation angle around the second reference axis Y at this time is several degrees to several tens of degrees. Note that the second reference axis Y of the housing 21 in the second target attitude is parallel to the second reference axis Y of the housing 21 in the first target attitude. At the same time, the control unit 40 changes the target position of the brush 32 to a second target position. Specifically, the second target position is a position obtained by moving 1 cm in the first positive direction X1 and 1 cm in the third positive direction Z1 from the first target position. Then, the control unit 40 maintains the second target attitude and the second target position for a certain period of time.

[0040] Thereafter, the control unit 40 changes the target attitude of the handle 20 to a third target attitude. The manner of change from the second target attitude to the third target attitude is the same as the manner of change from the first target attitude to the second target attitude. At the same time, the control unit 40 changes the target position of the brush 32 to a third target position. The manner of change from the second target position to the third target position is the same as the manner of change from the first target position to the second target position. The control unit 40 maintains the third target attitude and the third target position for a certain period of time.

[0041] Furthermore, the control unit 40 changes the target attitude of the handle 20 to a fourth target attitude. The manner of change from the third target attitude to the fourth target attitude is the same as the manner of change from the first target attitude to the second target attitude. At the same time, the control unit 40 changes the target position of the brush 32 to a fourth target position. The manner of change from the third target position to the fourth target position is the same as the manner of change from the first target position to the second target position. The control unit 40 maintains the fourth target attitude and the fourth target position for a certain period of time. Thereafter, the control unit 40 ends the first guide process series.

[0042] During the above-mentioned first guide processing, the control unit 40 controls the first to fourth directions and the strength of the first to fourth force senses according to the attitude of the handle 20 and the position of the brush 32 detected by the acceleration sensor 71.

[0043] Specifically, the control unit 40 compares the attitude of the handle 20 detected by the acceleration sensor 71 with the target attitude at that time. If the attitude of the handle 20 detected by the acceleration sensor 71 does not match the target attitude at that time, the control unit 40 generates the first to fourth force senses. The control unit 40 guides the attitude in the direction of the first reference axis X, the direction of the second reference axis Y, and the direction of the third reference axis Z, in that order.

[0044] When the first reference axis X in the attitude of the handle 20 detected by the acceleration sensor 71 is inclined with respect to the first reference axis X in the target attitude, the control unit 40 generates a force sensation as if the handle 20 is rotating in the direction opposite to the inclination. Specifically, as shown in FIG. 3 , it is assumed that the first reference axis X is inclined with respect to the target attitude so that the brush 32 is located in the third negative direction Z2. In this case, the control unit 40 defines the first direction, which is the direction of the first force sensation generated by the first vibrator 61, as the third positive direction Z1, and the third direction, which is the direction of the third force sensation generated by the third vibrator 63, as the third positive direction Z1. Furthermore, the control unit 40 defines the second direction, which is the direction of the second force sensation generated by the second vibrator 62, as the third negative direction Z2, and the fourth direction, which is the direction of the fourth force sensation generated by the fourth vibrator 64, as the third negative direction Z2. As a result, the user feels a force sensation as if the handle 20 is rotating counterclockwise around the second reference axis Y in FIG.

[0045] On the other hand, suppose that the first reference axis X in the attitude of the handlebar 20 detected by the acceleration sensor 71 is tilted in the opposite direction to the above example with respect to the first reference axis X in the target attitude. In this case, the control unit 40 controls the direction of each of the haptics of the first vibrating body 61 to the fourth vibrating body 64 in the opposite direction to the above example. Furthermore, the control unit 40 increases the strength of the first to fourth haptics as the tilt angle of the first reference axis X in the attitude of the handlebar 20 detected by the acceleration sensor 71 with respect to the first reference axis X in the target attitude increases. Note that the control unit 40 controls the first to fourth vibrating bodies 61 to 64 so that the magnitudes of the first to fourth haptics are equal to each other.

[0046] When the second reference axis Y in the attitude of the handle 20 detected by the acceleration sensor 71 is inclined with respect to the second reference axis Y in the target attitude, the control unit 40 generates a force sensation as if the handle 20 is rotating in the direction opposite to the inclination. Specifically, it is assumed that the second reference axis Y is inclined with respect to the target attitude so that the brush 32 is located in the second positive direction Y1. In this case, the control unit 40 defines the first direction, which is the direction of the first force generated by the first vibrator 61, as the second negative direction Y2, and the third direction, which is the direction of the third force generated by the third vibrator 63, as the second negative direction Y2. Furthermore, the control unit 40 defines the second direction, which is the direction of the second force generated by the second vibrator 62, as the second positive direction Y1, and the fourth direction, which is the direction of the fourth force generated by the fourth vibrator 64, as the second positive direction Y1. This allows the user to feel a force sensation as if the handle 20 is rotating about the third reference axis Z.

[0047] On the other hand, suppose that the second reference axis Y in the attitude of the handlebar 20 detected by the acceleration sensor 71 is tilted in the opposite direction to the above example with respect to the second reference axis Y in the target attitude. In this case, the control unit 40 controls the direction of each of the haptics of the first vibrating body 61 to the fourth vibrating body 64 in the opposite direction to the above example. Furthermore, the control unit 40 increases the strength of the first to fourth haptics as the tilt angle of the second reference axis Y in the attitude of the handlebar 20 detected by the acceleration sensor 71 increases with respect to the second reference axis Y in the target attitude. Note that the control unit 40 controls the first to fourth vibrating bodies 61 to 64 so that the magnitudes of the first to fourth haptics are equal to each other.

[0048] When the third reference axis Z in the attitude of the handle 20 detected by the acceleration sensor 71 is inclined with respect to the third reference axis Z in the target attitude, the control unit 40 generates a force sensation as if the handle 20 is rotating in the direction opposite to the inclination. Specifically, as shown in FIG. 4 , it is assumed that the third reference axis Z is inclined with respect to the target attitude so that the bristles of the brush 32 face in the direction opposite to the direction of gravity. In this case, the control unit 40 defines the first direction, which is the direction of the first force generated by the first vibrator 61, as the third negative direction Z2, and the second direction, which is the direction of the second force generated by the second vibrator 62, as the third negative direction Z2. Furthermore, the control unit 40 defines the third direction, which is the direction of the third force generated by the third vibrator 63, as the third positive direction Z1, and the fourth direction, which is the direction of the fourth force generated by the fourth vibrator 64, as the third positive direction Z1. As a result, the user feels a force sensation as if the handle 20 is rotating clockwise around the first reference axis X in FIG.

[0049] On the other hand, suppose that the third reference axis Z in the attitude of the handlebar 20 detected by the acceleration sensor 71 is tilted in the opposite direction to the above example with respect to the third reference axis Z in the target attitude. In this case, the control unit 40 controls the direction of each of the haptics of the first vibrating body 61 to the fourth vibrating body 64 in the opposite direction to the above example. Furthermore, the control unit 40 increases the strength of the first to fourth haptics as the tilt angle of the third reference axis Z in the attitude of the handlebar 20 detected by the acceleration sensor 71 with respect to the third reference axis Z in the target attitude increases. Note that the control unit 40 controls the first to fourth vibrating bodies 61 to 64 so that the magnitudes of the first to fourth haptics are equal to each other.

[0050] When the attitude of the handle 20 matches the target attitude at that time, the control unit 40 compares the position of the brush 32 detected by the acceleration sensor 71 with the target position at that time. If the position of the brush 32 detected by the acceleration sensor 71 does not match the target position at that time, the control unit 40 generates first to fourth force senses. The control unit 40 guides the position in the direction along the first reference axis X, the position in the direction along the second reference axis Y, and the position in the direction along the third reference axis Z, in that order.

[0051] Furthermore, during the first guide process, assume that the attitude of the handle 20 coincides with the target attitude at that time, and the position of the brush 32 coincides with the target position at that time. At this time, the control unit 40 controls the first to fourth directions and the intensities of the first to fourth haptics according to the pressure received by the head 30. The control unit 40 stores a predetermined pressure range for the pressure received by the head 30. When the pressure received by the head 30 in the third negative direction Z2 falls outside the pressure range, the control unit 40 controls the first to fourth directions and the intensities of the first to fourth haptics so as to return the pressure received by the head 30 to the pressure range. Note that the pressure range is defined as a range that ensures appropriate contact of the brush 32 with the teeth when brushing teeth.

[0052] Specifically, as shown in FIG. 5, when the pressure received by the head 30 exceeds the upper limit of the pressure range, the control unit 40 sets all of the first to fourth directions to the third negative direction Z2. At this time, the control unit 40 increases the strength of the first to fourth force senses the greater the difference between the pressure received by the head 30 and the upper limit of the pressure range. On the other hand, when the pressure received by the head 30 is below the lower limit of the pressure range, the control unit 40 sets all of the first to fourth directions to the third positive direction Z1. At this time, the control unit 40 increases the strength of the first to fourth force senses the greater the difference between the pressure received by the head 30 and the lower limit of the pressure range.

[0053] (Second Guy Do-sho (About the theory) For example, when the switch 22 is pressed twice while the driver 50 is driven, the control unit 40 starts the second guide process. Unlike the first guide process, the control unit 40 changes the first to fourth directions in a predetermined order in the second guide process. Hereinafter, as with the first guide process, an example will be described in which the brushing action is guided from the front surfaces of the front teeth to the front surfaces of the left molars. As with the first guide process, the control unit 40 assumes that the first reference axis X of the housing 21 is parallel to the user's left-right axis when starting the second guide process. Furthermore, the control unit 40 assumes that the second reference axis Y of the housing 21 is parallel to the user's up-down axis when starting the second guide process. The control unit 40 assumes that the third reference axis Z of the housing 21 is parallel to the user's front-back axis when starting the second guide process. In this way, the control unit 40 executes the second guide process assuming that each reference axis is parallel to each axis of the user.

[0054] Although not shown, the control unit 40 has a storage unit, which is a non-volatile memory. The storage unit stores the order in which the position of the brush 32 is changed during the second guide process. This order is determined in advance through testing, simulation, etc., as the preferred order for brushing teeth, for example, from the front surfaces of the front teeth to the front surfaces of the molars on the left side.

[0055] In the second guide process, the control unit 40 first does not generate the first to fourth force senses for a certain period of time. The certain period of time is, for example, several seconds to several tens of seconds. Next, after the certain period of time has elapsed, the control unit 40 generates the first to fourth force senses for only a first predetermined period as follows. The control unit 40 defines the first direction, which is the direction of the first force sense generated by the first vibrating body 61, as the third positive direction Z1, and the third direction, which is the direction of the third force sense generated by the third vibrating body 63, as the third positive direction Z1. Furthermore, the control unit 40 defines the second direction, which is the direction of the second force sense generated by the second vibrating body 62, as the third negative direction Z2, and the fourth direction, which is the direction of the fourth force sense generated by the fourth vibrating body 64, as the third negative direction Z2. This allows the user to feel a force sense as if the handle 20 is rotating around the second reference axis Y. The first predetermined period is set in advance as a period during which the user operates the handle 20 to rotate the attitude of the handle 20 from the first target attitude to the second target attitude by the first to fourth force senses.

[0056] Next, after the first predetermined period has elapsed, the control unit 40 sets the first direction to the fourth direction as the first positive direction X1 for only a second predetermined period. This causes the user to feel a force sense as if the handle 20 is moving straight in the first positive direction X1. The second predetermined period is set in advance as a period during which the user operates the handle 20 to move the position from the first target position to the second target position using the first to fourth force senses.

[0057] Next, after a second predetermined period has elapsed, the control unit 40 does not generate the first to fourth force senses for a certain period of time. Next, after a certain period has elapsed, the control unit 40 generates the first to fourth force senses for a third predetermined period as follows. The control unit 40 defines the first direction, which is the direction of the first force sense generated by the first vibrating body 61, as the third positive direction Z1, and the third direction, which is the direction of the third force sense generated by the third vibrating body 63, as the third positive direction Z1. Furthermore, the control unit 40 defines the second direction, which is the direction of the second force sense generated by the second vibrating body 62, as the third negative direction Z2, and the fourth direction, which is the direction of the fourth force sense generated by the fourth vibrating body 64, as the third negative direction Z2. This causes the user to feel a force sense as if the handle 20 is rotating around the second reference axis Y. The third predetermined period is set in advance as a period during which the user operates the handle 20 to rotate the attitude of the handle 20 from the second target attitude to the third target attitude by the first to fourth force senses.

[0058] Next, after the third predetermined period has elapsed, the control unit 40 sets the first direction to the fourth direction as the first positive direction X1 for only a fourth predetermined period. As a result, the user feels a force sense as if the handle 20 is moving straight in the first positive direction X1. The fourth predetermined period is set in advance as a period during which the user operates the handle 20 to move the position from the second target position to the third target position using the first force sense to the fourth force sense.

[0059] Next, after a fourth predetermined period has elapsed, the control unit 40 does not generate the first to fourth force senses for a certain period of time. Next, after a certain period has elapsed, the control unit 40 generates the first to fourth force senses for a fifth predetermined period as follows. The control unit 40 defines the first direction, which is the direction of the first force sense generated by the first vibrating body 61, as the third positive direction Z1, and the third direction, which is the direction of the third force sense generated by the third vibrating body 63, as the third positive direction Z1. Furthermore, the control unit 40 defines the second direction, which is the direction of the second force sense generated by the second vibrating body 62, as the third negative direction Z2, and the fourth direction, which is the direction of the fourth force sense generated by the fourth vibrating body 64, as the third negative direction Z2. This causes the user to feel a force sense as if the handle 20 is rotating around the second reference axis Y. The fifth predetermined period is set in advance as a period during which the user operates the handle 20 to rotate the attitude of the handle 20 from the third target attitude to the fourth target attitude by the first to fourth force senses.

[0060] Next, after a fifth predetermined period has elapsed, the control unit 40 sets the first direction to the fourth direction as the first positive direction X1 for only a sixth predetermined period. As a result, the user feels a force sense as if the handle 20 is moving straight in the first positive direction X1. The sixth predetermined period is set in advance as a period during which the user operates the handle 20 to move the position from the third target position to the fourth target position using the first force sense to the fourth force sense.

[0061] Next, after the fourth predetermined period has elapsed, the control unit 40 does not generate the first to fourth force senses for a certain period of time, and then ends the second guide process. (Operation of this embodiment) When the first guide process of the above embodiment is executed, if the user changes the attitude of the handle 20 in accordance with the predetermined changes in the first to fourth target attitudes, the user will not receive any force sensation related to the attitude from the electric toothbrush 10. On the other hand, if the user's operation of the handle 20 cannot keep up with the first to fourth target attitudes that change over time, the electric toothbrush 10 will provide a force sensation to align the handle 20 with each target attitude.

[0062] Similarly, if the user changes the posture of brush 32 in accordance with the changes in the predetermined first to fourth target positions, the user will not receive a force sense related to the position from electric toothbrush 10. On the other hand, if the user's operation of handle 20 cannot keep up with the first to fourth target positions that change over time, electric toothbrush 10 will provide a force sense to align the brush 32 with each target position.

[0063] When the second guide process of the above embodiment is executed, the user receives a force sense in a predetermined direction from the electric toothbrush 10. The direction of the force sense from the electric toothbrush 10 changes in a predetermined order. Therefore, if the user adjusts the attitude of the handle 20 and the position of the brush 32 according to the direction of the force sense being presented, the preset operation of the electric toothbrush 10 can be reproduced.

[0064] (Effects of this embodiment) (1) According to the above embodiment, in the first guide process, the control unit 40 controls the first to fourth directions in accordance with the attitude of the handle 20 detected by the acceleration sensor 71 serving as an attitude sensor. Therefore, the first guide process can provide the user with a force sense that guides the handle 20 to a preferred attitude. In other words, the electric toothbrush 10 can guide the user in a preferred way of moving the electric toothbrush 10.

[0065] (2) According to the above embodiment, in the first guide process, the control unit 40 controls the strength of each of the first to fourth force senses in accordance with the attitude of the handlebar 20 detected by the acceleration sensor 71 as an attitude sensor. Therefore, in the first guide process, the strength of the force sense can be adjusted to guide the user to change the attitude of the handlebar 20 to a desirable attitude. Therefore, the more undesirable the attitude of the handlebar 20 the user operates, the stronger the force sense can be to guide the user to a desirable movement.

[0066] (3) According to the above embodiment, in the first guide process, the control unit 40 controls the first to fourth directions in accordance with the position of the brush 32 detected by the acceleration sensor 71 serving as a position sensor. Therefore, the first guide process can provide the user with a force sense that guides the brush 32 to a preferred position. In other words, the electric toothbrush 10 can guide the user in a preferred way to move the electric toothbrush 10.

[0067] (4) According to the above embodiment, in the first guide process, the control unit 40 controls the strength of each of the first to fourth force senses in accordance with the position of the brush 32 detected by the acceleration sensor 71 as a position sensor. Therefore, in the first guide process, the strength of the force sense can be adjusted to guide the user to move the brush 32 to a preferred position. Therefore, the more the user operates the brush 32 in an undesirable position, the stronger the force sense can be to guide the user to move the brush 32 in a preferred manner.

[0068] (5) The desired posture of the electric toothbrush 10 may differ depending on whether the teeth being brushed are on the front teeth side or the back teeth side. According to the above embodiment, the control unit 40 changes the target posture of the handle 20 and the target position of the brush 32 over time. This allows the target posture of the handle 20 to be guided to a posture that corresponds to the position of the teeth being brushed.

[0069] (6) According to the above embodiment, the control unit 40 can control the vibration patterns of the vibrators in the guide process so that the first to fourth directions are all in the same direction. Therefore, in this guide process, the user can be given a sense of force that urges the handle 20 to move straight. This can guide the user to a situation where they should move the electric toothbrush 10 in a straight line.

[0070] (7) According to the above embodiment, the control unit 40 can control the guide process so that the second direction is opposite to the first direction. At this time, the control unit 40 can control the guide process so that the imaginary line extending from the first vibrating body 61 toward the first direction and the imaginary line extending from the second vibrating body 62 toward the second direction are not aligned on the same line. Therefore, in this guide process, the user can be given a sense of force that makes the handle 20 rotate. This can guide the user to a situation where the electric toothbrush 10 should be moved in a rotating manner.

[0071] (8) According to the above embodiment, in the second guide process, the control unit 40 controls the first to fourth directions by changing them in a predetermined order. This guide process can provide the user with a force sense that reproduces a desired change in the attitude of the handle 20. In other words, the user can reproduce a desired way of moving the electric toothbrush 10 by changing the attitude of the handle 20 in accordance with the force sense provided by the electric toothbrush 10.

[0072] <Other embodiments> above Note The embodiment can be modified as follows: The above embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0073] The shape of the housing 21 of the handle 20 may be changed as appropriate. For example, a portion may be recessed to make it easier to grip with the user's fingers, or the dimension along the third reference axis Z may be greater than the dimension along the second reference axis Y.

[0074] The shape of the brush 32 may be changed as needed. For example, the brush 32 may be configured so that multiple bristles extend from the head body 31 not only in the third positive direction Z1 but also in the third negative direction Z2, the second positive direction Y1, and the second negative direction Y2.

[0075] The driver 50 is not limited to a device that drives the brush 32 by vibrating the head main body 31, but may also directly drive the brush 32. The driver 50 may also be located in the head main body 31.

[0076] In the above embodiments, the control unit 40 is not limited to a unit equipped with a CPU and a ROM and executing software processing. For example, the control unit 40 may be equipped with a dedicated hardware circuit (e.g., ASIC) that performs hardware processing on at least a portion of the software processing performed in the above embodiments. That is, the control unit 40 may have any of the following configurations (a) to (c): (a) A processing unit that executes all of the above processing according to a program, and a program storage unit such as a ROM that stores the program; (b) A processing unit and program storage unit that executes part of the above processing according to a program, and a dedicated hardware circuit that executes the remaining processing; or (c) A dedicated hardware circuit that executes all of the above processing. Here, there may be multiple software execution units equipped with a processing unit and a program storage unit, or multiple dedicated hardware circuits. Furthermore, the storage unit of the control unit 40 may be a ROM that stores programs executed by the CPU, or may be provided separately from the ROM.

[0077] The control unit 40 only needs to be able to execute one or more guide processes selected from the first guide process and the second guide process. In other words, the control unit 40 does not need to be able to execute the first guide process or the second guide process.

[0078] The control unit 40 does not have to control all of the first to fourth directions in the guide process. The control unit 40 only needs to control one or more directions selected from the first to fourth directions in the guide process.

[0079] In the above embodiment, the first guide process is described as guiding the brushing action from the front surfaces of the front teeth to the front surfaces of the left molars, but this is merely an example. Any action can be guided, such as brushing from the front surfaces of the molars to the front surfaces of the front teeth, or brushing the back surfaces of the teeth. As long as the target position and change of the handle 20 and the target position and change of the brush 32 can be determined in advance, various actions can be guided.

[0080] In the first guide process, the control unit 40 may control the first to fourth directions according to the attitude of the handle 20 or the position of the brush 32. For example, the control unit 40 does not have to control the first to fourth directions according to the position of the brush 32. In other words, in the first guide process, the control unit 40 may only perform control to align the attitude of the handle 20 with the target attitude. In this case, the control unit 40 does not have to calculate the position of the brush 32. Also, for example, the control unit 40 does not have to control the first to fourth directions according to the attitude of the handle 20. In other words, in the first guide process, the control unit 40 may only perform control to align the position of the brush 32 with the target position. In this case, the control unit 40 does not have to detect the attitude of the handle 20.

[0081] The control unit 40 does not have to control the intensities of the first to fourth force senses according to the attitude of the handle 20. For example, the control unit 40 may control the intensities of the first to fourth force senses to be constant regardless of the magnitude of the difference between the attitude of the handle 20 and the target attitude.

[0082] In the first guide process, the control unit 40 may provide the user with a force sense that rotates the handle 20 through the first and second force senses, and simultaneously provide the user with a force sense that moves the handle 20 in a straight line through the third and fourth force senses. Specifically, the control unit 40 defines the first direction, which is the direction of the first force sense generated by the first vibrator 61, as the third positive direction Z1, and the second direction, which is the direction of the second force sense generated by the second vibrator 62, as the third negative direction Z2. At the same time, the control unit 40 defines the third direction, which is the direction of the third force sense generated by the third vibrator 63, and the fourth direction, which is the direction of the fourth force sense generated by the fourth vibrator 64, as the first positive direction X1, which is different from both the first and second directions. In this case, the user feels a force sense that the handle 20 is moving in a straight line in the first positive direction X1 while rotating around the second reference axis Y. In this modified example, the control unit 40 can simultaneously execute the process of making the attitude of the handle 20 coincide with the target attitude and the process of making the position of the brush 32 coincide with the target position.

[0083] The control unit 40 may always maintain the same target posture during the first guide process. Similarly, the control unit 40 may always maintain the same target position during the first guide process. For example, the control unit 40 may keep the target posture of the handle 20 at the initial posture and the target position of the brush 32 at the initial position during the first guide process. In this case, the brush 32 can be brushed intensively on the teeth that it is in contact with at the start of the first guide process.

[0084] The control unit 40 may have a mode for storing the order of the first to fourth directions to be presented in the second guide process. For example, in this case, first, while the control unit 40 is executing the mode for storing the order of the first to fourth directions, the user operates the handle 20 in a preferred manner that the user wants the control unit 40 to store. Next, the control unit 40 stores, in the memory unit, time-series data on the attitude of the handle 20 and the position of the brush 32 during that period in order. Then, in the second guide process, the control unit 40 changes the order of the first to fourth directions so as to reproduce the stored time-series data on the attitude of the handle 20 and the position of the brush 32.

[0085] The configuration of each vibrator is not limited to that of the above embodiment. For example, the first vibrator 61 may be one that uses vibration from a motor or one that has a piezoelectric element. Furthermore, it is not necessary to generate force sensations in all directions along the three reference axes. For example, the first direction may be controllable only in the direction along the first reference axis X, the second direction may be controllable only in the direction along the second reference axis Y, and the third direction may be controllable only in the direction along the third reference axis Z.

[0086] The third vibrating body 63 and the fourth vibrating body 64 may be omitted. The number of vibrating bodies provided in the electric toothbrush 10 needs to be at least two, and may be three, or five or more.

[0087] The positions of the vibrators are not limited to those in the above embodiment. For example, the fourth vibrator 64 may be positioned so as to coincide with the center of gravity G, and may not be positioned on the imaginary plane on which the first to third vibrators 61 to 63 are located.

[0088] The pressure sensor 72 may be omitted. In this case, the control unit 40 may omit controlling the first to fourth vibrators 61 to 64 in accordance with the pressure received by the head 30 in the first guide process.

[0089] The position sensor is not limited to the acceleration sensor 71. Any sensor capable of detecting the position of the brush 32 may be used. For example, the position of the brush 32 may be detected based on an image captured by a video camera. In this case, the video camera functions as the position sensor.

[0090] Similarly, the attitude sensor is not limited to the acceleration sensor 71. As in the above modification, the attitude of the handlebar 20 may be detected based on an image captured by a video camera. In this case, the video camera functions as the attitude sensor.

[0091] Alternatively, two transmitting sensors and a receiving sensor may be used as the position sensor and the attitude sensor. In this case, for example, by acquiring time-series data on the transmission positions of the two transmitting sensors, the control unit 40 can detect the attitude of the handle 20 and the position of the brush 32 from changes in the transmission positions of the two transmitting sensors.

[0092] The electric toothbrush 10 may further include a camera that can detect dirt adhering to the teeth. In this case, the control unit 40 may perform the first guide process using the position of the tooth dirt detected by the camera as a target position. [Explanation of symbols]

[0093] 10. Electric toothbrush 20...Handle 30...head 32...Brush 40...Control unit 50...Driver 61...First vibrating body 62...Second vibrator 63...Third vibrator 64...Fourth vibrator 71...Acceleration sensor 72...Pressure sensor

Claims

1. a handle that can be grasped by a user's fingers; a first vibrator located inside the handle; a second vibrator located inside the handle; a third vibrator located inside the handle; a fourth vibrator located inside the handle; a head connected to the handle and having a brush; a driver that drives the brush; a control unit capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrator, capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrator, capable of generating a third force sense in a third direction by controlling the vibration pattern of the third vibrator, and capable of generating a fourth force sense in a fourth direction by controlling the vibration pattern of the fourth vibrator; a posture sensor that detects the posture of the handle, An axis passing through the center of gravity of the housing of the handle and along the extension direction of the housing is defined as a first reference axis, An axis that passes through the center of gravity and is perpendicular to the first reference axis is defined as a second reference axis, an axis that passes through the center of gravity and is perpendicular to the first reference axis and the second reference axis is defined as a third reference axis; one of the directions along the first reference axis is defined as a first positive direction; a direction along the first reference axis opposite to the first positive direction is defined as a first negative direction; one of the directions along the second reference axis is defined as a second positive direction; a direction along the second reference axis opposite to the second positive direction is defined as a second negative direction; one of the directions along the third reference axis is defined as a third positive direction; When a direction along the third reference axis opposite to the third positive direction is defined as a third negative direction, the first vibrating body is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first positive direction side and the second positive direction side when viewed from the center of gravity, the second vibrating body is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first negative direction side and the second positive direction side when viewed from the center of gravity, the third vibrating body is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first positive direction side and the second negative direction side when viewed from the center of gravity, the fourth vibrator is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first negative direction side and the second negative direction side when viewed from the center of gravity, each of the first vibrating body, the second vibrating body, the third vibrating body, and the fourth vibrating body is capable of vibrating in at least one of a direction along the first reference axis, a direction along the second reference axis, and a direction along the third reference axis; The control unit executes a guide process to control one or more selected from a vibration pattern of the first vibrator, a vibration pattern of the second vibrator, a vibration pattern of the third vibrator, and a vibration pattern of the fourth vibrator so as to generate one or more selected from the first force sense in the first direction, the second force sense in the second direction, the third force sense in the third direction, and the fourth force sense in the fourth direction, according to the attitude of the steering wheel detected by the attitude sensor. Electric toothbrush.

2. In the guide process, the control unit controls one or more selected from the strength of the first force sense and the strength of the second force sense according to the attitude of the handle detected by the attitude sensor. The electric toothbrush of claim 1.

3. a handle that can be grasped by a user's fingers; a first vibrator located inside the handle; a second vibrator located inside the handle; a third vibrator located inside the handle; a fourth vibrator located inside the handle; a head connected to the handle and having a brush; a driver that drives the brush; a control unit capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrator, capable of generating a second force sense in a second direction by controlling the vibration pattern of the second vibrator, capable of generating a third force sense in a third direction by controlling the vibration pattern of the third vibrator, and capable of generating a fourth force sense in a fourth direction by controlling the vibration pattern of the fourth vibrator; a position sensor for detecting the position of the brush; An axis passing through the center of gravity of the housing of the handle and along the extension direction of the housing is defined as a first reference axis, An axis that passes through the center of gravity and is perpendicular to the first reference axis is defined as a second reference axis, an axis that passes through the center of gravity and is perpendicular to the first reference axis and the second reference axis is defined as a third reference axis; one of the directions along the first reference axis is defined as a first positive direction; a direction along the first reference axis opposite to the first positive direction is defined as a first negative direction; one of the directions along the second reference axis is defined as a second positive direction; a direction along the second reference axis opposite to the second positive direction is defined as a second negative direction; one of the directions along the third reference axis is defined as a third positive direction; When a direction along the third reference axis opposite to the third positive direction is defined as a third negative direction, the first vibrating body is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first positive direction side and the second positive direction side when viewed from the center of gravity, the second vibrating body is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first negative direction side and the second positive direction side when viewed from the center of gravity, the third vibrating body is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first positive direction side and the second negative direction side when viewed from the center of gravity, the fourth vibrator is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first negative direction side and the second negative direction side when viewed from the center of gravity, each of the first vibrating body, the second vibrating body, the third vibrating body, and the fourth vibrating body is capable of vibrating in at least one of a direction along the first reference axis, a direction along the second reference axis, and a direction along the third reference axis; The control unit executes a guide process to control one or more selected from a vibration pattern of the first vibrator, a vibration pattern of the second vibrator, a vibration pattern of the third vibrator, and a vibration pattern of the fourth vibrator so as to generate one or more selected from the first force sense in the first direction, the second force sense in the second direction, the third force sense in the third direction, and the fourth force sense in the fourth direction, according to the position of the brush detected by the position sensor. Electric toothbrush.

4. Further, a position sensor is provided to detect the position of the brush. The control unit controls one or more selected from a vibration pattern of the first vibrator, a vibration pattern of the second vibrator, a vibration pattern of the third vibrator, and a vibration pattern of the fourth vibrator so as to generate one or more selected from the first force sense in the first direction, the second force sense in the second direction, the third force sense in the third direction, and the fourth force sense in the fourth direction, in accordance with the position of the brush detected by the position sensor, in the guide process. The electric toothbrush of claim 1.

5. The control unit controls one or more selected from the strength of the first force sense and the strength of the second force sense in accordance with the position of the brush detected by the position sensor in the guide process. The electric toothbrush according to claim 3 or 4.

6. The control unit is capable of controlling the vibration pattern of the first vibrator and the vibration pattern of the second vibrator so that the second direction is the same as the first direction in the guide process. The electric toothbrush according to claim 1 or 3.

7. The control unit is capable of controlling, in the guide process, the vibration pattern of the first vibrator and the vibration pattern of the second vibrator so that the second direction is opposite to the first direction 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 line. The electric toothbrush according to claim 1 or 3.

8. a handle that can be grasped by a user's fingers; a first vibrator located inside the handle; a second vibrator located inside the handle; a third vibrator located inside the handle; a fourth vibrator located inside the handle; a head connected to the handle and having a brush; a driver that drives the brush; a control unit capable of generating a first force sense in a first direction by controlling the vibration pattern of the first vibrator, generating a second force sense in a second direction by controlling the vibration pattern of the second vibrator, generating a third force sense in a third direction by controlling the vibration pattern of the third vibrator, and generating a fourth force sense in a fourth direction by controlling the vibration pattern of the fourth vibrator, An axis passing through the center of gravity of the housing of the handle and along the extension direction of the housing is defined as a first reference axis, An axis that passes through the center of gravity and is perpendicular to the first reference axis is defined as a second reference axis, an axis that passes through the center of gravity and is perpendicular to the first reference axis and the second reference axis is defined as a third reference axis; one of the directions along the first reference axis is defined as a first positive direction; a direction along the first reference axis opposite to the first positive direction is defined as a first negative direction; one of the directions along the second reference axis is defined as a second positive direction; a direction along the second reference axis opposite to the second positive direction is defined as a second negative direction; one of the directions along the third reference axis is defined as a third positive direction; When a direction along the third reference axis opposite to the third positive direction is defined as a third negative direction, the first vibrating body is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first positive direction side and the second positive direction side when viewed from the center of gravity, the second vibrating body is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first negative direction side and the second positive direction side when viewed from the center of gravity, the third vibrating body is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first positive direction side and the second negative direction side when viewed from the center of gravity, the fourth vibrator is located on an imaginary plane on which the first reference axis and the second reference axis exist, and is located on the first negative direction side and the second negative direction side when viewed from the center of gravity, each of the first vibrating body, the second vibrating body, the third vibrating body, and the fourth vibrating body is capable of vibrating in at least one of a direction along the first reference axis, a direction along the second reference axis, and a direction along the third reference axis; the control unit includes a storage unit configured to store a predetermined order of change for one or more selected from the first direction of the first force, the second direction of the second force, the third direction of the third force, and the fourth direction of the fourth force; The control unit executes a guide process to control one or more selected from a vibration pattern of the first vibrator, a vibration pattern of the second vibrator, a vibration pattern of the third vibrator, and a vibration pattern of the fourth vibrator so as to change one or more selected from the first direction of the first force, the second direction of the second force, the third direction of the third force, and the fourth direction of the fourth force in the order. Electric toothbrush.

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