tactile presentation device

Abstract

To provide a haptic sensation expected by a content creator regardless of individual differences, in using specific content on a haptic feedback device.SOLUTION: A haptic feedback device includes a haptic output apparatus 11 having a haptic output device 14, and a haptic control unit 21 which controls components including the haptic output device 14. The haptic feedback device uses the haptic output apparatus 11 that executes: contact position comparison means which calculates a contact position comparison value by comparing a contact position parameter belonging to a user with a reference value of a contact position parameter stored in advance; signal value calculation means which calculates a haptic signal based at least on base haptic data and the contact position comparison value; and haptic feedback means which causes the haptic output device to present a haptic sensation based on the calculated haptic signal.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to control for appropriately adjusting a tactile presentation device depending on the situation. [Background technology]

[0002] Various types of tactile presentation devices have been proposed that allow users to experience tactile effects in conjunction with content. Active tactile effects, such as vibration, pressure, wind, humidity, and heat, that can be felt even when the user is stationary, have already been provided in conjunction with video content such as movies. Furthermore, for interface devices that respond to human movements, passive tactile effects that can be felt in response to the user's movements, such as the resistance felt when holding something in the hand, such as hardness or softness, have been considered.

[0003] For these tactile presentation devices, it is important to adjust not only the on / off timing but also the intensity. If the intensity is not appropriate for the content, the user will only experience an uncomfortable feeling. Furthermore, even tactile presentation devices of the same standard have subtle individual differences, and even if the same electrical signal is sent ignoring these individual differences, the human keen sense of touch can detect even the slightest difference, which can cause an uncomfortable feeling. In response to this, Patent Document 1 proposes a system that adjusts the intensity using feedback from a sensor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-29563 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the adjustment system described in Patent Document 1 could not correct for differences in tactile sensations due to the size of individual body parts of the user, and basically performed the same movements regardless of the user's body size. As a result, it was not possible to respond to individual differences such as changes in the applied force due to misalignment of the contact points, and the sensations varied depending on the user, making it impossible to fully adapt the optimal tactile sensation envisioned by the content provider.

[0006] Therefore, the object of this invention is to provide the tactile sensations envisioned by the content creators when using specific content with a tactile presentation device, regardless of the size of each user's body part. [Means for solving the problem]

[0007] This invention is a haptic output apparatus having a haptic output device; a haptic control unit that controls components including the haptic output device; and a contact position comparison value calculation means for calculating a contact position comparison value by comparing a contact position parameter relating to a contact position operated by a user by touching the haptic output device with a pre-stored reference value of the contact position parameter; a signal value calculation means for calculating a haptic signal based on at least the base haptic data and the contact position comparison value; a haptic presentation means for causing the haptic output device to present a haptic sensation based on the calculated haptic signal; The above problem was solved by a tactile presentation device that performs the above.

[0008] When measuring and utilizing the force applied to the haptic output device constituting this invention, a contact position comparison value is calculated by comparing a contact position parameter relating to the contact position where the user touches and operates the haptic output device with a pre-stored reference value of the contact position parameter. The haptic sensation varies depending on the contact position between the user and the haptic output device, but this contact position varies from person to person because it is affected by the size and length of the user's body parts, such as fingers, arms, feet, and legs, and the way the haptic output device is held. For devices that present haptic sensations, the amount of current or voltage required to obtain a desired output is specified, and a haptic signal is calculated to obtain an appropriate amount of current or voltage. When calculating the haptic signal, the output is corrected based on the comparison value. Presenting a haptic sensation based on this corrected haptic signal reduces discomfort caused by individual differences in the position at which the user holds the haptic output device, providing a more appropriately adjusted bodily sensation.

[0009] The haptic output device according to the present invention includes a force sensor for measuring a force, a force measuring means for measuring a force generated in the haptic output device under predetermined conditions; a comparison value calculation means for calculating a force comparison value by comparing the generated force with a reference force that is assumed to be applied to the haptic output device under the predetermined conditions and that is stored in advance; An embodiment can be adopted in which the signal value calculation means calculates the haptic signal based on the force comparison value in addition to the contact position comparison value. Haptic output devices are prone to subtle errors in the force generated due to inherent characteristics such as electrical resistance and dimensional errors in internal circuits, as well as the operating environment, such as room temperature and atmospheric pressure. These errors can be further reduced by correcting the output based on a comparison value between the expected force and the actually generated force.

[0010] The tactile presentation device according to the present invention further comprises: a rotation device for varying the torque required for rotation; and a user contact portion connected to the rotation device and including the contact position; the force sensor is disposed on the user contact portion; In an embodiment, the pre-stored reference value of the contact position parameter is set based on the distance between a predetermined position of the haptic output device and the force sensor. The predetermined position of the haptic output device can be the fulcrum of the rotation device, the end of the user contact part, or the like.

[0011] Furthermore, the tactile presentation device according to the present invention comprises: a control device that retrieves the base haptic data from an internal storage unit that records the base haptic data or from an external server that records the base haptic data; the control device executes a transmitting means for transmitting to the tactile presentation device; the haptic control unit is disposed within the haptic output device; An embodiment in which the signal value calculation means is executed by the haptic control unit can be adopted. The base haptic data is a setting value for the output of the haptic presentation device, which is set for each content that the user wishes to experience and each object that the user wishes to experience as "touching" that content. Selection of the base haptic data means that the content or object that the user wishes to experience as "touching" is selected actively or automatically by a program, and the setting value for providing an appropriate output is read.

[0012] Further, the present invention provides a tactile presentation method using a tactile presentation device having a tactile output device, comprising: a contact position comparison value calculation step of calculating a contact position comparison value by comparing a contact position parameter relating to a contact position between a user and a user contact portion with a reference value of the contact position parameter stored in advance; calculating a haptic signal based on at least the base haptic data and the touch position comparison value; The above-mentioned problems can be solved by a tactile presentation method including a step of causing the tactile output device to present a tactile sensation based on the calculated tactile signal. Furthermore, in this invention, the haptic output device has a force sensor for measuring a force, a force measuring step of measuring a force generated in the haptic output device under predetermined conditions; a comparison value calculation step of calculating a force comparison value by comparing the generated force with a pre-stored reference force that is assumed to be applied to the haptic output device under the predetermined conditions; A tactile presentation method may be employed that includes a step of calculating the tactile signal based on the force comparison value in addition to the contact position comparison value.

[0013] Furthermore, in this invention, A haptic output apparatus having a haptic output device, the haptic output device includes a haptic control unit that controls components including the haptic output device; a contact position comparison value calculation means for calculating a contact position comparison value by comparing a contact position parameter relating to a contact position between a user and a user contact portion with a reference value of the contact position parameter stored in advance; a signal value calculation means for calculating a haptic signal based on at least the base haptic data and the contact position comparison value; a haptic presentation means for causing the haptic output device to present a haptic sensation based on the calculated haptic signal; The above problem can also be solved by a haptic output device that executes the above. Furthermore, in this invention, the haptic output device has a force sensor that measures a force, a force measuring means for measuring a force generated in the haptic output device under predetermined conditions; a comparison value calculation means for calculating a force comparison value by comparing the generated force with a reference force that is assumed to be applied to the haptic output device under the predetermined conditions and that is stored in advance; The haptic output device may be adapted such that the signal value calculation means calculates the haptic signal based on the force comparison value in addition to the contact position comparison value. [Effects of the Invention]

[0014] This invention allows current or voltage to be applied to the tactile output device to provide an appropriately adjusted tactile sensation regardless of individual differences such as the size of the user using the tactile presentation device or the way the tactile output device is held, and allows the user to receive the expected tactile effect regardless of individual differences. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a functional block diagram of an embodiment of a tactile presentation device according to the present invention. [Figure 2] Conceptual diagram of an MRF device, an example of a haptic output device used in this invention. [Figure 3] FIG. 1 is a conceptual diagram of a tap unit, which is an example of a haptic output device according to the present invention. [Figure 4] Flow diagram of an example of using base tactile data from an MRF device [Figure 5] FIG. 1 is a diagram showing an example of a processing flow when a user uses the tactile presentation device according to the present invention. [Figure 6] A continuation of Figure 5. [Figure 7] Example of object selection on the monitor output by the app DETAILED DESCRIPTION OF THE INVENTION

[0016] The present invention is described in detail below. The present invention relates to a haptic output device having a haptic output device, a haptic presentation device having the haptic output device and a haptic control unit that controls components including the haptic output device, and a haptic output method using the haptic output device or the haptic presentation device.

[0017] In this invention, tactile sensation refers to one of the five senses, a sensation that can be felt directly or indirectly through the skin, muscles, nerves, etc., and is used in a broad sense unless otherwise specified. In the narrow sense, tactile sensation refers to one of the sensations known as those felt through the skin: pressure, pain, cold, and warmth. However, in this invention, tactile sensation includes not only tactile sensation in the narrow sense but also other sensations such as pressure. The present invention appropriately adjusts the intensity of these sensations. This applies not only to active tactile effects that are felt regardless of the user's actions, such as the sensation of pressure felt as a difference in the strength of pressure when pressed, but also to active tactile effects that are felt in response to the user's actions, such as resistance, a sense of resistance in the hand, or a sense of resistance in the foot.

[0018] The tactile presentation device, which may be the tactile output device or a device or system including the tactile output device, is a device or system that allows a user using the device or system to experience the tactile sensation. The tactile output device has a tactile output device that receives an electrical signal to realize the behavior that causes the tactile sensation. The tactile output device used in this invention is one that realizes a tactile sensation of varying intensity depending on the current and voltage of the electrical signal, rather than simply turning the electrical signal on and off. An example of this tactile output device is a magnetorheological fluid device that receives an electrical signal to increase the rotational resistance of the device. Among these, the delicate adjustment of the tactile sensation according to the present invention is particularly effective in devices that allow the user to directly touch and apply force.

[0019] A functional block diagram of an embodiment of a tactile presentation device 10 according to the present invention is shown in Fig. 1. The tactile presentation device 10 includes a tactile output device 11 that actually generates a tactile sensation for the user, and a control device 51 that communicates with the tactile output device 11 and controls the operation of the tactile sensation.

[0020] The haptic output device 11 has a haptic output device 14 that changes output in response to an electrical signal. Devices that can be used include active haptic sensations that allow the user to experience haptic sensations by directly contacting the device, such as an actuator like a motor or a heated balloon, and passive haptic sensations that increase or decrease resistance to the user's movement, such as an MRF device.

[0021] The haptic output device 11 includes a haptic control unit 21 that controls calculations and commands, such as sending or causing the sending of electrical signals to the haptic output device 14, and a data storage unit 22, which is memory used by the haptic control unit 21. The data storage unit 22 temporarily records signals and stores information, results, and instructions required for calculations by the haptic control unit 21. The memory of the data storage unit 22 may be volatile memory, but it is more preferable if it also includes nonvolatile memory. A high-performance haptic output device 11 that includes nonvolatile memory can store records and histories of personalized output changes and refer to them for further optimization of the output. Although not shown, the program that operates the haptic control unit 21 may be stored in the data storage unit 22 if it is nonvolatile memory, or it may be stored separately. Here, the parts responsible for controlling the haptic output device 11 performed by these units are collectively referred to as the output device control unit 20. The output device control unit 20 may also include elements other than the haptic control unit 21 and the data storage unit 22.

[0022] The haptic output device 11 also has a power supply 25 necessary to operate the device itself. This may be a battery, or it may be connected to an external power source. In the case of a battery, if the amount of current required by the haptic output device 11 is small, a replaceable primary battery will suffice, but if the amount of current required is large, a secondary battery that is charged from an external power source is easier to use. Furthermore, if the communication unit 26 described below is carried by a wired cable, the control device 51 may be powered as an external power source.

[0023] The haptic output device 11 has a communication unit 26 that can communicate with the communication unit 63 of the control device 51. It is necessary that the communication unit 26 can at least receive communication from the control device 51, and it is preferable that the communication unit 26 can communicate with the control device 51, as this allows for more diverse control by the control device 51. Data and commands received by the communication unit 26 are sent to the output device control unit 20, and the haptic output device 11 operates using these. In addition, data, history, logs, etc. from sensors etc. may be sent from the output device control unit 20 to the control device 51 via the communication unit 26. In addition, the haptic output device 11 may send part of the data to the control device 51 and receive the results as a reply.

[0024] Communication between communication unit 26 and communication unit 63 may be wired or wireless. In the case of wired communication, power may be supplied via a wired cable. The standard is not particularly limited; at the time of filing the present application, USB cable, Lightning (registered trademark) cable, Thunderbolt (registered trademark) cable, etc. are selectable, but any standard that enables similar or upwardly compatible communication may be used. In the case of wireless communication, any short-range wireless communication standard may be used, including various wireless LAN standards, Bluetooth (registered trademark; omitted below), Bluetooth LE, and wireless USB. However, because the amount of data required to implement at least the adjustment itself in this invention is small, a relatively slow standard with low power consumption, such as Bluetooth or Bluetooth LE, is preferably used. Of course, a high-speed communication standard that requires a large amount of data for operations other than those required in this invention may also be used.

[0025] The haptic output device 11 preferably includes a force sensor 17 that measures the force applied when the user operates the haptic output device 14. The force sensor 17 is not limited to a load sensor, and a sensor that can measure pressure, torque, etc. may be used. Furthermore, the haptic output device 11 more preferably includes a displacement sensor 16 that measures the displacement of the device itself for the tactile sensation provided by the haptic output device 14, as well as the position, displacement, angle, etc. when the user operates the haptic output device 14.

[0026] The control device 51 communicates with the haptic output device 11 via the communication unit 63 and controls the haptic output device 11 to provide the user with a sensation as part of the content. Specific examples include terminals used by users, such as personal computers, game consoles, smartphones, smartwatches, televisions, routers, and network speakers. A server 81 provided at the end of a network 82 connected via a router or terminal may also perform some of the functions of the control device 51, which will be described later. For this purpose, the control device 51 preferably has a network interface (NWIF) 69, such as a wired LAN function, a wireless LAN function, or a function for connecting to a mobile communication network. The network interface 69 may be shared with the communication unit 63, or may be independent. Since the communication volume differs significantly, it is often preferable for the network interface 69 to be independent. The figure shows an example in which the network interface 69 is independent.

[0027] The control device 51 includes an input / output device 54. The input / output device 54 is an interface with the user, accepting input and outputting elements other than haptics. While illustrated as a single device, it does not necessarily have to be composed of multiple devices. Furthermore, the input / output device 54 itself does not have to be integrated into the housing of the control device 51; it may simply have an interface for connecting to other devices. Examples of output devices within the input / output device 54 include a display built into the housing, a display or projector connected via an HDMI or DisplayPort cable, speakers built into the housing, wired or wirelessly connected headphones, earphones, and speakers. It is preferable to have at least a device capable of viewing images. By experiencing haptics in conjunction with at least the visual sense, the user can easily perceive that they are experiencing a bodily sensation tailored to the visually confirmed situation. The input device within the input / output device 54 may be a touch panel integrated with the display built into the housing, or a mouse, trackball, controller, keyboard, or the like connected via a USB cable. Furthermore, some of the input devices may also serve as the haptic output device 11.

[0028] The control device 51 has a control unit 61 that performs calculations, etc. Specifically, it is a calculation device such as a CPU or GPU, and controls the behavior of the device, such as reading content, calculations, receiving input and output to the input / output device 54, and communication with the haptic output device 11.

[0029] The control device 51 has a memory unit 62 that stores data and programs. The memory unit 62 preferably has both a non-volatile memory or a magnetic disk used as storage and a volatile memory used for calculations. In the figure, it is not distinguished whether data or programs are loaded.

[0030] The storage unit 62 stores application software ("apps 65" in the figure) for games, movies, virtual spaces, simulators, etc., which allow the user to experience haptic output as part of the content. The software may be pre-installed in the control device 51, or may be downloaded and installed from a server 81 via a network 82.

[0031] The app 65 includes audio and video content, and causes the haptic output device 11 to output haptics linked to the audio and video, providing the user with a haptic sensation. Examples of such content include, but are not limited to, a reproduction of the haptic sensation experienced by a character in a movie, a reproduction of the tactile sensation of an object that appears in a game, the tactile sensation of an object touched in a virtual space, a simulator that reproduces the feel of a cat or dog, and a reproduction of the resistance of a ball when batting in a virtual batting game. However, for the purposes of this invention, it is desirable for the tactile sensation to have varying strengths.

[0032] In order to provide the content via the input / output device 54, the application 65 has a media signal database 66 in the storage unit 62 that contains media signals such as audio signals and video signals including a program for reproducing the content. These media signals include, for example, 3D data and graphics about the shape of an object, voices, lines, sound effects, etc., and are preferably linked to each object for which a haptic sensation is to be experienced by the haptic output device 11. Note that the media signal database 66 does not need to store all necessary media signals in the storage unit 62; media signals may be added temporarily or permanently by being downloaded as needed via a network.

[0033] Furthermore, in order to provide the content via the haptic output device 11 in parallel with the input / output device 54, the app 65 has a base haptic database 67 in the storage unit 62, which includes base haptic data for reproducing the content. This base haptic data is a set of values, functions, and other settings that determine under what circumstances and with what values ​​the haptic output device 11 will operate the haptic output device 14. However, this base haptic data is a default value or default function that is set assuming that the user will contact the haptic output device 11 at a specific position on the haptic output device 11. Similar to the media signal, multiple pieces of base haptic data are recorded, each linked to a specific object. A piece of base haptic data is selected from the multiple records for each object that the user will actively touch or passively experience haptically in the content. When the control device 51 selects an object to be experienced, or when an object is automatically selected, based on an operation from the input / output device 54 or a trigger in the content being played, the control device 51 reads the base tactile data associated with the object from the base tactile database 67 and transmits it to the tactile output device 11 via the communication unit 63 and the communication unit 26.

[0034] The haptic output device 11 records the base haptic data sent as default values ​​for the selected object, etc., in the data storage unit 22, and controls the haptic output device 14 with output that references this base haptic data, allowing the user to experience a specific haptic sensation. However, in this invention, the haptic output device 14 is adjusted to suit the individual differences of the user and the usage environment, allowing the user to experience a more suitable haptic sensation.

[0035] To make this adjustment, the haptic control unit 21 executes a contact position comparison value calculation means that calculates a contact position comparison value by comparing a contact position parameter relating to the actual contact position where the user touches and operates the haptic output device 11 with a reference value of the contact position parameter before the user attempts to experience a haptic sensation with the haptic output device 14. Here, the contact position parameter is a parameter that is affected by body size such as finger length and thickness, palm size, thickness and shape, arm length and thickness, foot size, leg length and thickness, neck length, head size, height, and sitting height, as well as the way the haptic output device 11 is held. It is desirable that the reference value of the contact position parameter be set based on the installation position of the force sensor 17, which will be described later.

[0036] The reference values ​​of the contact position parameters are stored in advance in the haptic output device 11, the control device 51, or the server 81, and can be called up.

[0037] The tactile presentation device 10 according to the present invention executes a contact position comparison value calculation means that compares the retrieved reference value of the contact position parameter with the contact position parameter to calculate a contact position comparison value. This calculation may be performed by the tactile control unit 21 or the control unit 61 of the control device 51.

[0038] Furthermore, the tactile presentation device 10 according to the present invention may have a contact position parameter input means for inputting the actual contact position parameters of the user. This input may be performed by the control device 51 via the input / output device 54 to the application 65 at the request of the individual user, or may be automatically detected and input by a length sensor or other function of the tactile output device 11.

[0039] In addition, in this invention, it is preferable to implement a force measuring means for measuring a generated force applied to the haptic output device under predetermined conditions, and a comparison value calculating means for calculating a force comparison value by comparing the generated force with a pre-stored reference force that is assumed to be applied to the haptic output device under the predetermined conditions.Furthermore, in this invention, the haptic output device 11 may have a force sensor 17, and implement a force measuring means for measuring a generated force applied to the haptic output device under predetermined conditions, and a comparison value calculating means for calculating a force comparison value by comparing the generated force with a pre-stored reference force that is assumed to be applied to the haptic output device under the predetermined conditions.

[0040] The tactile presentation device 10 according to the present invention assumes that the force applied to the tactile output device 14 will change depending on the contact position due to differences in the individual's body, and executes a signal value calculation means for calculating a tactile signal that actually operates the tactile output device 14 based on the base tactile data and the calculated contact position comparison value to adjust for this change. Furthermore, if the force comparison value has been calculated, the signal value calculation means may be executed based on not only the contact position comparison value but also the force comparison value. The tactile control unit 21 then executes a tactile presentation means for causing the tactile output device 14 to present a tactile sensation based on the calculated tactile signal. This allows the user to experience a tactile sensation that matches the feel intended by the content provider, thanks to a tactile signal that has been calculated and corrected according to the contact position, device characteristics, and usage environment.

[0041] The following description will be given using an example of a specific device as the haptic output device 14. In the following description, the haptic output device 14 will be described using, as an example, a haptic output apparatus 11, which is a tap unit having a magnetorheological fluid (MRF) device (hereinafter abbreviated as "MRF device"). The MRF device used as a specific example here comprises a rotating shaft 41, a disk 32, yokes 34 and 35, a coil 37, a magnetorheological fluid 38, and casings 31 and 36. As shown in FIG. 2, a space sandwiched between the yokes 34 and 35 is provided around the disk 32 attached to the rotating shaft 41, and the magnetorheological fluid 38, whose viscosity changes depending on the strength of the applied magnetic field, is introduced into this space. The coil 37, supported by the yoke 35 and generating a magnetic field (indicated by the arrow in the figure), is also housed therein. The rotating shaft 41 is supported by a bearing 39 and is integrated with the disk 32, which is surrounded by the magnetorheological fluid 38. The resistance of the magnetorheological fluid 38 to rotating the rotating shaft 41 can be adjusted by the amount of current supplied to the coil 37 that generates the magnetic field. When a user applies force to rotate the rotating shaft 41, increasing or decreasing the viscosity of the magnetorheological fluid 38 increases or decreases the resistance to the disk 32 integrated with the rotating shaft 41, allowing the user to experience an active haptic effect as "difficulty in rotating" the rotating shaft 41. In this example, the disk 32 corresponds to a rotating device in the haptic output device 14, where the torque required to rotate it is changed by contact with the magnetorheological fluid 38. The rotating shaft 41, which shares the same axis as the disk 32, also essentially becomes part of this rotating device. The displacement sensor 16 is attached to detect the angle of the disk 32 itself or the angle of the rotating shaft 41, which rotates in conjunction with the disk 32.

[0042] Figures 3(a) and 3(b) show a tap unit, a haptic output device 11 using such an MRF device. It includes a base 40 that is held between the fingers or palm and a finger rest 42 that rotates in conjunction with a rotation axis 41 of the MRF device attached to the base 40. The finger rest 42 corresponds to one or all of the index finger, middle finger, ring finger, and little finger. When the user bends the finger to grip, it rotates around a fulcrum 43. In other words, this finger rest 42 is located at the user's contact point, and the point where the finger comes into contact and applies force is the contact position. When the finger rest 42 is pressed, a first link member 44 and a second link member 45 linked via a pin 46 rotate as shown in Figure 3(c). This movement rotates the rotation axis 41 relative to the base 40. The resistance to this rotation is increased or decreased by the magnetorheological fluid 38 of the MRF device.

[0043] The sensors attached to this MRF device include a displacement sensor 16 that measures displacement as an angle relative to the center of rotation of the finger rest part 42, and a force sensor 17 that is disposed on the back surface of the finger rest part 42 and measures the load acting on the finger rest part 42. There are no particular limitations on the location of the force sensor 17, but the back surface of the finger rest part 42 is preferred, and a position near the pin connecting the first link member 44 and the finger rest part 42 is even more preferred. If other sensors are mounted, they can be used in combination with the method implemented by the device according to the present invention to adjust the output for even better tactile sensation.

[0044] In such a tap unit, the length of the finger can be used as the contact position parameter. The distance F from the fulcrum 43 to the position where the inside of the finger touches the finger rest part 42 can be used as the contact position parameter. Alternatively, multiple lines can be drawn at predetermined intervals on the outer peripheral surface of the finger rest part 42, allowing the user to determine the contact position parameter based on how the lines fit with the tip of the finger when the user actually wears the device. Even when the same force is applied directly from the finger, torque varies depending on the distance from the fulcrum 43. This difference can be reflected. In this case, the reference value of the contact position parameter can be, for example, the distance between the force sensor 17 disposed on the finger rest part 42 of the tap unit and the fulcrum 43, or the distance between the pin connecting the finger rest part 42 and the first link member 44 and the fulcrum 43. The reference value may be stored in advance in the data storage unit 22, or may be stored in a separate storage unit of the haptic output device 11. Alternatively, the app 65 may have a reference value database containing reference values ​​for each device, which can be selected and called up according to the connected haptic output device 11.

[0045] An example of the base tactile data, reference force, and reference value of this MRF device is shown in the flow chart in Figure 4. A table, defined for each selected object, lists the amount of current flow required to increase the resistance across the rotation axis at a rotational position of the fingertip part 42 from the default position. Such a table is set for each object to be used and is collectively recorded in the base tactile database 67. A table like this can also be defined using a function corresponding to the rotational position. For example, if the object is small, there is no resistance until the rotational position reaches a point where the touch is felt, and the current value increases to increase the resistance once the rotational position reaches a point where the touch is felt. Alternatively, to virtually realize the tactile sensation of grasping a gummy candy, a certain amount of resistance is applied from the beginning to simulate the sensation of deforming the gummy candy. However, the resistance increases sharply at an angle where the gummy candy deforms and no further deformation is felt, and the current value is set to its maximum value to prevent the rotational position from advancing any further.

[0046] When the user selects an object for which he or she wishes to experience a haptic sensation, the base haptic data associated with that object is called up and selected from the data stored in the base haptic database 67. If the base haptic data associated with that object is not in the base haptic database 67, the control device 51 downloads the corresponding base haptic data from the server via the network and selects it. The control device 51 transmits the selected base haptic data to the haptic output device 11.

[0047] When the base tactile data is received, the haptic output device 11 stores it in the data storage unit 22. Meanwhile, the application 65 asks the user to actually measure the contact position where the user's finger will come into contact when wearing the tap unit, and inputs this via the input / output device 54. Here, it is assumed that the user inputs a contact position of 2.0 cm.

[0048] Furthermore, the haptic output device 11 records reference values ​​of contact position parameters that serve as standards when the device itself is designed, and the haptic control unit 21 can call these values. These may be recorded in the data storage unit 22, another storage unit, or the application 65 of the control device 51. In this example, 1.5 cm is specified as the "reference value" in the figure, and the haptic control unit 21 reads this value. Furthermore, a voltage value of 20 V is set as a condition for force measurement, and 1.00 N is specified as the reference force, which is the force assumed to be applied to the haptic output device 14 under this condition, and the haptic control unit 21 reads this value.

[0049] The generated force, which is the force applied to the haptic output device 14 when the user actually applies force, can be measured by actually conducting a test and applying the force to the force sensor 17. When applying force, it is desirable to uniform the voltage applied to the haptic output device 14 so that resistance can be felt under the same conditions. Here, 20V is used.

[0050] This completes the preparation for tactile presentation according to the physical differences of the user. When this is complete, the tactile output device 11 should notify the control device 51 of this.

[0051] When the user grasps the tap unit and the rotational position changes, this is detected by the displacement sensor 16, which is an angle sensor. The voltage that the tactile control unit 21 applies to the MRF device when the rotational position reaches 2 degrees is determined using the following procedure. First, the current value when the rotational position is 2 degrees is confirmed by referring to the table of base tactile data stored in the data storage unit 22. In this case, it is 0.2 A. Based on this current value, the current value of the tactile signal to be actually transmitted is calculated based on the contact position comparison value and the force comparison value. In other words, the MRF device is made to provide the resistance expected as a tactile sensation when a current of 0.2 A is passed through it.

[0052] An example of the signal value calculation means is as follows: The original current value of 0.2A is multiplied by the force comparison value (1.00N / 1.05N) and the contact position comparison value (1.50cm / 2.00cm), and the current value of the tactile signal to be actually transmitted is calculated as 0.14A. The haptic control unit 21 applies a haptic signal to the MRF device with the voltage required to pass this calculated current value of 0.14 A, and executes the haptic presentation means so that the user experiences the expected haptic sensation. When the displacement sensor 16 detects a further change in the rotational position, it references the current value corresponding to the new rotational position, similarly calculates a haptic signal, and causes the user to experience the haptic sensation.

[0053] When the object selected in the application 65 executed by the control device 51 is changed, the control device 51 retrieves the base haptic data associated with the new object from the base haptic database 67, transmits it to the haptic output device 11, and provides a haptic sensation corresponding to the new object. An example of a change in object is when the user specifies an object to touch in a game executed by the control device 51, or when a new object appears in the game. Even if the object is changed and the base haptic data used is changed, the force comparison value and contact position comparison value can be used as they are in the signal value calculation means.

[0054] An example of the process when a user uses the haptic output device 11 according to the present invention will be described with reference to the flowcharts in Figures 5 and 6. First (S101), the app 65 is launched on the smartphone, which is the control device 51 (S102). Next, the tap unit, which is the haptic output device 11, is turned on (S103), and the smartphone and the tap unit are paired via Bluetooth to establish a wireless connection (S104). Note that in some embodiments, the launch of the app (S102) may be performed after S104. Furthermore, the data storage unit 22 of the tap unit pre-stores the reference force of the tap unit, conditions such as the voltage when measuring that reference force, and reference values ​​of contact position parameters, which can be called up by the haptic control unit 21.

[0055] The application 65 displays a message on the monitor prompting the user to input a contact position, which is a contact position parameter, and accepts the input (S111). The input value is recorded as a physical parameter of the user and transmitted to the haptic output device 11 (S112). If no input is made, the reference value is used as is. The haptic output device 11 stores the transmitted contact position parameter in the data storage unit 22 (S113). This contact position input may be made at any time, but it is preferable to input it in advance when the application 65 starts.

[0056] The generated force is measured around the time of inputting the finger position. The figure shows an example performed after the finger position is input. First, in response to an instruction from the haptic control unit 21, a reference voltage previously stored as a condition corresponding to the reference force is applied from the battery (power source 25) to the coil of the MRF device (the haptic output device) (S121). This causes the MRF device to generate resistance corresponding to a predetermined torque when force is applied. The app 65 displays an instruction on the screen to the user to grip the tap unit (S122). The force applied when the user grips the tap unit is detected by the force sensor 17, and the generated force is measured (S123). This generated force is also stored in the data storage unit 22 (S124). This completes the preparation on the haptic output device 11 side. All that remains is to store the base haptic data, and a preparation completion signal is sent to the control device 51 (S125), indicating that execution is now possible.

[0057] Now that the tap unit is ready, the app 65 on the control device 51 displays an image that allows the user to select an object (S131). The user, operating the app 65 from the input / output device 54, selects the object for which they wish to experience haptics from the images displayed on the monitor (S132). An example of the display on the monitor is shown in FIG. 7. In this example, the user selects the furball object on the right. The user's selection is specified by touching the touch panel. Upon receiving the selection instruction, the control unit 61 executes the transmission means to retrieve the base haptic data associated with the selected furball object from the base haptic database 67 (S133) and transmit it to the tap unit (S134). If the base haptic database 67 does not contain the corresponding base haptic data, the control device 51 downloads the base haptic data associated with that object from the external server 81 and transmits it to the tap unit. The tap unit stores the transmitted base haptic data in the data storage unit 22 (S137).

[0058] Next, we move on to specific haptic output. The haptic control unit 21 acquires the angle of the rotational position from the displacement sensor 16, which is an angle sensor (S141). It monitors whether the angle reaches the next rotational position where the current value is changed, defined by the base haptic data stored in the data storage unit 22 (S132). If it has not reached the next rotational position (S142 → No), it continues to acquire the angle from the angle sensor (S142). If it has reached the next rotational position (S142 → Yes), it multiplies the current value of the base haptic data corresponding to that angle by an equation that represents the ratio between the reference force and the generated force (force comparison value) and an equation that represents the ratio between the contact position parameter and the reference value of the contact position parameter (contact position comparison value), thereby calculating a haptic signal, which represents the actual amount of current to be applied (S143). In this way, the comparison value calculation means and signal value calculation means may be performed together. The haptic control unit 21 instructs the battery to apply a voltage value required to pass a current of the calculated current value through the coil of the MRF device, thereby experiencing a haptic sensation with the expected resistance. Alternatively, after storing the base tactile data in the data storage unit 22, a signal value calculation means may be executed on the entire base tactile data before proceeding to tactile output, and the calculation results calculated in advance for the entire base tactile data may be stored in the data storage unit 22 as a tactile signal.

[0059] If the user continues to move their finger further with the same object and continue experiencing it (S144 → Yes), the process returns to monitoring the rotational position using the angle sensor (S141). If the user selects a different object (for example, the gummy candy object on the left) and experiences a different sensation (S145 → Yes), the process returns to step S131 (S146). In this case, the base haptic data associated with the selected object is called up. If the user wants to end the experience (S145 → No), the application 65 is terminated (S151).

[0060] In parallel with this flow, the haptic control unit 21 may send the acquired angle sensor value to the control device 51. The control device 51, having obtained the angle sensor value, may change the shape of the object displayed on the monitor of the input / output device 54 or play a sound according to the angle. For example, the shape of the furball object shown in FIG. 6 may be rewritten to one that gradually becomes squashed and whose size is inversely proportional to the angle sensor value. Also, different sounds may be played according to the magnitude of the change in the angle sensor value per unit time. For example, a squashing sound may be played from a speaker when the object is squeezed abruptly, and a gradual deformation sound may be played when the object is squeezed gently. [Explanation of symbols]

[0061] 10 Tactile presentation device 11 Tactile output device 14 Haptic Output Devices 16 Displacement Sensor 17 Force Sensor 20 Output device control section 21 Tactile control unit 22 Data storage unit 25 Power supply 26 Communications Department 31 Casing 32 disk 34 York 35 York 37 Coil 38 Magnetorheological fluid 39 Bearings 40 base 41 Rotation axis 42 parts 43 Fulcrum 44 First link material 45 Second link material 46 pins 51 Control device 54 Input / Output Devices 61 Control Unit 62 Memory section 63 Communications Department 65 apps 66 Media Signal Database 67-Based Tactile Database 69 Network Interfaces 81 servers 82 Network

Claims

1. a haptic output apparatus having a haptic output device; a haptic control unit that controls components including the haptic output device; and a contact position comparison value calculation means for calculating a contact position comparison value by comparing a contact position parameter relating to a contact position operated by a user by touching the haptic output device with a pre-stored reference value of the contact position parameter; a signal value calculation means for calculating a haptic signal based on at least the base haptic data and the contact position comparison value; a haptic presentation means for causing the haptic output device to present a haptic sensation based on the calculated haptic signal; A tactile presentation device that executes the haptic output device has a force sensor for measuring a force; a force measuring means for measuring a generated force applied to the haptic output device under predetermined conditions; a comparison value calculation means for calculating a force comparison value by comparing the generated force with a reference force that is assumed to be applied to the haptic output device under the predetermined conditions and that is stored in advance; the signal value calculation means calculates the tactile signal based on the force comparison value in addition to the contact position comparison value; Furthermore, a rotation device capable of adjusting the resistance when rotated, and a user contact portion connected to the rotation device and including the contact position; the force sensor is disposed on the user contact portion; A tactile presentation device, wherein the pre-stored reference value of the contact position parameter is set based on a distance between a predetermined position of the tactile output device and the force sensor.

2. The tactile presentation device includes: a control device that retrieves the base haptic data from an internal storage unit that records the base haptic data or from an external server that records the base haptic data; the control device executes a transmitting means for transmitting to the tactile presentation device; the haptic control unit is disposed within the haptic output device; The signal value calculation means is executed by the tactile control unit. The tactile presentation device according to claim 1 .

3. A tactile presentation method using a tactile output apparatus having a tactile output device, comprising: a contact position comparison value calculation step of calculating a contact position comparison value by comparing a contact position parameter relating to a contact position between the user and the user contact portion with a pre-stored reference value of the contact position parameter; calculating a haptic signal based on at least the base haptic data and the touch position comparison value; causing the haptic output device to present a haptic sensation based on the calculated haptic signal; the haptic output device has a force sensor for measuring an applied force; a force measuring step of measuring a generated force applied to the haptic output device under predetermined conditions; a comparison value calculation step of calculating a force comparison value by comparing the generated force with a pre-stored reference force that is assumed to be applied to the haptic output device under the predetermined conditions; calculating the haptic signal based on the force comparison value in addition to the contact position comparison value; Furthermore, The haptic output device includes a rotation device capable of adjusting resistance when rotated, and a user contact portion connected to the rotation device and including the contact position; the force sensor is disposed on the user contact portion; A tactile presentation method, wherein the pre-stored reference value of the contact position parameter is set based on a distance between a predetermined position of the tactile output device and the force sensor.

4. A haptic output apparatus having a haptic output device, the haptic output device includes a haptic control unit that controls components including the haptic output device; a contact position comparison value calculation means for calculating a contact position comparison value by comparing a contact position parameter relating to a contact position between a user and a user contact portion with a reference value of the contact position parameter stored in advance; a signal value calculation means for calculating a haptic signal based on at least the base haptic data and the contact position comparison value; a haptic presentation means for causing the haptic output device to present a haptic sensation based on the calculated haptic signal; Run the haptic output device has a force sensor for measuring an applied force; a force measuring means for measuring a generated force applied to the haptic output device under predetermined conditions; a comparison value calculation means for calculating a force comparison value by comparing the generated force with a reference force that is assumed to be applied to the haptic output device under the predetermined conditions and that is stored in advance; the signal value calculation means calculates the tactile signal based on the force comparison value in addition to the contact position comparison value; Furthermore, a rotation device capable of adjusting the resistance when rotated, and a user contact portion connected to the rotation device and including the contact position; the force sensor is disposed on the user contact portion; The haptic output device, wherein the pre-stored reference value of the contact position parameter is set based on the distance between a predetermined position of the haptic output device and the force sensor.

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