Tactile presentation device and tactile presentation method

Abstract

To provide a tactile sense presentation apparatus and a tactile sense presentation method capable of presenting both a tactile sense at a specific location and a continuously moving tactile sense.SOLUTION: A tactile sense presentation apparatus 1 is provided with: a tactile actuator 2 having a plurality of inflatable balloons 21 aligned in a first direction Z and a plurality of bendable bending elements 23 aligned in the first direction; and a controller for controlling each balloon 21 and each bending element 23 to inflate the balloon 21 or bend the bending element 23.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a tactile presentation device and a tactile presentation method. [Background technology]

[0002] BACKGROUND ART In the field of virtual reality (VR), devices that present a tactile sensation to a wearer based on signals generated by a computer are known.

[0003] The tactile sensation jacket is equipped with electrodes, balloons, vibration motors, etc. that present tactile sensations to multiple parts of the jacket worn by the wearer. The tactile sensation jacket presents tactile sensations to various parts of the upper body, such as the arms, abdomen, and back. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-109999 Summary of the Invention [Problem to be solved by the invention]

[0005] Patent Document 1 describes a device having a deformable element that can increase or decrease its volume by letting air, water, etc. in and out of the device, thereby presenting a tactile sensation to the wearer.

[0006] The device described in Patent Document 1 uses a balloon as an element for presenting tactile sensations. This device can provide tactile feedback to the point of contact with the balloon by expanding and contracting the balloon. However, because the balloon placed in this device does not move, it is difficult to provide continuous motion, i.e., positionally moving tactile feedback to the wearer.

[0007] In view of the above-mentioned problems, the present invention aims to provide a tactile presentation device and a tactile presentation method that can present both a tactile sensation at a specific location and a tactile sensation that moves continuously. [Means for solving the problem]

[0008] In order to achieve the above object, a tactile presentation device according to one aspect of the present invention comprises: an actuator having a plurality of expandable expansion elements aligned in a first direction and a plurality of bendable bending elements aligned in the first direction; a control unit that controls the expansion element and the bending element to expand or bend, respectively, for each of the expansion elements and each of the bending elements. 、 The curved element has a surface on which a plurality of bag-like pleats capable of accommodating gas are arranged, and when the gas is accommodated, the pleats press against each other, causing the surface to bend convexly. .

[0009] the expansion element of the tactile presentation device is expandable in a direction different from the first direction; the bending element is bendable in a direction different from the first direction; The control unit may bend the plurality of bendable bending elements aligned in the first direction at different times.

[0011] The tactile presentation device may include a pair of the curved elements arranged opposite each other with the surfaces facing each other.

[0012] The control unit of the tactile presentation device is one of the curved elements arranged opposite to each other. The pleats arranged Inflate and on the other hand The pleats arranged may not need to be inflated.

[0013] The tactile presentation device expansion The element is positioned closer to the wearer's skin than the Curved A pocket for securing the element may be provided.

[0014] A tactile presentation method according to one aspect of the present invention includes: A tactile sensation presentation method for presenting a tactile sensation by operating an actuator having a plurality of expandable expansion elements aligned in a first direction and a plurality of bendable bending elements aligned in the first direction, the method comprising: the curved element has a surface on which a plurality of bag-like pleats capable of accommodating gas are arranged, and when the gas is accommodated, the pleats press against each other to cause the surface to bend convexly; the expansion element is expandable in a direction different from the first direction; the bending element is bendable in a direction different from the first direction; For each of the expansion elements and each of the bending elements, bending the plurality of bendable bending elements aligned in the first direction at different times. [Effects of the Invention]

[0015] According to the present invention, a tactile presentation device and a tactile presentation method are provided that are capable of presenting both a tactile sensation at a specific location and a tactile sensation that moves continuously. [Brief explanation of the drawings]

[0016] [Figure 1] (A) is a front view of a tactile presentation device according to one embodiment of the present invention, (B) is a rear view of the tactile presentation device shown in (A), and (C) is a left side view of the tactile presentation device shown in (A). [Figure 2] 1A is an enlarged view of a tactile actuator provided in the tactile presentation device shown in FIG. 1A, and FIG. 1B is an exploded view of the tactile actuator shown in FIG. 1A. [Figure 3] (A) is a perspective view of a balloon included in the tactile actuator shown in Figure 2(A), (B) is another perspective view of the balloon included in the tactile actuator shown in Figure 2(A), (C) and (D) are figures showing different states of the balloon shown in (A), and (E) to (G) are figures explaining different states of the elements included in the balloon shown in (A). [Figure 4] 2(B) is a cross-sectional view of the haptic actuator shown in FIG. 2(B) taken along line BB', and FIG. 2(B) is a diagram illustrating a different state of the haptic actuator shown in FIG. 2(A). [Figure 5]FIG. 2 is a system schematic diagram of the tactile presentation device shown in FIG. [Figure 6] 1(B) is a diagram illustrating the timing for controlling compressed air to be blown into a plurality of air channels included in the tactile presentation device shown in FIG. 1(A). [Figure 7] (A) is one state diagram of the tactile actuator shown in Figure 2(A), (B) is another state diagram of the tactile actuator shown in Figure 2(A), (C) is another state diagram of the tactile actuator shown in Figure 2(A), (D) is another state diagram of the tactile actuator shown in Figure 2(A), and (E) is another state diagram of the tactile actuator shown in Figure 2(A). [Figure 8] (A) is one state diagram of the tactile actuator shown in FIG. 2(A), (B) is another state diagram of the tactile actuator shown in FIG. 2(A), (C) is yet another state diagram of the tactile actuator shown in FIG. 2(A), and (D) is yet another state diagram of the tactile actuator shown in FIG. 2(A). [Figure 9] FIG. 10 is a front view of a tactile presentation device according to a first modified example. [Figure 10] 10(A) is an explanatory diagram of a tactile actuator included in the tactile presentation device shown in FIG. 9, and (B) is a diagram showing a specific example of control of the tactile presentation device shown in (A). FIG. [Figure 11] (A) is a schematic diagram of a self-propelled device according to a second variant, (B) is an exploded view of a tactile actuator included in the self-propelled device shown in (A), (C) is an enlarged view of the steering unit included in the self-propelled device shown in (B), (D) is an SS' cross-sectional view of the steering unit shown in (C), (E) is one state diagram of the steering unit shown in (C), and (F) is another state diagram of the steering unit shown in (C). [Figure 12] (A) is a diagram showing an example of an operation reception unit connected to the self-propelled device shown in Figure 11(A), and (B) to (F) are diagrams each explaining a specific example of the correspondence between the operations received by the operation reception unit shown in (A) and the state of the self-propelled device shown in Figure 11(A). [Figure 13]11(A) to 11(H) are diagrams illustrating the results of an experiment in which the self-propelled device shown in FIG. 11(A) was moved in the horizontal direction. [Figure 14] 12A and 12B are diagrams illustrating the relationship of forces acting on the self-propelled device shown in FIG. 11A. [Figure 15] 11(A) to 11(G) are diagrams illustrating the results of an experiment in which the self-propelled device shown in FIG. 11(A) was moved in the vertical direction. [Figure 16] (A) is another diagram explaining the relationship of forces acting on the self-propelled device shown in Figure 11(A), (B) is yet another diagram explaining the relationship of forces acting on the self-propelled device shown in Figure 11(A), (C) is yet another diagram explaining the relationship of forces acting on the self-propelled device shown in Figure 11(A), and (D) is a cross-sectional view of (C) taken along the RR' line. [Figure 17] 11(A) to 11(D) are diagrams illustrating the results of an experiment in which the self-propelled device shown in FIG. 11(A) was moved in various directions. DETAILED DESCRIPTION OF THE INVENTION

[0017] (Embodiment) A tactile presentation device 1 according to an embodiment of the present invention will be described below with reference to the drawings.

[0018] (jacket) The tactile presentation device 1 shown in Fig. 1(A) is a jacket that presents a tactile sensation to the wearer who wears it. The tactile presentation device 1 has elongated, bag-like pockets 20 regularly arranged, in which linear tactile actuators 2A, 2B, and 2C, described below, are stored.

[0019] An area R1 in which a tactile actuator 2A is arranged is located at the upper front surface of the tactile presentation device 1. An area R2 in which a tactile actuator 2B that is shorter than the tactile actuator 2A is arranged is located at the lower front surface of the tactile presentation device 1.

[0020] 1(B) is provided with an area R3 in which a tactile actuator 2C is arranged on the back surface of the tactile presentation device 1. The tactile actuator 2C arranged on the back surface is longer than the tactile actuators 2A and 2B arranged on the front surface.

[0021] The tactile actuator 2A shown in FIG. 1(C) is also disposed in an area R4 on the sleeve of the tactile presentation device 1.

[0022] The tactile actuators 2A to 2C shown in FIGS. 1(A) to 1(C) are arranged in positions that surround the upper body of the wearer.

[0023] (Tactile Actuator 2A) 2(A) and 2(B), the details of haptic actuator 2A will be described. Note that haptic actuators 2B and 2C have the same structure as haptic actuator 2A, and share properties with haptic actuator 2A other than their length. Therefore, a detailed description of the structure of haptic actuators 2B and 2C will be omitted below. Hereinafter, the haptic actuator 2A will be simply referred to as the haptic actuator 2.

[0024] The tactile actuator 2 includes a balloon 21 that expands when air is blown into it, an air channel 22 through which the air blown into the balloon 21 passes, a bending element 23 that curves when air is blown into it, an air channel 24 through which the air blown into the bending element 23 passes, and a case 25 that stores the air channels 22 and 24. The balloon 21 and the bending element 23 are aligned in one direction, which is the Z direction in the example shown in FIGS. 2(A) and (B). Furthermore, when the tactile actuator 2 is stored in the pocket 20 shown in FIGS. 1(A) to (C), it is fixed in an orientation such that the bending element 23 is closer to the wearer's skin than the balloon 21. The balloon 21 is an example of an expansion element, and the Z direction is an example of a first direction.

[0025] (Balloon 21, Air Channel 22) The balloon 21 shown in detail in Figure 3(A) includes a substrate 21A bent into a U-shaped cross section, and an air-impermeable membrane 21B that is attached to the substrate 21A and prevents air from passing through. The air channel 22 shown in Figure 2(B) is connected to the substrate 21A. For ease of understanding, the air channel 22 may be omitted from the following description.

[0026] Figure 3(B) shows the balloon 21 shown in Figure 3(A) turned upside down. Air-impermeable membrane 21B is bonded to substrate 21A at adhesive surface 21C. When compressed air is blown through air channel 22 shown in Figure 3(A), the compressed air has no escape route, so air-impermeable membrane 21B bends, and balloon 21 assumes the state shown in Figure 3(C). When compressed air pressure is further blown, air-impermeable membrane 21B bends even more, and balloon 21 assumes the state shown in Figure 4(D).

[0027] 3(E) to 3(G) are diagrams showing the amount of compressed air blown into balloon 21 and the relationship between substrate 21A and air-impermeable membrane 21B, corresponding to FIGS. 3(A), 3(C), and 3(D), respectively. When a relatively small amount of compressed air is blown into balloon 21, air-impermeable membrane 21B is in close contact with substrate 21A, as shown in FIG. 3(E). As the amount of compressed air blown into balloon 21 increases, air-impermeable membrane 21B moves farther away from substrate 21A, as shown in FIGS. 3(F) and 3(G), and the volume of balloon 21 increases.

[0028] Returning to Fig. 2(A), the tactile actuator 2 has four balloons 21, and an air channel 22 for feeding and discharging compressed air is connected to each balloon 21. These four air channels 22 are connected to a controller 3, which will be described later, and the blowing in and blowing out of compressed air is individually controlled by the controller 3.

[0029] (curved element 23, air channel 24) 4(A) is a flexible rectangular parallelepiped structure with multiple fins 23F arranged on one surface. An air channel 24 is connected to the end of the curved element 23. The inside of the curved element 23 is a single space. 4(B), when compressed air is blown into the curved elements 23 through the air channels 24, the fins 23F, which are pleats each formed into a smaller bag shape, expand. When the expanded fins 23F come into contact with each other, they push against each other, causing the curved elements 23 to curve toward the side without the fins 23F.

[0030] The air channels 22, 24 are, for example, flexible air tubes that are strong enough to resist deformation even when pressure sufficient to inflate the balloon 21 or the fins 23F of the curved elements 23 is applied to the inside.

[0031] The tactile actuator 2 shown in Fig. 2(A) has 22 curved elements 23. Each tactile actuator 2 also has four air channels 24. Two of the air channels 24 are connected to every other curved element 23 arranged in a row on the side between a case 25 (described later) and the balloon 21, in the Z direction. Another two air channels 24 are connected to every other curved element 23 arranged in a row on the opposite side of the case 25. These four air channels 24 are connected to a controller 3, which will be described later, and the blowing in and out of compressed air is controlled individually.

[0032] (Case 25) The case 25 is formed in a flat box shape, houses the air channels 22, 24, and maintains a space in which the air channels 22, 24 are not crushed even when the tactile actuator 2 is deformed. The case 25 is also made of a soft material.

[0033] (touch action) As described above, when compressed air is blown into the balloon 21, the balloon 21 inflates. Then, the curved element 23 that comes into contact with the body surface of the wearer of the tactile presentation device 1 is pressed by the inflated balloon 21. As a result, the wearer of the tactile presentation device 1 perceives the sensation of their fingertips pressing against their skin at the inflated portion of the balloon 21.

[0034] (Controller 3) FIG. 5 shows an example of the system configuration of the tactile presentation device 1 including the controller 3. The controller 3 includes an operation receiving unit 31 that receives input of the tactile sensation to be presented, a control signal output unit 32 that controls the signals output to each balloon 21 and each curved element 23, and a communication unit 33 that exchanges signals with the outside. The controller 3 is an example of a control unit.

[0035] The operation receiving unit 31 receives instructions for touching or stroking actions to be presented by the tactile presentation device 1, and includes, for example, a keyboard, a mouse, a touch panel, a joystick (to be described later), and the like. The control signal output unit 32 converts the operation received by the operation receiving unit 31 into a signal to be output to the driver circuit 41 .

[0036] The controller 3 is connected to a driver circuit 41 that receives a control signal output from the communication unit 33. The driver circuit 41 is also connected to a solenoid valve 44 that adjusts the pressure of compressed air supplied from an air pump 43 via a control valve 42 and controls the supply of the compressed air to each of the air channels 22 and 24.

[0037] (stroke operation) Next, the operation of deforming the curved element 23 into a waveform will be described.

[0038] 4(A) has a structure in which a plurality of fins 23F protrude in one direction. Because the internal space of the curved element 23 is open, the compressed air supplied to the curved element 23 reaches the fins 23F. 4(B), when the pressure of the compressed air supplied to the curved element 23 is increased, the side surfaces of the fins expand, causing adjacent fins to collide and press against each other, and the curved element 23 is then curved toward the side without the fin 23F.

[0039] 2(A) and (B), a pair of bending elements 23 are arranged on the front and back of the case 25. Therefore, by increasing the pressure of the compressed air in one bending element 23 and not increasing the pressure of the compressed air in the other bending element 23, the tactile actuator 2 can be bent in the direction opposite to the side where the compressed air pressure is increased.

[0040] The bending elements 23 are arranged in a row. The controller 3 can move the bending portion by shifting the bending elements 23 that increase or decrease the pressure of the compressed air from one end of the row to the other end over time.

[0041] The wearer of the tactile presentation device 1 recognizes that the part that curves and is pressed against the body surface is moving, and recognizes the sensation of their skin being stroked.

[0042] 6 and 7(B) to 7(E), which will be described later, the controller 3 outputs signals to blow compressed air into the air channels 24A to 24D, shifting the signals by a time S. If the period of the output signals is T, which is common to all of the air channels 24A to 24D, the frames 23A to 23D of the curved elements curve with the period T, and therefore the position of the portion of the haptic actuator 2 that comes into contact with the table also moves with the period T. When wearing the tactile presentation device 1 including the tactile actuator 2, the wearer feels as if they are being stroked in the direction in which the frames 23A to 23D of the curved elements are arranged at intervals corresponding to the period T. Compressed air is an example of a gas.

[0043] (Stroke motion experiment) An experiment was conducted in which the tactile actuator 2 was actually made to perform a stroke operation. FIG. 7(A) is an image showing the state of the haptic actuator 2 when not performing a stroke motion, and (B) to (E) are images showing the state of the haptic actuator 2 when performing a stroke motion at a frequency of 2.5 Hz.

[0044] 7(A) is an image in a state where no compressed air pressure is being applied to any of the bending elements 23. In this state, the bending elements 23 are not bent, so the entire tactile actuator 2 is in contact with the table. Hereinafter, the curved elements 23 will be described as a pair of front and back elements, and each group connected to the air channels 24A to 24D will be referred to as a "frame" of curved elements, and will be referred to as 23A, 23B, 23C and 23D from the left.

[0045] 7(B) to 7(E) are images showing the state of the tactile actuator 2 at the moment when compressed air pressure is applied to the frames 23B, 23A, 23D, and 23C of the curved elements, respectively.

[0046] 7(B) to 7(E), the tactile actuator 2 bends upward in a convex shape at the portion of the bending element frame 23B, 23A, 23D, or 23C where compressed air pressure is applied. The tactile actuator 2 is then separated from the table at the bent portion and in contact with the table at the portion adjacent to the bent portion. Therefore, with the haptic actuator 2, a stroke motion can be realized by successively performing the motions shown in FIGS. 7(B) to 7(E).

[0047] The states of the haptic actuator 2 shown in Figures 7(B) to (E) correspond to the cases where the controller 3 outputs the ON signals 24A to 24D in Figure 6. From Figures 7(B) to (E), it can be seen that, according to the haptic actuator 2, the peak of the wave enclosed by the dashed ellipse moves in the direction of the arrow, and the entire wave moves in that direction.

[0048] (Touch operation experiment) Next, an experiment was conducted in which the tactile actuator 2 was made to perform a touch operation. 8(A) to 8(D) are images of the tactile actuator 2 in which compressed air has been blown into the balloon 21, one by one, starting from the right. The tactile actuator 2 is placed in a direction such that the balloon 21 contacts the table.

[0049] As shown in FIGS. 8(A) to 8(D), the balloon 21 is inflated by increasing the pressure of the compressed air, and the tactile actuator 2 presses the inflated part of the balloon 21 against the surface of the table.

[0050] (First Modification) The tactile actuators 2 of the tactile presentation device 1 are arranged at intervals on the left and right. In contrast to this, the tactile actuators 2 of the tactile presentation device 10 according to the modified example shown in FIG. 9 are arranged in the region R5 with less space between them than in the tactile presentation device 1.

[0051] The following description will focus on the differences from the tactile presentation device 1. Components that are common to the tactile presentation device 1 are given the same reference numerals.

[0052] 9, haptic actuators 2 are arranged in two rows, upper and lower, in region R5, and the upper row will be described below. The following description may be applied to the haptic actuators 2 arranged in the lower row, or to the haptic actuators 2 arranged in the other regions R1 to R4 shown in FIGS. 1(A) to 1(C).

[0053] FIG. 10(A) shows the curved elements 23 included in the tactile actuator 2, represented by symbols corresponding to the y-axis and z-axis shown in FIGS. 1(A) to 1(C). For example, the curved element 23 located at the bottom left end is represented as "y1z1", the curved element 23 adjacent to it above is represented as "y1z2" with the number indicating z increased by 1, and the curved element 23 adjacent to it on the right is represented as "y2z1" with the number indicating z increased by 1.

[0054] In the tactile presentation device 10, the controller 3 can also present a stroke motion in the y direction, which is the direction perpendicular to the direction in which the curved elements 23 are arranged in one tactile actuator 2, by shifting the phase in the y direction. As shown in FIG. 10(B), for example, the controller 3 can delay the time at which it outputs a control signal by a time S within the period T between curved elements 23 adjacent to each other in the y direction.

[0055] By performing this control, the tactile presentation device 10 can also realize a stroke motion in the y direction.

[0056] The touching action and the stroking action of the haptic actuator 2 described above may be performed at different times or simultaneously. In the stroke operation, the controller 3 may perform control to shift the phase in both the y direction and the z direction. The tactile presentation devices 1 and 10 may include actuators other than the tactile actuator 2.

[0057] Although a jacket has been described as an example of the tactile presentation devices 1 and 10, the tactile actuator 2 can be placed on any wearable item that comes into contact with the surface of the human body, such as gloves, a helmet, socks, etc. In order to stably present a tactile sensation to the wearer, the tactile presentation devices 1 and 10 may be covered with a stretchable fabric, band, supporter, or the like.

[0058] (Second Modification) The tactile actuator 2 may be used in other ways than the tactile presentation devices 1 and 10. The self-propelled device 100 operates a tactile actuator 102 including a curved element 23 to move by itself within a pipe line.

[0059] The following description will focus on the differences from the tactile presentation devices 1 and 10. Components that are common to the tactile presentation devices 1 and 10 are given the same reference numerals.

[0060] The self-propelled device 100 shown in Figure 11 (A) comprises a tactile actuator 102, a balloon 121 that covers both ends of the tactile actuator 102 in a bag-like shape, a camera 151 that is positioned at the other end of the balloon 121 and captures images of the surrounding area, and a steering unit 152 that controls the direction of travel of the self-propelled device 100.

[0061] As shown in FIG. 11(B), the haptic actuator 102 of the self-propelled device 100 is provided with a camera 151 and a steering unit 152 at one end in the extension direction.

[0062] Referring to FIG. 11(C), the steering section 152, more specifically, includes two disk-shaped substrates 152A and three insulator-shaped steering actuators 152B sandwiched between these substrates 152A.

[0063] The steering actuator 152B shown in FIG. 11(D) is made of a flexible material similar to the balloons 21, 121, and bending element 23, and has a cavity inside, so it can expand and contract by blowing compressed air into it.

[0064] Depending on which of the three steering actuators 152B compressed air is blown into, the steering section 152 can be bent in different directions, as shown in FIGS. 11(E) and (F).

[0065] A steering unit 152 is attached to the tip of the haptic actuator 102, so that the self-propelled device 100 can move along a winding path by turning the steering unit 152 in any direction.

[0066] The joystick JS shown in Fig. 12(A) is an example of a means for operating the steering unit 152 shown in Fig. 11(A). Fig. 12(B) is an image showing the orientation of the haptic actuator 102 when no directional input is instructed on the joystick JS. By instructing the joystick JS to input in each of the up, down, left, and right directions, the operation reception unit 31 shown in Fig. 5 outputs signals to bend the haptic actuator 102 in each of the directions shown in Fig. 12(C) to (F) through the driver circuit 41. Note that the operations received by the joystick JS are not limited to the four directions of up, down, left, and right, but may also be a combination of these directions, such as upper right, lower left, etc.

[0067] (Experiment to move the self-propelled device 100 in the horizontal direction) An experiment was conducted in which the joystick JS shown in FIG. 12(A) was operated to move the self-propelled device 100 horizontally inside a plastic pipe.

[0068] Figures 13(A) to (H) show images of the self-propelled device 100 at various times when the haptic actuator 102 is caused to perform only a stroke motion at a frequency of 2.5 Hz without inflating the balloon 121. The time shown in Figure 13(A) is set to 0.00 seconds as the reference time, and Figures 13(B) to (H) show the position and shape of the haptic actuator 102 at 0.16 seconds, 0.22 seconds, 0.37 seconds, 0.52 seconds, 2.00 seconds, 5.00 seconds, and 9.89 seconds, respectively.

[0069] As shown in Figures 13(A) to (E), it can be seen that the haptic actuator 102 changes the unevenness within the pipe in approximately 0.5 seconds. As shown in Figure 13(F), it can be seen that the haptic actuator 102 moves from right to left in the image over a distance equivalent to approximately its own diameter in approximately 2.0 seconds. With reference also to Figures 13(G) and (H), it can be seen that the haptic actuator 102 moves at a constant speed within the horizontal pipe using only a constant-period stroke motion, and moves a distance equivalent to approximately its own length in approximately 10 seconds.

[0070] As shown in Figure 14, the haptic actuator 102 of the self-propelled device 100 is in contact with the inner wall of the pipeline at point P. At point P, the haptic actuator 102 pushes against the inner wall of the pipeline with an acting force Fi, and is therefore subjected to a reaction force Fn. Furthermore, because there is friction between the haptic actuator 102 and the inner wall of the pipeline, a frictional force Fk acts on the haptic actuator 102. Therefore, a resultant force, thrust Fth, acts on the haptic actuator 102 in the extension direction of the pipeline, parallel to the center line indicated by the dashed line. As a result, the haptic actuator 102 moves overall in the direction of thrust Fth, i.e., in the direction MD.

[0071] (Experiment to move the self-propelled device 100 in the vertical direction) An experiment was conducted in which the joystick JS shown in FIG. 12(A) was operated to move the self-propelled device 100 vertically inside a plastic pipe. The command to send compressed air to the balloon 121 through the air channel 22 was given by pressing a button (not shown).

[0072] Figures 15(A) to (G) show images of the self-propelled device 100 at various times when the balloon 121 was inflated and the haptic actuator 2 was caused to perform a stroke motion at a frequency of 1.5 Hz. The time shown in Figure 15(A) is set to 0.00 seconds as the reference time, and Figures 15(B) to (G) show the position and shape of the haptic actuator 102 at 0.16 seconds, 0.39 seconds, 0.71 seconds, 2.00 seconds, 8.00 seconds, and 9.19 seconds, respectively. In this experiment, the pressure of the compressed air supplied to the balloon 121 was 8 kPa, and the pressure of the compressed air supplied to the bending element 23 was 80 kPa.

[0073] As shown in Figures 15(A) to (D), it can be seen that the haptic actuator 102 changes the unevenness within the pipeline over a period of approximately 0.7 seconds. As shown in Figure 15(E), it can be seen that the haptic actuator 102 moves from the bottom of the image upwards over a distance equivalent to its own diameter over a period of approximately 2.0 seconds. With reference also to Figure 15(F), it can be seen that the balloon 121 located on the bottom side acts as a non-slip surface, allowing the haptic actuator 102 to move at a constant speed within the vertical pipeline by performing a constant periodic stroke motion.

[0074] Furthermore, as shown in Figure 15(G), by fully inflating the balloon 121 located on the upper side, a brake can be applied to keep the tactile actuator 102 in place even when not performing a stroke operation.

[0075] As shown in FIGS. 16(A) and 16(B), the haptic actuator 102 and the balloon 121 of the self-propelled device 100 are in contact with the inner wall of the pipe at point P. When the haptic actuator 102 performs a stroke, it receives a reaction force Fn, as shown in Figure 16(A) or (B), depending on how it is bent. The balloon 121 pushes against the inner wall of the pipe in an oblique direction, for example, in a direction forming a tangent angle θ, generating an upward thrust Fth as a whole. As a result, the haptic actuator 102 moves in the upward movement direction MD while anchoring itself with the balloon 121 located below.

[0076] 16(C) and (D) show the forces acting on the haptic actuator 102 when the upper balloon 121 is inflated by blowing compressed air into the balloon 121 without performing a stroke. In this state, the gravity mg and frictional force Fk acting on the haptic actuator 102 are balanced, so the haptic actuator 102 will not fall even without performing a stroke.

[0077] (Experiment to move the self-propelled device 100 inside an uneven pipe) The self-propelled device 100 was placed inside a tube CL that resembled the human large intestine, and the self-propelled device 100 was moved horizontally and vertically inside the undulating large intestine. Figures 17(A) to (D) show the self-propelled device 100 being moved inside the tube CL using an experimental device including a joystick JS shown in Figure 12(A) and a monitor MN that displays images acquired by the camera 151 in real time.

[0078] The tip of the self-propelled device 100 is located in the area surrounded by the white oval in FIGS. 17(A) to (D). Figure 17(A) is an image taken immediately after the self-propelled device 100 was inserted into the tube CL, and Figure 17(B) is an image taken at the time when the experimenter operated the joystick JS to move the self-propelled device 100 to just before the step. When the experimenter further operated the joystick JS, the self-propelled device 100 climbed over the step inside the tube CL, as shown in Figures 17(C) and 17(D). Note that approximately 30 seconds elapsed from the time shown in Figure 17(A) to the time shown in Figure 17(D). During this time, the image displayed on the monitor MN was clear.

[0079] The self-propelled device 100 allows a robot equipped with a camera to move relatively freely inside a narrow, winding passage such as a pipe or the human large intestine at a speed of about 1 cm per second.

[0080] The present invention allows various embodiments and modifications without departing from the broad spirit and scope of the present invention. Furthermore, the above-described embodiments are intended to explain the present invention and do not limit the scope of the present invention. That is, the scope of the present invention is defined by the claims, not the embodiments. Various modifications made within the scope of the claims and the meaning of the invention equivalent thereto are considered to be within the scope of the present invention. [Explanation of symbols]

[0081] 1, 10 Tactile presentation device 2, 2A, 2B, 2C, 102 Haptic Actuator 3 Controller 20 pockets 21, 121 Balloon 21A, 152A board 21B Air-impermeable membrane 21C Adhesive surface 23 Curved Elements 23A, 23B, 23C, 23D Frames of curved elements 23F Fin 22, 24, 24A, 24B, 24C, 24D Air Channel 25 cases 31 Operation reception section 32 Control signal output section 33 Communications Department 41 Driver circuit 42 Control valve 43 Air Pump 44 Solenoid valve 100 Self-propelled equipment 151 Camera 152 Steering section 152B Steering Actuator CL tube JS Joystick MD movement direction MN Monitor R1, R2, R3, R4, R5 area T period

Claims

1. an actuator having a plurality of expandable expansion elements aligned in a first direction and a plurality of bendable bending elements aligned in the first direction; a control unit that controls the expansion element and the bending element to expand or bend, respectively, for each of the expansion element and each of the bending elements; The curved element has a surface on which a plurality of bag-shaped pleats capable of accommodating gas are arranged, and when the gas is accommodated, the pleats press against each other, causing the surface to bend convexly. Tactile presentation device.

2. the expansion element is expandable in a direction different from the first direction; the bending element is bendable in a direction different from the first direction; The control unit bends the plurality of bendable bending elements arranged in the first direction at different times. The tactile presentation device according to claim 1 .

3. The curved elements are arranged in pairs facing each other with the surfaces facing each other. The tactile presentation device according to claim 1 or 2.

4. the control unit expands the pleats arranged on one of the opposing curved elements and does not expand the pleats arranged on the other curved element, The tactile presentation device according to claim 3 .

5. a pocket for fixing the bending element at a position closer to the wearer's skin than the expansion element; The tactile presentation device according to claim 4 .

6. A tactile sensation presentation method for presenting a tactile sensation by operating an actuator having a plurality of expandable expansion elements aligned in a first direction and a plurality of bendable bending elements aligned in the first direction, the method comprising: the curved element has a surface on which a plurality of bag-like pleats capable of accommodating gas are arranged, and when the gas is accommodated, the pleats press against each other to cause the surface to bend convexly; the expansion element is expandable in a direction different from the first direction; the bending element is bendable in a direction different from the first direction; For each of the expansion elements and each of the bending elements, bending the plurality of bendable bending elements aligned in the first direction at different times. Tactile presentation method.

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