Tactile presentation device and tactile presentation method

Abstract

To provide a technique for presenting sensory stimulation to a user.SOLUTION: A tactile sense presentation device includes a first roller, a second roller, a connection part, and a control part. The first roller and the second roller are arranged so as to be separated from one another so that a first rotary shaft of the first roller and a second rotary shaft of the second roller become almost in parallel. The connection part connects the first roller and the second roller so that a space is formed between the first roller and the second roller. When the tactile sense presentation device is mounted on any one of fingers of hands of a user, the connection part covers at least a part of the nail of the finger, the side face of the finger tip is sandwiched between the first roller and the second roller, and the first rotary shaft and the second rotary shaft are configured so as to move in the longitudinal direction of the finger. The control part is configured to control the rotations of the first roller and the second roller.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The technology disclosed in this specification relates to a tactile presentation device and a tactile presentation method for providing a sensory stimulus to a user. [Background technology]

[0002] For example, Non-Patent Document 1 discloses a technology for presenting various tactile sensations, such as pressure stimuli and shear stimuli, to the fingertips by controlling the movement of a belt wrapped around the finger pad. [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Minamizawa, K., Fukamachi, S., Kajimoto, H., Kawakami, N., & Tachi, S. (2007). Gravity grabber: wearable haptic display to present virtual mass sensation. ACM SIGGRAPH 2007 emerging technologies, 8-es. Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology of Non-Patent Document 1, the finger pad is shielded by the belt, which makes it difficult to combine the sensation of the finger pad with the tactile sensation provided by the tactile presentation device. [Means for solving the problem]

[0005] The tactile presentation device disclosed in this specification includes a first roller, a second roller, a connection unit, and a control unit. The first roller and the second roller are arranged apart from each other so that a first rotation axis of the first roller and a second rotation axis of the second roller are substantially parallel. The connection unit connects the first roller and the second roller so that a space is formed between them. When the tactile presentation device is worn on one of the fingers of a user's hand, the connection unit covers at least a portion of the fingernail, the first roller and the second roller sandwich the side of the fingertip, and the first rotation axis and the second rotation axis are aligned along the longitudinal direction of the finger. The control unit is configured to be able to control the rotation of the first roller and the second roller.

[0006] The first roller and the second roller can be positioned opposite each other across the user's fingertip. This allows the finger pad to be kept exposed. By controlling the relative rotation direction and rotation speed of the first roller and the second roller, various types of tactile sensations (e.g., shear stimuli, tensile stimuli, vibration stimuli, etc.) can be presented to the fingertip. This makes it possible to combine the sensation of the finger pad with the tactile sensation provided by the tactile presentation device.

[0007] The connecting portion may further include an actuator capable of generating vibrations. Details of the effects will be described in the examples.

[0008] The connecting portion may be configured so that the distance between the first roller and the second roller is adjustable. Details of the effects will be described in the examples.

[0009] The tactile presentation device may further include a third roller disposed at the connection portion. A third rotation axis of the third roller may be substantially perpendicular to the first rotation axis and the second rotation axis. When the tactile presentation device is worn on one of the fingers of a user's hand, the third roller may be configured to contact the upper surface of the finger. Details of the effects will be described in the examples.

[0010] The control unit may rotate the first roller clockwise and the second roller counterclockwise when viewed from the fingertip side. Alternatively, the control unit may rotate the first roller counterclockwise and the second roller clockwise when viewed from the fingertip side. Details of the effects will be described in the examples.

[0011] The control unit may be configured to be able to control the rotation torque of the first roller and the second roller. Details of the effects will be described in the examples.

[0012] The tactile presentation method disclosed in this specification is a tactile presentation method using a tactile presentation device including a first roller, a second roller, a connection unit, and a control unit. The first roller and the second roller are arranged apart from each other so that a first rotation axis of the first roller and a second rotation axis of the second roller are approximately parallel. The connection unit connects the first roller and the second roller so that a space is formed between them. When the tactile presentation device is worn on one of the fingers of a user's hand, the connection unit covers at least a part of the fingernail, the first roller and the second roller sandwich the side of the fingertip, and the first rotation axis and the second rotation axis are configured to be aligned along the longitudinal direction of the finger. When viewed from the fingertip side, the first roller is located to the right of the connection unit, and the second roller is located to the left of the connection unit. The tactile presentation method includes a first step of rotating the first roller clockwise and rotating the second roller counterclockwise when viewed from the fingertip side. The tactile sensation presentation method includes a second step of rotating the first roller counterclockwise and the second roller clockwise as viewed from the fingertip side after the first step. Details of the effects will be described in the examples.

[0013] The tactile presentation method may further include a stopping step performed between the first step and the second step. In the stopping step, the first roller and the second roller may be maintained for a predetermined time in a state after rotation in the first step. Details of the effects will be described in the examples.

[0014] The rotation torque of the first roller and the second roller may be changed in the first step or the second step. The effect will be described in detail in the examples. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 2 is a side view of the tactile presentation device 1. [Figure 2] FIG. 2 is a top view of the tactile presentation device 1. [Figure 3] FIG. 2 is a front view of the tactile presentation device 1. [Figure 4] FIG. 2 is a block diagram of a mixed reality system 2. [Figure 5] FIG. 10 is a diagram showing the frequency characteristics of a low-frequency actuator and a high-frequency actuator. [Figure 6] 1A and 1B are diagrams illustrating the principle of providing tactile stimulation by the first and second rollers. [Figure 7] 1A and 1B are diagrams illustrating the principle of providing tactile stimulation by the first and second rollers. [Figure 8] 1A and 1B are diagrams illustrating the principle of providing tactile stimulation by the first and second rollers. [Figure 9] 1A and 1B are diagrams illustrating the principle of providing tactile stimulation by the first and second rollers. [Figure 10] 10A and 10B are diagrams illustrating the principle of providing tactile stimulation by the third roller. [Figure 11] 10A and 10B are diagrams illustrating the principle of providing tactile stimulation by the third roller. [Figure 12] 10A and 10B are diagrams illustrating an example of control of the first roller 31. DETAILED DESCRIPTION OF THE INVENTION

[0016] (Configuration of tactile presentation device 1) 1 to 3 show a side view, a top view, and a front view, respectively, of the tactile presentation device 1. The tactile presentation device 1 is a device that is worn on one of the fingertips of a user's hand. In FIGS. 1 to 3, the tactile presentation device 1 is shown worn on a user's finger 90. The finger 90 is also depicted by a dashed dotted line. The direction from the base of the finger to the fingertip is defined as the +x direction. The direction perpendicular to the surface of the nail is defined as the +z direction. The direction from the left side 90L to the right side 90R of the finger 90 is defined as the +y direction.

[0017] The tactile presentation device 1 mainly includes a control unit 10, a first motor 21, a second motor 22, a third motor 23, a fourth motor 24, a first roller 31, a second roller 32, a third roller 33, a connection unit 40, and a vibrator 50. The connection unit 40 is a component that connects the first roller 31 and the second roller 32. The material and manufacturing method of the connection unit 40 are not particularly limited. For example, the connection unit 40 may be formed using a 3D printer using polylactic acid (PLA). The connection unit 40 is disposed so as to contact the upper surface 90t of the finger 90. The connection unit 40 covers at least a portion of the fingernail 90n. The connection unit 40 includes a first arm 41 and a second arm 42. The first arm 41 and the second arm 42 extend downward (in the -z direction) from both side surfaces of the connection unit 40. The first motor 21 and the second motor 22 are connected to the lower ends of the first arm 41 and the second arm 42. A first roller 31 and a second roller 32 are rotatably attached to the +x direction sides of the first motor 21 and the second motor 22, respectively.

[0018] The first roller 31 and the second roller 32 are spaced apart from each other. That is, the connecting portion 40 is configured to form a space between the first roller 31 and the second roller 32. The first rotation shaft 31a of the first roller 31 and the second rotation shaft 32a of the second roller 32 are arranged substantially parallel to each other. The first rotation shaft 31a and the second rotation shaft 32a are arranged along the longitudinal direction (x direction) of the finger 90. The first roller 31 is in contact with a left side surface 90L of the finger 90. The second roller 32 is in contact with a right side surface 90R of the finger 90. That is, the first roller 31 and the second roller 32 can pinch the user's finger 90. Therefore, the finger pad 90p can be kept open at all times.

[0019] The third roller 33 is disposed at the connection portion 40. The third rotation axis 33a of the third roller 33 is substantially perpendicular to the first rotation axis 31a and the second rotation axis 32a and extends in the y direction. The third roller 33 is in contact with the upper surface 90t of the finger 90.

[0020] The cross section perpendicular to the rotation axis of the first roller 31 to the third roller 33 is circular. The material of the first roller 31 to the third roller 33 is not particularly limited and may be plastic or rubber. The first roller 31 to the third roller 33 may be manufactured by various methods, and may be manufactured by a 3D printer, for example.

[0021] The connection unit 40 is also configured to adjust the inter-roller distance RD between the first roller 31 and the second roller 32. Specifically, the inter-roller distance RD can be controlled by operating a connection mechanism (not shown) using the fourth motor 24. By adjusting the inter-roller distance RD according to the thickness of the finger, the first roller 31 and the second roller 32 can be reliably brought into contact with the left side surface 90L and the right side surface 90R. The inter-roller distance RD may be automatically adjusted by the control unit 10 in response to attaching the tactile presentation device 1 to the finger 90. Furthermore, the clamping force can be increased by further reducing the inter-roller distance RD from a state in which the first roller 31 and the second roller 32 are in contact with the left side surface 90L and the right side surface 90R.

[0022] The vibrator 50 is disposed on the connection part 40 so as to come into contact with the nail 90n. The vibrator 50 is an actuator capable of generating vibrations. The vibrator 50 can present high-frequency vibration stimulation based on an audio file. The control part 10 is disposed on the upper surface of the connection part 40. The control part 10 is a part capable of controlling the operations of the first motor 21 to the fourth motor 24 and the vibrator 50. Specific details of the control part 10 will be described later.

[0023] (Block diagram of tactile presentation device 1) FIG. 4 shows a block diagram of a mixed reality system 2. The mixed reality system 2 mainly includes a haptic presentation device 1, a control device 3, and VR goggles 4. The control device 3 communicates with the haptic presentation device 1 and the VR goggles 4 via wireless communication WC. The wireless communication WC may be Wi-Fi (registered trademark) or Bluetooth (registered trademark). The control device 3 is a device that can control the haptic presentation device 1 and the VR goggles 4 to cooperate with each other. The control device 3 may be, for example, a PC. The VR goggles 4 are a device that provides a 3D image to the user's vision.

[0024] The control unit 10 of the tactile presentation device 1 includes a CPU 11, a memory 12, a wireless communication IF 15, a motor driver 16, an audio amplifier 17, and a battery 18. The memory 12 stores a motor control program 13 and a vibrator control program 14. When the CPU 11 executes the motor control program 13, it is possible to control each of the first motor 21 to the fourth motor 24. When the CPU 11 executes the vibrator control program 14, it is possible to control the vibrator 50. The wireless communication IF 15 can be accessed by an external control device 3 via wireless communication WC.

[0025] The motor driver 16 is a component that receives instructions from the CPU 11 and drives and controls each of the first motor 21 to the fourth motor 24. Torque control is used to control the first motor 21 to the fourth motor 24. By passing a current based on the motor characteristic curve, the current is proportional to the torque, and therefore the rotational torque can be controlled.

[0026] The audio amplifier 17 is a component that receives instructions from the CPU 11 and controls the vibration state of the vibrator 50. The audio amplifier 17 can use an audio file as a haptic signal.

[0027] (Overview of tactile stimulation) The first motor 21 to the third motor 23 form a low-frequency actuator. The vibrator 50 forms a high-frequency actuator. Figure 5 shows an example of the frequency characteristics of a low-frequency actuator and a high-frequency actuator. The horizontal axis represents frequency, and the vertical axis represents the intensity of the tactile stimulus. Graph G1 shows the characteristics of the low-frequency actuator, and graph G2 shows the characteristics of the high-frequency actuator.

[0028] The low-frequency actuator is a device that presents tactile stimuli by deforming the skin of the finger using first roller 31 to third roller 33. Therefore, the tactile stimuli presented by the low-frequency actuator have large amplitude and low frequency characteristics. That is, as shown in graph G1, the low-frequency actuator can present tactile stimuli at low frequencies from 0 to approximately 50 Hz.

[0029] On the other hand, a high-frequency actuator is a device that presents a tactile sensation similar to the feel of a hand by playing an audio file using a vibrator 50. Therefore, the tactile stimulus presented by a high-frequency actuator has small amplitude and high frequency characteristics. That is, as shown in graph G2, a high-frequency actuator can present a tactile stimulus with a high frequency of approximately 100 to 200 Hz.

[0030] The tactile presentation device 1 is equipped with both a low-frequency actuator and a high-frequency actuator, and by appropriately using both actuators, it is possible to present tactile stimuli in a wide frequency range.

[0031] (Low frequency actuator principle) The principle of providing tactile stimulation by the first roller 31 and second roller 32 arranged on the side of the finger will be explained using Figures 6 to 9. Figures 6 to 9 are views seen from the fingertip side (+x direction side). For ease of understanding, only the first roller 31 and second roller 32 are shown in Figures 6 to 9.

[0032] As shown in FIG. 6, a case will be described in which the first roller 31 rotates clockwise and the second roller 32 rotates counterclockwise. The first roller 31 can deform the left side surface 90L of the finger 90 upward (+z direction) (see arrow Y11). At the same time, the second roller 32 can deform the right side surface 90R of the finger 90 upward (+z direction) (see arrow Y12). This generates a force that wraps around the finger pad 90p, pulling the finger pad 90p left and right. This allows the user to experience a pseudo-pressure sensation, as if they were receiving a reaction force from the object by touching it (see arrow Y10).

[0033] The greater the rotational torque of the first roller 31 and the second roller 32, the stronger the pseudo-pressure sensation that can be presented to the user. Also, by gradually increasing the rotational torque, the user can be presented with a pseudo-pressure sensation that gradually increases the force with which an object is pressed.

[0034] As shown in FIG. 7, a case will be described in which the first roller 31 rotates counterclockwise and the second roller 32 rotates clockwise. The first roller 31 deforms the left side surface 90L of the finger 90 downward (in the -z direction) (see arrow Y21). At the same time, the second roller 32 deforms the right side surface 90R of the finger 90 downward (in the -z direction) (see arrow Y22). This generates a force that pushes the finger pad 90p, moving the finger pad 90p from the left and right toward the center. This allows the user to feel a pseudo-pressure sensation that, by releasing the object, the reaction force from the object disappears (see arrow Y20). Furthermore, the greater the rotational torque of the first roller 31 and the second roller 32, the stronger the pseudo-pressure sensation that causes the user to release the object.

[0035] As shown in FIG. 8 , a case will be described in which both the first roller 31 and the second roller 32 are rotated clockwise. The first roller 31 can deform the left side surface 90L of the finger 90 upward (+z direction) (see arrow Y31). At the same time, the second roller 32 can deform the right side surface 90R of the finger 90 downward (-z direction) (see arrow Y32). This generates a force that twists the finger counterclockwise, moving the finger pad 90p in the -y direction. Similarly, when both the first roller 31 and the second roller 32 are rotated counterclockwise, the finger pad 90p can be moved in the +y direction in the same way. This allows a pseudo-tactile sensation that represents the texture of an object to be presented to the user. Furthermore, the greater the rotational torque of the first roller 31 and the second roller 32, the stronger the pseudo-tactile sensation (e.g., a rougher surface) that can be presented to the user.

[0036] As shown in FIG. 9, a case will be described in which the inter-roller distance RD between the first roller 31 and the second roller 32 is changed. The inter-roller distance RD can be controlled by the fourth motor 24. By reducing the inter-roller distance RD while the first roller 31 is in contact with the left side surface 90L and the second roller 32 is in contact with the right side surface 90R, a pinching force can be applied to the finger (see arrows Y41 and Y42). This allows the user to experience a pseudo-tactile sensation as if the fingertip is inserted inside an object. Furthermore, the smaller the inter-roller distance RD, the stronger the pseudo-tactile sensation (e.g., a sensation of being more tightly wrapped) that can be presented to the user.

[0037] The principle of providing tactile stimulation by the third roller 33 placed on the upper surface of the finger will be explained using Figures 10 and 11. Figures 10 and 11 are views of the finger as seen from the side (-y direction). For ease of understanding, only the third roller 33 is shown in Figures 10 and 11.

[0038] As shown in FIG. 10, a case where the third roller 33 is rotated counterclockwise will be described. The third roller 33 can deform the upper surface 90t of the finger 90 in the direction of the finger's base (-x direction) (see arrow Y51). This makes it possible to present to the user a tactile sensation that the finger is sinking into the interior of an object. The greater the rotational torque of the third roller 33, the stronger the tactile sensation that can be presented to the user. Furthermore, by gradually increasing the rotational torque, it is possible to present to the user a tactile sensation that the finger is gradually advancing toward the interior of the object.

[0039] As shown in Fig. 11, a case where the third roller 33 is rotated clockwise will be described. The third roller 33 can deform the upper surface 90t of the finger 90 toward the fingertip (+x direction) (see arrow Y61). This makes it possible to present to the user a tactile sensation as if the finger is slipping out of the object. The greater the rotational torque of the third roller 33, the stronger the tactile sensation that can be presented to the user.

[0040] (First application example) An example of linking the tactile sensation presented by the tactile presentation device 1 with a VR object (virtual object) displayed on the VR goggles 4 will be described. Specifically, a case will be described in which the finger pad 90p is pressed into the virtual object, the pressed state is maintained, and then the finger pad 90p is released. FIG. 12 shows an example of control of the first roller 31 during this operation. The horizontal axis represents time, and the vertical axis represents the rotation angle of the first roller 31 as viewed from the fingertip side. Note that, when no slippage occurs between the first roller 31 and the left side surface 90L of the finger 90, the magnitude of the rotation angle of the first roller 31 is synonymous with the amount of skin deformation. Therefore, the larger the rotation angle, the stronger the pseudo-tactile sensation can be presented to the user. Note that the second roller 32 may be rotated by the same angle in the opposite direction to the first roller 31. Therefore, the rotation angle of the second roller 32 will not be described here.

[0041] At time t1, the control device 3 determines that the action of pressing the finger pad 90p into the virtual object displayed on the VR goggles 4 has begun. When this determination is received by the control unit 10 via wireless communication WC, the control unit 10 rotates the first roller 31 clockwise and the second roller 32 counterclockwise (see FIG. 6). This starts the first step S1. In the first step S1, the rotational torque gradually increases and the rotation angle increases due to torque control. Because the skin of the finger pad 90p is deformed so as to be stretched left and right, it is possible to present to the user a tactile sensation of pressing the finger pad 90p into the virtual object.

[0042] At time t2, the control device 3 determines that the action of pressing the finger pad 90p into the virtual object has stopped. When the control unit 10 receives this determination, the control unit 10 stops the rotation of the first roller 31 and the second roller 32. The first step S1 ends, and the stopping step SS begins. In the stopping step SS, the first roller 31 and the second roller 32 are maintained in the state after the rotation in the first step S1 for a predetermined time PT. Because the skin of the finger pad 90p is maintained in a deformed state, it is possible to present a tactile sensation that the user is continuously feeling a reaction force from the virtual object while the finger pad 90p remains pressed into the virtual object.

[0043] At time t3, the control device 3 determines that an action of separating the finger pad 90p from the virtual object has begun. When the control unit 10 receives this determination, the control unit 10 rotates the first roller 31 counterclockwise and the second roller 32 clockwise. This starts the second step S2. In the second step S2, the rotation angle is gradually reduced to zero by torque control. This allows the skin of the finger pad 90p to be gradually returned from a state in which it is deformed so as to be stretched left and right to an undeformed state. A tactile sensation of the pressed finger pad 90p gradually separating from the virtual object can be presented to the user.

[0044] At time t4, the control device 3 determines that the finger pad 90p has completely left the virtual object. When this determination is received by the control unit 10, the control unit 10 stops the rotation of the first roller 31 and the second roller 32. This ends the second step S2.

[0045] It should be noted that various tactile sensations can be presented to the user by appropriately adjusting the magnitude of the rotation angle and the duration of the first step S1, the stopping step SS, and the second step S2. For example, by reducing the magnitude of the rotation angle and shortening the stopping step SS, it is possible to present the user with the tactile sensation of lightly touching the virtual object. Furthermore, by continuing to execute the stopping step SS, it is possible to present the user with the tactile sensation of continuously touching the virtual object. In this case, the larger the rotation angle, the more likely it is that the user will be presented with the tactile sensation of firmly touching the virtual object.

[0046] (Second application example) This section describes a method for presenting a pseudo-tactile sensation when inserting a fingertip into a virtual object and then pulling it out. In this application example, the virtual object is a gel. At the moment it is determined that the surface of the gel has been touched in the VR space, the first roller 31 is rotated clockwise and the second roller 32 is rotated counterclockwise (see FIG. 6). This allows the user to experience the tactile sensation of touching the gel.

[0047] As the fingertip gradually advances into the gel in the VR space, the fourth motor 24 gradually decreases the inter-roller distance RD (see FIG. 9). This makes it possible to increase the clamping force according to the insertion amount, and therefore present the user with the tactile sensation of the fingertip gradually being inserted into the gel. Thereafter, as the fingertip moves away from the gel in the VR space, the fourth motor 24 gradually returns the inter-roller distance RD to its original value. This makes it possible to decrease the clamping force according to the withdrawal amount, and therefore present the user with the tactile sensation of the fingertip gradually being pulled out of the gel.

[0048] Then, in response to the fingertip being completely released from the surface of the gel in the VR space, the first roller 31 is rotated counterclockwise and the second roller 32 is rotated clockwise, thereby presenting the user with the sensation that their fingertip has been released from the gel surface.

[0049] By controlling the clamping force, it is possible to present the hardness of the virtual object into which the finger is inserted. For example, by reducing the clamping force, it is possible to present the tactile sensation of inserting a finger into an object with very little resistance, such as liquid.

[0050] (effect) The first roller 31 and the second roller 32 can present various types of tactile sensations to the user while the finger pad 90p is exposed. It is possible to combine the sensation of the finger pad 90p with the tactile sensation provided by the tactile presentation device 1. This allows the tactile presentation device 1 to be used in both spatial interactions such as virtual reality (VR) and mixed reality (MR) and planar interactions such as with a tablet device. For example, while using a capacitive interface such as a tablet device with the finger pad 90p, the tactile presentation device 1 can present a tactile stimulus to the finger pad 90p. This makes it possible to improve operability.

[0051] Although specific examples of the present invention have been described above in detail, these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and variations of the specific examples exemplified above. Modifications of the above-mentioned embodiments are listed below.

[0052] (Variation) One of the first roller 31 and the second roller 32 may be omitted. Since the skin of the finger pad 90p can be deformed using a single roller, the technology of this specification can be realized. Also, one of the first roller 31 and the second roller 32 may be replaced with another device such as a Peltier element. This makes it possible to present the user with other sensations, such as a cool sensation, in addition to the tactile sensation.

[0053] The third roller 33 may be omitted. Also, the fourth motor 24 may be omitted. In this case, by arranging a spring inside the connection part 40, an extension mechanism may be realized in which the first roller 31 and the second roller 32 pinch a finger.

[0054] The tactile presentation device 1 can present various stimuli, not limited to shear stimuli and tensile stimuli. For example, it is also possible to provide a vibration stimulus by repeatedly reversing the direction of rotation in a short period of time.

[0055] The cross-sectional shape perpendicular to the rotation axis of the first roller 31 to the third roller 33 is not limited to a circle, but may be various shapes, such as a polygon or a shape with irregularities formed on the surface.

[0056] The means for providing the stimulus is not limited to rollers, and various means may be used, such as spheres, caterpillars, pin arrays, etc.

[0057] Although specific examples of the present invention have been described in detail above, these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and variations of the specific examples exemplified above. The technical elements described in this specification or drawings exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Furthermore, the technology exemplified in this specification or drawings can achieve multiple objectives simultaneously, and achieving one of these objectives alone is technically useful.

[0058] Aspects of the present technology are listed below. [Aspect 1] A tactile presentation device comprising a first roller, a second roller, a connection unit, and a control unit, the first roller and the second roller are disposed apart from each other so that a first rotation axis of the first roller and a second rotation axis of the second roller are substantially parallel to each other; the connecting portion connects the first roller and the second roller such that a space is formed between the first roller and the second roller, When the tactile presentation device is attached to any of the fingers of a user's hand, the connecting portion covers at least a portion of the fingernail; The side of the fingertip is pinched between the first roller and the second roller, The first rotation axis and the second rotation axis are configured to be aligned along the longitudinal direction of the finger, the control unit is configured to be able to control the rotation of the first roller and the second roller. Tactile presentation device. [Aspect 2] 2. The tactile presentation device according to aspect 1, further comprising an actuator provided in the connection portion and capable of generating vibrations. [Aspect 3] 3. The tactile presentation device according to aspect 1 or 2, wherein the connection section is configured to be able to adjust the distance between the first roller and the second roller. [Aspect 4] Further, a third roller is disposed at the connection portion, a third rotation axis of the third roller is substantially perpendicular to the first rotation axis and the second rotation axis; The tactile presentation device according to any one of aspects 1 to 3, wherein the third roller is configured to come into contact with an upper surface of a finger when the tactile presentation device is worn on any finger of a user's hand. [Aspect 5] The control unit Rotating the first roller clockwise and the second roller counterclockwise when viewed from the fingertip side, or 5. The tactile presentation device according to any one of aspects 1 to 4, wherein the first roller is rotated counterclockwise and the second roller is rotated clockwise when viewed from the fingertip side. [Aspect 6] 6. The tactile presentation device according to any one of aspects 1 to 5, wherein the control unit is configured to be able to control the rotational torque of the first roller and the second roller. [Aspect 7] A tactile presentation method using a tactile presentation device including a first roller, a second roller, a connection unit, and a control unit, the first roller and the second roller are disposed apart from each other so that a first rotation axis of the first roller and a second rotation axis of the second roller are substantially parallel to each other; the connecting portion connects the first roller and the second roller such that a space is formed between the first roller and the second roller, When the tactile presentation device is attached to any of the fingers of a user's hand, the connecting portion covers at least a portion of the fingernail; The side of the fingertip is pinched between the first roller and the second roller, The first rotation axis and the second rotation axis are configured to be aligned along the longitudinal direction of the finger, When viewed from the fingertip side, the first roller is located on the right side of the connection portion, and the second roller is located on the left side of the connection portion, The tactile presentation method is a first step of rotating the first roller clockwise and rotating the second roller counterclockwise as viewed from the fingertip side; a second step of rotating the first roller counterclockwise and the second roller clockwise as viewed from the fingertip side after the first step; A tactile presentation method comprising: [Aspect 8] a stopping step performed between the first step and the second step, 8. The tactile presentation method according to aspect 7, wherein in the stopping step, the first roller and the second roller are maintained for a predetermined period of time in a state after rotation in the first step. [Aspect 9] 9. The tactile presentation method according to aspect 7 or 8, wherein the rotational torque of the first roller and the second roller is changed in the first step or the second step. [Explanation of symbols]

[0059] 1: tactile presentation device 10: control unit 21: first motor 22: second motor 23: third motor 24: fourth motor 31: first roller 31a: first rotating shaft 32: second roller 32a: second rotating shaft 33: third roller 33a: third rotating shaft 50: vibrator 90: finger 90n: nail 90L: left side 90R: right side

Claims

1. A tactile presentation device including a first roller, a second roller, a connection unit, and a control unit, the first roller and the second roller are disposed apart from each other so that a first rotation axis of the first roller and a second rotation axis of the second roller are substantially parallel to each other; the connecting portion connects the first roller and the second roller such that a space is formed between the first roller and the second roller, When the tactile presentation device is attached to any of the fingers of a user's hand, the connecting portion covers at least a portion of the fingernail; The side of the fingertip is pinched between the first roller and the second roller, The first rotation axis and the second rotation axis are configured to be along the longitudinal direction of the finger, the control unit is configured to be able to control the rotation of the first roller and the second roller. Tactile presentation device.

2. The tactile presentation device according to claim 1 , further comprising an actuator provided in the connection portion and capable of generating vibrations.

3. The tactile presentation device according to claim 1 , wherein the connection portion is configured to be able to adjust the distance between the first roller and the second roller.

4. Further, a third roller is disposed at the connection portion, a third rotation axis of the third roller is substantially perpendicular to the first rotation axis and the second rotation axis; The tactile presentation device according to claim 1 , wherein the third roller is configured to come into contact with an upper surface of a finger when the tactile presentation device is worn on any of the fingers of a user's hand.

5. The control unit Rotating the first roller clockwise and the second roller counterclockwise when viewed from the fingertip side, or The tactile presentation device according to claim 1 , wherein the first roller rotates counterclockwise and the second roller rotates clockwise when viewed from the fingertip side.

6. The tactile presentation device according to claim 1 , wherein the control unit is configured to be able to control the rotational torque of the first roller and the second roller.

7. A tactile presentation method using a tactile presentation device including a first roller, a second roller, a connection unit, and a control unit, the first roller and the second roller are disposed apart from each other so that a first rotation axis of the first roller and a second rotation axis of the second roller are substantially parallel to each other; the connecting portion connects the first roller and the second roller such that a space is formed between the first roller and the second roller, When the tactile presentation device is attached to any of the fingers of a user's hand, the connecting portion covers at least a portion of the fingernail; The side of the fingertip is pinched between the first roller and the second roller, The first rotation axis and the second rotation axis are configured to be along the longitudinal direction of the finger, When viewed from the fingertip side, the first roller is located on the right side of the connecting portion, and the second roller is located on the left side of the connecting portion, The tactile presentation method is a first step of rotating the first roller clockwise and the second roller counterclockwise as viewed from the fingertip side; a second step of rotating the first roller counterclockwise and the second roller clockwise as viewed from the fingertip side after the first step; A tactile presentation method comprising:

8. a stopping step performed between the first step and the second step; The tactile presentation method according to claim 7 , wherein in the stopping step, the first roller and the second roller are maintained for a predetermined time in a state after rotation in the first step.

9. The tactile presentation method according to claim 7 , wherein rotational torques of the first roller and the second roller are changed in the first step or the second step.

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