tactile presentation device

Abstract

To provide a tactile sensation presentation device that has high strength against touch operation and can give a user strong vibration.SOLUTION: A tactile sensation presentation device 100 includes a movable unit 120, a base 110, a guide unit 140 and at least one actuator 150. The movable unit 120 has a primary surface 120a and presents tactile sensation to a user by displacing in a predetermined uniaxial direction parallel to the primary surface 120a. The base 110 movably supports the movable unit 120. The guide unit 140 connects the base 110 and the movable unit 120 to each other, and slides in the uniaxial direction, thereby restricting a displacement direction of the movable unit 120 in the uniaxial direction. The actuator 150 displaces the movable unit 120 in the uniaxial direction from one end side of the movable unit 120 in the uniaxial direction. If one actuator 150 is available, the actuator 150 is positioned on an axis of symmetry in parallel with the uniaxial direction of the movable unit 120.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a tactile presentation device. [Background technology]

[0002] Touch panels are known as interfaces that are provided on a display panel that displays characters, images, etc., and that accept user instructions. Furthermore, techniques are known that provide tactile feedback in response to a user's touch operation to improve the user's operability of the touch panel. For example, Patent Document 1 discloses an operation input device that includes a touch operation unit having an operation surface on which input is made by touch operation, operation detection means that detects the touch operation, operation unit displacement means that displaces the touch operation unit, and displacement control means that controls the displacement of the touch operation unit by driving and controlling the operation unit displacement means. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-221387 Summary of the Invention [Problem to be solved by the invention]

[0004] In the operation input device of Patent Document 1, actuators are connected to the left and right ends of a front panel integrated with a touch detector. The left and right actuators are provided in the left and right spaces of a housing, respectively. In other words, the front panel integrated with a touch detector is supported at the left and right ends by the actuators and the housing.

[0005] In the operation input device of Patent Document 1, the front panel is supported at the left and right ends by the actuator and the housing, so it is not strong enough to withstand touch operations and may be damaged.

[0006] The present disclosure has been made in consideration of the above circumstances, and aims to provide a tactile presentation device that has a high strength in response to a touch operation and can provide a strong vibration to a user. [Means for solving the problem]

[0007] In order to achieve the above object, a tactile presentation device according to a first aspect of the present disclosure includes: a movable section having a first main surface and displacing in a predetermined uniaxial direction parallel to the first main surface to provide a tactile sensation to a user; a base that supports the movable part so that the movable part can be displaced; a guide portion connecting the base and the movable portion; at least one actuator that displaces the movable part in the one axial direction; When there is one actuator, the actuator is located on a symmetry axis parallel to the one axial direction of the movable part, when there are two actuators and the outputs of the two actuators are different, the two actuators are located at positions across the axis of symmetry such that the ratio of the vertical distance between one of the actuators and the axis of symmetry to the vertical distance between the other of the actuators and the axis of symmetry is the inverse ratio of the ratio of the output of one of the actuators to the output of the other of the actuators, When there are a plurality of actuators and the outputs of the plurality of actuators are equal, the plurality of actuators are positioned symmetrically with respect to the axis of symmetry. death, the guide portion slides in the uniaxial direction to restrict the displacement direction of the movable portion in the uniaxial direction; The at least one actuator displaces the movable part in the uniaxial direction from one end side of the movable part in the uniaxial direction. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to increase the strength of a touch operation and provide a strong vibration to the user. [Brief explanation of the drawings]

[0010] [Figure 1]1 is a side view showing a tactile presentation device according to a first embodiment. [Figure 2] 1 is a plan view showing a tactile presentation device according to a first embodiment. [Figure 3] 3 is a cross-sectional view of the tactile presentation device shown in FIG. 2 taken along line AA. [Figure 4] FIG. 3 is a schematic diagram for explaining a rotation moment about the center of gravity according to the first embodiment. [Figure 5] FIG. 10 is a plan view showing a tactile presentation device according to a second embodiment. [Figure 6] 6 is a cross-sectional view of the tactile presentation device shown in FIG. 5 taken along line BB. [Figure 7] FIG. 11 is a schematic diagram for explaining a rotation moment about the center of gravity according to the third embodiment. [Figure 8] FIG. 11 is a schematic diagram for explaining a rotation moment about the center of gravity according to the third embodiment. [Figure 9] FIG. 10 is a side view showing a tactile presentation device according to a fourth embodiment. [Figure 10] FIG. 10 is a plan view showing a tactile presentation device according to a fourth embodiment. [Figure 11] 11 is a cross-sectional view of the tactile presentation device shown in FIG. 10 taken along line CC. [Figure 12] FIG. 10 is a plan view showing a base according to a fourth embodiment. [Figure 13] 13 is a cross-sectional view of the base shown in FIG. 12 taken along line DD. [Figure 14] FIG. 10 is a cross-sectional view showing a carrier according to a fourth embodiment. [Figure 15] FIG. 10 is a plan view showing the lower plate of the carrier according to the fourth embodiment. [Figure 16] FIG. 10 is a plan view showing a tactile presentation device according to a fifth embodiment. [Figure 17] 17 is a cross-sectional view of the tactile presentation device shown in FIG. 16 taken along line EE. [Figure 18] FIG. 10 is a plan view showing a base according to a fifth embodiment. [Figure 19] FIG. 10 is a plan view showing a carrier according to a fifth embodiment. [Figure 20]FIG. 10 is a cross-sectional view showing a tactile presentation device according to a modified example. [Figure 21] FIG. 10 is a plan view showing a carrier according to a modified example. [Figure 22] FIG. 10 is a side view showing a carrier according to a modified example. [Figure 23] FIG. 10 is a plan view showing a base according to a modified example. [Figure 24] FIG. 10 is a plan view showing a base, a carrier, and a guide portion according to a modified example. [Figure 25] FIG. 10 is a cross-sectional view showing a guide portion according to a modified example. [Figure 26] FIG. 10 is a side view showing a tactile presentation device according to a modified example. [Figure 27] 10A and 10B are schematic diagrams for explaining a rotation moment about the center of gravity according to the modified example. [Figure 28] FIG. 10 is a plan view showing an axis of symmetry according to a modified example. [Figure 29] FIG. 10 is a plan view showing a tactile presentation device according to a first modification. [Figure 30] 30 is a cross-sectional view of the tactile presentation device shown in FIG. 29 taken along line FF. [Figure 31] FIG. 10 is a plan view showing a tactile presentation device according to Modification 2. [Figure 32] 32 is a cross-sectional view of the tactile presentation device shown in FIG. 31 taken along line GG. [Figure 33] FIG. 11 is a plan view showing a tactile presentation device according to a third modification. [Figure 34] 34 is a cross-sectional view of the tactile presentation device shown in FIG. 33 taken along line HH. [Figure 35] 10 is a schematic diagram showing a cross section of a movable part according to Modification 4. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, a tactile presentation device according to an embodiment will be described with reference to the drawings.

[0012] <Embodiment 1> A tactile presentation device 100 according to this embodiment will be described with reference to Figures 1 to 4. The tactile presentation device 100 provides a tactile sensation as feedback to a user through vibration. The tactile presentation device 100 is installed in a smartphone, a laptop computer, a vehicle, etc.

[0013] As shown in FIG. 1, the tactile presentation device 100 includes a base 110, a movable part 120, a guide part 140, an actuator 150, and a control part 160. The base 110 supports the movable part 120 so that it can be displaced. The movable part 120 presents a tactile sensation to the user by displacing in a predetermined uniaxial direction parallel to the first main surface 120a. The guide part 140 slides in the predetermined uniaxial direction to restrict the displacement direction of the movable part 120 to the predetermined uniaxial direction. The actuator 150 displaces the movable part 120 in the predetermined uniaxial direction. The control part 160 controls each part. For ease of understanding, the rightward direction (rightward on the paper) of the tactile presentation device 100 in FIG. 1 is defined as the +X direction, the upward direction (upward on the paper) is defined as the +Z direction, and the direction perpendicular to the +X direction and the +Z direction (into the paper) is defined as the +Y direction. The predetermined uniaxial direction is defined as the X axis direction.

[0014] Next, the specific configuration of the tactile presentation device 100 will be described. The base 110 of the tactile presentation device 100 displaceably supports the movable part 120 from a second main surface 120b of the movable part 120 (described later) via a guide part 140. As shown in FIGS. 2 and 3, the base 110 has a box shape that opens in the +Z direction and includes a bottom plate 112 and four side plates 114a to 114d. The base 110 is formed, for example, from a stainless steel material. Note that, for ease of understanding, the display part 130 and touch panel 131 of the movable part 120 (described later) are omitted in FIGS. 2 and 3. The display part 130 and touch panel 131 are also omitted as appropriate in the following figures.

[0015] Bottom plate 112 is a flat plate having a rectangular shape. Main surface 112a on the +Z side of bottom plate 112 corresponds to third main surface 110a of base 110, which faces second main surface 120b of movable section 120, which will be described later. Shafts 142a and 142b of guide section 140, which will be described later, are provided between side plate 114a located on the -X side and side plate 114b located on the +X side.

[0016] The movable part 120 of the tactile presentation device 100 presents a tactile sensation to the user by being displaced in the X-axis direction (a predetermined axial direction). The movable part 120 is displaced in the X-axis direction by an actuator 150 as a drive source.

[0017] 1, the movable section 120 includes a carrier 121, a display section 130, and a touch panel 131. The carrier 121 is connected to the base 110 via a guide section 140, and supports the display section 130 and the touch panel 131. The display section 130 displays characters, images, etc. The touch panel 131 detects the position (contact position) where the user touches the contact surface 131a by a touch operation.

[0018] 2 and 3, carrier 121 has a box shape that is open in the -Z direction. The outer shape of carrier 121 is smaller than the inner shape of base 110, and carrier 121 is located inside base 110 on the +Z side of base 110. Carrier 121 has an upper plate 122 and side plates 124a to 124d. Carrier 121 is formed from, for example, an aluminum alloy.

[0019] The upper plate 122 is a flat plate having a rectangular shape and has a first main surface 122a and a second main surface 122b opposite to the first main surface 122a. The first main surface 122a of the upper plate 122 is parallel to the XY plane (X axis) and located on the +Z side, and corresponds to the first main surface 120a of the movable part 120. The second main surface 122b of the upper plate 122 is located on the -Z side and corresponds to the second main surface 120b of the movable part 120. The second main surface 122b of the upper plate 122 faces the third main surface 110a of the base 110. The first main surface 122a of the upper plate 122 also corresponds to the first main surface of the carrier 121, and the second main surface 122b of the upper plate 122 also corresponds to the second main surface of the carrier 121.

[0020] Side plate 124a located on the -X side is provided with bearings 144a and 144b of guide portion 140, which will be described later. Also, side plate 124b located on the +X side is provided with bearings 144c and 144d of guide portion 140, which will be described later.

[0021] The display unit 130 is provided on the first main surface 122a of the upper plate 122. The display unit 130 is, for example, a liquid crystal display panel.

[0022] The touch panel 131 is disposed on the display unit 130. The touch panel 131 functions as an interface that detects the position touched by the user and accepts instructions by the user's touch operation on the display unit 130. The tactile presentation device 100 displaces the movable unit 120 in a predetermined axial direction (X-axis direction) according to the user's touch position detected by the touch panel 131, thereby using the contact surface 131a of the touch panel 131 as a tactile presentation surface to provide feedback to the user of a tactile sensation through vibration.

[0023] 3, the guide section 140 of the tactile presentation device 100 is disposed between the second main surface 120b of the movable section 120 (the second main surface 122b of the upper plate 122 of the carrier 121) and the third main surface 110a of the base 110, and connects the base 110 and the movable section 120 (carrier 121). Furthermore, the guide section 140 slides in the X-axis direction to restrict the displacement direction of the movable section 120 to the X-axis direction. As shown in FIG. 2, the guide section 140 has shafts 142a and 142b and bearings 144a to 144d.

[0024] The shafts 142a and 142b are rod-shaped members extending in the X-axis direction and are made of, for example, stainless steel. One end of each of the shafts 142a and 142b is fixed to the side plate 114a of the base 110, and the other end of each of the shafts 142a and 142b is fixed to the side plate 114b of the base 110. As a result, the shafts 142a and 142b are provided between the side plates 114a and 114b. When viewed in a plan view from the +Z direction, the shafts 142a and 142b are arranged symmetrically on the +Y side and the -Y side with respect to the symmetry axis M of the movable part 120 (described later).

[0025] Bearings 144a to 144d are, for example, slide bearings. Bearings 144a and 144b are provided on side plate 124a of carrier 121, and bearings 144c and 144d are provided on side plate 124b of carrier 121. Bearings 144a and 144c are disposed opposite each other and are inserted through shaft 142a. Bearings 144b and 144d are disposed opposite each other and are inserted through shaft 142b.

[0026] In this embodiment, shaft 142a, which is provided between side plates 114a and 114b of base 110 and extends in the X-axis direction, passes through bearing 144a provided on side plate 124a of carrier 121 and bearing 144c provided on side plate 124b of carrier 121. Also, shaft 142b, which is provided between side plates 114a and 114b of base 110 and extends in the X-axis direction, passes through bearing 144b provided on side plate 124a of carrier 121 and bearing 144d provided on side plate 124b of carrier 121. Therefore, shafts 142a and 142b of guide unit 140 and bearings 144a to 144d connect base 110 and movable unit 120 (carrier 121), and dThe shafts 142a and 142b slide in the X-axis direction, thereby restricting the displacement direction of the movable part 120 to the X-axis direction. Because the guide part 140 restricts the displacement direction of the movable part 120 to the X-axis direction, displacement of the movable part 120 in directions other than the X-axis direction is suppressed, and the force generated by the actuator 150 is converted with high efficiency into displacement (vibration) of the movable part 120 in the X-axis direction. Therefore, the tactile presentation device 100 can strongly vibrate the movable part 120.

[0027] Furthermore, in this embodiment, guide portion 140, which is provided between side plate 114a and side plate 114b of base 110 and includes shafts 142a and 142b extending in the X-axis direction, is disposed between second main surface 120b of movable portion 120 (second main surface 122b of upper plate 122 of carrier 121) and third main surface 110a of base 110, and connects movable portion 120 and base 110. As a result, even if contact surface 131a of touch panel 131 is pressed hard by the user, guide portion 140 supports movable portion 120 from the second main surface 120b side of movable portion 120, thereby increasing strength against touch operations by the user.

[0028] The actuator 150 of the tactile presentation device 100 is a drive source that displaces the movable part 120 in the X-axis direction. The actuator 150 is arranged on one end side of the carrier 121 of the movable part 120 in the X-axis direction, and displaces the movable part 120 in the X-axis direction from that end side of the X-axis direction. In this embodiment, as shown in FIG. 1 , the actuator 150 is arranged between the −X side end of the carrier 121 and the side plate 114a of the base 110, and displaces the movable part 120 in the +X direction and the −X direction from the −X side.

[0029] The actuator 150 is a piezoelectric actuator, a solenoid, a linear resonant actuator, or the like. When the actuator 150 is a piezoelectric actuator or a solenoid, one of the stator and the mover is coupled to the end of the carrier 121 on the −X side, and the other of the stator and the mover is coupled to the side plate 114a of the base 110. When the actuator 150 is a linear resonant actuator, the actuator 150 is provided at the end of the carrier 121 on the −X side.

[0030] Furthermore, when viewed from a plane in the +Z direction, the actuator 150 is located on an axis of symmetry M that is parallel to the X-axis direction of the movable part 120. In this embodiment, the axis of symmetry M of the movable part 120 is parallel to the X-axis direction and passes through the center of gravity P of the movable part 120, as shown in FIG. 4. In this case, when the actuator 150 applies a force in the X-axis direction to the movable part 120, the sum ΣNm of the rotational moments about the center of gravity P in a plane parallel to the XY plane becomes zero, as shown in FIG. 4 and the following equations (1) to (3). Here, i represents a unit vector in the X-axis direction, j represents a unit vector in the Y-axis direction, F1 represents a vector of the force applied to the movable part 120, and r1 represents a vector from the center of gravity P to the point of application Q of the force.

[0031]

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[0032] Therefore, the actuator 150 can convert the generated force into displacement (vibration) of the movable part 120 in the X-axis direction with high efficiency, and can strongly vibrate the movable part 120. This allows the tactile presentation device 100 to provide strong vibrations to the user.

[0033] The control unit 160 of the tactile presentation device 100 controls the display of the display unit 130 and determines the user's contact position on the touch panel 131. Furthermore, the control unit 160 controls the actuator 150 according to the determined user's contact position to displace the movable unit 120 in the X-axis direction. The control unit 160 includes a CPU (Central Processing Unit) that executes various processes, a ROM (Read Only Memory) that stores programs and data, a RAM (Random Access Memory) that stores data, and the like. The functions of the control unit 160 are realized by the CPU executing programs stored in the ROM.

[0034] As described above, in the tactile presentation device 100, the guide unit 140 including the shafts 142a and 142b connects the movable unit 120 and the base 110, and the guide unit 140 supports the movable unit 120 from the second main surface 120b side of the movable unit 120, thereby increasing the strength against a user's touch operation. Furthermore, the durability against vibration of a device, vehicle, or the like equipped with the tactile presentation device 100 can be increased. Furthermore, since the guide unit 140 restricts the displacement direction of the movable unit 120 to the X-axis direction, the tactile presentation device 100 can suppress displacement of the movable unit 120 in directions other than the X-axis direction and can convert the force generated by the actuator 150 into displacement (vibration) of the movable unit 120 in the X-axis direction with high efficiency. Therefore, the tactile presentation device 100 can strongly vibrate the movable unit 120.

[0035] When viewed from above in the +Z direction, the actuator 150 is located on the symmetry axis M parallel to the X-axis direction of the movable part 120, and therefore the generated force can be converted with high efficiency into displacement (vibration) of the movable part 120 in the X-axis direction. Therefore, the tactile presentation device 100 can strongly vibrate the movable part 120 and provide strong vibrations to the user. Furthermore, since displacement of the movable part 120 in directions other than the X-axis direction can be suppressed, noise, unnecessary vibrations, etc. can be suppressed.

[0036] <Embodiment 2> In the tactile presentation device 100 of embodiment 1, the shafts 142a and 142b of the guide unit 140 are fixed to the side plates 114a and 114b of the base 110, and the bearings 144a to 144d of the guide unit 140 are provided on the side plates 124a and 124b of the carrier 121. The shafts 142a and 142b of the guide unit 140 may be fixed to the side plates 124a and 124b of the carrier 121, and the bearings 144a to 144d of the guide unit 140 may be provided on the side plates 114a and 114b of the base 110.

[0037] The tactile presentation device 100 of this embodiment includes a base 110, a movable part 120, a guide part 140, an actuator 150, and a control part 160, similar to the tactile presentation device 100 of the first embodiment.

[0038] Similar to the base 110 of the first embodiment, the base 110 of this embodiment has a box shape that opens in the +Z direction and includes a bottom plate 112 and four side plates 114a to 114d. In this embodiment, as shown in FIGS. 5 and 6, the outer shape of the base 110 is smaller than the inner shape of the carrier 121 of the movable part 120, and the base 110 is located inside the carrier 121. Furthermore, the bearings 144a and 144b of the guide part 140 are provided on the side plate 114a located on the -X side, and the bearings 144c and 144d of the guide part 140 are provided on the side plate 114b located on the +X side. The rest of the configuration of the base 110 of this embodiment is similar to that of the base 110 of the first embodiment.

[0039] Like the movable part 120 of embodiment 1, the movable part 120 of this embodiment has a carrier 121, a display part 130, and a touch panel 131. The configurations of the display part 130 and the touch panel 131 of this embodiment are the same as those of embodiment 1, so only the carrier 121 of this embodiment will be described here.

[0040] Similar to the carrier 121 of the first embodiment, the carrier 121 of the present embodiment has a box shape that opens in the -Z direction and includes an upper plate 122 and side plates 124a to 124d. In the present embodiment, the inner shape of the carrier 121 is larger than the outer shape of the base 110, and the side plates 124a to 124d of the carrier 121 surround the base 110. In addition, the shafts 142a and 142b of the guide unit 140 are provided between the side plate 124a located on the -X side and the side plate 124b located on the +X side. The other configurations of the carrier 121 of the present embodiment are similar to those of the movable unit 120 of the first embodiment.

[0041] The guide unit 140 of this embodiment has shafts 142a and 142b and bearings 144a to 144d, similar to the guide unit 140 of embodiment 1. The shafts 142a and 142b of this embodiment are provided between the side plates 124a and 124b of the carrier 121. Furthermore, in this embodiment, the bearings 144a and 144b are provided on the side plate 114a of the base 110, and the bearings 144c and 144d are provided on the side plate 114b of the base 110. The bearings 144a and 144c are disposed opposite each other and are inserted through the shaft 142a. The bearings 144b and 144d are disposed opposite each other and are inserted through the shaft 142b. Other configurations of the shafts 142a and 142b and the bearings 144a to 144d of this embodiment are the same as those of embodiment 1.

[0042] In this embodiment, shaft 142a, which is provided between side plates 124a and 124b of carrier 121 and extends in the X-axis direction, passes through bearing 144a provided on side plate 114a of base 110 and bearing 144c provided on side plate 114b of base 110. Also, shaft 142b, which is provided between side plates 124a and 124b of carrier 121 and extends in the X-axis direction, passes through bearing 144b provided on side plate 114a of base 110 and bearing 144d provided on side plate 114b of base 110.

[0043] Therefore, the guide section 140 of this embodiment, like the guide section 140 of embodiment 1, connects the base 110 and the movable section 120 (carrier 121) and can restrict the displacement direction of the movable section 120 to the X-axis direction. Furthermore, since the guide section 140 restricts the displacement direction of the movable section 120 to the X-axis direction, the tactile presentation device 100 can prevent the movable section 120 from being displaced in a direction other than the X-axis direction. Rank The force generated by the actuator 150 is suppressed, and the force generated by the actuator 150 is converted with high efficiency into displacement (vibration) of the movable part 120 in the X-axis direction. Therefore, the tactile presentation device 100 can strongly vibrate the movable part 120. Furthermore, since the guide part 140 including the shafts 142a and 142b connects the movable part 120 and the base 110, strength against a user's touch operation can be increased. Since the guide part 140 supports the movable part 120 from the second main surface 120b side of the movable part 120, strength against a user's touch operation can be further increased.

[0044] Like the actuator 150 of the first embodiment, the actuator 150 of the present embodiment is disposed between the end of the movable part 120 on the -X side and the side plate 114a of the base 110, and displaces the movable part 120 in the +X direction and the -X direction from the -X side. Other configurations of the actuator 150 of the present embodiment are also similar to those of the first embodiment.

[0045] Similar to the control unit 160 of the first embodiment, the control unit 160 of this embodiment controls the display of the display unit 130 and also determines the user's contact position on the touch panel 131. Furthermore, the control unit 160 of this embodiment controls the actuator 150 in accordance with the determined user's contact position, thereby displacing the movable unit 120 in the X-axis direction.

[0046] As described above, in this embodiment as well, the guide unit 140 including the shafts 142a and 142b connects the movable unit 120 and the base 110, thereby increasing the strength against a user's touch operation. The guide unit 140 supports the movable unit 120 from the second main surface 120b side of the movable unit 120, thereby further increasing the strength against a user's touch operation. Furthermore, since the guide unit 140 restricts the displacement direction of the movable unit 120 to the X-axis direction, the tactile presentation device 100 of this embodiment can suppress displacement of the movable unit 120 in directions other than the X-axis direction and can convert the force generated by the actuator 150 into displacement (vibration) of the movable unit 120 in the X-axis direction with high efficiency. Therefore, the tactile presentation device 100 can strongly vibrate the movable unit 120. Furthermore, similar to the tactile presentation device 100 of the first embodiment, the actuator 150 is located on the symmetry axis M parallel to the X-axis direction of the movable part 120 when viewed in a plan view from the +Z direction, and therefore the generated force can be converted with high efficiency into displacement (vibration) in the X-axis direction of the movable part 120. Therefore, the tactile presentation device 100 of this embodiment can strongly vibrate the movable part 120 and provide strong vibrations to the user.

[0047] <Embodiment 3> In the tactile presentation devices 100 of the first and second embodiments, one actuator 150 displaces the movable part 120 in the X-axis direction. The tactile presentation device 100 may include a plurality of actuators 150 with equal outputs. When viewed in a plan view from the +Z direction, the plurality of actuators 150 with equal outputs are arranged symmetrically with respect to the axis of symmetry M of the movable part 120. Here, a case where the number of actuators 150 is two and a case where the number of actuators 150 is three will be described. Note that the configuration of the tactile presentation device 100 of the present embodiment is the same as that of the tactile presentation device 100 of the first embodiment, except for the number of actuators 150 and the position of the actuator 150 at one end side of the movable part 120 in the X-axis direction.

[0048] 7, when there are two actuators 150 with the same output, the two actuators 150 are arranged symmetrically with respect to the axis of symmetry M when viewed in a plan view from the +Z direction. That is, the vertical distance L1 between the actuator 150 located on the +Y side of the axis of symmetry M and the axis of symmetry M is equal to the vertical distance L2 between the actuator 150 located on the -Y side of the axis of symmetry M and the axis of symmetry M (L1 = L2 = a). Hereinafter, the actuator 150 located on the +Y side of the axis of symmetry M will be referred to as the +Y-side actuator 150, and the actuator 150 located on the -Y side of the axis of symmetry M will be referred to as the -Y-side actuator 150.

[0049] When two actuators 150 with equal forces are arranged symmetrically across axis of symmetry M, the sum ΣNm of rotational moments about center of gravity P in a plane parallel to the XY plane becomes zero, as shown in FIG. 7 and the following equations (4) to (7). Here, i represents a unit vector in the X-axis direction, and j represents a unit vector in the Y-axis direction. Furthermore, F1 represents the vector of the force applied to movable part 120 by +Y-side actuator 150, and r1 represents the vector from center of gravity P to point of application Q of the force applied by +Y-side actuator 150. F2 represents the vector of the force applied to movable part 120 by -Y-side actuator 150, and r2 represents the vector from center of gravity P to point of application Q of the force applied by -Y-side actuator 150.

[0050]

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[0051] Therefore, when viewed in a plane from the +Z direction, the actuator 150, which has two equal forces, is arranged symmetrically across the axis of symmetry M, so that the generated force can be converted with high efficiency into a displacement (vibration) of the movable part 120 in the X-axis direction, causing the movable part 120 to vibrate strongly.

[0052] When there are three actuators 150 with the same output, the three actuators 150 are arranged symmetrically with respect to the axis of symmetry M when viewed in a plan view from the +Z direction, as shown in Fig. 8. That is, one of the three actuators 150 is arranged on the axis of symmetry M, and the remaining two actuators 150 are arranged at positions with equal vertical distances L3 and L5 from the axis of symmetry M on either side (L3 = L5 = b).

[0053] When three actuators 150 with equal forces are arranged symmetrically with respect to axis of symmetry M, the sum ΣNm of the rotational moments about center of gravity P in a plane parallel to the XY plane becomes zero, as shown in FIG. 8 and the following equations (8) to (12). Here, F3 represents the vector of the force applied to movable part 120 by +Y-side actuator 150, and r3 represents the vector from center of gravity P to point of application Q of the force applied by +Y-side actuator 150. F4 represents the vector of the force applied to movable part 120 by actuator 150 arranged on axis of symmetry M, and r4 represents the vector from center of gravity P to point of application Q of the force applied by actuator 150 arranged on axis of symmetry M. F5 represents the vector of the force applied to movable part 120 by -Y-side actuator 150, and r5 represents the vector from center of gravity P to point of application Q of the force applied by -Y-side actuator 150.

[0054]

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[0055] Therefore, by arranging the three actuators 150 with equal force symmetrically on either side of the axis of symmetry M, the generated force can be converted with high efficiency into displacement (vibration) of the movable part 120 in the X-axis direction, just as in the case where there are two actuators 150 with equal output, and the movable part 120 can be vibrated strongly.

[0056] As described above, by arranging a plurality of actuators 150 with equal outputs symmetrically with respect to the axis of symmetry M of the movable part 120 when viewed in a plan view from the +Z direction, the generated force can be converted with high efficiency into displacement (vibration) in the X-axis direction of the movable part 120, and the actuators 150 can strongly vibrate the movable part 120. Therefore, the tactile presentation device 100 of this embodiment can provide strong vibrations to the user.

[0057] <Embodiment 4> In the first to third embodiments, the base 110 and the movable part 120 are connected by the guide part 140 having the shafts 142a and 142b and the bearings 144a to 144d. The base 110 and the movable part 120 may be connected by using a rubber bushing 172.

[0058] 9 to 11, the tactile presentation device 100 of this embodiment includes a base 110, a movable part 120, a bushing part 170, two actuators 150, and a control unit 160. The configuration of the control unit 160 of this embodiment is the same as that of embodiment 1, so only the base 110, the movable part 120, the bushing part 170, and the two actuators 150 will be described. Note that the display unit 130 and touch panel 131 of the movable part 120 are omitted in FIGS. 10 and 11.

[0059] The base 110 of this embodiment displaceably supports the movable part 120 via a bushing part 170. As shown in Figures 12 and 13, the base 110 of this embodiment has a box shape that is open in the +Z direction, and has a bottom plate 112 and four side plates 114a to 114d.

[0060] The bottom plate 112 is a rectangular flat plate, and four protrusions 116 are provided on a main surface 112a facing the movable part 120. The four protrusions 116 are provided at positions corresponding to through holes 127a to 127d of a lower plate 126, which will be described later. The protrusions 116 have female holes 116a into which shafts 174b of connection pins 174 of a bushing part 170, which will be described later, are fitted.

[0061] The movable part 120 of this embodiment provides a tactile sensation to the user by being displaced in the X-axis direction. Like the movable part 120 of embodiment 1, the movable part 120 of this embodiment includes a carrier 121, a display part 130, and a touch panel 131. The configurations of the display part 130 and the touch panel 131 are the same as those of embodiment 1, so only the carrier 121 of this embodiment will be described here.

[0062] 14, the carrier 121 of this embodiment has an upper plate 122, a lower plate 126, and connection portions 128a and 128b. The outer shape of the carrier 121 is smaller than the inner shape of the base 110, and the carrier 121 is located inside the base 110.

[0063] The upper plate 122 of this embodiment is a flat plate having a rectangular shape, and has a first main surface 122a and a second main surface 122b opposite to the first main surface 122a. The first main surface 122a of the upper plate 122 of this embodiment is parallel to the XY plane (X axis) and located on the +Z side, and corresponds to the first main surface 120a of the movable part 120. In this embodiment, the second main surface 122b of the upper plate 122 is the second main surface 120b of the movable part 120.

[0064] Lower plate 126 is a flat plate of the same shape as upper plate 122. Lower plate 126 is located on the base 110 side (-Z side) of upper plate 122 and is connected to upper plate 122 by connecting portions 128a and 128b. As shown in FIG. 15 , lower plate 126 has four through holes 127a to 127d. In a plan view from the +Z direction, through hole 127a and through hole 127b are located on a line parallel to symmetry axis M on the +Y side of symmetry axis M that passes through center of gravity P of movable part 120, and through hole 127c and through hole 127d are located on a line parallel to symmetry axis M on the -Y side of symmetry axis M. Furthermore, through hole 127a and through hole 127c are located symmetrically with respect to symmetry axis M, and through hole 127b and through hole 127d are located symmetrically with respect to symmetry axis M. Rubber bushings 172 of the bushing portion 170 are fitted into the through holes 127a to 127d.

[0065] The connecting portions 128a and 128b connect the upper plate 122 and the lower plate 126 at the ends on the -X side and the +X side of the upper plate 122 and the lower plate 126, respectively.

[0066] 11, the bushing part 170 of the tactile presentation device 100 has a rubber bushing 172 and a connection pin 174. The rubber bushing 172 is an annular elastic body, and is fitted into each of the through holes 127a to 127d of the lower plate 126 of the movable part 120. The rubber bushing 172 elastically deforms in accordance with the displacement of the movable part 120.

[0067] The connection pin 174 has a head 174a and a shaft 174b. The shaft 174b of the connection pin 174 is inserted through the rubber bushing 172 fitted in the through holes 127a to 127d from the lower plate 126 side, and is fixed to the female hole 116a of the protrusion 116 of the bottom plate 112. This connects the movable part 120 (carrier 121) and the base 110 (bottom plate 112 of the base 110). The shaft 174b of the connection pin 174 is an example of the shaft of the bushing part 170.

[0068] In this embodiment, when the movable part 120 is displaced, the rubber bush 172 inserted into the shaft part 174b is elastically deformed, so that the base 110 that supports the movable part 120 via the bush part 170 can support the movable part 120 so that it can be displaced.

[0069] Furthermore, because base 110 supports movable part 120 via bush part 170, it is possible to increase the strength against a touch operation by a user. Furthermore, base 110 supports movable part 120 from the second main surface 120b side of movable part 120. Therefore, even if contact surface 131a of touch panel 131 is pressed down hard by a user, base 110 supports movable part 120 from the second main surface 120b side of movable part 120, so it is possible to further increase the strength against a touch operation by a user.

[0070] The two actuators 150 of this embodiment have the same output. As shown in Fig. 10, the two actuators 150 of this embodiment are disposed between the end of the movable part 120 on the -X side and the side plate 114a of the base 110. When viewed from above in the +Z direction, the two actuators 150 of this embodiment are disposed symmetrically with respect to the axis of symmetry M of the movable part 120, similar to the two actuators 150 of embodiment 3. Therefore, similar to the two actuators 150 of embodiment 3, the two actuators 150 of this embodiment can convert the generated force into a displacement (vibration) of the movable part 120 in the X-axis direction with high efficiency, and can vibrate the movable part 120 strongly.

[0071] As described above, in this embodiment, the base 110 supports the movable part 120 displaceably via the bushing 170, thereby increasing the strength against a user's touch operation. Moreover, the base 110 supports the movable part 120 from the second main surface 120b side of the movable part 120, thereby further increasing the strength against a user's touch operation. Furthermore, since two actuators 150 with equal outputs are arranged symmetrically with respect to the axis of symmetry M of the movable part 120, the generated force can be converted with high efficiency into displacement (vibration) of the movable part 120 in the X-axis direction, and the movable part 120 can be vibrated strongly. As a result, the tactile presentation device 100 of this embodiment can provide strong vibrations to the user.

[0072] <Embodiment 5> In the tactile presentation device 100 of the fourth embodiment, the rubber bushing 172 of the bushing part 170 is provided on the movable part 120. The rubber bushing 172 of the bushing part 170 may be provided on the base 110.

[0073] The tactile presentation device 100 of this embodiment, like the tactile presentation device 100 of embodiment 4, includes a base 110, a movable part 120, a bush part 170, and two actuators 150. Since the configuration of the two actuators 150 is the same as in embodiment 4, the base 110, the movable part 120, and the bush part 170 will be described.

[0074] The base 110 of this embodiment, like the base 110 of embodiment 4, displaceably supports the movable part 120 via a bushing part 170. As shown in FIGS. 16 and 17, the base 110 of this embodiment has a box shape that opens in the +Z direction and includes a bottom plate 112 and four side plates 114a to 114d. As shown in FIG. 18, the bottom plate 112 of this embodiment has four through holes 118. Each of the four through holes 118 is provided at a position corresponding to one of the protrusions 132a to 132d of the carrier 121, which will be described later. A rubber bushing 172 of the bushing part 170 is fitted into the through hole 118.

[0075] The movable part 120 of this embodiment, like the movable part 120 of embodiment 4, provides a tactile sensation to the user by being displaced in the X-axis direction. Like the movable part 120 of embodiment 1, the movable part 120 of this embodiment includes a carrier 121, a display part 130, and a touch panel 131. The configurations of the display part 130 and the touch panel 131 are the same as those of embodiment 1, so only the carrier 121 of this embodiment will be described here. As shown in FIG. 19 , the carrier 121 of this embodiment has an upper plate 122 and protrusions 132a to 132d.

[0076] The upper plate 122 of this embodiment is a rectangular flat plate having a first main surface 122a and a second main surface 122b opposite to the first main surface 122a. The first main surface 122a of the upper plate 122 of this embodiment is parallel to the XY plane (X axis) and located on the +Z side, and corresponds to the first main surface 120a of the movable part 120. The second main surface 122b of the upper plate 122 of this embodiment is located on the -Z side and corresponds to the second main surface 120b of the movable part 120.

[0077] The protrusions 132a to 132d of this embodiment are provided on the second main surface 122b of the upper plate 122. In a plan view from the +Z direction, the protrusions 132a and 132b are located on a line parallel to the symmetry axis M on the +Y side of the symmetry axis M that passes through the center of gravity P of the movable part 120, and the protrusions 132c and 132d are located on a line parallel to the symmetry axis M on the -Y side of the symmetry axis M. Furthermore, the protrusions 132a and 132c are located symmetrically with respect to the symmetry axis M, and the protrusions 132b and 132d are located symmetrically with respect to the symmetry axis M. Each of the protrusions 132a to 132d has a female hole 133 into which a shaft portion 174b of a connection pin 174 of the bushing part 170 is fitted.

[0078] Similar to the bushing portion 170 of the fourth embodiment, the bushing portion 170 of the present embodiment has a rubber bushing 172 and a connection pin 174. The rubber bushing 172 of the present embodiment is an annular elastic body, and as shown in Fig. 17, is fitted into each of the through holes 118 of the bottom plate 112. The rubber bushing 172 of the present embodiment elastically deforms in accordance with the displacement of the movable portion 120.

[0079] Similar to the connection pin 174 of embodiment 4, the connection pin 174 of this embodiment has a head 174a and a shaft 174b. The shaft 174b of the connection pin 174 is inserted through the rubber bushing 172 fitted into the through hole 118 of the bottom plate 112 from the bottom plate 112 side, and is fixed to the female holes 133 of the convex portions 132a to 132d of the movable part 120. This connects the movable part 120 (carrier 121) and the base 110.

[0080] In this embodiment, as the movable part 120 is displaced, the shaft part 174b (connection pin 174) of the connection pin 174 is displaced, and the rubber bushing inserted into the shaft part 174b is elastically deformed. Therefore, the base 110, which supports the movable part 120 via the bushing part 170, can support the movable part 120 so that it can be displaced.

[0081] Furthermore, since the base 110 supports the movable part 120 via the bush part 170, it is possible to increase the strength against the touch operation by the user, as in the fourth embodiment. Furthermore, the base 110 supports the movable part 120 from the second main surface 120b side of the movable part 120. Therefore, even if the contact surface 131a of the touch panel 131 is pressed down hard by the user, the base 110 supports the movable part 120 from the second main surface 120b side of the movable part 120, so it is possible to further increase the strength against the touch operation by the user.

[0082] As described above, similar to the fourth embodiment, the base 110 supports the movable part 120 displaceably via the bushing 170, thereby increasing the strength against a user's touch operation. Furthermore, the base 110 supports the movable part 120 from the second main surface 120b side of the movable part 120, thereby further increasing the strength against a user's touch operation. Furthermore, similar to the fourth embodiment, the two actuators 150 having the same output are arranged symmetrically with respect to the axis of symmetry M of the movable part 120 when viewed in a plan view from the +Z direction. Therefore, the generated force can be converted with high efficiency into a displacement (vibration) of the movable part 120 in the X-axis direction, and the movable part 120 can be vibrated strongly.

[0083] <Modification> Although the embodiments have been described above, various modifications can be made to the present disclosure without departing from the spirit and scope of the present disclosure.

[0084] In the first and second embodiments, the carrier 121 has a box shape, but the shape of the carrier 121 is not limited to a box shape. For example, as shown in Fig. 20, the carrier 121 of the first embodiment may have legs 202 on a flat upper plate 122. In this case, bearings 144a to 144d are provided on the legs 202. The outer shape of the upper plate 122 may be larger than the outer shape of the base 110, as shown in Fig. 20.

[0085] 21 and 22, the carrier 121 of the first embodiment may be flat. In this case, for example, a U-shaped bearing 204 of the guide portion 140 is provided on the first main surface of the carrier 121 instead of the bearings 144a to 144d of the guide portion 140.

[0086] In the first and second embodiments, shaft 142a and shaft 142b are arranged symmetrically on the +Y side and the −Y side with respect to symmetry axis M of movable part 120 when viewed in a plan view from the +Z direction. Shaft 142a and shaft 142b do not have to be arranged symmetrically on the +Y side and the −Y side with respect to symmetry axis M of movable part 120 when viewed in a plan view from the +Z direction. In other words, guide part 140 does not have to be arranged symmetrically on the +Y side and the −Y side with respect to symmetry axis M of movable part 120 when viewed in a plan view from the +Z direction.

[0087] In the fourth and fifth embodiments, the upper plate 122 and the lower plate 126 of the carrier 121 have the same shape, but the upper plate 122 and the lower plate 126 are not limited to having the same shape. Furthermore, the carrier 121 is not limited to being formed from the upper plate 122, the lower plate 126, and the connecting portions 128a, 128b. For example, the carrier 121 in the fourth and fifth embodiments may be formed from only the upper plate 122.

[0088] In the fourth and fifth embodiments, the bushing portions 170 (through holes 127a to 127d or protrusions 132a to 132d) are arranged symmetrically. The bushing portions 170 do not have to be arranged symmetrically.

[0089] In the first to fifth embodiments, the base 110 has a box shape, but the shape of the base 110 is not limited to a box shape. For example, as shown in Fig. 23, the base 110 in the first embodiment may have a flat bottom plate 112 and side plates 114a and 114b on which the shafts 142a and 142b are provided.

[0090] Furthermore, in the first embodiment, the side plates 114a and 114b on which the shafts 142a and 142b are provided may form the base 110 together with other members (such as a housing or circuit board of the device on which the tactile presentation device 100 is mounted, or a support member provided on the device on which the tactile presentation device 100 is mounted). In the second embodiment, the side plates 114a and 114b on which the bearings 144a to 144d are provided may form the base 110 together with other members.

[0091] Although the guide portion 140 in the first and second embodiments is disposed between the second main surface 120b of the movable portion 120 and the third main surface 110a of the base 110, the arrangement of the guide portion 140 is not limited thereto. For example, as shown in FIG. 24 , the shaft 142a of the guide portion 140 may be positioned parallel to the side surface 122c of the upper plate 122 of the carrier 121, and the shaft 142b of the guide portion 140 may be positioned parallel to the side surface 122c of the upper plate 122 of the carrier 121. In this case, the protrusions 206a and 206c are provided on the side surface 122c on the +Y side of the upper plate 122, and the bearings 144a and 144c of the guide portion 140 are provided on the protrusions 206a and 206c, respectively. The shaft 142a passes through the bearings 144a and 144c. Furthermore, protrusions 206b and 206d are provided on side surface 122d on the -Y side of upper plate 122, and bearings 144b and 144d of guide portion 140 are provided on protrusions 206b and 206d, respectively. Shaft 142b passes through bearings 144b and 144d.

[0092] The guide unit 140 of the tactile presentation device 100 is not limited to a combination of the shafts 142a, 142b and the bearings 144a to 144d. For example, as shown in Fig. 25, the guide unit 140 may be a linear guide having a rail 146 that is provided on the bottom plate 112 of the base 110 and extends in the X-axis direction, and a block 148 that is attached to the second main surface 122b of the top plate 122 of the carrier 121 and moves on the rail 146.

[0093] The display unit 130 of the movable part 120 is not limited to a liquid crystal display panel, but may be an organic EL (Electro Luminescence) display panel, a printed matter, or the like.

[0094] In the first to fifth embodiments, the movable part 120 is configured from the carrier 121, the display part 130, and the touch panel 131; however, the configuration of the movable part 120 is not limited to this. For example, the movable part 120 may be configured from the display part 130 and the touch panel 131. In this case, the display part 130 and the base 110 are connected by the guide part 140 or the bush part 170. Furthermore, the movable part 120 may be configured from the carrier 121 and the display part 130, or the movable part 120 may be configured from the carrier 121 and the touch panel 131. Furthermore, the movable part 120 may be configured from only one of the carrier 121, the display part 130, and the touch panel 131. For example, when the movable part 120 is configured from only the display part 130, the display part 130 and the base 110 are connected by the guide part 140 or the bush part 170.

[0095] The tactile presentation device 100 may include force sensors 240 at the four corners. For example, Force Sensor 24026, is provided between the bottom plate 112 of the base 110 and the side plates 114a to 114d of the base 110 that support the movable part 120. The force sensor 240 detects the force (force in the -Z direction) with which the user presses the contact surface 131a of the touch panel 131. In this case, the control unit 160 controls the vibration intensity of the movable part 120 in accordance with the force detected by the force sensor 240. For example, when the force sensor 240 detects a load equal to or greater than a predetermined set value, the control unit 160 controls the vibration intensity of the movable part 120 so as to present a clicking sensation to the user.

[0096] The tactile presentation devices 100 of the fourth and fifth embodiments may include a plurality of (three or more) actuators 150 with equal outputs, similar to the tactile presentation devices 100 of the first and second embodiments. In this case, when viewed in a plan view from the +Z direction, the plurality of actuators 150 with equal outputs are arranged symmetrically with respect to the axis of symmetry M of the movable part 120.

[0097] The tactile presentation device 100 of the first to fifth embodiments may include a plurality of actuators 150 with different outputs. For example, when the tactile presentation device 100 includes two actuators 150 with different outputs, the two actuators 150 are arranged, in a plan view from the +Z direction, on either side of an axis of symmetry M parallel to the X-axis direction of the movable part 120, at positions such that the ratio of a vertical distance L6=c between one actuator 150 and the axis of symmetry M to a vertical distance L7=d between the other actuator 150 and the axis of symmetry M is the inverse ratio of the ratio of an output S1 of one actuator 150 to an output S2 of the other actuator 150 (S1>S2). In this case, as shown in FIG. 27 and the following equations (13) to (18), the sum ΣNm of the rotational moments about the center of gravity P in a plane parallel to the XY plane is zero. Therefore, the generated force can be converted with high efficiency into a displacement (vibration) of the movable part 120 in the X-axis direction, and the movable part 120 can be vibrated strongly. Here, F6 represents the vector of the force applied to the movable part 120 by one actuator 150 (output S1), and r6 represents the vector from the center of gravity P to the point of application Q of the force applied by one actuator 150. F7 represents the vector of the force applied to the movable part 120 by the other actuator 150 (output S2), and r7 represents the vector from the center of gravity P to the point of application Q of the force applied by the other actuator 150.

[0098]

number

number

number

number

number

number

[0099] The features of the present disclosure will be described from another aspect. In a tactile presentation device 100 including m (m is an integer of 1 or more) actuators 150 and in which a movable part 120 is displaced in the X-axis direction (a predetermined uniaxial direction), each of the m actuators 150 satisfies the following formulas (19) and (20) and is arranged so that the force in the X-axis direction (a predetermined uniaxial direction) is dominant. Here, Fm represents the force vector applied to the movable part 120 by the m-th actuator 150, and k represents the unit vector in the Z-axis direction.

[0100]

number

number

[0101] Furthermore, each of the m actuators 150 is arranged so as to satisfy the following equations (21) and (22): where rm represents the position vector of the application point Qm of the force Fm relative to the center of gravity P of the movable part 120.

[0102]

number

number

[0103] Here, the sum ΣNm of rotational moments about the center of gravity P of the movable part 120 is calculated. The force Fm applied to the movable part 120 by the m-th actuator 150 and the position vector rm of the application point Qm of the force Fm relative to the center of gravity P of the movable part 120 can be expressed as in the following equations (23) and (24).

[0104]

number

number

[0105] With respect to the force Fm applied to the movable part 120 by the m-th actuator 150, the rotation moment Nm about the center of gravity P of the movable part 120 is expressed by the following equation (25).

[0106]

number

[0107] Here, as described above, each of the m actuators 150 satisfies equations (19) and (20) and is arranged so that the force in the X-axis direction (a predetermined uniaxial direction) is dominant, and therefore can be approximated as in the following equations (26) and (27).

[0108]

number

number

[0109] Applying the approximations of equations (26) and (27) to equation (25), the rotational moment Nm about the center of gravity P of the movable part 120 for the force Fm applied to the movable part 120 by the mth actuator 150 can be expressed by the following equation (28):

[0110]

number

[0111] Furthermore, as described above, each of the m actuators 150 is arranged so as to satisfy the formula (22), and therefore it can be approximated as the following formula (29).

[0112]

number

[0113] Applying the approximation of equation (29) to equation (28), the rotational moment Nm about the center of gravity P of the movable part 120 for the force Fm applied to the movable part 120 by the m-th actuator 150 can be expressed by the following equation (30).

[0114]

number

[0115] From the above, in the tactile presentation device 100 equipped with m actuators 150, the sum ΣNm of the rotational moments about the center of gravity P of the movable part 120 is expressed by the following equation (31). In the present disclosure, each of the m actuators 150 is arranged with respect to the movable part 120 so that the sum ΣNm of the rotational moments about the center of gravity P of the movable part 120 is zero.

[0116]

number

[0117] The axis of symmetry M in the first to fifth embodiments is an axis that passes through the center of gravity P of the movable section 120. As shown in Fig. 28, the axis of symmetry M may be an axis that is parallel to the X-axis direction (a predetermined axis direction) and that bisects the first main surface 120a of the movable section 120 when the first main surface 120a of the movable section 120 is viewed in plan view (L8 = L9 = e).

[0118] (Variation 1) In the first to fifth embodiments, the actuator 150 is disposed between the end of the carrier 121 on the -X side and the side plate 114a of the base 110. The actuator 150 may be disposed in another position. The configuration of the tactile presentation device 100 of this modification is the same as that of the first embodiment, except for the arrangement of the actuator 150.

[0119] As shown in FIGS. 29 and 30 , when viewed from above in the +Z direction, the actuator 150 is disposed within an area 302 surrounded by the −X-side end, +X-side end, −Y-side end, and +Y-side end of the carrier 121 (between the movable part 120 and the bottom plate 112 of the base 110). The actuator 150 is, for example, a piezoelectric actuator. In this modification, one of the stator and the movable part of the actuator 150 is connected to the second main surface 122b of the carrier 121 (the second main surface 120b of the movable part 120). The other of the stator and the movable part of the actuator 150 is connected to the third main surface 110a of the base 110.

[0120] The actuator 150 is connected to the second main surface 122b of the carrier 121 via, for example, a metal adapter 312. The actuator 150 is also connected to the third main surface 110a of the base 110 via, for example, a metal adapter 314.

[0121] When the tactile presentation device 100 includes one actuator 150, the actuator 150 is located on an axis of symmetry M parallel to the X-axis direction of the movable part 120 in a planar view from the +Z direction, as shown in Fig. 29. When the tactile presentation device 100 includes two actuators 150 and the outputs of the two actuators 150 are different, the two actuators 150 are disposed at positions such that the ratio of a vertical distance L6 between one actuator 150 and the axis of symmetry M to a vertical distance L7 between the other actuator 150 and the axis of symmetry M is the inverse of the ratio of an output S1 of one actuator 150 to an output S2 of the other actuator 150 in a planar view from the +Z direction. When the tactile presentation device 100 includes multiple actuators 150 and the outputs of the multiple actuators 150 are equal, the multiple actuators 150 are located symmetrically with respect to the axis of symmetry M in a planar view from the +Z direction. In this arrangement of the actuators 150, the sum of the rotation moments about the center of gravity P of the movable part 120 in a plane parallel to the first main surface 120a of the movable part 120 is zero.

[0122] (Variation 2) In Modification 1, the actuator 150 is a piezoelectric actuator. The actuator 150 may also be a solenoid. The configuration of the tactile presentation device 100 of this modification is different from that of the tactile presentation device 100 of Modification 1 in the connection of the actuator 150 and the presence of elastic members 316, 318. The other configurations of the tactile presentation device 100 of this modification are the same as those of Modification 1.

[0123] 31 and 32, in a plan view from the +Z direction, actuator (solenoid) 150 is disposed within region 302 surrounded by the -X side end, +X side end, -Y side end, and +Y side end of carrier 121. Actuator 150 is, for example, a solenoid. One of the stator and the mover of actuator 150 is connected to side plate 124a of carrier 121. The other of the stator and the mover of actuator 150 is connected to third main surface 110a of base 110.

[0124] The actuator 150 is connected to the side plate 124a of the carrier 121 via, for example, a metal adapter 312. The actuator 150 is also connected to the third main surface 110a of the base 110 via, for example, a metal adapter 314.

[0125] As shown in Figures 31 and 32, the elastic member 316 is arranged, for example, between the side plate 114a of the base 110 and the side plate 124a of the carrier 121, between the side plate 114b of the base 110 and the side plate 124b of the carrier 121, between the side plate 114c of the base 110 and the side plate 124c of the carrier 121, and between the side plate 114d of the base 110 and the side plate 124d of the carrier 121. The elastic members 318 are disposed, for example, between the third main surface 110a of the base 110 and the side plate 124a of the carrier 121, between the third main surface 110a of the base 110 and the side plate 124b of the carrier 121, between the third main surface 110a of the base 110 and the side plate 124c of the carrier 121, and between the third main surface 110a of the base 110 and the side plate 124d of the carrier 121. The elastic members 316, 318 use elastic force to return the movable part 120, which has been displaced by the actuator 150, to its original position before displacement. The elastic members 316, 318 are made of synthetic rubber, a spring, or the like.

[0126] When the tactile presentation device 100 includes one actuator 150, the actuator 150 is located on an axis of symmetry M parallel to the X-axis direction of the movable part 120 in a planar view from the +Z direction, as shown in Fig. 31 . When the tactile presentation device 100 includes two actuators 150 and the outputs of the two actuators 150 are different, the two actuators 150 are disposed at positions such that the ratio of a vertical distance L6 between one actuator 150 and the axis of symmetry M to a vertical distance L7 between the other actuator 150 and the axis of symmetry M is the inverse of the ratio of an output S1 of one actuator 150 to an output S2 of the other actuator 150 in a planar view from the +Z direction. When the tactile presentation device 100 includes multiple actuators 150 and the outputs of the multiple actuators 150 are equal, the multiple actuators 150 are located symmetrically with respect to the axis of symmetry M in a planar view from the +Z direction. In this arrangement of the actuators 150, the sum of the rotation moments about the center of gravity P of the movable part 120 in a plane parallel to the first main surface 120a of the movable part 120 is zero.

[0127] (Variation 3) In Modification 2, the actuator 150 is a solenoid. The actuator 150 may also be a linear resonant actuator. The configuration of the tactile presentation device 100 of this modification is different from the configuration of the tactile presentation device 100 of Modification 2 in the position of the actuator 150. The other configurations of the tactile presentation device 100 of this modification are the same as those of Modification 2.

[0128] As shown in Figures 33 and 34, when viewed in a plane from the +Z direction, actuator (linear resonant actuator) 150 is provided within area 302 surrounded by the -X side end, +X side end, -Y side end, and +Y side end of carrier 121, for example, on second main surface 122b of carrier 121 (second main surface 120b of movable part 120).

[0129] When the tactile presentation device 100 includes one actuator 150, the actuator 150 is located on an axis of symmetry M parallel to the X-axis direction of the movable part 120 in a planar view from the +Z direction, as shown in Fig. 33. When the tactile presentation device 100 includes two actuators 150 and the outputs of the two actuators 150 are different, the two actuators 150 are disposed at positions such that the ratio of a vertical distance L6 between one actuator 150 and the axis of symmetry M to a vertical distance L7 between the other actuator 150 and the axis of symmetry M is the inverse of the ratio of an output S1 of one actuator 150 to an output S2 of the other actuator 150 in a planar view from the +Z direction. When the tactile presentation device 100 includes multiple actuators 150 and the outputs of the multiple actuators 150 are equal, the multiple actuators 150 are disposed symmetrically with respect to the axis of symmetry M in a planar view from the +Z direction. In this arrangement of the actuators 150, the sum of the rotation moments about the center of gravity P of the movable part 120 in a plane parallel to the first main surface 120a of the movable part 120 is zero.

[0130] (Variation 4) In the first embodiment, the movable part 120 is composed of a carrier 121, a display part 130, and a touch panel 131. The movable part 120 may be composed of the display part 130. For example, a U-shaped bearing 204 may be provided in a case 322 of the display part 130, and the case 322 of the display part 130 may have the function of the carrier 121. The configuration of the tactile presentation device 100 of this modified example differs from the configurations of the tactile presentation device 100 of the first embodiment, modified example 1, etc. in the configuration of the movable part 120. The other configurations of the tactile presentation device 100 of this modified example are the same as those of the first embodiment, modified example 1, etc.

[0131] In this modification, the movable section 120 is a display section 130 having a transmissive liquid crystal display panel 324, a backlight 326, a case 322, and a protective cover 328, as shown in FIG. 35 . The transmissive liquid crystal display panel 324 modulates light from the backlight 326 to display characters, images, and the like. The backlight 326 irradiates light onto the transmissive liquid crystal display panel 324. The backlight 326 is a direct backlight having, for example, a white light emitting diode (LED) and a reflective sheet. The backlight 326 is fixed to a bottom plate 322a of the case 322, and the backlight 326 and the transmissive liquid crystal display panel 324 are fixed together with a gasket 329. The case 322 houses the transmissive liquid crystal display panel 324 and the backlight 326. The protective cover 328 is provided on a side plate 322b of the case 322 to protect the transmissive liquid crystal display panel 324. The protective cover 328 is made of, for example, glass.

[0132] The case 322 has a box-like shape that is open on the +Z side. The case 322 is formed, for example, from aluminum die-casting. The case 322 has four U-shaped bearings 204 on a main surface 322c of a bottom plate 322a that faces the third main surface 110a of the base 110. Each of the U-shaped bearings 204 is inserted onto a corresponding one of shafts 142a, 142b provided on the base 110. The U-shaped bearings 204 and the shafts 142a, 142b form a guide portion 140 that connects the base 110 and the display unit 130 (movable portion 120) and slides in the X-axis direction to restrict the displacement direction of the display unit 130 (movable portion 120) in the X-axis direction. The main surface 322c of the bottom plate 322a of the case 322 corresponds to the second main surface 120b of the movable portion 120.

[0133] In this modification, the guide unit 140 including the shafts 142a and 142b connects the display unit 130 (movable unit 120) and the base 110, thereby increasing the strength against user contact. The guide unit 140 supports the display unit 130 from the main surface 322c of the case 322 (the second main surface 120b of the movable unit 120), thereby further increasing the strength against user contact. Furthermore, since the guide unit 140 restricts the displacement direction of the display unit 130 to the X-axis direction, the tactile presentation device 100 of this modification can suppress displacement of the display unit 130 in directions other than the X-axis direction and can convert the force generated by the actuator 150 into displacement (vibration) of the display unit 130 in the X-axis direction with high efficiency. Therefore, the tactile presentation device 100 of this modification can strongly vibrate the display unit 130. Furthermore, similar to the tactile presentation device 100 of the first embodiment, the actuator 150 is located on the symmetry axis M parallel to the X-axis direction of the display unit 130 (movable unit 120), and therefore the generated force can be converted with high efficiency into displacement (vibration) in the X-axis direction of the display unit 130. Therefore, the tactile presentation device 100 of this modification can strongly vibrate the display unit 130 and provide strong vibrations to the user.

[0134] Although the preferred embodiments have been described above, the present disclosure is not limited to such specific embodiments, and the present disclosure includes the inventions described in the claims and their equivalents. [Explanation of symbols]

[0135] 100 tactile presentation device, 110 base, 110a third main surface, 112 bottom plate, 112a main surface, 114a to 114d side plate, 116 convex portion, 116a female hole, 118 through hole, 120 movable portion, 120a first main surface, 120b second main surface, 121 carrier, 122 upper plate, 122a first main surface, 122b second main surface, 122c, 122d side surface, 124a to 124d side plate, 126 lower plate, 127a to 127d through hole, 128a, 128b connection portion, 130 display portion, 131 touch panel, 131a contact surface, 132a to 132d convex portion, 133 female hole, 140 guide portion, 142a, 142b Shaft, 144a to 144d bearing, 146 rail, 148 block, 150 actuator, 160 control section, 170 bush section, 172 rubber bush, 174 connection pin, 174a head, 174b shaft section, 202 leg section, 204 bearing, 206a to 206d convex section, 240 force sensor, 302 area, 312, 314 adapter, 316, 318 elastic member, 322 case, 322a bottom plate, 322b side plate, 322c main surface, 324 transmissive liquid crystal display panel, 326 backlight, 328 protective cover, 329 gasket, i, j unit vector, F1 to F7, r1 to r7 vector, L1 to L3, L5 to L7 vertical distance, L8, L9 distance, M axis of symmetry, P Center of gravity, Q point of action

Claims

1. A movable part having a first main surface and displacing in a predetermined uniaxial direction parallel to the first main surface to present a tactile sensation to a user; a base that supports the movable part so that the movable part can be displaced; a guide portion connecting the base and the movable portion; at least one actuator that displaces the movable portion in the one axial direction; When there is one actuator, the actuator is located on a symmetry axis parallel to the one axial direction of the movable part, when there are two actuators and the outputs of the two actuators are different, the two actuators are located at positions across the axis of symmetry such that a ratio of a vertical distance between one of the actuators and the axis of symmetry to a vertical distance between the other of the actuators and the axis of symmetry is inversely proportional to a ratio of an output of one of the actuators to an output of the other of the actuators, When the actuator is plural and the outputs of the actuators are equal, the actuators are positioned symmetrically with respect to the axis of symmetry, the guide portion slides in the uniaxial direction to restrict the displacement direction of the movable portion in the uniaxial direction; the at least one actuator displaces the movable part in the uniaxial direction from one end side of the movable part in the uniaxial direction; Tactile presentation device.

2. A movable part having a first main surface and displacing in a predetermined uniaxial direction parallel to the first main surface to present a tactile sensation to a user; a base that supports the movable part so that the movable part can be displaced; a guide portion connecting the base and the movable portion; at least one actuator that displaces the movable portion in the one axial direction; When there is one actuator, the actuator is located on a symmetry axis parallel to the one axial direction of the movable part, when there are two actuators and the outputs of the two actuators are different, the two actuators are located at positions across the axis of symmetry such that a ratio of a vertical distance between one of the actuators and the axis of symmetry to a vertical distance between the other of the actuators and the axis of symmetry is inversely proportional to a ratio of an output of one of the actuators to an output of the other of the actuators, When the actuator is plural and the outputs of the actuators are equal, the actuators are positioned symmetrically with respect to the axis of symmetry, the guide portion includes a shaft provided on one of the base and the movable portion and extending in the uniaxial direction, and a bearing provided on the other of the base and the movable portion and into which the shaft is inserted. Tactile presentation device.

3. A movable part having a first main surface and displacing in a predetermined uniaxial direction parallel to the first main surface to present a tactile sensation to a user; a base that supports the movable part so that the movable part can be displaced; a guide portion connecting the base and the movable portion; at least one actuator that displaces the movable portion in the one axial direction; When there is one actuator, the actuator is located on a symmetry axis parallel to the one axial direction of the movable part, when there are two actuators and the outputs of the two actuators are different, the two actuators are located at positions across the axis of symmetry such that a ratio of a vertical distance between one of the actuators and the axis of symmetry to a vertical distance between the other of the actuators and the axis of symmetry is inversely proportional to a ratio of an output of one of the actuators to an output of the other of the actuators, When the actuator is plural and the outputs of the actuators are equal, the actuators are positioned symmetrically with respect to the axis of symmetry, the guide portion is a bush portion having a rubber bush provided on the movable portion or the base, and a shaft portion that passes through the rubber bush and connects the movable portion and the base, the at least one actuator displaces the movable part in the uniaxial direction from one end side of the movable part in the uniaxial direction; Tactile presentation device.

4. the axis of symmetry passes through the center of gravity of the movable part; The tactile presentation device according to claim 1 .

5. the symmetry axis bisects the first main surface of the movable part when the first main surface of the movable part is viewed in plan; The tactile presentation device according to claim 1 .

6. a sum of rotation moments about a center of gravity of the movable part in a plane parallel to the first main surface of the movable part is zero; The tactile presentation device according to claim 1 .

7. the movable unit includes a carrier connected to the base, a display unit disposed on the carrier and displaying characters or images, and a touch panel disposed on the display unit and receiving instructions from a user. The tactile presentation device according to claim 1 .

8. The movable unit has a display unit connected to the base and configured to display characters or images, and a touch panel disposed on the display unit and configured to receive instructions from a user. The tactile presentation device according to claim 1 .

9. The movable part is a display part that displays characters or images. The tactile presentation device according to claim 1 .

Images