Tactile presentation device

Abstract

To provide a haptic sensation expected by a content creator regardless of operation speed of individuals, in using specific content on a haptic feedback device.SOLUTION: A haptic feedback device includes a haptic output apparatus 11 having a haptic output device 14, and a haptic control unit 21 which controls components including the haptic output device 14. The haptic feedback device uses the haptic output apparatus 11 that executes: angular velocity measurement means which measures an angular velocity of a rotating body which is rotated when a user operates the haptic output device, the rotating body being in contact with a magneto rheological fluid; correction value derivation means which determines a correction value corresponding to the angular velocity; signal value calculation means which calculates a haptic signal based on base haptic data and the correction value; and haptic feedback means which causes the haptic output device to present a haptic sensation based on the calculated haptic signal.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This invention relates to control for appropriately adjusting a tactile presentation device according to a situation.

Background Art

[0002] Tactile presentation devices that allow users to experience tactile effects in conjunction with content have been proposed in various forms. As tactile sensations, for example, active tactile effects such as vibration, pressure, wind, moisture, heat, etc., which can be felt even when the user is stationary, have already been provided in accordance with video content such as movies. Also, in interface devices that receive human movements, providing passive tactile effects that are felt in response to the user's movements, such as the resistance applied when holding an object, like hardness or softness, has been studied.

[0003] Among them, a tactile output device using magnetorheological fluid has been proposed (for example, Patent Document 1). Magnetorheological fluid is a liquid in which magnetic particles are dispersed in a dispersion medium. For tactile output devices, those composed of particularly nano-sized metal particles are preferably used. Magnetorheological fluid exhibits a shear stress (shearing stress) according to the strength of the magnetic field, and can increase or decrease the resistance to a contacting object according to the strength of the magnetic field. Patent Document 1 shows an example where the rotational resistance of a rotating shaft passing through the center of a disk in contact with magnetorheological fluid can be increased or decreased. Since the strength of the magnetic field can be adjusted by the current value applied to the electromagnet, it is a device that can increase or decrease the rotational resistance of the rotating shaft by current. A force that rotates is applied to this rotating shaft by a device that is displaced by the user's operation, and a tactile sensation as resistance to that force can be given to the user according to the current value.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] However, when attempting to provide haptic feedback using the device described in Patent Document 1, there was a possibility that the perceived sensation could change if the user operated it too quickly or too slowly.

[0006] Therefore, the purpose of this invention is to enable the stable presentation of tactile sensations to users using a tactile output device that utilizes magnetorheological fluid, even when the user operates it with sudden force or extremely slowly. [Means for solving the problem]

[0007] This invention is A tactile presentation device having a tactile output device using magnetorheological fluid, The tactile presentation device includes a tactile control unit that controls the components including the tactile output device, It has, A speed measuring means for measuring the speed at which a user operates the haptic output device, A means for deriving a correction value that determines a correction value corresponding to the aforementioned speed, A signal value calculation means that calculates a tactile signal based on base tactile data and the correction value, A tactile presentation means that causes the tactile output device to present tactile sensations based on the calculated tactile signals, The above problem was solved by using a haptic feedback device that performs the following actions.

[0008] It was found that the resistance value of the haptic output device changes depending on the user's operating speed because the shear stress (stress) generated by the magnetoviscous fluid is speed-dependent. In this invention, the angular velocity of a rotating body in contact with the magnetoviscous fluid, which rotates due to the user's operation of the haptic output device, is measured, and a correction value corresponding to that angular velocity is determined. Based on this correction value and the base haptic data corresponding to the resistance when operated at a normally assumed angular velocity, a haptic signal that actually presents tactile sensation to the haptic output device is calculated. As a result, even if the user operates it suddenly and forcefully, or operates it extremely slowly, the inherent discomfort of the haptic output device, which depends on the characteristics of the magnetoviscous fluid, is suppressed, and a more suitable tactile sensation can be presented.

[0009] Furthermore, the tactile presentation device according to this invention is The tactile output device comprises a rotating body that is in contact with the magnetorheological fluid and whose resistance is changed when it rotates, and an angle sensor that detects the angle of the rotating body. The tactile output device having, The clock section that measures time, has An embodiment can be adopted.

[0010] Furthermore, the tactile presentation device according to this invention is The system includes a control device that retrieves the base tactile data from an internal storage unit that records the base tactile data, or from an external server that records the base tactile data. The control device executes a transmission means for transmitting to the tactile presentation device, The tactile control unit is located within the tactile output device. The signal value calculation means can be implemented in the haptic control unit. The base haptic data is a set value for the output of the haptic presentation device, set for each piece of content that the user intends to experience or an object that the user intends to "touch" that content. The selection of the base haptic data means that the user intends to "touch" is actively or automatically selected, and the set value for outputting an appropriate value is read.

[0011] Furthermore, this invention relates to a tactile presentation method using a tactile presentation device having a tactile output device using magnetorheological fluid, A step of measuring the speed at which the user operates the haptic output device, The steps include determining a correction value corresponding to the aforementioned speed, A step of calculating a tactile signal based on base tactile data and the correction value, The above problems can be solved by a tactile presentation method that includes the step of causing the tactile output device to present tactile sensations based on the calculated tactile signals.

[0012] Furthermore, in this invention, A tactile output device having a tactile output device using magnetorheological fluid, The tactile output device includes a tactile control unit that controls the components including the tactile output device, An angle sensor that measures the angle of a rotating body in contact with the magnetorheological fluid, which is rotated when the user operates the haptic output device, The clock section that measures time, It has, The tactile control unit is, An angular velocity measuring means for measuring the angular velocity of a rotating body in contact with the magnetorheological fluid, which is rotated when the user operates the haptic output device, A means for deriving a correction value that determines a correction value corresponding to the angular velocity, A signal value calculation means that calculates a tactile signal based on base tactile data and the correction value, Tactile presentation means for causing the tactile output device to present a tactile sensation based on the calculated tactile signal; The above problems can also be solved by a tactile output device that executes .

Advantages of the Invention

[0013] According to this invention, a suitable tactile effect can be given to a user regardless of whether the operation of the user using the tactile presentation device is rapid or gentle.

Brief Description of the Drawings

[0014] [Figure 1] Functional block diagram of an embodiment of a tactile presentation device according to this invention [Figure 2] Conceptual diagram of an MRF device, which is an example of a tactile output device used in this invention [Figure 3] Conceptual diagram of a tap unit, which is an example of a tactile output device according to this invention [Figure 4] Flow diagram of an example of using base tactile data of an MRF device [Figure 5] Example process flow diagram when a user uses the tactile presentation device according to this invention [Figure 6] Process flow example diagram that is a continuation of FIG. 5 [Figure 7] Example diagram of object selection on a monitor output by an application

Embodiments for Carrying Out the Invention

[0015] Hereinafter, this invention will be described in detail. This invention is a tactile output device having a tactile output device, a tactile presentation device having the tactile output device and a tactile control unit for controlling components including the tactile output device, and a tactile output method using the tactile output device and the tactile presentation device.

[0016] In this invention, touch refers to one of the five senses, which is a sensation that can be felt directly or indirectly through the skin, muscles, nerves, etc. The present invention particularly focuses on passive tactile effects that users experience in response to their actions, such as resistance, tactile feedback, and foot feedback that they receive when they apply force.

[0017] The aforementioned tactile output device and any tactile presentation device that includes the same are devices or systems that allow users to experience the aforementioned tactile sensation. The tactile output device has a tactile output device that receives an electrical signal to realize the behavior that causes the user to experience the tactile sensation. Examples of such tactile output devices include magnetorheological fluid devices that receive an electrical signal to increase the rotational resistance of a rotating body of the device. Among these, the delicate adjustment of tactile sensation according to the present invention is particularly effective in devices that can directly contact the user and apply force. In addition, a magnetorheological damper that receives an electrical signal to increase the resistance of a linear body (piston) of the device can also be used.

[0018] Figure 1 shows a functional block diagram of an embodiment of the haptic presentation device 10 according to this invention. The haptic presentation device 10 includes a haptic output device 11 that actually generates a tactile sensation for the user, and a control device 51 that communicates with the haptic output device 11 and controls the operation that generates the sensation.

[0019] The tactile output device 11 has a tactile output device 14 that changes its output according to an electrical signal. This tactile output device uses a magnetorheological fluid in the part that is responsible for tactile output, and the viscosity of the magnetorheological fluid changes due to the magnetic force which increases or decreases depending on the amount of current flowing through the built-in coil 37, thereby increasing or decreasing the resistance to the user's movement and providing a passive tactile sensation. The shear stress (shear stress) generated by the magnetorheological fluid is velocity-dependent, and its viscosity is also affected by the angular velocity of the rotating body it is in contact with. If this effect is ignored and a uniform output is used, it will not be possible to provide stable resistance, but in this invention, it is possible to suppress the changes in tactile sensation caused by the influence of angular velocity.

[0020] The haptic output device 11 includes a haptic control unit 21 that performs calculations and commands such as transmitting or causing electrical signals to be transmitted to the haptic output device 14, and a data storage unit 22 which is memory used by the haptic control unit 21. The data storage unit 22 stores temporary records of signals, information and results necessary for calculations by the haptic control unit 21, commands, etc. The memory of the data storage unit 22 may be volatile memory, but it is even more preferable if it also has non-volatile memory. If it has non-volatile memory, a high-performance haptic output device 11 can store records and history of personalized output changes and refer to them for further optimization of the output. Although not shown in the figures, the program that operates the haptic control unit 21 may be stored in the data storage unit 22 if it is non-volatile memory, or it may be stored separately. Here, the parts that are responsible for controlling the haptic output device 11 performed by these components are collectively referred to as the output device control unit 20. The configuration of the output device control unit 20 may include elements other than the haptic control unit 21 and the data storage unit 22.

[0021] Furthermore, the tactile output device 11 has a power supply 25 necessary to operate the device itself. This may be a battery or it may be connected to an external power supply. In the case of a battery, if the amount of current required by the tactile output device 11 is small, a replaceable primary battery is sufficient, but if the amount of current required is large, a secondary battery that is charged from an external power supply is easier to operate. Also, if the communication unit 26, which will be described later, is handled by a wired cable, the control device 51 may be powered by an external power supply.

[0022] The tactile output device 11 has a communication unit 26 that can communicate with the communication unit 63 of the control device 51. It must be able to receive communications from the control device 51 at a minimum, and mutual communication is preferable as it allows for more diverse control by the control device 51. Data and commands received by the communication unit 26 are sent to the output device control unit 20, which is used to operate the tactile output device 11. In addition, data, history, logs, etc. from sensors may be sent from the output device control unit 20 to the control device 51 via the communication unit 26. Furthermore, the tactile output device 11 may send a portion of the data to the control device 51 and receive the result as a reply.

[0023] Communication between communication unit 26 and communication unit 63 may be via wired or wireless communication. In the case of wired communication, power may be supplied via a wired cable. The standard is not particularly limited, and at the time of filing this invention, USB cables, Lightning® cables, Thunderbolt® cables, etc., can be selected, but any standard that enables similar or backward compatible communication is acceptable. In the case of wireless communication, any short-range wireless communication standard can be used, such as various wireless LAN standards, Bluetooth®, Bluetooth LE, and wireless USB. However, since the amount of data required to realize the adjustment itself in this invention is small, relatively low-speed and low-power standards such as Bluetooth and Bluetooth LE are preferably used. Of course, if a large amount of data is required for operations other than those required in this invention, a high-speed communication standard may be adopted.

[0024] Preferably, the tactile output device 11 has an angle sensor 16 that detects the angle of a rotating body whose resistance changes when it is in contact with the magnetorheological fluid. The rotating body (corresponding to the disc 32 or rotating shaft 41 described later) is a component to which a force is applied that causes it to rotate through user operation.

[0025] Furthermore, it is preferable that the tactile output device 11 has a clock unit 19 for measuring time. The clock unit 19 can measure the elapsed time, and the angular velocity can be calculated from the elapsed time until the two points of the rotating body are displaced to a certain angle.

[0026] The control device 51 communicates with the haptic output device 11 via the communication unit 63 and controls the haptic output device 11 to provide the user with tactile sensations as part of the content. Specifically, examples include terminals used by the user such as personal computers, game consoles, smartphones, smartwatches, televisions, routers, and network speakers. In addition, a server 81 located at the end of the network 82 connected via the router or terminal may perform some of the functions of the control device 51, which will be described later. For this reason, it is preferable that the control device 51 has a network interface (NWIF) 69 such as a wired LAN function, a wireless LAN function, and a function to connect to a mobile communication network. The network interface 69 may be shared with the communication unit 63 or may be independent. Because the amount of communication differs greatly, it is often preferable for it to be independent. The figure shows an example where it is independent.

[0027] The control device 51 has an input / output device 54. The input / output device 54 is an interface with the user, receiving input and outputting elements other than tactile sensations. Although grouped together in the diagram, it does not need to be a single device and may be composed of multiple devices. Furthermore, the input / output device 54 itself does not need to be housed within the casing of the control device 51; it may only have an interface that allows it to connect to other connected devices. Among the input / output devices 54, output devices include, for example, not only a display built into the casing, but also displays and projectors connected via HDMI or DisplayPort cables, speakers built into the casing, wired or wireless headphones, earphones, and speakers. It is preferable to have at least a device that can display images. By experiencing tactile sensations in conjunction with visual information, users are more likely to feel that they are receiving a sensory experience that matches the situation they can see. Among the input / output devices 54, input devices may include a touch panel integrated with a display built into the casing, as well as a mouse, trackball, controller, or keyboard connected via a USB cable. Furthermore, some of the input devices may also be used for tactile output devices 11.

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

[0029] The control device 51 has a storage unit 62 that holds data and programs. Preferably, the storage unit 62 has both non-volatile memory or magnetic disks used as storage and volatile memory used for calculations. In the figure, data is not shown in distinction between when it is being read and when it is not.

[0030] The memory unit 62 stores application software (referred to as "App 65" in the diagram) such as games, movies, virtual spaces, and simulators, which allow the user to experience haptic output as part of the content. These may be pre-installed on the control device 51, or they may be downloaded and installed from the server 81 via the network 82.

[0031] App 65 includes audio and video as content, and has the haptic output device 11 output tactile sensations linked to these audio and video, thereby providing the user with a tactile experience. Examples of such content include, but are not limited to, the reproduction of the tactile sensations experienced by characters in a movie, the reproduction of the tactile sensations of objects that appear in a game, simulators that reproduce the tactile sensations of objects touched in a virtual space, simulators that reproduce the feel of cats and dogs, and the reproduction of the resistance of a ball when batting in a virtual batting game. However, it is desirable for the tactile sensations to have varying degrees of intensity for use in this invention.

[0032] The application 65 has a media signal database 66 in its storage unit 62, which includes media signals such as audio signals and video signals, and a program to reproduce the aforementioned content, in order to provide it via the input / output device 54. These media signals include, for example, 3D data and graphics of object shapes, voices and dialogue, and sound effects, and are preferably associated with each object that the haptic output device 11 is intended to provide a tactile experience with. The media signal database 66 does not need to hold all necessary media signals in the storage unit 62; they may be downloaded as needed via the network and added temporarily or permanently.

[0033] Furthermore, in order to provide the aforementioned content via the haptic output device 11 in parallel with the input / output device 54, the application 65 has a base haptic database 67 in the storage unit 62 that includes base haptic data for reproducing the content. This base haptic data is a set of values ​​and functions that determine what values ​​the haptic output device 11 will use to operate the haptic output device 14 under what circumstances. However, this base haptic data consists of default values ​​and default functions set to be considered suitable for a person who is assumed to have a standard physique as a design standard for the haptic output device 11. Similar to the media signals, multiple base haptic data are recorded, each associated with an object. From among these multiple recorded base haptic data, one is selected for each object in the aforementioned content that the user intends to actively touch or passively experience through touch. The control device 51 selects an object to be experienced based on operations from the input / output device 54 or triggers in the content being played, or when an object is automatically selected, it reads the base haptic data associated with that object from the base haptic database 67 and transmits it to the haptic output device 11 via the communication unit 63 and the communication unit 26.

[0034] The haptic output device 11 records base haptic data sent as default values ​​for selected objects, etc., in the data storage unit 22, and controls the haptic output device 14 with output referencing this base haptic data to allow the user to experience touch in a concrete way. However, in this invention, the haptic output device 14 is adjusted according to the force of the user's operation to provide a more suitable haptic experience.

[0035] To make this adjustment, the haptic control unit 21, when a user attempts to experience touch with the haptic output device 14, acquires the angle of the rotating body with the angle sensor 16, measures the displacement of that angle per unit of elapsed time, and executes a speed measurement means to calculate the speed caused by the user's movements operating the haptic output device 14 from that measurement.

[0036] In the embodiment shown in the figure, an example is shown in which the speed measurement means is performed by the angle sensor 16 and clock unit 19 of the tactile output device 14 of the tactile output device 11. The tactile output device 14 has a rotating body that is in contact with the magnetorheological fluid and whose resistance is changed when it rotates, an angle sensor 16 that detects the angle of this rotating body, and a user contact part that a user who experiences touch directly and applies force to operate the rotating body to rotate it. The user touches the user contact part and applies force, performing an operation that changes the angle detected by the angle sensor 16 relative to the tactile output device 14.

[0037] Furthermore, the tactile output device 11 has a clock unit 19 for measuring time. During a predetermined time measured by the clock unit 19, the angular velocity, which is the rate of change in angle per unit of time, can be determined by measuring the change in the angle of the rotating body detected by the angle sensor 16. The angular velocity of this change in the angle of the rotating body is used as the speed calculated by the speed measuring means.

[0038] Furthermore, the haptic output device 14 is equipped with a correction table or correction formula for adjusting the output in accordance with the angular velocity of the rotating body, based on the characteristics of the magnetorheological fluid. This formula is derived by converting the velocity to the angular velocity of the rotating body in the measurement results of the shear stress change with respect to the velocity of the magnetorheological fluid, and is either pre-recorded in the haptic output device 14 during the manufacturing stage, included in the application 65 and distributed, or pre-stored and accessible on the server 81 on the network, in any case, it can be recalled by the haptic presentation device 10.

[0039] In the tactile presentation device 10 according to this invention, a correction value derivation means is executed to calculate a correction value by comparing the recalled correction table or correction formula with the angular velocity. This execution may be performed by the tactile control unit 21 or by the control unit 61 of the control device 51.

[0040] The haptic presentation device 10 according to this invention performs a signal value calculation means to calculate a haptic signal that actually operates the haptic output device 14, which uses a magnetorheological fluid, based on the base haptic data and a calculated correction value, as an adjustment to match the angular velocity, even if the haptic output device 14, which uses a magnetorheological fluid, exhibits different outputs depending on the difference in the angular velocity of the rotating body being operated. Then, the haptic control unit 21 performs a haptic presentation means to cause the haptic output device 14 to present tactile sensations based on the calculated haptic signal. As a result, regardless of the abruptness of the operation performed by each individual, the user can experience tactile sensations that are appropriate to the feel intended by the content provider, based on a haptic signal that has been corrected by calculation according to the angular velocity.

[0041] The following will explain using a specific device as the tactile output device 14. In the following explanation, the tactile output device 14 will be described using a tactile output device 11, which is a tap unit having a magnetorheological fluid (MRF) device (hereinafter abbreviated as "MRF device"). The MRF device used as a specific example here consists of a rotating shaft 41, a disk 32, yokes 34 and 35, a coil 37, magnetorheological fluid 38, casings 31 and 36, etc. As shown in Figure 2, a space is provided around the disk 32 attached to the rotating shaft 41, sandwiched between the yokes 34 and 35, and a magnetorheological fluid 38 whose viscosity changes depending on the strength of the magnetic field placed thereon is introduced into this space. Also, a coil 37 that generates a magnetic field (arrow in the figure) is housed there, supported by the yoke 35. The rotating shaft 41 is supported by a bearing 39 and is integrated with the disk 32 surrounded by the magnetorheological fluid 38. The magnetorheological fluid 38 allows the resistance to rotating the rotating shaft 41 to be adjusted by the amount of current supplied to the coil 37 that generates a magnetic field. By increasing or decreasing the viscosity of the magnetorheological fluid 38 in response to a user applying force to rotate the rotating shaft 41, the resistance to the disc 32 integrated with the rotating shaft 41 is increased or decreased, allowing the user to experience an active tactile effect as "difficulty in rotating" the rotating shaft 41. In this example, the disc 32 corresponds to the rotating body that comes into contact with the magnetorheological fluid 38 in the tactile output device 14. The angle sensor 16 is installed to detect either the angle of the disc 32 itself or the angle of the rotating shaft 41 that rotates in conjunction with the disc 32.

[0042] Figures 3(a) and 3(b) show a tap unit, which is a tactile output device 11 using such an MRF device. It has a base 40 that is fixed by the thumb or palm, and a finger rest part 42 that rotates in conjunction with the rotation axis 41 of the MRF device provided on the base 40. The finger rest part 42 corresponds to one or all of the index finger, middle finger, ring finger, and little finger, and rotates around a pivot point 43 when the fingers are bent to grip. In other words, this finger rest part 42 is the user contact part. When the finger rest part 42 is pressed, the first link member 44 and the second link member 45, which is linked via a pin 46, rotate as shown in Figure 3(c). This movement of the second link member 45 causes the rotation axis 41 to rotate relative to the base 40 by an angle θ. The resistance during this rotation is increased or decreased by the magnetorheological fluid 38 of the MRF device.

[0043] An example of the base tactile data, angle, and correction values ​​for this MRF device is shown in the flowchart in Figure 4. This is a table defined for each selected object, indicating the "rotation position" as the number of degrees the disk 32 rotates from its default state based on the position where the fingers are gripped in the finger rest part 42. The array then shows how much current is applied to increase the resistance to the rotation of the disk 32. Such a table is set for each object to be used and recorded together in the base tactile database 67. Alternatively, it could be defined using a function corresponding to the rotation position. For example, if the object is small, there would be no resistance until the rotation position advances significantly and is described as touching, and then the current value would increase to increase resistance from that point onward. Or, to virtually simulate the feeling of gripping a gummy object, some resistance would be applied from the beginning to mimic the feeling of deforming the gummy, but the resistance would increase sharply from the angle at which the gummy deforms no further, and the current value would be set to its maximum value to prevent further rotation.

[0044] When a user selects an object to experience tactile sensations, the control device 51 retrieves and selects the base tactile data associated with that object from the base tactile database 67. If the base tactile data associated with that object is not found in the base tactile database 67, the control device 51 downloads the corresponding base tactile data from a server via the network and selects it. The control device 51 then transmits the selected base tactile data to the tactile output device 11.

[0045] Furthermore, the tactile output device 11 has a table of correction values ​​(correction table) corresponding to the angular velocity of the disk 32, which depends on the properties of the magnetorheological fluid 38 and the disk 32 enclosed in the tactile output device 14, such as the size and shape of the disk 32. Since this correction table differs for each specification of the tactile output device 14, it is preferable that it is recorded in the data storage unit 22 when the tactile output device 14 is shipped. However, it may also be possible to modify it externally. Alternatively, when the tactile output device 14 is used for the first time with the application 65, the correction table corresponding to the specification of that tactile output device 14 may be downloaded from the server 81 and sent to the tactile output device 11, thereby being stored in the data storage unit 22. Basically, the higher the angular velocity of the magnetorheological fluid 38, the lower this correction value becomes. The example table shows correction values ​​set in increments of 0.1° / s, but it is not limited to this, and may be set more finely.

[0046] When the user grips the tap unit and the rotational position changes, the angle sensor 16 detects this. The voltage that the tactile control unit 21 applies to the MRF device when the rotational position reaches 2° is determined by the following procedure. First, the current value when the finger position is 2° is checked by referring to the base tactile data table stored in the data storage unit 22. In this case, it is 0.2A. That is, the current value when operated at a standard angular velocity is such that the MRF device realizes a resistance with a current of 0.2A as tactile feedback. Here, an example is shown where the value when operated at an angular velocity of 0.1° / s is considered standard (correction value = 1.0). The correction table also contains correction values ​​for cases with higher angular velocities. Based on these current values ​​and correction values, the current value of the tactile signal to be actually transmitted is calculated.

[0047] Furthermore, the tactile control unit 21 detects the value from the angle sensor 16 and, when it reaches a predetermined angle (for example, every 1°), it obtains the time from the clock unit 19 and temporarily stores the angle and time. When the user performs an operation and the disc 32 rotates, and it reaches the next predetermined angle, the time is again obtained from the clock unit 19, and by dividing the angle difference by the time difference (elapsed time), an angular velocity measuring means can be realized to measure the angular velocity.

[0048] Alternatively, as a calculation procedure for the angular velocity measurement means, the rotational position may be continuously acquired at intervals of a basic unit of time (e.g., 1 second), and the previous angular velocity may be continuously calculated in real time from the amount of change in the finger position. The correction value to be used at that point in time may then be determined from the calculated angular velocity.

[0049] In either procedure, once the angular velocity is measured, the tactile control unit 21 refers to a pre-recorded correction table and executes a correction value derivation means to determine a correction value corresponding to that angular velocity. In the example in Figure 4, if the angular velocity is calculated to be 0.3° / s, the correction value can be determined to be 0.6.

[0050] An example of the execution of the signal value calculation means described above is shown. When the rotation position reaches N°, the current value before correction can be determined to be 0.5A from the base tactile data. The tactile control unit 21 calculates the previous angular velocity as 0.3° / s from the elapsed time between the time when the previous rotation position (N-1)° was reached and the time when the rotation position N° was reached. The correction value obtained from this angular velocity was 0.6. Then, the current value of 0.5A from the base tactile data and the correction value of 0.6 obtained from the angular velocity are multiplied to calculate the current value of the tactile signal to be actually transmitted as 0.5A × 0.6 = 0.3A. The tactile control unit 21 applies a tactile signal with the voltage required to flow this calculated current value of 0.3A to the MRF device and executes the tactile presentation means to allow the user to experience the expected tactile sensation. When the angle sensor 16 detects a further change in the rotational position, it refers to the current value corresponding to the new rotational position, calculates the previous angular velocity to obtain a correction value, and similarly calculates a tactile signal to provide a tactile sensation.

[0051] If the object selected in the application 65 executed by the control device 51 changes, the control device 51 retrieves the base haptic data associated with the new object from the base haptic database 67 and sends it to the haptic output device 11 to provide haptics corresponding to the new object. Examples of object changes include when a user specifies an object to touch in a game executed by the control device 51, or when a new object appears in the game. Even if the object changes and the base haptic data used changes, the force comparison value and body comparison value can be used in the signal value calculation means with the same values.

[0052] An example of the process when a user uses the haptic output device 11 according to this invention will be explained with reference to the flowcharts in Figures 5 and 6. First (S101), the user launches the application 65 on the control device 51, which is a smartphone (S102). Next, the user turns on the power to the tap unit, which is the haptic output device 11 (S103), and pairs the smartphone and the tap unit via Bluetooth to establish a wireless connection (S104). In this embodiment, the launch of the application (S102) may be performed after S104. In addition, the data storage unit 22 of the tap unit has a correction table specific to this tap unit pre-recorded, which can be recalled by the haptic control unit 21.

[0053] With the preparation on the tap unit side complete, the control device 51 displays an image on the control device 51 that allows the application 65 to select an object (S111). The user, operating the application 65 from the input / output device 54, selects an object from those displayed on the monitor to experience tactile sensation (S112). An example of the display on the monitor is shown in Figure 7. Here, the user selects the ball of fluff on the right. The user's selection is specified by touch operation on the touch panel. Upon receiving the selection instruction, the control unit 61 retrieves the base tactile data associated with the selected ball of fluff from the base tactile database 67 (S113) and sends it to the tap unit (S114). If there is no corresponding base tactile data in the base tactile database 67, the control device 51 downloads the base tactile data associated with that object from an external server 81 and then sends it to the tap unit. The tap unit stores the transmitted base tactile data in the data storage unit 22 (S117).

[0054] Next, we move on to the specific tactile output. The tactile control unit 21 obtains the angle that will be the rotation position from the angle sensor 16 (S121). At the same time, it obtains the time from the clock unit 19 (S122). It monitors whether that angle has reached the next rotation position that will change the current value, as defined in the base tactile data stored in the data storage unit 22 (S123). If it has not reached the next rotation position (S123→No), it continues to obtain the angle from the angle sensor (S123). If it has reached the next rotation position (S123→Yes), it obtains the angle that will be the rotation position again from the angle sensor 16 (S124) and obtains the time from the clock unit 19 (S125). It calculates the angular velocity from the angle difference and the time difference (elapsed time) (S126) and obtains a correction value corresponding to the angular velocity (S127). It multiplies the current value of the base tactile data corresponding to that angle by the correction value to calculate the tactile signal, which is the actual amount of current to flow (S128). The tactile control unit 21 instructs the system to supply the voltage necessary to deliver the calculated current value from the battery to the coil of the MRF device, thereby allowing the user to experience tactile sensations at the assumed resistance.

[0055] If the user continues to rotate the same object and experience a different sensation (S129 → Yes), the system returns to monitoring the rotation position using the angle sensor 16 (S123). If the user selects a different object (for example, the gummy-like object on the left) and experiences a different sensation (S131 → Yes), the system returns to step S111 (S132). In this case, the base haptic data associated with the selected object is retrieved. If the user ends the experience (S131 → No), the application 65 is terminated (S151).

[0056] In parallel with this flow, the tactile control unit 21 may also send the acquired angle sensor 16 values ​​and angular velocity values ​​to the control device 51. The control device 51, having obtained the angle sensor 16 values ​​and angular velocity values, may change the shape of the object displayed on the input / output device 54 monitor or play sounds according to the angle and force. For example, the shape of the ball of fur object shown in Figure 7 may be redrawn to a gradually flattened shape with a size inversely proportional to the angle sensor value. In addition, different sounds may be played depending on the magnitude of the angular velocity. For example, when squeezed suddenly, a sound of crushing may be played from the speaker, and when squeezed gently, a sound of gentle deformation may be played. [Explanation of Symbols]

[0057] 10. Tactile presentation device 11. Tactile output device 14. Haptic Output Devices 16 Angle Sensor 19 Clock Department 20 Output device control unit 21 Tactile Control Unit 22 Data Storage Unit 25 Power supply 26 Communications Department 31 Casing 32 discs 34 York 35 York 37 coils 38 Magnetoviscous fluids 39 Bearings 40 base 41 Rotation axis 42 parts 43. Support point 44 First link material 45 Second link material 46 pins 51 Control device 54 Input / Output Devices 61 Control Unit 62 Memory section 63 Communications Department 65 apps 66 Media Signal Database 67 Base Tactile Database 69 Network Interfaces 81 Servers 82 Networks

Claims

1. A tactile output device having a tactile output device using magnetorheological fluid, A tactile control unit that controls the components including the tactile output device, It has, In order to suppress the influence of velocity on the shear stress generated by the magnetoviscous fluid, A speed measuring means for measuring the speed at which a user operates the haptic output device, A means for deriving a correction value that determines a correction value corresponding to the aforementioned speed, A signal value calculation means that calculates a tactile signal based on base tactile data and the correction value, A tactile presentation means that causes the tactile output device to present tactile sensations based on the calculated tactile signals, A haptic presentation device that performs the following actions.

2. The speed measured by the speed measuring means is characterized by being the angular velocity of the rotating body in contact with the magnetorheological fluid, which is rotated when the tactile output device is operated. The tactile presentation device according to claim 1.

3. The tactile output device comprises a rotating body that is in contact with the magnetorheological fluid and whose resistance is changed when it rotates, and an angle sensor that detects the angle of the rotating body. The tactile output device having, The clock section that measures time, The tactile presentation device according to claim 2, having the following features.

4. The tactile presentation device is The system includes a control device that retrieves the base tactile data from an internal storage unit that records the base tactile data, or from an external server that records the base tactile data. The control device executes a transmission means for transmitting to the tactile presentation device, The tactile control unit is located within the tactile output device. The signal value calculation means is performed by the tactile control unit, The tactile presentation device according to claim 2 or 3.

5. A tactile presentation method using a tactile presentation device having a tactile output device using magnetorheological fluid, In order to suppress the influence of velocity on the shear stress generated by the magnetoviscous fluid, A step of measuring the speed at which the user operates the haptic output device, The steps include determining a correction value corresponding to the aforementioned speed, A step of calculating a tactile signal based on base tactile data and the correction value, A tactile presentation method comprising the step of causing a tactile output device to present a tactile sensation based on the calculated tactile signal.

6. A tactile output device having a tactile output device using magnetorheological fluid, The tactile output device includes a tactile control unit that controls the components including the tactile output device, An angle sensor that measures the angle of a rotating body in contact with the magnetorheological fluid, which is rotated when the user operates the haptic output device, The clock section that measures time, It has, The tactile control unit is, In order to suppress the influence of velocity on the shear stress generated by the magnetoviscous fluid, An angular velocity measuring means for measuring the angular velocity of a rotating body in contact with the magnetorheological fluid, which is rotated when the user operates the haptic output device, A means for deriving a correction value that determines a correction value corresponding to the angular velocity, A signal value calculation means that calculates a tactile signal based on base tactile data and the correction value, A tactile presentation means that causes the tactile output device to present tactile sensations based on the calculated tactile signals, A tactile output device that performs the following actions.

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