Tactile presentation device and method for controlling the tactile presentation device

Abstract

To provide a haptic feedback device capable of presenting vibration stimulus to a user.SOLUTION: A haptic feedback device includes a first member containing a first vibrator that can reciprocate in a first direction. The haptic feedback device includes a second member containing a second vibrator that can reciprocate in the first direction. The second member is arranged in a second direction orthogonal to the first direction with respect to the first member. The haptic feedback device includes a connection unit that connects the first member and the second member. The haptic feedback device includes a control unit configured to cause each of the first and second vibrators to generate non-symmetric vibrations having opposite non-symmetric vibration waveforms. The connection unit is configured to vary a distance between the first vibrator and the second vibrator.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The technology disclosed in this specification relates to a tactile presentation device and a control method for a tactile presentation device.

Background Art

[0002] It is known that when asymmetric vibration is presented to a human hand, a phenomenon called traction illusion that induces perception in one direction occurs. Non-Patent Document 1 discloses a tactile presentation device that uses two-channel vibrators to present two parallel force vectors. In this tactile presentation device, by changing the combination of force vectors, in addition to the translational force, a pseudo-force sensation of rotational force can be presented to the user.

Prior Art Documents

Non-Patent Documents

[0003]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technology of Non-Patent Document 1, it has been difficult to appropriately control the intensity of the pseudo-force sensation of rotation.

Means for Solving the Problems

[0005] The haptic presentation device disclosed herein comprises a first member having a first vibrator internally that is capable of reciprocating in a first direction. The haptic presentation device comprises a second member having a second vibrator internally that is capable of reciprocating in the first direction. The second member is arranged in a second direction perpendicular to the first direction with respect to the first member. The haptic presentation device comprises a connecting portion that connects the first member and the second member. The haptic presentation device comprises a control unit for each of the first vibrator and the second vibrator that is capable of generating asymmetric vibrations having asymmetric vibration waveforms that are opposite to each other. The connecting portion is configured to change the distance between the first vibrator and the second vibrator.

[0006] In the above configuration, the first and second oscillators can generate the illusion of opposing traction forces. Thus, a pseudo-force sensation of rotation can be presented. The inventors have discovered that the intensity of the pseudo-force sensation of rotation can be changed depending on the distance between the first and second oscillators. In the above configuration, the intensity of the pseudo-force sensation of rotation can be appropriately controlled by changing the distance between the first and second oscillators. [Brief explanation of the drawing]

[0007] [Figure 1] This is a top view of the tactile presentation device 1. [Figure 2] This is a side view of the tactile presentation device 1. [Figure 3] This is a block diagram showing the schematic configuration of the control unit 14. [Figure 4] This figure shows a first example of the vibration waveform of the first oscillator 21. [Figure 5] This figure shows a second example of the vibration waveform of the first oscillator 21. [Figure 6] This is an explanatory diagram of RF1, a simulated force sensor for clockwise rotational force. [Figure 7] This is an explanatory diagram of RF2, a pseudo-force sensing mechanism for counterclockwise rotational force. [Figure 8] This is an explanatory diagram of the pseudo-force feedback (FF) for forward movement. [Figure 9] This is an explanatory diagram of the next generation of pseudo-force feedback BF. [Figure 10] This is a side view of the tactile presentation device 201. [Modes for carrying out the invention] [Examples]

[0008] (Configuration of tactile presentation device 1) Figures 1 and 2 show a top view and a side view of the haptic presentation device 1. The haptic presentation device 1 is a device that is grasped by one of the user's hands. In Figures 1 and 2, the user's left hand 90 is indicated by a dotted line. The haptic presentation device 1 mainly comprises a first member 11, a second member 12, a connecting part 13, and a control unit 14.

[0009] The first member 11 and the second member 12 have a substantially rectangular parallelepiped shape and extend in the x-direction. The first member 11 and the second member 12 are spaced apart in the y-direction, which is perpendicular to the x-direction, and are also parallel to each other. The first member 11 and the second member 12 are connected to each other by a connecting portion 13 that extends in the y-direction.

[0010] The first member 11 has a first inner surface 11i and a first outer surface 11o. The first inner surface 11i is the surface facing the second member 12. The first outer surface 11o is the surface located on the opposite side of the first inner surface 11i. Similarly, the second member 12 has a second inner surface 12i and a second outer surface 12o. The second inner surface 12i is the surface facing the first member 11. The second outer surface 12o is the surface located on the opposite side of the second inner surface 12i. The tactile presentation device 1 is configured so that when grasped by one of the user's hands, the first outer surface 11o and the second outer surface 12o can come into contact with the fingertip or palm. This is because the skin of the fingertip or palm is more sensitive than the skin of other parts of the hand (e.g., the back of the hand), and therefore more likely to generate the pseudo-force sensation described later. Figures 1 and 2 show an example where the first outer surface 11o is in contact with the fingertip of the thumb 90t, and the second outer surface 12o is in contact with the fingertip of the index finger 90i.

[0011] As shown in Figure 2, the first member 11 has a first upper surface 11u and a first lower surface 11b. Similarly, the second member 12 has a second upper surface 12u and a second lower surface 12b. The first upper surface 11u and the second upper surface 12u are surfaces substantially parallel to the xy-plane, which includes the x and y directions. The first lower surface 11b and the second lower surface 12b are surfaces located on the opposite side from the first upper surface 11u and the second upper surface 12u.

[0012] A first resonator 21 is provided inside the first member 11. Similarly, a second resonator 22 is arranged inside the second member 12. The materials of the first member 11 and the second member 12 are not particularly limited and may be plastic or rubber.

[0013] The first member 11 and the second member 12 have a tubular shape with a hollow interior. The first resonator 21 and the second resonator 22 are arranged inside the cavity. The first resonator 21 and the second resonator 22 may be of various types of actuators. In this embodiment, the first resonator 21 and the second resonator 22 are voice coil type actuators. The structure of the voice coil type actuator may vary, and moving coil type or moving magnet type can be used. In this embodiment, a moving coil type was used. The inner walls of the first member 11 and the second member 12 function as members that guide the coil. That is, the first member 11 and the second member 12 constitute the outer yoke of the voice coil type actuator.

[0014] The first vibrator 21 and the second vibrator 22 are configured to reciprocate between a first position P1, which is on the -x side, and a second position P2, which is on the +x side. In other words, the first vibrator 21 and the second vibrator 22 are configured to reciprocate in the longitudinal direction (x direction) of the first member 11 and the second member 12. This makes it possible to vibrate the first member 11 and the second member 12 themselves.

[0015] The mass of the first member 11 excluding the first vibrator 21 (i.e., the mass of the housing of the first member 11) is preferably smaller than the mass of the first vibrator 21. In other words, it is advisable to design the housing of the first member 11 with a weight of 100% or less relative to the first vibrator 21. The smaller the weight ratio of the housing of the first member 11 to the first vibrator 21, the more powerful vibrations can be generated. Similarly, the mass of the second member 12 excluding the second vibrator 22 (i.e., the mass of the housing of the second member 12) is also preferably smaller than the mass of the second vibrator 22.

[0016] The connecting portion 13 includes a support column 13b and a pair of moving portions 13s. The length L1 of the support column 13b in the y direction is greater than the width W1 in the x direction. That is, the support column 13b has a beam shape extending in the y direction. The pair of moving portions 13s are fixed to each of the first inner surface 11i and the second inner surface 12i. Also, the direction orthogonal to the x direction and the y direction is defined as the z direction. The pair of moving portions 13s include flange portions 13f protruding in the +z direction (see FIG. 2). The support column 13b passes through the pair of flange portions 13f and is fixed to the flange portions 13f.

[0017] Each of the pair of moving portions 13s is configured to be movable in the ±y direction by sliding along the support column 13b. Thereby, the distance D between the first vibrator 21 and the second vibrator 22 can be configured to be changeable. The method of changing the distance D is not particularly limited and may be manual or automatic. For example, it may be a mode in which the distance D can be manually changed by removing a stopper (not shown). And after setting the distance D to a desired value, it may be a mode in which the distance D can be fixed by applying the stopper. Also, for example, it may be a mode that includes an actuator (not shown) and automatically changes the distance D according to a control signal from the control unit 14.

[0018] The moving portion 13s may be configured to be movable between a plurality of predetermined positions on the support column 13b. Thereby, for example, it becomes possible to adjust the distance D stepwise such as "large / medium / small".

[0019] As shown in Figure 1, when viewed from the z-direction, the support column 13b passes through the amplitude center AC of the first oscillator 21 and the amplitude center AC of the second oscillator 22. In other words, the support column 13b connects the amplitude centers AC. Therefore, it is possible to have a structure in which the support column 13b is not eccentric with respect to the first oscillator 21 and the second oscillator 22. This suppresses the propagation of unwanted vibrations to the support column 13b.

[0020] The control unit 14 is fixed to the support column 13b. The control unit 14 and the first member 11 are connected by wiring 31. The control unit 14 and the second member 12 are also connected by wiring 32.

[0021] Figure 3 shows a block diagram illustrating the schematic configuration of the control unit 14 in this embodiment. The control unit 14 comprises a CPU 41, a memory 42, an amplifier 44, a wireless communication interface 45, an attitude sensor 46, and a battery 47. The memory 42 stores a vibrator control program 43. The amplifier 44 is connected to the first vibrator 21 and the second vibrator 22 by wirings 31 and 32, respectively. When the vibrator control program 43 is executed by the CPU 41, the amplifier 44 controls the vibration waveform, frequency, intensity, etc., of the first vibrator 21 and the second vibrator 22. This makes it possible to generate asymmetric vibrations with asymmetric vibration waveforms in each of the first vibrator 21 and the second vibrator 22.

[0022] The wireless communication interface 45 is capable of wireless communication with external devices (not shown). The external devices may be various, such as a user-carried information terminal (e.g., smartphone, notebook PC) or an external server accessible via the internet. The posture sensor 46 is a sensor equipped with a gyroscope, accelerometer, etc. The posture sensor 46 can detect the posture (e.g., tilt, angle, gradient) of the haptic presentation device 1.

[0023] The battery 47 may be a rechargeable secondary battery. The battery 47 supplies power to each part of the control unit 14. This allows, for example, the first vibrator 21 and the second vibrator 22 to vibrate via the amplifier 44, and to communicate with external devices via the wireless communication interface 45. Thus, the haptic presentation device 1 can function as a standalone IoT (Internet of Things) device, independent of external devices.

[0024] (Operation of the first oscillator 21 and the second oscillator 22) Figure 4 shows a first example of the vibration waveform of the first oscillator 21. The horizontal axis represents time. The vertical axis represents the position of the first oscillator 21. The first oscillator 21 vibrates between the first position P1 and the second position P2, with the amplitude center AC as the center. The distance between the first position P1 and the second position P2 corresponds to the amplitude AM1.

[0025] The first oscillator 21 vibrates with a vibration period VP1. In vibration period VP1, the time the first oscillator 21 is at the first position P1 is defined as T1, and the time the first oscillator 21 is at the second position P2 is defined as T2. Time T1 is approximately four times longer than time T2. That is, the duty cycle between times T1 and T2 is 4:1, resulting in an asymmetrical vibration waveform of a rectangular wave. By generating asymmetrical vibration with such an asymmetrical vibration waveform, a traction force illusion TF1 can be created in the skin, causing it to feel as if it is being pulled in the direction from the second position P2 to the first position P1 (-x direction).

[0026] Figure 5 shows a second example of the vibration waveform of the first oscillator 21. In the example in Figure 5, unlike the example in Figure 4, time T2 is approximately four times longer than time T1. That is, it has an asymmetrical rectangular vibration waveform with a duty cycle of 1:4 between times T1 and T2. This can generate a traction force illusion TF2 in the skin, as if being pulled in the direction from the first position P1 to the second position P2 (+x direction).

[0027] The operation of the second oscillator 22 is the same as that of the first oscillator 21. Therefore, a detailed explanation is omitted. Furthermore, any asymmetric vibration waveform can produce the traction force illusion. For example, an asymmetric vibration waveform using a sawtooth wave or a sine wave may be used.

[0028] (Overview of simulated force perception) Figures 6-9 are used to explain various types of pseudo-force sensations. Figure 6 shows an example of generating a pseudo-force sensation RF1 of rotational force with a clockwise orientation. Specifically, the first oscillator 21 is subjected to the asymmetric vibration shown in Figure 4. As a result, a traction force illusion TF1 in the -x direction can be generated on the fingertip of the thumb 90t that is in contact with the first outer surface 11o. Furthermore, the second oscillator 22 is subjected to the asymmetric vibration shown in Figure 5. As a result, a traction force illusion TF2 in the +x direction can be generated on the fingertip of the index finger 90i that is in contact with the second outer surface 12o. This makes it possible to generate a pseudo-force sensation RF1 in the left hand 90 that rotates clockwise around the z axis.

[0029] Figure 7 shows an example of generating a pseudo-force sensation RF2 of rotational force having a counterclockwise direction. Specifically, the first oscillator 21 is generated with the asymmetric vibration shown in Figure 5. This makes it possible to generate a tensile force illusion TF2 in the +x direction on the fingertip of the thumb 90t. In addition, the second oscillator 22 is generated with the asymmetric vibration shown in Figure 4. This makes it possible to generate a tensile force illusion TF1 in the -x direction on the fingertip of the index finger 90i. As a result, a pseudo-force sensation RF2 that rotates counterclockwise around the z axis can be generated on the left hand 90.

[0030] Figure 8 shows an example of generating a pseudo-force sensation FF for forward movement. Specifically, the first oscillator 21 and the second oscillator 22 are subjected to the asymmetric vibration shown in Figure 5. As a result, a traction force illusion TF2 in the +x direction can be generated on the fingertips of the thumb 90t and index finger 90i. This makes it possible to generate a pseudo-force sensation FF in the left hand 90 that makes it appear as if it is moving forward in the +x direction.

[0031] Figure 9 shows an example of generating a pseudo-force sensation BF for backward movement. Specifically, the first oscillator 21 and the second oscillator 22 are subjected to the asymmetric vibration shown in Figure 4. As a result, a traction force illusion TF1 in the -x direction can be generated on the fingertips of the thumb 90t and index finger 90i. This makes it possible to generate a pseudo-force sensation BF for backward movement in the -x direction in the left hand 90.

[0032] (Relationship between distance D and pseudo-force perception) A user study was conducted to investigate the relationship between the distance D between oscillators and the simulated force sensations of rotation, forward movement, and backward movement caused by asymmetric vibration. Specifically, simulated force sensations were provided to users using three different distances D: 35 mm, 70 mm, and 105 mm. The asymmetric vibration waveform used was the rectangular waveform exemplified in Figures 4 and 5. The frequency was set to 40 Hz. The stimulation intensity was set to a peak-to-peak value of 70 m / s². 2 The user was given four types of stimuli, as explained in Figures 6-9: pseudo-force sensations for rotation (RF1 and RF2), pseudo-force sensation for forward movement (FF), and pseudo-force sensation for backward movement (BF).

[0033] The experimental results showed that for the rotational pseudo-force sensations RF1 and RF2, the detection rate of rotational perception increased with increasing distance D. In other words, it was found that increasing the distance D between oscillators increased the intensity of the rotational pseudo-force sensation. This phenomenon is similar to that of a force moment, because the magnitude of the moment is proportional to the distance from the axis of rotation to the line of action of the force. However, it should be noted that in the case of rotational pseudo-force sensation, no actual force is acting.

[0034] Furthermore, the experimental results showed that for both forward pseudo-force perception (FF) and backward pseudo-force perception (BF), the detection rate increased as the distance D decreased. In other words, it was found that the smaller the distance D between oscillators, the stronger the translational pseudo-force perception could be.

[0035] Based on the above, it is possible to present the user with an appropriate simulated force sensation by increasing the distance D between oscillators when increasing the strength of the simulated force sensation for rotation, and by decreasing the distance D between oscillators when increasing the strength of the simulated force sensation for forward or backward movement. [Examples]

[0036] In Example 2, the operation of the first vibrator 21 and the second vibrator 22 is controlled according to the posture of the haptic presentation device 1, which is different from Example 1. Only the parts characteristic of Example 2 will be described below.

[0037] The haptic presentation device 1 has two orientations: a first orientation in which the first upper surface 11u and the second upper surface 12u are facing outwards, and a second orientation in which the first lower surface 11b and the second lower surface 12b are facing outwards. The first orientation is the orientation in which the first upper surface 11u and the second upper surface 12u are visible to the user. In other words, it is the orientation in which vectors perpendicular to the first upper surface 11u and the second upper surface 12u point vertically upward. Figures 1 and 2 show the first orientation. The second orientation is the orientation in which the first lower surface 11b and the second lower surface 12b are visible to the user. In other words, it is the orientation in which vectors perpendicular to the first lower surface 11b and the second lower surface 12b point vertically upward.

[0038] The control unit 14 monitors the posture of the tactile presentation device 1 via the posture sensor 46. During the period in which the user is given a simulated force sensation, if the first posture (first upper surface 11u and second upper surface 12u facing outwards) is detected, the first vibrator 21 generates an asymmetric vibration having a first asymmetric vibration waveform, and the second vibrator 22 generates an asymmetric vibration having a second asymmetric vibration waveform. Furthermore, during the period in which the user is given a simulated force sensation, if the second posture (first lower surface 11b and second lower surface 12b facing outwards) is detected, the first vibrator 21 generates an asymmetric vibration having a second asymmetric vibration waveform, and the second vibrator 22 generates an asymmetric vibration having a first asymmetric vibration waveform.

[0039] (effect) Let me explain the problem. Consider the case where a pseudo-force sensation is generated that rotates around the z-axis, as explained in Figure 6. In this case, the direction of rotation around the z-axis is reversed depending on whether the tactile presentation device 1 is in the first or second position. For example, as shown in Figure 6, in the first position, the thumb 90t is in contact with the first outer surface 11o, and the index finger 90i is in contact with the second outer surface 12o. A traction force illusion can be generated in the -x direction for the thumb 90t and in the +x direction for the index finger 90i. Therefore, a pseudo-force sensation RF1 that rotates clockwise around the z-axis is generated. However, when the grip is changed from the first position to the second position, the traction force illusion is reversed, with the index finger 90i experiencing a traction force illusion in the -x direction and the thumb 90t experiencing a traction force illusion in the +x direction. This swap occurs in both cases: when the grip is changed so that the thumb 90t touches the first outer surface 11o and the index finger 90i touches the second outer surface 12o, and when the grip is changed so that the index finger 90i touches the first outer surface 11o and the thumb 90t touches the second outer surface 12o. As a result, the pseudo-force feedback RF2 is replaced with one that rotates counterclockwise around the z-axis.

[0040] Therefore, in the technology of Example 2, the asymmetric vibration waveforms between the first vibrator 21 and the second vibrator 22 can be swapped depending on whether the tactile presentation device 1 is in the first or second position. Regardless of whether it is in the first or second position, it is possible to correctly generate the rotational direction of the pseudo-force sensation around the z-axis in the desired direction. [Examples]

[0041] The tactile presentation device 201 of Embodiment 3 will be described using the side view in Figure 10. The tactile presentation device 201 of Embodiment 3 is equipped with a connection part 213 in place of the connection part 13 of the tactile presentation device 1 of Embodiment 1. Parts common to both devices are denoted by the same reference numerals, and their description is omitted.

[0042] The connecting section 213 is comprised of a support column equipped with an extension mechanism that allows the length in the y-direction to be changed. The extension mechanism can be of various types. In the example shown in Figure 10, it has a telescopic pipe function. Both ends of the connecting section 213 are fixed to the first inner surface 11i and the second inner surface 12i, respectively.

[0043] The distance D between the vibrators can be changed by extending or retracting the connecting portion 213. The method for changing the distance D is not particularly limited and may be manual or automatic. For example, an actuator (not shown) may be provided, which can be automatically extended or retracted by a control signal from the control unit 14.

[0044] Although specific examples of the present invention have been described in detail above, these are merely illustrative and do not limit the scope of the claims. The technologies described in the claims include various modifications and changes to the specific examples illustrated above. The technical elements described in this specification or drawings exhibit technical usefulness individually or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Furthermore, the technologies illustrated in this specification or drawings can achieve multiple objectives simultaneously, and achieving even one of these objectives itself constitutes technical usefulness.

[0045] (modified version) The user's gripping of the haptic presentation device 1 by their hand may be in any manner in which any part of the surface of the first member 11 and the second member 12 comes into contact with the fingertip or palm. For example, one of the first member 11 and the second member 12 may come into contact with the fingertip and the other with any part of the palm. Alternatively, for example, both the first member 11 and the second member 12 may come into contact with any part of the palm.

[0046] The vibration waveforms of the first oscillator 21 and the second oscillator 22 are not limited to asymmetric vibration waveforms, but can use a variety of waveforms. This makes it possible for the first oscillator 21 and the second oscillator 22 to present a variety of stimuli, not just the traction force illusion. For example, vibration stimuli or shear stimuli may be used.

[0047] The cross-sectional shapes of the first member 11 and the second member 12 perpendicular to the x-direction are not limited to squares or rectangles, but may be various. They may be polygons, circles, distorted circles, etc.

[0048] The shape of the connecting portion 13 is not limited to a beam shape and can be various. For example, the length of the connecting portion 13 in the y direction may be smaller than the width in the x direction.

[0049] The following are embodiments of this technology. [Aspect 1] A first member having a first oscillator inside that is capable of reciprocating in a first direction, A second member having a second oscillator internally that is capable of reciprocating in the first direction, and which is arranged apart from the first member, A connecting portion that connects the first member and the second member, the connecting portion extending in a second direction perpendicular to the first direction, Each of the first and second oscillators is equipped with a control unit capable of generating asymmetric vibrations having asymmetric vibration waveforms that are opposite to each other, Equipped with, The connection portion is configured to allow the distance between the first transducer and the second transducer to be changed. A tactile feedback device. [Aspect 2] The first member comprises a first inner surface facing the second member and a first outer surface located on the opposite side of the first inner surface. The second member comprises a second inner surface facing the first member and a second outer surface located on the opposite side of the second inner surface. The tactile presentation device according to embodiment 1, wherein the tactile presentation device is configured such that the first outer surface and the second outer surface can come into contact with the fingertip or palm when grasped by one of the user's hands. [Aspect 3] The tactile presentation device according to embodiment 1 or 2, wherein the connecting portion connects the amplitude center of the first vibrator and the amplitude center of the second vibrator. [Aspect 4] The aforementioned connection part is A support column extending in the second direction, A movable part that can move in the second direction along the support column, It is equipped with, The tactile presentation device according to any one of embodiments 1 to 3, wherein at least one of the first member and the second member is fixed to the movable part. [Aspect 5] The tactile presentation device according to embodiment 4, wherein the movable part is configured to move between a plurality of predetermined positions. [Aspect 6] The tactile presentation device according to any one of embodiments 1 to 5, wherein the connecting portion is equipped with an extendable / retractable mechanism that can change the length in the second direction. [Aspect 7] The mass of the first member excluding the first oscillator is smaller than the mass of the first oscillator. The tactile presentation device according to any one of embodiments 1-6, wherein the mass of the second member excluding the second vibrator is smaller than the mass of the second vibrator. [Aspect 8] The control unit, The first and second oscillators are configured such that when asymmetric vibrations having asymmetric vibration waveforms in opposite directions are generated, the user can experience a pseudo-force sensation that rotates around an axis perpendicular to a plane including the first and second directions. The first vibrator and the second vibrator are configured to generate a pseudo-force sensation for the user that moves in the first or second direction when an asymmetric vibration having the same asymmetric vibration waveform is generated in each of them. A tactile presentation device as described in any one of the embodiments 1-7. [Aspect 9] The first member and the second member each have a first surface substantially parallel to a plane including the first and second directions, and a second surface located opposite to the first surface. The control unit further includes a sensor capable of detecting the posture of the tactile presentation device. The control unit, During the period in which the user is given a simulated force sensation, if the sensor detects that the first surface is facing outwards, the first vibrator generates an asymmetric vibration having a first asymmetric vibration waveform, and the second vibrator generates an asymmetric vibration having a second asymmetric vibration waveform. During the period in which the user is given a simulated force sensation, if the sensor detects that the second surface is facing outwards, the first vibrator generates an asymmetric vibration having the second asymmetric vibration waveform, and the second vibrator generates an asymmetric vibration having the first asymmetric vibration waveform. A tactile presentation device as described in any one of the embodiments 1-8. [Aspect 10] The control unit is equipped with a battery and a wireless communication interface. The control unit is configured to vibrate the first and second transducers and to communicate with external devices via the wireless communication interface, all of which are powered by the battery. A tactile presentation device as described in any one of the embodiments 1-9. [Explanation of Symbols]

[0050] 1: Tactile presentation device 11: First component 11i: First inner surface 11o: First outer surface 12: Second component 12i: Second inner surface 12o: Second outer surface 13: Connection part 14: Control unit D: Distance

Claims

1. A first member having a first vibrator inside that is capable of reciprocating motion in a first direction, A second member having a second vibrator internally that is capable of reciprocating in the first direction, and which is arranged apart from the first member, A connecting portion that connects the first member and the second member, the connecting portion extending in a second direction perpendicular to the first direction, The control unit is capable of generating asymmetric vibrations having asymmetric vibration waveforms in opposite directions for each of the first and second vibrators, and is equipped with a sensor capable of detecting the posture of a tactile presentation device. Equipped with, The connection portion is configured to allow the distance between the first transducer and the second transducer to be changed. The first member and the second member each have a first surface substantially parallel to a plane including the first and second directions, and a second surface located opposite to the first surface. The control unit, During the period in which a simulated force sensation is generated for the user, if the sensor detects that the first surface is facing outwards and visible to the user, the first vibrator generates an asymmetric vibration having a first asymmetric vibration waveform, and the second vibrator generates an asymmetric vibration having a second asymmetric vibration waveform. During the period in which a simulated force sensation is generated for the user, if the sensor detects that the second surface is facing outwards and visible to the user, the first vibrator generates an asymmetric vibration having the second asymmetric vibration waveform, and the second vibrator generates an asymmetric vibration having the first asymmetric vibration waveform. A tactile feedback device.

2. A first member having a first vibrator inside that is capable of reciprocating motion in a first direction, A second member having a second vibrator internally that is capable of reciprocating in the first direction, and which is arranged apart from the first member, A connecting portion that connects the first member and the second member, the connecting portion extending in a second direction perpendicular to the first direction, Each of the first and second oscillators is equipped with a control unit capable of generating asymmetric vibrations having asymmetric vibration waveforms that are opposite to each other, Equipped with, The connection portion is configured to allow the distance between the first transducer and the second transducer to be changed. The aforementioned connection part is A support column extending in the second direction, A movable part that can move in the second direction along the support column, It is equipped with, At least one of the first member and the second member is fixed to the movable part, The support column connects the amplitude center of the first oscillator and the amplitude center of the second oscillator. The support column is not eccentric with respect to the first and second transducers. A tactile feedback device.

3. The first member comprises a first inner surface facing the second member and a first outer surface located on the opposite side of the first inner surface. The second member comprises a second inner surface facing the first member and a second outer surface located on the opposite side of the second inner surface. The tactile presentation device according to claim 1 or 2, wherein the tactile presentation device is configured such that the first outer surface and the second outer surface can come into contact with the fingertip or palm when grasped by one of the user's hands.

4. The tactile presentation device according to claim 2, wherein the movable part is configured to move between a plurality of predetermined positions.

5. The tactile presentation device according to claim 1 or 2, wherein the connecting portion is equipped with an expandable / contractable mechanism that can change the length in the second direction.

6. The mass of the first member excluding the first oscillator is smaller than the mass of the first oscillator. The tactile presentation device according to claim 1 or 2, wherein the mass of the second member excluding the second vibrator is smaller than the mass of the second vibrator.

7. The control unit, The first and second vibrators are configured such that when asymmetric vibrations having asymmetric vibration waveforms in opposite directions are generated, the user is able to experience a pseudo-force sensation that rotates around an axis perpendicular to a plane including the first and second directions. The first vibrator and the second vibrator are configured to generate a pseudo-force sensation for the user that moves in the first or second direction when an asymmetric vibration having the same asymmetric vibration waveform is generated in each of them. The tactile presentation device according to claim 1 or 2.

8. The control unit is equipped with a battery and a wireless communication interface. The control unit is configured to vibrate the first and second transducers and to communicate with external devices via the wireless communication interface, all of which are powered by the battery. The tactile presentation device according to claim 1 or 2.

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