Tactile presentation device

Abstract

To provide a haptic sensation expected by a content creator while allowing a user to set a desired state in advance when using specific content on a haptic feedback device.SOLUTION: A haptic output apparatus 11 includes a haptic output device 14. The haptic output apparatus 11 includes a haptic control unit 21 for controlling components including the haptic output device 14. The haptic control unit 21 uses the haptic output apparatus 11 which executes resistance value measurement means for measuring a resistance value of the haptic output device 14, signal value calculation means for calculating haptic data based on base haptic data and the resistance value, and haptic feedback means which causes the haptic output device to present a haptic sensation based on the calculated haptic data.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 against the user's movements, such as the resistance when holding something in the hand like hardness or softness, has been studied.

[0003] In these tactile presentation devices, not only the on / off timing but also the adjustment of their intensity is important. If the intensity is not suitable for the content, only a discomforting experience can be obtained. Furthermore, even for tactile presentation devices of the same standard, there are subtle individual differences. Even if the same electrical signal is sent ignoring these individual differences, a sensitive human touch can detect a slight difference, which may cause discomfort. Also, the behavior of the tactile presentation device changes depending on the usage environment such as temperature, and even when the same amount of current is passed, the behavior is not always the same. In contrast, a system that adjusts the intensity using feedback from a sensor has been proposed in Patent Document 1.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the system described in Patent Document 1 utilizes feedback from an internal sensor for adjustment. Specifically, it is disclosed that the internal sensor senses how strongly the vibration actually occurs (for example, Patent Document 1

[0021] ). For this reason, devices without an internal sensor cannot utilize the technology of Patent Document 1, and even devices with an internal sensor had to operate the device to activate the sensor in order to utilize the technology of Patent Document 1. In other words, the haptic feedback device had to be operated once it was in a situation where it would be used for a specific purpose, and then tested to create the optimal environment. Therefore, it was not possible to pre-adjust the haptic feedback device to its optimal state as preparation before a user intended to use it for a specific purpose began using it.

[0006] Therefore, the purpose of this invention is to enable users to prepare a suitable state in advance when using specific content with a haptic presentation device, thereby providing the tactile experience intended by the content creator. [Means for solving the problem]

[0007] This invention is A tactile output device having a tactile output device, It has a tactile control unit that controls the components including the tactile output device, A resistance measuring means for measuring the resistance value of the tactile output device, A signal value calculation means for calculating a tactile signal based on base tactile data and the resistance 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] For electrically driven haptic output devices, current can be applied as a test, and the resistance value of the device can be measured from the current and voltage values. This process itself can be done without user use or actual operation. This resistance value is affected by individual differences and environmental factors such as temperature. For devices that provide tactile feedback, the amount of current or voltage required to obtain the desired output is specified. By calculating the tactile signal so that the current or voltage is appropriate based on the measured resistance value, and then providing tactile feedback based on that tactile signal, it is possible to suppress discomfort caused by individual and environmental differences and provide a more optimally adjusted sensory experience.

[0009] Furthermore, the aforementioned tactile output device and, A control device that transmits the base tactile data to the tactile presentation device, In the invention of a tactile presentation device having, The control device, The system executes a transmission means 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, and transmits it to the tactile presentation device. An embodiment can be adopted.

[0010] Furthermore, the haptic presentation device according to this invention can employ an embodiment in which the resistance value of the haptic output device is measured each time the base haptic data is selected. 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 the object that the user intends to "touch" within that content. The selection of the base haptic data means that the user actively or automatically selects the content or object that they intend to "touch," and reads the set value for outputting the appropriate content or object. The resistance value could be measured each time haptic feedback is presented, but once the above selection has been made, the haptic signal can be continuously calculated according to the resistance value measured at the time of selection. This is because, in continuous use, the values ​​due to individual differences will naturally remain the same, and the temperature environment is not expected to change significantly while experiencing one piece of content or object.

[0011] Furthermore, the tactile control unit is located within the tactile output device. An embodiment can be adopted in which the signal value calculation is performed by the tactile control unit.

[0012] Furthermore, the tactile presentation device according to this invention is An embodiment can be adopted in which, after the resistance value measurement means, a ready notification means is executed to transmit a ready signal to the control device.

[0013] Furthermore, this invention relates to a tactile presentation method using a tactile presentation device having a tactile output device, The steps include measuring the resistance value of the tactile output device, A step of calculating a tactile signal based on base tactile data and the resistance 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.

[0014] Furthermore, this invention relates to a tactile output device having a tactile output device, The tactile output device has a tactile control unit that controls components including the tactile output device. The tactile control unit has a resistance value measuring means for measuring the resistance value of the tactile output device, a signal value calculating means for calculating a tactile signal based on base tactile data and the resistance value, and a tactile presentation means for presenting a tactile sensation to the tactile output device based on the calculated tactile signal. By using the tactile output device that executes the above, the above problems are solved.

Effects of the Invention

[0015] According to this invention, regardless of the temperature of the environment in which the tactile presentation device is used, a current or voltage can be applied to the tactile output device so as to obtain a constant output, and a tactile effect assumed regardless of the environment can be given to the user.

Brief Description of the Drawings

[0016] [Figure 1] Functional block diagram of an embodiment of the tactile presentation device according to this invention [Figure 2] Conceptual diagram of an MRF device, which is an example of the tactile output device used in this invention [Figure 3] Conceptual diagram of a tactile output device (tap unit), which is an example of the tactile presentation device according to this invention [Figure 4] Flowchart of an example of using the base tactile data of the MRF device [Figure 5] Example diagram of the processing flow when a user uses the tactile presentation device according to this invention [Figure 6] Example diagram of the processing flow that is a continuation of Figure 5 [Figure 7] Example diagram of object selection on the monitor output by the application

Embodiments for Carrying Out the Invention

[0017] The present invention will be described in detail below. It comprises a tactile output device having a tactile output device, a tactile presentation device having the tactile output device and a control device, and a tactile output method using the tactile presentation device.

[0018] In this invention, "touch" refers to one of the five senses, a sensation that can be felt directly or indirectly through the skin, muscles, nerves, etc., and is used in a broad sense unless otherwise specified. In a narrow sense, "touch" refers to one of the sensations felt by the skin, such as touch, pressure, pain, cold, and warmth, but in this invention, "touch" includes not only touch in the narrow sense but also other sensations such as pressure. This invention suitably adjusts the intensity of these sensations so that the degree to which they are felt can be appreciated. This includes not only active tactile effects that are felt regardless of the user's actions, such as pressure, which is felt as a difference in the intensity of pressure when pressed, but also passive tactile effects that are felt in response to the user's actions, such as resistance, tactile feedback, and tactile feedback.

[0019] The aforementioned tactile output device and tactile presentation device are devices that allow users to experience the aforementioned sense of touch. The tactile presentation device has a tactile output device that receives an electrical signal to realize the behavior that allows users to experience the sense of touch. The tactile output device used in this invention does not simply switch electrical signals on and off, but rather realizes a tactile sensation of varying intensity depending on the amount of current and voltage of the electrical signal. Examples of such tactile output devices include actuators such as motors that drive a device in response to an electrical signal, balloons that heat a device and inflate a gas in response to an electrical signal, electric fans that rotate their blades to generate airflow in response to an electrical signal, and magnetorheological fluid devices that increase the rotational resistance of a device in response to an electrical signal. Among these, the delicate adjustment of tactile sensation according to the present invention is particularly effective in devices that come into direct contact with the user. For example, subtle differences in the strength of wind speed hitting the face are generally difficult to distinguish, but even slight differences in the strength of pressure on the fingertips, which have many nerves, or the strength of the force applied by the fingers are easy to distinguish.

[0020] 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.

[0021] The tactile output device 11 has a tactile output device 14 that changes its output according to an electrical signal. Both active devices that allow the user to experience touch by directly contacting them, such as actuators such as motors or heated balloons, and devices that allow the user to experience touch indirectly without contact, such as fans that apply air pressure to the user, and passive devices that allow the user to experience touch by increasing or decreasing resistance to the user's movement, such as MRF devices, can be used. However, in this invention, the resistance value of the output portion of the tactile output device 14 must be measurable.

[0022] 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.

[0023] 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.

[0024] 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 it is preferable that it can communicate with the control device 51, as this allows for more diverse control. 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, etc. may be sent from the output device control unit 20 to the control device 51 via the communication unit 26.

[0025] 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.

[0026] The tactile output device 11 has a current detection unit 15 that detects the current flowing through the tactile output device 14. When the tactile control unit 21 controls the voltage applied to the tactile output device 14, the current flowing at that voltage is detected and obtained as data, allowing the resistance value of the tactile output device 14 to be determined using the formula E=IR.

[0027] Alternatively, instead of the current detection unit 15, a voltage detection unit that detects the voltage applied to the tactile output device 14 may be included. When the tactile control unit 21 controls the amount of current flowing through the tactile output device 14, the resistance value of the tactile output device 14 can be determined by detecting the voltage applied at that current and obtaining it as data, using the formula E=IR.

[0028] Preferably, the tactile output device 11 has a sensor 16 that measures the displacement of the device itself for the tactile sensation provided by the tactile output device 14, as well as the position, displacement, and load when the user operates the tactile output device 14.

[0029] 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 wired LAN function, wireless LAN function, and mobile communication network connection function. 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.

[0030] 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, and 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 as tactile output devices 11.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] The application 65 has a media database 66 in its storage unit 62 containing media data, including media signals such as audio signals and video signals, which includes a program to reproduce the aforementioned content, in order to provide it via the input / output device 54. This media data may include, for example, 3D data or graphics of object shapes, voices or dialogue, sound effects, etc., and is preferably associated with each object that the haptic output device 11 is intended to provide a tactile experience with. The media database 66 does not need to hold all the necessary media data in the storage unit 62; it may be downloaded as needed via the network and added temporarily or permanently.

[0036] 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 how the haptic output device 11 operates the haptic output device 14 under what conditions and with what values. However, this base haptic data is the default value and default function in the environment that the haptic output device 11 normally assumes. Similar to the media data mentioned above, multiple base haptic data sets are recorded and linked to each object. From among these multiple recorded base haptic data sets, one is selected for each object in the aforementioned content that the user actively tries to touch or passively experiences 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.

[0037] 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 specifically allow the user to experience touch. However, in this invention, adjustments are made to suit the usage environment of the haptic output device 14 to provide a more suitable haptic experience. In particular, the usage environment is one in which temperature is easily fluctuated, and even if the haptic output device 14's behavior changes with temperature, it is desirable that it be appropriately adjusted so that the user can experience touch as expected.

[0038] To make this adjustment, the haptic control unit 21 performs a resistance measurement means to measure the resistance value of the haptic output device 14 before the user attempts to experience the tactile sensation of an object using the haptic output device 14. In the embodiment shown in the figure, for example, a predetermined voltage is applied to a part that affects the behavior of the haptic output device 14, and the current that flows at that time is detected by the current detection unit 15. From this voltage and current, the resistance value of the haptic output device 14 at that time can be calculated. The calculation is preferably performed by the haptic control unit 21. To adjust for changes in this resistance value according to the usage environment such as temperature, and for individual differences in the haptic output device 14, the haptic control unit 21 performs a signal value calculation means to calculate a haptic signal that actually operates the haptic output device 14 based on the base haptic data and the calculated resistance value. 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. This allows users to experience tactile sensations that are appropriate to the feel intended by the content provider, through haptic signals corrected based on resistance values ​​according to the usage environment.

[0039] 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 yokes 33 and 34, 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 in 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. When a user applies a force to rotate the rotating shaft 41, the viscosity of the magnetorheological fluid 38 is increased or decreased, thereby increasing or decreasing the resistance to rotating the disk 32 which is integrated with the rotating shaft 41, and allowing the user to experience a passive tactile effect on their movement as "difficulty in rotating" the rotating shaft 41. In this example, the disk 32 is in contact with the magnetorheological fluid 38 at the tactile output device 14, and both the disk 32 and the rotating shaft 41 are rotated. The sensor 16 is installed to detect either the angle of the disk 32 itself or the angle of the rotating shaft 41 which rotates in conjunction with the disk 32.

[0040] 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 held between the fingers 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 the pivot point 43 when the fingers are bent to grip. In other words, this finger rest part 42 is the part that the user directly touches and operates. 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 causes the rotation axis 41, which is connected to the second link member 45, to rotate relative to the base 40. The resistance during this rotation is increased or decreased by the magnetorheological fluid 38 of the MRF device.

[0041] If the sensor 16 attached to this MRF device is equipped with an angle sensor that measures displacement as an angle with respect to the rotation center of the finger rest part 42, or a torque sensor that measures the load applied to the finger rest part 42, it can be used in conjunction with the method implemented in the device according to this invention to further adjust the output for a more suitable tactile sensation.

[0042] An example of the base tactile data for this MRF device is shown in the flowchart in Figure 4. A table defined for each selected object contains an array indicating how many degrees the second link material 45 rotates when the finger rest part 42 is pressed from its default state, and how much current is applied to increase the resistance on the rotation axis. 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.

[0043] 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 and selects the corresponding base tactile data from the server 81 via the network 82. The control device 51 then transmits the selected base tactile data to the tactile output device 11.

[0044] The tactile output device 11 stores the base tactile data in the data storage unit 22 once it is received. The tactile output device 11 then performs a resistance measurement means, which applies a reference voltage to the MRF device and measures the current value. In the example shown in Figure 3, a reference voltage of 20V was applied, and a current value of 5A was detected. From these, the measured resistance value is 4Ω (R=E / I). This resistance value becomes the basis for determining whether to touch the object.

[0045] When the user grips the tap unit and the finger rest part 42 is pressed in, the second link member 45 rotates in conjunction, and when the rotational position of the rotation axis 41 and the disc 32 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 degrees is determined by the following procedure. First, the current value when the rotational position is 2 degrees is checked by referring to the table of base tactile data stored in the data storage unit 22. In this case, it is 0.2A. That is, the resistance through which a current of 0.2A flows is realized as a tactile sensation in the MRF device. The voltage required to flow 0.2A through the MRF device is calculated as 0.2A × 4Ω = 0.8V, since the measured resistance value is 4Ω. This voltage becomes the tactile signal calculated by the signal value calculation means. The tactile control unit 21 applies this voltage to the MRF device and executes the tactile presentation means to allow the user to experience the expected tactile sensation. When sensor 16 detects a further change in rotational position, it refers to the current value corresponding to the new rotational position, calculates a signal, and provides a tactile sensation.

[0046] As long as the object being touched remains the same, it's sufficient to measure the resistance once after selecting the object and then use that resistance to calculate the tactile signal; there's no need to measure the resistance every time the tactile signal is calculated. The likelihood of significant changes in temperature and other environmental factors while touching a single object is low, while measuring the resistance every time the tactile signal is calculated increases the processing load and reduces responsiveness. However, if the hardware can complete resistance measurements at high speed, measuring the resistance frequently will improve the accuracy of the tactile sensation.

[0047] When 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 haptic feedback 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.

[0048] 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 the smartphone and the tap unit are paired via Bluetooth to establish a wireless connection (S104). In this embodiment, the launch of the application (S102) may be performed after S104.

[0049] The tactile output device 11 performs the initial resistance measurement (S111). Following instructions from the tactile control unit 21, a pre-stored reference voltage is supplied from the power supply 25 (battery) to the coil of the MRF device, which is the tactile output device (S112). The current detection unit 15 detects the current flowing through the MRF device (S113) and transmits it to the tactile control unit 21 (S114). The tactile control unit 21 calculates the resistance value from the current value and the reference voltage (S115) and stores it in the data storage unit 22 (S116). This completes the resistance measurement process. This provides the resistance value corresponding to the initial object selection. With this, the tactile output device 11 is ready, and a ready signal is sent to the control device 51 (S117) indicating that it is ready to execute once the base tactile data is stored.

[0050] Before, during, or in parallel with the series of processes in S111, the control device 51 selects an object (S121). If the processes are before or after, it is preferable to start selecting the object after receiving the readiness signal (S117). The user who operates the application 65 from the input / output device 54 selects an object from those displayed on the monitor to experience tactile sensation (S122). An example of the display on the monitor is shown in Figure 7. Here, the lint ball object on the right is selected. 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 lint ball object from the base tactile database 67 (S123) and executes a transmission means to send it to the tap unit (S124). 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 (S127).

[0051] Once steps S111 and S121 are completed, regardless of the order, the process moves to tactile output. The tactile control unit 21 acquires the angle, which is the rotation position, from the angle sensor 16 (S131). It monitors whether that angle has reached the next rotation position, which is defined in the base tactile data stored in the data storage unit 22 and which changes the current value (S132). If it has not reached the next rotation position (S132→No), it continues to acquire the angle from the angle sensor (S132). If it has reached the next rotation position (S132→Yes), it executes a signal value calculation means to calculate a tactile signal, which is a voltage value, by multiplying the current value of the base tactile data corresponding to that angle by the resistance value stored in S116 (S133). At the instruction of the tactile control unit 21, the calculated voltage value is supplied from the battery to the coil of the MRF device, allowing the user to experience tactile sensation at the assumed resistance.

[0052] If the user continues to rotate the same object and experience a different sensation (S134 → Yes), the system returns to monitoring the rotational position using the angle sensor (S131). If the user selects a different object (for example, the gummy-like object on the left) and experiences a different sensation (S135 → Yes), the system returns to steps S111 and S121 (S135). In this case, the base haptic data associated with the selected object is retrieved. If the user ends the experience (S135 → No), the application 65 is terminated (S141).

[0053] In parallel with this flow, the tactile control unit 21 may also send the acquired angle sensor value to the control device 51. The control device 51, having received the angle sensor value, may change the shape of the object displayed on the monitor of the input / output device 54 or play a sound according to the angle. For example, the shape of the ball of fur object shown in Figure 6 may be rewritten 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 rate of change of the angle sensor value per unit time. For example, when squeezed sharply, a sound of crushing may be played from the speaker, and when squeezed gently, a sound of gradual deformation may be played.

[0054] Alternatively, in another flow configuration, the resistance value measurement means in S111 may be inserted and executed each time the rotation position reaches the position where the next current value is changed in S132. In addition, in another flow configuration, after storing the base tactile data in the data storage unit 22 in S127, the signal value calculation means is executed on each current value included in the base tactile data, and the calculated voltage value is stored in the data storage unit 22 as tactile data. In this case, the execution of the signal value calculation means in S133 is omitted, and the voltage value retrieved from the tactile data corresponding to the angle is used as the tactile signal. [Explanation of Symbols]

[0055] 10. Tactile presentation device 11. Tactile output device 14. Haptic Output Devices 15 Current detection unit 16 sensors 20 Output device control unit 21 Tactile Control Unit 22 Data Storage Unit 25 Power supply 26 Communications Department 31 Casing 32 discs 33 York 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 Databases 67 Base Tactile Database 69 Network Interfaces 81 Servers 82 Networks

Claims

1. A tactile output device having a magnetorheological fluid device that provides passive operating resistance to a user through a part that the user directly touches and operates, It has a tactile control unit that controls the components including the magnetorheological fluid device, A resistance value measuring means for measuring the resistance value of the magnetorheological fluid device (excluding parts that come into contact with people), A signal value calculation means for calculating a tactile signal based on base tactile data and the resistance value, A tactile presentation means that causes the magnetorheological fluid device to present a tactile sensation based on the calculated tactile signal, Execute, The aforementioned base tactile data is data linked to the position of the part being manipulated, The signal value calculation means calculates the tactile signal corresponding to each of the positions based on the base tactile data, The tactile control unit is a tactile presentation device that controls the magnetoviscous fluid device based on the tactile signal.

2. The tactile presentation device is The tactile presentation device according to claim 1, further comprising 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.

3. The tactile presentation device according to claim 2, wherein the resistance value of the magnetorheological fluid device is measured each time the base tactile data is retrieved.

4. The control device executes a transmission means for transmitting to the tactile output 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. After the resistance value measurement means, a ready notification means is executed to transmit a ready signal to the control device. A tactile presentation device according to any one of claims 2 to 4.

6. A tactile presentation method using a tactile presentation device having a magnetorheological fluid device, which provides passive operating resistance to a user through a part that the user directly touches and operates, The steps include measuring the resistance value of the magnetorheological fluid device (excluding parts that come into contact with a person), A step of calculating a tactile signal based on base tactile data and the resistance value, The step includes causing the magnetorheological fluid device to present a tactile sensation based on the calculated tactile signal, The aforementioned base tactile data is data linked to the position of the part being manipulated, In the step of calculating the tactile signal, the tactile signal corresponding to each of the positions is calculated based on the base tactile data, A tactile presentation method for controlling the magnetorheological fluid device based on the tactile signal, in the step of presenting tactile sensation.

7. A tactile output device having a magnetorheological fluid device, which provides passive operating resistance to a user through a part that the user directly touches and operates, It has a tactile control unit that controls the components including the magnetorheological fluid device, A resistance value measuring means for measuring the resistance value of the magnetorheological fluid device (excluding parts that come into contact with people), A signal value calculation means for calculating a tactile signal based on base tactile data and the resistance value, A tactile presentation means that causes the magnetorheological fluid device to present a tactile sensation based on the calculated tactile signal, Execute, The aforementioned base tactile data is data linked to the position of the part being manipulated, The signal value calculation means calculates the tactile signal corresponding to each of the positions based on the base tactile data, The tactile control unit is a tactile output device that controls the magnetorheological fluid device based on the tactile signal.

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