Tactile presentation device

Abstract

This device provides a haptic feedback system that ensures natural hand movements for the user without interfering with hand tracking in VR devices. [Solution] The haptic presentation device 100 includes a wrist attachment part 10 that can be attached to the user's wrist, an intermediate support part 20 that extends from the wrist attachment part 10 toward one of the palm or back of the user's hand, a curved support part 30 that curves from the intermediate support part 20 toward the other of the palm or back of the user's hand, a first vibrator 40 provided on the wrist attachment part 10 that vibrates the user's wrist, a second vibrator 50 provided on the intermediate support part 20 that vibrates the one of the aforementioned parts, a third vibrator 60 provided on the curved support part 30 that vibrates the other of the aforementioned parts, and a control device 70 that controls the vibration state of the first vibrator 40, the second vibrator 50, and the third vibrator 60.

Description

Technical Field

[0001] The present invention relates to a tactile presentation device. In particular, the present invention relates to a device that presents a tactile stimulus to a user in conjunction with a VR (Virtual Reality), AR (Augmented Reality), or MR (Mixed Reality) system.

Background Art

[0002] In recent years, with the development of VR technology, haptics technology for providing an immersive virtual experience to users has attracted attention. Haptics technology realizes a reality that cannot be obtained only by vision and hearing by presenting the user with the tactile and force sensations when touching an object in a virtual space.

[0003] As a conventional tactile presentation device, for example, as described in Patent Document 1, a device that is worn on the user's hand to provide tactile feedback is known. The device described in Patent Document 1 reproduces the tactile sensation of a virtual object by the user holding a gripper in the hand and operating a displacement part with a finger. Also, in the device described in Patent Document 1, the state of the user's hand is detected by a camera mounted on an HMD (Head Mounted Display), and by recognizing the user's hand gesture, processing such as operation and selection in a virtual space can be performed. In such a gripping-type device, the user needs to always hold the gripper in the hand.

[0004] In addition, among conventional tactile presentation devices, there are also glove-type devices and devices having a structure that covers the entire finger. These devices attempt to provide detailed tactile feedback by arranging vibrators and actuators at each part of the finger. In a glove-type device, due to the structure that covers the entire hand, tactile stimuli can be simultaneously applied to a plurality of fingers.

Prior Art Documents

Patent Documents

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-17159 [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] Incidentally, in a gripping-type haptic presentation device like the one described in Patent Document 1, the user must constantly hold the gripping object in their hand. As a result, the user's ability to freely move their hands in the virtual space is restricted. Furthermore, holding the gripping object hinders the natural movement of the user's hand, leading to a decrease in immersion during the VR experience.

[0007] On the other hand, glove-type haptic feedback devices and devices with structures that cover the entire fingers may interfere with hand tracking by the HMD's camera because they cover the user's hands and fingers. In particular, commercially available VR devices such as Meta Quest and Apple Vision Pro use a method that recognizes hand gestures by capturing the shape of the user's hands and fingers with a camera mounted on the HMD. When glove-type devices or devices that cover the fingers are worn, the camera is unable to accurately recognize the shape and movement of the fingers, and the accuracy of gesture recognition is greatly reduced.

[0008] Furthermore, glove-type devices and devices that cover the entire fingers have the drawback of being time-consuming to put on. Putting on and taking off gloves is a cumbersome process, and this hassle becomes a major obstacle, especially in training or demonstration applications where multiple users will be using the devices in shifts. In addition, such glove-type devices restrict the range of motion of the hand. In other words, glove-type structures that cover the fingers and palm can hinder natural hand movements such as gripping, pinching, and opening, potentially compromising the realism of the VR experience.

[0009] Therefore, the main objective of the present invention is to provide a haptic presentation device that can easily ensure natural hand movements of the user without interfering with hand tracking by a VR device. [Means for solving the problem]

[0010] The inventors of the present invention diligently studied means to solve the problems of the prior art described above, and as a result, they found that by adopting a configuration that is worn on the wrist and positioning the vibrator at the necessary location using a support part extending from the wrist, tactile stimulation can be presented without covering the fingers or palm. Based on this finding, the inventors realized that the problems of the prior art could be solved and completed the present invention. Specifically, the present invention has the following configuration.

[0011] The present invention relates to a haptic presentation device. This haptic presentation device comprises a wrist attachment part, an intermediate support part, a curved support part, a first vibrator, a second vibrator, a third vibrator, and a control device. The wrist attachment part is a member that can be attached to the user's wrist. The wrist attachment part only needs to have a shape that can hold the wrist, and can take shapes such as C-shaped, U-shaped, ring-shaped, or band-shaped. The intermediate support part is a member that extends from the wrist attachment part toward one of the palm or back of the user's hand. "One of the parts" means either the palm side or the back of the hand. The intermediate support part can have a shape such as a rod, plate, or arm. The curved support part is a member that curves from the intermediate support part toward the other of the palm or back of the user's hand. "The other part" means the part opposite to the direction in which the intermediate support part extends, that is, the back of the hand if the intermediate support part extends toward the palm side, and the palm side if the intermediate support part extends toward the back of the hand. The curved support section preferably has a smoothly curved shape, but may also have a shape with a bending point. The first vibrator is provided in the wrist attachment section and applies vibration to the user's wrist. The second vibrator is provided in the intermediate support section and applies vibration to the aforementioned "one part". The third vibrator is provided in the curved support section and applies vibration to the aforementioned "other part". The control device controls the vibration state of these three vibrators. Control of the vibration state includes controlling the presence or absence of vibration, the intensity of vibration, the frequency of vibration, and the pattern of vibration.

[0012] As described above, the haptic feedback device according to the present invention comprises a wrist attachment portion, an intermediate support portion extending from the wrist attachment portion, and a curved support portion curving from the intermediate support portion, with vibrators arranged on these. This configuration eliminates the need for a structure that covers the fingers and palm, and allows the vibrators to be placed in the necessary locations by the frame-like support portion. Therefore, it does not hinder the hand-tracking camera of the VR device from recognizing the shape and movement of the fingers. Furthermore, because the fingers and palm are exposed, natural hand movements such as gripping, pinching, and opening are not hindered, and a sufficient range of motion of the hand can be ensured. In addition, by placing vibrators on three parts—the wrist, palm side, and back of the hand—a variety of haptic feedback can be provided. This makes it possible to enhance the sense of immersion in the VR experience while maintaining the accuracy of hand tracking.

[0013] In the haptic presentation device according to the present invention, the intermediate support portion may extend from the wrist attachment portion toward the user's palm. In this case, the curved support portion will curve from the intermediate support portion toward the back of the user's hand. The second vibrator will vibrate toward the user's palm, and the third vibrator will vibrate toward the back of the user's hand. With this configuration, the support portion extends from the wrist, through the palm side, to the back of the hand side, achieving an arrangement that does not easily interfere with hand movements.

[0014] In the haptic presentation device according to the present invention, the curved support portion may have a second transducer mounting portion on which a second transducer is mounted. This second transducer mounting portion is located in the central region of the user's palm when worn. The "central region of the palm" means the region on the extension of the middle finger, closer to the center of the palm than the thenar eminence. More specifically, it is the central part of the palm, including the region between the thenar eminence and the hypothenar eminence. This region is a part that is easily able to sense tactile information such as a wide range of pressure, weight, and gripping force. By placing the second transducer mounting portion in the central region of the palm, the sense of weight when grasping a virtual object and the sense of resistance when gripping an object can be effectively reproduced.

[0015] In the haptic presentation device according to the present invention, the intermediate support portion may have a third vibrator mounting portion on which a third vibrator is mounted. This third vibrator mounting portion is located in an area that contacts at least one of the user's metacarpophalangeal (MP) joints when worn. The MP joint is a joint located at the base of the fingers on the back of the hand. Because the MP joint is a part close to the skeleton, it has high vibration transmission efficiency, making it possible to reproduce tactile sensations close to the fingertips and to present fine touch sensations. By placing the third vibrator mounting portion near the MP joint, it is possible to effectively convey the surface texture of a virtual object, fine vibrations, and texture. The third vibrator mounting portion may be placed near the MP joint of any of the thumb, index finger, middle finger, ring finger, or little finger, and it is particularly preferable to place it near the MP joint of the index finger.

[0016] In the haptic presentation device according to the present invention, the wrist attachment portion may have a shape with a notch formed in a part of it. In this case, the wrist attachment portion is configured to be attachable to the user's wrist by inserting the wrist through the notch. "Shape with a notch formed in a part of it" means, for example, a C-shape, a U-shape, or a substantially semicircular shape. The notch allows the wrist attachment portion to be opened and the wrist to be inserted, and it can be attached without using fasteners such as bands, buckles, or Velcro®. The wrist attachment portion is preferably made of an elastic material, and this elasticity allows it to lightly grip and hold the wrist. With such a configuration, attachment and detachment become extremely easy.

[0017] In the haptic presentation device according to the present invention, the intermediate support portion may extend from the wrist attachment portion toward the back of the user's hand. In this case, the curved support portion will curve from the intermediate support portion toward the palm of the user's hand. The second vibrator will vibrate toward the back of the user's hand, and the third vibrator will vibrate toward the palm of the user's hand. This configuration is the reverse of the configuration described above, with the support portion extending from the wrist, through the back of the hand, toward the palm. This configuration is also less likely to interfere with hand movements and can be selected according to application and preference. [Effects of the Invention]

[0018] According to the present invention, it is possible to provide a tactile presentation device that can easily ensure natural movements of a user's hand without interfering with hand tracking by a VR device.

Brief Description of the Drawings

[0019] [Figure 1] FIG. 1 is a perspective view showing a tactile presentation device according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a perspective view showing a state in which the tactile presentation device of FIG. 1 is worn, as seen from the back of the hand. [Figure 3] FIG. 3 is a perspective view showing a state in which the tactile presentation device of FIG. 1 is worn, as seen from the palm side. [Figure 4] FIG. 4 is a block diagram showing a control system of the tactile presentation device according to an embodiment of the present invention. [Figure 5] FIG. 5 is a perspective view showing a tactile presentation device according to a second embodiment of the present invention, as seen from the back of the hand with the tactile presentation device worn. [Figure 6] FIG. 6 is a perspective view showing a tactile presentation device according to a second embodiment of the present invention, as seen from the palm with the tactile presentation device worn.

Modes for Carrying Out the Invention

[0020] Hereinafter, modes for carrying out the present invention will be described with reference to the drawings. The present invention is not limited to the modes described below, and includes those appropriately modified by those skilled in the art within an obvious range from the following modes.

[0021] Figure 1 is a perspective view showing a haptic feedback device 100 according to a first embodiment of the present invention. Figures 2 and 3 show the haptic feedback device 100 worn on a user's hand, from the back of the hand and palm, respectively. The haptic feedback device 100 is a device worn on the user's wrist and presents haptic stimuli to the user in conjunction with a virtual reality (VR) system. The haptic feedback device 100 mainly comprises a wrist attachment part 10, an intermediate support part 20, a curved support part 30, a wrist vibrator 40, a palmar vibrator 50, a back of the hand vibrator 60, and a control device 70. The haptic feedback device 100 has a frame-like support structure and is designed not to cover the user's fingers or palm. Therefore, vibrators can be placed in the necessary areas to provide haptic feedback without interfering with hand tracking by a camera mounted on a VR device.

[0022] The wrist attachment portion 10 is a component that can be attached to the user's wrist. In this embodiment, the wrist attachment portion 10 has an overall C-shape. A C-shape is a shape in which a part of the arc is missing when viewed from above, and in this embodiment, it has an arc shape of about 270 to 300 degrees. The wrist attachment portion 10 is made of an elastic material and has an elastically deformable structure. Therefore, the wrist attachment portion 10 deforms to open slightly when the wrist is inserted, and after insertion, it can lightly grip and hold the wrist with its elastic restoring force. This elastic holding force allows the wrist attachment portion 10 to be fixed to the wrist without using bands or fasteners such as buckles or Velcro (registered trademark).

[0023] To explain in more detail, the wrist attachment part 10 has a clip 11. The clip 11 is a C-shaped body that serves to hold the wrist. A notch 11a is formed in part of the clip 11. The notch 11a is the C-shaped opening of the clip 11, and is an opening for the user to insert their wrist. The width of the notch 11a is set to a width that allows the user's wrist to pass through, for example, about 30mm to 50mm. The user can easily attach the device by inserting their wrist through the notch 11a and passing their wrist through the inside of the wrist attachment part 10.

[0024] Furthermore, the wrist attachment portion 10 has a vibrator mounting portion 12. The vibrator mounting portion 12 is a part provided on the clip 11 and mounts the wrist vibrator 40. The vibrator mounting portion 12 is formed as a circular or elliptical bulge, and a space for housing the wrist vibrator 40 is provided inside it. The diameter of the vibrator mounting portion 12 is, for example, about 15 mm to 25 mm. In this embodiment, the vibrator mounting portion 12 is positioned on the back of the user's hand when worn. The radial styloid process is a protruding part on the thumb side of the wrist and is close to the skeleton. By positioning the vibrator mounting portion 12 in this location, vibrations from the wrist vibrator 40 can be efficiently transmitted to the skeleton. The vibrator mounting portion 12 is provided with a fixing mechanism (for example, adhesive, screw fastening, fitting, etc.) for fixing the wrist vibrator 40. In this embodiment, the transducer mounting section 12 is provided in only one place on the clip 11, but the present invention is not limited to this, and it is also possible to provide transducer mounting sections 12 in multiple places on the clip 11.

[0025] Furthermore, the wrist attachment portion 10 has a housing 13. The housing 13 is a box-shaped portion on which the clip 11 is provided. The housing 13 has, for example, a rectangular parallelepiped shape or a flattened box shape, and a space for housing the control device 70 is provided inside. In this embodiment, the housing 13 is located on the palm side of the wrist attachment portion 10 and is positioned on the underside of the wrist when worn. The housing 13 may be formed integrally with the clip 11, or it may be formed as a separate component and fixed to the clip 11.

[0026] The intermediate support portion 20 is a member that extends from the wrist attachment portion 10 toward the palm of the user's hand. As shown in Figures 1 and 3, the intermediate support portion 20 extends upward along the long axis of the hand from near the housing 13 of the wrist attachment portion 10. The direction of extension of the intermediate support portion 20 is approximately the same as the direction from the wrist toward the fingertips when worn, and is positioned to conform to the natural shape of the hand.

[0027] Specifically, the intermediate support portion 20 has an extension portion 21. The extension portion 21 is a rod-shaped or arm-shaped member extending from the wrist attachment portion 10. In this embodiment, the extension portion 21 has a linearly extending shape. The extension portion 21 needs to have appropriate rigidity because it serves as a support structure for supporting the vibrator. On the other hand, it is designed not to be excessively thick so as not to hinder hand movement. The cross-sectional shape of the extension portion 21 can be any shape, such as circular, elliptical, or rectangular. The length of the extension portion 21 is set according to the distance from the wrist to the center of the palm, for example, about 50 mm to 80 mm. This length is adjustable according to the size of the user's hand.

[0028] Furthermore, the intermediate support portion 20 has a transducer mounting portion 22. The transducer mounting portion 22 is a part provided at the tip of the extended portion 21 and mounts the palmar transducer 50. As shown in Figure 3, the transducer mounting portion 22 is formed as a bulge provided at the tip of the extended portion 21, and a space for housing the palmar transducer 50 is provided inside it. When worn, the transducer mounting portion 22 is positioned in the central region of the user's palm. The central region of the palm refers to the area on the extension of the middle finger, closer to the center of the palm than the thenar eminence.

[0029] The curved support section 30 is a member that curves from the intermediate support section 20 toward the back of the user's hand. As shown in Figures 1 and 2, the curved support section 30 curves in an arch shape toward the back of the hand from the position of the transducer mounting section 22 of the intermediate support section 20. The curved support section 30 curves around from the palm side toward the back of the hand and has a shape that conforms to the shape of the hand.

[0030] Specifically, the curved support portion 30 has a curved portion 31. In this embodiment, the curved portion 31 is an arch-shaped member that passes between the thumb and index finger and curves from the palm side to the back of the hand side. Preferably, the curved portion 31 curves in a smooth curve, but it may also be a shape with a bending point formed by combining multiple straight members. It is desirable that the curved portion 31 has appropriate flexibility so that it can follow the movement of the hand. The radius of curvature of the curved portion 31 is set according to the thickness of the user's hand, for example, about 30 mm to 60 mm. The total length of the curved support portion 30 (length along the curve) is for example about 60 mm to 100 mm.

[0031] Furthermore, the curved support portion 30 has a vibrator mounting portion 32. The vibrator mounting portion 32 is a part provided at the tip of the curved portion 31 and mounts the dorsal vibrator 60. As shown in Figure 2, the vibrator mounting portion 32 is formed as a bulge provided at the tip of the curved portion 31, and a space for housing the dorsal vibrator 60 is provided inside it. The vibrator mounting portion 32 is positioned in a region that contacts at least one of the user's metacarpophalangeal joints (MP joints) when worn. In this embodiment, the vibrator mounting portion 32 is particularly positioned near the MP joint of the index finger. However, the vibrator mounting portion 32 may be positioned near the MP joint of any of the thumb, index finger, middle finger, ring finger, or little finger. The vibrator mounting portion 32 may be positioned at only one of the MP joints, or at multiple locations.

[0032] In this embodiment, the frame, including the wrist attachment portion 10, the intermediate support portion 20, and the curved support portion 30, is basically integrally molded. For example, these components are formed as a single resin molded product and have a seamless, continuous structure. By using an integrally molded frame structure, the number of parts is reduced and structural strength is improved. Specifically, the frame is preferably formed from an elastic resin material. As the resin material, for example, ABS resin, polycarbonate, polypropylene, polyethylene, or composite materials thereof can be used. In particular, a material with a moderately low modulus of elasticity and flexibility is preferred. The rigidity can also be increased by using a metal material such as aluminum alloy, stainless steel, or titanium alloy for this frame. When using a metal material, it is desirable to improve the feel by applying a resin coating to the surface.

[0033] Furthermore, it is preferable that wires (not shown) extending from the control device 70 (described later) to each vibrator (40, 50, 60) are incorporated inside the wrist attachment portion 10, the intermediate support portion 20, and the curved support portion 30. The wires are either embedded in advance by insert molding during the molding process, or placed in wiring grooves formed inside after molding. Incorporating the wires inside provides a cleaner appearance and prevents the wires from interfering with hand movements.

[0034] The wrist vibrator 40 is mounted on the vibrator mounting section 12 of the wrist attachment section 10. The wrist vibrator 40 is a vibrator that delivers vibrations to the wrist and is positioned on the back of the wrist, particularly near the radial styloid process, when worn. The radial styloid process is a region relatively close to the tendons and muscle spindles (proprioceptors) of the wrist and forearm. The vibrations from the wrist vibrator 40 induce kinesthetic illusions, effectively reproducing force and kinesthetic sensations such as pushing a heavy object, pulling a rope, or experiencing the swaying of a vehicle in a virtual space. Specifically, the wrist vibrator 40 plays a role in providing tactile feedback such as resistance, traction force, and environmental vibrations.

[0035] The palmar vibrator 50 is mounted on the vibrator mounting section 22 of the intermediate support section 20. The palmar vibrator 50 is a vibrator that vibrates the central region of the palm of the hand. The central region of the palm is a part that easily senses tactile information such as pressure, weight, and gripping force over a wide area, and the palmar vibrator 50 plays a role in providing feedback such as the sense of weight when grasping a virtual object, the sense of resistance when gripping an object, and the gripping force. The palmar vibrator 50 allows the user to efficiently experience the presence of objects in the virtual space.

[0036] The dorsal vibrator 60 is mounted on the vibrator mounting section 32 of the curved support section 30. The dorsal vibrator 60 is a vibrator that applies vibration to the area near the MP joint on the back of the hand. Because the area near the MP joint is close to the skeleton, the vibration transmission efficiency is high, making it possible to reproduce tactile sensations close to those of the fingertips and to present fine tactile sensations. The dorsal vibrator 60 plays a role in presenting the surface texture, subtle vibrations, and shape perception of virtual objects. With the dorsal vibrator 60, the user can perceive the texture and fine shape of objects in the virtual space.

[0037] The wrist vibrator 40, palmar vibrator 50, and back-of-the-hand vibrator 60 are all small vibrators. Examples of vibrators that can be used include linear resonant actuators (LRAs), eccentric rotating masses (ERMs), piezoelectric elements, or acoustic resonators. Linear resonant actuators are particularly suitable because they offer high responsiveness and allow for precise control of vibration frequency and intensity. From the viewpoint of miniaturization, the size of each vibrator is approximately 1 cm³ in volume. 3 It is desirable that the dimensions be approximately as follows: More specifically, the dimensions of each vibrator should be, for example, 8mm to 12mm in length, 8mm to 12mm in width, and 3mm to 8mm in thickness. The vibration frequency range of each vibrator should be, for example, 10Hz to 300Hz, and the frequency can be changed depending on the type of tactile sensation to be presented.

[0038] Each vibrator is fixed inside its corresponding vibrator mounting section (12, 22, 32). Fixing methods include adhesive bonding, screw fastening, elastic member retention, or fitting. Each vibrator receives a drive signal from the vibration control section 72 of the control device 70 via a wire. Preferably, the wire is incorporated inside the wrist attachment section 10, the intermediate support section 20, and the curved support section 30, as described above. Each vibrator's vibration, intensity, frequency, and pattern are independently controlled based on the drive signal supplied by the vibration control section 72. This allows the three vibrators to work in coordination, enabling diverse haptic experiences within the virtual space.

[0039] In this embodiment, the haptic feedback device 100 is equipped with only three types of vibrators: the wrist vibrator 40, the palmar vibrator 50, and the dorsal vibrator 60. This is to achieve effective haptic feedback with a limited number of vibrators. The three types of vibrators each play a different role: the wrist vibrator 40 provides force and kinesthetic sensation, the palmar vibrator 50 provides pressure and weight sensation, and the dorsal vibrator 60 provides texture and shape perception. By working in coordination with these vibrators, the user can comprehensively experience haptic sensations such as "touching," "pinching," and "pressing." Experiments and literature reviews have confirmed that the minimum number of points required to reproduce these sensations is three (wrist, central palm region, and MP joint). By using only three types of vibrators, the entire device can be miniaturized, minimizing weight and bulk when worn. This does not interfere with the user's hand movements and does not impair operability in the VR experience. It should be noted that the present invention is not limited to three types of vibrators, and additional vibrators can be provided as needed. However, as in this embodiment, using three types of oscillators is most preferable from the viewpoint of balancing effectiveness and cost.

[0040] Figures 2 and 3 show the haptic presentation device 100 worn on a user's hand. Figure 2 shows the worn state as viewed from the back of the hand, and Figure 3 shows the worn state as viewed from the palm side. As is clear from these figures, the haptic presentation device 100 has vibrators placed in three areas: the wrist, the palm, and the back of the hand, but most of the fingers and palm remain exposed. Therefore, even while wearing the haptic presentation device 100, the user can move their fingers freely and naturally perform actions such as grasping objects, pinching, spreading fingers, and clenching their fist.

[0041] Thus, because the haptic feedback device 100 has a frame structure that does not cover most of the fingers or palm, it does not interfere with hand tracking by the camera mounted on the VR device. VR devices (e.g., Meta Quest and Apple Vision Pro) use their built-in cameras to recognize the shape and movement of the user's hand in real time and reproduce the user's hand movements in virtual space. For this hand tracking function to work accurately, the camera needs to clearly capture the finger joints and the contours of the palm. Because the haptic feedback device 100 has its structure positioned only in limited areas such as the wrist, the center of the palm, and the MP joints on the back of the hand, the finger joints and the contours of the palm are fully visible to the camera. As a result, the user can use the hand tracking function of the VR device normally even while wearing the haptic feedback device 100.

[0042] Figure 4 is a block diagram showing the control system of the haptic presentation device 100. The control device 70 is housed inside the housing 13 and mainly comprises a wireless communication unit 71, a vibration control unit 72, and a battery 73. The control device 70 controls the vibration state of the three vibrators (wrist vibrator 40, palmar vibrator 50, and back-of-hand vibrator 60) based on signals received wirelessly from the external VR device 200. The overall size of the control device 70 has been miniaturized so that it fits inside the housing 13.

[0043] The wireless communication unit 71 has the function of performing wireless communication with the VR device 200. The wireless communication unit 71 communicates with the VR device 200 using, for example, Bluetooth®, Wi-Fi, or other wireless communication methods. When using Bluetooth, power consumption can be reduced by adopting Bluetooth Low Energy (BLE). The wireless communication unit 71 receives signals from the VR device 200 regarding the user's actions and events in the virtual space. For example, event information such as the user touching a virtual object, grasping a virtual object, or tracing the surface of a virtual object is transmitted. These signals include parameters such as the type, intensity, duration, and frequency of haptic feedback. The wireless communication unit 71 transmits the received signals to the vibration control unit 72.

[0044] The vibration control unit 72 has the function of controlling the three vibrators based on signals received from the wireless communication unit 71. The vibration control unit 72 includes, for example, a microcontroller (MCU) and a drive circuit for driving each vibrator. The microcontroller interprets the received signals and generates control signals for each vibrator. The drive circuit supplies drive current to each vibrator based on the control signals from the microcontroller. The vibration control unit 72 can control each vibrator independently and can individually set the presence or absence of vibration, vibration intensity, vibration frequency, and vibration pattern of each vibrator.

[0045] The control of the vibration pattern by the vibration control unit 72 will now be described. The vibration frequency is controlled, for example, in the range of 10Hz to 300Hz. Low-frequency vibrations (10Hz to 50Hz) are suitable for expressing a soft touch or a dull impact, while high-frequency vibrations (100Hz to 300Hz) are suitable for expressing a hard touch or a sharp contact. The vibration intensity is controlled in steps, for example, in the range of 0% to 100%. By changing the intensity, the hardness and weight of the virtual object can be expressed. Timing control of the vibration is also important; for example, it is possible to generate a short-duration vibration the moment the virtual object is touched, or generate a continuous vibration while the virtual object is being held.

[0046] The vibration control unit 72 can generate diverse tactile patterns by coordinating the operation of multiple vibrators. For example, in the simultaneous vibration pattern, three vibrators are vibrated simultaneously to present tactile stimulation to the entire hand. In the sequential vibration pattern, the wrist vibrator 40, palmar vibrator 50, and back-of-hand vibrator 60 are vibrated in that order with a time difference to create the sensation of vibrations traveling from the wrist to the fingertips. In the intensity pattern, the directionality and three-dimensionality of the tactile stimulation are expressed by varying the intensity of each vibrator. By combining these vibration patterns, diverse tactile experiences can be realized in a virtual space.

[0047] The battery 73 supplies power to the control device 70 and the three oscillators. For example, a lithium-ion battery or a lithium polymer battery can be used as the battery 73. Preferably, the battery 73 is configured to be rechargeable by a USB terminal or by a wireless charging method. The housing 13 may be provided with a USB terminal for charging, or it may have a built-in wireless charging coil. The remaining charge of the battery 73 may be transmitted to the VR device 200 via the wireless communication unit 71 and displayed on the screen of the VR device 200.

[0048] The VR device 200 is a head-mounted display device worn on the user's head. A commercially available device can be used as the VR device 200. The VR device 200 has a hand-tracking function that uses a built-in camera to recognize the shape and movement of the user's hands in real time. This hand-tracking function allows the user to manipulate objects in the virtual space with their bare hands without needing a controller. The haptic feedback device 100 is intended to be used in conjunction with the VR device 200, which is equipped with this hand-tracking function.

[0049] The VR device 200 transmits haptic feedback command signals to the haptic feedback device 100 in response to user actions and events within the virtual space. For example, when the user's hand touches a virtual object, the VR device 200 detects the contact and transmits a vibration command corresponding to the type and strength of the contact. When the user grasps a virtual object, it transmits a vibration command corresponding to the gripping force. When the user traces the surface of a virtual object, it transmits a vibration command based on the surface texture information. These signals include parameters such as which vibrator to operate, the vibration frequency, intensity, and duration. The VR device 200 dynamically calculates these parameters based on a physical simulation within the virtual space and transmits them to the haptic feedback device 100.

[0050] Specifically, when a virtual object is touched, the wrist vibrator 40 and the back-of-hand vibrator 60 primarily operate to express the impact and repulsive force of contact, as well as the tactile sensation near the fingertips. The wrist vibrator 40 effectively reproduces kinesthetic illusions and force sensations by vibrating the wrist, a part of the body close to tendons and muscle spindles, and can express the resistance felt when lifting heavy objects or the pulling force when pulling a rope. When a virtual object is grasped, the palmar vibrator 50 primarily operates to express the pressure and weight felt when gripping an object. The palmar vibrator 50 effectively reproduces feedback on the weight and gripping force of an object by vibrating the center of the palm, a part of the hand where tactile receptors are densely concentrated. When the surface of a virtual object is traced to sense its texture, the back-of-hand vibrator 60 primarily operates, and expresses roughness, smoothness, bumpiness, etc., by changing the vibration frequency and intensity according to the roughness and unevenness of the surface. The dorsal vibrator 60 effectively reproduces subtle textures and shape perception by applying vibrations to the MP joint, a part of the finger close to the skeletal structure. In this way, the three vibrators each play a different role and work in coordination according to the situation, enabling a variety of tactile experiences.

[0051] In this way, by configuring a system that combines the haptic feedback device 100 and the VR device 200, users can experience a high level of immersion in the virtual space. By synchronizing visual and haptic information, users can perceive virtual objects as if they were real. Furthermore, the hand tracking function eliminates the need to hold a controller, allowing users to naturally manipulate virtual objects with their bare hands, thus improving usability. Because the haptic feedback device 100 does not cover the fingers or palms, it can provide haptic feedback without compromising the accuracy of hand tracking.

[0052] Figures 5 and 6 show a tactile presentation device 100 according to a second embodiment of the present invention. Figure 5 shows the wearing state as viewed from the back of the hand, and Figure 6 shows the wearing state as viewed from the palm side. In the tactile presentation device 100 according to the second embodiment, the extension direction and curvature direction of the intermediate support portion 20 and the curved support portion 30 differ from those of the first embodiment. In the second embodiment as well, the basic configuration of the wrist attachment portion 10, the control device 70, and each vibrator is the same as in the first embodiment, so the following description will mainly focus on the differences, and the description of similar configurations will be omitted.

[0053] In the second embodiment, the intermediate support portion 20 extends from the wrist attachment portion 10 toward the back of the user's hand. Also in the second embodiment, the curved support portion 30 curves from the intermediate support portion 20, passing between the thumb and index finger toward the palm of the user's hand. Thus, in the second embodiment, the paths of the intermediate support portion 20 and the curved support portion 30 are reversed compared to the first embodiment.

[0054] In the second embodiment, the vibrator mounting section 22 of the intermediate support section 20 is equipped with a back-of-hand vibrator 60, which is located on the back of the hand when worn. The vibrator mounting section 32 of the curved support section 30 is equipped with a palmar vibrator 50, which is located in the central area of ​​the palm when worn. The arrangement of the wrist vibrator 40 is the same as in the first embodiment. Thus, in the second embodiment, the arrangement of the palmar vibrator 50 and the back-of-hand vibrator 60 is reversed compared to the first embodiment, but the final locations where each vibrator is placed (wrist, center of palm, and near the MP joint on the back of the hand) are the same as in the first embodiment.

[0055] The first and second embodiments can be appropriately selected depending on the shape of the user's hand and how they are used. For example, if a user frequently performs a specific action during a VR experience, they can choose the embodiment that does not interfere with that action. By providing two embodiments in this way, a haptic presentation device that is suitable for a wider range of users can be provided. In the second embodiment, the linkage with the VR device 200, the vibration control method, and the usage are the same as in the first embodiment. However, the first embodiment is generally preferred. This is because, in the first embodiment, where the intermediate support portion 20 extends towards the palm and the curved support portion 30 curves towards the back of the hand, the structure is less likely to interfere with hand movements when gripping or opening the hand. In addition, the first embodiment is positioned to allow the hand tracking camera to more easily recognize the movements of the palm and fingers.

[0056] The haptic feedback device 100 can be used for various VR applications. One particularly useful application is in emergency VR (EVR) simulators. Emergency VR simulators are systems used to train paramedics and medical professionals, allowing them to practice emergency medical procedures such as cardiac massage, airway management, hemostasis, and trauma assessment in a virtual space. By wearing the haptic feedback device 100, trainees can experience the feel of touching a patient's body, the firmness and resistance of the chest during cardiac massage, and the resistance during airway management. This allows for training with a feel closer to a real-world situation, improving training effectiveness. Furthermore, since training can be repeated in the virtual space, the number of training opportunities can be significantly increased compared to using actual patients or training mannequins.

[0057] Beyond emergency medical VR simulators, the haptic feedback device 100 can be used for a variety of VR applications. For example, in VR games, it can enhance immersion by reproducing sensations such as gripping a weapon, the impact of enemy attacks, and the tactile feel of picking up items. In industrial training, it can be used for training in machine tool operation, assembly work, and simulating hazardous tasks, allowing for safe training without the use of actual equipment. Furthermore, the haptic feedback device 100 can be utilized in various fields where haptic feedback is useful, such as rehabilitation simulations and remote work support.

[0058] In the embodiment described above, an example was described in which three vibrators (wrist vibrator 40, palmar vibrator 50, and back-of-hand vibrator 60) are provided, but the number and arrangement of vibrators are not limited to this. For example, by arranging multiple vibrators on the wrist attachment part 10, vibrations can be applied to different parts of the wrist. Furthermore, by arranging multiple vibrators on the intermediate support part 20 and the curved support part 30, more detailed tactile expression becomes possible.

[0059] Furthermore, in the embodiments described above, the curved support portion 30 is exemplified as passing between the index finger and thumb and curving from the palm side to the back of the hand (or vice versa), but the path of the curved support portion 30 is not limited to this. For example, the curved support portion 30 can be configured to go from the palm side around the outside of the little finger to the back of the hand. In this case, the curved support portion 30 would be positioned along the side of the little finger. It can also be configured to pass between the middle finger and ring finger, or between the ring finger and little finger. Thus, the path of the curved support portion 30 can be appropriately selected according to the shape of the user's hand, the manner of use, or the comfort of wearing it. Moreover, the path of the curved support portion 30 can also be selected depending on which MP joint the back-of-hand vibrator 60 is placed on. For example, if the back-of-hand vibrator 60 is placed on the MP joint of the index finger, it can be made to pass between the index finger and thumb, and if it is placed on the MP joint of the little finger, it can be made to go around the outside of the little finger. In this way, the path of the curved support portion 30 can be designed according to the position of the MP joint to which tactile feedback is to be presented.

[0060] Furthermore, although the above-described embodiment explains an example of connecting to the VR device 200 via wireless communication, it is also possible to use a wired connection. When a wired connection is used, control signals and power can be supplied via the cable, making it possible to omit the battery 73 from the haptic presentation device 100.

[0061] In this specification, embodiments of the present invention have been described with reference to the drawings in order to express the content of the present invention. However, the present invention is not limited to the above embodiments, and includes modifications and improvements that are obvious to those skilled in the art based on the matters described in this specification. [Explanation of Symbols]

[0062] 10...Wrist attachment part 11...Clip 11a... Notch 12... Transducer mounting section 13…Housing 20…Intermediate support 21...Extension part 22...Vibrator mounting part 30...Curved support section 31...Curved section 32...Vibrator mounting section 40...Wrist vibrator 50... Palmar vibrator 60... Back of hand vibrator 70...Control device 71...Wireless communication unit 72...Vibration control unit 73...Battery 100...Haptic presentation device 200...VR device

Claims

1. A tactile presentation device having a frame structure that does not cover the user's fingers and palm, The aforementioned frame structure is A wrist attachment part that can be worn on the user's wrist, An intermediate support portion extending from the wrist attachment portion toward one of the palm or back of the user's hand, It includes a curved support portion that curves from the intermediate support portion toward the other part of the user's hand, either the palm or the back of the hand. The tactile presentation device is A first vibrator is provided in the wrist attachment portion and vibrates the user's wrist, A second vibrator is provided in the intermediate support portion and applies vibration to one of the aforementioned portions, A third vibrator is provided in the curved support portion and vibrates the other portion, The system further includes a control device for controlling the vibration state of the first oscillator, the second oscillator, and the third oscillator. A tactile feedback device.

2. The aforementioned intermediate support portion extends from the wrist attachment portion toward the palm of the user's hand, The curved support portion curves from the intermediate support portion toward the back of the user's hand, The second vibrator vibrates against the palm of the user's hand. The third vibrator applies vibration to the back of the user's hand. The tactile presentation device according to claim 1.

3. The intermediate support portion has a second transducer mounting portion on which the second transducer is mounted. The second transducer mounting section is located in the central area of ​​the user's palm when worn. The tactile presentation device according to claim 2.

4. The curved support portion has a third transducer mounting portion on which the third transducer is mounted, The third transducer mounting portion is located in a region that contacts at least one of the user's metacarpophalangeal joints (MP joints) when worn. The tactile presentation device according to claim 2.

5. The wrist attachment portion has a shape with a notch formed in a part of it, and is configured to be attachable to the user's wrist by inserting the wrist through the notch. The tactile presentation device according to claim 1.

6. The aforementioned intermediate support portion extends from the wrist attachment portion toward the back of the user's hand, The curved support portion curves from the intermediate support portion toward the palm of the user's hand, The second vibrator applies vibration to the back of the user's hand. The third vibrator provides vibration to the user's palm. The tactile presentation device according to claim 1.

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