Force feedback device, force feedback system, and force feedback method

Abstract

To provide a force sense presentation device capable of generating force sense to a finger with a simple configuration.SOLUTION: A force sense presentation device 10 includes: a first electrode unit 111 that is placed at a position along a side surface of a finger F and has a stimulation electrode; a second electrode unit 112 that forms a pair with the first electrode unit 111, and is placed so that current flows between the first electrode unit 111 and the second electrode unit 112 through an inside of the finger F; and a generation unit 123 for generating, between the first electrode unit 111 and the second electrode unit 112, current which flows from the side surface to the inside of the finger F and stimulates a sensory receptor of the finger F to generate force sense at the finger F.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a force sense presentation device, a force sense presentation system, and a force sense presentation method.

Background Art

[0002] Conventionally, techniques for pseudo-generating a predetermined tactile sensation to a user's finger are known. For example, Patent Document 1 discloses a compact tactile presentation technique that generates a tactile sensation at a fingertip without interposing a device between the fingertip and a tool, does not cause discomfort in operation of the tool, and does not hinder tool operation. For example, Non-Patent Document 1 discloses a technique related to a haptic glove that generates a tactile sensation at a fingertip.

[0003] The spatially transparent tactile presentation device described in Patent Document 1 includes two stimulation electrodes that are in contact along each of two afferent nerve bundles running on both side surfaces of a finger, and one ground electrode that is in contact on the palm side relative to the two stimulation electrodes. The tactile presentation device further includes an electric signal generator that supplies a predetermined electric signal with controlled at least one of a wave height and a frequency corresponding to each stimulation electrode terminal to each of the stimulation electrodes. The tactile presentation device generates electrical stimulation to the two afferent nerves by supplying an electric signal to each of the stimulation electrodes, and the electrical stimulation generates a tactile sensation at the distal phalanx position of the finger. The haptic glove described in Non-Patent Document 1 is a glove-shaped device that applies pressure to a fingertip using air pressure.

Prior Art Literature

Patent Literature

[0004]

Patent Literature 1

Non-Patent Literature

[0005]

Non-Patent Literature 1

[0006] However, the prior art described in Patent Document 1 did not adequately consider how to induce a force sensation in the finger that is completely different from touch. The device disclosed in Non-Patent Document 1 requires the supply of air to obtain air pressure, which makes the device large.

[0007] The purpose of this disclosure is to provide a force feedback device, a force feedback system, and a force feedback method that can generate force feedback in the fingers with a simple configuration. [Means for solving the problem]

[0008] This disclosure is, (1) A first electrode section is positioned along the side of the finger and has a stimulating electrode, A second electrode portion that is paired with the first electrode portion, the second electrode portion being arranged such that current flows through the inside of the finger between the first electrode portion and the second electrode portion, A generating unit that generates an electric current between the first electrode portion and the second electrode portion, which is an electric current from the side of the finger into the interior, stimulating the sensory receptors of the finger and causing force sensation in the finger, Equipped with, force sense presentation device, That is the case.

[0009] (2) In the force feedback device described in (1) above, The second electrode portion may be positioned so as to be along the side of the finger.

[0010] (3) In the force sense presentation device according to (2) above, the first electrode section may be arranged at a position along one side surface of the finger, and the second electrode section may be arranged at a position along the other side surface of the finger.

[0011] (4) In the force sense presentation device according to (3) above, the first electrode section and the second electrode section may oppose each other.

[0012] (5) In the force sense presentation device according to any one of (1) to (4) above, the first electrode section may be arranged at a tip end of the finger.

[0013] (6) In the force sense presentation device according to any one of (1) to (5) above, the first electrode section has at least one cathode as the stimulation electrode, and the second electrode section may have at least one anode as an indifferent electrode for the stimulation electrode.

[0014] (7) In the force sense presentation device according to (6) above, the number of the cathodes in the first electrode section may be smaller than the number of the anodes in the second electrode section.

[0015] (8) In the force sense presentation device according to (6) or (7) above, the first electrode section may have a plurality of said cathodes that are adjacent to and continuous with each other.

[0016] (9) In the force sense presentation device according to any one of (6) to (8) above, the second electrode section may have a plurality of said anodes that are adjacent to and continuous with each other.

[0017] (10) The haptic presentation device according to any one of (1) to (9) above, may further comprise a switching unit that reverses the positional relationship between the first electrode section and the second electrode section by switching the polarity of the electrode.

[0018] The present disclosure provides, (11) the haptic presentation device according to any one of (1) to (10) above; an operation target remotely operated by a user wearing the haptic presentation device; an output interface that outputs, as visual information to the user, a state of the operation target operated by the user; comprising: wherein the haptic presentation device acquires information based on the operation of the operation target by the user, and generates a haptic sensation on the finger of the user in accordance with the information, which is a haptic presentation system. .

[0019] (12) In the haptic presentation system according to (11) above, the operation target includes a robot hand formed at a tip end of a robot arm, and the information may include haptic and tactile information output from a haptic and tactile sensor attached to the robot hand.

[0020] (13) In the haptic presentation system according to (11) or (12) above, the operation target includes a finger of an avatar in a virtual space, and the information may include digital information corresponding to a motion of the finger of the avatar.

[0021] The present disclosure includes, (14) a step of flowing a current through the interior of the finger between: a first electrode section disposed at a position along a side surface of the finger and having a stimulation electrode; and a second electrode section paired with the first electrode section, In the above step, a current is generated between the first electrode portion and the second electrode portion, which is a current that flows from the side of the finger into the interior and stimulates the sensory receptors of the finger to produce a force sensation in the finger. force sense presentation method, That is the case. [Effects of the Invention]

[0022] According to a force feedback device, force feedback system, and force feedback method according to one embodiment of the present disclosure, it is possible to generate force feedback in the finger with a simple configuration. [Brief explanation of the drawing]

[0023] [Figure 1] This is a block diagram showing an example of the configuration of a force feedback device according to one embodiment of the present disclosure. [Figure 2] Figure 1 is a schematic diagram showing an example of the appearance of the mounting components of the force feedback device. [Figure 3] Figure 2 is a schematic diagram showing an example of how the mounting component looks when attached to the tip of a user's finger. [Figure 4] This is a schematic diagram showing the first and second electrode sections of Figure 3 in a more simplified manner. [Figure 5] Figure 1 is a schematic diagram specifically showing a part of the configuration of the force feedback device. [Figure 6A] This is a schematic diagram showing a first example of the polarity patterns of the first electrode and the second electrode. [Figure 6B] This is a schematic diagram showing a second example of the polarity patterns of the first and second electrode sections. [Figure 7] Figure 1 is a schematic diagram showing a first example of the configuration of a force feedback system including the force feedback device. [Figure 8] Figure 7 is a block diagram showing the schematic configuration of the force feedback system. [Figure 9] This is a schematic diagram showing a second example of the configuration of a force feedback system, including the force feedback device shown in Figure 1. [Figure 10] Figure 9 is a block diagram showing the schematic configuration of the force feedback system. [Figure 11] Figure 1 is a schematic diagram showing a first modified example of the force feedback device. [Figure 12] This is a schematic diagram showing a second modified example of the force feedback device shown in Figure 1. [Figure 13] This is a schematic diagram showing a third modified example of the force feedback device shown in Figure 1. [Figure 14] This is a schematic diagram showing a fourth modified example of the force feedback device shown in Figure 1. [Figure 15] This is a schematic diagram showing a fifth modified example of the force feedback device shown in Figure 1. [Figure 16] This is a schematic diagram showing a sixth modified example of the force feedback device shown in Figure 1. [Figure 17] This is a schematic diagram showing a seventh modified example of the force feedback device shown in Figure 1. [Figure 18] This is a schematic diagram showing the eighth modified example of the force feedback device in Figure 1. [Figure 19] This is a schematic diagram showing the ninth modified example of the force feedback device shown in Figure 1. [Figure 20] This is a schematic diagram showing the tenth modified example of the force feedback device shown in Figure 1. [Figure 21] This is a schematic diagram showing the 11th modified example of the force feedback device shown in Figure 1. [Figure 22] This is a schematic diagram showing the twelfth modified example of the force feedback device shown in Figure 1. [Figure 23] This is a schematic diagram showing the 13th modified example of the force feedback device shown in Figure 1. [Figure 24] This is a schematic diagram showing the 14th modified example of the force feedback device shown in Figure 1. [Figure 25] Figure 1 is a schematic diagram showing the 15th modified example of the force feedback device. [Modes for carrying out the invention]

[0024] In the following, one embodiment of this disclosure will be mainly described with reference to the attached drawings.

[0025] Figure 1 is a block diagram showing an example of the configuration of a force feedback device 10 according to one embodiment of the present disclosure. An example of the configuration of the force feedback device 10 according to one embodiment will be described in general terms with reference to Figure 1.

[0026] The force feedback device 10 stimulates the sensory receptors in the user's fingers to generate force sensation in those fingers. The force feedback device 10 consists of a mounting component 11 and a control circuit 12 connected to the mounting component 11.

[0027] The mounting component 11 includes an optional component that is attached to the tip of the user's finger. The mounting component 11 has a first electrode portion 111 having at least one electrode and a second electrode portion 112 having at least one electrode. The first electrode portion 111 and the second electrode portion 112 form a pair with each other. The first electrode portion 111 and the second electrode portion 112 are positioned at the tip of the user's finger so that current flows through the inside of the user's finger between the first electrode portion 111 and the second electrode portion 112. The mounting component 11 receives current output from the control circuit 12 and causes current to flow through the inside of the user's finger via the first electrode portion 111 and the second electrode portion 112.

[0028] The control circuit 12 includes an arbitrary circuit for controlling the operation of the force feedback device 10. The control circuit 12 has a communication unit 121, a storage unit 122, a generation unit 123, a switching unit 124, and a control unit 125. The communication unit 121 and the storage unit 122 are each connected to the control unit 125. The generation unit 123, the switching unit 124, and the control unit 125 are connected to each other.

[0029] The communication unit 121 includes a communication module that connects to the network 50, which will be described later. For example, the communication unit 121 includes a communication module that supports mobile communication standards or internet standards such as 4G (4th Generation) and 5G (5th Generation). In one embodiment, the force feedback device 10 is connected to the network 50 via the communication unit 121. The communication unit 121 transmits and receives various types of information via the network 50.

[0030] The storage unit 122 is, for example, a semiconductor memory, magnetic memory, or optical memory, but is not limited to these. The storage unit 122 functions as a main memory, auxiliary memory, or cache memory. The storage unit 122 stores any information used for the operation of the force feedback device 10. The storage unit 122 stores system programs, application programs, and various information received or transmitted by the communication unit 121.

[0031] The generation unit 123 includes an arbitrary current source. The generation unit 123 includes, for example, a constant current source. The generation unit 123 generates a current flowing inside the user's finger between the first electrode portion 111 and the second electrode portion 112 of the mounting component 11. The generation unit 123 generates the current between the first electrode portion 111 and the second electrode portion 112 via the switching unit 124.

[0032] The switching unit 124 includes any switch circuits connected to the first electrode unit 111, the second electrode unit 112, and the generation unit 123. The switching unit 124 receives on / off control from the control unit 125 and switches the electrical connection between the first electrode unit 111, the second electrode unit 112, and the generation unit 123.

[0033] The switching unit 124 switches the on / off state of the current flowing between the first electrode unit 111 and the second electrode unit 112. The switching unit 124 switches the output timing of the current flowing between the first electrode unit 111 and the second electrode unit 112. The switching unit 124 switches the direction of the current flowing between the first electrode unit 111 and the second electrode unit 112. If the first electrode unit 111 includes multiple electrodes as described later, the switching unit 124 switches the electrodes of the first electrode unit 111 used to conduct current between the first electrode unit 111 and the second electrode unit 112. If the second electrode unit 112 includes multiple electrodes as described later, the switching unit 124 switches the electrodes of the second electrode unit 112 used to conduct current between the first electrode unit 111 and the second electrode unit 112.

[0034] The switching unit 124 constantly maintains the electrical connection between the first electrode section 111 and the second electrode section 112 and the generation section 123, so that the current output from the generation section 123 to the switching unit 124 flows as a steady current between the first electrode section 111 and the second electrode section 112. The switching unit 124 periodically switches the electrical connection between the first electrode section 111 and the second electrode section 112 and the generation section 123, so that the current output from the generation section 123 to the switching unit 124 flows as a pulsed current between the first electrode section 111 and the second electrode section 112.

[0035] The control unit 125 includes one or more processors. In this disclosure, “processor” includes, for example, a general-purpose processor and a dedicated processor specialized for a specific process. The control unit 125 is communicatively connected to each component constituting the force feedback device 10 and controls the operation of the entire force feedback device 10. The control unit 125 outputs a control signal to, for example, the generation unit 123, and controls the on / off state and intensity of the constant current output from the generation unit 123. The control unit 125 outputs a control signal to, for example, the switching unit 124, and controls the on / off state and timing of the switch circuit included in the switching unit 124, as well as the selection of the electrode to be connected among the plurality of electrodes of the first electrode unit 111 and the selection of the electrode to be connected among the plurality of electrodes of the second electrode unit 112.

[0036] Figure 2 is a schematic diagram showing an example of the appearance of the mounting component 11 of the force feedback device 10 shown in Figure 1. Figure 3 is a schematic diagram showing an example of how the mounting component 11 of Figure 2 looks when attached to the tip of the user's finger F. The configuration of the mounting component 11 of the force feedback device 10 shown in Figure 1 will be mainly explained with reference to Figures 2 and 3.

[0037] The mounting component 11 is formed of a pair of clamping pieces 11a that are attached to the tip of the user's finger F so as to clamp the tip of the finger F, and a pair of gripping pieces 11b formed on the opposite side of the pair of clamping pieces 11a. The mounting component 11 can be widened by the user holding the pair of gripping pieces 11b in their hand and pushing the pair of gripping pieces 11b so that the pair of gripping pieces 11b are close to each other. When the user pinches the pair of gripping pieces 11b tightly, the pair of clamping pieces 11a open wide. The pair of clamping pieces 11a are positioned at the tip of the user's finger F in the wide-open state. An elastic member (not shown) is incorporated inside the mounting component 11 so that when the user releases the pair of gripping pieces 11b, the pair of clamping pieces 11a come close to each other and clamp the tip of the user's finger F.

[0038] The first electrode portion 111 and the second electrode portion 112 are respectively attached to a pair of clamping pieces 11a of the mounting component 11, with the sides of the clamping pieces 11a passing through them along the opening direction of the clamping pieces 11a. The first electrode portion 111 and the second electrode portion 112 face each other. As shown in Figure 2, the first electrode portion 111 and the second electrode portion 112 are spaced apart from each other with the pair of clamping pieces 11a open. A space is formed between the first electrode portion 111 and the second electrode portion 112 to receive the tip of the user's finger F.

[0039] As an example, the first electrode section 111 has four electrodes. The four electrodes of the first electrode section 111 are arranged in a vertical line on one side of the pair of clamping pieces 11a. As an example, the second electrode section 112 has four electrodes. The four electrodes of the second electrode section 112 are arranged in a vertical line on the other side of the pair of clamping pieces 11a.

[0040] Figure 4 is a schematic diagram showing the first electrode portion 111 and the second electrode portion 112 of Figure 3 in a more simplified manner. In Figure 4, an example of the arrangement of the first electrode portion 111 and the second electrode portion 112 with respect to the tip of the user's finger F is shown in a more simplified manner. Although not shown in Figure 3, a conductive gel G may be placed between the tip of the user's finger F and the first electrode portion 111. Similarly, gel G may be placed between the tip of the user's finger F and the second electrode portion 112. The gel G is intended to suppress the occurrence of pain sensation in the user's finger F by dispersing the current flowing between the first electrode portion 111 and the second electrode portion 112. For example, in order to place the gel G, a sheet coated with gel G may be attached to the electrodes included in each electrode portion or to the finger F.

[0041] The first electrode portion 111 is positioned along the side of the user's finger F. More specifically, the first electrode portion 111 is positioned along one side A1 of the user's finger F. The first electrode portion 111 is positioned at the tip of the user's finger F. For example, the four electrodes of the first electrode portion 111 are arranged in a line along the side A1 at the tip of the user's finger F in the direction of extension of the finger F.

[0042] The second electrode portion 112 is positioned along the side of the user's finger F. More specifically, the second electrode portion 112 is positioned along the other side A2 of the user's finger F. The second electrode portion 112 is positioned at the tip of the user's finger F. For example, the four electrodes of the second electrode portion 112 are arranged in a line along the side A2 at the tip of the user's finger F in the direction of extension of the finger F.

[0043] Figure 5 is a schematic diagram specifically showing a part of the configuration of the force feedback device 10 shown in Figure 1. The configuration and operation of the control circuit 12 of the force feedback device 10 will be explained in more detail with reference to Figure 5.

[0044] The switching unit 124 of the control circuit 12 has a first switching unit 124a connected to the output terminal side of the constant current source included in the generating unit 123. The first switching unit 124a has eight switches S11, S12, S13, S14, S15, S16, S17, and S18 in order from left to right in Figure 5.

[0045] In one example shown in Figure 5, switch S11 of the first switching unit 124a is in the ON state, electrically connecting electrode E24 of the four electrodes of the second electrode unit 112 to the generation unit 123. Switch S13 of the first switching unit 124a is in the ON state, electrically connecting electrode E22 of the four electrodes of the second electrode unit 112 to the generation unit 123. Switches S12, S14, S15, S16, S17, and S18 of the first switching unit 124a are in the OFF state, not electrically connecting electrodes E21 and E23 of the four electrodes of the second electrode unit 112 to the generation unit 123, and not electrically connecting electrodes E11, E12, E13, and E14 of the first electrode unit 111 to the generation unit 123.

[0046] The switching unit 124 of the control circuit 12 has a second switching unit 124b connected to the input terminal side of the constant current source included in the generating unit 123. The second switching unit 124b has eight switches S21, S22, S23, S24, S25, S26, S27, and S28 in order from left to right in Figure 5.

[0047] In one example shown in Figure 5, switch S25 of the second switching unit 124b is in the ON state, electrically connecting electrode E11 of the four electrodes of the first electrode unit 111 to the generation unit 123. Switch S28 of the second switching unit 124b is in the ON state, electrically connecting electrode E14 of the four electrodes of the first electrode unit 111 to the generation unit 123. Switches S21, S22, S23, S24, S26, and S27 of the second switching unit 124b are in the OFF state, not electrically connecting the four electrodes E21, E22, E23, and E24 of the second electrode unit 112 to the generation unit 123, nor electrically connecting electrodes E12 and E13 of the four electrodes of the first electrode unit 111 to the generation unit 123.

[0048] According to the above example of the operation of the switching unit 124, electrodes E11 and E14 of the first electrode unit 111 function as cathodes. Electrodes E12 and E13 of the first electrode unit 111 are disconnected from the generation unit 123, i.e., in a high impedance state. Electrodes E22 and E24 of the second electrode unit 112 function as anodes. Electrodes E21 and E23 of the second electrode unit 112 are disconnected from the generation unit 123.

[0049] Figure 6A is a schematic diagram showing a first example of the polarity pattern of the first electrode portion 111 and the second electrode portion 112. Figure 6B is a schematic diagram showing a second example of the polarity pattern of the first electrode portion 111 and the second electrode portion 112. Unlike Figure 4, the gel G is not shown in Figures 6A and 6B. An example of the polarity pattern of the first electrode portion 111 and the second electrode portion 112 will be mainly explained with reference to Figures 6A and 6B.

[0050] In the first example shown in Figure 6A, the first electrode section 111, positioned along one side A1 of the user's finger F, has electrodes E11, E12, E13, and E14 arranged in a line in the direction of extension of the finger F, starting from the tip of the finger F. Electrodes E11 and E14 are unconnected to the generating section 123, while electrodes E12 and E13 function as cathodes.

[0051] In the second electrode section 112, which is positioned along the other side A2 of the user's finger F, electrodes E21, E22, E23, and E24 are arranged in a line in the direction of extension of the user's finger F, starting from the tip side. Electrodes E21, E22, E23, and E24 all function as anodes.

[0052] In the second example shown in Figure 6B, the first electrode section 111, positioned along one side A1 of the user's finger F, has electrodes E11, E12, E13, and E14 arranged in a line in the direction of extension of the finger F, starting from the tip of the finger F. Electrodes E11 and E14 are unconnected to the generating section 123, while electrodes E12 and E13 function as cathodes.

[0053] In the second electrode section 112, which is positioned along the other side A2 of the user's finger F, electrodes E21, E22, E23, and E24 are arranged in a line in the direction of extension of the user's finger F, starting from the tip side. Electrodes E21, E22, E23, and E24 all function as anodes.

[0054] The polarity patterns shown in the first example in Figure 6A and the second example in Figure 6B can be switched between each other based on the switching operation of the switching unit 124. The switching unit 124 reverses the positional relationship between the first electrode section 111 and the second electrode section 112 by switching the polarity of the electrodes. The switching unit 124 enables each electrode to be switched to one of the following states: cathode, anode, or unconnected.

[0055] In Figure 6A, the first electrode portion 111 is located to the left of the tip of the user's finger F, and side A1 corresponds to the left side of the tip of the user's finger F. The second electrode portion 112 is located to the right of the tip of the user's finger F, and side A2 corresponds to the right side of the tip of the user's finger F. On the other hand, in Figure 6B, the first electrode portion 111 is located to the right of the tip of the user's finger F, and side A1 corresponds to the right side of the tip of the user's finger F. The second electrode portion 112 is located to the left of the tip of the user's finger F, and side A2 corresponds to the left side of the tip of the user's finger F.

[0056] As shown in Figures 6A and 6B, the first electrode section 111 has at least one cathode as a stimulating electrode. For example, the first electrode section 111 has two cathodes as stimulating electrodes. The second electrode section 112 has at least one anode as an indifferent electrode to the stimulating electrodes. For example, the second electrode section 112 has four anodes as indifferent electrodes. The number of cathodes in the first electrode section 111 is less than the number of anodes in the second electrode section 112.

[0057] The first electrode section 111 has a plurality of adjacent and continuous cathodes. For example, the first electrode section 111 has two adjacent and continuous cathodes. In the first electrode section 111, the two adjacent and continuous cathodes are located in the central part of the first electrode section 111. On either side of these two cathodes are electrodes E11 and E14, which are in an unconnected state. These two cathodes are sandwiched between the unconnected electrodes E11 and E14 in the direction of extension of the finger F.

[0058] The second electrode section 112 has multiple anodes that are adjacent to each other and continuous. For example, the second electrode section 112 has four anodes that are adjacent to each other and continuous. The second electrode section 112 is composed of only four anodes that are adjacent to each other and continuous.

[0059] The first electrode portion 111 and the second electrode portion 112 are located at the same position relative to each other in the direction of extension of the finger F. For example, electrode E11, which is in an unconnected state, and electrode E21, which functions as an anode, are located at the same position relative to each other in the direction of extension of the finger F. Electrode E12, which functions as a cathode, and electrode E22, which functions as an anode, are located at the same position relative to each other in the direction of extension of the finger F. Electrode E13, which functions as a cathode, and electrode E23, which functions as an anode, are located at the same position relative to each other in the direction of extension of the finger F. Electrode E14, which is in an unconnected state, and electrode E24, which functions as an anode, are located at the same position relative to each other in the direction of extension of the finger F.

[0060] The generating unit 123 generates an electric current between the first electrode unit 111 and the second electrode unit 112, which is an electric current that flows from the side of the user's finger F into the finger, stimulating the sensory receptors of the finger F and generating force sensation in the finger F. The force sensation presentation device 10 generates an electric stimulus from the side of the user's finger F, thereby activating sensory receptors located near the side of the finger F and simulating force sensation. At this time, the force sensation presentation device 10 may directly stimulate the sensory receptors with an electric current, or it may indirectly stimulate the sensory receptors via nerve fibers connected to the sensory receptors. In this disclosure, "sensory receptors" include, for example, Meissner corpuscles, Merkel cells, Pacinian corpuscles, and Ruffini terminals that contribute to the generation of force sensation.

[0061] Such current-related parameters are optimized for each user based on calibration performed during the initial stage when the force feedback device 10 is attached to the user's finger F. In this disclosure, “current-related parameters” include, for example, current patterns including pulsed current and steady-state current, width, period, and duty cycle of pulsed current, and current intensity. The current-related parameters are optimized to values ​​that can provide the strongest possible stimulation to sensory receptors without causing pain to the user when current is passed through the inside of the finger between the first electrode portion 111 and the second electrode portion 112.

[0062] The control unit 125 stores current parameters optimized for each user based on calibration work in the storage unit 122. When the user uses the force feedback device 10 after calibration work, the control unit 125 reads the current parameters optimized for that user from the storage unit 122. Based on the read parameters, the control unit 125 controls the generation unit 123 and the switching unit 124 to generate a current corresponding to those parameters between the first electrode unit 111 and the second electrode unit 112.

[0063] For example, in Figure 6A, the current flows from right to left, from the second electrode section 112, which includes the anode, to the first electrode section 111, which includes the cathode. In this case, since the number of cathodes located along the left side A1 is less than the number of anodes located along the right side A2, the current density on the left side A1 is higher than the current density on the right side A2. As a result, the sensory receptors located inside the tip of the finger F are more strongly stimulated and become more active near the cathode, which acts as a stimulating electrode in the left first electrode section 111.

[0064] The force feedback device 10, with the arrangement of the first electrode section 111 and the second electrode section 112 as shown in Figure 6A, simulates force sensation, for example, in the lateral direction, on the tip of the user's finger F. The force feedback device 10 simulates force sensation on the tip of the user's finger F as if a force is being applied from left to right, as indicated by the arrow in Figure 6A.

[0065] For example, in Figure 6B, the current flows from left to right, from the second electrode section 112, which includes the anode, to the first electrode section 111, which includes the cathode. In this case, since the number of cathodes located along the right side A1 is less than the number of anodes located along the left side A2, the current density on the right side A1 is higher than the current density on the left side A2. As a result, the sensory receptors located inside the tip of the finger F are more strongly stimulated and become more active near the cathode, which acts as a stimulating electrode in the right first electrode section 111.

[0066] The force feedback device 10, with the arrangement of the first electrode section 111 and the second electrode section 112 as shown in Figure 6B, simulates force sensation, for example, in the lateral direction, on the tip of the user's finger F. The force feedback device 10 simulates force sensation on the tip of the user's finger F as if a force is being applied from right to left, as indicated by the arrow in Figure 6B.

[0067] To demonstrate the effect of generating force sensation as shown in Figures 6A and 6B, a demonstration experiment was conducted on multiple subjects. The purpose of this demonstration experiment was to verify the presence and direction of pseudo-force sensation generated by the mounting component 11 having an electrode arrangement as shown in Figures 6A and 6B as an example.

[0068] For example, the subject attaches the mounting component 11 to the middle finger of their dominant hand and extends the middle finger straight ahead in the air. The middle finger was chosen as the experimental subject because, in the preliminary trial stage, it was easiest to perceive the simulated force sensation clearly. To have the subject respond to the direction of force sensation generation, X, Y, and Z orthogonal axes were defined for the middle finger. For example, the Z axis is the axis along the extension direction of the middle finger. The Y axis is the axis along the vertical direction perpendicular to the extension direction of the middle finger. The X axis is the axis along the horizontal direction perpendicular to the extension direction of the middle finger.

[0069] The direction of force sensation was recorded by recording the value of the direction vector. For example, if the force sensation was directed to the right, it was recorded as (X, Y, Z) = (1, 0, 0), and if the force sensation was directed diagonally upward to the left in the XY plane, it was recorded as (X, Y, Z) = (-1, 1, 0).

[0070] The experimental procedure included a first step of adjusting the stimulation current amount from the first electrode section 111 and the second electrode section 112. In the first step, the subject was fitted with the mounting component 11 as shown in Figure 3, and the stimulation current amount was gradually increased until pain was induced while presenting multiple electrode stimulation patterns, including the electrode stimulation patterns shown in Figures 6A and 6B, randomly for one second each. Subsequently, the stimulation current amount was reduced until the pain disappeared, thereby setting the maximum stimulation current amount that the subject did not find uncomfortable. The control unit 125 stored the parameters related to the current at this time in the memory unit 122. Subsequent steps were performed based on the stimulation current amount.

[0071] The experimental procedure includes a second step to verify the presence or absence of skin sensation from electrical stimulation on the left and right sides. In the second step, multiple electrode stimulation patterns, including the electrode stimulation patterns in Figures 6A and 6B, are presented sequentially, and subjects are asked to respond whether they "experience skin sensation from electrical stimulation" on the right and left sides of their fingers. The purpose of the second step is to confirm the presence or absence of perception of cathode stimulation, which is a cue for perceiving force sensation, in multiple electrode stimulation patterns, including the electrode stimulation patterns in Figures 6A and 6B.

[0072] The experimental procedure included a third step to verify the occurrence of pseudo-force sensation. In the third step, multiple electrode stimulation patterns, including the electrode stimulation patterns shown in Figures 6A and 6B, were tried three times each in a random order, and participants were asked to report the direction of the pseudo-force sensation that occurred in each trial. If no pseudo-force sensation occurred, participants were asked to report this, and the value of the direction vector was recorded as (X, Y, Z) = (0, 0, 0).

[0073] Under the experimental conditions described above, it was found that subjects perceived pseudo-force in various directions. For example, subjects perceived pseudo-force in the direction indicated by the arrow in either Figure 6A or Figure 6B. This experimental condition demonstrated that pseudo-force occurs. The stronger stimulation and increased activity of sensory receptors located inside the fingernail area is related to the occurrence of pseudo-force. The fact that the nail area is less prone to deformation compared to other parts of the finger is also related to the occurrence of pseudo-force.

[0074] Figure 7 is a schematic diagram showing a first example of the configuration of the force feedback system 1, including the force feedback device 10 of Figure 1. Figure 8 is a block diagram showing the schematic configuration of the force feedback system 1 of Figure 7. Referring to Figures 7 and 8, we will mainly describe a first example of applying the force feedback device 10 of Figure 1 to the force feedback system 1. In Figure 7, for the purpose of simple illustration, we mainly show only the mounting part 11 that is attached to the tip of the user's finger for the force feedback device 10, and we omit the illustration of the control circuit 12. In addition, in order to mainly focus on the force feedback device 10 according to one embodiment of this disclosure, we also omit the illustration of other devices necessary for remotely controlling the control object 23, which will be described later.

[0075] The force feedback system 1 includes the force feedback device 10 described above. The force feedback device 10 is used with the mounting component 11 attached to the user's finger. The force feedback device 10 only needs to be attached to at least one of the user's ten fingers, or to all of them. For example, as shown in Figure 7, the force feedback device 10 is attached to the thumb and index finger of the user's right hand, and to the thumb and index finger of the user's left hand.

[0076] The force feedback system 1 includes a robot 20 in addition to a force feedback device 10. More specifically, the force feedback system 1 includes an object to be operated 23, which is remotely operated by a user wearing the force feedback device 10, as part of the configuration of the robot 20. The force feedback system 1 has an output interface 30 that outputs the appearance of the object to be operated 23 as visual information to the user. In addition to the force feedback device 10, the robot 20 including the object to be operated 23, and the output interface 30, the force feedback system 1 may further include an imaging device 40.

[0077] The force feedback device 10, the robot 20 including the target object 23, the output interface 30, and the imaging device 40 are each connected to a network 50, including a mobile communication network and the internet, in a manner that enables communication.

[0078] The robot 20 includes those used for any purpose, such as medical, household, industrial, and commercial applications. The robot 20 has a communication unit 21, a memory unit 22, an object to be operated 23, and a control unit 24.

[0079] The communication unit 21 includes a communication module that connects to the network 50. For example, the communication unit 21 includes a communication module that supports mobile communication standards such as 4G and 5G or internet standards. In one embodiment, the robot 20 is connected to the network 50 via the communication unit 21. The communication unit 21 transmits and receives various information via the network 50.

[0080] The storage unit 22 is, for example, a semiconductor memory, magnetic memory, or optical memory, but is not limited to these. The storage unit 22 functions as a main memory, auxiliary memory, or cache memory. The storage unit 22 stores any information used for the operation of the robot 20. The storage unit 22 stores system programs, application programs, and various information received or transmitted by the communication unit 21.

[0081] The object to be operated 23 includes a robot hand formed at the tip of a robot arm. For example, the object to be operated 23 includes a robot hand formed at the tip of a robot arm of any robot 20 located remotely from the location where a user wearing the force feedback device 10 is located. The robot arm has at least one arm, and each arm has a robot hand. The robot hand has at least one finger. For example, the robot arm may have a left arm and a right arm, similar to a human, as shown in Figure 7, with five fingers formed on the robot hand of each arm, or it may have only one arm, with only two fingers formed on the robot hand of that arm.

[0082] The robot hand included in the target object 23 has force and tactile sensors 23a at the tip of each finger. The force and tactile sensors 23a output information as force and tactile information when the fingers of the robot hand come into contact with an arbitrary object.

[0083] The control unit 24 includes one or more processors. The control unit 24 is communicatively connected to each component that makes up the robot 20 and controls the operation of the robot 20 as a whole. For example, the control unit 24 controls the target object 23 in conjunction with the hand and finger movements of a user who remotely operates the target object 23 while wearing the force feedback device 10 and other devices (not shown).

[0084] The output interface 30 includes one or more interfaces that output information to the user as an image. For example, the output interface 30 includes wearable devices such as goggles and glasses, as well as any other display device, that output information as an image. The output interface 30 has a communication unit 31, a storage unit 32, an output unit 33, and a control unit 34.

[0085] The communication unit 31 includes a communication module that connects to the network 50. For example, the communication unit 31 includes a communication module that supports mobile communication standards such as 4G and 5G or internet standards. In one embodiment, the output interface 30 is connected to the network 50 via the communication unit 31. The communication unit 31 transmits and receives various types of information via the network 50.

[0086] The storage unit 32 is, for example, a semiconductor memory, magnetic memory, or optical memory, but is not limited to these. The storage unit 32 functions as a main memory, auxiliary memory, or cache memory. The storage unit 32 stores any information used for the operation of the output interface 30. The storage unit 32 stores system programs, application programs, and various information received or transmitted by the communication unit 31.

[0087] The output unit 33 includes one or more displays that output information as an image to the user. For example, the output unit 33 includes a display that outputs information as video.

[0088] The control unit 34 includes one or more processors. The control unit 34 is communicatively connected to each component constituting the output interface 30 and controls the operation of the entire output interface 30. For example, the control unit 34 acquires the visual information generated by the imaging device 40 (described later) via the network 50 using the communication unit 31, and displays it to the user as an image while controlling the output unit 33.

[0089] The imaging device 40 includes any camera or the like that is positioned around the object to be operated 23. The imaging device 40 has a communication unit 41, a storage unit 42, an imaging unit 43, and a control unit 44.

[0090] The communication unit 41 includes a communication module that connects to the network 50. For example, the communication unit 41 includes a communication module that supports mobile communication standards such as 4G and 5G or internet standards. In one embodiment, the imaging device 40 is connected to the network 50 via the communication unit 41. The communication unit 41 transmits and receives various types of information via the network 50.

[0091] The storage unit 42 is, for example, a semiconductor memory, magnetic memory, or optical memory, but is not limited to these. The storage unit 42 functions as a main memory, auxiliary memory, or cache memory. The storage unit 42 stores any information used in the operation of the imaging device 40. The storage unit 42 stores system programs, application programs, and various information received or transmitted by the communication unit 41.

[0092] The imaging unit 43 includes any image sensor such as a CCD (Charge Coupled Device) and a CMOS (Complementary Metal Oxide Semiconductor).

[0093] The control unit 44 includes one or more processors. The control unit 44 is communicatively connected to each component constituting the imaging device 40 and controls the operation of the entire imaging device 40. For example, the control unit 44 generates visual information, as described later, using the imaging unit 43, and transmits it to the output interface 30 via the network 50 while controlling the communication unit 41.

[0094] The user remotely controls the object to be operated 23 while wearing the force feedback device 10 and other devices not shown. The robot hand, which is the object to be operated 23, performs similar actions in conjunction with the user's hand and finger movements. For example, as shown in Figure 7, the robot hand supports the bottle mainly with the thumb and index finger of the left arm robot hand while turning the bottle cap with the thumb and index finger of the right arm robot hand.

[0095] At this time, the control unit 125 of the force feedback device 10 acquires information based on the user's operation of the target object 23 and generates force feedback on the user's finger according to that information. In the first example shown in Figure 7, this information includes force and tactile information output from the force and tactile sensor 23a attached to the robot hand, which is the target object 23. Such force feedback generates weight information applied to the force and tactile sensor 23a. The control unit 125 of the force feedback device 10 acquires information based on the user's operation of the target object 23 from the robot 20 having the target object 23 via the network 50 and the communication unit 121.

[0096] The control unit 125 of the force feedback device 10 controls the amount of stimulation current via the first electrode unit 111 and the second electrode unit 112 so that the user can feel the force corresponding to the force and tactile information output from the force and tactile sensor 23a attached to the robot hand through the force feedback device 10 worn by the user. For example, the user can simulate the sensation of supporting a bottle by feeling the weight of the bottle with the thumb and index finger of their left hand. The user can simulate the sensation of turning the bottle cap by feeling the frictional force when turning the bottle cap with the thumb and index finger of their right hand.

[0097] At this time, the control unit 44 of the imaging device 40, which is positioned around the object to be operated 23, uses the imaging unit 43 to capture images of the object to be operated 23 as it is being operated by the user, and generates visual information. The control unit 34 of the output interface 30 acquires the visual information generated by the imaging device 40 via the network 50 and the communication unit 31, and displays it to the user as an image using the output unit 33. The user visually recognizes the state of the object to be operated 23 that they are operating by viewing the image displayed on the output interface 30.

[0098] As described above, the user remotely controls the object 23 by integrating and experiencing the haptic feedback and visual information presented by the force feedback device 10 and the output interface 30, respectively. This allows the user to obtain a realistic sense of control with a simple configuration.

[0099] Figure 9 is a schematic diagram showing a second example of the configuration of the force feedback system 1, including the force feedback device 10 of Figure 1. Figure 10 is a block diagram showing the schematic configuration of the force feedback system 1 of Figure 9. Referring to Figures 9 and 10, a second example of applying the force feedback device 10 of Figure 1 to the force feedback system 1 will be mainly described. In Figure 9, for the purpose of simple illustration, only the mounting part 11 that is attached to the tip of the user's finger is mainly shown for the force feedback device 10, and the control circuit 12 is not shown. In addition, in order to mainly focus on the force feedback device 10 according to one embodiment of this disclosure, other devices necessary for remotely controlling the control object 63a, which will be described later, are also not shown.

[0100] The force feedback system 1 includes the force feedback device 10 described above. The force feedback device 10 is used with the mounting component 11 attached to the user's finger. The force feedback device 10 only needs to be attached to at least one of the user's ten fingers, or to all of them. For example, as shown in Figure 9, the force feedback device 10 is attached to the thumb and index finger of the user's right hand, and to the thumb and index finger of the user's left hand.

[0101] The force feedback system 1 includes an information processing device 60 in addition to a force feedback device 10. More specifically, the force feedback system 1 includes an avatar generated in a virtual space by the information processing device 60, which is an object 63a that is remotely operated by a user wearing the force feedback device 10. The force feedback system 1 has an output interface 30 that outputs the appearance of the object 63a being operated by the user as visual information to the user.

[0102] The force feedback device 10, the information processing device 60 that generates an avatar including the target of operation 63a, and the output interface 30 are each connected to a network 50, including a mobile communication network and the internet, in a manner that allows communication.

[0103] The information processing device 60 is one or multiple server devices that can communicate with each other. The information processing device 60 is not limited to these, and may be any general-purpose electronic device such as a PC (Personal Computer) or a smartphone, or other electronic device dedicated to the force feedback system 1. The information processing device 60 has a communication unit 61, a storage unit 62, and a control unit 63.

[0104] The communication unit 61 includes a communication module that connects to the network 50. For example, the communication unit 61 includes a communication module that supports mobile communication standards such as 4G and 5G or internet standards. In one embodiment, the information processing device 60 is connected to the network 50 via the communication unit 61. The communication unit 61 transmits and receives various types of information via the network 50.

[0105] The storage unit 62 is, for example, a semiconductor memory, magnetic memory, or optical memory, but is not limited to these. The storage unit 62 functions as a main memory, auxiliary memory, or cache memory. The storage unit 62 stores any information used in the operation of the information processing device 60. The storage unit 62 stores system programs, application programs, and various types of information received or transmitted by the communication unit 61.

[0106] The control unit 63 includes one or more processors. The control unit 63 is communicatively connected to each component of the information processing device 60 and controls the operation of the entire information processing device 60. For example, the control unit 63 generates an avatar in any virtual space that includes an object 63a that a user wearing the force feedback device 10 operates in the virtual space.

[0107] The object to be operated 63a includes the fingers of an avatar in the virtual space. For example, the object to be operated 63a includes the fingers of any avatar located in a three-dimensional virtual space constructed within a computer and computer network, which is different from the real space where the user wearing the force feedback device 10 is located. Such avatars include those that are characterized based on, for example, humans, non-human animals, plants, machines such as robots, and objects, and have hands that correspond to the user's hands. The avatar has at least one hand, and each hand has at least one finger. For example, the avatar may be characterized based on a human, have a left arm and a right arm like a human, and have five fingers on the hands formed at the ends of each arm, as shown in Figure 9.

[0108] The output interface 30 has the same configuration as the first example shown in Figures 7 and 8. For example, the control unit 34 acquires the visual information described later from the information processing device 60 via the network 50 using the communication unit 31, and displays it to the user as an image while controlling the output unit 33.

[0109] The user, while wearing the force feedback device 10 and other devices (not shown), manipulates an object 63a in the virtual space in the real space. The avatar, which has fingers as the object 63a, performs similar actions in conjunction with the user's hand and finger movements. For example, as shown in Figure 9, the avatar supports the bottle mainly with the thumb and index finger of the left hand while turning the bottle cap with the thumb and index finger of the right hand.

[0110] At this time, the control unit 125 of the force feedback device 10 acquires information based on the user's operation of the control object 63a and generates force sensation in the user's fingers according to that information. In the second example shown in Figure 9, this information includes digital information corresponding to the movement of the avatar's fingers as the control object 63a. More specifically, this digital information includes force information for presenting sensations corresponding to the movement of the avatar's fingers, which is generated by the control unit 63 of the information processing device 60 through calculations based on force rendering. The control unit 125 of the force feedback device 10 acquires information based on the user's operation of the control object 63a from the information processing device 60, which has performed calculations based on force rendering, via the network 50 and the communication unit 121.

[0111] The control unit 125 of the force feedback device 10 controls the amount of stimulation current via the first electrode unit 111 and the second electrode unit 112 so that the user can feel the force corresponding to the digital information acquired from the information processing device 60 through the force feedback device 10 worn by the user. For example, the user can simulate the sensation of supporting a bottle by feeling the weight of the bottle with the thumb and index finger of their left hand. The user can simulate the sensation of turning the bottle cap by feeling the frictional force when turning the bottle cap with the thumb and index finger of their right hand.

[0112] At this time, the control unit 34 of the output interface 30 acquires visual information of the virtual space where the avatar, including the target of operation 63a, is located from the information processing device 60 via the network 50 and the communication unit 31, and displays it to the user as an image using the output unit 33. The user visually recognizes the appearance of the target of operation 63a that they are operating by viewing the image displayed on the output interface 30.

[0113] As described above, the user remotely controls the object 63a by integrating and perceiving the haptic feedback and visual information presented by the force feedback device 10 and the output interface 30, respectively. This allows the user to obtain a realistic sense of control with a simple configuration.

[0114] According to the force feedback device 10 of the above embodiment, it is possible to generate force sensation in the finger with a simple configuration. The force feedback device 10 has a first electrode section 111 having a stimulating electrode and positioned along the side of the finger, and a generating section 123 that generates an electric current from the side of the finger to the inside between the first electrode section 111 and the second electrode section 112. As a result, the force feedback device 10 can strongly stimulate and activate sensory receptors located inside the finger near the stimulating electrode. The force feedback device 10 can generate force sensation in the finger by stimulating the sensory receptors in the user's finger.

[0115] The force feedback device 10 is positioned such that the second electrode portion 112 is aligned with the side of the finger, allowing the second electrode portion 112 to be positioned along the side of the finger, similar to the first electrode portion 111, and closer to the first electrode portion 111. This allows the force feedback device 10 to more easily conduct electric current between the first electrode portion 111 and the second electrode portion 112 through the inside of the finger. Therefore, the force feedback device 10 can stimulate the sensory receptors in the user's finger and more reliably generate force sensation in the finger.

[0116] The force feedback device 10 is positioned such that the first electrode section 111 is aligned along side A1 and the second electrode section 112 is aligned along side A2, thereby enabling more reliable generation of current from the side of the finger to the inside between the first electrode section 111 and the second electrode section 112. This current flows more reliably inside the user's finger between sides A1 and A2, which are located on opposite sides. As a result, the force feedback device 10 can stimulate the sensory receptors in the user's finger and more reliably generate force sensation in the finger.

[0117] The force feedback device 10, with its first electrode section 111 and second electrode section 112 facing each other, can more reliably generate an electric current from the side of the finger into the interior between the first electrode section 111 and the second electrode section 112. Such an electric current flows more reliably inside the user's finger between the first electrode section 111 and the second electrode section 112, which are positioned to face each other. As a result, the force feedback device 10 can stimulate the sensory receptors in the user's finger and more reliably generate force sensation in the finger.

[0118] The force feedback device 10 has a first electrode section 111 and a second electrode section 112 facing each other, and small electrodes are used in the first electrode section 111 and the second electrode section 112, which makes it easy to miniaturize the device.

[0119] The force feedback device 10 has a first electrode section 111 positioned at the fingertip, which allows for stronger stimulation and more active activation of sensory receptors located inside the fingertip near the stimulating electrode included in the first electrode section 111. As a result, the force feedback device 10 can stimulate the sensory receptors in the user's finger and more reliably generate force sensation at the fingertip.

[0120] The force feedback device 10 has a first electrode section 111 that has at least one cathode as a stimulating electrode, and a second electrode section 112 that has at least one anode as an indifferent electrode to the stimulating electrode, which allows for easy stimulation of sensory receptors located inside the finger by the stimulating electrode. As a result, the force feedback device 10 can activate the sensory receptors and more reliably generate force sensation in the finger.

[0121] The force feedback device 10 has fewer cathodes in the first electrode section 111 than in the second electrode section 112, which allows the current density on the first electrode section 111 side to be higher than that on the second electrode section 112 side. As a result, the force feedback device 10 can more strongly stimulate and activate sensory receptors located inside the finger near the cathodes of the first electrode section 111, which act as stimulating electrodes. Therefore, the force feedback device 10 can stimulate the sensory receptors in the user's finger and more reliably generate force sensation in the finger.

[0122] The force feedback device 10 has a first electrode section 111 that has multiple cathodes adjacent to each other and in a continuous pattern, which allows the current density on the first electrode section 111 side to be even higher than the current density on the second electrode section 112 side. As a result, the force feedback device 10 can more strongly stimulate and activate sensory receptors located inside the finger near the cathodes of the first electrode section 111, which act as stimulating electrodes. Therefore, the force feedback device 10 can stimulate the sensory receptors in the user's finger and more reliably generate force sensation in the finger.

[0123] The force feedback device 10 has a second electrode section 112 that has multiple adjacent and continuous anodes, which allows current to flow more easily between the first electrode section 111 and the second electrode section 112 through the inside of the finger from the side. Therefore, the force feedback device 10 can stimulate the sensory receptors in the user's finger and more reliably generate force sensation in the finger.

[0124] The force feedback device 10 also has a switching unit 124 that reverses the positional relationship between the first electrode unit 111 and the second electrode unit 112, making it possible to generate different force sensations on the user's fingers. For example, as shown in Figures 6A and 6B, the force feedback device 10 can also make the user feel forces pointing in opposite directions. The force feedback device 10 can also continuously generate different force sensations on the user's fingers by having the switching unit 124 continuously switch the polarity pattern from one in Figure 6A to the other in Figure 6B. The user can also continuously feel forces pointing in different directions through the seamless operation of the switching unit 124.

[0125] The force feedback system 1, in addition to the force feedback device 10, has an output interface 30 that outputs the state of the object being manipulated by the user as visual information to the user, thereby enabling remote control of the object by the user in an integrated state of force and vision. This allows the user to compensate for the difference between the force feedback generated in the fingers by the force feedback device 10 and the actual sensations that are lacking, using visual information. By integrating force and vision and supplementing this difference, the user can obtain a simulated sensation that is very close to the actual sensation. For example, as shown in Figures 7 and 9, the user can obtain a simulated sensation very close to the actual sensation of both hands when holding a bottle in the left hand and opening the lid with the right hand, using the force feedback device 10 and the output interface 30.

[0126] As a result, the user can more accurately perceive the movement related to the actual operation of the controlled object. Therefore, the user can perform remote control of the controlled object with greater precision.

[0127] The force feedback system 1 includes a robot hand formed at the tip of a robot arm as the target of manipulation 23, enabling the user to remotely control the robot hand in an integrated force and visual manner. The user can integrate force and visual feedback to compensate for the difference with actual sensations, and while remotely controlling the robot hand, can simulate a sensation very close to the actual sensation. For example, as shown in Figure 7, the user can simulate a sensation very close to the actual sensation of holding a bottle with their left hand and opening the lid with their right hand using the force feedback device 10 and output interface 30 while remotely controlling the robot hand.

[0128] The force feedback system 1 enables the user to remotely control the avatar's fingers in a fused force and visual manner, by including the fingers of the avatar in the virtual space as the target of manipulation 63a. The user can integrate force and visual information to compensate for the difference with actual sensations, and while remotely controlling the avatar's fingers, can simulate a sensation very close to the actual sensation. For example, as shown in Figure 9, the user can simulate a sensation very close to the actual sensation of holding a bottle in their left hand and opening the lid with their right hand by remotely controlling the avatar's fingers using the force feedback device 10 and output interface 30.

[0129] It will be apparent to those skilled in the art that this disclosure can be implemented in other predetermined forms besides the embodiments described above without deviating from its spirit or essential features. Therefore, the prior description is illustrative and not limiting. The scope of the disclosure is defined not by the prior description but by the added claims. Any modifications within their equivalent scope are included therein.

[0130] For example, the shape, size, arrangement, orientation, and number of each component described above are not limited to those shown in the above description and drawings. The shape, size, arrangement, orientation, and number of each component may be configured arbitrarily as long as they can achieve their function.

[0131] Figure 11 is a schematic diagram showing a first modified example of the force feedback device 10 of Figure 1. Figure 12 is a schematic diagram showing a second modified example of the force feedback device 10 of Figure 1. Figure 13 is a schematic diagram showing a third modified example of the force feedback device 10 of Figure 1. Figure 14 is a schematic diagram showing a fourth modified example of the force feedback device 10 of Figure 1.

[0132] In the above embodiment, the second electrode portion 112 was described as being positioned along the side of the finger, but it is not limited to this. The second electrode portion 112 does not have to be positioned along the side of the finger. The second electrode portion 112 may be positioned at any position as long as current can flow between it and the first electrode portion 111 and force sensation can be generated in the finger. For example, the second electrode portion 112 may be positioned so as to be wrapped around the joint portion of the finger F, as shown in Figure 11. For example, the second electrode portion 112 may be positioned so as to be wrapped around the base portion of the finger F, as shown in Figure 12. For example, the second electrode portion 112 may be positioned on the back of the hand, as shown in Figure 13. For example, the second electrode portion 112 may be positioned so as to be held in the palm, as shown in Figure 14.

[0133] Figure 15 is a schematic diagram showing a fifth modified example of the force feedback device 10 of Figure 1. In the above embodiment, the first electrode portion 111 is positioned along the side A1 of one side of the finger, and the second electrode portion 112 is positioned along the side A2 of the other side of the finger, but this is not limited to this. The first electrode portion 111 and the second electrode portion 112 may be positioned along the same side, rather than along different sides. For example, as shown in Figure 15, the first electrode portion 111 and the second electrode portion 112 may be positioned along the same side A1.

[0134] Figure 16 is a schematic diagram showing a sixth modified example of the force feedback device 10 of Figure 1. In the above embodiment, the first electrode portion 111 and the second electrode portion 112 were described as facing each other, but this is not the only option. The first electrode portion 111 and the second electrode portion 112 do not have to face each other. That is, the first electrode portion 111 and the second electrode portion 112 may be positioned at different locations along the extending direction of the finger. For example, as shown in Figure 16, the first electrode portion 111 may be located closer to the tip along the extending direction of the finger F, and the second electrode portion 112 may be located closer to the back of the hand along the extending direction of the finger F.

[0135] Figure 17 is a schematic diagram showing a seventh modified example of the force feedback device 10 of Figure 1. In the above embodiment, the first electrode portion 111 was described as being located at the tip of the finger, but it is not limited to this. For example, as shown in Figure 17, the first electrode portion 111 may be located on the back of the hand rather than at the tip of the finger F.

[0136] Figure 18 is a schematic diagram showing an eighth modified example of the force feedback device 10 of Figure 1. In the above embodiment, as shown in Figures 6A and 6B, the first electrode section 111 has at least one cathode as a stimulating electrode, and the second electrode section 112 has at least one anode as an indifferent electrode to the stimulating electrode, but this is not limited to this. The first electrode section 111 may have at least one anode as a stimulating electrode, and the second electrode section 112 may have at least one cathode as an indifferent electrode to the stimulating electrode.

[0137] For example, as shown in Figure 18, the first electrode section 111 may have two anodes as stimulating electrodes. The second electrode section 112 may have four cathodes as indifferent electrodes. The number of anodes in the first electrode section 111 is less than the number of cathodes in the second electrode section 112. The electrode arrangement shown in Figure 18 is obtained by switching the on / off state of predetermined switches included in the switching section 124 of Figure 5 from the electrode arrangement shown in Figure 6A. The predetermined switches include switches connected to electrodes E12, E13, E21, E22, E23, and E24.

[0138] Figure 19 is a schematic diagram showing the ninth modified version of the force feedback device 10 shown in Figure 1. Figure 20 is a schematic diagram showing the tenth modified version of the force feedback device 10 shown in Figure 1. Figure 21 is a schematic diagram showing the eleventh modified version of the force feedback device 10 shown in Figure 1. Figure 22 is a schematic diagram showing the twelfth modified version of the force feedback device 10 shown in Figure 1. Figure 23 is a schematic diagram showing the thirteenth modified version of the force feedback device 10 shown in Figure 1.

[0139] The electrode arrangements shown in Figures 21 to 23 are obtained by switching the on / off state of predetermined switches included in the switching unit 124 of Figure 5 from the electrode arrangement shown in Figure 5. In the 11th modification of Figure 21, the predetermined switches include switches connected to electrodes E11, E12, E14, E21, E23, and E24. In the 12th modification of Figure 22, the predetermined switches include switches connected to electrodes E12, E13, E14, E21, E23, and E24. In the 13th modification of Figure 23, the predetermined switches include switches connected to electrodes E11, E12, E13, E14, E21, and E23.

[0140] In the above embodiment, the first electrode portion 111 was described as having four electrodes, but it is not limited to this. The first electrode portion 111 may have three or fewer electrodes, or it may have five or more electrodes. For example, the first electrode portion 111 may have three electrodes, as shown in Figure 19. For example, the first electrode portion 111 may have five electrodes, as shown in Figure 20.

[0141] In the above embodiment, it was explained that in the first electrode section 111, two of the four electrodes are in a cathode state, but this is not limited to this. The number of electrodes in the cathode state in the first electrode section 111 may be one or three or more. For example, as shown in Figure 21, the number of electrodes in the cathode state in the first electrode section 111 may be one. For example, as shown in Figure 22, the number of electrodes in the cathode state in the first electrode section 111 may be three.

[0142] In the above embodiment, the first electrode section 111 was described as being in a cathode or unconnected state for all electrodes, but it is not limited to this. The first electrode section 111 may be configured to have a mixture of anodes in addition to cathodes and unconnected states. For example, as shown in Figure 23, the first electrode section 111 may be configured such that electrode E11 is unconnected, electrode E12 is cathode, electrode E13 is cathode, and electrode E14 is anode.

[0143] In the above embodiment, the second electrode portion 112 was described as having four electrodes, but it is not limited to this. The second electrode portion 112 may have three or fewer electrodes, or it may have five or more electrodes. For example, the second electrode portion 112 may have five electrodes, as shown in Figure 19. For example, the second electrode portion 112 may have three electrodes, as shown in Figure 20.

[0144] In the above embodiment, it was explained that all four electrodes in the second electrode section 112 are in an anode state, but this is not limited to this. The number of electrodes in the second electrode section 112 that are in an anode state may be three or less. For example, as shown in Figures 21 and 22, the number of electrodes in the second electrode section 112 that are in an anode state may be three.

[0145] In the above embodiment, the second electrode section 112 was described as being in an anode state for all electrodes, but it is not limited to this. The second electrode section 112 may be configured to have a mixture of anodes, cathodes, and unconnected states. For example, as shown in Figure 21, the second electrode section 112 may be configured such that electrode E21 is an anode, electrode E22 is an anode, electrode E23 is an anode, and electrode E24 is unconnected. For example, as shown in Figure 22, the second electrode section 112 may be configured such that electrode E21 is an anode, electrode E22 is an anode, electrode E23 is an anode, and electrode E24 is a cathode.

[0146] Figure 24 is a schematic diagram showing the 14th modified version of the force feedback device 10 of Figure 1. Figure 25 is a schematic diagram showing the 15th modified version of the force feedback device 10 of Figure 1.

[0147] In the above embodiment, the electrodes of the first electrode portion 111 were described as being arranged in a single row along the extending direction of the finger, but this is not limited to this. The electrodes of the first electrode portion 111 may be arranged in multiple rows along the extending direction of the finger. For example, as shown in Figure 24, the electrodes of the first electrode portion 111 may be arranged in two rows along the extending direction of the finger F.

[0148] In the above embodiment, the electrodes of the second electrode portion 112 were described as being arranged in a single row along the extending direction of the finger, but this is not limited to this. The electrodes of the second electrode portion 112 may be arranged in multiple rows along the extending direction of the finger. For example, as shown in Figure 25, the electrodes of the second electrode portion 112 may be arranged in two rows along the extending direction of the finger F.

[0149] In the above embodiment, the first electrode section 111 and the second electrode section 112 are described as having the same number of electrodes, but this is not limited to this. For example, as shown in Figures 19 and 20, the first electrode section 111 and the second electrode section 112 may have different numbers of electrodes.

[0150] In the above embodiment, the number of cathodes in the first electrode section 111 is described as being less than the number of anodes in the second electrode section 112, but this is not limited to this. The number of cathodes in the first electrode section 111 may be greater than or equal to the number of anodes in the second electrode section 112. For example, as shown in Figure 5, the number of cathodes in the first electrode section 111 may be the same as the number of anodes in the second electrode section 112.

[0151] In the above embodiment, the first electrode portion 111 was described as having a plurality of adjacent and continuous cathodes, but it is not limited to this. For example, as shown in Figure 5, the plurality of cathodes in the first electrode portion 111 do not have to be adjacent and continuous. That is, in the first electrode portion 111, an anode or an unconnected electrode may be placed between the cathodes.

[0152] In the above embodiment, the second electrode section 112 was described as having a plurality of adjacent and continuous anodes, but it is not limited to this. For example, as shown in Figure 5, the plurality of anodes in the second electrode section 112 do not have to be adjacent and continuous. That is, in the second electrode section 112, cathodes or unconnected electrodes may be placed between the anodes.

[0153] In the above embodiment, the force feedback device 10 was described as having a switching unit 124 that reverses the positional relationship between the first electrode unit 111 and the second electrode unit 112 by switching the polarity of the electrodes, but it is not limited to this. The force feedback device 10 does not have to have such a switching unit 124.

[0154] In the above embodiment, for example, as shown in Figure 7, the force feedback device 10 is described as being attached to the thumb and index finger of the user's right hand, and the thumb and index finger of the user's left hand, but it is not limited to this. The force feedback device 10 may be attached to all 10 fingers of the user, corresponding to the number and arrangement of fingers of the robot hand in Figure 7. The force feedback device 10 may be attached to appropriate fingers among the 10 fingers of the user, corresponding to any number and arrangement of fingers of any robot hand, or it may be attached to any finger among the 10 fingers of the user, without corresponding to any number and arrangement of fingers of any robot hand.

[0155] In the above embodiment, for example, as shown in Figure 9, the force feedback device 10 is described as being attached to the thumb and index finger of the user's right hand, and the thumb and index finger of the user's left hand, but it is not limited to this. The force feedback device 10 may be attached to all 10 fingers of the user, corresponding to the number and arrangement of fingers of the avatar in Figure 9. The force feedback device 10 may be attached to appropriate fingers among the 10 fingers of the user, corresponding to the number and arrangement of fingers of any avatar, or it may be attached to any finger among the 10 fingers of the user, without corresponding to the number and arrangement of fingers of any avatar. [Explanation of Symbols]

[0156] 1. Force Feedback System 10 Force sense presentation device 11 Mounting parts 111 1st electrode section 112 2nd electrode section 11a Clamp 11b Grip piece 12 Control circuits 121 Communications Department 122 Storage section 123 Generation area 124 Switching section 124a First switching section 124b Second switching section 125 Control Unit 20 Robots 21 Communications Department 22 Memory section 23. Target of Operation 23a Force and tactile sensors 24 Control Unit 30 Output Interfaces 31 Communications Department 32 Storage section 33 Output section 34 Control Unit 40 Imaging device 41 Communications Department 42 Storage section 43 Imaging Unit 44 Control Unit 50 Networks 60 Information Processing Devices 61 Communications Department 62 Storage section 63 Control Unit 63a Target of operation A1 Side A2 side E11 electrode E12 electrode E13 electrode E14 electrode E21 electrode E22 electrode E23 electrode E24 electrode F finger G Gel S11 Switch S12 Switch S13 Switch S14 Switch S15 Switch S16 Switch S17 Switch S18 Switch S21 Switch S22 Switch S23 Switch S24 Switch S25 Switch S26 Switch S27 Switch S28 Switch

Claims

1. Multiple electrodes are arranged along the lateral surface in the direction of extension of the fingertip, and a first electrode section having a stimulating electrode, A second electrode portion that is paired with the first electrode portion, wherein a plurality of electrodes are arranged between the first electrode portion and the second electrode portion at a position through which current flows via the inside of the fingertip, A generating unit that generates an electric current between the first electrode and the second electrode, which is an electric current that flows from the side of the fingertip into the interior and stimulates sensory receptors located inside the fingertip to produce a force sensation in the finger. Equipped with, Of the first electrode portion and the second electrode portion, at least the first electrode portion is positioned along the side surface of the fingernail. Force sense presentation device.

2. A force feedback device according to claim 1, The second electrode portion is arranged along the side surface in the extending direction of the fingertip, Force sense presentation device.

3. A force feedback device according to claim 2, The first electrode portion is positioned along one side of the fingertip, The second electrode portion is positioned along the other side of the fingertip, Force sense presentation device.

4. A force feedback device according to claim 3, The first electrode portion and the second electrode portion face each other, Force sense presentation device.

5. A force feedback device according to any one of claims 1 to 4, The first electrode portion has at least one cathode as the stimulating electrode, The second electrode portion has at least one anode as an indifferent electrode to the stimulating electrode. Force sense presentation device.

6. A force feedback device according to claim 5, The number of cathodes in the first electrode section is less than the number of anodes in the second electrode section. Force sense presentation device.

7. A force feedback device according to claim 5, The first electrode portion has a plurality of cathodes that are adjacent to each other and continuous, Force sense presentation device.

8. A force feedback device according to claim 5, The second electrode portion has a plurality of anodes that are adjacent to each other and continuous, Force sense presentation device.

9. A force feedback device according to any one of claims 1 to 4, The device includes a switching unit that reverses the positional relationship between the first electrode and the second electrode so as to reverse the direction of force sensation generated on the finger by switching the polarity of the electrodes. Force sense presentation device.

10. A force feedback device according to any one of claims 1 to 4, The object to be operated remotely by a user wearing the aforementioned force feedback device, An output interface that outputs to the user the state of the object being operated on by the user as visual information, Equipped with, The force feedback device acquires information based on the user's operation of the object being operated on, and generates force feedback on the user's finger in accordance with the information. Force feedback system.

11. A force feedback system according to claim 10, The object to be operated includes a robot hand formed at the tip of a robot arm. The aforementioned information includes force and tactile information output from force and tactile sensors attached to the robot hand. Force feedback system.

12. A force feedback system according to claim 10, The object of the operation includes the fingers of an avatar in the virtual space. The aforementioned information includes digital information corresponding to the finger movements of the avatar. Force feedback system.

13. The procedure includes the step of passing an electric current through the inside of the fingertip between a first electrode portion having a plurality of stimulating electrodes and a second electrode portion paired with the first electrode portion, which is arranged along the lateral surface of the fingertip in the direction of extension of the fingertip, In the above step, a current is generated between the first electrode and the second electrode, which is a current flowing from the side of the fingertip into the interior, stimulating sensory receptors located inside the fingertip to produce a force sensation in the finger. Force presentation method.

14. A force feedback device according to any one of claims 1 to 4, The aforementioned finger is equipped with a switching unit that switches between the first electrode unit and the second electrode unit to generate a simulated force in a specific direction as force sensation, using a current or electrodes. The generating unit generates a current between the first electrode and the second electrode that generates a pseudo-force in a specific direction as force sensation on the finger. Force sense presentation device.

15. A force feedback device according to any one of claims 1 to 4, The first electrode portion and the second electrode portion are arranged at the same position relative to each other in the extending direction of the finger. Force sense presentation device.

16. A force feedback device according to claim 1, The second electrode portion is arranged to be wrapped around at least a part of the finger. Force sense presentation device.

17. A force feedback device according to any one of claims 1 to 4, The force sensation generated by the current generated by the generating unit is recorded as values ​​in three mutually orthogonal axes, one of which is the direction of extension of the finger. Force sense presentation device.

18. A force feedback device according to any one of claims 1 to 4, The first electrode portion has at least one cathode, The second electrode portion has at least one anode, The first electrode portion and the second electrode portion are configured such that when current flows from the anode of the second electrode portion to the cathode of the first electrode portion, the current density near the first electrode portion is higher than the current density near the second electrode portion. To generate force sensation in the direction from the first electrode portion to the second electrode portion, Force sense presentation device.

19. A force feedback device according to claim 14, The switching unit reverses the electrical positional relationship between the first electrode and the second electrode, thereby generating a force sensation in the opposite direction for the finger. Force sense presentation device.

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