Operation apparatus

Abstract

This operation apparatus comprises: an operation unit that is capable of moving operation; a load application unit that applies a load with respect to the moving operation of the operation unit on the basis of a prescribed load characteristic; and an adjustment unit that adjusts the load characteristic on the basis of the moving speed of the operation unit after the operation unit has reached a prescribed position.

Description

operating device

[0001] The present invention relates to an operating device.

[0002] The following Patent Document 1 discloses a technology in which, in an operating device equipped with an operating member that can be operated by pressing, the load of the pressing operation can be controlled by controlling a motor, and tactile sensations can be presented to the operator depending on the pressing position.

[0003] Furthermore, the following Patent Document 1 discloses a technology that can provide the operator with a clicking sensation by suddenly reducing the load of the pushing operation when the pushing position of the operating member reaches a predetermined pushing position.

[0004] Japanese Patent Application Laid-Open No. 2019-219948

[0005] However, with the technology of Patent Document 1, if the operating member does not move at a sufficient speed when it reaches a predetermined pressed position, there is a risk that a suitable clicking sensation will not be presented.

[0006] An operating device according to one embodiment includes an operating unit capable of performing a movement operation, a load applying unit that applies a load to the movement operation of the operating unit based on predetermined load characteristics, and an adjustment unit that adjusts the load characteristics based on the movement speed of the operating unit after the operating unit reaches a predetermined position.

[0007] According to an operating device according to an embodiment, it is possible to provide a suitable click sensation.

[0008] Graph showing an example of a predetermined load characteristic used by the operation device for tactile presentation control according to an embodiment; Graph showing an example of adjustment of the predetermined load characteristic by a control device provided in the operation device according to an embodiment; Graph showing an example of adjustment of the predetermined load characteristic by a control device provided in the operation device according to an embodiment; Graph showing an example of adjustment of the predetermined load characteristic by a control device provided in the operation device according to an embodiment; Graph showing an example of adjustment of the predetermined load characteristic by a control device provided in the operation device according to an embodiment;

[0009] An embodiment will be described below with reference to the drawings. For convenience, in the following description, the Z-axis direction is defined as the up-down direction (an example of a "first direction"), the X-axis direction as the front-rear direction, and the Y-axis direction as the left-right direction (an example of a "second direction"). However, the positive Z-axis direction is defined as the up direction, the positive X-axis direction as the forward direction, and the positive Y-axis direction as the right direction.

[0010] (Configuration of the Operating Device 100) FIG. 1 is a side view of the operating device 100 according to one embodiment. FIG. 2 is a perspective view of the operating device 100 according to one embodiment. The operating device 100 shown in FIGS. 1 and 2 is used in various electronic devices (e.g., game controllers, etc.) and can be moved by a user by pressing, for example. As shown in FIGS. 1 and 2, the operating device 100 has an operating axis 101 (an example of an "operating unit") extending in the vertical direction (Z-axis direction). An operating knob 101B is attached to the operating axis 101. In the example shown in FIGS. 1 and 2, the operating knob 101B is attached to the upper end of the operating axis 101. The operating device 100 can move the operating axis 101 downward by pressing the operating knob 101B downward (an example of a "moving operation"). The amount of downward movement of the operating axis 101 is detected by a sensor 103 and output from the sensor 103 to the control device 10.

[0011] As shown in FIGS. 1 and 2, the operating device 100 includes an operating axis 101, a force generator 102, a sensor 103, a range of motion adjusting unit 104, an electric unit 105, and a control device 10.

[0012] The operating shaft 101 is a rod-shaped member extending in the vertical direction (Z-axis direction). The operating shaft 101 is provided so as to penetrate the inside of the force-sense generator 102. The operating shaft 101 is capable of linear movement in the vertical direction (Z-axis direction) inside the force-sense generator 102. A hemispherical tip 101A is formed at the lower end (end on the negative side of the Z-axis) of the operating shaft 101. The tip 101A protrudes downward from the bottom surface of the force-sense generator 102. The upper end (end on the positive side of the Z-axis) of the operating shaft 101 protrudes upward from the top surface of the force-sense generator 102. An operating knob 101B is attached to the upper end (end on the positive side of the Z-axis) of the operating shaft 101.

[0013] The force-sense generator 102 is an example of a "load application unit" and supports the operation shaft 101, which penetrates the force-sense generator 102, so that it can move linearly in the vertical direction (Z-axis direction), and applies a force to the operation shaft 101. As a result, the force-sense generator 102 applies a load when the operation knob 101B is pressed. The force-sense generator 102 can be operated under control of the control device 10. In this embodiment, a voice coil motor is used as the force-sense generator 102. However, this is not limiting, and other devices (e.g., a linear motor, a device using magnetorheological fluid, etc.) may also be used as the force-sense generator 102. The greater the load for the pressing operation, the greater the force generated in the direction opposite to the operating direction of the pressing operation. In other words, the greater the resistance to the operation of the operation knob 101B. The load for the pressing operation may be a negative value. In this case, the operation knob 101B is biased in the same direction as the operating direction of the pressing operation.

[0014] The sensor 103 is an example of a "position detection unit" and detects the amount of downward movement of the operating axis 101. The sensor 103 outputs a detection signal indicating the detected amount of downward movement of the operating axis 101 to the control device 10. In this embodiment, as an example of the sensor 103, a photosensor provided in the force-sense generator 102 is used, which detects the distance to the reflector 101C attached to the operating axis 101.

[0015] The range of motion adjustment unit 104 is a disk-shaped member. The upper surface of the range of motion adjustment unit 104 forms a contact surface 104A against which the tip 101A of the operating shaft 101 abuts. As shown in FIGS. 1 and 2 , the contact surface 104A has a spiral staircase shape, with the lowest height position as the height position gradually increases counterclockwise around the circumference. A rod-shaped rotation shaft 104B extending in the vertical direction (Z-axis direction) is provided at the center of the range of motion adjustment unit 104. This allows the range of motion adjustment unit 104 to rotate around the rotation shaft 104B. The rotation shaft 104B is offset to the right (positive Y-axis direction) from the operating shaft 101. This allows the operating device 100 according to one embodiment to allow the tip 101A of the operating shaft 101 to abut against the contact surface 104A.

[0016] The electric motor 105 is a device capable of rotating the range of motion adjustment unit 104. The electric motor 105 has a rod-shaped rotation shaft 105A extending in the vertical direction (Z-axis direction) and a rotation drive body 105B capable of rotating the rotation shaft 105A. The rotation drive body 105B can be operated under control of the control device 10. A stepping motor, for example, is used for the rotation drive body 105B. The rotation shaft 105A is provided coaxially with and below the rotation shaft 104B of the range of motion adjustment unit 104. The rotation shaft 105A is connected to the rotation shaft 104B. As a result, the electric motor 105 can rotate the rotation shaft 105A by driving the rotation drive body 105B, thereby rotating the range of motion adjustment unit 104.

[0017] (Operation of Operating Device 100) In the operating device 100 according to one embodiment, when the operating knob 101B is pressed, the operating shaft 101 moves downward. At this time, the amount of movement of the operating shaft 101 is detected by the sensor 103. At this time, the operating device 100 is capable of applying a driving force to the operating shaft 101 in the vertical direction (Z-axis direction) by the force-sense generator 102. In the operating device 100, the tip end 101A of the operating shaft 101 abuts against the abutment surface 104A of the range of motion adjustment unit 104, thereby limiting the amount of downward movement of the operating shaft 101.

[0018] The operating device 100 according to one embodiment is configured to be able to change the maximum depression position of the operating axis 101 by rotating the range of motion adjustment unit 104 under the control of the control device 10 .

[0019] In other words, in one embodiment of the operating device 100, the lower the height position of the abutment surface 104A located directly below the tip portion 101A, the greater the maximum amount of depression of the operating axis 101, and the higher the height position of the abutment surface 104A located directly below the tip portion 101A, the smaller the maximum amount of depression of the operating axis 101.

[0020] The contact surface 104A may have a spiral shape instead of a spiral staircase shape. In this case, the operating device 100 according to one embodiment can continuously change the height position of the contact surface 104A with which the tip end portion 101A contacts by rotating the range of motion adjustment unit 104.

[0021] (Outline of Tactile Presentation Control by Control Device 10) Next, an outline of tactile presentation control by the control device 10 included in the operating device 100 according to one embodiment will be described with reference to FIGS.

[0022] <Basic Example of Haptic Presentation Control by Control Device 10> Fig. 3 is a graph showing an example of predetermined load characteristics used for haptic presentation control by the operating device 100 according to an embodiment. The graph shown in Fig. 3 shows load characteristics (an example of "predetermined load characteristics") used by the control device 10 included in the operating device 100 to control the load of a pressing operation performed by the operating knob 101B. In the graph shown in Fig. 3, the vertical axis represents the load of the pressing operation, and the horizontal axis represents the pressing amount of the pressing operation (i.e., the downward movement amount of the operating shaft 101). In addition, in the graph shown in Fig. 3, P1 represents a "first pressing position" (amount of pressing: approximately 448), and P2 represents a "second pressing position" (amount of pressing: approximately 880).

[0023] As shown in FIG. 3, until the pushing position of the operating knob 101B reaches the first pushing position P1, the force applied to the operating shaft 101 by the force generator 102 is controlled by the control device 10, and the load of the pushing operation is adjusted so that it gradually increases as the pushing amount gradually increases.

[0024] 3, when the pressed position of the operation knob 101B reaches the first pressed position P1, the force applied to the operation shaft 101 by the force generator 102 is controlled by the control device 10, and the load of the pressing operation is suddenly reduced from a first maximum value (a value of approximately 150) to a first minimum value (a value of approximately -100). At this time, the pressing operation load suddenly decreases, and the operation knob 101B is urged in the same direction as the operation direction (i.e., downward). This allows the operation device 100 to present a clicking sensation to the operator.

[0025] Next, as shown in FIG. 3, while the pushing position of the operating knob 101B is from the first pushing position P1 to the second pushing position P2, the force applied to the operating shaft 101 by the force generator 102 is controlled by the control device 10, and the load of the pushing operation is adjusted so that it gradually increases as the pushing amount gradually increases.

[0026] As shown in FIG. 3, the predetermined load characteristic includes a first period D1 in which the load is reduced after the operating knob 101B reaches the first pressed position P1, and a second period D2 in which the load is increased after the first period D1.

[0027] 4 to 6 are graphs showing examples of adjustment of predetermined load characteristics by the control device 10 included in the operating device 100 according to an embodiment. In Fig. 4 to Fig. 6, the dashed lines and circle plots represent the load characteristics after adjustment.

[0028] In one embodiment of the operating device 100, when tactile presentation control is performed using the load characteristics shown in Figure 3, if a sufficient movement speed of the operating knob 101B (i.e., a sufficient amount of pressing of the pressing operation within a specified time) is not obtained during the first period D1 after the pressing position of the operating knob 101B reaches the first pressing position P1, it may not be possible to impart a sufficient load fluctuation to the pressing operation, and it may not be possible to present a suitable click feeling.

[0029] Therefore, when the operating device 100 according to one embodiment detects that the operating knob 101B is not moving at a sufficient speed during the first period D1 after the pressed position of the operating knob 101B reaches the first pressed position P1, the operating device 100 adjusts the load characteristics shown in Fig. 3 so that the amount of reduction when the load of the pressing operation is suddenly reduced after the detection is further increased (specifically, the first minimum value of the load of the pressing operation is reduced), as shown in Fig. 4. In the example shown in Fig. 4, the load characteristics are adjusted so that the first minimum value is reduced from "a value of approximately -100" to "a value of approximately -200."

[0030] Alternatively, when the operating device 100 according to one embodiment detects that the operation knob 101B is not moving at a sufficient speed during a first period D1 after the operation knob 101B reaches the first pressed position P1, the operating device 100 rapidly reduces the load of the pressing operation to a first minimum value after the detection, and then adjusts the load characteristics shown in Fig. 3 so that the state in which the load of the pressing operation is at the first minimum value continues for a certain period of time, as shown in Fig. 5. In the example shown in Fig. 5, the load characteristics are adjusted so that the state in which the first minimum value is at "a value of approximately -100" continues for a certain period of time.

[0031] Alternatively, when the operating device 100 according to one embodiment detects that the operating knob 101B is not moving at a sufficient speed during a first period D1 after the pressed position of the operating knob 101B reaches the first pressed position P1, the operating device 100 reduces the first minimum value of the load of the pressing operation after the detection and adjusts the load characteristics shown in Fig. 3 so that the state in which the load of the pressing operation is at the first minimum value continues for a certain period of time, as shown in Fig. 6. In the example shown in Fig. 6, the first minimum value is reduced from "-100" to "-150," and the load characteristics are adjusted so that the state in which the load is at the first minimum value (-150) continues for a certain period of time.

[0032] In this way, in the operating device 100 according to one embodiment, even if a sufficient movement speed of the operating knob 101B cannot be obtained during the first period D1 after the pressed position of the operating knob 101B reaches the first pressed position P1, the load characteristics shown in FIG. 3 are adjusted to increase the movement speed of the pressing operation of the operating knob 101B, thereby providing a suitable clicking sensation in response to the pressing operation of the operating knob 101B.

[0033] (Example of functional configuration of control device 10) Fig. 7 is a diagram showing an example of the functional configuration of the control device 10 included in the operating device 100 according to one embodiment. As shown in Fig. 7, the control device 10 includes a measurement unit 11, an acquisition unit 12, a stroke position calculation unit 13, a stroke position storage unit 14, a load characteristic storage unit 15, a load control unit 16, a movement speed calculation unit 17, and a load characteristic adjustment unit 18 (also simply referred to as an "adjustment unit").

[0034] The measurement unit 11 repeatedly measures the time until a sensor reading trigger occurs. In the control device 10, the sensor reading trigger occurs repeatedly at predetermined time intervals.

[0035] The acquisition unit 12 acquires a detection signal output from the sensor 103 every time a sensor reading trigger occurs.

[0036] The stroke position calculation unit 13 calculates the stroke position of the operating axis 101 based on the detected value of the distance from the sensor 103 to the reflector 101C, which is indicated by the detection signal acquired by the acquisition unit 12.

[0037] The stroke position storage unit 14 stores the stroke position calculated by the stroke position calculation unit 13 .

[0038] The load characteristic storage unit 15 stores predetermined load characteristics for controlling the load of the pressing operation of the operation knob 101B. As shown in Fig. 3, the predetermined load characteristics include a first period D1 during which the load is reduced after the operation knob 101B reaches the first pressed position P1, and a second period D2 during which the load is increased after the first period D1.

[0039] The load control unit 16 determines the load corresponding to the stroke position calculated by the stroke position calculation unit 13 as the load to be applied to the operating axis 101 (i.e., the pressing operation of the operating knob 101B) based on the predetermined load characteristics stored in the load characteristics storage unit 15. Then, the load control unit 16 controls the force-sense generator 102 so as to apply the determined load to the operating axis 101 (i.e., the pressing operation of the operating knob 101B).

[0040] The movement speed calculation unit 17 calculates the movement distance of the operating axis 101 based on the previous stroke position stored in the stroke position memory unit 14 and the current stroke position calculated by the stroke position calculation unit 13. Then, the movement speed calculation unit 17 calculates the movement speed of the operating axis 101 (i.e., the movement speed of the operating knob 101B) based on the calculated movement distance of the operating axis 101.

[0041] After the operation knob 101B reaches the first pressed position P1 (an example of a "predetermined position"), the load characteristic adjustment unit 18 adjusts the predetermined load characteristic based on the moving speed of the operation knob 101B.

[0042] Specifically, after the operating knob 101B reaches the first pushing position P1 (an example of a "predetermined position"), if the movement speed of the operating axis 101 calculated by the movement speed calculation unit 17 is less than a predetermined threshold, the load characteristic adjustment unit 18 adjusts the predetermined load characteristics stored in the load characteristic memory unit 15 so that sufficient load fluctuation can be applied to the pushing operation.

[0043] The load characteristic adjusting unit 18 adjusts the load characteristic of the predetermined load characteristic during the first period D1 based on the moving speed of the operation knob 101B during the first period D1 of the predetermined load characteristic.

[0044] For example, if the movement speed of the operating knob 101B during the first period D1 that the specified load characteristics have is less than a specified speed, the load characteristic adjustment unit 18 adjusts the load characteristics during the first period D1 that the specified load characteristics have so as to further reduce the load applied to the pressing operation.

[0045] As another example, if the movement speed of the operating knob 101B during the first period D1 possessed by a specified load characteristic is less than a specified speed, the load characteristic adjustment unit 18 adjusts the load characteristics of the first period D1 possessed by the specified load characteristic so that the first period D1 is extended.

[0046] As yet another example, if the movement speed of the operating knob 101B in the first period D1 having a predetermined load characteristic is less than a predetermined speed, the load characteristic adjustment unit 18 adjusts the load characteristics of the first period D1 so that the first period D1 is extended, and if the movement speed of the operating knob 101B in the extended first period D1 is less than the predetermined speed, the load characteristic adjustment unit 18 adjusts the load characteristics of the first period D1 having the predetermined load characteristic so as to further reduce the load in the extended first period D1.

[0047] As yet another example, the load characteristic adjustment unit 18 adjusts the load characteristics of the first period D1 and the second period D2 that the specified load characteristic has so that the load applied to the pressing operation in the first period D1 is further reduced, and then the load applied to the pressing operation in the second period D2 is gradually increased.

[0048] The control device 10 is configured to include, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. Each of the functional units of the control device 10 described above is realized, for example, by the CPU executing a program stored in the ROM in the control device 10.

[0049] (Example of Processing Procedure by Control Device 10) FIG. 8 is a flowchart showing an example of processing procedure by the control device 10 included in the operation device 100 according to an embodiment.

[0050] First, the acquisition unit 12 determines whether or not a sensor reading trigger has occurred based on the time measurement by the measurement unit 11 (step S701).

[0051] In step S701, if it is determined that the sensor reading trigger has not occurred (step S701: No), the control device 10 executes step S701 again.

[0052] On the other hand, if it is determined in step S701 that a sensor reading trigger has occurred (step S701: No), the acquisition unit 12 acquires a detection signal output from the sensor 103 (step S702).

[0053] Then, the stroke position calculation unit 13 calculates the stroke position of the operating axis 101 based on the detected value of the distance to the reflector 101C indicated by the detection signal acquired in step S702 (step S703).

[0054] Furthermore, the stroke position storage unit 14 stores the stroke position of the operating axis 101 calculated in step S703 (step S704).

[0055] Next, the control device 10 determines whether the stroke position of the operating axis 101 calculated in step S703 is within a predetermined click sensation range (step S705). Here, the "predetermined click sensation range" is the range of the pressed position of the operating knob 101B. For example, the "predetermined click sensation range" is the range from the first pressed position P1 to a predetermined pressed position.

[0056] In step S705, if it is determined that the stroke position calculated in step S703 is not within the predetermined click sensation presentation range (step S705: No), the load control unit 16 determines the load corresponding to the stroke position calculated in step S703 as the load to be applied to the operating axis 101 (i.e., the pressing operation of the operating knob 101B) based on the predetermined load characteristics stored in the load characteristic memory unit 15 (step S711).

[0057] Then, the load control unit 16 controls the force-sense generator 102 so as to apply the load determined in step S711 to the operating axis 101 (i.e., the pushing operation of the operating knob 101B) (step S712). After that, the control device 10 ends the series of processes shown in FIG. 8.

[0058] On the other hand, if it is determined in step S705 that the stroke position calculated in step S703 is within the predetermined click sensation presentation range (step S705: Yes), the movement speed calculation unit 17 calculates the movement distance of the operating axis 101 based on the previous stroke position stored in the stroke position storage unit 14 and the current stroke position calculated by the stroke position calculation unit 13 (step S706).Then, the movement speed calculation unit 17 calculates the movement speed of the operating axis 101 based on the movement distance of the operating axis 101 calculated in step S706 (step S707).

[0059] Next, the control device 10 determines whether the moving speed calculated in step S707 is equal to or greater than a predetermined threshold value (step S708).

[0060] In step S708, if it is determined that the movement speed calculated in step S707 is equal to or greater than a predetermined threshold value (step S708: Yes), the load control unit 16 determines the load corresponding to the stroke position calculated in step S703 as the load to be applied to the operating axis 101 (i.e., the pressing operation of the operating knob 101B) based on the predetermined load characteristics stored in the load characteristic memory unit 15 (step S711).

[0061] Then, the load control unit 16 controls the force-sense generator 102 so as to apply the load determined in step S711 to the operating axis 101 (i.e., the pushing operation of the operating knob 101B) (step S712). After that, the control device 10 ends the series of processes shown in FIG. 8.

[0062] On the other hand, if it is determined in step S708 that the moving speed calculated in step S707 is not equal to or greater than the predetermined threshold (step S708: No), the load characteristic adjusting unit 18 adjusts the predetermined load characteristics stored in the load characteristic storage unit 15 so that a sufficient load fluctuation can be applied to the pressing operation (step S709). Then, based on the load characteristics adjusted in step S709, the load control unit 16 determines the load corresponding to the stroke position calculated in step S703 as the load to be applied to the operating axis 101 (i.e., the pressing operation of the operating knob 101B) (step S710).

[0063] Then, the load control unit 16 controls the force-sense generator 102 so as to apply the load determined in step S710 to the operating axis 101 (i.e., the pushing operation of the operating knob 101B) (step S712). After that, the control device 10 ends the series of processes shown in FIG. 8.

[0064] (Example of applying load for pressing operation) Figure 9 is a diagram for explaining an example of applying load for pressing operation by the operating device 100 according to one embodiment. Figure 9(a) is a graph showing the relationship between the operation time and the pressing amount of the operation knob 101B. Figure 9(b) is a graph showing the relationship between the operation time and the load amount of the pressing operation by the operation knob 101B.

[0065] 9A, after the amount of depression of the operation knob 101B reaches a predetermined amount of "approximately 0.14 mm," the amount of depression of the operation knob 101B measured immediately thereafter is "approximately 0.23 mm." In this case, the difference in the amount of depression is "approximately 0.09 mm." If the threshold for the sufficient amount of depression is, for example, "0.05 mm," the control device 10 determines that the operation knob 101B has been sufficiently depressed (i.e., the operation knob 101B has moved at a sufficient speed).

[0066] In this case, the control device 10 can rapidly reduce the load of the pressing operation to the first minimum value, as shown in FIG. 9(b) (the area surrounded by a circle), based on the predetermined load characteristics.

[0067] As a result, the operating device 100 according to one embodiment can increase the movement speed of the pressing operation of the operating knob 101B after the pressing position of the operating knob 101B reaches the first pressing position P1, thereby providing a suitable clicking sensation in response to the pressing operation of the operating knob 101B.

[0068] (Example of Adjustment of Load of Pressing Operation (First Example)) Fig. 10 is a diagram for explaining an example (first example) of adjustment of the load of pressing operation by the operating device 100 according to one embodiment. Fig. 10(a) is a graph showing the relationship between the operation time of the pressing operation by the operating knob 101B and the pressing amount. Fig. 10(b) is a graph showing the relationship between the operation time of the pressing operation by the operating knob 101B and the load amount.

[0069] 10A, after the amount of depression of the operation knob 101B reaches a predetermined amount of "approximately 0.14 mm," the amount of depression of the operation knob 101B measured immediately thereafter is "approximately 0.16 mm." In this case, the difference in the amount of depression is "approximately 0.02 mm." If the threshold for the sufficient amount of depression is, for example, "0.05 mm," the control device 10 determines that the operation knob 101B was not sufficiently depressed (i.e., the operation knob 101B was not moved at a sufficient speed).

[0070] In this case, the control device 10 can adjust the predetermined load characteristics to rapidly reduce the load of the pushing operation to the first minimum value, as shown in Figure 10 (b) (the area surrounded by a circle), and then extend the state in which the load amount of the pushing operation is at the first minimum value for a certain period of time.

[0071] As a result, the operating device 100 of one embodiment can increase the movement speed of the operating knob 101B even if a sufficient movement speed of the operating knob 101B cannot be obtained after the pressed position of the operating knob 101B reaches the first pressed position P1, and therefore can present a suitable click feeling in response to the pressing operation of the operating knob 101B.

[0072] (Example of Adjustment of Load of Pressing Operation (Second Example)) Fig. 11 is a diagram for explaining an example (second example) of adjustment of the load of pressing operation by the operating device 100 according to one embodiment. Fig. 11(a) is a graph showing the relationship between the operation time of the pressing operation by the operating knob 101B and the pressing amount. Fig. 11(b) is a graph showing the relationship between the operation time of the pressing operation by the operating knob 101B and the load amount.

[0073] 11A, after the amount of depression of the operation knob 101B reaches a predetermined amount of "approximately 0.14 mm," the amount of depression of the operation knob 101B measured immediately thereafter is "approximately 0.16 mm." In this case, the difference in the amount of depression is "approximately 0.02 mm." If the threshold for the sufficient amount of depression is, for example, "0.05 mm," the control device 10 determines that the operation knob 101B has not been sufficiently depressed (i.e., the operation knob 101B has not been moved at a sufficient speed).

[0074] In this case, the control device 10 can adjust the predetermined load characteristics to rapidly reduce the load of the pushing operation to the first minimum value, as shown in Figure 11 (b), and then extend the state in which the load amount of the pushing operation is at the first minimum value for a certain period of time.

[0075] 11A, the amount of depression of the operation knob 101B measured immediately thereafter is approximately 0.17 mm. In this case, the difference in the amount of depression is approximately 0.01 mm, and the control device 10 determines that the operation knob 101B was not depressed sufficiently (i.e., the operation knob 101B was not moved at a sufficient speed).

[0076] In this way, even during the extended period in which the load amount of the pushing operation is at the first minimum value, if the pushing amount of the operation knob 101B is not sufficient (i.e., if the movement speed of the operation knob 101B is not sufficient), the operating device 100 can further reduce the load amount of the pushing operation below the first minimum value, as shown in Figure 11 (b) (the area surrounded by a circle).

[0077] As a result, the operating device 100 of one embodiment can increase the movement speed of the pushing operation of the operating knob 101B even if a sufficient movement speed of the operating knob 101B cannot be obtained during the extended period in which the load amount of the pushing operation is set to the first minimum value, and therefore can present a suitable click feeling in response to the pushing operation of the operating knob 101B.

[0078] (Example of Adjustment of Load of Pressing Operation (Third Example)) Fig. 12 is a diagram for explaining an example (third example) of adjustment of the load of the pressing operation by the operating device 100 according to one embodiment. Fig. 12 is a graph showing the relationship between the operation time of the pressing operation by the operating knob 101B and the amount of load.

[0079] As shown in Figure 12, during the first period D1 in which the load applied to the pressing operation is reduced, the operating device 100 can extend the state in which the load amount of the pressing operation is at the first minimum value for a certain period of time, and further, during this extended period, can reduce the load amount of the pressing operation further below the first minimum value.

[0080] Here, as the first period D1 is extended, the load applied to the pressing operation may suddenly increase in the second period D2.

[0081] In this case, the operating device 100 can adjust the load characteristics so as to gradually increase the load applied to the pressing operation during the second period D2, as shown in FIG. 12 (the area surrounded by a circle).

[0082] As a result, the operating device 100 according to one embodiment can suppress a sudden increase in the load applied to the pressing operation during the second period D2, thereby suppressing the presentation of unnecessary operating sensations and vibrations in response to the pressing operation.

[0083] Although one embodiment of the present invention has been described in detail above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist of the present invention described in the claims.

[0084] In one embodiment, an example of application of the present invention to an operation device capable of a push operation has been described as an example of a "movement operation by an operation unit." However, the present invention is not limited to this, and can also be applied to an operation device capable of other operations (for example, a rotation operation, a slide operation, etc.) as a "movement operation by an operation unit."

[0085] This international application claims priority based on Japanese Patent Application No. 2022-086659, filed on May 27, 2022, the entire contents of which are incorporated herein by reference.

[0086] REFERENCE SIGNS LIST 10 control device 11 measurement unit 12 acquisition unit 13 stroke position calculation unit 14 stroke position storage unit 15 load characteristic storage unit 16 load control unit 17 movement speed calculation unit 18 load characteristic adjustment unit 100 operation device 101 operation axis (operation unit) 101A tip unit 101B operation knob 101C reflector 102 force sense generator (load application unit) 103 sensor (position detection unit) 104 range of motion adjustment unit 104A contact surface 104B rotation axis 105 electric unit 105A rotation axis 105B rotation drive body D1 first period D2 second period P1 first push-in position P2 second push-in position

Claims

1. An operation unit capable of moving the device; a load applying unit that applies a load to the moving operation of the operation unit based on a predetermined load characteristic; an adjustment unit that adjusts the load characteristics based on a moving speed of the operation unit after the operation unit reaches a predetermined position, the load characteristic includes a first period in which the load is reduced after the operation unit reaches a predetermined position, and a second period in which the load is increased after the first period, The adjustment unit is adjusting the load characteristic for the first period based on the moving speed for the first period; The adjustment unit is If the moving speed during the first period is less than a predetermined speed, the load characteristic during the first period is adjusted so that the first period is extended. An operating device characterized by:

2. The adjustment unit is If the moving speed in the first period is less than a predetermined speed, the load characteristic in the first period is adjusted so as to further reduce the load in the first period.

2. The operating device according to claim 1 .

3. The adjustment unit is If the moving speed during the first period is less than a predetermined speed, adjusting the load characteristic during the first period so that the first period is extended; If the moving speed during the extended first period is less than a predetermined speed, the load characteristic during the extended first period is adjusted so as to reduce the load during the extended first period.

2. The operating device according to claim 1 .

4. The adjustment unit is The load characteristic in the second period is adjusted so that the load in the first period is further decreased and then the load is increased stepwise in the second period.

3. The operating device according to claim 2.

5. The load applying unit is By reducing the load during the first period, the operating portion is biased in the same direction as the operating direction.

2. The operating device according to claim 1 .

6. The load applying unit is The load is decreased in the first period and increased in the second period, thereby providing a clicking sensation in response to the movement operation.

2. The operating device according to claim 1 .

7. The load applying unit includes a voice coil motor.

2. The operating device according to claim 1 .

8. A position detection unit that detects a position of the operation unit is further provided. The adjustment unit determines whether the operation unit has reached the predetermined position based on a detection result of the position detection unit.

2. The operating device according to claim 1 .

9. The moving operation includes at least one of a pushing operation, a rotating operation, and a sliding operation.

2. The operating device according to claim 1 .