Operating element, tactile sense control device, and tactile sense control method

Abstract

The present invention is characterized by comprising: a plurality of electrodes for rotation to which a voltage can be applied when an operating part (3) rotates, the electrodes for rotation being a plurality of electrodes which are provided on a first fixed surface existing in an axial direction of a fixed part (1) and facing an operating part (3) and which are covered by a dielectric layer (23); and an electric conductor for rotation provided on a first operating surface, that is, the surface of the operating part (3) that faces the first fixed surface, the electric conductor for rotation facing the plurality of electrodes for rotation when the relative positions of the operating part (3) and the fixed part (1) are at preset relative positions, wherein the voltage can be applied to two mutually adjacent electrodes among the plurality of electrodes for rotation.

Description

Operator, tactile sensation control device, and tactile sensation control method

[0001] The present disclosure relates to an operator, a tactile sensation control device for an operator, and a tactile sensation control method for the operator.

[0002] Conventionally, in an operator that a user performs some operation by rotating or pressing an operating unit, a technology has been known in which a haptic effect is generated by a frictional force (hereinafter referred to as "electrostatic frictional force") generated by the pulling force caused by electrostatic force, thereby providing feedback to the user during operation. For example, Patent Document 1 discloses a technology in which a haptic output device is provided immediately below a rotary knob on the top surface of a housing, the haptic output device including an array of electrodes arranged on a substrate and a layer of dielectric material arranged on the electrode array, and an electrostatic adhesion force is generated between the top surface and the rotary knob, thereby providing a haptic effect to the user.

[0003] JP 2017-168104 A

[0004] The conventional technology disclosed in Patent Document 1 had a problem in that the electrostatic friction force obtained changed depending on the condition of the surface that generates the electrostatic friction force, such as whether the surface is wet or has foreign matter attached thereto, and therefore it was not possible to provide a stable tactile effect to the user.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide an operator that can provide a stable tactile effect to a user.

[0006] The operator of the present disclosure is an operator having a fixed part with an axis part that functions as an axis, and an operating part that is attached to the axis part and can rotate around the axis part, and is characterized in that it is equipped with a plurality of rotation electrodes that are provided on a first fixed surface that faces the operating part and exists in the axial direction of the fixed part, and are covered with a dielectric layer, and to which a voltage can be applied when the operating part rotates, and a rotation conductor that is provided on a first operating surface that is a surface of the operating part that faces the first fixed surface, and that faces the plurality of rotation electrodes when the relative position of the operating part and the fixed part is at a predetermined relative position, and is capable of applying a voltage to two adjacent electrodes of the plurality of rotation electrodes.

[0007] According to the present disclosure, a stable haptic effect can be provided to the user.

[0008] FIG. 1 is a diagram for explaining an example configuration of a manipulator according to embodiment 1, where FIG. 1A is a top view of the manipulator and FIG. 1B is a cross-sectional view taken along line A-A of FIG. 1A. FIGS. 2A, 2B, 2C, 2D, 2E, and 2F are diagrams for explaining a detailed example configuration of an electrode unit included in the manipulator according to embodiment 1. FIG. 2 is a diagram for explaining an example configuration of a tactile control device according to embodiment 1. FIG. 2 is a flowchart for explaining the operation of the tactile control device according to embodiment 1. FIG. 2 is a flowchart for explaining an example of the detailed operation of steps ST2 and ST3 of FIG. 4. FIG. 6 is a diagram for explaining another example configuration of a manipulator according to embodiment 1, where FIG. 6A is a top view of the manipulator and FIG. 6B is a cross-sectional view taken along line A-A of FIG. 6A. FIG. 2 is a diagram for explaining a detailed example configuration of a rotation electrode unit when the manipulator according to embodiment 1 is also provided with a rotation electrode unit around the shaft of the fixed part. 8A, 8B, and 8C are diagrams illustrating an image of a tactile sensation presented by a manipulator when the tactile control unit outputs a selection instruction to the tactile waveform selection unit to select a rotational tactile sensation presentation waveform for presenting a tactile sensation at the rotational position when the operating unit is in the rotational position at which a tactile sensation is presented, in embodiment 1. FIGS. 9A and 9B are diagrams illustrating an example of the hardware configuration of a tactile control device according to an embodiment.

[0042] FIG. 10A is a top view of the manipulator, and FIG. 10B is a cross-sectional view taken along line A-A of FIG. 10A. This figure illustrates an example of the configuration of a tactile control device according to embodiment 2. This figure is a flowchart illustrating the operation of the tactile control device according to embodiment 2. This figure is a flowchart illustrating an example of the detailed operation of steps ST31 and ST41 of FIG. 12. FIG. 14 is a diagram illustrating another example of the configuration of a manipulator according to embodiment 2. FIG. 14A is a top view of the manipulator, and FIG. 14B is a cross-sectional view taken along line A-A of FIG. 14A. FIG. 11 is a diagram showing an example of the configuration of an operator in a second embodiment, which does not have a mechanism for generating electrostatic friction force in response to depression of the operating portion, but has a depression detection switch.18A and 18B are diagrams illustrating another example of the configuration of a manipulator according to embodiment 2, which does not include a mechanism for generating electrostatic friction force in response to depression of the operating unit, but includes a depression detection switch.

[0044] FIG. 18B is a diagram illustrating another example of the configuration of a manipulator according to embodiment 3.

[0045] FIG. 18A is a top view of the manipulator, FIG. 18B is a cross-sectional view taken along line A-A of FIG. 18A, and FIG. 18C is a top view of the manipulator viewed from the direction B-B of FIG. 18B.

[0046] FIG. 19A is a top view of the manipulator, FIG. 19B is a cross-sectional view taken along line A-A of FIG. 19A, and FIG. 19C is a top view of the manipulator viewed from the direction B-B of FIG. 19B. 20A and 20B are diagrams illustrating other configuration examples of a manipulator according to embodiment 3, where FIG. 20A is a top view of the manipulator, FIG. 20B is a cross-sectional view taken along line A-A of FIG. 20A , and FIG. 20C is a top view of the manipulator viewed from the direction B-B of FIG. 20B .

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[1170] 26A, 26B, and 26C are diagrams for explaining another example of the voltage applied to each rotation electrode unit and the state of the electrostatic force generated thereby, in order for the tactile control device to work in conjunction with the HMI to present a tactile sensation corresponding to the rotation position of the operating unit in embodiment 3. Fig. 27A is a top view of the operating unit, and Fig. 27B is a cross-sectional view taken along the line A-A of Fig. 27A, showing an example of the configuration of an operating element having a power supply unit inside a fixed part in embodiment 1.Fig. 28A is a top view of the manipulator and Fig. 28B is a cross-sectional view taken along line A-A of Fig. 28A, showing a configuration example of a manipulator having a power supply unit inside a fixed part in embodiment 2. Fig. 29A is a top view of the manipulator and Fig. 29B is a cross-sectional view taken along line A-A of Fig. 29A, showing another configuration example of a manipulator having a power supply unit inside a fixed part in embodiment 2.

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Embodiment 1. A controller according to embodiment 1 is provided, for example, in an in-vehicle device installed in a vehicle. The controller according to embodiment 1 includes a fixed portion having an axle portion that functions as an axle, and an operation portion attached to the axle portion and rotatable about the axle portion. In embodiment 1, the controller is configured to operate in conjunction with an HMI (Human Machine Interface) that is the target of the controller's operation. For example, when a screen indicating volume is displayed on a display device, a user who is an occupant of the vehicle can increase or decrease the volume by rotating the operation portion of the controller. When the user rotates the operation portion to increase or decrease the volume, the display device changes the screen display, for example, so that the volume increases or decreases in accordance with the rotation. In embodiment 1, when the operation portion is rotated, the controller presents a tactile sensation upon rotation based on control of a tactile control device.

[0010] First, a configuration example of a manipulator 100 according to embodiment 1 will be described. FIG. 1 is a diagram for explaining a configuration example of a manipulator 100 according to embodiment 1. FIG. 1A is a top view of the manipulator 100, and FIG. 1B is a cross-sectional view taken along line A-A in FIG. 1A. For ease of explanation, FIG. 1A also illustrates a shaft portion 1a and a conductive elastic body (hereinafter referred to as a "rotation conductive elastic body") 4 provided inside an operating unit 3 of the manipulator 100.

[0011] The manipulator 100 includes a fixed part 1 having a shaft part 1a and an operating part 3. The operating part 3 is attached to the shaft part 1a and is rotatable around the shaft part 1a. One end of the shaft part 1a is attached to the fixed part 1, and the operating part 3 is attached to the other end of the shaft part 1a. The fixed part 1 and the shaft part 1a may be integrated. Note that in FIG. 1, the operating part 3 is attached to one end of the shaft part 1a opposite the fixed part 1, but this is merely an example. For example, the operating part 3 may be attached to a side surface of the shaft part 1a. The operating part 3 only needs to be attached so as not to come off the shaft part 1a. In the first embodiment, the shaft part 1a is provided along the outer periphery of the fixed part 1 on a surface (hereinafter referred to as the "first fixed surface"; indicated by 1b in FIG. 1B) of the fixed part 1 that faces the operating part 3 and exists in the axial direction, and has a hollow cylindrical shape. The shape of the shaft portion 1a is merely an example, and the shaft portion 1a may be, for example, a columnar shape provided in the center of the first fixing surface of the fixing portion 1. Also, for example, the columnar fixing portion 1 may have a structure that also serves as the shaft portion 1a.

[0012] The operator 100 also includes a plurality of electrodes. In the first embodiment, the plurality of electrodes are electrodes (hereinafter referred to as "rotation electrodes") used to provide a tactile sensation when the operation unit 3 is rotated. The plurality of rotation electrodes includes a plurality of electrodes (hereinafter referred to as "first rotation electrodes") 21 and a plurality of electrodes (hereinafter referred to as "second rotation electrodes") 22. In the following first embodiment, the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22 are also collectively referred to simply as "a plurality of rotation electrodes." The plurality of rotation electrodes are provided on the first fixed surface of the fixed unit 1 and are covered with a dielectric layer 23 (see FIG. 2 described below). In the first embodiment, the plurality of rotation electrodes and the dielectric layer 23 covering the plurality of rotation electrodes are also collectively referred to as the "rotation electrode unit 2."

[0013] 2A, 2B, and 2C are diagrams illustrating a detailed configuration example of the rotation electrode unit 2 included in the manipulator 100 according to the first embodiment. Note that FIGS. 2A, 2B, and 2C are top views of the rotation electrode unit 2. The rotation electrode unit 2 includes a plurality of comb-teeth-shaped first rotation electrodes 21 and a plurality of comb-teeth-shaped second rotation electrodes 22, with the first rotation electrodes 21 and the second rotation electrodes 22 arranged alternately. The plurality of comb-teeth-shaped first rotation electrodes 21 and the plurality of comb-teeth-shaped second rotation electrodes 22 are arranged concentrically. The plurality of comb-teeth-shaped first rotation electrodes 21 and the plurality of comb-teeth-shaped second rotation electrodes 22 may have a circular shape, as shown in FIGS. 2A and 2B, or may have a shape of a triangle with its vertex pointing toward the center of the fixed unit 1, as shown in FIG. 2C. The boundary where the plurality of comb-tooth-shaped first rotation electrodes 21 and the plurality of comb-tooth-shaped second rotation electrodes 22 face each other does not necessarily have to be a straight line, and the boundary where the plurality of comb-tooth-shaped first rotation electrodes 21 and the plurality of comb-tooth-shaped second rotation electrodes 22 face each other may be rectangular or semicircular, for example, as shown in Figures 2D, 2E, and 2F.

[0014] The plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22 are covered with a dielectric layer 23, and the rotation electrode unit 2 is configured, for example, by an FPC (Flexible Printed Circuit). Of the plurality of rotation electrodes, a voltage can be applied to two adjacent rotation electrodes (the first rotation electrode 21 and the second rotation electrode 22). Each of the first rotation electrodes 21 and each of the second rotation electrodes 22 is connected to a voltage generation circuit 71 that applies a voltage to the plurality of rotation electrodes via lead wires 21a and 22a, respectively. The voltage generation circuit 71 includes a voltage generation circuit (1) 71a and a voltage generation circuit (2) 71b. The voltage generation circuit (1) 71a applies a voltage to the plurality of first rotation electrodes 21 via the lead wires 21a. The voltage generating circuit (2) 71b applies a voltage to the plurality of second rotation electrodes 22 via the lead wires 22a. As described above, the application of voltage is controlled by the tactile control device 101. An example of the configuration of the tactile control device 101 will be described later.

[0015] Returning to the description of the exemplary configuration of the manipulator 100 using FIG. 1 , the manipulator 100 includes a conductive elastic body for rotation 4. The conductive elastic body for rotation 4 is provided on a surface of the manipulator 3 that faces the first fixed surface of the fixed unit 1 (hereinafter referred to as the "first manipulating surface"; indicated by 3 a in FIG. 1 ), and faces a plurality of rotation electrodes. In the first embodiment, as shown in FIG. 1 , the electrode unit for rotation 2 is provided over the entire surface of the first fixed surface of the fixed unit 1. Also, as shown in FIG. 1 , the conductive elastic body for rotation 4 is also provided over the entire surface of the first manipulating surface of the manipulator 3 so as to face the first fixed surface of the fixed unit 1. When the manipulator 3 is rotated, the conductive elastic body for rotation 4 rotates together with the manipulator 3 around the shaft 1 a.

[0016] As described above, a voltage can be applied to adjacent rotation electrodes (the first rotation electrode 21 and the second rotation electrode 22) among the plurality of rotation electrodes. When a voltage is applied to the plurality of rotation electrodes, an electrostatic force is generated between the plurality of rotation electrodes and the rotation conductive elastic bodies 4, which tends to attract the rotation conductive elastic bodies 4 to the plurality of rotation electrodes. When the operation unit 3 is rotated with the electrostatic force generated between the plurality of rotation electrodes and the rotation conductive elastic bodies 4, a frictional force distribution corresponding to the tactile sensation waveform of the voltage applied to each rotation electrode is generated in the rotation conductive elastic bodies 4, with the electrostatic force acting as a normal force. This frictional force is transmitted to the operation unit 3. Therefore, the user's fingers or the like operating the operation unit 3 are subjected to a shear force via the operation unit 3 on the plurality of rotation electrodes to which the voltage is applied, and the user can feel a tactile sensation in that area. In the first embodiment, this frictional force generated by the pulling force caused by the electrostatic force is referred to as an "electrostatic frictional force." The tactile sensation waveform defines the waveform of the applied voltage. The electrostatic friction force is generated by the electrostatic capacitance formed between adjacent rotation electrodes (first rotation electrode 21 and second rotation electrode 22) facing each other via the dielectric layer 23 and the conductive elastic body 4 for rotation, depending on the voltage difference applied to the adjacent rotation electrodes. The magnitude of the electrostatic friction force varies depending on the magnitude of the voltage applied to the adjacent rotation electrodes. The tactile control device 101 controls the magnitude of the electrostatic friction force and the associated tactile sensation by controlling the voltage applied to the multiple rotation electrodes. The provision of the dielectric layer 23 enables the manipulator 100 to insulate and protect the rotation electrodes, and to generate a strong electrostatic friction force even when a low voltage is applied to the adjacent rotation electrodes. Typically, the dielectric layer 23 has a higher dielectric constant than air, which increases the electrostatic capacitance formed between adjacent rotation electrodes and the conductive elastic body 4 for rotation. The manipulator 100 can present a tactile sensation corresponding to the tactile sensation presentation waveform by controlling the voltage applied to each rotation electrode by the tactile control device 101.

[0017] In the first embodiment, the manipulator 100 includes the conductive elastic body 4 for rotation. However, the conductor included in the manipulator 100 does not necessarily have to be an elastic conductor and may be a non-elastic conductor. It is sufficient for the manipulator 100 to include a conductor. However, as described above, in the manipulator 100, electrostatic force is generated between the multiple rotation electrodes and the conductor. If air is trapped between the multiple rotation electrodes and the conductor, the electrostatic force between the multiple rotation electrodes and the conductor may change. As a result, the electrostatic friction force may change. Therefore, it is preferable that the conductor be the conductive elastic body 4 for rotation with elasticity. Furthermore, since the conductive elastic body 4 for rotation has elasticity, adjusting the elastic force can ultimately control the tactile sensation transmitted to the user's fingers or the like operating the operation unit 3. For this reason, it is also preferable that the conductor be the conductive elastic body 4 for rotation with elasticity. The conductive elastic body 4 for rotation and the dielectric layer 23 are in contact with each other.

[0018] The operator 100 also includes a rotation detection circuit. The rotation detection circuit detects the rotation of the operation unit 3. Specifically, the rotation detection circuit detects the rotation position of the operation unit 3. In the first embodiment, the rotation detection circuit is, for example, a rotary encoder that outputs a constant electrical pulse in accordance with the rotation position of the operation unit 3, and the fixed unit 1 also serves as the rotation detection circuit.

[0019] 1 and 2 , the manipulator 100 is provided with a plurality of rotation electrodes covered with a dielectric layer 23 on a first fixed surface that exists in the axial direction of the fixed unit 1 and that has an axis 1a that faces the operation unit 3 and functions as an axis, and a conductive elastic body for rotation 4 that is provided on a first operation surface that is a surface of the operation unit 3 that faces the first fixed surface and faces the plurality of rotation electrodes, and a voltage can be applied to adjacent ones of the plurality of rotation electrodes. In other words, the manipulator 100 is configured so that an electrostatic friction force is generated inside the operation unit 3 by the plurality of rotation electrodes and the conductive elastic body for rotation 4.

[0020] In recent years, touch panels have been increasingly used in many everyday devices as operation panels, replacing mechanical switches, such as rotary knobs, which only provide a uniform tactile sensation. Touch panels, for example, can switch operations in conjunction with an HMI, and are therefore being used as a variety of operation means. However, unlike mechanical switches, touch panels do not provide the clicking sensation that mechanical switches provide. Therefore, users must visually confirm whether an operation is correct. For example, when operating a car, it is undesirable for users to have to visually confirm the operation. Given this background, there remains a strong demand for mechanical switches. Meanwhile, some conventional mechanical switches, such as the rotary knob described in Patent Document 1, provide a non-uniform tactile sensation. However, conventional mechanical switches such as those described in Patent Document 1 have a problem in that the electrostatic friction force they generate varies depending on the condition of the surface, such as whether the surface is wet, whether the distance between the electrode and the mechanical switch varies due to distortion when the mechanical switch is rotated, or whether foreign matter adheres to the surface of the surface, which generates the electrostatic friction force. As a result, conventional mechanical switches have a problem in that they are unable to provide a stable tactile effect to the user.

[0021] In contrast, as described above, the manipulator 100 according to the first embodiment has a configuration for generating an electrostatic friction force inside the operation unit 3. This makes it possible for the manipulator 100 to eliminate the effects on the electrostatic friction force caused by the surface condition of the mounting surface of the mechanical switch, fluctuations in the distance between the electrodes and the mechanical switch due to distortion during rotation of the mechanical switch, and foreign matter adhering to the surface of the mounting surface of the mechanical switch, which are problems that arise when generating an electrostatic friction force between the rotation surface of a mechanical switch and the mounting surface of the mechanical switch in a conventional manner. By having a configuration for generating an electrostatic friction force inside the operation unit 3, the manipulator 100 can present a stable tactile sensation when generating an electrostatic friction force between the operation unit 3 (more specifically, the rotation conductive elastic body 4) and the multiple rotation electrodes during rotation of the operation unit 3, regardless of the state outside the operation unit 3.

[0022] Next, the tactile control device 101 that controls the voltage applied to the multiple rotation electrodes of the operator 100 will be described. FIG. 3 is a diagram showing an example of the configuration of the tactile control device 101 according to the first embodiment. The tactile control device 101 is connected to the operator 100, and the operator 100 and the tactile control device 101 together constitute a tactile control system 102. Note that this is merely an example, and the tactile control device 101 may be mounted on the operator 100, for example. Also, for simplicity of explanation, FIG. 3 only shows the multiple rotation electrodes (multiple first rotation electrodes 21 and multiple second rotation electrodes 22) of the operator 100. The tactile control device 101 is connected to an HMI control unit 9. The HMI control unit 9 controls changes in the state of the HMI. The HMI control unit 9 outputs information regarding the current state of the HMI (hereinafter referred to as "HMI control information") to the tactile control device 101.

[0023] The tactile control device 101 includes a rotation detection unit 11 , a voltage generation circuit 71 , a tactile waveform selection unit 72 , and a tactile control unit 8 .

[0024] The rotation detection unit 11 detects the rotation of the operation unit 3 of the operator 100. Specifically, the rotation detection unit 11 detects the rotation of the operation unit 3 by acquiring information about the rotation of the operation unit 3 detected by the rotation detection circuit from the rotation detection circuit. The rotation detection unit 11 outputs the detected information about the rotation of the operation unit 3 (hereinafter referred to as "rotation information") to the tactile control unit 8. The rotation information includes information about the rotation position of the operation unit 3. The rotation detection unit 11 also outputs the rotation information to the HMI control unit 9. The HMI control unit 9 changes the state of the HMI based on the rotation information. For example, the HMI control unit 9 displays a screen indicating volume so that the volume increases according to the rotation position of the operation unit 3 of the operator 100 based on the rotation information.

[0025] The tactile control unit 8 outputs an instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated. Specifically, the tactile control unit 8 determines a tactile sensation corresponding to the state of the HMI or the rotational state of the operation unit 3 based on the rotation information output from the rotation detection unit 11 and the HMI control information output from the HMI control unit 9. Then, based on the determined tactile sensation, the tactile control unit 8 outputs an instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated.

[0026] An example of a method for the tactile control unit 8 to output a selection instruction will be described below. For example, the tactile control unit 8 determines whether the HMI state is such that a rotation operation is enabled, and determines the tactile sensation to be presented based on the determination result of the HMI state and whether the operation unit 3 is rotating. The tactile control unit 8 then outputs an instruction to select a tactile sensation presentation waveform corresponding to the determined tactile sensation.

[0027] The tactile control unit 8 determines whether the rotation action is valid as the HMI state based on the HMI control information output from the HMI control unit 9. Here, "the rotation action is valid as the HMI state" means that the HMI state can be operated by rotating the operation unit 3. For example, if the display device (not shown) displays the volume state in the volume adjustment performed by rotating the operation unit 3, this is "the rotation action is valid as the HMI state." On the other hand, if the display device is preparing to display the volume state, the volume state is not yet displayed, and therefore it is not "the rotation action is valid as the HMI state."

[0028] The tactile control unit 8 also determines whether the operation unit 3 is rotating based on the rotation information output from the rotation detection unit 11. The operation unit 3 is rotating when the operation unit 3 is currently being rotated. The tactile control unit 8 may determine whether the operation unit 3 is rotating based on, for example, whether the position of the operation unit 3 is changing based on the rotation information.

[0029] An example of a method in which the tactile control unit 8 outputs a selection instruction will be described in more detail below, dividing the cases into different states depending on the state of the HMI.

[0030] <Case (A-1)> When rotation operation is enabled as the HMI state In the above <Case (A-1)>, the tactile control unit 8 determines to present a rotational tactile sensation if the operation unit 3 is rotating, and outputs an instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotating. If the operation unit 3 is not rotating, the tactile control unit 8 determines not to present a tactile sensation, and does not output an instruction to the tactile waveform selection unit 72 to select.

[0031] <Case (A-2)> When the HMI is not in a state in which rotational operation is enabled In the above <Case (A-2)>, the tactile control unit 8 outputs an instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform that maximizes the electrostatic friction force. Note that in the first embodiment, the tactile control unit 8 outputs an instruction to select a tactile sensation presentation waveform that maximizes the electrostatic friction force, but this is merely an example. It is sufficient for the tactile control unit 8 to output an instruction to select a tactile sensation presentation waveform that generates an electrostatic friction force that makes it difficult to rotate the operation unit 3.

[0032] The tactile waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction output from the tactile control unit 8, and outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform. Specifically, the tactile waveform selection unit 72 selects a tactile sensation presentation waveform for use when rotating the operation unit 3, corresponding to the tactile sensation to be felt when rotating the operation unit 3, based on the selection instruction output from the tactile control unit 8. The tactile sensation presentation waveform for use when rotating the operation unit 3 is set in advance and stored in the tactile waveform selection unit 72. The tactile waveform selection unit 72 then outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform to the voltage generation circuit 71. More specifically, the tactile waveform selection unit 72 outputs an instruction to apply a voltage with the tactile sensation presentation waveform to the voltage generation circuit (1) 71a of the voltage generation circuit 71 to apply a voltage to each first rotation electrode 21, and outputs an instruction to apply a voltage with the tactile sensation presentation waveform to the voltage generation circuit (2) 71b of the voltage generation circuit 71 to apply a voltage to each second rotation electrode 22. In FIG. 3, the voltage generating circuit (1) 71a and the voltage generating circuit (2) 71b are omitted from the illustration.

[0033] Based on an application instruction output from the tactile waveform selection unit 72, the voltage generation circuit 71 applies a voltage with a tactile sensation presentation waveform selected by the tactile waveform selection unit 72 to the plurality of rotation electrodes. More specifically, the voltage generation circuit (1) 71a applies a voltage with a tactile sensation presentation waveform selected by the tactile waveform selection unit 72 to each of the first rotation electrodes 21. The voltage generation circuit (2) 71b applies a voltage with a tactile sensation presentation waveform selected by the tactile waveform selection unit 72 to each of the second rotation electrodes 22. The voltage signal of the voltage applied to each of the first rotation electrodes 21 and the voltage signal of the voltage applied to each of the second rotation electrodes 22 are combined to generate an amplitude modulation signal. In the region where capacitance is formed between the plurality of electrodes and the rotation conductive elastic body 4, charging and discharging are repeated in accordance with the amplitude modulation signal. Note that, here, as shown in FIG. 3, the voltage generation circuit 71 is assumed to be provided in the tactile control device 101, but this is merely an example. The voltage generating circuit 71 may be provided outside the tactile control device 101 and connected to the tactile control device 101 at a location outside the tactile control device 101 .

[0034] The following describes the operation of the tactile control device 101 according to embodiment 1. Fig. 4 is a flowchart for explaining the operation of the tactile control device 101 according to embodiment 1.

[0035] The rotation detection unit 11 detects the rotation of the operation unit 3 (step ST1). The rotation detection unit 11 outputs the rotation information to the tactile control unit 8. The rotation detection unit 11 also outputs the rotation information to the HMI control unit 9.

[0036] The tactile control unit 8 outputs an instruction to the tactile waveform selection unit 72 to select a tactile sensation providing waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated (step ST2).

[0037] The tactile waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction output from the tactile control unit 8. The tactile waveform selection unit 72 then outputs an instruction to the voltage generation circuit 71 to apply a voltage with the selected tactile sensation presentation waveform (step ST3). Based on the application instruction output from the tactile waveform selection unit 72, the voltage generation circuit 71 applies a voltage with the tactile sensation presentation waveform selected by the tactile waveform selection unit 72 to the multiple rotation electrodes.

[0038] FIG. 5 is a flowchart for explaining an example of detailed operations of steps ST2 and ST3 in FIG.

[0039] The tactile control unit 8 determines whether or not the rotation operation is enabled as the HMI state based on the HMI control information output from the HMI control unit 9 (step ST21). If it is determined in step ST21 that the rotation operation is enabled as the HMI state (YES in step ST21), the tactile control unit 8 determines whether or not the operation unit 3 is rotating based on the rotation information output from the rotation detection unit 11 (step ST22).

[0040] If it is determined in step ST22 that the operation unit 3 is rotating ("YES" in step ST22), the tactile control unit 8 outputs an instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated. The tactile waveform selection unit 72 selects a tactile sensation presentation waveform corresponding to the tactile sensation when rotating based on the selection instruction output from the tactile control unit 8 (step ST23). The tactile waveform selection unit 72 then outputs an instruction to the voltage generation circuit 71 to apply a voltage with a tactile sensation presentation waveform corresponding to the tactile sensation when rotating. The voltage generation circuit 71 applies a voltage with the tactile sensation presentation waveform selected by the tactile waveform selection unit 72 to the multiple rotation electrodes.

[0041] If it is determined in step ST22 that the operation unit 3 is not rotating ("NO" in step ST22), the tactile control unit 8 does not output a selection instruction. That is, the tactile waveform selection unit 72 does not select a tactile sensation providing waveform (step ST24). The voltage generation circuit 71 does not apply voltage to the plurality of rotation electrodes.

[0042] If it is not determined in step ST21 that the rotational motion is enabled as the HMI state ("NO" in step ST21), i.e., if the rotational motion is not enabled as the HMI state, the tactile control unit 8 outputs an instruction to the tactile waveform selection unit 72 to select a tactile sensation providing waveform that maximizes the electrostatic frictional force. The tactile waveform selection unit 72 selects a tactile sensation providing waveform that maximizes the electrostatic frictional force, to the voltage generation circuit 71. The tactile waveform selection unit 72 then outputs an instruction to the voltage generation circuit 71 to apply a voltage with the tactile sensation providing waveform that maximizes the electrostatic frictional force (step ST25). The voltage generation circuit 71 applies a voltage with the tactile sensation providing waveform selected by the tactile waveform selection unit 72 to the multiple rotation electrodes.

[0043] In this way, the tactile control device 101 according to the first embodiment is configured to output a selection instruction for a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 of the manipulator 100 is rotated, and when a tactile sensation presentation waveform for rotation is selected based on the selection instruction, output an application instruction to apply a voltage of the selected tactile sensation presentation waveform. In this way, the tactile control device 101 can control the tactile sensation when the operation unit 3 of the manipulator 100 is rotated. The tactile control device 101 controls the voltages applied to the multiple rotation electrodes, thereby causing the manipulator 100 to present a tactile sensation corresponding to the tactile sensation presentation waveform. In other words, the tactile control device 101 can cause the manipulator 100 to present a tactile sensation when the operation unit 3 is rotated. The manipulator 100 can present a tactile sensation when the operation unit 3 is rotated.

[0044] Furthermore, the tactile control device 101 according to the first embodiment outputs an instruction to select a tactile sensation providing waveform according to the state of the HMI that is the target of the rotation operation of the operation unit 3, and outputs an application instruction to apply a voltage with the tactile sensation providing waveform selected based on the selection instruction. This allows the tactile control device 101 to cause the operator 100 to present a tactile sensation linked to the HMI. The operator 100 can present a tactile sensation linked to the HMI.

[0045] In the first embodiment, a rotary encoder is used as an example of a rotation detection circuit, but this is merely one example. The rotation detection circuit may be an electrical rotation detection circuit that uses electrostatic capacitance detection, or may be a rotation detection circuit that optically detects rotation.

[0046] Furthermore, in the first embodiment described above, the plurality of rotation electrodes are provided on the first fixed surface of the fixed unit 1, and the plurality of rotation electrodes and the conductive elastic body for rotation 4 are arranged to face each other in the pushing direction of the operation unit 3, in other words, in the axial direction. However, this is not limited to this. For example, as shown in FIGS. 6A and 6B , in the manipulator 100, in addition to the plurality of rotation electrodes and the conductive elastic body for rotation 4 facing each other in the axial direction, the plurality of rotation electrodes and the conductive elastic body for rotation 4 may also be arranged to face each other around the shaft portion 1a. In this case, the manipulator 100 includes, in addition to the plurality of rotation electrodes that are provided on the first fixed surface (indicated by 1b in FIG. 6B ) of the fixed unit 1 and covered with the dielectric layer 23, a plurality of rotation electrodes that are provided on the shaft portion 1a around the shaft portion 1a and covered with the dielectric layer 23. The conductive elastic body for rotation 4 is provided on a first operation surface (designated 3a in FIG. 6B ) of the operation unit 3 and on a surface (designated 3b in FIG. 6B ) of the operation unit 3 facing the shaft portion 1a. When the relative positions of the operation unit 3 and the shaft portion 1a are set in a predetermined relative position, the conductive elastic body for rotation 4 faces a plurality of rotation electrodes provided around the shaft portion 1a of the shaft portion 1a. FIG. 6A is a top view of the manipulator 100, and FIG. 6B is a cross-sectional view taken along the line A-A in FIG. 6A . For ease of explanation, FIG. 6A also illustrates the shaft portion 1a, dielectric layer 23, and conductive elastic body for rotation 4 provided inside the operation unit 3 of the manipulator 100. Note that the manipulator 100 shown in FIG. 6 differs from the manipulator 100 shown in FIG. 1 in that a plurality of rotation electrodes and the conductive elastic body for rotation 4 are arranged to face each other around the shaft portion 1a.

[0047] 6A and 6B , for example, the dielectric layer 23 covering the plurality of rotation electrodes provided on the first fixed surface of the fixed portion 1 and the dielectric layer 23 covering the plurality of rotation electrodes provided on the inner circumferential surface of the shaft portion 1a are shown as a common dielectric layer 23. This is merely one example, and for example, the manipulator 100 may each include a dielectric layer 23 covering the plurality of rotation electrodes provided on the first fixed surface of the fixed portion 1 and a dielectric layer 23 covering the plurality of rotation electrodes provided around the shaft portion 1a.

[0048] 6A and 6B show, as an example, a plurality of rotation electrodes covered with a dielectric layer 23 provided on the inner peripheral surface of the shaft portion 1a, but this is merely an example. For example, a plurality of rotation electrodes covered with a dielectric layer 23 may be provided on the outer peripheral surface of the shaft portion 1a. In this case, a dielectric layer 23 covering a plurality of rotation electrodes provided on the outer peripheral surface of the shaft portion 1a is provided separately from the dielectric layer 23 covering a plurality of rotation electrodes provided on the first fixed surface of the fixed portion 1. Also, for example, a plurality of rotation electrodes covered with a dielectric layer 23 may be provided on the inner peripheral surface and outer peripheral surface of the shaft portion 1a.

[0049] The detailed configuration of the electrode portion for rotation 2 provided on the first fixed surface of the fixed portion 1 is the same as that explained with reference to FIG. 2, and therefore a detailed explanation thereof will be omitted.

[0050] FIG. 7 is a diagram illustrating a detailed configuration example of the rotation electrode unit 2 in the case where the manipulator 100 also includes a rotation electrode unit 2 around the shaft 1a of the fixed unit 1 in the first embodiment. Note that FIG. 7 is an exploded view of the rotation electrode unit 2. In FIG. 7, the upper side is the top side of the manipulator 100. The rotation electrode unit 2 includes a plurality of comb-like first rotation electrodes 21 and a plurality of comb-like second rotation electrodes 22, with the first rotation electrodes 21 and the second rotation electrodes 22 arranged alternately. A voltage can be applied to two of the rotation electrodes (the first rotation electrodes 21 and the second rotation electrodes 22) that are adjacent to each other. Each of the first rotation electrodes 21 and each of the second rotation electrodes 22 is connected to a voltage generating circuit 71 that applies a voltage to the plurality of rotation electrodes via a lead-out wiring 21a and a lead-out wiring 22a, respectively. In addition, the control of the application of voltage to the multiple rotation electrodes provided around the shaft portion 1a of the fixed portion 1 is performed by the tactile control device 101, similar to the control of the application of voltage to the multiple rotation electrodes provided on the first fixed surface of the fixed portion 1.

[0051] As described above, in the first embodiment, the manipulator 100 may be configured such that there are two or more locations where the plurality of rotation electrodes and the conductive elastic body for rotation 4 face each other and generate an electrostatic friction force. Specifically, the manipulator 100 may further include, in addition to the plurality of rotation electrodes provided on the first fixed surface of the fixed unit 1 and covered with the dielectric layer 23, a plurality of rotation electrodes provided around the shaft portion 1a in the shaft portion 1a and covered with the dielectric layer 23, and the conductive elastic body for rotation 4 may be provided on the first operating surface of the operating unit 3 and on a surface of the operating unit 3 facing the shaft portion 1a. This allows the manipulator 100 to have a larger area where the plurality of rotation electrodes and the conductive elastic body for rotation 4 face each other, compared to a case where the manipulator 100 only includes a plurality of rotation electrodes provided on the first fixed surface of the fixed unit 1 and covered with the dielectric layer 23. In other words, the manipulator 100 can increase the number of locations where an electrostatic force is generated. As a result, the manipulator 100 can generate a larger electrostatic friction force. It is easier to provide the plurality of rotation electrodes on the first fixed surface of the fixed portion 1 than to provide them around the shaft portion 1a on the shaft portion 1a.

[0052] Furthermore, in the first embodiment described above, the tactile control device 101 can control the applied voltage to present various tactile sensations to the manipulator 100 when the operation unit 3 is rotated. For example, the tactile control device 101 can present a tactile sensation in which the operation unit 3 becomes heavier the more the operation unit 3 of the manipulator 100 is rotated. Specifically, in the tactile control device 101, when the tactile control unit 8 detects that the operation unit 3 is being rotated, it outputs to the tactile waveform selection unit 72 an instruction to select a tactile presentation waveform that presents a tactile sensation that becomes heavier depending on the duration of the rotation of the operation unit 3. Based on the selection instruction output from the tactile control unit 8, the tactile waveform selection unit 72 selects a tactile presentation waveform that presents a tactile sensation that becomes heavier depending on the duration of the rotation of the operation unit 3. The tactile waveform selection unit 72 stores various patterns of tactile presentation waveforms for rotation. In this way, for example, by being able to output an instruction to select a tactile sensation presentation waveform according to the amount of rotation of the operating unit 3, the tactile sensation control device 101 can present a tactile sensation to the operator 100 according to the amount of rotation of the operating unit 3, or control torque according to the amount of rotation of the operating unit 3.

[0053] The method is not limited to the above, and the manipulator 100 can be configured to change the area where the plurality of rotation electrodes and the conductive elastic body for rotation 4 face each other depending on the amount of rotation of the operation unit 3, thereby enabling the manipulator 100 to present various tactile sensations. In particular, the manipulator 100 can be configured to change the area where the plurality of rotation electrodes covered with a dielectric layer face each other depending on the amount of rotation of the operation unit 3, thereby enabling the manipulator 100 to present various tactile sensations in which the tactile intensity, rotational torque, or pressing force of the operation unit 3 changes depending on the area. In this way, in the first embodiment described above, the manipulator 100 can be configured to change the area where the plurality of rotation electrodes and the conductive elastic body for rotation 4 face each other depending on the amount of rotation of the operation unit 3, thereby enabling the manipulator 100 to present various tactile sensations. Furthermore, the operator 100 can control, for example, whether to linearly control the weight of rotation of the operating unit 3 or to increase the weight when the amount of rotation exceeds a certain amount, by controlling the area where the multiple rotation electrodes face the rotation conductive elastic body 4. Therefore, the tactile sensation control device 101 can control the strength of the tactile sensation of the operator 100 while reducing the number of tactile sensation presentation waveform patterns of the voltage applied to the operator 100.

[0054] Furthermore, in the tactile control device 101 according to the first embodiment described above, the tactile control unit 8 can also output, based on the rotation information, to the tactile waveform selection unit 72, an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operation unit 3. The rotation information includes information related to the rotational position of the operation unit 3. Based on the rotation information, the tactile control unit 8 can determine the rotational position to which the operation unit 3 has currently been rotated. For example, when the operation unit 3 is at a rotational position at which a tactile sensation is to be presented, the tactile control unit 8 outputs a selection instruction to the tactile waveform selection unit 72 to select a rotational tactile sensation presentation waveform for presenting a tactile sensation at that rotational position.

[0055] Here, Figures 8A, 8B, and 8C are figures for explaining the image of the tactile sensation presented by the manipulator 100 as a result of the tactile control unit 8 outputting a selection instruction to the tactile waveform selection unit 72 to select a rotational tactile sensation presentation waveform for presenting a tactile sensation at the rotational position when the operating unit 3 is in the rotational position for presenting a tactile sensation in the above-mentioned first embodiment.

[0056] For example, suppose a screen showing a volume that can be adjusted in 13 steps is displayed on a display device serving as an HMI, which is the target of operation of the operator 100. In the tactile control device 101, the tactile control unit 8 detects, based on the HMI control information, that the current state of the display device is one in which rotation of the operation unit 3 is valid for adjusting the volume in 13 steps. Furthermore, based on the rotation information, the tactile control unit 8 detects that the operation unit 3 has been rotated and to what position it has been rotated. When the tactile control unit 8 detects that the operation unit 3 has been rotated to a rotation position that represents the volume in 13 steps, it outputs a selection instruction to the tactile waveform selection unit 72, causing it to select a tactile presentation waveform for rotation that will present a tactile sensation at the rotation position that represents the volume in 13 steps. The tactile waveform selection unit 72 selects a tactile presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71, causing it to apply a voltage corresponding to the selected tactile presentation waveform. As a result, the tactile sensation control device 101 can cause the operator 100 to provide a vibration sensation as a tactile sensation when the operating unit 3 is positioned at a rotation position that indicates one of the 13 levels of volume (see 801 in Figure 8A).

[0057] Also, for example, suppose that the operating unit 3 of the manipulator 100 can only rotate up to a certain angle. In the tactile control device 101, when the tactile control unit 8 detects, based on the rotation information, that the operating unit 3 has been rotated and that the operating unit 3 has been rotated to a position where it cannot be rotated any further, it outputs a selection instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform for rotation where the electrostatic friction force is maximized at that position. The tactile waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage of the selected tactile sensation presentation waveform. As a result, the tactile control device 101 can cause the manipulator 100 to present a sensation of suction stopping when the operating unit 3 has been rotated to a position where it cannot be rotated any further (see 802 in FIG. 8B ).

[0058] Also, for example, suppose that an operation mode switching screen is displayed on a display device serving as an HMI, which is the target of operation by the operator 100. The operation mode can be switched by rotating the operation unit 3 to a set position. In the tactile control device 101, the tactile control unit 8 detects, based on the HMI control information, that the current state of the HMI is one in which rotation of the operation unit 3 is valid for switching the operation mode. Furthermore, when the tactile control unit 8 detects, based on the rotation information, that the operation unit 3 has been rotated and that it has been rotated to a rotation position where the operation mode can be switched, it outputs a selection instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform for rotation that will present a tactile sensation for a certain period of time. The tactile waveform selection unit 72 selects a tactile sensation presentation waveform based on the selection instruction and outputs an application instruction to the voltage generation circuit 71 to apply a voltage corresponding to the selected tactile sensation presentation waveform. As a result, the tactile sensation control device 101 can cause the operator 100 to provide a sense of crossing over as a tactile sensation when the operating unit 3 is positioned at a rotational position where the above-mentioned operation mode can be switched (see 803 in FIG. 8C).

[0059] In this way, by being able to output a selection instruction for a tactile sensation presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operating unit 3, the tactile sensation control device 101 can present a tactile sensation to the operator 100 according to the rotational position of the operating unit 3, or control the torque according to the rotational position of the operating unit 3.

[0060] Furthermore, in the above-described first embodiment, for example, the operator 100 may be configured without a rotation detection circuit. In this case, the tactile control device 101 does not necessarily have to include the rotation detection unit 11. For example, in the tactile control device 101, when the power to the tactile control device 101 is turned on, the tactile control unit 8 outputs a selection instruction to the tactile waveform selection unit 72 to select a tactile sensation presentation waveform for rotation. In this case, the processing of step ST1 can be omitted from the operation of the tactile control device 101 described using the flowchart in FIG. 4.

[0061] In the first embodiment, the operator 100 is linked to an HMI, but this is merely an example. The operator 100 does not necessarily have to be linked to an HMI.

[0062] Furthermore, in the above-described first embodiment, the operating unit 3 of the manipulator 100 has a cylindrical shape, but this is merely an example. The operating unit 3 may have any suitable shape. The operating unit 3 may be attached to the shaft 1a of the fixed unit 1 of the manipulator 100, be rotatable around the shaft 1a, and have an elastic body that faces at least a plurality of rotation electrodes provided on the first fixed surface of the fixed unit 1. For example, the operating unit 3 may be hollow. For example, the fixed unit 1 and the operating unit 3 may have a hollow structure, and the manipulator 100 may have a doughnut shape.

[0063] In the first embodiment described above, as shown in FIG. 2 , the rotation electrode 2 is arranged to cover the entire first fixed surface of the fixed unit 1, but this is merely an example. For example, the rotation electrode 2 may be arranged to cover a portion of the first fixed surface, such as half of the first fixed surface of the fixed unit 1. In this case, the conductive elastic body for rotation 4 may be provided on a first operation surface of the operation unit 3 that faces the side of the first fixed surface on which the rotation electrode 2 is not provided, for example, when the operator 100 is not rotated. Note that the shape of the rotation electrode 2 is not limited to a circular shape and may be, for example, a semicircular shape or a rectangular shape. In the first embodiment described above, the conductive elastic body for rotation 4 is arranged to face the first fixed surface of the fixed unit 1 across the entire first operation surface of the operation unit 3. However, this is merely an example. It is not essential that the conductive elastic body for rotation 4 faces the first fixed surface of the fixed unit 1 over the entire first operation surface of the operation unit 3. The conductive elastic body for rotation 4 can have various shapes, such as a circle, a semicircle, a square, a triangle, or a sector. Thus, in the first embodiment described above, the conductive elastic body for rotation 4 and the multiple rotation electrodes do not need to always face each other. Similarly, the rotation electrode unit 2 (see FIG. 7 ) arranged around the shaft 1a of the shaft 1a does not necessarily need to be arranged around the entire circumference of the shaft 1a, but may be arranged around a portion of the shaft 1a. In this case, the conductive elastic body for rotation 4 may be provided on a surface of the operation unit 3 around the shaft 1a that faces the surface on which the rotation electrode unit 2 is not arranged when the operator 100 is not rotated. In the first embodiment, it is sufficient that the conductive elastic body for rotation 4 and the multiple rotation electrodes face each other when the relative positions of the operation unit 3 and the fixed unit 1 are set to a predetermined relative position. The predetermined relative position between the operating unit 3 and the fixed unit 1, where the rotating conductive elastic body 4 and the multiple rotating electrodes face each other, refers to the relative position between the operating unit 3 and the fixed unit 1 when the operating unit 3 is rotated.

[0064] In the first embodiment described above, the plurality of rotation electrodes includes, for example, a plurality of first rotation electrodes 21 and a plurality of second rotation electrodes 22 as shown in FIG. 2 , but this is merely an example. At least two rotation electrodes may be provided. In the manipulator 100, it is sufficient that a voltage can be applied to at least two adjacent rotation electrodes.

[0065] 9A and 9B are diagrams showing an example of the hardware configuration of the tactile control device 101 according to embodiment 1. In embodiment 1, the functions of the rotation detection unit 11, the tactile control unit 8, and the tactile waveform selection unit 72 are realized by a processing circuit 1001. That is, the tactile control device 101 includes a processing circuit 1001 for controlling the magnitude of the electrostatic friction force and the associated tactile sensation by controlling the voltage applied to a plurality of rotation electrodes. The processing circuit 1001 may be dedicated hardware as shown in FIG. 9A, or a processor 1004 that executes a program stored in memory as shown in FIG. 9B.

[0066] If the processing circuit 1001 is dedicated hardware, the processing circuit 1001 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0067] When the processing circuit is a processor 1004, the functions of the rotation detection unit 11, the tactile control unit 8, and the tactile waveform selection unit 72 are realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 1005. The processor 1004 executes the functions of the rotation detection unit 11, the tactile control unit 8, and the tactile waveform selection unit 72 by reading and executing the program stored in the memory 1005. In other words, the tactile control device 101 includes a memory 1005 for storing a program that, when executed by the processor 1004, results in the execution of steps ST1 to ST3 in FIG. 4 described above. It can also be said that the program stored in the memory 1005 causes a computer to execute the processing procedures or methods of the rotation detection unit 11, the tactile control unit 8, and the tactile waveform selection unit 72. Here, the memory 1005 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), or an EEPROM (Electrically Erasable Programmable Read-Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc).

[0068] It is also possible to realize some of the functions of the rotation detection unit 11, the tactile control unit 8, and the tactile waveform selection unit 72 with dedicated hardware and some with software or firmware. For example, the rotation detection unit 11 may be realized by a processing circuit 1001 as dedicated hardware, while the tactile control unit 8 and the tactile waveform selection unit 72 may be realized by a processor 1004 reading and executing a program stored in a memory 1005. The tactile control device 101 also includes a voltage generation circuit 71. The tactile control device 101 also includes an input interface device 1002 and an output interface device 1003 that communicate with devices such as the operator 100 or the HMI control unit 9 via wired or wireless communication.

[0069] In the above-described first embodiment, the tactile control device 101 may be mounted on the operator 100 or may be provided in a server. Also, some of the rotation detection unit 11, the tactile control unit 8, and the tactile waveform selection unit 72 may be provided in the server, and the rest may be provided in the operator 100.

[0070] As described above, the manipulator 100 according to the first embodiment includes a fixed portion 1 having a shaft portion 1a that functions as a shaft, and an operating portion attached to the shaft portion 1a and rotatable around the shaft portion 1a. The manipulator 100 also includes a first fixed surface (axial direction) of the fixed portion 1 that faces the operating portion 3, a plurality of electrodes covered with a dielectric layer, and a plurality of rotation electrodes to which a voltage can be applied when the operating portion 3 rotates. The first operating surface (first operating surface) faces the first fixed surface of the operating portion 3, and the first operating surface faces the first fixed surface. The rotation conductor (rotation conductive elastic body 4) faces the plurality of rotation electrodes when the relative positions of the operating portion 3 and the fixed portion 1 are set to a predetermined relative position. A voltage can be applied to two adjacent electrodes among the plurality of rotation electrodes. This allows the manipulator 100 to stably present a tactile sensation. As a result, the manipulator 100 can stably provide a tactile effect to the user.

[0071] The tactile control device 101 according to the first embodiment is a fixed unit 1 having an axle 1a that functions as an axle, and a tactile control device 101 that controls the tactile sensation when an operating unit 3 of a manipulator 100 that is attached to the axle 1a and rotatable around the axle 1a is rotated, and is configured to include a tactile control unit 8 that outputs an instruction to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operating unit 3 is rotated, and a tactile waveform selection unit 72 that selects a tactile sensation presentation waveform based on the selection instruction output from the tactile control unit 8 and outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform. This allows the tactile control device 101 to present a stable tactile sensation to the manipulator 100. As a result, the tactile control device 101 can provide a stable tactile effect to the user through the manipulator 100.

[0072] Embodiment 2. In the first embodiment, the operator has an operating unit that can rotate around a shaft that the fixed unit has. In the second embodiment, an embodiment will be described in which the operator has an operating unit that can rotate around a shaft that the fixed unit has and can be pressed in the direction of the shaft. Note that, like the operator in the first embodiment, the operator in the second embodiment is provided, for example, in an in-vehicle device installed in a vehicle. The operator in the second embodiment is linked to an HMI that is the target of the operator's operation. For example, if a screen indicating the volume is displayed on the display device, a user who is an occupant of the vehicle can increase or decrease the volume by rotating the operating unit of the operator. When the user rotates the operating unit to increase or decrease the volume, the display device changes the screen display, for example, so that the volume increases or decreases in accordance with the rotation. Furthermore, for example, if a selection button such as "YES" or "NO" is displayed on the display device, the user can press the selection button by pressing the operating unit of the operator. When the user presses the selection button, the display device displays, for example, a screen indicating that the selection button has been pressed. In the second embodiment, when the operating unit is rotated or pressed, the manipulator provides a tactile sensation at the time of rotation or pressing, based on the control of the tactile sensation control device.

[0073] First, a configuration example of a manipulator according to embodiment 2 will be described. Fig. 10 is a diagram for explaining a configuration example of a manipulator 100a according to embodiment 2. Fig. 10A is a top view of the manipulator 100a, and Fig. 10B is a cross-sectional view taken along line A-A in Fig. 10A. For ease of explanation, Fig. 10A also illustrates the shaft portion 1a and the conductive elastic body for rotation 4 provided inside the operating section 3 of the manipulator 100a.

[0074] The manipulator 100a according to the second embodiment includes a fixed portion 1 and an operating portion 3. In the second embodiment, the fixed portion 1 included in the manipulator 100a includes a first fixed portion 1-1 and a second fixed portion 1-2.

[0075] The first fixed portion 1-1 has a shaft portion 1a and is a fixed portion 1 that can be pushed in the direction of the shaft portion 1a together with the operating portion 3. In the second embodiment, the shaft portion 1a includes a shaft portion 1a (hereinafter referred to as the "first shaft portion" and shown as 1a-1 in FIG. 10B) to which the operating portion 3 is attached, and a shaft portion 1a (hereinafter referred to as the "second shaft portion" and shown as 1a-2 in FIG. 10B) that is located on the opposite side of the first fixed surface (shown as 1b in FIG. 10B) of the first fixed portion 1-1. The operating portion 3 is attached to the first shaft portion and is rotatable around the first shaft portion and can be pushed in the axial direction. One end of the first shaft portion is attached to the first fixed portion 1-1, and the operating portion 3 is attached to the other end of the first shaft portion.

[0076] The second fixed portion 1-2 has a surface (hereinafter referred to as the "second fixed surface" and indicated by 1-2a in FIG. 10) that faces the surface of the first fixed portion 1-1 opposite the first fixed surface, and a surface (hereinafter referred to as the "shaft side surface" and indicated by 1-2b in FIG. 10) that faces the second shaft portion of the first fixed portion 1-1. Note that in FIG. 10, the operating unit 3 is attached to one end of the shaft portion 1a (specifically, the first shaft portion) opposite the fixed portion 1 (specifically, the first fixed portion 1-1), but this is merely an example. For example, the operating unit 3 may be attached to the side surface of the shaft portion 1a. The operating unit 3 only needs to be attached so as not to come off the shaft portion 1a. The operating unit 3 can be pushed axially toward the second fixed portion 1-2 together with the first fixed portion 1-1.

[0077] In the second embodiment, the first axis portion is a surface of the first fixed portion 1-1 in the axial direction, which is a surface facing the operation unit 3, i.e., the first fixed surface, and has a hollow cylindrical shape provided along the outer periphery of the first fixed portion 1-1. Note that the shape of this first axis portion is merely an example, and the first axis portion may, for example, be provided in the center of the first fixed surface of the first fixed portion 1-1 and have a columnar shape. Also, for example, the columnar first fixed portion 1-1 may also serve as the first axis portion. Also, in the second embodiment, the second axis portion is a hollow cylindrical shape provided along the outer periphery of the first fixed portion 1-1 on the surface of the first fixed portion 1-1 opposite the first fixed surface. Note that the shape of this second axis portion is merely an example, and the second axis portion may, for example, be provided in the center of the first fixed surface of the first fixed portion 1-1 and have a columnar shape. Also, for example, the columnar first fixed portion 1-1 may also serve as the second axis portion. The second fixed portion 1-2 is provided below the first fixed portion 1-1 of the operation element 100a and inside the second shaft portion.

[0078] The operating element 100a also includes a plurality of rotation electrodes used to provide a tactile sensation when the operating unit 3 is rotated, and a plurality of electrodes (hereinafter referred to as "push electrodes") used to provide a tactile sensation when the operating unit 3 is pressed. The plurality of rotation electrodes includes a plurality of first rotation electrodes 21 and a plurality of second rotation electrodes 22. The plurality of rotation electrodes are provided on the first fixed surface of the first fixed unit 1-1 and are covered with a dielectric layer 23. In the second embodiment, the plurality of rotation electrodes and the dielectric layer 23 covering the plurality of rotation electrodes are collectively referred to as the "rotation electrode unit 2." A detailed configuration example of the rotation electrode unit 2 according to the second embodiment is similar to the detailed configuration example of the rotation electrode unit 2 according to the first embodiment, which includes a plurality of rotation electrodes provided on the first fixed surface of the fixed unit 1 and the dielectric layer 23 covering the plurality of rotation electrodes, as described in FIG. 2 in the first embodiment. Therefore, the same reference numerals are used, and redundant description will be omitted.

[0079] The multiple pushing electrodes include multiple electrodes (hereinafter referred to as "first pushing electrodes") 210 and multiple electrodes (hereinafter referred to as "second pushing electrodes") 220. The multiple pushing electrodes are provided on a surface of the second shaft portion of the first fixed portion 1-1 facing the second fixed portion 1-2 and are covered with a dielectric layer 230. A voltage can be applied to the multiple pushing electrodes when the operation unit 3 is pushed. In the second embodiment, the multiple pushing electrodes and the dielectric layer 230 covering the multiple pushing electrodes are collectively referred to as a "pushing electrode unit 200." A detailed configuration example of the pushing electrode unit 200 according to the second embodiment is a configuration example in which the multiple rotation electrodes provided around the shaft portion 1a on the shaft portion 1a and the dielectric layer 23 covering the multiple rotation electrodes, which was described in the first embodiment using FIG. 7, are replaced with multiple pushing electrodes and the dielectric layer 23 is replaced with the dielectric layer 230. Of the multiple pushing electrodes, a voltage can be applied to two adjacent pushing electrodes (first pushing electrode 210 and second pushing electrode 220). Each first pushing electrode 210 and each second pushing electrode 220 are connected to a voltage generation circuit 71 that applies a voltage to the multiple pushing electrodes via lead-out wiring 21a and lead-out wiring 22b, respectively. The voltage generation circuit 71 includes a voltage generation circuit (1) 71a and a voltage generation circuit (2) 71b. The voltage generation circuit (1) 71a applies a voltage to the multiple first pushing electrodes 210 via lead-out wiring 21a. The voltage generation circuit (2) 71b applies a voltage to the multiple second pushing electrodes 220 via lead-out wiring 22b.

[0080] In the second embodiment, the application of voltages to the plurality of rotation electrodes and the plurality of pressing electrodes is controlled by the tactile control device 101a. An example of the configuration of the tactile control device 101a will be described later.

[0081] In the following description, the plurality of rotation electrodes and the plurality of pushing electrodes will also be collectively referred to simply as "plurality of electrodes."

[0082] Returning to the description of the exemplary configuration of the manipulator 100a using FIG. 10 , the manipulator 100a includes a conductive elastic body for rotation 4 and a conductive elastic body (hereinafter referred to as a "push-in conductive elastic body") 40. The function of the conductive elastic body for rotation 4 is similar to that of the conductive elastic body for rotation 4 according to the first embodiment, and is therefore denoted by the same reference numeral. The conductive elastic body for rotation 4 is provided on a first operation surface (denoted by 3a in FIG. 10B ) that faces the first fixed surface (denoted by 1b in FIG. 10B ) of the first fixed portion 1-1 in the operation unit 3, and faces a plurality of rotation electrodes. In the second embodiment, as shown in FIG. 10 , the rotation electrode unit 2 is provided across the entire first fixed surface of the first fixed portion 1-1. Furthermore, as shown in FIG. 10 , the conductive elastic body for rotation 4 is also provided across the entire first operation surface of the operation unit 3 so as to face the first fixed portion 1-1. When the operating portion 3 is rotated, the rotating conductive elastic body 4 rotates together with the operating portion 3 around the shaft portion 1a, and when the operating portion 3 is pressed in, the rotating conductive elastic body 4 is pressed in the direction of the shaft portion 1a together with the operating portion 3.

[0083] The push-in conductive elastic body 40 is provided on the axial side surface of the second fixed portion 1-2 (shown as 1-2b in FIG. 10B ) and faces the multiple push-in electrodes when the relative position between the operation unit 3 and the second fixed portion 1-2 is a preset relative position. In the manipulator 100a shown in FIG. 10 , the push-in conductive elastic body 40 and the multiple push-in electrodes only face each other over a certain area when the operation unit 3 is not being pressed, and when the operation unit 3 is pressed, the entire area faces each other. Thus, the push-in conductive elastic body 40 and the multiple push-in electrodes do not necessarily face each other over their entirety at all times. In the second embodiment, it is sufficient that the push-in conductive elastic body 40 and the multiple push-in electrodes face each other when the relative position between the operation unit 3 and the second fixed portion 1-2 is a preset relative position. In the manipulator 100a shown in Figure 10, the relative position of the preset operating unit 3 and second fixed unit 1-2, where the pushing conductive elastic body 40 and multiple pushing electrodes face each other, refers to the relative position of the operating unit 3 and second fixed unit 1-2 when the second fixed unit 1-2 is pushed in together with the operating unit 3.

[0084] In the second embodiment, as described above, a voltage can be applied to adjacent electrodes (the first rotation electrode 21 and the second rotation electrode 22, and the first push-in electrode 210 and the second push-in electrode 220) among the plurality of electrodes (the plurality of rotation electrodes and the plurality of push-in electrodes). When a voltage is applied to the plurality of electrodes, an electrostatic force is generated between the plurality of electrodes and the conductive elastic body (the rotation conductive elastic body 4 or the push-in conductive elastic body 40) to attract the conductive elastic body to the plurality of electrodes. When the operation unit 3 is rotated or pushed in a state in which an electrostatic force is generated between the plurality of electrodes and the conductive elastic body, a frictional force distribution corresponding to the tactile sensation waveform of the voltage applied to each electrode is generated in the conductive elastic body, with the electrostatic force acting as a normal force. This frictional force, i.e., an electrostatic frictional force, is transmitted to the operation unit 3. Therefore, the user's finger or the like operating the operation unit 3 is subjected to a shear force via the operation unit 3 on the plurality of electrodes to which the voltage is applied, and a tactile sensation can be felt in that area. The electrostatic friction force is generated by the electrostatic capacitance formed between adjacent electrodes (the first rotation electrode 21 and the second rotation electrode 22, and the first push-in electrode 210 and the second push-in electrode 220) facing each other via the dielectric layers 23, 230 and the conductive elastic body (the rotation conductive elastic body 4 or the push-in conductive elastic body 40) in response to the voltage difference applied to the adjacent electrodes. The magnitude of the electrostatic friction force varies depending on the magnitude of the voltage applied to the adjacent electrodes. The tactile sensation control device 101a controls the magnitude of the electrostatic friction force and the associated tactile sensation by controlling the voltage applied to the multiple electrodes. The provision of the dielectric layers 23, 230 allows the operating element 100a to insulate and protect the electrodes, and to generate a strong electrostatic friction force even when a low voltage is applied to the adjacent electrodes. Typically, the dielectric layers 23, 230 have a higher dielectric constant than air, which increases the electrostatic capacitance formed between adjacent electrodes and the conductive elastic body. The tactile sensation control device 101a controls the voltage applied to each electrode of the operator 100a, thereby enabling the operator 100a to present a tactile sensation according to the tactile sensation presentation waveform.

[0085] In the second embodiment, the manipulator 100a includes conductive elastic bodies (the rotation conductive elastic body 4 and the push-in conductive elastic body 40). However, the conductors included in the manipulator 100a do not necessarily have to be elastic conductors and may be non-elastic conductors. It is sufficient for the manipulator 100a to include conductors. However, in the manipulator 100a, the rotation conductor (hereinafter referred to as the "rotation conductor") is preferably the elastic rotation conductive elastic body 4. The reason why the rotation conductor is preferably the rotation conductive elastic body 4 has already been explained in the first embodiment, so a duplicate explanation will be omitted. For the same reason, the push-in conductor (hereinafter referred to as the "push-in conductor") is preferably the elastic push-in conductive elastic body 40. The rotation conductive elastic body 4 and the dielectric layer 23 are in contact, and the push-in conductive elastic body 40 and the dielectric layer 230 are in contact.

[0086] Furthermore, in the manipulator 100a, a spring 5 is provided at the center of the first fixed portion 1-1. One end of the spring 5 is connected to the first fixed portion 1-1, and the other end is connected to the second fixed portion 1-2. The spring 5 generates a repulsive force when the operating unit 3 is pressed. As a result, the operating unit 3 returns to its initial position after being pressed. Note that in the first embodiment, "the center of the first fixed portion 1-1" does not necessarily have to be the exact center, and includes "approximately the center of the first fixed portion 1-1." In the second embodiment, the spring 5 is provided at the center of the first fixed portion 1-1, but this is merely an example. The spring 5 may be provided at any position that generates a repulsive force when the operating unit 3 is pressed, and that can return the operating unit 3 to its initial position after being pressed. The number of springs 5 ​​is also not limited to one. In addition, in the second embodiment, the operating element 100a is provided with the spring 5, but this is merely an example, and the operating element 100a may be provided with an elastic body or the like that generates a repulsive force when the operating portion 3 is pressed.

[0087] The manipulator 100a also includes a rotation detection circuit and a push-in detection circuit 6. The rotation detection circuit is the same as the rotation detection circuit included in the manipulator 100 according to the first embodiment, and therefore a duplicated description will be omitted. In the second embodiment, the second fixed portion 1-2 also functions as the rotation detection circuit. The push-in detection circuit 6 detects the push-in of the operating unit 3 of the manipulator 100a. Specifically, the push-in detection circuit 6 detects the amount of push-in of the operating unit 3. In the second embodiment, the push-in detection circuit 6 is, for example, a force sensor that changes its output value in accordance with the load on the spring 5.

[0088] As explained using Figures 10, 2, and 7, the operator 100a is provided on a first fixed surface that faces the operating unit 3 and exists in the axial direction of the fixed unit 1 (more specifically, the first fixed unit 1-1), and is equipped with a plurality of rotation electrodes covered with a dielectric layer 23, and a rotation conductive elastic body 4 that is provided on a first operating surface that is a surface that faces the first fixed surface in the operating unit 3 and faces the plurality of rotation electrodes, and among the plurality of rotation electrodes, adjacent rotation electrodes can be applied with a voltage. Moreover, the manipulator 100a includes a plurality of push-in electrodes that are provided on the surface of the second shaft portion of the first fixed portion 1-1 facing the second fixed portion 1-2 and are covered with a dielectric layer 230, and a push-in conductive elastic body 40 that is provided on the shaft side surface of the second fixed portion 1-2 and faces the plurality of push-in electrodes when the relative position of the operation unit 3 and the fixed portion 1 (more specifically, the second fixed portion 1-2) is at a preset relative position, and is capable of applying a voltage to two of the plurality of push-in electrodes that are adjacent to each other. In other words, the manipulator 100a has a configuration in which an electrostatic friction force is generated inside the operation unit 3 by the plurality of rotation electrodes and the rotation conductive elastic body 4, or by the plurality of push-in electrodes and the push-in conductive elastic body 40.

[0089] As described above, the manipulator 100a according to the second embodiment has a configuration for generating an electrostatic friction force inside the operation unit 3. This makes it possible for the manipulator 100a to eliminate the effects on the electrostatic friction force caused by the surface condition of the mounting surface of the mechanical switch, fluctuations in the distance between the electrodes and the mechanical switch due to distortion during rotation of the mechanical switch, and foreign matter adhering to the surface of the mounting surface of the mechanical switch, which are problems that arise when generating an electrostatic friction force between the rotation surface of a mechanical switch and the mounting surface of the mechanical switch in a conventional manner. By having a configuration for generating an electrostatic friction force inside the operation unit 3, the manipulator 100a can present a stable tactile sensation when generating an electrostatic friction force between the operation unit 3 (more specifically, the rotation conductive elastic body 4) and the multiple rotation electrodes during rotation of the operation unit 3, regardless of the state outside the operation unit 3. Furthermore, the manipulator 100a is configured to generate an electrostatic friction force parallel to the shaft 1a of the fixed portion 1 (more specifically, the first fixed portion 1-1) between the second fixed portion 1-2 (more specifically, the push-in conductive elastic body 40) and the multiple push-in electrodes. Note that in the second embodiment, "parallel" does not necessarily mean strictly parallel, but also includes approximately parallel. When the manipulator 100a generates an electrostatic friction force between the second fixed portion 1-2 (more specifically, the push-in conductive elastic body 40) and the multiple push-in electrodes when the operation unit 3 is pressed, it can present a stable tactile sensation regardless of the state outside the operation unit 3.

[0090] Next, a tactile control device 101a that controls the voltages applied to the multiple electrodes of the manipulator 100a will be described. FIG. 11 is a diagram showing a configuration example of the tactile control device 101a according to embodiment 2. In FIG. 11, components similar to those of the tactile control device 101 according to embodiment 1 described using FIG. 3 in embodiment 1 are denoted by the same reference numerals, and redundant description will be omitted. For ease of explanation, in FIG. 11, the first rotation electrode 21 and the first push-in electrode 210 are collectively referred to as "first electrodes 21, 210," and the second rotation electrode 22 and the second push-in electrode 220 are collectively referred to as "second electrodes 22, 220." The tactile control device 101a is connected to the manipulator 100a, and the manipulator 100a and the tactile control device 101a together constitute a tactile control system 102a. This is merely an example, and the tactile control device 101a may be mounted on the manipulator 100a, for example. 11, for simplicity of explanation, only the components of the operator 100a are shown, which are a plurality of electrodes (a plurality of first electrodes 21, 210 and a plurality of second electrodes 22, 220). The tactile control device 101a is connected to the HMI control unit 9. The HMI control unit 9 controls changes in the state of the HMI. The HMI control unit 9 outputs HMI control information to the tactile control device 101a.

[0091] The tactile control device 101a according to the second embodiment differs from the tactile control device 101 according to the first embodiment in that it includes a press detection unit 61. Furthermore, in the tactile control device 101a according to the second embodiment, the operation of the tactile waveform selection unit 72a and the tactile control unit 8a differs from the operation of the tactile waveform selection unit 72 and the tactile control unit 8 in the tactile control device 101 according to the first embodiment, respectively.

[0092] The press detection unit 61 detects a press on the operation unit 3. Specifically, the press detection unit 61 detects a press on the operation unit 3 by acquiring information about the press on the operation unit 3 detected by the press detection circuit 6 from the press detection circuit 6. The press detection unit 61 outputs information about the detected press on the operation unit 3 (hereinafter referred to as "press information") to the tactile control unit 8a. The press information includes information about the amount of press on the operation unit 3. The press detection unit 61 also outputs the press information to the HMI control unit 9. The HMI control unit 9 changes the state of the HMI based on the press information. For example, the HMI control unit 9 displays a screen indicating that an operation button has been executed in response to a press on the operation unit 3 of the manipulator 100a based on the press information.

[0093] The tactile control unit 8a outputs an instruction to the tactile waveform selector 72a to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated or pressed. Specifically, the tactile control unit 8a determines a tactile sensation corresponding to the state of the HMI, the rotation state of the operation unit 3, or the pressing state of the operation unit 3, based on the rotation information output from the rotation detector 11, the pressing information output from the pressing detector 61, and the HMI control information output from the HMI control unit 9. Then, based on the determined tactile sensation, the tactile control unit 8a outputs an instruction to the tactile waveform selector 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated or a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed.

[0094] An example of a method by which the tactile control unit 8a outputs a selection instruction will be described below. For example, the tactile control unit 8a determines whether the HMI state is one in which a rotational motion or a pressing motion is valid, and determines the tactile sensation to be presented based on the determination result of the HMI state and whether the operation unit 3 is being rotated or pressed. The tactile control unit 8a then outputs an instruction to select a tactile sensation presentation waveform corresponding to the determined tactile sensation.

[0095] The tactile control unit 8a determines whether the HMI state is a state in which a rotation action is valid or a state in which a pressing action is valid, based on the HMI control information output from the HMI control unit 9. The "HMI state in which a rotation action is valid" has already been explained in the first embodiment, so a duplicate explanation will be omitted. The "HMI state in which a pressing action is valid" refers to a state in which the HMI state can be operated by pressing the operation unit 3. For example, when the display device displays a selection button for "YES" or "NO" that is executed by pressing the operation unit 3, this is the "HMI state in which a pressing action is valid." On the other hand, for example, when the display device is preparing to display the selection button, the pressing button is not yet displayed, and therefore the "HMI state in which a pressing action is valid" is not the "HMI state."

[0096] The tactile control unit 8a also determines whether the operation unit 3 is rotating based on the rotation information output from the rotation detection unit 11. The operation unit 3 being rotated means that the operation unit 3 is currently being rotated. The tactile control unit 8a may determine whether the operation unit 3 is rotating, for example, based on the rotation information, depending on whether the position of the operation unit 3 is changing. The tactile control unit 8a also determines whether the operation unit 3 is being pressed, based on the press information output from the press detection unit 61. The operation unit 3 being pressed means that the operation unit 3 is currently being pressed. The tactile control unit 8a may determine whether the operation unit 3 is being pressed, for example, based on the press information, depending on whether the amount of press of the operation unit 3 is changing.

[0097] An example of a method in which the tactile control unit 8a outputs a selection instruction will be described in more detail below, dividing the cases into different states depending on the state of the HMI.

[0098] <Case (B-1)> When the HMI is in a state where a rotation action is enabled and a pressing action is enabled In the above <Case (B-1)>, the tactile control unit 8a determines to present a rotation tactile sensation if the operation unit 3 is rotating, regardless of whether the operation unit 3 is being pressed or not, and outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotating. If the operation unit 3 is not rotating but is being pressed, the tactile control unit 8a determines to present a pressing tactile sensation, and outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is being pressed. If the operation unit 3 is neither rotating nor being pressed, the tactile control unit 8a determines not to present a tactile sensation and does not output a selection instruction to the tactile waveform selection unit 72a.

[0099] When the HMI is in a state where both rotation and pressing are enabled, the operation unit 3 can be rotated or pressed. Therefore, the tactile control unit 8a, for example, determines whether the operation unit 3 is being rotated or pressed, and based on the determination result, determines whether to present a tactile sensation when the operation unit 3 is rotated or pressed. In the second embodiment, the tactile control unit 8a prioritizes the presentation of a tactile sensation when the operation unit 3 is rotated. That is, the tactile control unit 8a prioritizes the selection of a tactile presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated, and outputs the selected tactile sensation to the tactile waveform selection unit 72a. Note that this is merely an example. For example, the tactile control unit 8a may prioritize the presentation of a tactile sensation when the operation unit 3 is pressed. For example, the tactile control unit 8a may change whether to prioritize the tactile sensation when the operation unit 3 is rotated or pressed, depending on the state or application of the HMI. For example, if an operation button for turning on the audio, which is activated by pressing the operation unit 3, and a screen showing the volume, which is adjusted by rotating the operation unit 3, are displayed, the tactile control unit 8 may determine whether the operation unit 3 is being pressed in priority over determining whether the operation unit 3 is being rotated, and if it is being pressed, may decide to present the tactile sensation when the operation unit 3 is being pressed.

[0100] <Case (B-2)> When the HMI is in a state where a rotational motion is enabled and the HMI is not in a state where a pressing motion is enabled In the above <Case (B-2)>, the tactile control unit 8a determines to present a rotational tactile sensation if the operation unit 3 is rotating, and outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotating. The tactile control unit 8a determines not to present a tactile sensation if the operation unit 3 is not rotating, and does not output a selection instruction to the tactile waveform selection unit 72a. When the HMI is in a state where a rotational motion is enabled and the HMI is not in a state where a pressing motion is enabled, the tactile control unit 8a does not need to consider that the operation unit 3 is being pressed. Therefore, when the operation unit 3 is rotating, the tactile control unit 8a outputs an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotating.

[0101] <Case (B-3)> When the HMI is not in a state where a rotational motion is enabled and when the HMI is in a state where a pressing motion is enabled In the above <Case (B-3)>, the tactile control unit 8a determines to present a pressing tactile sensation if the operation unit 3 is being pressed, and outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is being pressed. The tactile control unit 8a determines not to present a tactile sensation if the operation unit 3 is not being pressed, and does not output a selection instruction to the tactile waveform selection unit 72a. When the HMI is not in a state where a rotational motion is enabled and when the HMI is in a state where a pressing motion is enabled, the tactile control unit 8a does not need to take into account that the operation unit 3 is being rotated. Therefore, when the operation unit 3 is being pressed, the tactile control unit 8a outputs an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is being pressed.

[0102] <Case (B-4)> When the HMI is in a state where neither rotational motion nor pressing motion is enabled In the above <Case (B-4)>, the tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation providing waveform that maximizes the electrostatic frictional force. Note that in the second embodiment, the tactile control unit 8a outputs an instruction to select a tactile sensation providing waveform that maximizes the electrostatic frictional force, but this is merely an example. It is sufficient for the tactile control unit 8a to output an instruction to select a tactile sensation providing waveform that generates an electrostatic frictional force that makes it difficult to rotate or press the operation unit 3.

[0103] The tactile waveform selection unit 72a selects a tactile sensation presentation waveform based on a selection instruction output from the tactile control unit 8a and outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform. Specifically, based on the selection instruction output from the tactile control unit 8a, the tactile waveform selection unit 72a selects a tactile sensation presentation waveform for rotating the operation unit 3 corresponding to the tactile sensation when rotating the operation unit 3, or a tactile sensation presentation waveform for pressing the operation unit 3 corresponding to the tactile sensation when pressing the operation unit 3. More specifically, when an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when rotating is output from the tactile control unit 8a, the tactile waveform selection unit 72a selects a tactile sensation presentation waveform that provides a tactile sensation when rotating the operation unit 3 and outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform to the multiple rotation electrodes. Furthermore, when an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed is output from the tactile control unit 8a, the tactile waveform selection unit 72a selects a tactile sensation presentation waveform that provides a tactile sensation when the operation unit 3 is pressed, and outputs an instruction to apply a voltage of the selected tactile sensation presentation waveform to the plurality of pressing electrodes. Note that the tactile sensation presentation waveform for when the operation unit 3 is rotated and the tactile sensation presentation waveform for when the operation unit 3 is pressed are set in advance and stored in the tactile waveform selection unit 72a. The tactile sensation presentation waveform for when the operation unit 3 is rotated and the tactile sensation presentation waveform for when the operation unit 3 is pressed may be the same waveform or different waveforms.

[0104] The tactile waveform selection unit 72a then outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform to the voltage generation circuit 71. More specifically, the tactile waveform selection unit 72a outputs an instruction to apply a voltage with the tactile sensation presentation waveform to the voltage generation circuit (1) 71a of the voltage generation circuit 71 to apply a voltage to each of the first electrodes 21, 210, and outputs an instruction to apply a voltage with the tactile sensation presentation waveform to each of the second electrodes 22, 220 to the voltage generation circuit (2) 71b of the voltage generation circuit 71. Note that the voltage generation circuit (1) 71a and the voltage generation circuit (2) 71b are not shown in FIG. 11 .

[0105] The voltage generation circuit 71 applies a voltage with a tactile sensation presentation waveform selected by the tactile waveform selection unit 72 to multiple electrodes based on an application instruction output from the tactile waveform selection unit 72a. More specifically, the voltage generation circuit (1) 71a applies a voltage with a tactile sensation presentation waveform selected by the tactile waveform selection unit 72a to each of the first electrodes 21, 210. The voltage generation circuit (2) 71b applies a voltage with a tactile sensation presentation waveform selected by the tactile waveform selection unit 72a to each of the second electrodes 22, 220. The voltage signals of the voltages applied to the first electrodes 21, 210 and the voltage signals of the voltages applied to the second electrodes 22, 220 are combined to generate an amplitude modulation signal. In areas where electrostatic capacitance is formed between the multiple electrodes and the conductive elastic body (the rotating conductive elastic body 4 or the pressing conductive elastic body 40), charging and discharging are repeated in accordance with the amplitude modulation signal. 11, the voltage generation circuit 71 is provided in the tactile control device 101a, but this is merely an example. The voltage generation circuit 71 may also be provided outside the tactile control device 101a and connected to the tactile control device 101a from outside the tactile control device 101a.

[0106] The following describes the operation of the tactile control device 101a according to embodiment 2. Fig. 12 is a flowchart for explaining the operation of the tactile control device 101a according to embodiment 2.

[0107] The rotation detection unit 11 detects the rotation of the operation unit 3 (step ST11). The rotation detection unit 11 outputs the rotation information to the tactile control unit 8a. The rotation detection unit 11 also outputs the rotation information to the HMI control unit 9.

[0108] The press detection unit 61 detects a press on the operation unit 3 (step ST21). The press detection unit 61 outputs press information to the tactile control unit 8a. The press detection unit 61 also outputs the press information to the HMI control unit 9.

[0109] The tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated or pressed (step ST31).

[0110] The tactile waveform selection unit 72a selects a tactile sensation presentation waveform based on the selection instruction output from the tactile control unit 8a. The tactile waveform selection unit 72a then outputs an instruction to the voltage generation circuit 71 to apply a voltage with the selected tactile sensation presentation waveform (step ST41). The voltage generation circuit 71 applies a voltage with the tactile sensation presentation waveform selected by the tactile waveform selection unit 72a to multiple electrodes (multiple rotation electrodes or multiple pressing electrodes) based on the application instruction output from the tactile waveform selection unit 72a.

[0111] 12, the tactile control device 101a performs the processes in the order of step ST11 and step ST21. However, the order of the processes in step ST11 and step ST21 is not limited to this. The order of the processes in step ST11 and step ST21 may be reversed, or the processes in step ST11 and step ST21 may be performed in parallel.

[0112] FIG. 13 is a flowchart for explaining an example of detailed operations of steps ST31 and ST41 in FIG.

[0113] The tactile control unit 8a determines whether or not a rotation operation is enabled as an HMI state based on the HMI control information output from the HMI control unit 9 (step ST301). If it is determined in step ST301 that a rotation operation is enabled as an HMI state ("YES" in step ST301), the tactile control unit 8a determines whether or not a pressing operation is enabled as an HMI state based on the HMI control information output from the HMI control unit 9 (step ST302).

[0114] In step ST302, if it is determined that the HMI state indicates that the pressing operation is enabled (if "YES" in step ST302), the tactile control unit 8a determines whether the operation unit 3 is rotating based on the rotation information output from the rotation detection unit 11 (step ST303).

[0115] If it is determined in step ST303 that the operation unit 3 is rotating ("YES" in step ST303), the tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation during rotation of the operation unit 3. The tactile waveform selection unit 72a selects a tactile sensation presentation waveform corresponding to the tactile sensation during rotation based on the selection instruction output from the tactile control unit 8a (step ST304). The tactile waveform selection unit 72a then outputs an instruction to the voltage generation circuit 71 to apply a voltage with a tactile sensation presentation waveform corresponding to the tactile sensation during rotation. The voltage generation circuit 71 applies a voltage with the tactile sensation presentation waveform selected by the tactile waveform selection unit 72a to the multiple rotation electrodes.

[0116] If it is determined in step ST303 that the operation unit 3 is not rotating (if "NO" in step ST303), the tactile sensation control unit 8a determines whether the operation unit 3 is being pressed based on the pressing information output from the pressing detection unit 61 (step ST305).

[0117] If it is determined in step ST305 that the operation unit 3 is being pressed ("YES" in step ST305), the tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed. The tactile waveform selection unit 72a selects a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed, based on the selection instruction output from the tactile control unit 8a (step ST306). The tactile waveform selection unit 72a then outputs an instruction to the voltage generation circuit 71 to apply a voltage with a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed. The voltage generation circuit 71 applies a voltage with the tactile sensation presentation waveform selected by the tactile waveform selection unit 72a to the multiple pressing electrodes.

[0118] If it is determined in step ST305 that the operation unit 3 is not being pressed ("NO" in step ST305), the tactile control unit 8a does not output a selection instruction. That is, the tactile waveform selection unit 72a does not select a tactile sensation providing waveform (step ST307). The voltage generation circuit 71 does not apply voltage to the multiple electrodes (the multiple rotation electrodes and the multiple pressing electrodes).

[0119] In step ST302, if it is determined that the HMI state does not allow pressing operations (if "NO" in step ST302), the tactile control unit 8a determines whether the operation unit 3 is rotating based on the rotation information output from the rotation detection unit 11 (step ST308).

[0120] If it is determined in step ST308 that the operation unit 3 is rotating ("YES" in step ST308), the tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the tactile sensation during rotation of the operation unit 3. The tactile waveform selection unit 72a selects a tactile sensation presentation waveform corresponding to the tactile sensation during rotation based on the selection instruction output from the tactile control unit 8a (step ST309). The tactile waveform selection unit 72a then outputs an instruction to the voltage generation circuit 71 to apply a voltage with a tactile sensation presentation waveform corresponding to the tactile sensation during rotation. The voltage generation circuit 71 applies a voltage with the tactile sensation presentation waveform selected by the tactile waveform selection unit 72a to the multiple rotation electrodes.

[0121] If it is determined in step ST308 that the operation unit 3 is not rotating ("NO" in step ST308), the tactile control unit 8a does not output a selection instruction. That is, the tactile waveform selection unit 72a does not select a tactile sensation providing waveform (step ST310). The voltage generation circuit 71 does not apply voltage to the multiple electrodes (the multiple rotation electrodes and the multiple pressing electrodes).

[0122] If it is not determined in step ST301 that the rotation operation is enabled in the HMI state (if "NO" in step ST301), that is, if the rotation operation is not enabled in the HMI state, the tactile control unit 8a determines whether the pressing operation is enabled in the HMI state based on the HMI control information output from the HMI control unit 9 (step ST311).

[0123] If it is determined in step ST311 that the HMI is in a state where pressing is enabled ("YES" in step ST311), the tactile control unit 8a determines whether the operation unit 3 is being pressed or not (step ST312) based on the pressing information output from the pressing detection unit 61. The specific operations of the tactile control unit 8a, tactile waveform selection unit 72a, and voltage generation circuit 71 in steps ST312 to ST314 are the same as the specific operations of the tactile control unit 8a, tactile waveform selection unit 72a, and voltage generation circuit 71 in steps ST305 to ST307, respectively, which have already been described, and therefore will not be described again.

[0124] If it is determined in step ST311 that the HMI is not in a state in which a pressing operation is valid ("NO" in step ST311), the tactile control unit 8a outputs an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform that maximizes the electrostatic friction force. The tactile waveform selection unit 72a selects a tactile sensation presentation waveform that maximizes the electrostatic friction force, to the voltage generation circuit 71. The tactile waveform selection unit 72a then outputs an instruction to the voltage generation circuit 71 to apply a voltage with the tactile sensation presentation waveform that maximizes the electrostatic friction force (step ST315). The voltage generation circuit 71 applies a voltage with the tactile sensation presentation waveform selected by the tactile waveform selection unit 72a to the multiple electrodes (the multiple rotation electrodes and the multiple pressing electrodes).

[0125] As described above, the tactile control device 101a according to the second embodiment is configured to output a selection instruction for a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 of the manipulator 100a is rotated or pressed, and, upon selecting the tactile sensation presentation waveform for rotation or the tactile sensation presentation waveform for pressing based on the selection instruction, output an application instruction for applying a voltage corresponding to the selected tactile sensation presentation waveform. This allows the tactile control device 101a to control the tactile sensation when the operation unit 3 of the manipulator 100a is rotated or pressed. The tactile control device 101a controls the voltages applied to the multiple electrodes, thereby causing the manipulator 100a to present a tactile sensation corresponding to the tactile sensation presentation waveform. In other words, the tactile control device 101a can cause the manipulator 100a to present a tactile sensation when the operation unit 3 is rotated or pressed. The manipulator 100a can present a tactile sensation when the operation unit 3 is rotated or pressed.

[0126] Furthermore, the tactile control device 101a according to the second embodiment outputs an instruction to select a tactile sensation providing waveform according to the state of the HMI that is the target of the rotation operation of the operation unit 3 or the depression operation of the operation unit 3, and outputs an application instruction to apply a voltage with the tactile sensation providing waveform selected based on the selection instruction. In this way, the tactile control device 101a can cause the operator 100a to present a tactile sensation linked to the HMI. The operator 100a can present a tactile sensation linked to the HMI.

[0127] In the second embodiment, a rotary encoder is used as an example of a rotation detection circuit, but this is merely one example. The rotation detection circuit may be an electrical rotation detection circuit that uses electrostatic capacitance detection, or may be a rotation detection circuit that optically detects rotation.

[0128] Furthermore, in the above-described second embodiment, the plurality of rotation electrodes are provided on the first fixed surface of the fixed portion 1 (more specifically, the first fixed portion 1-1), and the plurality of rotation electrodes and the conductive elastic body for rotation 4 are arranged to face each other in the pushing direction of the operation portion 3, in other words, in the axial direction. However, this is not limited to this. For example, as shown in FIGS. 14A and 14B , in the manipulator 100a, in addition to the plurality of rotation electrodes and the conductive elastic body for rotation 4 facing each other in the axial direction, the plurality of rotation electrodes and the conductive elastic body for rotation 4 may also be arranged to face each other around the shaft portion 1a (more specifically, the first shaft portion, shown as 1a-1 in FIG. 14B ). In this case, the manipulator 100a includes, in addition to the plurality of rotation electrodes that are provided on the first fixed surface (shown as 1b in FIG. 14B ) of the first fixed portion 1-1 and covered with the dielectric layer 23, a plurality of rotation electrodes that are provided around the shaft portion 1a (more specifically, the first shaft portion) and covered with the dielectric layer 23. The conductive elastic body for rotation 4 is provided on a first operation surface (designated 3a in FIG. 14B ) of the operation unit 3 and on a surface (designated 3b in FIG. 14B ) of the operation unit 3 facing the shaft portion 1a. When the relative positions of the operation unit 3 and the shaft portion 1a are set in a predetermined relative position, the conductive elastic body for rotation 4 faces a plurality of rotation electrodes provided around the shaft portion 1a of the shaft portion 1a. FIG. 14A is a top view of the manipulator 100a, and FIG. 14B is a cross-sectional view taken along the line A-A in FIG. 14A . For ease of explanation, FIG. 14A also illustrates the shaft portion 1a, dielectric layer 23, and conductive elastic body for rotation 4 provided inside the operation unit 3 of the manipulator 100a. Note that the manipulator 100a shown in FIG. 14 differs from the manipulator 100a shown in FIG. 10 in that a plurality of rotation electrodes and the conductive elastic body for rotation 4 are arranged to face each other around the shaft portion 1a.

[0129] 14A and 14B, for example, the dielectric layer 23 covering the plurality of rotation electrodes provided on the first fixed surface of the first fixed portion 1-1 and the dielectric layer 23 covering the plurality of rotation electrodes provided around the first shaft portion are shown as a common dielectric layer 23. This is merely one example, and for example, the manipulator 100a may each have a dielectric layer 23 covering the plurality of rotation electrodes provided on the first fixed surface of the first fixed portion 1-1 and a dielectric layer 23 covering the plurality of rotation electrodes provided around the first shaft portion.

[0130] 14A and 14B show, as an example, a plurality of rotation electrodes covered with a dielectric layer 23 provided on the inner peripheral surface of the first shaft portion, but this is merely an example. For example, a plurality of rotation electrodes covered with a dielectric layer 23 may be provided on the outer peripheral surface of the first shaft portion. In this case, a dielectric layer 23 covering a plurality of rotation electrodes provided on the outer peripheral surface of the first shaft portion is provided separately from the dielectric layer 23 covering a plurality of rotation electrodes provided on the first fixed surface of the first fixed portion 1-1. Also, for example, a plurality of rotation electrodes covered with a dielectric layer 23 may be provided on the inner peripheral surface and outer peripheral surface of the first shaft portion.

[0131] The detailed configuration of the rotation electrode 2 provided on the first fixed surface of the first fixed portion 1-1 is similar to the detailed configuration of the rotation electrode 2 described in embodiment 1 using Figure 2, and therefore a detailed description thereof will be omitted. Also, the detailed configuration of the rotation electrode 2 provided around the first shaft portion in the first shaft portion is similar to the detailed configuration of the rotation electrode 2 described in embodiment 1 using Figure 7, and therefore a detailed description thereof will be omitted.

[0132] Thus, in the second embodiment, the manipulator 100a includes, in addition to a plurality of rotation electrodes provided on the first fixed surface of the fixed unit 1 (more specifically, the first fixed unit 1-1) and covered with the dielectric layer 23, a plurality of rotation electrodes provided around the shaft 1a in the shaft 1a and covered with a dielectric layer. The conductive elastic body for rotation 4 may be provided on the first operation surface and on a surface of the operation unit 3 facing the shaft 1a, and may be configured to face the plurality of rotation electrodes provided around the shaft 1a when the relative positions of the operation unit 3 and the fixed unit 1 are set to a predetermined relative position. This allows the manipulator 100a to have a larger area over which the plurality of rotation electrodes and the conductive elastic body for rotation 4 face each other, compared to a case in which the manipulator 100a only includes a plurality of rotation electrodes provided on the first fixed surface of the fixed unit 1 and covered with the dielectric layer 23. In other words, the manipulator 100a can increase the number of locations where electrostatic force is generated. As a result, the manipulator 100a can generate a larger electrostatic friction force. It is easier to provide the plurality of rotation electrodes on the first fixed surface of the fixed portion 1 than to provide them around the shaft portion 1a on the shaft portion 1a.

[0133] Furthermore, in the second embodiment described above, the manipulator 100a includes a mechanism in which, when the operation unit 3 is pressed, a voltage is applied to multiple push electrodes to generate an electrostatic friction force. However, this is merely an example, and the manipulator 100a may include, for example, a mechanical push switch instead of this mechanism. FIGS. 15 and 16 are diagrams showing an example configuration of the manipulator 100a of the second embodiment described above, which does not include a mechanism for generating an electrostatic friction force in response to pressing of the operation unit 3, but instead includes a push detection switch SW. FIG. 15A is a top view of the manipulator 100a, and FIG. 15B is a cross-sectional view taken along line A-A in FIG. 15A. For ease of explanation, FIG. 15A also illustrates the shaft portion 1a and the rotating conductive elastic body 4 provided inside the operation unit 3 of the manipulator 100a. FIG. 16A is a top view of the manipulator 100a, and FIG. 16B is a cross-sectional view taken along line A-A in FIG. 16A. For ease of explanation, Fig. 16A also illustrates the shaft portion 1a, dielectric layer 23, and rotation conductive elastic body 4 provided inside the operation unit 3 of the operation element 100a. The operation element 100a shown in Fig. 15 differs from the operation element 100a shown in Fig. 10 in that it does not include the push-in electrode portion 200, the push-in conductive elastic body 40, the spring 5, and the push-in detection circuit 6, but instead includes a push-in detection switch SW. The operation element 100a shown in Fig. 16 differs from the operation element 100a shown in Fig. 14 in that it does not include the push-in electrode portion 200, the push-in conductive elastic body 40, the spring 5, and the push-in detection circuit 6, but instead includes a push-in detection switch SW.

[0134] The press detection switch SW is a mechanical push switch, such as a tactile switch, that detects a press on the operation unit 3. The press detection switch SW detects that the operation unit 3 has been pressed, and provides tactile feedback via the operation unit 3 to the user's finger or the like operating the operation unit 3. In this case, the configuration of the tactile control device 101a is similar to the configuration of the tactile control device 101 described in embodiment 1 using FIG. 3. The operation of the tactile control device 101a is similar to the operation of the tactile control device 101 described in embodiment 1 using the flowchart shown in FIG. 4.

[0135] In the second embodiment, a force sensor is used as an example of the press-down detection circuit 6, but this is merely an example. The press-down detection circuit 6 may be, for example, an electrical or optical proximity sensor.

[0136] Furthermore, in the above-described second embodiment, the tactile control unit 8a of the tactile control device 101a may calculate the amount of change in the rotational direction or the rotational speed of the position of the operation unit 3 based on the rotation information, and calculate the amount of change in the pressing direction or the pressing speed of the position of the operation unit 3 based on the pressing information, compare the amount of change in the rotational direction or the rotational speed of the position of the operation unit 3 with the amount of change in the pressing direction or the pressing speed of the position of the operation unit 3, and determine whether to output to the tactile waveform selection unit 72a an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated, or an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed. As a specific example, if the operation unit 3 is being rotated and pressed at the same time, the tactile control unit 8a may calculate the amount of change in the rotation of the operation unit 3 and the amount of change in the pressing of the operation unit 3, and compare the calculated amount of change in the rotation of the operation unit 3 with the calculated amount of change in the pressing of the operation unit 3. If the amount of change in the rotation of the operating unit 3 is greater than the amount of change in the pressing of the operating unit 3, the tactile control unit 8a outputs an instruction to select a tactile presentation waveform corresponding to the tactile sensation when the operating unit 3 is rotated, and if the amount of change in the pressing of the operating unit 3 is greater than the amount of change in the rotation of the operating unit 3, it outputs an instruction to select a tactile presentation waveform corresponding to the tactile sensation when the operating unit 3 is pressed.

[0137] Furthermore, in the above-described second embodiment, for example, the tactile control unit 8a may switch the selection instruction to output such that, if the rotation speed of the operation unit 3 is equal to or greater than a preset threshold (hereinafter referred to as the "threshold for determining rotation speed"), it outputs an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated, and, if the rotation speed of the operation unit 3 is less than the threshold for determining rotation speed and the pressing speed of the operation unit 3 is equal to or greater than a preset threshold (hereinafter referred to as the "threshold for determining pressing speed"), it outputs an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is pressed.

[0138] Furthermore, in the above-described second embodiment, in the tactile control device 101a, the tactile control unit 8a outputs either an instruction to select a tactile sensation presentation waveform corresponding to the sensation when rotating the operation unit 3 or an instruction to select a tactile sensation presentation waveform corresponding to the sensation when pressing the operation unit 3, but this is merely an example. For example, the tactile control unit 8a may determine a weight based on the rotation information and the pressing information, and output a selection instruction to the tactile waveform selection unit 72a to select a waveform that combines a tactile sensation presentation waveform corresponding to the sensation when rotating the operation unit 3 and a tactile sensation presentation waveform corresponding to the sensation when pressing the operation unit 3. Based on the selection instruction output from the tactile control unit 8a, the tactile waveform selection unit 72a selects, as the tactile sensation presentation waveform, a waveform that combines a tactile sensation presentation waveform corresponding to the sensation when rotating the operation unit 3 and a tactile sensation presentation waveform corresponding to the sensation when pressing the operation unit 3.

[0139] Furthermore, in the above-described second embodiment, the tactile control device 101a can also cause the operator 100a to simultaneously present a tactile sensation corresponding to the rotation operation of the operation unit 3 and a tactile sensation corresponding to the pressing operation of the operation unit 3. In this case, in the tactile control device 101a, for example, when an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation when rotating is output from the tactile control unit 8a, the tactile waveform selection unit 72a selects a tactile sensation presentation waveform that imparts a tactile sensation when rotating the operation unit 3 and outputs an instruction to apply a voltage of the selected tactile sensation presentation waveform to the multiple rotation electrodes. Furthermore, for example, when an instruction to select a tactile sensation presentation waveform that imparts a tactile sensation when pressing the operation unit 3 is output from the tactile control unit 8a, the tactile waveform selection unit 72a selects a tactile sensation presentation waveform that imparts a tactile sensation when pressing the operation unit 3 and outputs an instruction to apply a voltage of the selected tactile sensation presentation waveform to the multiple pressing electrodes. The tactile waveform selection unit 72a independently outputs instructions to the voltage generation circuit 71 to apply voltages with a tactile sensation presentation waveform to the plurality of rotation electrodes and instructions to apply voltages with a tactile sensation presentation waveform to the plurality of pressing electrodes. In other words, the tactile waveform selection unit 72a simultaneously outputs instructions to the voltage generation circuit 71 to apply voltages with a tactile sensation presentation waveform to the plurality of rotation electrodes and instructions to apply voltages with a tactile sensation presentation waveform to the plurality of pressing electrodes.

[0140] 7 in the first embodiment, the rotation electrode unit 200 includes a plurality of rotation electrodes provided around the shaft 1 a and a dielectric layer 23 covering the plurality of rotation electrodes. In this case, the rotation electrodes are replaced with a plurality of pressing electrodes, the dielectric layer 23 is replaced with a dielectric layer 230, the lead wire 21 a is replaced with a first pressing-in lead wire (not shown), the lead wire 21 b is replaced with a second pressing-in lead wire (not shown), the voltage generation circuit (1) 71 a is replaced with a first pressing-in voltage generation circuit (not shown), and the voltage generation circuit (2) 71 b is replaced with a second pressing-in voltage generation circuit (not shown). The pressing-in voltage generation circuit (not shown) includes a first pressing-in voltage generation circuit and a second pressing-in voltage generation circuit. Each first pushing electrode 210 and each second pushing electrode 220 is connected to a pushing voltage generation circuit that applies a voltage to the plurality of pushing electrodes via a first pushing lead-out wiring and a second pushing lead-out wiring, respectively. The first pushing voltage generation circuit applies a voltage to the plurality of first pushing electrodes 210 via the first pushing lead-out wiring. The second pushing voltage generation circuit applies a voltage to the plurality of second pushing electrodes 220 via the second pushing lead-out wiring.

[0141] In this case, the operation of the tactile control device 101a explained using the flowchart of FIG. 13, for example, the processing of step ST303 and the processing of step ST305 are performed in parallel.

[0142] Furthermore, in the second embodiment described above, the tactile control device 101a controls the applied voltage to present various tactile sensations to the operator 100a when the operation unit 3 is rotated or pressed. For example, the tactile control device 101a can present a tactile sensation in which the operation unit 3 becomes heavier the more the operation unit 3 of the operator 100a is rotated. Specifically, in the tactile control device 101a, when the tactile control unit 8a detects that the operation unit 3 is being rotated, it outputs an instruction to the tactile waveform selection unit 72a to select a tactile presentation waveform that presents a tactile sensation that becomes heavier depending on the duration of the rotation of the operation unit 3. Based on the selection instruction output from the tactile control unit 8a, the tactile waveform selection unit 72a selects a tactile presentation waveform that presents a tactile sensation that becomes heavier depending on the duration of the rotation of the operation unit 3. The tactile waveform selection unit 72a stores various patterns of tactile presentation waveforms for rotation. In this way, for example, by being able to output an instruction to select a tactile sensation presentation waveform according to the amount of rotation of the operating unit 3, the tactile sensation control device 101a can present a tactile sensation to the operator 100a according to the amount of rotation of the operating unit 3, or control torque according to the amount of rotation of the operating unit 3.

[0143] Furthermore, for example, the tactile control unit 8a can also cause the tactile sensation presented to the operating unit 3 of the operator 100a to increase in weight as the operating unit 3 is pressed further. Specifically, in the tactile control device 101a, when the tactile control unit 8a detects that the operating unit 3 is being pressed, it outputs to the tactile waveform selection unit 72a an instruction to select a tactile sensation presentation waveform that presents a tactile sensation that increases in weight depending on the duration of the pressing of the operating unit 3. Based on the selection instruction output from the tactile control unit 8a, the tactile waveform selection unit 72a selects a tactile sensation presentation waveform that presents a tactile sensation that increases in weight depending on the duration of the pressing of the operating unit 3. Note that the tactile waveform selection unit 72a stores various patterns of tactile sensation presentation waveforms for pressing. In this way, for example, by being able to output an instruction to select a tactile sensation presentation waveform depending on the amount of pressing of the operating unit 3, the tactile control device 101a can present a tactile sensation to the operating unit 100a depending on the amount of pressing of the operating unit 3, or control the weight of the operating unit 3.

[0144] The method is not limited to the above, and the manipulator 100a can be made to present various tactile sensations, for example, by configuring the manipulator 100a so that the area over which the multiple electrodes (multiple rotation electrodes or multiple pressing electrodes) face the conductive elastic body (the conductive elastic body for rotation 4 or the conductive elastic body for pressing 40) changes depending on the amount of rotation of the operation unit 3 or the amount of pressing of the operation unit 3. In the above second embodiment, the manipulator 100a can be made to present various tactile sensations, for example, by configuring the manipulator 100a so that the area over which the multiple electrodes (multiple rotation electrodes or multiple pressing electrodes) face the conductive elastic body (the conductive elastic body for rotation 4 or the conductive elastic body for pressing 40) changes depending on the amount of rotation of the operation unit 3 or the amount of pressing of the operation unit 3. Furthermore, the operator 100a can control, for example, whether the weight of rotation or the weight of pressing of the operation unit 3 is controlled linearly or whether it increases when the amount of rotation or pressing reaches a certain amount or more, by controlling the area over which the multiple electrodes (multiple rotation electrodes or multiple pressing electrodes) face the conductive elastic body (the conductive elastic body for rotation 4 or the conductive elastic body for pressing 40). Therefore, the tactile sensation control device 101a can control the strength of the tactile sensation of the operator 100a while reducing the number of tactile sensation presentation waveform patterns of the voltage applied to the operator 100a.

[0145] Furthermore, in the tactile control device 101a according to the second embodiment, the tactile control unit 8a can also output, based on the rotation information, to the tactile waveform selection unit 72a, an instruction to select a tactile sensation presentation waveform corresponding to the rotational position of the operation unit 3. For example, when the operation unit 3 is in a rotational position at which a tactile sensation is to be presented, the tactile control unit 8a outputs a selection instruction to the tactile waveform selection unit 72a to select a rotational tactile sensation presentation waveform for presenting a tactile sensation at that rotational position. When the operation unit 3 is in a rotational position at which a tactile sensation is to be presented, the tactile control unit 8a outputs a selection instruction to the tactile waveform selection unit 72a to select a rotational tactile sensation presentation waveform for presenting a tactile sensation at that rotational position. As a result, the tactile sensation presented by the operation element 100a is the same as the tactile sensation presented by the operation element 100 according to the first embodiment, as described in connection with FIGS. 8A, 8B, and 8C, and therefore will not be described in detail again. By being able to output an instruction to select a tactile sensation presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operating unit 3, the tactile sensation control device 101a can present a tactile sensation to the operator 100a according to the rotational position of the operating unit 3, or control torque according to the rotational position of the operating unit 3.

[0146] Furthermore, for example, in the tactile control device 101a, the tactile control unit 8a can also output, based on the pressing information, an instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform corresponding to the pressing amount of the operation unit 3. The pressing information includes information related to the pressing amount of the operation unit 3. Based on the pressing information, the tactile control unit 8a can determine how much the operation unit 3 is currently being pressed. For example, when the pressing amount of the operation unit 3 is a pressing amount that will present a tactile sensation, the tactile control unit 8a can output a selection instruction to the tactile waveform selection unit 72a to select a pressing tactile sensation presentation waveform for presenting a tactile sensation at that pressing amount.

[0147] Furthermore, in the second embodiment described above, for example, the operator 100a may be configured without the rotation detection circuit and the depression detection circuit 6, regardless of whether the operator 100a has a rotation function or a depression function. In this case, the tactile control device 101a does not necessarily have to include the rotation detection unit 11 and the depression detection unit 61. For example, in the tactile control device 101a, when the power to the tactile control device 101a is turned on, the tactile control unit 8a outputs a selection instruction to the tactile waveform selection unit 72a to select a tactile sensation presentation waveform for rotation or a tactile sensation presentation waveform for depression. The tactile control unit 8a may determine whether to select a tactile sensation presentation waveform for rotation or a tactile sensation presentation waveform for depression, for example, according to appropriate preset conditions. In this case, steps ST11 and ST21 can be omitted from the operation of the tactile control device 101a described using the flowchart of FIG. 12.

[0148] In the second embodiment, the operator 100a is linked to an HMI (Human Machine Interface), but this is merely an example. The operator 100a does not necessarily have to be linked to an HMI.

[0149] Furthermore, in the second embodiment described above, the operating unit 3 of the manipulator 100a has a cylindrical shape, but this is merely an example. The operating unit 3 may have any suitable shape. The operating unit 3 is only required to be attached to the shaft 1a of the fixed unit 1 of the manipulator 100a, be rotatable around the shaft 1a, or be pushable in the direction of the shaft 1a, and have elastic bodies facing a plurality of rotation electrodes provided on at least the first fixed surface of the first fixed unit 1-1 in the operating unit 3, and have elastic bodies facing a plurality of push-in electrodes provided on the surface of the second shaft portion of the first fixed unit 1-1 facing the second fixed unit 1-2.

[0150] In the second embodiment described above, the plurality of electrodes includes the plurality of first electrodes 21, 210 and the plurality of second electrodes 22, 220, but this is merely an example. It is sufficient that the plurality of rotation electrodes includes at least two electrodes, and the plurality of push-in electrodes includes at least two electrodes. It is sufficient that voltages can be applied to at least two adjacent rotation electrodes and two adjacent push-in electrodes in the manipulator 100a.

[0151] The hardware configuration of the tactile control device 101a according to embodiment 2 is the same as the hardware configuration of the tactile control device 101 according to embodiment 1 described using Figures 9A and 9B in embodiment 1, and therefore is not shown in the drawings. In embodiment 2, the functions of the rotation detection unit 11, the press-down detection unit 61, the tactile control unit 8a, and the tactile waveform selection unit 72a are realized by a processing circuit 1001. In other words, the tactile control device 101a includes a processing circuit 1001 for controlling the magnitude of the electrostatic friction force by controlling the voltage applied to multiple electrodes (multiple rotation electrodes and multiple press-down electrodes), and for controlling the associated tactile sensation.

[0152] The processing circuit 1001 reads and executes programs stored in the memory 1005, thereby performing the functions of the rotation detection unit 11, the press detection unit 61, the tactile control unit 8a, and the tactile waveform selection unit 72a. In other words, the tactile control device 101a includes a memory 1005 for storing a program that, when executed by the processing circuit 1001, results in the execution of steps ST11 to ST41 of FIG. 12 . The programs stored in the memory 1005 can also be said to cause a computer to execute the processing procedures or methods of the rotation detection unit 11, the press detection unit 61, the tactile control unit 8a, and the tactile waveform selection unit 72a. The tactile control device 101a also includes a voltage generation circuit 71. The tactile control device 101a also includes an input interface device 1002 and an output interface device 1003 that communicate via wired or wireless communication with devices such as the operator 100a or the HMI control unit 9.

[0153] In the second embodiment described above, the tactile control device 101a may be mounted on the operator 100a or may be provided in a server. Also, some of the rotation detection unit 11, the depression detection unit 61, the tactile control unit 8a, and the tactile waveform selection unit 72a may be provided in the server, and the rest may be provided in the operator 100a.

[0154] As described above, the manipulator 100a according to the second embodiment is a manipulator 100a having a fixed portion 1 having an axial portion 1a that functions as an axis, and an operating portion 3 that is attached to the axial portion 1a and is rotatable around the axial portion 1a and can be pushed in the axial direction, and is provided with a first fixed surface that faces the operating portion 3 and exists in the axial direction of the fixed portion 1 (more specifically, the first fixed portion 1-1), and is a plurality of electrodes covered with a dielectric layer, to which a voltage can be applied when the operating portion 3 rotates, and a rotational conductor (rotational conductive elastic body 4) that is provided on a first operating surface that faces the first fixed surface of the operating portion 3, and that faces the plurality of rotational electrodes when the relative position of the operating portion 3 and the fixed portion 1 is at a predetermined relative position, and a voltage can be applied to two adjacent electrodes among the plurality of rotational electrodes. In addition, in the manipulator 100a, the shaft 1a includes a first shaft to which the operating unit 3 is attached and a second shaft located on the opposite side of the first shaft with the first fixed surface in between, the operating unit 3 is attached to the first shaft and is rotatable around the first shaft and can be pushed in the axial direction, and the fixed unit 1 has a first fixed unit 1-1 that has the shaft 1a and can be pushed in the axial direction together with the operating unit 3, a second fixed surface that is a surface opposite to the first fixed surface of the first fixed unit 1-1, and a shaft side surface that is a surface opposite to the second shaft of the first fixed unit 1-1. The manipulator 100a includes a second fixed portion 1-2, a plurality of electrodes provided on the surface of the second shaft portion facing the second fixed portion 1-2 and covered with a dielectric layer 230, the plurality of push-in electrodes being capable of applying a voltage when the operating unit 3 is pushed in, and a push-in conductor (pushing conductive elastic body 40) provided on the axial side surface of the second fixed portion 1-2 and facing the plurality of push-in electrodes when the relative positions of the operating unit 3 and the second fixed portion 1-2 are in a predetermined relative position, and a voltage can be applied to two adjacent push-in electrodes among the plurality of push-in electrodes. This allows the manipulator 100a to stably present a tactile sensation. As a result, the manipulator 100a can stably provide a tactile effect to the user.

[0155] The tactile control device 101a according to the second embodiment includes a fixed unit 1 having a shaft 1a that functions as a shaft, and a manipulator 100a that is attached to the shaft 1a, is rotatable about the shaft 1a, and is axially depressible. The tactile control device 101a controls the tactile sensation when the manipulator 3 is rotated or depressed. The tactile control unit 8a outputs a selection instruction for a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the manipulator 3 is rotated or depressed. The tactile sensation presentation waveform selection unit 72a selects a tactile sensation presentation waveform based on the selection instruction output from the tactile control unit 8a and outputs an instruction to apply a voltage corresponding to the selected tactile sensation presentation waveform. This allows the tactile control device 101a to present a stable tactile sensation to the manipulator 100a. As a result, the tactile control device 101a can provide a stable tactile sensation to the user through the manipulator 100a.

[0156] Embodiment 3. In embodiment 1, the operator is provided with one rotation electrode portion. In embodiment 3, an embodiment will be described in which the operator is provided with a plurality of rotation electrode portions. In the following embodiment 3, as in embodiment 1, the operator is an operator having an operating portion that can rotate around an axis portion of a fixed portion. Furthermore, like the operator in embodiment 1, the operator in embodiment 3 is provided, for example, in an on-board device installed in a vehicle.

[0157] First, a configuration example of a manipulator according to embodiment 3 will be described. FIG. 17 is a diagram illustrating a configuration example of a manipulator 100b according to embodiment 3. FIG. 17A is a top view of the manipulator 100b, FIG. 17B is a cross-sectional view taken along line A-A in FIG. 17A, and FIG. 17C is a top view of the manipulator 100b as viewed from the direction B-B in FIG. 17B. For ease of explanation, FIG. 17A also illustrates the shaft portion 1a and the conductive elastic body for rotation 4 provided inside the operation unit 3 of the manipulator 100b. For ease of explanation, FIG. 17C omits the dielectric layer 23. The manipulator 100b shown in FIG. 17 differs from the manipulator 100 described in embodiment 1 using FIG. 1 in that it includes multiple rotation electrode units 2. In FIG. 17, components similar to those of the manipulator 100 described using FIG. 1 are designated by the same reference numerals, and redundant explanations will be omitted.

[0158] The manipulator 100b shown in FIG. 17 includes two rotational electrode units 2. Here, the two rotational electrode units 2 included in the manipulator 100b are referred to as a first rotational electrode unit 201 and a second rotational electrode unit 202. In FIG. 17, the second rotational electrode unit 202 is provided on the first fixed surface of the fixed unit 1 (indicated by 1b in FIG. 17B). The second rotational electrode unit 202 has a circular shape whose center overlaps with the center of the first fixed surface of the fixed unit 1 and covers a certain portion of the first fixed surface. The first rotational electrode unit 201 is provided on the first fixed surface of the fixed unit 1 and has a donut shape that surrounds the outer periphery of the second rotational electrode unit 202 on the first fixed surface of the fixed unit 1. The first rotational electrode unit 201 and the second rotational electrode unit 202 are not in contact with each other.

[0159] The first rotation electrode portion 201 includes a plurality of rotation electrodes (a plurality of first rotation electrodes 21 and a plurality of second rotation electrodes 22) and a dielectric layer 23 covering the plurality of rotation electrodes. The second rotation electrode portion 202 includes a plurality of rotation electrodes (a plurality of first rotation electrodes 21 and a plurality of second rotation electrodes 22) and a dielectric layer 23 covering the plurality of rotation electrodes. In FIG. 17 , the plurality of rotation electrodes included in the first rotation electrode portion 201, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-1 and a plurality of second rotation electrodes 22-1. Furthermore, the plurality of rotation electrodes included in the second rotation electrode portion 202, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-2 and a plurality of second rotation electrodes 22-2.

[0160] The detailed configurations of the first rotation electrode unit 201 and the second rotation electrode unit 202 are the same as the detailed configuration of the rotation electrode unit 2 already described using Figure 2 in Embodiment 1, except for the different shapes, and therefore detailed description will be omitted. The first rotation electrode unit 201 is provided with a plurality of comb-tooth-shaped first rotation electrodes 21-1 and a plurality of comb-tooth-shaped second rotation electrodes 22-1, such that the first rotation electrodes 21-1 and the second rotation electrodes 22-1 are arranged alternately. Furthermore, the second rotation electrode unit 202 is provided with a plurality of comb-tooth-shaped first rotation electrodes 21-2 and a plurality of comb-tooth-shaped second rotation electrodes 22-2, such that the first rotation electrodes 21-2 and the second rotation electrodes 22-2 are arranged alternately.

[0161] Of the multiple rotation electrodes, a voltage can be applied to two adjacent rotation electrodes (the first rotation electrode 21-1 and the second rotation electrode 22-1, and the first rotation electrode 21-2 and the second rotation electrode 22-2). Each of the first rotation electrodes 21-1, 21-2 and each of the second rotation electrodes 22-1, 22-2 is connected via lead wiring (not shown) to a voltage generation circuit 71 (hereinafter referred to as the "first voltage generation circuit 71-1") and a voltage generation circuit 71 (hereinafter referred to as the "second voltage generation circuit 71-2") that apply a voltage to the multiple rotation electrodes. The first voltage generation circuit 71-1 has a voltage generation circuit (3) (not shown) and a voltage generation circuit (4) (not shown). The second voltage generation circuit 71-2 has a voltage generation circuit (5) (not shown) and a voltage generation circuit (6) (not shown). The voltage generation circuit (3) applies a voltage to the plurality of first rotation electrodes 21-1 via lead-out wiring. The voltage generation circuit (4) applies a voltage to the plurality of second rotation electrodes 22-1 via lead-out wiring. The voltage generation circuit (5) applies a voltage to the plurality of first rotation electrodes 21-2 via lead-out wiring. The voltage generation circuit (6) applies a voltage to the plurality of second rotation electrodes 22-2 via lead-out wiring. The application of voltages is controlled by the tactile control device 101b. An example configuration of the tactile control device 101b will be described later. In this way, in the operator 100b, voltages can be applied independently to the plurality of rotation electrodes included in the first rotation electrode unit 201 and the plurality of rotation electrodes included in the second rotation electrode unit 202.

[0162] In the manipulator 100b shown in Fig. 17, multiple rotation electrode units 2 (first rotation electrode unit 201 and second rotation electrode unit 202) to which voltages can be applied independently are all provided on the first fixed surface of the fixed unit 1, but the arrangement of the first rotation electrode unit 201 and the second rotation electrode unit 202 shown in Fig. 17 is merely one example. Below, several examples of other arrangements of the multiple rotation electrode units 2 in the manipulator 100b will be described.

[0163] FIG. 18 is a diagram illustrating another exemplary configuration of the manipulator 100b according to embodiment 3. FIG. 18A is a top view of the manipulator 100b, FIG. 18B is a cross-sectional view taken along line A-A in FIG. 18A, and FIG. 18C is a top view of the manipulator 100b as viewed from the direction B-B in FIG. 18B. For ease of explanation, FIG. 18A also illustrates the shaft portion 1a, dielectric layer 23, and conductive elastic body for rotation 4 provided inside the operation unit 3 of the manipulator 100b. Also, for ease of explanation, FIG. 18C omits the illustration of the dielectric layer 23. The manipulator 100b shown in Fig. 18 differs from the manipulator 100 described in embodiment 1 using Fig. 6 in that, of the multiple rotation electrode units 2, the rotation electrode unit 2 including multiple rotation electrodes provided on the first fixed surface (shown as 1b in Fig. 18B) of the fixed unit 1 is designated as the second rotation electrode unit 202, and the rotation electrode unit 2 including multiple rotation electrodes provided around the shaft unit 1a on the shaft unit 1a is designated as the first rotation electrode unit 201. In Fig. 18, components similar to those of the manipulator 100 described using Fig. 6 are designated by the same reference numerals, and redundant description will be omitted.

[0164] The first rotation electrode portion 201 includes a plurality of rotation electrodes (a plurality of first rotation electrodes 21 and a plurality of second rotation electrodes 22) and a dielectric layer 23 covering the plurality of rotation electrodes. The second rotation electrode portion 202 includes a plurality of rotation electrodes (a plurality of first rotation electrodes 21 and a plurality of second rotation electrodes 22) and a dielectric layer 23 covering the plurality of rotation electrodes. In FIG. 18 , the plurality of rotation electrodes included in the first rotation electrode portion 201, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-1 and a plurality of second rotation electrodes 22-1. Furthermore, the plurality of rotation electrodes included in the second rotation electrode portion 202, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-2 and a plurality of second rotation electrodes 22-2.

[0165] The detailed configuration of the first rotation electrode unit 201 is similar to the detailed configuration of the rotation electrode unit 2 already described in embodiment 1 using FIG. 7 , and therefore a detailed description thereof will be omitted. The detailed configuration of the second rotation electrode unit 202 is similar to the detailed configuration of the rotation electrode unit 2 already described in embodiment 1 using FIG. 2 , and therefore a detailed description thereof will be omitted. The first rotation electrode unit 201 includes a plurality of comb-tooth-shaped first rotation electrodes 21-1 and a plurality of comb-tooth-shaped second rotation electrodes 22-1, such that the first rotation electrodes 21-1 and the second rotation electrodes 22-1 are alternately arranged. Furthermore, the second rotation electrode unit 202 includes a plurality of comb-tooth-shaped first rotation electrodes 21-2 and a plurality of comb-tooth-shaped second rotation electrodes 22-2, such that the first rotation electrodes 21-2 and the second rotation electrodes 22-2 are alternately arranged.

[0166] Of the multiple rotation electrodes, a voltage can be applied to two adjacent rotation electrodes (the first rotation electrode 21-1 and the second rotation electrode 22-1, and the first rotation electrode 21-2 and the second rotation electrode 22-2). Each of the first rotation electrodes 21-1, 21-2 and each of the second rotation electrodes 22-1, 22-2 are connected via lead wires (not shown) to a first voltage generation circuit 71-1 and a second voltage generation circuit 71-2, which apply a voltage to the multiple rotation electrodes. The first voltage generation circuit 71-1 and the second voltage generation circuit 71-2 have already been described in the description of the control element 100b shown in FIG. 17, so a detailed description thereof will be omitted. The application of voltage is controlled by the tactile control device 101b. In the operator 100b, a voltage can be applied independently to the plurality of rotation electrodes included in the first rotation electrode portion 201 and the plurality of rotation electrodes included in the second rotation electrode portion 202.

[0167] In this way, in the manipulator 100b, multiple rotation electrode portions 2 (first rotation electrode portion 201 and second rotation electrode portion 202) to which voltages can be applied independently may be provided on the first fixed surface of the fixed portion 1 and around the shaft portion 1a on the shaft portion 1a.

[0168] In the example described above, there are two rotation electrodes 2 to which a voltage can be applied independently, but this is merely an example. The operator 100b may also be configured to include three or more rotation electrodes 2 to which a voltage can be applied independently.

[0169] FIG. 19 is a diagram illustrating another exemplary configuration of the manipulator 100b according to the third embodiment. FIG. 19A is a top view of the manipulator 100b, FIG. 19B is a cross-sectional view taken along line A-A in FIG. 19A, and FIG. 19C is a top view of the manipulator 100b as viewed from the direction B-B in FIG. 19B. For ease of explanation, FIG. 19A also illustrates the shaft portion 1a, dielectric layer 23, and conductive elastic body for rotation 4 provided inside the operation unit 3 of the manipulator 100b. Also, for ease of explanation, FIG. 19C omits the dielectric layer 23. The manipulator 100b illustrated in FIG. 19 differs from the manipulator 100 described in FIG. 1 of the first embodiment in that it includes multiple rotation electrode units 2. In FIG. 19, components similar to those of the manipulator 100 described in FIG. 1 are designated by the same reference numerals, and redundant description will be omitted.

[0170] The manipulator 100b shown in FIG. 19 includes three rotational electrode units 2. Here, the three rotational electrode units included in the manipulator 100b are referred to as a first rotational electrode unit 201, a second rotational electrode unit 202, and a third rotational electrode unit 203. In FIG. 19, the third rotational electrode unit 203 is provided on the first fixed surface of the fixed unit 1 (shown as 1b in FIG. 19). The third rotational electrode unit 203 has a circular shape whose center overlaps with the center of the first fixed surface of the fixed unit 1 and covers a certain portion of the first fixed surface. The second rotational electrode unit 202 is provided on the first fixed surface of the fixed unit 1 and has a donut shape that surrounds the outer periphery of the third rotational electrode unit 203 on the first fixed surface of the fixed unit 1. The second rotational electrode unit 202 and the third rotational electrode unit 203 do not contact each other. The first rotating electrode portion 201 is provided around the shaft portion 1a.

[0171] Each of the first to third rotation electrode portions 201 to 203 includes a plurality of rotation electrodes (a plurality of first rotation electrodes 21 and a plurality of second rotation electrodes 22) and a dielectric layer 23 covering the plurality of rotation electrodes. In FIG. 19 , the plurality of rotation electrodes included in the first rotation electrode portion 201, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-1 and a plurality of second rotation electrodes 22-1. Furthermore, the plurality of rotation electrodes included in the second rotation electrode portion 202, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-2 and a plurality of second rotation electrodes 22-2. In addition, the multiple rotation electrodes included in the third rotation electrode portion 203, specifically the multiple first rotation electrodes 21 and the multiple second rotation electrodes 22, are respectively referred to as multiple first rotation electrodes 21-3 and multiple second rotation electrodes 22-3.

[0172] The detailed configuration of the first rotation electrode portion 201 is similar to the detailed configuration of the rotation electrode portion 2 already described in embodiment 1 using FIG. 7 , and therefore a detailed description thereof will be omitted. The detailed configurations of the second rotation electrode portion 202 and the third rotation electrode portion 203 are similar to the detailed configuration of the rotation electrode portion 2 already described in embodiment 1 using FIG. 2 , except for the difference in shape, and therefore a detailed description thereof will be omitted. The first rotation electrode portion 201 is provided with a plurality of comb-tooth-shaped first rotation electrodes 21-1 and a plurality of comb-tooth-shaped second rotation electrodes 22-1, such that the first rotation electrodes 21-1 and the second rotation electrodes 22-1 are arranged alternately. Furthermore, the second rotation electrode portion 202 is provided with a plurality of comb-tooth-shaped first rotation electrodes 21-2 and a plurality of comb-tooth-shaped second rotation electrodes 22-2, such that the first rotation electrodes 21-2 and the second rotation electrodes 22-2 are arranged alternately. In addition, the third rotation electrode portion 203 is provided with a plurality of comb-tooth-shaped first rotation electrodes 21-3 and a plurality of comb-tooth-shaped second rotation electrodes 22-3, with the first rotation electrodes 21-3 and the second rotation electrodes 22-3 arranged alternately.

[0173] Of the multiple rotation electrodes, a voltage can be applied to two adjacent rotation electrodes (first rotation electrode 21-1 and second rotation electrode 22-1, first rotation electrode 21-2 and second rotation electrode 22-2, first rotation electrode 21-3 and second rotation electrode 22-3). Each of the first rotation electrodes 21-1, 21-2, and 21-3 and each of the second rotation electrodes 22-1, 22-2, and 22-3 are connected via lead-out wiring (not shown) to a voltage generation circuit 71 (first voltage generation circuit 71-1, second voltage generation circuit 71-2, and third voltage generation circuit 71-3) that applies a voltage to the multiple rotation electrodes. The first voltage generation circuit 71-1 and the second voltage generation circuit 71-2 have already been described in the description of the control 100b shown in FIG. 17, so a detailed description thereof will be omitted. The third voltage generation circuit 71-3 has a voltage generation circuit (7) (not shown) and a voltage generation circuit (8) (not shown). The voltage generation circuit (7) applies a voltage to the plurality of first rotation electrodes 21-3 via lead-out wiring. The voltage generation circuit (8) applies a voltage to the plurality of second rotation electrodes 22-3 via lead-out wiring. The application of voltage is controlled by the tactile sensation control device 101b. In the operator 100b, voltages can be applied independently to the plurality of rotation electrodes included in the first rotation electrode unit 201, the plurality of rotation electrodes included in the second rotation electrode unit 202, and the plurality of rotation electrodes included in the third rotation electrode unit 203.

[0174] FIG. 20 is a diagram illustrating another exemplary configuration of the manipulator 100b according to the third embodiment. FIG. 20A is a top view of the manipulator 100b, FIG. 20B is a cross-sectional view taken along line A-A in FIG. 20A, and FIG. 20C is a top view of the manipulator 100b as viewed from the direction B-B in FIG. 20B. For ease of explanation, FIG. 20A also illustrates the shaft portion 1a and the conductive elastic body for rotation 4 provided inside the operation unit 3 of the manipulator 100b. Also, for ease of explanation, FIG. 20C omits the illustration of the dielectric layer 23. The manipulator 100b illustrated in FIG. 20 differs from the manipulator 100 described in FIG. 1 of the first embodiment in that it includes multiple rotation electrode units 2. In FIG. 20, components similar to those of the manipulator 100 described in FIG. 1 are designated by the same reference numerals, and redundant explanations will be omitted.

[0175] 20 includes five rotation electrode units 2. Here, the six rotation electrode units included in the operation element 100b are referred to as a first rotation electrode unit 201, a second rotation electrode unit 202, a third rotation electrode unit 203, a fourth rotation electrode unit 204, and a fifth rotation electrode unit 205.

[0176] In FIG. 20 , second rotation electrode portion 202 to fifth rotation electrode portion 205 are provided on the first fixed surface of stationary portion 1 (indicated by 1b in FIG. 20 ). First rotation electrode portion 201 has a circular shape whose center overlaps with the center of the first fixed surface of stationary portion 1 and covers a certain amount of the surface of the first fixed surface. Second rotation electrode portion 202 is provided on the first fixed surface of stationary portion 1 and has a donut shape surrounding the outer periphery of first rotation electrode portion 201 on the first fixed surface of stationary portion 1. Third rotation electrode portion 203 is provided on the first fixed surface of stationary portion 1 and has a donut shape surrounding the outer periphery of second rotation electrode portion 202 on the first fixed surface of stationary portion 1. The fourth rotation electrode portion 204 is provided on the first fixed surface of the fixed portion 1, and has a donut shape that surrounds the outer periphery of the third rotation electrode portion 203 on the first fixed surface of the fixed portion 1. The fifth rotation electrode portion 205 is provided on the first fixed surface of the fixed portion 1, and has a donut shape that surrounds the outer periphery of the fourth rotation electrode portion 204 on the first fixed surface of the fixed portion 1. The first rotation electrode portion 201 to the fifth rotation electrode portion 205 are not in contact with each other.

[0177] The first to fifth rotation electrode units 201 to 205 each include a plurality of rotation electrodes (a plurality of first rotation electrodes 21 and a plurality of second rotation electrodes 22) and a dielectric layer 23 that covers the plurality of rotation electrodes. In FIG. 20 , the plurality of rotation electrodes included in the first rotation electrode unit 201, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-1 and a plurality of second rotation electrodes 22-1. Furthermore, the plurality of rotation electrodes included in the second rotation electrode unit 202, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-2 and a plurality of second rotation electrodes 22-2. Furthermore, the plurality of rotation electrodes included in the third rotation electrode unit 203, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-3 and a plurality of second rotation electrodes 22-3. Furthermore, the plurality of rotation electrodes included in the fourth rotation electrode unit 204, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-4 and a plurality of second rotation electrodes 22-4. Furthermore, the plurality of rotation electrodes included in the fifth rotation electrode unit 205, specifically the plurality of first rotation electrodes 21 and the plurality of second rotation electrodes 22, are respectively referred to as a plurality of first rotation electrodes 21-5 and a plurality of second rotation electrodes 22-5.

[0178] The detailed configuration of the first rotation electrode unit 201 to the fifth rotation electrode unit 205 is the same as the detailed configuration of the rotation electrode unit 2 already explained using Figure 2 in embodiment 1, except for the different shapes, so detailed explanation will be omitted. The first rotation electrode unit 201 to the fifth rotation electrode unit 205 are provided with a plurality of comb-tooth-shaped first rotation electrodes 21-1, 21-2, 21-3, 21-4, 21-5 and a plurality of comb-tooth-shaped second rotation electrodes 22-1, 22-2, 22-3, 22-4, 22-5, such that the first rotation electrodes 21-1, 21-2, 21-3, 21-4, 21-5 and the second rotation electrodes 22-1, 22-2, 22-3, 22-4, 22-5 are arranged alternately.

[0179] Of the multiple rotation electrodes, a voltage can be applied to two adjacent rotation electrodes (the first rotation electrode 21-1 and the second rotation electrode 22-1, the first rotation electrode 21-2 and the second rotation electrode 22-2, the first rotation electrode 21-3 and the second rotation electrode 22-3, the first rotation electrode 21-4 and the second rotation electrode 22-4, and the first rotation electrode 21-5 and the second rotation electrode 22-5). Each of the first rotation electrodes 21-1, 21-2, 21-3, 21-4, and 21-5 and each of the second rotation electrodes 22-1, 22-2, 22-3, 22-4, and 22-5 is connected via lead wires (not shown) to a voltage generation circuit 71 (first voltage generation circuit 71-1, second voltage generation circuit 71-2, third voltage generation circuit 71-3, fourth voltage generation circuit 71-4, and fifth voltage generation circuit 71-5) that applies voltages to the plurality of rotation electrodes. The first voltage generation circuit 71-1 to the third voltage generation circuit 71-3 have already been described in the description of the control 100b shown in FIG. 19, so detailed description will be omitted. The fourth voltage generation circuit 71-4 has a voltage generation circuit (9) (not shown) and a voltage generation circuit (10) (not shown). The fifth voltage generation circuit 71-5 has a voltage generation circuit (11) (not shown) and a voltage generation circuit (12) (not shown). The voltage generation circuit (9) (not shown) applies a voltage to the plurality of first rotation electrodes 21-4 via lead-out wiring. The voltage generation circuit (10) (not shown) applies a voltage to the plurality of second rotation electrodes 22-4 via lead-out wiring. The voltage generation circuit (11) (not shown) applies a voltage to the plurality of first rotation electrodes 21-5 via lead-out wiring. The voltage generation circuit (12) (not shown) applies a voltage to the plurality of second rotation electrodes 22-5 via lead-out wiring. The application of voltages is controlled by the tactile sensation control device 101b. In the operator 100b, voltages can be applied independently to the plurality of rotation electrodes included in the first rotation electrode unit 201 to the sixth rotation electrode unit 206.

[0180] In this way, the operating element 100b can also be configured to include three or more rotation electrode portions 2 (first rotation electrode portion 201 to n-th rotation electrode portion 20n) to which voltages can be applied independently.

[0181] As described with reference to FIGS. 17 to 20 , the manipulator 100b includes a plurality of rotation electrode units 2, each of which includes a set of rotation electrodes to which a voltage can be applied independently, more specifically, a set of rotation electrodes to which a voltage can be applied independently, and each of which includes a plurality of rotation electrodes and a rotation conductive elastic body 4. This eliminates the need for a switching element or the like to switch the voltage applied to a particular rotation electrode unit 2 (more specifically, a set of a plurality of rotation electrodes). As a result, the manipulator 100b can have a simplified structure. Furthermore, by increasing the number of rotation electrode units 2 (more specifically, a plurality of rotation electrodes) to which a voltage is applied, the manipulator 100b can increase the variation in the area of ​​the region in which the rotation electrode units 2 are arranged, thereby increasing the variation in the intensity of the tactile sensation imparted to the user's fingers or the like. Furthermore, if the tactile sensation waveform of the voltage applied to the multiple rotation electrodes included in one rotation electrode unit 2 is switched, a time lag occurs before the tactile sensation based on the switched tactile sensation waveform is imparted to the user's finger, etc. In contrast, the manipulator 100b includes multiple rotation electrode units 2 to which voltages can be applied independently, and therefore the time lag can be substantially eliminated. As a result, the manipulator 100b can generate a tactile sensation at a timing that allows the user to feel the tactile sensation more realistically and effectively.

[0182] Next, a tactile control device 101b that controls the voltages applied to the multiple rotation electrodes of the manipulator 100b will be described. FIG. 21 is a diagram showing an example of the configuration of the tactile control device 101b according to embodiment 3. In FIG. 21, components similar to those of the tactile control device 101 according to embodiment 1 described using FIG. 3 in embodiment 1 are designated by the same reference numerals, and redundant description will be omitted. The tactile control device 101b is connected to the manipulator 100b, and the manipulator 100b and the tactile control device 101b together form a tactile control system 102b. Note that this is merely an example; for example, the tactile control device 101b may be mounted on the manipulator 100b. For simplicity of explanation, FIG. 21 only shows the components of the manipulator 100b, namely, the multiple first rotation electrodes 21-1 to 21-n and the multiple second rotation electrodes 22-1 to 22-n of the multiple rotation electrode units 201 to 20n. The tactile control device 101b is connected to the HMI control unit 9. The HMI control unit 9 controls changes in the state of the HMI. The HMI control unit 9 outputs HMI control information to the tactile control device 101b.

[0183] The tactile control device 101b includes a rotation detection unit 11, a voltage generation circuit 71, a tactile waveform selection unit 72b, and a tactile control unit 8b. The voltage generation circuit 71 includes a first voltage generation circuit 71-1 to an n-th voltage generation circuit 71-n. The tactile waveform selection unit 72b includes a first tactile waveform selection unit 72-1 to an n-th tactile waveform selection unit 72-n. In the tactile control device 101b according to the third embodiment, the operation of the tactile waveform selection unit 72b and the tactile control unit 8b differs from the operation of the tactile waveform selection unit 72 and the tactile control unit 8 in the tactile control device 101 according to the first embodiment. Furthermore, the tactile control device 101b of embodiment 3 differs from the tactile control device 101 of embodiment 1 in that it has multiple voltage generation circuits 71 (first voltage generation circuit 71-1 to nth voltage generation circuit 71-n) that can independently apply voltages to the first rotation electrode portion 201 to the nth rotation electrode portion 20n of the manipulator 100b.

[0184] The tactile control unit 8b outputs an instruction to the tactile waveform selection unit 72b to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated. More specifically, the tactile control unit 8b outputs an instruction to each of the first tactile waveform selection unit 72-1 to the n-th tactile waveform selection unit 72-n to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated. Specifically, the tactile control unit 8b determines a tactile sensation corresponding to the state of the HMI or the rotational state of the operation unit 3 based on the rotation information output from the rotation detection unit 11 and the HMI control information output from the HMI control unit 9. Then, based on the determined tactile sensation, the tactile control unit 8b outputs an instruction to each of the first tactile waveform selection unit 72-1 to the n-th tactile waveform selection unit 72-n to select a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated.

[0185] An example of a method by which the tactile control unit 8b outputs a selection instruction will be described. For example, the tactile control unit 8b determines whether the HMI state is one in which a rotational motion is enabled, and determines the tactile sensation to be presented based on the determination result of the HMI state and whether the operation unit 3 is rotating. The tactile control unit 8b then outputs an instruction to select a tactile presentation waveform corresponding to the determined tactile sensation. The tactile control unit 8b determines whether the HMI state is one in which a rotational motion is enabled based on HMI control information output from the HMI control unit 9.

[0186] The tactile control unit 8b also determines whether the operation unit 3 is rotating based on the rotation information output from the rotation detection unit 11. The tactile control unit 8b may determine whether the operation unit 3 is rotating based on, for example, whether the position of the operation unit 3 is changing based on the rotation information.

[0187] A specific example of the method by which the tactile control unit 8b outputs a selection instruction is the same as the specific example of the method by which the tactile control unit 8 outputs a selection instruction, which has already been explained in the first embodiment by dividing it into cases.

[0188] The tactile waveform selection unit 72b selects a tactile sensation presentation waveform based on the selection instruction output from the tactile control unit 8b, and outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform. Specifically, the tactile waveform selection unit 72b selects a tactile sensation presentation waveform for use when the operation unit 3 is rotated, based on the selection instruction output from the tactile control unit 8b. The tactile waveform selection unit 72b then outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform to the voltage generation circuit 71. In more detail, the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, ..., the n-th tactile waveform selection unit 72-n output an instruction to apply a voltage with the selected tactile sensation presentation waveform to the corresponding voltage generation circuits 71, i.e., the first voltage generation circuit 71-1, the second voltage generation circuit 71-2, ..., the n-th voltage generation circuit 71-n. For example, the first tactile waveform selection unit 72-1 outputs to the voltage generation circuit (1) 71a of the first voltage generation circuit 71-1 an instruction to apply a voltage with a tactile sensation presentation waveform to each first rotation electrode 21-1 of the first rotation electrode unit 201, and outputs to the voltage generation circuit (2) 71b of the first voltage generation circuit 71-1 an instruction to apply a voltage with a tactile sensation presentation waveform to each second rotation electrode 22-1 of the first rotation electrode unit 201. Note that the voltage generation circuit (1) 71a and the voltage generation circuit (2) 71b are not shown in FIG. 21.

[0189] The voltage generation circuit 71 applies voltages with tactile sensation providing waveforms selected by the tactile waveform selection unit 72 b to the plurality of rotation electrodes based on application instructions output from the tactile waveform selection unit 72 b. Specifically, the first voltage generation circuit 71-1, the second voltage generation circuit 71-2, ..., the nth voltage generation circuit 71-n apply voltages with tactile sensation providing waveforms selected by the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, ..., the nth tactile waveform selection unit 72-n to the plurality of rotation electrodes based on application instructions output from the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, ..., the nth tactile waveform selection unit 72-n. For example, in the first voltage generation circuit 71-1, the voltage generation circuit (1) 71a applies a voltage with a tactile sensation providing waveform selected by the first tactile waveform selection unit 72-1 to each first rotation electrode 21-1 of the first rotation electrode unit 201. The voltage generation circuit (2) 71b applies a voltage with a tactile sensation providing waveform selected by the tactile waveform selection unit 72b to each second rotation electrode 22-1 of the first rotation electrode unit 201.

[0190] 21, the voltage generation circuit 71 is provided in the tactile control device 101b, but this is merely an example. The voltage generation circuit 71 may also be provided outside the tactile control device 101b and connected to the tactile control device 101b from outside the tactile control device 101b.

[0191] The following describes the operation of the tactile control device 101b according to embodiment 3. Fig. 22 is a flowchart for explaining the operation of the tactile control device 101b according to embodiment 3.

[0192] The rotation detection unit 11 detects the rotation of the operation unit 3 (step ST1a). The rotation detection unit 11 outputs the rotation information to the tactile control unit 8. The rotation detection unit 11 also outputs the rotation information to the HMI control unit 9.

[0193] The tactile control unit 8b outputs an instruction to the tactile waveform selection unit 72b to select a tactile sensation providing waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated (step ST2a).

[0194] The tactile waveform selection unit 72b selects a tactile sensation providing waveform based on the selection instruction output from the tactile control unit 8b. The tactile waveform selection unit 72b then outputs an instruction to the voltage generation circuit 71 to apply a voltage with the selected tactile sensation providing waveform (step ST3a). Based on the application instruction output from the tactile waveform selection unit 72, the voltage generation circuit 71 applies a voltage with the tactile sensation providing waveform selected by the tactile waveform selection unit 72 to the multiple rotation electrodes.

[0195] FIG. 23 is a flowchart for explaining an example of detailed operations of steps ST2a and ST3a in FIG.

[0196] The tactile control unit 8b determines whether or not the rotation operation is enabled as the HMI state based on the HMI control information output from the HMI control unit 9 (step ST21a). If it is determined in step ST21a that the rotation operation is enabled as the HMI state (YES in step ST21a), the tactile control unit 8b determines whether or not the operation unit 3 is rotating based on the rotation information output from the rotation detection unit 11 (step ST22a).

[0197] If it is determined in step ST22a that the operation unit 3 is rotating ("YES" in step ST22a), the tactile control unit 8b outputs an instruction to the tactile waveform selection unit 72b to select a tactile sensation presentation waveform of a voltage corresponding to the tactile sensation when the operation unit 3 is rotated. The tactile waveform selection unit 72b selects a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated based on the selection instruction output from the tactile control unit 8b (step ST23a). The tactile waveform selection unit 72b then outputs an instruction to the voltage generation circuit 71 to apply a voltage with a tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit 3 is rotated. The voltage generation circuit 71 applies a voltage with the tactile sensation presentation waveform selected by the tactile waveform selection unit 72b to the multiple rotation electrodes.

[0198] If it is determined in step ST22a that the operation unit 3 is not rotating ("NO" in step ST22a), the tactile control unit 8b does not output a selection instruction. That is, the tactile waveform selection unit 72b does not select a tactile sensation providing waveform (step ST24a). The voltage generation circuit 71 does not apply voltage to the plurality of rotation electrodes.

[0199] If it is not determined in step ST21a that the rotational motion is enabled as the HMI state ("NO" in step ST21a), i.e., if the rotational motion is not enabled as the HMI state, the tactile control unit 8b outputs an instruction to the tactile waveform selection unit 72b to select a tactile sensation providing waveform that maximizes the electrostatic frictional force. The tactile waveform selection unit 72b selects a tactile sensation providing waveform that maximizes the electrostatic frictional force, to the voltage generation circuit 71. The tactile waveform selection unit 72b then outputs an instruction to the voltage generation circuit 71 to apply a voltage with the tactile sensation providing waveform that maximizes the electrostatic frictional force (step ST25a). The voltage generation circuit 71 applies a voltage with the tactile sensation providing waveform selected by the tactile waveform selection unit 72b to the multiple rotation electrodes.

[0200] Thus, the tactile control device 101b according to the third embodiment is a tactile control device 101b that controls the tactile sensation during rotation of an operation unit 3 of an operator 100b that includes a plurality of rotation electrode units 2, each of which has a plurality of rotation electrodes configured in a plurality of groups each having a plurality of rotation electrodes and a rotation conductor, wherein the tactile control unit 8b outputs an instruction to select a tactile sensation presentation waveform for each rotation electrode unit 2 during rotation of the operation unit 3, and the tactile waveform selection unit 72b selects a tactile sensation presentation waveform for each rotation electrode unit 2 based on the selection instruction output from the tactile control unit 8b and outputs an instruction to apply a voltage with the selected tactile sensation presentation waveform. This allows the tactile control device 101b to provide a different tactile sensation to the user's fingers, etc., according to the tactile sensation presentation waveform of the voltage applied to each rotation electrode unit 2.

[0201] 24A and 24B are diagrams illustrating an example of the voltages applied to each rotation electrode unit 2 and the resulting electrostatic forces in order for the tactile control device 101b to generate different tactile sensations to be given to the user's fingers, etc., in Embodiment 3. In Figures 24A and 24B, as an example, the manipulator 100b is the manipulator 100b configured as shown in Figure 17.

[0202] For example, the tactile control device 101b controls the voltage applied to the multiple rotation electrode units 2 of the control element 100b to control the tactile sensation of the control element 100b from a state where there is no tactile sensation to a state where a notch sensation (vibration sensation) is imparted, and then to a state where a braking sensation (stopped adhesion sensation) is imparted. In this case, in the tactile control device 101b, the tactile control unit 8b first does not output a selection instruction to the tactile waveform selection unit 72b to select a tactile sensation presentation waveform for rotation. The tactile waveform selection unit 72b does not select a tactile sensation presentation waveform, nor does it output a voltage application instruction to the voltage generation circuit 71. As a result, the control element 100b enters a state where there is no tactile sensation. Thereafter, the tactile control unit 8b outputs a selection instruction to the second tactile waveform selection unit 72-2 to select a tactile sensation presentation waveform that presents a notch sensation. The second tactile waveform selection unit 72-2 selects a tactile sensation presentation waveform that presents a notch sensation, and outputs an application instruction to the second voltage generation circuit 71-2 to apply a voltage with that tactile sensation presentation waveform. As a result, a voltage is applied to the second rotation electrode unit 202, and a notch sensation is presented to the user's finger or the like. The tactile control unit 8b then outputs a selection instruction to the first tactile waveform selection unit 72-1 to select a tactile sensation presentation waveform that presents a braking sensation. The first tactile waveform selection unit 72-1 selects a tactile sensation presentation waveform that presents a braking sensation, and outputs an application instruction to the first voltage generation circuit 71-1 to apply a voltage with that tactile sensation presentation waveform. As a result, a voltage is applied to the first rotation electrode unit 201, and a braking sensation is presented to the user's finger or the like (see FIG. 24A ).

[0203] For example, the tactile control unit 8b may output a selection instruction to the first tactile waveform selection unit 72-1 and the second tactile waveform selection unit 72-2 to select a tactile sensation presentation waveform that presents a braking sensation. The first tactile waveform selection unit 72-1 and the second tactile waveform selection unit 72-2 select a tactile sensation presentation waveform that presents a braking sensation, and output an application instruction to the first voltage generation circuit 71-1 and the second voltage generation circuit 71-2, respectively, to apply a voltage with that tactile sensation presentation waveform. As a result, a voltage is applied to the first rotation electrode unit 201 and the second rotation electrode unit 202, and a stronger braking sensation is presented to the user's fingers, etc. (see FIG. 24B ).

[0204] Furthermore, the tactile control device 101b controls multiple rotation electrode units 2 to which voltage is applied, thereby increasing the variation in the area of ​​the region to which the voltage is applied and increasing the variation in the intensity of the tactile sensation imparted to the user's fingers, etc. Furthermore, because the tactile control device 101b applies voltage independently to different rotation electrode units 2, it is possible to substantially eliminate the time lag that occurs when switching tactile presentation waveforms and applying voltages. As a result, the tactile control device 101b can generate tactile sensations at a timing that allows the user to feel them more realistically and effectively.

[0205] Furthermore, the tactile control device 101b according to the third embodiment outputs an instruction to select a tactile sensation providing waveform according to the state of the HMI that is the target of the rotation operation of the operation unit 3, and outputs an application instruction to apply a voltage of the tactile sensation providing waveform selected based on the selection instruction. This allows the tactile control device 101b to cause the operator 100b to present a tactile sensation linked to the HMI. The operator 100b can present a tactile sensation linked to the HMI.

[0206] In the tactile control device 101b according to the third embodiment described above, the tactile control unit 8b can also output, based on the rotation information, to the tactile waveform selection unit 72b, an instruction to select a tactile presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operation unit 3.

[0207] Here, Figures 25A, 25B, and 25C are diagrams illustrating an example of the voltages applied to each rotation electrode unit 2 by the tactile control device 101b in Embodiment 3 to present a tactile sensation corresponding to the rotational position of the operation unit 3 in conjunction with the HMI, and the resulting electrostatic forces. Figure 25A is a diagram illustrating an example of a screen displaying a volume that can be adjusted in 10 steps, displayed on a display device serving as the HMI that is the target of operation by the operation device 100b. Note that Figure 25A shows the screen as viewed from above, and for convenience, only the operation device 3 of the operation device 100b and the display indicating the volume level adjusted by the operation device 3 are illustrated. Figure 25B is a diagram illustrating an example of the voltages applied by the tactile control device 101b. Figure 25C is a diagram illustrating an example of the electrostatic forces that are generated when the tactile control device 101b applies a voltage to the rotation electrode unit 2. 25A, 25B, and 25C, the operator 100b is assumed to have the configuration shown in FIG. 17, as an example.

[0208] Here, as shown in Fig. 25A, in the manipulator 100b, the operating unit 3 can be rotated from the position indicated by "a" in Fig. 25A to the position indicated by "b" in Fig. 25A. In Fig. 25A, the range in which the operating unit 3 can be rotated (the movable range of the manipulator 100b) is indicated by "X1". Furthermore, the range in which the operating unit 3 cannot be rotated (the non-movable range of the manipulator 100b) is indicated by "Y". Now, suppose that in the manipulator 100b, the operating unit 3 can be rotated from the position indicated by "a" to the position indicated by "b".

[0209] In the tactile control device 101a, the tactile control unit 8b detects, based on the HMI control information, that the current state of the display device is one in which rotation of the operation unit 3 is valid for adjusting the volume in 10 steps. Furthermore, the tactile control unit 8b detects, based on the rotation information, that the operation unit 3 has been rotated. When the tactile control unit 8b detects that the operation unit 3 is located within a range in which the operation unit 3 can be rotated, it outputs a selection instruction to the tactile waveform selection unit 72b to select a tactile sensation presentation waveform for rotation that presents a tactile sensation indicating that the volume has been adjusted. In particular, the tactile control unit 8b outputs, for example, a selection instruction to the first tactile waveform selection unit 72-1 to select a tactile sensation presentation waveform for rotation that presents a tactile sensation indicating that the volume has been adjusted. Note that in this case, the tactile control unit 8b does not output a selection instruction to the second tactile waveform selection unit 72-2.

[0210] The tactile waveform selection unit 72b selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage of the selected tactile sensation presentation waveform. In detail, the first tactile waveform selection unit 72-1 selects a tactile sensation presentation waveform for rotation that presents a tactile sensation indicating that the volume has been adjusted, and causes the first voltage generation circuit 71-1 to apply a voltage of the selected tactile sensation presentation waveform. The first voltage generation circuit 71-1 applies a voltage of the tactile sensation presentation waveform for rotation that presents a tactile sensation indicating that the volume has been adjusted to the first rotation electrode unit 201 (more specifically, the plurality of first rotation electrodes 21-1 and the plurality of second rotation electrodes 22-1) (see "Example of voltage signal 1" in FIG. 25B).

[0211] When the operation unit 3 is rotated to a position where it cannot be rotated any further, i.e., the position indicated by "b" in Fig. 25A, the tactile control unit 8b detects this based on the rotation information. The tactile control unit 8b then outputs a selection instruction to the tactile waveform selection unit 72b to select a tactile sensation providing waveform for rotation that maximizes the electrostatic friction force at that position. In detail, the tactile control unit 8b outputs a selection instruction to, for example, the second tactile waveform selection unit 72-2 to select a tactile sensation providing waveform for rotation that maximizes the electrostatic friction force. In this case, the tactile control unit 8b does not output a selection instruction to the first tactile waveform selection unit 72-1.

[0212] The tactile waveform selection unit 72b selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage with the selected tactile sensation presentation waveform. More specifically, the second tactile waveform selection unit 72-2 selects a tactile sensation presentation waveform for rotation that maximizes the electrostatic friction force, and causes the second voltage generation circuit 71-2 to apply a voltage with the selected tactile sensation presentation waveform. The second voltage generation circuit 71-2 applies a voltage with a tactile sensation presentation waveform for rotation that maximizes the electrostatic friction force to the second rotation electrode unit 202 (more specifically, the plurality of first rotation electrodes 21-2 and the plurality of second rotation electrodes 22-2) (see "Example of voltage signal 2" in FIG. 25B).

[0213] As a result, the tactile sensation control device 101b generates an electrostatic force in the operator 100b while the operating unit 3 is positioned within the range in which it can be rotated, thereby presenting a feeling of heaviness, and when the operating unit 3 is rotated to a position where it cannot be rotated any further, it generates a stronger electrostatic force than before, thereby presenting a feeling of suction stopping as a tactile sensation (see Figure 25C).

[0214] In this way, the tactile sensation control device 101b works in conjunction with the HMI to independently control the application of voltage to multiple rotational electrode units 2 based on the rotational position of the operating unit 3, thereby enabling a continuous tactile sensation corresponding to the rotation of the operating unit 3.

[0215] In the above Figure 25, as an example, the operator 100b is an operator 100b with the configuration shown in Figure 17. However, below, we will explain an example of control by the tactile control device 101b of presenting a tactile sensation corresponding to the rotational position of the operating unit 3 in conjunction with the HMI when the operator 100b is an operator 100b with the configuration shown in Figure 20.

[0216] 26A, 26B, and 26C are diagrams illustrating another example of the voltages applied to each rotation electrode unit 2 by the tactile control device 101b in Embodiment 3 to present a tactile sensation corresponding to the rotational position of the operation unit 3 in conjunction with the HMI, and the resulting electrostatic forces. FIG. 26A is a diagram illustrating an example of a screen displaying a volume control function that can be adjusted in 10 steps, displayed on a display device serving as the HMI that is the target of operation by the operation device 100b. Note that FIG. 26A shows a top view of the screen, and for convenience, only the operation device 3 of the operation device 100b and the display indicating the volume control function. FIG. 26B is a diagram illustrating an example of the voltages applied by the tactile control device 101b. FIG. 26C is a diagram illustrating an example of the electrostatic forces generated by the tactile control device 101b applying a voltage to the rotation electrode unit 2.

[0217] As shown in Fig. 26A , in the manipulator 100b, the manipulator unit 3 can be rotated from the position indicated by "a" in Fig. 26A to the position indicated by "e" in Fig. 26A . In Fig. 26A , the range in which the manipulator 3 can be rotated (the range of motion of the manipulator 100b) is divided into four regions (hereinafter referred to as "first region," "second region," "third region," and "fourth region") in order of increasing volume level based on the volume level adjusted by the manipulator 3. The first region, second region, third region, and fourth region are indicated by "X1," "X2," "X3," and "X4," respectively, in Fig. 26A . The range in which the operating unit 3 is positioned from "a" to "b" is the first region, the range in which the operating unit 3 is positioned from "b" to "c" is the second region, the range in which the operating unit 3 is positioned from "c" to "d" is the third region, and the range in which the operating unit 3 is positioned from "d" to "e" is the fourth region. The range in which the operating unit 3 cannot rotate (the non-movable range of the operating element 100b) is indicated by "Y." Now, suppose that the operating unit 3 of the operating element 100b is rotated from the position indicated by "a" to the position indicated by "e."

[0218] In the tactile control device 101a, the tactile control unit 8b detects, based on the HMI control information, that the current state of the display device is such that rotation of the operation unit 3 is valid for adjusting the volume in 10 steps. Furthermore, based on the rotation information, the tactile control unit 8b detects that the operation unit 3 has been rotated and to what position it has been rotated.

[0219] When the tactile control unit 8b detects that the operation unit 3 has been rotated to a rotation position that indicates the third volume level out of the ten levels, i.e., between the positions indicated by "a" and "b" in Fig. 26A, the tactile control unit 8b outputs a selection instruction to the tactile waveform selection unit 72b to select a tactile sensation presentation waveform for rotation that will present a tactile sensation indicating that the volume has been adjusted. In more detail, the tactile control unit 8b outputs a selection instruction to the first tactile waveform selection unit 72-1 to select a tactile sensation presentation waveform for rotation that will present a tactile sensation indicating that the volume has been adjusted. In this case, the tactile control unit 8b does not output selection instructions to the second tactile waveform selection unit 72-2 to the fifth tactile waveform selection unit 72-5.

[0220] The tactile waveform selection unit 72b selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage of the selected tactile sensation presentation waveform. In detail, the first tactile waveform selection unit 72-1 selects a rotation tactile sensation presentation waveform that presents a tactile sensation indicating that the volume has been adjusted, and causes the first voltage generation circuit 71-1 to apply a voltage of the selected tactile sensation presentation waveform. The first voltage generation circuit 71-1 applies a voltage of the rotation tactile sensation presentation waveform that presents a tactile sensation indicating that the volume has been adjusted to the first rotation electrode unit 201 (more specifically, the plurality of first rotation electrodes 21-1 and the plurality of second rotation electrodes 22-1) (see "Example of voltage signal 1" in FIG. 26B).

[0221] When the tactile control unit 8b detects that the operation unit 3 is further rotated and positioned between the rotation position indicating the third volume level out of the ten levels and the rotation position indicating the fifth volume level, i.e., between the position indicated by "b" and the position indicated by "c" in Fig. 26A, the tactile control unit 8b outputs a selection instruction to the tactile waveform selection unit 72b to select a tactile sensation presentation waveform for rotation that will present a tactile sensation indicating that the volume has been adjusted. In particular, the tactile control unit 8b outputs a selection instruction to the first tactile waveform selection unit 72-1 and the second tactile waveform selection unit 72-2 to select a tactile sensation presentation waveform for rotation that will present a tactile sensation indicating that the volume has been adjusted. Note that in this case, the tactile control unit 8b does not output selection instructions to the third tactile waveform selection unit 72-3 through the fifth tactile waveform selection unit 72-5.

[0222] The tactile waveform selection unit 72b selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to apply a voltage of the selected tactile sensation presentation waveform to the voltage generation circuit 71. In detail, the first tactile waveform selection unit 72-1 and the second tactile waveform selection unit 72-2 select a rotation tactile sensation presentation waveform that presents a tactile sensation indicating that the volume has been adjusted, and apply a voltage of the selected tactile sensation presentation waveform to the first voltage generation circuit 71-1 and the second voltage generation circuit 71-2. The first voltage generation circuit 71-1 and the second voltage generation circuit 71-2 apply a voltage with a rotational tactile sensation presentation waveform that presents a tactile sensation indicating that the volume has been adjusted to the first rotation electrode section 201 (more specifically, a plurality of first rotation electrodes 21-1 and a plurality of second rotation electrodes 22-1) and the second rotation electrode section 202 (more specifically, a plurality of first rotation electrodes 21-2 and a plurality of second rotation electrodes 22-2) (see "Example of voltage signal 1" in Figure 26B).

[0223] When the tactile control unit 8b detects that the operation unit 3 is further rotated and positioned between the rotation position indicating the fifth volume level out of the ten levels and the rotation position indicating the eighth volume level, i.e., between the positions indicated by "c" and "d" in FIG. 26A , the tactile control unit 8b outputs a selection instruction to the tactile waveform selection unit 72b to select a tactile sensation presentation waveform for rotation that will present a tactile sensation indicating that the volume has been adjusted. Specifically, the tactile control unit 8b outputs a selection instruction to the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, and the third tactile waveform selection unit 72-3 to select a tactile sensation presentation waveform for rotation that will present a tactile sensation indicating that the volume has been adjusted. In this case, the tactile control unit 8b does not output a selection instruction to the fourth tactile waveform selection unit 72-4 and the fifth tactile waveform selection unit 72-5.

[0224] The tactile waveform selection unit 72b selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to apply a voltage of the selected tactile sensation presentation waveform to the voltage generation circuit 71. In detail, the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, and the third tactile waveform selection unit 72-3 select a rotation tactile sensation presentation waveform that presents a tactile sensation indicating that the volume has been adjusted, and apply a voltage of the selected tactile sensation presentation waveform to the first voltage generation circuit 71-1, the second voltage generation circuit 71-2, and the third voltage generation circuit 71-3. The first voltage generation circuit 71-1, the second voltage generation circuit 71-2, and the third voltage generation circuit 71-3 apply a voltage with a rotational tactile sensation presentation waveform that presents a tactile sensation indicating that the volume has been adjusted to the first rotation electrode section 201 (more specifically, a plurality of first rotation electrodes 21-1 and a plurality of second rotation electrodes 22-1), the second rotation electrode section 202 (more specifically, a plurality of first rotation electrodes 21-2 and a plurality of second rotation electrodes 22-2), and the third rotation electrode section 203 (more specifically, a plurality of first rotation electrodes 21-3 and a plurality of second rotation electrodes 22-3) (see "Example of voltage signal 1" in Figure 26B).

[0225] When the tactile control unit 8b detects that the operation unit 3 is further rotated and positioned between the rotation position indicating the sixth volume level out of the ten volume levels and the rotation position indicating the tenth volume level, i.e., between the positions indicated by "d" and "e" in FIG. 26A , the tactile control unit 8b outputs a selection instruction to the tactile waveform selection unit 72b to select a tactile sensation presentation waveform for rotation that will present a tactile sensation indicating that the volume has been adjusted. Specifically, the tactile control unit 8b outputs selection instructions to, for example, the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, the third tactile waveform selection unit 72-3, and the fourth tactile waveform selection unit 72-4 to select a tactile sensation presentation waveform for rotation that will present a tactile sensation indicating that the volume has been adjusted. In this case, the tactile control unit 8b does not output a selection instruction to the fifth tactile waveform selection unit 72-5.

[0226] The tactile waveform selection unit 72b selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to apply a voltage of the selected tactile sensation presentation waveform to the voltage generation circuit 71. In detail, the first tactile waveform selection unit 72-1, the second tactile waveform selection unit 72-2, the third tactile waveform selection unit 72-3, and the fourth tactile waveform selection unit 72-4 select a rotation tactile sensation presentation waveform that presents a tactile sensation indicating that the volume has been adjusted, and apply a voltage of the selected tactile sensation presentation waveform to the first voltage generation circuit 71-1, the second voltage generation circuit 71-2, the third voltage generation circuit 71-3, and the fourth voltage generation circuit 71-4. The first voltage generation circuit 71-1, the second voltage generation circuit 71-2, the third voltage generation circuit 71-3, and the fourth voltage generation circuit 71-4 apply a voltage with a rotational tactile sensation presentation waveform that presents a tactile sensation indicating that the volume has been adjusted to the first rotation electrode section 201 (more specifically, a plurality of first rotation electrodes 21-1 and a plurality of second rotation electrodes 22-1), the second rotation electrode section 202 (more specifically, a plurality of first rotation electrodes 21-2 and a plurality of second rotation electrodes 22-2), the third rotation electrode section 203 (more specifically, a plurality of first rotation electrodes 21-3 and a plurality of second rotation electrodes 22-3), and the fourth rotation electrode section 204 (more specifically, a plurality of first rotation electrodes 21-4 and a plurality of second rotation electrodes 22-4) (see "Example of voltage signal 1" in Figure 26B).

[0227] When the operation unit 3 is rotated to a position where it cannot be rotated any further, i.e., the position indicated by "e" in Fig. 26A, the tactile control unit 8b detects this based on the rotation information. The tactile control unit 8b then outputs a selection instruction to the tactile waveform selection unit 72b to select a tactile sensation providing waveform for rotation at which the electrostatic friction force is maximized at that position. In detail, the tactile control unit 8b outputs a selection instruction to, for example, the fifth tactile waveform selection unit 72-5 to select a tactile sensation providing waveform for rotation at which the electrostatic friction force is maximized. Note that in this case, the tactile control unit 8b does not output selection instructions to the first tactile waveform selection unit 72-1 through the fourth tactile waveform selection unit 72-4.

[0228] The tactile waveform selection unit 72b selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage with the selected tactile sensation presentation waveform. In more detail, the fifth tactile waveform selection unit 72-5 selects a tactile sensation presentation waveform for rotation that maximizes the electrostatic friction force, and causes the fifth voltage generation circuit 71-5 to apply a voltage with the selected tactile sensation presentation waveform. The fifth voltage generation circuit 71-5 applies a voltage with a tactile sensation presentation waveform for rotation that maximizes the electrostatic friction force to the fifth rotation electrode unit 205 (more specifically, the plurality of first rotation electrodes 21-5 and the plurality of second rotation electrodes 22-5) (see "Example of voltage signal 2" in FIG. 26B).

[0229] As a result, the tactile sensation control device 101b generates a larger electrostatic force in the operator 100b while the operating unit 3 is rotated, the more the operator is rotated to a rotational position that indicates a higher volume level out of the 10 volume levels, and presents a tactile sensation that becomes increasingly heavier; when the operating unit 3 is rotated to a position where it cannot be rotated any further, it generates a larger electrostatic force than before, and presents a tactile sensation of suction stopping (see Figure 26C).

[0230] In this way, the tactile control device 101b works in conjunction with the HMI to independently control the application of voltage to the multiple rotation electrode units 2 based on the rotational position of the operation unit 3, thereby enabling a continuous tactile sensation in accordance with the rotation of the operation unit 3. Furthermore, the tactile control device 101b can provide variations in the area of ​​the region to which voltage is applied by combining multiple rotation electrode units 2 and simultaneously applying voltage to them, so that, for example, by changing the number of rotation electrode units 2 to which the same magnitude of voltage is applied, it is possible to provide a tactile sensation to the user's fingers or the like that gradually changes (for example, becomes gradually heavier).

[0231] In the tactile control device 101b, the tactile control unit 8b can detect, based on the HMI control information, that the current state of the display device is one in which rotation of the operation unit 3 is valid for adjusting the volume in 10 levels, and, upon detecting, based on the rotation information, that the operation unit 3 has been rotated and that it has been rotated to a position indicating a volume level, output a selection instruction to the tactile waveform selection unit 72b to select a rotation tactile sensation presentation waveform that will present a tactile sensation at the rotation position indicating the 10 volume levels. The tactile waveform selection unit 72b selects a tactile sensation presentation waveform based on the selection instruction, and outputs an application instruction to the voltage generation circuit 71 to apply a voltage of the selected tactile sensation presentation waveform. As a result, the tactile control device 101b can cause the operator 100b to present a vibration sensation as a tactile sensation when the operation unit 3 is positioned in a rotation position indicating the 10 volume levels.

[0232] Furthermore, in the third embodiment described above, for example, the operator 100b may be configured without a rotation detection circuit. In this case, the tactile control device 101b does not necessarily have to include the rotation detection unit 11. For example, in the tactile control device 101b, when the power to the tactile control device 101b is turned on, the tactile control unit 8b outputs a selection instruction to the tactile waveform selection unit 72 to select a tactile sensation providing waveform for rotation. In this case, the processing of step ST1a can be omitted from the operation of the tactile control device 101b described using the flowchart in FIG. 22.

[0233] In the third embodiment, the operator 100b is linked to an HMI (Human Machine Interface), but this is merely an example. The operator 100b does not necessarily have to be linked to an HMI.

[0234] The hardware configuration of the tactile control device 101b according to embodiment 3 is the same as the hardware configuration of the tactile control device 101 according to embodiment 1 described using Figures 9A and 9B in embodiment 1, and therefore is not shown in the figures. In embodiment 3, the functions of the rotation detection unit 11, tactile control unit 8b, and tactile waveform selection unit 72b are realized by a processing circuit 1001. In other words, the tactile control device 101b includes a processing circuit 1001 for controlling the magnitude of the electrostatic friction force by controlling the voltage applied to multiple electrodes (multiple rotation electrodes), and for controlling the associated tactile sensation.

[0235] The processing circuit 1001 reads and executes a program stored in the memory 1005, thereby executing the functions of the rotation detection unit 11, the tactile control unit 8b, and the tactile waveform selection unit 72b. In other words, the tactile control device 101b includes a memory 1005 for storing a program that, when executed by the processing circuit 1001, results in the execution of steps ST1a to ST3a in FIG. 22 . The program stored in the memory 1005 can also be said to cause a computer to execute the processing procedures or methods of the rotation detection unit 11, the tactile control unit 8b, and the tactile waveform selection unit 72b. The tactile control device 101b also includes a voltage generation circuit 71. The tactile control device 101b also includes an input interface device 1002 and an output interface device 1003 that communicate via wired or wireless communication with devices such as the operator 100b or the HMI control unit 9.

[0236] In the above-described third embodiment, the tactile control device 101b may be mounted on the operator 100b or may be provided in a server. Also, some of the rotation detection unit 11, the tactile control unit 8b, and the tactile waveform selection unit 72b may be provided in the server, and the rest may be provided in the operator 100b.

[0237] As described above, the manipulator 100b according to the third embodiment includes a fixed portion 1 having an axle 1a that functions as an axis, and an operation unit 3 that is attached to the axle 1a and can rotate around the axle 1a. The manipulator 100b includes a first fixed surface (specifically, a first fixed portion 1-1) that faces the operation unit 3 and is located in the axial direction of the fixed portion 1. The first fixed surface is a plurality of electrodes covered with a dielectric layer, and the plurality of rotation electrodes are capable of applying a voltage when the operation unit 3 rotates. The first operation surface is a surface of the operation unit 3 that faces the first fixed surface. The rotation conductor (the rotation conductive elastic body 4) faces the plurality of rotation electrodes when the relative position of the operation unit 3 and the fixed portion 1 is in a predetermined relative position. The rotation conductor (the rotation conductive elastic body 4) faces the plurality of rotation electrodes when the relative position of the operation unit 3 and the fixed portion 1 is in a predetermined relative position. The rotation electrodes are configured as a plurality of groups, each having a plurality of rotation electrodes. The manipulator 100b includes a plurality of rotation electrode units 2 that each have the plurality of rotation electrodes and the rotation conductor. This eliminates the need for the manipulator 100b to use a switching element or the like to switch the voltage applied to a rotation electrode unit 2 (more specifically, a set of multiple rotation electrodes). As a result, the manipulator 100b can have a simplified structure. Furthermore, by increasing the number of rotation electrode units 2 (more specifically, multiple rotation electrodes) to which a voltage is applied, the manipulator 100b can increase the variation in the area of ​​the region in which the rotation electrode units 2 are arranged, thereby increasing the variation in the intensity of the tactile sensation imparted to the user's fingers, etc. Furthermore, if the tactile sensation waveform of the voltage applied to the multiple rotation electrodes included in one rotation electrode unit 2 is switched, a time lag occurs before the tactile sensation based on the switched tactile sensation waveform is imparted to the user's fingers, etc. In contrast, the manipulator 100b includes multiple rotation electrode units 2 to which voltages can be applied independently, thereby substantially eliminating this time lag. As a result, the manipulator 100b can generate a tactile sensation at a timing that allows the user to feel the tactile sensation more realistically and effectively.

[0238] Furthermore, the tactile control device 101b according to the third embodiment is a tactile control device 101b that controls the tactile sensation during rotation of an operation unit 3 of a manipulator 100b that includes a fixed unit 1 having an axle 1a that functions as an axle, and a plurality of rotation electrode units 2 that are attached to the axle 1a and are rotatable about the axle 1a and have a plurality of rotation electrodes and a rotation conductor (a rotation conductive elastic body 4). The tactile control unit 8b is configured to output an instruction to select a tactile presentation waveform for each rotation electrode unit 2 during rotation of the operation unit 3, and the tactile waveform selection unit 72b selects a tactile presentation waveform for each rotation electrode unit 2 based on the selection instruction output from the tactile control unit 8b and outputs an instruction to apply a voltage with the selected tactile presentation waveform. Therefore, by controlling the plurality of rotation electrode units 2 to which a voltage is applied, the tactile control device 101b can increase the variation in the area of ​​the region to which the voltage is applied, thereby increasing the variation in the intensity of the tactile sensation imparted to the user's fingers, etc. Furthermore, the tactile control device 101b can effectively eliminate the time lag that occurs when switching tactile presentation waveforms and applying voltages because it independently applies voltages to different rotation electrode units 2. As a result, the tactile control device 101b can generate tactile sensations at a timing that allows the user to feel them more realistically and effectively.

[0239] The content of the above-described embodiment 3 can also be applied to embodiment 2. That is, in an operator 100a having an operation unit 3 that can be rotated or pressed around a shaft 1a of a fixed unit 1, the plurality of rotation electrodes may be configured to form a plurality of sets each having a plurality of rotation electrodes, and a plurality of rotation electrode units 2 may be provided each having a set including the plurality of rotation electrodes and a rotation conductor. In the tactile control device 101a, the tactile control unit 8a may output an instruction to select a tactile sensation presentation waveform for each rotation electrode unit 2 when the operation unit 3 rotates, and the tactile waveform selection unit 72a may select a tactile sensation presentation waveform for each rotation electrode unit 2 based on the selection instruction output from the tactile control unit 8a and output an instruction to apply a voltage with the selected tactile sensation presentation waveform.

[0240] In the above-described first, second, and third embodiments, the voltage generating circuit 71 includes a voltage generating circuit (1) 71a and a voltage generating circuit (2) 71b, as shown in Fig. 2, but this is merely an example. The voltage generating circuit 71 may include either the voltage generating circuit (1) or the voltage generating circuit (2) 71b. Note that the multiple electrodes not connected to the voltage generating circuit 71 are connected to GND via lead-out wiring.

[0241] Furthermore, in the above-described embodiment 1, embodiment 2, or embodiment 3, the manipulator 100, manipulator 100a, or manipulator 100b may be configured to have a power supply unit capable of applying voltage inside the fixed part 1.

[0242] Fig. 27 is a diagram showing a configuration example of a manipulator 100 in accordance with embodiment 1, which has a configuration in which a power supply unit 90 is provided inside the fixed unit 1. Fig. 27A is a top view of the manipulator 100, and Fig. 27B is a cross-sectional view taken along the line A-A in Fig. 27A. The manipulator 100 shown in Fig. 27 is the manipulator 100 described in accordance with embodiment 1 using Fig. 1, but with a configuration in which a power supply unit 90 is provided inside the fixed unit 1.

[0243] 28 and 29 are diagrams showing a configuration example of a manipulator 100a according to the second embodiment, which has a configuration in which a power supply unit 90 is provided inside the fixed portion 1. FIG. 28A is a top view of the manipulator 100a, and FIG. 28B is a cross-sectional view taken along line A-A of FIG. 28A. FIG. 29A is a top view of the manipulator 100a, and FIG. 29B is a cross-sectional view taken along line A-A of FIG. 29A. The manipulator 100a shown in FIG. 28 is the manipulator 100a described in the second embodiment using FIG. 16, but with a configuration in which the power supply unit 90 is provided inside the second fixed portion 1-2. The manipulator 100a shown in FIG. 29 is the manipulator 100a described in the second embodiment using FIG. 14, but with a configuration in which the power supply unit 90 is provided inside the second fixed portion 1-2. The power supply unit 90 may be provided in the first fixed portion 1-1.

[0244] The manipulator 100, manipulator 100a, or manipulator 100b can have a simpler structure without requiring any lead wiring, by having a power supply unit capable of applying voltage inside the fixed part 1. Furthermore, the manipulator 100, manipulator 100a, or manipulator 100b can be portable and can be operated in any position, resulting in a structure with improved versatility.

[0245] In the above-described first, second, and third embodiments, it has been assumed that the operators 100, 100a, and 100b are provided in, for example, in-vehicle equipment installed in a vehicle, but this is merely an example. The operators 100 and 100b may be any suitable operators 100 and 100b that can be rotated. The operator 100a may be any suitable operator 100a that can be rotated and pressed.

[0246] Furthermore, the embodiments may be freely combined, or any of the components in each embodiment may be modified, or any of the components in each embodiment may be omitted.

[0247] The operator according to the present disclosure can provide a stable tactile effect to the user.

[0248] 100, 100a, 100b Operator, 1 Fixed part, 1a Shaft part, 2 Rotation electrode part, 21 First rotation electrode, 22 Second rotation electrode, 210 First pressing electrode, 220 Second pressing electrode, 23, 230 Dielectric layer, 3 Operation part, 4 Rotation conductive elastic body, 40 Pressing conductive elastic body, 5 Spring, 6 Pressing detection circuit, 101, 101a, 101b Tactile control device, 11 Rotation detection part, 61 Pressing detection part, 8, 8a, 8b Tactile control part, 72, 72a, 72b Tactile waveform selection part, 71 Voltage generation circuit, 9 HMI control part, 21a, 22a Lead wiring, 90 Power supply part, 102, 102a, 102b Tactile control system, 1001 Processing circuit, 1002 Input interface device, 1003 output interface device, 1004 processor, 1005 memory.

Claims

1. An operator having a fixed portion having a shaft portion that functions as a shaft, and an operation portion that is attached to the shaft portion and is rotatable around the shaft portion, a first fixed surface of the fixed portion facing the operation portion in the axial direction, the first fixed surface being covered with a dielectric layer, and a plurality of rotation electrodes to which a voltage can be applied when the operation portion is rotated; a rotation conductor provided on a first operation surface, which is a surface of the operation unit facing the first fixed surface, and facing the plurality of rotation electrodes when a relative position between the operation unit and the fixed unit is at a preset relative position; The voltage can be applied to two adjacent electrodes among the plurality of rotation electrodes. The operator is characterized by:

2. the plurality of rotation electrodes provided around the shaft portion and covered with the dielectric layer; The rotation conductor is provided on a surface of the operation unit facing the shaft unit, and faces the plurality of rotation electrodes provided around the shaft unit when the relative position of the operation unit and the fixed unit is in a preset relative position.

2. The operator according to claim 1,

3. the shaft portion includes a first shaft portion to which the operation unit is attached and a second shaft portion that is located on the opposite side of the first shaft portion with the first fixing surface in between, the operation unit is attached to the first shaft portion, is rotatable around the first shaft portion, and is pushable in the axial direction; the fixing portion includes a first fixing portion having the shaft portion and capable of being pushed in the axial direction together with the operation portion, and a second fixing portion having a second fixing surface which is a surface opposite to the first fixing surface of the first fixing portion, and a shaft side surface which is a surface opposite to the second shaft portion of the first fixing portion, a plurality of electrodes provided on a surface of the second shaft portion facing the second fixed portion and covered with the dielectric layer, the plurality of electrodes being capable of applying the voltage when the operation portion is pressed; a push-in conductor provided on the shaft side surface of the second fixed portion, the push-in conductor facing the plurality of push-in electrodes when a relative position between the operation portion and the second fixed portion is in a preset relative position; The voltage can be applied to two adjacent push-in electrodes among the plurality of push-in electrodes.

2. The operator according to claim 1,

4. the shaft portion includes a first shaft portion to which the operation unit is attached and a second shaft portion that is located on the opposite side of the first shaft portion with the first fixing surface in between, the operation unit is attached to the first shaft portion, is rotatable around the first shaft portion, and is pushable in the axial direction; The fixing portion includes a first fixing portion having the shaft portion and capable of being pushed in the axial direction together with the operation portion, a second fixing surface that is a surface opposite to the first fixing surface of the first fixing portion, and a shaft side surface that is a surface of the first fixing portion that is opposite to the second shaft portion. and a second fixed portion having A push-in detection switch is provided on the second fixed portion and detects the pushing of the operation portion.

2. The operator according to claim 1,

5. The plurality of rotation electrodes constitute a plurality of groups each having the plurality of rotation electrodes, and a plurality of rotation electrode units each having the group having the plurality of rotation electrodes and the rotation conductor are provided.

2. The operator according to claim 1,

6. A power supply unit capable of applying the voltage is provided inside the fixed portion.

2. The operator according to claim 1,

7. An operator having a fixed portion having a shaft portion that functions as a shaft, and an operation portion that is attached to the shaft portion and is rotatable around the shaft portion, a first fixed surface of the fixed portion facing the operation portion in the axial direction, the first fixed surface being covered with a dielectric layer, and a plurality of rotation electrodes to which a voltage can be applied when the operation portion is rotated; a rotation conductor provided on a first operation surface, which is a surface of the operation unit facing the first fixed surface, and facing the plurality of rotation electrodes when the relative position of the operation unit and the fixed portion is at a preset relative position; a tactile sensation control unit that outputs an instruction to select a tactile sensation providing waveform of the voltage in accordance with a tactile sensation when the operation unit is rotated; a tactile waveform selection unit that selects the tactile sensation providing waveform based on the selection instruction output from the tactile control unit, and outputs an instruction to apply the voltage with the selected tactile sensation providing waveform; a voltage generating circuit that applies the voltage of the tactile sensation providing waveform to the plurality of rotation electrodes based on the application instruction output from the tactile waveform selecting unit, The voltage generating circuit applies the voltage to two adjacent electrodes among the plurality of rotation electrodes. The operator is characterized by:

8. the plurality of rotation electrodes provided around the shaft portion and covered with the dielectric layer; The rotation conductor is provided on a surface of the operation unit facing the shaft unit, and faces the plurality of rotation electrodes provided around the shaft unit when the relative position of the operation unit and the fixed unit is in a preset relative position.

8. The operator according to claim 7,

9. the shaft portion includes a first shaft portion to which the operation unit is attached and a second shaft portion that is located on the opposite side of the first shaft portion with the first fixing surface in between, the operation unit is attached to the first shaft portion, is rotatable around the first shaft portion, and is pushable in the axial direction; the fixing portion includes a first fixing portion having the shaft portion and capable of being pushed in the axial direction together with the operation portion, and a second fixing portion having a second fixing surface which is a surface opposite to the first fixing surface of the first fixing portion, and a shaft side surface which is a surface opposite to the second shaft portion of the first fixing portion, a plurality of electrodes provided on a surface of the second shaft portion facing the second fixed portion and covered with the dielectric layer, the plurality of electrodes being capable of applying the voltage when the operation portion is pressed; a push-in conductor provided on the shaft side surface of the second fixed portion, the push-in conductor facing the plurality of push-in electrodes when a relative position between the operation portion and the second fixed portion is in a preset relative position; The voltage can be applied to two adjacent push-in electrodes among the plurality of push-in electrodes, The tactile sensation control unit outputs the selection instruction of the tactile sensation presentation waveform of the voltage corresponding to the tactile sensation when the operation unit is rotated or the tactile sensation when the operation unit is pressed.

9. The operator according to claim 7 or 8.

10. the shaft portion includes a first shaft portion to which the operation unit is attached and a second shaft portion that is located on the opposite side of the first shaft portion with the first fixing surface in between, the operation unit is attached to the first shaft portion, is rotatable around the first shaft portion, and is pushable in the axial direction; the fixing portion includes a first fixing portion having the shaft portion and capable of being pushed in the axial direction together with the operation portion, and a second fixing portion having a second fixing surface which is a surface opposite to the first fixing surface of the first fixing portion, and a shaft side surface which is a surface opposite to the second shaft portion of the first fixing portion, A push-in detection switch is provided on the second fixed portion and detects the pushing of the operation portion.

9. The operator according to claim 7 or 8.

11. The plurality of rotation electrodes constitute a plurality of groups each having the plurality of rotation electrodes, and a plurality of rotation electrode units each having the group having the plurality of rotation electrodes and the rotation conductor are provided; the tactile sensation control unit outputs the selection instruction of the tactile sensation providing waveform for each of the rotation electrode units when the operation unit is rotated; the tactile waveform selection unit selects the tactile sensation providing waveform for each of the rotation electrode units based on the selection instruction output from the tactile control unit, and outputs the instruction to apply the voltage with the selected tactile sensation providing waveform; The voltage generating circuit applies the voltage to two adjacent electrodes among the plurality of rotation electrodes for each of the rotation electrode portions.

8. The operator according to claim 7,

12. A power supply unit capable of applying the voltage is provided inside the fixed portion.

8. The operator according to claim 7,

13. A tactile sensation control device for controlling a tactile sensation when the operating part of the operating element according to any one of claims 1 to 4 or 6 is rotated, a tactile sensation control unit that outputs an instruction to select a tactile sensation providing waveform of the voltage corresponding to the tactile sensation when the operation unit is rotated; a tactile waveform selection unit that selects the tactile sensation providing waveform based on the selection instruction output from the tactile control unit and outputs an instruction to apply the voltage with the selected tactile sensation providing waveform; A tactile control device comprising:

14. In the operating element, the plurality of rotation electrodes form a plurality of groups each having the plurality of rotation electrodes, and a plurality of rotation electrode units each having a group including the plurality of rotation electrodes and the rotation conductor are provided; the tactile control unit outputs the selection instruction of the tactile sensation providing waveform for each of the rotation electrode units when the operation unit is rotated; The tactile waveform selection unit selects the tactile sensation providing waveform for each of the rotation electrode units based on the selection instruction output from the tactile control unit, and outputs the instruction to apply the voltage with the selected tactile sensation providing waveform.

14. The haptic control device according to claim 13.

15. A rotation detection unit that detects the rotation of the operation unit, The tactile control unit outputs, to the tactile waveform selection unit, the instruction to select the tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit is rotated, based on rotation information regarding the rotation detected by the rotation detection unit.

14. The haptic control device according to claim 13.

16. the rotation information includes information regarding a rotation position of the operation unit, The tactile control unit outputs, to the tactile waveform selection unit, an instruction to select the tactile sensation providing waveform corresponding to the tactile sensation that corresponds to the rotational position of the operation unit, based on the rotation information.

16. The haptic control device according to claim 15.

17. The tactile control unit outputs the selection instruction of the tactile sensation presentation waveform according to the state of the HMI that is the target of the rotation operation of the operation unit.

16. The haptic control device according to claim 15.

18. the operation unit is attached to the shaft portion, is rotatable around the shaft portion, and is pushable in the axial direction; The tactile control unit outputs the selection instruction for the tactile sensation presentation waveform of the voltage corresponding to the tactile sensation when the operation unit is rotated, or the selection instruction for the tactile sensation presentation waveform of the voltage corresponding to the tactile sensation when the operation unit is pressed.

14. The haptic control device according to claim 13.

19. A rotation detection unit that detects a rotation of the operation unit; a push-in detection unit that detects a push-in of the operation unit, The tactile control unit outputs to the tactile waveform selection unit the instruction to select the tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit is rotated, based on rotation information regarding the rotation of the operation unit detected by the rotation detection unit, or the instruction to select the tactile sensation presentation waveform corresponding to the tactile sensation when the operation unit is pressed, based on press information regarding the press of the operation unit detected by the press detection unit.

20. The haptic control device of claim 18.

20. the rotation information includes information regarding a rotation position of the operation unit, the depression information includes information regarding the depression amount of the operation unit, The tactile control unit outputs to the tactile waveform selection unit the instruction to select the tactile sensation presentation waveform corresponding to the tactile sensation corresponding to the rotational position of the operation unit based on the rotation information, or the instruction to select the tactile sensation presentation waveform corresponding to the tactile sensation corresponding to the pressing amount of the operation unit based on the pressing information.

20. The haptic control device of claim 19.

21. The tactile control unit outputs the selection instruction of the tactile sensation presentation waveform according to a state of an HMI that is a target of a rotation operation of the operation unit, or a state of an HMI that is a target of a press operation of the operation unit.

20. The haptic control device of claim 18.

22. the shaft portion includes a first shaft portion to which the operation unit is attached and a second shaft portion that is located on the opposite side of the first shaft portion with the first fixing surface in between, the operation unit is attached to the first shaft portion, is rotatable around the first shaft portion, and is pushable in the axial direction; the fixing portion includes a first fixing portion having the shaft portion and capable of being pushed in the axial direction together with the operation portion, and a second fixing portion having a second fixing surface which is a surface opposite to the first fixing surface of the first fixing portion, and a shaft side surface which is a surface opposite to the second shaft portion of the first fixing portion, a plurality of electrodes provided on a surface of the second shaft portion facing the second fixed portion and covered with the dielectric layer, the plurality of push-in electrodes being capable of applying the voltage when the operation portion is pushed in; When the tactile control unit outputs the instruction to select the tactile presentation waveform corresponding to the tactile sensation when the operation unit is rotated, the tactile waveform selection unit selects the tactile presentation waveform that provides the tactile sensation when the operation unit is rotated, and outputs the instruction to apply the voltage with the selected tactile presentation waveform to the multiple rotation electrodes, and when the tactile control unit outputs the instruction to select the tactile presentation waveform corresponding to the tactile sensation when the operation unit is pressed, the tactile waveform selection unit selects the tactile presentation waveform that provides the tactile sensation when the operation unit is pressed, and outputs the instruction to apply the voltage with the selected tactile presentation waveform to the multiple press-down electrodes.

14. The haptic control device according to claim 13.

23. The operating element has an area where the plurality of electrodes for rotation and the conductor for rotation face each other, the area changing depending on an amount of rotation of the operating portion.

14. The haptic control device according to claim 13.

24. A tactile sensation control method for controlling a tactile sensation when rotating the operation part of the operation element according to any one of claims 1 to 6, comprising: a step of outputting an instruction by a tactile sensation control unit to select a tactile sensation providing waveform of the voltage corresponding to the tactile sensation when the operation unit is rotated; a step in which a tactile waveform selection unit selects the tactile sensation providing waveform based on the selection instruction output from the tactile sensation control unit, and outputs an instruction to apply the voltage with the selected tactile sensation providing waveform; A tactile sensation control method comprising: