Pen-type input device and input system

Abstract

To provide a pen-type input device capable of presenting a realistic tactile sense of writing.　This pen-type input device comprises: a pen body; a vibration actuator accommodated inside the pen body; a pen-type selection unit by which a first or second pen-type can be selected; a storage unit for storing first and second vibration waveforms corresponding to the first and second pen-types; a control unit for performing drive control of the vibration actuator on the basis of the first or second vibration waveform corresponding to the selected first or second pen-type; and a writing speed detection unit for detecting the writing speed of the pen body. The control unit drives the vibration actuator so that the vibration intensity increases at a first rate in accordance with an increase in the writing speed when the first pen-type is selected, drives the vibration actuator so that the vibration intensity increases at a second rate, which is smaller than the first rate, in accordance with an increase in the writing speed when the second pen-type is selected, or drives the vibration actuator at a constant vibration intensity regardless of the writing speed.

Description

Pen-type input device and input system

[0001] The present disclosure relates to a pen-type input device and an input system.

[0002] A conventional handwriting electronic input system for electronically executing handwriting input force includes a handwriting input means used for inputting handwritten information by an operator and a handwriting input detection means for detecting the handwriting input force by the handwriting input means. The handwriting electronic input system includes a writing sensation providing means for generating vibrations in the handwriting input means corresponding to the writing sensation in response to the operation of the handwriting input means when inputting information by hand, a memory means for storing a vibration waveform generated by writing on a writing object using a writing implement, and an operation means for performing various inputs.

[0003] The storage means stores information on the thickness, hardness, smoothness, and elasticity of the writing implement pen tip in association with a vibration waveform, and also stores information on the surface condition of the writing object in association with a vibration waveform, and the vibration waveform stored in the storage means is read out based on the information on the writing implement or the information on the writing object input from the operation means. The writing sensation providing means generates the vibration that reproduces the vibration generated between the writing implement and the writing object in accordance with the vibration waveform read out from the storage means (see, for example, Patent Document 1).

[0004] International Publication No. 2008 / 078523 (Patent No. 5093117)

[0005] Conventional electronic handwriting input systems store information (data) about the thickness, hardness, smoothness, and elasticity of the pen tip of a writing instrument in association with vibration waveforms, but it is difficult to use this data to present a tactile sensation similar to that of actually writing.

[0006] Therefore, an object of the present invention is to provide a pen-type input device and an input system that can provide a realistic tactile sensation of writing.

[0007] a control unit that controls the driving of the vibration actuator based on the first vibration waveform or the second vibration waveform corresponding to the first pen type or the second pen type selected by the pen type selection unit; and a writing speed detection unit that detects the writing speed of the pen body, wherein when the first pen type is selected by the pen type selection unit, the control unit drives the vibration actuator so that the vibration intensity increases by a first degree as the writing speed increases, and when the second pen type is selected by the pen type selection unit, the control unit drives the vibration actuator so that the vibration intensity increases by a second degree smaller than the first degree as the writing speed increases, or drives the vibration actuator at a constant vibration intensity regardless of the writing speed.

[0008] It is possible to provide a pen-type input device and an input system that can provide a realistic tactile sensation of writing.

[0009] 4A and 4B are diagrams illustrating an example of a usage state of a pen-type input device according to an embodiment; FIG. 4B is a block diagram illustrating the internal configuration of a pen-type input device according to an embodiment; FIG. 4C is a diagram illustrating an example of measurement of time changes in acceleration, writing angular velocity, and writing pressure occurring in a pen when writing; FIG. 4D is a diagram illustrating an example of measurement results of time changes in acceleration, writing angular velocity, and writing pressure occurring in a pen when drawing a straight line on normal paper with few steps; FIG. 4E is a diagram illustrating an example of vibration characteristics obtained from measurement results of time changes in acceleration, writing angular velocity, and writing pressure; FIG. 4F is a diagram illustrating a trend of the vibration characteristics shown in FIGS. 4A and 4B; FIG. 4G is a diagram illustrating a trend of the vibration characteristics shown in FIGS. 4A and 4B; FIG. 4H is a diagram illustrating an example of a vibration waveform used by the pen-type input device according to an embodiment to drive vibration elements to simulate vibrations occurring when writing with a ballpoint pen, a marker pen, a felt-tip pen, a mechanical pencil, and a fountain pen; and FIG. 4H is a diagram illustrating an example of a vibration waveform used by the pen-type input device according to an embodiment to drive vibration elements to simulate vibrations occurring when writing with a ballpoint pen, a marker pen, a felt-tip pen, a mechanical pencil, and a fountain pen. Fig. 1 is a diagram showing an example of a vibration waveform used by the pen-type input device of the embodiment to drive vibration elements to simulate vibrations occurring when writing with a ballpoint pen, a marker pen, a felt-tip pen, a mechanical pencil, and a fountain pen. Fig. 2 is a diagram showing an example of a vibration waveform used by the pen-type input device of the embodiment to drive vibration elements to simulate vibrations occurring when writing with a ballpoint pen, a marker pen, a felt-tip pen, a mechanical pencil, and a fountain pen. Fig. 3 is a diagram showing an example of a measurement result of acceleration of vibrations occurring in a pen body when the pen-type input device of the embodiment repeatedly outputs unit vibration waveforms. Fig. 4 is a flowchart showing an example of processing executed by a waveform generating unit of the pen-type input device of the embodiment.

[0010] Hereinafter, an embodiment to which the pen-type input device and input system of the present disclosure are applied will be described.

[0011] In the following description, the XYZ coordinate system is defined. The direction parallel to the X axis (X direction), the direction parallel to the Y axis (Y direction), and the direction parallel to the Z axis (Z direction) are perpendicular to each other. For ease of explanation, the -Z direction side may be referred to as the lower side or bottom, and the +Z direction side as the upper side or top, but this does not represent a universal vertical relationship. Furthermore, a planar view refers to a view from an XY plane.

[0012] In the following description, the length, width, thickness, etc. of each part may be exaggerated to make the configuration easier to understand. Furthermore, terms such as parallel, up and down, etc., may be misaligned to the extent that the effect of the embodiment is not impaired.

[0013] <Embodiment> Fig. 1A is a diagram showing an example of a usage state of a pen-type input device 100 according to an embodiment. Fig. 1A shows a tablet computer 200 that can be operated with the pen-type input device 100. The tablet computer 200 is an example of an electronic device. The tablet computer 200 has an operation surface 200A. The operation surface 200A is an example of a writing surface on which writing can be performed with the pen-type input device 100. As an example, the operation surface 200A is the surface of a top panel that is placed over a liquid crystal display. As an example, an electrostatic sensor that can detect the coordinates of an operation position on the operation surface 200A may be provided between the liquid crystal display and the top panel.

[0014] The user holds the pen-type input device 100 in the hand H and operates the tablet computer 200 by touching the operation surface 200A of the tablet computer 200 with the tip of the pen-type input device 100.

[0015] The pen-type input device 100 has a pen body 100A. The pen body 100A is the part of the pen that is visible from the outside of the pen-type input device 100, and includes a tip 100A1 and a cap 100A2. The pen-type input device 100 includes a vibration element, a driver, a control unit, a gyro sensor, a writing pressure sensor, a battery, and the like inside the pen body 100A, but these are omitted from FIG. 1A .

[0016] If we consider the system from such a pen-type input device 100 to the hand H as an approximation to a mechanical model, it can be represented as an elastic mechanical model due to the presence of springs and dampers between the fingers F of the hand H and the pen body 100A.

[0017] <Internal Configuration of Pen-Type Input Device 100> Fig. 1B is a block diagram showing the internal configuration of the pen-type input device 100. The pen-type input device 100 includes a gyro sensor 110A, an acceleration sensor 110B, a communication unit 110C, a writing pressure sensor 120, a control device 130, a driver 140, and a vibration element 150. The gyro sensor 110A is an example of a speed detection unit. The acceleration sensor 110B is an example of an attitude detection unit. The communication unit 110C is an example of an acquisition unit. The writing pressure sensor 120 is an example of a writing pressure detection unit. The vibration element 150 is an example of a vibration actuator. These are housed inside the pen body 100A.

[0018] The gyro sensor 110A detects the writing angular velocity occurring in the pen-type input device 100. The gyro sensor 110A detects the angular velocity (writing angular velocity) during writing. When performing a writing operation with the pen-type input device 100, the user moves the finger holding the pen-type input device 100, causing the pen tip to move. The writing angular velocity detected by the gyro sensor 110A at this time can be treated approximately as the writing speed of the pen body 100A. Therefore, in the pen-type input device 100, the writing angular velocity detected by the gyro sensor 110A is treated approximately as the writing speed.

[0019] The gyro sensor 110A is connected to the control device 130 and outputs the detected writing angular velocity to the control device 130. In addition to the writing angular velocity, the gyro sensor 110A may also detect the three-dimensional attitude of the pen-type input device 100 and output it to the control device 130.

[0020] The gyro sensor 110A may be located inside the pen body 100A, either closer to the tip 100A1, closer to the cap 100A2, or between the tip 100A1 and the cap 100A2. This is because the angular velocity generated in the pen body 100A during writing is the same at any part of the pen body 100A.

[0021] The acceleration sensor 110B detects acceleration occurring in the pen-type input device 100. The acceleration occurring in the pen-type input device 100 is acceleration occurring in the pen body 100A, and represents the attitude of the pen body 100A. As an example of such an acceleration sensor 110B, a three-axis acceleration sensor can be used. The acceleration sensor 110B outputs the detected acceleration to the data input unit 131. Note that instead of the acceleration sensor 110B, a geomagnetic sensor may be used to detect the attitude of the pen body 100A.

[0022] The communication unit 110C is capable of wireless communication with the communication unit 220 of the tablet computer 200. The communication unit 110C may be a device capable of short-range wireless communication using, for example, Bluetooth Low Energy (registered trademark). The communication unit 110C may also be a device capable of short-range wireless communication using a communication method other than Bluetooth Low Energy. The communication unit 110C acquires acceleration representing the attitude of the tablet computer 200 from the communication unit 220 of the tablet computer 200 and outputs the acceleration to the data input unit 131.

[0023] The writing pressure sensor 120 detects the force (writing pressure) applied by the user to the paper 2 when the user holds the pen-type input device 100 with his / her finger F. The writing pressure sensor 120 is connected to the control device 130 and outputs the detected writing pressure to the control device 130. As an example, the writing pressure sensor 120 may be disposed in a position close to the tip 100A1 of the pen body 100A, sandwiched between the pen tip located at the tip 100A1 and the internal structure of the pen body 100A. It is sufficient that the writing pressure sensor 120 can detect the pressure applied to the pen tip.

[0024] The control device 130 has a data input unit 131, a pen type selection unit 132, an angle calculation unit 133, a waveform generation unit 134, a waveform output unit 135, and a memory 136. The waveform generation unit 134 and the waveform output unit 135 are examples of a control unit that controls the drive of the vibration element 150. The memory 136 is an example of a storage unit. The acceleration sensor 110B, the communication unit 110C (acquisition unit), and the angle calculation unit 133 are examples of a writing angle detection unit.

[0025] The control device 130 is, for example, configured with an MCU (Micro Controller Unit). The control device 130 is a computer including a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), an input / output interface, an internal bus, and the like. The data input unit 131, the pen type selection unit 132, the angle calculation unit 133, the waveform generation unit 134, and the waveform output unit 135 are functional blocks representing the functions of the program executed by the control device 130. The memory 136 is a functional representation of the memory of the control device 130. The control device 130 is not limited to a computer, and may be configured with, for example, an FPGA (Field Programmable Gate Array). Furthermore, a portion of the control device 130 (for example, the waveform output unit 135) may be configured with an FPGA.

[0026] The data input unit 131 receives the writing angular velocity and three-dimensional attitude from the gyro sensor 110A, and the acceleration of the pen body 100A from the acceleration sensor 110B. The data input unit 131 also receives the acceleration of the tablet computer 200 from the communication unit 110C, and the writing pressure from the writing pressure sensor 120.

[0027] The data input unit 131 also outputs the pen type input to a switch or the like (not shown) to the pen type selection unit 132. The data input unit 131 also outputs the acceleration of the pen body 100A from the acceleration sensor 110B and the acceleration of the tablet computer 200 from the communication unit 110C to the angle calculation unit 133.

[0028] The data input unit 131 also integrates the writing angular velocity input from the gyro sensor 110A to calculate the writing distance. The data input unit 131 outputs the writing angular velocity, the acceleration of the pen body 100A, the acceleration of the tablet computer 200, the writing distance, the writing pressure, and the three-dimensional attitude to the waveform generation unit 134. The unit of the writing distance is degrees. The writing distance is expressed in degrees as the distance over which writing was performed.

[0029] The pen type selection unit 132 selects a pen type. The pen type is a type of pen that can provide a tactile sensation of writing by the pen input device 100 vibrating the vibration element 150 when writing with the pen input device 100. Examples of pen types are a ballpoint pen, a marker pen, a felt-tip pen, a mechanical pencil, and a fountain pen. The pen input device 100 can provide a different tactile sensation of writing for each pen type.

[0030] The pen type selection unit 132 selects a pen type in response to the operation of a switch or the like on the pen body 100A. The pen type is input to the pen type selection unit 132 from the data input unit 131. The pen type selection unit 132 outputs the selected pen type to the waveform generation unit 134. Note that the user of the pen type input device 100 may select a pen type by operating a switch provided on the pen body 100A, or may select a pen type by operating the tablet computer 200, and the selected pen type may be input to the pen type selection unit 132 via the communication unit 110C, and the input pen type may be output by the pen type selection unit 132 to the waveform generation unit 134.

[0031] The angle calculation unit 133 calculates the writing angle based on the acceleration of the pen body 100A and the acceleration of the tablet computer 200 input from the data input unit 131. The acceleration of the pen body 100A represents the pen attitude of the pen body 100A. The acceleration of the tablet computer 200 represents the device attitude of the tablet computer 200.

[0032] The writing angle is expressed, for example, as the angle of elevation of the pen shaft relative to the operation surface 200A of the tablet computer 200. The range of angles that the angle of elevation of the pen shaft can take is from 0 degrees to 90 degrees. The angle calculation unit 133 outputs the calculated writing angle to the waveform generation unit 134.

[0033] The waveform generating unit 134 generates a pulse height (acceleration of vibration) and a pulse interval (frequency) for generating a drive signal, and outputs the generated pulse height and pulse interval (frequency) to the waveform output unit 135. The waveform generating unit 134 generates the pulse height (acceleration of vibration) and the pulse interval (frequency) based on the writing angular velocity and writing pressure input from the data input unit 131, the writing angle input from the angle calculation unit 133, and the pen type input from the pen type selection unit 132.

[0034] More specifically, the waveform generating unit 134 reads out the vibration waveform vibration characteristic parameters corresponding to the pen type from the memory 136, and uses the read out vibration waveform vibration characteristic parameters to generate a pulse height (vibration acceleration) by multiplying the value obtained by multiplying the writing angular velocity and a normal random number by the writing pressure. Note that random numbers other than normal random numbers may also be used.

[0035] The waveform generating unit 134 also reads out a vibration waveform vibration characteristic parameter corresponding to the pen type from the memory 136, and uses the read out vibration waveform vibration characteristic parameter to generate a pulse interval (frequency) based on the value obtained by multiplying the writing angular velocity by a normal random number. This causes the timing of vibration occurrence to conform to the normal random number. Note that random numbers other than normal random numbers may also be used.

[0036] The relationship between the pulse height generated by the waveform generating unit 134 and the pen type will be described later with reference to FIGS. 5A and 5B.

[0037] The waveform generating unit 134 may also correct the writing pressure based on the three-dimensional posture. The waveform generating unit 134 may also calculate the pulse interval from the previous waveform output request to the next waveform output request as the elapsed time from the current writing speed and a normal random number. The waveform generating unit 134 may also calculate a required writing distance from the writing position where the previous waveform output request was made by multiplying the pulse interval calculated from the current writing speed and a normal random number by the current writing speed, and use the result for determination.

[0038] The waveform output unit 135 is realized by, for example, an FIR (Finite Impulse Response) filter or an IIR (Infinite Impulse Response) filter. When a signal corresponding to a pulse height and pulse interval (frequency) is input from the waveform generation unit 134, the waveform output unit 135 weights and superimposes the currently input signal (current sample signal), the previous sample signal, ..., N (N is an integer of 2 or more) previous sample signals, to generate drive signals with different vibration intensities and intervals corresponding to pulse train signals (trigger signals) with different pulse heights and pulse intervals, and outputs the drive signals to the driver 140. Furthermore, based on information from the pen type selection unit 132, the waveform generation unit 134 reads pen vibration waveform information from the memory 136, and the waveform generation unit 134 changes the filter coefficients of the waveform output unit 135.

[0039] The memory 136 stores programs and data used by the pen type selection unit 132, angle calculation unit 133, waveform generation unit 134, and waveform output unit 135 when they execute their processes. With regard to data, the memory 136 stores vibration waveform data corresponding to the pen type selected by the pen type selection unit 132. With regard to data, the memory 136 also stores normal random numbers used by the waveform generation unit 134, data representing the relationship between writing angular velocity and vibration acceleration, the relationship between writing pressure and vibration acceleration, the relationship between writing angular velocity and occurrence interval (frequency), etc. Data stored in the memory 136 other than those mentioned above will be described later.

[0040] The driver 140 is a drive circuit for the vibration element 150 , and drives the vibration element 150 based on the drive signal input from the waveform output section 135 .

[0041] As an example, a vibration actuator such as an LRA (Linear Resonant Actuator) can be used as the vibration element 150. The vibration element 150 is disposed inside the pen body 100A, and generates vibrations in the pen body 100A when driven by a drive signal. By selecting the type of drive signal, vibrations that realize vibrations similar to those occurring when writing with various pens can be generated in the pen body 100A.

[0042] The above describes a configuration in which the pen-type input device 100 includes the control device 130 and the vibration element 150. However, the tablet computer 200 may include at least one of the control device 130 and the vibration element 150, and may generate vibrations on the operation surface 200A by driving the vibration element 150 based on the writing speed and writing pressure determined from the time change of the position where an operation is performed on the pen-type input device 100.

[0043] In such a case, a system including the pen-type input device 100 and the tablet computer 200 can be regarded as an input system. The tablet computer 200 in such an input system is an example of a detection device. The position where an operation is performed on the pen-type input device 100 may be detected by a touch panel of the tablet computer 200. The touch panel is an electrostatic sensor capable of detecting the coordinates of the operation position on the operation surface 200A. Furthermore, the writing pressure may be detected, for example, by providing the tablet computer 200 with a sensor capable of detecting the operation load applied to the operation surface 200A. In this case, the pen-type input device 100 may include a gyro sensor 110A and a writing pressure sensor 120, and the writing angular velocity and writing pressure may be transmitted to the control device 130 of the tablet computer 200 via wired or wireless communication between the pen-type input device 100 and the tablet computer 200.

[0044] Furthermore, in such an input system, the pen-type input device 100 may include the control device 130, the tablet computer 200 may include the vibration element 150, and the control device 130 of the tablet computer 200 may generate a drive signal and transmit the drive signal to the pen-type input device 100 via wired or wireless communication between the pen-type input device 100 and the tablet computer 200 to drive the vibration element 150. In this case, the writing angular velocity and writing pressure may be detected on either the pen-type input device 100 side or the tablet computer 200 side.

[0045] <Tablet Computer 200> The tablet computer 200 includes an acceleration sensor 210 and a communication unit 220. The tablet computer 200 also includes a display, a touch panel, a CPU, a memory, and the like, but these will not be described here.

[0046] The acceleration sensor 210 detects the acceleration occurring in the tablet computer 200. The acceleration occurring in the tablet computer 200 is the acceleration occurring in the tablet computer 200, and represents the attitude of the tablet computer 200. As an example of such an acceleration sensor 210, a three-axis acceleration sensor can be used. The acceleration sensor 210 outputs the detected acceleration to the CPU, and the CPU outputs the acceleration to the communication unit 220. Note that instead of the acceleration sensor 210, a geomagnetic sensor may be used to detect the attitude of the tablet computer 200.

[0047] The communication unit 220 is capable of wireless communication with the communication unit 110C of the pen-type input device 100. The communication unit 220 may be a device capable of short-range wireless communication, such as Bluetooth Low Energy (registered trademark). The communication unit 220 may also be a device capable of short-range wireless communication using a communication method other than Bluetooth Low Energy. The communication unit 220 transmits the acceleration of the tablet computer 200 to the communication unit 110C of the pen-type input device 100.

[0048] <Measurement of changes over time in acceleration, writing angular velocity, and writing pressure> Figure 2 is a diagram showing an example of how changes over time in acceleration, writing angular velocity, and writing pressure occurring in the pen 10 during writing are measured. As shown in Figure 2, paper 2 is placed on the top surface of a flat plate 1, and with the tip of the pen 10 in contact with the surface of the paper 2, an examiner writes a straight line with the pen 10, and changes over time in acceleration, writing angular velocity, and writing pressure occurring in the pen 10 during writing are measured.

[0049] As examples of the pen 10, a ballpoint pen, a marker pen, a felt-tip pen, a mechanical pencil, and a fountain pen were used.

[0050] The acceleration is the acceleration of vibrations that occur in the pen 10 when writing, and the vibration waveform was measured by attaching an acceleration sensor to the tip of the pen 10. The writing angular velocity is the angular velocity that occurs in the pen 10 when writing, and was measured by attaching a gyro sensor to the pen 10. The gyro sensor is preferably located in a position that does not come into contact with the hand when the pen 10 is held in the hand, and as an example, it was attached to the cap side.

[0051] The writing pressure is the pressure with which the tip of the pen 10 presses against the paper 2 when writing, and was measured by writing with the flat plate 1 mounted on a load cell (load sensor).

[0052] <Example of Measurement Results of Changes over Time in Acceleration, Writing Angular Velocity, and Writing Pressure> Figure 3 is a diagram showing an example of measurement results of changes over time in acceleration, writing angular velocity, and writing pressure that occur in the pen 10 when drawing a straight line on ordinary paper with few steps. The acceleration, writing angular velocity, and writing pressure shown in Figure 3 are actual measured values. The writing angular velocity is an example of writing speed.

[0053] Figure 3 shows the results obtained by starting writing with the ballpoint pen stationary at time 0 and writing linearly up to time 0.9 seconds. The acceleration, writing angular velocity, and writing pressure were also measured over time for a mechanical pencil, a felt-tip pen, a marker pen, and a fountain pen.

[0054] As a result, the vibration intensity of the writing implements during writing increased with increasing writing speed for ballpoint pens and fountain pens. The vibration intensity of the writing implements during writing remained approximately constant regardless of writing speed for markers, felt-tip pens, and mechanical pencils. Furthermore, the vibration intensity of the writing implements during writing increased with increasing writing pressure for all of the ballpoint pens, marker pens, felt-tip pens, mechanical pencils, and fountain pens.

[0055] <Vibration Characteristics> Figures 4A and 4B show examples of vibration characteristics obtained from the measurement results of changes over time in acceleration, writing angular velocity, and writing pressure. Figures 4A and 4B show the main frequency freq (Hz), velocity proportionality coefficient a1 (G / deg / sec), writing pressure proportionality coefficient f1 (G / N), writing pressure constant f0 (G), time interval proportionality coefficient k1 (s / (deg / s)), time interval constant k0 (sec), vibration intensity standard deviation sigma2, and time interval standard deviation sigma1 for a ballpoint pen, a marker pen, a felt-tip pen, a mechanical pencil, and a fountain pen. These coefficients are vibration characteristics obtained from the measurement results of changes over time in acceleration, writing angular velocity, and writing pressure.

[0056] Here, the pen axis direction and writing direction are defined. The pen axis direction is the direction connecting the tip 100A1 and the cap 100A2 in Fig. 1A, and is the longitudinal direction of the pen body 100A. The writing direction is the direction in which the tip 100A1 moves relative to the operation surface 200A.

[0057] Figure 4A shows the vibration characteristics of vibration in the pen axis direction, and Figure 4B shows the vibration characteristics of vibration in the writing direction. Furthermore, Figures 4A and 4B show measurement results for a fountain pen when the writing direction is horizontal and when the writing direction is forward and backward. A horizontal writing direction means writing by moving the fountain pen nib left and right. A forward and backward writing direction means writing by moving the fountain pen nib forward or backward.

[0058] The pen-type input device 100 stores the coefficients for the ballpoint pen, marker pen, felt-tip pen, mechanical pencil, and fountain pen shown in Figures 4A and 4B in memory 136 and generates the vibration waveforms described below (see Figures 6A and 6B), thereby presenting the tactile sensation when writing with a ballpoint pen, marker pen, felt-tip pen, mechanical pencil, and fountain pen.

[0059] The main frequency freq (Hz) is the frequency of the main component of the vibration. The speed proportional coefficient a1 (G / deg / sec) is a proportional coefficient indicating the rate at which vibration intensity increases in response to an increase in writing speed. The writing pressure proportional coefficient f1 (G / N) is a proportional coefficient indicating the rate at which vibration intensity increases in response to load. The writing pressure constant f0 (G) is a constant added to the writing pressure proportional coefficient f1 (G / N). The time interval proportional coefficient k1 (s / (deg / s)) is a proportional coefficient indicating the rate at which the time interval when a vibration waveform is repeatedly output increases in proportion to an increase in writing speed. The time interval constant k0 (sec) is a constant added to the time interval when a vibration waveform is repeatedly output. The vibration intensity standard deviation sigma2 is the standard deviation of the vibration intensity obtained from the vibration characteristics. The time interval standard deviation sigma1 is the standard deviation of the time interval between peaks of the vibration waveform obtained from the vibration characteristics.

[0060] From the vibration characteristics shown in Figures 4A and 4B, it was found that the fountain pen has a nib split into two, and the movement of the nib is not symmetrical in all writing directions, so the vibration waveform, main frequency, and other vibration characteristics differ depending on the writing direction.

[0061] It is believed that the vibration sensation is felt as a writing sensation when the vibration waveform in the pen axis direction and writing direction is transmitted to the hand. The shape of the fountain pen tip is such that a slit is provided in the thin plate to transmit the ink, and a moderate amount of elasticity is generated in the thickness direction of the thin plate. In addition, the elasticity of the thin plate is different in the width direction and thickness direction, which is thought to generate the unique writing sensation of a fountain pen, and the vibration waveform and frequency generated by the difference in elasticity are also thought to change.

[0062] In addition, in the vibration characteristics shown in FIGS. 4A and 4B, the average of the time interval constant k0 is 150 Hz to 650 Hz, and as the writing speed increases, the time interval of the pulse becomes shorter (higher frequency).

[0063] On the other hand, the standard sampling rate of an electrostatic touch panel is 120 Hz, and even a high-speed touch panel is slow at 240 Hz. Therefore, the pen-type input device 100 must detect the movement of the pen tip, and at least the gyro sensor 110A is required.

[0064] Furthermore, as a change in posture during writing, the pen-type input device 100 may rotate or undergo a state change accompanied by translation. Depending on the posture of the pen-type input device 100, the contribution rate of vibrations generated in the pen shaft and vibrations generated in the writing direction also differ.

[0065] When the writing angle is large, such as close to 90 degrees, the vibration of the pen shaft works effectively, but when the writing angle is small, such as close to 0 degrees, the vibration in the writing direction becomes dominant.

[0066] Therefore, understanding the writing posture is important when generating a better writing feel through vibration feedback. For this reason, we calculate the writing angle and balance the vibration in the pen axis direction with the vibration in the writing direction.

[0067] The fact that the time interval between pulses tends to become shorter as the writing speed increases can be interpreted as vibrations occurring at certain intervals of writing distance. In other words, it is important to understand the writing distance. By estimating the orientation of the pen-type input device 100 using the gyro sensor 110A and the acceleration sensor 110B (or a geomagnetic sensor) and adding the touch position of the pen tip detected every 240 Hz, for example, to the correction information, it becomes possible to present a good writing sensation regardless of the writing posture.

[0068] 5A and 5B are diagrams showing the trends of the vibration characteristics shown in FIGS. 4A and 4B. Fig. 5A shows the trends for a ballpoint pen, and Fig. 5B shows the trends for a mechanical pencil. Fig. 5A and 5B show the trends of vibration intensity and vibration occurrence interval with increasing writing speed or increasing writing pressure.

[0069] As shown in Figure 5A, for the ballpoint pen, the vibration intensity increased and the vibration interval decreased with increasing writing speed, and the vibration intensity increased and the vibration interval remained unchanged with increasing writing pressure.

[0070] As shown in Figure 5B, with the mechanical pencil, as the writing speed increased, the vibration intensity either did not change or increased to a lesser extent than with the ballpoint pen, and the vibration interval tended to gradually lengthen. Also, as the writing pressure increased, the vibration intensity did not change and the vibration interval also tended not to change.

[0071] Also, although not shown in Figures 5A and 5B, for the marker pen, as the writing speed increased, the vibration intensity either did not change or increased to a smaller extent than for the ballpoint pen, and the vibration occurrence interval tended not to change.

[0072] Furthermore, with the felt-tip pen, as the writing speed increased, the vibration intensity either did not change or increased to a lesser extent than with the ballpoint pen, and the vibration generation interval tended to gradually shorten.

[0073] Furthermore, for fountain pens, the vibration intensity increased and the vibration occurrence intervals became shorter as the writing speed increased.

[0074] <Generation of vibration parameters by waveform generation unit 134> The waveform generation unit 134 updates the vibration parameters every time an update time for updating the vibration parameters elapses in order to simulate the measurement results shown in Figures 4A and 4B and the trends of the vibration characteristics shown in Figures 5A and 5B. The vibration parameters calculated by the waveform generation unit 134 are the time interval Δt1, the target acceleration G1, the target acceleration G2, and the vibration waveform target acceleration G.

[0075] The time interval Δt1 is a time interval obtained by multiplying the time interval proportional coefficient k1 by the writing speed V and adding the result to the time interval constant k0 according to the following formula (1), and is set to a value according to the writing speed V. The time interval Δt1 is used to calculate the update time Δt: Δt1=V×k1+k0 (1)

[0076] The update time Δt can be calculated by substituting the time interval Δt1 and the time interval standard deviation sigma1 into the normal random number generating function normrnd according to the following equation (2): Δt=normrnd(Δt1, sigma1) (2)

[0077] Instead of the update time Δt, an update distance ΔL obtained by converting the update time Δt into the distance moved by the pen tip may be used. The update distance ΔL is expressed by the following equation (2A): ΔL=Δt×V

[0078] The target acceleration G1 is obtained by multiplying the speed proportional coefficient a1 by the writing speed V and adding a constant a0 according to the following equation (3): G1=a1×V+a0 (3)

[0079] The target acceleration G2 is obtained by multiplying the pen pressure proportional coefficient f1 by the pen pressure F and adding the result to the pen pressure constant f0 according to the following equation (4): G2=f1×f+f0 (4)

[0080] The vibration waveform target acceleration G can be calculated by substituting the sum of the target accelerations G1 and G2 and the vibration intensity standard deviation sigma2 into the normal random number generating function normrnd according to the following equation (5): G=normrnd(G1+G2, sigma2) (5)

[0081] The update time Δt obtained by equation (2) is the pulse interval (frequency), and the vibration waveform target acceleration G obtained by equation (5) is the pulse height.

[0082] <Relationship between pulse height generated by waveform generation unit 134 and pen type> <Setting vibration intensity based on writing angle V> When the first pen type is a ballpoint pen or a fountain pen and the first speed proportional coefficient is the speed proportional coefficient a1 for the ballpoint pen or the fountain pen, the waveform generation unit 134 generates the first vibration waveform for the ballpoint pen or the fountain pen based on the writing angle V as follows.

[0083] When the first pen type is selected by the pen type selection unit 132, the waveform generation unit 134 increases the amplitude of the first vibration waveform in accordance with the first speed proportional coefficient and the writing speed V.

[0084] If the second pen type is a marker pen, a felt-tip pen, or a mechanical pencil, and the second speed proportional coefficient is a speed proportional coefficient a1 for the marker pen, the felt-tip pen, or the mechanical pencil, the waveform generating unit 134 generates a second vibration waveform for the marker pen, the felt-tip pen, or the mechanical pencil as follows.

[0085] When the second pen type is selected by the pen type selection unit 132, the waveform generation unit 134 increases the amplitude of the second vibration waveform in accordance with the writing speed V and a second speed proportional coefficient that is smaller than the first speed proportional coefficient.

[0086] <Setting vibration intensity based on pen pressure F> When the first pen type is a ballpoint pen and the first pen pressure proportional coefficient is the pen pressure proportional coefficient f1 for the ballpoint pen, the waveform generation unit 134 generates the first vibration waveform for the ballpoint pen based on the pen pressure F as follows.

[0087] When the first pen type is selected by the pen type selection unit 132, the waveform generation unit 134 increases the amplitude of the first vibration waveform in accordance with the first pen pressure proportional coefficient and the pen pressure F.

[0088] When the second pen type is a mechanical pencil and the second writing pressure proportional coefficient is the writing pressure proportional coefficient f1 for a mechanical pencil, the waveform generating unit 134 generates the second vibration waveform for the mechanical pencil based on the writing pressure F as follows.

[0089] When the second pen type is selected by the pen type selection unit 132, the waveform generation unit 134 increases the amplitude of the second vibration waveform in accordance with the pen pressure F and a second pen pressure proportional coefficient that is smaller than the first pen pressure proportional coefficient.

[0090] <Setting the update time Δt based on the writing angle V> When the first pen type is a ballpoint pen, a felt-tip pen, or a fountain pen, the first time interval proportional coefficient is the time interval proportional coefficient k1 for the ballpoint pen, felt-tip pen, or fountain pen, and the first time interval is the update time Δt for the ballpoint pen, felt-tip pen, or fountain pen, the waveform generation unit 134 generates the first time interval for the ballpoint pen, felt-tip pen, or fountain pen based on the writing angle V as follows.

[0091] When the pen type selection unit 132 selects the first pen type, the waveform generation unit 134 shortens the first time interval in accordance with the first time interval proportional coefficient and the writing speed.

[0092] If the second pen type is a marker pen or a mechanical pencil, the second time interval proportional coefficient is the time interval proportional coefficient k1 for the marker pen or the mechanical pencil, and the second time interval is the update time Δt for the marker pen or the mechanical pencil, the waveform generation unit 134 generates the second time interval for the marker pen or the mechanical pencil based on the writing angle V as follows:

[0093] When the second pen type is selected by the pen type selection unit 132, the waveform generation unit 134 lengthens the second time interval in accordance with the writing speed and a second time interval proportional coefficient that is greater than the first time interval proportional coefficient.

[0094] <Pen axis direction and writing direction vibration waveforms> The first vibration waveform has a first pen axis direction vibration waveform that causes the vibration element 150 to vibrate in the pen axis direction of the pen body 100A, and a first writing direction vibration waveform that causes the vibration element 150 to vibrate in the writing direction. The second vibration waveform has a second pen axis direction vibration waveform that causes vibration in the pen axis direction, and a second writing direction vibration waveform that causes the vibration element 150 to vibrate in the writing direction. The first writing direction vibration waveform is an example of a first different direction vibration waveform that causes the vibration element 150 to vibrate in a direction different from the pen axis direction. The second writing direction vibration waveform is an example of a second different direction vibration waveform that causes the vibration element 150 to vibrate in a direction different from the pen axis direction.

[0095] The waveform generating unit 134 increases the ratio of the first pen axis direction vibration waveform and the second pen axis direction vibration waveform relative to the ratio of the first different directional vibration waveform and the second different directional vibration waveform as the writing angle increases. The waveform generating unit 134 decreases the ratio of the first pen axis direction vibration waveform and the second pen axis direction vibration waveform relative to the ratio of the first different directional vibration waveform and the second different directional vibration waveform as the writing angle decreases.

[0096] Note that when the vibration waveform is a unit vibration waveform, the first vibration waveform corresponds to the first unit vibration waveform, and the second vibration waveform corresponds to the second unit vibration waveform. In this case, the first unit vibration waveform has a first pen axis direction unit vibration waveform that causes the vibration element 150 to vibrate in the pen axis direction of the pen body 100A, and a first writing direction unit vibration waveform that causes the vibration element 150 to vibrate in the writing direction. The second unit vibration waveform has a second pen axis direction unit vibration waveform that causes vibration in the pen axis direction, and a second writing direction unit vibration waveform that causes the vibration element 150 to vibrate in the writing direction. The first writing direction unit vibration waveform is an example of a first different direction unit vibration waveform that causes the vibration element 150 to vibrate in a direction different from the pen axis direction. The second writing direction unit vibration waveform is an example of a second different direction unit vibration waveform that causes the vibration element 150 to vibrate in a direction different from the pen axis direction.

[0097] <Vibration waveforms corresponding to pen types> Figures 6A to 6D are diagrams showing examples of vibration waveforms that the pen-type input device 100 uses to drive the vibration element 150 to present vibrations when writing with a ballpoint pen, a marker pen, a felt-tip pen, a mechanical pencil, and a fountain pen. The vibration waveforms shown in Figures 6A to 6D are examples of vibration waveforms generated by the waveform generation unit 134 in accordance with the first pen type and the second pen type as described above. Furthermore, the vibration waveforms shown in Figures 6A to 6D are vibration response waveforms expressed by the main frequency freq, or simple sine waveforms specified by the main frequency freq.

[0098] The vibration waveforms shown in FIGS. 6A to 6D are stored in the memory 136 (see FIG. 1B) and selected by the waveform generating unit 134 according to the pen type selected by the pen type selecting unit 132.

[0099] Fig. 6A shows an example of a vibration waveform for generating vibration in the pen axis direction for a ballpoint pen, a marker pen, and a felt-tip pen, while Fig. 6B shows an example of a vibration waveform for generating vibration in the pen axis direction for a mechanical pencil and a fountain pen (horizontal and front-to-back directions).

[0100] Fig. 6C shows an example of a vibration waveform for generating vibrations in the writing direction for a ballpoint pen, a marker pen, and a felt-tip pen. Fig. 6D shows an example of a vibration waveform for generating vibrations in the writing direction for a mechanical pencil and a fountain pen (horizontal and front-to-back directions).

[0101] Among the vibration waveforms shown in Figures 6A to 6D, one cycle of the waveform including the first pulse is a unit vibration waveform. The unit vibration waveform is a vibration waveform for one cycle that can generate the vibration waveforms shown in Figures 6A to 6D by repeatedly outputting it. The waveform of the unit vibration waveform can be set by setting the coefficients (see Figures 4A and 4B) from the main frequency freq (Hz) to the time interval standard deviation sigma1 for any of a ballpoint pen, a marker pen, a felt-tip pen, a mechanical pencil, and a fountain pen.

[0102] 4A and 4B are applied to a unit vibration waveform (for example, a SIN vibration waveform) based on a main frequency, but vibration waveforms (damped vibration waveforms) generated by various pens as shown in Figures 6A to 6D may also be used. These approximately SIN waveforms and damped vibration waveforms are generated by changing the coefficients of, for example, an FIR filter applied to the waveform output unit 135, which generates the response waveforms of Figures 6A to 6D in response to unit pulse inputs.

[0103] <Measurement Results of Acceleration of Vibration Generated in Pen Body 100A> Figure 7 is a diagram showing an example of measurement results of acceleration of vibration generated in pen body 100A by repeatedly outputting unit vibration waveforms. In Figure 7, the horizontal axis represents time, and the vertical axis represents acceleration of vibration generated in pen body 100A. In addition, the time points indicated by inverted triangles in Figure 7 represent the timing at which unit vibration waveforms are output.

[0104] A vibration waveform corresponding to the pen type selected by the pen type selection unit 132 is read from the memory 136 by the waveform generation unit 134, a drive signal corresponding to the selected vibration waveform is generated by the waveform output unit 135, and the vibration element 150 is driven. At this time, the waveform generation unit 134 outputs a repeating unit vibration waveform to the waveform output unit 135 at the time shown by the inverted triangle in Fig. 7, for example. The waveform output unit 135 repeatedly outputs a drive signal corresponding to the unit vibration waveform based on the unit vibration waveform repeatedly input from the waveform generation unit 134. As a result, a vibration corresponding to the pen type is generated in the pen body 100A, and a tactile sensation corresponding to the pen type is presented to the user's hand.

[0105] Furthermore, when the acceleration of vibrations occurring in the pen body 100A was measured based on the vibration waveforms for a ballpoint pen, a marker pen, a felt-tip pen, a mechanical pencil, and a fountain pen, the standard deviation fluctuation range was approximately 0.42 times the average pulse interval for all pen types. The deviation distribution resembled a normal random number. The time interval constant k0 was approximately 1.6 msec to approximately 6.8 msec, which corresponds to a frequency of approximately 625 Hz to approximately 147 Hz.

[0106] <Flowchart> FIG. 8 is a flowchart showing an example of processing executed by the waveform generating section 134 of the pen-type input device 100. As shown in FIG.

[0107] When the waveform generation unit 134 starts processing, it updates the vibration parameters (step S1). Updating the vibration parameters means generating vibration parameters every update time Δt. The vibration parameters are a time interval Δt1, a target acceleration G1, a target acceleration G2, and a vibration waveform target acceleration G.

[0108] The waveform generating unit 134 determines whether or not handwriting input has been detected (step S2). For example, the detection of handwriting force may be determined based on the writing pressure detected by the writing pressure sensor 120 reaching a predetermined threshold or greater, or based on the coordinates of the pen tip being detected by the touch panel of the tablet computer 200. If the waveform generating unit 134 determines that handwriting input has not been detected (S2: NO), it repeatedly executes the process of step S2 until handwriting input is detected.

[0109] When the waveform generating unit 134 determines that handwriting input has been detected (S2: YES), it acquires the writing speed V, writing pressure F, and writing position (step S3). The writing speed V and writing pressure F may be acquired from the gyro sensor 110A and the writing pressure sensor 120. The writing position is the coordinates of the pen tip detected by the touch panel of the tablet computer 200, and therefore may be acquired from the tablet computer 200.

[0110] The waveform generating unit 134 determines whether the update time Δt has elapsed (step S4).

[0111] If the waveform generating section 134 determines that the update time Δt has not elapsed (S4: NO), the flow returns to step S3.

[0112] When the waveform generating unit 134 determines that the update time Δt has elapsed (S4: YES), it calculates the vibration waveform target acceleration G and the next update time Δt (step S5).

[0113] The waveform generating unit 134 outputs the vibration waveform target acceleration G (step S6). As a result, a vibration waveform target acceleration G is output, which is a combination of one of the unit vibration waveforms in the pen axis direction shown in Figures 6A and 6B and one of the unit vibration waveforms in the writing direction shown in Figures 6C and 6D, at a ratio according to the writing angle.

[0114] The waveform generating unit 134 determines whether or not handwriting input is being detected (step S7).

[0115] If the waveform generating unit 134 determines that handwriting input is being detected (S7: YES), the waveform generating unit 134 ends the series of processes (END) and restarts the flow from step S1.

[0116] If the waveform generating unit 134 determines that no handwriting input is being detected (S7: NO), the flow returns to step S3. This is because no handwriting input is being performed, and the writing speed V, writing pressure F, and writing position are acquired again.

[0117] <Effects> The pen-type input device 100 includes a pen body 100A, a vibration element 150 housed inside the pen body 100A, a pen type selection unit 132 that can select a first pen type or a second pen type, a memory 136 that stores a first vibration waveform corresponding to the first pen type and a second vibration waveform corresponding to the second pen type, a control unit (a waveform generation unit 134 and a waveform output unit 135) that controls the driving of the vibration element 150 based on the first vibration waveform or the second vibration waveform corresponding to the first pen type or the second pen type selected by the pen type selection unit 132, and a writing speed control unit (a control unit) that controls the writing speed control unit of the pen body 100A. The control unit (waveform generating unit 134 and waveform output unit 135) drives the vibration element 150 so that the vibration intensity increases at a first degree as the writing speed increases when a first pen type is selected by the pen type selecting unit 132, and drives the vibration element 150 so that the vibration intensity increases at a second degree that is smaller than the first degree as the writing speed increases when a second pen type is selected by the pen type selecting unit 132, or drives the vibration element 150 at a constant vibration intensity regardless of the writing speed. Since it is possible to reproduce the relationship between writing speed and vibration intensity that differs depending on the pen type, it is possible to improve the reproducibility of the tactile sensation when writing for each pen type, and to make it easier to recognize the differences between pen types.

[0118] Therefore, it is possible to provide a pen-type input device 100 that can provide a realistic tactile sensation of writing.

[0119] Furthermore, when a first pen type is selected by the pen type selection unit 132, the control unit (waveform generation unit 134 and waveform output unit 135) may drive the vibration element 150 by increasing the amplitude of the first vibration waveform in accordance with the first speed proportionality coefficient and the writing speed, and when a second pen type is selected by the pen type selection unit 132, the control unit may drive the vibration element 150 by increasing the amplitude of the second vibration waveform in accordance with the writing speed and a second speed proportionality coefficient that is smaller than the first speed proportionality coefficient. In this way, by increasing the amplitude of the first vibration waveform in accordance with the first speed proportionality coefficient and the writing speed and increasing the amplitude of the second vibration waveform in accordance with the second speed proportionality coefficient and the writing speed, it is possible to further improve the reproducibility of the tactile sensation when writing for each pen type, and to make it easier to recognize the differences between pen types.

[0120] The pen-type input device 100 includes a pen body 100A, a vibration element 150 housed inside the pen body 100A, a pen type selection unit 132 capable of selecting a first pen type or a second pen type, a memory 136 storing a first vibration waveform corresponding to the first pen type and a second vibration waveform corresponding to the second pen type, a control unit (a waveform generation unit 134 and a waveform output unit 135) that controls the driving of the vibration element 150 based on the first vibration waveform or the second vibration waveform corresponding to the first pen type or the second pen type selected by the pen type selection unit 132, and the pen body 100A. and a writing pressure sensor 120 that detects a writing pressure of 0 A. When a first pen type is selected by the pen type selection unit 132, the control unit (waveform generation unit 134 and waveform output unit 135) drives the vibration element 150 so that the vibration intensity increases by a first degree in response to an increase in writing pressure, and when a second pen type is selected by the pen type selection unit 132, drives the vibration element 150 so that the vibration intensity increases by a second degree that is smaller than the first degree in response to an increase in writing pressure, or drives the vibration element 150 at a constant vibration intensity regardless of writing pressure. Since it is possible to reproduce the relationship between writing pressure and vibration intensity that differs depending on the pen type, it is possible to improve the reproducibility of the tactile sensation when writing for each pen type, and to make it easier to recognize the differences in pen types.

[0121] Therefore, it is possible to provide a pen-type input device 100 that can provide a realistic tactile sensation of writing.

[0122] Furthermore, when a first pen type is selected by the pen type selection unit 132, the control unit (waveform generation unit 134 and waveform output unit 135) may increase the amplitude of the first vibration waveform in accordance with a first writing pressure proportional coefficient and the writing pressure to drive the vibration element 150, and when a second pen type is selected by the pen type selection unit 132, may increase the amplitude of the second vibration waveform in accordance with a second writing pressure proportional coefficient that is smaller than the first writing pressure proportional coefficient and the writing pressure to drive the vibration element 150. In this way, by increasing the amplitude of the first vibration waveform in accordance with the first writing pressure proportional coefficient and the writing pressure and increasing the amplitude of the second vibration waveform in accordance with the second writing pressure proportional coefficient and the writing pressure, it is possible to further improve the reproducibility of the tactile sensation when writing for each pen type, and to make it easier to recognize the differences between pen types.

[0123] The first vibration waveform may have a first pen axis direction vibration waveform that causes the vibration element 150 to vibrate in the pen axis direction of the pen body 100A and a first different direction vibration waveform that causes the vibration element 150 to vibrate in a direction different from the pen axis direction, and the second vibration waveform may have a second pen axis direction vibration waveform that causes vibration in the pen axis direction and a second different direction vibration waveform that causes vibration in the different direction in the vibration element 150. By using vibration in the pen axis direction and vibration in a direction different from the pen axis direction, it is possible to provide a pen-type input device 100 that can present a more realistic tactile sensation of writing.

[0124] The pen body 100A may further include a writing angle detection unit that detects the writing angle that the pen body 100A makes with respect to the writing surface of the tablet computer 200 on which writing is to be performed, and the control unit (the waveform generation unit 134 and the waveform output unit 135) may increase the ratio of the first pen axis direction vibration waveform and the second pen axis direction vibration waveform relative to the ratio of the first different directional vibration waveform and the second different directional vibration waveform as the writing angle increases, and may decrease the ratio of the first pen axis direction vibration waveform and the second pen axis direction vibration waveform relative to the ratio of the first different directional vibration waveform and the second different directional vibration waveform as the writing angle decreases. By adjusting the ratio between the vibration in the pen axis direction and the vibration in a direction different from the pen axis direction according to the writing angle, it is possible to reproduce differences in tactile sensations due to differences in writing angles, and to provide a pen-type input device 100 that can present a more realistic tactile sensation of writing.

[0125] The different direction may also be the direction in which writing is performed with the pen body 100A. By adjusting the ratio of vibration in the pen axis direction and vibration in the writing direction according to the writing angle, it is possible to provide a pen-type input device 100 that can present a more realistic tactile sensation of writing.

[0126] The writing angle detection unit may also include an acceleration sensor 110B that detects the pen attitude of the pen body 100A, a communication unit 110C (acquisition unit) that acquires the device attitude of the tablet computer 200 from the tablet computer 200, and an angle calculation unit 133 that calculates the writing angle based on the pen attitude detected by the acceleration sensor 110B and the device attitude acquired by the communication unit 110C (acquisition unit). By adjusting the ratio between vibration in the pen axis direction and vibration in a direction different from the pen axis direction in accordance with the writing angle accurately calculated based on the pen attitude and the device attitude, it is possible to reproduce differences in tactile sensation due to differences in writing angle, and to provide a pen-type input device 100 that can present a more realistic tactile sensation of writing.

[0127] The pen-type input device 100 includes a pen body 100A, a vibration element 150 housed inside the pen body 100A, a pen type selection unit 132 capable of selecting a first pen type or a second pen type, a memory 136 storing a first unit vibration waveform corresponding to the first pen type and a second unit vibration waveform corresponding to the second pen type, a control unit (a waveform generation unit 134 and a waveform output unit 135) that controls the drive of the vibration element 150 by repeatedly outputting the first unit vibration waveform or the second unit vibration waveform corresponding to the first pen type or the second pen type selected by the pen type selection unit 132, and a jig for detecting the writing speed of the pen body 100A. The control unit (waveform generating unit 134 and waveform output unit 135) drives the vibration element 150 so that a first time interval at which a first unit vibration waveform is output becomes shorter as the writing speed increases when a first pen type is selected by the pen type selecting unit 132, and drives the vibration element 150 so that a second time interval at which a second unit vibration waveform is output becomes shorter as the writing speed increases when a second pen type is selected by the pen type selecting unit 132, or drives the vibration element 150 at a constant second time interval regardless of the writing speed, the second time interval being longer than the first time interval. Since it is possible to reproduce the relationship between the writing speed and the time interval (first time interval or second time interval) at which a unit vibration waveform (first unit vibration waveform or second unit vibration waveform) is output, which differs depending on the pen type, it is possible to improve the reproducibility of the tactile sensation when writing for each pen type and make it easier to recognize differences in pen types.

[0128] Therefore, it is possible to provide a pen-type input device 100 that can provide a realistic tactile sensation of writing.

[0129] Furthermore, when a first pen type is selected by the pen type selection unit 132, the control unit (waveform generation unit 134 and waveform output unit 135) may drive the vibration element 150 by shortening the first time interval in accordance with a first time interval proportional coefficient and the writing speed, and when a second pen type is selected by the pen type selection unit 132, the control unit may drive the vibration element 150 by shortening the second time interval in accordance with a second time interval proportional coefficient that is greater than the first time interval proportional coefficient and the writing speed. In this way, by shortening the first time interval in accordance with the first time interval proportional coefficient and the writing speed and shortening the second time interval in accordance with the second time interval proportional coefficient and the writing speed, it is possible to further improve the reproducibility of the tactile sensation during writing for each pen type, and to make it easier to recognize the differences between pen types.

[0130] The first unit vibration waveform may have a first pen axis direction unit vibration waveform that causes the vibration element 150 to vibrate in the pen axis direction of the pen body 100A, and a first different direction unit vibration waveform that causes the vibration element 150 to vibrate in a direction different from the pen axis direction, and the second unit vibration waveform may have a second pen axis direction unit vibration waveform that causes vibration in the pen axis direction, and a second different direction unit vibration waveform that causes the vibration element 150 to vibrate in a direction different from the pen axis direction. By using vibration in the pen axis direction and vibration in a direction different from the pen axis direction, it is possible to provide a pen-type input device 100 that can present a more realistic tactile sensation of writing.

[0131] The pen body 100A may further include a writing angle detection unit that detects the writing angle that the pen body 100A makes with respect to the writing surface of the tablet computer 200 on which writing is to be performed, and the control unit (the waveform generation unit 134 and the waveform output unit 135) may increase the ratio of the first pen axis direction unit vibration waveform and the second pen axis direction unit vibration waveform relative to the ratio of the first anisotropic unit vibration waveform and the second anisotropic unit vibration waveform as the writing angle increases, and may decrease the ratio of the first pen axis direction unit vibration waveform and the second pen axis direction unit vibration waveform relative to the ratio of the first anisotropic unit vibration waveform and the second anisotropic unit vibration waveform as the writing angle decreases. By adjusting the ratio between the vibration in the pen axis direction and the vibration in a direction different from the pen axis direction according to the writing angle, it is possible to reproduce differences in tactile sensation due to differences in writing angle, and to provide a pen-type input device 100 that can present a more realistic tactile sensation of writing.

[0132] The different direction may also be the direction in which writing is performed with the pen body 100A. By adjusting the ratio of vibration in the pen axis direction and vibration in the writing direction according to the writing angle, it is possible to provide a pen-type input device 100 that can present a more realistic tactile sensation of writing.

[0133] The writing angle detection unit may also include an acceleration sensor 110B that detects the pen attitude of the pen body 100A, a communication unit 110C (acquisition unit) that acquires the device attitude of the tablet computer 200 from the tablet computer 200, and an angle calculation unit 133 that calculates the writing angle based on the pen attitude detected by the acceleration sensor 110B and the device attitude acquired by the communication unit 110C (acquisition unit). By adjusting the ratio between vibration in the pen axis direction and vibration in a direction different from the pen axis direction in accordance with the writing angle accurately calculated based on the pen attitude and the device attitude, it is possible to reproduce differences in tactile sensation due to differences in writing angle, and to provide a pen-type input device 100 that can present a more realistic tactile sensation of writing.

[0134] The pen-type input device 100 includes a pen body 100A, a vibration element 150 housed inside the pen body 100A, a pen type selection unit 132 capable of selecting a first pen type or a second pen type, a memory 136 storing a first unit vibration waveform corresponding to the first pen type and a second unit vibration waveform corresponding to the second pen type, and a control unit (a waveform generation unit 134 and a waveform generator 136) that controls the driving of the vibration element 150 by repeatedly using the first unit vibration waveform or the second unit vibration waveform corresponding to the first pen type or the second pen type selected by the pen type selection unit 132. The pen-type input device 100 includes a vibration output unit 135 and a gyro sensor 110A that detects the writing speed of the pen body 100A, the first unit vibration waveform having a first pen axis direction unit vibration waveform that causes the vibration element 150 to vibrate in the pen axis direction of the pen body 100A and a first different direction unit vibration waveform that causes the vibration element 150 to vibrate in a direction different from the pen axis direction, and the second unit vibration waveform having a second pen axis direction unit vibration waveform that causes the vibration element 150 to vibrate in the pen axis direction and a second different direction unit vibration waveform that causes the vibration element 150 to vibrate in the different direction. By using vibrations of the first pen axis direction unit vibration waveform and the first different direction unit vibration waveform in the direction different from the pen axis direction for the first pen type, and by using vibrations of the second pen axis direction unit vibration waveform and the second different direction unit vibration waveform in the direction different from the pen axis direction for the second pen type, it is possible to provide a pen-type input device 100 that can present a more realistic tactile sensation of writing.

[0135] The pen body 100A may further include a writing angle detection unit that detects the writing angle that the pen body 100A makes with respect to the writing surface of the tablet computer 200 on which writing is to be performed, and the control unit (the waveform generation unit 134 and the waveform output unit 135) may increase the ratio of the first pen axis direction unit vibration waveform and the second pen axis direction unit vibration waveform relative to the ratio of the first anisotropic direction unit vibration waveform and the second anisotropic direction unit vibration waveform as the writing angle increases, and may decrease the ratio of the first pen axis direction unit vibration waveform and the second pen axis direction unit vibration waveform relative to the ratio of the first anisotropic direction unit vibration waveform and the second anisotropic direction unit vibration waveform as the writing angle decreases. By adjusting the ratio between the vibration in the pen axis direction and the vibration in a direction different from the pen axis direction in accordance with the writing angle accurately calculated based on the pen attitude and the device attitude, it is possible to reproduce differences in tactile sensation due to differences in writing angle, and to provide a pen-type input device 100 that can present a more realistic tactile sensation of writing.

[0136] The different direction may also be the direction in which writing is performed with the pen body 100A. By adjusting the ratio of vibration in the pen axis direction and vibration in the writing direction according to the writing angle, it is possible to provide a pen-type input device 100 that can present a more realistic tactile sensation of writing.

[0137] The writing angle detection unit may also include an acceleration sensor 110B that detects the pen attitude of the pen body 100A, a communication unit 110C (acquisition unit) that acquires the device attitude of the tablet computer 200 from the tablet computer 200, and an angle calculation unit 133 that calculates the writing angle based on the pen attitude detected by the acceleration sensor 110B and the device attitude acquired by the communication unit 110C (acquisition unit). By adjusting the ratio between vibration in the pen axis direction and vibration in a direction different from the pen axis direction in accordance with the writing angle accurately calculated based on the pen attitude and the device attitude, it is possible to reproduce differences in tactile sensation due to differences in writing angle, and to provide a pen-type input device 100 that can present a more realistic tactile sensation of writing.

[0138] The input system includes a pen-type input device 100 having a pen body 100A, and a detection device that detects contact of the pen-type input device 100 with a writing surface, and further includes a vibration element 150, a pen type selection unit 132 that can select a first pen type or a second pen type, a memory 136 that stores a first vibration waveform corresponding to the first pen type and a second vibration waveform corresponding to the second pen type, and a control unit that controls the drive of a vibration actuator based on the first vibration waveform or the second vibration waveform corresponding to the first pen type or the second pen type selected by the pen type selection unit 132. The control unit (waveform generation unit 134 and waveform output unit 135) drives the vibration element 150 so that the vibration intensity increases at a first rate as the writing speed increases when a first pen type is selected by the pen type selection unit 132, and drives the vibration element 150 so that the vibration intensity increases at a second rate that is smaller than the first rate as the writing speed increases when a second pen type is selected by the pen type selection unit 132, or drives the vibration element 150 at a constant vibration intensity regardless of the writing speed. Since it is possible to reproduce the relationship between writing speed and vibration intensity that differs depending on the pen type, it is possible to improve the reproducibility of the tactile sensation when writing for each pen type, and to make it easier to recognize the differences between pen types.

[0139] Therefore, it is possible to provide a pen-type input device 100 that can provide a realistic tactile sensation of writing.

[0140] The above describes exemplary embodiments of the pen-type input device and input system of the present disclosure, but the present disclosure is not limited to the specifically disclosed embodiments, and various modifications and changes are possible without departing from the scope of the claims.

[0141] This international application claims priority based on Japanese Patent Application No. 2023-083860, filed on May 22, 2023, the entire contents of which are incorporated herein by reference.

[0142] REFERENCE SIGNS LIST 100 Pen-type input device 100A Pen body 100A1 Tip 100A2 Cap 110A Gyro sensor (an example of a speed detection unit) 110B Acceleration sensor (an example of an attitude detection unit) 110C Communication unit (an example of an acquisition unit) 120 Pen pressure sensor (an example of a pen pressure detection unit) 130 Control device 131 Data input unit 132 Pen type selection unit 133 Angle calculation unit 134 Waveform generation unit (an example of a control unit) 135 Waveform output unit (an example of a control unit) 136 Memory (an example of a storage unit) 140 Driver 150 Vibration element (an example of a vibration actuator) 200 Tablet computer (an example of an electronic device, an example of a detection device) 200A Operation surface (an example of a writing surface) 210 Acceleration sensor 220 Communication unit

Claims

1. The pen body and a vibration actuator housed inside the pen body; a pen type selection section that allows selection of a first pen type or a second pen type; a storage unit that stores a first vibration waveform corresponding to the first pen type and a second vibration waveform corresponding to the second pen type; a control unit that controls driving of the vibration actuator based on the first vibration waveform or the second vibration waveform corresponding to the first pen type or the second pen type selected by the pen type selection unit; a writing speed detection unit that detects the writing speed of the pen body; Equipped with The control unit When the first pen type is selected by the pen type selection unit, the vibration actuator is driven so that vibration intensity increases by a first degree in response to an increase in the writing speed; When the second pen type is selected by the pen type selection unit, the pen-type input device drives the vibration actuator so that the vibration intensity increases at a second degree smaller than the first degree in response to an increase in the writing speed, or drives the vibration actuator at a constant vibration intensity regardless of the writing speed.

2. The control unit when the first pen type is selected by the pen type selection unit, the amplitude of the first vibration waveform is increased in accordance with a first speed proportional coefficient and the writing speed, and the vibration actuator is driven; 2. The pen-type input device according to claim 1, wherein when the second pen type is selected by the pen type selection unit, the amplitude of the second vibration waveform is increased in accordance with a second speed proportional coefficient smaller than the first speed proportional coefficient and the writing speed, thereby driving the vibration actuator.

3. The pen body and a vibration actuator housed inside the pen body; a pen type selection section that allows selection of a first pen type or a second pen type; a storage unit that stores a first vibration waveform corresponding to the first pen type and a second vibration waveform corresponding to the second pen type; a control unit that controls driving of the vibration actuator based on the first vibration waveform or the second vibration waveform corresponding to the first pen type or the second pen type selected by the pen type selection unit; a writing pressure detection unit that detects writing pressure on the pen body; Equipped with The control unit When the first pen type is selected by the pen type selection unit, the vibration actuator is driven so that vibration intensity increases by a first degree in response to an increase in the writing pressure; When the second pen type is selected by the pen type selection unit, the pen-type input device drives the vibration actuator so that the vibration intensity increases by a second degree smaller than the first degree in response to an increase in the writing pressure, or drives the vibration actuator at a constant vibration intensity regardless of the writing pressure.

4. The control unit When the first pen type is selected by the pen type selection unit, the amplitude of the first vibration waveform is increased in accordance with a first pen pressure proportional coefficient and the pen pressure, thereby driving the vibration actuator; 4. The pen-type input device according to claim 3, wherein when the second pen type is selected by the pen type selection unit, the vibration actuator is driven by increasing the amplitude of the second vibration waveform in accordance with a second pen pressure proportional coefficient smaller than the first pen pressure proportional coefficient and the pen pressure.

5. the first vibration waveform has a first pen axis direction vibration waveform that causes the vibration actuator to generate vibration in the pen axis direction of the pen body, and a first different direction vibration waveform that causes the vibration actuator to generate vibration in a direction different from the pen axis direction, 5. The pen-type input device according to claim 1, wherein the second vibration waveform has a second pen axis direction vibration waveform that generates vibration in the pen axis direction, and a second different direction vibration waveform that generates vibration in the vibration actuator in the different direction.

6. The pen further includes a writing angle detection unit that detects a writing angle formed by the pen body with respect to a writing surface of an electronic device that is a writing target, The control unit As the writing angle increases, a ratio of the first pen axis direction vibration waveform and the second pen axis direction vibration waveform is made larger than a ratio of the first opposite direction vibration waveform and the second opposite direction vibration waveform; 6. The pen-type input device according to claim 5, wherein the smaller the writing angle, the smaller the ratio of the first pen axis direction vibration waveform and the second pen axis direction vibration waveform is made to be than the ratio of the first different direction vibration waveform and the second different direction vibration waveform.

7. 6. The pen-type input device according to claim 5, wherein the different direction is a direction in which writing is performed with the pen body.

8. The writing angle detection unit an attitude detection unit that detects the pen attitude of the pen body; an acquisition unit that acquires a device attitude of the electronic device from the electronic device; an angle calculation unit that calculates the writing angle based on the pen attitude detected by the attitude detection unit and the device attitude acquired by the acquisition unit; 7. The pen-type input device according to claim 6, further comprising:

9. The pen body and a vibration actuator housed inside the pen body; a pen type selection section that allows selection of a first pen type or a second pen type; a storage unit that stores a first unit vibration waveform corresponding to the first pen type and a second unit vibration waveform corresponding to the second pen type; a control unit that controls driving of the vibration actuator by repeatedly outputting the first unit vibration waveform or the second unit vibration waveform corresponding to the first pen type or the second pen type selected by the pen type selection unit; a writing speed detection unit that detects the writing speed of the pen body; Equipped with The control unit When the first pen type is selected by the pen type selection unit, the vibration actuator is driven so that a first time interval for outputting the first unit vibration waveform becomes shorter in response to an increase in the writing speed; When the second pen type is selected by the pen type selection unit, the vibration actuator is driven so that a second time interval for outputting the second unit vibration waveform becomes shorter as the writing speed increases, or the vibration actuator is driven at a constant second time interval regardless of the writing speed; The second time interval is longer than the first time interval.

10. The control unit When the first pen type is selected by the pen type selection unit, the first time interval is shortened in accordance with a first time interval proportional coefficient and the writing speed, and the vibration actuator is driven; 10. The pen-type input device according to claim 9, wherein when the second pen type is selected by the pen type selection unit, the second time interval is shortened in accordance with a second time interval proportional coefficient greater than the first time interval proportional coefficient and the writing speed, and the vibration actuator is driven.

11. the first unit vibration waveform has a first pen axis direction unit vibration waveform that causes the vibration actuator to generate vibration in the pen axis direction of the pen body, and a first different direction unit vibration waveform that causes the vibration actuator to generate vibration in a direction different from the pen axis direction, 11. The pen-type input device according to claim 9, wherein the second unit vibration waveform has a second pen axis direction unit vibration waveform that generates vibration in the pen axis direction, and a second different direction unit vibration waveform that generates vibration in the vibration actuator in the different direction.

12. The pen further includes a writing angle detection unit that detects a writing angle formed by the pen body with respect to a writing surface of an electronic device that is a writing target, The control unit As the writing angle increases, a ratio of the first pen axis direction unit vibration waveform and the second pen axis direction unit vibration waveform is made larger than a ratio of the first different direction unit vibration waveform and the second different direction unit vibration waveform; 12. The pen-type input device according to claim 11, wherein the ratio of the first pen axis direction unit vibration waveform and the second pen axis direction unit vibration waveform is made smaller than the ratio of the first different direction unit vibration waveform and the second different direction unit vibration waveform as the writing angle becomes smaller.

13. 12. The pen-type input device according to claim 11, wherein the different direction is a direction in which writing is performed with the pen body.

14. The writing angle detection unit an attitude detection unit that detects the pen attitude of the pen body; an acquisition unit that acquires a device attitude of the electronic device from the electronic device; an angle calculation unit that calculates the writing angle based on the pen attitude detected by the attitude detection unit and the device attitude acquired by the acquisition unit; 13. The pen-type input device according to claim 12, further comprising:

15. The pen body and a vibration actuator housed inside the pen body; a pen type selection section that allows selection of a first pen type or a second pen type; a storage unit that stores a first unit vibration waveform corresponding to the first pen type and a second unit vibration waveform corresponding to the second pen type; a control unit that controls driving of the vibration actuator by repeatedly using the first unit vibration waveform or the second unit vibration waveform corresponding to the first pen type or the second pen type selected by the pen type selection unit; a writing speed detection unit that detects the writing speed of the pen body; Equipped with the first unit vibration waveform has a first pen axis direction unit vibration waveform that causes the vibration actuator to generate vibration in the pen axis direction of the pen body, and a first different direction unit vibration waveform that causes the vibration actuator to generate vibration in a direction different from the pen axis direction, The second unit vibration waveform has a second pen axis direction unit vibration waveform that generates vibration in the pen axis direction, and a second different direction unit vibration waveform that generates vibration in the vibration actuator in the different direction.

16. The pen further includes a writing angle detection unit that detects a writing angle formed by the pen body with respect to a writing surface of an electronic device that is a writing target, The control unit As the writing angle increases, a ratio of the first pen axis direction unit vibration waveform and the second pen axis direction unit vibration waveform is made larger than a ratio of the first different direction unit vibration waveform and the second different direction unit vibration waveform; 16. The pen-type input device according to claim 15, wherein the ratio of the first pen axis direction unit vibration waveform and the second pen axis direction unit vibration waveform is made smaller than the ratio of the first opposite direction unit vibration waveform and the second opposite direction unit vibration waveform as the writing angle becomes smaller.

17. 16. The pen-type input device according to claim 15, wherein the different direction is a direction in which writing is performed with the pen body.

18. The writing angle detection unit an attitude detection unit that detects the pen attitude of the pen body; an acquisition unit that acquires a device attitude of the electronic device from the electronic device; an angle calculation unit that calculates the writing angle based on the pen attitude detected by the attitude detection unit and the device attitude acquired by the acquisition unit; 17. The pen-type input device according to claim 16, further comprising:

19. a pen-type input device having a pen body; a detection device for detecting contact of the pen-type input device with a writing surface; An input system comprising: a vibration actuator; a pen type selection section that allows selection of a first pen type or a second pen type; a storage unit that stores a first vibration waveform corresponding to the first pen type and a second vibration waveform corresponding to the second pen type; a control unit that controls driving of the vibration actuator based on the first vibration waveform or the second vibration waveform corresponding to the first pen type or the second pen type selected by the pen type selection unit; a writing speed detection unit that detects the writing speed of the pen body; Equipped with The control unit When the first pen type is selected by the pen type selection unit, the vibration actuator is driven so that vibration intensity increases by a first degree in response to an increase in the writing speed; When the second pen type is selected by the pen type selection unit, the input system drives the vibration actuator so that the vibration intensity increases at a second degree smaller than the first degree in response to an increase in the writing speed, or drives the vibration actuator at a constant vibration intensity regardless of the writing speed.