Illusionary tactile force sensation generating device
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Filing Date
- 2024-08-07
- Publication Date
- 2026-05-07
AI Technical Summary
Conventional haptic systems restrict user actions by requiring the user to grip a housing that generates tactile sensations, limiting the ability to experience haptic sensations while interacting with other objects, and are complex in structure to provide multiple types of haptic sensations.
A tactile illusionary force sense generating device with a first and second vibration generator, each generating distinct vibrations, and corresponding wearing devices that allow users to wear these generators on their fingers without restricting hand movement, enabling multiple types of tactile illusions with a simple structure.
The device allows users to experience multiple types of tactile illusions without restricting hand movements, providing a simple and effective means to generate diverse haptic sensations.
Abstract
Description
Illusionary Tactile Force Generator
[0001] The present invention relates to a technique for creating a tactile illusion for a user.
[0002] Patent Document 1 describes a haptic information presentation system. The haptic information presentation system of Patent Document 1 includes a housing that is held by a user. A vibrator is built into the housing. A part of the vibrator is exposed from the housing.
[0003] The user receives a haptic sensation by touching the vibrating body while holding the housing.
[0004] Japanese Patent Application Laid-Open No. 2020-102279
[0005] However, in the conventional configuration as disclosed in Patent Document 1, the user must grip the housing that generates the haptic sensation, which limits the user's actions. For example, the user cannot receive the haptic sensation while touching or holding something else in their hand.
[0006] Furthermore, with the conventional configuration as shown in Patent Document 1, it is difficult to realize multiple types of haptic sensations in a simple structure.
[0007] Therefore, an object of the present invention is to provide an illusionary tactile force sense generating device with a simple structure that can provide multiple types of illusionary tactile force senses while minimizing restrictions on the user's actions.
[0008] The tactile illusionary force sense generating device of this invention is a device capable of imparting a first illusionary tactile force sense and a second illusionary tactile force sense, which are different from each other. The tactile illusionary force sense generating device comprises a first vibration generator, a second vibration generator, a first wearing device, and a second wearing device. The first vibration generator generates a first vibration for generating a first illusionary tactile force sense. The second vibration generator generates a second vibration for generating a second illusionary tactile force sense. The first wearing device is used to wear the first vibration generator on a finger of any one of the user's hands. The second wearing device is used to wear the second vibration generator on the finger. The first vibration and the second vibration are different vibrations. The first wearing device and the second wearing device are positioned at different positions in the direction in which the finger extends.
[0009] In this configuration, multiple types of illusionary tactile force sensations can be imparted simply by attaching the first vibration generator and the second vibration generator to the fingers of any one of the user's hands.
[0010] According to this invention, it is possible to provide a plurality of types of illusionary tactile force sensations with a simple structure while minimizing restrictions on the user's actions.
[0011] FIG. 1 is an external perspective view showing a portion of the tactile force sense generating device according to the first embodiment that is worn on a hand. FIG. 2 is an external perspective view showing a state in which the tactile force sense generating device according to the first embodiment is worn on a hand. FIG. 3 is a functional block diagram of the tactile force sense generating device according to the first embodiment. FIG. 4(A) is a diagram showing an image of the tactile force sense that makes the user feel as if the hand is moving forward (towards the fingertips), and FIG. 4(B) is a diagram showing an image of the tactile force sense that makes the user feel as if the hand is moving backward (towards the base). FIG. 5 is a diagram showing an image of the tactile force sense that makes the user feel as if an object is touching the fingertips. FIG. 6 is an external perspective view showing a portion of the tactile force sense generating device according to the second embodiment that is worn on a hand. FIG. 7 is an external perspective view showing a portion of the tactile force sense generating device according to the third embodiment that is worn on a hand. FIG. 8 is a plan view showing a portion of the tactile force sense generating device according to the fourth embodiment that is worn on a hand. FIG. 9(A) is an external perspective view showing a derivative example of the wearing tool, FIG. 9(B) is an external perspective view of the main body of the wearing tool, and FIG. 9(C) is an external perspective view of the fixing member of the wearing tool.
[0012] First Embodiment An illusionary tactile force sense generating device according to a first embodiment of the present invention will be described with reference to the drawings.
[0013] (Physical Configuration of the Illusionary Tactile Force Sense Generating Device 20) FIG. 1 is a perspective view showing the exterior of the portion of the illusionary tactile force sense generating device according to the first embodiment that is worn on the hand.
[0014] As shown in Figure 1, the illusionary tactile force generating device 20 includes a vibration generator 21, a vibration generator 22, a mounting fixture 291, a mounting fixture 292, and a signal cable 299. The signal cable 299 includes a signal cable 2991 and a signal cable 2992. The vibration generator 21 corresponds to the "first vibration generator," and the vibration generator 22 corresponds to the "second vibration generator." The mounting fixture 291 corresponds to the "first mounting fixture," and the mounting fixture 292 corresponds to the "second mounting fixture."
[0015] The vibration generator 21 and the vibration generator 22 are configured by different types of actuators. Specifically, the vibration generator 21 is configured by, for example, an LRA (linear resonant actuator) or a voice coil motor. The vibration generator 22 is configured by, for example, a piezoelectric actuator.
[0016] The vibration generator 21 is connected to a signal cable 2991. As a result, a first drive signal S1 is supplied to the vibration generator 21 through the signal cable 2991. The vibration generator 21 vibrates in response to the first drive signal S1. The vibration direction of the vibration generator 21 is parallel to a direction connecting the first end E11 and the second end E12 of the vibration generator 21. The vibration generated by the vibration generator 21 that is parallel to the direction connecting the first end E11 and the second end E12 is referred to as a first vibration.
[0017] The vibration generator 22 is connected to a signal cable 2992. As a result, a second drive signal S2 is supplied to the vibration generator 22 through the signal cable 2992. The vibration generator 22 vibrates in response to the second drive signal S2. The vibration direction of the vibration generator 22 can be in a plurality of directions, including at least a direction parallel to the direction connecting the first end E21 and the second end E22 of the vibration generator 22. The vibration generated by the vibration generator 22 is referred to as the second vibration, and the vibration generated by the vibration generator 22 parallel to the direction connecting the first end E21 and the second end E22 is referred to as the first mode of the second vibration.
[0018] The mounting fixtures 291 and 292 are made of a flexible material that can propagate vibrations.
[0019] The wearing fixture 291 is a tubular body (first tubular body) and has a through-hole 2910. The through-hole 2910 is large enough to allow a finger to be inserted therethrough. The wearing fixture 292 is a tubular body (second tubular body) and has a through-hole 2920. The through-hole 2920 is large enough to allow a finger to be inserted therethrough.
[0020] Vibration generator 21 is fixed to the outer peripheral surface of mounting fixture 291. In this case, the axis of the first vibration of vibration generator 21 and the direction in which the tubular body of mounting fixture 291 extends are parallel to each other.
[0021] The vibration generator 22 is fixed to the outer peripheral surface of the mounting fixture 292. In this case, the axis of the first mode of the second vibration of the vibration generator 22 and the direction in which the tubular body of the mounting fixture 292 extends are parallel to each other.
[0022] These parallelisms are not limited to perfect parallelism, but may have a fixed error within a range that gives an illusionary tactile force sensation, as will be described later.
[0023] The mounting fixtures 291 and 292 are not limited to simple tubular bodies, but may have a structure formed by deforming a band into a tubular shape.
[0024] (Wearing of the illusionary force sense generating device 20) Fig. 2 is an external perspective view showing the state in which the illusionary force sense generating device according to the first embodiment is worn on the hand. Fig. 2 shows the case in which the illusionary force sense generating device is worn on the index finger of the left hand.
[0025] 2 , the wearing fixtures 291 and 292 are worn on the index finger 932 of the hand 90. In other words, the index finger 932 is inserted through the through hole 2910 of the wearing fixture 291 and the through hole 2920 of the wearing fixture 292. At this time, the inner surfaces of the wearing fixtures 291 and 292 are in close contact with the index finger 932 with a predetermined pressure being applied. The surfaces (opening surfaces of the through holes 2910 and 2920) perpendicular to the direction in which the index finger 932 is inserted into the wearing fixtures 291 and 292 are the wearing surfaces of the wearing fixtures 291 and 292.
[0026] The wearing device 291 is worn between the base B932 and the second joint of the index finger 932. The wearing device 292 is worn between the fingertip T932 and the first joint of the index finger 932. That is, the wearing device 291 and the wearing device 292 are worn in the order of the wearing device 291 and the wearing device 292 along the direction in which the index finger 932 extends, from the base B932 to the fingertip T932 of the index finger 932.
[0027] As a result, vibration generator 21 and vibration generator 22 are worn in the order of vibration generator 21 and vibration generator 22 along the direction in which index finger 932 extends, from base B932 of index finger 932 to tip T932.
[0028] With this configuration, the user to whom the illusionary tactile force sense is to be given can wear the vibration generators 21 and 22 without having to grip them using the whole hand, etc. This allows the illusionary tactile force sense generating device 20 to give the illusionary tactile force sense without reducing the degree of freedom in using the user's hand.
[0029] The finger on which the illusionary tactile force generating device 20 is worn is not limited to the index finger 932, but may be any of the middle finger 933, ring finger 934, and little finger 935. However, the index finger 932 or little finger 935 is preferable. For example, in the case of the index finger 932, the vibration generators 21 and 22 are preferably placed on the side of the index finger 932 opposite the side on which the middle finger 933 is placed.
[0030] Furthermore, the illusionary tactile force sense generating device 20 does not necessarily have to be worn on the left hand. The illusionary tactile force sense generating device 20 is worn on the left hand when it is desired to give an illusionary tactile force sense to the left hand, and is worn on the right hand when it is desired to give an illusionary tactile force sense to the right hand.
[0031] (Configuration of Electrical Functions of the Illusionary Tactile Force Sense Generating Device 20) FIG. 3 is a functional block diagram of the illusionary tactile force sense generating device according to the first embodiment.
[0032] As shown in FIG. 3, the illusionary tactile force sense generating device 20 includes a vibration generator 21, a vibration generator 22, an operation input unit 27, a drive signal generating unit 28, a signal cable 2991, and a signal cable 2992.
[0033] The vibration generator 21 is connected to the drive signal generation unit 28 via a signal cable 2991. The vibration generator 22 is connected to the drive signal generation unit 28 via a signal cable 2992. The drive signal generation unit 28 is connected to the operation input unit 27.
[0034] The operation input unit 27 receives a selection input of the type of illusionary tactile force to be given to the user, and outputs the type of illusionary tactile force to the drive signal generation unit 28.
[0035] The drive signal generation unit 28 generates a first drive signal S1 and a second drive signal S2 based on the type of illusionary tactile force sense.
[0036] More specifically, the first drive signal is a signal for imparting a first illusionary tactile force sense, which is an illusionary tactile force sense that causes the brain to believe that the hand 90 is moving forward or backward.
[0037] The second drive signal is a signal for imparting a second illusory tactile force. The second illusory tactile force is an illusory tactile force that misleads the brain into thinking that an external force is being applied to the finger 932. The second illusory tactile force is, for example, an illusory tactile force that is imparted by small vibrations of the part between the fingertip T932 and the first joint. In other words, the second illusory tactile force is a different type of illusory tactile force from the first illusory tactile force. Note that by setting the second drive signal S2 to multiple types, multiple types of second illusory tactile force can be imparted. In this case, the second illusory tactile force may include an illusory tactile force similar to the first illusory tactile force.
[0038] The first drive signal S1 and the second drive signal S2 are realized by adjusting the waveform, frequency, amplitude, etc. according to the type of illusionary tactile force.
[0039] The drive signal generation unit 28 supplies the first drive signal S1 to the vibration generator 21 through a signal cable 2991. The drive signal generation unit 28 supplies the second drive signal S2 to the vibration generator 22 through a signal cable 2992.
[0040] The vibration generator 21 generates vibrations along the axis of the first vibration (vibrations parallel to the direction in which the index finger 932 extends: first vibrations) based on the first drive signal S1. The first vibrations propagate through the wearing device 291 to the portion between the base B932 and the second joint of the index finger 932. As a result, the illusionary tactile force sense generating device 20 gives the user a first illusionary tactile force sense due to the first vibrations applied to the index finger 932.
[0041] The vibration generator 22 generates a vibration (second vibration) along the second vibration axis based on the second drive signal S2. The second vibration propagates through the wearing device 292 to the portion between the fingertip T932 and the first joint of the index finger 932. As a result, the illusionary tactile force sense generating device 20 provides the index finger 932 with a second tactile force sense due to the second vibration.
[0042] (Example of a Pair of Illusionary Tactile Force Senses Actually Given) As a specific example, the illusionary tactile force sense generating device 20 can give the user a pair of a first illusionary tactile force sense and a second illusionary tactile force sense as shown below.
[0043] (First illusionary tactile force sense: an illusionary tactile force sense that creates the illusion that the hand is moving) When a first drive signal S1 is applied to the vibration generator 21, the vibration generator 21 generates a vibration (first vibration) parallel to the direction in which the index finger 932 extends, and applies the vibration to the index finger 932. In this way, the illusionary tactile force sense generating device 20 can create an illusion in the brain that the hand is moving forward and backward, as shown in Figures 4(A) and 4(B).
[0044] Figure 4(A) is a diagram showing an image of a tactile illusion that makes the hand feel as if it is moving forward (towards the fingertips), and Figure 4(B) is a diagram showing an image of a tactile illusion that makes the hand feel as if it is moving backward (towards the base).
[0045] Specifically, as shown in Figure 4(A), the illusory tactile force sensation of the hand moving forward is a illusory tactile force sensation that creates an illusion in the brain that the hand 90 is moving in the direction of the fingertips, even though the hand 90 is not actually moving.
[0046] As shown in Figure 4 (B), the illusory tactile force sensation of backward movement of the hand is a illusory tactile force sensation that creates an illusion in the brain that the hand 90 is moving toward the wrist (toward the base of the fingers) even though the hand 90 is not actually moving.
[0047] At this time, by also providing the vibration generator 22 with a drive signal synchronized with the first drive signal S1, the vibration generator 22 can also provide the index finger 932 with vibrations similar to those of the vibration generator 21. This allows the illusionary tactile force sense generating device 20 to more effectively provide the illusion that the hand is moving forward and backward.
[0048] (Second illusionary tactile force sense: an illusionary tactile force sense that creates the illusion that an external force is being applied to a specific position on the finger) When the second drive signal S2 is provided to the vibration generator 22, the vibration generator 22 generates vibrations and provides them to the index finger 932. As a result, the illusionary tactile force sense generating device 20 can create an illusion in the brain that makes the user feel as if some object is touching the fingertip, as shown in Figure 5. In this case, the direction of the vibration (second vibration) generated by the vibration generator 22 is not particularly limited, and any vibration may be used.
[0049] FIG. 5 shows an image of an illusionary tactile force sensation that makes the user feel as if they are touching an object with their fingertips.
[0050] As shown in Figure 5, the haptic illusion that makes the fingertip feel as if it is touching an object is a haptic illusion that creates an illusion in the brain that makes the fingertip T932 or the area around the fingertip T932 feel as if it is touching something, even though the fingertip T932 or the area around the fingertip T932 (specifically, the area between the fingertip T932 and the first joint) is not actually touching anything except the second attachment.
[0051] As described above, the tactile illusionary force sense generating device 20 can provide multiple types of tactile illusionary force senses simply by attaching the vibration generator 21 and the vibration generator 22 to one of the user's fingers 932. This allows the tactile illusionary force sense generating device 20 to provide multiple types of tactile illusionary force senses with a simple structure while minimizing restrictions on the user's actions.
[0052] Furthermore, the vibration generators 21 and 22 are shorter than the length of the user's finger and are approximately the same as or smaller than the width of the user's finger, thereby enabling the illusionary force sense generating device 20 to suppress any discomfort caused by wearing the illusionary force sense generating device 20.
[0053] [Second embodiment] An illusionary tactile force sense generating device according to a second embodiment of the present invention will be described with reference to the drawings. Fig. 6 is a perspective view showing the appearance of the part of the illusionary tactile force sense generating device according to the second embodiment that is worn on the hand.
[0054] 6, the illusionary force sense generating device 20A according to the second embodiment differs from the illusionary force sense generating device 20 according to the first embodiment in that it includes a wearing device 290A. Other configurations of the illusionary force sense generating device 20A are the same as those of the illusionary force sense generating device 20, and a description of similar parts will be omitted.
[0055] The illusionary tactile force generation device 20A includes a wearing device 290A. The wearing device 290A includes a wearing device 291, a wearing device 292, and a connecting portion 293. The wearing device 291 and the wearing device 292 have the configuration shown in the first embodiment.
[0056] The connecting portion 293 is a tubular body and has a through-hole 2930. The connecting portion 293 physically connects the mounting fixture 291 and the mounting fixture 292. The mounting fixture 291, the connecting portion 293, and the mounting fixture 292 are connected in this order to form a single cylindrical body.
[0057] As a result, the connecting portion 293 fixes the positional relationship between the mounting fixture 291 and the mounting fixture 292. The through-hole 2930 of the connecting portion 293 communicates with the through-hole 2910 of the mounting fixture 291 and the through-hole 2920 of the mounting fixture 292.
[0058] With this configuration, simply by the user wearing wearing device 290A, wearing devices 291 and 292 are placed at predetermined positions on the fingers (between the base and the second joint, and between the fingertip and the first joint), and vibration generators 21 and 22 are placed at predetermined positions on the fingers (between the base and the second joint, and between the fingertip and the first joint).
[0059] Therefore, the tactile illusion force generating device 20A can provide multiple types of tactile illusion force with a simple structure while minimizing restrictions on the user's movements, and can provide multiple types of tactile illusion force with ease of wearing, making it possible to provide multiple types of tactile illusion force with greater reliability.
[0060] In this case, as shown in Fig. 6, it is advisable to form a wearing mark MK near one end of the wearing device 290A in the extension direction (for example, the part that overlaps with the wearing device 291). This prevents the user from wearing the illusionary force sense generating device 20A in the wrong direction. Note that the position and shape of the wearing mark MK are not limited to the example in Fig. 6, and may be other shapes as long as the user can tell the direction in which the illusionary force sense generating device 20A is worn.
[0061] In the illusionary tactile force generation device 20A, the connection part 293 of the wearing device 290 can be made of a different material from the wearing devices 291 and 292. For example, the wearing devices 291 and 292 can transmit vibrations more easily than the connection part 293, and the connection part 293 can be made to have better wearability than the wearing devices 291 and 292.
[0062] For example, wearing devices 291 and 292 have a certain thickness and are structured to fit tightly against the finger, and connecting portion 293 is structured to easily stretch in the circumferential direction of the cylinder but not easily stretch in the axial direction of the cylinder. This makes it easy to wear by connecting portion 293 while efficiently transmitting vibrations from wearing devices 291 and 292 to the finger, and makes the positional relationship between wearing devices 291 and 292 more stable.
[0063] [Third embodiment] An illusionary tactile force sense generating device according to a third embodiment of the present invention will be described with reference to the drawings. Fig. 7 is an external perspective view showing the part of the illusionary tactile force sense generating device according to the third embodiment that is worn on the hand.
[0064] 7, the illusionary force sense generation device 20B according to the third embodiment differs from the illusionary force sense generation device 20A according to the second embodiment in that it includes a wearing device 290B. Other configurations of the illusionary force sense generation device 20B are the same as those of the illusionary force sense generation device 20A, and a description of similar parts will be omitted.
[0065] 7, mounting fixture 290B differs from mounting fixture 290A in that it includes a tip portion 294. Specifically, tip portion 294 is connected to the end of mounting fixture 292 opposite the end that connects to connecting portion 293. Tip portion 294 is bag-shaped, with the end opposite the end connected to mounting fixture 292 being closed.
[0066] As a result, the wearing fixture 290B has a deep bag shape.
[0067] In this configuration, when a user wears a finger in wearing device 290B through through-hole 2910, the fingertip fits into tip portion 294. As a result, wearing devices 291 and 292 are arranged at predetermined positions on the finger (between the base and the second joint, and between the fingertip and the first joint). As a result, vibration generators 21 and 22 are arranged at predetermined positions on the finger (between the base and the second joint, and between the fingertip and the first joint).
[0068] Therefore, the tactile illusion force generating device 20B can provide multiple types of tactile illusion force with a simple structure while minimizing restrictions on the user's movements, and can also provide multiple types of tactile illusion force with greater reliability through easier wearing.
[0069] [Fourth embodiment] An illusionary tactile force sense generating device according to a fourth embodiment of the present invention will be described with reference to the drawings. Fig. 8 is a plan view showing the portion of the illusionary tactile force sense generating device according to the fourth embodiment that is worn on the hand.
[0070] 8, the illusionary force sense generating device 20C according to the fourth embodiment differs from the illusionary force sense generating device 20 according to the first embodiment in that it includes a wearing device 290C. Other configurations of the illusionary force sense generating device 20C are the same as those of the illusionary force sense generating device 20, and a description of similar parts will be omitted.
[0071] 8, wearing tool 290C is glove-shaped and includes a main body 2950 that covers the back and palm of the hand, and multiple finger insertion sections 2952, 2953, 2954, and 2955.
[0072] The wearing device 291 is disposed near an end of the finger insertion section 2952 that connects to the main body portion 2950. For example, one end of the wearing device 291 (the end opposite to the wearing device 292 side) is located at approximately the same position as the end of the finger insertion section 2952 that connects to the main body portion 2950. The wearing device 292 is disposed near the tip end of the finger insertion section 2952 that is located at the opposite side to the end that connects to the main body portion 2950. For example, one end of the wearing device 292 (the end opposite to the wearing device 291 side) is located at approximately the same position as the tip end of the finger insertion section 2952.
[0073] In this configuration, when the user wears wearing device 290C on the hand, wearing devices 291 and 292 are positioned at predetermined positions on the fingers (between the base and the second joint, and between the fingertip and the first joint), and vibration generators 21 and 22 are positioned at predetermined positions on the fingers (between the base and the second joint, and between the fingertip and the first joint).
[0074] Therefore, the tactile illusion force generating device 20C can provide multiple types of tactile illusion force with a simple structure while minimizing restrictions on the user's movements, and can also provide multiple types of tactile illusion force with greater reliability through easier wearing.
[0075] Although wearing device 290C is shown to have a shape that covers the entire back and palm of the hand, it is sufficient that the shape covers at least a part of the back of the hand and at least a part of the palm. Furthermore, the finger insertion portions where wearing devices 291 and 292 are not placed can be omitted.
[0076] [Examples of Derived Wearing Tools] In the above-described embodiments, flexible wearing tools have been used as examples. However, as an example, wearing tools having the following structure may also be used.
[0077] FIG. 9(A) is an external perspective view showing a derivative example of the wearing tool, FIG. 9(B) is an external perspective view of the main body of the wearing tool, and FIG. 9(C) is an external perspective view of the fixing member of the wearing tool.
[0078] The attachment 291D of the derivative example can be substituted for the attachment 291 or attachment 292 described above.
[0079] The wearing fixture 291D includes a main body 2911 and a fixing member 31. The main body 2911 corresponds to the "first main body" and the "second main body", and the fixing member 31 corresponds to the "first fixing member" and the "second fixing member".
[0080] The main body 2911 is a band-shaped or tubular body. The main body 2911 is preferably flexible and stretchable. The main body 2911 has a through-hole TH.
[0081] The fixed member 31 is made of a material that is harder than the main body 2911 and that easily transmits vibrations. The fixed member 31 includes a gripping member 311, a base member 312, and a platform 313. The gripping member 311, the base member 312, and the platform 313 are, for example, integrally formed.
[0082] The gripping member 311 is an annular body with a portion of the peripheral wall missing. The vibration generator 21 and the vibration generator 22 are attached to the gripping member 311.
[0083] The base member 312 has a shape that is curved to correspond to the shape of a finger. The gripping member 311 is fixed to the base member 312 using a base 313.
[0084] The fixing member 31 is disposed on the main body 2911 with the base 313 inserted through the through-hole TH.
[0085] In this configuration, when the user wears main body 2911 on his finger, wearing device 291D is fixed with base 313 of fixing member 31 in contact with the surface of the finger. Because base 313 is made of a material that easily transmits vibrations, the vibrations generated by vibration generator 21 (vibration generator 22) are effectively transmitted to the user's finger.
[0086] Therefore, the illusionary tactile force sense generating device equipped with the wearing device 291D can more effectively impart an illusionary tactile force sense to the user.
[0087] In the above description, the mounting fixture 291D has the through-hole TH in the main body 2911. However, it is also possible to use a structure in which a bag portion having an opening is formed in the main body 2911 and the base 313 is inserted into the bag portion.
[0088] In this configuration, the base 313 comes into contact with the finger through the bottom of the bag portion, but by having a bottom, damage to the finger can be reduced compared to when the base 313 comes into direct contact with the finger, and by making the bottom thin, the effect of effectively imparting tactile illusion to the user can be reduced.
[0089] The configurations and derivative examples shown in the above-described embodiments can be combined as appropriate, and effects according to each combination can be achieved.
[0090] <1> A tactile force sense generating device capable of imparting different first and second illusory tactile force senses, the device comprising: a first vibration generator that generates a first vibration for generating the first illusory tactile force sense; a second vibration generator that generates a second vibration for generating the second illusory tactile force sense; a first attachment device that attaches the first vibration generator to a finger of any one of a user's hands; and a second attachment device that attaches the second vibration generator to the finger, wherein the first vibration and the second vibration are different vibrations, and the first attachment device and the second attachment device are positioned at different positions in the direction in which the finger extends.
[0091] <2> The illusionary tactile force generating device of <1>, wherein the first vibration generator and the second vibration generator are configured by different types of actuators.
[0092] <3> The illusionary tactile force sense generating device of <1> or <2>, wherein the first wearing device is a first tubular body having flexibility, and the second wearing device is a second tubular body having flexibility.
[0093] <4> The illusionary tactile force sense generating device according to any one of <1> to <3>, comprising a connection part that connects the first wearing device and the second wearing device and fixes the positional relationship between the first wearing device and the second wearing device.
[0094] <5> The illusionary tactile force generation device of <4>, wherein the first wearing device, the second wearing device, and the connection part are configured by a single cylindrical body.
[0095] <6> The illusionary tactile force generating device of <5>, wherein the tip of the cylindrical body is closed.
[0096] <7> The tactile illusion force generating device according to any one of <1> to <6>, wherein the first tactile illusion force is an tactile illusion force that creates the illusion that the hand has moved, and the second tactile illusion force is an tactile illusion force that creates the illusion that an external force has been applied to a specific position of the finger.
[0097] <8> The illusionary tactile force generating device of <7>, wherein the first vibration generator generates vibrations parallel to the direction in which the finger extends.
[0098] <9> The illusionary tactile force generating device according to any one of <1> to <8>, wherein the first vibration generator and the second vibration generator are arranged in this order from the base of the finger toward the fingertip.
[0099] <10> The illusionary tactile force sense generating device according to any one of <4> to <6>, comprising a glove that includes the first wearing device, the second wearing device, and the connecting portion and covers at least a portion of at least one of the back of the hand or the palm.
[0100] <11> The illusionary tactile force generating device according to any one of <1> to <10>, wherein the first wearing device comprises: a first main body having flexibility; and a first fixing member that is disposed on the first main body and to which the first vibration generator is fixed, the first fixing member being harder than the first main body; or the second wearing device comprises: a second main body having flexibility; and a second fixing member that is disposed on the second main body and to which the second vibration generator is fixed, the second fixing member being harder than the second main body.
[0101] 20, 20A, 20B, 20C: Illusionary tactile force sense generating device 21, 22: Vibration generator 27: Operation input unit 28: Drive signal generating unit 31: Fixing member 90: Hand 290, 290A, 290B, 290C, 291, 291D, 292: Wearing device 293: Connection unit 294: Tip portion 299, 2991, 2992: Signal cable 311: Gripping member 312: Base member 313: Base 932: Finger 933: Middle finger 934: Ring finger 935: Little finger 2910, 2920, 2930: Through hole 2911: Main body 2950: Main body portion 2952: Finger insertion portion B932: Base E11, E21: First end E12, E22: Second end MK: Wearing mark S1: First drive signal S2: Second drive signal T932: Fingertip TH: Through hole
Claims
1. A haptic force generation device capable of providing different first and second haptic force sensations to each, A first vibration generator that generates a first vibration for generating the first false tactile sensation, A second vibration generator that generates a second vibration for generating the second false tactile force sensation, A first attachment device for attaching the first vibration generator to any one finger of the user, A second attachment device for attaching the second vibration generator to the aforementioned finger, Equipped with, The first vibration and the second vibration are different vibrations, The first attachment device and the second attachment device are positioned at different locations in the direction in which the finger extends. A device that generates illusory tactile force.
2. The first vibration generator and the second vibration generator are composed of different types of actuators. The haptic force generation device according to claim 1.
3. The first attachment is a flexible first tubular body, The second attachment is a flexible second tubular body. The haptic force generation device according to claim 1 or claim 2.
4. The first mounting device and the second mounting device are connected by a connecting portion that fixes the positional relationship between the first mounting device and the second mounting device. The haptic force generation device according to claim 1 or claim 2.
5. The first mounting device, the second mounting device, and the connecting part are each composed of a single cylindrical body. The haptic force generation device according to claim 4.
6. The tip of the cylindrical body is closed. The haptic force generation device according to claim 5.
7. The first tactile force sensation is a tactile force sensation that creates the illusion that the hand has moved. The second tactile force illusion is a tactile force illusion that causes the illusion of an external force being applied to a specific position on the finger. The haptic force generation device according to claim 1 or claim 2.
8. The first vibration generator generates vibrations parallel to the direction in which the finger extends. The haptic force generation device according to claim 7.
9. The first vibration generator and the second vibration generator are arranged in that order, from the base of the finger toward the fingertip. The haptic force generation device according to claim 1 or claim 2.
10. The glove includes the first attachment, the second attachment, and the connecting part, and covers at least a portion of at least one of the back of the hand or the palm. The haptic force generation device according to claim 4.
11. The first attachment device is, A first body having flexibility, A first fixing member is arranged on the first main body and to which the first vibration generator is fixed, Equipped with, The first fixing member is harder than the first main body. or The second attachment device is, A second body having flexibility, A second fixing member is arranged on the second main body and to which the second vibration generator is fixed, Equipped with, The second fixing member is harder than the second main body. The haptic force generation device according to claim 1 or claim 2.